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01-04
Lexium
Motion control
Catalogue
January
04
Lexium motion control
www.schneider-electric.com
January 2004
Schneider Electric Industries SAS
DIA7ED2031006EN - © 2004 Schneider Electric - All right reserved
ART. 66692
Telemecanique
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
1
Contents Lexium motion control
1
1 - Lexium motion control
bPresentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 2
bAssociation of brushless motors and servodrives . . . . . . . . . . . . . . . . . . . .page 3
2 - Modicon Premium motion control modules
Selection guides
Counter and electronic cam modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . .page 4
Motion control modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .page 6
bTSX CFY 11/21 motion control modules for stepper motors . . . . . . . . . . . . page 8
bTSX CAY motion control modules for servomotors . . . . . . . . . . . . . . . . . page 12
bTSX CFY/CAY module software setup . . . . . . . . . . . . . . . . . . . . . . . . . . . page 22
bSERCOS TSX CSY 84/164 motion control modules. . . . . . . . . . . . . . . . . page 24
3 - Modicon Quantum motion control modules
Selection guide, motion control modules. . . . . . . . . . . . . . . . . . . . . . . . .page 32
b140 MSB 101 00 single-axis motion module for servomotors . . . . . . . . . page 34
bSERCOS 141 MMS motion control modules . . . . . . . . . . . . . . . . . . . . . . page 38
4 - Lexium servodrives
bPresentation, description and functions. . . . . . . . . . . . . . . . . . . . . . . . . . . page 46
bUnilink software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 51
bConnectivity of MHDA servodrives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 56
bCharacteristics and references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 62
bDimensions and connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 68
5 - SER brushless motors
bPresentation, functions and description. . . . . . . . . . . . . . . . . . . . . . . . . . . page 76
bCharacteristics and dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 79
bReferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 86
bHolding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 88
bPLE gearboxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 89
6 - Lexium BPH brushless motors
bPresentation, functions and description. . . . . . . . . . . . . . . . . . . . . . . . . . . page 92
bCharacteristics and dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 95
bReferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 106
7 - Additional products and services
bSizing the brushless motor and braking resistor . . . . . . . . . . . . . . . . . . . page 110
bPhaseo regulated power supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 112
bAutomation product certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 118
bSchneider Electric worldwide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 120
bIndex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 127
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1
The axis control offer is intended for machines which simultaneously require high
performance servo motion control, associated with PLC sequential control.
Modicon Premium and Modicon Quantum automation platforms offer a range of
interfaces including axis control modules providing a position control function. These
modules are:
bAnalog output modules:
v TSX CAY, multi-axis control (2 to 4 axes) for Premium,
v 140 MSB, single-axis control for Quantum
bModules with SERCOS digital link:
v TSX CSY, controls up to 16 servodrives for Premium,
v 141 MMS, controls up to 22 servodrives for Quantum.
Lexium servodrives provide solid state switching, current (or torque), speed and
position control.
Three types of servodrive, each available in 7 current ratings (1.5, 3, 6, 10, 20, 40
and 70 A permanent rms), are available:
b
+
10 V analog setpoint, controlled by position control module of PLC.
bStand alone mode with integral position indexer, controlled by:
v discrete inputs/outputs (1),
v CANopen bus,
v Modbus Plus network, Fipio bus or Profibus DP bus (1).
bSERCOS high speed digital link (1) allows Lexium servodrives to be controlled by
PLC position control module.
Brushless motors are synchronous, 3-phase motors. They are equipped with a built-
in sensor which can be a resolver or a SinCos Hiperface absolute encoder. They are
provided with or without holding brake. Two ranges of motors are available:
Their design, with samarium cobalt permanent magnets, ensures perfect rotation
even at low speed. Depending on the model, they have:
bIP 65 or IP 67 protection (IP 54 for BPH 055 motor).
bKeyed or smooth shaft ends.
Motion control applications are designed and installed using:
bPL7 Junior/Pro (for Premium PLCs) software.
bConcept (for Quantum PLCs) software.
bUnity Pro (for Premium or Quantum PLCs) software.
Unilink user software, in association with Lexium servodrives, provides configuration
and adjustment of the parameters for these servodrives.
(1) Requires use of an optional card (one slot available per MHDA servodrive).
(2) Shaft end with key for the model without a gearbox, please contact our Regional Sales Office.
Position control system
Lexium MHDA servodrive
Lexium brushless motors
SER motors
They are equipped with Neodynium Iron Borium (NdFeB) magnets and provide a
high power density within a confined space, as well as large velocity dynamic that
meet all machine requirements. They have:
bIP 41 or IP 56 protection.
bWith or without gearbox. These gearboxes are offered with three speed reduction
ratios 3:1, 5:1 and 8:1.
bSmooth shaft end (2) (for the model without gearbox) or with key (for the model
with gearbox).
BPH motors
Configuration and installation
Lexium offer Lexium motion control 1
Presentation
Analog setpoint or digital
link mode Stand alone mode with
integral position indexer
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1
Lexium offer Lexium motion control 1
Association of brushless motors and
Lexium servodrives
SER brushless motors
(IP 41 or IP 56) Digital Lexium MHDA servodrives Lexium BPH brushless
motors
(IP65orIP67)
MHDA
1004p00 MHDA
1008p00 MHDA
1017p00 MHDA
1028p00 MHDA
1056p00 MHDA
1112A00 MHDA
1198A00
1.5 A rms 3 A rms 6 A rms 10 A rms 20 A rms 40 A rms 70 A rms
0.4/1.1 Nm 8,000 rpm BPH 0552 S
0.9/1.9 Nm 1.3/3.4 Nm 6,000 rpm BPH 0751 N
SER 39A 4L7S 6,000 rpm 1.1/2.5 Nm 1.1/4 Nm
SER 39B 4L3S 6,000 rpm 2.2/4.4 Nm 2.2/8.0 Nm
1.3/2.5 Nm 2.3/4.8 Nm 6,000 rpm BPH 0752 N
SER 39C 4L3S 6,000 rpm 2.9/4.7 Nm 2.9/9.4 Nm
3.7/7.2 Nm 4.3/13.4 Nm 6,000 rpm BPH 0952 N
SER 3BA 4L3S 6,000 rpm 4.6/9.2 Nm 4.6/15.3 Nm
SER 3BA 4L5S 6,000 rpm 4.6/8.2 Nm 4.6/15 Nm
6.0/13.4 Nm 6.0/20.3 Nm 6,000 rpm BPH 0953 N
SER 3BB 4L3S 6,000 rpm 6.6/12 Nm 6.6/20 Nm
SER 3BB 4L5S 6,000 rpm 6.6/15.8 Nm 6.6/25 Nm
7.4/13.6 Nm 7.4/19.3 Nm 6,000 rpm BPH 1152 N
6.8/13.5 Nm 10.5/19 Nm 6,000 rpm BPH 1153 N
SER 3BC 4L5S 6,000 rpm 10/17 Nm 10/28 Nm
SER 3BC 4L7S 3,000 rpm 10/16 Nm 10/32 Nm
11.4/18 Nm
12/30 Nm 4,000 rpm BPH 1422 N
SER 3BD 4L5D 6,000 rpm 13.4/29 Nm
SER 3BD 4L7S 3,000 rpm 13.4/24 Nm 13.4/38 Nm
14.5/24 Nm 17/42 Nm 4,000 rpm BPH 1423 N
25/37.5 Nm
4,000 rpm BPH 1902 N
36/57 Nm 4,000 rpm BPH 1903 K
46/76.2 Nm
4,000 rpm BPH 1904 K
75/157 Nm 4,000 rpm BPH 1907 K
90/163 Nm
100/230 Nm
4,000 rpm BPH 190A K
1.1/2.5 Nm For a SER motor, the 1st value corresponds to continuous stall torque max., the 2nd value corresponds to peak stall torque max.
1.3/3.4 Nm For a SER/Lexium BPH motor, the 1st value corresponds to continuous stall torque max., the 2nd value corresponds to peak stall torque max.
Example: The SER 3BB 4L3S motor associated with the MHDA1017 servodrive meets the requirements of applications requiring a
6.6 Nm continuous stall torque max, 12 Nm peak stall torque max. and 6,000 rpm mechanical speed.
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Selection guide Lexium motion control 1
Counter and electronic cam modules
Applications Counter modules
Number of channels 2 channels 4 channels
Frequency per channel 40 kHz 40 kHz
Module cycle time 5 ms 10 ms
Counter/measurement
input Counting pulses
c24 V Up to 40 kHz:
- Proximity sensor type 2
- Mechanical contacts
Incremental encoder Up to 40 kHz :
- c 10…30 V
- c 5 V RS 422 with zero marker
Absolute encoder
Reflex inputs/outputs Per channel:
- 3 inputs c 24 V: enable, preset and read
- 1 input c 24 V line check, incremental encoder power supply
- 2 reflex outputs c 24 V
Counting capacity 24 bits + sign (0 to + 16 777 215 points or ± 16 777 215 points)
Functions Downcounting with preset input, upcounting with reset to zero input
Up/down counting with preset input, configurable upcounter input:
- 1 upcounter input/1 downcounter input
- 1 up/down counter input and 1 direction input
- Incremental encoder with phase-shifted signals
Processing Inputs: counter enable, counter preset, read current value
Comparison:
- Downcounting, to value 0
- Upcounting, 2 thresholds and 1 setpoint
- Up/down counting, 2 thresholds and 2 setpoints
Reflex outputs:
- Downcounting function, 1 passage through zero output
- Upcounting function,1 passage through setpoint value output
- Up/down counting function, 2 user-definable outputs
- Up/down counting function, 2 user-definable outputs
Events User-definable activation of the event-triggered task (threshold crossing, setpoint crossing,
preset or reset, enable, capture)
Connection - 15-way SUB-D connectors (1 per counter channel, direct or TSX TAP S15 pp accessory)
- HE 10 connector for auxiliary I/O and power supply
- Telefast 2 system (ABE 7CPA01, ABE 7H08R10/16R20)
Type of module TSX CTY 2A TSX CTY 4A
Page Please consult our catalogue “Modicon Premium automation platform”
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1
Fast counter and measurement module Electronic cam module
2 channels 1 channel
500 kHz
1 ms
Up to 1 MHz:
- Proximity sensor type 2
- Mechanical contacts
500 kHz in multiplication by 1, 250 kHz in multiplication by 4:
- c 10…30 V
- c 5 V RS 422 with zero marker
Power supply c 5 V ou c 10…30 V:
- SSI absolute encoder up to 25 bits
- Parallel absolute encoder up to 24 bits (with Telefast ABE 7CPA11 sub-base)
Per channel :
- 2 inputs c 24 V : preset and read
- 1 enable input or c 24 V output, configurable
- 2 reflex outputs c 24 V
- 1 programmable frequency output 24 V
- 1 encoder power supply input c 5 V/24 V
- 3 proximity sensor compatible inputs 24 V type I
- 24 track outputs 24 V/0.5 A protected
24 bits + sign (0 to + 16 777 215, upcounting) or 24 bits + sign (- 16 777 215 to
+ 16 777 215, downcounting, up/down counting). Up to 25 bits for SSI absolute
encoder
256 to 32 768 points per cycle and from 1 to 32 768 cycles,(absorbs play on
reverse)
Up/down counting with preset input, configurable counter input:
- 1 upcounter input/1 downcounter input
- 1 up/down counter input and 1 direction input
- Incremental encoder with phase-shifted signals
Measurement 2:
- SSI absolute encoder
- Parallel output absolute encoder with ABE 7CPA11 sub-base
Processing of 128 cams/32 tracks (of which 24 with direct output)
Output update cycle:
- 50 µs for 16 cams
- 100 µs for 64 cams
- 200 µs for 128 cams
Two capture registers
Control/recalibration of axis slip
Inputs: counter enable, counter preset, read current value Cam profiles: 3 basic types (position, monostable, brake)
Comparison:
2 thresholds Associated functions:
- Elimination of axis backlash, position recalibration
- Measurement capture
- Switching feedforward
- Parts counter
Reflex outputs:
2 user-definable outputs
Speed monitoring
Special functions
User-definable activation of the event-triggered task (crossing of thresholds or
modulo value, preset, enable, capture) User-definable activation of the event-triggered task (cams, track, adjustment,
read, etc.)
- 15 way SUB-D connectors (1 per counter channel, direct or TSX TAP S15pp accessory)
- HE 10 connector for reflex I/O and power supply
- Telefast 2 system (ABE 7CPA01, ABE 7H16R20, ABE 7CPA11)
TSX CTY 2C TSX CCY 1128
Please consult our catalogue “Modicon Premium automation platform”
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6
2
Selection guide Lexium motion control 1
Premium motion control modules
Applications Motion control modules for stepper motor Motion control modules for servomotors
Compatible with:
- Lexium MHDA servodrives with analog setpoint
- Altivar ATV 38/58/68 variable speed drives
Number of axes 1 axis 2 axes 2 axes 4 axes
Frequency per axis 187 kHz Counter: 500 kHz with incremental encoder
Counter input Per axis:
Translator inputs c 5 V, negative logic
(translator loss of step checks)
Per axis:
Incremental encoder c 5 V, RS 422/RS 485
or Totem pole
SSI serial absolute encoder 16 to 25 bits
c10…30 V
Parallel output absolute encoder 16 to 24 bits
c5/10/30 V with Telefast 2 conversion sub-
base (ABE 7CPA11)
Control outputs Per axis:
RS 422 translator outputs, TTL 5 V
compatible (+/- pulses, boost, enable, reset
loss of step check)
Per axis:
1 analog output ± 10 V, 13 bits + sign,
Auxiliairy input/output Per axis:
6 discrete inputs c 24 V
1 output c 24 V (brake control)
Per axis:
4 discrete I/O c 24 V (homing cam, event, recalibration,
1 input/1 output for servodrive control
1 reflex output c 24 V
Counter capacity 24 bits + sign (± 16 777 215 points)
Functions Servo Control on individual linear axis
Processing Open loop control of the position of a moving
part on a limited linear axis according to
motion control functions supplied by the PLC
processor
Positioning of a moving part on an axis according
Axis parameter setting, adjustment and
debugging using PL7 Junior/Pro and
Unity Pro software
Axis parameter setting, adjustement and debugging using
Events User-definable activation of the event-triggered task
Connection - 15-way SUB-D connector for translator
- 20-way HE 10 connector for auxiliary I/O
- Telefast 2 system (ABE 7H16R20)
- 9 and 15-way SUB-D connectors for encoder input
- HE 10 connector for auxiliary inputs
- Telefast 2 system (ABE 7CPA01, ABE 7H16R20,
- Specific accessories (TSX TAP MAS)
Type of modules TSX CFY 11 TSX CFY 21 TSX CAY 21 TSX CAY 41
Page 11 15
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1
Motion control modules for servomotors
Compatible with Lexium MHDA servodrives equipped with
optional card SERCOS
2 axes 4 axes 3 axes 8 axes 16 axes
Acquisition: 200 kHz with SSI serial absolute encoder or parallel output SERCOS
ring: 4 M bauds
Per axis:
- Incremental encoder c 5 V, RS 422/RS 485 or Totem pole,
- SSI serial absolute encoder 12 to 25 bits
Parallel output absolute encoder 12 to 24 bits c 5/10/30 V with Telefast 2 conversion sub-base
(ABE 7CPA11)
Per SERCOS
digital link
servodrive setpoint Per SERCOS
digital link
emergency stop) Per SERCOS
digital link
Servo control on individual infinite axis
Follower axes (dynamic ratio)
Realtime correction of servodrive offset
Servo control on individual
linear or infinite axis
Linear interpolation on 2 or
3 axes
Realtime correction of
servodrive offset
Individual linear or infinite axis
Linear interpolation on 2 to 8 axes
Follower axes (6 slaves) by gearing or camming
Manual mode (JOG and INC) (1)
Special functions, see page 26
Flying shear on position or
event (1)
to motion control functions supplied by the Premium PLC processor
PL7 Junior/Pro and Unity Pro software (2) Axis parameter setting,
adjustment and debugging
using PL7 Junior/Pro
software
(direct or via TSX TAP S15pp ), speed reference
ABE 7CPA11),
2 SMA type connectors for plastic (or glass) fiber optic cable
TSX CAY 22 TSX CAY 42 TSX CAY 33 TSX CSY 84 TSX CSY 164
30
(1) Function not available with Premium platform under Unity Pro software.
(2) The Unity Pro software is not compatible with the TSX CSY 164 module.
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2
Presentation,
description Lexium motion control 1
TSX CFY 11/21 modules for stepper motors
The TSX CFY 11/21 stepper motor axis control range is intended for machines which
simultaneously require motion control by stepper motor associated with sequential
control by programmable controller.
The TSX CFY 11 module controls, via an amplifier for stepper motor, 1 axis
(channel 0). The TSX CFY 21 module controls 2 axes (channels 0 and 1). They
accept amplifiers with:
bRS 422 or TTL 5 V inputs (negative logic).
bRS 422 or c 5 V NPN open collector outputs.
In a Premium PLC configuration, the number of TSX CFY motion control modules
should be added to the other application-specific modules (communication, counting,
axis control and weighing).
The front panel of TSX CFY 11/21 stepper control modules comprises:
1One 15-way SUB-D connector per channel for connecting:
v Amplifier inputs.
v Amplifier outputs.
v Amplifier input power supply.
2One 20-way HE 10 connector for connecting:
v Auxiliary inputs: per axis, homing cam, emergency stop, limit switches (+ and -),
event, external stop.
v Brake outputs (1 per axis).
v External power supplies for sensors and preactuators.
3Rigid casing which:
v Holds the electronic card.
v Locates and locks the module in its slot.
4Module diagnostics lamps:
v Module diagnostics:
- green RUN lamp: module operating,
- red ERR lamp: internal fault, module failure,
- red I/O lamp: external fault.
v Axis diagnostics:
- 2 green CHp lamps: axis diagnostics available.
Operating characteristics are described on page
10
. Stepper control modules are set
up using PL7 Junior/Pro and Unity Pro software.
Presentation
Motor
Premium
Fip
Amplifier
Description
2
4
3
1
3
4
1
2
CH2 ERRCH0 RUN
CH3 CH1 I/O
4
Operation block diagram
C
haracteristics:
p
ages 9 and 10 References:
page 11 Connection:
page 10
Amplifier enable output
A/B pulse outputs
Reactivation of loss of step output
Boost output
Amplifier fault input
Loss of step check input
Cam input (homing)
+ and – limit switch input
Emergency stop input
Event input
External stop input
Brake output
Pulse generator
Auxiliary I/O
processing
Configuration
parameters
Processing
Configuration
+ adjustment
%KW.%MW
SMOVE function
%O, %QW
%I, %IW
TSX CFY 11 TSX CFY 21
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Characteristics Lexium motion control 1
TSX CFY 11/21 modules for stepper motors
Electrical characteristics
Type of module TSX CFY 11 TSX CFY 21
Modularity 1 axis 2 axes
Maximum pulse frequency kHz 187.316 187.316
Consumption c5V mA 510 650
c24 V mA 50 100
Power dissipated in the module Typical W3.8 5.6
Sensor power supply check Yes Yes
Input characteristics
Inputs Amplifier inputs Auxiliary inputs
Logic Negative Positive
Nominal values Voltage V524
Current mA 4.5 7
Limit values Voltage V19...30 (up to 34 V possible, limited to 1 hr per
24 hr period)
At state 1 Voltage V< 2 11
Current mA > 6 (for U = 11 V)
At state 0 Voltage V> 3.6 < 5
Current mA < 2 (for U = 5 V)
Input impedance for nominal U k3.4
Input immunity µsLoss of step input: 15 to 30:
µsHoming cam and event inputs: < 250
ms Amplifier fault input: 3 to 16 Limit switch, emergency stop and external stop
inputs: 3 to 10
Monitoring of
external power
supply for
sensors and
preactuators
Voltage for OK state V> 18
Voltage for fault state V< 14
Immunity OK V fault ms > 1
Immunity fault V OK ms < 30
Type of input Resistive Current sink
IEC 1131 conformity Type 2
Sensor compatibility 2-wire/3-wire
Output characteristics
Outputs Amplifier outputs Brake outputs (1 per axis)
Type of output RS 422, TTL 5 V open collector NPN
compatible Open collector, PNP
Output differential voltage V± 2 (load resistance 100 Ω)
Short-circuit current mA < 150
Permissible common mode voltage V 7
Permissible differential voltage V 12
Voltages Nominal Vc 24
Limit V19...30 (up to 34 V possible, limited to 1 hr per
24 hr period)
Currents Nominal mA 500
Leakage mA < 0.3
Maxi mA 625 (for U = 30 or 34 V)
Maximum voltage drop when ON Vc < 1
Switching time µs< 250
Compatibility with DC inputs All positive logic inputs with input resistance
< 15 k
IEC 1131-2 compliance Yes
Protection against overloads and
short-circuits Via current limiter and thermal tripping
(reactivated via program or automatically)
Short-circuit check on each channel One signalling bit per channel
Protection against channel overvoltage Zener diode between outputs and c + 24 V
Protection against polarity inversions By diode reverse-mounted on supply
R
eferences:
p
age 11 Connection:
page 10
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10
2
Characteristics (continued),
connections Lexium motion control 1
TSX CFY 11/21 modules for stepper motors
Operating characteristics
Control Pulse, frequency from 0 to 187 kHz
+ and - outputs or +/- outputs and direction
Paths Trapezoidal speed profile with minimum movement frequency
Operating modes OFF Module inactive
DIR DRIVE Module operating as pulse generator
MAN Motion controlled by operator:
vvisual control of movement
vincremental movement
AUTO Movement sequence controlled by PLC program. Movements are described using a syntax
similar to that of ISO language. Movements may be expressed in absolute or relative terms (in
relation to either the current position or a home point). Operation is possible in "step-by-step"
mode.
