Modicon

Lexium 17D Series Servo Drive

User Guide
890 USE 120 00 Eng
 Preface

Preface The data and illustrations found in this book are not binding. We reserve the right to
modify our products in line with our policy of continuous product development. The
information in this document is subject to change without notice and should not be
construed as a commitment by Schneider Electric.
Schneider Electric assumes no responsibility for any errors that may appear in this
document. If you have any suggestions for improvements or amendments or have
found errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means,
electronic or mechanical, including photocopying, without express written
permission of the Publisher, Schneider Electric.

CAUTION!

All pertinent state, regional, and local safety regulations must be observed when
installing and using this product. For reasons of safety and to assure compliance
with documented system data, repairs to components should be performed only by
the manufacturer.

Failure to observe this precaution can result in injury or equipment damage.

MODSOFT® is a registered trademark of Schneider Electric

.
The following are trademarks of Schneider Electric:
Modbus Modbus Plus Modicon 984 Quantum

DIGITAL® and DEC® are registered trademarks of Compaq Computer Corp.

IBM® and IBM AT® are registered trademarks of International Business Machines
Corporation.

Microsoft® and MS-DOS® and Windows® are registered trademarks of Microsoft

Corporation.
©Copyright 2001, Schneider Electric

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Preface

iv 890 USE 120 00

 Contents

Chapter 1 Introduction

At a Glance...................................................................................................... 1
Document Scope ...................................................................................... 1
What’s in this Chapter................................................................................ 1

About this User Guide ..................................................................................... 2

Who Should Use this User Guide .............................................................. 2
How this User Guide Is Organized ............................................................ 2

Related System Components ......................................................................... 4

Single-Axis Motion Control System ........................................................... 4
UniLink Commissioning Software for 17D ................................................. 4

Related Documentation ................................................................................... 5

Documents................................................................................................. 5

Hazards, Warnings and Guidelines ................................................................ 6

Hazards and Warnings ............................................................................. 6
Additional Safety Guidelines...................................................................... 9
Qualified Personnel ................................................................................... 9

Standards and Compliances .......................................................................... 10

European Directives and Standards .......................................................... 10
EC Directive Compliance .......................................................................... 10
UL and cUL Compliance ............................................................................ 11

Conventions .................................................................................................... 12
Acronyms and Abbreviations .................................................................... 12

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Chapter 2 Product Overview

At a Glance...................................................................................................... 15
Introduction ............................................................................................... 15
What’s in this Chapter................................................................................ 15

The 17D Series Servo Drive Family ............................................................... 16

Introducing the 17D Drive Family ............................................................. 16
Drives Available ........................................................................................ 16
Implementing the Drives ........................................................................... 16
Applicable Servo Motor Types .................................................................. 16
Electrical Considerations .......................................................................... 17
17D Drive Family Portrait .......................................................................... 18
17D Drives Front View .............................................................................. 19
Equipment Supplied................................................................................... 20
Equipment Available .................................................................................. 20
17D System Configuration Diagram .......................................................... 21
Digital Control ........................................................................................... 22
Usability Enhancements ........................................................................... 23

Overview of 17D Internal Electronics ............................................................. 24

17D Internal Electronics Block Diagram ................................................... 24
General Characteristics ............................................................................. 25
Primary Power .......................................................................................... 25
Bias Power ................................................................................................ 25
EMI Suppression ...................................................................................... 25
Internal Power Section .............................................................................. 26
DC Link Capacitor Reconditioning ............................................................ 26
Integrated Safe Electrical Separation ....................................................... 26
LED display................................................................................................ 27

Overview of System Software ........................................................................ 28

Setup ........................................................................................................ 28
Setting Parameters ................................................................................... 28
Automatic Card Recognition ...................................................................... 28
Default Settings ........................................................................................ 28
UniLink Commissioning Software ............................................................. 29

Chapter 3 Mounting and Physical Dimensions

At a Glance...................................................................................................... 31
What’s in this Chapter ............................................................................... 31

Installation Safety Precautions ....................................................................... 32

Power Supply Overcurrent Protection ...................................................... 34

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Earth Connections ..................................................................................... 34

Cable Separation ...................................................................................... 34
Air Flow ..................................................................................................... 34

Drive Mounting and Physical Dimensions ....................................................... 35

17D Height, Width and Depth Dimensions ................................................ 35
17D Drive and Mounting Area Dimensions ............................................... 36
External Regen Resistor Assembly Dimensions........................................ 37
Motor Choke Assembly Dimensions .......................................................... 38

Chapter 4 Wiring and I/O

At a Glance...................................................................................................... 39
Introduction ............................................................................................... 39
What’s in this Chapter................................................................................ 40

Wiring and I/O Initial Considerations ............................................................... 41

Initial Considerations ................................................................................. 41
Grounding ................................................................................................. 41

Wiring Overview ............................................................................................. 42

Overview of 17D Wiring Connections ....................................................... 42

Cable Shield Connections ............................................................................... 45

Connecting Cable Shields to the Front Panel ........................................... 45
Cable Shield Connection Diagram............................................................. 46

Power Wiring .................................................................................................. 47

AC Mains Power Supply Connection ........................................................ 47
Bias Supply Connection ............................................................................ 47
External Regen Resistor Connection ........................................................ 48
Regen Circuit Functional Description......................................................... 48
Lexium BPH Servo Motor Connection (excluded BPH055) ...................... 49
Lexium BPH 055 Servo Motor Connection ................................................ 50
Servo Motor (with Optional Dynamic Brake Resistors ...............................
and Contactor) Connection........................................................................ 51
Servo Motor Holding-Brake Control Functional Description ..................... 52

Signal Wiring .................................................................................................. 54

Lexium BPH Resolver Connection (excluded BPH055) ............................ 54
Lexium BPH055 Resolver Connection....................................................... 55
Encoder Input Connection ........................................................................ 56
Incremental Encoder Output Connection................................................... 57
Incremental Encoder Output Functional Description ................................. 57
SSI Encoder Output Connection................................................................ 58

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SSI Encoder Output Functional Description ............................................. 58

Auxiliary Encoder Interface ....................................................................... 59

Analog I/O Connection .................................................................................... 62

Analog Inputs ............................................................................................ 62
Servo Motor Rotation Direction ................................................................. 62
Analog Outputs ......................................................................................... 63

Fault Relay and Digital I/O Connection .......................................................... 64

Digital Inputs and Outputs ........................................................................ 64
Using Functions Pre-programmed into the Drive....................................... 65

Serial Communications Connection ............................................................... 66

Serial Communications Connection Diagram ........................................... 66
CANopen Interface ................................................................................... 67
CAN bus cable........................................................................................... 68

Stepper Motor Control Interface Connection .................................................. 69

Stepper-Motor Control Interface Connection Functional Description ....... 69
Stepper-Motor Control Interface Connection Diagram ............................. 69
Stepper-Motor Speed Profile and Signal Diagram..................................... 70

Chapter 5 System Operation

At a Glance...................................................................................................... 71
What’s in this Chapter................................................................................ 71

Powering Up and Powering Down the System ............................................... 72

Power-on and Power-off Characteristics .................................................. 72
Stop Function............................................................................................. 73
Emergency Stop strategies ....................................................................... 73
Wiring example ......................................................................................... 74

Procedure for Verifying System Operation...................................................... 75

Overview ................................................................................................... 75
Quick Tuning Procedure ........................................................................... 75
Parameter setting ..................................................................................... 77
Multi-axis system ...................................................................................... 77

Front Panel Controls and Indicators................................................................ 78

Keypad Operation...................................................................................... 78
LED Display ............................................................................................... 78

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Chapter 6 Troubleshooting

At a Glance...................................................................................................... 79
What’s in this Chapter................................................................................ 79

Warning Messages.......................................................................................... 80
Warning Identification and Description ...................................................... 80

Error Messages .............................................................................................. 81

Error Identification and Description............................................................ 81

Troubleshooting .............................................................................................. 85
Problems, Possible Causes and Corrective Actions.................................. 85

Appendix A Specifications

At a Glance...................................................................................................... 87
What’s in this Appendix.............................................................................. 87

Performance Specifications ............................................................................ 88

Performance Specifications Table ............................................................. 88

Environmental and Mechanical Specifications ............................................... 89

Environmental Specifications Table........................................................... 89
Mechanical Specifications Table ............................................................... 90

Electrical Specifications .................................................................................. 91

What’s in this Section ................................................................................ 91

Electrical Specifications - Power .................................................................... 92

Line Input Specifications Table ................................................................. 92
Bias Input Specifications Table ................................................................. 93
External Fuse Specifications Table............................................................ 93
Motor Output Specifications Table............................................................. 94
Internal Power Dissipation Specifications Table ........................................ 95

Electrical Specifications - Regen Resistor ...................................................... 96

Regen Circuit Specifications ...................................................................... 96

Electrical Specifications - Signal ..................................................................... 97

Motor Overtemperature Input Specifications Table .................................. 97
Resolver Input Specifications Table........................................................... 97
Encoder Input Specifications Table .......................................................... 98
Emulated Encoder Output (Incremental Format) Specifications Table ..... 98
Encoder Output (Incremental Format) Timing Diagram ............................ 99

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Encoder Output (SSI Format) Specifications Table................................... 99

Encoder Input (Slave) Specifications Table............................................... 100
Discrete Input Specifications Table .......................................................... 100
Discrete Output Specifications Table ........................................................ 101
Fault Relay Output Specifications Table ................................................... 101
Brake Output Specifications Table ........................................................... 101
Analog Input Specifications Table ............................................................ 102
Analog Output Specifications Table .......................................................... 102
Serial Communications Specifications Table ............................................ 103
Wire Specifications ................................................................................... 104

Appendix B Parts List

At a Glance...................................................................................................... 105
What’s in this Appendix ............................................................................ 105

Lexium 17D Drives ......................................................................................... 106

Drives Available ........................................................................................ 106
External 24Vdc supply .............................................................................. 107

Drive Cables ................................................................................................... 108

Drive to Motor Cables .............................................................................. 108
RS-232 Serial Communications Cable Part Table .................................... 108
Encoder Output Cables Parts Table ......................................................... 108

Regen Resistor Assemblies ........................................................................... 109

Regen Resistor Assembly Part Table ....................................................... 109

Servo Motor Choke ......................................................................................... 110

Servo Motor Choke Part Table ................................................................. 110

Spare Parts ..................................................................................................... 111

Spare Parts Table ..................................................................................... 111

Appendix C Drive-to-Controller Wiring Diagrams

At a Glance...................................................................................................... 113
What’s in this Appendix ............................................................................ 113

Typical Motion Controller Interface Connections............................................. 114

Motion Controller Interface Diagram ......................................................... 114

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Wiring a 17D Drive to TSX Premium CAY Motion Modules ............................ 115
TSX Premium CAY Single Axis Drive Option Diagram ............................. 115
TSX Premium CAY Multi-Axis Breakout Module Wiring Diagram ............. 116
TSX Premium CAY Multi-Axis and Breakout Mod. Diag., First of Four Axes 117

Wiring a 17D Drive to a MOT 201 Motion Module........................................... 118

MOT 201 Control Wiring Diagram ............................................................. 118
MOT 201 Encoder Wiring Diagram: Option 1 ........................................... 119
MOT 201 Encoder Wiring Diagram: Option 2 ........................................... 120

Wiring a 17D Drive to Quantum 140 MSx Motion Modules ............................ 121
Quantum 140 MSx Control and Encoder Wiring Diagram ......................... 121

Wiring a 17D Drive to B885-11x Motion Modules ........................................... 122

B885-11x Control Wiring Diagram ............................................................. 122
B885-11x Encoder Wiring Diagram: Option 1 ........................................... 123
B885-11x Encoder Wiring Diagram: Option 2 ........................................... 124

Appendix D Cable Connection Wiring Diagrams

At a Glance...................................................................................................... 125
What’s in this Appendix ............................................................................. 125

Wiring a Sub-D Connector with Shielding ....................................................... 126

Wiring the Sub-D Connector ..................................................................... 126
Sub-D Connector Diagram ........................................................................ 127

Wiring the Motor Power Connector (Drive end) .............................................. 128

Wiring the Motor Power Connector ........................................................... 128
Motor Power Connector (Drive end) Diagram (excluded BPH055) ........... 129
BPH055 Motor Power Connector (Drive end) Diagram ............................ 130

Serial Communication Interface Connection (X6) .......................................... 131

Serial Communication Interface Cable Connectors ................................... 131

Appendix E Servo Loop Diagrams

At a Glance...................................................................................................... 133
What’s in this Appendix ............................................................................. 133

17D Current Controller Overview ................................................................... 134

17D Current Controller Diagram ............................................................... 134

17D Velocity Controller Loop .......................................................................... 135

17D Velocity Controller Loop Diagram ...................................................... 135

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17D Analog Input Loop Diagrams .................................................................. 136

Overview ................................................................................................... 136
17D Analog Input Mode 0 Loop Diagram .................................................. 136
17D Analog Input Mode 1 Loop Diagram .................................................. 137
17D Analog Input Mode 2 Loop Diagram ................................................. 138
17D Analog Input Mode 3 Loop Diagram ................................................. 139
17D Analog Input Mode 4 Loop Diagram ................................................. 140

Appendix F Expansion Options

At a Glance...................................................................................................... 141
What’s in this Appendix ............................................................................ 141

Expansion Cards ............................................................................................ 142

Overview ................................................................................................... 142
Fitting expansion card ............................................................................... 142

Modbus Plus Communication Card................................................................. 143

Modbus Plus Communication Card .......................................................... 143

I/O Expansion Cards ...................................................................................... 144

24 Vdc Discrete I/O Expansion Card ........................................................ 144
Connector and LED Location Diagram ..................................................... 144
Light-Emitting Diodes (LEDs) ................................................................... 145
Terminal Assignments ............................................................................... 145
Controlling Pre-programmed Motion Tasks .............................................. 147
Programming the PLC .............................................................................. 147
Motion Task Coordination ......................................................................... 147
Motion Task Application Examples ........................................................... 147
Example of a Motion Task Number .......................................................... 148
Connection Diagram .................................................................................. 149

Appendix G External Regen Resistor Sizing

At a Glance...................................................................................................... 151
What’s in this Appendix ............................................................................ 151
Overview ................................................................................................... 152
Determining When Energy Is Absorbed ................................................... 152

Determining External Regen Resistor Size .................................................... 153

Power Dissipation Calculation Procedure ................................................. 153
Drive Energy Absorption Capability ........................................................... 154

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Example Regen Resistor Power Dissipation Calculation ............................... 155

Example Motor and Drive Specifications .................................................. 155
Example Step 1 ......................................................................................... 156
Example Step 2 ......................................................................................... 157
Example Step 3.......................................................................................... 157
Example Step 4.......................................................................................... 158
Example Step 5.......................................................................................... 158
Example Step 6.......................................................................................... 158
Example Step 7 ......................................................................................... 158
Example Step 8 ......................................................................................... 159

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Contents

xiv 890 USE 120 00

 Introduction

1
At a Glance

Document Scope This user guide contains complete installation, wiring interconnection, power
application, test and maintenance information on the Lexium 17D series servo
drive.

