SS207 EN_Ver1.0 1000461851 Catalog

: Pdf 1000461851-Catalog 1000461851-Catalog B2 unilog

Open the PDF directly: View PDF .
Page Count: 130 [warning: Documents this large are best viewed by clicking the View PDF Link!]

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

2

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

3

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.

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

4

2

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”

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

5

2

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”

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

7

2

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.

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

8

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

9

2

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 V–19...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 kΩ–3.4

Input immunity µsLoss of step input: 15 to 30: –

µs–Homing 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 V–c 24

Limit V–19...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 V–c < 1

Switching time µs–< 250

Compatibility with DC inputs –All positive logic inputs with input resistance

< 15 kΩ

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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 N°

(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 N°

(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 V≤ 5.5 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 V≤ 1.2 ≤ 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 Ω270 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 V–c 24 c 24

Voltage limit V–5…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 kΩ

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

22

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

24

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)

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

32

3

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

35

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 kΩ30

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

36

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

38

3

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

escritpion:

p

age 40 Characteristics:

pages 42 and 43 References:

pages 44 and 45 Connections:

page 45

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

39

3

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

D

escritpion:

p

age 40 Characteristics:

pages 42 and 43 References:

pages 44 and 45 Connections:

page 45

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

40

3

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

41

3

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

D

escritpion:

p

age 40 Characteristics:

pages 42 and 43 References:

pages 44 and 45 Connections:

page 45

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

42

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

escritpion:

p

age 40 References:

pages 44 and 45 Connections:

page 45

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

43

3

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

D

escritpion:

p

age 40 References:

pages 44 and 45 Connections:

page 45

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

44

3

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 –

D

escritpion:

p

age 40 Characteristics:

pages 42 and 43 Connections:

page 45

141 MMS 425 01

141 MMS 535 02

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

45

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

D

escritpion:

p

age 40 Characteristics:

pages 42 and 43

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

46

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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.

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

62

4

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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 kΩ20

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 kΩ2.2

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 Ω66 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 Ω33

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 kΩ20

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 kΩ2.2

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 Ω15 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

33Ω, power 500 W AM0 RFE 001V050 2.300

MDHA Servodrives

1017/1028/1056 33Ω, 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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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 15Ω, power 860 W AM0 RFE 002V086 3.500

MDHA 1198 Servodrives 10Ω, 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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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)

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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.

This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com

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