Checks Environment Amplifier, limits switches, Emergency stop
Motion Check correct execution by software position limits, loss of step
Control Check consistency of commands
Parameters Check validity of parameters
Optional commands Boost, brake
Connections
TSX CFY 11/21 stepper control module connections
(1) Type of amplifier
b
With RS 422 interface:
v
RS 422 compatible inputs,
v
RS 422 outputs.
b
With open collector, NPN interface:
v
TTL/5 V source compatible inputs,
v
Open collector, NPN outputs (5 V power supply from TSX CFY 11/21 module).
––
++
Ð
++
Ð
1
2
3
4
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
C
C
C
C
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
Telefast 2
ABE 7H16R20
34
2
1
1
1
300
+
Ð
301
+
Ð
302
+
Ð
303
+
Ð
103
203
102
202
304
+
Ð
305
+
Ð
105
Q0
Q0
I5
I2
I4
I1
I3
I0
I5
I2
I4
I1
I3
I0
RIRI
205
104
204
101
201
100
200
+ +
111
211
110
210
+ + + +
109
209
108
208
107
207
106
206
112
212
114
214
TSX CFY 11/21
Auxiliary I/O c
24 V
Power supply
Limit switch –
Brake output
Brake output
External stop
Emergency stop
Event
Homing
Limit switch –
Limit switch +
External stop
Emergency stop
Event
Homing
Output axis 1
+
pulses
pulses
(or direction)
Boost
Amplifier enable
Reactivation of step loss
check
Amplifier check
Loss of step check
Amplifier
(1)
Axis 0
Axis 1
Axis 0 or 1
T
win line TLD 01 servodrive
w
ith PULSE-C option
Inputs axis 0
Output axis 0
Inputs axis 1
1TSX CAP S15 connector
2TSX CDPpp3 cable with connector
3TSX CDPp01 preformed cable with connector
4TSX CDPp63 cable with connector
Axes 0 and 1
Limit switch +
C
haracteristics:
p
ages 9 and 10 References:
page 11
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11
2
References Lexium motion control 1
TSX CFY 11/21 modules for stepper motors
Motion control modules for stepper motors
Description
To control Connections to connectors No. of
axes Reference
(1) Weight
kg
SUB-D, 15-way HE 10, 20-way
Motion control modules
for stepper motors Amplifier with
RS 422 I/O,
c 5 V TTL and
O c 5 V with
open collector
Amplifier I/O Auxiliary I/O,
c24 V power
supply
1TSX CFY 11 0.440
2TSX CFY 21 0.480
Connection accessories
Description TSX CFY p1
connector Type of connector on
TSX CFY p1 module
(2) Unit
reference Weight
kg
SUB-D connectors Amplifier SUB-D, 15-way
(1 per axis)
Sold in lots of 2
1 TSX CAP S15 0.050
Telefast 2 connection sub-
base Auxiliary I/O for axes 0/
1, c 24 V power
supply
HE 10, 20-way
(1 for 2 axes) ABE 7H16R20 0.300
Additional terminal block 20 shunted terminals
for ABE 7H16R20 sub-
bases
Order in multiples of 5 ABE 7BV20 0.030
Connecting cables
Description From module
TSX CFY p1To
(2)
Length
Reference Weight
kg
Cables (cross-
section 0.324 mm2)20-way HE 10
connector ABE 7H16R20 sub-
base (20-way HE 10
molded connector)
20.5 m TSX CDP 053 0.085
1 m TSX CDP 103 0.150
2 m TSX CDP 203 0.280
3 m TSX CDP 303 0.410
5 m TSX CDP 503 0.670
Preformed cables (cross-
section 0.324 mm
2
)20-way HE 10
connector Auxiliary I/O for axes 0/
1,
24 V cpower supply
(flying leads at I/O end)
33 m TSX CDP 301 0.400
5 m TSX CDP 501 0.660
10 m TSX CDP 1001 1.310
Cables for Twin Line
TLD 01p amplifier 15-way SUB-D
connector Twin Line TLD 01p
amplifier with PULSE-
C option
(15-way female SUB-
D connector)
42 m TSX CXP 263
6 m TSX CXP 663
(1) Includes a bilingual Quick Reference Guide: French and English.
(2) For key, see page 10.
C
haracteristics:
p
ages 9 and 10 Connection:
page 10
TSX CFY 21
TSX CFY 11
ABE 7H16R20
TSX CDP
p
01
TSX CDP
p
03
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
12
2
Description Lexium motion control 1
TSX CAY modules for servomotors
The TSX CAY pp servo loop positioning axis control range is intended for machines
which require simultaneous high performance motion control together with
sequential control by programmable controller.
Depending on model:
bThe TSX CAY 21/22 modules control 2 individual axes.
bThe TSX CAY 41/42 modules control up to 4 individual axes.
bThe TSX CAY 33 module control 3 interpolated linear axes.
They can be used with ± 10 V analog input servodrives such as Lexium 17D/17D HP,
and Twin Line TLD 13 servodrives.
TSX CAY pp modules can be installed, like all application-specific modules, in any
location on a Premium PLC rack.
The front panel of TSX CAY pp axis control modules comprises:
1One 15-way SUB-D connector per axis for connecting an incremental or absolute
encoder.
2One 9-way SUB-D connector for all axes for connecting:
v 1 "speed reference" analog output for each axis.
3One 20-way HE 10 connector for all axes for connecting:
v Auxiliary inputs for servodrive control,
v External power supply for servodrive I/O.
4One 20-way HE 10 connector for 2 axes (0/1 or 2/3) for connecting:
v Auxiliary inputs: homing cam, Emergency stop, event, recalibration.
v High speed outputs.
v External power supplies for sensors and preactuators.
5Rigid casing which:
v Holds the electronic card.
v Locates and locks the module in its slot.
6Module diagnostic lamps:
v Module diagnostics:
- green RUN lamp: module operating,
- red ERR lamp: internal fault, module failure,
- red I/O lamp: external fault.
v Axis diagnostics:
- green CHp lamps: axis diagnostics available.
Axis control modules are set up using PL7 Junior/Pro or Unity Pro software (see
page
22
).
TSX CAY 22/42/33 modules require the use of TSX P57 pp2M/3M/4M processors
and Atrium TPCX57 pp2M/3M coprocessors or TSX PCI 57pp4M.
Flying shear function of the TSX CAY 22 module requires the version 4.1 of
PL7 Junior/Pro software (function not available with Unity Pro software, version 1.0).
Lexium
servodrive
Motor
Premium
5
6
1
2
3
4
TSX CAY 41/42
5
6
1
2
3
4
T
SX CAY 21/22
Description
Operation
Block diagram of an axis
Configuration
+ adjustment
%KW.%MW
SMOVE function
%O, %QW
%I, %IW
Configuration
parameters
Processing
Servo loops
Auxiliary
I/O
processing
Encoder input
Servodrive speed reference output
Cam input (homing)
Event input
Recalibration input
Emergency stop input
Drive fault input
Drive enable output
High speed output
C
haracteristics:
p
ages 13 and 14 References:
pages 15 and 16 Dimensions:
page 21
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
13
2
Characteristics Lexium motion control 1
TSX CAY modules for servomotors
Operating characteristics
Type of module TSX CAY 21/22 TSX CAY 41/42 TSX CAY 33
Servo loop Proportional with feedforward and gain switching
Period ms 2 4
Paths Speed profile Trapezoidal or parabolic
Resolution Minimum 0.5 position unit per point
Maximum 1000 position units per point
Length of axis Minimum TSX CAY 21: 32,000 points TSX CAY 41: 32,000 points TSX CAY 33: 256 points
TSX CAY 22: 256 points TSX CAY 42: 256 points
Maximum 32,000,000 points
Speed Minimum 54,000 points/min
Maximum 270,000 points/min
Acceleration
(from 0 to VMAX) Minimum s10
Maximum ms 8 16
Operating modes OFF Measurement mode, inhibition of servo loop
The module operates in current speed and position acquisition mode
DIR DRIVE Direct drive mode, inhibition of servo loop
The module operates in analog output mode only
MAN Motion controlled by operator:
bvisual control of movement
bincremental movement
AUTO Movement sequence controlled by PLC program. Movements are described using a syntax
similar to that of ISO language. Movements can be expressed in absolute or relative terms
(either in relation to current position, to a captured position or in relation to a home point).
Operation is possible in "step by step" mode, by motion stop/start, by speed correction
FOLLOWER The n axis of the module is governed by:
beither the 0 axis of the same module
bor a command profile transmitted by the application
program
Checks Environment Encoder link, drive present, Emergency stop
Motion Check correct execution of movements (following error, in-position band, software position
limits)
Commands Check consistency of commands
Parameters Check validity of parameters
Functions
Type of module TSX CAY 21 TSX CAY 22 TSX CAY 41 TSX CAY 42 TSX CAY 33
Linear interpolation, 2/3 axes – – – – Yes
Limited axes Yes Yes Yes Yes Yes
Infinite axes Yes Yes Yes
Follower axes Static ratio Yes Yes – –
Dynamic ratio Yes Yes
Correction of servodrive offset Yes Yes Yes
Flying shear On position or on event
with infinite master axis
and linear slave axis
Yes
(see page 12) – – –
C
haracteristics:
p
ages 13 and 14 References:
pages 15 and 16 Connections:
pages
17
to
20
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
14
2
Characteristics (continued) Lexium motion control 1
TSX CAY modules for servomotors
Electrical characteristics
Type of module TSX CAY 21 TSX CAY 22 TSX CAY 41 TSX CAY 42 TSX CAY 33
Number of axes 2 axes 2 axes 4 axes 4 axes 3 axes
Maximum frequency at counter inputs 16 to 25 bits 12 to 25 bits 16 to 25 bits 12 to 25 bits 12 to 25 bits
SSI absolute encoder
CLK transmission frequency kHz 200
Incremental encoder x 1 kHz 500
x 4 kHz 250 kHz as input or 1 MHz as counter
Consumption c 5 V mA 1100 1500
c 24 V mA 15 30
Current drawn by the module
on the 10/30 V encoder at 24 V
(24 V absolute encoder)
Typical mA 11 (20 max) 22 (40 max)
Power dissipated in the
module Typical W7.2 (11.5 max) 10 (17 max)
Sensor power supply check Yes Yes
Input characteristics
Type of input Counter inputs c 5 V
(IA/IB/IZ) Servodrive check inputs
(1 per axis) Auxiliary inputs
(homing, event, recalibration,
Emergency stop)
Logic Positive Positive Positive
Nominal values Voltage V524 24
Current mA 18 8 8
Limit values Voltage V5.5 19...30 (up to 34 V possible,
limited to 1 hr per 24 hr period) 19...30 (up to 34 V possible,
limited to 1 hr per 24 hr period)
At state 1 Voltage V 2.4 11 (OK state) 11
Current mA > 3.7 (for U = 2.4 V) > 3.5 (for U = 11 V) > 6 (for U = 11 V)
At state 0 Voltage V1.2 5 (fault state) 5
Current mA < 1 (for U = 1.2 V) < 1.5 (for U = 5 V) < 2 (for U = 5 V)
Voltage/encoder feedback check Presence check – –
Input impedance for nominal U 270 3000 3000
Type of input Resistive Resistive Current sink
IEC 1131 compliance Type 1 Type 2
2-wire sensor compatibility ––Yes (all prox. sens. 24 V)
3-wire sensor compatibility ––Yes (all prox. sens. 24 V)
Output characteristics
Type of output Analog outputs
(1 per axis) Drive enable
(1 relay output per axis) High speed outputs
(1 per axis)
Range V± 10.24 – –
Resolution 13 bits + sign – –
Value of LSB mV 1.25 – –
Nominal voltage Vc 24 c 24
Voltage limit V5…30 19...30 (up to 34 V possible,
limited to 1 hr per 24 hr period)
Current mA ––500 nominal
Maximum current mA 1.5 200 (resistive load at 30 V) 625 (for U = 30 or 34 V)
Minimum permitted load 1 V/1 mA
Maximum voltage drop when ON V––< 1
Leakage current mA ––< 0.3
Switching time < 5 ms < 500 µs
Compatibility with DC inputs ––All positive logic inputs with
input resistance < 15 k
IEC 1131 compliance ––Yes
Protections against overload
and short-circuits ––Current limiter and thermal
tripping
Protection against channel overvoltage ––Zener diode between outputs
and + 24 V supply
Protection against polarity inversions ––Reverse-mounted diode on
supply
R
eferences:
p
ages 15 and 16 Connections:
pages
1
7 to
2
0Dimensions:
page 21
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
15
2
References Lexium motion control 1
TSX CAY modules for servomotors
(1) TSX CAY 41/42/43 modules, double format.
(2) Product supplied with a bilingual Quick Reference Guide: English and French
(3) Totem Pole encoder with complementary Push/Pull outputs.
(4) Parallel output absolute encoders with ABE 7CPA11 adaptor interface.
(5) Flying shear function available with TSX CAY 22 module. Requires version 4.1. of
PL7 Junior/Pro software. Function not available with Unity Pro software.
(6) For key, see pages
17
to
20
.
Motion control modules for servomotors
Type of input Characteristics Functions No. of
axes (1) Reference
(2) Weight
kg
Incremental encoders
c5 V RS 422, c 10…30 V
Totem Pole (3)
Absolute encoders
RS 485 serial or parallel
(4)
500 kHz counter
with incremental
encoder,
Acquisition 200 kHz
with serial absolute
encoder
Servo control on independent
linear axis 2TSX CAY 21 0.480
4TSX CAY 41 0.610
Servo control on independent
linear or infinite axis
Follower axes
Realtime correction of servodrive
offset
Flying shear (5)
2TSX CAY 22 0.480
4TSX CAY 42 0.610
Servo control on linear or infinite
axis
Linear interpolation on 2 or 3 axes
Realtime correction of servodrive
offset
3TSX CAY 33 0.610
Connection accessories
Description Connection Type of connector on
TSX CAY pp module No.
(6) Reference Weight
kg
SUB-D connectors
(lot of 2) Incremental/SSI
absolute encoder SUB-D, 15-way
(1 per axis) 4TSX CAP S15 0.050
Speed references SUB-D, 9-way
(1 per TSX CAY module) 7TSX CAP S9 0.050
Connection interface for
incremental encoder Incremental encoder
c 5V
RS 422/RS 485
SUB-D, 15-way
(1 per axis) 6TSX TAP S15 05 0.260
Splitter block Speed references
to servodrives SUB-D, 9-way
(1 per TSX CAY module) TSX TAP MAS 0.590
Telefast 2 connection sub-
bases Speed references SUB-D, 9-way
(1 per TSX CAY module) ABE 7CPA01 0.300
Auxiliary inputs,
High speed outputs,
I/O power supply
c 24 V, encoder
power supplies
c 5/24 V
HE 10, 20-way
(1 for 2 axes) ABE 7H16R20 0.300
Servodrive control
signals,
I/O c24 V power
supply
HE 10, 20-way
(1 per TSX CAY module) ABE 7H16R20 0.300
Adaptor sub-base Parallel output
absolute encoders
(16 to 24 bits)
c 5V, c10…30 V
SUB-D, 15-way ABE 7CPA11 0.300
TSX CAY 4
p
A
BE 7CPA01
A
BE 7H16R20
C
haracteristics:
p
ages 13 and 14 Connections:
pages
1/
7 to
2
0Dimensions:
page 21
TSX CAY 2
p
TSX TAP MAS
TSX TAP S15
TSX CAY 33
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16
2
References (continued) Lexium motion control 1
TSX CAY modules for servomotors
Cables with SUB-D connectors
From To No.
(1) Length Reference Weight
kg
TSX CAYpp
module, 15-
way SUB-D
connector
TSX TAP S15 05 interface,
or ABE 7CPA11 adaptor sub-
base (15-way SUB-D
connector)
50.5 m TSX CCP S15 050 0.110
1 m TSX CCP S15 100 0.160
2.5 m TSX CCP S15 0.220
TSX CAYpp
module, 9-
way SUB-D
connector
(speed reference)
ABE 7CPA01 sub-base
or TSX TAP MAS block (15-
way SUB-D connector)
82.5 m TSX CXP 213 0.270
6 m TSX CXP 613 0.580
TSX CDP
p
01
TSX CDP
pp
3
Preformed cables with SUB-D connector fitted at 1 end and 1 free end
(servodrive side)
TSX CAY pp
module, or
TSX TAP MAS
block
Speed reference for
servodrive: Lexium MHDA,
Twin Line TLD 13 or other
(cross-section 0.205 mm2)
96 m TSX CDP 611 0.790
Connecting cables with HE 10 connector
TSX CAY pp
module, (20-way
HE 10 connector)
ABE 7H16R20 sub-base (20-
way HE 10 moulded
connector)
(500 mA max.)
10 0.5 m TSX CDP 053 0.085
1 m TSX CDP 103 0.150
2 m TSX CDP 203 0.280
3 m TSX CDP 303 0.410
5 m TSX CDP 503 0.670
Preformed cables with HE 10 connector fitted at 1 end and 1 free end
(servodrive side
)
TSX CAY pp
module, (20-way
HE 10 connector)
Auxiliary inputs, high speed
outputs, control signals, power
supplies (free end)
20-wire (500 mA max.)
11 3 m TSX CDP 301 0.400
5 m TSX CDP 501 0.660
Connecting cables for Lexium MHDA servodrive
TSX CAY pp
module, 15 way
SUB-D connector
(encoder input)
Simulated incremental
encoder feedback (9-
way SUB-D connector)
12 2 m TSX CXP 235 0.210
6 m TSX CXP 635 0.470
Simulated absolute encoder
feedback (9-way SUB-
D connector)
13 2 m TSX CXP 245 0.210
6 m TSX CXP 645 0.470
Connecting cables for Twin Line TLD 13 servodrive
TSX CAY pp
module, 15 way
SUB-D connector
(encoder input)
TLD 13 servodrive with ESIM1-
C/2-C module
Simulated incremental
encoder feedback (15-
way SUB-D connector)
14 2 m TSX CXP 243
(1)
6 m TSX CXP 643
(1)
TLD 13 servodrive with SSI-C
module
Simulated absolute encoder
feedback (15-way SUB-
D connector)
15 2 m TSX CXP 273
6 m TSX CXP 673
Connecting cables for NUM MDLA servodrive (2)
TSX CAY pp
module, 15-
way SUB-D
connector
(encoder input)
NUM MDLA modular speed
drive
(15-way, high density, SUB-
D connector)
16 2.5 m TSX CXP 233 0.220
6 m TSX CXP 633 0.470
TSX TAP MAS
block, 9-way
SUB-D connector
Speed reference on
NUM MDLA modular speed
drive
(25-way SUB-D connector)
17 2.5 m TSX CXP 223 0.340
Cables fitted with splitter block for Altivar AC drive
TSX CAY pp
module Speed reference for ATV 38/
58/58F AC drives for
asynchronous motors
18 1 m VY1 X411CA15 0.400
(1) For key, see pages
17
to
20
.