What’s in this This chapter provides general information about this user guide and contains the
Chapter following topics:

Topic Page
About this user guide 2
Related system components 4
Related documentation 5
Hazards, warnings, and guidelines 6
Standards and compliances 10
Conventions 12

1
About this User Guide

Who Should Use This user guide is written for any qualified person at your site who is responsible for
this User Guide installing (mounting and interconnecting), operating, testing and maintaining your
Lexium 17D servo drive and the servo system equipment with which it interfaces. In
addition, the following precautions are advised:

l Transportation of the servo drive to, or from, an installation site should only be
performed by personnel knowledgeable in handling electrostatically sensitive
components.
l Commissioning of the equipment should only be performed by personnel
having extensive knowledge of, and experience with, electrical and servo drive
technologies.
You are expected to have some overall understanding of what your 17D servo drive
does and how it will function in a high-performance, single-axis motion control
system. Accordingly, be sure you read and understand the general information,
detailed descriptions and associated procedures presented in this manual, as well
as those provided in other relevant manuals, before installing your 17D. (See
Related System Components later in this chapter.)

If you have questions, please consult your Schneider Electric customer

representative.

How this User This manual is organized as follows.

Guide Is
Organized Chapter/Appendix Description
Chapter 1 An introduction to this manual — who should use
About this User Guide this manual, how this manual is organized,
related publications, hazards and warnings.
Chapter 2 General descriptions of the 17D servo drives,
Lexium 17D Product Overview descriptions of components that are supplied by
Schneider in a typical 17D system, and a block
diagram for internal electronics.
Chapter 3 Physical dimensions and information for
Mounting and Physical Dimensions mounting the servo drive, Regen resistor and
servo motor choke.

Continued on next page

2
About this User Guide, continued

How this User

Guide Is
Organized, Chapter/Appendix Description
continued Chapter 4 Wiring diagrams for the power connections and
Wiring and I/O wiring diagrams and descriptions for all signal
wiring connections — encoder, resolver, analog
I/O, discrete I/O, and serial communications
cable.
Chapter 5 Detailed procedures and associated descriptions
System Initialization, Commissioning on how to initialize, commission and operate a
and Operation typical 17D system.
Chapter 6 Description of faults, probable causes and
Troubleshooting recommended corrective actions.
Appendix A Specifications for the servo drives, including
Specifications general, electrical, signal, and power
specifications.

Appendix B Part numbers related to the 17D servo drive

Parts List system.
Appendix C Wiring diagrams that show signal wiring between
Drive to Controller Wiring Diagrams a 17D servo drive and MOT 201, Quantum MSx,
B885-11x, and TSX Premium CAY motion
modules.
Appendix D Procedures and associated diagrams that show
Cable Connection Wiring Diagrams how to wire Sub-D and power cable connectors
as well as the serial communication cable used
with the drive.
Appendix E Illustrations of the 17D servo drive and single-
Servo Loop Diagrams axis motion module servo loops.
Appendix F Description and procedure for using the I/O
Expansion Options expansion card with the drive.
Appendix G Description and procedure for determining the
External Regen Resistor Sizing power dissipation requirement for the external
Regen resistor.

3
Related System Components

Single-Axis The 17D servo drive is typically only one component in a larger, single-axis motion
Motion Control control system. A single axis comprises one motion module, one servo drive, and
System one motor.

Compatible Schneider motion modules include:

l Quantum 140 MSx series motion modules

l Compact MOT 201 motion modules
l B885-11x series motion modules
l TSX Premium CAY motion modules

UniLink To configure your single-axis system, you will be using the UniLink axis
Commissioning commissioning software, which Schneider supplies.
Software for 17D
UniLink allows you to configure your 17D servo drive axis and tune the motor
quickly and easily. With its graphical user interface and oscilloscope tuning
features, UniLink provides an easy point-and-click method for configuring motion
setup parameters. UniLink minimizes or eliminates cumbersome programming
tasks.

For complete information on UniLink, please see the UniLink online help.

4
Related Documentation

Documents Related documentation that covers all these system components is illustrated
below.
You will need these:

Unilink
Online Help

(included
in software)

Depending on which motion module you have, you will also need one of these:

MOT 201, Quantum B885-1xx

202 Motion 140MSx 101 Motion
Modules Single Axis Modules
User Guide Motion User Guide
Module
Reference
Guide
GI-BMOT-20X 840 USE 105 X GI-B885-1XX

If you have a TSX Premium motion module CAY, you will also need this:

PL7 Junior/Pro Premium PLCs

Premium PLCs Installation
Specific Manual
Functions

V4

TLX DS 57 PL7 40 TSX DM 57 40

If you have a BPH motor, you will also need this:

Lexium BPH
Serie
servo motors
Motors Reference
Guide

*AMOMAN001U

* included in AM0 CSW 001V•00 (CDROM)

5
Hazards, Warnings and Guidelines

Hazards and Read the following precautions very carefully to ensure the safety of personnel at
Warnings your site. Failure to comply will result in death, serious injury or equipment damage.

DANGER!

ELECTRIC SHOCK HAZARDS

l During operation, keep all covers and cabinet doors closed.

l Do not open the servo drives; depending on degree of enclosure protection,
the servo drives may have exposed components.
l Control and power connections on the drive may be energized even if the
motor is not rotating.
l Never attempt to disconnect the electrical connections to the servo drive with
power applied. Failure to comply may result in arcing at the contacts.
l Wait at least five minutes after disconnecting the servo drive from the mains
supply voltage before touching energized sections of the equipment (for
example, contacts) or disconnecting electrical connections. Capacitors can still
have dangerous voltages present up to five minutes after switching off the
supply voltages. To ensure safety, measure the voltage in the DC Link circuit
and wait until it has fallen below 40V before proceeding.
l Check to ensure all energized connecting elements are protected from
accidental contact. Lethal voltages up to 900V can be present. Never
disconnect any electrical connections to the servo drive with power applied;
capacitors can retain residual and dangerous voltage levels for up to five
minutes after switching off the supply power.
Failure to follow any one of these instructions will result in death, serious
injury or equipment damage.

Continued on next page

6
Hazards, Warnings and Guidelines, continued

WARNING!

THERMAL HAZARD

During operation, the front panel of the servo drive, which is used as a heat sink,
can become hot and may reach temperatures above 80°C. Check (measure) the
heat sink temperature and wait until it has cooled below 40°C before touching it.

Failure to observe this precaution can result in severe injury.

WARNING!

OVERCURRENT, OVERLOAD AND OVERHEATING PROTECTION

Separate motor overcurrent, overload and overheating protection is required to be

provided in accordance with the Canadian Electrical Code, Part 1 and the National
Electrical Code.

Failure to observe this precaution can result in severe injury.

Continued on next page

7
Hazards, Warnings and Guidelines, continued

CAUTION!

SAFETY INTERLOCKS

Schneider recommends the installation of a safety interlock with separate contacts

for each motor. Such a system should be hard wired with over–travel limit switches
and a suitable emergency stop switch. Any interruption of this circuit or fault
indication should:

l Open the motor contacts

l Shunt dynamic braking resistors across each motor, if they are present.
Failure to observe this precaution can result in equipment damage.

CAUTION!

ELECTROSTATIC COMPONENTS

The servo drives contain electrostatically sensitive components that may be

damaged by improper handling. Appropriately discharge yourself before touching
the servo drive and avoid contact with highly insulating materials (artificial fabrics,
plastic film, and so on). Place the servo drive on a conductive surface.

Failure to observe this precaution can result in equipment damage.

Continued on next page

8
Hazards, Warnings and Guidelines, continued

Additional Safety Read this documentation and adhere to the safety guidelines contained herein
Guidelines before engaging in any activities involving the servo drives.

l Ensure that all wiring is in accordance with the National Electrical Code (NEC)
or its national equivalent (CSA, CENELEC, etc.), as well as in accordance with
all prevailing local codes.
l Exercise extreme caution when using instruments such as oscilloscopes, chart
recorders, or volt–ohm meters with equipment connected to line power.
l Handle the servo drives as prescribed herein. Incorrect handling can result in
personal injury or equipment damage.
l Adhere to the technical information on connection requirements identified on
the nameplate and specified in the documentation.
l The servo drives may only be operated in a closed switchgear cabinet with
appropriate compensation for ambient conditions (as defined in Appendix A).

Qualified Only properly qualified personnel having extensive knowledge in electrical and
Personnel servo drive technologies should install, commission and/or maintain the Lexium
17D servo drives.

9
Standards and Compliances

European The Lexium 17D servo drives are incorporated into an electrical plant and into
Directives and machinery for industrial use.
Standards
When the servo drives are built into machines or a plant, do not operate the servo
drive until the machine or plant fulfills the requirements of these European
Standards:

l EC Directive on Machines 89/392/EEC

l EC Directive on EMC (89/336/EEC)
l EN 60204
l EN 292
In connection with the Low Voltage Directive 73/23/EEC, the associated standards
of the EN 50178 series in conjunction with EN 60439-1, EN 60146 and EN 60204
are applied to the servo drives.

The manufacturer of the machine or plant is responsible for meeting the

requirements of the EMC regulations.

EC Directive Compliance with the EC Directive on EMC 89/336/EEC and the Low Voltage
Compliance Directive 73/23/EEC is mandatory for all servo drives used within the European
Community.

The Lexium 17D servo drives were tested by an authorized testing laboratory and
determined to be in compliance with the directives identified above.

Continued on next page

10
Standards and Compliances, continued

UL and cUL UL Listed (cUL Certified) servo drives (Underwriters Laboratories Inc.) comply with
Compliance the relevant American and Canadian standards (in this case, UL 840 and UL
508C).

This standard describes the minimum requirements for electrically operated power
conversion equipment (such as frequency converters and servo drives) and is
intended to eliminate the risk of injury to personnel from electric shock or damage
to equipment from fire. Conformance with the United States and Canadian
standard is determined by an independent UL (cUL) fire inspector through the type
testing and regular checkups.

UL 508C

UL 508C describes the minimum requirements for electrically operated power

conversion equipment (such as frequency converters and servo drives) and is
intended to eliminate the risk of fire caused by that equipment.

UL 840

UL 840 describes air and insulation creepage spacings for electrical equipment and
printed circuit boards.

11
Conventions

Acronyms and The acronyms and abbreviations used in this manual are identified and defined in
Abbreviations the table below.

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
RFI Radio Frequency Interference

Continued on next page

12
Conventions, continued
Acronyms and .
Abbreviations,
continued Acronym or
Abbreviation Description
PLC Programmable Logic Controller
SRAM Static RAM
SSI Synchronous Serial Interface
UL Underwriters Laboratory
Vac Voltage, Alternating Current
Vdc Voltage, Direct Current

13
14
 Product Overview

2
At a Glance

Introduction This chapter contains a product overview of the Lexium 17D series servo drives
and includes:

l Available drive models and related system components

l Feedback and performance information
l Power and signal electronics
l Software and axis configuration

What’s in this This chapter contains the following topics:

Chapter
Topic Page
The 17D series servo drive family 16
Overview of usability features 22
Overview of 17D internal electronics 24
Overview of system software 28

15
The 17D Series Servo Drive Family

Introducing the Each member of the Lexium 17D series family is comprised of a three-phase
17D Drive Family brushless servo amplifier, power supply and high-performance digital controller all
housed in a single enclosure.

Drives The 17D drives are available in five models which are correlated to different output
Available current levels as identified in the following table.

Output Current (Peak) 17D Drive

4A MHDA1004N00
8A MHDA1008N00
17A MHDA1017N00
28A MHDA1028N00
56A MHDA1056N00

Implementing The Lexium 17D servo drives are intended for incorporation into electrical
the Drives equipment or machinery and can only be commissioned as integral components of
those types of devices.

Applicable Servo The Lexium 17D servo drives are intended to drive NUM BPH series brushless
Motor Types servo motors.

Continued on next page

16
The 17D Series Servo Drive Family, continued

Electrical The Lexium 17D family of servo amplifiers is to be used on earthed three-phase
Considerations industrial mains supply networks (TN-system, TT-system with earthed neutral point,
not more than 5000 rms symmetrical amperes).

The Lexium 17 D drives are incompatible with the IT system because interference
suppression filters are internal and connected to earth. If the user wants to connect
Lexium drives to an IT system, he may:

l use an insulation star transformer in order to re-create a local TT or TN system.

This way allows the rest of the wiring to stay an IT system (only warning in case
of the first fault.)
l use a special Residual Current Circuit Breaker (RCCB) that is able to work with
dc and high peak currents. This device detects unbalance of phases with
regard to earth.
Warning: When the first fault occurs, the RCCB has to switch off quickly power
of the drives. Set of the residual current value must be carefully done and must
be started with the lowest available value (for example: 30mA.)
Following equipment of Merlin Gerin can be used:

l Vigirex, model RH328AF (Reference: 50055)

l One of these magnetic cores:
- model TA, 30mm in internal diameter (Reference: 50437)
- model PA, 50mm in internal diameter (Reference: 50438)
- model IA, 80mm in internal diameter (Reference: 50439)

If the servo amplifiers are used in residential areas, or in business or commercial

premises, then additional filter measures must be implemented by the user.

The Lexium 17D family of servo amplifiers is only intended to drive specific
brushless synchronous servomotors from the Lexium BPH series, with closed-loop
control of torque, speed and/or position. The dielectric withstand voltage of the
motors must be at least as hight as the DC-link voltage of the servo amplifier.

Use only copper wire. Wire size may be determinated from EN 60204 (or table 310-
16 of the NEC 60°C or 75°C column for AWG size).

We only guarantee the conformance of the servo amplifiers with the standards for
industrial areas, if the components (motors, cables, amplifiers etc) are delivered by
Schneider Automation.

Continued on next page

17
The 17D Series Servo Drive Family, continued

17D Drive Family The following photograph shows a representative member of the 17D drive family.
Portrait The complete family consists of five models partitioned into two physical sizes.
Models MHDA1004N00, MHDA1008N00, MHDA1017N00 and MHDA1028N00
have dimensionally identical physical housings while Model MHDA1056N00 has a
wider housing. (See Chapter 3 for detailed dimensional information.)

Continued on next page

18
The 17D Series Servo Drive Family, continued

17D Drives Front The following photograph shows a typical 17D front view with legends and labels.
View

Continued on next page

19
The 17D Series Servo Drive Family, continued

Equipment Each 17D servo drive includes the following hardware.

Supplied
l Mating connectors X3, X4, X0A, X0B, X7 and X8
l Read me first.
Note: The mating Sub-D connectors and servo motor connector X9 are supplied
with the appropriate cable.

Equipment The following items are optionally available to you from Schneider for use with the
Available 17D servo drives:

l Lexium BPH series brushless servo motors

l Servo motor power and feedback cables
Note: Power and feedback cables are available in lengths from 5...75 m and are
supplied by Schneider with the connector for the servo motor attached to the cable
and with the connector for the drive unassembled and unattached to the cable. The
10 m length cable is supplied (from stock) by Schneider with connectors attached to
each end of the cable.

l Optional Servo motor choke (for motor power cable lengths exceeding 25m)
l Optional External Regen resistor
l Serial communications cable (between drive and PC)
l Pre-configured cables for various Telemecanique and Modicon motion
controllers.
l Optional expansion cards.

