DIGITAL SERVO DRIVES FOR BRUSHLESS AC MOTORS Installation Guide

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...

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...

IRD-eb Installation guide

IRD-eb Installation guide_ OINFRANOR

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...

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...

IRD-eb Installation guide OINFRANOR

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

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...

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

IRD-eb Installation guide OINFRANOR

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...

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...

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

IRD-eb Installation guide OINFRANOR Shield recovery

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....

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...