(2)See page 122.
C
haracteristics:
p
ages 13 and 14 Connections:
pages
1
7 to
2
0Dimensions:
page 21
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
17
2
Connections Lexium motion control 1
TSX CAY modules for servomotors
Connections for TSX CAY modules
General connections
Examples of encoder connections Examples of speed reference signal connections
GND
6
8
10
11
12
14
15
16
18
19
20
23
21
+
+
+
+
––
++
++
GND
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
Telefast 2
ABE 7CPA01
++
GND
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
Telefast 2
ABE 7CPA11
++
1
2
3
4
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
C
C
C
C
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
Telefast 2
ABE 7H16R20
––
++
++
1
2
3
4
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
C
C
C
C
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
Telefast 2
ABE 7H16R20
147
8
9
10
11
10
14
26
5
5
TSX CAY 41
204
104
303
113
203
103
201
101
301
112
200
100
P4
308 309 310 311
+
+
+
+
+
+
+
+
314
114
111
211
110
210
109
209
108
208
312
112
107
207
106
206
105
205
104
204
102
+
10/30 V
+
5 V
0 V
100
101
I3
I2
I1
I0
Q0
I3
I2
I1
I0
Q0
3
encoder
power
supply
Axes 0 and 2
Axes 1 and 3
High speed
output
Event
Recalibration
Homing
Emergency
stop
Event
Recalibration
High speed
output
Homing
Emergency
stop
Axis 3 Axis 1
Power supply c 24 V
Power supply c 24 V
auxiliary I/O sensors
0 V
Drive check input
Drive enable
24 V
0 V
Drive check input
Drive enable
24 V
Axis 2 Axis 0
Axis 0
Axis 1
Vref 3
Axis 3
Vref 2
Axis 2
Vref 1
Axis 1
Vref 0
Axis 0
Speed drive
with 2-wire input
Ref
Common
GND
Common (0 V)
Ref –
Ref +
GND
Speed drive
with differential
inputs
GND-ANA link
(terminals 5, 11, 15 and 19)
1Incremental or absolute encoder
25 V RS 422 incremental encoder
3Parallel output absolute encoder
4TSX CAP S15 connector
5TSX CCP S15ppp cable with connectors
6TSX TAP S15 05 connector
1IB- 7NC
2Sup. Ret. 8IB + 5 V
3IZ + 5 V 9NC
4IZ - 100 V
5IA + 5 V 11NC
6IA - 12+5 V
7TSX CAP S9 connector
8TSX CXP 213/613 cable with connector
9TSX CDP 611 preformed cable with connector
10TSX CDPpp3 cable with connector
11TSX CDPp01 preformed cable with connector
Example of speed drive connection
(auxiliary I/O)
Example of auxiliary I/O connection
C
haracteristics:
p
ages 13 and 14 References:
pages 15 and 16 Dimensions:
page 21
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
18
2
Connections (continued) Lexium motion control 1
TSX CAY modules for servomotors
Connection example for Lexium MHDA servodrives
Connection example for Twin Line TLD 13 servodrives with ESIM 1-C/2-C option
8
13
12
––
++
++
1
2
3
4
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
C
C
C
C
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
Telefast 2
ABE 7H16R20
TSX CAY 42
––
++
++
1
2
3
4
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
C
C
C
C
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
Telefast 2
ABE 7H16R20
10
9
9
11
10
165
212
112
101
3
2
15
1
2
1
5
4
112
212 11
18
4
3
TSX TAP MAS
X3
X5
r
Lexium MHDA
servodrive
Incremental encoder
SSI absolute encoder
black
blue
brown
To other
Lexium
servodrives
Power supply c 24 V
Power supply c 24 V
auxiliary I/O sensors
Common
Input 1
Enable
servodrive OK
+ 24 V
- In +
- In -
Com
C
haracteristics:
p
ages 13 and 14 References:
pages 15 and 16 Dimensions:
page 21
1Incremental or absolute encoder
5TSX CCP S15
ppp
cable with connector
(encoder feedback)
6TSX TAP S15 05 connector
8TSX CXP 213/613 cable with connector
9TSX CDP 611 preformed cable with
connector
10 TSX CDPpp3 cable with connector
11 TSX CDPp01 preformed cable with
connector
12 TSX CXP 235/635 cable with connector (simulated incremental encoder feedback)
13 TSX CXP 245/645 cable with connector (simulated SSI absolute encoder feedback)
14 TSX CXP 243/643 cable with connector (simulated incremental encoder feedback)
15 TSX CXP 273/673 cable with connector (simulated SSI absolute encoder feedback)
15
14
––
++
++
1
2
3
4
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
C
C
C
C
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
Telefast 2
10
11
165
8
9
9
TSX TAP MAS
r
17
18
16
31
32
33
34
Power supply c 24 V
Incremental encoder with module ESIM1-C/2-C Simulated
encoder
feedback
Speed
reference,
auxiliary
servodrive I/Os
Absolute encoder with SSI-C option M4
TSX CAY 42
ABE 7H16R20
black
blue
brown
To other
Twin Line
servodrives Twin Line TLD 13
servodrive
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19
2
Connections (continued) Lexium motion control 1
TSX CAY modules for servomotors
1Incremental encoder
8TSX CXP 213/613 cable with connector
9TSX CDP 611 preformed cable with connector
10TSX CDPpp3 cable with connector
18VY1 X411CA15 cable with connector and adapter sub-base
(1) For auxiliary I/O connections (for example: Emergency stop, homing, etc), see the
connections on page
17
.
(2) The speed drive must be programmed as "Macro configuration General use". For other
ATV 58F speed drive connections, please see our specialist catalog "Progressive starters and
speed servodrives".
Connection example for Altivar ATV-58F speed drive (for asynchronous motors)
1
––
++
++
1
2
3
4
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
C
C
C
C
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
Telefast 2
ABE 7H16R20
TSX CAY 42
10
8
18
9
TSX TAP MAS
AA+
A/ A–
BB+
B/ B–
Z+
Z–
0V 0V
LI1
LI4
R1B
R1A
AI1A
AI1B
COM
+5V
101
112
212
1
2
A1
Enable
ATV 58F speed drive (2)
(1)
Power supply c 24 V
Axis 0
To other drives
Drive fault
Ref.
power
supply
black
blue
brown
C
haracteristics:
p
ages 13 and 14 References:
pages 15 and 16 Dimensions:
page 21
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20
2
Connections (continued) Lexium motion control 1
TSX CAY modules for servomotors
8TSX CXP 213/613 cable with connector
16TSX CXP 233/633 cable with connector
17TSX CXP 223 cable with connector
8TSX CXP 213/613 cable with connector
9TSX CDP 611 preformed cable with connector
Connection example for NUM MDLA modular speed drives
NUM MDLA
J2
J3
J4
J3
TSX TAP MAS
TSX CAY 21
NUM MDLA
8
17
17
16
Connection example for distribution of speed references for speed drives
TSX TAP MAS
TSX CAY 21
8
9
9
Drive
Drive
C
haracteristics:
p
ages 13 and 14 References:
pages 15 and 16 Dimensions:
page 21
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21
2
Dimensions Lexium motion control 1
TSX CAY modules for servomotors
Mounting in enclosure feedthrough (dust and damp proof)
bØ 37 cut-out,
bPanel thickness 5 mm maximum
Mounting on DIN rail with LA9-DC9976 accessory.
Dimensions
TSX TAP S15 05 connection interface for incremental encoder
70,4
31
55
27,4
38
47
43
TSX TAP MAS speed reference splitter block for speed drives
50==
80
65 ==
80
C
haracteristics:
p
ages 13 and 14 References:
pages 15 and 16
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2
Software set up Lexium motion control 1
Motion control modules
PL7 Junior/Pro or Unity Pro setup software provides:
bSMOVE and XMOVE motion control functions for programming movements.
These functions can be used in Ladder language, Instruction list language or
Structured Text language.
bSpecialized screens for configuring, adjusting and debugging axes.
A movement on an independent axis is initiated by executing an SMOVE control
function in the application program.
Example: go to the absolute position 10 000 000 µm, at a speed of 200 mm/min,
without stopping.
A screen enables the assisted entry of parameters in the SMOVE function in an
operation block.
The XMOVE command enables movement to be initialized on interpolated axes
(TSX CAY 33 only).
A complete path can be programmed by means of a series of SMOVE or XMOVE
elementary motion control functions.
Grafcet language is ideal for this type of programming. An elementary movement is
associated with each step.
(10)Only with TSX CAY 22 module. Requires the version > 4.1 of PL7 Junior/Pro software
TLX CD/RCD PL7J/P P 41M. Not available with Unity Pro software.
TSX CAY/CFY module software setup
Programming movements
Instruction codes
The characteristics of movements are described using a syntax similar to that for a numerical controller program block written in ISO language.
TSX CAY and TSX CFY motion control modules use the following instructions:
Individual axes
(SMOVE) Interpol. axes
(XMOVE)
Code and type of instruction TSX CAY 21/41 TSX CAY 22/42/33 TSX CFY 11/21 TSX CAY 33
09 Move to the position and stop
01 Move to the position without stopping
10 Move until an event is detected and stop
11 Move until an event is detected without stopping
14 Homing
04 Stop command
05 Await an event
07 Memorize the current position when an event occurs
62 Forced homing
30/32 Simple machining
92 Initialization of memorized positions
21 Move without stopping, with homing on the fly
22 Flying shear on two axes (1)
90/98 Cutting mode (on position or on event) (1)
Possible instruction
These instruction codes can be represented as symbols by the user in G code (for example: 09 can be represented by G09).
The instruction codes are preceded by another code indicating the type of target position:
b90 : if the target position is absolute.
b91 : if the target position is relative to the current position.
b98 : if the target position is relative to a memorized position (index).
b60 : if the target position is absolute and movement direction is fixed (TSX CAY 22/42/33 only).
b68 : if the target position is relative to a memorized position and movement direction is fixed (TSX CAY 22/42/33 only).
Programming a path
5
4
3
2
1SMOVE %CH102.0 (1, 90, 01, X1, F1)
SMOVE %CH102.0 (2, 90, 09, X2, F2)
SMOVE %CH102.0 (3, 90, 09, 0, F1)
2
1
3
F2
F1
F1
X1
X
p
: coordinate of target position
F
p
: movement speed of moving
part
Speed
X2 Position
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23
2
Software setup (continued) Lexium motion control 1
Motion control modules
When setting up application-specific functions, screens specific to axis control and
stepper control functions can be accessed via PL7 Junior/Pro software for
configuration, adjustment, debugging and documentation of applications.
These services are performed by editors which can be directly accessed from the basic
screen using icons in the tool bars. Windows relating to the editors can be simultaneously
displayed on one screen (example : it is possible to simultaneously program using the
program editor and define the symbols in the variables editor).
Parameter entry screens for application-specific functions can be accessed via the
configuration screen by clicking on the slot.
Example : modules TSX CAY 21 and TSX CFY 21 in which the module has been
defined.
The configuration editor provides assistance with entering and modifying the values
of the various axis configuration parameters. These parameters enable the operation
of the axis control module (module TSX CAY 21 for example) to be adapted to the
machine which is to be controlled.
Axis configuration parameters are :
bUnits of measurement.
bResolution.
bType of encoder.
bMaximum and minimum limits.
bMaximum speed.
b
This data relates to the machine and cannot be modified by the program.
These parameters are associated with operation of the axes. They generally require
the operations on and movements of the moving part to be known. These parameters
are adjusted in online mode (they are initialized during configuration, in offline mode).
They concern:
bEncoder offset.
bResolution.
bServo control parameters.
b
In online mode, the configuration editor also provides the user with a control panel
screen, giving him a quick visual display which he can use to control and observe the
behaviour of the axis.
The control panel provides different information and commands according to the
selected operating mode :
bAutomatic mode (Auto).
bManual mode (Manu).
bDirect mode (Dir_Cde).
bOff mode (Off).
TSX CAY/CFY module software setup (continued)
Declaring the axis control modules and stepper control modules
Configuring the modules
Adjusting the modules
Debugging the modules
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2
SERCOS architecture,
system overview Lexium motion control 1
SERCOS TSX CSY 84/164
motion control module
SERCOS
(SERiaI COmmunication System) is a communication standard which
defines the digital link (exchange protocol and medium) between a motion control
module and intelligent servodrives. It is defined in European standard EN 61491.
Using the SERCOS distributed architecture allows application I/O (position encoder,
emergency stop, etc.) to be connected directly to the intelligent servodrives, reducing
the cost of connection. The fiber optic digital link permits high speed exchanges (2 or
4 M bauds) while ensuring a high level of immunity in disturbed industrial environments.
The SERCOS range in the Premium control system platform comprises:
bTwo TSX CSY 84/164 axis control modules which can each control up to 16
servodrives via a SERCOS ring. The module calculates the path and interpolation for
several axes (position mode). Access to the other modes (speed and torque) is
possible with the assistance of Schneider Electric application services.
b1.5 A to 70 A Lexium MHDA servodrives with digital link (equipped with SERCOS
option card). The servodrives manage the position loop, speed loop and torque loop,
and ensure power conversion to control the motor. The encoder feedback
information is sent to the servodrive (current position, current speed).
bSER/Lexium BPH brushless motors. These have permanent magnets delivering a
high power-to-weight ratio, resulting in excellent dynamic speed response in a
compact unit.
The Lexium range offers all the accessories required (filter choke, braking resistor,
etc.) and a full set of connectors.
The system overview presents the various functions performed by the different parts
of the multi-axis control system.
Architecture
Fiber optic cables
SERCOS ring network
Lexium MHDA
servodrives
(with SERCOS
option card).
SER/Lexium BPH
motors
System overview
C
haracteristics:
p
ages 26 and 26 Functions:
pages 28 and 29 References:
page 30 Connections:
page 31
PLC
Premium/Atrium
Application
program Bus X
SERCOS
TSX CSY 84/164
module
Linear or infinite
independent axes
2 to 8-axis linear
interpolation
Follower axes
(6 slaves) by gearing
or profiled cams
Lexium MDHA
servodrive (with
SERCOS option card).
Interpretation of
commands
Position loop
Speed loop
Current loop
Power
conversion
Speed Position
SER/Lexium
BPH motor
PL7 Junior/Pro,
Unity Pro
Unilink
SERCOS ring
(to servodrive network)
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25
2
System overview (continued),
description Lexium motion control 1
SERCOS TSX CSY 84/164
motion control modules
PL7 Junior/Pro or Unity software via the Premium platform terminal port can:
bDeclare TSX CSY 84/164 SERCOS modules (1) in the PLC configuration.
bConfigure the functions and define the parameters for the axes used.
bProgram the movements in the PLC application.
bAdjust the parameters via the operating codes (parameters, TSX CSY module and
Lexium MHDA servodrives) (2).
bTest and debug the application.
Unilink software, via the RS 232 terminal port for the Lexium MHDA servodrive (2) can:
bDefine types of Lexium MHDA servodrives (2) and SER/Lexium BPH motors.
bAdjust the parameters for Lexium MHDA servodrives (2), back them up to
EEprom memory in the drive and save them on a compatible PC.
The TSX CSY 84/164 SERCOS axis control modules comprise:
1A SMA-type connector, marked Tx, for connecting the servodrives using the
SERCOS ring fiber optic transmission cable.
2A SMA-type connector, marked Rx, for connecting the servodrives using the
SERCOS ring fiber optic reception cable.
3Rigid cases, double format, in order to:
bSupport electronic cards
bAttach and lock the module in its slot.
4Module diagnostic lamps:
bRUN LED (green): LED ON indicates module operating correctly.
bSER LED (yellow): flashing LED indicates data transmission and reception on the
SERCOS network
bERR LED (red):
v LED ON indicates internal module fault,
v flashing LED on module start up indicates communication fault, incompatible
configuration or application missing.
bI/O LED (red): LED ON indicates external fault or application fault.
bINI LED (yellow): flashing LED indicates module is reinitializing.
5Channel diagnostic LEDs (green): LED ON indicates axis operating normally;
OFF: configuration fault; flashing: serious error on axis:
b1 to 8: display of 8 real axes (3).
b9 to 12: display of 4 imaginary axes (3).
b13 to 16: display of 4 remote axes (3).
b17 to 20: display of 4 coordinated sets.
b21 to 24: display of 4 follower sets.
6A pencil point button to initialize the module.
7Two mini DIN type 8-way connectors for Schneider Electric use.
(1) TSX CSY 164 module can not be implemented with Unity Pro V1.0 software.
(2) Lexium MHDA servodrive equipped with AM0 SER 001V000 SERCOS option card.
(3) 1 to 16: display the 16 axes (real, imaginary or remote) with module TSX CSY 164.
System overview (continued)
Description
3
4
6
5
7
2
1
C
haracteristics:
p
ages 26 and 26 Functions:
pages 28 and 29 References:
page 30 Connections:
page 31
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26
2
Characteristics Lexium motion control 1
SERCOS TSX CSY 84/164
motion control module
(1)4 ms default value. Values may be programmed according to number of axes.
(2) Without the use of a TSX REY 200 bus X remote module.
(3) For further certification details, see pages 118 and 119.
(4) Determine external position using an encoder connected to the servodrive position input.
Characteristics
Electrical characteristics TSX CSY 84 TSX CSY 164
SERCOS ring network Type Industrial medium complying with standard EN 61491
Topology Ring
Medium Fiber optic cable
Baud rate M bauds 4 by default
Cycle time (1)
(independent axes) ms 2 axes 4 axes 8 axes 2 axes 4 axes 8 axes 12 axes 16 axes
22422234
Maximum number of
segments 9 17
Length of segment m38 max. with plastic fiber optic cable, 150 max. with glass fiber optic cable
Bus X Distance m100 max. (2) between TSX CSY 84 axis control module and the Premium processor
SERCOS certification (3) TSX CSY 84/164 modules comply with SERCOS CEI/EN 61491 certification and with the tests
determined by IGS (Interest Group SERCOS).
Certification N° Z00030
Power consumption for c 5V voltage mA 1800
Power dissipated in the module W9 (typical)
Operating characteristics TSX CSY 84 TSX CSY 164
Number of channels 32 configurable (0 to 31), channel 0 used for SERCOS ring configuration
Type of axes Real axes
(connected to a servodrive)
8 (channels 1 to 8) 16 (channels 1 to 16) may be dynamically configured as
real axes, imaginary axes or remote axis.
Imaginary axes
4 (channels 9 to 12)
Remote axes (4) 4 (channels 13 to 16)
Set of axes 4 coordinated (channels 17 to 20). Each set allows linear interpolation of 2 to 8 axes
4 followers (channels 21 to 24). Each set can comprise a maximum of 7 axes: 1 master/6 slaves
in gearing or camming
Cam profile 7 (channels 25 to 31). Used to create the electronic cams with linear or cubic interpolation
between profile points
A
rchitectures
p
ages 24 and 25 Functions:
pages 28 and 29 References:
page 30 Connections:
page 31
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27
2
Characteristics (continued) Lexium motion control 1
SERCOS TSX CSY 84/164
Premium motion control module
(1) Implementation of the TSX CSY 84, release
u
1.3 requires the use of the PL7 Junior/Pro
software, version
u
4.4. Access available only with TSX CSY 164 module.
Characteristics (continued)
Main functions
Programming Movements bHoming, absolute, relative, or continuous
bImmediate movement, or queued, to a given position
bSpeed override possible
bAcceleration and deceleration parameters may be set for each axis motion control (1)
bSynchronisation on start and desynchronisation on stop for a slave axis on a master axis,
in a given position (1)
bRollover counter (1)
Special functions bCapture position and distance measurement between two edges on one or two discrete
inputs on the drive. This can be applied to a real or remote axis (position measurement via
external encoder)
bCount probe: counts the edges on a discrete input on the drive over a period of time
bFast index: starts a movement on an event
bRegistration move: position capture on an edge of the discrete input on the drive
bRotary Knife: cuts using a rotary knife. Synchronizes a circular axis on a linear axis and
controls a discrete output on the drive
Other special functions The development of all other special function is possible with the assistance of our application
services. Please consult our Regional Sales Offices .
