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PacHP_Installation_en_2.9

PacHP_Installation_en_2.9

Product catalog summary

ESD Information: INFRANOR drives are protected against electrostatic discharges, but some components are sensitive. Store drives in original packaging and handle with care to prevent damage.

Storage and Handling: Store drives on flat metal surfaces and handle via metal housing if no protective equipment is available. Avoid contact with connectors.

Waste Disposal: INFRANOR devices are classified as WEEE and should be disposed of selectively. In France, RECYLUM provides free collection and recycling services.

General Warning: This manual covers servo drives for AC brushless motors. It is crucial to read the manual before operation. Maintenance should only be performed by skilled technicians.

Standards Compliance: Conformity with standards and CE approval is valid only if installation follows manual recommendations.

Technical Specifications: Detailed specifications for various PacHP models are provided, including dimensions and connector locations.

STO Safety Function: Includes functional diagrams, safety instructions, and connection details for the Safe Torque Off (STO) function.

Inputs and Outputs: Information on display indicators, drive addressing, and connector specifications for different fieldbus versions (CANopen, EtherCAT, PROFINET).

Introduction: PacHP drives are advanced servo drives designed to replace the Pac drives launched in 2009. They incorporate new technologies for improved current sensing, analog signal conversion, and power calculation, offering double the regulation performance of their predecessors. The PacHP drives maintain full compatibility with Pac drives, retaining all functionalities, parameter file compatibility, mechanical dimensions, and connectivity.

Specifications: PacHP drives are all-digital with sinusoidal PWM control, suitable for controlling brushless AC motors with a position sensor. They support various control interfaces, including CANopen, EtherCAT, PROFINET, analog, stepper motor emulation, and logic I/Os. Advanced functions include DS402, master/slave and electronic gearing functions, and a positioner with motion sequencing. All versions come with the integrated safety function Safe Torque Off (STO), and optional safety boards provide additional safety monitoring features compliant with IEC61800-5-2 and IEC61508 standards.

Design and Connectivity: The PacHP is available in compact designs, including stand-alone or multi-axis versions, with options for standard forced air, push-through, or cold plate cooling. The document details various connectors for encoders, fieldbus, serial links, auxiliary power supply, and motor brake, as well as power connectors for different voltage and current specifications.

Connections: Chapter 5 provides examples of connection diagrams for different PacHP models and outlines UL standard requirements. It covers analog input connections, connections to various sensor types, and accessories like braking resistors and backup batteries. Instructions for connecting to the "OPTIO" software tool via USB, serial link RS232, and CANopen are also included.

Wiring Instructions: Guidelines for wiring include considerations for leakage current, ground connection, shield connection, and examples of ground and shield connections. Specific instructions for motor, resolver, and encoder cables are provided.

First Powering and Maintenance: Instructions for the initial powering of the drive emphasize the importance of proper connection of the 24VDC supply and mains power supply, along with a starting procedure. Maintenance guidelines include periodical checks, procedures after long-term storage, and warranty information.

Appendix: The appendix includes examples of cabinet designs, soft start systems, braking system sizing, and interactions between operating voltage, inductance, and PWM frequency. Operating environment conditions are also discussed.

Overview: The document provides a comprehensive guide on the PacHP series drives, detailing their configurations, applications, compliance with standards, ordering codes, and technical specifications. These drives are versatile, supporting various interfaces and applications, and are designed for easy configuration and integration into different systems.

Applications:

CANopen Interface: Suitable for axes controlled by CANopen fieldbus (DS402 protocol), stand-alone operation, traditional analog speed drive, and stepper motor emulation.
EtherCAT Interface: Used for axes controlled by EtherCAT fieldbus (DS402 protocol) and stand-alone operation.

Description and Standards Compliance:

The PacHP drive controls motor torque and speed using high-resolution position sensors, ensuring smooth motor control.
Supports various position sensors, including resolver, incremental encoder, and absolute encoders with different communication protocols.
Complies with multiple directives and standards, including Low Voltage Directive, Machinery Directive, Electromagnetic Compatibility, and others related to safety and environmental regulations.

