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Anca AMD2000 Series User manual
AMD2000 Series - Servo Drive
User Manual
DS619-0-00-0019 – Rev 0
AMD2000 Series - Servo Drive - User Manual
AMD2000 Series - Servo Drive
User Manual
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Sales and Support Contact Information
Product, Sales and Service Enquiries
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Documents reference: DS619-0-00-0019 - Rev 0
Effective: 8-04-2013
© ANCA Motion Pty. Ltd.
2
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ANCA Motion
AMD2000 Series - Servo Drive - User Manual
Chapter Summaries
1
Safety
General Product safety information
2
Introduction
Target Audience, model applicability, help in reading the
manual and related manuals/brochures
3
Product Overview
Features, operating principles, labels, connector overview
4
Mechanical Installation
5
Planning the Electrical Installation
Motor and drive compatibility, electrical isolation,
protection, cable selection and routing
6
Power Wiring
Insulation, earthing, power conditioning, brake connection
and regenerative brake
7
Control Wiring
Electrical Interfacing with the I/O connectors, EtherCAT and
motor feedback
8
Installation Checklist
Pre-power-up checks
9
Start-up
Installing and using ANCA Motion Bench to configure and
enable the drive
10
Feature Configuration
Feature description and configuration information
11
Fault Tracing
Indicators, drive states and diagnostics
12
Technical Data
Functions, specifications, dimensions, de-rating, brake
resistor calculation, standards compliance
13
Accessories
Selection of accessories including motors, cables, I/O
interface modules, filters, reactors, chokes magnetic cores
13
Accessories
What this Chapter Contains
Requirements for site, tools, mounting, and cooling
This chapter contains summarized information on accessories options available for this drive
ANCA Motion
-
Ordering
Information / Catalogue
Number Interpretation
DS619-0-00-0019
- Rev 0
-
Details of Accessories
For additional details, please refer to full catalogue and information available via 14.3 Product,
Sales and Service Enquiries
3
AMD2000 Series - Servo Drive - User Manual
Contents
1. Safety ............................................................................................................................................................... 10
1.1
General Safety....................................................................................................................................... 10
1.2
Safe Start-Up and Operation ................................................................................................................. 11
2. Introduction ..................................................................................................................................................... 12
2.1.11
What this Chapter Contains ................................................................................................. 12
2.1.12
Purpose ............................................................................................................................... 12
2.1.13
About the AMD2000 drive.................................................................................................... 12
2.1.14
Drive Model Applicability...................................................................................................... 12
2.1.15
Related Documents ............................................................................................................. 13
2.1.16
Terms and Abbreviations ..................................................................................................... 13
2.1.17
Trademarks ......................................................................................................................... 13
3. Product Overview ........................................................................................................................................... 14
3.1
What this Chapter Contains ................................................................................................................... 14
3.2
Features ................................................................................................................................................ 14
3.3
Operating Principle ................................................................................................................................ 15
3.4
AMD2000 Variant Identification ............................................................................................................. 15
AMD2000 3A ......................................................................................................................................... 15
AMD2000 9A ......................................................................................................................................... 15
3.4.11
AMD2000 Series Drive Catalogue Number Interpretation ................................................... 16
3.5
System Overview ................................................................................................................................... 17
3.6
Connector Overview .............................................................................................................................. 20
3.6.11
AMD2000 3A ....................................................................................................................... 20
3.6.12
AMD2000 9A ....................................................................................................................... 21
4. Mechanical Installation ................................................................................................................................... 25
4.1
What this Chapter Contains ................................................................................................................... 25
4.2
Pre installation checks ........................................................................................................................... 25
4.3
Requirements ........................................................................................................................................ 25
4.4
4.3.11
Installation Site .................................................................................................................... 25
4.3.12
Tools Required .................................................................................................................... 26
4.3.13
Mounting and Cooling .......................................................................................................... 26
Installation ............................................................................................................................................. 28
4.4.11
Power Isolation .................................................................................................................... 28
4.4.12
Mounting a Drive ................................................................................................................. 29
4.4.13
Un-Mounting a Drive ............................................................................................................ 30
5. Planning the Electrical Installation ................................................................................................................ 31
4
5.1
What this Chapter Contains ................................................................................................................... 31
5.2
Motor and Drive Compatibility ................................................................................................................ 31
5.3
Power Supply Disconnecting Device ..................................................................................................... 31
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5.4
Emergency Stop Devices ...................................................................................................................... 31
5.5
Thermal Overload and Protection .......................................................................................................... 31
5.6
Power Cable Selection .......................................................................................................................... 32
5.7
Control Cable Selection ......................................................................................................................... 33
5.7.11
5.8
EtherCAT Wiring Details ...................................................................................................... 33
Cable Routing ........................................................................................................................................ 33
6. Power Wiring ................................................................................................................................................... 35
6.1
What this Chapter Contains ................................................................................................................... 35
6.2
Checking the Insulation of the Assembly ............................................................................................... 35
6.3
Mains Power Supply .............................................................................................................................. 35
6.3.11
Supply Voltage Ranges ....................................................................................................... 37
6.3.12
Connection of drives to grounded systems (TN or TT) ........................................................ 37
6.3.13
Connection of drives to non-grounded systems (IT) ............................................................ 37
6.3.14
Harmonics and reactive power compensated supplies ........................................................ 37
6.3.15
Residual current-operated protective (RCD) protection ....................................................... 38
6.4
Grounding .............................................................................................................................................. 38
6.5
Input EMC (Electromagnetic Compatibility) ........................................................................................... 38
6.6
6.5.11
EMC Filter Specifications..................................................................................................... 39
6.5.12
Installation guidelines of EMC filter ...................................................................................... 40
Power Supply Filters .............................................................................................................................. 41
6.6.11
Harmonic Suppression ........................................................................................................ 41
6.7
Power Disconnect and Protection Devices ............................................................................................ 43
6.8
Motor Connections ................................................................................................................................ 44
6.9
6.8.11
Motor Circuit Contactors ...................................................................................................... 45
6.8.12
Motor Power Cable Installation ............................................................................................ 45
Drive Output Filters ................................................................................................................................ 50
6.9.11
Sinusoidal Filter ................................................................................................................... 50
6.9.12
du/dt Filter............................................................................................................................ 52
6.10
Motor Brake Connection ........................................................................................................................ 52
6.11
Motor Thermal Switch ............................................................................................................................ 52
6.12
Motor Thermal Sensor ........................................................................................................................... 53
6.13
Brake/Regeneration Resistor................................................................................................................. 54
7. Control Wiring ................................................................................................................................................. 55
7.1
What this Chapter Contains ................................................................................................................... 55
7.2
Analog I/O.............................................................................................................................................. 55
7.3
7.2.11
Analogue Inputs ................................................................................................................... 55
7.2.12
Analogue Outputs ................................................................................................................ 57
Digital I/O ............................................................................................................................................... 58
7.3.11
24V Control Circuit Supply................................................................................................... 59
7.3.12
Digital Inputs ........................................................................................................................ 59
7.4
Motor Brake Control............................................................................................................................... 62
7.5
Serial Communication Port .................................................................................................................... 62
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7.6
Ethernet Interface .................................................................................................................................. 62
7.6.11
EtherCAT® .......................................................................................................................... 62
7.6.12
EtherCAT topology / Port assignment.................................................................................. 63
7.7
DIP Buttons ........................................................................................................................................... 65
7.8
Motor Feedback ..................................................................................................................................... 65
7.8.11
Analog Encoder Interface .................................................................................................... 66
7.8.12
Analog Encoder Cable ......................................................................................................... 66
7.8.13
Digital Encoder Interface ..................................................................................................... 67
7.8.14
Digital Encoder Cable .......................................................................................................... 67
8. Installation Checklist ...................................................................................................................................... 68
8.1
What this Chapter Contains ................................................................................................................... 68
8.2
Checklist ................................................................................................................................................ 68
9. Start-up ............................................................................................................................................................ 70
9.1
What this Chapter Contains ................................................................................................................... 70
9.2
Introduction ............................................................................................................................................ 70
9.3
PC minimum specifications .................................................................................................................... 70
9.4
Configuring the Network Adapter ........................................................................................................... 71
9.5
Connecting the AMD2000 to a PC ......................................................................................................... 71
9.6
Starting the AMD2000 ........................................................................................................................... 71
9.6.11
Preliminary Checks .............................................................................................................. 71
9.6.12
Power-On Checks ............................................................................................................... 72
9.7
Installing the ANCA MotionBench .......................................................................................................... 72
9.8
Configuring the AMD2000 Series Servo Drive ....................................................................................... 77
9.8.11
ANCA MotionBench ............................................................................................................. 77
10. Feature Configuration .................................................................................................................................... 87
10.1
What this Chapter Contains ................................................................................................................... 87
10.1.11
Analogue Encoder Compensation ....................................................................................... 87
10.1.12
Backlash Compensation ...................................................................................................... 90
10.1.13
Configuring Wire-Saving UVW Motors................................................................................. 92
10.1.14
Digital Output ....................................................................................................................... 92
10.1.15
Drive Bypass Mode.............................................................................................................. 97
10.1.16
Drive Data Logger ............................................................................................................... 98
10.1.17
Encoders ........................................................................................................................... 103
10.1.18
Field Orientation Initialisation ............................................................................................. 105
10.1.19
Higher Level Functions ...................................................................................................... 113
10.1.20
Modulo Operation .............................................................................................................. 121
10.1.21
Motion Constraints and Limits ........................................................................................... 121
10.1.22
Motor Control ..................................................................................................................... 129
10.1.23
Operating Modes ............................................................................................................... 139
10.1.24
Temperature Monitoring .................................................................................................... 141
10.1.25
Torque Command Filters ................................................................................................... 143
11. Fault Tracing ................................................................................................................................................. 144
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11.1
What this Chapter Contains ................................................................................................................. 144
11.2
Problem Diagnosis............................................................................................................................... 144
11.2.11
11.3
AMD2000 Indicators .......................................................................................................... 144
Supported Error Codes ........................................................................................................................ 145
11.3.11
Error Code Prefixes ........................................................................................................... 145
11.3.12
Error / Warning Codes Detailed Descriptions .................................................................... 148
11.3.13
Firmware Upgrade Errors .................................................................................................. 156
12. Technical Data............................................................................................................................................... 158
12.1
What this Chapter Contains ................................................................................................................. 158
12.2
Control Functions ................................................................................................................................ 158
12.3
12.4
12.5
12.6
12.2.11
Control Modes ................................................................................................................... 158
12.2.12
Thermal and over-current protection.................................................................................. 158
12.2.13
Self-Protection features ..................................................................................................... 158
12.2.14
DC bus voltage control ...................................................................................................... 158
12.2.15
Advanced control functions................................................................................................ 159
Interface Specifications........................................................................................................................ 160
12.3.11
Digital I/O Supply ............................................................................................................... 160
12.3.12
24V Digital Inputs .............................................................................................................. 160
12.3.13
24V Digital Outputs ............................................................................................................ 160
12.3.14
5V RS422 Differential Digital Inputs................................................................................... 160
12.3.15
Differential Digital Outputs ................................................................................................. 160
12.3.16
Analogue Inputs ................................................................................................................. 161
12.3.17
Analogue Outputs .............................................................................................................. 161
12.3.18
Motor Position Feedback ................................................................................................... 161
12.3.19
Encoder Channel 1 ............................................................................................................ 161
12.3.20
Encoder Channel 2 ............................................................................................................ 162
12.3.21
Encoder Supply ................................................................................................................. 162
12.3.22
Ethernet Interface .............................................................................................................. 162
12.3.23
Modbus Interface ............................................................................................................... 162
12.3.24
Drive Display ..................................................................................................................... 162
12.3.25
Digital I/O Supply ............................................................................................................... 162
Electrical Specifications ....................................................................................................................... 163
12.4.11
Power supply section ......................................................................................................... 163
12.4.12
Digital servo drive .............................................................................................................. 163
Performance Specifications ................................................................................................................. 164
12.5.11
Resolution.......................................................................................................................... 164
12.5.12
Steady State Performance................................................................................................. 164
12.5.13
Dynamic Performance ....................................................................................................... 164
12.5.14
Regenerative Braking ........................................................................................................ 164
Environmental Specifications ............................................................................................................... 165
12.6.11
Storage .............................................................................................................................. 165
12.6.12
Transport ........................................................................................................................... 165
12.6.13
Installation and Operation .................................................................................................. 165
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12.7
12.6.14
Physical Characteristics..................................................................................................... 165
12.6.15
Cooling .............................................................................................................................. 165
Dimension Drawings ............................................................................................................................ 166
12.7.11
AMD2000 3A drive mounting hole positions and physical dimensions .............................. 166
12.7.12
AMD2000 9A drive mounting hole positions and physical dimensions .............................. 167
12.8
24V Control Circuit Supply................................................................................................................... 167
12.9
Effect of AC Input Voltage on DC Bus Ripple ...................................................................................... 167
12.9.11
Effect of AC Input Voltage on DC Bus Voltage .................................................................. 169
12.9.12
Effect of Bus Capacitance on DC Bus Ripple .................................................................... 169
12.9.13
Effect of Output Current on DC Bus Ripple Voltage .......................................................... 169
12.10 Temperature De-rating ........................................................................................................................ 169
12.10.11
De-rating Characteristics ................................................................................................... 170
12.11 Input Power-cycling and Inrush ........................................................................................................... 170
12.12 Discharge Period ................................................................................................................................. 171
12.13 Motor Output Power............................................................................................................................. 171
12.14 Brake/Regeneration Resistor............................................................................................................... 172
12.14.11
Brake Resistor Selection, Braking Energy and Power ....................................................... 172
12.15 Materials .............................................................................................................................................. 174
12.16 Standards Conformity .......................................................................................................................... 175
Marking & Applicable Regulations .................................................................................................................. 175
Standard ......................................................................................................................................................... 175
Certification Organisation ................................................................................................................................ 175
12.17 EtherCAT® Conformance Marking ...................................................................................................... 176
12.18 CE Marking .......................................................................................................................................... 176
12.18.11
Compliance with the European EMC Directive is achieved via EN 61800-3 ..................... 176
12.18.12
Compliance with the European Low Voltage Directive is achieved via EN 61800-5-1 ...... 176
12.18.13
CE Declaration of Conformity ............................................................................................ 178
13. Accessories ................................................................................................................................................... 180
13.1
What this Chapter Contains ................................................................................................................. 180
13.2
Motors.................................................................................................................................................. 180
13.3
13.4
8
13.2.11
Motor Catalogue Number Interpretation ............................................................................ 180
13.2.12
Motor Electrical Information Summary ............................................................................... 181
13.2.13
Brake Motor Specific Information ....................................................................................... 181
13.2.14
Motor Mechanical Information Summary ........................................................................... 182
Cables ................................................................................................................................................. 183
13.3.11
Cable Catalogue Number Interpretation ............................................................................ 183
13.3.12
Encoder Cables ................................................................................................................. 183
13.3.13
Armature Cables ................................................................................................................ 184
Other Accessories ............................................................................................................................... 184
13.4.11
I/O Interface Accessories................................................................................................... 184
13.4.12
EtherCAT Cables ............................................................................................................... 185
13.4.13
Armature Shield Clamping Brackets .................................................................................. 185
13.4.14
AMD2000 3A EMC Kit ....................................................................................................... 185
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13.5
13.4.15
AMD2000 9A EMC Kit ....................................................................................................... 185
13.4.16
EMI Filters ......................................................................................................................... 186
13.4.17
Line Reactors .................................................................................................................... 186
13.4.18
DC Chokes ........................................................................................................................ 186
13.4.19
Magnetic Cores ................................................................................................................. 186
Starter Kits ........................................................................................................................................... 186
13.5.11
AMD2000 3A Starter Kit .................................................................................................... 186
13.5.12
AMD2000 9A Starter Kit .................................................................................................... 187
14. Additional Information .................................................................................................................................. 188
14.1
What this Chapter Contains ................................................................................................................. 188
14.2
Maintenance and Repairs .................................................................................................................... 188
14.3
Product, Sales and Service Enquiries.................................................................................................. 188
14.4
Feedback ............................................................................................................................................. 189
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AMD2000 Series - Servo Drive - User Manual
1.
Safety
Warning: To prevent possible accidents or injury, ensure you read and understand this manual before
commencing installation or service work on the AMD2000 drives.
DANGER HIGH VOLTAGE - The working DC bus is live at all times when power is on. The Main Isolator feeding
the drive must be switched to the Off position at least 15 minutes before any work is commenced on the unit. The
operator must check the bus voltage with a tested working voltage measuring instrument prior to disconnecting
any connectors or opening the DC Bus terminal cover. The red LED indicator on the front of the drive which
indicates that there is charge remaining in the drive is only to be used as an aid to visual troubleshooting. It shall
not be relied on as a means of safety.
This manual and the warnings attached to the AMD2000 only highlight hazards that can be predicted by ANCA
Motion. Be aware they do not cover all possible hazards.
ANCA Motion shall not be responsible for any accidents caused by the misuse or abuse of the device by the
operator.
Safe operation of these devices is your own responsibility. By taking note of the safety precautions, tips and
warnings in this manual you can help to ensure your own safety and the safety of those around you.
The AMD2000 is equipped with safety features to protect the operator and equipment. Never operate the
equipment if you are in doubt about how these safety features work.
General Safety
1.1
The following points must be understood and adhered to at all times:
10

Equipment operators must read the user manual carefully and make sure of the correct
procedure before operating the AMD2000.

Memorize the locations of the power and drive isolator switches so that you can activate them
immediately at any time if required.

If two or more persons are working together, establish signals so that they can communicate to
confirm safety before proceeding to another step.

Always make sure there are no obstacles or people near the devices during installation and or
operation. Be aware of your environment and what is around you.

Take precautions to ensure that your clothing, hair or personal effects (such as jewelry) cannot
become entangled in the equipment.

Do not remove the covers to access the inside of the AMD2000 unless authorized

Do not turn on any of the equipment without all safety features in place and known to be
functioning correctly. Never remove any covers or guards unless instructed by the procedures
described in this manual.

Never touch any exposed wiring, connections or fittings while the equipment is in operation.

Visually check all switches on the operator panel before operating them.

Do not apply any mechanical force to the AMD2000, which may cause malfunction or failure.

Before removing equipment covers, be sure to turn OFF the power supply at the isolator. (Refer
to 4.4.11 Power Isolation. ) Never remove the equipment covers during operation.

Keep the vicinity of the AMD2000 clean and tidy.
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Safety

Never attempt cleaning or inspection during machine operation.

Only suitably qualified personnel should install, operate, repair and/or replace this equipment.

Be aware of the closest First Aid station.

Ensure all external wiring is clearly labelled. This will assist you and your colleagues in
identifying possible electrical safety hazards.

Clean or inspect the equipment only after isolating all power sources.

Use cables with the minimum cross sectional area as recommended or greater.

Install cables according to local legislation and regulations as applicable.

Insulation resistance testers (sometimes known as a ‘megger’ or hi-pot tester) are not to be used
on the drive, as a false resistance reading and/or damage to the tester may result

If an inductor (choke) is placed between terminals P1 and P2 the choke shall be designed to
drop less than 5% of the line voltage.
1.2 Safe Start-Up and Operation
Please refer to sections 8 Installation Checklist and section 9.6.12 Power-On Checks for additional
checks that should be made to start up the AMD2000 series drives safely.
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2.
Introduction
2.1.11
What this Chapter Contains
This chapter introduces reader to the manual, the target audience and some useful information with regards to
comprehending the content.
2.1.12
Purpose
This manual provides the required information for planning to install, installation, commissioning, operation and
servicing of the AMD2000 Series Servo Drive. It has been written specifically to meet the needs of qualified
engineers, tradespersons, technicians and operators.
Every effort has been made to simplify the procedures and processes applicable to the AMD2000 in this user
manual. However, given the sometimes complex nature of the information, some prior knowledge of associated
units, their configuration and or programming has to be assumed.
2.1.13
About the AMD2000 drive
The AMD2000 Series Servo Drives are capable of motion control for applications that may vary from precise
control of movement and angular position of permanent magnet synchronous motors through to less rigorous
applications such as simple speed control of induction motors. In many of these applications the rotational
control of the motor is converted to motion using mechanical means such as ball screws and belts.
Motion control is performed by the drive controller which accepts position feedback from motor encoders and/or
separate linear scales. The drive utilizes state-of-the-art current-regulated, pulse-width-modulated voltagesource inverter technology that manages motor performance. In general, the Drive control receives motion
control commands via a higher level controller, which is based on an Ethernet-based field-bus interface. In
certain applications the drive is capable of executing pre-defined moves that are stored in local memory, without
the use of a motion controller. The AMD2000 drive also supports position, velocity and torque control modes.
Please refer to 3.2 Features for more details of features available
2.1.14
Drive Model Applicability
This manual is applicable to the following variants of the ANCA Motion AMD2000 Series Servo Drives:
12
Product
Product variant
Product Number
AMD2000 Series Servo
Drive
3A rms
D2003-2S1-A
9A rms
D2009-2S1-A
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Introduction
2.1.15
Related Documents
AMD2000 Series AC Servo Drive Brochure - DS619-0-01-0008
Alpha Series AC Servo Motor Brochure - DS619-0-01-0007
Digital Servo Drive SoE Parameter Reference – Included with the firmware bundle
Digital Servo Drive Error Code Reference - Included with the firmware bundle
2.1.16
2.1.17
Terms and Abbreviations
DSD
Digital Servo Drive
EMC
Electromagnetic Compatibility
IEC
International Electrontechnical Commission
I/O
Bidirectional Input / Output
O
Output
AIN
Analog Input
AOUT
Analog Output
DI
Digital Input
DO
Digital Output
W.R.T.
With Respect To
GND
Ground
rms
root mean square
V / mV
Volt / millivolt
A / mA
Ampere / milliampere
Φ/Ø
phase
Ω
ohms
AC / DC
Alternating Current / Direct Current
Hz
Hertz
ms
millisecond
SoE
Servo Profile Over EtherCAT
CNC
Computer Numerical Control
DCH
Drive-Controlled Homing
DCM
Drive-Controlled Moves
PMSM
Permanent Magnet Servo Motor
PMAC
Permanent Magnet Alternating Current
Trademarks
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
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3.
Product Overview
3.1 What this Chapter Contains
This chapter introduces reader to the AMD2000 3A and 9A servo drive by providing the following information

Features,

Operating Principle

Explanation of Labelling and Markings

Connector overview
3.2 Features
The AMD2000 is a versatile brushless AC servo drive incorporating a digital signal processor (DSP) for control of
rotary and linear motors. In general, the drive receives motion commands via a higher level controller, such as a
CNC, either in the form of structured position commands, or as a series of instructions controlling one or more
user pre-defined moves stored locally on the drive. The communication is based on the state-of-the-art
®
EtherCAT interface. In certain applications the drive is also capable of running in standalone mode executing
pre-defined repetitive moves
Standard features include:

Single axis drive for AC synchronous servo motors and induction motors.

Models with continuous current ratings of 3A or 9A.

Direct connection to 105V – 265VAC single phase or 3-phase.

Support for incremental analog and digital encoders, as well as absolute encoders.

Position, velocity and torque/current control.

Modbus communication port (RS422/RS485/RS232)

Display and push buttons for standalone operation.

8 optically isolated general purpose digital inputs.

6 optically isolated general purpose digital outputs.

2 differential digital inputs (optionally can be used as additional general purpose digital inputs,
for a total of 10)

2 analog inputs (±10V) and 1 analog output (±10V).

EtherCAT connectivity.

Easy setup using ANCA MotionBench Tool.

Small foot print. On-board 24VDC power supply and auxiliary I/O reduce overall system size
and cost.

Rugged and reliable design
®
Please refer to section 12.Technical Data for detailed product specifications
14
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Product Overview
3.3 Operating Principle
The simplified circuit diagram of the drive is shown below. The AC supply voltage is converted to DC, which is
then converted into the required AC voltage signal to drive the motor.
AMD2000 Servo Drive
Single or
3 Phase
AC Input
AC/DC Converter
DC/AC Converter
Drive Control
Switching
Control
AC Motor
3.4 AMD2000 Variant Identification
AMD2000 3A
ANCA Motion
AMD2000 9A
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3.4.11
AMD2000 Series Drive Catalogue Number Interpretation
AMD2000 drives are marked with an identification label. The Catalogue number is explained as follows:
D2009-2S1-A
Hardware Identification
Product
A: Hardware Type A
Feedback Type
D:Drive
AMD2000 Series Variant
Current Rating
09 : 9 Amp
03 : 3 Amp
1: Incremental Digital Encoder
Communications
S: SERCOS over EtherCAT
Rated Voltage
2: 100-240 VAC
For any warranty work to be undertaken these labels must be readable and undamaged. Care should be taken to
record these numbers in a separate register in the event of damage or loss.
Note: Do not under any circumstances tamper with these labels. Your warranty may be void if the labels are
damaged.
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Product Overview
3.5 System Overview
A digital drive system comprises one or more digital servo drives as shown in the following Figure:
105-255VAC (3-0)
Power Supply
105-265VAC (1-0)
Power Supply
Regeneration
resistor
Control Master
Regeneration
resistor
DRIVE 1
M
DRIVE N
M
Figure 3-1 1.1 System Overview
Above example is of a drive system is supplied from a single phase mains connection with a nominal voltage of
230VAC. Motion control commands are received from a control system, such as a CNC, either in the form of
structured position commands, or as a series of instructions controlling one or more user pre-defined moves
stored locally on the drive.
If required, the control of an external mains contactor is provided by a user defined output from the Drive.
The following figure provides a block diagram of the drive system. There are two versions of drive system
available corresponding to maximum continuous motor current ratings of 3A and 9A. The communications
channel is routed between the components within the drive system and the external control system via CAT5E or
CAT6 Ethernet cabling. This communications channel provides interconnectivity for the purpose of transmitting
and receiving data, such as position commands. A number of analog inputs and digital inputs/outputs are
provided in each drive for user defined signals which may be used for application specific functions.
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Inductor/ DC link
Regeneration
resistor
120-240VAC
1Ø-3Ø Power
Supply
M
Soft Starting
PWM Control
Heatsink Temperature
Regeneration Resistor Control
Servo Motor
120-240VAC
1Ø Power
Supply
Position
Encoder 1
Position
Encoder 2
Analog Inputs
Analog Output
Controller
Standard
Digital
Outputs
24V Digital
Inputs
EtherCAT
Communications
Network
Encoder
Output
Communications
Interface
EtherCAT
Communications
Network
Figure 3-2 Block Diagram of the Drive System
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Product Overview
Setup Software
Parameter configuration and monitoring is
possible via communication with a PC. X1 is
connected directly to the configuration PC rather
than the host device.
Circuit Breaker
Cuts off power in the
case of an overload, to
protect the power line.
Noise Filter
Attached to prevent
external noise from the
power source line.
Host Device
X1
EtherCAT Master capable device.
e.g. CNC or EtherCAT IN
EtherCAT OUT
X2
X3
External Regenerative Resistor
Serial
Communications
Modbus support
X4
I/O Interface Module
X5
Brake Power
Servo Motor
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3.6 Connector Overview
3.6.11
AMD2000 3A
7 Segment Display
X1/X2 EtherCAT IN/OUT
Ethernet Interface Protocol: EtherCAT
Baud Rate:
100 MB/s
Drive Profile Definition:
SERCOS
Connection:
Ethernet RJ-45
AC Supply
Unit
PIN SIGNAL
LC1
LC2
NC
L1
L2
L3
Control Voltage Single Phase Supply
Control Voltage Single Phase Supply
Not Connected
Single/Three Phase Supply
Single/Three Phase Supply
Single/Three Phase Supply
X3 Serial Communications
X4 Input/Output
PIN SIGNAL
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
DC Link and External Regen
PIN SIGNAL
P1
P2
P
C
D
External Inductor Connection
External Inductor Connection
Braking Resistor
Braking Resistor
Braking Resistor
Armature/Motor Connection
PIN SIGNAL
U Motor Connection
V Motor Connection
W Motor Connection
DC Bus Charge Indicator
PIN SIGNAL
Al-01 +
Al-02 +
AGND
AGND
NC
NC
DI-01
DI-02
DI-03
DI-04
DI-05
DI-06
DI-07
DI-08
DI-09+
DI-09DI-10+
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
DI-10DO-01
+24V
+24V
DO-02
DO-03
DO-04
DO-05
Al-01Al-02AO-01
Do Not Connect
AGND
AGND
NC
NC
DO-06
PIN SIGNAL
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
EO-A+
EO-AEO-BEO-B+
EO-ZEO-Z+
NC
NC
NC
NC
NC
GND (24V)
GND (24V)
NC
NC
NC
X5 Encoder Interface
PIN SIGNAL
1
2
3
4
5
6
7
8
SIN- / ASIN+ / A+
COS- / BCOS+ / B+
Data- / Ref- / ZData+ / Ref+/ Z+
A+
A-
PIN SIGNAL
9
10
11
12
13
14
15
B+
BZ+
Z9VDC
5VDC
GND
Figure 3-3 Connector Summary AMD2000 D2003 Servo Drive
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Product Overview
3.6.12
AMD2000 9A
7 Segment Display
X1/X2 EtherCAT IN/OUT
Ethernet Interface Protocol: EtherCAT
Baud Rate:
100 MB/s
Drive Profile Definition:
SERCOS
Connection:
Ethernet RJ-45
AC Supply
PIN SIGNAL
LC1
LC2
NC
L1
L2
L3
Control Voltage Single Phase Supply
Control Voltage Single Phase Supply
Not Connected
Single/Three Phase Supply
Single/Three Phase Supply
Single/Three Phase Supply
X3 Serial Communications
X4 Input/Output
PIN SIGNAL
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
DC Choke and External Regen
PIN SIGNAL
P1
P2
P
C
D
External Inductor Connection
External Inductor Connection
Braking Resistor
Braking Resistor
Braking Resistor
Armature/Motor Connection
PIN SIGNAL
U Motor Connection
V Motor Connection
W Motor Connection
PIN SIGNAL
Al-01 +
Al-02 +
AGND
AGND
NC
NC
DI-01
DI-02
DI-03
DI-04
DI-05
DI-06
DI-07
DI-08
DI-09+
DI-09DI-10+
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
DI-10DO-01
+24V
+24V
DO-02
DO-03
DO-04
DO-05
Al-01Al-02AO-01
Do Not Connect
AGND
AGND
NC
NC
DO-06
PIN SIGNAL
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
EO-A+
EO-AEO-BEO-B+
EO-ZEO-Z+
NC
NC
NC
NC
NC
GND (24V)
GND (24V)
NC
NC
NC
X5 Encoder Interface
DC Bus Charge Indicator
PIN SIGNAL
1
2
3
4
5
6
7
8
SIN- / ASIN+ / A+
COS- / BCOS+ / B+
Data- / Ref- / ZData+ / Ref+/ Z+
A+
A-
PIN SIGNAL
9
10
11
12
13
14
15
B+
BZ+
Z9VDC
5VDC
GND
Figure 3-4 Connector Summary AMD2000 D2009 Servo Drive
3.6.12.1
ANCA Motion
X1/X2 EtherCAT Connectors
X1
EtherCAT IN
X2
EtherCAT OUT
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3.6.12.2
X3 Serial Communications
X3
3.6.12.3
X4 Input / Output
X4
3.6.12.4
Connection interface to analogue and digital inputs and
outputs
X5 Encoder Interface
X5
3.6.12.5
The X3 serial port is an RS232 and RS485 communications
interface which implements the Modbus protocol. Not
enabled on this model
Port for an encoder interface. Its purpose is to provide
encoder position feedback to axis 1.
Motor Armature Cable Connectors
U
V
Motor armature cable connection
W
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Product Overview
3.6.12.6
Inductor, Brake Resistor Connectors
P2
External inductor connection. P1 and P2 are in series with
DC BUS+ and might be connected to an external inductor
for extra energy storage and reducing voltage ripple.
P,C,D
Brake resistor connection
P1
To be able to use the drive without an external inductor – a link rated at full drive current must be
placed across P1 and P2 to avoid E0303 DC bus Voltage low alarm.
If an external brake resistor is not installed a link must be placed across P and D to be able to take
advantage of the internal brake resistor to dissipate regenerative energy.
For Additional Information refer to section 6.6 Power Supply Filters & 6.13 Brake/Regeneration
Resistor.
3.6.12.7
Control Power and DC Bus Power Connectors
LC1
LC2
NC
L1
L2
Single phase supply for control power
Not Connected
Single phase or three phase supply for DC bus
L3
3.6.12.8
LED Display and Control Panel
The AMD2000 series drives are fitted with a LED display and control panel as shown in the
following figure:
The characteristics of the display and control panel are detailed in the following table:
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Drive Display
Indicator
5 x 7-segment LED
Operator interfacing
4 DIP buttons
The 7 segment LED display on the AMD2000 serves three functions. It is used to report errors, to
indicate the state of the EtherCAT communications and to indicate the state of the drive.
The dots represent wire saving encoder UVW sensor feedback state on power up.
3.6.12.9
Error state
In an error condition, the display will read either E-### where ### refers to the relevant error
code. See section 11 Fault Tracing for the description and possible causes for the error.
When no error has been reported, the display will provide information on both the drive state
and the communications state.
3.6.12.10
Communications state
To indicate the state of the EtherCAT communications, the leftmost digits of the display will
read C#, where # refers to the current communications condition as shown in the following
table:
3.6.12.11
C#
Communications State
C0
None
C1
Initialization
C2
Pre-operational
C4
Safe-operational
C8
Operational
Drive state
To indicate the state of the drive, the rightmost digits of the display will read d#, where # refers to the
current drive condition as shown in the following table:
24
d#
Drive State
d0
Off
d2
Ready to operate
d3
Enabling
d4
Enabled
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Mechanical Installation
4.
Mechanical Installation
4.1 What this Chapter Contains
This chapter contains information that is relevant to the mechanical installation of the drives in an electrical
cabinet such as

Pre installation checks

Installation site requirements

Tools required

Mounting and cooling

EMC armature cable shield termination
4.2 Pre installation checks

Prior to installing the drive into the electrical cabinet, check the information on the designation
label (located on the side of the drive). Please refer to section 3.4 AMD2000 Variant
Identification.

Check that drive was not damaged during transport. If there are signs of damage the drive may
not be safe to use. Please notify shipper immediately of the damage and DO NOT install the
drive into the electrical cabinet.
4.3 Requirements
4.3.11
Installation Site

The AMD2000 Series Servo Drive must only be installed indoors, permanently fixed to the
electrical cabinet, and fitted by trained, qualified personnel.

Refer to the 4.3.13 Mounting and Cooling for the correct installation process.

The safety precautions outlined in 1Safety must be understood and adhered to.

The operating environment must not contain corrosive substances, metal particles, dust,
flammable substances or gases.

Ensure that there are no devices mounted adjacent to the drives that produce magnetic fields.
If you need to mount these devices next to the drives, ensure that there is a safe distance
between them or shield the magnetic fields.

The maximum recommended operating altitude is 1000m above sea level

The AMD20000 must not be installed in an environment in which the pollution degree
(according to IEC 61800) exceeds 2

Failure to follow these instructions may result in drive failure or degraded operation.
Refer to 12.6 Environmental Specifications for further requirements
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4.3.12
Tools Required
In order to mount the AMD2000 drive, the following tools are required as a minimum.

