Sharp R-410H Manuale Utente

T200PROGRAMMABLESERVO DRIVEUSER'S MANUALC27095-001

T200 User's Manual SECTION 1: T200 OVERVIEWPAGE 1-2TABLE OF CONTENTSSECTION 1: T200 Overview ...

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-62 Figure 3.35:- T200 J6 Resolver CableFind No. MOOG Part No. Description QuantityB4

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-63Pin assignment for Motor Signal (Resolver) Cable and Mating ConnectorTable 3.8:- Mo

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-643.14.4 Crimping Tools for Motor CablesContact your local Moog Sales for a detaile

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-653.14.5 Terminating the Motor Cable Shield, for CE-Compliance (T200-3/4/5 only)The

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-663.14.6 Terminating the Motor Cable Shield (non-CE Applications) T200-3/4/5 onlyMo

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-673.14.7 T200-610 and T200-710 Motor Power Cable Shield ConnectionThe motor-power-ca

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-683.15 T200 Control Input and OutputsThe following section contains a description of

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-693.15.1 General Purpose Description of the Digital InputsThe following electrical d

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-70§ Figure 3.40 shows options for connection in pull-up or pull-down mode. Note th

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-713.15.2 General Purpose Description of the Digital OutputsThe following electrical

SECTION 1: T200 OVERVIEW T200 User's ManualPAGE 1-31.1 IntroductionThis section gives an overview of the available T200 models, ratings and gene

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-72§ Figure 3.42 shows options for connection in pull-up or pull-down mode. Note th

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-733.15.3 General Purpose Description of the Analog InputsThe T200 has two differenti

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-743.15.4 General Purpose Description of the Analog OutputsThe T200 has two analog o

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-75 Figure 3.45: T200 Axis I/O Connector J1

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-763.15.5 I/O Overview and Usage in Different Software ModesTable 3.9:- Overview of

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-77Table 3.10:- Overview of T200 Analog and Digital Outputs

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-783.15.6 Power Sequencing on StartupThe timing of the digital inputs ENABLE and PWR

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-793.16 Incremental Encoder/Stepper Motor Interface Input Description.The T200 has an

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-803.17 Encoder Simulation Output DescriptionThe T200 has an RS422 based incremental

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-81Figure 3.49: T200 Position Transducer Interfaces

T200 User's Manual SECTION 1: T200 OVERVIEWPAGE 1-41.2 T200 ModelsThe T200 family is available in eight base models. These eight models cover

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-823.18 Communications Interface Wiring and ConfigurationThe T200 provides three seri

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-833.18.1 RS232 Interface DescriptionThe T200 provides an RS232 compatible communica

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-843.18.1.2 RS232 Set-up ParametersThe following port parameters are used to communic

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-853.18.2 RS485 Interfaces DescriptionThe T200 provides an RS485 compatible communic

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-863.18.2.1 Wiring an RS485 Connection The connector pins on the Serial Port 9-way D-

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-87Example of PC InterfaceIf an external signal is required to enable the transmitter

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-883.18.2.3 RS485 Line TerminationRS485 lines must be terminated in 120Ohm resistance

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-893.18.2.5 RS485 Address Set-up via Axis-ID-HEX-Switches on T200 front PanelA unique

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-903.19 T200 User Visual IndicationsThe T200 product family provides the following di

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-91Figure 3.56:- T200-X10 (with PSU) LED's and 7-Segment DisplayFigure 3.57:- T20

SECTION 1: T200 OVERVIEW T200 User's ManualPAGE 1-5Moog also provides a variety of accessories for the T200. Examples include:• Operator termi

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-92Figure 3.58:- T200-610/710 LED's and 7-Segment display

SECTION 4: MOTOR GUIDE T200 User's ManualPAGE 4-1SECTION 4: MOTOR GUIDEC27095-001

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-2TABLE OF CONTENTSMOTOR GUIDE...

SECTION 4: MOTOR GUIDE T200 User's ManualPAGE 4-3SECTION 4 TABLE OF TABLESTable 4.1 :Motor Part Number Cross-Reference...

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-44.1 Motor Servo-Drive SystemA Moog T200 Servo-Drive system consists of a T200 and a G4XX servo

SECTION 4: MOTOR GUIDE T200 User's ManualPAGE 4-54.2.2 Motor NameplateS/N: serial numberDate: production quarter and yearModel: motor model numb

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-64.2.3 Motor Part Number Cross ReferenceThe order number for motors is made up as follows:G4xx

SECTION 4: MOTOR GUIDE T200 User's ManualPAGE 4-74.2.4 Motor Electrical Type Cross ReferenceTable 4.2 :Motor Electrical Type Cross-Reference

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-84.3 Configuring the Motor in the T200 Servo-DriveThere are two ways of telling the T200 which

SECTION 4: MOTOR GUIDE T200 User's ManualPAGE 4-94.3.2.1 Example using SSM commandThe motor nameplate shows a Motor Model of G404-123A (i.e. a no

T200 User's Manual SECTION 1: T200 OVERVIEWPAGE 1-61.3 Environmental SpecificationsT200 ElectronicsTemperature for transport and storage: -25 °

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-104.4 Motor-Drive SelectionPlease consult your local Moog sales office or authorised distributo

SECTION 4: MOTOR GUIDE T200 User's ManualPAGE 4-114.5 Motor Performance DataTemperature for Transportand Storage: -25 °C to 90 °COperating Tempe

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-12Table 4.4 Motor Performance Data

SECTION 4: MOTOR GUIDE T200 User's ManualPAGE 4-134.6 Mounting and Installation4.6.1 Motor DimensionsTable 4.5 Motor Dimensional Data

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-14Additional dimensions, e.g. for connectors and mating connectors can be found in the motor dat

SECTION 4 MOTOR GUIDE T200 User's ManualPAGE 4-154.6.2 Motor Installation GuidelineMOOG recommends that hexagon socket head screws to DIN 912 8.