Continued on next page

20
The 17D Series Servo Drive Family, continued

17D System The following illustration shows a typical 17D system configuration.
Configuration
Diagram

21
Overview of Usability Features

Digital Control The 17D drive provides complete digital control of a brushless servo system. This
includes:

l A digital field-oriented current controller operating at an update rate of 62.5 µs

l A fully programmable digital PI-type speed controller operating at an update
rate of 250 µs
l If required by user application, an integrated, digital, position controller with
configurable trajectory generation operating at an update rate of 250 µs is also
available. Up to 180 independent motion tasks can be configured and stored in
the drive depending upon the application requirements.
l An integral step/direction input is provided for use with an external indexer
which allows the 17D drive and the applicable BPH motor to be used as a
stepper motor/drive replacement.
l Full digital evaluation of motor position feedback (primary feedback) from either
a standard two-pole resolver or a high precision Sin-Cos type encoder
(hiperface).
l Full digital emulation of either a standard incremental encoder or a SSI
encoder is also available from position information derived from the primary
feedback device. The drive may also be configured as a slave to follow a
master incremental encoder with a programmable gear ratio.

Continued on next page

22
Overview of Usability Features, continued

Usability The following features are incorporated into the 17D drive to facilitate the set-up
Enhancements and operation of the servo system:

l Two analog +/-10 V inputs can be programmed for a multitude of functions

depending upon the application. Both inputs incorporate automatic offset
compensation, dead-band limitation and slew-rate limitation.
l Two +/-10 V analog monitor outputs can be programmed to support a multitude
of internal drive control loop variables via the analog voltage output levels.
l Four fully programmable 24 V discrete inputs; two of which are typically defined
as hardware limit switches.
l Two fully programmable 24 V outputs and a separate 24 V brake output
capable of driving a maximum of 2 Amps.
l An integrated and fully isolated RS-232 connection for communication with a
PC; used to set configuration parameters and tune the system with the Unilink
configuration software.
l Integrated CANopen (default 500 kBauds), for integration into CANopen
systems and for setting parameters for several amplifiers via the PC-interface
of one amplifier
l A separate 24V bias supply input which may be connected through a UPS to
preserve system data in the event of an interruption in the AC mains supply.

23
Overview of 17D Internal Electronics

17D Internal The following block diagram illustrates the 17D internal electronics and depicts
Electronics internal interfaces for power, signal I/O, and communication.
Block Diagram

Analog1 in +
Analog1 in -

+Rb ext
+Rb int

Analog2 in +
- Rb
Analog2 in -

X9

X2

X1

X9

Continued on next page

24
Overview of 17D Internal Electronics, continued

General The Lexium 17D servo drives are available in five peak output current ratings (4.2,
Characteristics 8.4, 16.8, 28 and 56 A) that are partitioned into two groups based on the width of
the package; the 70 mm drives are rated to handle currents up to 28 A and the 120
mm wide drive is rated to handle currents up to 56 A. All Lexium drives operate with
an input voltage which may range from 208 V -10% 60 Hz, 230 V -10% 50 Hz
through 480 V +10% 50-60 Hz.

Each drive provides:

l Direct shield connection points

l Two analog setpoint inputs
l Integrated and electrically isolated RS-232 communications

Primary Power A single phase input supply may be used for commissioning and set-up and for
continuous operating with various smaller drive/motor combinations. See the
Lexium 17/ BPH motor torque speed curves for details.
Fusing (e.g. fuse cut-out) is provided by the user.

Bias Power The 17D drive requires 24 Vdc bias power from an external, electrically isolated
supply.

EMI Suppression EMI suppression for the 17D drives is integrally provided by filters on both the
primary power (EN550011, Class A, Group 1) input as well as on the 24 Vdc bias
supply (Class A) input.

Continued on next page

25
Overview of 17D Internal Electronics, continued

Internal Power The Internal power section of the 17D drive includes the following:
Section
l Power input: A rectifier bridge directly connected to the three-phase earthed
supply system, integral power input filter and inrush current limiting circuit.
l Motor power output: PWM current-controlled voltage source IGBT-inverter with
isolated current measurement
l Regen circuit: Dynamic distribution of Regen power between several drives on
the same DC Link circuit. An internal Regen resistor is standard; external
Regen resistors are available as required by your application.
l DC Link voltage: 300...700 V dc, nominal (900 Vdc, intermittent) and can be
operated in parallel.

DC Link If the servo drive has been stored for longer than one year, then the DC Link
Capacitor capacitors will have to be reconditioned as follows:
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 about 30 minutes to recondition the
capacitors.

Integrated Safe The 17D drive ensures safe electrical separation (in accordance with EN 50178)
Electrical between the power input/motor connections and the signal electronics through the
Separation use of appropriate insulation-creepage distances and electrical isolation. The drive
also provides soft-start characteristics, overvoltage and overtemperature detection,
short-circuit protection and input phase-failure monitoring. When using BPH series
servo motors in conjunction with Schneider’s pre-assembled cables, the drive also
monitors the servo motor for overtemperature.

Continued on next page

26
Overview of 17D Internal Electronics, continued

LED display A three-character LED display on the front of the 17D drive indicates drive status
after the 24 Vdc bias supply is turned on. If applicable during operation, error and/
or warning codes are displayed.

27
Overview of System Software

Setup Configuration software is used for setting up and storing the operating parameters
for the Lexium 17D series drives. The drive is commissioned with the assistance of
the UniLink software and, during this process, the drive can be controlled directly
through this software.

Setting You must adapt the servo drives to the requirements of your installation. This is
Parameters usually accomplished by connecting a PC (programming unit) to the drive’s RS-232
serial interface then running the Schneider-supplied UniLink configuration software.

The UniLink software and the associated documentation are provided on a CD-
ROM. Use the UniLink software to alter parameters; you can instantly observe the
effect on the drive because there is a continuous (online) connection to the drive. In
addition, actual values are simultaneously received from the drive and displayed on
the PC monitor.

Automatic Card Any interface modules (expansion cards) that may be built into the drive or that you
Recognition install are automatically recognized by the drive’s internal firmware. Any additional
parameters required for position control or motion-block definition are made
available automatically in the UniLink configuration software.

Default Settings Motor-specific default settings for all the reasonable combinations of drive and
servo motor are incorporated into the drive’s firmware. In most applications, you will
be able to use these default values to get your drive running without any problems.
(Refer to the UniLink online help for additional information on default values.)

28
Overview of System Software, continued

UniLink The minimum PC system requirements needed for the UniLink commissioning
Commissioning software are specified in the following table:
Software
Item Minimum Requirement
Operating System Windows 95
Windows 98
Windows NT 4.0
Hardware:
Processor 486 or higher
Graphics adapter VGA
RAM 8 Mbytes
Hard drive space 5 Mbytes available
Communications One RS-232 Serial Port

29
30
 Mounting and Physical
Dimensions
3
At a Glance

What’s in this This chapter provides information on the mounting requirements for, and physical
Chapter dimensions of, the Lexium 17D series servo drives and includes the following
topics:

Topic Page
Installation safety precautions 32
Installation considerations 34
Drive mounting and physical dimensions 35
External Regen resistor mounting and dimensions 37
Choke mounting and dimensions 38

31
Installation Safety Precautions

CAUTION!

MECHANICAL STRESS

Protect the drive from physical impact during transport and handling. In particular,
do not deform any exterior surfaces; doing so may damage internal components or
alter critical insulation distances.

Failure to observe this precaution can result in injury or equipment damage.

CAUTION!

ELECTRICAL STRESS

At the installation site, ensure the maximum permissible rated voltage at the Mains
and bias input connectors on the drive are not exceeded. (See EN 60204-1,
Section 4.3.1.) Excessive voltages on these terminals can result in destruction of
the Regen circuit and/or the drive’s electronics.

Failure to observe this precaution can result in injury or equipment damage.

CAUTION!

ELECTRICAL CONNECTIONS

Never disconnect the electrical connections to the servo drive while power is
applied.

Failure to observe this precaution can result in injury or equipment damage.

Continued on next page

32
Installation Safety Precautions, continued

CAUTION!

CONTAMINATION AND THERMAL HAZARD

Ensure the 17D drive is mounted within an appropriately vented and closed
switchgear cabinet that is free of conductive and corrosive contaminants. Ensure
the ventilation clearances above and below the drive conform to requirements.
(Refer to Chapter 3 for additional information.)

Failure to observe this precaution can result in injury or equipment damage.

DANGER!

ELECTRIC SHOCK HAZARD

Residual voltages on the DC link capacitors can remain at dangerous levels for up
to five minutes after switching off the mains supply voltage. Therefore, measure the
voltage on the DC Link (+DC/-DC) and wait until the voltage has fallen below 40 V.

Control and power connections can still be energized, even when the motor is not
rotating.

Failure to observe these instructions will result in death or serious injury.

33
Installation Considerations

Power Supply You are responsible for providing overcurrent protection (via circuit breakers and/or
Overcurrent fuses) for the Vac mains supply and the 24 Vdc bias supply that are connected to
Protection the drive.

Earth Ensure the drive and associated servo motor are properly connected to earth.
Connections

Cable Separation Route power and control (signal) cables separately. Schneider recommends a
separation of at least 20 cm. This degree of separation improves the performance
of the system. If a servo motor power cable includes wires for brake control, those
wires have a separate shield which must be connected to earth at both ends of the
cable.

Air Flow Ensure that there is an adequate flow of cool, filtered air into the bottom of the
switchgear cabinet containing the drive.

34
Drive Mounting and Physical Dimensions

17D Height, The following diagram shows height, width and depth dimensions for the 17D drive.
Width and Depth
Dimensions

Continued on next page

35
Drive Mounting and Physical Dimensions, continued

17D Drive and The following diagram shows depth dimensions and mounting area requirements
Mounting Area for the 17D drive.
Dimensions

36
External Regen Resistor Mounting and Physical Dimensions

External Regen The following diagram shows the dimensions for all three external Regen resistor
Resistor assemblies.
Assembly
Dimensions

37
Motor Choke Mounting and Dimensions

Motor Choke The following diagram shows the dimensions for the motor choke assembly.
Assembly
Dimensions

38
 Wiring and I/O

4
At a Glance

Introduction This chapter describes and illustrates all power wiring connections, all signal wiring
connections, and I/O wiring connections on the 17D drive. Power and signal wiring
connections are:

l AC mains power through a four-position, plug-in, terminal block connector

l Bias power through four-position, plug-in, terminal block connector
l Serial power connections among multiple drives
l Servo motor power through a six-position, plug-in, terminal block connector
l Optional Regen power resistor through a four-position, plug-in, terminal
block connector
l Resolver feedback input through a nine-pin, plug-in, Sub-D connector
l Encoder feedback input through a 15-pin, plug-in, Sub-D connector
l Auxiliary encoder/command interface through a nine-pin, plug-in, Sub-D
connector
l Master-Slave drive interface through a nine-pin, plug-in, Sub-D connector
l Analog/digital I/O through an 18-position, plug-in terminal block connector
l Serial communications interface through a nine-pin, plug-in, Sub-D
connector
l Stepper-motor control interface through an nine-pin, plug-in, Sub-D
connector

Continued on next page

39
At a Glance, continued

What’s in this This chapter contains the following topics.

Chapter
Topic Page
Wiring and I/O initial considerations 41
Wiring overview 42
Cable shield connections 45
Power wiring 47
Signal wiring 55
Analog I/O connections 63
Fault Relay and Digital I/O connections 65
Serial communications connections 67
Stepper-motor control interface connections 70

40
Wiring and I/O Initial Considerations

Initial Some descriptions and illustrations contained in this chapter are provided as
Considerations examples. Actual implementation depends on the application of the equipment;
thus, appropriate variations are allowed provided they neither violate any safety
precautions nor jeopardize the integrity of the equipment.

DANGER!

ELECTRIC SHOCK HAZARD

Before you wire and connect cables, ensure the mains power supply, the 24 Vdc
bias power supply and the power supplies to any other connected equipment, are
OFF. Ensure any cabinet to be accessed is first electrically disconnected, secured
with a lock-out and tagged with warning signs.

Failure to observe these safety instructions will result in death or serious

injury.

Grounding Ensure the drive mounting plate, servo motor housing and Analog Com for the
controls are connected to common panel earth ground point.

Continued on next page

41
Wiring Overview

Overview of 17D The following diagram shows the wiring connections for the 17D drive.
Wiring
Connections
CAUTION:
Do not connect a Modbus serial port to the X6 connector!
Pin1 carries +8 Vdc which would be shorted out by a Modbus cable.
Instead, use a standard 3-core null-modem cable (not a null-modem link cable) with only
pins 2, 3 and 5 wired.
Failure to observe this precaution can result in equipment damage.

Note: The connectors described above appear in many wiring diagrams throughout
the remainder of this document and are identified in those diagrams by their
alphanumeric designations only (for example, X4); the term connector is excluded.

Continued on next page

42
 Connection diagram for LEXIUM 17 D

Reference Safety Instructions

and Use As Directed! thermal control X1 4 +/-10V speed
included Analog 1in + setpoint1
high 5 referenced to GND
15 resolution Analog 1 in -
Sine-Cosine single / 1
Encoder Analog Com GND
multiturn 6
Analog 2 in + +/-10V speed
7 setpoint2
Analog 2 in - referenced to GND
thermal control X2 8
included Analog Out 1 Analog 1
10
8 Analog Com GND
Resolver Resolver 9 Analog 2
Analog Out 2

X3 GND
18
I/O Com I/O-GND
U2 6 U X9 +24V referenced
V2 5 V to 0V/GND
13
W 4 Input 3
W 14
M PE 3 P Input 4
11
Input 1
B+ 2 12
Brake+ Input 2
B- 1 Brake- 15
Enable
Remove jumper if external X8
regen resistor is connected 2 +RBint 16
FB1 Output 1 Digital1
1 -RB
17
Regeneration 3 +RBext Output 2 Digital2
resistor FB2 4 n.c. 2
Fault RA
Safety
3
Fault RB circuit
FN 1 X0A
L1 X5 encoder-
FN 2 ROD evaluation,
L2 SSI
FN 3 stepper motor control,
L3 slave/master
4 Ma./SI.
PE Pulse amplifier
3
X6 CAN
1 X4 Can-Master
2 +24 Vdc
3
4 24 Vdc Com COM1/COM2
PC
3
X0B X7 PE-connection (protective earth)
supply unit
Master 24Vdc earth connection (panel)
L1 L2 L3 PE DC+ DC- DC+DC-
contactor shield connection via plug
1 2 3 4 1 2 3 4
FH
H1 shield connection at the front panel

shielding if cable
is longer than 20cm
PE L1 L2 L3 to other amplifiers

43
 Pin assignments for LEXIUM 17 D
X6 PC/CAN X5 ROD/SSI X2 RESOLVER X1 ENCODER
pulse-direction
master-slave

5 DATA(+485)
5 A+ (/CLK)

3 B+ (COS)
1 Reserved

2 0V(GND)
4 A- (CLK)

1 A+ (SIN)
4 Up (8V)
5 PGND

1 Shield
1 Pcom

8 Clock
4 N.C.

6 N.C.
2 RxD
3 TxD

2 M+

5 R1
4 S2
3 S3
3 M-

2V

7V
CANL 6
7
8
CANH 9

B+ (DATA) 6

0V SENSE 10
B- (/DATA) 7
Reserved 8
N.C. 9

R2 9
S4 8
S1 7
V6

Clock 15
V 14
DATA (-485) 13
Up SENSE 12
B- (REFCOS) 11

A- (REFSIN) 9
X3
Analog Com 1
Fault Ra 2 View: looking at the
Fault Rb 3 face of the built-in
Analog 1 In+ 4
Analog 1 In- 5 connectors
Analog 2 In+ 6
Analog 2 In- 7
Analog Out 1 8
Analog Out 2 9
Analog Com 10
Input 1 11
Input 2 12
Input 3 13
Input 4 14
Enable 15
Output 1 16 e
Output 2 17 rak
to r /b

U2
I/O Com 18 mo V2
X9
W2
e+

6
X4
PE

5
EN
e-
ak

EG
ak
Br

+24Vdc 1
8R
3
Br

+24Vdc 2
2

X
+R EXT

+24Vdc Com 3
.
n.c
t

+24Vdc Com 4
Bin
+R

B
X0
4
B

3
-R
PE

2
1
L3

Coding
4
L2
3
L1

it
2

rcu
-ci
1

D C
X7
4
3
C

A
2

X0
C
-
1

D
C
+
L3 4

-D
C
3

+D
P E
2
1

L2
L1

Continued on next page

44
Cable Shield Connections

Connecting The following procedure and associated diagram describe how to connect cable
Cable Shields to shields to the front panel of the 17D drive:
the Front Panel
Step Action
1 Remove a length of the cable’s outer covering and braided shield sufficient to
expose the required length of wires.
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 damaged during the process.
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 against the shielding rail.