4mm Hex key with ball end for the M5x0.8P

3mm Hex Key with ball end for the M4x0.7P

M5 x0.8P screws with spring and flat washer for AMD9A only. Screw length 30mm

A small flat blade screw driver for X5 D-Sub 15pin HD connector, and X4 50 way Digital I/O
connector.

Connectors are to be installed using only the crimp tool specified by the connector
manufacturer
4.3.13
Mounting and Cooling

The AMD2000 must be installed vertically (see below for installation process).

Adequate ventilation for the drive must be provided, and the drive must not be installed in the
vicinity of other heat generating equipment or devices

The 3A drive is designed to operate without any additional cooling methods.

The 9A drive has a cooling fan inside to allow the heat sink to be cooled.

Both the 3A and 9A drives are intended to be mounted in electrical cabinets and it is the
responsibility of the installer to ensure the drives are adequately earthed through the provided
protected earthing points denoted with the
connection.

If armature termination brackets are required to be fitted for EMC compliance see page for
fitting instructions.

The 3A drive operates without an additional cooling method, whereas the 9A drive requires
forced air flow from a fan to allow full operation within the acceptable temperature range

If the required cooling and air flow requirements are not met, performance of the AMD2000 will
deteriorate and the product lifetime will be reduced

The AMD2000 should be mounted on a panel with a minimum thickness of 3mm.
4.3.13.1
cabinet:
26
symbol. Use appropriate ring terminals for this
Mounting of drives for effective cooling inside the electrical

The AMD2000 drives should be mounted with at least 50mm clearance above and below to
allow for effective cooling

The AMD2000 3A drive must have at least 15mm horizontal space between itself and the
cabinet wall, and at least 30mm space between adjacent drives

The AMD2000 9A drive must have at least 8mm horizontal space between itself and the
cabinet wall, and at least 15mm space between adjacent drives.
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Mechanical Installation
Figure 4-1 Installation in a single row
If multiple rows of drives are required to be installed, follow the layout below for this arrangement.
ANCA Motion

If drives are to be mounted in a multiple row arrangement, please ensure that the drives are
offset / staggered at least a full drive width apart to maintain effective cooling. For 3A drives at
least 43mm apart, 9A drives at least 60mm apart).

Ensure there is a minimum gap between each row of drives. For 3A drives at least 30mm
apart, 9A drives at least 50mm apart.
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Figure 4-2 Installation in two rows
If armature termination brackets are required to be fitted for EMC compliance, Refer to 6.8.12.1.1
Installation of the EMC Clamp on Shielded Armature Cables, for fitting instructions.

Refer to 12.6 Environmental Specifications for further requirements.
4.4 Installation
4.4.11
Power Isolation
DANGER HIGH VOLTAGE - The working DC bus is live at all times when power is on. The Main Isolator
feeding the drive must be switched to the Off position at least 15 minutes before any work is commenced
on the unit. The operator must check the bus voltage with a tested working voltage measuring instrument
prior to disconnecting any connectors or opening the DC Bus terminal cover. The red LED indicator on the
front of the drive which indicates that there is charge remaining in the drive is only to be used as an aid to
visual troubleshooting. It shall not be relied on as a means of safety.
It is recommended that the drive is installed with an upstream circuit breaker that is rated appropriately
depending on the model of AMD2000 drive being installed.
Turn the Main Disconnect mains isolator switch to the Off position.
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Mechanical Installation
Following the appropriate lockout procedure, place a sign over the isolation switch clearly indicating to other
personnel that this isolator is not to be touched.
4.4.12
Mounting a Drive
Refer to section 12.7 Dimension Drawings for drive dimensions and mounting hole
positions.
STEP 1
Drill and tap 2 x M5x0.8P holes to suit hole pattern described in section 12.7 Dimension Drawings. Overlap the
drive onto the drilled holes to ensure that the hole positions are correct. Ideally the sheet metal panel should be a
minimum 3mm thick.
STEP 2
Fit one of the M5 mounting screws partially into the lower drilled and tapped hole so that the majority of the screw
thread is evident (A).
STEP 3
Position the drive so that the holes with the heat sink line up with the holes in the cabinet. There is an open
slotted hole at the bottom of the heat sink. Insert the drive so that the screw fits within the open slotted hole (B)
for location and then pivot the drive onto the cabinet (C).
STEP 4
Secure the drive to the cabinet by fitting the remaining M5 mount screw into the upper mounting hole to complete
the mounting to the electrical cabinet. Tighten both M5 mounting screws (D & E) to 4~5Nm.
C
D
B
A
STEP2
E
STEP 3
STEP 4
Figure 4-3 Mechanical Mounting of AMD2000 D2003 Servo Drive
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AMD2000 Series - Servo Drive - User Manual
C
D
B
B
A
E
STEP2
STEP 3
B
STEP 4
Figure 4-4 Mechanical Mounting of AMD2000 D2009 Servo Drive
STEP5
Connect appropriate electrical cables to complete installation as per sections 5 Planning
the Electrical Installation and 6 Power Wiring.
4.4.13
Un-Mounting a Drive
Ensure mains power has been isolated from the drives. (see 4.4.11 Power Isolation above)
STEP 1
Unplug the cables from the front of the drive to be un-mounted by carefully working the plugs from their sockets.
STEP 2
Follow steps 4 through to 2 of section 4.4.12 Mounting a Drive in reverse order.
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Planning the Electrical Installation
5.
Planning the Electrical Installation
5.1 What this Chapter Contains
This chapter contains information that is useful in planning the electrical installation of the servo drives:

Motor & Drive Compatibility

Electrical Isolation and Protection Devices

Cable Selection and Routing
The AMD200 series of drives must be installed by a professional. A professional in this context is a person or
organisation possessing the necessary skills and qualifications relating to the installation and/or commissioning of
power drive systems, including their EMC aspects.
5.2 Motor and Drive Compatibility
Ensure that the AMD2000 drive and the AC motor intended for use are compatible according to their respective
allowable limits of operation.
Refer to 12.4.12 Digital servo drive and 13.2.12 Motor Electrical Information Summary
5.3 Power Supply Disconnecting Device
A mains disconnecting device must be connected between the AC power source and the AMD2000 drive. This
must conform to the requirements and applicable safety regulations of the region of operation.
5.4 Emergency Stop Devices
An emergency stop device must be installed for safety reasons within easy reach of
operators and maintenance personnel at all operator control stations and wherever
deemed necessary.
5.5 Thermal Overload and Protection
5.5.11.1
Thermal Overload
The AMD 2000 has a built in temperature sensor that will shut off the drive when the heat sink
temperature reaches a temperature that would be unsafe for continuous operation of the power
switching semiconductors in the drive. The software will report a Class 1 Diagnostics error if
this occurs. If this occurs please review the mechanical spacing advice and thermal de-rating
curves provided by ANCA Motion and check the ambient temperature of air going to the bottom
of the heat-sink in your specific application under steady state conditions.
5.5.11.2
Motor Cable Short-circuit
The AMD2000 contains features designed to protect both the motor and motor cable in the
event of a short-circuit, provided the motor cable is of the required dimensions with respect to
the current of the drive. This feature will trip if the current exceeds:
5.5.11.3

14.3A for the 3A drive

72.7A for the 9A drive
Supply Cable or Drive Short-circuit
The power supply cable is required to be protected via fuses or circuit breakers according to
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AMD2000 Series - Servo Drive - User Manual
local requirements based on cable size. Please refer to the relevant standards or legislation for
the region of operation.
5.5.11.4
Motor Thermal Protection
The AMD2000 does not contain its own protection for motor thermal overload. If protection
against motor thermal overload is necessary, the user must supply a thermal fuse according to
the maximum safe operating temperature of the motor being protected. Please refer to 6.11
Motor Thermal Switch for various ways Motor Protection can be incorporate in the application.
5.5.11.5
Brake Resistor
The AMD 2000 drive does not have an internal protection mechanism for the internal
regeneration resistor, therefore calculating if the internal regeneration resistor is sufficient and if
an additional regeneration resistor is required is paramount. Failure to do this and provide
evidence of these calculations may result in burning out the resistor and voiding the warranty of
your drive.
Please refer to sections 12.5.14 Regenerative Braking and 12.14 Brake/Regeneration Resistor
for additional information.
5.6 Power Cable Selection
The power and motor cables must be selected according to regional regulations as well as usage and EMC
requirements. Symmetrical shielded motor cables should be used.
The power supply cables must be rated for at least 300V AC.
The cables must be rated to withstand the expected temperature rise due to the current passing through them,
given the conductor diameter, conductor material and installation environment. Such a decision is governed by
local installation regulations.
To comply with EMC regulations, the cable length of the motor armature cable must not exceed 30m. The cable
must be shielded and the shield must be connected to earth at both ends with appropriate terminations. At the
drive end, the armature shield must be connected directly to the drive earth point. It is highly recommended that
an ANCA Motion shielding bracket be used. Cable sizes should follow the wire size recommendations below.
The supply cables must be capable of handling at least the following currents:
Drive
AMD2000 3A
AMD2000 9A
Input supply
1Φ
3Φ
1Φ
3Φ
Cable current capability, A
8
5
24
13
The minimum required wire gauge per phase (based on 75°C Copper wire) is shown below:
2
Drive
Input supply
Minimum Φ wire gauge, mm
1Φ
2.0
AMD2000 3A
3Φ
2.0
1Φ
2.5
AMD2000 9A
3Φ
2.0
Refer to 12.4 Electrical Specifications, 13.3 Cables for further information.
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Planning the Electrical Installation
5
5.7 Control Cable Selection
It is strongly recommended that double shielded twisted pair cables (one individual shielded pair per signal) be
used for both analogue and digital control signals (but single shielded twisted multi pair cable may be used for
low voltage digital signals if desired). Analogue and digital signals must be run in separate cables. A common
return path should not be used for different analogue signals. For encoder cabling, the directions given by the
encoder manufacturer should be followed. Low and high voltage signals should never be run in the same cable.
Table 5-1 Motor Feedback Cable Recommendation
Signal type
Recommendation
Comment
Outer shield
Shielded length of cable
Required in ALL cases to be present and 360 degrees
clamped to back shell at both ends of cable
Differential analog
Twisted Pair
Zo = 120 (100 also acceptable but not preferred)
2
> 0.14mm
Shielded length of cable
Differential digital
Twisted Pair
Shield terminated to 0V of X5 at AMD2000 Series Servo
Drive end ONLY. If not possible terminate to back shell of
X5 at AMD2000 Series Servo Drive end ONLY.
Zo = 120 (100 also acceptable but not preferred)
2
> 0.14mm
Power
> 0.5mm
Length
<= 10m
5.7.11
2
Shielding optional but recommended when using
analogue signals. Terminate at same point as analogue
shield(s) if possible, otherwise terminate to back shell at
both ends
EtherCAT Wiring Details
Signal type
Recommendation
Comment
Cable
Cat 5e or above
Screened, un-shielded twisted pair (F/UTP or SF/UTP), with
8P8C modular connectors. 100m maximum.
5.8 Cable Routing
There are three main categories of cabling for the drive discussed in previous sections (above);

Motor cables: connecting motor and drive, these supply power to/from the
motors.

Control cables: returning information from the motors to the drives (e.g.
Encoder info or temp info) or running information between drives or to other
control units on the machine (e.g. Relays to/from master controllers).

Input power cables: connecting power supply unit and drive, this supplies
power to/from the drives.
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Care should be taken to avoid electromagnetic interference and coupling between cables.
It is recommended that all three categories of cabling be routed separately. Power and motor cables should be
separated (as much as practicable) by at least 300 mm, whereas motor and control cables should maintain at
least 500 mm separation over the majority of their length. If control and power cables must cross, they should
cross perpendicular (at 90 degrees) to one another.
Where possible it is recommended that 24 V and 230 V cables be routed in separate ducts, and where this is not
possible the 24 V cable should be appropriately insulated for 230 V.
Caution: Brake resistors can become hot. Locate them away from vulnerable components and
wiring, and consider risks to personnel who maintain, install or commission the drive.
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Power Wiring
6.
Power Wiring
6.1 What this Chapter Contains
This chapter contains information related to connecting the drive electrically to the incoming mains, motor and
brake as well as what to be mindful of such as:

Checking Assembly Insulation

Cable Connection and Earthing

Power Conditioning

Regenerative Brake Selection / Calculation
6.2 Checking the Insulation of the Assembly
Installed supply and motor cables must be tested for functioning insulation according to local regulations by using
an insulation resistance tester at 500V.
The AMD2000 drive has input supply voltage surge suppression components fitted to protect the drive from line
voltage transients typically originating from lightning strikes or switching of high power equipment on the same
supply. When carrying out a HiPot (Flash or megger) test on an installation in which the drive is built, the voltage
surge suppression components may cause the test to fail. To accommodate this type of system HiPot test, the
cables must be disconnected from the drive.
The cables to be disconnected and tested are: control voltage single phase supply (L1C/L2C), single-phase or
three-phase supply (L1/L2/L3), inductor connector (P1/P2), brake resistor connector (P/C/D) and motor connector
(U/V/W).
6.3 Mains Power Supply
The following components are required for connection to the mains supply:

Isolation switch to allow correct isolation of the system from the power supply

Fuse or circuit breakers to protect cables, filter and drive

Line filter (optional) to limit EMI on the mains supply
The mains control supply (LC1, LC2) for the drive requires a single phase supply which can be either two
phases from a 3 phase supply(120-220V line to line), or from a dedicated single phase supply (120-240V line to
neutral).
The mains power supply (L1, L2, L3) can be either from two or three phases of a three phase supply(120-220V
line to line), or a single phase supply (120-240V line to neutral)
The mains control supply can be linked the mains power supply allowing power to be applied at the same time.
External soft start circuitry is not required. The mains and control supply cables are terminated on the 6-way
connector as shown in Figure 6-1 below.
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AMD2000 drives are suitable for use on supplies of installation category III and lower, according to IEC60664-1.
This means they may be connected permanently to the supply at its origin in a building, but for outdoor
installation closer to primary distribution supply (overhead cables etc.) additional over-voltage suppression
(transient voltage surge suppression) must be provided to reduce category IV to category III.
AC Supply
Unit
Control Voltage Single Phase Supply
PIN SIGNAL
LC1
LC2
NC
L1
L2
L3
Control Voltage Single Phase Supply
Not Connected
Single/Three Phase Supply
Single/Three Phase Supply
Single/Three Phase Supply
Figure 6-1 Mains Control and Power Supply Connector
AMD2000
LC1
110V or 220V Single or 3 Phase Supply
LC2
NC
L1
L2
3 phase only
L3
P.E.
AC Supply
Isolation
105V - 265V line to line Switch
Circuit Breaker /
Fuses
(Optional)
Line Filter
P.E.
Figure 6-2 Mains Supply System for Single Phase or 3 Phase Supply
AMD2000
110V or 220V Single Phase Supply
LC1
LC2
NC
L1
L2
P.E.
L3
AC Supply
Isolation
105V-265 line to neutral Switch
Circuit Breaker /
Fuses
(Optional)
Line Filter
P.E.
Figure 6-3 Mains Supply System for Single Phase Supply
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6.3.11
Supply Voltage Ranges
The supply voltage range must be within the limits specified in Section 12.4 Electrical Specifications
Mains supply voltage an frequency limits
Drive input single phase voltage range
UL1-L2
90-265V AC
Drive input three phase voltage range
UL1-L2-L2
90-265V AC
Maximum input voltage to Protective Earth
UL1,L2,L3,-PE
265V AC
Nominal Input frequency
ƒLN
50/60Hz
Operation at reduced supply voltage will require power de-rating as discussed in 12.9 Effect of AC Input Voltage
on DC Bus Ripple
Operation at single phase (and two phases) supplies instead of three phase supplies may also require the
addition of more DC bus capacitors or power de-rating as discussed in Section 12.9 Effect of AC Input Voltage
on DC Bus Ripple.
The addition of external DC bus capacitors also reduces the drive susceptibility to tripping
from voltage supply dips.
6.3.12
Connection of drives to grounded systems (TN or TT)
The AMD2000 series drive is designed to operate with grounded TN & TT systems where the three phase supply
is from a transformer with a grounded star point. With TN & TT systems any drive, motor or wiring ground fault
generates substantial currents which must be quickly interrupted with circuit breakers or fuses in the mains
supply as specified in 6.7 Power Disconnect and Protection Devices. Fast semiconductor type fuses are
preferable as they provide protection to the diodes in the rectifiers of the drive, while circuit breakers are too slow
to protect semiconductor devices.
No separate connection for a neutral is provided, but in single phase supplies the neutral can be connected as a
phase input to L2/LC2. See Figure 6-3 Mains Supply System for Single Phase Supply
6.3.13
Connection of drives to non-grounded systems (IT)
The AMD2000 series drive can also operate to non-grounded IT systems where the mains voltage to protective
earth does not exceed 265V. The advantage of IT systems is that any drive or motor or wiring ground fault does
not allow substantial current to flow and operation can be maintained in critical installations. The ground fault
must be promptly detected and eliminated before a second ground fault occurs, and because higher operating
voltages to earth will occur on motor cables and motor windings which may reduce the motor winding lifetime.
Ground fault detection is achieved with additional insulation type monitors.
Optional EMC line filters cannot be used on IT systems as excessive ground currents may occur in the filter, and
may damage the filter.
Surge arrestors connected between each supply and ground, located near the supply transformer are strongly
recommended for IT supply systems.
6.3.14
Harmonics and reactive power compensated supplies
The drive input diode bridge is a non-linear load to the mains supply and generates low frequency harmonic
effects in the frequency range up to 9 kHz. The harmonics can be reduced to acceptable levels with the addition
of a DC bus inductor as discussed in section 6.6.11 Harmonic Suppression. The non-linear currents cause nonsinusoidal voltage drops across the internal resistance of the mains supply transformer and therefore distort the
voltage at the point of common coupling (PCC). This may affect other equipment connected at the PCC,
especially if multiple drives are connected from same supply. Calculation of the harmonics and voltage distortion
is site specific.
In multiple drive installations the harmonic currents may affect power supplies equipped with reactive power
compensation capacitors as resonances excited by the harmonics will occur at relatively low frequencies.
Therefore, it is strongly recommended that power compensation capacitors be fitted with reactor protection to
prevent harmonic resonances.
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6.3.15
Residual current-operated protective (RCD) protection
Residual current-operated protective devices (RCD) provide additional protection for detection of insulation faults
where current is no longer contained in power conductors.

It is only permissible to use delayed tripping, selective AC/DC-sensitive residual-current circuitbreakers, Type B.

Parts of the electrical equipment and machine that can be touched are integrated in a
protective grounding system.

If an external EMC filter is used, a delay of at least 50ms should be incorporated to ensure
spurious trips are not seen.

The leakage current is likely to exceed the trip level if all of the phases are not energized
simultaneously.

With IT mains supply systems, RCDs are subject to nuisance tripping from drive common
mode capacitors
6.4 Grounding
A grounding system has three primary functions: safety, voltage-reference, and shielding. The safety function is
required by local regulations and is designated as the Protective Earth. Signal and control circuits are typically
grounded at various points with the ground forming the common voltage reference. Shields on cables reduce
emissions from the drive for CE compliance and protect internal circuits from interference due to external sources
of electrical noise.
The Protective Earth (PE) Connection from the mains supply eliminates shock hazards by keeping parts at earth
potential. The PE also conducts fault currents to earth ground until the safety device (fuse or circuit breakers)
disconnects the drive from the mains.
Symbol for Protective Earth (PE)
2
The mains supply protective (PE) cable must have a cross sectional area equal to 10mm due to the drive
leakage current. The mains PE is connected to M4 screw terminal at either end of the drive heat sink.
Heatsink
PE connection
with M4 bolt
The protective earth conductor
In multiple drive installations, each drive must be individually wired to a common PE point. Do not daisy chain PE
connections from one drive to the next.
The AMD2000 drive is designed to be installed on an unpainted metal gear tray e.g. galvanized surface which
forms an equipotential bond to all equipment mounted on the same gear tray. This minimizes voltage differences
to all grounded connections and enhances the immunity of equipment against conducted and radiated RF
disturbance. The gear tray must be connected to the supply PE, and is designated the Chassis Earth.
Symbol for Chassis Earth
6.5 Input EMC (Electromagnetic Compatibility)
EMC stands for Electromagnetic compatibility. It is the ability of electrical/electronic equipment to operate without
problems within an electromagnetic environment. Likewise, the equipment must not disturb or interfere with any
other product or system within its locality. Variable speed drives are a source of interference, and all parts which
are in electrical or airborne connection within the power drive system (PDS) are part of the EMC compliance.
The drive interference is generated from the output voltage waveform which is a rapidly changing voltage
waveform (Pulse Width Modulation). The voltage transitions present on all motor cables and motor windings
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induce parasitic common mode currents (ILEAK) in the stray capacitance of the motor and cable system. See
Figure 6-4. The common mode currents return to the drive inverter by lowest available impedance paths which
must be carefully managed to prevent interference voltages being generated to other equipment connected to the
same earth system. Internal common mode capacitors of the drive provide one return path (I DC) to the drive, and
the EMC filter provides another return path via the drive mains input.
A correctly sized EMC filter limits the high-frequency harmonic effects on the supply systems of the drive by
reducing the conducted emissions in the frequency range between 150 kHz and 30 MHz. The EMC filter ensures
that disturbances produced by the drive are mainly kept inside the drive system itself and that only a small
percentage (within the permissible tolerance range) can spread into the supply system. Figure 6-4 shows a
variable-speed drive system which comprises a cabinet-mounted AMD2000 drive which is supplying a motor via
a shielded motor cable. Common mode currents can also return to the supply transformer star point where the
PE is bonded to supply phase lines. Thus EMC currents may affect other equipment connected to the same Point
of Common Coupling (PCC).
Converter Cabinet
Line Reactor
Line Filter
AMD2000
Motor Cable
PCC
IPE
IGBT Inverter
ILF
IDC
Ileak
Heatsink
PE terminal and metal gear tray ground
Figure 6-4 Common Mode Noise Current Paths in a Drive System
6.5.11
EMC Filter Specifications
To ensure the installation meets the emission standard for power drive system IEC61800-3 the correct EMC filter
on the mains supply must be used.
Recommended EMC filters for mains power and control supply
AMD2000, 3A & 9A 3 phase supply
Schaffner 3-phase 10A EMC Filter
FN3270H-10-44
AMD2000, 1 phase control supply
Schaffner 1-phase 1A EMC Filter
FN 343-1-05
Meeting the requirements of IEC61800-3 depends on the drive installation configuration and all of the
guidelines below must be followed. If no EMC filter is installed then the drive may cause interference to the drive
control system and to other nearby electronic equipment. Note that interference can be from both conducted
emission and radiated emission. An EMC filter also improves a system’s resistance to interference from external
sources at the point of common coupling
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LC1
AMD2000
LC2
NC
L1
3 phase
supply
Schaffener
FN3270H-10-44
L2
L3
P.E.
Figure 6-5: EMC filter installation for 3 or 2 phase supply
1 phase
supply
Schaffener
FN343-1-05
LC1
AMD2000
LC2
NC
L1
3 phase
supply
Schaffener
FN3270H-10-44
L2
L3
P.E.
Figure 6-6: EMC filter installation for separate control supply
6.5.12
40
Installation guidelines of EMC filter

Install the EMC filter as close as possible to the AMD2000 drive.

A shielded cable is recommended if the distance between mains filter and drive exceeds 30cm.

Minimize cross talk of “clean” lines (mains supply to filter input) to “noisy” power cables by
careful routing and cable segregation.

Ensure filter is installed on an unpainted metal gear tray to provide a low impedance return
path. Otherwise connect filter to gear tray with minimal length flat copper braid strap

Connect the filter to PE for safety requirements, but note that PE cable does not provide a low
impedance return path for common mode currents due to cable length and skin effect of
conductors. Best EMC equipotential bonding is achieved using careful mounting or use of
braided earth straps.

Minimize motor cable length, and use correctly shielded motor cables. For longer cable lengths
a ferrite ring on the drive output will reduce EMC noise

Ensure that the EMC filter is used with a mains line inductor to reduce rms currents. Otherwise
the current rating of the EMC filter may be exceeded.
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6.6 Power Supply Filters
6.6.11
Harmonic Suppression
IEC 61800-3-2 specifies limits on the amounts of conducted harmonic emissions (current) from electrical
equipment connected back into the electricity supply.
The drive has two terminals P1 and P2 across which a user may place an inductor (choke) to limit emissions for
compliance to the standard above or simply to ensure a cleaner local supply. Note that by increasing the size of
the choke the conducted emissions will be less, but the power output available may drop. If an inductor is placed
between terminals P1 and P2 on X2, it shall be designed to drop less than 5% of the line voltage
AMD2000
P1
X2
P2
Figure 6-7 Typical Example of an Inductor/Choke Connection at P1 and P2
If no choke is to be used, a suitable link must be installed at P1 and P2 on provided connector to
power the motor
At 3A rms on the AMD2000 3A, 10mH of inductance is required. A suitable device may be Hammond
Manufacturing 159J.
AS 61000-3-2 defines equipment over 1kW for use in industrial environments as Professional Equipment, and
there is no requirement by the standard for the user to limit the conducted harmonic current emissions. As the
minimum power output of the AMD 9 is over 1kW ANCA Motion does not recommend an inductor for this
purpose, however if a user wishes to reduce harmonics for better local mains supply condition then an inductor
no greater than 10mH for a three phase AC (supply side not armature side) line reactor is recommended. Note
that the power output from the drive will decrease as the inductor size increases. However the drive will have
reduced stress on the bus capacitors, resulting in a longer lifespan.
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Example :
Drive harmonics on a AMD2000 3A drive without Inductor
2.5
2.5
Current (A)
22
Simulated
Harmonics
Simulated
Harmonics
Simulated
Harmonics
Harmonic
Limits
Harmonic
Limits
Harmonic
Limits
1.5
1.5
11
0.5
0.5
00
11
55
9 9 1313 1717 2121 2525 2929 3333 3737 4141 4545 4949 5353 5757 6161 6565 6969
Harmonic
Drive harmonics for above drive with inductor
2.5
2.5
22
Current (A)
SimulatedHarmonics
Harmonics
Simulated
Simulated
Harmonics
HarmonicLimits
Limits
Harmonic
Harmonic
Limits
1.5
1.5
11
0.5
0.5
00
11
55
9 9 1313 1717 2121 2525 2929 3333 3737 4141 4545 4949 5353 5757 6161 6565 6969
Harmonic
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6.7 Power Disconnect and Protection Devices
Install a hand-operated mains supply disconnecting device between the AC power source and the drive. The
disconnecting device must be of a type that can be locked to the open position for installation and maintenance
work, and must comply to Safety of Machinery standard EN 60204-1 and local regulations.
The AMD2000 must have suitable input power protection on each phase input. Fast semiconductor fuses are
preferable to circuit breakers.
3 Phase Supply
2 Phase Supply
P.E.
AC Supply
P.E.
Isolation
Switch
Circuit Breaker /
Fuses
AC Supply
Isolation
Switch
Circuit Breaker /
Fuses
When using 2 phases of a 3-phase supply each phase must have suitable protection and the voltage must not
exceed the rated input voltage.
When using a single phase supply with a Neutral conductor, protection is only required on the supply phase.
1 Phase Supply + Neutral
P.E.
Isolation
Switch
Circuit Breaker /
Fuses
Recommended fuse and circuit breakers, and supply/motor wire sizes
Drive Type and
current output
rating (A rms)
AC
supply
AMD2000, 3A
1Φ power Ferraz Shawmut:
6x32 FA series, 10 A
(W084314P)
3Φ power Ferraz Shawmut:
6x32 FA series, 8 A
(V084313P)
Ferraz Shawmut:
1Φ
6x32 FA series, 1A
control
(K084304P)
1Φ power Ferraz Shawmut:
BS88 2.5 URGS, 25
A (R076651J)
3Φ power Ferraz Shawmut:
6x32 FA series, 20 A
(A084318P)
AMD2000, 9A
Input fuse
Circuit
breaker
Minimum Φ
wire gauge
(C-type)
AWG
mm
2
10A
14
2.5
8A
14
2.5
1A
20
0.5
25A
14
2.5
20A
14
2.5
1Φ
control
Ferraz Shawmut:
6x32 FA series, 1A
1A
20
0.5
(K084304P)
Note: All wire sizes are based on 75 °C (167 °F) copper wire. Use of higher temperature cable may
allow smaller gauge wires. Size cables to conform to the local electric installation regulations.
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Recommended fuses are based on 25 °C (77 °F) ambient, maximum continuous control output
current and input harmonic inductor fitted. Use fast acting fuses with high breaking capacity (200kA),
250V or more rating.

6.8
The mains supply wire should be used for the following power connections:

AC supply to external EMC filter (when used)

AC supply (or external EMC filter) to drive

Cable sizes are a guidance only as installation methods such as grouping, length, use of
conduits and ambient temperature may affect current capacity

The power supply terminals are designed for a cable size of AWG 24-14 (0.2-2.5 mm )

Where more than one cable per terminal is used the combined diameters should not exceed
the maximum.

The terminals are suitable for both solid and stranded wires.

Use fast acting fuses with high breaking capacity (200kA), 250V or more, and low I t rating to
protect the semiconductor input of the drive

The I t rating of the Circuit Breaker must be less than or equal to that of the fuse rating listed
above

Circuit Breakers must be thermal magnetic type.

Motor cables should have the same wiring gauge as 3 phase mains supply
2
2
2
Motor Connections
(Optional) Motor
circuit Contactors
Motor
Minimise
unshielded
lengths
AMD2000
U
V
W
P.E.
Earth shield
connected
360° to gear
tray
Connect PE
to drive
heatsink
Figure 6-8: Motor connections and shielding
Connect correct phase wires (U, V, W) to the servo motor to ensure the servo motor operates correctly.
Do not connect AC mains power supply directly to the drive terminals, otherwise damage may occur to the drive.
The PE
for the motor must be connected to the M4 screw terminal at one end of the drive heat-sink,
preferably at the end closest to the armature motor connector. Do not connect directly to the mains supply
protective earth as this will increase EMC noise.
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6.8.11
Motor Circuit Contactors
A motor circuit contactor may be installed if required by local codes or for safety reasons. The motor circuit
contactor isolates the motor fully from the drive to allow maintenance and form part of a safety system.
Ensure that shielding of the motor cable is continued on both sides of the motor circuit contactor as shown in
Figure 6-8.
6.8.12
Motor Power Cable Installation
6.8.12.1
Cable shielding
In order to comply with the EMC requirements and minimize affects to other equipment, motor
cables and power supply cables from line filter AMD2000 drive must be used with shields. The
cable shield minimizes electromagnetic noise which may be coupled into nearby conductors,
and the shield provides a low impedance path for common mode noise currents back to the
drive via EMC filter or drive common mode capacitors. See Figure 6-4 which illustrates the path
of common currents. The gear tray layout and correct bonding of the shield in the cabinet is a
critical component in managing EMC problems. The following guidelines must be followed.

Cables between the inverter and motor must be shielded, and the shield grounded at both
ends.

Use motor cables with dedicated PE conductor(s). Do not use the shield as a PE.

The shield clamping surface must be free of paint

Use specifically designed shield clamps. Do not use plastic ties!

Select shield connections with low impedance in the MHz range.

Shield clamps can be with or without mechanical strain relief

Metallic components in the gear tray and cabinet must have a large surface area and
should be connected to one another with a high level of RF conductivity.
6.8.12.1.1
Installation of the EMC Clamp on Shielded Armature Cables
6.8.12.1.2
AMD2000 3A Drive
ANCA Motion

Use a saddle clamp to terminate the shielded armature cable to gear tray.

WAGO Part Number 790-116

Use the following footprint specifications for drilling into the gear tray. Drill the holes as
close as possible to the drive as shown below.

Clamp the exposed braid by turning the knurled screw and tighten to 0.5Nm to complete
the connection.
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Expose approx. 25mm of the cable sheath and feed the armature cable between the holes in
the gear tray.
Install the saddle clamp so that the exposed braid can be clamped down to the gear tray.
Clamp the exposed braid by turning the knurled screw and tighten to 0.5Nm to complete the
connection.
Fit the armature plug into the armature connector on the drive.
Ensure that the Armature Cable Earth wire is connected to an M5 ring lug or M5 spade lug and
connect to the heat sink.
There are two earthing points on the heat sink. Install the Protective Earth Wire to the upper
earthing point, and the Armature Cable Earth Wire to the lower earthing point. See below
pictures.
Maximum tightening torque is 1.5Nm.
Armature Cable
Assembly
Armature
Earth Wire
EMC Saddle
Clamp
Gear Tray
Exposed Braid
Figure 6-9 Armature Cable Shield Connection
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Protective Earth Wire to
the Cabinet Earth Bar
Figure 6-10 AMD2000 D2003 Drive Protective Earth Connection
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6.8.12.1.3
AMD2000 9A Drive
Use an Armature Bracket in order to terminate the shielded cable assembly.
The Armature Termination Bracket assembly consists of the following parts :
1. Armature Termination Bracket
2. EMC Saddle Clamp
3. 2 x M5 screws
Please see accessories section for bracket ordering details. 13.4.13 Armature Shield Clamping
Brackets

Clamp the Armature Termination Bracket down as shown below using the 2 x M4 screws.
Tightening Torque 2.5Nm max.

Carefully remove the Armature cable sheath to expose the metal braid. Expose
approximately 25mm of braid length.

The position of the exposed braid is to coincide with the EMC Saddle Clamp and the
metal bracket as shown below in order to provide sufficient contact for termination.

Tighten the Saddle Clamp screw to 0.5Nm as recommended by the manufacturer.

Fit the armature plug into the armature connector on the drive.

Ensure that the Armature Cable Earth wire is connected to an M5 ring lug or M5 spade lug
and connect to the bracket as shown below. Maximum tightening torque is 1.5Nm.
See below for the interactions for the shielded armature termination.
Armature Cable
Assembly
EMC Saddle
Clamp
Armature Cable
Earth Wire
Termination
Bracket
Exposed Braid
Protective
Earth Wire to
the Cabinet
Earth Bar
Figure 6-11 AMD2000 D2009 Drive Shield and Protective Earth Connection
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6.8.12.2
Continuation of Motor Power Cable Shielding

Add a metal P-Clip or equivalent to the armature cable at a location that is close to the
motor for earthing the shield.

In order to add this part to the Armature Cable, remove a sufficient amount of outer sheath
in order to make direct contact with the exposed metal braid.

Ensure that the metal braid is not damaged in this process.

Remove the painted to expose the bare metal beneath. The shield is required to have a
good electrical connection to the machine earth.
Exposed Metal Braid
Motor
Armature Cable from 3A
or 9A Drive
Metal P-Clip
Figure 6-12 Armature Cable Shield Termination at Motor End
The below graphic shows a typical Earth Bar installation that may exist on the cabinet.
Connect the Protective Earth wires to the Earth bar as shown. Each protective earth Wire will
be from a drive in the cabinet.
Protective Earth Wires to
the Drive Earthing points
(see above pictures for
locations)
Factory Earth Wire
Figure 6-13 Use Start Topology to Connect Drive Protective Earth to Earth Bar
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6.8.12.3
Cable routing
In a drive system the return common mode currents flow through shields, cabinets, gear tray
and earth wiring to create localized parasitic ground potentials, which may affect control signals
using the ground as a common voltage reference. Careful planning of cable routing and
location of shield grounds must be done to minimise influence of parasitic ground potentials,
and ensure compliance with EMC requirements. The following guidelines must be followed.