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-164.6.3 Rated Bearing Load CapacityRadial load capacity, shown in Figure 4.3 to Figure 4.7, are

SECTION 4 MOTOR GUIDE T200 User's ManualPAGE 4-170 100 200 300 400 500020004000600080001000012000G4x3-8xxG4x3-6xxG4x3-4xxG4x3-2xxMotor Series G4x

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-180 200 400 600 800 1000 1200 1400 1600010002000300040005000600070008000G4x5-8xxG4x5-6xxG4x5-4xx

SECTION 4 MOTOR GUIDE T200 User's ManualPAGE 4-194.6.4 CouplingA flexible coupling offers the advantages of economy, allowance for misalignment,

SECTION 1: T200 OVERVIEW T200 User's ManualPAGE 1-71.4 Design StandardsThe T200 has been designed to EN50178. It is CE-Marked under the EU'

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-204.6.5 RunoutThe reduced runout provided by MOOG motors allows the attachment of various gear

SECTION 4 MOTOR GUIDE T200 User's ManualPAGE 4-214.6.6 Design StandardsThe G400 series has been designed, assembled and tested in conformity wit

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-22Relevant standards for electrical equipmentStandard International Europe Deutschland USAEnglis

SECTION 4 MOTOR GUIDE T200 User's ManualPAGE 4-23Relevant standards for mechanical designStandard International Europe Deutschland USAEnglishIECI

T200 User's Manual SECTION 4: MOTOR GUIDEPAGE 4-244.6.7 Motor Brake DataThe following are the specification data for the G4XX motor brakes. Op

SECTION 5: QUICK START T200 User's ManualPAGE 5-1SECTION 5: QUICK-STARTC27095-001

T200 User's Manual SECTION 5: QUICK STARTPAGE 5-2TABLE OF CONTENTSQUICK-START...

SECTION 5: QUICK START T200 User's ManualPAGE 5-35.1 Getting StartedThe following section describes a “Quick Start” method for the Moog T200 Ser

T200 User's Manual SECTION 5: QUICK STARTPAGE 5-45.1.3 Starting the DriveThe MS-Windows-based Windrive interface may be used to quickly configu

SECTION 5: QUICK START T200 User's ManualPAGE 5-55.1.3.2 Step 2:- Setup the Reference SourceThe user should next select the reference source for

T200 User's Manual SECTION 1: T200 OVERVIEWPAGE 1-81.5 Power Ratings SpecificationsThe T200 family includes models with and without high voltag

T200 User's Manual SECTION 5: QUICK STARTPAGE 5-65.1.3.3 Step 3:- Setup of the Torque and Velocity LimitsThe T200 AUTO_MAN digital input sets th

SECTION 5: QUICK START T200 User's ManualPAGE 5-75.1.3.5 Step 5:- Basic TuningThe next step is to set the control mode. In order to check that t

T200 User's Manual SECTION 5: QUICK STARTPAGE 5-85.1.3.6 Step 6:- Encoder SimulationMany applications, especially those applications that use th

SECTION 5: QUICK START T200 User's ManualPAGE 5-95.1.3.7 Step 7:- Regen Resistor ConfigurationIf an external regen resistor is used in the user’s

T200 User's Manual SECTION 5: QUICK STARTPAGE 5-105.1.3.9 Step 9:- Enabling the T200 and Causing Movement of the MotorApply 230Vac mains power t

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-1SECTION 6: T200 FUNCTIONAL OVERVIEWC27095-001

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-2TABLE OF CONTENTST200 FUNCTIONAL OVERVIEW ...

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-36.7.2.6 Analog Torque Limiting in Velocity Mode...

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-4Section 6 Table of FiguresFigure 6.1:- Analog Command Mode System Diagram...

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-56.1 IntroductionThis section describes the functionality of the T200. It details

SECTION 1: T200 OVERVIEW T200 User's ManualPAGE 1-91.5.1 Units with A.C. Mains Input Interface (T200-310 to T200-710)All current ratings are spe

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-66.2 T200 Functionality OverviewThe following section gives an overview of T200 fu

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-76.2.2 Controller Area Network (CAN) Interface ModeThe T200 provides a CAN fieldbus

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-8• An internal home position routine can be called to reference the T200 position

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-96.2.4 Digital Inputs Velocity Interface ModeThe T200 generates its velocity comman

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-106.2.5 Standalone Motion-Controller Custom Interface Mode ("Point")The

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-116.3 T200 ConventionsThis section deals with commonly understood conventions for T

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-126.4 Power Interface Section6.4.1 T200 Model Types and High Power InterfaceTwo b

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-13Figure 6.7:- T200-X10 in Single-Axis Application

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-14Figure 6.8:- T200-X10 in Multi-Axis Application

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-156.4.2.1 High Power Circuit DescriptionThe high power supply section may be divided

