Parker PSD1-SW1200, Installation Instructions Manual

Page 1: ...192 011006N8 PSD1 Installation Guide 1 109 192 011006N8 2019 07 09 10 19 09 27 192 011006N8 2019 07 Up from release R1 7 1 Parker Servo Drive Servo Drives Installation instructions...

Page 2: ...in Manufacturing Germany GmbH Co KG Electromechanical Drives Division Europe EMDE Robert Bosch Strasse 22 77656 Offenburg Germany Tel 49 0781 509 0 Fax 49 0781 509 98176 Internet www parker com eme ht...

Page 3: ...0 7 Supply networks 24 2 11 Before commissioning the drive please observe the following 25 3 PSD PSD Parker Servo Drive Overview 26 4 Installation of the individual drive PSD1 S 27 4 1 Before commissi...

Page 4: ...PSD1 M_P 57 5 12 1 Connector overview PSD1 M_P Mains module 57 5 12 2 P1 Status LEDs indication Mains module 59 5 12 3 S2 Modes switch Power module 60 5 12 4 S3 Voltage switch Power Module 60 5 12 5 C...

Page 5: ...m 96 8 2 1 Mains Connection Power module PSD1 M_P010 without line choke 96 8 2 2 Mains connection Power module PSD1 M_P010 with line choke 96 8 2 3 Mains Connection Power module PSD1 M_P020 without li...

Page 6: ...1006N8 2019 07 09 10 19 09 27 6 109 1 What is necessary and where to find it Software Tool Field Bus Files CE declaration of compliance PSD ServoManager Downloads under http solutions parker com psd_s...

Page 7: ...M_2330 5 A 5 A PSD1 M_2440 8 A 8 A PSD1 M_2630 15 A 5 A PSD1 M_3222 2 A 2 A 2 A PSD1 M_3433 8 A 5 A 5 A PSD1 MWP010 Mains module 10 kW PSD1 MWP020 Mains module 20 kW 2 2 Scope of delivery Included in...

Page 8: ...entification plate PSD1 M The present device type is defined by the type specification plate on the housing 1 Order code of the device 2 Serial Number 3 Input voltage 4 Input Current 5 UL certificatio...

Page 9: ...INET EtherCATIN Ethernet IP 8 Feedback 1 Hiperface DSL 2 Multi Feedback configurable 3 Hiperface DSL Resolver Encoder 1 Vss 2 Encoder A B TTL 2 Analog Hall 1 Vss 2 EnDat 2 21 BISS C1 9 Option 1 0 No o...

Page 10: ...2008 98 EC for dangerous disposal material We recommend to dispose of the respective materials in accordance with the respectively valid environmental laws The following table states the materials sui...

Page 11: ...personnel according to VDE105 or IEC364 who have a knowledge of first aid techniques and the local emergency rescue services who have read and will observe the safety instructions who have read and o...

Page 12: ...iring without separating the circuit to be tested from the drive Please exchange devices only in currentless state and in an axis system only in a defined original state If the axis controller is repl...

Page 13: ...nputs outputs and interfaces only in the manner described in the manual Fix the devices according to the mounting instructions see page 27 We cannot provide any guarantee for other mounting methods No...

Page 14: ...03 03 see page 84 PSD1 S C3 10 m no mains filter PSD1 S single phase supply C3 10 m ECP 0001 01 see page 83 PSD1 S 3 phase supply C3 10 m ECP 0002 01 see page 83 2 10 1 3 Connection length in between...

Page 15: ...mum diameter of 10 mm2 The connection to the central earth rail should be as short as possible The minimum required width of the central earth rail depends on the length of the grounding cable Length...

Page 16: ...Introduction 16 109 192 011006N8 2019 07 09 10 19 09 27 2 10 2 CE declaration of conformity PSD1 M...

Page 17: ...192 011006N8 PSD1 Installation Guide 192 011006N8 2019 07 09 10 19 09 27 17 109 2 10 3 CE declaration of conformity PSD1 S...

Page 18: ...sible with class 2 power supply The devices are internally protected against overvoltage in compliance with UL508C The drive modules are equipped with a current limit Values for maximum device current...

