Over 100 years cumulative experience

24 hour rush turnaround / technical support service

Established in 1993

The leading independent repairer of servo motors and drives in North America.

Visit us on the web:

www.servo-repair.com
www.servorepair.ca
www.ferrocontrol.com
www.sandvikrepair.com
www.accuelectric.com

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For 24/7 repair services :

USA: 1 (888) 932 - 9183

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Emergency After hours: 1 (416) 624 0386

Servicing USA and Canada

SSD Parvex SAS
8, avenue du Lac - B.P. 249
F-21007 Dijon Cedex
www.SSDdrives.com

DIGIVEX Single Drive

DIGITAL SERVOAMPLIFIER

User and commissioning manual

PVD 3500 GB – 04/2004

 PRODUCT RANGE
1- « BRUSHLESS » SERVODRIVES
TORQUE OR POWER
RANGES
• BRUSHLESS SERVOMOTORS, LOW INERTIA, WITH RESOLVER
Very high torque/inertia ratio (high dynamic performance machinery):
⇒ NX -HX - HXA 1 to 320 N.m
⇒ NX - LX 0,45 to 64 N.m
High rotor inertia for better inertia load matching:
⇒ HS - LS 3,3 to 31 N.m
Varied geometrical choice :
⇒ short motors range HS - LS 3,3 to 31 N.m
⇒ or small diameter motors : HD, LD 9 to 100 N.m
Voltages to suit different mains supplies :
⇒ 230V three-phase for «série L - NX»
⇒ 400V, 460V three-phase for «série H - NX»
• "DIGIVEX Drive" DIGITAL SERVOAMPLIFIERS
⇒ SINGLE-AXIS DSD
⇒ COMPACT SINGLE-AXIS DµD, DLD
⇒ POWER SINGLE-AXIS DPD
⇒ MULTIPLE-AXIS DMD
• "PARVEX Motion Explorer" ADJUSTING SOFTWARE

2- SPINDLE DRIVES

• SPINDLE SYNCHRONOUS MOTORS

⇒ "HV" COMPACT SERIES
⇒ "HW" ELECTROSPINDLE,frameless, water-cooled motor From 5 to 110 kW
up to 60,000 rpm
• "DIGIVEX" DIGITAL SERVOAMPLIFIERS

3- DC SERVODRIVES

• "AXEM", "RS" SERIES SERVOMOTORS 0.08 to 13 N.m

• "RTS" SERVOAMPLIFIERS
• "RTE" SERVOAMPLIFIERS for DC motors + resolver giving position
measurement

4- SPECIAL ADAPTATION SERVODRIVES

• "EX" SERVOMOTORS for explosive atmosphere

• "AXL" COMPACT SERIES SERVOREDUCERS 5 to 700 N.m

5- POSITIONING SYSTEMS

• Numerical Controls « CYBER 4000 » 1 to 4 axes

• "CYBER 2000" NC 1 to 2 axes
• VARIABLE SPEED DRIVE - POSITIONER
⇒ SINGLE-AXIS DSM
⇒ POWER SINGLE-AXIS DPM
⇒ MULTIPLE-AXIS DMM
• ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX Motion Explorer
DIGIVEX Single Drive Servoamplifier

CONTENTS

SAFETY INSTRUCTIONS ……………………………………………………………………………5

PRODUCT RANGE 2

1. GENERAL 7
1.1 Digital Servodrive 7
1.2 General Characteristics 7
1.2.1 Modules with 230 V single-phase power supply 7
1.2.2 Modules with 230 V three-phase power supply 8
1.2.3 Modules with 400 V three-phase power supply 8
1.3 Operating Principle 9
1.3.1 Block diagram 9
1.3.2 Power supply functions 11
1.3.3 Servomotor control functions 11
1.3.3.1 Presentation 11
1.3.3.2 Functions and block diagram 11
1.3.3.3 Forcing logic inputs 14
1.3.3.4 Stimuli / oscilloscope functions 14
1.3.3.5 logic outputs 14
1.3.3.6 Brake action 15
1.3.3.7 Monitoring reasons for stoppage 15
1.3.3.8 General characteristics of the DIGIVEX SINGLE DRIVE 16
1.4 Compliance with Standards 17

2. ENERGY DISSIPATION 18
2.1 Braking Energy Dissipation 18
2.1.1 Calculating the power to be dissipated in the braking resistor 18
2.1.2 Braking energy dissipation 18
2.1.3 Braking capacity and module losses. 19

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3. DIMENSIONS, ASSEMBLY, MASS, LABELLING,

CODING 21
3.1 Dimensions, Assembly and Mass 21
3.2 Labelling and Coding 28

4. ELECTRICAL CONNECTIONS 30
4.1 General Wiring Requirements 30
4.1.1 Appliance handling 30
4.1.2 Electromagnetic compatibility 30
4.1.3 DIGIVEX SINGLE DRIVE Sub-D connectors 31
4.2 Standard Connection Diagram 31
4.2.1 Surge Suppressor 38
4.3 Front Panel, Description of Terminal Blocks and Sub-D Connector 39
4.3.1 Terminal blocks B1, B2, B3, B4, B5, B6 44
4.3.2 Sub-D connectors X1, X2, X3, X4, X5 46
4.3.2.1 Sub-D connector table 46
4.3.2.2 Sub-D connector X1:"Resolver" 46
4.3.2.3 Sub-D connector X2: Inputs / Outputs 48
4.3.2.4 Sub-D connector X3: RS232 51
4.4 Connection Details 52
4.4.1 Mains supply characteristics 52
4.4.2 Power component dimensions 52
4.4.3 Auxiliary power supply 54
4.4.4 External braking resistor connection 54
4.4.5 Terminal block B1: brake supply 55
4.4.6 Earth connection (front panel Faston tab) 55
4.5 Connecting Servomotors 55
4.5.1 Power cable definition 55
4.5.2 Guidelines for the use of long cables 57
4.5.3 Motor end connection 62
4.5.4 Resolver connection 65
4.5.5 Automatic control Input / Output connection 66
4.6 Accessories and Tools 66
4.6.1 Input mains filter: 66
4.6.2 Inductors for long cables 66
4.6.3 External braking resistor 66
4.6.4 Cables 66