Continued on next page

45
Cable Shield Connections, continued

Cable Shield The following diagram shows the cable shield connections at the front of the 17D
Connection drive.
Diagram

46
Power Wiring

AC Mains Power The following diagram shows the connections for the AC mains power supply input
Supply to the 17D drive.
Connection

*3 x 230 V +10% max. with a BPH055 Servo motor

Bias Supply The following diagram shows the connections for the bias power supply input to the
Connection 17D drive.

Continued on next page

47
Power Wiring, continued

Serial Power The following diagram shows the serial connections for the AC mains and bias
Connections power among multiple 17D drives.

AC supply
Lexium 17D Lexium 17D Lexium 17D
X4 X4 X4
+24 +24 +24
~ +24 +24 +24
= COM COM COM
COM COM COM
X0A X0B X0A X0B X0A X0B
L1 L1 L1 L1 L1 L1 L1
L2 L2 L2 L2 L2 L2 L2 To
L3 L3 L3 L3 L3 L3 L3 Next
PE PE PE PE PE PE Drive

X7 X7 X7
+DC +DC +DC
-DC -DC -DC
+DC +DC +DC
-DC -DC -DC

DC supply
POWER 24 Vdc Lexium 17D Lexium 17D
SUPPLY Power Supply X4 X4
+24 +24
+24 +24
COM COM
COM COM
X0A X0B X0A X0B
L1 L1 L1 L1
L2 L2 L2 L2 NC To
NC NC
L3 L3 L3 L3 Next
PE PE PE PE Drive

1 X7 X7
+DC +DC +DC
2 -DC -DC
-DC
Fuse +DC +DC
-DC -DC
1 Max fuse: 20 A
2 schielded if length > 20 cm

Notes: -Inrush current must be limited to 20 A between power supply and drives.
- Drives have to be configured (see Unilink commands) to suppress faults.

Continued on next page

48
Power Wiring, continued

External Regen The following diagram shows the connections between the external Regen resistor
Resistor and the 17D drive. The drive is shipped with a jumper installed on connector X8,
Connection terminals RB and RBint. If you are going to use an external Regen resistor, then
remove the jumper to disconnect (and thus disable) the internal Regen resistor
Fusing of the two lines to external Regen Resistor is mandatory.
Use high voltage AC/DC and fast fuses..

Regen Circuit During braking, energy from the servo motor is returned to the drive and converted
Functional into heat in the Regen resistor. Operation of the Regen resistor is controlled by the
Description Regen circuit using thresholds that are adjusted to the main supply voltage that is
configured in the UniLink software. The following is an abbreviated functional
description of the Regen circuit operation.

l Individual drive (not coupled through the DC Link circuit) - The circuit starts to
respond at a DC Link voltage of 400V, 720V or 840V (depending on the supply
voltage). If the energy fed back from the servo motor is higher than the preset
Regen power, then the drive issues a "Regen power exceeded" signal and the
Regen circuit will be switched off. Upon the next internal check of the DC Link
voltage, an overvoltage will be detected, the fault relay contact will be opened
and the drive will be switched off with the error message "Overvoltage".
l Multiple drives (coupled through the DC Link circuit) - In this case, the Regen
energy is distributed equally among all the drives.

Continued on next page

49
Power Wiring, continued

Lexium BPH The following diagrams show the connections between a servo motor (excluded
Servo Motor BPH055) and the 17D drive. When the interface cable length exceeds 25 m, a
Connection motor choke must be installed as shown and at a distance of one meter or less from
(excluded the drive.
BPH055)

Continued on next page

50
Lexium BPH 055 The following diagrams show the connections between a BPH055 servo motor and
Servo Motor the 17D drive. When the interface cable length exceeds 25 m, a motor choke must
Connection be installed as shown and at a distance of one meter or less from the drive.

WARNING!

With a BPH055 Servo motor, power supply of the 17D drive must be limited to
3 x 230 Vac +10%

51
Power Wiring, continued

Servo Motor The following diagram shows the connections between a servo motor and the 17D
(with Optional drive when the optional dynamic brake rersistors and associated contactor are
Dynamic Brake incorporated.
Resistors and
Contactor)
Connection

10

Continued on next page

52
Power Wiring, continued

Servo Motor A 24V holding brake in the servo motor is controlled directly by the 17D drive
Holding-Brake through software-selectable BRAKE parameter settings. The time and functional
Control relationships between the ENABLE signal, speed setpoint, speed and braking force
Functional are shown in the following diagram.
Description
.

During the fixed ENABLE delay time of 100 ms, the speed setpoint of the drive is
internally driven down a 10 ms ramp to 0 V. The 3 % region of actual speed is
scaled to VLIM.

Note: The set and release times of the holding brake vary with the servo motor and
thus must be considered when setting parameters.

Continued on next page

53
Power Wiring, continued

WARNING!

IMPACT HAZARD

The off-the-shelf configuration of the holding-brake function does not ensure the
safety of personnel. In order to make this function safe for personnel, a normally-
open contact and a user-installed suppressor device (varistor) must be
incorporated into the brake circuit as shown in the following diagram.

Failure to observe this precaution can result in severe injury or equipment

damage.

54
Signal Wiring

Lexium BPH The following diagram shows the connections between the resolver and the 17D
Resolver drive.
Connection
(excluded Note: The standard Lexium BPH series servo motors are equipped with two-pole,
BPH055) integral resolvers. The thermistor contact in the servo motor is connected via the
resolver cable to the 17D drive.

Continued on next page

55
Signal Wiring, continued

Lexium BPH055 The following diagram shows the encoder input connections between the encoder
Resolver and the 17D drive.
Connection
Note: The BPH055 servo motors are equipped with two-pole, integral resolvers.
The thermistor contact in the servo motor is connected via the resolver cable to the
17D drive..

1
8 2
9
7 3
6 4
5

BPH055

Continued on next page

56
Signal Wiring, continued

Encoder Input The following diagram shows the encoder input connections between the encoder
Connection and the 17D drive.

Note: The BPH series servo motors can be optionally fitted with a single-turn or
multi-turn sine-cosine encoder, which is used by the 17D positioning or extremely
smooth running. In addition, the thermistor contact in the servo motor is connected
via the encoder cable to the 17D drive.

HIPERFACE

Continued on next page

57
Signal Wiring, continued

Incremental The following diagram shows the incremental encoder output connections between
Encoder Output the 17D drive and the motion controller.
Connection
Note: The drivers are supplied from an internal supply voltage.
PCom must always be connected to the controller ground.
Use a cable with twisted pairs and shield.

Lexium 17D Motion Controller

X5
5 A+
RS-485
4 Chan A
RS-485 A-

2 M+
RS-485
3 Marker
RS-485 M-
8 Reserved
= 5V 1 PCom
= Gnd
6 B+
RS-485
7 Chan B
RS-485 B-

Incremental The position of the servo motor shaft is calculated using the cylic-absolute signals
Encoder Output from the resolver or encoder. The calculated position information is used to
Functional generate two incremental-encoder compatible signals (A and B) with a 90° phase
Description difference and a marker pulse.

Continued on next page

58
Signal Wiring, continued

SSI Encoder The following diagram shows the connections between a motion controller and the
Output 17D drive.
Connection
Note: The drivers are supplied from an internal supply voltage. PCom must always
be connected to the controller ground.
.

Lexium 17D X5 Motion Controller

6 Data
RS-485 Data
7
RS-485
8 Data
= Nc
5V 1 PCom
= Gnd
4 Clock
RS-485 Clock
5
RS-485
Clock

SSI Encoder The SSI interface is synchronous serial absolute-encoder emulation. The position
Output of the servo motor shaft is calculated using the cyclic-absolute signals from the
Functional resolver or encoder. This calculation is then used to generate a synchronous,
Description serial, cyclic-absolute 12-bit information output that is compatible with the data
format of normal commercial SSI absolute encoders. A total of 24 bits are
transmitted as follows:

l The upper 12 bits are fixed at zero.

l The lower 12 bits contain the cyclic absolute position information.
The interface is read in as a multi-turn encoder, but delivers valid single-turn data.
The signal sequence can be output in either:

l Gray code (standard)

l Binary code (parameter SSI-CODE)
The count increments positively when the motor shaft is rotating clockwise (when
viewed from the shaft end).

Continued on next page

59
Signal Wiring, continued

Auxiliary l Master-slave Operation of Drives Diagram: The encoder interface can be

Encoder used to link one or more 17D drives together in a master-slave operation, as
Interface shown in the following diagram. Up to 16 slave drives can be controlled by a
designated master drive via the encoder output. The UniLink software allows
you to setup the parameters for the slave drive(s) and to adjust the gear ratio
(number of pulses/turn).
Note: In this configuration, the analog setpoint inputs are disabled and Analog Com
and I/O Com (connector X3) must be connected.

60
l Incremental-Encoder Input Connection. The following diagram shows the
incremental encoder input connections between the 17 drive and an external
incremental encoder.
Note: The receivers are supplied from an internal supply voltage.
PCom must always be connected to the encoder ground.
Incremental encoder is powered by an external Power Supply.

Lexium 17 X5 Incremental encoder

5 A+
Chan A RS-485
4
RS-485 A-

2 M+
Marker RS-485
3
RS-485 M-
8
= Reserved
5V 1 PCom
= Gnd
6 B+
Chan B RS-485
7
RS-485 B-

+
Vdc
Power
Supply Gnd

61
 l SSI Encoder Input Connection: The following diagram shows the
connections between an external SSI encoder and the 17 drive.
Note: The drivers are supplied from an internal supply voltage.
PCom must always be connected to the encoder ground.
SSI encoder is powered by an external Power Supply

Lexium 17 X5 SSI encoder

6 Data
RS-485
7
RS-485
8 Data
= Reserved
5V 1 PCom
= Gnd
4 Clock
RS-485
5
RS-485
Clock

+
Vdc
Power
Supply Gnd

62
Analog I/O Connection

Analog Inputs The following diagram shows the connections between the two fully programmable,
differential analog inputs on the 17D drive and a user device. (Refer to the list of
pre-programmed functions contained in the UniLink online help.)

Note: The Analog Com must always be connected to the user device Com as a
ground reference.

Servo Motor The standard setting for direction of positive rotation of the servo motor shaft is
Rotation clockwise (looking at the shaft end) and is achieved as follows:
Direction
l Positive voltage on connector X3, between terminals 4 (+) and 5 (-), or
l Positive voltage on connector X3, between terminals 6 (+) and 7 (-)
To reverse the direction of rotation, change the ROT. DIRECTION parameter in the
"Speed controller" window; this window is accessed via the UniLink Configuration
software.

Continued on next page

63
Analog I/O Connection, continued

Analog Outputs The following diagram shows the connections between the two programmable,
analog outputs on the 17D drive and a typical user device. (Refer to the list of pre-
programmed functions in the UniLink online help.)

The outputs (+/-10V with 10-bit resolution) can be configured for various monitoring
functions such as current or actual speed. The default settings are:

l Analog Out 1: Tachometer voltage (speed). The output delivers ±10V at the
preset limit speed.
l Analog Out 2: Current setpoint (torque). The output delivers ± 10V at the
preset peak current (effective RMS value).

64
Fault Relay and Digital I/O Connection

Digital Inputs The following diagram shows the connections between the fault relay, the four fully-
and Outputs programmable, digital inputs, dedicated enable input and two digital outputs on the
17D drive and typical user devices. (A list of pre-programmed functions is
contained in the UniLink online help.)

100nF

25Ω

25Ω

Continued on next page

65
Fault Relay and Digital I/O Connection, continued

Using Functions Fault Relay- The isolated fault relay contacts are closed during normal operation
Pre-programmed and open when a fault condition exists. The relay state is not affected by the enable
into the Drive signal, I2t limit or warnings. All faults cause the Fault RA/RB contact to open and
the switch-off of the output stage. A list of error messages can be found in chapter
Troubleshooting.

Digital Inputs 1, 2, 3 and 4 - You can use the four digital inputs to initiate pre-
programmed functions that are stored in the drive.

Digital Outputs 1 and 2 - You can use the two digital outputs to send messages
from pre-programmed functions that are stored in the drive.

Enable Input - This is a dedicated, level-sensitive (as opposed to edge-sensitive)

hardware input which will enable the output stage of the drive when 24 Vdc is
applied and no fault conditions exist.

Note: The hardware enable is powered up upon detection of state sense versus
transition sensitivity. Refer to the UniLink on-line help for software enable
information.

66
Serial Communications Connection

Serial The following diagram depicts the RS-232 communication connection between the
Communications Lexium 17D and a PC.
Connection
Diagram

Pcom

See wiring in Appendix D

The setting of the operating, position control, and motion-block parameters can be
carried out with an ordinary commercial PC.

Connect the PC interface (X6) of the servo amplifier while the supply to the
equipment is switched off via a normal commercial 3-core cable to a serial
interface on the PC. Do not use a null-modem link cable!

The interface is electrically isolated through an optocoupler, and is at the same

potential as the CANopen interface.

67
CANopen The interface for connection to the CAN bus (default 500 kBaud). The integrated
Interface profile is based on the communication profile CANopen DS301 and the drive profile
DSP402.