Page 19: ...r line and device protection UL listing DIVQ fuses Manufacturer ABB Stotz Kontakt GmbH E212323 Model No S203UP K 1 fuse 480 VAC 3 phase 25 A operating temperature 55 C PSD1 M_P020 Maximum fuse rating...

Page 20: ...ervoltage Protection External overvoltage protection in accordance with Canadian Standards C22 2 No 274 13 with over voltage protection device VZCA2 CSA certified Note the following table Mains module...

Page 21: ...Environmental Characteristics PSD1 S 21 Tightening torque of the wiring terminals 23 Auxiliary connection electrical ratings 23 Data of integrated dynamic brake unit 23 In Output Ratings 23 2 10 5 1...

Page 22: ...Instructions National Electrical Code and any additional local codes Suitable for use on a circuit capable of delivering not more than 5000 rms Symmetrical Amperes 240 Vac maximum When protected by L...

Page 23: ...ts max 24 VDC max 100 mA 2 10 5 5 Data of integrated dynamic brake unit Internal DBU Ratings Servo Drive Model Nos Max Current Amps Max Duty Cycle per cent Internal D B U Resistor Ratings Peak rms Ohm...

Page 24: ...eakage current depends on the following factors Length and properties of the motor cable Switching frequency Operation with or without external mains filter Motor cable with or without shield network...

Page 25: ...heck all external power circuits of the system Power supply control motor and ground connections Make sure no damages or injuries may occur by a rotating motor Uncouple the load from the motor shaft C...

Page 26: ...PSD PSD Parker Servo Drive Overview 26 109 192 011006N8 2019 07 09 10 19 09 27 3 PSD PSD Parker Servo Drive Overview...

Page 27: ...f electric shock disconnect power before removing cover resp disconnect the devices from the mains supply Caution Dangerous electrical voltage even after turning off the intermediate capacitors Up to...

Page 28: ...ct the recommended distances of other devices Make sure that the mounting plate is not exhibited to other temperature influences than that of the devices mounted on this very plate The devices must be...

Page 29: ...mains supply dangerous voltages may still be present Please check that no voltages are present 50 V at the output terminals DC and DC of PSD1 S X63 3 X63 5 and with PSD1 M Bus HV DC 3 5 rail View fro...

Page 30: ...dback Motor holding brake and 24VDC feeding for the brake Motor ground connection Connecting screw for motor earth the shielding of the motor cable see image bellow X52 see page 35 Connection of motor...

Page 31: ...n LEDb rot 2 Axis not ready Booting of axis No feedback detected IEC61131 3 program not compatible with firmware no IEC61131 3 program Hall signals invalid off flashes quickly 5 HZ 3 Axis de energized...

Page 32: ...ash Triple flash Caution Risk of electric shock High voltage supply may be present even with missing voltage supply both LEDs off 4 5 X17 Digital Inputs outputs PSD1 S Pin X17 Input Output 1 Input 24...

Page 33: ...tor brakes fed via connectors X51 1 2 Current requirements of optional boards 4 6 Wiring of the digital inputs and outputs Wiring of digital inputs Wiring of digital outputs 4 7 X63 AC Mains Supply DC...

Page 34: ...ingle Phase 230 VAC 10 30 253 VAC 50 60 Hz Input Current 1AC230V 6 8 Arms 3AC230V 1 7 Arms 1AC230V 11 Arms 3AC230V 4 2 Arms Maximum fuse per device Single phase 8 A Three phases 3 A Fuse Class gS gRL...

Page 35: ...st be correctly connected to PE both on the drive side see page 46 see page 59 see page 30 as well as on the motor side Shielding may not be interrupted Please observe the notes in chapter Operating c...

Page 36: ...X51 Motor holding brake and HIPERFACE DSL Connection 36 X18 Connector assignment with configured resolver feedback 37 X18 Assignment with configured incremental encoder or analogue Hall 37 Feedback s...

Page 37: ...ctory use 2 factory use 3 factory use 4 REF Resolver 8 kHz max 9 5 Vss 5 3 3 V for temperature sensor 6 factory use 7 SIN max 4 7 Vss differential 8 SIN max 4 7 Vss differential 9 factory use 10 Tmot...

Page 38: ...onnected to pins 1 6 at the same time as X48 see page 54 PSD1 M Category Specifications Incremental encoder see page 37 square wave or Sine Cosine signal Linear or rotary Signal Sin Cos signal max 5 V...