Ordering Codes:

Drives are categorized by interface type (e.g., CANopen, EtherCAT), voltage range (230V, 400V), and current range (e.g., 5Arms, 11Arms).
Options include mounting versions and safety features.

Connector Sets:

Different connector sets are available for command, power, and motor connections, with specific kits for different voltage ratings.

Technical Specifications:

Details on operating power supply voltage, braking thresholds, EMC filters, and output current ratings for different drive models.
Cooling options include forced air, push-through, and cold plate, depending on the model.

Additional Features:

Optio software tool for configuration and parameterization, compatible with Windows OS.
Autotuning and autophasing functions for easy commissioning.

Specifications: The document outlines various encoder options for PacHP drives, including incremental encoders (TTL or SinCos signals), absolute single-turn SinCos encoders, and Hiperface DSL, EnDat 2.2, and BiSS C encoders. Switching frequencies are available at 4kHz, 8kHz, and 16kHz. The drives feature analog inputs with a resolution of 16 bits and adjustable speed and position regulators with selectable sampling rates. The speed loop bandwidth varies with the sampling rate, and the current loop bandwidth is dependent on the PWM frequency.

Performance and Limitations: The maximum motor speed is adjustable from 100 to 25,000 rpm, with a maximum current frequency of 500 Hz. The drive reaction time varies by voltage, with 10ms for 230V and 30ms for 400V. Encoder position output is available for specific versions, with programmable resolution and accuracy considerations.

Environmental and Installation Requirements: The drive operates within a temperature range of -25°C to +50°C and requires specific cooling methods. It must be mounted vertically in an IP54 cabinet to protect against dust and condensation. The document specifies weight and dimensions for various PacHP models and provides detailed mounting instructions, including heatsink requirements.

STO Safety Function: The Safe Torque Off (STO) function is defined according to EN 61800-5-2, ensuring that power is not applied to the motor, preventing unexpected start-ups. The STO function meets Category 3 PLe and SIL3 standards, with a detailed functional diagram and command system conception provided. The document emphasizes the importance of a risk analysis for integrating the STO function and provides connection and timing details.

Performance Level and Safety Standards: The STO function fulfills the requirements of Category 3 / PLe and SIL3 standards, with a lifetime of 20 years and a high diagnostic coverage of 95%. The document includes performance parameters such as MTTFd and PFH, ensuring compliance with safety standards.

Overview: This document provides detailed technical specifications and procedures for the operation and maintenance of a machine's safety functions, focusing on the PacHP drive system. It includes guidelines for routine checks, risk management, and detailed input-output configurations.

Routine Checks: The safety function must be checked every three months and during machine safety validations. The procedure ensures all subsystems are operational, with a specific mode for operators aware of potential risks. Operators are advised to sign a register to acknowledge understanding of the risks.

Residual Risk: In the event of a short-circuit between power transistors, there is a residual risk of motor shaft rotation, which can be calculated based on the number of motor poles.

LED Indicators: The document describes the status indicators for various LEDs on the drive system, including red and green LEDs for different fieldbus versions (CANopen, EtherCAT, PROFINET). Each LED status indicates specific operational states or faults.

Drive Addressing and Speed Selection: The document outlines the configuration of drive addresses and communication speeds for CANopen, EtherCAT, and PROFINET fieldbuses, using DIP switches for settings.

Connector Specifications: Detailed pin configurations and functions for various connectors (X1, X2, X3) are provided, including resolver inputs, SinCos tracks, Hiperface DSL, EnDat 2.2, BiSS C encoders, and more. Each connector type has specific pin assignments and signal descriptions.

Warnings and Safety Precautions: The document emphasizes the importance of connecting and disconnecting control and power cables with the drive turned off to avoid electrical risks. It also highlights the need for proper handling of the AOK output to prevent fire risks in case of power stage failures.

Technical Specifications: Detailed specifications for logic inputs and outputs, analog inputs and outputs, and encoder output signals are provided. These include voltage levels, current capacities, and specific configurations for different operational modes.