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5. AUTOMATIC CONTROL INPUT / OUTPUT

FUNCTIONS AND CHARACTERISTICS 72
5.1 Input / Output Characteristics 72
5.2 RESET and Contactor Control 74
5.3 Initilialization Sequence 75
5.4 Stop Sequence 75
5.4.1 Normal stoppage 75
5.4.2 Stoppage subsequent to mains supply or braking fault 76
5.4.3 Stoppage subsequent to motor drive fault 76

6. SERVO-CONTROL PARAMETER FUNCTION AND

SETTING 77
6.1 Servocontrol Parameter Functions 77
6.1.1 List of parameters 77
6.1.2 Regulation selection: current, proportional, PI, PI² 77
6.1.3 Integration stoppage 80
6.1.4 Speed scaling 80
6.1.5 Filtering frequency 81
6.1.6 Predictors 81
6.2 Inputting Parameters 83
6.3 Setting with Digivex PC Software 84
6.3.1 Outline 84
6.3.2 Parameter setting tools 85
6.3.3 Parameter access conditions with Digivex PC software 87
6.3.4 Entering parameters via Digivex PC software 88
6.3.5 Setting loop parameters for speed regulation 88
6.3.6 Setting predictors 92
6.3.7 Setting current regulation parameters 96
6.3.8 Other characterization parameters 96

7. COMMISSIONING - SERVO-CONTROL PARAMETER

SETTING - DETECTING REASONS FOR STOPPAGE 97
7.1 Start-up Sequence 97
7.1.1 Preliminary checks 97
7.1.2 Commissioning with Digivex PC software or the hand help terminal 97
7.1.3 Commissioning with the hand help terminal 98
7.2 Detecting Reasons for Stoppage 99
7.2.1 LED display - power supply function 99

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7.2.2 Fault display - drive function 100

7.2.2.1 Fault processing 100
7.2.2.2 Current monitoring 101
7.2.2.3 Temperature monitoring 102
7.2.2.4 Other monitoring 102
7.2.2.5 Summary table of faults and fault finding 103
7.2.2.6 Corrective actions 104
7.2.2.7 7-segment display (SS 6611 mounted) 104

8. OPTIONS 105
8.1 Possible associations 105
8.2 Encoder Emulation (SC6631 board) 105
8.2.1 Programming resolution and zero mark position 105
8.2.2 Electrical characteristics 105
8.2.3 Sub-D connector X4: encoder emulation option 108
8.2.4 Encoder emulation cable 108

DIGIVEX SERVO-AMPLIFIER 110

PLUGS AND CABLES FOR DIGIVEX AND HX, HS, HD112

Characteristics and dimensions subject to change without notice.

YOUR LOCAL CORRESPONDENT

SSD Parvex SAS

8 Avenue du Lac / B.P 249 / F-21007 Dijon Cedex
Tél. : +33 (0)3 80 42 41 40 / Fax : +33 (0)3 80 42 41 23
www.SSDdrives.com

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SAFETY

Servodrives present two main types of hazard :

- Electrical hazard

Servoamplifiers may contain non-insulated live AC or DC

components. Users are advised to guard against access to live
parts before installing the equipment.

Even after the electrical panel is de-energized, voltages may be

present for more than a minute, until the power capacitors have
had time to discharge.

Specific features of the installation need to be studied to prevent

any accidental contact with live components :
- Connector lug protection ;
- Correctly fitted protection and earthing features ;
- Workplace insulation
(enclosure insulation humidity, etc.).

General recommendations :
• Check the bonding circuit;
• Lock the electrical cabinets;
• Use standardised equipment.

- Mechanical hazard

Servomotors can accelerate in milliseconds. Moving parts must be

screened off to prevent operators coming into contact with them.
The working procedure must allow the operator to keep well clear
of the danger area.

All assembly and commissioning work must be done by qualified

personnel who are familiar with the safety regulations (e.g. VDE
0105 or accreditation C18510).

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Upon delivery

All servoamplifiers are thoroughly inspected during manufacture and tested at length before
shipment.

• Unpack the servoamplifier carefully and check it is in good condition.

• Also check that data on the manufacturer's plate comries with data on the order
acknowledgement.

If equipment has been damaged during transport, the addressee must file a complaint with the
carrier by recorded delivery mail within 24 hours.

Caution :

The packaging may contain essential documents or accessories, in particular :

• User Manual,
• Connectors.

Storage

Until installed, the servoamplifier must be stored in a dry place safe from sudden temperature
changes so condensation cannot form.

Special instructions for setting up the equipment

CAUTION

For this equipment to work correctly and safely it must be

transported, stored, installed and assembled in accordance with
this manual and must receive thorough care and attention..
Failure to comply with these safety instructions may lead to
serious injury or damage.
The cards contain components that are sensitive to electrostatic
discharges. Before touching a card you must get rid of the static
electricity on your body. The simplest way to do this is to touch a
conductive object that is connected to earth (e.g. bare metal
parts of equipment cabinets or earth pins of plugs).