Page 39: ...e complete IP address can be redefined via the objects 0x2605 5 0x2605 01 Addresses 0 and 241 255 are not possible Connection is configured in PSD ServoManager 4 11 Communication interfaces In this ch...

Page 40: ...read about Before commissioning the drive please observe the following 41 Mounting and dimensions 41 Connector overview PSD1 M 44 P14 P16 Status LEDs of the individual axes PSD1 M 47 X17 Digital Input...

Page 41: ...ctrician may commission the drive Accident prevention measures must be observed Please make sure that no small parts screws cable remnants enter the devices Feedback system can be destroyed if configu...

Page 42: ...f the heat dissipator Mounting spacing At the top and below at least 100mm Information on PSD1 M Size 1 Multi axes servo drives and Mains Module PSD1 M_P010 Mounting 2 socket head screws M6 Lateral di...

Page 43: ...onding to the minimum bending radius of the cables 2 At least 100mm distance for free circulation of cooling air 5 2 2 Mounting and dimensions PSD1 M size 2 Information on PSD1 M Size 2 Multi axis Ser...

Page 44: ...ore wiring or loosening electrical connections please observe the following Risk of electric shock disconnect power before removing cover resp disconnect the devices from the mains supply Caution Dang...

Page 45: ...back sensor Axis 1 Resolver see page 55 Encoder Hall see page 55 X19 Feedback sensor Axis 2 Resolver see page 55 Encoder Hall see page 55 X20 Feedback sensor Axis 3 Resolver see page 55 Encoder Hall s...

Page 46: ...HIPERFACE DSL motor feedback systems and motor temperature sensor Axis 1 3 dependng on the device Front view see page 44 Shows pin 1 of the connector Tin angle for motor and feedback cable does not a...

Page 47: ...D1 M P14 Status Axis 1 LEDs P15 Status Axis 2 LEDs P16 Status Axis 3 Status No Status of axis Left LED a green ready Right LED b red error 0 No voltage off off 1 Booting of axis firmware is missing al...

Page 48: ...ng from SD card interrupted alternate quick flashing LEDa red LEDb red 13 Axis de energized off Single flash 14 Axis energized on Single flash 15 Axis de energized HEDA3 slave not ready off Double fla...

Page 49: ...outputs are deactivated and reactivated automatically after cooling All inputs and outputs do have 24 V level Input level 0 low Rated Input Voltage 12 5 V 1 high Rated Input Voltage 13 5 V The digita...

Page 50: ...er cooling All inputs and outputs do have 24 V level Input level 0 low Rated Input Voltage 12 5 V 1 high Rated Input Voltage 13 5 V The digital outputs are free for writing via object 0x2079 0x01 or 0...

Page 51: ...f 3 Hz with a rotating field frequency of f 3 Hz the maximum peak current duration is 100 ms 3 Maximum total output current per device 16 A 5 8 2 Output data of the PSD1 M power output stages Categor...

Page 52: ...BW 2 W L3 3 U3 FE PE 2 YE GN AU 1 U L1 1 U1 AV 1 V L2 2 U2 AW 1 W L3 3 U3 FE PE 1 YE GN Depending on cable type FE Functional ground PE Protective earth Shielding connection of the motor cable The ou...

Page 53: ...PE 1 YE GN Depending on cable type FE Functional ground PE Protective earth Shielding connection of the motor cable The outer shielding of the motor cable must be correctly connected to PE both on the...

Page 54: ...nnection for 3 axes The respective pins are not assigned with 1 or 2 axis devices Pin Designation Axis 1 PTC 1 Temperature sensor motor 1 2 PTC 1 Temperature sensor motor 1 3 PTC 2 Temperature sensor...

Page 55: ...Vss differential 8 SIN max 4 7 Vss differential 9 factory use 10 Tmot 11 COS max 4 7 Vss differential 12 COS max 4 7 Vss differential 13 factory use 14 factory use 15 REF Resolver Pin10 Tmot must not...

Page 56: ...in10 Tmot may not be connected to pins 1 6 at the same time as X48 see page 54 PSD1 M Category Specifications Incremental encoder see page 37 square wave or Sine Cosine signal Linear or rotary Signal...