Physically separate “noisy” and “clean” cables at the planning stage. Pay special attention
to the motor cable. The area around the shared terminal strip for the mains input and
motor output is particularly at risk.
All cable routing in an enclosure should be as mounted close as possible to gear tray or
grounded cabinet walls; “free-floating cables” act as both active and passive antennae
Use twisted pair wires wherever possible to prevent interference from radiated common
mode noise sources. Continue the twist as close as possible to terminals.
Use shielded twisted pairs for analogue and control level wires exiting from the overall
enclosure.
Keep power and control wiring separate. Crossing at right angles is permitted, but no
significant parallel runs should be allowed, and cables should not share cable trays,
trunking or conduits unless they are separately shielded and the shields correctly
terminated
Avoid mixing pairs with different signal types e.g., 110 V AC, 230 V AC, 24 V DC,
analogue, digital.
Run wires along the metal surface and avoid wires hanging in free air, which can become
an antenna.
If plastic trunking/ducting is used, secure it directly to installation plates or the framework.
Do not allow spans over free air which could form an antenna.
Keep shield pigtails as short as possible and note they are less effective than full clamping
Allow no breaks in the cable shields.
Earthing connections should be as short as possible in flat strip, multi-stranded or braided
flexible conductors for low RFI impedance.
When an EMC enclosure is to be used, the maximum diagonal or diameter for any hole is
100 mm, which equates to 1/10th of the wavelength of a 300 MHz frequency. Holes bigger
than 100 mm must be covered with a metal frame surrounding the aperture and earthed to
the enclosure.
6.9 Drive Output Filters
6.9.11
Sinusoidal Filter
Sine-wave filters are designed to let only low frequencies pass. High frequencies are consequently shunted away
which results in a sinusoidal phase to phase voltage waveform and sinusoidal current waveforms. Sine wave
filters are recommended for the following applications:





Reduction of motor acoustic switching noise
Motors that are not “inverter rated” which have reduced insulation levels and can only accept
sinusoidal inputs supplies
Retrofit installations with old motors that are not “inverter rated”
Motors that require reduced bearing currents to prolong motor life and reduce service intervals
Step up applications or other applications where the frequency converter feeds a transformer
Note: Sine-wave filters must be selected for the drive switching frequency of 8kHz. Sinusoidal filters with nominal
frequency higher than 8kHz cannot be used.
Standard Sinewave filters are connected to the drive output as shown in Figure 6-14. For more demanding
applications, Sinewave filters with DC bus connections can also be used as shown in Figure 6-15. There is an
output voltage drop of approximately 5-10% across the sinusoid filter.
Recommended Sinusoidal filters
AMD2000, 3A, with no DC bus connection
50
Schaffner 3-phase 4A Sinewave and
EMC Filter FN 520-4-29
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Power Wiring
AMD2000, 3A, with DC bus connection
Schaffner 3-phase 4A Sinewave and
EMC Filter with DC bus link FN 530-4-99
AMD2000, 9A, with no DC bus connection
Schaffner 3-phase 12A Sinewave and
EMC Filter FN 520-12-29
AMD2000, 9A, with DC bus connection
Schaffner 3-phase 12A Sinewave and
EMC Filter with DC bus link FN 530-1299
Note: Motor frequency range is from 0-200Hz for these filters
Motor
Minimise
unshielded
lengths
Sinusoidal
Filter
AMD2000
U
V
W
P.E.
Earth shield
connected
360° to gear
tray
Connect PE
to drive
heatsink
Figure 6-14: Motor Connections and Shielding with Standard Sinusoidal Filter
Motor
Sinusoidal
Filter
Minimise
unshielded
lengths
AMD2000
U
V
W
P.E.
-
+
DC bus
terminals
Figure 6-15: Motor Connections and Shielding and DC Link Sinusoidal Filter
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6.9.12
du/dt Filter
The du/dt filters consist of inductors and capacitors in a low pass filter arrangement and their cut off frequency is
above the nominal switching frequency of the drive. Compared to Sine-wave filters they have lower L and C
values, thus they are cheaper and smaller, and have less voltage drop (approximately 0.5%). With a du/dt filter
the voltage wave form is still PWM shaped but the current is sinusoidal. The reduced performance of the du/dt
filter compared to the sinusoid filter makes it unsuitable for motor bearing current reduction and acoustic noise
reduction.
6.10
Motor Brake Connection
Some motors require the use of a brake to prevent motor movement when power is removed. The motor’s brake
must be wired up to a relay which is controlled by the 24V digital output 1 (DO1), on connector X4. The relay
must be wired with a protective fly-back diode as shown to prevent damage to the drive 0V supply.
IDN 33346 is the state of the motor brake control:

1: motor brake released

0: motor brake engaged
AMD2000
CN4/X4
19
46 or 47
DO1
Relay:
Normally
Open
Separate Customer
24V DC supply
24V
0V
Motor
0V
Figure 6-16: Motor Brake Interface Circuit
To engage the brake:

The motor is brought to rest under normal control;

The relay is deactivated, causing the brake to engage;

The drive is disabled, removing power from the motor.

To disengage the brake:

The drive is enabled;

The drive applies power to the motor to hold position under normal control;

The relay is activated, causing the brake to be disengaged.
It is sometimes necessary to include a small delay after the relay has been activated, before starting motion. This
delay allows time for the relay contacts to engage and the brake to release.
The 24V DC power supply for the brake must be a separate supply as brake wires often carry noise, and
generate a large voltage spike which may affect other devices connected to the brake supply. Do not use the
AMD2000 24V supply from X4 to power the brake. The separate 24 V DC supply used for the motor brake can
also be used to power the relay in the thermal switch circuit.
6.11
Motor Thermal Switch
Some motors provide thermal switch to prevent the motor overheating. The motor’s thermal switch must be wired
up to a relay which generates a 24V digital input on connector X4. Any of digital inputs DI-01 to DI-08 may be
used and DI-01 is shown in Figure 6-17. The status of all digital inputs DI-01 to DI-08 can be monitored with IDN
33343 where bit 0 is the first digital input, bit 1 is the second digital input, etc. The IDN 33343 can be monitored
by an external CNC.
52
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Power Wiring
AMD2000
CN4/X4
20 or 21
7
24V
Relay:
Normally
Open
Separate Customer
24V DC supply
24V
0V
Motor
DI-01
Figure 6-17: Motor Thermal Switch interface circuit
The 24V DC power supply for the thermal switch must be a separate supply as it can often carry noise that could
cause erratic drive operation, and may not provide sufficient isolation. Do not use the AMD2000 24V supply from
X4 to power the thermal switch. The separate 24 V DC supply used for the thermal switch can also be used to
power the relay in the brake circuit.
6.12
Motor Thermal Sensor
Some motors provide a thermal sensor to give feedback of motor temperature. This model of drive does not
feature a dedicated analogue input for this function. If using an external CNC, the motor thermal sensors can be
connected to one of the drive analog inputs by means of a voltage divider or two voltage dividers as indicated in
the diagrams and have the monitoring implemented in the CNC. The user is then responsible for converting the
non-linear voltage output from the circuit into an equivalent temperature for the temperature sensor
selected. Two temperature sensors are recommended as in diagram (x) in a bridge configuration instead of one
sensor. The reasons for this is increased noise immunity because there is twice as much voltage per degree of
temperature change, and also because the voltage feeding the divider does not affect the measurement. If this
configuration is used the temperature sensors must be co-located; that is they must be in approximately the
same physical location.
24V
(e.g. Pin 20, X4)
3.9k
Ain+
AinKTY84
AGND
(e.g. Pin 3, X4)
0V
(e.g. Pin 46, X4)
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24V
(e.g. Pin 20, X4)
3.9k
KTY84
Ain+
AinKTY84
AGND
(e.g. Pin 3, X4)
3.9k
0V
(e.g. Pin 46, X4)
6.13 Brake/Regeneration Resistor
The AMD2000 3A and AMD2000 9A drives feature an inbuilt regeneration resistor. Regeneration refers to the
process whereby when the motor is actively providing energy to the drive and then stops, the kinetic energy in
the entire mechanical system connected to the shaft of the motor gets transferred to the bus capacitance in the
drive, which increases the voltage. This happens because of the motor inductance. When the voltage on the
bus capacitance exceeds 385V the drive will connect the internal regeneration resistor in addition to any external
regeneration resistor that is provided by the user.
Mode
Connection
Internal Regeneration Resistor
Link pins P & D
External Regeneration Resistor
Connect resistor to P & C
Danger: Do not short circuit connector P to C. Connector P is live with active high voltage.
Please refer to sections 12.5.14 Regenerative Braking and 12.14 Brake/Regeneration Resistor for additional
information.
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Control Wiring
7.
Control Wiring
DANGER - The working DC bus is live at all times when power is on. The Main Isolator feeding the drive
must be switched to the off position at least 15 minutes before any work is commenced on the unit. The
operator must check the bus voltage with a tested working voltage measuring instrument prior to
disconnecting any connectors or opening the DC Bus terminal cover. The red LED indicator on the front
of the drive which indicates that there is charge remaining in the drive is only to be used as an aid to
visual troubleshooting. It shall not be relied on as a means of safety.
Do not plug or unplug connectors while power is applied. It is recommended that the drive is installed
with an upstream circuit breaker that is rated appropriately depending on the model of AMD2000 drive
being installed.
Turn the Main Disconnect mains isolator switch to the Off position.
Following the appropriate lockout procedure, place a sign over the isolation switch clearly indicating to
other personnel that this isolator is not to be touched.
7.1 What this Chapter Contains
This chapter contains information related to interfacing of the drives to the following connections:
-
Analog and Digital I/O
-
EtherCAT
-
Motor Feedback
7.2 Analog I/O
All analog Input and Output signals are connected to drive via X4 with the following pins,
Connector
X4
or
I/O Module
Pin Number
Label
1
AI-01 +
26
AI-01-
2
AI-02 +
27
AI-02-
28
AO-01
3, 4, 30, 31
AGND
Please refer to section 12.3 Interface Specifications for detailed specifications
7.2.11
Analogue Inputs
The analog inputs pass through a differential buffer and second order low-pass filter with a cut-off frequency of
approximately 1.3 kHz.
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7.2.11.1
Idealised drawing of Analog Input Circuit
AMD2000
AI_
AI+
+
ADC
7.2.11.2
DSP
Typical Connection Examples of Analog Input
Single Ended (Ground Referenced) Connection.
AMD2000
1
AI-01+
X4 26
3
AGND
Figure 7-1 Typical Example of Single Ended Connection
For differential inputs connect lines to AIN+ and AIN-. Leave AGND unconnected.
AMD2000
1
AI-01+
AI-01-
X4 26
3
Figure 7-2 Typical Example of Differential Connection
24V DC
1.5kΩ, 0.25W
AMD2000
X4
1kΩ, 0.25W
Potentiometer
0V
1
26
3
Figure 7-3 Typical Input Circuit to Provide 0-10V Input From a 24V Source
56
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Control Wiring
7.2.12
Analogue Outputs
A0 -1 can be used to output converted analog values of digital measurements recorded in the drive.
It is recommended that shielded twisted pair cable is used for interfacing. The shield connection should be made
at one end only.
7.2.12.1
Idealized Drawing of Output Circuit
AMD2000
DSP
A0-XX
DAC
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7.3 Digital I/O
All digital Input and Output signals are available via connector X5. The AMD2000 provides:

8 x General Purpose Inputs

2 x additional General Purpose Inputs can be configured if required

6 x General Purpose Outputs
Please find details specifications in section 12.3 Interface Specifications
Connector
Label
7
DI-01
8
DI-02
9
DI-03
10
DI-04
11
DI-05
12
DI-06
13
DI-07
14
DI-08
X4
15
DI-09+
or
16
DI-09-
17
DI-10+
18
DI-10-
19
DO-01
22
DO-02
23
DO-03
24
DO-04
25
DO-05
34
DO-06
20, 21
+24V-Fused
46, 47
+24V-GND
I/O Module
1
Pin Number
1
Refer to the AMD2000 Technical Data for maximum current rating
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Control Wiring
7.3.11
24V Control Circuit Supply
The maximum current that can be drawn from this supply is 500mA total. Note that if a motor with a brake is
required this may be insufficient current to release the brake, so an external power supply will be required. Also
note that if overloaded the polyfuse in the drive will present a high resistance and there will no longer be 500mA
available until the load is removed.
7.3.12
Digital Inputs
Digital Input Overview

DI-01 – DI08 are electrically isolated through opto-couplers.

DI-09 – DI10 are not isolated.

Reference ground is +24V-GND (X4 pins 46 & 47)
Application examples for the digital inputs includes:

Positive Limit switch


7.3.12.1

Negative Limit switch
Motor over-temperature
Home switch
General Purpose Digital Inputs DI-01 to DI-08
Warning: Please refer to section 12.3 Interface Specifications for detailed current ratings of the 24V supply if
used to switch I/O devices
7.3.12.1.1
Idealized Drawing of Input Circuit
AMD2000
DI-XX
DSP
ANCA Motion
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7.3.12.1.2
Typical Connection Example
Control
+24 V
AMD2000
DI-XX
DSP
Control GND
7.3.12.2
Differential Inputs DI-09 & DI-10
Section 12.3 Interface Specifications provides detailed information on these two RS 422 inputs.
If 2 additional digital inputs are required this may be done safely via optional I/O interface
Module accessory listed in 13.4.11 I/O Interface Accessories
7.3.12.2.1
Idealized Drawing Of Differential Input Circuit
AMD2000
DSP
7.3.12.2.2
Typical Connection Examples of this special purpose circuit are found below.
24 V
>0.7 V
AMD2000
10k
<0.3 V
DI+
DI10k
10k
Figure 7-4 - PNP Example
60
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ANCA Motion
Control Wiring
24V
10k
AMD2000
10k
DI+
DI>0.7V
10k
<0.3V
Figure 7-5 - NPN Based Sensor
7.3.12.3
Digital Outputs
The digital outputs can be used to output pre-programmed functions stored in the drive.
Programmable function of the digital outputs includes:

Relay Control
Digital Output Overview



7.3.12.3.1
Outputs are current sinking
Refer to Section 12.3 Interface Specifications for maximum current ratings
All Digital outputs are pulled to ground
Idealized Drawing of Digital Output Circuit
AMD2000
DSP
DO-XX
0V
If the output is used to drive an inductive load, such as a relay, a suitably rated fly back diode is
required
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7.3.12.3.2
Typical Connection Examples
AMD2000
DSP
Example - PLC
24V (X4 Pin 20)
DO-XX
DI-XX
24 V
(External)
AMD2000
24V
Relay
(e.g. X4 Pin 20)
DO-XX
Load
7.4 Motor Brake Control
A motor brake can be connected to any of the digital outputs as previously described. The maximum current
allowable is 500mA sink between all 6 digital outputs. Failure to observe this rating will result in damage to the
drive.
See section 7.4 Motor Brake Control for connection details.
7.5 Serial Communication Port
The Serial Communication Port is not enabled in this Catalogue Number.
7.6 Ethernet Interface
7.6.11
EtherCAT®2
AMD2000 supports the EtherCAT protocol with ‘Servo Profile over EtherCAT’ (SoE) capability based on the
IEC61800-7 standard. This protocol provides deterministic communication over a standard 100Mbit/s (100BaseTX) Fast Ethernet (IEEE802.3) connection. This makes it suitable for the transmission of control and feedback
signals between the AMD2000 and other EtherCAT enabled controllers.
2
62
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany
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Control Wiring
AMD2000 functions as an EtherCAT slave controller, providing two ports (IN/OUT) for connection to other
EtherCAT compliant equipment. This allows nodes to be connected in many configurations such as a ring, star,
or tree, with EtherCAT’s self-terminating technology automatically detecting breaks or an intended end of line.
If only one port is used for EtherCAT operation, it must be the X1 (IN) port.
7.6.12
EtherCAT topology / Port assignment
EtherCAT
Processing Unit
Loopback
Function
Port 3
Closed
Autoforwarder
Autoforwarder
In
Port 0 open
or all ports
closed
EtherCAT
Slave Controller
Loopback
Function
Port 0
Closed
Loopback
Function
Port 1
Closed
Port 1
Open
Out
Loopback
Function
Port 2
Closed
7.6.12.1
Possible EtherCAT Configurations are
OUT
IN
7
IN
OUT
6
OUT
IN
5
IN
OUT
4
OUT
3
IN
2
IN
OUT
OUT
IN
OUT
1
IN
OUT
IN
EtherCAt Master
Straight Line Topology EtherCAT Network:
8
9
8
OUT
IN
7
IN
OUT
6
OUT
DS619-0-00-0019 - Rev 0
IN
5
IN
OUT
4
OUT
IN
3
IN
OUT
OUT
2
IN
IN
OUT
1
ANCA Motion
OUT
IN
EtherCAt Master
Ring Topology EtherCAT network:
9
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AMD2000 Series - Servo Drive - User Manual
OUT
19
IN
18
IN
OUT
17
OUT
IN
IN
External Switch
9
OUT
OUT
IN
16
OUT
8
IN
OUT
15
IN
7
IN
OUT
IN
14
OUT
IN
OUT
OUT
13
6
IN
IN
OUT
IN
OUT
12
5
OUT
IN
OUT
IN
11
4
OUT
IN
3
IN
OUT
OUT
2
10
IN
IN
OUT
1
7.6.12.2
OUT
IN
EtherCAt Master
Multi-Branch EtherCAT network:
20
EtherCAT Configuration
EtherCAT configuration is usually performed using EtherCAT manager software. To assist with
configuration, an EtherCAT Slave Information (ESI) file is provided for the AMD2000. This .xml
file describes the drive’s capabilities to the EtherCAT manager.
7.6.12.3
EtherCAT Connectors
X1/X2 EtherCAT IN/OUT connectors.
7.6.12.4
X1
EtherCAT IN
X2
EtherCAT OUT
EtherCAT Cables
To connect the AMD2000 drive to other EtherCAT devices the following types of cables must
be used with 8P8C modular connectors. They are commonly referred to as “RJ45 shielded
patch leads”.
Cable
Cat 5e or Above




Name
Cable Screening
Pair Shielding
F/UTP
Foil
None
SF/UTP
Foil, Braiding
None
TP = twisted pair
U = unshielded
F = foil shielding
S = braided shielding
Either straight or crossover cables may be used.
Recommended cables are listed in the accessories section 13.4.12 EtherCAT Cables
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Control Wiring
7.7 DIP Buttons
Button
Label
Function
SW4
MODE
Holding during power up will force the device into bootstrap mode
SW3
UP
Reserved
SW2
DOWN
Reserved
SW1
SET
Holding during power up will force the device into bootstrap mode
7.8 Motor Feedback
Connector
X5
ANCA Motion
Digital Incremental
Pin Number
Label
Sin/Cos
1
Sin - / A-
Sin-
-
2
Sin + / A+
Sin+
-
3
Cos - / B-
Cos-
-
4
Cos + / B+
Cos+
-
5
Ref - / Z-
Z-
-
6
Ref + / Z+
Z+
-
7
A+
-
A+
8
A-
-
A-
9
B+
-
B+
10
B-
-
B-
11
Z+
-
Z+
12
Z-
-
Z-
13
9VDC
-
-
14
5VDC
5VDC
5VDC
15
GND
GND
GND
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7.8.11
Analog Encoder Interface
7.8.11.1
Idealized Drawing of the Analog Encoder Circuit
AMD2000
A/B +
DSP
A/B X5
Z+
Z-
7.8.12
RS485
/RS422
Transceiver
Analog Encoder Cable
TO SERVO DRIVE
TO ENCODER PLUG
SIN+
SIN+
SIN-
SIN-
COS+
COS+
COS-
COS-
REF+
REF+
REF-
REFINNER SHIELD
5V
5V
0V
0V
BACKSHELL
OUTER SHIELD
BACKSHELL
NOTE:
(1) THE INNER AND OUTER SHIELD SHOULD NOT TOUCH AT ANY POINT
Figure 7-6 Typical Wiring Example of Analogue Incremental Encoder Wiring
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7.8.13
Digital Encoder Interface
7.8.13.1
Idealized Drawing of the Digital Encoder Circuit
AMD2000
A/B/Z +
X5
RS485
/RS422
Receiver
DSP
A/B/Z -
7.8.14
Digital Encoder Cable
TO ENCODER PLUG
TO SERVO DRIVE
A+
A+
A-
A-
B+
B+
B-
B-
Z+
Z+
Z-
Z-
5V
5V
0V
0V
BACKSHELL
BACKSHELL
Figure 7-7 Typical Wiring Example of Digital Incremental Encoder Wiring
Recommended cables are listed in the accessories section 13.3.12 Encoder Cables
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8.
Installation Checklist
8.1 What this Chapter Contains
This chapter contains a pre power up checklist aimed at ensuring safe and successful initial power up of the
drive.
8.2 Checklist
The installation location satisfies the requirements in 12.6.13 Installation and Operation
An adequately sized protective earth connector is installed between the drive and the
installation Earth Bar
The required ventilation clearances around the drive have been observed per section 4
Mechanical Installation
An adequately sized protective earth connector is installed between the drive and the
motor.
Each protective earth conductor is connected to the appropriate terminal and is
secured.
The supply voltage is within the limits of operation of the drive.
The input power cable is connected to the appropriate terminals and the conductors are
secured.
Appropriate supply fuses and disconnect devices have been installed.
The motor cable is connected to the appropriate terminals, the phase order is correct
and the conductors are secured.
The brake resistor cable (if applicable) has been connected to the appropriate terminals
and the connections secure
The motor cable and brake resistor cable (if applicable) have been routed away from
other cables
No power factor compensation capacitors have been connected to the motor cable
A sinusoidal filter has been installed in between the motor armature output on the drive
and the motor if required by the application
All low voltage control cables have been correctly connected and are secure
There is no dust or other foreign object inside the drive after installation (E.g. Due to
cutting of cables etc.)
All wiring conforms to applicable regulations and standards
No physical damage is present to any component within the system
The motor and all equipment connected to the drive is ready for start-up
A risk assessment has been completed on entire machine and is considered by the
user to be safe enough for operation
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Installation Checklist
Regeneration energy and power has been assessed and external resistor has been
connected if required
There are no shorts between encoder power supplies and encoder GND
Possible load for all digital outputs does not exceed 300mA combined current sinking
Input voltage does not exceed 265V rms between L1, L2 and L3
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Start-up
9.
9.1 What this Chapter Contains
This chapter contains information related to the ANCA MotionBench that will guide the user in setting up and
configuring the AMD2000 Series Servo Drive:

ANCA MotionBench Software and Installation and requirements

Starting the drive using ANCA MotionBench

Configuring and Commissioning of the drive

Additional information on the ANCA MotionBench
9.2 Introduction
ANCA MotionBench is an application for inspecting and commissioning AMD2000 series drives. The
MotionBench provides a connection wizard to aid in connecting directly to drive and a quick start-up wizard to get
a motor moving quickly. Further panels are provided that give a functional overview and guided access to key
drive functions, as well as an interface to access the entire list of parameters. MotionBench includes powerful
real-time signal logging and graphing capability.
9.3 PC minimum specifications
The minimum PC requirements for MotionBench are:







1GB Memory (minimum)
2GB Free Disk Space (minimum)
1024 x 768 Screen Resolution 32-bit colour (recommended)
Mouse or similar pointing device
Microsoft .Net Framework 4
Supported Operating System
Supported Wired Network Adapter that is currently unused
Supported Operating Systems for MotionBench are:



Windows XP
Windows Vista
Windows 7
Both 32 and 64-bit versions of Windows are supported. However, only EN-AU and EN-US are
guaranteed to work. Windows for other languages are known to cause problems with MotionBench.
Supported Wired Network Adapters for MotionBench are:








70
Intel 82577LM Gigabit
Broadcom NetXtream 57xx Gigabit
Broadcom 57765-B0 PCI
Marvell Yukon 88E8053 Gigabit
ASIX AX88772A (USB2.0 to Ethernet dongle)
Realtek RTL8139-810X
Realtek PCIe GBE Family Controller
Realtek PCIe FE Family Controller
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Start-up
Most other wired network adaptors should be reliable but those listed are known to work. At this stage
there are no wired network adapters which are known to be unreliable.
9.4 Configuring the Network Adapter
Warning: To connect the AMD2000 to a Laptop or PC requires the alteration of the Ethernet adapter
configuration. This may affect the computer’s office Ethernet connection. Installing a second Ethernet
adaptor which is dedicated for use with the AMD2000 will prevent this possible limitation. If you are
uncomfortable about making changes to your Ethernet adapter configuration, or do not have the required user
permission levels, then please consult with your IT administrator.
Note that the AMD2000 must be directly connected to the Laptop or PC, it cannot be connected via an
intermediate network.
1.
Windows 7: Click Start menu, then Control Panel, then Network and Sharing Center.
Windows XP: Click Start menu, then Settings, then Control Panel, then Network Connections.
2.
Windows 7: Click Local Area Connection, then click Properties.
Windows XP: Right-click the Local Area Connection entry for the required Ethernet adapter and
choose Properties.
3.
Windows 7: Select the Internet Protocol Version 4 (TCP/IPv4) entry and click Properties.
Windows XP: Select Internet Protocol Version (TCP/IP) and click Properties.
4.
On the General tab, make a note of the existing settings. Click Advanced, and make a note of
any existing settings. Click Cancel and then click the Alternate Configuration tab (if one exists)
and make a note of any existing settings.
5.
On the General tab, choose the “Use the following IP” address option.
6.
In the IP address box, enter the following IP address: 192.168.100.1. This is the IP address that
will be assigned to the Ethernet adapter.
7.
In the Subnet mask box, enter 255.255.255.0, no DNS settings required and Gateway IP
address should be cleared and click OK.
8.
Click Close to close the Local Connection Properties dialogue.
9.5 Connecting the AMD2000 to a PC
Connect the supplied Ethernet cable between the PC network port and X1 of the AMD2000 (see 3.6 Connector
Overview).
9.6 Starting the AMD2000
9.6.11
Preliminary Checks
Prior to start-up, it must be ensured that all requirements in Chapter 8 Installation Checklist have been met.
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9.6.12
Power-On Checks
DANGER - The working DC bus is live at all times when power is on. The Main Isolator feeding the drive
must be switched to the off position at least 15 minutes before any work is commenced on the unit. The
operator must check the bus voltage with a tested working voltage measuring instrument prior to
disconnecting any connectors or opening the DC Bus terminal cover. The red LED indicator on the front
of the drive which indicates that there is charge remaining in the drive is only to be used as an aid to
visual troubleshooting. It shall not be relied on as a means of safety.
The following procedure must be adhered to during start up to ensure safe operation and
functionality:
1.
Ensure there are no short circuits between any two armature connections at the drive connector.
2.
Ensure the drive is earthed as described in this manual.
3.
Plug in all connectors.
4.
The motor and all equipment connected to the drive is ready for start-up
5.
Start-up of the drive will not result in any hazards in the current machine state of loading and
accessibility
6.
Ambient temperature is within stated manual conditions
7.
Line voltages are within stated manual conditions
8.
There are no shorts to encoder power supply or across armature connections
9.
A machine risk assessment has been performed and the machine has been assessed as safe to
use
10. The motor has an appropriate voltage and power rating matched with the drive installation
conditions
11. Ensure input voltages of analog and digital inputs are within the specifications of the drive
12. Ensure the digital outputs do not sink in excess of 300mA total of all 6 outputs
13. Ensure the voltage on the digital outputs do not exceed specification
14. Ensure the encoders do not drain more current than specified encoder power supply current,
and can accept the voltage tolerance of the provided output
15. Ensure the 24V output is not overloaded
16. Ensure all connectors have neat, reliable wiring (no splayed or loose copper strands, strain
relief) with no shorts
9.7 Installing the ANCA MotionBench
This section will guide you through the process to install ANCA MotionBench
on your PC.
72
1.
Ensure the previous sections in Chapter 9 have been completed.
2.
Double-click on the ANCA MotionBench msi file. Latest .msi file can
be downloaded from the ANCA Motion website, under Product 
AMD2000  Resources.
3.
You will then be presented with the welcome screen shown below:
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Start-up
4.
ANCA Motion
Click Next. You will then be presented with the End-User License Agreement shown
below:
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5.
Please read the License Agreement and tick the “I accept the terms in the License
Agreement” check box. Click Next. You will then be presented with the Destination Folder
dialogue shown below:
6.
If you are happy with the default destination folder, simply click Next. Alternatively use the
Change button to navigate to an alternative location. By default, a shortcut icon for
launching MotionBench will be added to the Desktop. If you do not wish for an icon to be
added to the desktop untick the “Create a MotionBench shortcut on the desktop” check box.
Click Next. You will then be presented with Install MotionBench dialogue sown below:
7.
8.
74
Click Install. You may be presented with the following dialogue:
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Start-up
9.
Click Yes. MotionBench will then start installing on your PC. The dialogue shown below you
indicate the status of the installation process.
10. When the installation process has completed the following dialogue will be shown.
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11. By default the MotionBench application will launch immediately after
you click the Finish button. If you do not wish for the application to
launch immediately, untick the “Launch MotionBench when setup
exits” check box. Click Finish.
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9.8 Configuring the AMD2000 Series Servo Drive
9.8.11
ANCA MotionBench
1.
Ensure the previous sections in 9 Start-up have been completed.
2.
Ensure the drive is powered-on.
3.
Launch Motion Bench via the start menu or desktop icon.
4.
You will be presented with the Add a device wizard.
a.
Select the network adaptor connected to the device. This is the
adapter that was configured in 9.4 Configuring the Network
Adapter.
b.
The check box “Always use this adapter” will ensure that this
adapter is used for future ANCA MotionBench session
(recommended).
c.
Select Next
d.
ANCA Motion
Select a device to add.
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e.
78
If the device is not listed, there are a few possible things to check:
I.
Incorrect network adaptor selected in the previous dialogue. Use the back
button to confirm this setting.
II.
AMD2000 is not powered on. Power-on the AMD2000. Refer to section
9.6 Starting the AMD2000 for details.
III.
Ethernet cable between the AMD2000 and the PC is not connected. Refer
to section 9.5 Connecting the AMD2000 to a PC for details.
IV.
Network adaptor configuration is incorrect. Refer to Section 9.4
Configuring the Network Adapter for details.
V.
Try closing the MotionBench application and then restarting.
VI.
Try power cycling the AMD2000.
VII.
Try rebooting the PC.
f.
The version of the firmware currently installed on the drive is indicated. If required, this
can be updated using the Update Device button. Refer to point 7 below for details.
g.
If MotionBench cannot locate the .amf file which matches the firmware currently installed
on the AMD2000 the following screen is presented. Browse to the amf file.
h.
Firmware can be downloaded from the ANCA Motion website,
under Product  AMD2000  Resources.
i.
Select Connect.
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j.
If MotionBench fails to connect the following screen will be shown.
k.
If the device does not connect, there are a few possible things to
check:
l.
ANCA Motion
I.
AMD2000 is not powered on. Power-on the
AMD2000. Refer to Section 9.6 Starting the
AMD2000 for details.
II.
Ethernet cable between the AMD2000 and the PC
is not connected. Refer to Section 9.5 Connecting
the AMD2000 to a PC for details.
III.
Network adaptor configuration is incorrect. Refer to
Section 9.4 Configuring the Network Adapter for
details.
IV.
Try closing the MotionBench application and then
restarting.
V.
Try power cycling the AMD2000.
VI.
Try rebooting the PC.
If MotionBench successfully connects to the drive, the Quick Start
wizard will launch
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5.
Quick Start wizard
a.
80
When the Quick Start wizard starts you will be given three
options: Quick Start, Standard Configuration, and Advanced
Parameter Configuration
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b.
ANCA Motion
Quick Start will allow you to select a standard motor from the
ANCA Motion range and get the motor turning with minimum
effort.
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c.
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Standard Configuration will take you to the functional
overview of the drive, where you can drill down into specific
function modules.
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d.
ANCA Motion
Advanced Parameter Configuration will take you to a table
where all variables in the drive profile can be accessed.
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6.
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Connection Status Window
a.
Clicking on the Device icon in the Status Bar of MotionBench
will open the dialogue shown below. This interface shows
the status of the devices connected to MotionBench.
b.
Clicking on Open Connection Status will open the dialogue
shown below. Here addition information regarding the status
of the device can be viewed. As well, it provides an interface
to update the device firmware via the Update Device button.
See point 7 for details.
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7.
ANCA Motion
Update Device Firmware wizard
a.
Select Update Device button as part of the Add a device
wizard (see point 4), or from the Connection Status window.
(see point 6).
b.
The Update a device dialogue shown below will open.
c.
Browse to the amf file. Note that the Update button will only
become available if a valid firmware file is selected. Click
Update.
d.
Firmware can be downloaded from the ANCA Motion
website, under Product  AMD2000  Resources.
e.
If MotionBench fails to update the firmware on the
AMD2000, then the following screen will be shown.
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m. If the firmware fails to update, there are a few possible things to
check:
86
I.
AMD2000 is not powered on. Power-on the
AMD2000. Refer to Section 9.6 for details.
II.
Ethernet cable between the AMD2000 and the PC
is not connected. Refer to Section 9.5 for details.
III.
Network adaptor configuration is incorrect. Refer to
Section 9.4 for details.
IV.
Try closing the MotionBench application and then
restarting.
V.
Try power cycling the AMD2000.
VI.
Try rebooting the PC.
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Feature Configuration
10. Feature Configuration
10.1 What this Chapter Contains
The following sections illustrate the use of the AMD2000 series drives in standalone mode for configuration or
execution of a variety of common tasks.
10.1.11
Analogue Encoder Compensation
Description
Analogue encoder compensation provides the user with the ability to adjust the raw SINCOS encoder signals
from the motor in order to compensate for static zero level offsets, or linear scaling imperfections in the encoder
feedback. Consider using encoder compensation when a plot of the raw SINCOS encoder feedback signals is
not centred on zero, or is not a perfect circle. Such a plot can be generated using the ANCA MotionBench
software supplied with the AMD2000. A detailed procedure is described below.
Software/Hardware Requirements