The following functions are available in connection with the integrated position
controller:
Jogging with variable speed, reference traverse (zeroing), start motion task, start
direct task, digital setpoint provision, data transmission functions and many others.

Detailed information can be found in the CANopen manual. The interface is

electrically isolated by optocouplers, and is at the same potential as the RS232
interface. The analog setpoint inputs can still be used.

If the analog setpoint inputs are not used, then Analog Com and I/O Com
(terminal X3) must be joined together !

X3
Lexium 17D 10 Analog Com (when analog
18 setpoints are not CAN-Server/Client
I/O Com in use)
9 CANH
120Ω* 120Ω*
6 CANL CAN
CAN
+5 5 PGND
=
=
PGND * according to line impedance
CAN ref. to ISO 11898

68
CAN bus cable To meet ISO 11898 you should use a bus cable with a characteristic impedance of
120 Ω. The maximum usable cable length for reliable communication decreases
with increasing transmission speed. As a guide, you can use the following values
which we have measured, but they are not to be taken as assured limits:

Cable data: Characteristic impedance 100-120Ω

Cable capacitance max. 60 nF/km
Lead resistance (loop) 159.8 Ω/km

Cable length, depending on the transmission rate

Transmission rate (kBauds) max. cable lenght (m)
1000 20
500 70
250 115

Lower cable capacitance (max. 30 nF/km) and lower lead resistance (loop,
115 Ω/km) make it possible to achieve greater distances.
(Characteristic impedance 150 ± 5Ω =:> terminating resistor 150 ± 5Ω).

For EMC reasons, the SubD connector housing must fulfill the following conditions:

l metal or metallized housing

l shield connection to housing.

X6 X6 X6 X6

6 1 CANL 6 1 6 1 CANL 6 1
* *
CANH CANH
9 5 PGND 9 5 9 5 PGND 9 5

Shield Shield
* according to line impedance about 120Ω

69
Stepper Motor Control Interface Connection

Stepper-Motor This interface can be used to connect the servo drive to a third-party stepper motor
Control Interface controller. The parameters for the drive are set using the UniLink software and the
Connection number of steps are adjustable to allow the drive to correlate to the step-direction
Functional signals of any stepper-motor controller. In this configuration, the analog inputs are
Description disabled and the drive can provide various monitoring signals.

Stepper-Motor The following diagram depicts the communication connection between the Lexium
Control Interface 17D and a stepper-motor controller.
Connection
Diagram

Continued on next page

70
Stepper Motor Control Interface Connection, continued

Stepper-Motor The following is the speed profile and signal diagram of the stepper-motor
Speed Profile configuration.
and Signal
Diagram

71
72
 System Operation
5

At a Glance

What’s in this This chapter provides information on operating the Lexium 17D series servo drives
Chapter and includes the following topics:

Topic Page
Powering up and powering down the system 72
Procedure for verifying system operation 75
Front panel controls and indicators 78

890 USE 120 00 71

Chapter 5 System Operation

Powering Up and Powering Down the System

Power-on and The following diagram illustrates the functional sequence that occurs when the
Power-off drive is turned on and off.
Characteristics

72 890 USE 120 00

 Chapter 5 System Operation

Powering Up and Powering Down the System, continued

Stop Function If a fault occurs the output stage of the servo amplifier is switched off and the
Fault RA/RB contact is opened. In addition, a global error signal can be given out at
one of the digital outputs (terminals X3/16 and X3/17). These signals can be used
by the higher-level control to finish the current PLC cycle or to shut down the drive
(with additional brake or similar.).
Instruments which are equipped with a selected "Brake" function use a special
sequence for switching off the output stage.

The Stop functions are defined in EN 60204 (VDE 0113), Para. 9.2.2, 9.2.5.3.

There are three categories of Stop functions:

l Category 0: Shut down by immediately switching off the supply of energy to the
drive machinery (i.e an uncontrolled shut-down);
l Category 1: A controlled shut-down, during which the supply of energy to the
drive machinery is maintained to perform the shut-down, and where the energy
supply is only interrupted when the shut-down has been completed;
l Category 2: A controlled shut-down, where the supply of energy to the drive
machinery is maintained.
Every machine must be equipped with a Stop function to Category 0. Stop
functions to Categories I and/or 2 must be provided if the safety or functional
requirements of the machine make this necessary.

Emergency Stop The Emergency Stop function is defined in EN 60204 (VDE 0113), Para. 9.2.5.4.
strategies
Implementation of the Emergency Stop function:

l Category 0: The controller is switched to "disable", the electrical supply

(400VAC) is disconnected.
The motor must be held by an electromagnetic holding device (brake).
In multiaxis systems with connected DC-link bus (intermediate circuit) the
motor leads have to be disconnected by a changeover switch and short-
circuited by resistors connected in a star configuration.
l Category 1: If hazardous conditions can result from an emergency stop switch-
off with an unbraked run-down, then the drive can be switched off by a
controlled shut-down.
Stop Category 1 permits electromotive braking with a switch-off when zero
speed has been reached. Safe shut-down can be achieved, when the loss of
the mains supply is not rated as a fault and the control takes over the disabling
of the servo amplifier.
In the normal situation, only the supply power is switched off in a safe manner.
The 24V auxiliary supply remains switched on.

890 USE 120 00 73

Chapter 5 System Operation

Powering Up and Powering Down the System, continued

Wiring example Stop and Emergency Stop function (Category 0)

L1
L2
L3
PE

K10

XOA
3 2 1 K20

LEXIUM 17 X9
24 Vdc Com 1 Brake-

2 Brake+
24 Vdc
Gnd
3 (Green)

4 W2 Servo
Motor
5 V2

6 U2
Enable

X3 15 2 3 RB RB
K10 Fault RA/RB

K11 K30
+24Vdc
F
Emergency-Off

ON OFF
K10 K10

K11 K30 K11

K30 K10 K20 K11 is normally closed

(no fault of equipement)
+24Vdc Com

74 890 USE 120 00

 Chapter 5 System Operation

Procedure for Verifying System Operation

Overview The following procedure and associated information verifies operation of the
system without creating a hazard to personnel or jeopardizing the equipment. This
procedure presumes the drive has been configured with UniLink software in
OpMode 1 as a speed controller with analog input command.

Note: Default parameters for each Schneider Lexium BPH series motor are loaded
into your drive at the factory and contain valid and safe values for the current and
speed controllers. A database for the servo motor parameters is stored in the drive.
During commissioning, you must select the data set for the connected servo motor
and store it in the drive. For most applications, these settings will provide good
servo loop efficiency. For a description of all parameters and motor tuning, see the
UniLink online help.

Quick Tuning This procedure will enable you to rapidly assess the operational readiness of the
Procedure system.

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 shown in the LED display.
5 Switch on the PC, start the UniLink software and select the serial
communication port to which the drive is connected. (The parameters that
are stored in the SRAM of the drive are transferred to the PC.)

Continued on next page

890 USE 120 00 75

Chapter 5 System Operation

Procedure for Verifying System Operation, continued

Quick Tuning
Procedure,
continued Step Activity
6 Use the UniLink software to check/establish the following:

l Drive Parameters - Set/restore the drive parameters to the factory

default values
l Supply voltage - Set the supply voltage to the actual mains supply
voltage
l Servo Motor - Select the applicable BPH servo motor.
l Feedback - Ensure the feedback matches the feedback unit in the
servo motor
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 Apply 0V to the analog command input on connector X3, terminals 4 and 5
or 6 and 7.
9 Turn on the AC mains power supply.
10 Enable 24 Vdc on connector X3, terminal 15. Observe that 500 ms after
the power supply was switched on, the servo motor is motionless with a
standstill torque of M0.
11 Apply a small analog setpoint of about 0.5V (recommended) to connector
X3, terminals 4 and 5 or 6 and 7. If the servo motor oscillates, the Kp
parameter in the "speed controller" menu page must be reduced.

76 890 USE 120 00

 Chapter 5 System Operation

Procedure for Verifying System Operation, continued

Parameter A default parameter set is loaded into your servo amplifier by the manufacturer.
setting This contains valid and safe parameters for the current and speed controllers.

A database for motor parameters is stored in the servo amplifier. During

commissioning you must select the data set for the motor that is connected and
store it in the servo amplifier. For most applications these settings will already
provide good control loop characteristics.

An exact description of all parameters and the possibilities for optimizing the control
loop characteristics can be found in the help of Unilink.

Multi-axis You can connect servo amplifiers together and to your PC:
system

PC X6 X6 X6 X6
PC/ CAN CAN CAN
CAN
RS232

Adr. Adr. Adr. Adr. Adr.

: : : : :
01 02 03 04 n
COMx Baud rate identical for all amplifiers
RS232

With the PC connected to just one servo amplifier you can now use the setup
software to select all amplifiers throught the preset station addresses and set up
the parameters.

890 USE 120 00 77

Chapter 5 System Operation

Front Panel Controls and Indicators

Keypad The keypad is reserved for use with the factory-installed SERCOS expansion card.
Operation

LED Display The alphanumeric display indicates drive power status conditions, error codes and
warning codes. The power status conditions are shown below; error and warning
codes are described in the pages that follow.

78 890 USE 120 00

 Troubleshooting

6
At a Glance

What’s in this This chapter provides information on correcting problems with the drive and
Chapter contains the following topics:

Topic Page
Warning messages 80
Error messages 81
Troubleshooting 85

79
Warning Messages

Warning A warning is generated when a non-fatal fault occurs. Non-fatal faults allow the
Identification drive to remain enabled and the fault relay contact to remain closed. Either of the
and Description programmable digital outputs can be programmed to indicate that a warning
condition has been detected. The cause of the warning is presented as an
alphanumeric code on the drive’s front panel LED display; these warning codes are
identified and described in the following table.

Warning Designation Explanation

Code
n01 I²t warning Current threshold set by “I²t 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”
parameter.
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 Motion task started with no “Home” reference point
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 Reserved Reserved
n14 HIPERFACE®-reference Attempt to reset while HIPERFACE®-reference
mode 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

80
Error Messages

Error Errors are generated when a fatal fault occurs. Fatal faults cause the drive to be
Identification disabled, the brake (if installed) to be activated and the fault relay contacts to open.
and Description Either of the programmable digital outputs can also be programmed to indicate that
an error has been detected. The cause of the error is presented as an
alphanumeric code on the drive’s front panel LED display; these error codes are
identified and described in the following table.

Error Error (Fault) Possible Cause/Corrective Action

Code
F01 Drive heat sink - Improve ventilation.
overtemperature.
- Reduce motion profile duty cycle.
F02 DC link voltage limit - Check Parameter “Mains Supply Voltage” for correct
exceeded. 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 - Increase Irms or Ipeak (keep within motor operating
exceeded. range).

- SW ramp parameters set too large.

F04 Feedback signals missing - Defective feedback device.
or incorrect.
- Check for correct device type selected in “Feedback
Type” parameter.

- Check feedback cable and connections.

F05 DC-link voltage less then Supply voltage not present or too low when drive was
factory preset (100V). enabled. Only enable the drive when the mains supply
voltage has been on longer than 500 ms.

Continued on next page

81
Error Messages, continued

Error
Identification
and Description, Error Error (Fault) Possible Cause/Corrective Action
continued Code
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 - Feedback parameters not set correctly.
exceeded.
- Incorrect feedback wiring.

- Motor phases reversed.

- Check Parameter “Overspeed” for correct setting.

F09 EEPROM checksum error. Return drive to manufacturer.
F10 Flash-EPROM checksum Return drive to manufacturer.
error.
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 - Improve ventilation.
exceeded.
- Reduce motion profile duty cycle.

Continued on next page

82
Error Messages, continued

Error
Identification
and Description, Error Error (Fault) Possible Cause/Corrective Action
continued Code
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 I²t maximum value - Irms or Ipeak set incorrectly.
exceeded.
- Reduce motion profile duty cycle.
F16 Mains supply missing two - Check mains fuses.
or three phases.
- Check mains wiring and connections on drive.
F17 A/D converter error. Return drive to manufacturer
F18 Regen circuit faulty or - Check jumper on X8 if using internal regen resitor.
incorrect setting.
- Check wiring of external regen resistor if used.

- Check fuses of external regen resistor.

F19 Mains supply missing one - For single phase operation, set “Phase Missing”
phase. 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 CAN Bus off CAN Bus total communication error
F24 Reserved Reserved
F25 Commutation error Encoder system only

83
 Error Error (Fault) Possible Cause/Corrective Action
Code
F26 Reserved Reserved
F27 Reserved Reserved
F28 Reserved Reserved
F29 Reserved Reserved
F30 Reserved Reserved
F31 Reserved Reserved
F32 System error System software not responding correctly, return drive
to manufacturer.

84
Troubleshooting

Problems, The following table identifies some common system problems, their possible
Possible Causes causes and recommended corrective actions. However, the configuration of your
and Corrective installation may create other reasons, and consequently other corrections, for the
Actions problem.

Problem Possible Causes Corrective Actions

No - Wrong cable used. - Check cable.
communication
with PC - Cable plugged into wrong - Plug cable into the correct
position in drive or PC. sockets on the drive and PC.

- Wrong PC interface selected. - Select correct interface.

Motor does not - Drive not enabled. - Apply enable signal
rotate
- Break in analog input cable. - Check cable

- Motor phases swapped. - Correct motor phase sequence

- Brake not released. - Check brake control

- Motor is mechanically blocked. - Check mechanism

- Motor pole number set - Set motor pole number.

incorrectly.
- Set up feedback correctly.
- Feedback set up incorrectly.

Continued on next page

85
Troubleshooting, continued

Problems,
Possible Causes
and Corrective Problem Possible Causes Corrective Actions
Actions, Motor oscillates - Gain too high (speed controller). - Reduce Kp (speed controller).
continued
- Shielding in feedback cable has - Replace feedback cable.
a break.

- Analog Com not connected. - Connect Analog Com to

controller common.
Poor servo - Kp (speed controller) too low. - Increase Kp (speed controller).
performance
(drive too soft) - Tn (speed controller) too high. - Use motor default value for Tn
(speed controller).

- PID-T2 too high. - Reduce PID-T2.

- T-Tacho too high. - Reduce T-Tacho.

Motor runs - Kp (speed controller) too high. - Reduce Kp (speed controller).
roughly
- Tn (speed controller) too low. - Use motor default value for Tn
(speed controller).

- PID-T2 too low. - Increase PID-T2.

- T-Tacho too low. - Increase T-Tacho.

86
 Specifications

A
At a Glance

What’s in this This appendix contains the following topics.

Appendix
Topic Page
Performance specifications 88
Environmental and mechanical specifications 89
Electrical specifications 91
Wire specifications (recommended) 104

87
Performance Specifications

Performance The following table lists 17D performance specifications.

Specifications
Table PERFORMANCE
Servo updates Torque 62.5 µsec
Velocity 250 µsec
Position 250 µsec
Tuning procedure UniLink application*
* Included in AM0CSW001V•00 (CD-ROM)

88
Environmental and Mechanical Specifications

Environmental The following table provides 17D environmental specifications.

