Summary of Contents for Phase AxN
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Page 2: Table Of Contents
Main CAN ......................50 4.4.14 Auxiliary Encoder ..................... 52 4.4.15 EtherCAT IN/OUT——EtherCAT Port ............... 53 4.4.16 U1/U2——User Connectors ................54 APPENDIX: ACCESSORIES......................56 Prefabricated Motor Power Output Cable ..............57 Prefabricated Encoder Cable (for Phase Motors) ............58 Cable Support ......................59... -
Page 3: Safety Instructions (Read First!)
AxN Configurable Motion Control Platform 1 SAFETY INSTRUCTIONS (READ FIRST!) AxN Configurable Motion Control Platform Powered by Phase Motion Control... -
Page 4: Important Directions For Use
AxN Configurable Motion Control Platform Important Directions for Use Appropriate Use Introduction PMC products represent state-of-the-art developments and manufacturing. They are tested prior to delivery to ensure operating safety and reliability. The products may only be used in the manner that is defined as appropriate. If they are used in an inappropriate manner, then situations can develop that may lead to property damage or injury to personnel. -
Page 5: Safety Instructions For Electric Drives And Controls
AxN Configurable Motion Control Platform » packaging and food machines; » printing and paper processing machines; » machine tools. The drive controllers may only be operated under the assembly and installation conditions described in this documentation, in the specified position of normal use and under the ambient conditions as described (temperature, degree of protection, humidity, EMC, etc.). - Page 6 AxN Configurable Motion Control Platform » Proper and correct transport, storage, assembly and installation as well as care in operation and maintenance are prerequisites for optimal and safe operation of this device. » Only assign trained and qualified persons to work with electrical installations: Only persons who are trained and qualified for the use and operation of the device may work on this device or within its proximity.
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Page 7: Instructions With Regard To Specific Dangers
AxN Configurable Motion Control Platform Bodily harm or material damage may occur. Hazards by Improper Use High electric voltage and high working current! Risk of death or severe bodily injury by electric shock! Dangerous movements! Danger to life, severe bodily harm or material damage by unintentional... - Page 8 AxN Configurable Motion Control Platform » Before switching on the device, the equipment grounding conductor must have been no detachably connected to all electrical equipment in accordance with the connection diagram. » Do not operate electrical equipment at any time, even for brief measurements or tests, if the equipment grounding conductor is not permanently connected to the mounting points of the components provided for this purpose.
- Page 9 AxN Configurable Motion Control Platform High electric voltage by incorrect connection! Risk of death or bodily injury by electric shock! » To all connections and terminals with voltages between 0 and 50 Volt, only devices, electrical components, and conductors may be connected which are equipped with a PELV (Protective Extra-Low Voltage) system.
- Page 10 AxN Configurable Motion Control Platform emergency stop works before startup. Don’t operate the device if the emergency stop is not working. » Isolate the drive power connection by means of an emergency stop circuit or use a safety related starting lockout to prevent unintentional start.
- Page 11 AxN Configurable Motion Control Platform » Do not touch housing surfaces of motors! Danger of burns! » According to operating conditions, temperatures can be higher than 60 °C, 140 °F during or after operation. » Before accessing motors after having switched them off, let them cool down for a sufficiently long time.
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Page 12: Technical Specifications
AxN Configurable Motion Control Platform 2 TECHNICAL SPECIFICATIONS AxN Configurable Motion Control Platform Powered by Phase Motion Control... -
Page 13: Specifications
AxN Configurable Motion Control Platform Specifications Specifications Technical specifications Symbol AxN 09.20.4 Units 150 ~ 500 Vac 3 phase Power Supply Voltage 0 ~ 800 Auxiliary supply voltage 24V ± 15% / 2A Output frequency ... - Page 14 AxN Configurable Motion Control Platform 2 analog outputs 0 ~ 10V (1mV) FS (30mA) 4 digital outputs PNP open collector 24V (100mA) 1 watch dog relay 2A/30Vdc, 0.25A/250Vac, NO/NC contacts Hardware Configuration Processor speed: 80 MIPS μC + FPGA 120 MIPS μC + FPGA Extreme Version (Optional) Task frequency: –...
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Page 15: Ambient Conditions
AxN Configurable Motion Control Platform Max Continuous Current VS. Output Voltage (at 40℃) Ambient Conditions Ambient Conditions Ambient Conditions AxN 09.20.4 Protection IP20 Accident Prevention According to local regulations Regulations Up to 1000m above MSL, over 1000m above MSL with power reduction... - Page 16 AxN Configurable Motion Control Platform As per EN 61800-2，IEC60721-3-1 class 1K3 和 1K4 In Storage Temperature -25℃ to +85℃ Relative air humidity 5 to 95% without condensation As per EN 61800-2，IEC60721-3-3 class 3K3 In Operation Temperature 0℃ to 40℃，up to 60℃ with power reduction...