AMD firmware v02.036 or above
Procedure for Testing and Setting Up Encoder Compensation
Step 1: Using the ANCA MotionBench to capture and plot SINCOS encoder signals
Make sure that the SINCOS encoder is connected (see Section 3.6 Connector Overview), configured (see
Section 10.1.18 Field Orientation Initialisation), and your personal computer is linked to the drive (see Section 9.5
Connecting the AMD2000 to a PC). Start-up ANCA MotionBench (see Section 9.8 Configuring the AMD2000
Series Servo Drive), and navigate to the Circle Graph interface. Start the measurements. If possible, rotate the
motor shaft by hand, or alternatively, use the Start Motor button on the page. You should then see data points
begin to appear on the page in an approximately circular shape.
Figure 9-1 shows a screenshot of the ANCA MotionBench when running the associated Circle Graph for a
typical SINCOS encoder setup. The topmost left corner of the Circle Graph Tab shows five buttons; “Start
Measurement”, “Clear”, “Motor Encoder”, “ZX”, and “ZY.”
Start Measurement must be pressed in order to start recording data and update the graph on display.
Once pressed, the button will toggle to “Stop Measurement” so the user may select when to cease
gathering data. The graph will automatically update while measuring.
Clear can be selected to erase the data and start again from the default settings. It is possible to clear
the plot while taking measurements.
Motor Encoder is a drop down box that allows the user to choose from the available list of SINCOS
encoders connected to the drive.
ZX stands for Zoom X. It allows the user to zoom in on the X axis (Encoder cosine data) by selecting a
region using the mouse. The first click and hold selects the starting point while the subsequent drag and
release of the mouse button selects the end point of the region to be zoomed.
ZY is similar for zooming as ZX, above, but for the Y axis.
The horizontal axis, or abscissa, represents the scale for the cosine signal from the encoder, whereas the vertical
axis, or ordinate, is the sine signal scale. Units for the two axes are ADC (analogue to digital conversion), and
both the maximum and minimum allowable levels of ADC are plotted as circles on the graph. The raw encoder
signals should fall within these two bounds. Both the raw encoder output and the user adjusted (“Adj.”) outputs
will be shown plotted on the same Circle Graph. The user determines the shape of the adjusted output by Figure
10-1). The user receives immediate visual confirmation of the effect of their changes by inspecting the Circle
Graph “Adj.” outputs.
If the user positions the mouse cursor to ‘hover’ above each of the Adjustment Parameter titles, then a tool tip will
appear displaying the IDN of the particular parameter and its title in the data dictionary (as shown in Figure 10-1
Circle Graph Tab for IDN 33804).
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If the user prefers to see all the encoder signals rendered individually in the time domain (rather than sine versus
cosine), then they can choose instead to examine the Tab labelled “Time Domain” rather than the default Tab
“Circle Graph.” The same operations can be performed when viewing the time domain data, and in addition the
user can choose to zoom in on both horizontal and vertical data simultaneously using the ZXY button (see Figure
10-2).
Step 2: Measure the minimum and maximum values of the raw sin and cos signals
3
For convenience the following symbols are defined:

Smin – minimum value of raw unadjusted sin signal

Smax – maximum value of raw unadjusted sin signal

Cmin – minimum value of raw unadjusted cos signal

Cmax – maximum value of raw unadjusted cos signal
It is recommended that the user select from the appropriate Zoom buttons on either Tab to obtain a high
resolution plot of the region close to the appropriate minimum and maximum data that they wish to collect. They
can then obtain high resolution ADC values to supply from the above measurements, for the purposes of the next
step of calculation.
Step 3: Calculate the offsets and gains for correcting the sin and cos signals
Step 3.1 Calculate the gains for correcting the SINCOS signals.
(
) ,
(
).
Step 3.2 Calculate the offsets for correcting the SINCOS signals.
.
Step 4: Visually verify the SINCOS signals have been properly compensated
Check the updated Circle Graph for whether the adjusted SINCOS signals are more closely reflecting a perfect
circle than the raw unadjusted data. This can be done while taking measurements so the adjustments are seen
live on axis.
3
note: these symbols do not refer to the minimum and maximum allowable encoder values shown in the plots, but are instead
the minimum and maximum values of the raw encoder outputs.
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Figure 10-1 Circle Graph Tab
Figure 10-2 Time Domain Tab
ANCA Motion
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10.1.12
Backlash Compensation
Description
The ‘end effector’ or ‘working position’ of a machine may have any number of backlash or tolerance stacks
located in the drivetrain between itself and the driving torque of a motor (e.g. gaps in mating gear teeth, splines
etc.). Consequently the position of the end effector is not always directly proportional to motor position. This is
particularly true when the drive train is reversing direction, and consequently has to traverse this region of
backlash before all components re-engage and the motor can drive the end effector in a positive fashion. High
performance machines generally minimise backlash, but cannot always eliminate it, especially with wear and
differential temperatures between components.
Backlash compensation allows the user to adjust the estimate internal to the drive for the end effector position,
when only motor position is measured. It is generally not necessary when the end effector position is measured
directly. The compensation algorithm monitors the controller’s internal velocity demand to determine when a
reversal in direction of motion is likely to occur. The user then has the opportunity to use three key parameters to
adjust position estimation.
IDN
Description
S-0-058 / 58
Backlash Compensation Clearance
P-0-847 / 33615
Backlash Compensation Min Speed
P-0-849 / 33617
Backlash Compensation Slew Limit
Clearance is the fixed value of likely backlash by which the end effector position estimate adjusts the raw position
determined from motor feedback and scaling. It is possible for this value to be either positive or negative with
respect to its reference value of 0.0. See below for more details concerning the setting of clearance and homing
the machine.
Min Speed sets the lowest value of speed above which compensation will be applied (it defaults to 0.0)
Slew Limit is a fractional value between 0.0 and 1.0 that determines how fast the fixed clearance value will
accrue to the position estimate. For example, 0.1 indicates that for every Task 1 update of the position controller
at 250 us intervals, the clearance value will increase by 10% of its final value. After 10 such intervals it will apply
the full fixed Clearance value, and this value is maintained from then onwards. Setting this parameter to 1.0 will
result in the immediate application of the full Clearance value at the next position estimate update. Similarly
setting this to 0.0 means the Clearance value is never applied, and no adjustment to position is made.
The direction of homing is important for the successful application of this compensation technique, as it relates
directly to the correct sign (+/-) of the applied clearance value and will vary depending on the particular machine
setup. When the machine moves in the direction in which it was homed, effectively no clearance offset is
applied, as positions generated when moving in this direction are taken as the reference for backlash. When
moving in the opposite direction, however, the full clearance value will be applied after appropriate accrual due to
slew limits Figure 10-3 and Figure 10-4 illustrate the algorithm’s implementation.
Software/Hardware Requirements

AMD firmware v02.036 or above
Signal:
Reference
Velocity
Parameter:
Min. Command
Velocity
Parameter:
Min. Command
Velocity
Algorithm:
Backlash
Compensation
X
Signal:
Backlash
Displacement
Parameter:
Slew Limit
Figure 10-3 Backlash Compensation Data Flow
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Feature Configuration
Signal:
Encoder
Feedback
Algorithm:
Gearbox
Algorithm:
Feed Ratio
Signal:
Reference
Velocity
Backlash
Compensation
+
-
Signal:
Estimated
Position
Figure 10-4 Illustrating where backlash compensation fits into the motor feedback path
Procedure for Testing and Setting Up Backlash Compensation
Make sure the motor and its associated motor encoder are setup and enabled and your personal computer is
linked to the drive (see Section 9.5 Connecting the AMD2000 to a PC). Start-up ANCA MotionBench (see
Section 9.8 Configuring the AMD2000 Series Servo Drive), then navigate to the Advanced Parameter Access
interface.
In the field, it is common practice to use a dial gauge and command step moves forward and backwards and
monitor the backlash compensation. The backlash compensation clearance can be adjusted by feel, as can the
slew limit.
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10.1.13
Configuring Wire-Saving UVW Motors
Warning: This feature is recommended to be used only on braked axes, or axes that are unable to move.
Description
This document describes how to use UVW wire-saving encoders with AMD2000 drives to perform Field
Orientation Initialisation (FOI). It is important to note that the FOI alignment angle is latched during power-up. If
you have downloaded code (or have entered into BOOTSTRAP mode), you MUST power cycle the drive. Note
that this feature is only supported on drive encoder channel 2.
IDN
Description
P-0-006 / 32774
Number of motor poles
P-0-297 / 33065
Field Orientation Initialisation Type
P-0-312 / 33080
Absolute Feedback Type
P-0-579 / 33347
UVW Hall Sensor Source
Note on FOI and Index Pulse Offset Alignment
As UVW wire-saving estimation of the field alignment only provides an estimate of optimal angle for Field
Orientation Initialisation, this method is usually combined with index pulse offset alignment to maximise the
output torque and efficiency of the motor. See Section 10.1.18 Field Orientation Initialisation for details of how to
use these methods together.
Procedure for setting up a UVW wire-saving Motor
1.
2.
3.
4.
Set UVW Hall Sensor Source (IDN 33347) to 3 (wire-saving Encoder 2).
Program the correct number of motor poles (IDN 32774).
Set Absolute Feedback Type (IDN 33080) to 2 (UVW hall sensors).
Set Field Orientation Initialisation Type (IDN 33065) to 3 (Absolute).
Warning: Excessive movement (more than 30 electrical degrees) between drive power-up and when the
drive firmware loads will result with an invalid field alignment, potentially resulting in axis run away. This
feature is recommended to be used only on braked axes, or axes that are unable to move. If ever entering
into the boot loader during drive operation, always power cycle the drive as the UVW signals will not be
correct.
10.1.14
Digital Output
Description
The AMD2000 comes with 6 digital outputs (see Section 3.6). These provide a powerful and flexible means of
conveying information or making requests for actions external to the drive. They are highly configurable, being
able to provide useful information during normal operation, as well as under those conditions where the drive as
4
an EtherCAT device is no longer in its operating (OP) state. For example, an EtherCAT SAFEOP state might
result from abnormal conditions related to loss of communication or software crashes, or the INIT and PREOP
states can result from drive entering initialisation and start-up conditions.
4
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany
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Feature Configuration
The AMD2000’s compliance requirements for EtherCAT marking requires the drive to ensure that the 6 digital
outputs are set to a user defined safe state whenever the drive is in SAFEOP, while the drive itself
simultaneously and automatically removes torque from the motor. In the AMD2000 this is achieved by requiring
the digital outputs to enter their safe state settings whenever the drive leaves OP state.
The user is able to manipulate up to 7 different IDN to configure the desired setting of the digital outputs, for both
OP and Non-OP states of operation. These IDN are as follows,
IDN
Description
P-0-0576 / 33344
Digital Output Polarity
P-0-0577 / 33345
Digital Output Data
P-0-0582 / 33350
Digital Output Source IDN List
P-0-0583 / 33351
Digital Output Invert Mask
P-0-0584 / 33352
Digital Output Source Bitmask
P-0-0585 / 33353
P-0-0586 / 33354
Digital Output User Configurable
Default Safe State – General
Purpose
Digital Output User Configurable
Default Safe State – Hardware
Level
Data Type
Unsigned Integer (4 bytes)
LSB corresponds to output 0
Bit = 1: Inverted
Unsigned Integer (4 bytes)
LSB corresponds to output 0
Unsigned Integer Array (2 bytes)
(Length = 32)
Index 0 corresponds to output 0
Binary (2 bytes)
(Length = 32)
Index 0 corresponds to output 0
Array Item = 1: Inverted
Binary (2 bytes)
(Length = 32)
Index 0 corresponds to output 0
Array Item = 1: GPDIO Active
Binary (2 bytes)
(Length = 32)
Index 0 corresponds to output 0
Unsigned Integer (4 bytes)
LSB corresponds to output 0
Scaling
None
None
None
None
None
None
None
The details of the process by which the digital outputs are set is described below, and represented graphically in
Figure 10-5 . Clearly the bits in IDN 33350 are critical in determining whether the corresponding digital output is
referred to as “General Purpose,” or as a “Hardware Level” digital output. These variables can be accessed
through the Advanced Parameter Access interface in ANCA MotionBench.




ANCA Motion
Digital Output Polarity (33344)
o is a 32 bit bitmask that is applied directly to 33345 in order to determine the final bit setting of
the digital outputs. Essentially it can reverse the logic level output for any particular bit in
33345.
The Digital Output Data (33345)

represents up to 32 bits of information, of which ONLY the first 6 least significant bits are used
by the digital outputs of the AMD2000. These represent the actual digital output that is
intended to be sent to the digital pins at each scan update interval of 4 ms (although faster
rates can be achieved with special configuration). Bit 0 of 33345 corresponds to digital output
1, bit 1 is digital output 2, and so on and so forth. Therefore, a program or user may pass any
Boolean values they wish through these digital outputs by setting the values in the appropriate
bits of IDN 33345.
Digital Output Source IDN List (33350)

However, IDN 33350 can override and replace any information that has been directly written to
33345. IDN 33350 is a 32 element array capable of holding up to 32 separate IDN’s.

If an element of 33350 is non-zero, then the element’s value is taken to represent an IDN that
contains information to be issued to the corresponding digital output. Since the digital output
can only be set for Booleans, if the value contained in the relevant IDN variable is non-zero, the
intent will be to set the associated digital output via IDN 33345 to 1, and otherwise set it to 0
(note, IDN 33344 can be used to reverse this output arrangement).

If alternatively the element of 33350 is zero, and the drive is in normal operation (OP), then the
corresponding bit in 33345 will NOT be overwritten, and the information that is already
contained in 33345 will be relayed to its associated digital output (again, assuming no further
bitmasking is being applied by IDN 33344).
Digital Output Invert Mask (33351)
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



is a 32 bit variable that can be used to apply further logic to the bit setting originating from
either 33353 (when in a safe state) or 33350 (when in OP). The logic comparing 33351 to
either of these IDN’s is an XOR.
Digital Output Source Bitmask (33352)

has a similar role to 33351, except this IDN is compared to the output of 33351’s XOR by using
AND logic as shown in Figure 10-5 . The combination of logic using comparisons to 33351
and 33352 can therefore be used to configure quite general logic.
Digital Output User Configurable Default Safe State- General Purpose (33353)

is the default setting for the General Purpose digital output safe state (ie. when not in EtherCAT
OP state) if all other bitmasking is set to pass this IDN’s value straight through to 33345, and
then to the digital outputs directly. Figure 10-5 . shows that this default safe state value can be
altered by 33351, 33352, and 33344. Recall that because it is General Purpose, its bit setting
applies ONLY to those digital outputs for which a non-zero value in IDN 33350 has been
chosen.
Digital Output User Configurable Default Safe State- Hardware Level (33354)

is the default setting for the Hardware Level digital output safe state (ie. when not in EtherCAT
OP state) if all other bitmasking is set to pass this IDN’s value straight through to 33345, and
then to the digital outputs directly. Figure 10-5 shows that this default safe state value can be
altered by 33354 and 33344. Recall that because it is a Hardware Level setting, its bit setting
applies ONLY to those digital outputs for which a zero value in IDN 33350 has been chosen.
Software Requirements

94
AMD drive firmware v2.033.001 or above
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Feature Configuration
KEY
Test
For each bit ‘i’ (0 to 5)
of IDN33350
Data IDN
Yes
Bit ‘i’ > 0?
No
Process
Digital Output
Source IDN List IDN
33350 bit ‘i’
General Purpose Digital Output
Yes
Digital Output Source
IDN List. The value of
bit ‘i’ contained by the
IDN stored in element
‘i’ of IDN 33350
Hardware Level Digital Output
Ethercat == OP?
Digital
Output
Invert Mask
IDN 33351
bit ‘i’
XOR
No
XOR
Yes
Digital Output
GP Level Safe
State IDN
33353 bit ‘i’
Ethercat == OP?
A type
Set bit
Digital Output
Source Bitmask
IDN 33352 bit ‘i’
Yes
No
Bit ‘i’ == 0?
No
B type
Set bit
Digital Output HW
Level Safe State
IDN 33354 bit ‘i’
AND
A type
Set bit
Yes
Bit ‘i’ == 0?
No
B type
Set bit
A type
Set bit
B type
Set bit
Digital Output Data
IDN 33345 bit ‘i’
Set bit ‘i’ = 0
XOR
Set bit ‘i’ = 1
Digital Output
Polarity
IDN 33344 bit ‘i’
Common Processing
of Digital Output
Physical Digital Output ‘i+1’ (1 to 6)
Figure 10-5 Digital Output Configuration Flow Chart
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Equivalent Pseudo Code for Figure 10-5
for i = 0 TO 31
if ( 33350[i] NOT EQUAL 0 ) AND ( *33350[i] IS U16 )
if EtherCAT EQUAL OP
if ( ( *33350[i] BITWISE XOR 33351[i] ) BITWISE AND 33352[i] ) NOT EQUAL 0
33345(bit i) = 1;
else
33345(bit i) = 0;
end
else // eg. SAFEOP, Pre-OP or INIT
if ( ( 33353[i] BITWISE XOR 33351[i] ) BITWISE AND 33352[i] ) NOT EQUAL 0
33345(bit i) = 1;
else
33345(bit i) = 0;
end
end
else
if EtherCAT NOT EQUAL OP // eg. SAFEOP, Pre-OP or INIT
if 33354(bit i) NOT EQUAL 0
33345(bit i) = 1;
else
33345(bit i) = 0;
end
end
end
PHYSICAL DIGITAL OUTPUT(i) = 33345(bit i) XOR 33344(bit i)
end
A note concerning bitwise operations
Truth table:
Input 1
0
0
1
1
Input 2
0
1
0
1
Bitwise XOR
0
1
1
0
Bitwise XOR example:
Input 1
Input 2
Bitwise XOR
0101 1101 1000 1111
1110 1010 0001 1010
1011 0111 1001 0101
Bitwise AND example:
Input 1
Input 2
Bitwise AND
0101 1101 1000 1111
1110 1010 0001 1010
0100 1000 0000 1010
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Bitwise AND
0
0
0
1
ANCA Motion
Feature Configuration
10.1.15
Drive Bypass Mode
Description
The drive supports a feature to set its Drive Status Word (IDN 135 / S-0-0135) as if the drive were enabled. This
allows a drive to appear to be operational when in fact it is NOT. Uses for this feature include;

the staging of drive power-up on a new machine (one drive at a time commissioning, where all drives
may need to appear operational when testing the power-up sequences and evaluating their success),

debugging a problematic drive, or

the operation of a machine with a defective drive.
When the bypass mode is active and the master requests the drive to enable (via bits 13-15 of the Master Control
Word (IDN 134 / S-0-134)), the drive issues a response as if the drive has enabled (via bits 3,14,15 of the Drive
Status Word (IDN 135 / S-0-0135)); however, the drive stays in a disabled state. The drive’s response
concerning its operating mode (bits 8,9,10 of the Drive Status Word) will also mimic the requested operating
mode (bits 8,9,11 of the Master Control Word). When in Bypass Mode all Class 1 Diagnostic Errors (C1D) are
masked out.
IDN
Description
P-0-739 / 33507
Bypass mode toggle
To put a drive into bypass mode set IDN 33507 (P-0-739) to 1. To disable bypass mode set IDN 33507 (P-0739) back to 0. Note that if the drive is already enabled, then the drive will remain in Bypass Mode until the drive
is disabled and then re-enabled (e.g. e-stop, then reset). This variable can be accessed through the Advanced
Parameter Access interface in ANCA MotionBench.
Software Requirements

AMD drive firmware v2.032.001 or above
Note on IO

General Purpose Digital and Analogue IO is unaffected by the drive being in Bypass Mode.
Warning: Since an axis which is in Bypass Mode will not move, there may be a risk of the machine joints
crashing into each other.
Warning: Vertical axes where the motor brake is NOT controlled by the drive will likely fall if the axis is
placed in Bypass Mode (for example, when the brake is controlled through a PLC). When the motor brake IS
controlled by the drive, it will remain engaged even when in Bypass Mode.
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10.1.16
Drive Data Logger
Description
The drive data logger can be used to synchronously sample data from the drives. Four variables can be logged
simultaneously, each with up to 2048 data points. The method for triggering the log is quite flexible, utilising the
following list of IDN’s:
IDN
Label
P-0-1292 / 34060
Data Logger Procedure Command
P-0-1293 / 34061
Data Logger Variable List (4 element array)
P-0-1294 / 34062
Data Logger Sample Period Factor
P-0-1295 / 34063
Data Logger Pre-Trigger Samples
P-0-1296 / 34064
Data Logger Trigger IDN
P-0-1297 / 34065
Data Logger Trigger Mask
P-0-1298 / 34066
Data Logger Trigger Value
P-0-1299 / 34067
Data Logger Control Word
P-0-1300 / 34068
Data Logger Variable List Indices (4 element array)
P-0-1301 / 34069
Data Logger - Measured Signal - Channel 0
P-0-1302 / 34070
Data Logger - Measured Signal - Channel 1
P-0-1303 / 34071
Data Logger - Measured Signal - Channel 2
P-0-1304 / 34072
Data Logger - Measured Signal - Channel 3
P-0-1305 / 34073
Data Logger Error Word
Rather than provide a list of definitions for each of the above IDN’s, an extensive description of the procedure for
configuration, and some examples of configuration, are given below.
Software Requirements

AMD drive firmware v2.036 or above
Procedure for configuring and executing data logging
To configure the drive data logger follow these steps. Note that ANCA MotionBench can be used for this task,
and there is a figure describing its use at the end of this Section.
1.
Specify the IDNs of the variables you wish to log. A complete listing is specified in the Digital Servo
Drive Parameter Reference. Up to 4 may be specified:
a.
b.
c.
d.
Specify the IDN for logging on channel 0 by placing the IDN of the variable of interest into the
first element of the array contained by IDN P-0-1293 / 34061 (this element is considered to be
element 0)
Similarly specify IDN for channel 1: P-0-1293 / 34061 (element 1)
Similarly specify IDN for channel 2: P-0-1293 / 34061 (element 2)
Similarly specify IDN for channel 3: P-0-1293 / 34061 (element 3)
Setting an element of IDN 34061 to 0 (zero) means that this channel will not be used during the data
log. If the specified IDN refers to an array (rather than a single numeric variable), then additionally the
index of the element of interest in that array should be specified in IDN 34068 as follows:
a.
b.
c.
d.
Specify the IDN index into the array for channel 0: P-0-1300 / 34068 (element 0)
Specify the IDN index for channel 1: P-0-1300 / 34068 (element 1)
Specify the IDN index for channel 2: P-0-1300 / 34068 (element 2)
Specify the IDN index for channel 3: P-0-1300 / 34068 (element 3)
For IDNs which are not arrays then the index specified in 34068 should be 0 (zero).
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Feature Configuration
2.
Specify the period between samples. The period must be a whole multiple of the fundamental sample
period of the drive (62.5µs). The factor is configured using P-0-1294 / 34062. Specifically:
For example, to log at:
a.
b.
c.
3.
Task0: IDN 34062
Task1: IDN 34062
Task3: IDN 34062
= 62.5µs / 62.5µs = 1
= 250µs / 62.5µs = 4
= 4000µs / 62.5µs= 64
(current loop update period)
(position / velocity loop update period)
(CNC servo update period)
Configuring a trigger to control under what conditions the data log will cease. The trigger mechanism is
quite flexible; the general idea is that any variable within the SoE Profile can be selected as the trigger
variable, and the outcome of its comparison with a fixed value can be used to cease the data logging.
The data logger is pre-configured to allow only 2048 samples to be collected, but the trigger mechanism
allows the user to specify where within the 2048 samples the trigger level is to be detected. For
example, the user may wish to commence sampling when a variable exceeds a certain threshold, or
they may wish to log both prior to, and following a significant event, or they may wish to capture data
prior to a certain point. All of these approaches utilise a single configuration in the AMD2000.
The user begins by specifying the number of pre-trigger samples to log. The Drive Data Logger uses a
circular buffer to store data. The pre-trigger samples parameter (P-0-1295 / 34063) informs the logger
how many samples to keep prior to the trigger sample. In the following example, IDN 34063 is set to
500. This means that the buffers returned on completion of the data log will include 500 samples taken
immediately before the trigger event occurred and 1548 after (for a total of 2048 data points):
Pre-trigger Samples
0
4.
1

Trigger Sample
498
499
500
Post-trigger Samples
501

2046
2047
The trigger variable’s IDN is specified in P-0-1296 / 34064, and the fixed value for comparison and
detection of the trigger event is specified in P-0-1298 / 34066. IDNs of many data types are supported,
see notes in the following table for limitations, but these include signed 16-bit (S16), unsigned 16-bit
(U16), signed 32-bit (S32) and unsigned 32-bit (U32). Several types of trigger comparison are
supported. These types can be configured via bits 4-6 of the Data Logger Control Word (P-0-1299 /
34067) as shown below.
IDN 34067
(bits 4-6)
000
*34064 == 34066
Not Equal To
001
*34064 != 34066
Greater Than
010
*34064 > 34066
Less Than
011
*34064 < 34066
Absolute Greater Than
100
abs(*34064) > 34066
only S16 & S32
Absolute Less Than
101
abs(*34064) < 34066
only S16 & S32
Comparison
Equal To
Pseudo Code
Notes
In addition, an optional bit mask (P-0-1297 / 34065) can be applied to the trigger variable to single out
and compare individual bits (see table below). This is useful if the trigger variable (as pointed at by the
IDN stored in IDN 34064) is a bitfield. Note that if IDN 34065 = 0 (zero), then this bit mask is disabled
so the comparison reverts to a direct comparison between the trigger variable’s value (*34064) and the
fixed comparison value stored in IDN 34066.
Comparison
ANCA Motion
Pseudo Code
Notes
Equal To
(*34064 & 34065) == 34066
only U16 & U32
Not Equal To
(*34064 & 34065) != 34066
only U16 & U32
Greater Than
(*34064 & 34065) > 34066
only U16 & U32
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Less Than
(*34064 & 34065) < 34066
only U16 & U32
Finally, if the variable pointed to by the trigger (IDN 34064) is an array, then the index of the element
that should be used from this array can be specified via bits 8-11 of the Data Logger Control Word (P-01299 / 34067). Values up to array index of 15 are supported. For non-array variables, bits 8-11 should
be set to 0.
If the user wishes to avoid using a specific trigger, and simply commence sampling, with completion at
the end of 2048 samples, then it is possible to set bit 0 of the Data Logger Control Word (P-0-1299 /
34067) to 1. This will take precedence over all other triggering configurations and will commence the
data logging as soon as the data logger is enabled (see below, point 5, for how to enable the logger).
5.
The Drive Data Logger is enabled by setting (P-0-1292 / 34060) to 3.
6.
The user can then read back the logged data from the 2048 element array stored for each variable from
the following list of IDN’s:
a. Channel 0: P-0-1301 / 34069 <-- an IDN representing a 2048 element array
b. Channel 1: P-0-1302 / 34070 <-- an IDN representing a 2048 element array
c. Channel 2: P-0-1303 / 34071 <-- an IDN representing a 2048 element array
d. Channel 3: P-0-1304 / 34072 <-- an IDN representing a 2048 element array
There are a number checks within the Drive Data Logger module to ensure that the specified configuration
parameters, that were discussed above, are within acceptable bounds. Any violations are reported in the Data
Log Error Word (P-0-1305 / 34073), and 5 such violations are as follows:
IDN 34073
Label
bit 0
Number of pre-trigger samples exceeds buffer length
bit 1
IDN specified for trigger is not valid
bit 2
IDN index specified for trigger is not valid
bit 3
Comparison operator is not valid
bit 4
Sample period factor is not valid
Example Usage
Trigger from Drive Stimulus Injection
Velocity response / current response in the frequency domain
Step 1: Specify the IDNs and IDN indexes to log, for example:
IDN 34061 [0] = 33006
IDN 34061 [1] = 33050
IDN 34061 [2] = 0
IDN 34061 [3] = 0
IDN 34068 [0] = 1
IDN 34068 [1] = 1
IDN 34068 [2] = 0
IDN 34068 [3] = 0
Idq Current Command (IDN 33006)
Idq Current Feedback (IDN 33050)
(not used)
(not used)
Element 1: Iq Current Command
Element 1: Iq Current Feedback
(not used)
(not used)
Step 2: Specify the sample period factor, for example:
IDN 34062 = 1
Log at Task0: 62.5µs / 62.5µs = 1
Step 3: Configure trigger, for example:
IDN 34064 = 34042
IDN 34065 = 3
IDN 34066 = 3
IDN 34067 = 0
Use the Stimulus Status Word (IDN 34042) to trigger off
Mask bits 0-1 of the Stimulus Status Word
Compare to 3 (stimulus injection complete)
Comparison type is “Equal To” (bits 4-6 = 000) and index into
IDN 34042 is 0 (bits 8-11 = 0000)
Step 4: Specify the number of pre-trigger samples, for example:
IDN 34063 = 2047
Entire buffer contains the data before the trigger event occurred
Step 5: Enable the drive data logger, for example:
IDN 34060 = 3
Drive Data Logger Procedure Command
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Feature Configuration
Trigger from Class 1 Diagnostic Fault
Capture data should a sporadic Class 1 Diagnostic (C1D) fault occur
Step 1: Specify the IDNs and IDN indexes to log, for example:
IDN 34061 [0] = 32961
Position Command (IDN 32961)
IDN 34061 [1] = 33625
Position Feedback (IDN 33625)
IDN 34061 [2] = 32962
Velocity Command (IDN 32962)
IDN 34061 [3] = 33626
Velocity Feedback (IDN 33626)
IDN 34068 [0] = 0
IDN 34068 [1] = 0
IDN 34068 [2] = 0
IDN 34068 [3] = 0
Element 0 (not an array)
Element 0 (not an array)
Element 0 (not an array)
Element 0 (not an array)
Step 2: Specify the sample period factor, for example:
IDN 34062 = 4
Log at Task1: 250µs / 62.5µs = 4
Step 3: Configure trigger, for example:
IDN 34064 = 33255
IDN 34065 = 0
IDN 34066 = 0
IDN 34067 = 16
Class 1 Diagnostic (C1D) Error Status Word (IDN 33255)
(disable mask)
Compare to 0 (no C1D)
Comparison type is “Not Equal To” (bits 4-6 = 001) and index into
IDN 33255 is 0 (bits 8-11 = 0000)
Step 4: Specify the number of pre-trigger samples, for example:
IDN 34063 = 1024
First half of the data in the buffer is pre C1D Event and the second
half is post C1D Event
Step 5: Enable the drive data logger, for example:
IDN 34060 = 3
Drive Data Logger Procedure Command
ANCA Motion
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Figure 10-6 ANCA MotionBench Drive Data Logger Interface
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Feature Configuration
10.1.17
Encoders
Description
The drive can be connected to up to two encoders, one on Channel 1, and a further encoder on Channel 2. Each
channel supports connection to either of two encoder types, both of which are incremental, these are:
o Quadrature, or
o Analogue SINCOS
The encoders provide feedback information to the drive for closed-loop position or speed control and are also
employed to some degree in current control. The encoder channels will be described using the terms “motor”
and “external” encoder feedback in the discussion below, where the external feedback is often assigned to a
linear scale or some other sensor that is closer to the tool tip, or end effector of the machine under operation.
The motor encoder feedback is usually directly connected to the motor itself. Either of these feedbacks can be
connected to either channel on the drive, with suitable configuration described below. Each channel needs to be
configured separately.
Encoder Connection Setup
The drive needs to be configured to determine which channels are connected to an encoder. The user can set
the following IDN’s to either of the following two values:

0: No encoder connected

10: Incremental encoder connected
IDN
Description
P-0-1432 / 34200
Encoder Type Connected - Channel 1
P-0-1433 / 34201
Encoder Type Connected- Channel 2
Furthermore, each channel needs to be specified as either “motor” encoder feedback, or “external” encoder
feedback. The user can set the following IDN’s to either of two values:

0: Channel 1

1: Channel 2
IDN
Description
P-0-1028 / 33796
Motor Encoder Source Channel
P-0-1029 / 33797
External Encoder Source Channel
Motor Encoder Feedback
If IDN 33796 has been associated with a Channel (either 1 or 2) which has an encoder connected (ie. the
channel’s IDN has been set to ‘Incremental encoder connected’) then further motor encoder can be configured
such as;
IDN
Description
S-0-0116 / 116
Resolution of Motor Encoder
S-0-0121 / 121
Input Revolutions of Load Gear
S-0-0122 / 122
Output Revolutions of Load Gear
S-0-0123 / 123
Feed Constant
S-0-0277 / 277
Motor Encoder Feedback Type
P-0-0004 / 32772
Motor Encoder Control Word
P-0-0006 / 32774
Motor Poles Per Revolution
The type of Motor Encoder Feedback IDN parameters S-0-0277 / 277 and P-0-0004 / 32772, for specific bitfield
details refer to the SoE parameters document
The resolution of an incremental motor encoder is defined via IDN S-0-0116 / 116. Given the input (S-0-0121 /
121) and output (S-0-0122 / 122) revolutions, the overall gear ratio is calculated. In addition the feed constant (S0-0123 / 123) should be specified
Analogue Incremental Encoders Only
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For analogue (SINCOS) encoders further information is required regarding the Sine and Cosine information in the
channel. The two IDN’s listed in the following table are each an array containing two elements. The first element
in each IDN array relates to the Cosine information from the sensor, and the second element relates to the Sine
information, so their respective descriptions for each IDN use the terminology “CosSin” to reflect this particular
ordering of the input information. IDN 33803 allows the user to configure the gain applied to the analogue inputs
for each of the Cosine or Sine inputs. IDN 33804 is similarly configured for offsets from zero.
IDN
Description
P-0-1035 / 33803
Motor Encoder CosSin Gain
P-0-1036 / 33804
Motor Encoder CosSin Offset
External Encoder Feedback
If IDN 33797 has been associated with a Channel (either 1 or 2) which has an encoder connected (ie. the
channel’s IDN has been set to ‘Incremental encoder connected’) then further external encoder details can be
configured such as;
IDN
Description
S-0-0115 / 115
External Encoder Feedback Type
S-0-0117 / 117
Resolution of Rotary External Encoder
S-0-0118 / 118
Resolution of Linear External Encoder
P-0-0005 / 32773
External Encoder Control Word
The external encoder is usually the feedback device attached at the end effector. Encoder details must be
configured via parameters S-0-0115 / 115 and P-0-0005 / 32773, for specific bitfield details refer to the SoE
parameters document.
The resolution of an incremental external encoder is defined via S-0-0117 / 117 for rotary encoders and S-0118 /
118 for linear encoders. Again, please refer to the SoE parameters document for details .
Analogue Incremental Encoders Only
For analogue (SINCOS) encoders further information is required regarding the Sine and Cosine information in the
channel. The two IDN’s listed in the following table are each an array containing two elements. The first element
in each IDN array relates to the Cosine information from the sensor, and the second element relates to the Sine
information, so their respective descriptions for each IDN use the terminology “CosSin” to reflect this particular
ordering of the input information. IDN 33843 allows the user to configure the gain applied to the analogue inputs
for each of the Cosine or Sine inputs. IDN 33844 is similarly configured for offsets from zero.
104
IDN
Description
P-0-1075 / 33843
External Encoder CosSin Gain
P-0-1076 / 33844
External Encoder CosSin Offset
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Feature Configuration
10.1.18
Field Orientation Initialisation
Description
A motor rotates due to the forces of attraction/repulsion between magnetic fields situated on the rotor and the
stator where these fields can be generated in a number of different ways. The torque applied to the rotor is a
resolved component of these forces acting around the motor shaft. It is proportional to the flux density of the
magnetic fields, as well as a number of other parameters. Where electrical windings are used to generate these
magnetic fields, the field’s flux density is proportional to the current flowing through the winding.
One mechanical revolution of the rotor is usually more than one complete cycle traversing all the winding phases.
That is to say, the sequence of electrical windings for each phase of electricity driving the motor is usually
repeated more than once around the circumference of the motor. Hence, if a single vector is used to collectively
represent the current for all these electrical phases, it must traverse a full 360 ‘electrical’ degrees a number of
times (depending on number of times the phase winding repeat) before completing one mechanical revolution. It
is possible to represent such a single current vector as two component parts; one “quadrature” current, and a
“direct” current. The “quadrature” component of the current vector is most closely associated with the magnetic
forces that act around the motor shaft, and reaches its highest value when the electrical angle between the stator
and rotor magnetic fields is near 90 degrees. For optimum torque delivery and motor efficiency, it is essential to
keep this “field angle” at 90 degrees. The algorithm for doing this task is called commutation.
For Permanent Magnet AC (PMAC) motors, successful commutation requires correct initialisation wherein the
rotor field angle is determined relative to a reference position on the stator. This initialisation has many names,
for example: commutation initialisation, field orientation initialisation, phase initialisation. In the AMD2000 drives
it is known as Field Orientation Initialisation (FOI).
It will be noted that in AMD2000 drives, the reference position is aligned with the back-EMF U-phase.
AMD2000 drives support several FOI techniques. These are called:

DQ Alignment

Acceleration Observer

Analogue Commutation Track

Hall Effect Sensor
For the above FOI techniques;

DQ Alignment and Acceleration Observer can always be used for motors with an incremental encoder
(The AMD2000 does not support absolute encoders at this time).