Overview: This document provides detailed technical specifications and connection guidelines for various components of the PacHP drive system, including encoder inputs, fieldbus connectors, power supply, and sensor connections.

Encoder Inputs:

Hiperface Encoder: Differential inputs for Data, Sin, and Cos channels with internal supply voltage of 9.5V.
Single-turn Absolute SinCos Encoder: Differential inputs for reference pulse and channels A, B, C, D with a 5V encoder supply voltage.

Fieldbus Connectors:

CANopen Bus: Uses RJ45 connectors with specific pin assignments for CAN-H, CAN-L, and ground connections.
Ethernet Network: Requires minimum category 5e cables with specific shielding and length requirements.

Power Supply and Motor Brake:

24VDC Auxiliary Power Supply: Provides specifications for motor brake output and auxiliary power supply with specific current ratings for different PacHP versions.
Power Connectors: Detailed pin functions for motor phases, DC bus outputs, and braking resistors for various voltage and current configurations.

Connection Guidelines:

Analog Inputs: Instructions for connecting differential and non-differential analog signal sources.
Sensors: Connection details for resolvers, incremental TTL encoders, and absolute encoders like Hiperface and EnDat 2.2.

Safety and Compliance:

UL Standard Requirements: Specifies conditions for 24V supply and power supply protection with recommended fuse ratings.
Grounding and Shielding: Emphasizes the importance of proper grounding and shielding for motor and brake cables.

Specifications and Wiring Instructions: The document provides detailed specifications and wiring instructions for the PacHP drive system, focusing on the Hiperface DSL communication and motor connections. It emphasizes the importance of symmetrical placement of motor phases and the need for twisted and shielded Hiperface DSL communication wires. Proper grounding and shielding are critical for optimal DSL connection performance.

Connector Assembly and Shielding: Both motor and drive side connectors require metallic housings with 360° shield connections. The document provides examples of connector assemblies, highlighting the necessity of connecting cable shields and Hiperface DSL shields to metallic housings. The use of a D-Sub 15 connector with metallic housing is mandatory.

Configuration and Accessories: The PacHP drive can be configured for master/slave "software gearing" applications, controlling the slave motor shaft position based on input from a master encoder or PacHP master drive. Accessories like braking resistors, backup batteries, and SHIELD-Pac are discussed, with specific connection instructions provided.

Braking Resistor Connections: The document outlines the connection of internal and external braking resistors, emphasizing the need for heat evacuation and the use of shielded cables. It warns against mounting braking resistors near heat-sensitive materials.

Backup Battery and SHIELD-Pac Connections: A 24V/30A.h battery can power the drive during extended periods without mains power. The SHIELD-Pac accessory improves cable holding and shield connection to the ground.

IO-Pac Accessory: The IO-Pac allows direct connection of input/output wires without soldering or crimping. A connection table provides pin functions and descriptions.

Software Tool Connections: Connections to the Optio software tool can be made via USB, RS232, or CANopen interfaces. Recommendations for industrial environments include using optic insulation and specific industrial interfaces.

Wiring Instructions: The document provides detailed wiring instructions, including leakage current estimation, ground connection requirements, and shield connection guidelines. It stresses the importance of 360° shield connections and the use of metallic collars.

Motor, Resolver, and Encoder Cables: Guidelines for grounding and shielding motor, resolver, and encoder cables are provided. The document includes calculations for voltage drop and recommendations for cable sections and lengths.

Conclusion: The document concludes with warnings about potential issues with long motor cables, such as heating and high overvoltage, and suggests solutions like using reactance or sinus filters.

Specifications and Procedures:

First Powering of the Drive: Ensure correct connections, especially for 24VDC and power supplies. Incorrect voltage connections can destroy the drive. Disable logic inputs configured with the Enable function. Verify braking resistor specifications and grounding.
Connection of 24VDC Supply: The red Err LED should flash indicating an "Undervolt." error. Follow connection recommendations as per the guide.
Connection of Mains Power Supply: The red Err LED should be unlit. Continuous lighting indicates a fault.
Starting Procedure: Refer to the PacHP User Guide. Ensure safety measures to prevent uncontrolled axis movements.