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Page 17: Mechanical Installation
AxN Configurable Motion Control Platform 3 MECHANICAL INSTALLATION AxN Configurable Motion Control Platform Powered by Phase Motion Control... -
Page 18: Notes For Operation
AxN Configurable Motion Control Platform Notes for Operation Avoid Please be sure to avoid: penetration of damp into the device; aggressive or conductive substances in the immediate vicinity; explosive and flammable substances in the immediate vicinity; drill chippings, screws or foreign bodies dropping into the device;... -
Page 19: Overall Dimensions
AxN Configurable Motion Control Platform 5. harmful gases and liquids 6. excessive vibration 7. chlorides Up to 1000m above MSL, over 1000m above MSL with power reduction ( 1% Altitude per 100m up) Amplitude up to 0.3mm at 2 to 9 Hz... -
Page 20: Installation Orientation And Spacing
AxN Configurable Motion Control Platform Installation Orientation and Spacing Installation Orientation To maintain proper cooling, install the AxN drive upright inside the switch cabinet as illustrated below: WARNING: The airflow inside the drive must be upright after installation as illustrated below. If other form of installation must be taken, CONNECT PMC ENGINEER BEFORE INSTALLATION. - Page 21 AxN Configurable Motion Control Platform Installation Spacing To maintain sufficient space for airflow and wiring, the space between AxN drive and other device (including other AxN drives) must comply the requirement below. Installation Spacing Distance Description The distance between the top of the switch cabinet, to ensure enough ＞100mm...
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Page 22: Electrical Installation
AxN Configurable Motion Control Platform 4 ELECTRICAL INSTALLATION AxN Configurable Motion Control Platform Powered by Phase Motion Control... -
Page 23: Standard Connection Diagram
AxN Configurable Motion Control Platform Standard Connection Diagram Ground FUSES 380VAC E-STOP Disable 220VAC Power supply 24VDC-8A Enable 24VDC Auxiliary supply of control circuits. Main filter Voltage:22-30V Requested current:2A Drive Ready Relay From Digital +24V 0V Ground U1-5 Output U1-6... -
Page 24: Main Circuit
4.2.1 Main Circuit Connection Diagram AxN 09.20.4 Drive can use AC power or DC power as its power supply. DO NOT USE BOTH AC power supply and DC power supply AT THE SAME TIME! Refer to the following figures for standard drive connection diagram. -
Page 25: Power Supply Input Port (P1)
Power Supply Input Port Terminal Configuration AxN 09.20.4 Drive’s Power Supply Input Port (P1) has 8 terminals: PE, R, S, T, DC-, B-, Jump and DC+/B+ (the PE terminal is a shared PE terminal). And the P1 port has different functions by using different combinations of terminals. -
Page 26: Ac Power Supply Input
±10% (45 ~ 66Hz) Asymmetry ±3% Cable Wire Gauge AxN 09.20.4 drive must use a 4 wire cable with shield as its AC power supply cable. The table below lists the appropriate cable: Current (Arms) Cross-sectional Area (mm AxN 09.20.4 2.63... -
Page 27: Dc Power Supply Input
T, S to S, R to R and PE to PE. Cable Fixing Use a hose clamp to fix the cable on the cable support. For AxN 09.20.4 drive, the nominal torque to tight these terminals is 0.5 ~ 0.6 N∙m. - Page 28 AxN Configurable Motion Control Platform Cable Wire Gauge AxN 09.20.4 drive must use a 3 wire cable with shield as its DC power supply cable. The table below lists the appropriate cable: Current (Arms) Cross-sectional Area (mm AxN 09.20.4 10.4 2.63...
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Page 29: Brake Resistor
This can cause an overvoltage situation when the regenerative energy flows back into the DC bus capacitors. A brake resistor prevents these overvoltage faults. AxN 09.20.4 Drive has an internal brake resistor inside the drive. And it can also connect an external brake resistor (Recommended). - Page 30 NOTE: Brake resistor wires’ insulation grade must be higher than 1000Vac and 3000Vdc. Installation Connect the brake resistor’s wires to the Terminals, DC+/B+ and B-. For AxN 09.20.4 drive, the nominal torque to tight these terminals is 0.5 ~ 0.6 N∙m.