Analogue Commutation Track is recommended for motors with incremental analogue encoders that
have commutation tracks, typically found on braked motors;

Hall Effect Sensor is recommended for motors with Tamagawa (UVW wire saving encoders).
Table 10-1 below lists the possible FOI options for different encoders. It should be noted that to further improve
FOI accuracy for some techniques, post processing (Alignment Off Index Pulse) can be conducted for
incremental encoders that possess such an indexing pulse.
Table 10-1 Encoder Types and Possible FOI Algorithms
Encoder Type
Incremental
Incremental with
analogue COM track
ANCA Motion
DQ
Alignment


FOI Techniques
Analogue
Commutation Track

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Acceleration
Observer

Post Processing
Alignment Off
Index Pulse



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The following table shows the list of IDN’s relevant to FOI configuration and described in further detail below.
IDN
Label
Units
S-0-0051/51
PEST_s32Position_Feedback_1
[10-4 mm]
S-0-0116/116
MCPOS_u32Motor_EncRevsPerMechRev
NA
P-0-0006/32774
MCPOS__u16ElectricalPoles_Per_Rev
NA
P-0-0238/33006
ICONT_as32Idq_Cmd
[mA]
P-0-0249/33017
VCONT_s16PWM_VectorTime
[2-14 % of VDCBus]
P-0-0282/33050
CMNT_as32Idq_Estim
[mA]
P-0-0285/33053
CMNT_s32ThetaComm
[10-4 elec rev]
P-0-0289/33057
MCFO_boThetaElec_IndexPulseOffset_Evaluated
NA
P-0-0290/33058
MCFO_s32ThetaElec_IndexPulseOffset_Threshold
[10-4 elec rev]
P-0-0291/33059
MCFO_s32ThetaElec_Offset_Estim
[10-4 elec rev]
P-0-0292/33060
MCFO_en16DQAlignment_Ctrl
NA
P-0-0294/33062
MCFO_en16IndexPulseOffset_Ctrl
NA
P-0-0295/33063
MCFO_s32ThetaElec_IndexPulseOffset_Estim
[10-4 elec rev]
P-0-0296/33064
MCFO_s32ThetaElec_IndexPulseOffset
[10-4 elec rev]
P-0-0297/33065
MCFO_en16FieldOrientationInit_Type
NA
P-0-0298/33066
MCFO_s32ThetaElec_PresetOffset
[10-4 elec rev]
P-0-0301/33069
MCDQA__s32DQAlignment_Current
[mA]
P-0-0303/33071
MCDQA__s32DQAlignment_Current_Tolerance
[mA]
P-0-0305/33073
MCDQA__as32ThetaElec_TestAngles
[2-24 elec rev]
P-0-0312/33080
MCPA_en16AbsoluteFeedback_Type
NA
P-0-0596/33364
HWADC_au16EncoderCosSin_Com_Sample
[16 bits ADC counts]
P-0-1039/33807
MCPOS_s32ThetaElec_Estim_Motor
[10-4 elec rev]
P-0-1132/33900
MCFOJ_s32Stimulus_Amplitude
[mA]
P-0-1133/33901
MCFOJ_s32Stimulus_Frequency
[10-4 Hz]
P-0-1135/33903
MCFOJ_u16SM_RepeatCount
NA
P-0-1136/33904
MCFOJ_u16SM_StimulusTime
[T1]
P-0-1137/33905
MCFOJ_s32ThetaMech_MaxDeviation
[10-4 Mech rev/sec]
P-0-1138/33906
MCFOJ_u16PhaseEstimator_ThetaDelay
[T1]
P-0-1142/33910
MCFOJ_en16TorqueEstim_Model
NA
P-0-1145/33913
MCFOJ_s32TorqueEstim_J
[kg.mm2]
P-0-1146/33914
MCFOJ_s32TorqueEstim_K
[2-8 Nm/mech rev]
P-0-1439/34207
HWENC_as32EncoderCount_Index
[counts]
DQ Alignment
DQ Alignment injects magnetising current into the motor windings, resulting in the rotor moving to align with the
stator magnetic field. This resulting position is latched and used to determine the correct offset. To verify the
alignment, the motor commutation angle is commanded to move to seven different positions in order to verify the
expected rotor movements. The default values for these seven positions [in electrical revolutions], as defined by
IDN 33073 are:

0.0

0.3

0.6

1.0

0.7

0.5

0.0
With the above default values, a PMAC motor will move 360/(motor poles/2) [mechanical degrees] during DQ
Alignment FOI. For a motor with 12 poles, this is 60 [mechanical degrees].
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Warning: Care should be taken to ensure that the resulting test move will not result in a mechanical collision.
Table 10-2 below lists the DQ Alignment configuration parameters.
Table 10-2 Configuration parameters for DQA algorithm considering alignment off index pulse
IDN
Name
33060
FOI Control
33065
FOI Type
33069
Alignment Current
Default
Value
Unit
1 or 2
1
3000
[mA]
Note
1: FOI once, 2: FOI on
every re-enable
1: DQ Alignment
axis/motor specific, may
need to be adjusted
Note that:

IDN 33060 can be set to 1 or 2 for activating DQ Alignment when the drive is first enabled after poweron, or every time the drive is re-enabled, respectively.

IDN 33065 is set to 1 for choosing DQ Alignment technique.

IDN 33069 set to 3000 [mA] is typically a good starting point for servo motors sized for most machining
applications. It might need to be adjusted for other applications.
Error messages
The following errors might occur during DQ Alignment FOI.
E403: DQ Alignment Invalid Movement Detected
Motor movement error (the difference between the commutation angle and the measured electrical
angle) exceeded specified tolerance (0.15 elec rev or 54 elec deg). This error is usually triggered by the
motor not moving, moving too far or not enough, or moving in the wrong direction.
E405: DQ Alignment Current Control Error
Alignment current error (the difference between the command and measured motor current) exceeded
specified tolerance (IDN 33071). This error may be caused by sensor failure, current loop poorly tuned,
Safe Torque Off (STO) or motor/cable fault.
Procedure for testing / diagnosing faults with DQ Alignment FOI
Ensure configuration parameters are correct before starting the tests.
Note that:

For the convenience of discussion, x-axis is used in this section as an example.
Step 1: Activate log_DQA1.cmd and enable the x-axis.
Step 2: If DQ Alignment fails due to Error 402 (DQ Alignment Invalid Movement Detected), check the
logged data ThetaCmd_1.dat and ThetaFb_1.dat. Otherwise go to Step 3.
Note that:
-4

ThetaCmd_1.dat (IDN 33053) is the electrical angle command in [10 elec rev], and
-4

ThetaFb_1.dat (IDN 33807) is the electrical angle feedback in [10 elec rev]
Normally ThetaFb_1.dat follows ThetaCmd_1.dat as illustrated in Figure 10-7 . When DQ Alignment
fails and the axis trips out with Error 402, ThetaFb_1.dat does not follow ThetaCmd_1.dat anymore. This
is likely due to:

Incorrect motor poles IDN 32774 or/and incorrect encoder resolution IDN 116 ( Figure 10-8),
or/and

Incorrect phase sequence (see Figure 10-9)
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Figure 10-7 ThetaFb follows ThetaCmd correctly
Figure 10-8 ThetaFb does not correctly follow ThetaCmd. Likely cause: incorrect number of motor poles
(IDN 32774) and/or incorrect encoder resolution (IDN 116).
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Figure 10-9 ThetaFb moves in opposite direction to ThetaCmd. Likely cause: incorrect motor phase
sequence or inverted encoder feedback.
Step3. If the DQ Alignment fails due to Error 405 (DQ Alignment Current Control Error), check following
logged data:

idCmd_1.dat and

idFb_1.dat
Otherwise go to Step 4.
Note that

idCmd_1.dat in [mA] is the d-axis current command (IDN 33069), and

idFb_1.dat in [mA] is the d-axis current feedback
Figure 4 below shows a plot of idCmd_1.dat and idFb_1.dat logged during a successful DQA FOI. It is
seen that idFb_1.dat follows idCmd_1.dat. When the drive triggers E405, idFb_1.dat does not follow
idCmd_1.dat. In this case, check the following:

DC bus powered.

Safe Torque OFF (STO) connector wired correctly.

Current loop properly tuned.
It is also recommended that IDN 33017 be logged together with idCmd_1.dat and idFb_1.dat. If IDN
33017 [2-14 %VDCB] is a value above 90% but idFB_1.dat is close to zero, then either the DC bus is
powered or the STO connector is not wired correctly.
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Figure 10-10 idCmd_a.dat and idFb_1.dat during a successful DQA
Alignment Off the Index Pulse
For motors with an incremental encoder, it is possible to align the electrical angle off the index pulse in order to
improve the accuracy of electrical angle. To this end, the index pulse offset (namely the distance between the
index pulse and zero degree of electrical angle) needs to be commissioned for each individual motor and
encoder assembly. If the encoder is replaced, it will need to be re-commissioned. Failure to properly configure
this feature can result in axis runaway.
Table 10-3 below lists the configuration parameters.
Table 10-3 Configuration parameters for alignment off index pulse
IDN
33058
Name
Index Pulse Offset Maximum
Deviation Threshold
Default
Unit
1700
[10 elec rev]
33060
Field Orientation Initialisation
Control
33062
Alignment Off Index Pulse
Control
0
33064
Index Pulse Offset
0
Note
-4
0: none
1: once
2: always
0: disable
1: commissioning
2: enable
-4
[10 elec rev]
Procedure for commissioning and enabling alignment off index pulse
Step1: Determine the angle between the index pulse and the d-axis, that is, the index pulse offset.
1. Ensure that the drive is disabled.
2. Set Alignment Off Index Pulse to Commissioning Mode (IDN 33062 = 1).
3. Set FOI Control to Always (IDN 33060 = 2).
4. Set FOI Type to DQ Alignment (IDN 33065 = 1).
5. Monitor Index Pulse Offset Evaluation (IDN 33057) and Index Pulse Offset Estimate (IDN
33063).
6. Enable the drive and allow the DQ Alignment algorithm to complete. At this stage IDN 33057
should be zero. Slowly jog the axis until the index pulse is found (IDN 33057 = 1). Take a
record of IDN 33063. Disable the drive, and then repeat this step to ensure that the calculated
Index Pulse Offset Estimate (IDN 33063) is repeatable.
Step2: Enable alignment off index pulse.
1. Ensure that the drive is disabled.
2. Set Index Pulse Offset (IDN 33064) to the value of Index Pulse Offset Estimate (IDN 33063)
that was determined in the previous step.
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3.
4.
Set Alignment Off Index Pulse to Enable (IDN 33062 = 2).
Set FOI Control to Once (IDN 33060 = 1).
Once this procedure is complete, on subsequent power cycles of the drive the alignment angle will
automatically be corrected once the index pulse is located.
Error messages
E403: Alignment Off Index Pulse Error
The commissioned index pulse offset value (IDN 33064) is determined by a machine commissioner.
Upon machine power up the motor will execute Field Orientation Initialisation to achieve field alignment.
Subsequent to this, and once the index pulse has been located, a new estimate off the index pulse
offset (IDN 33063) is calculated. This error is produced when the difference between this estimate (IDN
33063) and the commissioned value (IDN 33064) exceeds the tolerance defined by IDN 33058, where
the default value is 0.17 [elec rev]. Possible cause of this error is:

incorrect encoder configuration by the commissioner (i.e. UVW hexant binary);

a change in the stored commissioned value; and/or

a change in the hardware configuration (relative movement between the motor and encoder).
Analogue Commutation Tracks
Analogue commutation tracks (sinCOM / cosCOM) of an incremental encoder are typically aligned with the index
pulse, namely the index pulse is located at zero degree of the commutation track. Hence rotor electrical angle
can be determined based on the commutation tracks, if the offset angle between index pulse and the stator
magnetic field is known. Typically this offset angle is zero, if this is not the case, then an offset can be added
using IDN 33066.
For illustrative purpose, Table 10-4 below lists the key parameters for configuring Commutation Track FOI. It is
important to note that ID33066 is set to 0.
Table 10-4 Configuration parameters for Use analogue commutation tracks FOI algorithm
IDN
Name
Value
33060
Field Orientation Initialisation
Control
1
33065
Field Orientation Initialisation
Type
3
33066
MCFO_s32ThetaElec_Preset
Offset
0
33080
Absolute Feedback Type
1
Unit
-4
[10 elec rev]
Note
0: none
1: once
2: always
1: DQ Alignment
2: Preset Offset
3: Absolute
4: Acceleration Observer
Typically zero is the correct
value
0: None
1: Commutation track
2: Hall sensor
Error messages
E406: Absolute Encoder Alignment Error.
An error has occurred reading the absolute encoder data. Check the COM Track signal integrity.
E013: Commutation Track Amplitude Low
The amplitude of the encoder commutation track signals (cos² + sin²) is below the minimum limit, which
is 10000. That is, the following condition is true
2
2
2
(ID33364[0] – 32768) + (ID33364[1] – 32768) < 10000
E014: Commutation Track Amplitude High
The amplitude of the encoder commutation track signals (cos² + sin²) is below the minimum limit, which
is 32700. That is, the following condition is true
2
2
2
(ID33364[0] – 32768) + (ID33364[1] – 32768) > 32700
Acceleration Observer
The Acceleration Observer technique is a minimum displacement FOI, meaning that it is suited to applications
where excessive moment on the motor during initialisation is not acceptable.
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The general idea of this technique is to inject d-axis current and repeatedly sweep the commutation angle
through 360 degrees. The frequency of the commutation angle must be fast enough so that the motor does not
begin tracking the rotating magnet field, but slow enough to ensure acceptable convergence of the algorithm.
Given this, the algorithm consists of the following major components:
1. Stimulus generation: generate d-axis current with defined amplitude and frequency;
2. Data acquisition: measure the motor reaction (electrical displacement) as a result of the stimulus;
3. Torque estimation: estimate electrical torque as a function of electrical angle; and
4. Alignment angle offset estimation: estimate the electrical angle offset for optimum torque generation and
efficiency.
Table 10-5 below lists the Acceleration Observer configuration parameters.
Table 10-5 Configuration parameters and default values for Acceleration Observer FOI
IDN
Name
Value
Units
33060
Field Orientation Initialisation
Control
1
33065
Field Orientation Initialisation
Type
4
33900
Stimulus Amplitude
3000
[mA]
33901
Stimulus Frequency
800000
[10 Hz],
33903
Stimulus Repeat Count
33904
33906
Stimulus Time
Motor Movement Maximum
Deviation
Phase Estimator Correction
33910
Torque Estimator Model Type
0
33913
Torque Estimator Model Inertia
Torque Estimator Model
Stiffness
99
33905
33914
Note
0: none
1: once
2: always
1: DQ Alignment
2: Preset Offset
3: Absolute
4: Acceleration Observer
-4
10
500
200000
0
2
25600
[T1]
-4
[10 mech rev]
[T1]
0: Inertia
1: Compliant
[kg.mm^2]
-8
[2 Nm/mech
rev]
Suggestions for selecting key parameters

Torque estimator model type:
o For unbraked motors:

Use inertia model (IDN 33910 = 0) for estimating torque.

Axis inertia (IDN 33913) does not need to be exact; typically a larger value will ensure
that a suitable torque estimate as a function of stimulus electrical angle is achieved.
o For braked motors:

Use compliant model (IDN 33910 = 1) for estimating torque.

Axis stiffness (IDN 33914) does not need to be exact; typically a larger value will
ensure that a suitable torque estimate as a function of stimulus electrical angle is
achieved.

Stimulus configuration:
o Stimulus amplitude (IDN 33900) should be selected using trial and error. Start with a small
value and then gradually increased in small steps. A large amplitude can result in excessive
vibration and mechanical damage.
o Stimulus frequency (IDN 33901) should be selected using trial and error. Start with a large
value and then gradually reduce in small steps. A small value may result in the motor tracking
the rotating magnet field; resulting in excessive displacement. In short, the stimulus frequency
must be well above the axis position-loop bandwidth.
o Test time = IDN 32904 x IDN 33903 [250us]. For example, if IDN 32904 = 750 and IDN 33903
= 10, then the test time = 1.875 [sec].
Error messages
E414: Acceleration Observer Torque Response Amplitude Low
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The fundamental frequency component of the torque response is below the minimum amplitude
threshold (0.1 Nm). The system may not have been stimulated correctly and hence the alignment
estimate may not be accurate.
E415: Acceleration Observer Torque Response Amplitude High
The fundamental frequency component of the torque response is above the maximum amplitude
threshold (2 Nm). The system may not have been stimulated correctly and hence the alignment
estimate may not be accurate.
E416: Acceleration Observer Torque Response Mean Squared Error
The difference between the predicted torque and the estimated (measured) torque is greater than the
threshold (1 Nm).
10.1.19
Higher Level Functions
Description
The AMD2000 allows the user to select different motion control approaches as Higher Level Functions. These
are described as follows;
1. Numerical Control (NC) – this is the default function for the drive’s higher level motion control and can
be configured to use position, velocity, or torque control. The choice of set point command is made
using the Operation Modes discussed in section 10.1.23 Operating Modes of this document. The
information concerning the movement profile and objectives is contained in the SoE profile data. This
choice of control requires an external entity or control unit for supplying the profile data.
2. Drive-Controlled Homing (DCH) – A homing routine can be executed by the drive in standalone
operation (i.e. without an external control unit). The position feedback is connected to the drive via one
of the two available encoder channels. The home switch is connected to the drive. The home offset
and distance is calculated and retained by the drive.
3. Control Unit Controlled Homing (CUCH) – A homing routine for the drive that requires control from an
external control unit (e.g. CNC software on a PC). The home offset and distance is calculated and
written to the drive by the control unit.
4. Drive Controlled Moves (DCM) – The drive may be set to follow a sequence of pre-defined moves
stored in the drive and configurable by the user.
5. Drive Controlled Stroking (DCS) – the drive undergoes a number of cyclic moves in order to aid tuning
procedures, and for other specific applications that might require such moves.
The AMD2000 defaults to using NC as its higher level function (for details of the Operation Modes settings, and
the nature of the servo controller. The user may configure “procedure commands” to enable DCH, CUCH, DCM
or DCS. These alternative higher level functions take precedence over NC if they are asserted. Care must be
exercised as it is possible, in some cases, to assert more than one function at a time. Upon completion of such
procedure commands, however, the drive will return to NC automatically.
Warning: Care must be exercised so that only one higher level function is being executed at any point in
time, otherwise unexpected behaviour may result.
Drive Controlled Homing
Drive Controlled Homing (DCH) is typically used when a control unit (i.e. CNC) is not present. To execute DCH,
the following conditions shall be valid:

Position feedback is connected to the drive via one of the two available encoder inputs.

The home switch is connected directly to the drive via one of its digital inputs.

The home offset displacement is to be calculated internal to the drive.
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Procedure command
set and enabled
Procedure command change
bit (Bit 5 status word)
a
Home switch (IDN 00400)
Latch reference marker
pulse
Position feedback
marker pulse
Position feedback value
status (IDN 00403)
Figure 10-11: Drive-controlled homing
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Feature Configuration
DCH is managed through various settings of the following IDN’s:
IDN
Label
S-0-0041 / 41
Homing Speed – to Home Switch
S-0-0042 / 42
Homing Max Acceleration
S-0-0052 / 52
Reference Distance 1
S-0-0054 / 54
Reference Distance 2
S-0-0147 / 147
Homing Parameter
S-0-0148 / 148
Drive Controlled Homing Procedure Command
S-0-0150 / 150
Reference Offset 1
S-0-0151 / 151
Reference Offset 2
S-0-0403 / 403
Position Feedback Value Status
P-0-0432 / 33200
Extended Homing Parameter
P-0-0437 / 33205
Homing Speed – to Index Pulse
P-0-0438 / 33206
Homing Runoff Distance
P-0-0439 / 33207
Drive Controlled Homing Procedure Command Acknowledge
The DCH function is configured and executed by the following steps, and is illustrated in terms of logic levels in
Figure 10-11:
1. The DCH uses two numbers to relate an axis home position relative to a machine zero position.
a. The ‘reference distance’ describes what may be considered the “best” sensor estimate for
a valid home position for the drive’s associated machine axis. In order to find this distance
the axis is driven to one of its limits of allowed motion, often a probe/proximity sensor that
is called the “home switch It is then reversed away from this limit until it detects an index
pulse coming from its associated encoder (usually from the motor encoder, but not
always). This position is now set internally as the reference distance, and its value is
made available for each end of an axis as 1 and 2 through the IDN’s S-0-0052/52 and S-00054/54.
b. It is sometimes useful for a machine that is being ‘homed’ to travel a further fixed distance
away from the above ‘reference distance’ in order to finally be considered as at home
position. This is called the ‘reference offset’, and can be set for each end of an axis as 1
5
and 2 by configuring the value of the IDN’s S-0-0150/150 or S-0-0151/151.
These parameters may need to be re-commissioned (i.e. Changed) whenever the motor or encoder
setup has changed.
Warning: Care must be exercised so that all homing related IDN’s are suitably configured whenever
hardware (e.g. motor or encoder) changes are made, since unexpected behaviour may result.
2.
3.
4.
5.
5
Start the DCH higher level function execution by setting the DCH procedure command IDN S-00148/148 to a value of 3.
The axis will then move to the home switch, following a velocity profile that uses a programmed
homing speed (S-0-0041/41) and de-/acceleration (S-0-0042/42). The direction in which to home is
set via IDN S-0-0147, and the particular bit settings are specified in the accompanying document
“Digital Servo Drive SoE Parameter Reference” (dd_reference_SoE_parameter.pdf)
The axis will then move off the home switch by a distance defined by the homing runoff distance (P0-0438/33206), note the sign of this runoff distance (+/-) affects the direction the axis travels when it
moves off the home switch.
Once at the runoff distance, the axis will then commence to move at home speed (to index pulse)
(P-0-0437/33205) in the direction specified by the sign of this speed, until an index pulse is
registered from the associated encoder. If homing off the home switch (not index pulse), this step is
skipped.
This ‘reference offset’ does NOT currently get used by the AMD2000, it may do so in future releases.
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6.
7.
8.
The drive then sets its reported position at this point as relative to machine zero by the amount set
in either of IDN’s S-0-0052/52 and S-0-0054/54. Under some conditions it is possible for DCH to
then order the drive to execute a further move to the reference offset position before considering
itself to be at home, however the AMD2000 does to currently implement this final offset
repositioning that would usually result in a move as specified by IDN’s S-0-0150/150 or S-00151/151.
At the completion of homing, the status actual position value (S-0-0403/403) is set to flag the
successful completion of the DCH function.
The IDN S-0-0148/148 must now be reset to 0 by an external entity, or the drive will remain in the
DCH state of operation, and will not subsequently move or respond until this action is completed.
For more details regarding each parameter, refer to the “Digital Servo Drive SoE Parameter Reference”
(dd_reference_SoE_parameter.pdf).
The DCH function can be performed at almost any time by activating the DCH function again (via procedure
command S-0-0148/148 being set to 1). Therefore care must be exercised that DCH does not become activated
while the drive and associated axis are executing other tasks.
Warning: Care must be exercised so that the DCH function is NOT activated while the axis is already in
motion, or committed to performing other tasks, since unexpected behaviour may result.
Control Unit Controlled Homing
Control Unit Controlled Homing (CUCH) requires the Homing Enable IDN S-0-0407/407 to be set by an external
control unit (e.g. a CNC). The drive also sets up the calculated offset at the end of a successful homing
execution so that future position commands are referenced to the machine zero. The home switch may be
connected to either the control unit or the drive via the appropriately configured digital inputs.
There are three configurable use cases that the control unit may select for implementation of CUCH:
1. Control unit detection of homing, and calculation of homing data,
2. Drive amplifier detection of homing, but Control unit calculations of homing data, or
3. Drive amplifier detection of homing, and calculation of homing data.
The following IDN’s are relevant to CUCH configuration and operation:
IDN
Label
S-0-0052 / 52
Reference Distance 1
S-0-0054 / 54
Reference Distance 2
S-0-0146 / 146
Control Unit-Controlled Homing Procedure Command
S-0-0147 / 147
Homing Parameter
S-0-0150 / 150
Reference Offset 1
S-0-0151 / 151
Reference Offset 2
S-0-0171 / 171
Calculate Displacement Procedure Command
S-0-0172 / 172
Set Reference Point Procedure Command
S-0-0175 / 175
Displacement Parameter 1
S-0-0403 / 403
Position Feedback Value Status
P-0-0422 / 33190
Use a Digital Input in Place of an Index Pulse for Homing
Case 1: the home switch is connected to the control unit and the control unit makes calculations.
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Feature Configuration
Procedure command
set and enabled
Procedure command change
bit (Bit 5 status word)
Homing enable (IDN 00407)
Home switch (IDN 00400)
Not significant in case 1
Latch reference marker
pulse
Position feedback
marker pulse
Figure 10-12: CUCH case 1
Case 2.1: the home switch - is connected to the drive, but the control unit makes calculations.
Procedure command
set and enabled
Procedure command change
bit (Bit 5 status word)
Homing enable (IDN 00407)
Home switch (IDN 00400)
Evaluation in the control unit only
Latch reference marker
pulse
Position feedback
marker pulse
Figure 10-13: CUCH case 2.1
Case 2.2: the home switch is connected to the drive and the drive also makes calculations, but keeps the control
unit informed.
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Procedure command
set and enabled
Procedure command change
bit (Bit 5 status word)
Homing enable (IDN 00407)
Home switch (IDN 00400)
Latch reference marker pulse
Position feedback
marker pulse
Reference marker pulse
registered (IDN 00408)
Figure 10-14: CUCH case 2.2
The CUCH function is as follows;
1. Configure reference distance 1 and 2 (S-0-0052/52 and S-0-0054/54), and reference offset 1 and 2 (S6
0-0150/150 or S-0-0151/151). These parameters only need to be commissioned once, if the motor or
encoder setup has changed. If hardware changes have been made, the values in these parameters
may need to be varied.
Warning: Care must be exercised so that all homing related IDN’s are suitably configured whenever
hardware (e.g. motor or encoder) changes are made, since unexpected behaviour may result.
2.
3.
4.
5.
Configure homing parameter (S-0-0147/147) and digital input as index pulse (P-0-0422/33190)
Execute CUCH procedure command (S-0-0146/146) by setting its value to 3.
The drive resets its actual position to account for calculated offset.
At the completion of homing Status Actual Position Value (S-0-0403/403) is set to flag the successful
completion of the DCH function and the DCH function (S-0-0146/146) must be reset to 0 by an external
entity before the drive will undertake other tasks.
The calculate displacement procedure command (S-0-0171/171) and set reference point procedure command (S0-0172/172) must be executed independently.
Drive Controlled Moves
The Drive Controlled Moves (DCM) block allows a set of pre-programmed moves to be stored on the drive. In
DCM mode, the drive will control the system based on the move profile defined by a selected DCM. A DCM is
defined by:
Target position – in absolute or relative (set via P-0-268/33036)
Maximum velocity
Acceleration
Deceleration
End delay time – DCM processing will pause for this period of time at the completion of the move
Next move – identifies the index of the next move in the DCM sequence. If index value is between 1
and 8 (inclusive), the target position at this index will be executed next. This allows multiple DCMs to be
sequenced.
6
This ‘reference offset’ does NOT currently get used by the AMD2000, it may do so in future releases.
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Feature Configuration
IDN
Label
P-0-0256 / 33024
DCM Procedure Command
P-0-0257 / 33025
DCM Status Word
P-0-0260 / 33028
DCM Target Position
P-0-0261 / 33029
DCM Maximum Velocity
P-0-0262 / 33030
DCM Acceleration
P-0-0263 / 33031
DCM Deceleration
P-0-0264 / 33032
DCM Delay Time
P-0-0265 / 33033
DCM Next Move
P-0-0266 / 33034
DCM First Move ID
To use DCMs:
Program set of desired move segments Manage execution of DCM’s via the DCM procedure command
P-0-0256 / 33024
Monitor status of DCM via DCM Status Word IDN P-0-0257 / 33025.
Programming DCMs
Five of the above list of DCM related IDN’s are arrays of values, and these are the IDN’s 33028, -29, -30, -31, -32
and -33. The maximum number of entries for any IDN array in this list is set by the number of supported DCM
segments, which for the AMD2000 is up to 8. When programming DCM moves, all six IDN’s must be
programmed for each desired move segment. To program 5 move segments you must program each of the
IDN’s with 5 corresponding array elements, where the order of their application in performing a sequence of
moves will be determined by the value of IDN 33033, or the “Next Move” specification. If this Next Move IDN is
set to 0, then the sequence of moves has ended. Therefore each move can be identified by an index of 1 through
to N moves. The sequence of moves begins with the move index set in IDN 33034.
In the following example 5 DCM are created to execute the following motion:
1. Move to 100 mm at 1000mm/min
2. Move to 200 mm at 2000mm/min
3. Move to 300 mm at 5000mm/min
4. Move to -100 mm at 10000mm/min
5. Move to 0 mm at 1000mm/min
DCM 1, 2 and 3 are chained together with a 1 second delay at the end of DCM 1 and a 2 second delay at the end
of DCM 2. This will result in the following action when DCM 1 is executed:
1. Move to 100mm
2. Pause for 1 second
3. Move to 200mm
4. Pause for 2 seconds
5. Move to 300mm
6. Finish
So the table of moves we are after is,
Move
1
IDN
Label
P-0-0260 / 33028
DCM Target Position
100
200
300
-100
0
P-0-0261 / 33029
DCM Maximum Velocity
1000
2000
5000
10000
1000
P-0-0262 / 33030
DCM Acceleration
100
200
300
400
500
P-0-0263 / 33031
DCM Deceleration
500
400
300
200
100
P-0-0264 / 33032
DCM Delay Time
1000
2000
0
0
0
P-0-0265 / 33033
DCM Next Move
2
3
0
0
0
2
3
4
5
To program this set of move segments, the DCM parameters must be programmed as follows,
P-0-0260 / 33028 = 1000000,2000000,3000000,-1000000,0
Program the DCM target position (units used here are 0.1µm)
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P-0-0261 / 33029 = 1000000,2000000,5000000,10000000,1000000
Program desired DCM velocities (units are 1µm/min)
P-0-0262 / 33030 = 100000,200000,300000,400000,500000
2
Program acceleration rates (units are 1µm/sec )
P-0-0263 / 33031 = 500000,400000,300000,200000,100000
2
Program deceleration rates (units are 1µm/sec )
P-0-0264 / 33032 = 1000,2000,0,0,0
Program 1 second (1000msec) delay for DCM 1 and 2 seconds for DCM 2
P-0-0265 / 33033 = 2,3,0,0,0
Chain DCM 1, 2 and 3 together
P-0-0266 / 33034 = 1
Set desirable first move segment ID
DCM Status Word:
Bit
Value
Description
0
DCM inactive
1
DCM halted
3
DCM in progress
0
DCM not complete
1
DCM complete
0
No delay active
1
End of DCM delay is active
4
0
No error
1
DCM error has occurred
5-15
1-64
0-1
2
3
120
Segment ID of the move currently in progress
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ANCA Motion
Feature Configuration
10.1.20
Modulo Operation
Description
The ‘modulo’ operation is a feature that can be applied only to position feedback. Internally the drive represents
variables relating to “joint” motion as distinct from “motor” motion. Motor motions are used in tightly coupled, very
fast current control loops that need not concern the end user for most applications, whereas joint motions are
reported in scaled values of a more relevant type and magnitude related to movements in position and velocity on
the particular machine or automation application.
Modulo operations are almost always applied to rotational axes where one revolution, or a sector of one
revolution, results in the ‘joint’ returning to a reference starting position (e.g. one complete revolution of a shaft or
gear). The axis position as it is represented internal to the drive can be wrapped upon a specific proportion of a
revolution (usually a full revolution). For example, a 500° motion from an initial reference starting point will be
shown as 140° if the module operation is configured to “wrap” or “modulo” the motion every 360°.
To enable module operation, set bit 7 of the position scaling parameter IDN (S-0-76/76) to 1. The Modulo
parameter (S-0-103/103) must then be set to the value at which “wrapping” occurs. The Modulo operation is
applied to the joint position, which means it applies to motions that are measured by the external encoder
feedback that are closer to the end effector, tool tip, or driven end of the machine, rather than the motor or
driving end. If the gear ratio is not 1:1 then the motor will have done more than (or less than) a full revolution
before the joint motion completely covers one full modulo of motion
IDN
Label
S-0-76/76
SoE Position Scaling – Type
S-0-103/103
Modulo Value
10.1.21
Motion Constraints and Limits
Description
In practice most machines, and thereby machine axes, cannot move through an unlimited range of motion.
People or machine parts can impede the motion. There may also be fundamental limitations governing rates and
accelerations to do with the machining process itself. The AMD2000 provides a number of useful configuration
parameters for restraining its controlled axis’ movements.
These can be applied to both the command and feedback quantities for position, velocity, acceleration, and
force/torque.

Constraints are applied to commands (i.e. control demands) so that the axis can never exceed
certain settings. If a particular demand exceeds a constraint value, it is merely held at the constraint
value, but otherwise no errors or warnings are issued. Constraints come in two flavours, and are both
applied if enabled;

Global, and

Safety related.