Appendix:

Cabinet Design: Use a cabinet with thermal boundaries for the push-through version. Ensure proper cooling and periodic cleaning of filters.
Soft Start System: Limits inrush current at power-up. The system remains operational when powered by DC inputs. Follow integration recommendations to maximize component lifespan.
Sizing of the Braking System: Defines the maximum duty cycle of the braking transistor. Ensure correct settings to prevent damage and faults.
Interaction Between Operating Voltage, Inductance, and PWM Frequency: PacHP drives can operate within a wide voltage range. Specific operating voltages affect drive specifications.
Maintenance: Regular checks are necessary for housing, cooling, dust, corrosion, and mechanical mounting. Special procedures are required after long storage periods.
Operating Environment Conditions: Drives must be mounted in an IP54 cabinet, protected from dust and condensation. Abnormal conditions require special considerations.

Transport Conditions:

Climatic Conditions: The equipment can be transported in its standard packaging under conditions specified by class 2K3 of the IEC 60721-3-2:1997. This includes a surrounding air temperature range of -25°C to +70°C and relative moisture of 95% at +40°C. Note that certain temperature and moisture combinations may cause condensation.
Unusual Climatic Conditions: Transport at temperatures lower than -25°C requires either reheating or removal of components sensitive to low temperatures.
Mechanical Conditions: The equipment can be transported under conditions specified by class 2M1 of the IEC 60721-3-2:1997 standard, which includes specific vibration and shock limits. Special packaging or transport conditions are required if these limits are exceeded.

Vibration and Shock Limits:

Vibration Limits: Frequencies from 2 to 9 Hz have an amplitude limit of 3.5 mm, while frequencies from 9 to 200 Hz have an acceleration limit of 10 m/s², and from 200 to 500 Hz, the limit is 15 m/s².
Shock Limits: Equipment with mass less than 20 kg can withstand a free fall height of 0.25 m, while equipment with mass between 20 kg and 100 kg also has a limit of 0.25 m. For equipment over 100 kg, the limit is 0.10 m.

Company Information: Infranor Group provides customized motion solutions, leveraging strong market knowledge and engineering skills to offer high-quality products that enhance productivity and competitive advantage. Infranor operates in multiple countries including Benelux, China, France, Germany, Italy, Spain, Switzerland, the United Kingdom, and the USA, with additional representations in Austria, Denmark, India, Israel, Poland, Slovenia, and Turkey.

Catalog excerpts

Installation Guide DIGITAL SERVO DRIVES FOR BRUSHLESS AC MOTORS

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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: -PacHP User Guide for the operation of the drive (commissioning, configuration, ...) -EtherCAT fieldbus interface manual for the PacHP-et and -ed versions. -PROFINET fieldbus interface manual for the PacHP-pn version. -GDPS manual, for the use of the GDPS power supply unit. -PacHP SF01 Safety version operating manual -PacHP SF02 Safety version operating manual Instructions for storage, use after storage, commissioning as well...

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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 France is a member of RECYLUM: eco-organization ecosystem certified for the collection, treatment and recycling of WEEE. In France, RECYLUM allows all professionals benefiting from a free collection and recycling solution, in observance of the regulation, the environment and health.  Information and sorting instructions regarding INFRANOR products...

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PacHP installation guide OINFRANOR

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PacHP installation guide OINFRANOR PacHP drives replace the Pac drives launched in 2009. Thanks to new embedded technologies in current sensing, analog signals conversion and power calculation, the PacHP range achieves double regulation performances compared with Pac. PacHP drives ensure full compatibility with Pac drives: - All existing functionalities are still available, - Parameter files are directly compatible, - Mechanical dimensions are unchanged, PacHP all-digital drives with sinusoidal PWM control are servo drives that provide the control of brushless AC motors with a position sensor....

