ServoWire SD Series Drives by MikeJenny

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									                                                                                                                          ServoWire® 460 Series Drives


                                                ®
                   ServoWire SD 460 Series Drives
Up to 16 ServoWire SD drives can be
interfaced to the SMLC utilizing the
ServoWire protocol for motion control
networking. Six models offer                                  Six 460 Volt                                                                          Small
continuous output currents from 5 to                          drive models                                                                          footprint
50 amps RMS/phase, and an all-digital                         offer continuous                                                                      provides
design eliminates all manual drive                            output currents                                                                       excellent
setup including pots and jumpers.                             from 5 to 50                                                                          power
                                                              amps RMS/                                                                             density.
Drive Features                                                phase.
✔ Small Footprint: higher power density reduces
     space requirements
✔ Sinusoidal commutation: improves low speed
     torque ripple and system efficiency
✔ Trapezoidal commutation & DC operation:                                                                                                            Built-in
                                                            Flexible drive I/O
                                                                                                                                                     shunt
     provides user flexibility                              for high
                                                                                                                                                     regulators
✔ Field Oriented Control (FOC) and Space Vector             performance
                                                                                                                                                     for regen
     Modulation (SVPWM): optimal performance at all         motion control
                                                                                                                                                     applications.
     motor speeds.                                          applications.
✔    Integral shunt regulators: for regenerative load
     dissipation
✔    UL/CE approvals: UL Listed and CE Mark (low
     voltage directive & EMC)
✔    Status Indicator: Two digit display for network ID
                                                             UL Listed and CE                                                                       Support for
     & drive status
                                                             Mark (low voltage                                                                      Yaskawa Sigma
✔    ServoWire Network Interface: Three connectors           directive & EMC).                                                                      II and Tamagawa
     provide an all-digital control link to ServoWire                                                                                               serial encoders.
     Network, which is galvanically isolated from the
     drive and powered by SMLC.
✔    Drive Power Inputs: 230 or 460 VAC (nominal)
     input bus power with separate 115/230 VAC logic                                                 Model 425 shown
     supply and overvoltage protection.
✔    Flexible Drive I/O: ServoWire drives provide two     Up to 16 drives can be networked directly to the SMLC using standard cabling.
     high speed sensor inputs, four optically isolated
     outputs (one output can be used as a user-               Integrated Drive I/O
     configurable fail-safe brake control output and
     another as a drive ready output), three optically        ✔ High Speed Sensors: Each drive provides interfaces for two high-speed
     isolated inputs (one input can be used as an e-            sensors. The ASEN and BSEN inputs, along with the internal encoder
     stop input and/or as hardware overtravel limit             reference signal, can capture real-time axis position for either or both
     switch inputs) and one bi-directional I/O point.           axes within one microsecond of assertion. They can initiate axis motion
     Diagnostic LEDs aid debugging and terminal                 on the next position loop update (between 0.375 and 1.0 msec delay—
     blocks make connecting easy.                               depending on loop rate).
✔    External Regen & Bus Connections: Allows bus             ✔ E-Stop and Overtravel Limit Inputs: Each drive provides optically isolated
     power to be shared between drives and/or the               inputs, which can be configured as hardware overtravel limits or as an
     addition of an external resistor for dissipating
                                                                E-Stop and general purpose input.
     regenerative energy from the system.
✔    Feedback Types: All models available with
                                                              ✔ Brake Output: A user-configurable output is provided for control of fail-
     Encoder or Resolver feedback interface.                    safe brakes. Brake options are available for H-Series servomotors.
✔    Brushless Motor Feedback Interface: Versatile            ✔ Drive Ready: A user-configurable output is provided to indicate when
     encoder feedback interface accommodates                    the drive is operating normally, without faults. This output is
     quadrature feedback, and differential or single-           intended for use in the system e-stop interlock circuit.
     ended hall tracks.                                       ✔ Zero Reference Output: A buffered motor zero reference (index mark)
✔    Serial Encoders: Supports serial encoders                  output signal is available.
     including Yaskawa Sigma II and Tamagawa.                 ✔ Diagnostic LEDs: Each I/O point has a visual indicator of its state.
✔    Analog I/O: One 14-bit input; one 14-bit                 ✔ Terminal Blocks: Easy wiring to 3.81mm pitch terminal blocks.
     output.

ORMEC                                                                              -24-                                                   SERVOWIRE 460 SERIES DRIVES
Specifications                                          Mounting Information for SAC-SDM-405 & 410
Main Circuit Power                                        Minimum dismount
                                                                                                                                                                                         Mounting hole .210 [5.3] dia.