T200 User's Manual SECTION 1: T200 OVERVIEWPAGE 1-101.5.2 Units with D.C. Bus Input Interface (T200-300, T200-400, T200-500)All current ratings

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-16energy. The frequency at which the Regeneration circuit operates is dependent upo

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-176.5 Input and Output Functional Description6.5.1 Reference Analog (± 10V Command

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-186. Actual Position:- The position feedback can be monitored on TP1. This is sca

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-19§ In CAN Profile Mode, activation of either limit switch will cause the T200 to p

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-206.5.8 Torque-Velocity Control Mode switchingThe TRQ-VEL digital input is used to

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-216.5.10 Programmable Speed FunctionsThe T200 provides a velocity command mode, in

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-226.5.12 Drive Power StatusThe DRV_ENBLD opto-coupler output shows the enabled sta

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-236.5.13 Speed Torque Achieved IndicationThe SPD_TRQ_ACHVD opto-coupler output is u

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-246.5.14 System Ready IndicationThe System-Ready relay output (SYS_RDY± ) indicate

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-256.6 Internal Function GeneratorAn internal function generator is provided, which

SECTION 1: T200 OVERVIEW T200 User's ManualPAGE 1-111.5.4 Power AmplifierAll current ratings are specified in ampere r.m.s. unless otherwise sta

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-26§ Duty-Cycle:- The Duty-Cycle determines the length of time the Speed or Torque

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-27§ Acceleration:- The Acceleration parameter will set the rate of change of the ve

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-286.7 Control Loop Overview6.7.1 Torque ModeThe T200 can be operated in torque mo

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-29Figure 6.12:- Torque Mode Analog InterconnectUser Control System J1 REF+ REF- PE I

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-306.7.1.1 Torque Command SourcesThree sources of torque command may be user-program

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-316.7.1.3 Rate Limiting in Torque-ModeThe T200 provides a means of limiting the rate

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-326.7.1.4 Programmable Torque Limiting in Torque ModeThe T200 uses the Automatic an

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-336.7.1.6 Analog Torque Limiting in Torque ModeThe Spare Analog input (SAIN) is used

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-346.7.1.7 Torque Mode Functional Block DiagramFigure 6.17:- T200 Torque Mode Block

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-35The diagram above outlines the operation of the T200 in torque mode. Note that Au

T200 User's ManualPAGE IIThis page is intentionally left blank.

T200 User's Manual SECTION 1: T200 OVERVIEWPAGE 1-121.6 General Functional Specifications1.6.1 Digital Inputs• All Optically Isolated, 12 ..

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-366.7.2 Velocity ModeIn velocity mode the T200 closes a PI loop to track an analog

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-37Automatic_Mode_Velocity_Limit or the Manual_Mode_Velocity_Limit depending upon the

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-386.7.2.6 Analog Torque Limiting in Velocity ModeThe Analog Torque Limit functions

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-396.7.2.8 Velocity Loop TuningAfter completing drive initialisation (Motor Type sele

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-40• Use the P command set to enter the gain adjust mode for the velocity loop pro

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-41(B) also shows θerr when Jest is tuned correctly, θerr steps with a slight ripple

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-42Figure 6.20:- T200 Observer TuningOBSERVERPOSITION ERROROBSERVERPOSITION ERROR

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-436.7.2.10 Auto-tuning the Velocity Loop Gains and the Velocity ObserverThe T200 aut

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-44A Systems Parameters dialog box is then displayed showing the results of the Syst

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-456.7.3 Position Mode6.7.3.1Position Mode Reference SourcesOne of the following sour

SECTION 1: T200 OVERVIEW T200 User's ManualPAGE 1-131.6.2 Digital Outputs• All outputs are Optically Isolated.• Maximum ratings of 36V, 50mA

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-466.7.3.5 Analog Torque Limiting in Position ModeThe Analog Torque Limit functions

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-476.7.3.8 Position Mode Functional Block DiagramFigure 6.21:- Position Mode Block Di

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-486.7.3.9 Position Loop TuningBefore tuning the position loop, the user should firs

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-49Tuning the Position loop.The following technique should be used to tune the positi

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-506.7.3.11 Monitoring the Position Tracking in CAN Interpolation ModeThe T200 also

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-516.8 Fault Detection6.8.1 Faults and User Indication in the T200This sections out

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-526.8.1.3 Fatal FaultsThe following is an overview of the fault detection mechanism

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-53Note:- the T200 provides a measurement of the Regeneration Continuous Power over t

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-546.8.1.4 Non Fatal FaultsThe following is an overview of the non-fault detection m

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-55If the drive is powered down after the internal regeneration fuse has blown and th

T200 User's Manual SECTION 1: T200 OVERVIEWPAGE 1-141.6.4 Software Control Modes±10V Torque, Velocity and Position ModeAnalog reference for tor

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-566.8.1.5 T200 WarningsThe following is an overview of the warnings detection mecha

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-576.8.2 Fault History RecordThe T200 records all faults and warnings as these occur

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-586.8.3 Fault indication via digital outputsTo allow drive status and fault diagno

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-59Drive Status in Mode 1 has the following meaning:1. Drive okThis status indicates

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-60The dedicated digital outputs indicate the drive status as follows.Drive Status I

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-616.9 Self Protection6.9.1 Sources of Torque LimitsThere are three sources of torq