Page 57: ...olding brake BK 5 Br2 3 Input power supply brake 24 VDC 4 GND24 VDC Depending on cable type 1 6 A max 5 12 Mains module PSD1 M_P In this chapter you can read about Connector overview PSD1 M_P Mains mo...

Page 58: ...s with PSD1 S and 10 minutes with PSD1 M after switching off mains supply dangerous voltages may still be present Please check that no voltages are present 50 V at the output terminals DC and DC of PS...

Page 59: ...All Outputs Low Device ready on off Ready A0 high Warning A1 High One or multiple errors occurred Error number to be displayed after 5 s off power on 5s Ready A0 Low Warning A1 High Intermediate circ...

Page 60: ...too high 24 Short circuit in the braking circuit 25 Rectifier overloaded 31 Voltage DC bus too high 32 Voltage offset DC bus too high 41 Overcurrent at digital output 51 None or wrong EEPROM Data Cau...

Page 61: ...s before wiring them Dangerous voltages are still present until 10min after switching off the power supply Please check that no voltages are present 50 V at the output terminals DC and DC X63 3 X63 5...

Page 62: ...ection By cyclically switching on and off the power voltage the input current limitation can be overloaded which may cause damage to the device Wait at least one minute between two switching on proces...

Page 63: ...ower 9 kW 15 kW 15 kW Pulse power 5 s 18 kW 30 kW 30 kW Power dissipation 70 W 70 W 70 W Maximum fuse rating per device Measure for line and device protection UL listing DIVQ fuses Manufacturer ABB St...

Page 64: ...ply leg in accordance with UL category JFHR2 Requirement Bussmann 170M1366 or 170M1566D Earth leakage current Current on the mains PE see page 24 3 5 mA Supply networks Possible supply networks see pa...

Page 65: ...ge will be issued Temperature switch relay No galvanic separation the temperature sensor normally closed contact must comply with the safe separation according to EN 60664 If there is no temperature m...

Page 66: ...S12_S13 If the IP address has been changed and is not longer known it can be reset with S12_S13 253 0xF9 to IP address 192 168 10 2 SubNetmask 255 255 0 0 Gateway_IP 192 168 10 254 Host name PSD1 002...

Page 67: ...in protective functions for individual fault conditions Some but not all faults will be recognized The frequent occurrence of fault conditions can lead to a loss of the safety functions The remainder...

Page 68: ...safety control device the safe stop 1 SS1 safety function according to the requirements of DIN EN 61800 5 2 2008 category 3 can be used As the function is however realized with the aid of an individu...

Page 69: ...head for EMC conform wiring Emergency stop function Allowed Allowed 6 2 STO Operating Principle In this chapter you can read about STO principle with PSD1 S 70 STO principle of PSD1 S with one axis mo...

Page 70: ...external 24 VDC must be connected to the central ground connection bottom of the device The inputs are optically isolated 6 2 2 STO principle of PSD1 S with one axis module At the PSD1 M with one axis...

Page 71: ...ted STOB1 0 V Motor 1 deactivated STOA1 24 VDC and STOB1 24 VDC Motor 1 released X17 16 STOB1 Input X17 14 STOGND1 Input STO Ground Ground of the external 24 VDC must be connected to the central groun...

Page 72: ...0 V Motor 1 deactivated STOA1 24 VDC and STOB1 24 VDC Motor 1 released X17 16 see page 49 STOB1 Input X17 14 STOGND1 Input STO Ground Ground of the external 24 VDC must be connected to the central gro...

Page 73: ...g the operation of the machine The PSD1 with integrated STO safety function as well as the utilized safety switching devices must be mounted protected IP54 control cabinet Basically there is only a ma...

Page 74: ...1006N8 2019 07 09 10 19 09 27 6 5 STO delay times Complies with der Quick Stop Ramp 0x6085 0x00 in PSD ServoManager under 1 MinSlowDown 0x3428 0x00 2 QuickStopDecel 0x6085 0x00 Recommendation Use the...

Page 75: ...rvo drive cooperates with the safety control UE410 MU of Sick and with a PLC The STO circuit of the 3 axis PSD1 M must support a safe stop 1 of the control with emergency stop category 3 PL e The appl...