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1. GENERAL
1.1 Digital Servodrive
All of the drives comprise:
Brushless servomotors with permanent magnets, sine-wave e.m.f. and resolver-based
position measurement (HX, HS, HD and LX, LS, LD range servomotors)
A box-type electronic control system including:
A power supply function for (depending on the model):
- 230 V single-phase mains supply,
- 230 V three-phase mains supply,
- 400 V three-phase mains supply.
A control function corresponding to the servomotor (power and resolver) for spindle
drive motor control.
This module also controls energy discharge via internal or external resistors (for some
models).

Two connection options are available for these servomotors:

Terminal box + resolver connector.
Power connector + resolver connector.

1.2 General Characteristics

1.2.1 Modules with 230 V single-phase power supply

Input voltage: 230 V ±10% (see § 4.4.1)

MAINS CONTROLLABLE SINE PEAK PEAK PARVEX
TYPE SUPPLY POWER PERMANENT MAXIMUM PRODUCT
CURRENT CURRENT NUMBER
DSD 2/4 230 V – 375 W 2A 4A DSD
single-phase
50/60 Hz 13M02

DSD 4/8 230 V – 750 W 4A 8A DSD

single-phase
50/60 Hz 13M04

DSD 7.5/15 230 V – 1500 W 7.5 A 15 A DSD

single-phase
50/60 Hz 13M07

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1.2.2 Modules with 230 V three-phase power supply

Input voltage: 230 V ±10% (see § 4.4.1)
MAINS CONTROLLABLE SINE PEAK PEAK PARVEX
TYPE SUPPLY POWER PERMANENT MAXIMUM PRODUCT
CURRENT CURRENT NUMBER
DSD 4/8 230 V – 750 W 4A 8A DSD
three-phase
50/60 Hz 13004

DSD 7.5/15 230 V – 1500 W 7.5 A 15 A DSD

three-phase
13007
50/60 Hz
DSD 15/30 230 V – 3000 W 15 A 30 A DSD
three-phase
13015
50/60 Hz
DSD 30/60 230 V – 6000W 30A 60A DSD
three-phase
13030
50/60 Hz
DSD 60/100 230 V – 12000W 60A 100A DSD
three-phase
13060
50/60 Hz

1.2.3 Modules with 400 V three-phase power supply

Input voltage: 400 V ±10% (see § 4.4.1)
MAINS CONTROLLABLE SINE PEAK PEAK PARVEX
TYPE SUPPLY POWER PERMANENT MAXIMUM PRODUCT
CURRENT CURRENT NUMBER
DSD 2/4 400 V – 750 W 2A 4A DSD
three-phase
50/60 Hz 16002

DSD 4/8 400 V – 1500 W 4A 8A DSD

three-phase
50/60 Hz 16004

DSD 8/16 400 V – 3000 W 8A 16 A DSD

three-phase
50/60 Hz 16008

DSD 16/32 400 V – 6000W 16A 32A DSD

three-phase
50/60 Hz 16016

DSD 32/64 400 V – 12000W 32A 64A DSD

three-phase
50/60 Hz 16032

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1.3 Operating Principle

1.3.1 Block diagram
The block diagram shows two parts:
A power supply section providing dc voltage to the power bridge and auxiliary power
supplies (regulation, fans).
one part for axis control and monitoring control.

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U1 U2
MOTOR 3 PH.
CHOKE
V1 V2
ONLY
FOR
400V
MOTOR
W1 POWER W2
POWER
BUS VOLTAGE

MAINS
MONITORING PROTECTIONS
MANAGEMENT

AUXILIARIES POWER OK
CHOPPED INIT
SUPPLY AXE
C=0
OK

RESOLVER
+/- 15V SUB-D
DRIVE REGULATION
5V
RESET
THERMAL
PROTECTION SUB-D I/O
AND
SET POINT
24V
FANS

OK

24V BRAKE MONITORING 24V

SUPPLY BRAKE VOLTAGE BRAKE
SYNODSDGB.D

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DIGIVEX Single Drive Servoamplifier

1.3.2 Power supply functions

Receives the 230 V or 400 V mains supply through terminal block B3 and converts it
into a 310 V or 550 V dc voltage.
Receives the 230 V or 400 V mains supply via terminal block B4 to generate the
auxiliary supplies (±15 V, 5 V, 24 V) required for regulation.
May receive a 24 V supply via terminal block B1 for powering the motor brake.
Provides the interface to the automatic control via terminal block B5.
The power supply status is displayed by an array of 5 LEDs.
One LED indicates whether the auxiliary supply is present or not.

1.3.3 Servomotor control functions

1.3.3.1 Presentation

The DIGIVEX SINGLE DRIVE servo-amplifier is a 4-quadrant, transistor control module for
controlling (brushless) synchronous motors with resolvers.

HX, HD, HS — LX, LS, LD spindle drive motors. See separate documentation.

The customized features of the motor-drive assembly and the servo-control parameters are
entered :

either by using a PC with the DIGIVEX software (PME software DIGIVEX module),
under Windows.
or by using the display and parameter setting hand held terminal.

These parameters are stored in two EEPROM memories.

one permanent store for DIGIVEX parameters.

one unpluggable store for application-specific parameters.

1.3.3.2 Functions and block diagram

See next page. The diagram shows the main drive functions and the setting parameters.

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On the right of the diagram, the motor - resolver - power section.

Parameters can be set for:
⇒ the choice of motor, which dictates the drive rating.
⇒ the general characteristics of the resolver.

The choice of the motor - drive combination determines a number of parameters: current
limitation, I2 = f(t) protection, standard servo-control parameters.

Ahead of current control.