❒ 230 - 480 VAC +10%, -20%, 50/60 Hz,                      clearance                                                                                                                     Use 10-32 or M5 machine                                                   10.5 [267] cable connector clearance
                                                                         1.50 [38.1]                                                                                                     screw. (Qty 3)
                                                                                                                                                                                                                                                                                            8.3 [210]
                                                              .40 [10.2]                                                                                                                                       Fan intake area
  three phase                                                                                                                                                                                                  Keep clear of
                                                                                                                                                                                                               obstruction.


Control Circuit Power
❒ 115 or 230 VAC, +15%, -20%, 50/60 Hz, 56
                                                                                                                                                                                BUS POWER


                                                                                                                                                                                         r
                                                                                                                                                                                         t                                                                                                   Fan is integral part
  watts RMS, single phase (230 VAC only on                                               ID/STATUS

                                                                                                                                                                                         L1
                                                                                                                                                                                                                                                                                                   of heatsink for
                                                                                                                                                                                                                                                                                                          SD_-410
                                                                                                                                                                                         L2
  SDM435 and SDM450 models)                         11.0 [279]




                                                                                                                                      J1
                                                                                                                                                                                         L3
                                                                10.68 [271]




                                                                                   SERVOWIRE
                                                                                       1394




                                                                                                                                      J2
Position Command/Control Loop Update Rates                                                                                                                                          Bus+




                                                                                                                                      J3
                                                                                                                                                                                    RG                                           11.0 [279]

❒ Position loop updated on command at up to
                                                                                   SH
                                                                                   ASEN




                                                                                                                                      TB4
                                                                                   BSEN
                                                                                   V+S                                                                                              Bus-
                                                                                   V-S                                                                                                                           Heat sink
                                                                                   V+S
                                                                                    V-S                                                                                                  U                          for                                                                                   5.73 [144.8]
   2.66 kHz (application dependent).                                                                                                                                                                             SD-405/410
                                                                                   IN1
                                                                                   IN2
                                                                                   IN3                                                                                                   V




                                                                                                                                      TB5
                                                                                   I4/O4
                                                                                    O4TRN




❒ Velocity loop update rate: up to 5 kHz
                                                                                    SH
                                                                                    OUT1
                                                                                                                                                                                         W
                                                                                    OUT2
                                                                                    OUT3
                                                                                    O5/Z




❒ Torque loop update rate: 10 kHz




                                                                                                                               J4 MOTOR FEEDBACK
ServoWire® Drive Output
❒ 2,400 to 24,000 watts of output power (see
                                                                                                                                                                                                                                                                                                 .40 [10.16]
                                                                                                                                               1.50 [38.1]                                                                                 Optional Pacer
                                                                     .1 [2.5]
                                                                                                                                               .72 [18.3]                                                                                    2.5 [63.5]
  Servomotor Selection Charts for power                                                                                                       3.0 [76.2]
                                                                                                                                               4.3 [109.2]
                                                                                                                                                                                                                                     cable connector clearance

  requirements on matching drives)                                                                                                                      6.4 [162.6]


❒ IGBT pulse width-modulated with sinusoidal
  or trapezoidal commutation
❒ Internal shunt regulator for regenerative load        Mounting Information for SAC-SDM-417 & 425
  dissipation                                                                                                                                                                  Mounting hole .210 [5.3] dia.
                                                                                                                                                                               Use 10-32 or M5 machine
❒ Peak currents up to 200% of RMS
                                                         Minimum dismount
                                                                                                                                                                               screw. (Qty 4)                                                                       11.1 [282] minimum cable clearance
                                                           clearance
                                                                                                                                                                                                                                                                                        8.45 [215]
                                                            .4 [10.2]
  continuous capability
                                                                                   ID/STATUS                                                        BUS


ServoWire® Drive I/O                                                                                                                               POWER



                                                                                                                                                                                                                   TB1

❒ High speed sensor inputs are software                                                                                                                                TB2
                                                                                                            J1




                                                                                                                                                                                                                    L1
                                                                                                                                                                                r
                                                                                   SERVOWIRE
                                                                                       1394




                                                                                                                                                                               t                                    L2
                                                                                                            J2




  configurable for NPN or PNP output                                                                                                                                                                                L3
                                                                                                            J3




  transistors, level or edge triggered response,
                                                                                SH
                                                                                ASEN
                                                                                                            TB4




                                                                                BSEN
                                                                                V+S
                                                                                V-S
                                                                                                                                                                                                                   Bus+
  one microsecond position capture and can
                                                                                V+S
                                                                                 V-S
                                                                                IN1
                                                                                IN2
                                                   12.0 [305]                   IN3                                                                                                                                RG
                                                                                                            TB5