Stop/start functions bFast stop, stop on configured deceleration profile
bTemporary stop
bRestart of stopped movement
bChoice of stop method (1):
vOn faulty slave: master is not stopped. master stops normally according to pre-determined
deceleration ramp or Servo-driven master emergency stop
vOn faulty master: slave stops normally according to pre-determined deceleration ramp or
Servo-driven slave emergency stop
bOn Emergency Stop: calculation of slave axis deceleration ramp alignment with master axis
so that obtains the synchronization stop of all set axes. (1)
bEmergency Stop: axes may be allowed to "freewheel" or may be stopped according to pre-
determined ramp (1)
Configuration
/adjustment SERCOS ring Bus cycle time, traffic on the bus, optical power on the fiber, SERCOS loop diagnostics
Acceleration/deceleration Ramp values, ramp type (rectangular, triangular and trapezoid), choice of units, maximum
acceleration adjustment
Speed Speed units, default speed, maximum speed, speed override
Other settings Target window, rollover, software limits
Set of follower axes Following of master axis by gearing or camming (cam profile), threshold position of master
triggers the following, bias value when synchronizing an axis, monitoring of master/slave
positions, master offset for follower axis
Set of coordinated axes Type of interpolation: linear
Cam profile Value of an existing point of a cam profile, number of points (5000 max.), type of interpolation,
table addresses
State of a movement or axis Moving, accelerating, decelerating, homing, in position, faulty, etc.
Diagnostics bDrive fault, axis currently reading data, following error, overvoltage, undervoltage,
overcurrent, power supply fault
bAvailability of master axis fault information for a given axis set (1)
bMultiaxis motion path control according to common tolerance for all axes in the motion, with
alarm feature. Access available only with TSX CSY 164 module
A
rchitectures
p
ages 24 and 25 Functions:
pages 28 and 29 References:
page 30 Connections:
page 31
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
28
2
Functions Lexium motion control 1
SERCOS TSX CSY 84/164
motion control modules
When setting up application-specific functions, screens specific to SERCOS axis
control functions can be accessed via PL7 Junior/Pro or Unity software for
configuration, adjustment, debugging and documentation of applications. These
services are performed by editors which can be directly accessed from the basic
screen using icons in the tool bars. Windows relating to the editors can be
simultaneously displayed on one screen (example: it is possible to program using
the program editor and simultaneously define the symbols in the variables editor).
Declaring the SERCOS motion control modules
Parameter entry screens for application-specific functions are accessed via the
configuration screen by clicking on the slot.
Example: configuration in which a TSX CSY 84/164 module has been defined.
Configuring the module
The configuration editor provides assistance with entering and modifying the values
of the various axis configuration parameters. These parameters enable the operation
of the axis control module to be adapted to the machine which is to be controlled.
Axis configuration parameters are:
bUnits of measurement.
bResolution.
bMaximum and minimum limit positions.
bMaximum speed.
bAccelerating/decelerating.
This data relates to the machine and cannot be modified by the program.
The following configuration screen can be used to declare the 16 axes as real,
imaginary or remote measurement axes in module TSX CSY 164.
(1) The setting up screens require the version
u
4.1 of PL7 Junior/Pro software TLX CD/RCD
PL7J/P P41M/42M/43M/44M or Unity Pro UNY SPU
p
FU CD 10.
Software setup (1)
A
rchitectures
p
ages 24 and 25 Characteristics:
pages 26 and 27 References:
page 30 Connections:
page 31
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29
2
Functions (continued) Lexium motion control 1
SERCOS TSX CSY 84/164
motion control modules
Adjusting the modules
These parameters are associated with operation of the axes. They
generally require
the
operations on and movements of the moving
part to be known. These parameters
are
adjusted in online mode (they are initialized during
configuration, in offline mode).
They concern:
bMaximum speed.
bResolution.
bServocontrol parameters.
bAccelerating/decelerating.
Debugging the modules
In online mode, the configuration editor also provides the user with a control panel
screen, giving a quick visual display which can be used to control and observe the
behavior of the axis.
The TSX CSY 84/164 module associated with PL7 Junior/Pro software (1) provides
manual mode for running continual (JOG) or incremental (INC) motion commands
without prior programming.
(1) Mode not available with Unity Pro.
Software setup (continued)
A
rchitectures
p
ages 24 and 25 Characteristics:
pages 26 and 27 References:
page 30 Connections:
page 31
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30
2
References Lexium motion control 1
SERCOS TSX CSY 84/164
motion control module
The TSX CSY 84/164 multiaxis control module has 32 application-specific channels
which are only counted when they are configured in the Premium application (using
PL7 Junior/Pro or Unity Pro software). The maximum number of application-specific
channels allowed depends on the type of processor:
(1) The TSX CSY 164 module is compatible with version 4.3 of the PL7 Junior/Pro software
application with the Motion software add-on update included on the TSX CSY 164 module
CD-Rom. Version 4.4 of PL7 Junior/Pro includes this software add-on. The TSX CSY 164
module is not compatible with Unity Pro version 1.0 software.
(2) The add-on can be downloaded when the default configuration file is not adapted to the
configuration required.
References
Type of processors TSX/57 1pTSX/57 2p
PCX 57-20
PCI 57-20
TSX/57 3p
PCX 57-35 TSX/57 4p
PCI 57-45 TSX/57 5p
Maximum number of
application-specific
channels
824 32 64 64
Description Functions Number of axes Reference Weight
kg
Multiaxis control modules
SERCOS digital servodrives
control 8 real axes
4 imaginary axes
4 remote axes
TSX CSY 84 0.520
16 axes (real axes, imaginary
axes or remote axes) TSX CSY 164
(1)
Connection accessories
Description Connection Length Reference Weight
kg
Plastic fiber optic cables
fitted with SMA-type
connectors
(curvature radius:
25 mm min.)
Lexium MHDA
servodrive 1pppN00/A00
(with SERCOS option card)
0.3 m 990 MCO 000 01 0.050
0.9 m 990 MCO 000 03 0.180
1.5 m 990 MCO 000 05 0.260
4.5 m 990 MCO 000 15 0.770
16.5 m 990 MCO 000 55 2.830
22.5 m 990 MCO 000 75 4.070
37.5 m 990 MCO 001 25 5.940
Sets of plastic fiber optic connections
Description Composition Reference Weight
kg
Set of fiber optic cables
and SMA-type connectors 12 SMA-type connectors
12 insulating sleeves
Plastic fiber optic cable, length 30 m
990 MCO KIT 01
Fiber optic cable
installation tool Tools for making up cables to required length from a
990 MCO KIT 01 kit
Includes stripping tool, crimping pliers, 25 W/110 V cutting tool,
and instructions for use
990 MCO KIT 00
Separate item
Description Use Reference Weight
kg
PC to TSX CSY 84/164
connectors connection
cable
(length 2 m)
Used to download the servodrive operation configuration file for
the servodrives present on the SERCOS ring (2)
Used to download specific functions developed by our Industrial
Applications Department.
TSX CCT 200 0.100
T
SX CSY 84 164:
A
rchitectures:
p
ages 24 and 25 Characteristics:
pages 26 and 27 Functions:
pages 28 and 29 Connections:
page 31
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31
2
Connections Lexium motion control 1
SERCOS TSX CSY 84/164
motion control module
1TSX CSY 84/164: multiaxis control module for Premium.
2MHDA 1pppN00/A00 Lexium servodrives fitted with the SERCOS
AM0 SER 001 V000 option card.
3990 MCO 000 pp: plastic fiber optic cables fitted with SMA type connectors.
TXTransmission.
RXReception.
Connections
SERCOS ring with 5 servodrives (example)
3
3
2
TX RX
RX TX RX TX RX TX TXRXTXRX
X13 X15 X13 X15
3 3 3 3
2 2 2 2
1
Servodrive 1 Servodrive 3 Servodrive 5 Servodrive 2 Servodrive 4
SERCOS network ring
A
rchitectures:
p
ages 24 and 25 Characteristics:
pages 26 and 27 Functions:
pages 28 and 29 References:
page 30
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Selection guide Lexium motion control 1
Quantum motion control modules
Applications Single-axis Motion module for servomotors. Compatible with Lexium servodrive through an
analog interface
Drive interface Counter inputs: incremental encoder, c 5 V, (RS 422) 2 channels
Encoder feedback : ± 10 V, 12 bits
Programming Methodology Using MMDS motion configuration software, with Concept or ProWORX 32 software
Features Multiplication of counter frequency (x4)
Automatic brake control
Configurable discrete I/O inputs (including one high-speed input)
Configurable discrete/analog I/O outputs
Axis Count 1 real axis
1 remote axis (for master signal)
Special Functions Master/slave position capture
Synchronization of master/slave axes
Point lock
Model
140 MSB 101 00
Page 36
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33
3
1
Multi-axis Motion control modules for servomotors. Compatible with Lexium servodrive via SERCOS link
Via SERCOS link
Library of Motion Function Block under Concept software
The development of all other special function is possible with the assistance of our application services
Electronic gearing
Multi-axis interpolation
Cam profiles execution from Register Table
With MMF Start programmer's kit
- 8 real axes
- 4 imaginary axes
- 4 remote axes
- 4 coordinate sets (with linear interpolation of 8 axes maximum)
- 4 follower sets
- Cam profiles
With MMF Start programmer's kit
- 8 real axes
- 4 imaginary axes
- 4 remote axes
- 4 coordinate sets (with linear interpolation of 8 axes maximum)
- 4 follower sets
- Cam profiles
The evolution, up to
- 16 real axes
- 22 axes/axis sets
is possible with the Motion Open C kit requiring the assistance of our
Application Department
The evolution, up to
- 22 real axes
- 32 axes/axis sets
is possible with the Motion Open C kit requiring the assistance of our
Application Department
Point lock position and point lock time
Measure part
Count probe
Fast index
Registration move
Rotary knife
141 MMS 425 01 141 MMS 535 02
44
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34
3
Presentation,
description Lexium motion control 1
140 MSB 101 00 Quantum single-axis motion
module for servomotors
The 140 MSB 101 00 single-axis motion module is designed for applications with
one axis requiring a strong integration with the sequential program of the machine.
The analog output of this module can drive the speed reference of the
Lexium MHDA servodrive, or any other servodrive with an analog interface. See
characteristics on page 35.
The module, using encoder feedback input, receives a signal from an incremental
encoder which represents the position of the machine axis. After calculation, this
information, depending on the movement driven by the application program, delivers
a speed reference of ± 10 V to the servodrive.
The 140 MSB 101 00 module is designed as follows:
b8 digital inputs of 24 VDC, configurable in stops or in motion-specific functions.
The inputs not used in the axis control application can be used as standard inputs for
the application program.
b3 outputs of 24 VDC and one ± 10 V analog output, which can be programmed as
a real-time image of the internal parameters of the axis under control.
These inputs and outputs require an external 24 V power supply. The module
includes a ± 10 V analog input.
The incremental encoder's multiplication of impulses is integrated in the
140 MSB 101 00 module, which accepts a second auxiliary encoder feedback signal
as an image of the master axis.
The 690 MCB 000 00 breakout box allows connection between the 141 MSB 101 00
motion module and the Lexium MHDA servodrive, to simplify the system cabling.
The 140 MSB 101 00 is comprised of:
1A rugged outer rugged shell ensures the following:
v PCB card support.
v closing and locking of module into position.
2Module diagnostic LEDs, including a digital Modbus status indicator.
3A SUB-D 9 connector for RS 232 Modbus link.
4A SUB-D 50 port for connection to the servodrive.
5A clear access door to hold the user label.
Presentation
4
3
5
2
1
Description
C
haracteristics:
p
age 35 References:
page 36 Connections:
page 37
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3
Characteristics Lexium motion control 1
140 MSB 101 00 Quantum single-axis motion
module for servomotors
Operating characteristics
Axe Type Automatic control of linear, rotary, or continuous axes
Synchronization of master/slave speed and position
Number 1 real axis, 1 remote axis
Positioning
range Maximum 4 294 967 296 points (32 bits)
Units inches, mm or orther units
Speed Range 1...4 294 967 296 points (32 bits)
Units counts/s, inches/s, mm/s, rpm…
Update Position loop ms 1
Speed loop ms 0.5
Motion Homing, absolute, relative, or continuous movement
28 traversing programs
650 flash memory commands
Controls Environnement Encoder interface, position captures (stops)
Motion Logical stops, loop position control, point window
Register words 3 input words and 4 output words
Electrical characteristics
Encoder
feedback
(2 channels)
Incremental
encoder Type Differential
Voltage c V5 ± 20 %
Impedance W> 500 at 5 V nominal
Frequency x 1 kHz 200 nominal, 500 maximum
Frequency x 4 kHz 2000 maximum (internal counting)
Maximum system
accuracy 0.5 arc/minute, encoder-dependent
Servo interface Analogue
outputs Type Bipolar
Range V+ 10,24
Resolution 11 bits + sign
Drive-enable
output Voltage V24 nominal, 30 maximum
Current mA 500 (resistive maximum under 30 V)
Drive-fault input True high, 5 V TTL-compatible
I/O Discrete inputs Number 7
Voltage c V 24 + 20 %
Discrete
outputs Number 3
Voltage c V24 + 20 %
Current mA 150 maximum
Analog inputs Voltage V± 10.24
Resolution 9 bits + sign
Impedance k30
Analog outputs Voltage V± 10.24
Maximum current mA 3
Resolution 11 bits + sign
High-speed
input Position capture time ms 250
Pulse width ms 25
Time between two
captures ms 20 minimum
OT inputs Dry contact
Communication
ports Serial ports Type RS 232 D
Protocol Modbus slave
Baud rate Bits/s 300...9600, software selectable
Power
requirements From the backplane c 5 V - 1000 mA
External (power process) c 24 V + 20 % at - 500 mA max (for auxiliary I/O)
D
escription:
p
age 34 References:
page 36 Connections:
page 37
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3
References Lexium motion control 1
140 MSB 101 00 Quantum single-axis motion
module for servomotors
All types of Quantum CPUs support the 140 MSB 101 00 single-axis motion module.
The module performs the same regardless of rack selected (primary, RI/O, or DI/O).
References
Designation For Encoder
inputs Functions Reference Weight
kg
Motion module for
one controlled axis Servodrive via
analog
reference
2 encoder
inputs
c5 V, 500 kHz Closed-loop control of linear,
rotary and continuous axes.
Synchronization of master-slave
axes.
140 MSB 101 00 0.450
Connection accessories
Designation Use No.
(1) Reference Weight
kg
Breakout box
(2) Connection between the 141 MSB 101 00
module and the servodrive: speed reference,
auxiliary I/O, and simulated encoder feedback
3690 MCB 000 00
Connector cables
Designation Use No.
(1) Length Reference Weight
kg
Supplied cables Connection between the
140 MSB 101 00 module and
the 690 MCB 000 00 breakout
box. Cable comes with SUB-D
50 connectors on each end.
40,3 m
(1 ft) 690 MCI 000 01
0,9 m
(3 ft) 690 MCI 000 03
1,8 m
(6 ft) 690 MCI 000 06
Connection between the
breakout box 690 MCB 000 00
and Lexium MHDA servodrive
(simulated encoder feedback).
Cable comes with SUB-D
9 connector on one end
56 m
(20 ft) 690 MCI 002 06
Configuration software
Designation Description Reference Weight
kg
MMDS configuration
and programming
software
Configuration and programming software for the 140 MSB 101 00
motion module
Use with ProWORX 32 or Concept
SW MMDS 1DB 0.525
(1)See page 37 for key.
(2) For e conformity, you must order the breakout box field wiring kit (690 MCB 101 00).
D
escription:
p
age 34 Characteristics:
page 35 Connections:
page 37
140 MSB 101 00
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37
3
Connections Lexium motion control 1
140 MSB 101 00 Quantum single-axis motion
module for servomotors
1140 MSB 101 00: single-axis motion module 140 MSB 101 00.
2MHDA 1pppN00/A00: Lexium servodrive for Lexium SER or BPH motor.
3690 MCB 000 00: breakout box (speed reference, auxiliary I/O, and simulated
encoder feedback).
4690 MCI 000 0p: breakout box cable (0p indicates cable length).
5690 MCI 002 06: cable with connector for simulated encoder feedback.
6Cable (not included; flying lead cable with connections to terminal strips on each
end).
Connections
1
4
3
5
2
6
D
escription:
p
age 34 Characteristics:
page 35 References:
page 36
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Presentation Lexium motion control 1
SERCOS 141 MMS Quantum motion control
modules
SERCOS MMS motion control modules are used to build a distributed automation
solution, tightly integrating axis command applications with control applications,
based on Quantum PLCs. The motion control modules and Quantum CPUs
communicate either through the Quantum backplane or via the Modbus Plus
network. The data transfer is transparent, and does not need any additional
application program.
The physical interface between the motion control module and speed servodrives is
provided by the SERCOS network, using fiber optic cable. This optic link is entirely
digital, and provides communication parameters for the tuning, diagnostics and
operation of both motion control modules and servodrives.
The SERCOS offer, based on the Quantum platform contains:
bTwo multi-axis modules, 141 MMS 425 01/535 02, that can drive up to 8 real
axes (1), each one connected to a Lexium servodrive using the SERCOS ring
network.
All these modules perform the trajectory calculation, synchronization or interpolation
of several axes.
bLexium MHDA (with optional SERCOS card) servodrives with a SERCOS digital
link from 1.5 A to 70 A. These drives manage the position, speed and torque loops,
and convert the power that drives the motor. Feedback from the motor sensors or
external encoders (such as usual position and actual speed) are sent to the
servodrive.
bSER/Lexium BPH brushless motors. These devices are equipped with magnets
which deliver a high power-to-weight ratio, resulting in a wide range of speed within
low overall dimensions.
The Lexium range includes all necessary accessories (filter chokes, braking
resistors, etc.) and connection elements.
The 141 MMS SERCOS motion modules are double-width Quantum modules. They
provide high-performance motion control functions, while being integrated with the
Quantum PLC and via a real-time multi-task system.
In addition to communicating with the Quantum CPU via the internal bus, each
141 MMS module has a Modbus Plus communications port. The availability of
program libraries simplifies configuration of the motion controls for high-performance
applications requiring highly dynamic and high-precision position tracking
algorithms.
This integration is used to fulfill motion control applications requiring a large number
and great diversity of inputs and outputs. The solution makes it possible to share a
single database between the Quantum CPU and the SERCOS motion control
module. The SERCOS ring network corresponds to
a widely developed standard used in closed-loop position and speed applications.
It complies with the European standard EN 61491.
The SERCOS solution, compared to analog interface solutions, offers the following
benefits:
bEfficient diagnostics, supplied in the motion control modules and the Quantum
CPU, can send feedback to the upper levels of the control hierarchy for action.
This minimizes machine downtime.
bThe distributed architecture significantly reduces cabling costs and simplifies the
installation.
bThe SERCOS digital network eliminates the low-resolution analog interface (12 or
14-bits) between the servodrive and the motion control module.
bFiber optic connections increase immunity from electromagnetic interference
found in harsh industrial environments.
bIt is easy to expand the number of axes in one machine using the ring network.
(1) The use of the Motion Open C kit (requiring the assistance of our applications team) enables
you to extend the capacities of these modules: 141 MMS 425 01, up to 16 real axes and
141 MMS 535 02, up to 22 real axes.
Presentation
SERCOS offer
Quantum motion modules
SERCOS motion control built into Quantum PLCs
D
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p
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pages 42 and 43 References:
pages 44 and 45 Connections:
page 45
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SERCOS architecture,
system overview Lexium motion control 1
SERCOS 141 MMS Quantum motion control
modules
SERCOS (SERiaI COmmunication System) is a communication standard defining
the digital link (medium and exchange protocol) between the motion control module
and intelligent servodrives. It is defined by European standard EN 61491.
The use of SERCOS distributed architecture enables the connection of input/output
devices (position encoder, Emergency stop, etc.) directly with the intelligent
servodrives, thereby reducing connection costs.
The fiber optic digital medium enables high-speed exchange (2 or 4 M bauds), yet
provides a high level of noise immunity in high-interference industrial environments.
The system overview presents the various functions performed by the different parts
of the multi-axis control system.