♦ Second order filter for reducing the effect of high-frequency resonance
♦ External reduction of current limitation

Resolver numerical processing (non parametric) and the optional encoder emulation
function (number of points adjustable from 1 to 16384).

Choice of type of regulation: torque or speed.

En speed loop. Parameters can be set for :

⇒ maximum speed for the application (limited by the maximum motor speed).
⇒ scaling (1 V = N rpm).
⇒ choice of corrector type: proportional, proportional and integral, proportional and
double integration.

Predictive actions associated with speed control.

These actions, acting outside the speed loop, directly affect torque. As they are external they
have little effect on loop stability. However, they allow anticipated actions, without waiting for the
speed loop reaction.

The predictive actions (or predictors) are:

Gravity: compensation for vertical masses.

Dry friction: a friction force value is fixed. The corresponding torque set point is applied,
its sign being that of the speed set point.

Viscous friction: compensation for friction forces that are proportional to speed
(hydraulic or electrical system drive).

Acceleration: changes in the speed set point (drift) are monitored and direct action is
taken on the torque set point via a coefficient K, the inertia image.

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The analog input speed reference (16 bits), non parametric.

On the left of the block diagram, the set of logic and analog inputs / outputs.

The parameter setting software is used:

for allocating some of these Inputs / Outputs.

for forcing them to a logic status. The inputs are then disconnected from the outside.

1.3.3.3 Forcing logic inputs

The software or console can be used to force a logic input to a particular value. Thus the
software can be used with inputs N0+, N0-, C=0,
to "disconnect" them from the physical input.
to force them by software to 0 or 1.

1.3.3.4 Stimuli / oscilloscope functions

Certain functions integrated in the drive allow the speed set point to be excited: dc voltage,
square (response at one scale), sine.

These stimuli can be activated by a PC or by the console. Their result is stored in the drive and
can be displayed on the PC screen with the oscilloscope function (2 variables at most can be
displayed simultaneously using the PME Digivex software).

1.3.3.5 logic outputs

1) Speed detection
The two outputs assigned OUT1 and OUT2 can detect four speed zones, depending on their
logic status.
OUT1 OUT2 SPEED
1 1 Speed ≤ 48 rpm
0 1 Speed ≤ N1
1 0 Speed ≤ N2
0 0 Speed > N2

N1 and N2 are speeds that are programmed in the parameters.

N2 > N1
and N1 > 48 rpm
2) Speed reached and anchored
Selection and assignment with PME DIGIVEX PC software (pvd 3483) or terminal DTP001
(pvd 3491)

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1.3.3.6 Brake action

The drive can be declared in the parameters with a brake function.

The 24 V brake supply (terminal block B1) is monitored by the drive.

24 V present: Axis under torque. Removal of limitation of 90% of rated motor current.
24 V absent: Axis at reduced torque with 90% of rated motor current.

The brake engage or release order is in no event given by the drive but by the external control.
The control can monitor the drive outputs indicating zero speed to decide whether or not to apply
the brake.

1.3.3.7 Monitoring reasons for stoppage

This monitoring may, through strategic choice, entail either stoppage or reduced performance for
certain faults related to current.

Variables monitored :
Mean drive current.
Output current (short-circuit).
Dissipater temperature.
motor temperature.
Ambient temperature.
Overspeed.
No resolver.
Maximum and minimum dc bus voltages.
Mains phase failure.
Mains supply overvoltage.

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1.3.3.8 General characteristics of the DIGIVEX SINGLE DRIVE

Power reduction with altitude Above 1000 m, service power falls by 1% for every 100 m up
to a maximum altitude of 4000 m

Operating temperature Normal use: 0 - 40°C

Above 40°C, service power fall by 20% for every 10°C up to a
maximum temperature of 60°C.

relative humidity 85% (without condensation)

Storage temperature -30°C to +85°C

Chopping frequency 8 kHz

Current bandwidth to -3dB 600Hz

Speed bandwidth Up to 300Hz

Minimum speed Minimum speed 0.05 rpm or 1/30,000th of maximum speed

Maximum speed Driven by DIGIVEX : 100,000 rpm

Speed static precision for load With digital set point (field bus): 0.1%
variation from 0 to In and for
With analog set point: 1% whatever the speed
rated voltage of DIGIVEX
SINGLE DRIVE

Electrical isolation of power bridge

Mean current protection depending on drive rating
Electrical protection Pulse current protection of drive and motor
rms current protection of motor
Protection against short circuits at bridge output

Mechanical protection IP20 under IEC 529

Motor temperature
Drive temperature
Other monitoring Resolver power supply
Brake supply

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1.4 Compliance with Standards

DIGIVEX Single Drive

The CE marking of the product is featured on the front panel (silk-screen printing).

DIGIVEX Single Drive products have the CE marking under European Directive 89/336/EEC as
amended by Directive 93/68/EEC on electromagnetic compatibility. This European Directive
invokes the harmonized generic standards EN50081-2 of December 1993 (Electromagnetic
compatibility - Emission generic standard - Industrial environment) and EN50082-2 of June 1995
(Electromagnetic compatibility - Immunity generic standard - Industrial environment). These two
harmonized generic standards are based on the following reference standards:
EN 55011 of July 1991: Radiated and line conducted emissions.
ENV 50140 of August 1993 and ENV 50204: Immunity to radiated electromagnetic
fields.
EN 61000-4-8 of February 1994: Power frequency magnetic fields.
EN 61000-4-2 of June 1995: Electrostatic discharge.
ENV 50141 of August 1993: Disturbances induced in cables.
EN 61000-4-4 of June 1995: Rapid transients.