Limits are applied to feedback variables and used for monitoring axis behaviour. They result in Class
1 Diagnostic (C1D) errors if exceeded.
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Demands
Constraints
- position
- velocity
- acceleration
- torque/force
Servo
Controller
Feedback/Estimates
- position
- velocity
- acceleration
- torque/force
Limits
C1D Errors
Figure 10-15 Overview of Motion Constraints and Limits
Global Constraints
Global constraints specify the minimum and maximum values associated with demands issued to the servo
control loops. In the case where a particular limit is not enabled, its global limit is set to the maximum internally
7
representable value. The full set of adjustable constraints is listed below, and each of these constraints is
enabled by setting its associated bit to 1 (ON) in the Global Constraints Enable Flag (P-0-0099 / 32867). The
values residing in the following list of IDN’s, if so enabled, will be applied to constrain their associated demands;
IDN
Label
P-0-0099 / 32867
Global Constraints Enable Flag
P-0-0100 / 32868
Global Maximum Position Constraint
P-0-0101 / 32869
Global Minimum Position Constraint
P-0-0102 / 32870
Global Maximum Velocity Constraint
P-0-0103 / 32871
Global Minimum Velocity Constraint
P-0-0104 / 32872
Global Acceleration Constraint (positive velocity)
P-0-0105 / 32873
Global Acceleration Constraint (negative velocity)
P-0-0106 / 32874
Global Deceleration Constraint (positive velocity)
7
The AMD2000 used fixed integer representations internal to the drive, and these make scaling of these variables quite
important. Therefore even if the user hasn’t specified a constraint, there is always a global constraint due to the size of variable
that can be represented.
122
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ANCA Motion
Feature Configuration
P-0-0107 / 32875
Global Deceleration Constraint (negative velocity)
P-0-0108 / 32876
Global Maximum Force Constraint
P-0-0109 / 32877
Global Minimum Force Constraint
Each bit of the Global Constraints Enable Flag (IDN P-0-0099) and its associated constraint is listed below;
Bit
ANCA Motion
0
Label
Position Minimum
1
Velocity Minimum
2
Deceleration (positive velocity)
3
Acceleration (negative velocity)
4
Not used
5
Force/Torque Minimum
6
Not used
7
Not used
8
Position Maximum
9
Velocity Maximum
10
Deceleration (negative velocity)
11
Acceleration (positive velocity)
12
Not used
13
Force/Torque Maximum
14
Not used
15
Not used
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Example of Usage
Figure 10-16 shows an example of configuring the global constraints.
the allowable region of operation.
The grey region “inside the onion” shows
The parameters settings are for position, velocity and acceleration, BUT not force, so only the 4 LSB and the midbits need to be activated. The following is applied:
P-0-0099 = 3855 [binary: 0000 1111 0000 1111 (<--these last are the 4 LSB)]
P-0-0100 = 0.4 [m]
P-0-0101 = -0.1 [m]
P-0-0102 = 1200 [mm/min]
P-0-0103 = -900 [mm/min]
P-0-0104 = 0.003 [m/s/s]
P-0-0105 = -0.003 [m/s/s]
P-0-0106 = -0.001 [m/s/s]
P-0-0107 = 0.001 [m/s/s]
Acceleration and Deceleration further
constrain ‘how close’ the axis can get to a
position limit at any given velocity before it
will no longer be able to stop at the position
constraint.
Velocity Constraints
Position Constraints
Allowable region shown in grey
Acceleration and Deceleration
constraints apply even inside
the “allowable region of
motion.”
Figure 10-16 Global Constraints Example
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Feature Configuration
Note that the acceleration/deceleration constraints are enforced anywhere within the working envelope (position
vs. velocity space), not just those points dictated by the position constraints.
Safety Constraints
Safety constraints are intended to be dynamically enabled and disabled while the drive is operating. Setting the
Master Enable IDN P-0-120 / 32882 to the value of 1 will result in the safety constraints being applied. A
separate enable flag, IDN P-0-121 / 32883 is used to individually specify which constraint is to be enabled, similar
to the global constraints described above. An example application of this feature may be for the master to
dynamically implement a conservative set of constraints under potentially dangerous situations, such as when the
axis is not homed or the machine door is open. Note that these are NOT CE Safety certifiable safety functions,
thus they provide safety related capability for the AMD2000 without the associated claims for reliability.
The full set of adjustable constraints is listed below, and each of these constraints is enabled by setting its
associated bit to 1 (ON) in the Safety Constraints Enable Flag (P-0-0099 / 32867). The values residing in the the
following list of IDN’s then provide the relevant constraint levels;
IDN
Label
P-0-120 / 32882
Safety Constraints Master Enable
P-0-115 / 32883
Safety Constraints Enable Flag
P-0-0116 / 32884
Safety Maximum Position Constraint
P-0-0117 / 32885
Safety Minimum Position Constraint
P-0-0118 / 32886
Safety Maximum Velocity Constraint
P-0-0119 / 32887
Safety Minimum Velocity Constraint
P-0-0120 / 32888
Safety Acceleration Constraint (positive velocity)
P-0-0121 / 32889
Safety Acceleration Constraint (negative velocity)
P-0-0122 / 32890
Safety Deceleration Constraint (positive velocity)
P-0-0123 / 32891
Safety Deceleration Constraint (negative velocity)
P-0-0124 / 32892
Safety Maximum Force Constraint
P-0-0125 / 32893
Safety Minimum Force Constraint
Each bit of the Safety Constraints Enable Flag (IDN P-0-0121) and its associated constraint is listed below;
Bit
0
Label
Position Minimum
1
Velocity Minimum
2
Deceleration (positive velocity)
3
Acceleration (negative velocity)
4
5
Not used
Force Minimum
6
Not used
7
Not used
8
Position Maximum
9
Velocity Maximum
10
Deceleration (negative velocity)
11
Acceleration (positive velocity)
12
13
ANCA Motion
4 Least Significant Bits (LSB)
Not used
Force Maximum
14
Not used
15
Not used
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Error Limits
Error limits are applied similarly to the above constraints, but they influence the performance in an entirely
different fashion. Error limits are applied to monitored feedback variables, and so do NOT limit the demands
going to the servo controller. They operate via a combination of applied hard and soft limits (see Figure 10-18
and Figure 10-19 and the description below). When error limits are exceeded then C1D errors are asserted to
stop the drive from further motor movement.
To enable error limits, the Master Enable (P-0-0126 / 32894) must be set to 1 and individual bits corresponding to
desired limits in the Enable Flags (P-0-127 / 32895) must be configured. Refer to the SoE parameter reference
document for parameter details. The full set of settable constraints is listed below, and each of these constraints
is enabled by setting its associated bit to 1 (ON) in the Safety Constraints Enable Flag (P-0-0099 / 32867). The
values residing in the following list of IDN’s are relevant to setting Error Limits;
IDN
Label
P-0-0126 / 32894
Error Limits Master Enable
P-0-0127 / 32895
Error Limits Enable Flags
P-0-0128 / 32896
Array for Position Hard Limits [Minimum , Maximum]
P-0-0129 / 32897
Array for Position Soft Limits [Minimum , Maximum]
P-0-0131 / 32899
Rotary Joint with Limited Stroke Enable
P-0-0132 / 32900
Array for Location of End Stops on a Rotary Joint [CCW ,CW]
P-0-0133 / 32901
Array for Velocity Hard Limits [Minimum , Maximum]
P-0-0134 / 32902
Array for Acceleration Hard Limits [For +Velocity , For -Velocity]
Each bit of the Error Limits Enable Flag (IDN P-0-0127) and its associated constraint is listed below;
Bit
0
Position Soft Minimum
1
Position Hard Minimum
2
Position Deadstop Minimum
3
Not used
4
Not used
5
Velocity Hard Minimum
6
Not used
7
Not used
8
Position Soft Maximum
9
Position Hard Maximum
10
Position Deadstop Maximum
11
Not used
12
Not used
13
126
Label
Velocity Hard Maximum
14
Not used
15
Not used
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ANCA Motion
Feature Configuration
If the drive is enabled specifically for a Rotary Joint with the Limited Stroke Enable (P-0-0131 / 32899 where
1=ON) then the axis error limits are governed by the rotational limits specified in the Array for Location of End
Stops on a Rotary Joint [CCW ,CW] (see P-0-0132 / 32900). Such rotations are constrained to within less than
one full revolution (see Figure 10-17).
Application and Consequences of Exceeding Error Limits
If the position is within the soft limit error region (see Figure 10-18), the drive will be unable to command
decelerations greater than the drive maximum deceleration to stop the joint at the soft position limit specified; the
drive then triggers C1D E304 or E305 and shuts down. The IDN P-0-0134 / 32902 can be used to specify the
two maximum decelerations to be applied to either +velocity or –velocity motions, however if either of these
elements are set to 0, then the maximum deceleration is defined to be the minimum (in magnitude) of Global
Constraints (P-0-0106 / 32874 and P-0-0107 / 32875) or, if active, the Safety Constraints (P-0-0122 / 32890 and
P-0-0123 / 32891). See definitions previously given in the Constraints section of this document.
Error Code
Label
E304
Positive Soft Predictive Limit Exceeded
E305
Negative Soft Predictive Limit Exceeded
The hard error limits are a simple position and/or velocity value comparison parameter to the estimated
position/velocity feedback. If estimated position exceeds the position hard limit then error C1D E330 or E331 is
asserted. Similar velocity violations result in error C1D E332. The hard limits may help to define the boundary
between safe and hazardous operation, such as the ends of a linear operating boundary, or the maximum safe
velocity.
Error Code
Label
E330
Positive Position Hard Limit Exceeded
E331
Negative Position Hard Limit Exceeded
E332
Positive Velocity Hard Limit Exceeded
E333
Negative Velocity Hard Limit Exceeded
Figure 10-17 Modulo Rotary Axis with Limited Stroke
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Figure 10-18 Position Soft (left) and Hard (right) Error Limits – IDN P-0-128 = IDN P-0-129 = [-0.1,
0.4] metres
Figure 10-19 Velocity Hard Error Limit – IDN P-0-133 = [-900, 1200] mm/min
Configuring Maximum Velocity
In order to achieve high precision calculations in the drives control system, fixed-point scaling is utilised.
However, this puts an upper restriction on the maximum representable velocity. For high speed applications, for
example spindle motors, the ability to achieve high speed is more important than precision. In order to be able to
manage this trade-off between precision against range, use the velocity scaling shift factor (P-0-0852 / 33620).
Each increment of the velocity scaling shift factor doubles the maximum velocity range that can be represented:
Setting of Velocity Scaling
Factor
(P-0-0852 / 33620)
0
128
Maximum Velocity
Rotary [RPM] / Linear [m/min]
1875
1
3750
2
7500
3
15000
4
30000
5
60000
6
120000
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ANCA Motion
Feature Configuration
10.1.22
Motor Control
Description
The AMD2000 control loops utilise the architecture for position, velocity and torque/current control displayed by
8
Figure 10-20. At ANCA Motion the term Motor Control refers to the current control loop, the torque gain
scheduler, and all of the appropriate switches to toggle between a variety of magnetic field alignment methods. A
high level view of the Motor Control and its context within the AMD2000 control architecture is displayed in Figure
10-21. It is clear from these diagrams that the accuracy of the position and velocity controllers must, in part, be
9
determined by the Motor Control.
Motor Control
q*
q~
q
Position
Controller
w*
w~
w
Velocity
Controller
t*
iq*
iq ~
Current
Controller
(q-axis)
vq*
id ~
Current
Controller
(q-axis)
vd*
iq
Torque
Control
id*
id
Figure 10-20 Cascaded control architecture found in IEC 61491
As the name is intended to imply, the Motor Control portion of the control loops is intimately related to the type of
motor under control. The AMD2000 supports control for two dominant types of motor type;
1. Permanent Magnet Synchronous Motors, or
2. Induction Motors.
ANCA Motion’s approach to implementing Motor Control is broken down into a number of sub-systems that must
all be configured correctly if they are to be used effectively in controlling either of these two motor types. The two
dominant sub-systems of concern to the user are the,


Torque controller, and the
Current controller.
Torque and current are intimately related to one another, where the relationship between torque,
motor current,
is described using a units scaling (or proportional gain)
, as follows;
and q-axis
The AMD2000 makes some special assumptions in order to simplify this relationship further. For this drive
under all conditions, except for Field Weakening (see below for details). Under this condition the torque
and current control commands are the same value.
However, as far as the servo control architecture is concerned, the two physical quantities remain distinct. As a
consequence, it is necessary for the user to select the appropriate motor type for both the torque and current
controller subsystems separately.
8
The AMD2000 allows for the SoE profile to be applied to data communications with an external EtherCAT device.
Details for the motivation in having two current controllers, one for “quadrature” and one for “direct” current (so-called q and d currents), is given
elsewhere in this user manual under the section title “Field Orientation Initialisation.”
9
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Warning: Care must be exercised so that configuration changes to the type of motor under control are
made to both the Torque Controller AND the Current Controller subsystems in the Motor Control.
Failure to do this can cause unexpected behaviour.
In addition to the flexible configuration of both the Torque and Current Controllers, the following section
concerning Motor Control will describe details including the,
 Current loop integral gain scheduler,
 Current/Torque limits, and the
 Sensor offset calibration.
A final portion will be dedicated to the configuration and diagnosis data for thermal protection of the drive and
motor, which are important aspects of implementing a successful Motor Control.
The list of relevant IDN’s discussed in this section on Motor Control is quite extensive, and is broken down by the
relevant sub-section headings as follows;
Torque Control
IDN
Label
S-0-0080 / 80
NC Torque (Force) Setpoint Command
S-0-0081 / 81
Torque Loop Additive Torque Command
P-0-0222 / 32990
Torque Setpoint Switch (Primary)
Field Weakening of PMSM
IDN
Label
P-0-0929 / 33697
Field Weakening Lookup Table – Number of Break Points
P-0-0930 / 33698
Field Weakening Lookup Table – Velocity Break Points
Field Weakening Lookup Table – Field Weakening (d-axis) Current Command
Break Points
Current Limit
P-0-0931 / 33699
P-0-0232 / 33000
Induction Motor V/F Control
IDN
Label
P-0-0006 / 32774
Motor poles
P-0-0219 / 32987
VF Control - Minimum Velocity Command
P-0-0220 / 32988
VF Control - Velocity Command Scale Factor
P-0-0215 / 32983
VF Control - Max Current
P-0-0216 / 32984
VF Control - Stop Current
P-0-0217 / 32985
VF Control - Stop Voltage
P-0-0218 / 32986
VF Control - Stop Time
P-0-212 / 32980
VF Curve - Break Points PgmLen
P-0-213 / 32981
VF Curve - Velocity Break Points
P-0-214 / 32982
VF Curve - Voltage Break Points
Current Control Loop
130
IDN
Label
S-0-106 / 106
Current Control Q Axis Gain
S-0-107 / 107
Current Control Q Axis Integral Time
S-0-119 / 119
Current Control D Axis Gain
S-0-120 / 120
Current Control D Axis Integral Time
P-0-041 / 32809
Enable Absolute Current Feedback
P-0-222 / 32990
Torque Setpoint Switch – Primary Mode
DS619-0-00-0019 - Rev 0
ANCA Motion
Feature Configuration
P-0-228 / 32996
Torque Setpoint Switch – Secondary 1 Mode
P-0-503 / 33271
Current Setpoint Switch – Primary Mode
P-0-506 / 33274
Commutation Angle Switch
P-0-507 / 33275
Current Setpoint Switch – Secondary 1 mode
P-0-510 / 33278
Motor Control Tuning Procedure Command
Current Loop Integral Gain Scheduler
IDN
Label
P-0-239 / 33007
Current Control Q axis Low Current Boost Enable
P-0-240 / 33008
Current Control Q axis Low Current Boost Threshold
P-0-241 / 33009
Current Control Q axis Low Current Boost Integral Time
Current and Torque Limits
IDN
Label
S-0-0109 / 109
Motor Peak Current [A]
S-0-0110 / 110
Amplifier Peak Current [A]
P-0-20224 / 32992
Motor Torque Constant (AMD5000 only) [Nm / A]
P-0-0225 / 32993
Variable Torque Control Word
P-0-0226 / 3994
Variable Torque Limit – Maximum [Nm]
P-0-0227 / 32995
Variable Torque Limit – Minimum [Nm]
P-0-0232 / 33000
q-axis current limit [A]
P-0-0926 / 33694
d-axis current limit [A]
P-0-1242 / 34010
Temperature Monitoring Control Word
P-0-1243 / 34011
Amplifier Temperature Current Limiting – Temp Threshold [degC]
P-0-1244 / 34012
Motor Temperature Current Limiting – Temp Threshold [degC]
P-0-1245 / 34013
Amplifier Temperature Current Limiting – Decay Rate [A / degC]
P-0-1246 / 34014
Motor Temperature Current Limiting – Decay Rate [A / degC]
P-0-1252 / 34020
Power Limit [W]
Current Sensor Offset Calibration
IDN
Label
P-0-032 / 32800
Current Sensor Offset Adaption Rate
P-0-033 / 32801
Current Offset Calibration Time
P-0-034 / 32802
Phase U current sensor offset – EOL calibrated
P-0-035 / 32803
Phase W current sensor offset – EOL calibrated
P-0-040 / 32808
Current Adaption Control Word
2
I T Overload Protection
IDN
Label
S-0-109 / 109
Peak Motor Current
S-0-114 / 114
Motor Load Limit
P-0-282 / 33050
Estimated Current Vector in DQ Axis.
P-0-1248 / 34016
Motor Overload Threshold
2
I R Overload Protection
IDN
Label
S-0-111 / 111
Motor Continuous Current Rating
S-0-112 / 112
Power Stage Continuous Current Rating
ANCA Motion
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P-0-1232 / 34000
Motor Thermal Rise Time
P-0-1233 / 34001
Power Stage Thermal Rise Time
P-0-1234 / 34002
Motor I2R Overload Warn Level
P-0-1235 / 34003
Power Stage I2R Overload Warn Level
AMD2000 Drive Amplifier
Master Control Word (S-0-0137)
Primary Operating Mode (S-0-0032)
Secondary1 Operating Mode (S-0-0033)
Secondary2 Operating Mode (S-0-0034)
Secondary3 Operating Mode (S-0-0035)
Secondary4 Operating Mode (S-0-0284)
Secondary5 Operating Mode (S-0-0285)
Secondary6 Operating Mode (S-0-0286)
Secondary7 Operating Mode (S-0-0287)
Operating
Mode
Arbitration
Power Source
(1F, 3F)
Additive Torque Command (S-0-0081)
Torque Command Value (S-0-0080)
Additive Velocity Command (S-0-0037)
Motor Control
Velocity Command Value (S-0-0036)
Mains Power
Current
Controller
(q-axis)
Σ
Additive Position Command (S-0-0048)
Position Command Value (S-0-0047)
Σ
Position
Controller
Σ
Velocity
Controller
Σ
Torque
Controller
Σ
Torque
Estimator
Current
Controller
(d-axis)
id
iq
vq
Powertrain (ie.
gears, screws
etc)
Voltage
Switching
M
Torque
vd
Current U
Field
Estimation
Current W
Motion
Motion
S
Current
Estimation
S
S
S
Ѳ
Encoder data
Torque Feedback Value (S-0-0084)
Velocity Feedback Value (S-0-0040)
Encoder Selection and
Estimation of Position
& Velocity
Scale or Encoder data
Figure 10-21 Servo controllers in the AMD2000 nested according to IEC 61800-7-2.
Torque and Current Control
As previously mentioned, torque and current commands are virtually synonymous in the AMD2000, except in the
special case where Field Weakening may apply to a PMSM type of motor. As a consequence of this, it should be
evident from Figure 10-22 that an external entity may gain access to setting torque commands, and thereby be
able to affect current commands. The torque control loop takes either a torque command from the velocity
control loop output or an externally originating NC torque command via IDN S-0-0080/80. This command can be
further modified by the simple addition of an offset torque using IDN S-0-0081 / 81. Details for how to select
whether NC or velocity control is the source of the torque commands is presented elsewhere in this manual
under “Operating Modes.” In addition, up to five notch filters and/or one low-pass filter may be applied to the
torque command signal, the details of which can be found elsewhere in this manual under the title “Torque
Command Filters.”
Configuring Torque and Current Controllers by Motor Type
The current control and torque control techniques for the Primary mode are selected via (P-0-503 / 33271) and
(P-0-222 / 32990) respectively. By choosing to fill in these IDN with one of the following two values, the
appropriate techniques are selected for application in the Motor Control;
10 = Permanent Magnet Servo Motor (PMSM) control, or
15 = Induction Motor Velocity over Frequency (IM V/F) control.
Similarly, the current control and torque control techniques for the Secondary1 mode can be selected using the
same values placed into IDN’s P-0-507 / 33275 and P-0-228 / 32996, respectively.
In addition to the above settings which need to be varied depending on the type of motor being driven, the motor
commutation technique must also be selected by filling in IDN P-0-506 / 33274 with the correct value. Once
again the user selects from either of the two values given above for the appropriate motor.
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Torque
or
Force
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Feature Configuration
And finally, the type of voltage control must be selected by setting IDN P-0-041 / 32809. A value of 0
corresponds to separate (quadrature-direct) current controllers suitable for PMSM Motor control, and a value of 1
in the IDN corresponds to a single current controller suitable for Induction Motor control.
A summary of the above settings for the two different types of supported motor is as follows;
Motor Type
User/external entity must set the...
IDN
PMSM
IM V/F
Primary mode of current control
P-0-503 / 33271
10
15
Primary mode of torque control
P-0-222 / 32990
10
15
Technique of motor commutation
P-0-506 / 33274
10
15
Technique of voltage control
P-0-041 / 32809
0
1
If Motor Type =PMSM
When the motor type has been set for PMSM, there are further options that may be chosen. PMSM torque
control usually converts torque commands directly to q-axis current command for the current control using
,
as previously described. The exception to this is for higher speeds where the user may wish to alter this simple
relationship to account for power limits by using a Field Weakening technique.
Field Weakening
In such cases, the AMD2000 incorporates a Field Weakening technique to command higher velocity from the
PMSM at digressively lower torque in order to stay within the motor’s maximum power output limits. This
technique reduces the allowable limit on q-axis current commands, while increasing the d-axis current command.
Below is an example of a typical field weakening curve that might be set by the user. Here, the non-field
weakening current limit is set to 50A (P-0-0232 / 33000). At 5000RPM field weakening begins, and the user
needs to define the Field Weakening Current Command profile (P-0-0929 / 33697, P-0-0930 / 33698, P-0-0931 /
33699). The drive will then calculate the Torque Producing Current Limit internally so as not to violate the overall
current limit (P-0-0232 / 33000).
Figure 10-22 Example of Field Weakening
Number of break points (up to 12):
P-0-0929 = 11
Velocity break points [RPM]:
P-0-0930 = [5000, 5500, 6000, 6500, 7000, 7500, 8000, 8500, 9000, 9500, 10000]
Field Weakening (d-axis) Current Command break points [mA]:
P-0-0931 = [0, 7125, 12068, 16159, 20000, 23125, 26250, 29375, 32500, 35625, 38750]
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If Motor Type =IM V/F
When the user has selected to pair the drive with an induction motor, there are other options available for the
motor control. The AMD2000 gives the user the ability to control the speed of induction motors using Voltage
over Frequency (V/F). V/F control switches ON when the velocity command from either the position control loop
or an externally originating NC velocity command via IDN S-0-0036 / 36 exceeds the minimum speed threshold
defined via IDN P-0-0219 / 32987.
Warning: It is NOT recommended practice for Induction Motor V/F Control to be driven from the position
control loop, as difficulties with low speed control using this technique may cause undesirable or unexpected
motions.
When V/F control is turned on, VF control – max current (P-0-0215 / 32983) is issued as the current command; if
the velocity command drops below the minimum (P-0-0219 / 32987) then braking is executed with the stop
current (P-0-0216 / 32984) and stop voltage (P-0-0217 / 32985) for the duration of the stop time (P-0-0218 /
32986).
The V/F curve is produced as a look-up table with inputs specifying the number of break points (P-0-212/32980)
and corresponding velocity and voltage break points (P-0-213/32981, P-0-214/32982).
Figure 10-23 Voltage / Frequency Curve Example
Number of break points (up to 5):
P-0-0212 = 3
Velocity break points [RPM]:
P-0-0213 = [450, 6000, 7000]
Voltage limit break points [V]:
P-0-0214 = [25, 294, 339]
Applying Current Control Loop Parameters (for PMSM or IM V/F)
Tuning parameters for the current control loops may be configured at any time; however such configuration is not
applied until either the drive re-enable is carried out (see “Operation Modes” elsewhere in this manual) or
10
manually triggered by the user. To manually trigger a current control loop re-tune , the user may execute the
Motor Control Tuning Procedure Command (P-0-510 / 33278) by changing its default value from 0 to 3
(essentially setting its two least significant bits to 11 from their default setting which is 00). Doing this ‘execution’
11
will also re-tune the torque control loop. The user should note that the drive software looks for a rising edge
change in P-0-510 / 33278 from 0 to 3, so it may be useful to check that the parameter is set to 0 prior to making
the change to 3 for execution or the retuning may not occur.
10
A “re-tune” is an internally executed recalibration and calculation of the necessary control variables for efficient execution of the desired control
behaviour. It does NOT mean the drive changes any variables or gains in the control loops as set by the user.
11
Note that a similar execution command exists for the position and velocity control loops, called the Servo Control Tuning Procedure Command
(P-0-187 / 32955). The user should be made aware that if the Servo Control Tuning Procedure Command is executed, it ALSO re-tunes the
current and torque control loops at the same time.
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Feature Configuration
Current loop integral gain scheduler
A current loop integral gain scheduler is provided in the AMD2000 to allow increased controller gain during
periods of small current command, where the gain characteristic decays drastically as signal frequency
increases.
The current loop integral gain scheduler is enabled by setting IDN P-0-239 / 33007 to a value of 1. The
parameter P-0-241 / 33009 specifies the current loop integral time constant that will be used at zero current
command in place of the normal q-axis integral time (S-0-107 / 107). A smaller time constant results in a larger
gain, and vice-versa. The resulting gain is then interpolated as a function that adjusts the gain linearly when the
current hovers between the symmetric +/- values of the variable described as the “integral gain boost threshold,”
specified in IDN P-0-240 / 33008. See Figure 10-24 for a graphical representation of the function. Note that the
resulting scheduler does not have to result in an increased gain near zero current, it could be just as easily
configured to decrease the gain near zero current; however, in most normal applications the desire will be to
increase the integral gain in such a circumstance.
Ki
S-0-106 / P-0-241
S-0-106 / S-0107
– P-0-240
P-0-240
Q-axis Current
Command
Figure 10-24 Integral Gain Boost
Setting the Current and Torque limits
The minimum magnitude of all the current limits defined below will be applied by the motor control. With the
exception of the Variable Torque Limit , all the parameters listed below apply current limits on both positive and
negative current demands with the exception of the “Amplifier instantaneous current limit” which is applied to
detect current over limit and flag an error. The list of limits applied by the motor control, to either current or
torque demands, are:

Motor Peak Current (S-0-0109 / 109) defines the maximum quadrature current to which the drive is
rated.

Amplifier Peak Current (S-0-0110 / 110) specifies the maximum quadrature current rating of the drive.
This variable is configured automatically by the drive, and the user cannot change it.

Peak Torque Producing Current (P-0-0232 / 33000) defines the maximum quadrature current (and by
extension torque) which is suitable for the application. It’s intent is to allow the user to specify a torque
(or force) limit on couplings or other mechanical features of the application that may be important, but
different, to the above motor and drive current limits. Although strictly speaking this limits current, it is
12
intended to apply to mechanical torques (or forces).

Peak Field Weakening Current (P-0-0926 / 33694) defines the maximum direct current which can be
commanded for field weakening. This is typically set to zero (0), and should not concern most users.

Variable Torque Control is a feature which allows the torque applied to the drive to be varied. This is
different to the limits defined above, in that different limits can be defined for positive and negative
torque. This feature is controlled via the Variable Torque Control Word (P-0-0225 / 32993), where bit0
enables (ie. enable = 1) the Maximum Variable Torque Limit (P-0-0226 / 32994) and bit1 enables the
Minimum Variable Torque Limit (P-0-0227 / 32995).
12
Note that SoE treats the basic units for specifying current and torque quite separately, so the user needs to be aware that
current and torque may not simply be value equivalent, even if Kt=1. For example, torque may be represented in basic units of
0.01 N or N/m whereas current is in A. If this is the situation, then with Kt=1, a value of 100 reported for torque over SoE would
represent a value of 1 for quadrature current since the torque is being represented in units of cN/m or equivalently N/hm.
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



Amplifier Temperature Current Limiting can be configured to adaptively reduce the current limit in
response to a rising drive amplifier temperature. This feature enables the drive to continue operating in
a reduced capacity as temperature increases as measured by its own internal sensors. This is achieved
using the Temperature Monitoring Control Word (P-0-1242 / 34010) by setting bit0 to enable (ie. enable
= 1) the amplifier temperature. Next, enable temperature based current limiting using the Temperature
Monitoring Control Word (P-0-1242 / 34010) by setting bit8 to enable limiting for the amplifier. Details
concerning the specification of the current limits are given below.
Motor Temperature Current Limiting can be similarly configured to adaptively reduce the current limit in
response to a rising motor temperature. This feature enables the drive to continue operating in a
reduced capacity as the motor temperature sensor measures temperature increases. This is achieved
using the Temperature Monitoring Control Word (P-0-1242 / 34010) by setting bit1 to enable (ie. enable
= 1) the motor temperature monitoring. Next, enable temperature based current limiting using the
Temperature Monitoring Control Word (P-0-1242 / 34010) by setting bit9 to enable limiting for the motor.
Details concerning the specification of the current limits are given below.
Power Limiting enables the drive to restrict the amount of power which the motor will produce. This is
achieved by imposing a limit on the magnitude of the motor current, given the instantaneous value of the
voltage being applied to the motor. If IDN P-0-1252 / 34020 is set to a non-zero value, this value is used
to set the power, in units of [W], that the motor is restricted to operate within. If this IDN is set to zero
then Power Limiting is disabled.
The drive Amplifier Continuous Current Limit can be set to detect current overlimits in the sensed phase
currents (Iu, Iv, Iw) and flag an error in response.
Error Code
E308
Label
Continuous Current Limit Exceeded
Variable Torque Control
Variable Torque Control is a feature which allows the applied motor torque to be independently varied in the
“positive” and “negative” direction.
Figure 10-25 below shows how different configurations of the Variable Torque Control Word influence the actual
torque limits that are applied. For the purpose of discussion, we define a Unified Torque Limit as the smallest
current limit that is found from comparing all current limits current configured in the drive (from the above list).
This includes the special case of the Peak Torque Producing Current which is actually representing a torque (or
force).
Some examples of torque/current limit configurations are:
Case 1: Variable Torque Limits disabled. Unified Torque Limit is applied.
Case 2: Maximum Variable Torque Limit enabled. Unified Torque Limit used for minimum limit.
Case 3: Minimum Variable Torque Limit enabled. Unified Torque Limit used for maximum limit.
Case 4: Maximum and Minimum Variable Torque Limits enabled.
Case 5: Minimum Variable Torque Limit enabled. Minimum limit set to a value larger than zero, which means the
drive will be unable to produce zero torque. This configuration is useful for axes which have a non-zero static
load applied to them, for example a vertical axis subject to gravity.
Case 6: Maximum Variable Torque Limit enabled. Maximum limit is set to a value which is larger than the
Unified Torque Limit; hence the Unified Torque Limit is used.
Note that the minimum limit need not necessarily be negative and the maximum limit need not necessarily be
positive, as highlighted in Case 5. However the maximum limit must be larger than the minimum limit, otherwise
the drive will report a Class 1 Diagnostic (C1D) error E080.
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Feature Configuration
Figure 10-25 Variable Torque Control
Specifying Amplifier / Motor Temperature Current Limits
The first thing that needs to be done to enable temperature based current limiting is to enable temperature
monitoring as described above.
Then for each of amplifier and motor there are two variables to define the imposed current limit. They are:
Temperature Threshold (amplifier: P-0-1243 / 34011, motor: P-0-1244 / 34012) and Decay Rate (amplifier: P-01245 / 34013, motor: P-0-1246 / 34014). The Temperature Threshold [deg C] defines the temperature at which
the current limit reduces to zero. The Decay Rate [A / deg C] defines how quickly the current limit approaches
the Temperature Threshold as temperature increases. Figure 10-26 illustrates example configurations for
Amplifier / Motor Temperature Based Current Limiting. In this example:
P-0-1243 / 34011 = 60
P-0-1244 / 34012 = 50
P-0-1245 / 34013 = 5
P-0-1246 / 34014 = 2
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Figure 10-26 Amplifier / Motor Temperature Based Current Limiting
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Feature Configuration
10.1.23
Operating Modes
Description
The AMD2000 supports the SoE profile for Numerical Control (NC) of a drive. The profile allows for the presetting of up to 8 operation modes for the drive. Each of these 8 modes, or ‘mode slots’, can be configured for a
particular drive mode of operation (e.g. position control).
The AMD2000 supports up to 4 possible drive modes of operation to assign to any, or all, of these 8 available
‘mode slots’, namely:

The position control drive mode, and this can be split into either motor or external encoder feedback
modes,