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-62The T200 measures the motor phase currents at a high frequency. Approximately 2

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-63• Regen Exceeded EnabledMode 1 (Warning Indication):As soon as the max. continuo

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-646.10 Encoder Simulation FunctionThe Encoder Simulation generates incremental enco

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-65Note on Maximum Speeds:- The T200 Encoder Simulation Output is galvanically isol

SECTION 2: SAFETY INSTRUCTIONS T200 User's ManualPAGE 2-1SECTION 2: SAFETY INSTRUCTIONSC27095-001

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-666.11 Incremental Encoder InputA quadrature incremental encoder input is provided

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-67Note that the following user programmable parameters are available for the Encoder

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-686.12 Stepper Motor InterfaceIn Stepper Motor Inerface Mode the T200 can be used t

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-696.12.2 Following Error DetectionIndication and reaction of the drive when the Fol

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-706.13 Communications Interfaces6.13.1 Axis IdentificationSee Section 3.18 for an

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-716.13.2.2 MESSAGE / REPLY FORMATSMessage Transmission to T200All messages transmitt

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-72The address refered to by byte 2 is made from a bitwise OR between the T200 ‘slav

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-73T200 Acknowledgement to Modify ParameterThere is no data returned with an acknowle

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-746.13.2.4 MONITORING T200 PARAMETERSMessage Transmission to T200The command code f

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-75ExampleTo monitor the parameter UFlag1 (Parameter Number 46316, 2 bytes) the follo

T200 User's Manual SECTION 2: SAFETY INSTRUCTIONSPAGE 2-2TABLE OF CONTENTSSAFETY INSTRUCTIONS ...

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-766.13.2.5 BLOCK DATA FORMATWrite Block Data to T200Block data is different from pa

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-77Read Block Data from T200Block data is read from the T200 in sections of up to 64

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-786.13.3 Parameter Set DescriptionA detailed description of the T200 parameter set

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-796.14 Parameter StorageThe T200 provides non-volatile storage for user-programmable

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-806.14.1 Personality PlugThe Personality Plug (Part No.: C25226-001) is a module w

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-816.14.2 Format of Log FilesAn example .log files is shown below. It contains:-§

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-82RES.OFFSET = 0.000000CNFG.ACCESSPARAMS = FALSEREFERENCESELECT = 1ANALOG.OFFSET =

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's ManualPAGE 6-83FG.ACCEL = 100.000000FG.TRAVERSE = 0.000000FG.STOPFLAG = FALSEENC.LINECOUNT = 0ENC

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEWPAGE 6-84INVERT.SYSTEMREADY = FALSEINVERT.THERMALLIMIT = FALSE

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-1SECTION 7: WINDRIVEC27095-001

SECTION 2: SAFETY INSTRUCTIONS T200 User's ManualPAGE 2-32.1 GeneralThis user’s manual is intended to provide sufficient information on how to i

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-2TABLE OF CONTENTSWINDRIVE...

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-37.10 DRIVE SET-UP...

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-4Section 7 Table of FiguresFigure 7.1: Communication Port Dialog Box...

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-5Figure 7.55: IT Thermal Limits Dialog Box ...

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-67.1 IntroductionTwo user interface options are available:a.) Graphical User Interface, WinDrive S

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-7When setup is complete, remove the WinDrive Distribution Disk and reboot the PC. WinDrive can be ru

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-8 Figure 7.1: Communication Port Dialog Box When WinDrive is started, the user is first pr

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-97.4 RS232 and RS485 Communication RS232 is a serial data standard, which allows WinDrive to commun

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-107.4.1 RS232 Connection The RS232 port of the drive is configured as a modem. The connector pins

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-117.4.2 RS485 Communication RS485 is multidrop serial data standard, which allows WinDrive to commu

T200 User's Manual SECTION 2: SAFETY INSTRUCTIONSPAGE 2-42.2 Safety regulations1. The T200 controller must be disconnected from all power if

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-12Example of PC InterfaceIf an external signal is required to enable the transmitter of the adapter

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-137.5 Password Protection This dialog box appears at system start-up and is used to enter a User Pa

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-14To change a saved password, the old password is entered in the Password Dialog box. The Change Pa

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-157.5.1 Off-line ModeFigure 7.4: Controller Type (offline) DialogBox7.5.2 Switching Between Commun

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-167.6 Main Window - FeaturesThe WinDrive Main window is divided into several sections:§ Outer Fra

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-17The Main Window Button Console, Log File Display, and Data Logger Plots sections are part of a thr

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-187.7.3 Main Window Button ConsoleFigure 7.7: Main Configuration Console7.7.4 Data LoggerThe beha

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-197.8 Menu Options7.8.1 File Menu Options• Open - Opens a previously saved log (file extension *

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-207.8.2 Drive Menu OptionsSet-up – The following options are availablefrom the Set-up option:Ø Re

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-21Ø Invert System Ready Relay / Thermal Limit Output - For certain applications, it can be desirabl

SECTION 2: SAFETY INSTRUCTIONS T200 User's ManualPAGE 2-52.3 SafetyThis user’s manual assumes that the user has a basic working knowledge of ser

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-22• Logfile Player - The log file player “plays” log files which send communication requests to t

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-23• Grid Lines - Two options are available from the Grid Lines option:Ø Horizontal Grid - Adds a