Compliance with the reference standards above implies observance of the wiring instructions and
diagrams provided in this documentation.

Incorporation in a machine

The design of this equipment allows it to be used in a machine subject to Directive 89/392/EEC
(Machinery Directive), provided that its integration (or incorporation and/or assembly) is done in
accordance with the rules of the art by the machine manufacturer and in accordance with the
instructions of this booklet.

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2. ENERGY DISSIPATION
The energy a module has to dissipate is broken down into:
Energy generated by braking.
Energy from rectifier and power bridge losses.

2.1 Braking Energy Dissipation

2.1.1 Calculating the power to be dissipated in the braking resistor

The permanent and pulse powers given in the preceding table are limited by the characteristics of
the "braking" resistors.
When the application includes intensive cycles or long-duration decelerations, the mean power to
be dissipated by each axis must be calculated.

2
J⎛ N ⎞
P in Watts = ⎜ ⎟ .f
2 ⎝ 9.55 ⎠
J : Moment of inertia of the servomotor and the related load in kgm².
N : Angular speed of motor shaft at start of braking, in rpm.
-1
f : repeat frequency of braking cycles in s .

This formula is for the least favourable case. For a mechanism with substantial friction or with low
reverse output, the power to be dissipated may be greatly reduced.
.

The total power to be dissipated of all the drives must not exceed the permanent power admissible
through the resistor. Durations and repetition must not exceed the values in table §2.1.3.

2.1.2 Braking energy dissipation

Braking energy is dissipated through a resistor mounted in the module. The resistor may be
mounted externally for DSD 60/100-230 V three-phase and DSD 32/64 - 400 V three-phase
models.

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This recuperation is controlled from two thresholds measured on the bus voltage.

Threshold Values

Braking resistor Braking resistor

switched in switched out

230 V single- or three-phase 380 V 370 V

modules

400 V three-phase modules 710 V 690 V

2.1.3 Braking capacity and module losses.

230 V single-phase or three-phase modules.

MODULE RATING

2/4 4/8 7.5/15 15/30 30/60 60/100

Resistor value Ω 56 56 56 22 11 7
Maximum current A 7 7 7 17 34 50
Pulse power kW 2.2 2.2 2.2 6.0 12 18
Permanent power W 60 60 60 250 500 700

Maximum non repetitive duration s 1 1 1 2 2 2

Maximum repeat cycle duration s 0.1 0.1 0.1 0.2 0.2 0.2
Repetition % 2.7 2.7 2.7 4.3 4.3 4.3

Losses from modules (at W 15 25 50 100 200 400

maximum power)
Low level consumption W 10 10 10 15 15 15

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400 V three-phase modules.

MODULE RATING

2/4 4/8 8/16 16/32 32/64

Resistor value Ω 220 220 82 41 27

Maximum current A 3 3 8.5 17 25
Pulse power kW 2.2 2.2 6 12 18
Permanent power W 60 60 250 500 700

Maximum non repetitive duration s 1 1 2 2 2

Maximum repeat cycle duration s 0.1 0.1 0.2 0.2 0.2
Repetition % 2.7 2.7 4.3 4.3 4.3

Losses from modules (at W 30 50 100 200 400

maximum power)
Low level consumption W 10 10 15 15 15

Definitions

Maximum current: maximum current controlled, the resistor switches in at 710 V or 375 V for
certain modules, the controlled current is equal at most to 710 or 375 / resistor value.

Pulse power: maximum power dissipated by the resistor, this power can only be drawn for a
short time and in compliance with a certain cycle.

Permanent power: mean power that can be dissipated on a permanent basis by the resistor.

Non repetitive maximum duration: maximum duration, in seconds, for which the pulse power
can be required (starting from cold); the resistor must be allowed to cool down before braking
again.

Repeat cycle maximum duration: maximum duration, in seconds, for which the pulse power
can be required provided that this power is only present for a certain percentage of the total time
(repetition).

Module losses: losses specific to the module, the value shown in the table is that obtained when
the module is used at maximum power.

Low-level consumption: consumption of the low-level power supplies in Watts.

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Specific case of 60/100 - 230 V three-phase and 32/64 -400 V three-phase modules.
These two modules can use an external resistor to dissipate braking energy. If this possibility is
used, the characteristics obtained are those shown in the table below: with RE91001 resistor for
the 32/64 module and RE91002 resistor for the 60/100 module

MODULE RATING

32/64 60/100

Two resistors

Resistor value Ω 27 6
Maximum current A 26 62
Pulse power kW 18 23
Permanent power W 2000 2800

Maximum non repetitive duration s 5 5

Maximum repeat cycle duration s 0.5 0.5
Repetition % 12 12

3. DIMENSIONS, ASSEMBLY, MASS,

LABELLING, CODING
3.1 Dimensions, Assembly and Mass
See the following pages, drawing numbers - FELX 305463
- FELX 305464
- FELX 305541
- FELX 305568
- FELX 305540
- FELX 305567

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3.2 Labelling and Coding

Physical identification by labels:

On DSD (Digivex Single Drive):

∗ One label plate fixed to the appliance as in the model below:

Meaning of label indications:

- AC/AC converter : Alternating current converter
- DSD - - - - - : Digivex Single Drive servo-amplifier code
- E : 3 X - - -V --A : Input voltage and current
- fn : --/--Hz : Frequency
- S: 0- - - -V î=--Â : Output voltage and permanent output current (Amps. Peak)
- Classe - : Service class under standard NF EN60146, 1= permanent
- Serial number and date of manufacture

The customised parameters of the variable speed drive are memorised in the unpluggable
EEPROM store. The parameters can be read by :