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Page 31: Motor Power Output Port (P2)
AxN 09.20.4 Drive’s Motor Power Output Port (P2) has one function: output power to the motor. Port Location AxN 09.20.4 Drive’s Motor Power Output Port (P2) is on the bottom of the drive. Refer to the following figure for exact locations. -
Page 32: Motor Power Output
Otherwise the motor cannot work properly! 4.2.7 Motor Power Output Cable Wire Gauge AxN 09.20.4 drive must use a 4 wire cable with shield as its Motor Power Output cable. The table below lists the appropriate cable: Current (Arms) Cross-sectional Area (mm AxN 09.20.4... - Page 33 AxN Configurable Motion Control Platform Motor Power Output Cable Sketch Motor Power Output Installation Wiring and Torque Specification Connect the 4 wires of the motor power cable to the correspond terminals on the P2 port: U to A, V to B, W to C and PE to PE.
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Page 34: Control Circuit
Nominal Current Port Location AxN 09.20.4 Drive’s Auxiliary Power Supply Port (Female Plug, 4Pin) is on the top of the drive. And a corresponding Auxiliary Power Supply Terminal (Male Plug, 4Pin) is provided in the accessories. Refer to the following figure for exact locations. -
Page 35: Safe Torque Off (Sto)
4.3.2 Safe Torque Off (STO) STO Function Normal version AxN 09.20.4 Drive does not have the STO function. If you want to use the STO function, you must order a STO version AxN 09.20.4 Drive. Normal version AxN 09.20.4 Drive has already internally short cut Pin 24V_AUX, 24_SAF_H and 24V_SAF_L, so that STO function is disabled. -
Page 36: System Relay (R1)
4.3.3 System Relay (R1) Port Location AxN 09.20.4 Drive’s System Relay Port (Female Plug, 3Pin) is on the top of the drive. And a corresponding System Relay Terminal (Male Plug, 3Pin) is provided in the accessories. Refer to the following figure for exact locations. - Page 37 Relay normally closed contact Diagram AxN 09.20.4 Drive uses a relay to indicate the status. When Drive is power off or system is not ready, the circuit is connected between N.C. (Normally Closed) and Com. In the meantime, the circuit is disconnect between N.O.
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Page 38: Communication Port
AxN Configurable Motion Control Platform 4.4 Communication Port 4.4.1 Overview of Communication Port Panel Name Function Description SinCos, Endat, Digital Incremental with Hall, Encoder Connector Resolver Hiperface 4 Analog Inputs, 2 Analog Outputs; U1/U2 User Connectors 8 Digital Inputs, 4 Digital Outputs... -
Page 39: E1 Connector--Main Encoder Port
Appendix: Accessories ——5.2 Prefabricated Encoder Cable for more details. Port Location AxN 09.20.4 Drive’s Main Encoder Port (Female Plug, 15 Pin D-Sub) is on the right bottom of the Communication Port Panel. Refer to the following figure for exact location. -
Page 40: Sincos Encoder
AxN Configurable Motion Control Platform 4.4.3 Sincos Encoder Pin Assignment Name Function Signal Description Supply ground Encoder ground SIN+ Encoder absolute channel 1 Vpp differential COS+ Encoder absolute channel 1 Vpp differential COS- Encoder absolute channel 1 Vpp differential SIN-... -
Page 41: Endat Encoder
AxN Configurable Motion Control Platform 4.4.4 Endat Encoder Pin Assignment Name Function Signal Description Supply ground Encoder ground —— —— —— CLOCK+ Endat clock CLOCK- Endat clock —— —— —— +Vcc Encoder supply, 8Vdc Positive supply voltage —— —— ——... -
Page 42: Digital Incremental Encoder With Hall
AxN Configurable Motion Control Platform 4.4.5 Digital Incremental Encoder with Hall Pin Assignment Name Function Signal Description Supply ground Encoder ground —— —— —— Hall sensor Hall sensor Hall sensor +Vcc Encoder supply, 8Vdc Positive supply voltage Encoder incremental channel... -
Page 43: Resolver
AxN Configurable Motion Control Platform 4.4.6 Resolver Pin Assignment Name Function Signal Description —— —— —— SIN+ Absolute channel Differential signal COS+ Absolute channel Differential signal COS- Absolute channel Differential signal SIN- Absolute channel Differential signal —— —— —— ——... -
Page 44: Hiperface Encoder
AxN Configurable Motion Control Platform 4.4.7 Hiperface Encoder Pin Assignment Name Function Signal Description Supply ground Encoder ground —— —— —— —— —— —— —— —— —— —— —— —— +Vcc Encoder supply, 8Vdc Positive supply voltage COS+ Process data channel... -
Page 45: S1 Connector--Serial Bus Port
Port Location AxN 09.20.4 Drive’s Serial Bus Port (Male Plug, 9 Pin D-Sub) is on the downside of drive‘s communication port panel. Refer to the following figures for exact location. - Page 46 A minimal "3-wire" RS-232 connection consisting only of transmit data, receive data, and ground, is commonly used when the full facilities of RS-232 are not required. And it is also the minimal connection requirement of Cockpit communication with AxN 09.20.4 Drive. Connection table 1) N/C——No Connection;...