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PacHP_installation_guide With its very small dimensions, the PacHP is available in various designs: stand-alone or multi-axis version, standard forced air, push-through or cold plate cooling versions. Series PacHP drives are fully configurable in order to fit various applications. The PacHP version with CANopen interface can be used in the following application types: • • • • Axes controlled by CANopen fieldbus according to the DS402 protocol, Stand-alone operation as a motion sequencer with control by means of logic I/Os, Traditional analog speed drive with +/- 10 V command and position output...

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PacHP installation guide OINFRANOR 1.2.2 - Reference to directives and standards 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 Harmonized standards applied: EN 61800-5-2:2007 & 2017: Adjustable speed electrical power drive systems -Part 5-2: Safety requirements - Functional Harmonized standard applied: EN 61800-3:2018: Adjustable speed electrical power drive systems -Part 3: EMC requirements and specific test methods C3 category...

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1.3 - ORDERING CODES 1.3.1 - Drives 1.3.1.1 - Ordering code of the drives PacHP- xx - U / I - mm - SF - PPACXX Drive version ak: Analog interfaces and CANopen fieldbus et: EtherCAT fieldbus ed: EtherCAT fieldbus + digital encoder interface kd: CANopen fieldbus + digital encoder interface pn: PROFINET fieldbus Voltage range 230: Voltage range 230V 400: Voltage range 400V Current range for 230V drives 05 = 5Arms 11 = 11Arms 17 = 17Arms Current range for 400V drives 08 = 08Arms 20 = 20Arms 45 = 45Arms 100 = 100Arms 200 = 200Arms OPTIONS Mounting version (400V range only, except for 200A) PT: Push-through...

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PacHP installation guide OINFRANOR

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PacHP installation guide OINFRANOR 230 Connector kit for 230V drives 402 Connector kit for 400V / 08A and 20A drives X8: 5 pin plug connector for the auxiliary 24Vdc supply and for the motor brake. X9: power plug connector for mains and motor. X10: mains power plug connector for PacHP 400V / 08A to 20A X1: male 15 pin D-Sub connector for the resolver, with the appropriate conducting cover. X2: female 26 pin D-Sub HD connector for the logic I/Os, with the appropriate conducting cover. X3: male 26 pin D-Sub HD connector for the encoder, with the appropriate conducting cover. X5: female 9 pin D-Sub...

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PacHP installation guide OINFRANOR (1) Internal protection automatically divides the time by 3 at standstill. Maximum surrounding air temperature: 40°C.

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PacHP installation guide OINFRANOR Internal protection automatically divides the time by 3 at standstill. Maximum surrounding air temperature: 40°C.

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PacHP installation guide OINFRANOR Internal protection automatically divides the time by 3 at standstill. Maximum surrounding air temperature: 40°C.

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PacHP installation guide OINFRANOR

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PacHP installation guide OINFRANOR

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PacHP installation guide OINFRANOR PacHP installation guide OINFRANOR Automatic functions Drive adjustment to the motor (AUTOPHASING) Adjustment of the servo loops (AUTOTUNING) The file "Infranor thermal utility" is available on the Infranor website www.infranor.com for more detailed estimations. Clean the contact surface of the heatsink with alcohol. Apply a thermal interface between the drive plate and the heatsink. Recommended thermal interfaces: - A thin layer of thermal paste on the drive (recommended reference: RHODORSIL Paste 340). - Phase change thermal interface (recommended reference:...

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2.2 - DIMENSIONS AND CONNECTOR LOCATION 2.2.1 - PacHP 230V dimensions Dimensions are given in mm.

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PacHP installation guide OINFRANOR VERTICAL MOUNTING IS MANDATORY

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2.2.3 - PacHP 400V / 08 to 45A dimensions Dimensions are given in mm. Standard version NOTE: This bottom view is the one of the 400/45 drive (without X10 connector). The X10 connector is only available on drives with 8A and 20A current ratings.

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PacHP installation guide OINFRANOR Push-through version This bottom view is the one of the 400/45 drive (without X10 connector). The X10 connector is only available on drives with 8A and 20A current ratings.

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PacHP_Installation_en_2.9

PacHP_Installation_en_2.9

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