Page 76: ...ally in accordance with EN 60947 5 1 appendix K Concerning the delayed STO procedure the risk must be considered by the machine designer Drive and safety control must be wired in the same control cabi...

Page 77: ...STO status is displayed in the Fieldbus Status Word Bit 15 and as slowly flashing LED During trundling of the motor the motor brakes of the Parker motor must not be activated as otherwise they can be...

Page 78: ...STO on terminal X17 12 and X17 16 Simultaneous removing of 24 VDC on terminal X17 12 and X17 16 Active STO must be displayed via LED or fieldbus No error must be present if object STO_Setup 0 Error m...

Page 79: ...test protocol specimen Project machine Name of the tester Servo axis Settings STO_Setup STO function test STO function test steps 1 6 o successfully tested Safe stop 1 o successfully tested o is not u...

Page 80: ...inputs via optocoupler 2 Low 0 5 V DC or open High 15 26 4 VDC Iin at 24 VDC 9 mA 1 mA STO Input A Level Low or open STO activated High STO deactivated Reaction time max 5 ms STO Input B Level Low or...

Page 81: ...9 07 09 10 19 09 27 81 109 In this chapter you can read about SMH Servo Motors with HIPERFACE DSL Feedback 81 EMC measures 82 Line choke 87 External braking resistors 88 Interface Cables 92 7 1 SMH Se...

Page 82: ...00 Length in 10 cm max 50 m Example 0025 2 5 m 0205 20 5 m 1020 102 0 m Standard length m 3 5 7 10 12 15 20 25 30 35 40 45 50 8 Special design 00 Standard 1 is required for Mx 205 series motors and Sm...

Page 83: ...57 5 45 4 130 5 56 143 6 1 8 4 18 Stated in mm Color code BN Brown BU blue GNYE green yellow Weight 0 67 kg 7 2 1 2 Mains filters for PSD1 S 3 phases operation ECP 0002 01 Mains filters with UL certif...

Page 84: ...ength in total Scale drawing Filter type O B C D E F G H Weight GND I Connection clamp mm kg ECP 0003 01 240 50 85 270 0 8 30 255 5 4 1 5 M5 10mm2 ECP 0003 02 305 60 150 335 35 320 6 4 M5 10mm2 ECP 00...

Page 85: ...Ambient temperature 0 40 C Max Elevation of operating site 1000 m above sea level Weight 2 5 kg Up to 7 A nominal motor current 1 mH Scale drawing Stated in mm 7 2 2 2 Output motor chokes ECM 0004 01...

Page 86: ...vation of operating site 1000 m above sea level Weight 4 kg Scale drawing 150 67 95 6 113 50 195 U1 V1 W1 U2 V2 W2 Stated in mm 7 2 2 4 Motor output chokes ECM 0002 01 for PSD1 M up to 30 A 1 1 mH For...

Page 87: ...0001 02 with UL certification the output performance of PSD1 M_P010 can be increased by 50 Line chokes for reducing the low frequency interferences on the mains side 0 86 mH 30 A Scale drawing IND 00...

Page 88: ...0001 1 and ACB 0002 1 90 Braking resistor ACB 0003 01 for PSD1 M_P020 91 Hazards when handling ballast resistors Housing temperature up to 200 C Dangerous voltage The device may be operated only in th...

Page 89: ...th UL ACB 0005 02 56 see page 90 PSD1 S_1200 1300 190 W With UL ACB 0001 01 30 see page 90 PSD1 M_P010 PSD1 M_P020 with 2x30 parallel 400 W 2 400 W With UL ACB 0002 01 15 see page 90 PSD1 M_P010 with...

Page 90: ...20 C 10 Type of protection EN 60529 in the corresponding bolted state IP 54 Max permitted operation voltage UL 800 V Cooling Natural convection Housing temperature at a continuous nominal output Tu 40...

Page 91: ...l resistance value at 20 C ACB 0001 01 30 ACB 0002 01 15 Nominal tolerance at 20 C 10 Type of protection EN 60529 in the corresponding bolted state IP 54 Max permitted operation voltage UL 600 1000 V...

Page 92: ...value at 20 C 15 Nominal tolerance at 20 C 10 Type of protection EN 60529 in the corresponding bolted state IP 20 Max permitted operation voltage 600 VAC or 800 V DC Cooling Natural convection Electr...