SERCOS architecture
Fiber optic cables
Quantum
Lexium MHDA
servodrives
(with optional
SERCOS card)
SER Lexium BPH motors
SERCOS ring network
System overview
Lexium MDHA
Servodrives
(with SERCOS)
Interpretation of
commands Position
loop, speed loop,
current loop,
Power conversion
SERCOS modules
141 MMS 425 01/
141 MMS 535 02
Independent or
continuous axes
Interpolation
linear
Follower sets by gearing
or camming
PLC
or
Modbus
Plus
Quantum PLC
CPU
Application program
SERCOS ring
(to drives network)
Position and speed
SER/Lexium
BPH motor
UniLink
software
Concept
Unity Pro
software
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p
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pages 42 and 43 References:
pages 44 and 45 Connections:
page 45
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System overview (continued),
description Lexium motion control 1
SERCOS 141 MMS Quantum motion control
modules
Concept or Unity Pro software (via the Modbus Plus communications port) enable
you to:
bRegister the SERCOS 141 MMS module(s) in the Quantum module configuration
table.
bConfigure functions and parameterize used axes.
bProgram activities in the PLC application.
bAdjust parameters through operating codes (parameters for 141 MMS module,
and Lexium MHDA servodrives) (1).
bTest and update the application.
The UniLink software via the PC port of the Lexium MHDA servodrive allows you to:
bDefine the Lexium MHDA drive and SER/Lexium BPH motor types.
bAdjust the Lexium MHDA drive parameters, save them into the drive's EEprom
memory and store them on a PC.
The 141 MMS pp5 0p double-width SERCOS axis modules are equipped with:
1A SMA-type connector, marked Tx, for connecting the servodrives using the
SERCOS ring fiber optic transmission cable.
2A SMA-type connector, marked Rx, for connecting the servodrives using the
SERCOS ring fiber optic reception cable.
3Hard outer casing, performing the following functions:
bElectronic card support.
bAttachment and locking of the module in its slot.
4Module diagnostics indicator lamps:
bREADY: when lit, indicates the module as successfully passed power-up tests.
bRUN lamp:
v Steady, indicates the motion controller is in run mode, the SERCOS ring is
complete, and the motion controller is accepting commands from the PLC to control
the servodrives.
v Blinking, indicates that the motion controller is attempting to go into run mode, but
the SERCOS ring has not been established due to a physical disconnection or an
incorrect address setting.
v Off, indicates the motion controller is stopped.
bMODBUS PLUS: normal Modbus Plus indicator codes.
5A RUN/ RESET keyswitch.
6COM 1 port with SUB-D 9 connectors - for Schneider Electric use only.
7COM 2 port with SUB-D 9 connectors - for Schneider Electric use only.
8Modbus Plus port with SUB-D 9 connectors.
(1) Lexium MHDA servodrive equipped with AM0 SER 001V000 SERCOS option card.
System overview (continued)
Description
3
4
5
1
2
6
7
8
C
haracteristics:
p
ages 42 and 43 References:
pages 44 and 45 Connections:
page 45
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41
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Software setup Lexium motion control 1
SERCOS 141 MMS Quantum motion control
modules
The configuration of the multi-axis motion modules are carried out by Concept or
Unity Pro software and the MMFStart Programmer’s kit, 396 MMC 500 04. They are
used to configure the multi-axis applications by the creation of a common database
(between Quantum PLC and the 141 MMS motion control modules). It simplifies the
access to a library of motion-specific function blocks.
Movements are initiated using function blocks in the Concept or Unity Pro application
program (Quantum CPU).
The function blocks can be written in IEC Ladder or Function Block Diagrams.
Function blocks are available for each specific move type: incremental, absolute, or
continuous. In addition, function blocks are available to set parameters and configure
objects (axes, sets, cam profiles, and special application functions).
The sequence of events or movements can be controlled by using the Sequential
Function Chart (Grafcet) defined by IEC standard 61131-3.
Application-specific functions, such as Continuous Registration, are set up using the
MMF_SUB function block (see screen opposite).
Software setup
Programming motion and special functions
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p
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pages 42 and 43 References:
pages 44 and 45 Connections:
page 45
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3
Characteristics Lexium motion control 1
SERCOS 141 MMS Quantum motion control
modules
(1) Please consult our Regional Sales Offices.
(2) Special functions require version 1.2 of the MMFStart 396 MMC 500 04 multi-axis
programming kit.
Functional characteristics of modules 141 MMS 425 01/535 02
Type of module 141 MMS 425 01 141 MMS 535 02
Software kit 396 MMC 500 04 With the assistance
of our application
services (1)
396 MMC 500 04 With the assistance
of our application
services (1)
Number of axes 22 max 32 max
Type of axes Actual axes
(connected to Lexium drives) 816 822
Imaginary axes 4Up to 22 axes/sets of
axes 4Up to 32 axes/sets of
axes
Remote axes 4, for interpretation of
remote position by
encoder
Up to 22 axes/sets of
axes 4, for interpretation of
remote position by
encoder
Up to 32 axes/sets of
axes
Set of axes Coordinates 4 allowed in each
group for the linear
interpolation of up to 8
axes (max.)
Up to 22 axes/sets of
axes 4 allowed in each
group for the linear
interpolation of up to 8
axes (max.)
Up to 32 axes/sets of
axes
Followers 4 groups up to 8 axes
maximum Up to 22 axes/sets of
axes 4 groups up to 8 axes
maximum Up to 32 axes/sets of
axes
Cam profile 8 profiles which can be
changed from PLC
registers
Any number up to the
memory limitation of
64 K points on all cam
profiles
8 profiles which can be
changed from PLC
registers
Any number up to the
memory limitation of
64 K points on all cam
profiles
Main functions
Programming Movements Homing, absolute, relative, or continuous
Immediate movement, or queued, toward a given position
Speed override possible
Special functions bPoint lock position and point lock time: synchronizes a Slave axis with a Slave position target
and a Master position target using parameters
bMeasure part: measures the distance between two edges on a discrete input on the drive
This can be applied to a real or auxiliary axis (position measurement via external encoder)
bCount probe (2): counts the edges on a discrete input on the drive within a period of time
bFast index (2): starts a movement on an event.
bRegistration move (2): position reading on the edge of a discrete input on the drive
bRotary knife: cuts using a rotary knife. Synchronizes a circular axis on a linear axis and
controls a discrete output on the drive
Other special functions The development of all other special functions is possible with the use of a Motion Open C kit
requiring the assistance of our application services (1).
Stop/start functions Rapid stop, stop following configured deceleration profile
Temporary stop
Restart of stopped movement
Configuration/adjustment SERCOS ring Bus cycle time, traffic on the bus, optical power on the fiber, SERCOS loop diagnostics
Acceleration/deceleration Ramp values, ramp type (rectangular, triangular, and trapezoidal), unit choices, maximum
acceleration adjustment
Speed Speed units, default speed, maximum speed, speed modulation coefficient
Other setting Target window, rollover, software limits
Groups of Slave axes Tracking of master axis by ratio or by cam (cam profile), threshold position of tracking master,
value of the Bias during synchronization of an axis, monitoring of Master/Slave positions,
master offset for a slave axis
Groups of coordinate axes Linear interpolation
Cam profile Values of a point existing from a cam profile, number of points (5,000 maximum), type of
interpolation, table addresses
State of an activity or axis Movement in acceleration, in deceleration, in homing, servodrive fault…
Diagnostics Drive fault, tracking error, overvoltage, undervoltage, current overload, power supply fault
D
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page 45
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Characteristics (continued) Lexium motion control 1
SERCOS 141 MMS Quantum motion control
modules
Electrical characteristics of modules 141 MMS 425 01/535 02
Type of module 141 MMS 425 01 141 MMS 535 02
Processor MHz 66 133
PLC registers 10 000 60 000
Memory Application Mb 2 4
Static RAM Mb 2 4
Dynamic RAM Mb 8 8
SERCOS network Nature Industrial support complying with standard EN 61491
Topology Ring
Medium Fiber optic cable
Baud rate M bauds 4
Cycle time ms 2 to 4, configurable
Number of segments 9 max 23 max
Length of segment m38 max with plastic fiber optic cable
150 max with glass fiber optic cable (230 µm)
Communication
ports Serial links Number 2 RS 232 D
Protocol Modbus slave
Data rate Bit/s 300…9600
Network interface 1 Modbus Plus
Consumption mA 2000 at c 5 V 2500 at c 5V
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References Lexium motion control 1
SERCOS 141 MMS Quantum motion control
modules
Any of the Quantum PLC processors can be used with the SERCOS 141 MMS
motion modules. To obtain optimum performances, the cycle time of the Quantum
processor should not exceed 10 ms. The maximum number of 141 MMS modules in
a configuration depends on the processor type:
(1) The Motion Open C kit requires the assistance of our applications services. Consult our
Regional Sales Offices.
(2) Connectors to be used exclusively for connecting SERCOS motion control modules in the
same electrical cabinet.
References
Type of processors 140 CPU 113 02 140 CPU 113 03 140 CPU 434 12A 140 CPU 534 14A
Maximum number of
MMS, NOE or NOM
modules
2266
Description Functions Number of axes with: Reference Weight
kg
396 MMC 500 04
Programmer’s kit Motion Open C kit
(1)
Multi-axis control modules SERCOS digital
servodrive control 8 real axes
4 imaginary axes
8 sets of axes
16 real axes
22 axes/sets of axes 141 MMS 425 01 0.520
8 real axes
8 imaginary axes
8 sets of axes
22 real axes
32 axes/sets of axes 141 MMS 535 02 0.520
Connection accessories
Description Connection Length Reference Weight
kg
Plastic fiber optic cables fitted with SMA-type
connectors
(curvature radius: 25 mm minimum)
Lexium
MHDA 1pppN00,
MHDA 1pppA00
servodrive
0.3 m (1 ft) 990 MCO 000 01 0.050
0.9 m (3 ft) 990 MCO 000 03 0.180
1.5 m (5 ft) 990 MCO 000 05 0.260
4.5 m (15 ft) 990 MCO 000 15 0.770
16.5 m (55 ft) 990 MCO 000 55 2.830
22.5 m (75 ft) 990 MCO 000 75 4.070
37.5 m (125 ft) 990 MCO 001 25 5.940
Set of plastic fiber optic connections
Description Composition Reference Weight
kg
Set of fiber optic cables and SMA-type
connectors (2) 12 SMA-type connectors
12 insulating sleeves
Plastic fiber optic cable, length 30 m
990 MCO KIT 01
Equipment for installation of fiber optic cables Tools for making up cables to required
length from a 990 MCO KIT 01 kit
Includes stripping tool, crimping pliers,
25 W/110 V cutting tool, and instructions for
use
990 MCO KIT 00
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page 45
141 MMS 425 01
141 MMS 535 02
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3
References (continued),
connections Lexium motion control 1
SERCOS 141 MMS Quantum motion control
modules
1141 MMS 425 01/535 02: Quantum multi-axis control module.
2MHDA 1pppN00/A00: Lexium drives (equipped with the optional SERCOS card
AM0 SER 001V000) for SER/Lexium BPH motor.
3990 MCO 000ppp: plastic fiber optic cables fitted with SMA-type connectors.
Tx
Transmission.
Rx Reception.
References (continued)
Concept programming and configuration software
Description Type of user
license Reference Weight
kg
Concept packages
Concept XL version 2.6 Single-user license 372 SPU 474 01 V26
3-user license 372 SPU 474 11 V26
10-user license 372 SPU 474 21 V26
Network license 372 SPU 474 31 V26
SERCOS multi-axis motion control software
Designation Description Reference Weight
kg
Multi-Axis MMF start
programmer’s kit Concept library and MMF Start
Shared data base creation
Backup and restoration
functions for maintenance
personnel.
Configuration software.
396 MMC 500 04
Connections
1
3
3
2
Tx
Rx
Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx
3333
2 2 2 2
Servodrive 4Servodrive 2Servodrive 5Servodrive 3 Servodrive 1
SERCOS ring network
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4
The Lexium MHDA servodrives are designed for the control of the torque, speed and/or
position of the SER/Lexium BPH brushless motors. These servodrive units are designed
for high performance applications, which require strong dynamics and high precision
positionning.
Lexium MHDA servodrives, with 3-phase power supply, are supplied with 7 different
current ratings: permanent current 1.5 A to 70 A rms. They must also be connected to an
auxiliary power supply of c24 V (from 0.75A to 3.5 A).
Some MHDA servodrives are equipped with an anti-start device designed to protect
anyone working on the machines. High current rating servodrives (40 to 70 A) are all
equipped with the anti-start device.
The Lexium servodrive/motor units are designed mainly to be controlled by the
positioning modules on the Modicon Premium or Modicon Quantum automation
platforms.
These Lexium MHDA servodrives are all equipped with standard
+
10 V analog
setpoint.
If equipped with a SERCOS option card, they can be integrated in a SERCOS ring.
Furthermore, the Lexium MHDA servodrives have an integral position indexer, which
can be used in cases where the simple applications do not require positioning
modules. In this case, the numerous possibilities for connectivity
(RS 232 serial link,
CANopen bus, Fipio bus, Profibus DP bus, Modbus Plus network,)
respond to the
different automation structures.
Presentation
Compatibility between Lexium servodrives and SER/Lexium BPH axis motors
SER
brushless
motors
Lexium 17D
servodrives Lexium 17D HP
servodrives Lexium BPH
brushless
motors
MHDA MHDA
1004p00 1008p00 1017p00 1028p00 1056p00 1112A00 1198A00
Permanent rms current Permanent rms current
1.5 A 3 A 6 A 10 A 20 A 40 A 70 A
0.4/1.1 Nm: BPH 0552S
0.9/1.9 Nm: 1.3/3.4 Nm: BPH 0751N
SER 39A 4L7S 1.1/2.5 Nm 1.1/4 Nm
SER 39B 4L3S 2.2/4.4 Nm 2.2/8.0 Nm:
1.3/2.5 Nm: 2.3/4.8 Nm: BPH 0752N
SER 39C 4L3S 2.9/4.7 Nm: 2.9/9.4 Nm:
3.7/7.2 Nm: 4.3/13.4 Nm: BPH 0952N
SER 3BA 4L3S 4.6/9.2 Nm: 4.6/15.3 Nm:
SER 3BA 4L5S 4.6/8.2 Nm 4.8/15.0 Nm
6.0/13.4 Nm: 6.0/20.3 Nm: BPH 0953N
SER 3BB 4L3S 6.6/12.0 Nm 6.6/20.0 Nm
SER 3BB 4L5S 6.6/15.8 Nm 6.6/25.0 Nm
7.4/13.6 Nm: 7.4/19.3 Nm BPH 1152N
6.8/13.5 Nm: 10.5/19.0 Nm BPH 1153N
SER 3BC 4L5S 10.0/17.0 Nm: 10.0/28.0 Nm:
SER 3BA 4L7S 10.0/16.0 Nm: 10.0/32.0 Nm
11.4/18.0 Nm: 12.0/30.0 Nm: BPH 1422N
SER 3BD 4L5D 13.4/29.0 Nm:
SER 3BB 4L7S 13.4/24.0 Nm: 13.4/38.0 Nm
14.5/24.0 Nm: 17.0/42.0 Nm: BPH 1423N
25.0/37.5 Nm: BPH 1902N
36.0/57.0 Nm: BPH 1903K
46.0/76.3 Nm: BPH 1904K
75.0/157 Nm: BPH 1907K
90.0/163 Nm: 100/230 Nm: BPH 190AK
1.1/2,5 Nm: For a SER motor, the 1st value corresponds to continuous stall torque max., and the 2nd value corresponds to peak stall torque max.
1.3/3.4 Nm: For a SER/Lexium BPH motor, the 1st value corresponds to continuous stall torque max., and the 2nd value corresponds to peak stall torque max.
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 and 65 References:
pages 66 and 67 Dimensions:
page 68 and 69 Connections:
pages 70 and 75
Presentation
0
Lexium motion control 1
Lexium servodrives
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
47
4
17D servodrives are in RAL gray metal casings (degree of protection IP 20).
1A 18-way male connector (1) (addr. X3) to connect:
v two configurable analog setpoint inputs
+
10 V,
v two configurable analog outputs
+
10 V,
v four configurable discrete inputs/two configurable discrete outputs c 24 V,
v one servodrive validation input c 24 V,
v one alarm relay contact.
2A 4-way male connector (1) (addr. X4) terminal block for connection to the
external c 24 V power supply. This connector distributes the power supply
c 24 V to other Lexium servodrives.
3A 3-digit display, which indicates the operating status of the servodrive, as well as
error code messages.
4Two control keys, which provide access to the various operating modes for the
display.
5A 4-way male connector (2) (addr. X10) for use with the anti-start function (AS
function) Only available on MHDA 1pppA00.servodrives
1A 9-way SUB-D male connector (addr. X6) for connection to the CANopen field
bus. (RS 232 integral serial link) This connector is also used to connect the PC
compatible terminal, which supports the Unilink configuration software.
2Slot for one of the following option cards:
v SERCOS digital link control card
v Fipio bus, Modbus Plus network, or Profibus DP bus connection card,
v Discrete I/O card for Lexium servodrive control with integral position indexer
function.
3A 9-way SUB-D male connector (addr. X5) to connect the simulated encoder
feedback (incremental or SSI). This connector can also be used to interconnect
with other Lexium servodrives (maximum 16) in Master/Slave operation (2).
4A 9-way SUB-D female connector (addr. X2) to connect the SER/Lexium BPH
motor resolver (includes connection of the PTC probe).
5A 15-way SUB-D female connector (addr. X1) to connect the SinCos encoder on
the SER/ Lexium BHP motor (includes connection of the PTC probe).
1Two 4-way unscrewable terminals (addr. X0A and X0B) to connect to the 3-phase
power supply network a208...480 V (or single phase a230 V). The second
connector distributes the network supply to other Lexium servodrives.
2Two 4-way unscrewable terminal (addr. X7) to interconnect the Lexium servodrive
power buses, when operating with the braking power distribution over a set of
Lexium servodrives.
3Two 4-way unscrewable terminal (addr. X8) to connect the external braking
resistance. By default, braking is on the internal resistance (shunt fitted to the
connector).
4A 6-way male connector (addr. X9) to connect the SER/Lexium BPH motor power
(includes connection to the holding brake - model dependant).
(1)
Female screw connectors supplied with each servodriv
e.
(2) Please use TSX CXP
p
83 servodrive interconnecting cables (see page 67)
Lexium 17D servodrives: overview
Front panel
3
4
2
1
5
Top panel of MHDA servodrives (with analog setpoint ± 10V)
1
3
4
5
2
Lower panel
1
2
3
4
F
unctions:
p
ages 56 and 61 Characteristics:
pages 62 and 65 References:
pages 66 and 67 Dimensions:
page 68 and 69 Connections:
pages 70 and 75
Description
0
Lexium motion control 1
Lexium servodrives
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48
4
Description (continued)
0
Lexium motion control 1
Lexium servodrives
Lexium 17 HP servodrives are in RAL gray metal casings (degree of protection
IP 20).
1A 18-way female connector (1) (addr. X3) to connect:
v two configurable analog setpoint inputs ±10 V,
v two configurable analog outputs ±10 V,
v four configurable discrete inputs/outputs c 24 V,
v one servodrive validation input c 24 V,
v one alarm relay contact.
2A 6-way male connector (2) (addr. X4) to connect the auxiliary power supply
c 24 V and the holding brake connection (depending on the model of SER/
Lexium BPH motor).
A EMC filter for this supply is built-in to the Lexium 17D HP servodrives.
3A 3-digit display, which indicates the operating status of the servodrive, as well as
error code messages.
4Two control keys, which provide access to the various operating modes for the
display.
5A 4-way male connector (2) (addr. X10) for use with the anti-start function
(AS function).
6A 9-way SUB-D male connector (addr. X6) to connect the servodrive to the
CANopen field bus. (RS 232 integral serial link) This connector is also used to
connect the PC compatible terminal, which supports the Unilink configuration
software.
7Slot for one of the following option cards:
v SERCOS digital link control card
v Fipio bus, Modbus Plus network, or Profibus DP bus connection card,
v CANopen bus adapter to ensure conformity of link 6 above to the CANopen
standard.
v Discrete I/O card for Lexium servodrive control with integral position indexer
function.
8A 9-way SUB-D male connector (addr. X5). Connects the simulated encoder
feedback (incremental or SSI), for the ± 10 V analog setpoint servodrives.
This connector can also be used to interconnect with other Lexium servodrives
(maximum 16) in Master/Slave operation (3).
9A 9-way SUB-D female connector (addr. X2) to connect the SER/Lexium BPH
motor resolver (includes connection of the PTC probe).