The velocity control drive mode,

The torque control drive mode, and

The mode of “no selected drive mode of operation.”
The preceding 4 particular “drive modes of operation” can be pre-assigned by value to each ‘mode slot’ in the
profile (see specific details below). When the drive is in operation, the user or external entity can then select into
which mode they wish to place the drive by setting 3 bits in the Master Control Word to select from the 8
operation modes or ‘slots’. These bits select which ‘mode slot’ the drive must query for determining its current
“drive mode of operation,” thus allowing it to quickly transition from one form of position control to another, or
from velocity to torque control, etc. Note that this can be done “on the fly” while the drive is enabled and even
moving, and usually within one scan at the default 4 ms scan rate. Transitions in mode while in motion are not
generally recommended.
Warning: Switching between operating modes (‘mode slots’) while in motion should ONLY be done with
care, as unexpected motions can result.
In addition to the drive modes of operation being assigned, it is also possible to pre-assign the source of control
set point data to be used for each ‘mode slot’. Up to three different sources of data are available, including NC
input, analog input, or encoder input from the appropriate encoder channel. Details concerning the entire setup
follow below, with a table of all the IDN’s available for configuration listed immediately below.
IDN
Label
S-0-0134 / 134
Master Control Word
S-0-0135 / 135
Drive Status Word
S-0-0032 / 32
Primary Operation Mode
S-0-0033 / 33
Secondary Operation Mode 1
S-0-0034 / 34
Secondary Operation Mode 2
S-0-0035 / 35
Secondary Operation Mode 3
S-0-0284 / 284
Secondary Operation Mode 4
S-0-0285 / 285
Secondary Operation Mode 5
S-0-0286 / 286
Secondary Operation Mode 6
S-0-0287 / 287
Secondary Operation Mode 7
P-0-0531 / 33299
NC Command Source
S-0-0043 / 43
Velocity polarity configuration
S-0-0055 / 55
Position polarity configuration
S-0-0085 / 85
Torque polarity configuration
Pre-assigning “drive modes of operation”
Each ‘mode slot’ of the drive can be assigned a value determining its associated drive mode of operation. The
primary operation mode IDN (IDN S-0-0032 / 32) and 7 secondary operation mode IDN’s (IDN’s S-0-0033 / 33 →
S-0-0035 / 35 and IDN’s S-0-0284 / 284 → S-0-0287 / 287) can be filled with one of the following four values;
0: No mode of operation,
1: Torque control,
2: Velocity control,
3: Position control using feedback 1 (motor encoder), and
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4: Position control using feedback 2 (external encoder).
The list of operating modes supported by the drive can also be accessed via IDN S-0-0292 / 292 (List of
Supported Operation Modes).
Pre-assigning “setpoint sources”
Each ‘mode slot’ of the drive can be assigned a value for its associated setpoint source, which is the data
supplied to the controller for subsequent servo-control tracking. NC Command Source (P-0-0531 / 33299) is an
IDN array of 8 elements, one for each of the 8 ‘mode slots.’ The correspondence is in ascending order, so the
first array element corresponds with the primary operation mode, the second element with the 1st of the 7
secondary operation modes, and so on. Each element can be filled with one of the following 3 values depending
on which is the most appropriate source for setpoint information for the corresponding ‘mode slot’;
0: NC setpoints, available over EtherCAT communications,
1: Analog setpoints, available from analog inputs, or
2: Encoder input setpoints, from the appropriate encoder.
Master Control Word
Bits 11, 9 and 8 of the IDN S-0-0134 / 134 Master Control Word determine which of the operation modes is
active. To operate the drive, Bit 15, 14, and 13 must all be set to 1, and this is usually undertaken as part of the
start-up and enable sequence in the drive.
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11, 9-8
Bit 10
Bit 7 - 0
: Drive on/off
0 drive off
1 drive on
: Enable drive
0 not enabled
1 enabled
: Halt/restart drive
Halt drive when changing from 1 to 0, restart drive when
changing from 0 to 1
: Reserved
: Operation mode
000 Primary Operation Mode
001 Secondary Operation Mode 1
010 Secondary Operation Mode 2
011 Secondary Operation Mode 3
100 Secondary Operation Mode 4
101 Secondary Operation Mode 5
110 Secondary Operation Mode 6
111 Secondary Operation Mode 7
: Control unit synchronization bit
: Reserved
The technical data pack accompanying the AMD2000, or the appropriate online resources for the same, should
include the “Digital Servo Drive SoE Parameter Reference” (dd_reference_SoE_parameter.pdf) contains details
concerning setting other bits in the Master Control Word.
Drive Status Word
Bits 10, 9 and 8 of the IDN S-0-0135 / 135 Drive Status Word reflect the currently active operation mode or ‘mode
slot’ being used by the drive. This can be queried by external systems to assess the current operation mode of
the drive.
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Feature Configuration
10.1.24
Temperature Monitoring
Description
This document outlines how the drive can be configured to use temperature sensors that are located physically in
the motor (if applicable) and the amplifier (drive power stage). Temperature monitoring is essential in machine
operation, as excessive heat can damage components.
Enabling temperature monitoring
o
O
The user can select what temperature units (0.1 C or 0.1 F) to work with via IDN S-0-0208/208, where setting
bit 0 of this IDN to a value of 1 results in Fahrenheit, as opposed to a value of 0 which will work with Celsius.
IDN P-0-1242/34010 is the control word used to enable/disable temperature monitoring. For more details
regarding the specific bits of these parameters, refer to the Digital Servo Drive SoE Parameter Reference manual
(“dd_reference_SoE_parameter.pdf”) supplied with the drive, or located in our online resources. IDN’s 34008
and 34009 are used to report the motor and amplifier (this drive) temperatures as sensed.
IDN
Label
S-0-0208 / 208
Temperature Scaling Type
P-0-1242 / 34010
Temperature Monitor Control Word
P-0-1240 / 34008
Motor Temperature
P-0-1241 / 34009
Amplifier Temperature
Temperature warning / error threshold
If the sensed temperature feedback exceeds a value specified in IDN S-0-0200/200 for the drive amplifier, or S-00201/201 for the motor. Should the temperature exceed the shut-down temperature S-0-0203/203 for the drive
amplifier, or S-0-0204/204 for the motor, then drive will disable itself and display the C1D diagnostic error
message E0104 / E0114 . This error must be manually reset prior to the drive being re-enabled.
IDN
Label
S-0-200 / 200
Amplifier warning temperature
S-0-0203 / 203
Amplifier shut-down temperature
P-0-1241 / 34009
Sensed Amplifier Temperature
S-0-201 / 201
Motor warning temperature
S-0-204 / 204
Motor shut-down temperature
P-0-1240 / 34008
Sensed Motor Temperature
Error Code
Label
E0101
Amplifier Temperature Sensor Error - High
E0102
Amplifier Temperature Sensor Error – Low
W0103
Amplifier Temperature High Warning
E0104
Amplifier Temperature High Error
E0111
Motor Temperature Sensor Error – High
E0112
Motor Temperature Sensor Error – Low
W0113
Motor Temperature High Warning
E0114
Motor Temperature High Error
Enabling additional “PWM-On” temperature threshold
This feature has been used in specific applications where the temperature level is acceptable to enable the
drive’s controller, but not to enable the drive’s power module. Again, IDN P-0-1242/34010 has specific bits that
need to be set in order to enable the “PWM-On” temperature threshold detection features, refer to the Digital
Servo Drive SoE Parameter Reference manual (“dd_reference_SoE_parameter.pdf”) for details. The value in P0-1237 / P-0-1236 is generally lower than that of S-0-0203 / S-0-0204 (see above), and one example of this
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feature’s application may be to utilise this error to indicate that an external cooling system needs to be enabled to
lower the temperature prior to the drive enabling the power module. The temperature limits for the PWM-On
thresholds are set for both the drive amplifier and the motor as shown in the table below. Whereas the
temperature thresholds of IDN 203 and 204 are always applied when the drive is enabled, the PWM-On
thresholds of IDN 34005 and 34004 are only being evaluated for error conditions when the power module is
active (ie. “PWM On”).
IDN
Label
P-0-1237 / 34005
Amplifier shut-down temperature with PWM On
P-0-1236 / 34004
Motor shut-down temperature with PWM On
Error Code
Label
E0105
Amplifier Temperature High Error with PWM On
E0115
Motor Temperature High Error with PWM On
Amplifier fan activation (AMD 2000 only)
The following parameters are used to specify threshold values at which the cooling fan will turn on/off.
IDN
Description
P-0-1238 / 34006
Cooling Fan Activation Amplifier Temperature Enable Threshold
P-0-1239 / 34007
Cooling Fan Activation Amplifier Temperature Disable Threshold
Temperature-based current limiting
Temperature rise is often a direct consequence of high motor current; therefore limiting current commands at
high temperature reduces the rate of temperature rise and provides continued operating at reduced performance.
This feature should not be used in high precision applications.
Current is reduced to zero at specified temperature thresholds of P-0-1243/34011 (drive amplifier) and P-01244/34012 (motor).
The upper limit of current given a sensed temperature can be calculated by
(
)
142
IDN
Description
P-0-1243 / 34011
Zero Current - Amplifier Temperature Threshold
P-0-1245 / 34013
Current Decay Rate - Amplifier Temperature
P-0-1244 / 34012
Zero Current - Motor Temperature Threshold
P-0-1246 / 34014
Current Decay Rate - Motor Temperature
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Feature Configuration
10.1.25
Torque Command Filters
Description
This document outlines the usage of torque command low-pass and notch filters applicable to the AMD2000
drive. These filters are used to remove unwanted high frequency signals or defined frequency bands (such as
regions of mechanical resonance) in the torque used to drive the machine. Removal of resonant frequency
bands is often desirable to reduce machine noise and vibration, improving lifespan by reducing fatigue or
improving quality in finished products from the machine. The drive can be configured for up to 1 low-pass and 5
notch filters. Only a corner frequency parameter need be set by the user for the low-pass filter, whereas the notch
filters require a centre frequency and a Q factor. The relevant IDN’s that need setting by the user are listed as
follows;
IDN
Description
P-0-0012 / 32780
Torque Cmd Low Pass Filter Freq
P-0-0013 / 32781
Torque Cmd Notch 1 Filter Freq
P-0-0014 / 32782
Torque Cmd Notch 1 QFactor
P-0-0015 / 32783
Torque Cmd Notch 2 Filter Freq
P-0-0016 / 32784
Torque Cmd Notch 2 QFactor
P-0-0017 / 32785
Torque Cmd Notch 3 Filter Freq
P-0-0018 / 32786
Torque Cmd Notch 3 QFactor
P-0-0019 / 32787
Torque Cmd Notch 4 Filter Freq
P-0-0020 / 32788
Torque Cmd Notch 4 QFactor
P-0-0021 / 32789
Torque Cmd Notch 5 Filter Freq
P-0-0022 / 32790
Torque Cmd Notch 5 QFactor
P-0-0510 / 33278
Motor Control Tuning Procedure Command
The parameters in the above IDN’s can be calculated or estimated as follows,
Low-pass filter corner frequency – signals above this base frequency will be attenuated by more than -3
dB,
Notch filter centre frequency,
and
– centre frequency of the band needing to be attenuated with the notch,
Q factor – dimension-less parameter which characterises a resonator’s bandwidth relative to its centre
frequency. Q factor is determined from centre frequency and filter bandwidth by the relationship,
And the recommended procedure for setting the filter configuration is,
1. Set the associated filter frequency parameter to 1 (ON), or 0 (OFF).
2. Set the above configuration parameters and power cycle the drive. To update without a power cycle,
use the procedure command P-0-0510/33278 Motor Control Tuning Procedure Command by toggling
from 0 to 3.
For parameter details such as data type or scaling, refer to the Digital Servo Drive SoE Parameter Reference
manual (“dd_reference_SoE_parameter.pdf”) supplied with the drive, or located in our online resources.
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11. Fault Tracing
11.1 What this Chapter Contains
This chapter contains information related to the ANCA MotionBench that will guide the user in trouble shooting
AMD2000 Series Servo Drive:

Diagnostic Indicators on the drive

Communications Status

Base Firmware Error Codes and Possible Causes

Firmware Upgrade Errors
11.2 Problem Diagnosis
11.2.11
AMD2000 Indicators
The 7 segment LED display on the AMD2000 serves three functions. It is used to report errors, to
indicate the state of the EtherCAT communications and to indicate the state of the drive.
The dots represent wire saving encoder UVW sensor feedback state on power up.
11.2.11.1
Error state
In an error condition, the display will read either E-### where ### refers to the relevant error code.
See 11.3 Supported Error Codes for the description and cause of each.
When no error has been reported, the display will provide information on both the drive state and the
communications state.
11.2.11.2
Communications state
To indicate the state of the EtherCAT communications, the leftmost digits of the display will read C#,
where # refers to the current communications condition as shown in the following table:
144
C#
Communications State
C0
None
C1
Initialization
C2
Pre-operational
C4
Safe-operational
C8
Operational
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Fault Tracing
11.2.11.3
Drive state
To indicate the state of the drive, the rightmost digits of the display will read d#, where # refers to the
current drive condition as shown in the following table:
d#
Drive State
d0
Off
d2
Ready to operate
d3
Enabling
d4
Enabled
11.3 Supported Error Codes
Error codes are displayed on the seven segment display in the format of a prefix followed by a number
11.3.11
Error Code Prefixes
Prefix
Severity
Description
E
Error
Critical faults which disables the drive. (Class 1 Diagnostics).
W
Warning
I
Information
Tolerable faults, often a monitored measurable parameter has exceeded
its specified desirable operating range. (Class 2 Diagnostics).
Reported information regarding various internal states of the drives for
troubleshooting purposes. (Class 3 Diagnostics).
Only prefix E will be displayed on a AMD2000 Series Servo Drive and prefixes W and I are visible to a CNC.
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11.3.12
Error / Warning Codes
A quick summary of the error codes are attached. Please note that Error codes are firmware
dependent. A complete and up-to-date error listing will be delivered together with the firmware.
146
Code
Severity
Label
E0007
Error
Current Offset Adapt Error
E0015
Error
Encoder Amplitude Low - Motor
E0016
Error
Encoder Amplitude High - Motor
E0023
Error
Excess Servo Position Error
E0024
Error
Excess Servo Velocity Error
E0027
Error
Encoder Amplitude Low - External
E0028
Error
Encoder Amplitude High - External
E0033
Error
Excess Difference in Position Feedback
E0080
Error
Variable Torque Limit Error
E0100
Error
Drive Not Configured
E0101
Error
Amplifier Temperature Sensor Error - High
E0102
Error
Amplifier Temperature Sensor Error - Low
W0103
Warning
Amplifier Temperature High Warning
E0104
Error
Amplifier Temperature High Error
E0105
Error
Amplifier Temperature High Error with Drive Enabled
E0120
Error
Motor Not Standstill During Enable
E0205
Error
EtherCAT Watchdog Timeout
E0206
Error
Configuration Mode Watchdog Timeout
E0210
Error
PSU Main Power Start Timeout Error
E0211
Error
PSU Error
E0215
Error
Encoder Adjusted Amplitude Low - Motor
E0216
Error
Encoder Adjusted Amplitude High - Motor
E0220
Error
Control Unit Synchronization Bit Toggle Missing
E0221
Error
Distributed Clocks Error
E0227
Error
Encoder Adjusted Amplitude Low - External
E0228
Error
Encoder Adjusted Amplitude High - External
E0302
Error
DC Bus Voltage High
E0303
Error
DC Bus Voltage Low
E0304
Error
Positive Position Soft Limit
E0305
Error
Negative Position Soft Limit
E0306
Error
Positive Position Dead stop
E0307
Error
Negative Position Dead stop
E0308
Error
Instantaneous Current Limit Exceeded
E0309
Error
Amplifier I2R Overload
E0320
Error
Motor I2T Overload
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W0321
Warning
Amplifier I2R Warning
W0322
Warning
Motor I2T Warning
W0324
Warning
Motor I2R Warning
E0325
Error
Motor I2R Overload
E0330
Error
Positive Position Hard Limit
E0331
Error
Negative Position Hard Limit
E0332
Error
Positive Velocity Hard Limit
E0333
Error
Negative Velocity Hard Limit
E0340
Error
Invalid Command Reference Frame
E0380
Error
Event Detection Error
E0402
Error
DQA Invalid Movement Detected
E0403
Error
Alignment Off Index Pulse Error
E0404
Error
DQA Current Magnitude Error
E0405
Error
DQA Current Control Error
E0406
Error
Absolute Encoder Alignment Error
I0409
Info
Field Orientation Alignment in Progress
E0411
Error
Acceleration Observer Excessive Movement
E0412
Error
Acceleration Observer Current Control Error
E0413
Error
Acceleration Observer Excessive Velocity
E0414
Error
Acceleration Observer Torque Response Amplitude
E0415
Error
Low
Acceleration
Observer Torque Response Amplitude
E0416
Error
High
Acceleration
Observer Validation Failed
E0417
Error
Acceleration Observer Current Magnitude Error
I0666
Info
Too Many Errors
Warning
Task Overrun
W1002
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11.3.13
Error / Warning Codes Detailed Descriptions
Current Offset Adapt Error
Description
Severity
E0007
Calibrated current offset value has exceeded the specified tolerance. Possible causes for this
error are:
1. Fault in the current measurement system.
2. Incorrect current scaling parameters configured.
Error
Encoder Amplitude Low - Motor
Description
Severity
The magnitude of the signals coming from the motor analogue encoder is too low. Possible
causes for this error are:
1. Encoder cable is disconnected.
2. Encoder cable is wired incorrectly.
3. Encoder is not analogue.
4. Encoder is not outputting the correct voltage.
5. Encoder is faulty.
6. Drive is faulty. Please contact ANCA Motion for support.
Error
Encoder Amplitude High - Motor
Description
Severity
Severity
E0023
Position following error exceeded the configured threshold. Possible causes for this error are:
1. Contouring commands too demanding.
2. Insufficient DC bus voltage.
3. Poor controller tuning.
4. Axis has crashed or jammed.
5. Field orientation alignment is inaccurate (possible encoder fault).
Error
Excess Servo Velocity Error
Description
Severity
E0024
Velocity following error exceeded the configured threshold. Possible causes for this error are:
1. Contouring commands too demanding.
2. Insufficient DC bus voltage.
3. Poor controller tuning.
4. Axis has crashed or jammed.
5. Field orientation alignment is inaccurate (possible encoder fault).
Error
Encoder Amplitude Low - External
Description
148
E0016
The magnitude of the signals coming from the motor analogue encoder is too high. Possible
causes for this error are:
1. Encoder cable is wired incorrectly.
2. Encoder is not analogue.
3. Encoder is not outputting the correct voltage.
4. Encoder is faulty.
5. Drive is faulty. Please contact ANCA Motion for support.
Error
Excess Servo Position Error
Description
E0015
E0027
The magnitude of the signals coming from the external analogue encoder is too low. Possible
causes for this error are:
1. External encoder configured where no encoder exists.
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Severity
2. Encoder cable is disconnected.
3. Encoder cable is wired incorrectly.
4. Encoder is not analogue.
5. Encoder is not outputting the correct voltage.
6. Encoder is faulty.
7. Drive is faulty. Please contact ANCA Motion for support.
Error
Encoder Amplitude High - External
Description
Severity
The magnitude of the signals coming from the external analogue encoder is too high. Possible
causes for this error are:
1. Encoder cable is wired incorrectly.
2. Encoder is not analogue.
3. Encoder is not outputting the correct voltage.
4. Encoder is faulty.
5. Drive is faulty. Please contact ANCA Motion for support.
Error
Excess Difference in Position Feedback
Description
Severity
Severity
E0080
Configuration of the variable torque limit is invalid. The minimum torque limit is configured
larger than the maximum torque limit.
Error
Drive Not Configured
Description
Severity
E0100
The drive has been enabled before being configured
Error
Amplifier Temperature Sensor Error - High
Description
Severity
Severity
ANCA Motion
E0102
Drive power stage temperature sensor is reading a value lower than the drive's sensor
operating range. Drive is faulty. Please contact ANCA Motion for support.
Error
Amplifier Temperature High Warning
Description
E0101
Drive power stage temperature sensor is reading a value higher than the drive's sensor
operating range. Drive is faulty. Please contact ANCA Motion for support.
Error
Amplifier Temperature Sensor Error - Low
Description
E0033
The difference between motor and external feedback is greater than the configured threshold.
Possible causes for this error are:
1. Incorrect encoder line count.
2. Incorrect gear box ratio and/or feed constant.
3. Faulty drive mechanism (eg. loss coupling).
4. Faulty encoder.
5. Fault drive. Please contact ANCA Motion for support.
Error
Variable Torque Limit Error
Description
E0028
W0103
The drive amplifier (power stage) temperature exceeds the hardware's warning level. Possible
causes for this error are:
1. Operating environment is outside specification.
2. Drive ventilation is insufficient.
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Severity
3. Application is too demanding.
4. Cooling fan is faulty. Please contact ANCA Motion for support.
Warning
Amplifier Temperature High Error
Description
Severity
The drive amplifier (power stage) temperature exceeds the hardware's physical operating
threshold. Possible causes for this error are:
1. Operating environment is outside specification.
2. Drive ventilation is insufficient.
3. Application is too demanding.
4. Cooling fan is faulty. Please contact ANCA Motion for support.
Error
Amplifier Temperature High Error with Drive Enabled
Description
Severity
Severity
Severity
Severity
Severity
150
E0210
The main power supply failed to enable within the configured time. Please contact ANCA
Motion for support.
Error
PSU Error
Description
Severity
E0206
This error indicates a problem with communications between ANCA MotionBench software
and the drive. Please refer to 9 Start-up
Error
PSU Main Power Start Timeout Error
Description
E0205
This error indicates a problem with communications between the EtherCAT Master (eg. CNC)
and the drive. Please contact ANCA Motion for support.
Error
Configuration Mode Watchdog Timeout
Description
E0120
When the drive is enabled the motor must be stationary. This error is triggered if the motor
moves during initialisation. Possible causes for this error are:
1. Motor is moving via some external interaction during initialisation.
2. Analogue encoder feedback is excessively noisy (if applicable).
3. Standstill threshold is set below the analogue encoder feedback noise floor (if
applicable).
4. Encoder is faulty.
5. Drive is faulty. Please contact ANCA Motion for support.
Error
EtherCAT Watchdog Timeout
Description
E0105
With the drive enabled the drive amplifier (power stage) temperature exceeds the hardware's
physical operating threshold. Possible causes for this error are:
1. Operating environment is outside specification.
2. Drive ventilation is insufficient.
3. Application is too demanding.
4. Cooling fan is faulty. Please contact ANCA Motion for support.
Error
Motor Not Standstill During Enable
Description
E0104
E0211
The main power supply has reported an error. Please contact ANCA Motion for support.
Error
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Fault Tracing
Encoder Adjusted Amplitude Low - Motor
Description
Severity
The magnitude of the adjusted signals for the motor analogue encoder is too low. Incorrect
gain and/or offset values have been configured.
Error
Encoder Adjusted Amplitude High - Motor
Description
Severity
Severity
Severity
E0221
This error indicates a problem with communications between the EtherCAT Master (eg. CNC)
and the drive. Please contact ANCA Motion for support.
Error
Encoder Adjusted Amplitude Low - External
Description
Severity
Severity
Severity
E0302
DC bus voltage in the power stage exceeded the hardware maximum limit. Possible causes
for this error are:
1. Regenerative load is outside the specification for the drive.
2. Mains supply voltage is too high.
3. Regeneration resistor or drive is faulty. Please contact ANCA Motion for support.
Error
DC Bus Voltage Low
Description
Severity
ANCA Motion
E0228
The magnitude of the adjusted signals for the external analogue encoder is too high. Incorrect
gain and/or offset values have been configured.
Error
DC Bus Voltage High
Description
E0227
The magnitude of the adjusted signals for the external analogue encoder is too low. Incorrect
gain and/or offset values have been configured.
Error
Encoder Adjusted Amplitude High - External
Description
E0220
This error indicates a problem with communications between the EtherCAT Master (eg. CNC)
and the drive. Please contact ANCA Motion for support.
Error
Distributed Clocks Error
Description
E0216
The magnitude of the adjusted signals for the motor analogue encoder is too high. Incorrect
gain and/or offset values have been configured.
Error
Control Unit Synchronization Bit Toggle Missing
Description
E0215
E0303
DC bus voltage in the power stage is below the hardware minimum limit. Possible causes for
this error are:
1. Mains supply is not connected.
2. Connector for external inductor, missing inductor or link across P1, P2.
3. Mains supply voltage is too low.
4. Power requirements for the application are outside the specification for the drive.
5. Drive is faulty.
Please contact ANCA Motion for support.
Error
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Positive Position Soft Limit
Description
Severity
E0304
Position soft limit in the positive direction has been exceeded. Possible causes for this error
are:
1. Error limit is enabled before the axis has been successfully homed.
2. Master or other High Level Function have commanded the drive to a state (position &
velocity) where it will be unable to decelerate before exceeding the positive position limit.
3. Drive has experienced a fault which has resulted in a runaway event.
Error
Negative Position Soft Limit
Description
Severity
E0305
Position soft limit in the negative direction has been exceeded. Possible causes for this error
are:
1. Error limit is enabled before the axis has been successfully homed.
2. Master or other High Level Function have commanded the drive to a state (position &
velocity) where it will be unable to decelerate before exceeding the negative position
limit.
3. Drive has experienced a fault which has resulted in a runaway event.
Error
Positive Position Dead stop
Description
Severity
E0306
Position positive dead stop input is active.
Error
Negative Position Dead stop
Description
Severity
Position negative dead stop input is active.
Error
Instantaneous Current Limit Exceeded
Description
Severity
Severity
E0309
Residual heat within the drive power stage (amplifier) exceeds the thermal limit. Possible
causes for this error are:
1. Application is outside the specification for the drive: too demanding.
2. Current controller is poorly tuned.
3. Field orientation alignment is inaccurate (possible encoder fault).
4. Drive is faulty. Please contact ANCA Motion for support.
Error
Motor I2T Overload
Description
Severity
152
E0308
One or more of the motor phase currents has exceeded the instantaneous limit. Possible
causes for this error are:
1. Instantaneous current limit is configured too low given the unified current limit.
2. Current loop is poorly tuned.
3. Motor is faulty.
4. Drive is faulty. Please contact ANCA Motion for support.
Error
Amplifier I2R Overload
Description
E0307
E0320
Motor current is consistently higher than the specified load threshold. Possible causes for this
error are:
1. Load on axis is above configured threshold.
2. Axis has crashed or jammed.
Error
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Fault Tracing
Amplifier I2R Warning
Description
Severity
W0321
Residual heat within the drive power stage (amplifier) exceeds the warning level. Possible
causes for this error are:
1. Application is outside the specification for the drive: too demanding.
2. Current controller is poorly tuned.
3. Field orientation alignment is inaccurate (possible encoder fault).
4. Drive is faulty.
Please contact ANCA Motion for support.
Warning
Motor I2T Warning
Description
Severity
W0322
Motor current is higher than the specified load threshold. Possible causes for this error are:
1. Load on axis is above configured threshold.
2. Axis has crashed or jammed.
Warning
Motor I2R Warning
Description
Severity
W0324
Residual heat within the motor exceeds the warning level. Possible causes for this error are:
1. Application is outside the specification for the motor: too demanding.
2. Current controller is poorly tuned.
3. Field orientation alignment is inaccurate (possible encoder fault).
4. Motor is faulty.
Warning
Motor I2R Overload
Description
Severity
E0325
Residual heat within the motor exceeds the thermal limit. Possible causes for this error are:
1. Application is outside the specification for the motor: too demanding.
2. Current controller is poorly tuned.
3. Field orientation alignment is inaccurate (possible encoder fault).
4. Motor is faulty.
Error
Positive Position Hard Limit
Description
Severity
E0330
Position hard limit in the positive direction has been exceeded. Possible causes for this error
are:
1. Error limit is enabled before the axis has been successfully homed.
2. Master or other High Level Function has commanded the drive to a position that
exceeds the positive position limit.
3. Drive has experienced a fault which has resulted in a runaway event.
Error
Negative Position Hard Limit
Description
Severity
Position hard limit in the negative direction has been exceeded. Possible causes for this error
are:
1. Error limit is enabled before the axis has been successfully homed.
2. Master or other High Level Function have commanded the drive to a position that
exceeds the negative position limit.
3. Drive has experienced a fault which has resulted in a runaway event.
Error
Positive Velocity Hard Limit
Description
ANCA Motion
E0331
E0332
Positive velocity hard limit has been exceeded. Possible causes for this error are:
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1. Master or other High Level Function has commanded the drive to a velocity that
exceeds the positive velocity limit.
2. Drive has experienced a fault which has resulted in a runaway event.
Error
Negative Velocity Hard Limit
Description
Severity
Negative velocity hard limit has been exceeded. Possible causes for this error are:
1. Master or other High Level Function have commanded the drive to a velocity that
exceeds the negative velocity limit.
2. Drive has experienced a fault which has resulted in a runaway event.
Error
Invalid Command Reference Frame
Description
Severity
Severity
E0380
The event detection module has reported an error while attempting to latch a position during
homing or probing. Please contact ANCA Motion for support.
Error
DQA Invalid Movement Detected
Description
Severity
Severity
154
E0404
The configured alignment current exceeds the unified current limit.
Error
DQA Current Control Error
Description
E0403
The difference between the configured and estimated field orientation alignment offset is larger
than the configured threshold. Possible causes for this error are:
1. Incorrect encoder configuration (i.e. UVW hexant binary).
2. The relative position between the motor and encoder has been modified.
Error
DQA Current Magnitude Error
Description
Severity
E0402
During DQ alignment an invalid movement was detected. Possible causes for this error are:
1. Incorrect motor poles configured.
2. Incorrect motor phase sequence.
3. Incorrect motor encoder line count configured.
4. Incorrect motor encoder polarity configured.
5. The configured alignment current is too low to drive the motor.
6. Motor/axis is jammed.
Error
Alignment Off Index Pulse Error
Description
E0340
The set point command is in referenced coordinates, that is zeroed or homed, but the
feedback is not in reference coordinates. Handshaking between the master and the drive
while attempting to change referenced coordinates has failed.
Error
Event Detection Error
Description
E0333
E0405
Sensed motor current is not following the DQ alignment current with sufficient accuracy,
Possible causes for this error are:
1. Poorly tuned current loop.
2. DC bus voltage too low.
3. Motor armature cable is disconnected.
4. Motor is faulty.
5. Drive is faulty. Please contact ANCA Motion for support.
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Severity
Error
Absolute Encoder Alignment Error
Description
Severity
E0406
Absolute encoder used for field orientation initialisation has failed to latch an alignment angle.
Possible causes for this error are:
1. Encoder is faulty. Power cycling the drive/encoder may resolve the issue.
2. Drive is faulty. Please contact ANCA Motion for support.
Error
Field Orientation Alignment in Progress
Description
Severity
Field Orientation Alignment is in progress - active stimulus signal (current) has been
commanded to the motor.
Info
Acceleration Observer Excessive Movement
Description
Severity
Severity
Severity
Severity
ANCA Motion
E0414
The fundamental frequency component of the torque response is below the minimum
amplitude threshold. Possible causes for this error are:
1. Stimulus frequency is too high.
2. Stimulus current is too low.
Error
Acceleration Observer Torque Response Amplitude High
Description
E0413
Excessive velocity detected while acceleration observer is executing. Possible causes for this
error are:
1. Incorrect motor poles configured.
2. Incorrect motor encoder line count configured.
3. Stimulus frequency is too low.
4. Stimulus current is too high.
Error
Acceleration Observer Torque Response Amplitude Low
Description
E0412
Sensed motor current is not following the Acceleration Observer alignment current with
sufficient accuracy, Possible causes for this error are:
1. Poorly tuned current loop.
2. DC bus voltage too low.
3. Motor armature cable is disconnected.
4. Motor is faulty.
5. Drive is faulty. Please contact ANCA Motion for support.
Error
Acceleration Observer Excessive Velocity
Description
E0411
Motor movement exceeded tolerance while executing acceleration observer field orientation.
Possible causes for this error are: 1. Incorrect motor poles configured. 2. Incorrect motor
phase sequence. 3. Incorrect motor encoder line count configured. 4. Incorrect motor encoder
polarity configured.
Error
Acceleration Observer Current Control Error
Description
I0409
E0415
The fundamental frequency component of the torque response is above the maximum
amplitude threshold. Possible causes for this error are:
1. Stimulus frequency is too low.
2. Stimulus current is too high.
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Severity
Error
Acceleration Observer Validation Failed
Description
Severity
The axis moved in the wrong direction after Acceleration Observer completed. Possible
causes for this error are:
1. Incorrect motor poles configured.
2. Incorrect motor phase sequence.
3. Incorrect motor encoder line count configured.
4. Incorrect motor encoder polarity configured.
5. The configured stimulus current is too low.
6. The configured stimulus frequency is too high.
Error
Acceleration Observer Current Magnitude Error
Description
Severity
I0666
Multiple errors have been tripped; for the detailed list of error refers to P-0488 (33256).
Info
Task Overrun
Description
Severity
11.3.14
W1002
One or more of the internal tasks has exceeded their maximum execution time. Please
contact ANCA Motion for support.
Warning
Firmware Upgrade Errors
Displayed state
156
E0417
Stimulus current magnitude exceeds the unified current limit.
Error
Too Many Errors
Description
Severity
E0416
Description
BOOT1
Boot loader started
BOOT2
Boot loader finished
BLUP0
Boot loader Updater: Firmware processing state idle
BLUP1
Boot loader Updater: Firmware processing state validate after write
BLUP2
Boot loader Updater: Firmware processing state finished
E0001
EFW Streaming error: unexpected flash programming in progress
E0002
EFW Streaming error in receiving the file header
E0003
EFW Streaming error in validating the file header (CRC)
E0004
EFW Streaming error in initializing flash programming
E0005
EFW Streaming error in receiving the image block header
E0006
EFW Streaming error while decrypting the image block header
E0007
EFW Streaming error in validating the image block header (CRC)
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E0008
EFW Streaming error: unexpected flash erasing or writing in progress while
receiving the image block header
E0009
EFW Streaming error: software image size is larger than the allocated
receiving buffer
E0010
EFW Streaming error in receiving the software image header
E0011
EFW Streaming error in decrypting the software image header
E0012
EFW Streaming error in validating the software image header (CRC)
E0013
EFW Streaming error: unexpected flash erasing or writing in progress while
receiving the software image header
E0014
EFW Streaming error in receiving the software image data
E0015
EFW Streaming error in decrypting the software image data
E0016
E0017
EFW Streaming error: flash interface is not enabled while finalizing image
stage 1
EFW Streaming error in validating the image block (CRC)
E0018
EFW Streaming in validating the software image
E0019
EFW Streaming error: flash interface is not enabled while finalizing image
stage 2
E0020
EFW Streaming error in validating the file (CRC)
E0021
Boot loader Updater error: boot loader CRC check failed
E0022
Boot loader Updater Firmware Processing error: Flash controller interface error
while preparing to write
E0023
Boot loader Updater Firmware Processing error: Flash controller interface error
while submitting a block to be written
E0024
Boot loader Updater Firmware Processing error: Flash controller interface
programming error
E0025
Boot loader Updater Firmware Processing error: Flash has attempted to write
to the boot loader sector in flash but was unsuccessful, wipe the boot loader
sector so the blcheck can jump straight to the BLUPG code again; failed to
Boot loader Updater error: The attempt to erase the first sector of the
erase.
application section (this has the jump instruction and header) failed.
E0026
ANCA Motion
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12. Technical Data
12.1 What this Chapter Contains
This chapter contains information related to detailed specifications of the drive:

Control Functions

Interface Specifications

Electrical Specifications

Performance Specifications

Environmental Specifications

Mechanical Dimensions and details

Standards Compliance
12.2 Control Functions
Attribute
12.2.11
Qualification
Control Modes
Linear control
Yes
Rotational control
Yes
Position control
(with cyclic position commands)
Commands received via the Ethernet
interface/EtherCAT protocol
Velocity control
Commands received via the Ethernet
interface/EtherCAT protocol
Current/Torque control
Yes
Sinusoidal Induction Motor Control
Yes
12.2.12
Thermal and over-current protection
Inverter heat-sink temperature limit
70° C
I versus T adjustable limiting
Yes
Adjustable over-current trip
Yes
Surge protection
12.2.13
Yes (300 VAC)
Self-Protection features
Motor Overload
Yes
Over-travel Limit exceeded
Yes
12.2.14
DC bus voltage control
Bus voltage monitor
158
Yes
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Technical Data
Bus regeneration brake chopper
Yes
Bus over/under voltage adjustable limits
Yes
12.2.15
Advanced control functions
Drive controlled homing
Yes
DC Bus compensation
Yes
Cogging compensation
No
Backlash compensation
No
Probing
No
Pre-defined Drive Controlled Moves (DCM)
Yes – up to 64 move segments
Yes
Drive controlled Homing (DCH)




Field Orientation Modes
EtherCAT Slave Mode
DQ Alignment
Acceleration Observer
Hall Sensors
Fixed
Yes
EtherCAT Slave to Slave Communication
Yes
Stand-alone Mode
Yes
Field Firmware Updates
Yes
Position Latch
Yes
Secure Boot Loader
Yes
Persistent Configuration Data
Yes ( via EEPROM)
Continuous ADC Calibration
Yes
ANCA Motion
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12.3 Interface Specifications
Attribute
12.3.11
Qualification
Digital I/O Supply
Nominal Operating Voltage
24 VDC ±10%
Maximum Current
500 mA
Short Circuit Protected
12.3.12
Yes (resettable fuse)
24V Digital Inputs
Number of Inputs
8
Nominal Operating Voltage
24 V
Maximum Voltage
30 V
Minimum Input Must Detect Voltage
18 V
Maximum Must Not Detect Input Voltage
5V
Input Current
16 mA
Input Impedance
1 kΩ
Isolated
Yes
12.3.13
24V Digital Outputs
Number of Outputs
6
Output Type
NPN Open Collector
Nominal Operating Voltage
24 V
Maximum Operating Voltage
30 V
Maximum Sink Current
300 mA total for all 6 outputs
while not exceeding 300 mA per output
Isolated
Yes
Short Circuit Protected
No
12.3.14
5V RS422 Differential Digital Inputs
2 (4 wires)
Number of Inputs
Absolute Maximum Voltage on Any Line W.R.T. 0V
+12/-7 V
Turn On Differential Threshold
+200 mV
Turn Off Differential Threshold
-200 mV
Hysteresis
45 mV
Isolated
12.3.15
No
Differential Digital Outputs
Number of Outputs
3 x line driver (6 wires)
Minimum Output High Voltage single ended W.R.T
160
1
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2.5 V @ 20 mA
ANCA Motion
Technical Data
GND
Maximum Output Low Voltage single ended W.R.T
GND
0.5 V @ -20 mA
Maximum Current
±20 mA
Isolated
No
Short Circuit Protected
No
12.3.16
Analogue Inputs
Number of Inputs
2
Input impedance
5.9 kΩ
Input Voltage (Nominal Range)
±10 V
Input Voltage (Absolute Maximum Range)
±12.64 V
Bandwidth
318 Hz
Isolated
12.3.17
No
Analogue Outputs
Number of Outputs
1
Output Voltage (Nominal Range)
±10 V
Output Voltage (Absolute Maximum Range)
±12.25 V
Output Current (Nominal)
+/-10 mA
Short circuit protection
Yes
Bandwidth
500 Hz
Isolated
12.3.18
No
Motor Position Feedback
Number of position feedback channels
2
Ch1: Analogue 1 Vpp
Ch2: RS422 Line Drive