                                                                                I4/O4
                                                                                                                                                                                                                                                  12.0 [305]
  initiate motion within one servo loop update
                                                                                 O4TRN
                                                                                 SH
                                                                                 OUT1
                                                                                                                                                                                                                   Bus-
                                                           11.68 [297]           OUT2
                                                                                 OUT3
                                                                                                                                                                                                                    U

❒ Externally powered 5-24 VDC optically
                                                                                 O5/Z



                                                                                                                                                                                                                    V
                                                                                                           J4 MOTOR FEEDBACK




  isolated general purpose I/O and motor                                                                                                                                                                            W



  encoder reference output, controlled at the                                                                                                                                                                       SH


  servoloop update
Motor Feedback Interface
❒ Encoder or Resolver Interface                                                                                                                                                                                                                                          Optional Pacer
                                                                                                                                                                                                                                                                            2.5 [63.5]

❒ Quadrature feedback 4x decoding with data                       .1 [2.5]                                                                                                                                                        1.36 [35.4]                            minimum cable
                                                                                                                                                                                             4.00 [102]                                                                                               Minimum
                                                                                                                                                                                                                                                                           clearance
                                                                                                                                                                                             6.72 [171]                                                                                          Fan Clearance

  rates to 8 MHz (after decode) and open wire                                                                                                                                                                                                                                                    (4"h x 4"w x 4"d)


  detection
                                                           Mounting Information for SAC-SDM-435 & 450
❒ Three differential input channels for motor
                                                                                                                                                                                             Mounting hole .210 [5.3] dia.
  commutation feedback                                      Minimum dismount
                                                               clearance
                                                                                                                                                                                             Use 10-32 or M5 machine
                                                                                                                                                                                             screw. (Qty 4)
                                                                                                                                                                                                                                                               12.1 [307.4] minimum cable clearance


❒ Support for serial encoders including
                                                                                                                                                                                                                                                                                    9.45 [240]
                                                                 .4 [10.2]



  Yaskawa Sigma II and Tamagawa                                                                ID/STATUS                                                                BUS
                                                                                                                                                                       POWER




❒ Industry standard D-sub interface connector
                                                                                                                                                                                                                          TB1
                                                                                                                                                                        TB2
                                                                                                                                                                                                                           L1
                                                                                                                                                    J1




                                                                                                                                                                                     r
                                                                                               SERVOWIRE




                                                                                                                                                                                                                           L2
  (25-pin: Encoder/female; Resolver/male)
                                                                                                   1394




                                                                                                                                                                                    t
                                                                                                                                                    J2




                                                                                                                                                                                                                           L3
                                                                                                                                                    J3




❒ Input for high temp contact from motor
                                                                                         SH
                                                                                         ASEN
                                                                                                                                                    TB4




                                                                                         BSEN
                                                                                         V+S
                                                                                         V-S
                                                                                         V+S                                                                                                                             BUS+
                                                                                          V-S
                                                                                         IN1
                                                                                         IN2
                                                                                         IN3
                                                                                                                                                                                                                          RG

Environmental
                                                                                                                                                    TB5




                                                                                         I4/O4
                                                                                          O4TRN
                                                                                          SH                                                                                                                             BUS-
                                                                                          OUT1
                                                                                          OUT2
                                                                                          OUT3
                                                                                                                                                                                                                           U

❒ Ambient operating is 0 to 50C
                                                                                          O5/Z



                                                                                                                                                                                                                           V
                                                         14.0 [355.5]
                                                                                                                                                   J4 MOTOR FEEDBACK




❒ Ambient storage is -20 to 70C
                                                                                                                                                                                                                           W                  14.0 [355.5]
                                                                 13.68 [347.5]

❒ Humidity operating/storage is 90% RH or
                                                                                                                                                                                                                           SH




  less (non-condensing).
Drive Weights
❒ SAC-SDM405, 7.9 lbs (3.7 kg)
❒ SAC-SDM410, 8.3 lbs (3.9 kg)                                                                                                                                                                                                      1.86 [47.3]
❒ SAC-SDM417, 17.7 lbs (8.0 kg)                                         .1 [2.5]                                                                                                                 4.00 [102]                                      2.5 [63.5]
                                                                                                                                                                                                                                              minimum cable
                                                                                                                                                                                                                                                clearance
                                                                                                                                                                                                                                                                                            Minimum
                                                                                                                                                                                                                                                                                        Fan Clearance

❒ SAC-SDM425, 17.7 lbs (8.0 kg)
                                                                                                                                                                                                 7.8 [198.2]                                                                          (6"h x 7"w x 4"d)



❒ SAC-SDM435, 22 lbs (10.1 kg)
❒ SAC-SDM450, 22 lbs (10.1 kg)
ORMEC                                                                                                                                                                                        -25-                                                                                                          SERVOWIRE 460 SERIES DRIVES

								
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