Specifications
Table ENVIRONMENTAL
Storage High temperature, +70°C maximum
non–operating
Low temperature, –25°C minimum
non–operating
Humidity Non–operating 95% RH maximum,
non-condensing
Operating 85% RH maximum,
non-condensing
Operating temperature Full power 0 ... 45°C
(ambient measured at fan inlet)
With linear derating 45 ... 55°C max
2,5% / °C
(available power: 75% of
rated output at 55°C)

Vibration (operational) 10 ... 57 Hz Sinusoidal, 0.75 mm

amplitude
57 ... 150 Hz 1.0 g
Air pressure Operating:

Full power 1000 m (90 kPa)

With linear derating 1000 ... 2500m (73kPa) max

1,5% / 100m
(available power: 75%
of rated output at
2500m)
Transport 57 kPa (4540 m)
Contaminants Pollution degree 2, as defined in EN60204/EN50178
Cooling Models: Integrated heatsink with
MHDA1004N00 internal fan.
MHDA1008N00
MHDA1017N00
MHDA1028N00
MHDA1056N00

Continued on next page

89
Environmental and Mechanical Specifications, continued

Mechanical The following table provides 17D mechanical specifications.

Specifications
Table Drive Model Number Height Width Depth Weight
MHDA1004N00 325 mm 70 mm 265 mm 2.5 kg
MHDA1008N00
MHDA1017N00
MHDA1028N00
MHDA1056N00 325 mm 120 mm 265 mm 3.0 kg

90
Electrical Specifications

What’s in this This section provides tables for the following topics.
Section
Topic Page
Electrical Specifications - Power 92
Electrical Specifications - Regen resistor 96
Electrical Specifications - Signal 97

91
Electrical Specifications - Power

Line Input The following table provides 17D line input specifications.
Specifications
Table LINE INPUT
Voltage 208 Vac -10% 60 Hz, 230 Vac -10% 50 Hz.
480 Vac +10%, 50 - 60 Hz, three-phase*
Current MHDA1004N00 1.8 A RMS**
MHDA1008N00 3.6 A RMS
MHDA1017N00 7.2 A RMS
MHDA1028N00 12 A RMS
MHDA1056N00 24 A RMS
Inrush current Internally limited
Efficiency Greater than 98%
* Read carefully “Electrical considerations”
** Single-phase operation permitted.

Continued on next page

92
Electrical Specifications - Power, continued

Bias Input The following table provides 17D bias input specifications.
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.

Note: The bias input also provides power to the optional motor brake.

External Fuse The following table provides 17D external fuse specifications.
Specifications
Table Input Type Model Number Fuse
Line MHDA1004N00 6 A, time delay
MHDA1008N00
MHDA1017N00 10 A, time delay
MHDA1028N00
MHDA1056N00 20 A, time delay
External Regen MHDA1004N00 4 A, fast acting*
MHDA1008N00
MHDA1017N00 6 A, fast acting*
MHDA1028N00
MHDA1056N00
*Two fuses in series, >= 500 V, dimensions: 10 x 38.

Continued on next page

93
Electrical Specifications - Power, continued

Motor Output The following table provides 17D motor output specifications.
Specifications
Table Parameter Type Model Number Current
Output current (RMS) Continuous MHDA1004N00* 1.5 A
MHDA1008N00 3A
MHDA1017N00 6A
MHDA1028N00 10 A
MHDA1056N00 20 A
Intermittent** MHDA1004N00 3A
MHDA1008N00 6A
MHDA1017N00 12 A
MHDA1028N00 20 A
MHDA1056N00 40 A
Switching frequency 8 kHz ± 0.1%
Cable length*** 75 m (maximum)
Maximum cable capacitance (motor 150 pF/m
phase to ground or shield)
* For single phase main connection, the output current is limited to the output
current specifed above or 4 amps, whichever is lower.
** Duration depends on settings in Unilink.
*** Cable lengths exceeding 25 m require the use of motor choke AM0FIL001V056

Note: Motors must be compatible with following table:

Motor Inductance:
Model Min (mH) Max (mH)
MHDA1004N00 16 400
MHDA1008N00 8 200
MHDA1017N00 4 100
MHDA1028N00 3.5 60
MHDA1056N00 1.5 30

Continued on next page

94
Electrical Specifications - Power, continued

Internal Power The following table provides 17D internal power dissipation at maximum continuous
Dissipation output power. This information may be useful to size the thermal capability of the
Specifications mounting cabinet.
Table
Model Number Power
MHDA1004N00 30 W
MHDA1008N00 40 W
MHDA1017N00 60 W
MHDA1028N00 90 W
MHDA1056N00 200 W

Note: These power dissipations are measured at maximum continuous power and
should be considered worst case. Often in sizing servo systems, factors such as
profile duty cycle may reduce these numbers. These values do not include power
dissipated in the Regen resistor. This is application-specific and must be calculated
separately.
Quiescent dissipation when output stage is disabled is 15 W

95
Electrical Specifications - Regen Resistor

Regen Circuit The following table provides technical data on the Regen circuit.
Specifications

Parameter Rated data Units Model Number

(prefix with MHDA10)
04N00 17N00
08N00 28N00
56N00
Supply Voltage 3 phase, Upper switch-on level of Regen circuit V 400 - 430
230 V
Switch-off level of Regen circuit V 380 - 410
Continuous power of Regen circuit (RBint) W 80 200
Continuous power of Regen circuit (RBext) kW 0.25 0.75
maximum.
Pulse power, internal (RBint max. 1s) kW 2.5 5
Pulse power, external (RBext max. 1s) kW 5
3 phase, Upper switch-on level of Regen circuit V 720 - 750
400 V
Switch-off level of Regen circuit V 680 - 710
Continuous power of Regen circuit (RBint) W 80 200
Continuous power of Regen circuit (RBext) kW 0.4 1.2
max.
Pulse power, internal (RBint max. 1s) kW 8 16
Pulse power, external (RBext max. 1s) kW 16
3 phase, Upper switch-on level of Regen circuit V 840 - 870
480 V Switch-off level of Regen circuit V 800 - 830
Continuous power of Regen circuit (RBint) W 80 200
Continuous power of Regen circuit (RBext) kW 0.5 1.5
maximum.
Pulse power, internal (RBint maximum 1s) kW 10.5 21
Pulse power, external (RBext maximum 1s) kW 21
Internal Regen resistor Ω 66 33
External Regen resistor Ω 33

96
Electrical Specifications - Signal

Motor The following table provides 17D motor overtemperature input specifications.
Overtemperature
Input MOTOR OVERTEMPERATURE INPUT
Specifications Thermistor PTC, will generate fault when resistance exceeds 290Ω ± 10%
Table (default value)*
Thermostat Closed for normal operation
*The value of the threshold is adjustable by the parameter MAXTEMPM
(see Unilink commands)

Resolver Input The following table provides resolver input specifications.

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 0.5
ratio
Loss of feedback Detection circuit included
Maximum cable length 75 m
Maximum cable 120 pF/m
capacitance (signal
connector to shield)

Continued on next page

97
Electrical Specifications - Signal, continued

Encoder Input The following table provides 17D encoder input specifications
Specifications
Table ENCODER INPUT
Internal power supply Voltage 9V ± 5%
Current (maximum) 200 ma
Input Signal Sin-Cos encoder Absolute 15 bits (39
(cyclic absolute) accuracy arc-seconds
or 0.01°)
Resolution 20 bits (1.2
arc-seconds
or 0.0003°)
Sin-Cos encoder Turn counter 12 bits
(multi-turn absolute)
Absolute 15 bits (39
accuracy arc-seconds
within one or 0.01°)
turn
Resolution 20 bits (1.2
within one arc-seconds
turn or 0.0003°)

Emulated The following table provides 17D emulated encoder output (in incremental format)
Encoder Output specifications.
(Incremental
Format) EMULATED ENCODER OUTPUT (INCREMENTAL FORMAT)
Specifications Channels A, B, and Marker
Table
Type Differential, RS-485 compliant
Resolution with:

Resolver feedback 512, 1024 line count; 1024/2048/4096 edges

Sin-Cos Encoder feedback 512/1024/2048/4096/8192/16384 line count

Continued on next page

98
Electrical Specifications - Signal, continued

Encoder Output The following diagram shows the timing for the encoder output (incremental format).
(Incremental
Format) Timing
Diagram

Encoder Output The following two tables provide 17D encoder output (in SSI format) specifications
(SSI Format)
Specifications ENCODER OUTPUT (SSI FORMAT) - ELECTRICAL
Table Channels Data and Clock
Type Differential, RS-485 compliant

ENCODER OUTPUT - SSI FORMATTING

Primary Feedback Type Possible Emulations
Resolver Single-turn SSI - 12 upper bits set to 0, 12 lower bits for
position within one turn. Configurable for Gray or binary
Sin-Cos (single-turn)
code.
Sin-Cos (multi-turn) Single-turn SSI - 12 upper bits set to 0, 12 lower bits for
position within one turn (SSIMODE 0). Configurable for
Gray or binary code.
Multi-turn SSI - 12 upper bits for turns count, 12 lower bits
for position within one turn (SSIMODE 1). Configurable for
Gray or binary code.

Continued on next page

99
Electrical Specifications - Signal, continued

Encoder Input The following table provides 17D encoder input (slave) specifications.
(Slave)
Specifications ENCODER INPUT (SLAVE)
Table 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 µs
Fall time < 0.1 µs

Discrete Input The following table provides 17D discrete input specifications.
Specifications
Table DISCRETE INPUT
Channels Five (four programmable and one dedicated for enable)
Type Solid state, optically isolated, compatible IEC1131-2 type1.
Transient 250 Vac (channel to chassis)
isolation voltage
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 1 ms
High speed < 50 µsec

Continued on next page

100
Electrical Specifications - Signal, continued

Discrete Output The following table provides 17D discrete output specifications.
Specifications
Table DISCRETE OUTPUT
Channels Two
Type Solid state: open collector 30 Vdc max., optically isolated
Transient 250 Vac (channel to chassis)
isolation voltage
Sense True low, sinking
IOUT 10 mA maximum
Protection Yes (PTC resistor 25 Ohm)
Scan time 1 ms

Fault Relay The following table provides 17D fault relay output specifications.
Output
Specifications FAULT RELAY OUTPUT
Table Type Relay contact
Sense True (open)
VMAX 36 Vdc; 42 Vac
IOUT 500 mA resistive

Brake Output The following table provides 17D brake output specifications.
Specifications
Table BRAKE OUTPUT
VOUT Internally connected to
bias supply
IOUT 2 A (maximum)

Note: An external brake relay is required for cable lengths greater than 50 m.

Continued on next page

101
Electrical Specifications - Signal, continued

Analog Input The following table lists the analog inputs specifications.
Specifications
Table ANALOG INPUTS

Channels Two
Type Differential, non–isolated
Maximum common mode ±10V
voltage referenced to AGND
Measurement range ±10 Vdc
Maximum differential input ±12 V
Accuracy 12 bits
Resolution Input 1 = 14 bits (±10V range)
Input 2 = 12 bits (±10V range)
Input impedance 20 kΩ
Scan time 250 µs

Analog Output The following table lists the analog output specifications.
Specifications
Table ANALOG OUTPUTS
Channels Two
Type Single-ended, non-isolated
referenced to AGND
VOUT ± 10 V
IOUT ± 5 mA
Output impedance 2.2 kΩ
Maximum load capacitance 0.1µF
Resolution 10 bits
Update time 5 msec

Continued on next page

102
Electrical Specifications - Signal, continued

Serial The following table lists the serial communications specifications.

Communications
Specifications SERIAL I/O
Table Data bits Eight
Stop bits One
Parity None
Baud rate 9600

103
Wire Specifications (Recommended)

Wire The following table lists the recommended wire specifications. Use only copper wire
Specifications with insulation rated at 75°C or greater, unless otherwise specified.

Item Drive Model No. Wire Size Notes

AC mains MHDA1004N00 1.5 mm2 (14 AWG)

MHDA1008N00
MHDA1017N00
MHDA1028N00

MHDA1056N00 4.0 mm2 (12 AWG)

Protective earth All 4.0 mm2 (12 AWG)

DC Link MHDA1004N00 1.5 mm2 (14 AWG) Shielded for lengths

MHDA1008N00 greater than 20cm
MHDA1017N00
MHDA1028N00

MHDA1056N00 4.0 mm2 (12 AWG) Shielded for lengths

greater than 20cm

Analog signals All 0.25 mm2 (22 AWG) Twisted pairs,

minimum shielded

Digital I/O and Fault All 0.5 mm2 (20 AWG)

Relay minimum

Brake All 1.0 mm2 (18 AWG) Shielded

minimum

Bias power All 2.5 mm2 (14 AWG)

maximum

External Regen All 1.5 mm2 (14 AWG) High temperature

resistor insulation (155°C or
greater)

104
 Parts List

B
At a Glance

What’s in this This appendix contains information about the following Lexium 17D parts and
Appendix assemblies.

Topic Page
Lexium 17D drives 106
Drive cables 108
Regen resistor assemblies 109
Servo motor choke 110
Spare parts 111

105
Lexium 17D Drives

Drives The Lexium 17D drives are available in five models according to different output
Available current levels as identified in the following table.

Model Intermittent (Peak) Continuous (RMS)

Output Current Output Current
MHDA1004N00 4.2 A 1.5 A
MHDA1008N00 8.4 A 3.0 A
MHDA1017N00 16.8 A 6.0 A
MHDA1028N00 28.0 A 10.0 A
MHDA1056N00 56.0 A 20.0 A

106
Lexium 17D Drives, continued

External 24Vdc A reminder of the a 24 V consumption for the Lexium MHDA/MHDS servodrives
supply with BHP motors is given below.

Lexium servodrive MHD•1004/ MHD•1017N00 MHD•1028N00 MHD•1056N00

1008N00
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 24 Vdc 1.1 Yes TSX SUP 1011 0.720

50/60 - 400 Hz SELV (1) (2)
and 125 Vdc

Module ∼ 100...120 V 24 Vdc 2.2 Yes TSX SUP 1021 1.090

and ∼ 200...240V,
SELV (1) (2)
50/60 - 400 Hz 5 Yes TSX SUP 1051 1.120
(1) (2)

Unit ∼ 100...120V and 24 Vdc 10 Yes TSX SUP 1101 2.100

∼ 200...240V, SELV (1)
50/60 - 400 Hz
(1) Product supplied as standard with a bilingual reference guide: French and English.
(2) Mounted in Premium TSX RKY 6/8/12/6E/8E/12E racks (any slot except the slot for TSX PSY••0M
power supply modules), on AM1-DE200/DP200 rails or on AM1-PA mounting plate.

107
Drive Cables

Drive to Motor Consult the BPH motors manual for drive-to-motor cable part numbers and motor
Cables part numbers.