10A 15-way SUB-D female connector (addr. X1) to connect the SinCos encoder on
the SER/ Lexium BHP motor (includes connection of the PTC probe).
111-way screw terminal (addr. X0) to connect :
v Connect to the 3-phase power supply network a208...480 V. An external choke
must be inserted between the network supply and the 17D HP servodrive (4). The
EMC filter for the power input is not built-in, which means that it should be externally
provided, when Class A is essential (non-propagation of electromagnetic
disturbances).
v The power connection of the SER/Lexium BPH motor.
v The connection of the external braking resistance. The 17D HP servodrives do not
have internal braking resistance.
(1) Male screw connectors supplied with each servodrive.
(2) Female screw connectors supplied with each servodrive.
(3) Please use TSX CXP
p
83 servodrive interconnecting cables (see page 67)
(4) External input choke is not necessary when using isolation transformers 840
pp
shown on
page 73
Lexium 17D HP servodrives: overview
Front panel
9
68
1
5
10
7
3
4
2
Lower panel
1
F
unctions:
p
ages 56 and 61 Characteristics:
pages 62 and 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 and 75
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
49
4
Functions
0
Lexium motion control 1
Lexium servodrives
The Lexium servodrives can be directly connected to 3-phase mains supply, whose
nominal value can be any voltage within the range a 208…480 V, 50…60 Hz. If the
motor’s maximum speed and current rating are derated (see page
62
), low current
rating Lexium servodrives can be powered by a a 230 V single phase supply.
bWithstance of electromagnetic disturbances and non-propagation of
electromagnetic disturbances is provided by the EMC filter integral to the Lexium
17D servodrives (1), in compliance with EEC directives 89/336, 92/31 and 93/68.
bLexium servodrives are compatible with the TT or TN loads. When the load is IT
(isolated neutral), it is necessary to provide an isolating transformer so that a TT load
(neutral to ground) can be re-built on the secondary (servodrive side).
bAn auxiliary c 24 V SELV power supply is required for the internal electronic circuits
and the input/output interfaces (isolation required for the motor power supply).
The servodrive is fitted with a braking (or ballast) resistance (80 or 200 W depending
on the model). Depending on the required braking characteristics, internal braking
can be disabled and an external 250, 500 or 1500 W braking resistance used
instead, depending on the Lexium 17D servodrive used.
Placing the servodrive power buses in parallel shares the internal capacitors and
braking resistances, thus making it possible to benefit from the cumulative absorption
and dissipation capacities offered by the servodrives.
17D HP servodrives do not have internal braking resistance. See page 111 for
external braking resistance selection.
bThree programmable built-in digital regulators:
v a current regulator (torque image) with a control loop period of 62.5 µs,
v a speed regulator with proportional and integral gain with a control loop period of
250 µs,
v a position regulator with a control loop period of 250 µs.
bProcessing of motor position feedback signals from the motor sensor (SinCos
EnDAT
®
or SinCos Hiperface
®
) type high resolution absolute encoder or resolver).
Using this information, the servodrive can generate a simulated encoder feedback,
which can be either incremental or absolute SSI. The simulated encoder feedback
and external encoder functions can not be used concurrently.
bTwo discrete data bits control the automation system:
v one servodrive validation input c 24 V,
v one volt-free relay output, for servodrive faults.
bTwo analog inputs/outputs
+
10 V and four discrete inputs/two discrete outputs
c24 V, allowing Lexium servodrives to be integrated into sequential command
systems controlled by programmable PLCs (e.g. Micro). The I/O functions can be
configured.
bIntegral position indexer: In addition, Lexium MHDA servodrives have integral
position indexing (243 program steps, of which 180 are stored). This positioning
function performs simple automation operations, which permanently do not require
motion control modules.
bConnectivity: Lexium MHDA servodrives all have an RS 232 serial link or
CANopen bus link. If an option card is added, they can also be connected to the
Modbus Plus network, a Fipio bus or a Profibus DP bus (or a SERCOS network).
(1) With Lexium 17D HP servodrives, an AMO EMC
p
1
p
external EMC input filter may be
required on the power supply side.
Functions
Power supplies
Internal braking resistance (for Lexium 17D servodrives only)
Signal processing/motor control
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 and 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 and 75
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50
4
Functions (continued)
0
Lexium motion control 1
Lexium servodrives
The AS (anti-start) function found on all Lexium MHDA ppppA00 servodrive models
should be used primarily when the motor has to be de-activated, as for instance
when operators need to have access to the machines for brief periods of time.
The system consists of an additional auxiliary relay switch, accessible on the 4-way
screw terminal (rep. X10). When the relay switch coil is automatically activated, this
locks the servodrive power bridge, cutting out the motor power supply (1).
The anti-start relay contact is used to check that the locking mechanism is activated.
The state of the relay contact must be checked constantly by the control system: to
ensure that the system is working and that emergency stop and locking procedures
are strictly applied.
The AS (anti-start) function is standard in all Lexium MDHA ppppA00 servodrives
and provides the following features:
bServodrive power supply stays ON even when system is locked.
bReduced cabling requirements.
MHDA servodrives must be configured using the Unilink software installed on a PC.
This terminal is connected to the servodrives via a RS 232 C serial link.
Accessible parameters relate to:
bThe type of motor, braking.
bThe position loop.
bThe speed loop.
bThe current loop (torque).
bThe power converter.
bThe discrete and analog I/O.
bThe integral position indexer.
bModbus Plus, CANopen or SERCOS communication.
These parameters are backed up to the servodrive EEProm memory using Unilink
software.
The multi-lingual Unilink software, compatible with Windows 95/98, 2000, NT 4.0
and XP, is supplied with the "Lexium motion tools" CD-Rom AM0 CSW 001 V300,
also including the following multi-lingual (French, English, German, Spanish and
Italian) documentation:
bTechnical guide to SER/BPH motors.
bSER/BPH motor file library for CAD software (2D and 3D).
bLexium 17D and 17D HP servodrives user guide
bList of ASCII commands for the Lexium 17D servodrives (English and German).
bUnilink software user guide.
bGraphic Motion Task for Unilink software.
bSERCOS ring communication.
bFipio bus communication.
bCANopen bus communication.
bModbus Plus network communication.
bProfibus DP communication.
bExample file for the installation of a CANopen bus application on a Premium
platform.
b.esd files for configuring the CANopen bus with the SyCon configuration tool.
b.gsd files for configuring the Profibus DP bus with the SyCon configuration tool.
b.dib files, images of the Lexium servodrives.
(1) Vertical axis immobilization can only be obtained by installing a mechanical locking system
(servo brake) on the axes.
AS anti-start function
Configuring the Lexium MHDA servodrives
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 and 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 and 75
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51
4
Unilink software is used to configure and adjust Lexium MHDA servodrives according
to the associated BPH axis motor and the application requirements. During these
phases, the PC supporting Unilink software under Windows 95/98, 2000, NT 4.0 or
XP, is connected to MHDA servodrives via a serial link ( 9 -way SUB-D connector,
on X6).
Three types of configuration are possible:
bMHDA servodrive with analog setpoint, with Premium or Quantum motion control
module.
bMHDA servodrive with SERCOS digital link option card; with Premium or Quantum
motion control module.
bMHDA servodrive in independent position indexer mode with discrete input/output
control or field bus control.
The MHDA servodrive with analog setpoint is associated with the TSX CAY 2p/33/
4p (with Premium platform) or the 140 MSB 101 00 (with Quantum platform) motion
control module. The KP position loop is executed in the automation platform control
module. It is configured and adjusted using PL7 Junior/Pro (with TSX CAY module) or
Concept (with 140 MSB module) programming software.
The closed KV speed loop and KT torque loop in the MHDA servodrive are configured
and adjusted using Unilink software.
The motion program, which defines the paths, is in the Premium or Quantum platform
application program. The position and speed setpoints are calculated by the motion
control module.
The MHDA servodrive with the SERCOS digital link option card is associated with
the TSX CSY 84/164 (with Premium platform) or 141 MMS 425 01/535 02 (with
Quantum platform) motion control modules. The closed KP position loops, KV speed
loops and KT torque loops in the servodrive are configured and adjusted using
Unilink software. The motion program, which defines the paths, is in the Premium or
Quantum platform application program. The position setpoints are calculated by the
motion control module (position mode). The motion control module can also work out
the speed reference (speed mode) or the current reference (torque mode). The last
two modes can be accessed with the assistance of Schneider application services.
Presentation of Unilink software
MHDA servodrive with analog setpoint
Premium/Quantum platform
Process PLC
Input/output
PLC program
Motion control module
Set-up/
diagnostics
Path
Lexium MHDA servodrive
Servodrive with analog setpoint
Motor
SER/Lexium
BPH
KP KV KT
TSX CAY or 140 MSB
MHDA servodrive with SERCOS digital link
TSX SAY or 141 MMS
Set-up/
diagnostics
Set-up/
diagnostics
SERCOS axis control module
Path
Premium/Quantum platform Lexium MHDA servodrive with AM0 SER 001V000 SERCOS card
KP KV KT
Process PLC
Input/output
PLC program
SERCOS digital link servodrive
Motor
SER/Lexium
BPH
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 and 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 and 75
Presentation of Unilink
software
0
Lexium motion control 1
Lexium servodrives
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52
4
Presentation of Unilink
software (continued)
0
Lexium motion control 1
Lexium servodrives
MHDA servodrives have an integral position indexer function. The servodrive is then
controlled by its discrete input/outputs, which can be extended to 14 discrete inputs/
8 discrete outputs, using extension card AMO INE 001V000. The closed KP position
loops, KV speed loops and KT torque loops in the MHDA servodrive are configured
and adjusted using Unilink software. The motion program (243 program steps, of
which 180 are permanently stored in Flashmemory) and the calculation of the
position setpoints are provided by the integral position indexer of the MHDA
servodrive.
The MHDA servodrive can be remotely controlled by:
bThe CANopen bus or the integral RS 232 C serial link, available as standard on
the X6 connector.
bWith the addition of an option card, they can be connected to the Fipio bus, the
Modbus Plus network,or the Profibus DP bus.
These links download the motion program steps (servodrive in run mode for the 63
steps stored in the dynamic RAM memory). They also allow the set-up and
diagnostics functions of the drive.
Presentation of the Unilink software (continued)
MHDA servodrive with integral position indexer function
Process
243 program steps
Path
Lexium MHDA servodrive
Motor
SER/Lexium
BPH
KP KV KT
PLC I/O
PLC
Connectivity of the MHDA servodrive with integral position indexer function
RS 232
Parameters
Path
Lexium MHDA servodrive
Motor
SER/Lexium
BPH
KP KV KT
Program
243 steps
Premium Diagnostics
OR
Modbus Plus/CANopen
Profibus DP/Fipio
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 and 65 References:
pages 68 and 69 Dimensions:
pages 68 and 69 Connections:
pages 70 and 75
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
53
4
Unilink software functions
0
Lexium motion control 1
Lexium servodrives
The basic screen providing access to the Unilink software services and functions is
divided into three zones:
1Top bar, for accessing the main functions.
2Block diagram for accessing the configuration/adjust/set-up and the realtime
display of the different drive values.
3Lower zone indicating the drive status.
Unilink software functions
Basic screen
1
2
3
Main Unilink functions
Servodrive configuration Used at servodrive level to select the power supply voltage and the braking resistance (internal/
external for the Lexium 17D servodrive, external for 17D HP servodrives. Used to define the
name of the servodrive.
Offline/online operation used to import or export drive parameters and data files as well as the motion task for the integral
position indexer function.
These functions allow the servodrive application to be developed offline.
Hyperterminal mode The set of drive parameters is accessible in read/write mode from a single terminal operating in
ASCII mode
Monitor mode Realtime display of 17 drive data items, for example, values for the following: analog setpoint
inputs, instantaneous current, actual speed, drive power bus voltage (DC bus), braking power,
angular position of the axis, following error, etc.
Oscilloscope mode Storage and display, in the form of internal drive data curves, of values for the following:
setpoint, actual speed and current, drive power bus voltage, image of following error. Activation
of the speed increment generation service (up and down) for optimizing loop tuning
Stop command Motion stop control (for safety reasons, this software control should not be substituted for the
external Emergency stop command).
EEP memory access for the Lexium
servodrive E
2
Save saves the defined set of servodrive parameters in the EEProm memory
E
2
Clear clears the content of the EEProm memory
Bode diagram Acquires data (gain G and phase shift ϕ) in the frequential domain.
Graphically displays the responses in frequency.
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54
4
Unilink software functions
(continued)
0
Lexium motion control 1
Lexium servodrives
(1) To use the encoder output in absolute SSI simulation mode, contact our Regional Sales
Offices.
Lexium servodrive parameters
Motor parameters Used to define the parameters for MHDA servodrives, according to the associated motor.
Used to define motor with or without brake, maximum speed, and to adapt the min. and max.
motor currents. When used with SER/BPH motors, which are referenced in the Unilink software,
the selection of a motor causes its parameters to be set up by default. It is the responsibility of
the user, should it be necessary, to adjust these values for another application.
Motor encoder selection Defines the type and characteristics of motor encoder feedback (resolver, SinCos EnDAT/
Hiperface high resolution absolute encoder)
Electronic gearing command or encoder
emulation Defines the type and characteristics of the simulated, incremental or absolute SSI (1) encoder
feedback or the type in electronic gearing mode (ROD)
Servodrive operating mode Specifies the servodrive operating mode:
vMHDA servodrive with analog setpoint, with TSX CAY pp or 140 MSB 101 00 motion control
module.
vMHDA servodrive with SERCOS digital link, with TSX CSY 84/164 or
141 MMS 425 01/435 02 motion control module
vMHDA servodrive with integral position indexer
vMHDA servodrive in independent mode in Master/Slave operation (electronic gearing)
vMHDA servodrive connected to a PLC via the CANopen/Fipio/Profibus DP bus or the
Modbus Plus network
Functions associated to discrete inputs/
outputs Assigns:
va specific function to 4 inputs (1 of 25, depending on the type of servodrive). For example,
position limit sensor, speed reference analog input, deactivation of integral position check,
homing, starting a motion sequence, brake control, etc.
va specific function to 2 outputs (1 of 26, depending on the type of servodrive). For example,
following error, actual position greater than a predefined value, target position reached,
servodrive inhibited, etc.
Furthermore, this screen displays the state of the I/O in realtime.
Functions associated with the analog
input/outputs (with MHDA servodrive) Assigns:
va specific function to 2 analog inputs (1 of 6, depending on the type of servodrive).
For example, control voltage on the first input, control current on the second input, setpoint
corresponding to the sum of the 2 analog inputs, etc. The automatic offset compensation
and scaling can be configured on these 2 inputs.
va specific function to 2 analog outputs (1 of 5). For example, actual speed or current values,
setpoint values for speed or current, following error image, etc.
Furthermore, this screen displays the values (mV) of the I/O in realtime. These I/O allow many
possibilities for applications which require electrical shafts (for example, sending an analog
output from the "Master" servodrive, current image and setpoint, to an analog input on the
"Slave" servodrive in order to create a coupled electrical shafts).
Set-up of the current loop Adjusts the parameters of the KT current loop using the defined default values
through the set-up operation of the "SET Motor" SER/BPH motor
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 and 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 and 75
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
55
4
Unilink software functions
(continued)
0
Lexium motion control 1
Lexium servodrives
Lexium servodrives parameters (continued)
Speed loop settings
Adjusts the KV speed loop gain parameters using the default values defined by the SER/BPH
motor set-up operation "SET Motor". For example, maximum speed, overspeed threshold,
acceleration and deceleration ramps, Emergency stop deceleration time, etc.
Position loop parameter settings The position loop parameter settings are only effective with MHDA servodrives with a SERCOS
link or with the MHDA servodrives in integral position indexer mode. Adjusts the KV speed loop
and KP position loop gain parameters and defines the maximum following error.
The following additional functions can be accessed:
vSpecifies the homing type and parameters (acceleration/deceleration ramps and speed).
Also used to define motion speed in running continual manual (JOG) mode.
vUsed in follower mode to specify the type of motor position feedback and define the
movement multiplier ratio
vProvides access to the following definitions:
- axis type (linear or rotary),
- axis resolution,
- minimum acceleration/deceleration time, maximum speed, data relating to the target
windows, position registers, upper/lower software limits, thresholds to compare the current
position (determine discrete output status).
v Used to program the movement steps in integral position indexer operation, including for
each step (243 steps max.):
- movement type (absolute or relative),
- target position and setpoint speed,
- speed profile (trapezoid or sinusoid),
- conditions for accessing the next step,
- definition of start conditions.
Lexium servodrive status display
Drive status The lower zone of the basic screen:
vindicates the servodrive status,
vprovides access to a window, which displays the current alarm or fault in realtime, as well as
its history and frequency.
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 and 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Links
pages 70 and 75
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
56
4
Connectivity of MHDA
servodrives
0
Lexium motion control 1
Lexium Servodrives
MHDA servodrives support connections using the CANopen bus, Modbus Plus
network, Fipio bus or Profibus DP bus. The CANopen bus connection
bis standard on MHDA servodrives.
bThe Modbus Plus network can be established by adding an option card.
bThe Fipio bus can be established by adding an option card.
bThe Profibus DP bus can be established by adding an option card.
This type of structure is used to respond to performances in three types of
applications: applications with independent servodrives, PLC controlled independent
axes and PLC controlled electronic gearing.
The "Motion tasks" (MT) for each Lexium servodrive are managed using the basic
activation/deactivation commands from the Premium or Quantum PLCs (i.e. start,
stop, etc.).
Typical number of controlled servodrives: 16
The PLC application calculates and directly updates the parameters for a
"Motion Task" (position/speed/acceleration) for each movement for each of the
servodrives, which work out various paths from these parameters.
Typical number of controlled servodrives: 4 to 8
The path (position or speed or torque) of the virtual Master axis is worked out by the
PLC. This path is used to determine the new positions of each of the Slave axes in
each PLC cycle according to the formula SPn = [SP1 (t) x ratio].
Typical number of controlled servodrives: 2 to 4
Motion control applications
Applications with independent servodrives
SP1
MT1
MT2
MTn
SP2
MT1
MT2
MTn
Start Motion Task 0 axe 1
Start Motion Task 0 axe 2
Start Motion Task 1 axe 1
Start Motion Task 3 axe 2
Axe 1
Axe 2
KP
KP
KV
KV
KT
KT
Bus/network
Independent axes controlled by PLC
SP1
SP2
Axe 1
Axe 2
KP
KP
KV
KV
KT
KT
Bus/network
MT1 motion parameters
(position, speed, acceleration)
MT1 motion parameters
(new positions, speed,
acceleration)
Electronic gearing controlled by PLC
SP2
SP1
Set point SP1
Set point SP2
Axe 1
Axe 2
KP
KP
KT
KT
KV
KV
Bus/network
Path generator
Speed
t
Setpoint SP2 = f [SP1(t) x ratio]
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 to 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 69 to 75
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
57
4
Connectivity of MHDA
servodrives (continued)
0
Lexium motion control 1
Lexium Servodrives
Communication and Parameterizing are integrated in the following software tools:
b
Configuration mode for PL7Junior/Pro or Concept, depending on the medium used:
v CANopen and Profibus DP bus: the configuration mode of the PL7 Junior/Pro or
Concept installation software is used to define the communication buffers (addresses
and lengths of the %MW input and output word tables).
v Modbus Plus network: the configuration mode of the PL7 Junior/Pro or Concept
installation software is used to define the data exchanged.
v Fipio bus: the configuration mode of the PL7 Junior/Pro installation software is
used to define the numbers of the connection points from the Lexium MHDA
servodrives to the Fipio bus.
v Profibus DP bus: the configuration mode of the PL7 Junior/Pro installation software
is used to define the numbers of the connection points from the Lexium MHDA to the
Profibus DP bus.
bThe CANopen bus and Profibus DP bus are configured using a specific software
(SyCon) to be ordered separately (reference SYS SPU LFp CD28M). This software
is used to generate a configuration file to define the data exchanged on the bus.
The file must be imported in the PL7 application via the PL7Junior/Pro installation
software.
bUnilink software: is used to define the address of the Lexium servodrive on which
the user would like to communicate with. The transmission speed of the CANopen
bus or the Modbus Plus network is also defined at this level.