Page 93: ...Schirm gro fl chig auf Geh use legen Place sheath over large area of housing Pin 6 Pin 5 Pin 4 Pin 3 Pin 2 Pin 1 Pin 7 Pin 8 5 2x0 14 2x0 14 2x0 14 2x0 14 4 7 8 GN WH GN OG WH BU BU BN WH BN WH OG 2 3...

Page 94: ...tage 24 VDC PSD1 S 95 Braking operation PSD1 S 95 Size weight of PSD1 S 95 8 1 1 Mains connection PSD1 S Category Specifications PSD1 S PSD1 S_1200 PSD1 S_1300 Mains voltage 3 phases 3 230 VAC 10 30 2...

Page 95: ...y Specifications Voltage operating range 21 6 27 0 VDC 24 VDC 10 12 5 Ripple 0 5 Vss Requirement according to safe extra low voltage PELV yes class 2 mains module Electric current drain 0 5 A Output c...

Page 96: ...20 kW 20 kW Power dissipation 60 W 60 W 60 W Maximum fuse rating per device Measure for line and device protection UL listing DIVQ fuses Manufacturer ABB Stotz Kontakt GmbH E212323 Model No S203UP K 1...

Page 97: ...connection Power module PSD1 M_P020 with line choke Increased power by means of a line choke see page 87 Category Specifications PSD1 M_P020 with line choke 230 V 400 V 480 V Mains voltage 230 VAC 10...

Page 98: ...VDC Output voltage 3x 0 400 V 0 450 Hz Power at continuous operation1 1 2 kVA 3 kVA 4 8 kVA 9 kVA 18 kVA Power dissipiation 1 20 W 45 W 75 W 105 W 220 W Output currents 3 With 400 VAC at the power mo...

Page 99: ...0 PSD1 M_P020 Capacity storable energy 550 F 92 Ws at 400 V 53 Ws at 480 V 1175 F 197 Ws at 400 V 114 Ws at 480 V Servo Drives Category Specifications Controller type PSD1 M unless PSD1 M_1800 PSD1 M_...

Page 100: ...holding brake In this chapter you can read about Motor technologies supported 100 Feedback system HIPERFACE DSL 101 Resolver 101 Incremental encoder analogue HAL sensor 101 Motor holding brake output...

Page 101: ...Resolver data supported Transformation ratio 0 25 1 typical 0 5 Exciting frequency 8kHz Amplitude of the excitation signal max 9 5 Vss The resolver must be approved for at least this value Accuracy T...

Page 102: ...t current short circuit proof PSD1 S 1 0 A PSD1 M 1 6 A 8 4 Digital inputs outputs specifications Category Specifications Digital inputs 4 Digital inputs Input resistor 22 k All inputs and outputs do...

Page 103: ...ax error response time During the inequality it is ensured within 5 ms that the motor torque is switched off single channel Maximum tolerable test pulse time Maximum tolerable test pulse time low acti...

Page 104: ...sea level for 100 load ratings 2000m above sea level for 1 100m power reduction please inquire for greater elevations Sealing Type of protection IP20 according to EN 60 529 Mechanic resonances With pa...

Page 105: ...mbedded switch technology for the support of linear or ring topology Connection established Device Level ring DLR functionality is supported announce based ring nod Connections Simultaneous support fo...

Page 106: ...tem 61 Connector overview PSD1 M 44 Connector overview PSD1 M_P Mains module 57 Connector overview PSD1 S 29 Control requirements 15 Control voltage 24 VDC PSD1 M_P mains module 99 Control Voltage 24...

Page 107: ...100 Mounting and dimensions 28 41 Mounting and dimensions PSD1 M size 1 42 Mounting and dimensions PSD1 M size 2 43 Mounting and dimensions PSD1 S 28 Mounting distances PSD1 M size 1 43 N Notes on th...

Page 108: ...ication 11 X X17 Digital Inputs outputs PSD1 S 32 Digital Inputs outputs Axis 1 3 PSD1 M 49 X18 Assignment with configured incremental encoder or analogue Hall 38 Connector assignment with configured...

Page 109: ...192 011006N8 PSD1 Installation Guide 192 011006N8 2019 07 09 10 19 09 27 109 109...