RS-232 Serial To connect the drive’s serial interface port to your PC, use the following cable.
Communications
Cable Part Table Part Number Description
AM0CAV001V003 3 m cable

Encoder Output The following table lists encoder output cables for the Lexium 17D drive.
Cables Parts
Table Part Number Description
TSXCXP235 2 m 17D to CAY, incremental format
TSXCXP635 6 m 17D to CAY, incremental format
TSXCXP245 2 m 17D to CAY, SSI format
TSXCXP645 6 m 17D to CAY, SSI format
690MCI00206 6 m 17D to tinned leads

108
Regen Resistor Assemblies

Regen Resistor The following table identifies the external Regen resistor assemblies available for
Assembly Part the Lexium 17D drive.
Table
Part Number Description
AM0RFE001V025 33Ω, 250 W, Regen resistor
AM0RFE001V050 33Ω, 500 W, Regen resistor
AM0RFE001V150 33Ω, 1,500 W, Regen resistor

109
Servo Motor Choke

Servo Motor These following table identifies the servo motor choke available for the Lexium 17D
Choke Part drive.
Table
Part Number Description
AM0FIL001V056 Motor choke

110
Spare Parts

Spare Parts These field-replaceable spare parts are available from Schneider.
Table
Part Number Description
AM0SPA001V000 17D Connector Kit:
I/O connector
24 V connector
DC Bus connector
Regen resistor connector
Mains supply connector

111
112
 Drive-to-Controller Wiring
Diagrams
C
At a Glance

What’s in this This appendix provides diagrams that show you how to wire the signal connections
Appendix between the Lexium 17D drive and all the Schneider closed-loop positioning
modules that support it:

l Typical motion controller interface connections

l Modicon MOT 201 compact motion module
l Modicon Quantum Automation Series 140 MSx 101 00 motion modules
l Modicon B885-11x motion modules
l TSX Premium CAY motion modules

This appendix presents the following topics:

Topic Page
Typical motion controller interface connections 114
Wiring a 17D drive to TSX Premium CAY motion modules 115
Wiring a 17D drive to a MOT 201 motion module 118
Wiring a 17D drive to Quantum 140 MSx motion modules 121
Wiring a 17D drive to B885-11x motion modules 122

113
Typical Motion Controller Interface Connections

Motion The following diagram shows the connections between the 17D drive and a typical
Controller motion controller. (Refer to the list of pre-programmed functions contained in the
Interface UniLink online help.)
Diagram
Note: The Analog Com must always be connected to the Controller Com as a
ground reference.

114
Wiring a 17D Drive to TSX Premium CAY Motion Modules

TSX Premium The following diagram shows wiring between a TSX Premium CAY motion module
CAY Single Axis and the X3 connector on a single Lexium 17D axis.
Drive Option
Diagram

Continued on next page

115
Wiring a 17D Drive to TSX Premium CAY Motion Modules, continued

TSX Premium The following diagram shows how the TAP MAS breakout module facilitates wiring
CAY Multi-Axis between a TSX Premium CAY multi-axis motion module and the Lexium 17D
Breakout Module Analog I/O connector. This represents the first of four axes. It also shows wiring
Wiring Diagram from the motion module to the Lexium 17D auxiliary encoder command interface
connectors (X5) for four axes.

Continued on next page

116
Wiring a 17D Drive to TSX Premium CAY Motion Modules, continued

TSX Premium The following diagram shows how breakout module ABE-7H16R20 facilitates
CAY Multi-Axis wiring from the TSX Premium CAY multi-axis motion module and the Lexium 17D
and Breakout X3 connector. This represents the first of four axes.
Module Diagram,
First of Four
Axes

117
Wiring a 17D Drive to a MOT 201 Motion Module

MOT 201 Control The following diagram shows the wiring between the MOT 201 connectors J3 and
Wiring Diagram J1 and the Lexium 17D drive X3 connector as well as the 24 Vdc bias field power
connection.

Continued on next page

118
Wiring a 17D Drive to a MOT 201 Motion Module, continued

MOT 201 The following diagram shows the wiring between the MOT 201 connector J4 and
Encoder Wiring the Lexium 17D drive and the auxiliary encoder command Interface connector (X5).
Diagram:
Option 1

Continued on next page

119
Wiring a 17D Drive to a MOT 201 Motion Module, continued

MOT 201 The following diagram shows how the AS-BR85-110 breakout module facilitates
Encoder Wiring encoder wiring between a MOT 201 motion module and an Lexium 17D drive. At
Diagram: one end, the MOT J5 and J4 connectors are plugged into the breakout module P3
Option 2 connector. At the other end, the breakout module P1 connector is wired to the
drive’s auxiliary encoder command Interface connector.

120
Wiring a 17D Drive to Quantum 140 MSx Motion Modules

Quantum 140 The following diagram shows how a Quantum 140 MSx breakout module facilitates
MSx Control and control and encoder wiring between a Quantum 140 MSx 101 00 motion module
Encoder Wiring and an Lexium 17D drive.
Diagram

121
Wiring a 17D Drive to B885-11x Motion Modules

B885-11x Control The following diagram shows the wiring between a B885-11x motion module
Wiring Diagram connectors TB1 and TB3 to the Lexium 17D drive X3 connector.

Continued on next page

122
Wiring a 17D Drive to B885-11x Motion Modules, continued

B885-11x The following diagram shows the encoder wiring between the B885-11x motion
Encoder Wiring module DB-25 connector and the Lexium 17D drive auxiliary encoder command
Diagram: interface connector (X5).
Option 1

Continued on next page

123
Wiring a 17D Drive to B885-11x Motion Modules, continued

B885-11x The following diagram shows how the AS-BR85-110 breakout module facilitates
Encoder Wiring encoder wiring between a B885-11x motion module and an Lexium 17D drive.
Diagram:
Option 2

124
 Cable Connection Wiring
Diagrams
D
At a Glance

What’s in this This appendix provides procedures and diagrams that show you how to wire
Appendix certain cable connectors that are used with the Lexium 17D drive.

This appendix presents the following topics.

Topic Page
Wiring a Sub-D connector with shielding 126
Wiring up the motor power connector (drive end) 128
Serial communications interface connector (X6) 131

125
Wiring a Sub-D Connector with Shielding

Wiring the Sub-D If you construct your own Sub-D connector with shielding, please do so according
Connector to the following procedure which correlates to the eight steps in the diagram that
follows this procedure.

Step Action
1 Carefully remove about 25mm of the outer covering while taking care not to
damage the braided shield.
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 strands.
5 Verify pin assignments then solder the individual wires to the solder cups of the
Sub-D connector. (Check the wire colors.)
6 Attach the cable to the connector housing strain relief; the strain relief must
have good contact with the exposed shielding of the cable.
7 Place the knurled screws in position.
8 Place the Sub-D connector in the groove of the half-housing (pin 1 at bottom)
and press the two halves together.

Note: Once the halves of the housing have been pressed together, they cannot
be opened without damaging them.

Continued on next page

126
Wiring a Sub-D Connector with Shielding, continued

Sub-D Connector The following diagram shows the eight steps required to wire a Sub-D connector
Diagram with shielding.

127
Wiring the Motor Power Connector (Drive end)

Wiring the Motor If you construct your own motor power connector, please do so according to the
Power Connector following procedure which correlates to the 13 steps in the diagram that follows this
procedure.

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 electrical contact.
5 Push the filling wires and protective cloth back over the shielding.
6 Push the shrink tubing (30mm long) over the shielding and leave about 15mm
exposed.
7 Use a hot-air blower to shrink the tubing then shorten the wires for U, V, W to
45mm and those for BR+, BR- to 55mm.
8 Carefully remove about 10mm of the ends of the wires while taking care not to
damage the copper strands.
9 Attach crimp ferrules to the ends of the wires
10 Place the shielding plate in the connector housing and push the contact tabs
into the PE terminal clamp of the connector.
11 Attach the cable with the strain relief.
12 Ensure the clamping loop of the strain relief sits properly on the shielding braid.
13 Push the wire ferrules into the corresponding terminals in the connector and
tighten.

Continued on next page

128
Wiring the Motor Power Connector (Drive end), continued

Motor Power The following diagram shows the 13 steps required to wire a motor power
Connector (Drive connector (excluded BPH055).
end) Diagram
(excluded
BPH055)

(3) W
(1) U
(2) V

Br +
Br -
PE
W
U
V
printed every 10 cm.
*number of wires are

129
Wiring the Motor Power Connector (Drive end), continued

BPH055 Motor The following diagram shows the 13 steps required to wire a BPH055 motor power
Power Connector connector.

(Green/Yellow) PE
(Drive end)
Diagram

(4) Br +
(5) Br -
(2) W
(1) U
(3) V

Br +
Br -
PE
W
U
V
*number is printed
each 10 cm.

3
4
5
1

130
Serial Communication Interface Connection (X6)

Serial The following diagram details the null modem connection between the drive and a
Communication PC.
Interface Cable
Connectors

131
132
 Servo Loop Diagrams

E
At a Glance

What’s in this This appendix illustrates several servo loops within a 17D single-axis system.
Appendix
Topic Page
17D current controller overview 134
17D velocity controller loop 135
17D analog input loop diagrams 136

133
17D Current Controller Overview

17D Current The following diagram shows an overview of the 17D current controller servo loop.
Controller
Diagram

134
17D Velocity Controller Loop

17D Velocity The following diagram shows a 17D velocity controller servo loop.
Controller Loop
Diagram

135
17D Analog Input Loop Diagrams

Overview The following illustrations show simplified servo loops for analog input Modes 0, 1,
2, 3 and 4.

17D Analog Input The following diagram shows an 17D analog input Mode 0 servo loop.
Mode 0 Loop
Diagram

Continued on next page

136
17D Analog Input Loop Diagrams, continued

17D Analog Input The following diagram shows an analog input Mode 1 servo loop.
Mode 1 Loop
Diagram

Continued on next page

137
17D Analog Input Loop Diagrams, continued

17D Analog Input The following diagram shows an analog input Mode 2 servo loop.
Mode 2 Loop
Diagram

Continued on next page

138
17D Analog Input Loop Diagrams, continued

17D Analog Input The following diagram shows an analog input Mode 3 servo loop.
Mode 3 Loop
Diagram

Continued on next page

139
17D Analog Input Loop Diagrams, continued

17D Analog Input The following diagram shows an analog input Mode 4 servo loop.
Mode 4 Loop
Diagram

140
 Expansion Options

F
At a Glance

What’s in this This appendix contains the following topics.

Appendix
Topic Page
Expansion cards 142
Modbus Plus Communication Card 143
I/O Expansion Cards 144

141
Expansion Cards

Overview The Lexium 17 drive includes a standard expansion slot which can be used to
increase the functionality of the drive. This slot can accommodate one expansion
card. Available expansion cards are a 24 Vdc discrete I/O expansion card and a
Modbus+ communication card.

Fitting If you want to fit an expansion card into the Lexium 17 D, please observe
expansion card the followin:

l Unscrew the two relevant bolts and detach the cover from the expansion/option
slot. Take care that no small items (such as bolts) fall into the guide rails that
are provided.
l Push the expansion card carefully, and without twisting it, into the guide rails
that are provided.
l Press the expansion card firmly into the slot, until the front cover sits on the
fixing lugs. This ensures that the connector has a good contact.
l Screw the bolts in the front cover into the threaded holes in the fixing lugs.

142
Modbus Plus Communication Card

Modbus Plus The Modbus Plus AM0MBP001V000 communication card is used to connect a
Communication Lexium analog Drive to Modbus Plus networks.
Card
The Lexium 17D drive can receive and respond to periodic data and messaging
when functioning as a network node.

This data exchange enables a network to access some Lexium drive functions
such as:

l Remote loading of configuration parameters

l Command and control
l Monitoring
l Diagnostics
WARNING: This card can be only used with analog 17D drives with RL (Revision
Level) >=08.

143
I/O Expansion Cards

24 Vdc Discrete The 24 Vdc discrete I/O Expansion Card (I/O Card) increases the available I/O to
I/O Expansion the drive. With the I/O Card installed, the drive can accommodate an additional 14
Card
discrete inputs and 8 discrete outputs which are fully compatible with Modicon/Tele-
mecanique family of PLCs. The drive must be powered off (both the AC Mains and
the 24 Vdc Bias Supply) when the I/O Card is installed. The card is automatically
recognized upon power-up of the drive.

Connector and The following diagram shows the locations of the Light-Emitting Diodes (LEDs) and
LED Location the connectors for the I/O Expansion Card.
Diagram

144
I/O Expansion Cards, continued

Light-Emitting As shown in the diagram above, the two LEDs are mounted next to the terminals on
Diodes (LEDs) the expansion card. The green LED signals that the 24 Vdc bias supply is available
for the expansion card. The red LED signals faults in the outputs from the
expansion card (overload of the switching elements, short-circuit).

Terminal The terminal assignments for I/O connector X11A are provided in the following
Assignments table.

CONNECTOR X11A
Terminal Function Signal Notes
Identification
1 Input A0 Motion task number 20 (LSB)
2 Input A1 Motion task number 21
3 Input A2 Motion task number 22
4 Input A3 Motion task number 23
5 Input A4 Motion task number 24
6 Input A5 Motion task number 25
7 Input A6 Motion task number 26
8 Input A7 Motion task number 27 (MSB)
9 Input Reference
10 Input Sfault clear See
UniLink
11 Input Start MT Next online help.
12 Input Start Jog v=x

Continued on next page

145
I/O Expansion Cards, continued

Terminal The terminal assignments for I/O connector X11B are provided in the following
Assignments, table.
continued
CONNECTOR X11B
Terminal Function Signal Notes
Identification
1 Input Motion task
restart
2 Input Start motion task
number X
3 Output InPos See
4 Output Next-InPos UniLink
online help.
5 Output Sfault
6 Output PosReg1
7 Output PosReg2
8 Output PosReg3
9 Output PosReg4
10 Output Not Used Reserved for future use
11 Power 24 Vdc Auxiliary supply voltage
12 Power I/O-Gnd Digital ground (for controls)

146
I/O Expansion Card, continued

Controlling Pre- The additional I/O points provided by the expansion card are used for controlling
programmed the execution of pre-programmed, independent motion tasks which can be stored in
Motion Tasks
the drive via the Unilink configuration software. The I/O is used to provide the
address of the next internally stored motion task to be executed by the drive and to
synchronize the start and finish of these tasks. When connected through this sim-
ple discrete I/O interface to a Modicon/Telemecanique PLC, a very cost effective,
high functionality single axis positioner can be realized without the expense of pur-
chasing any special external positioning modules.

Programming As the interface between the drive and the PLC is realized with standard discrete
the PLC I/O in this configuration, the user is free to program the PLC in any preferred lan-
guage. The PLC will handle all program flow and branching while the drive will exe-
cute the appropriate motion task when commanded by the PLC. Up to 180
separate motion tasks can be stored in the drive’s standard non-volatile memory.
An additional 75 motion tasks can be stored in the drive’s volatile memory at sys-
tem start-up.

Motion Task Coordination between the PLC and the drive is achieved through the "In position"
Coordination output of the drive, the "Start next motion task" input to the drive and the required
discrete inputs to the drive corresponding to the binary decoded address of the
next motion task to be executed.