Furthermore, with the Modbus Plus network, a function of the Unilink software can
be used to define the configuration parameters and display the Modbus Plus
communication status.
The Unlilink software is also used to define the parameters relating to the Fipio bus
(time-out, etc.).
The Unilink software and PL7 Junior/Pro installation software provide different
debugging services:
bUnilink software: access to commands and statuses for managing DRIVECOM,
including specific debugging screens with the Profibus bus.
bPL7 Junior/Pro software: specific debugging and diagnostics screens with the
Fipio bus (see left for example).
Software configuration
Configuration example for Fipio with PL7 Junior/Pro
Configuration example for CANopen with the SyCon tool
Configuration example for Modbus Plus with Unilink
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 to 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 to 75
Debugging
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58
4
Connectivity of MHDA
servodrives (continued)
0
Lexium motion control 1
Lexium servodrives
The Fipio field bus is an industrial standard for communication between different PLC
components. This field bus complies with the WorldFip standard for production/
consumption mechanisms. It is used for extending remote I/O to up to 15 km.
Schneider Electric is a major promoter of Fipio bus technology, which supports the
connectivity of PLCs, Lexium servodrives, Altivar starter motors, Magelis terminals
and the partner products of the Schneider Alliances program.
Fipio bus
Architecture
AS-i
ATV
Momentum
Magelis XBT,
CCX17
Fipio
Magelis IPC
Lexium MHDA
servodrives
Sealed TBX
Micro (Agent) Premium (Agent)
AS-i gateway
Premium (bus manager)
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 to 65 References:
pages 66 and 67 Dimensions:
pages 68 to 69 Connections:
pages 70 to 75
Characteristics
Type of bus Fipio bus
Compatibility Modicon automation platform Premium (TSX P 57 153/253/2823/353/453/4823) or Atrium coprocessor (T PCX 57 353)
Profile Open industrial medium complying with the World Fip standard
Transmission Rate 1 Mbit/s
Medium 150 W double twisted shielded pair
Length Max. 1,000 m for an electrical segment
Max. 3,000 m for an optical segment
Device addressing 1…62
Fipio utilities with Lexium MHDA
servodrive X-Way Uni-Te utilities Access to all the parameters of the Lexium servodrives in read/write:
v"DRIVECOM" data for operating modes and fault management modes
voperating modes
vMotion Task movement data (realtime modification of acceleration, position and speed)
vexternal position, speed and torque setpoints
vservodrive status, path and fault data
vloading and downloading of the servodrive parameters (max. 128 bytes of data)
Installation utility
using PL7 Junior/Pro
software
v integrated installation screens (presymbolization of objects, management of double word
length, debugging and diagnostics screens)
v "FDR" utility, operating context restoration for servodrive replacement
Configuration tool Unilink software (version u 2.5)
Installation tool PL7 Junior/Pro software (version 4.2, recommended 4.3)
Fipio communication card Optional AM0 FIP 001V000 card
Cabling system Wiring on MHDA
servodrive 9-way SUB-D male connector
T-Junction box TSX FP ACC3/ACC4 block
Derivation cable TSX FP CCp00 cable
Main cable TSX FP CA/CRp00 cable
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59
4
Connectivity of the MHDA
servodrives (continued)
0
Lexium motion control 1
Lexium Servodrives
The Modbus Plus communication network is a high baud rate industrial network (up
to 1 Mbit/s). It consists of a main segment and secondary segments concerning the
use of accessories such as electric repeaters, optical repeaters or bridges.
The Modbus Plus network supports connectivity for Schneider products (PLCs,
distributed I/O, ATV variable speeddrives, Magelis terminals with graphic screens
etc. As part of the Schneider Alliances partnership, several third party products are
compatible with the Modbus Plus network.
(1) Utilities available only on the main segment of the Modbus Plus, and with Premium or
Quantum platforms only.
(2) For other Modbus Plus network connection cables and accessories, consult our Premium
platform and Quantum platform catalogs.
Modbus Plus network
Architecture
Premium or Quantum
Lexium MHDA servodrive
Magelis XBT-F/T XBT Repeater
ATV58-F Third party products
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 to 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 to 75
Characteristics
Type of network Modbus Plus network
Compatibility Modicon automation platform Premium, Quantum and Micro
Profile Exchanges:
vPeer Cop 9 registers
vGlobal Data 18 registers
vModbus Messaging
Transmission Rate 500...1000 Kbit/s
Medium Twisted pair, optic fiber
Length v max. 450 m per segment
v max. 1,800 m with 3 repeaters
Device addressing 1...63
Modbus Plus utilities with
Lexium MDHA servodrives Peer Cop (1)
Global data (1) Read/write access to Lexium servodrive Status/Command data:
v"DRIVECOM" registers
vSetpoints (position, speed and torque)
vRun/Stop for Motion tasks
v"OPMODE" operating modes
v"STATCOD and ERRCOD" diagnostics, etc.
The Global Data utility is only effective when transmitting data from Lexium servodrives
Modbus Messaging Access to all the above data as well as to the following parameters:
vAdjustment of torque, speed and position loops
vMonitoring (threshold, gap, etc.)
Configuration tool v PL7 Junior/Pro software with Premium platform
v Concept software with Quantum platform
Modbus Plus communication card Optional AM0 MBP 001V000 card, requiring a Lexium 17D or 17D HP servodrive,
version RL > 08 (9-way SUB-D male connector)
Cabling system (2) Junction boxes v IP 20 T-Junction box 990_NAD 230 00 Requires cabling tool ref. 043 509 383
v IP 65 T-Junction box 990_NAD 230 10 (connection on screw terminals)
Derivation cables 990 NAD 211 10/30 derivation cable (length 2, 4 or 6 m). Servodrive end of cable equipped with
a 9-way SUB-D female connector and derivation end with free wires
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60
4
Connectivity of MHDA
servodrives (continued)
0
Lexium motion control 1
Lexium Servodrives
The CANopen bus is a field bus based on CAN low layers and components. It
complies with standard ISO 11898 compliant. Thanks to its standard communication
profiles, the CANopen bus can be used to ensure the opening and interoperability
of various devices (servodrives, motor starters, smart sensors, etc.)
The CANopen bus is a multi-master bus, which guarantees a sure and deterministic
access to realtime automation device data. The CSMA/CA type protocol is based on
exchanges, transmitted cyclically or on event, which guarantee optimum use of the
bandwidth. A messaging channel is also used to parameterize the slave devices.
Lexium MHDA servodrives are all equipped with a CANopen bus compatible
interface (connector on X6, see pages 25 and 48).
(1) Function available with version SV
u
4.51 MHDA servodrives.
CANopen bus
Architecture
Premium
Lexium MHDA
Lexium MHDA
ATV-58F
Motor starter Smart sensors
Characteristics
Type of bus CANopen bus
CANopen communication Integrated with the Lexium MHDA servodrive
Compatibility Modicon automation platform Premium (with the PCMCIA card and SYS SPU LFp CD28M, SyCon CANopen configuration
software)
Profile CANopen DS with DSP 402 profile
Transmission Rate 250...1000 Kbit/s
Medium Shielded twisted double pair
Length Max. 20 m at 1 Mbit/s
Max. 70 m at 500 Kbit/s
Max. 115 m at 250 Kbit/s
Device addressing 0 to 63
CANopen utility with
Lexium MHDA servodrive PDO (Process Date Object)
periodic exchange Implicit read/write access to Lexium servodrive Status/Command data (using %MW words):
vSetpoints (position and torque)
vStop/start "Motion Tasks"
vCommand register/DRIVECOM status
SDO messaging
(Service Data Object) Explicit access (by READ_VAR/WRITE_VAR function) to the following parameters:
vAdjustment of torque, speed and position loops
vMonitoring (threshold, gap, etc.)
v"OPMODE" operating modes
v"STATCOD and ERRCOD" diagnostics
SYNC object For applications requiring axis synchronization (1)
Configuration tool SYS SPU LFp CD28M, SyCon configuration software
CANopen cabling system Wiring on MHDA servodrive A 9-way SUB-D male connector (addr. X6)
T-Junction box TSX CPP ACC1 (1 x 15-way SUB-D male connector on the device end and 2 9-way SUB-D
male connectors on the bus end)
Derivation cable Client provision
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 to 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 69 to 75
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61
4
Connectivity of MHDA
servodrives (continued)
0
Lexium motion control 1
Lexium Servodrives
The Profibus DP bus is a field bus that meets industrial communication requirements.
Profibus DP has linear bus topology with a Master/Slave-type centralized access
procedure.
The physical link is made by a single shielded twisted pair, although optical interfaces
are available for establishing tree, star or ring structures.
Profibus DP bus
Architecture
With PL7 and
DP software ATV
Momentum
Premium Lexium
MHDA
servodrive
Repeaters
(max. 3)
Characteristics
Bus type Profibus DP bus
Compatibility Modicon automation platform Premium and Quantum
Profile Industrial bus, line architecture with end of line resistance
Transmission/length Baud rate/segment length 9.6 Kbit/s: 1,200m (4,800 m with 3 repeaters) at 12 Mbit/s 100 m (400 m with 3 repeaters)
Medium Twisted pair, optic fiber, infrared
Lexium servodrive addressing 1…62 (max. 32 Lexium servodrives, without repeater)
Profibus DP utilities with
Lexium MDHA servodrives PPO-type 2 profile v Access to all movement parameters and diagnostics parameters (4 words PKW)
v DRIVECOM command and status words
v Access to the different Motion Task command words (speed, torque, electronic gearing)
Configuration tool SYS SPU LFp CD28M, SyCon configuration software
Installation tool Unilink software (version u 2.5)
Profibus DP communication card Optional AM0 PBS 001V000 card
Cabling system Wiring on Profibus DP
communication card:
AM0 PBS 001V000
9-way SUB-D female connectors 490 NAD 911 0p
Daisy chaining cable Profibus DP connection cable: TSX PBS CA 100/400 (length 100 m/400 m)
D
escription:
p
ages 47 and 48 Characteristics:
pages 62 to 65 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 to 75
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
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Characteristics
0
Lexium motion control 1
Lexium servodrives
(1)The second value is provided for a power supply of
a
230 V single-phase
(2) Position precision depends on the associated SER/Lexium BPH motor, see pages 93 and 77.
(3) For use of the simulated encoder output in absolute SSI type, please consult our Regional
Sales Offices.
Characteristics of Lexium 17 D Servodrives
Lexium servodrives have been developed to comply with the main international standards which relate to electronic devices for international
automation:
bSpecific requirements : operating characteristics, immunity, ruggedness, safety, etc. EN 50178, EN 60139-1, EN 60204, UL 508C, IEC 1491
(for SERCOS cards).
bConformity to the European directives on low voltage 73/23/EEC, electromagnetic compatibility 89/336/EEC and machinery 89/392/EEC.
bConformity to the machine safety standard NF EN 292-1.
bElectrical quality of insulating materials (electrical equipment, printed circuit boards) UL 840.
Characteristics of Lexium 17 Servodrives
Type of module MHDA
1004p00 MHDA
1008p00 MHDA
1017p00 MHDA
1028p00 MHDA
1056p00
Power supply Voltage V rms a 208...480 V 3-phase ± 10%, 50/60 Hz (a 230 V authorized single-phase with derating)
Current A rms 1.8 3.6 7.2 12 24
Inrush current Internal limitation
Neutral load Compatible TN and TT loads. If the load is IT, it is necessary to use an isolation transformer on
the power supply, see page 73.
External
protection against
overloads and
short circuits
Via circuit-breaker
Q1 GV2-L10 (6.3 A) GV2-L14 (10 A) GV2-L16 (14 A) GV2-L22 (25 A)
By fuse A6 type aM 10 type aM 16 type aM 25 type aM
Motor output Permanent current A rms 1.5/1.5 (1) 3/3 (1) 6/4 (1) 10/4 (1) 20/4 (1)
Maximum current A rms 3/3 (1) 6/4 (1) 12/4 (1) 20/4 (1) 40/4 (1)
Motor choke mH 16 min 8 min 4 min 3.5 min 1.5 min
Cable length mmax. 75 Use motor choke AM0 FIL 001V056 for lengths > 25 m
Holding brake
command Nominal voltage Vc 24, supplied by the external power supply, see page 63
Current A1.7 max
Resolver input Frequency kHz 8 ± 0.1 %
Voltage V rms 4.75
Current mA
rms 35 max.
Transformation ratio 0.5
Resolution 14 bits (2)
Cable length m75 max
SinCos absolute
encoder input Voltage V9 ± 5 %
Current mA 200
Single-turn encoder Resolution: 20 bits (2)
Multi-turn encoder Resolution: 20 bits per revolution, number of revolutions: 12 bits (2)
Cable length m75 max. with Hiperface encoder, 50 m max. with EnDAT encoder
Simulated
encoder output Type (3) RS 485 differential, incremental format
Resolver resolution 512/1024 points
SinCos resolution 512/1024/2048/4096/8192/16384 points
Master/Slave Interface Use of the Master Lexium servodrive simulated encoder output to control up to 16 Slave Lexium
servodrives (electric gearing function)
Control loop performances Adjustable with Unilink software
Torque µs62.5
Speed µs250
Position µs250
Speed scale rpm 0…6000 (0...8000 with the BPH 055 motor)
Discrete I/O Number 5 isolated (1 drive enable input, 4 inputs configurable with Unilink software)
Voltage Vc 20…30
Current mA 5 to 24 V
Limit values VAt state 1: > 12, at state 0: < 7 status
Acquisition period ms 1 in normal cycle, 0.050 in rapid cycle
Discrete outputs Number 2 isolated with current absorption (programmable with Unilink software)
Voltage Vc 20…30
Current mA 10
Acquisition period ms 1
D
escription:
p
ages 47 and 48 Functions:
pages 49 to 61 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 to 75
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63
4
Characteristics (continued)
0
Lexium motion control 1
Lexium servodrives
Lexium 17D servodrive characteristics (continued)
Module type MDHA
1004p00 MDHA
1008p00 MDHA
1017p00 MDHA
1028p00 MDHA
1056p00
Alarm output Number 1 volt-free contact
Max voltage Vc 30, a 42
Current mA 500 (resistive load)
Analog inputs Number 2 non-isolated differentials (programmable with Unilink software)
Input range V± 10
Input impedance k20
Resolution 14 bits channel 1, 12 bits channel 2
Common mode V± 10 between channels and ground
Acquisition period µs250
Analog
outputs
(with MHDA
servodrive)
Number 2 non-isolated (programmable with Unilink software)
Output range V± 10
Output impedance k2.2
Resolution 10 bits
Conversion time ms 5
Asynchronous
serial link
Type RS 232 isolated
Rate bit/s 9600
Transmission 8 data bits, 1 stop bit, no parity
Dissipated internal power (at nominal current) W30 40 60 90 200
Braking
power 3-phase servodrive power supply V230 400 480 230 400 480 230 400 480 230 400 480 230 400 480
On internal resistor 66 66 33 33 33
Max. continual PPr W80 80 200 200 200
Peak (1s) PCr kW 2.5 810.5 2.5 810.5 516 21 516 21 516 21
Protection Internal, electronic circuit-breaker
On external resistor 33
Continuous PPr kW 0.25 0.40 0.50 0.25 0.40 0.50 0.75 1.2 1.5 0.75 1.2 1.5 0.75 1.2 1.5
Peak (1s) PCr kW 516 21 516 21 516 21 516 21 516 21
Resistance to be
associated AM0 RFE 001 V025
AM0 RFE 001 V050 AM0 RFE 001 V150
Protection by
fuse F1 GK1-DD + DF2-CN04
(2 x 4 A gC serial fuses) GK1-DD + DF2-CN06
(2 x 6 A gC serial fuses)
Auxiliary
power supply
c24 V (See
page 115)
Limit values For SER motors, see page 88
For BPH motors, see page 104
Environment
Temperature Operation C: 0....45, 45...55 with derating of 2.5 %/°C (> 45 °C) of motor output current
Storage C: - 25…+ 70
Relative
humidity Operation 85 % without condensation
Storage 95 % without condensation
Pollution Level 2 (EN 50178)
Altitude Operation m0...1000, up to 2500 with derating of 1.5 %/100 m (above 1000 m) of motor output current
Storage m0…4500
Withstand to
vibrations 10…57 Hz mm Sinusoidal, amplitude of 0.075 during operation
57…150 Hz 1 g during operation
D
escription:
p
ages 47 and 48 Functions:
pages 49 to 61 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 to 75
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
64
4
Characteristics (continued)
0
Lexium motion control 1
Lexium servodrives
(1) Position precision depends on the associated SER/Lexium BPH motor, see page 93.
Characteristics of Lexium 17D HP Servodrives
Lexium servodrives have been developed to comply with the main international standards which relate to electronic devices for international
automation:
bSpecific requirements: operating characteristics, immunity, ruggedness, safety, etc. EN 50178, EN 60439-1, EN 60204, UL 508C, IEC 1491
(for SERCOS cards).
bConformity to the European directives on low voltage 73/23/EEC, electromagnetic compatibility 89/336/EEC and machinery 89/392/EEC.
bCompatibility with the machine safety standard NF EN 292-1.
bElectrical quality of insulating materials (electrical equipment, printed circuit boards) UL 840.
Lexium 17D HP servodrive characteristics
Module type MDHA
1112A00 MDHA
1198A00
Power supply Voltage V rms a 208...480 V 3-phase ± 10%, 50/60 Hz
Current A rms 48 84
Inrush current Internal limitation
Neutral load Compatible TN and TT loads. If the load is IT, it is necessary to use an isolation transformer on
the power supply, see page 73.
External
protection against
overloads and
short circuits
Via circuit-breaker
Q1 NS100LMA50 (50A) NS100LMA100 (100A)
By fuse A50 type aM 80 type aM
Motor output Permanent current A rms 40 70
Maximum current A rms 80 140
Motor choke mH 0.75 min 0.38 min
Cable length m75 max
Holding brake
command Nominal voltage Vc 24, supplied by the external power supply, see page 63
Current A1.7 max
Resolver input Frequency kHz 8 ± 0.1 %
Voltage V rms 4.75
Current mA
rms 35
Transformation ratio 0.5
Resolution 14 bits (1)
Cable length m75 max
SinCos absolute
encoder input Voltage V9 ± 5 %
Current mA 200
Single-turn encoder Resolution: 20 bits (1)
Multi-turn encoder Resolution: 20 bits per revolution, number of revolutions: 12 bits (1)
Cable length m75 max. with Hiperface encoder, 50 m max. with EnDAT encoder
Simulated
encoder output Type RS 485 differential, incremental format
Resolver resolution 512/1024 points
SinCos resolution 512/1024/2048/4096/8192/16384 points
Master/Slave Interface Use of the Master Lexium servodrive simulated encoder output to control up to 16 Slave Lexium
servodrives (electric gearing function)
Control loop perfomances Adjustable with Unilink software
Torque µs62.5
Speed µs250
Position µs250
Discrete I/O Number 5 isolated (1 drive enable input, 4 inputs configurable with Unilink software)
Voltage Vc 20…30
Current mA 5 to 24 V
Limit values VAt state 1: > 12, at state 0: < 7 status
Acquisition period ms 1 in normal cycle, 0.050 in rapid cycle
Discrete outputs Number 2 isolated with current absorption (programmable with Unilink software)
Voltage Vc 20…30
Current mA 10
Acquisition period ms 1
D
escription:
p
ages 47 and 48 Functions:
pages 49 to 61 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 to 75
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
65
4
Characteristics (continued)
0
Lexium motion control 1
Lexium servodrives
Lexium 17D HP servodrive characteristics (continued)
Module type MHDA
1112A00 MHDA
1198A00
Alarm output Number 1 volt-free contact
Max voltage Vc 30, a 42
Current mA 500 (resistive load)
Analog inputs Number 2 non-isolated differential (programmable with Unilink software)
Input range V± 10
Input impedance k20
Resolution 14 bits channel 1, 12 bits channel 2
Common mode V± 10 between channels and ground
Acquisition period µs250
Analog
outputs
(with MHDA
servodrive)
Number 2 non-isolated (programmable with Unilink software)
Output range V± 10
Output impedance k2.2
Resolution 10 bits
Conversion time ms 5
Asynchronous
serial link
Type RS 232 isolated
Rate bit/s 9600
Transmission 8 data bits, 1 stop bit, no parity
Dissipated internal power (at nominal current) W400 700
Braking
power 3-phase servodrive power supply V230 400 480 230 400 480
On external resistor 15 10
Max. continuity PPr kW 6 6
Max. peak (1s) PCr kW 10 35 45 16 50 70
Resistor to be
associated AM0 RFE 002 V086 AM0 RFE 002 V160
Protection by
fuse F1 GK1-DD + DF2-CN16
(2 x 16 A gG serial fuses) GK1-DD + DF2-CN20
(2 x 20 A gG serial fuses)
Auxiliary
power supply
c24 V (See
page 115)
Limit values For BPH motors, see page 104
Environment
Temperature Operation C: 0....45, 45...55 with derating of 2.5 %/°C (> 45 °C) of motor output current
Storage C: - 25…+ 70
Relative
humidity Operation 85 % without condensation
Storage 95 % without condensation
Pollution Level 2 (EN 50178)
Altitude Operation m0...1000, up to 2500 with derating of 1.5 %/100 m (above 1000 m) of motor output current
Storage m0…4500
Withstand to
vibrations 10…57 Hz mm Sinusoidal, amplitude of 0.075 during operation
57…150 Hz 1 g during operation
D
escription:
p
ages 47 and 48 Functions:
pages 49 to 61 References:
pages 66 and 67 Dimensions:
pages 68 and 69 Connections:
pages 70 to 75
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com
66
4
References
0
Lexium motion control 1
Lexium Servodrives
Digital servodrives for brushless motor
Specific functions Output current Reference Weight
kg
Permanent Discontinuous (5s)
Lexium 17D Servodrives
No anti-start safety function
Integral braking
resistors, integral
EMC filter
1.5 A rms 3 A rms MHDA 1004N00 4.000
3 A rms 6 A rms MHDA 1008N00 4.000
6 A rms 10 A rms MHDA 1017N00 4.000
10 A rms 20 A rms MHDA 1028N00 4.000
20 A rms 40 A rms MHDA 1056N00 7.500
Integral anti-start safety function
Integral braking
resistors, integral
EMC filter
1.5 A rms 3 A rms MHDA 1004A00 4.000
3 A rms 6 A rms MHDA 1008A00 4.000
6 A rms 10 A rms MHDA 1017A00 4.000
10 A rms 20 A rms MHDA 1028A00 4.000
20 A rms 40 A rms MHDA 1056A00 7.500
Lexium 17D HP servodrives
Integral anti-start safety function
No integral braking
resistors, no integral
EMC filter, obligatory
input choke
(1)
(to be ordered
separately).