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-247.9 WinDrive Monitoring Features7.9.1 Data LoggerFigure 7.18: Data Logger Set-up Dialog BoxTrig

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-25Figure 7.19: Trigger Flag Set-up Dialog BoxFigure 7.20: Data Logger Run Dialog BoxSeveral paramete

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-267.9.2 Engineering User InterfaceThe Engineering User Interface (EUI) is opened by selecting the

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-277.9.4 Manual Block OperationsBlock data may be saved to disk for future use by selecting Manual B

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-287.9.6 Drive StatusFigure 7.25: Drive Status Dialog BoxAvailable by selecting Drive Status from t

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-297.9.7 Fault StatusFigure 7.26: Fault Status Dialog BoxThis dialog is available by selecting Faul

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-307.9.8 Fault HistoryThe T200 provides a means of uploading and displaying the fault history data

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-317.10 Drive Set-upThe drive can be configured in either Position Mode, Velocity Mode or Torque Mode

T200 User's Manual SECTION 2: SAFETY INSTRUCTIONSPAGE 2-62.3.1 System Safeguardsa) General Safety RequirementsUsers are required to implement

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-327.10.1.2 Select Motor Dialog BoxThe motor is selected by the user. Motor types are divided into s

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-33b) Non Standard Motor SelectionNon-standard motor entry should only be necessary when using MOOG&a

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-347.10.1.3 Reference Source SelectionThe servo-drive’s reference source is chosen using the Referen

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-35a) Analog Input ReferenceFigure 7.35: Analog Input Dialog BoxAutomatic Input Offset Zero: The T200

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-36Torque Offset: The Torque Offset is used to bias the torque of the motor in one direction of rota

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-37d) Digital Speed Input ReferenceFigure 7.38: Digital Speed Input Dialog Boxe) Stepper Input Refere

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-387.10.1.4 Reference Rate Limit Set-upFigure 7.40: Rate Limit Dialog BoxThe Rate Limit Dialog box a

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-397.10.1.5 Normal and Reduced Power (Automatic and Manual Mode) Limits Set-upThe Limits Dialog box a

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-407.10.1.7 Drive TuningThis dialog enables the user to select the Control Mode for the drive, set u

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-41Figure 7.44: Regen Resistor Configuration Dialog BoxSelect Regen Kit: Allows the selection of the

SECTION 2: SAFETY INSTRUCTIONS T200 User's ManualPAGE 2-7A mains circuit breaker must be installed with this equipment and be accessible to the u

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-427.10.2 Torque Mode OperationIn Torque Mode, the input command reference is a current command to

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-437.11 Control Loop Configuration and TuningThis section describes how WinDrive allows easy configur

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-44Options: Advanced Options for T200 control loops, Auto-Tuning and control loop Tracking Monitorin

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-457.11.2 Torque Mode TuningAs mentioned earlier, tuning of the current loops is performed during dr

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-46It is recommended to monitor the Torque Demand and the Actual Velocity variables during Velocity

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-47parameter. Tuning of the software model for the user applications is described in Section 6.6.2. N

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-487.11.5 Auto Tuning (Velocity Loop Only)Auto Tuning of T200 Velocity Loop Gain parameters and the

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-497.11.5.1 Auto Tuning System ParametersThe System Parameters dialog provides a means ofviewing and

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-507.11.6 Tracking MonitoringThe Tracking Monitoring dialog box is available from the Tuning dialo

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-517.12 Incremental Encoder Input ConfigurationThe T200 Incremental Encoder input can be set-up via W

T200 User's ManualPAGE IIIT200 Servo-Drive Manual OverviewThis manual is broken into 11 sections and 1 Appendix.Section 1 is an overview of the f

T200 User's Manual SECTION 2: SAFETY INSTRUCTIONSPAGE 2-82.3.2 Equipment SafetyAll persons must observe sound safety practices during the opera

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-527.13 Equipment And Personal SafetyWinDrive contains several functions to ensure equipment and per

SECTION 7: WINDRIVE T200 User's ManualPAGE 7-537.14 Drive DisablingThe drive may be disabled at any time through several means. In case of emerge

T200 User's Manual SECTION 7: WINDRIVEPAGE 7-547.16 Brake ControlFigure 7.57: Apply Brake and Release Brakeoptions on the Drive Menu7.17 Trouble

SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's ManualPAGE 8-1SECTION 8: HAND-HELD-TERMINAL INTERFACEC27095-001

T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACEPAGE 8-2TABLE OF CONTENTSHAND-HELD-TERMINAL INTERFACE ...

SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's ManualPAGE 8-38.1 Hand-Held-Terminal Interface ("Pod" Mode)Configuration and Tunin

T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACEPAGE 8-4> -2.9 E -2 <CR>Enter numbers and press RETURN.> .029 <CR>&g

SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's ManualPAGE 8-58.2 Servo-drive Initialization1. Power should be applied to the T200 Series S

T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACEPAGE 8-6The servo-drive saves data in its Flash EEPROM, which is a non-volatile memory

SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's ManualPAGE 8-7After entering the SSM command, the user should then enter a valid motor model

SECTION 2: SAFETY INSTRUCTIONS T200 User's ManualPAGE 2-9Safe-guards should be an integral part of a workcell design, installation, operator trai

T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACEPAGE 8-88.2.3 Non-Standard Motor ConfigurationApplications employing non-standard mot

SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's ManualPAGE 8-98.3 Servo-drive TuningSection 6 already contains a comprehensive overview, whi

T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACEPAGE 8-108.4 T200 Hand-Held-Terminal Command SetThe following is a list of commands f

SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's ManualPAGE 8-118.4.1 Drive Set-up CommandsLCList the Servo-drive Size and PowerConfiguration

T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACEPAGE 8-128.4.3 Drive Limits CommandsSE Set the Emergency Deceleration Ratefor Quick-S

SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's ManualPAGE 8-13SGPSet the Position Loop ProportionalGain GGDDecrease the Position LoopProport

T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACEPAGE 8-148.4.12 Warnings CommandsSTD Set the position tracking dynamicerror band ∆,

SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's ManualPAGE 8-158.4.16 Thermal Protection CommandsIT Set the IT Protection parameters:• Ipe

T200 User's Manual SECTION 8: HAND-HELD-TERMINAL INTERFACEPAGE 8-16This page is intentionally left blank.

SECTION 9: CAN INSTALLATION T200 User's ManualPAGE 9-1SECTION 9: CAN INSTALLATIONVersion 37/00

T200 User's Manual SECTION 2: SAFETY INSTRUCTIONSPAGE 2-102.3.3 Safety Requirements for Cablesa) Requirements - Conductors and CablesAll cable

T200 User's Manual SECTION 9: CAN INSTALLATIONPAGE 9-2TABLE OF CONTENTSSECTION 9: CAN INSTALLATION...

SECTION 9: CAN INSTALLATION T200 User's ManualPAGE 9-39.1 IntroductionCAN is an abbreviation for the Controller Area Network. This is a high sp

T200 User's Manual SECTION 9: CAN INSTALLATIONPAGE 9-49.2 CAN Cable WiringThe CAN-In and CAN-Out ports at J2 and J3 of the T200 provide the mea

SECTION 9:- CAN INSTALLATION T200 User's ManualPAGE 9-5Figure 9.2:- CAN-In/CAN-Out Connector (J2 and J3) Wiring

T200 User's Manual SECTION 9: CAN INSTALLATIONPAGE 9-6This page is intentionally left blank.

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-1SECTION 10: TROUBLE-SHOOTING GUIDEC27095-001

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-2How to use this SectionThe table of contents below should help the user to underst

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-310.6 OTHER PROBLEM SOURCES...

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-410.1 IntroductionThe following tables list typical system, controller, and motor t

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-510.2 Power Status LED's not IlluminatedSection 3.19 T200 User Visual Indicatio

SECTION 2: SAFETY INSTRUCTIONS T200 User's ManualPAGE 2-11d) Wiring Practices - Conductors of different circuitsSubject to the constraints for E

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-610.2.2 Fault Type: DC-Bus-Active LED is not LightingTable 2: Causes of DC-Bus-Act

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-710.3 Seven-Segment Display StatusThe following section deals with T200 7-segment di

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-810.4 'F' Symbol Followed by Number on Seven-Segment Display (Faults)The

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-910.4.2 Fault Type: F2 (DC-Bus Overvoltage) on 7-segment DisplayThe F2 fault is dis

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-1010.4.3 Fault Type: F3 (Fuse Fault) on 7-Segment DisplayThe F3 fault is displayed

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-1110.4.4 Fault Type: F4 (PSU Heatsink Overtemperature) on 7-Segment DisplayThe F4 f

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-1210.4.6 Fault Type: F6 (Motor Over-Temperature) on 7-Segment DisplayThe F6 fault

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-1310.4.7 Fault Type: F7 (Internal Software Fault) on 7-Segment DisplayThe F7 fault

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-1410.4.9 Fault Type: F9 (Internal DC/DC Fault) on 7-segment DisplayThe F9 fault is

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-1510.5 'U' Symbol Followed by Number on Seven-Segment Display (Warnings)T

T200 User's Manual SECTION 2: SAFETY INSTRUCTIONSPAGE 2-12Connections to devices mounted on doors or to other movable parts shall be made using

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-1610.5.2 Warning Type: U2 (Motor Temperature Warning) on 7-Segment DisplayThe U2 w

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-1710.5.3 Warning Type: U3 (Power Amplifier Warning) on 7-Segment DisplayThe U3 warn

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-1810.5.4 Warning Type: U4 (Position Error Warning) on 7-Segment DisplayThe U4 Warn

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-1910.5.5 Warning Type: U5 (Velocity Error Warning) on 7-Segment DisplayThe U5 Warni

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-2010.5.6 Warning Type: U6 (External Regen Resistor Warning) on 7-segmentDisplayThe

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-2110.5.7 Warning Type: U7 (CAN Communications Warning) on 7-segment DisplayThe U7 w

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-2210.5.8 Warning Type: U8 (Limit Switches Warning) on 7-segment DisplayThe U8 warn

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-2310.5.9 Warning Type: UA (Quick-Stop Warning) on 7-segment DisplayThe UA warning i

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-2410.5.10 Warning Type: Ub (Stepper or Inc. Encoder Warning) on 7-segmentDisplayTh

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-2510.5.11 Warning Type: Dot (Thermal Limit Warning) on 7-segment DisplayThe Dot war

SECTION 2: SAFETY INSTRUCTIONS T200 User's ManualPAGE 2-13j) Wiring Practices - Ducts, connection and junction boxesAll sharp edges, flash, burr

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-2610.6 Other Problem SourcesThe T200 diagnostics will not identify all problem sour

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-2710.6.2 Problem: T200 is Enabled, but will not move the AxisThe motor cannot move

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-2810.6.3 Problem: T200 Movement is not SmoothThe motor moves, but the movement is

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-2910.6.4 Problem: Excessive Audible Noise from the MotorThe motor movement is somew

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-3010.6.5 Problem: Motor Shaft rotates in the Wrong DirectionThe motor movement is

SECTION 10: TROUBLE-SHOOTING GUIDE T200 User's ManualPAGE 10-3110.6.6 Problem: No ESM Position Feedback from the T200The motor moves but the enc

T200 User's Manual SECTION 10: TROUBLE-SHOOTING GUIDEPAGE 10-32This page is intentionally left blank.

