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IRD_Installation_en_1.5

IRD_Installation_en_1.5

Product catalog summary

ESD Information: INFRANOR drives are protected against electrostatic discharges. Proper storage and handling are essential to prevent damage, with drives stored in original packaging and handled by metal housing if protective equipment is unavailable.

Warning: This manual is for servo drives for AC brushless motors. Reading the manual is mandatory before operation, and maintenance should be performed by skilled technicians. Compliance with standards and CE approval depends on following manual recommendations.

WEEE Classification: INFRANOR products are classified under Category 9 for monitoring and control instruments and must be disposed of according to WEEE regulations. INFRANOR France is a member of RECYLUM for recycling.

Chapter 1 - General: IRD drives are all-digital with sinusoidal PWM control for brushless AC motors, supporting EtherCAT and CANopen interfaces for applications like robotics and AGVs.

Chapter 2 - Specifications: Details technical specifications, dimensions, and connector locations for different IRD-eb models.

Chapter 3 - STO Safety Function: Describes the safety function, including functional diagrams, safety instructions, and connection specifications, covering performance levels and periodic inspection routines.

Chapter 4 - Inputs - Outputs: Details display indicators and connector specifications for encoders, digital inputs/outputs, and motor connections.

Chapter 5 - Connections: Provides connection diagrams for EtherCAT and CANopen fieldbus and instructions for connecting various sensor types.

Chapter 6 - Appendix: Includes information on braking system sizing, interaction between operating voltage and PWM frequency, maintenance, and operating environment conditions.

Overview: The document provides a comprehensive guide on the installation and specifications of the IRD-eb drive, focusing on compatibility with digital encoders, communication protocols, programmable control parameters, and safety functions.

Specifications: The IRD-eb drive supports single-turn and multi-turn digital encoders using the BiSS C protocol. It can be enabled after powering with a servo-motor, with parameters programmable via EtherCAT/CANopen and modifiable using the Optio software tool.

Standards and Directives: The drive complies with EU directives and standards, including the Low Voltage Directive, Machinery Directive, and Electromagnetic Compatibility, adhering to functional safety standards like IEC 61508 and EN ISO 13849-1.

Technical Data: The IRD-eb drive operates at 48VDC with specific undervoltage and overvoltage thresholds, featuring a maximum output current and adjustable motor speed.

STO Safety Function: The Safe Torque Off (STO) function ensures no power causes motor rotation, meeting Category 3 PLe and SIL3 safety requirements, crucial for preventing unexpected start-ups.

Performance Level: The STO function meets performance level requirements of Category 3 / PLe and SIL3, with a lifetime of 20 years and a mean time to dangerous failure of 1300 years.

Specifications and Procedures:

Diagnostic Coverage: Specifies a diagnostic coverage of 95% as per EN ISO 13849-1 standards.
Periodic Inspection Routine: Safety function checks every three months and during machine safety function validation, ensuring all subsystems are operational.
Residual Risk: Risk of motor shaft rotation up to 360° in case of a short-circuit between power transistors.

Safety Functions:

STO Safety Function: Removes motor torque without shutting down the power supply, requiring both STO inputs connected to a +24V supply.
SBC Safety Function: Activates a safety output to maintain the motor at standstill when torque is removed, activated with the STO function.

Inputs and Outputs:

LED Indicators: Red and green LEDs indicate operational status, faults, and communication states for EtherCAT and CANopen fieldbus.
Connectors: Details for encoder ports, digital inputs/outputs, motor brake output, and thermal sensor input, with voltage and current specifications.

Connections:

Wiring Instructions: Guidelines for cable types and lengths, emphasizing shielded cables and proper grounding for EMC compliance.
Connection Diagrams: Examples for connecting to EtherCAT and CANopen fieldbus and various sensor types.

Warnings and Recommendations:

Ensure proper polarity between power supply and drives to avoid damage.
Motor and brake cables must be shielded and connected to ground reference potential.

Specifications and Standards: Requirements for connectors in compliance with EN61000.4, emphasizing metal or metalized connectors for 360° shield connections.

Braking System Sizing: If the DC bus power supply is battery-based, energy reflected during motor deceleration can recharge it, negating the need for a braking resistor. Otherwise, overvoltage protection is necessary using resistors.

Interaction Between Operating Voltage, Inductance, and PWM Frequency: Changes in operating voltage and PWM frequency affect drive specifications, with a table detailing minimum inductance and voltage thresholds.

Maintenance: Performed by skilled technicians, with safety precautions like waiting 10 minutes after power down to avoid electric shock. Regular checks include inspecting drive housing, fan operation, room temperature, connectors, and electrical connections annually.

Operating Environment Conditions: Drive should be mounted vertically in an IP54 cabinet, protected from dust and condensation, withstanding vibrations and shocks as per IEC standards.

Installation, Commissioning, and Operation: Equipment must be stored under IEC standards, avoiding condensation and extreme temperature variations.

Transport: Equipment can be transported in standard packaging under specified conditions, with special packaging required if limits are exceeded.

Company Information: Infranor provides customized motion solutions globally, offering engineering skills and high-quality products for productivity gains.