Motion Task Two examples of motion task applications are as follows:

Application
Examples l If the application under consideration requires configuration and storage of 50
separate motion tasks in the drive, then 6 discrete inputs to the drive must be
reserved to uniquely address each task with a 7th discrete input of the drive
dedicated to the "Start next motion task" bit and a discrete output of the drive
dedicated to the "In position" bit.

Continued on next page

147
I/O Expansion Card, continued

Motion Task l If the application under consideration requires only 4 separate motion tasks in
Application the drive, then only 2 discrete inputs to the drive need be reserved to uniquely
Examples, address the stored motion tasks along with the dedicated "In position" and
continued "Start next motion task" bits.
Note: A complete description of the operation of the drive’s internal positioner and
stored motion tasks can be found in the Unilink online help.

Example of a An example of a motion task number is provided in the following table.

Motion Task
Number Motion Task Number
Decimal Binary
A7 A6 A5 A4 A3 A2 A1 A0
174 1 0 1 0 1 1 1 0

Continued on next page

148
I/O Expansion Card, continued

Connection The I/O expansion card connections are presented in the following diagram.
Diagram

149
150
 External Regen Resistor Sizing

G
At a Glance

What’s in this This appendix contains descriptions and procedures for calculating the power
Appendix dissipation requirements for the external Regen resistor.

This appendix presents the following topics.

Topic Page
Determining external Regen resistor size 153
Example Regen resistor power dissipation calculation 155

Continued on next page

151
At a Glance, continued

Overview When the drive is braking or decelerating a moving load, the kinetic energy of the
load must be absorbed by the drive. As the drive decelerates the load, this energy
charges the DC link capacitors to successively higher voltages. To prevent damage
to the internal electronics, a shunt regulator circuit will apply the Regen resistor
across the capacitors when the voltage rises to a set voltage level (determined by
the “Mains Voltage” parameter). This dissipates the remaining energy as heat in the
Regen resistor. The energy dissipated by the Regen resistor must be calculated in
order to determine the proper power rating of the resistor.

Determining To determine when the drive is absorbing energy, examine the motion profile (that
When Energy Is is, a graphical plot) of axis speed and torque applied to the motor. Whenever the
Absorbed sign (+ or -) of the torque applied to the motor is opposite that of the speed, the
drive is absorbing energy. This typically happens when the drive is decelerating the
motor, the motor is controlling tension in a web application, or the motor is lowering
a mass in a vertical axis.

152
Determining External Regen Resistor Size

Power The following is the procedure for calculating the power dissipated by the Regen
Dissipation resistor in a simple system wherein friction is negligible. Ignoring friction in the
Calculation following calculations gives worst case results since friction will absorb a portion of
Procedure the energy during deceleration. An example of each step in this procedure is
provided later in this chapter.

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 torque have opposite signs.
3 Calculate the energy returned to the drive in each deceleration using the
formula E = ½ Jt ω2
Where
E = Energy in joules
Jt = Total system inertia, including motor, in kg(m2)
ω = Speed at start of deceleration in radians per second
(ω = 2 π RPM / 60)
4 Compare the energy in each deceleration with the energy required to turn
on the Regen circuit. (See Drive Energy Absorption Capability table.) If the
energy is less than that listed in the table, disregard that deceleration for
the remainder of the calculations.
5 Calculate the energy dissipated by the Regen resistor by subtracting the
energy listed in the table from the energy of the deceleration.

E =E –E
dissipated generated absorbed by capacitors

6 Calculate the pulse power of each deceleration by dividing the dissipated

energy by the time of the deceleration.

Ppulse = Edissipated / Tdecel (seconds)

7 Calculate the continuous power dissipated by the Regen resistor by
totaling all the dissipated energy and dividing it by the total cycle time.

Pcontinuous = (E1dissipated + E2dissipated+… +Endissipated) / Ttotal cycle (seconds)

Continued on next page

153
Determining External Regen Resistor Size, continued

Power
Dissipation
Calculation
Step Action
Procedure,
continued 8 Compare the pulse power and the continuous power calculated with the
ratings of the internal Regen resistor in the drive. If either one is greater
then an external Regen resistor must be chosen and installed. (See the
Parts List appendix for a list of the available external Regen resistors.)

Drive Energy The drive energy absorption capability values (in joules) that are needed during the
Absorption sizing calculations are provided in the following table.
Capability

Drive Energy Absorption Capability (joules)

Line Voltage 230 VAC 400 VAC 480 VAC

Drive MHDA1004N00 5 19 23
Model MHDA1008N00
Number MHDA1017N00
MHDA1028N00

MHDA1056N00 10 38 47

Note: Multiple drives can be interconnected via the DC-Link. When this is done, the
energy absorption capability of the drives and the continuous power ratings of the
Regen resistors are additive. The energy absorbed by the drives must be
calculated by superimposing all the time speed plots and calculating the energy
generated by each axis. (For calculating the power in complex multi-drive
applications contact Schneider Electric for assistance.)

154
Example Regen Resistor Power Dissipation Calculation

Example Motor The following is an example application of each step in the power dissipation
and Drive calculation procedure using the motor, drive and input power specifications
Specifications identified below. Refer to the power dissipation calculation procedure presented
earlier in this chapter.

l Motor = BPH1423N with brake

Total Inertia (JT) = JM + JB + JL = 0.002 + 0.001 + 0.007 = 0.01 kgm2

where:

Motor inertia (JM) = 0.002 kg(m2)

Brake inertia (JB) = 0.001 kg(m2)

Load inertia (JL) = 0.007 kg(m2)

l Drive = MHDA1028N00
l Line Voltage = 480 Vac

Continued on next page

155
Example Regen Resistor Power Dissipation Calculation, continued
Example Step 1 Plot speed versus time and torque versus time for the entire move cycle.

Continued on next page

156
Example Regen Resistor Power Dissipation Calculation, continued

Example Step 2 Identify each deceleration of the plot where the drive is decelerating the load.

Example Step 3 Calculate the energy returned to the drive in each deceleration as follows:

Deceleration 1

ω = 2 π 3000RPM / 60 = 314 radians/sec

E = ½ 0.01kgm2 (314 radians/sec) 2 = 493 joules

Deceleration 2

ω = 2 π 600RPM / 60 = 63 radians/sec
E = ½ 0.01kgm2 (63 radians/sec) 2 = 20 joules

Deceleration 3

ω = 2 π 3450RPM / 60 = 361 radians/sec

E = ½ 0.01kgm2 (361 radians/sec) 2 = 652 joules

Continued on next page

157
Example Regen Resistor Power Dissipation Calculation, continued

Example Step 4 Compare the energy in each deceleration with the energy required to turn on the
Regen circuit (that is, the energy absorbed by the internal capacitors).

As specified in the Drive Energy Absorption Capability table, the MHDA1028N00

drive at 480 Vac can absorb 23 joules without turning on the Regen resistor circuit.

Deceleration 1: 493 joules > 23 joules

Deceleration 2: 20 joules < 23 joules (disregard this segment in the remaining

steps)

Deceleration 3: 652 joules > 23 joules

Example Step 5 Calculate dissipated energy as follows:

Deceleration 1: E = 493 – 23 = 470 joules

Deceleration 3: E = 652 – 23 = 629 joules

Example Step 6 Calculate the pulse power as follows:

Deceleration 1: Ppulse = 470 joules / 0.5 seconds = 940 watts

Deceleration 3: Ppulse = 629 joules / 0.5 seconds = 1258 watts

Example Step 7 Calculate continuous power as follows:

Pcontinuous = (470 joules + 629 joules) / 4.75 seconds = 231 watts

Continued on next page

158
Example Regen Resistor Power Dissipation Calculation, continued

Example Step 8 Compare the ratings as follows:

Internal Regen resistor ratings of the MHDA1028N00:

Ppulse = 21 kW

Pcontinuous = 200W

Deceleration 1: Ppulse = 940W < 21 kW rating

Deceleration 2: Ppulse = 1258W < 21 kW rating

Pcontinuous = 231W > 200W

Requires an external Regen resistor be used. Select the 250W external

Regen resistor or modify the profile to reduce the continuous power
dissipated.

159
160
 Index
B
AC
A C
AC mains power supply connection, 47 cable
acronyms and abbreviations, 12 separation, 34
additional safety guidelines, 9 shield connections, 45
air flow, 34 cables
analog drive to motor, 108
I/O connection, 62 parts list, 108
input mode 0 servo loop, 136 CAN bus cable, 68
input specifications, 102 CANopen Interface, 67
output specifications, 102 connection diagram for LEXIUM 17 D, 43
automatic card recognition, 28 control wiring
auxiliary encoder interface, 59 B885-11x, 122
MOT 201, 118
Quantum 140 MSx, 121
B controlling pre-programmed motion tasks,
B885-11x 147
control wiring, 122 current controller servo loop, 134
encoder wiring, 123, 124
wiring to drive, 122
bias D
input specifications, 93 DC Link capacitor recharging, 26
power, 25 default settings, 28
supply, connection, 47 determining external regen resistor size,
BPH055 Motor Power Connector (Drive 153
end) Diagram, 130 digital control, 22
brake output specifications, 101 digital inputs and outputs, 64
breakout module wiring dimensions, physical, 42, 46, 47, 48, 49,
for TSX Premium CAY, 116, 117 51, 52, 53, 54, 55, 56, 57, 58, 60, 62, 63,
64, 114, 144, 149
discrete
input specifications, 100
output specifications, 101

890 USE 120 00 161

Index

document scope, 1 expansion card, 142

drive and mounting area dimensions, 36 external 24Vdc supply, 107
drive dimensions, 35 external fuse specifications, 93
drive energy absorption capability, 154 external regen resistor mounting and
drive implementation, 16 physical dimensions, 37
drive models, 16, 106 external regen resistor, connection, 48
drive mounting and physical dimensions,
35
drive to motor cables, 108 F
drives, family, 18 fault relay and digital I/O, connection, 64
drives, front view, 19 fault relay output specifications, 101
drive-to-motor cables, 108 fitting expansion card, 142
front panel controls and indicators, 78

E
earth connections, 34 G
EC directive compliance, 10 general characteristics, 25
electric shock hazards, 6 grounding, 41
electrical considerations, 17
electrical specifications, 91, 95
electrical specifications, power, 92 H
electrical specifications, Regen resistor, 96 hazards and warnings, 6
electrical specifications, signal, 97
electrostatic components precaution, 8
emergency stop strategies, 73 I
EMI suppression, 25 I/O expansion card connection diagram,
encode 149
input connection, 56 incremental encoder output, connection, 57
encoder incremental encoder output, functional
input specifications, 98 description, 57
output cables, 108 incremental-encoder input, connection, 60
output specifications, 98, 99, 100 installation considerations, 34
output timing, 99 installation safety precautions, 32
wiring for MOT 20x, 119, 120 internal electronics, block diagram, 24
wiring for Quantum 140 MSx, 121 internal power, 26
wiring to B885-11x, 123, 124 internal power dissipation specifications,
environmental and mechanical 95
specifications, 89
environmental specifications, 89
equipment available, 20 K
equipment supplied, 20
keypad operation, 78
error identification and description, 81
error messages, 81
european directives and standards, 10 L
example motor and drive specifications,
LED display, 27, 78
155

162 890 USE 120 00

 Index

Lexium 17D drives, 106 physical dimensions, 35

Lexium BPH resolver connection (excluded pin assignments for LEXIUM 17 D, 44
BPH055), 54 power
Lexium BPH055 resolver connection, 55 dissipation calculation, 153
line input specifications, 92 electrical specifications, 92
supply overcurrent protection, 34
wiring, 47
M power-on and power-off characteristic, 72
master-slave operation, 59 pre-programmed functions, use, 65
mechanical specifications, 90 primary power, 25
Modbus Plus communication card, 143 problems, possible causes and corrective
models, drive, 16, 106 actions, 85
MOT 201 control wiring, 118 products, introduction, 15
MOT 20x programming the PLC, 147
encoder wiring, 119, 120
signal wiring, 118
motion controller interface, typical Q
connections, 114 qualified personnel, 9
motion task applications, 147 Quantum 140 MSx wiring to drive, 121
motion task coordination, 147 quick tuning procedure, 75
motion task number, 148
motor
output specifications, 94 R
overtemperature specifications, 97 regen circuit functional description, 48
to drive cables, 108 regen circuit specifications, 96
motor choke mounting and dimensions, 38 regen resistor assembly parts list, 109
motor power connector wiring diagram regen resistor power dissipation
(exclude BPH055), 129 calculation, example, 155
mounting dimensions, 36 regen resistor, determining when energy is
multi-axis system, 77 absorbed, 152
regen resistor, overview, 152
related documents, 5
O resolver input specifications, 97
output cables, 108 RS232 interface cable connectors, 131
overcurrent protection, 34
overview drive models, 16, 106
S
safe electrical separation, 26
P serial communication interface connection,
parameter setting, 77 131
parts list serial communications, connection
cables, 108 diagram, 66
overview, 105
regen resistor assemblies, 109
spare parts, 110, 111
performance specifications, 88

890 USE 120 00 163

Index

servo loops stepper-motor control interface connection,

analog input mode 0, 136 functional description, 69
analog input mode 1, 137 stepper-motor control, interface connection
analog input mode 2, 138 diagram, 69
analog input mode 3, 139 stepper-motor, speed profile and signal
analog input mode 4, 140 diagram, 70
current controller, 134 system configuration, diagram, 21
velocity controller, 135
servo motor (excluded BPH055),
connection, 49 T
servo motor (with options), connection, 51 thermal hazard, 7
servo motor BPH 055, connection, 50 troubleshooting, 85
servo motor holding-brake control, 52 TSX Premium CAY
servo motor, rotation direction, 62 breakout module multi-axis wiring, 116
servo motors, types, 16 multi-axis wiring, 117
setting parameters, 28 single axis wiring, 115
signal wiring, 54
single-axis motion control system, 4
software setup, 28 U
spare parts, 110, 111 UL 508C, 11
specifications UL 840, 11
analog input, 102 UL and cUL compliance, 11
analog output, 102 UniLink commissioning software, 4
bias input, 93 usability enhancements, 23
brake output, 101 usability features, 22
discrete input, 100 user guide organization, 2
discrete output, 101
electrical, 91
encoder input, 98 V
encoder output, 98, 99, 100 velocity servo loop, 135
environmental, 89 verifying system operation, 75
external fuse, 93
fault relay output, 101
internal power dissipation, 95 W
line input, 92
warning identification and description, 80
mechanical, 90
warning messages, 80
motor output, 94
who should use this guide, 2
motor overtemperature, 97
wire specifications, 104
power electrical, 92
wiring
resolver input, 97
a 17D drive to a MOT 201 motion
SSI encoder input connection, 61
SSI encoder output, connection, 58
SSI encoder output, functional description,
58
stepper motor control, interface
connection, 69

164 890 USE 120 00

 Index

module, 118
and I/O, initial considerations, 41
connections, 42
drive to B885-11x, 122
drive to MOT 20x, 118
drive to Quantum 140 MSx, 121
drive to TSX Premium CAY, 115
overview, 42
wiring a Sub-D connector with shielding,
126
wiring the motor power connector, 128
wiring the Sub-D connector, 126

890 USE 120 00 165

Index

166 890 USE 120 00