SECTION 11: USER INFORMATION T200 User's ManualPAGE 11-1SECTION 11: USER INFORMATONC27095-001

T200 User's Manual SECTION 11: USER INFORMATIONPAGE 11-2TABLE OF CONTENTSUSER INFORMATON...

SECTION 11: USER INFORMATION T200 User's ManualPAGE 11-311.1 Technical Support Technical support for Windrive and Moog Brushless DC Motor Drive p

T200 User's Manual SECTION 2: SAFETY INSTRUCTIONSPAGE 2-142.3.4 EMC requirements for cablesAvoid close parallel routing of signal cables and p

T200 User's Manual SECTION 11: USER INFORMATIONPAGE 11-4This page is intentionally left blank.

APPENDIX A: EMC TEST CONFIGURATION T200 User's ManualPAGE A-1APPENDIX A: EMC TEST CONFIGURATIONSC27095-001

T200 User's Manual APPENDIX A: EMC TEST CONFIGURATIONPAGE A-2TABLE OF CONTENTSEMC TEST CONFIGURATIONS...

APPENDIX A: EMC TEST CONFIGURATION T200 User's ManualPAGE A-3Appendix A:- Test Configurations for EMC-related CE-ComplianceThe T200 Series Motor

T200 User's Manual APPENDIX A: EMC TEST CONFIGURATIONPAGE A-4There was a 3m shielded cable terminated in characteristic impedances connected to

APPENDIX A: EMC TEST CONFIGURATION T200 User's ManualPAGE A-5Test Configuration 4: EMC Emissions: 3 Phase Power application.The configuration con

T200 User's Manual APPENDIX A: EMC TEST CONFIGURATIONPAGE A-6cable of the T200-310 CAN-IN port. One T200-300 had a motor brake option installed

APPENDIX A: EMC TEST CONFIGURATION T200 User's ManualPAGE A-7Single phase input power was supplied via a Schaffner type FN 350-12-29 mains input

T200 User's Manual APPENDIX A: EMC TEST CONFIGURATIONPAGE A-8to the T200-500 CAN IN port. There was a 3m shielded cable terminated in characteri

APPENDIX A: EMC TEST CONFIGURATION T200 User's ManualPAGE A-9Both Drives were mounted onto an earthed metal panel mounted in turn onto an earthed

SECTION 2: SAFETY INSTRUCTIONS T200 User's ManualPAGE 2-152.4 Electromagnetic Compatibility (EMC)The T200 Servo-drive are system components whi

T200 User's Manual APPENDIX A: EMC TEST CONFIGURATIONPAGE A-10LINE FILTER P Clip ( Cable shield connection to earth ) Input cable Output cable C

APPENDIX A:- EMC TEST CONFIGURATIONS T200 User's ManualPAGE A-11This page is intentionally left blank.

MOOG GmbHHanns-Klemm-Straße 28D - 71034 BöblingenPostfach 1670D - 71006 BöblingenTelefon (07031) 622-0Telefax (07031) 622-191MOOG Inc.East AuroraNew Y

T200 User's Manual SECTION 2: SAFETY INSTRUCTIONSPAGE 2-16For Electrostatic Discharge (ESD) reasons all service or maintenance persons must grou

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-1SECTION 3: WIRING AND INSTALLATIONC27095-001

T200 User's ManualPAGE IVRev Description Date EffectivityPreliminary Preliminary version of the T200 Manual 21/Oct/98 AllFirst Issue First versio

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-2TABLE OF CONTENTSWIRING AND INSTALLATION...

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-33.14.4 Crimping Tools for Motor Cables ...

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-4Section 3 Table of FiguresFigure 3.1:- Typical T200 System Components...

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-5Figure 3.46: Power Sequencing control using PWR_RDY and ENABLE ...

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-6Section 3 Table of TablesTable 3.1: T200 Input Power Ratings versus Single and Thre

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-7This section covers the installation, wiring and cabling of the Moog T200 Servo-driv

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-83.1.1.1 Single-Phase Mains ConnectionThe T200-310/410/510 can operate with single p

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-93.1.2 A.C. Input Circuit Breaker - (User Supplied)It is recommended that an a.c. ma

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-10Figure 3.1:- Typical T200 System Components

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-113.1.3 Serial Set-up Terminal (User-Supplied)An RS-232 interface should be establis

T200 User's ManualPAGE VTable of ContentsSECTION 1: T200 OVERVIEW...