Digivex PC software
Hand help terminal (see following sections)

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Codification

CODE FUNCTION

DSD13M02 DIGIVEX Single Drive 230V single-phase 2/4 A

DSD13M04 DIGIVEX Single Drive 230V single-phase 4/8 A
DSD13M07 DIGIVEX Single Drive 230V single-phase 7.5/15 A

DSD13004 DIGIVEX Single Drive 230V three-phase 4/8 A

DSD13007 DIGIVEX Single Drive 230V three-phase 7.5/15 A
DSD13015 DIGIVEX Single Drive 230V three-phase 15/30 A
DSD13030 DIGIVEX Single Drive 230V three-phase 30/60 A
DSD13060 DIGIVEX Single Drive 230V three-phase 60/100 A

DSD16002 DIGIVEX Single Drive 400V three-phase 2/4 A

DSD16004 DIGIVEX Single Drive 400V three-phase 4/8 A
DSD16008 DIGIVEX Single Drive 400V three-phase 8/16 A
DSD16016 DIGIVEX Single Drive 400V three-phase 16/32 A
DSD16032 DIGIVEX Single Drive 400V three-phase 32/64 A

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4. ELECTRICAL CONNECTIONS
4.1 General Wiring Requirements
4.1.1 Appliance handling
See the safety instructions given at the beginning of this manual. In particular, wait for all the front
panel LEDs to go off completely before doing any work on the servo-amplifier or servomotor.

4.1.2 Electromagnetic compatibility

EARTHING
Comply with all local safety regulations concerning earthing.
Utilize a metal surface as an earth reference plane (e.g. cabinet wall or assembly grid).
This conducting surface is termed the potential reference plate. All the equipment of an
electrical drive system is connected up to this potential reference plate by a low
impedance (or short distance) link. Ensure the connections provide good electrical
conduction by scraping off any surface paint and using fan washers. The drive will then
be earthed via a low impedance link between the potential reference plate and the earth
screw at the back of the DIGIVEX SINGLE DRIVE. If this link exceeds 30 cm, a flat
braid should be used instead of a conventional lead.

CONNECTIONS
Do not run low-level cables (resolver, inputs/outputs, NC or PC links) alongside what
are termed power cables (power supply or motor). Do not run the power supply cable
and the motor cables alongside one another otherwise mains filter attenuation will be
lost. These cables should be spaced at least 10 cm apart and should never cross, or
only at right-angles.
Except for the resolver signals, all low-level signals will be shielded with the shielding
connected at both ends. At the DIGIVEX SINGLE DRIVE end, the shielding is made
continuous by the Sub-D connector mechanism.
The motor cables are limited to the minimum functional length. The yellow and green
motor cable lead must be connected to the box or front panel terminal block with the
shortest possible link.
This usually means shielded motor cable is not required. Chokes may also be inserted
into the motor phase leads.

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MAINS FILTERING

The equipment complies with standard EN55011 with a filter on the power input with minimum
60 dB attenuation in the 150 kHz - 30 MHz range.
The mains filter must be mounted as close as possible to the potential reference plate between
the mains and the DIGIVEX SINGLE DRIVE power supply. Use shielded cable (or run the cable
in metal trunking).
Avoid running cables together, ahead of and after the filter.
Filters sometimes have high leakage currents. In this case, comply with the standard connection
diagrams when fitting them.
OTHER MEASURES

Self-inducting components must be protected against interference: brakes, contactor or relay

coils, fans, electro-magnets, etc.

4.1.3 DIGIVEX SINGLE DRIVE Sub-D connectors

In order to ensure the system is free from disturbances, it is essential for the rack to be properly
connected to the earth plane of the electrical cabinet and for the covers of the Sub-D connectors
to be EMI/RFI shielded (metal with shielding braid connection).
Make sure the Sub-D connectors and their covers are properly connected (lock screws fully
tight).

GROUND CONNECTION

Fold the shielding braid over the

cable sheath

Solder between the braid and the

green and yellow lead.

4.2 Standard Connection Diagram

See the drawings on the following pages - FELX 305462
- FELX 305571
- FELX 305569
- FELX 305573
- FELX 305570
- FELX 305572

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4.2.1 Surge Suppressor

- KM1: Power Contactor

- AP: Surge Suppressor

The power contactor coil KM1 should necessary have a surge suppressor AP connected in order
not to destroy prematurely the internal relay contact of the drive. This module should be use
whether the power contactor supply is AC or DC.

The relay manufacturers (Telemecanique: LC1 series, ABB: B series,…) provide surge
suppressors fitted relays wether the power contactor supply is AC or DC for various voltages (RC
module, Diode+Zener Diode, Varistor,…).

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4.3 Front Panel, Description of Terminal Blocks and

Sub-D Connector
All the input/outputs required for operation are arranged on the front panel in the form of:
- B1 supply terminal block.
- B2 motor terminal blocks (in 1 or 2 parts depending on rating).
- B3 power supply terminal block.
- B4 auxiliary power supply terminal block.
- B5 terminal block for automatic control connection.
- B6 terminal block for external resistor connection on DSD 32/64 and DSD 60/100 ratings.
- X1 RESOLVER connector.
- X2 INPUTS / OUTPUTS connector.
- X3 RS232 connector.
- X4 ENCODER connector (option).

The motor earth is to be connected to the Faston lug located below the rack. The Sub-D
connectors used must be metal-plated (or metallic) and ensure the shielding is continuous right
to the metal earth of the rack.