Catalog excerpts

DIGITAL SERVO DRIVES FOR BRUSHLESS AC MOTORS Installation Guide

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IRD-eb Installation guide This is a general manual describing a series of servo drives having output capability suitable for driving AC brushless sinusoidal servo motors Warning Please see also: IRD User Guide for the operation of the drive (commissioning, configuration, ...) EtherCAT fieldbus interface manual Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the drives operational. Maintenance procedures should be attempted only by highly skilled technicians having good knowledge of electronics...

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IRD-eb Installation guide All electrical industrial automated systems whose lifetime is coming to its end are Waste Electronic and Electrical Equipment (WEEE) according to article R543-172 of the French Environmental Code. WASTE DISPOSAL This symbol indicates that INFRANOR devices shall be eliminated by selective disposal and not with household waste. WEEE classification of the INFRANOR products Category 9: Monitoring and control instruments In accordance with the Decree nr. 2012-617 of May 2nd, 2012 which specifies the provisions related to the professional EEE manufacturers' obligations, INFRANOR...

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IRD-eb Installation guide

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IRD-eb Installation guide_ OINFRANOR

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IRD-eb Installation guide CHAPTER 1 - GENERAL 1.1 - INTRODUCTION IRD all-digital drives with sinusoidal PWM control are servo drives that provide the control of brushless AC motors with a position sensor. The standard control interface can be EtherCAT1 or 2CANopen, The IRD drive can be used in following typical applications: • • Axes controlled by EtherCAT or CANopen fieldbus, Stand-alone operation as a sequencer with control by means of logic I/Os, The configuration and parameterization software tool Optio allows a quick configuration of the IRD drives according to the target application. Thanks...

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IRD-eb Installation guide 1.2.2 - Reference to directives and standards 2014/35/EU: Low Voltage Directive Harmonized standard applied: EN 61800-5-1:2007: Electrical, Thermal and Energetic security requirements - Part 5-1: Safety Requirements - Electrical, Thermal and Energy Overvoltage category III, System Voltage = 300 V 2006/42/EC: Machinery directive Harmonized standard applied: EN 61800-5-2:2017: Adjustable speed electrical power drive systems – Part 5-2: Safety requirements - Functional 2014/30/EU: Electromagnetic Compatibility Harmonized standard applied: EN 61800-3:2018: Adjustable speed...

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IRD-eb Installation guide OINFRANOR

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IRD-eb Installation guide OINFRANOR Maximum current frequency 500 Hz (Nondual use limitation) Drive reaction time (initialization delay before PWM on)

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IRD-eb Installation guide 2.1.3 - Thermal mounting specifications Cooling : Natural air convection The surrounding air temperature should never exceed 60°C. This typically refers to the air temperature near to the IRD drive or inside the robot. Cooling : Cold plate The IRD drives must be mounted to a structure (heatsink, motor, machine structure…) that should never exceed 70°C. For a proper running of the drive, the following specifications shall be fulfilled: - The contact surface between the drive and the mounting structure shall be at least as large as the drive heatsink. - The planarity of...

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IRD-eb Installation guide 2.2 - DIMENSIONS AND CONNECTOR LOCATION 2.2.1 - IRD-eb-48/24 dimensions Dimensions are given in mm.

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IRD-eb Installation guide OINFRANOR

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IRD-eb Installation guide CHAPTER 3 - STO SAFETY FUNCTION 3.1 - INTRODUCTION Safe Torque Off (STO) definition according to the EN 61800-5-2 standard: "Power, which can cause the rotation of a motor (or displacement in the case of a linear motor), is not applied to the motor. The drive will not provide energy to the motor which can generate torque (or force in the case of a linear motor)". Used alone, the STO function corresponds to an uncontrolled stopping in accordance with the stop category 0 of the EN 60204-1 standard. The STO function may be used where power removal is required to prevent...

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IRD-eb Installation guide OINFRANOR The integration of the STO function must be the result of a risk analysis of the complete machine. All control components must comply with the requirements of this risk analysis. Installing and commissioning of safety functions must be performed by skilled personnel only. Short-circuit avoidance: Install the drive in a control cabinet with a minimum IP54 protection. Avoid different control signals proximity. Any short-circuit between two control signals must be detected: - By the circuit-breaking system (fuse for example). In this case, the voltage reference...

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IRD-eb Installation guide OINFRANOR 3.3.2.1 - Specification of the logic inputs 3.3.2.2 - EtherCAT and STO-SBC-in cable

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IRD-eb Installation guide OINFRANOR Shield recovery

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IRD-eb Installation guide 3.3.3 - Timings The STO function has a maximum activation / release response time of 10ms / 2ms max according to the following chronogram : A functional incoherence state between channels 1 and 2 is allowed during 50ms. The response time of the monitoring part is 200ms. If the monitoring part detects incoherence between channel 1 and 2, it locks both channels in the safe state. The STO fault cannot be reset. This state can only be exited by shutting down the 24V power supply. At this moment, the problem at the origin of this fault state must be identified and corrected....

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IRD-eb Installation guide OINFRANOR Used alone, the STO function corresponds to an uncontrolled stop in accordance with stop category 0 of the EN 60204-1 standard. So, this function is suited to machines with low inertia or high resistive torque. When using high inertia or low resistive torque machines, the user should initiate a controlled stop. To achieve a controlled stop in accordance with stop category 1 of the EN 60204-1 standard, the control system of the machine must generate the following sequences: ■ Deceleration of the load by means of the drive control, ■ Disabling of the PWM when...

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IRD_Installation_en_1.5

IRD_Installation_en_1.5

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