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-123.1.4.2 120 V a.c. Control-Backup Power SupplyThe 120V a.c. Power Supply allows hi

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-133.1.8 Mating Connectors, Cables and WiringMoog can provide the necessary cabling f

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-143.2 Equipment MountingFigures 3.2 to 3.7 show the mechanical dimensions of the

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-15Figure 3.2:- T200-3/4/5 Mechanical Mounting

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-16 Figure 3.3:- T200-3/4/5 Mechanical Dimensions

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-17Figure 3.4:- T200-610 Mechanical Mounting

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-18Figure 3.5:- T200-610 Mechanical Dimensions

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-19Figure 3.6:- T200-710 Mechanical Mounting

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-20Figure 3.7:- T200-710 Mechanical Dimensions

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-213.2.1 CE Items for Mechanical InstallationAdditional electromagnetic compatibility

T200 User's ManualPAGE VI3.18 COMMUNICATIONS INTERFACE WIRING AND CONFIGURATION...3-823.19 T200 USER VIS

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-223.3 Power DissipationTo calculate cabinet cooling requirements, Table 3.3 provide

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-233.4 T200 Connector TerminalsFigures 3.4 and 3.5 below detail the connectors on the

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-24Figure 3.9:- T200-3/4/5 Front Panel (T200-X00 without Integral PSU)

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-25Figure 3.10:- T200-610 and T200-710 Front Panel

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-263.5 General System Wiring GuidelinesThe following is a general reminder of the ca

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-273.5.1 Power Circuit Breaker (User Supplied)An a.c.-mains Circuit Breaker should be

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-283.6 Sequence of Component Wiring RecommendationsThe following sequence for wirin

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-293.7 Three-Phase A.C. Mains Power Source ConfigurationThe T200 may be supplied from

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-30Figure 3.11:- T200 Multi-Axis system with 3-Phase A.C. Mains Inputs

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-313.8 Single Phase 230Va.c. Mains ConfigurationThe T200-310/410/510 Models only may

T200 User's ManualPAGE VII7.6 MAIN WINDOW - FEATURES ...

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-32Figure 3.12:- T200 Multi-Axis system with Single-Phase 230Va.c. Mains Input (T200-

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-333.9 Single Phase 120Va.c. Mains ConfigurationThe T200-310/410/510 Models only may

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-34 Figure 3.13:- T200 Multi-Axis system with Single-Phase 120V A.C. Mains Inputs (T2

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-353.10 Providing D.C. Bus Power from a T200-X10 Unit to T200-X00 UnitsA T200-X10 unit

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-36There is a limitation to the number of T200-X00 units that can be attached to a T2

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-373.10.1 Power Ready Signalling from T200-X10 to Connected T200-X00 UnitsThe T200-X1

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-38Figure 3.15:- T200 Power Ready, 24V d.c. and 120V a.c. Backup Connections

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-39Figure 3.16:- T200-610/710 Power Ready, 24V d.c. and 120V a.c. Backup Connections

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-40 1 2PR+ PR- 6 4PWR_RDY I_COMMONConnector TB4Conne

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-413.10.2 Power Cycling Frequency LimitsAs outlined in a previous section, the T200-X

T200 User's ManualPAGE VIIIThis page is intentionally left blank.

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-423.11 Paralleling T200-X10 Units through the D.C. BusT200-X10 units can be parallel

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-433.12 Daisychaining Control-Backup Power Connections to T200'sThe T200 contains

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-443.12.2 120Va.c. Control-Backup Power DaisychainingConnections to wire the 120Va.c

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-453.13 Internal/External Regeneration (Regen) Resistors – ConfigurationsRegeneration

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-46Figure 3.22: T200-310/410/510 External Regeneration and Mains Input, d.c. Bus Inpu

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-47Figure 3.23: T200-610/710 External Regeneration and Mains Input, d.c. Bus Input and

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-483.13.1 T200-310 External Regeneration Resistor OptionsFigure 3.24:- T200-310 Rege

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-49Figure 3.25:- T200-310 Regeneration Resistor 200W Option 2 – A76178-002 (Mounting a

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-503.13.2 T200-410 and T200-510 External Regeneration Resistor ConnectionFigure 3.26

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-51Figure 3.27:- T200-410 and T200-510 600W Regeneration Resistor Option 2 – A76178-00

SECTION 1: T200 OVERVIEW T200 User's ManualPAGE 1-1SECTION 1: T200 OVERVIEWC27095-001

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-523.13.3 T200-610 and T200-710 External Regeneration Resistor ConnectionMOOG offers

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-53Figure 3.29:- T200-610 and T200-710: 1.25KW Regeneration Resistor Option 2 – C22654

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-54Figure 3.31:- T200-610 and T200-710 Regeneration Resistor Option 4:- two C09838-01

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-55Fuse HolderWARNING - Operation of the T200 with other than the factory fitted fuse

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-563.14 Motors - InstallationMotors should be sized by qualified personnel. Improper

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-573.14.2 Motor Power CableWire the motor power connector in accordance with Figure 3

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-58Figure 3.32:- T200-3/4/5 Motor and Brake Connections

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-59Figure 3.33:- T200-610 and -710 Motor and Brake Connections

T200 User's Manual SECTION 3: WIRING AND INSTALLATIONPAGE 3-60 Figure 3.34: Motor Power and Brake Cable

SECTION 3: WIRING AND INSTALLATION T200 User's ManualPAGE 3-61Pin assignment for Motor Power Cable and Mating ConnectorsTable 3.7:- Motor Power C