See the following pages for diagrams - 230 V single-phase DSD 2/4A, 4/8A, 7.5/15A
- 230 V three-phase DSD 4/8A, 7.5/15A
- 230 V three-phase DSD 15/30A
- 230 V three-phase DSD 30/60A
- 230 V three-phase DSD 60/100A
- 400 V three-phase DSD 2/4A, 4/8A,
- 400 V three-phase DSD 8/16A
- 400 V three-phase DSD 16/32A
- 400 V three-phase DSD 32/64A

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230V Single-phase 2/4A, 230V Three-phases 4/8A 230V Three-phases

4/8A, 7,5/15A 7,5/15A 15/30A,

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230V Three-phases 30/60A 230V Three-phases 60/100A

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400V Three-phases 2/4A, 4/8A 400V Three-phases 8/16A

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400V Three-phases 16/32A 400V Three-phases 32/64A

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4.3.1 Terminal blocks B1, B2, B3, B4, B5, B6

Description of module terminal blocks: 230V single-phase 2/4, 4/8, 7.5/15A
230V three-phase 15/30A
400V three-phase 2/4, 4/8, 8/16A
400V three-phase 16/32A

ITEM Front Panel TERMINAL TERMINAL

TERMINAL FUNCTION
REF. Marking BLOCK TYPE CAPACITY

B1/1 +24V BRAKE 24V input for Unpluggable Min 0,2 mm²
B1/2 0V SUPPLY brake supply screw-type Max 2,5 mm²
flexible and rigid
lead

B2/1 U2
B2/2 V2 MOTOR Motor connection screw-type
B2/3 W2 Min 0,2 mm²
B2/4 TH TH Motor thermal Max 2,5 mm²
B2/5 TH protection Unpluggable flexible and rigid
lead
B2/6 + BR Motor brake
B2/7 -

Mains connection
B3/1 U1
MAIN For single-phase mains Unpluggable Min 0,2 mm²
B3/2 V1 only B3/1 and B3/2 are screw-type Max 2,5 mm²
to be connected flexible and rigid
SUPPLY
B3/3 W1 lead

B4/1 u1 AUX. Low-level Unpluggable Min 2,5 mm²

B4/2 v1 SUPPLY supply screw-type flexible and rigid
lead
B5/1 + RESET Logic input
B5/2 - RESET
Unpluggable Min 0,2 mm²
B5/3 OK OK contact screw-type Max 2,5 mm²
B5/4 (regulation and flexible and rigid
power OK) lead

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Description of module terminal blocks: 230V three-phase 30/60A

230V three-phase 60/100A
400V three-phase 32/64A

ITEM TERMINAL Front Panel TERMINAL TERMINAL

FUNCTION
REF. Marking BLOCK TYPE CAPACITY
B1/1 +24V BRAKE 24V input for Unpluggable Min 0,2 mm²
0V SUPPLY brake supply screw-type Max 2,5 mm²
B1/2
flexible and rigid lead
30/60 and 32/64
Min 0,2 mm²
B2/1 U2
MOTOR Max flexible lead 6 mm²
No
B2/2 V2
Motor unpluggable

B2/3 W2 connection screw-type 60/100

Min 0,5 mm²
Max flexible lead 10 mm²

B2/4 TH TH Motor thermal

TH protection Min 0,2 mm²
B2/5 Unpluggable

B2/6 + BR Motor brake screw-type Max 2,5 mm²

B2/7 - flexible and rigid lead

Mains No 30/60 and 32/64

B3/1 U1 connection unpluggable Min 0,2 mm²
B3/2 V1 For single-phase screw-type Max flexible lead 6 mm²
MAIN
mains only B3/1 and 60/100
SUPPLY
B3/3 W1 B3/2 are to be
connected Min 0,5 mm²
Max flexible lead 10 mm²
Earth
B4/1 v1 AUX. Low-level Unpluggable Min 0,2 mm²
u1 SUPPLY supply screw-type Max 2,5 mm²
B4/2
flexible and rigid lead
B5/1 B5/2 + RESET Logic input
- RESET Unpluggable
Min 0,2 mm²
B5/3 OK OK contact screw-type Max 2,5 mm²
B5/4 flexible and rigid lead

B6/1 Internal / external No 32/64 and 60/100

Ext.
B6/2 RECOVERY resistor unpluggable Min 0,2 mm²
B6/3 Int. connection screw-type Max flexible lead 4 mm²

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4.3.2 Sub-D connectors X1, X2, X3, X4, X5

4.3.2.1 Sub-D connector table

Connectors with metal-plated or metallic covers.

CONNECTOR TYPE MAX. CONDUCTOR

ITEM REF. FUNCTION
(cable end) CROSS-SECTION
X1 9-pin plug for Resolver link max. 0.5 mm² on
RESOLVER soldering soldering barrel

X2 25-pin plug for Logic and max. 0.5 mm² on

INPUTS/ soldering analog soldering barrel
OUTPUTS inputs / output
X3 9-pin plug for PC or programming max. 0.5 mm² on
RS232 soldering terminal link soldering barrel
X4 9-pin socket for Encoder emulation max. 0.5 mm² on
ENCODER soldering output (option) soldering barrel
X5 9-pin socket for CAN bus (option) or max. 0.5 mm² on
soldering SSI encoder soldering barrel

See §8 (options) for X4 and X5 connectors.

4.3.2.2 Sub-D connector X1:"Resolver"

Digivex end connections, Sub-D 9 pin connector item ref. X1 "RESOLVER".