40 A rms 80 A rms MHDA 1112A00 19.500
70 A rms 140 A rms MHDA 1198A00 21.000
Accessories for Lexium 17D Servodrives
Use Functions Reference Weight
kg
External braking resistors
MDHA 1004/1008
servodrives 33 Ω, power 250 W AM0 RFE 001V025 1.200
33, power 500 W AM0 RFE 001V050 2.300
MDHA Servodrives
1017/1028/1056 33, power 1,500 W AM0 RFE 001V150 5.200
Motor choke
Filter choke to be
placed very close
to the servodrive
For cable lengths between servodrive/motor
of 25 m AM0 FIL 001V056
Connecting cables
Connection to BPH motors See page 107
SER motors See page 87
Documentation (not included with the MHDA servodrives)
Lexium 17D User Guide 890 USE 1200p
(2)
Servodrive replacement wiring
Set of connectors for
the Lexium 17D Female screw connectors
(X3, X4, X7, X8, X0A and X0B) AM0 SPA 001V000
(1) Input choke is obligatory when the servodrive is not powered by an isolation transformer.
(2) For the documentation, add to the end of the reference 0: English, 1: French, 2: German,
3: Spanish, 4: Italian.
MHDA 10
pp
N00A00 MHDA 10
pp
A00
M
HDA 1056N00/A00
MHDA 1112/1198A00
D
escription:
p
ages 47 and 48 Functions:
pages 49 to 61 Characteristics:
pages 62 to 65 Dimensions:
pages 68 and 69 Connections:
pages 70 to 75
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67
4
References (continued)
0
Lexium motion control 1
Lexium servodrives
Accessories for Lexium 17D HP servodrives
Use Functions Reference Weight
kg
External braking resistors
MDHA 1112 Servodrives 15, power 860 W AM0 RFE 002V086 3.500
MDHA 1198 Servodrives 10, power 1600 W AM0 RFE 002V160 8.000
EMC input filters (1)
MDHA 1112 Servodrives 42 A rms permanent AM0 EMC 118
MDHA 1198 Servodrives 75 A rms permanent AM0 EMC 212
Input chokes
MDHA 1112 Servodrives 60 A rms permanent AM0 CHK 170 (2) 9.000
MDHA 1198 Servodrives 75 A rms permanent AM0 CHK 212 (2) 10.000
Connection cables
Connection to BPH motors See page 107
Documentation
Lexium 17D HP user guide 890 USE 1220p (3)
Servodrive replacement wiring
Set of connectors for the
Lexium 17D HP 3 screw connectors
(X3, X4 and X10) AM0 SPA 002V001
Shared accessories for Lexium servodrives
Use Functions Reference Weight
kg
"Lexium motion tools" CD-ROM containing the Unilink software and a set of
documentation (4)
Configuration and setting of the
Lexium 17D servodrives from a
PC terminal
Defines the type of servodrive
and motor
Sets the parameters for the
servodrive and saves to the
servodrive's EEProm memory
AM0 CSW 001V300
Connection cables
Servodrive end connector ( X5) Master/Slave 2 m TSX CXP 283
6 m TSX CXP 683
Connection to a compatible PC,
equipped with Unilink software SUB-D connector with
9 contacts at the PC end (3 m) AM0 CAV 001V003
Connection to the CAY and CSY
positioning modules See pages 16 and
29
Optional items for MHDA servodrives (1 slot)
SERCOS digital link card SERCOS network AM0 SER 001V000 0.150
Communication cards Fipio bus (5) and (6) AM0 FIP 001V000 0.140
Modbus Plus network (5) AM0 MBP 001V000 0.140
Profibus DP bus (5) and (6) AM0 PBS 001V000 0.140
Input/Output cards
Discrete 14 discrete inputs/8 discrete
outputs for controlling the
MHDA servodrive integral
position indexer
AM0 INE 001V000 0.180
(1) Radio interference filter element to be ordered when class A EMC (EN55011) resistance is
necessary.
(2) Must be ordered with the servodrive. Do not order if an isolation transformer in IT load is used.
(3) For the documentation, add to the end of the reference 0: English, 1: French,
2: German, 3: Spanish, 4: Italian
(4) For details, see page 50.
(5) Connection accessories, see wiring system pages 74 and 75.
(6) Requires Unilink software version
u
V2.5, included in reference AM0 CSW 001V200.
AM0 MBP 001V000
AM0 SER 001V000
AM0 FIP 001V000
AM0 PBS 001V000
F
unctions:
p
ages 49 to 61 Description:
pages 47 and 48 Characteristics:
pages 62 to 65 Dimensions:
pages 68 and 69 Connections:
pages 70 to 75
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68
4
Dimensions
0
Lexium motion control 1
Lexium servodrives
Lexium 17D servodrives
Common side view MHDA 1004/1008/1017/1028 p00 MHDA 1056p00:
(1) With connectors
Lexium 17D HP Servodrives
Common side view MHDA1112/1198 A00
(1) With connectors (2) 495 with grounding part
Mounting
Lexium 17D servodrives Lexium 17D HP servodrives
(3) Cable clip or ducting
265
273 (1)
275
325
70
305
=50=
325
305
120
300
308
(1)
250
345
375 (2)
40 40
45 305
70 5070 70
45
(3)
70 7085 215
361
92 92
(3)
(3)
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69
4
Dimensions (continued)
0
Lexium motion control 1
Lexium servodrives
Braking resistors EMC input filters (for Lexium 17D HP servodrives)
AM0 RFE 00pVppp AM0 EMC ppp
G
a
H
b2
b1
b
Ø
c
c
H
J
b
a1
G
a
AM0 RFE aa1bcGHJ a b b1 b2 c GH
001 V025 412 330 66 77 390 44 35 4.5 x 9 AM0 EMC 118 60 355 305 335 150 35 320 7
001 V050 486 400 92 120 426 64 64 6.5 x 12 AM0 EMC 212 80 380 300 330 185 55 314 7
001 V150 586 500 185 120 526 150 150 6.5 x 12
002 V086 386 300 92 120 326 64 64 6.5 x 12
002 V160 570 500 182 130 526 150 150 5.5 x 8
Motor choke (for Lexium 17D servodrives) Input chokes (for Lexium 17D HP servodrives)
AM0 FIL 001V056 AM0 CHK ppp
Phaseo power supplies c 24 V abc GH
ABL/7RE 24pp AM0 CHK 170 190 110 255 170 58 8
See page 117 AM0 CHK 212 190 120 255 170 68 8
113
150
c
H
b
Ø
a
G
35
153,3
250
62
Description:
p
ages 47 and 48
Functions:
pages 49 to 61
Characteristics:
pages 62 to 65
References:
pages 66 and 67
Connections:
pages 70 to 75
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70
4
Connections
0
Lexium motion control 1
Lexium servodrives
1Braking resistor AM0 RFE 001Vppp.
2
Motor choke AM0 FIL 001V056 (required for servodrive/motor cable lengths > 25 m).
This inductance should be placed very closely to the servodrive ( 1 m).
Connection cables for SER or BPH motors:
3Power cable.
4Resolver cable.
5SinCos Hiperface encoder cable.
The power, resolver or SinCos Hiperface cables offer two possibilities:
bAGO FRU: Ready to use cables.
bAGO KIT: extension cables (mounting of the connector on the servodrive end
performed by the user).
For SER motors, see page 87
For BPH motors, see page 107
(1) Max. length 1m.
Connections for the Lexium 17D Servodrives
2
1
3
4
Q1
Q2
Q2
XOA
A1
2
1
3
4
X8
L1
2
4
6
1
21
4365
3
5
L2 L3
2
1
3
4
X4
X3
X10
2
1
3
4
5
6
X9 X2 X1
543
2
1
F1
2
4
1
3
Integral brake
(depending
on model)
Resolver
(depending
on model)
SinCos Hiperface Encoder
(depending on model)
SUB-D with
9 contacts SUB-D with
15 contacts
- Motor enable
- Alarm
- 4 discrete inputs/2 discrete outputs
- 2 analog inputs
- 2 analog outputs
or
- Anti-start lock (on MHDA10ppA00)
a 100…240 V
Additional components required
Address Description
Q1 GV2-L magnetic circuit breaker, see page
62
Q2 GB2 or C60N thermal magnetic circuit breaker, see page 117
A1
Phaseo process power supply
c
24 V ABL 7RE, see page 117
F1 GK1-DD bipolar fuse carrier (obligatory) with 10 x 38 DF2-CN04 (4 A) or
DF2-CN06 (6 A) type gG cartridges, see page
63
To connect the connectors X3 and X5 to the Premium motion control
modules, see page
18
, for X13 and X15, see page 31
Description:
p
ages 47 and 48
Functions:
pages 49 to 60
Characteristics:
pages 62 to 65
References:
pages 66 and 67
Dimensions:
pages 68 to 69
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71
4
Connections (continued)
0
Lexium motion control 1
Lexium servodrives
1AM0 CHK 170/212 input choke (not to be used if power supply is via Schneider
recommended insulation transformer, see page 73).
2AM0 EMC 118/212 EMC input filter (if Class A is requested).
3AM0 RFE 002V086/160 braking resistor.
Connection cables for SER/BPH motors:
4Power cable.
5Resolver cable.
6SinCos Hiperface encoder cable.
The power, resolver or SinCos Hiperface cables offer two possibilities:
bAGO FRU: Ready to use cables.
bAGO KIT: extension cables (mounting of the connector on the servodrive end
performed by the user for the resolver or SinCos encoder cable, connection on the
screw terminal on the servodrive end for the power cable).
See page 107.
Connections for the Lexium 17D HP servodrives
2
1
3
4
Q1
X0
A1
5
7
L1
2
4
6
Q2
1
3
5
L2 L3
4
3
5
6
X4
2
1
3
4
X10
18
1
X3
2
1
8
9
10
11
X4
X2 X1
654
1
2
3
F1
2
4
1
3
X0
+-
Integral brake
(depending
on model)
Resolver
(depending
on model)
- Motor enable
- Alarm
- 4 discrete inputs/2 discrete outputs
- 2 analog inputs
- 2 analog outputs
Lock
circuit
SinCos Hiperface Encoder
(depending on model)
or
- Anti-start lock
a 100…240 V
SUB-D with
9 contacts SUB-D with
15 contacts
Additional components required
Address Description
Q1 Magnetic circuit-breaker 50/100A NS100LMA 50/100, see page 64
Q2 GB2 or C60N thermal magnetic circuit breaker, see page 117
A1 Phaseo process power supply c 24 V ABL 7RE, see page 117
F1 GK1-DD bipolar fuse carrier (obligatory) with 10 x 38 DF2-CN16 (16 A) or
DF2-CN20 (20 A) type gG cartridges, see page
63
To connect the connectors X3 and X5 to the Premium motion control
modules, see page 18, for X13 and X15, see page 31.
D
escription:
p
ages 47 and 48 Functions:
pages 49 to 61 Characteristics:
pages 62 to 65 References:
pages 66 and 67 Dimensions:
pages 70 to 75
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72
4
Connections (continued)
0
Lexium motion control 1
Lexium servodrives
For keys 3, 5 and 6: See page 70
Example of connecting a set of Lexium 17D servodrives with a distribution of braking energy
(links on X7 connectors) (1)
XOA
2
1
(2)
(3) (3)
3
4
XOB
2
1
3
4
X8
X9
X1
X2
2
1
3
4
X4
3
1
X7
- DC
+ DC
L3 L2 L1
3
2
4
+ DC
- DC
XOA
2
1
3
4
XOB
2
1
3
4
X8
X9
X1
X2
2
1
3
4
X4
2
1
X7
- DC
+ DC
3
3
4
+ DC
- DC
XOA
2
1
3
4
XOB
2
1
3
4
X8
X9
X1
X2
2
1
3
4
X4
2
1
X7
- DC
+ DC
3
3
4
+ DC
- DC
Q1
2
4
6
1
3
5
Q2
Q2
A1
21
4365
(4)
5 or 65 or 6 5 or 6
Example of
Lexium 17D
servodrive
connection
a 100…240 V
(1) The same connection principle for connecting the Lexium 17D HP servodrive power buses in parallel is possible. Please consult our Regional Sales Offices.
(2) Circuit-breaker Q1 and the power supply cables must be of sufficient size to provide protection against overloads and short-circuits on each servodrive.
The connectors (XOA, XOB) limit the line current to 20 A rms, therefore for line currents > 20 A rms use the separate power supplies and protection devices.
(3) Cables for connecting the power buses in parallel: using non-shielded cables for lengths
y
20 cm. For lengths > 20 cm, use shielded cables (maximum length
10 meters). The connectors (X7) are limited to 20 A.
(4) On the X4 connectors for the main servodrive, check that the sum of
c
24 V power supply currents for the servodrives and the holding brakes is
y
10 A.
D
escription:
p
ages 47 and 48 Functions:
pages 49 to 61 Characteristics:
pages 62 to 65 References:
pages 66 and 67 Dimensions:
pages 70 to 75
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73
4
Connections (continued)
0
Lexium motion control 1
Lexium servodrives
In this type of installation, a 3-phase BT/BT transformer is inserted in the supply
circuit for the servodrives, which also allows a TT load network to be re-built on the
secondary side. This plan, with a secondary star transformer, also meets the
following requirements:
bProtection of personnel.
bAdaptation of the supply voltage. In the case of associating a MHDA 1004
servodrive with a BPH 055 motor, use a 400/230 V transformer to obtain the optimum
performances for the servodrive, see page 95.
Adding an insulation transformer dispenses of the use of a AM0 CHKppp input
choke.
Merlin Gerin or Square D brand T1 3-phase transformer to be associated
The dimensions of the transformers are defined by the following formulae
bLexium servodrives with independent power supply (one transformer per servodrive):
where Pu: unitary power (KVA), Un: Nominal input voltage (V), In: permanent
current (A), K = 0.9: reduction factor of the servodrive and 1.5 factor that takes into
account the call and peak currents of the servodrive.
bLexium servodrives with common power supply (one transformer for n servodrives):
If Pm < Pu of the largest servodrive, take Pm = Pu of the largest servodrive.
where Pm: power used (KVA) and Pu: servodrive unitary power (KVA). Formula not
applicable for permanent operation (S1 mode).
Connection of Lexium servodrives with installation in IT neutral load (insulated or impedance neutral)
Q1
1w 1v 1v
T1
L3
6
4
2
5
3
1
L2 L1
PE L3 L2 L1
Primary
Secondary
Pu 3UnInK×××()15,×=
Pm ΣPu()2=
Selection of Merlin Gerin transformer with 3 x 400 V rms primary voltage
Lexium servodrives with independent power supply MHDA 1004 1008 1017 1028 1056 1112 1198
Required
power
Pu
230 V rms (1) kVA 0,81 –
400 V rms (1) kVA 1.4 2.8 5.6 9.4 19 38 66
Merlin Gerin 3-phase
T1 BT/BT transformer
to be associated
Nominal
transformer
power
230 V rms (1) kVA 2.5 –
400 V rms (1) kVA 2.5 4 6.3 10 20 40 80
Reference 400/230 V rms 84010
400/400 V rms 84030 84032 84033 84035 84038 84041 84044
Lexium servodrives with common power supply kVA 2,5 46,3 10 20 40 80 160 250
Power required Pm Reference 400/230 V rms 84010 84012 84013
400/400 V rms 84030 84032 84033 84035 84038 84041 84044 84047 84049
Selection of Square D transformer with 3 x 460 V rms primary voltage
Lexium servodrives with independent power supply MHDAp1004 1008 1017 1028 1056 1112 1198
Required
power
Pu
230 V rms (1) kVA 0.81 –
460 V rms (1) kVA 1.4 2.8 5.6 9.4 19 38 66
Square D 3-phase T1
BT/BT transformer to
be associated
Nominal
transformer
power
230 V rms (1) kVA ––
460 V rms (1) kVA ––7.511204075
Reference 460/230 V rms – –
460/460 V rms – – 7T145
HDIT 11T145
HDIT 20T145
HDIT 40T145
HDIT 75T145
HDIT
Lexium servodrives with common power supply kVA 2.5 47.5 11 20 40 75 145 220
Power required Pm Reference 460/230 V rms (2) (2) 7T144
HDIT 11T144
HDIT
460/460 V rms (2) (2) 7T145
HDIT 11T145
HDIT 20T145
HDIT 40T145
HDIT 75T145
HDIT 145T145
HDIT 220T145
HDIT
(1) For 3-phase secondary voltage,
(2) contact our Regional Sales Offices.
Unit equivalence: 1 kW = 0.746 HP.
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74
4
Connections (continued)
0
Lexium motion control 1
Lexium servodrives
1TSX P57p53M: Premium processor with integrated Fipio bus link manager.
2MHDA 1pppN00/A00: Lexium 17D or 17D HP servodrives, equipped with an
optional AM0 FIP 001V00 communication card.
3TSX FP ACC2/ACC12: 9-way SUB-D female connector. Used to provide a tap link
or daisy-chain connection (case of 2nd servodrive).
4TSX FP CA/CRpp00: trunk cable, shielded twisted pair. In lengths of 100, 200 or
500 m.
5
TSX FP ACC4/ACC3
:
IP 65 (TSX FP ACC4) or IP 20 (TSX FP ACC3) T-junction
box.
6TSX FP CCp00: derivation cable, 2 shielded twisted pairs. In lengths of 100, 200
or 500 m.
Other connection elements: consult our “Premium automation platform” catalogue
1TSX MBP 100: Modbus Plus PCMCIA card to be placed in processor's type III slot
on the Premium platform with the TSX MBP CE 030/060 derivation cable (3 m or
6 m in length).
140 CPU ppp pp p: Quantum platform processor.
2MHDA 1ppp N00/A00: Lexium 17D or 17D HP servodrives, equipped with the
optional AM0 MBP 001V000 Modbus Plus communication card.
3490 NAA 2710p: main cable, shielded twisted pair with shielding drain (free wire