- Page 47 When the controller has full facilities of RS-232, "7-wire" connection is the maximal connection which AxN 09.20.4 drive can support. NOTE: Do NOT use "9-wire" connection, AxN 09.20.4 drive does not support DCD and RI function. Connection table 1) N/C——No Connection;...
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Page 48: Rs-422/Rs-485
AxN Configurable Motion Control Platform 4.4.10 RS-422/RS-485 Pin Assignment RS-422 RS-485 Function Transmit Data + TX＋ TX＋(LN＋) TX－ TX－(LN－) Transmit Data - RX＋ RX＋(LN＋) Receive Data + RX－ RX－(LN－) Receive Data - Ground —— —— —— —— —— —— ——... -
Page 49: Auxiliary Can
AxN Configurable Motion Control Platform 4.4.11 Auxiliary CAN AxN 09.20.4 Drive supports CANOpen protocol and it has two independent CAN access. The auxiliary CAN controller links to the S1 connector. Pin Assignment CANOpen Function CAN_H CAN_H bus line (dominant high) - Page 50 AxN Configurable Motion Control Platform Connection diagram Note: Only the first and the last CAN node device should use a 120Ω terminal resistor.
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Page 51: C1 Connector--Main Can Port
4.4.12 C1 Connector——Main CAN Port AxN 09.20.4 Drive’s Main CAN Port (C1) connects to the main CAN controller inside the AxN drive. It the default CAN network port of AxN drive. Moreover, C1 port can also be used as Auxiliary Encoder Port. - Page 52 AxN Configurable Motion Control Platform Connection Table 1) N/C——No Connection; 2) Connector back shell shielded 360°(Both ends); 3) ● means that the shield or cable should connect to connectors. Connection diagram Note: Only the first and the last CAN node device should use a 120Ω terminal resistor.
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Page 53: Auxiliary Encoder
AxN Configurable Motion Control Platform 4.4.14 Auxiliary Encoder C1 port is also the Auxiliary Encoder Port. It supports Endat Encoder IN, Incremental Encoder IN and Simulated Incremental Encoder OUT. The output voltage of Simulated Incremental Encoder is 0 ~ 3.3V. -
Page 54: Ethercat In/Out--Ethercat Port
EtherCAT IN and EtherCAT OUT. Port Location AxN 09.20.4 Drive’s EtherCAT Port is on the upside of drive‘s communication port panel, formed by two RJ45 100Base-TX female plug. Refer to the following figure for exact location. -
Page 55: U1/U2--User Connectors
AxN Configurable Motion Control Platform 4.4.16 U1/U2——User Connectors Port Location AxN 09.20.4 Drive’s User Connectors (Male Plug, 2 × 12 pin) are on the left bottom of the Communication Port Panel. Refer to the following figure for exact location. Diagram NOTE: All analog signal reference GND are the same, and all digital signal reference GND are the same. - Page 56 Digital signal reference Notes: 1. AxN 09.20.4 Drive has 4 single end analog inputs or 2 differential analog inputs, and they can be switched by software. The default mode is differential mode. When analog inputs are in differential mode, pin R0P (U1-1) and pin R0N (U1-2) map the R0 channel in software, and pin R1P (U2-14) and pin R1N (U2-15) map the R1 channel in software.
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Page 57: Appendix: Accessories
AxN Configurable Motion Control Platform 5 APPENDIX: ACCESSORIES AxN Configurable Motion Control Platform Powered by Phase Motion Control... -
Page 58: Prefabricated Motor Power Output Cable
AxN Configurable Motion Control Platform 5.1 Prefabricated Motor Power Output Cable The Order Code can provide all the necessary specifications about a Prefabricated Motor Power Output Cable. Choose the specifications and use the corresponding order cable to order. Order Code... -
Page 59: Prefabricated Encoder Cable (For Phase Motors)
AxN Configurable Motion Control Platform 5.2 Prefabricated Encoder Cable (for Phase Motors) The Order Code can provide all the necessary specifications about a Prefabricated Encoder Cable. Choose the specifications and use the corresponding order cable to order. Order Code -A28... -
Page 60: Cable Support
AxN Configurable Motion Control Platform 5.3 Cable Support AxN 09.20.4 drive metal cable support is connected with the shell after the installation is completed. Large area of the metal plate can ensure that the cable shield is effectively grounded and the grounding impedance is reduced.