Supported Encoders
Analogue Incremental Sin/Cos (1 Vpp)

12.3.19
Digital Incremental (RS422)
Encoder Channel 1
Interface Type
Analogue 1 Vpp
Supported Inputs
Sin, Cos (1Vpp), Ref (RS485)
1Vpp Commutation Track
Not Supported
120 Ω
1Vpp Terminating Resistance
1Vpp Full Scale Differential Input Voltage
1.6 Vpp
1Vpp Bandwidth
200 kHz
140 Ω
RS485 Terminating Resistance
RS485 Turn On Differential Threshold
+200 mV
RS485 Turn Off Differential Threshold
-200 mV
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RS485 Hysteresis
50 mV
RS485 Common Mode Range
12.3.20
-0.7 V to +5.6 V
Encoder Channel 2
Interface Type
RS422 Line Receiver
Number of Inputs
3 (6 wires)
Maximum Voltage on Any Line W.R.T. 0V
+12/-7 V
120 Ω in series with 1 nF capacitance
Terminating Resistance
Turn On Differential Threshold
+200 mV
Turn Off Differential Threshold
-200 mV
Hysteresis
45 mV
Isolated
12.3.21
No
Encoder Supply
Nominal Voltage
5VDC +-5% unregulated supply
9VDC +-5% regulated supply
Maximum Current
400mA (5VDC)
500mA (9VDC)
Short Circuit Protection
12.3.22
No
Ethernet Interface
Protocol
EtherCAT
Baud Rate
100 Mb/s
Drive Profile Definition
SoE
Connector
12.3.23
Ethernet RJ-45
Modbus Interface
Baud Rate
19200 b/s
Connector
RJ-45
12.3.24
Drive Display
Indicator
5 x 7-segment LED
Operator Interfacing
12.3.25
4 DIP buttons
Digital I/O Supply
Nominal Voltage
Maximum Current
24VDC ±10%
500 mA (X4 pins 20/21 combined)
Short Circuit Protected
162
Yes (resettable fuse)
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ANCA Motion
Technical Data
1
Exceeding these written values may damage the drive and will cause unexpected operation of the digital outputs. These
outputs are ‘open collector’ type and have no current limiting or diagnostic features. It is up to the customer to ensure
compatibility of the external circuitry with this limit.
12.4 Electrical Specifications
Catalogue Number
D2003-2S1-A
Attribute
12.4.11
Symbol
D2009-2S1-A
Qualification
Power supply section
Drive Input voltage
ULN-(1Ø)
ULL-(3Ø)
100~240VAC
100~240VAC
Voltage fluctuation
Uδ
+/- 10%
Input frequency
ƒLN
50/60Hz
UL1,L2,L3 -PE
265V AC
ILN
500 mA
Maximum input voltage to Protective Earth
Auxiliary input current
Soft Start Relay
12.4.12
Internal
Digital servo drive
DC voltage
UDC
1.404xULN-(1Ø-3 Ø)
Max. output voltage
UaN1
0.90x ULN-(1Ø-3 Ø)
Continuous output current
IaN
One-minute overload capability
IaM
Peak repetitive overload current
Ip
Max. Peak repetitive overload duration
tp
1 sec
Min. Peak repetitive overload interval
ts
10 sec
Current loop update rate
ti
62.5 sec, 125 sec
ηD
>90%
ƒmax
500 Hz
Drive efficiency
Max. Output frequency (at nominal
ULN)
3 A rms
9 A rms
110%
6 A rms
16 A rms
*
* 125 sec under development.
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12.5 Performance Specifications
Catalogue Number
D2003-2S1-A
Attribute
12.5.11
Qualification
Resolution
Analogue to Digital
12.5.12
12 Bits
Steady State Performance
Accuracy at recommended operating conditions
12.5.13
D2009-2S1-A
±2 encoder counts
Dynamic Performance
Max. settling time
13
Current loop response
14
12.5.14
Regenerative Braking
Regenerative brake switching capacity
3A at UDC
9A at UDC
Internal Brake Resistor
40 Watts
60 Watts
External Brake Resistor
13
14
Optional
Depends on current/velocity/position control loop tuning
Depends on current/velocity/position control loop tuning
164
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Technical Data
12.6 Environmental Specifications
Catalogue Number
D2003-2S1-A
Attribute
12.6.11
Qualification
Storage
Ambient Temperature
-20 to +65° C
Relative Humidity
12.6.12
D2009-2S1
5 to 90%
Transport
Ambient Temperature
-20 to +65° C
Relative Humidity
90% at 40° C
2
Mechanical vibration
12.6.13
5.9m/s maximum
Installation and Operation
Permissible Ambient Temperature at rated
continuous current IaN
0 to +50° C
15
Maximum Ambient Temperature with de-rating
+55° C
Relative Humidity
5 to 85% non-condensing
Mechanical vibration
5.9 m/s2 maximum
Unusual environmental conditions
Not provided beyond 60146-1-1
Maximum installation/operating altitude (with respect
to mean sea level)
12.6.14
1000
Physical Characteristics
Degree of Protection
IP20 in accordance with 60529
Mounting position in Operation
Vertical
Device Weight
1.25kg
2kg
Height (mm)
206
182
Width (mm)
43
60
Depth (mm)
189
185
No
Yes
31 W
80 W
12.6.15
Cooling
Fan Cooled
Heat generation @ full rated continuous current
2
15
2
De-rating is applied to the maximum rated continuous current IaN from 100% at 50°C down to 50% at 60°C
This amount of heat energy needs to be removed from the equipment cabinet to prevent overheating
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†
Note: Degree of Protection
Both 3A and 9A AMD2000 drives comply with EN 60529, IP20.
NOTE: The top surface of cabinets/enclosures which are accessible when the equipment is energized shall meet at the
requirement of protective type IP3X with regard to vertical access only.
12.7 Dimension Drawings
12.7.11
AMD2000 3A drive mounting hole positions and physical
dimensions
166
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Technical Data
12.7.12
AMD2000 9A drive mounting hole positions
and physical dimensions
12.8 24V Control Circuit Supply
The maximum current that can be drawn from this supply is 500mA total. Note that if a motor with a brake is
required this may be insufficient current to release the brake, so an external power supply will be required. Also
note that if overloaded the poly-fuse in the drive will present a high resistance and there will no longer be 500mA
available until the load is removed.
12.9 Effect of AC Input Voltage on DC Bus Ripple
The AMD 2000 drive works by rectifying AC into DC to generate what is known as a DC Bus. This is smoothed
by the bus capacitance and then 6 switches turn on in such a manner that rotation of the motor occurs. Because
there is a finite capacitance in the drive there will always be voltage ripple when the drive is providing energy to a
motor. The higher the input voltage is to the drive, and the more power that is drawn from the drive, the higher
the ripple. Specified in the graphs below is voltage droop, which is the value the voltage drops at its lowest
point. These are all for full rated current for both of the drives. Because the power output has dropped as the
voltage decreases the ripple drops also, which is somewhat counter-intuitive. For a constant power load
decreasing input voltage would result in increased ripple.
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Load will also affect ripple and droop. If the load is decreased the ripple will decrease, but the relationship is not
linear. Either simulation, testing or solution of non-linear equations is required to find the droop that will result in
a changed load with fixed AC input voltage and capacitance.
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Technical Data
12.9.11
Effect of AC Input Voltage on DC Bus Voltage
For a delta connected supply or a single phase supply the input voltage will be approximately
(
12.9.12
Ripple
)
(
)
Effect of Bus Capacitance on DC Bus
The selection of bus capacitance required for a user application is based on the amount of power required and
the amount of ripple desired. Increasing the bus capacitance can result in more power output (higher rms output
voltage as ripple reduces) and lower voltage ripple.
As well as this, sharing of the ripple current over more capacitors meaning less heating and longer life of the bus
capacitors. This also may reduce the requirement of regeneration resistors as the increase in capacitance lowers
the voltage increase of the capacitors. It may result in higher peak currents from the supply however, and
associated conducted harmonic current emissions, so recommended ANCA Motion inductors will no longer be
applicable.
The bus capacitors must support the DC bus voltage between charging. With three phase input at 50 Hz this
would be 1/300 = 3.33ms. An approximation to find the voltage drop is
where t = time(s) bus capacitance must support the load until it gets charged next, (3.33ms for three phase 50 Hz
and 10ms for 50 Hz single phase), Irms is the output current the drive is providing (A) and C is the bus
capacitance (F).
Note that this will give up to 1.5 times more voltage droop than will occur in reality. As the bus capacitance
increases and the load decreases this equation becomes more accurate. If exact voltage droop is desired then
please contact ANCA Motion applications engineering.
Note that with increasing drive bus capacitance the inrush current upon power-up increases and the internal soft
start resistor may not be sufficient to limit the charge current into the capacitors without blowing an upstream
fuse. Under all circumstances, the charge current must be kept to under 20A. The internal positive temperature
coefficient resistor is 50 Ohms. The maximum charge current at 240VAC input will thus be 340/50 = 6.8A.
12.9.13
Voltage
Effect of Output Current on DC Bus Ripple
12.10
Temperature De-rating
The AMD2000 3A and AMD2000 9A drives dissipate heat via heat sinks, but the AMD3 does not use a cooling
fan. In the unlikely event of fan failure under heavy load, the heat sink temperature will increase until it reaches
70°C, when the internal controller will stop power flowing from the drive to the motor and report a class 1
diagnostics error. Please see the graphs of ambient temperature and current rating below to assess safe thermal
operating area. Please note, these figures apply to 50 Hz sinusoidal output and power factor 0.8 on the
drive. Note that these curves may be scaled by duty cycle, so if the application only has the drive running for 0.5
duty cycle at 3 phase 55 °C ambient 240V delta supply then instead of 1.9A rms, the full 3A rms rating could be
used for 50% of the time.
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12.10.11
De-rating Characteristics
AMD2000 3A drive de-rating Curves
The AMD 9 has no thermal ratings curves, as the full 9A rms output may be used up to 55 °C ambient
temperature and maximum voltage rating of the drive.
Note that these curves are for a single drive only. Where multiple drives are used in close proximity further derating may be necessary. Please see mechanical drawings below that show spacing required.
12.11
Input Power-cycling and Inrush
Upon start-up the drive will have an inrush current of no more than 6.8 A. Power cycling the drive more than
once every 10 s is not recommended.
170
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ANCA Motion
Technical Data
Discharge Period
12.12
If additional capacitance is added to the bus the discharge period for the bus capacitance to drain to 40V can be
calculated by:
(
Where
(
C0 is
12.13
)
)
for AMD2000 3A drive and
for AMD2000 9A Drive
Motor Output Power
See ratings table below: This is dependent on motor input voltage, optional harmonic suppression inductor if
used and optional additional bus capacitance, and if a single or three phase supply is used. Note that the
increase of power by using additional bus capacitance is not covered in the de-ratings tables. Please contact
ANCA Motion applications if increased power output is required by using additional bus capacitance. Please
note that final output power capability is defined by the thermal rating for the AMD2000 3A.
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12.14
Brake/Regeneration Resistor
The AMD2000 3A and AMD2000 9A drives have an inbuilt regeneration resistor. Regeneration refers to the
process whereby when the motor is actively providing energy to the drive and then stops, the kinetic energy in
the entire mechanical system connected to the shaft of the motor gets transferred to the bus capacitance in the
drive, which increases the voltage. This happens because of the motor inductance. When the voltage on the
bus capacitance exceeds 385V the drive will connect the internal regeneration resistor in addition to any external
regeneration resistor that is provided by the user. The internal resistor is only capable of dissipating a power of
40W for the AMD92000 3A and 60W for the AMD2000 9A. In addition to the power rating of the resistor to be
observed the instantaneous energy maximum for each resistor must also be observed. This is 24.7 joules for the
AMD 2000 3A drive and 143 joules for the AMD 9. If there is more regeneration power than this is created then
the user must connect an external resistor.
In addition to the power dissipation constraint of the regeneration resistors, the internal bulk capacitance of the
drive is 440µF for the AMD2000 3A and 1410µF for the AMD2000 9A with a working voltage of 400V. This value
of 400V must never be exceeded. The user must calculate what the bus voltage will increase to due to the
capacitance given the energy in the mechanical system. Note that if external bus capacitance is used (for
smoother bus ripple) then this capacitance must be added also.
AMD2000
External Capacitor(s)
as required
C
X2B
External Regeneration
Resistor(s) as required
12.14.11
D
DC Bus Capacitors:
<400V,
440µF(3A drive)
/
1410µF/(9A drive)
Internal Regeneration
Resistor:
40W(3A drive
/
60W (9A drive)
Brake Resistor Selection, Braking Energy and Power
The starting points for the calculations regarding the required regeneration resistor are the two equations for
kinetic energy in the system, and are dependent entirely on the application of the user.
Linear:
Where E = Energy in Joules
m = mass in kg
v = velocity in m/s
Rotational:
Where E = energy in Joules
2
J = moment of inertia in kgm
ω = angular velocity in rad/s
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Technical Data
Once the kinetic energy in the system is found, the voltage rise due to the energy on the bus
capacitance can be found:
( )
Where V = voltage in V,
E = Energy in Joules,
C = Capacitance in Farads
The power dissipated in the regeneration resistor(s) additionally depends on how often the user is stopping the
torque output of the motor. For example, if the drive is operating in torque mode and a torque command is set to
0 from a non-0 value then the power dissipated is the kinetic energy in the system multiplied by the number of
times per second the drive is going from this set point to 0 again.
Example 1:
Load (Grinding Wheel,
Flywheel etc.)
Servo Motor &
Pulley
Pulley Ratio = 5
Pulley to Drive Load
The servo motor drives a load via two pulleys. The ratio is 1:5 from motor to load to provide a slower speed but
higher torque.
Assuming the belt has negligible stored energy compared to the rest of the system and the load is rotational:
Jeff (effective moment of inertia) = Jmotor+Jmotor pulley + (Jload pulley + Jload)
The energy stored in the system at the time the torque set point is reduced to zero is:
(For the inbuilt brake resistors, this value must not exceed 24.7Joules for AMD2000 3A drive and 143J for
AMD2000 9 A drive.)
The rise in voltage in this example is then
( )
Example 2:
The situation in example 1 has torque applied and then stopped twice per second. The power required for the
regeneration resistor to dissipate all of the energy is
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12.15
174
Materials
Drive enclosure:
The AMD2000 Drive chassis (main, sub, and
fan) are stainless steel 304 with a silver paint
finish. The AMD2000 Drive heat-sink is
aluminium 6063 T5. The AMD2000 face cover
main and PN panels are SABIC Resin 221R
with a print finish on the main panel.
Packaging:
Cardboard
Disposal:
The drive contains raw materials that should be
recycled to preserve energy and natural
resources. The package materials are mostly
environmentally compatible and recyclable. All
metal parts can be recycled. The plastic parts
can either be recycled or burned under
controlled circumstances, according to local
regulations. Most recyclable parts are marked
with recycling marks. The electrolytic capacitors
and the integrator power module are classified
as hazardous waste within the EU and must be
removed and handled according to local
regulations. For further information on
environmental aspects and more detailed
recycling instructions, please contact your local
ANCA Motion distributor.
DS619-0-00-0019 - Rev 0
ANCA Motion
Technical Data
12.16
Standards Conformity
CAT. NO.
Marking & Applicable
Regulations
Standard
LVD
2006/95/EC (Low
Voltage Directive)
EN 61800-5-1: 2007
(Class I)
EMC 2004/108/EC
(Electromagnetic
Compatibility)
EN 61800-3:2004
(Category C3)
Emissions:
Certification
Organisation
D2003-2S1A/
D2009-2S1A/
AM619-0-030003
AM619-0-030009
Integrity EnE Lab Inc,
Taiwan
Report No.
IL110705800
Report No.
IL100812800
Electronics Testing
Center, Taiwan
Report No.
13-01-MAS116-R
Report No.
12-06-MAS263
CISPR 11:2009/A1:2010
EN 61000-32:2006/A1:2009/A2:2009
EN 61000-3-3:2008
Immunity:
EN 55024:2010
IEC 61000-4-2:2008
IEC 61000-43:2006/A1:2007/A2:2010
IEC 61000-4-4:2004/A1:2010
IEC 61000-4-5:2005
IEC 61000-4-6:2008
IEC 61000-2-4:2003
IEC 60146-1-1:1993
IEC 61000-2-1:1990
ETG 1000 series
16
ETG 9001
ETG 1300
Those items in the drive
with no applicable
regulation, but to which
standards have been
applied.
16
Servo profile over EtherCAT fieldbus
profile (SoE). IEC 61800-7.
IEC 61491, for serial data link real
time communications in industrial
machines.
Note: the AMD2000 is a
conforming EtherCAT
device, but does not
qualify as conformance
tested. ANCA Motion
self-determination of
compliance.
ANCA Motion selfdetermination of
compliance within
certain limits.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany
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12.17
EtherCAT®17 Conformance Marking
An EtherCAT device conformance mark is attached to each drive in order to verify that the
unit has been tested for compliance with the EtherCAT marking, indicator and performance
guidelines covered by the ETG standards listed in section 12.16. Future drive revisions
intend to achieve “Conformance tested” marking by independent verification through an
externally registered body.
12.18 CE Marking
A CE mark is attached to each drive in order to verify that the unit meets the relevant Low
Voltage and Electromagnetic Compliance (EMC) directives of the European Union.
12.18.11 Compliance with the European EMC Directive is
achieved via EN 61800-3
The object of this standard (61800-3) is to define the limits and test methods for a Power Drive System (PDS)
according to its intended use, whether residential, commercial or industrial. The standard sets out immunity
requirements and requirements for electromagnetic emissions as minimums within these different environments.
The AMD2000 (both 3A and 9A) are intended for use as Category 3 PDS, and have been tested and certified to
comply for use within what 61800-3 defines as the second environment. The AMD2000 3A and 9A comply with
the standard with the following provisions:
1.
2.
3.
The motor and control cables are selected according the specifications given in this manual.
The drives are installed and maintained according to the instructions given in this manual.
The maximum cable lengths are 15 metres.
Warning: A drive of category C3 is not intended to be used on a low-voltage public network which supplies
domestic premises. Radio frequency interference is expected if the drive is used on such a network
12.18.11.1
Definitions
First environment
Environment that includes domestic premises, it also includes establishments directly
connected without intermediate transformers to a low-voltage power supply network which
supplies buildings used for domestic purposes.
Second environment
Environment that includes all establishments other than those directly connected to a lowvoltage power supply network which supplies buildings used for domestic purposes.
Category C3 Power Drive System
Category 3 is for a PDS of rated voltage less than 1000 V, intended for use in the second
environment and not intended for use in the first environment.
12.18.12 Compliance with the European Low Voltage Directive is
achieved via EN 61800-5-1
The object of this standard (61800-5-1) is to specify requirements for adjustable speed Power Drive Systems
(PDS) or their elements with respect to electrical, thermal and energy safety considerations. The AMD2000 (both
17
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany
176
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ANCA Motion
Technical Data
3A and 9A) are considered to be protective Class I PDS, and comply with the standard with the following
provisions:
1.
The drives are installed and maintained according to the instructions given in this manual.
12.18.12.1
Definitions
Protective Class I
Equipment in which protection against electric shock does not rely on basic insulation only, but
which includes an additional safety precaution in such a way that means are provided for the
connection of accessible conductive parts to the protective (earthing) conductor in the fixed
wiring of the installation, so that accessible conductive parts cannot become live in the event of
a failure in the basic insulation.
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12.18.13
178
CE Declaration of Conformity
DS619-0-00-0019 - Rev 0
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Technical Data
ANCA Motion
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13. Accessories
13.1 What this Chapter Contains
This chapter contains summarized information on accessories options available for this drive
-
Ordering Information / Catalogue Number Interpretation
-
Details of Accessories
For additional details, please refer to full catalogue and information available via 14.3 Product, Sales and Service
Enquiries
13.2 Motors
13.2.11
Motor Catalogue Number Interpretation
MA60 - 0630 - AB
Product
M: Motor
Series
A: Alpha Series
Rated Torque
06: 0.6 Nm
13: 1.3 Nm
24: 2.4 Nm
.. etc
Frame Size
60: 60 mm square flange
80: 80 mm square flange
86: 86 mm square flange
130: 130 mm square flange
180
Feedback Type
A: Incremental Digital
Options
Rated Speed
B: Brake
10: 1000 rpm
20: 2000 rpm
30: 3000 rpm
Refer to catalogue for full list
DS619-0-00-0019 - Rev 0
ANCA Motion
13
Accessories
1.8
MA60-630-AB
0.64
3000
200
1.8
MA60-1330-A
1.27
3000
400
2.5
MA60-1330-AB
1.27
3000
400
MA86-2430-A
2.39
3000
MA86-2430-AB
2.39
MA130-5310-A
MA130-5310-AB
5.4
7000
0.17
7.5
16.2
8
0.39
33
5.4
7000
0.22
7.5
16.2
8
0.51
49.89
7.5
5000
0.28
5.6
14.5
8
AMD2000
D2003
2.5
0.51
49.89
7.5
5000
0.33
5.6
14.5
8
750
3.4
0.78
54.3
10.2
5000
2.45
2.18
7.7
8
3000
750
3.4
0.78
54.3
10.2
5000
2.58
2.18
7.7
8
5.25
1000
550
3.43
1.68
117.3
10.3
2000
6.26
3.58
18.33
8
5.25
1000
550
3.43
1.68
117.3
10.3
2000
6.58
3.58
18.33
8
MA80-2430-A
2.39
3000
750
4.3
0.61
52.09
12.9
5000
0.94
2.1
8.63
8
MA80-2430-AB
2.39
3000
750
4.3
0.61
52.09
12.9
5000
1.07
2.1
8.63
8
MA130-4830-A
4.78
3000
1500
7.06
0.74
51.7
21.2
5000
6.26
0.65
3.58
8
MA130-4830-AB
4.78
3000
1500
7.06
0.74
51.7
21.2
5000
6.58
0.65
3.58
AMD2000
D2009
8
MA130-7220-A
7.16
2000
1500
7.57
1.06
72.5
22.71
4000
8.88
0.79
4.74
8
MA130-7220-AB
7.16
2000
1500
7.57
1.06
72.5
22.71
4000
9.20
0.79
4.74
8
MA130-9620-A
9.55
2000
2000
9.18
1.14
79.6
27.5
3500
12.14
0.58
3.78
8
MA130-9620-AB
9.55
2000
2000
9.18
1.14
79.6
27.5
3500
12.46
0.58
3.78
8
13.2.13
Brake Motor Specific Information
Order Code
Brake
Current (A)
Brake
Active
Time (ms)
Brake
Release
Time
(ms)
Weight (kg)
Rotor
Inertia
(kg/cm2)
Static
Friction
Torque
(Nm)
Connector
Type
MA60-1330-AB
0.262
17
32
0.4
0.049
2
N
MA86-2430-AB
0.43
35
25
0.65
0.129
3
N
MA130-5310-AB
0.816
27
76
1.1
0.324
20
C
MA80-2430-AB
0.43
35
25
0.65
0.129
3
N
MA130-4830-AB
0.816
27
76
1.1
0.324
20
C
MA130-7220-AB
0.816
27
76
1.1
0.324
20
C
MA130-9620-AB
0.816
27
76
1.1
0.324
20
C
N: Flying Lead (no connector)
ANCA Motion
C: MS Connector
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181
Motor Poles
33
Stator
Resistance
(Ohm)
Stator
Inductance
(mH)
0.39
Order code
Rotor Inertia
(kg.cm2)
200
Max Speed
300 VDC bus
(rpm)
3000
Max Current
(A)
Rated Current
(A)
0.64
Voltage
Constant
(V/krpm)
Rated Power
(W)
MA60-630-A
Torque
Constant
(Nm/A)
Rated Speed
(rpm)
Motor Electrical Information Summary
Rated Torque
(Nm)
13.2.12
AMD2000 Series - Servo Drive - User Manual
13.2.14
Motor Mechanical Information Summary
H
G
G
B
C
D
F
B
E
B (mm)
C (mm)
D (mm)
E (mm)
F (mm)
G (mm)
H (mm)
Weight (kg)
IP Rating*18
Insulation
Grade
Connector
Style
MA60-0630-A
112.8
60
50
14
30
27
70
5.5
1.03
IP67
F (155℃)
AMP
MA60-0630-AB
147.3
60
50
14
30
27
70
5.5
1.43
IP67
F (155℃)
AMP
MA60-1330-A
132.8
60
50
14
30
27
70
5.5
1.37
IP67
F (155℃)
AMP
AMD2000
MA60-1330-AB
167.3
60
50
14
30
27
70
5.5
1.77
IP67
F (155℃)
AMP
D2003
MA86-2430-A
148
86
80
16
35
32
100
6.5
3.41
IP67
F (155℃)
AMP
MA86-2430-AB
183.2
86
80
16
35
32
100
6.5
4.06
IP67
F (155℃)
AMP
MA130-5310-A
164.8
130.4
110
22
58
52
145
9
6.47
IP67
B (130℃)
MS
MA130-5310-AB
219.3
130.4
110
22
58
52
145
9
7.57
IP67
B (130℃)
MS
MA80-2430-A
139
80
70
19
40
37
90
5.5
2.47
IP67
F (155℃)
AMP
MA80-2430-AB
174
80
70
19
40
37
90
5.5
3.12
IP67
F (155℃)
AMP
Order code
A (mm)
A
MA130-4830-A
164.8
130.4
110
22
58
52
145
9
6.47
IP67
B (130℃)
MS
AMD2000
MA130-4830-AB
219.3
130.4
110
22
58
52
145
9
7.57
IP67
B (130℃)
MS
D2009
MA130-7220-A
183.8
130.4
110
22
58
52
145
9
8.08
IP67
B (130℃)
MS
MA130-7220-AB
238.3
130.4
110
22
58
52
145
9
9.18
IP67
B (130℃)
MS
MA130-9620-A
214.8
130.4
110
22
58
52
145
9
10.18
IP67
B (130℃)
MS
MA130-9620-AB
269.3
130.4
110
22
58
52
145
9
11.28
IP67
B (130℃)
MS
18
IP rating excludes electrical connector and shaft
182
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ANCA Motion
Accessories
13.3 Cables
13.3.11
Cable Catalogue Number Interpretation
K2A - FSPD - 020
Product
K: Cable
Servo Drive Series
2: AMD2000
5: AMD5000
Cable Type
F: Feedback
A: Armature
B: Armature
with Brake
Motor Type
A: Alpha Series
B: Beta Series
Specials
D: Default
Connector Type
P: Plastic
M: Metal
Shielding
S: Shielded
U: Unshielded
13.3.12
Encoder Cables
13.3.12.1
Encoder Cables (Plastic/AMP)
Catalogue Number
Length
K2A-FSPD-020
2m
K2A-FSPD-030
3m
K2A-FSPD-050
5m
K2A-FSPD-100
10m
13.3.12.2
Encoder Cables (Metal/MS)
Catalogue Number
Length
K2A-FSMD-020
2m
K2A-FSMD-030
3m
K2A-FSMD-050
5m
K2A-FSMD-100
10m
ANCA Motion
Length
020: 2 Metre
030: 3 Metre
050: 5 Metre
100: 10 Metre
DS619-0-00-0019 - Rev 0
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AMD2000 Series - Servo Drive - User Manual
13.3.13
Armature Cables
13.3.13.1
Shielded Armature Cables (Plastic/AMP)
Catalogue Number
Length
K2A-ASPD-020
2m
K2A-ASPD-030
3m
K2A-ASPD-050
5m
K2A-ASPD-100
10m
13.3.13.2
Shielded Armature Cables (Metal/MS)
Catalogue Number
Length
K2A-ASMD-020
2m
K2A-ASMD-030
3m
K2A-ASMD-050
5m
K2A-ASMD-100
10m
13.3.13.3
Shielded Armature Cables with Brake (Metal/MS)
Catalogue Number
Length
K2A-BSMD-020
2m
K2A-BSMD-030
3m
K2A-BSMD-050
5m
K2A-BSMD-100
10m
13.4 Other Accessories
13.4.11
I/O Interface Accessories
Part Number
Description
619-0-00-0965
AMD2000 I/O Interface Module Kit
ICN-3077-1150
1 x AMD2000 I/O Interface Module
ICN-1026-1190
1 x AMD2000 I/O Interface Cable
184
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ANCA Motion
Accessories
13.4.12
EtherCAT Cables
Part Number
Description
ICN-1026-1233
Ethernet Cable, Cat 5e, SF/UTP, 200mm
ICN-1026-1097
Ethernet Cable, Cat 5e, SF/UTP, 1m
ICN-1026-1098
Ethernet Cable, Cat 5e, SF/UTP, 3m
ICN-1026-1099
Ethernet Cable, Cat 5e, SF/UTP, 5m
13.4.13
Armature Shield Clamping Brackets
Part Number
Description
619-0-00-0957
AM2000 9A Armature Bracket Kit
13.4.14
AMD2000 3A EMC Kit
Part Number
Description
619-0-00-0966
AMD2000 3A EMC Kit
ICN-3096-1665
Schaffner FN 3270H-10-44
ICN-3096-0048
Schaffner FN 343-3-05
ICN-3096-1661
Hammond Manufacturing 159ZJ
ICN-3096-1663
King Core KCF-130-B
ICN-3096-1664
King Core K5B T 29x7.7x19
ICN-3096-0049
JFE R-60/40/25B MA055-C
13.4.15
AMD2000 9A EMC Kit
Part Number
Description
619-0-00-0967
AMD2000 3A EMC Kit
ICN-3096-1665
Schaffner FN 3270H-10-44
ICN-3096-0048
Schaffner FN 343-3-05
ICN-3096-1662
Hammond Power Solutions RM0012N13
ICN-3096-1663
King Core KCF-130-B
ANCA Motion
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AMD2000 Series - Servo Drive - User Manual
ICN-3096-1664
King Core K5B T 29x7.7x19
ICN-3096-0049
JFE R-60/40/25B MA055-C
13.4.16
EMI Filters
Part Number
Description
ICN-3096-1665
Schaffner FN 3270H-10-44
ICN-3096-0048
Schaffner FN 343-3-05
13.4.17
Line Reactors
Part Number
Description
ICN-3096-1662
13.4.18
DC Chokes
Part Number
Description
ICN-3096-1661
13.4.19
Hammond Power Solutions RM0012N13
Hammond Manufacturing 159ZJ
Magnetic Cores
Part Number
Description
ICN-3096-1663
King Core KCF-130-B
ICN-3096-1664
King Core K5B T-29x7.7x19
ICN-3096-0049
JFE R-60/40/25B MA055-C
13.5 Starter Kits
13.5.11
AMD2000 3A Starter Kit
Part Number
Description
619-0-00-0971
AMD2000 3A Starter Kit
186
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ANCA Motion
Accessories
D2003-2S1-A
AMD2000 Series Servo Drive
MA60-0630-A
Alpha Series Servo Motor
K2A-FSPD-020
Alpha Motor Cable
K2A-ASPD-020
Alpha Motor Cable
ICN-1026-1097
Ethernet Cable, Cat 5e, SF/UTP, 1m
13.5.12
AMD2000 9A Starter Kit
Part Number
Description
619-0-00-0972
AMD2000 9A Starter Kit
D2009-2S1-A
AMD2000 Series Servo Drive
MA80-2430-A
Alpha Series Servo Motor
K2A-FSPD-020
Alpha Motor Cable
K2A-ASPD-020
Alpha Motor Cable
ICN-1026-1097
Ethernet Cable, Cat 5e, SF/UTP, 1m
ANCA Motion
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AMD2000 Series - Servo Drive - User Manual
14. Additional Information
14.1 What this Chapter Contains
This chapter contains information on product support and feedback:
-
Contact Information
-
Feedback on the manual
14.2 Maintenance and Repairs
DANGER HIGH VOLTAGE - The working DC bus is live at all times when power is on. The Main Isolator feeding
the drive must be switched to the Off position at least 15 minutes before any work is commenced on the unit. The
operator must check the bus voltage with a tested working voltage measuring instrument prior to disconnecting
any connectors or opening the DC Bus terminal cover. The red LED indicator on the front of the drive which
indicates that there is charge remaining in the drive is only to be used as an aid to visual troubleshooting. It shall
not be relied on as a means of safety.
There are no user serviceable parts inside the AMD2000 drive; therefore maintenance only involves inspection of
the drive its connections and enclosure. Make sure that all connections are fitted correctly and that there are no
signs of damage. Check that all wires are tightly fitted to the connectors and that there are no signs of
discolouration which may indicate heating. Make sure all drive covers are securely fitted and that they have no
signs of damage. Make sure that the drive enclosure is free from dust or anything that may inhibit its operation.
Refer to section Mechanical Installation for site requirements, tools, and installation and uninstallation
information.
There are no internal adjustments inside the AMD2000. For any repairs please contact our nearest office or
agent. Refer to section Product, Sales and Service Enquiries.
14.3 Product, Sales and Service Enquiries
If you require assistance for installation, training or other customer support issues, please contact the closest
ANCA Motion Customer Service Office in your area for details.
188
ANCA Motion Pty. Ltd.
ANCA Motion Taiwan
1 Bessemer Road
Bayswater North
VIC 3153
AUSTRALIA
Telephone:
+61 3 9751 7333
Fax:
+613 9751 7301
www.ancamotion.com/Contact-Us
Email: sales.au@ancamotion.com
1F, No.57, 37 Road
Taichung Industrial Park
Taichung 407
TAIWAN
Telephone:
+886 4 2359 0082
Fax:
+886 4 2359 0067
http://www.ancamotion.com/Contact-Us
Email: sales.tw@ancamotion.com
DS619-0-00-0019 - Rev 0
ANCA Motion
Additional Information
14.4 Feedback
This Manual is based on information available at the time of publication. Reasonable precautions have been
taken in the preparation of this Manual, but the information contained herein does not purport to cover all details
or variations in hardware and software configuration. Features may be described herein which are not present in
all hardware and software systems. We would like to hear your feedback via our website:
www.ancamotion.com/Contact-Us
ANCA Motion
DS619-0-00-0019 - Rev 0
189
14
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