Maximum conductor cross-section: 0.5 mm²

CONTACT TYPE FUNCTION

1 Input Cosine S1
2 Input Sine S2
3 Input Cosine S3
4 Input Sine S4
5 Output Excitation R1
6
7
8
9 Output 0V Excite R2/3

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4.3.2.3 Sub-D connector X2: Inputs / Outputs

Maximum conductor cross-section : 0.5 mm²

CONTACT TYPE FUNCTION CHARACTERISTICS

1 EA1 + Speed or current set point ±10V, + Analog conversion:

point 15 bits + sign
Differential input
14 EA1 - Speed or current set point ±10V, -
point
2 EA2 + Analog input ±10V, + point Analog conversion:
9 bits + sign
Differential input
15 EA2 - Analog input ±10V, - point
Input assigned to external current
limitation. +/-10V = max. current

3 SA1 Analog output ±10V, + point ANA1 Analog conversion:

7 bits + sign
0V of analog output Max. voltage = 10V
16 0V Output assigned to speed Max. current = 3 mA
measurement Protected against short circuits.
10V = maximum speed

4 SA2 Analog output ±10V, + point ANA2 Analog conversion:

7 bits + sign
0V of analog output Max. voltage = 10V
17 0V Output assigned to current Max. current = 3 mA
measurement Protected against short circuits.
10V = maximum current

9 EL1 + SPEED RANGE Type-2, optocoupled 24V

logic inputs to IEC 1131-2.
21 EL1 - Speed range choice
10 EL2 + CW: enables clockwise rotation if
input is active (level 1) (see characteristics on following
pages)
22 EL2 -
11 EL3 + CCW: enables counter-clockwise These inputs must have a 24V
rotation if input is active (level 1) supply to have level 1.

23 EL3 -
EA = analog input, EL = logic input, SA = analog output, SL = logic output

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"Inputs / Outputs" Sub-D connector (continued)

CONTACT TYPE FUNCTION CHARACTERISTICS

12 EL4 + Torque : enables torque if input is Type 2 logic input under

at 1 IEC 1131-2 5

24 EL4 -
6 SL1 Drive OK Max. 50 mA, optocoupled PNP
24V output
18 0V
Logic

7 SL2 OUT1 speed detection Max. 50 mA, optocoupled PNP

24V output
19 0V
Logic

8 SL3 OUT2 speed detection Max. 50 mA, optocoupled PNP

24V output
20 0V
Logic
13 +24V Power supply available for logic Max. 50 mA through R=22 Ω
Logic inputs / outputs
25 0V
Logic
EA = analog input, EL = logic input, SA = analog output, SL = logic output

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4.3.2.4 Sub-D connector X3: RS232

Maximum conductor cross-section: 0.5 mm²

Serial link configuration :
♦ 9600 bauds
♦ 8 data bits
♦ 1 start bit, 1 stop bit
♦ no parity
♦ no electrical isolation
♦ use an extension cable of 5 m maximum

DIGIVEX PC 9-PIN
DIGIVEX 9-PIN SUB-D
INTERNAL PC SUB-D
CONNECTOR
LINKS CONNECTOR
1 DCD 1
2 TD (TXD) RD (RXD) 2
3 RD (RXD) TD (TXD) 3
4 DTR 4
5 0V 0V 5
6 DSR 6
7 RTS 7
8 CTS 8
9 5V / 50mA For programming console 9*

*
May be connected without danger to DIGIVEX pin 9.

This input is for linking with a computer (PC) for parameter loading and setting via the DIGIVEX PC
software. It is also used with the hand help terminal to change those parameters.

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4.4 Connection Details

4.4.1 Mains supply characteristics
230 V single-phase or three-phase modules

PARAMETER VALUE

Frequency 48 - 62 Hz
Minimum voltage 100 V rms
Maximum voltage 253V rms
Rated voltage 230V +/- 10%
Dc voltage achieved 140 - 340V

400 V single-phase or three-phase modules

PARAMETER VALUE

Frequency 48 - 62 Hz
Minimum voltage 280V rms
Maximum voltage 480V rms
Rated voltage 400V +/- 10%
Dc voltage achieved 380 - 670V

An auto-transformer is required for 480 V rms ±10%.

An external mains filter is necessary for compliance with the requirements on electromagnetic
compatibility.
Braking energy is dissipated across the resistor.
Mains monitoring:
No phase (Except single-phase).
Overvoltage.

4.4.2 Power component dimensions

one single drive
Applicable to components ahead of the DIGIVEX SINGLE SUPPLY (fuses, cables, contactors,
etc.), these dimensions are dependent on:
Permanent current Î0 (sine wave peak) at slow motor speed, as given in the
characteristics.
Electrical power of mains supply ≅ 1.1 U rms Î0
P
Irms mains =
Urms 3

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Parameters for determining power components

INPUT POWER FOR MODULE LINE CURRENT FUSE MAINS

230V SINGLE-PHASE STANDARD Î0 for mains
RATING FILTER
MAINS VALUE Urms = 230 V
Type gG
kW Â SINGLE-PHASE
A rms
0.5 2 2 2 FR01006
1 4 4 4
2 7.5 8 8 FR01010

INPUT POWER FOR MODULE LINE CURRENT FUSE MAINS

230V THREE-PHASE STANDARD Î0 for mains
RATING FILTER
MAINS VALUE Urms = 230 V
Type gG
kW Â THREE-PHASE
A rms
1 4 2.5 4
2 7.5 5 6 FR03016
4 15 10 10
8 30 20 20 FR03036
16 60 40 40

INPUT POWER FOR MODULE LINE CURRENT FUSE MAINS

400V THREE-PHASE STANDARD Î0 for mains
RATING FILTER
MAINS VALUE Urms = 400 V
Type gG
kW Â THREE-PHASE
A rms
1 2 1.3 2
2 4 2.5 4 FR03016
3,5 8 5 6
7 16 10 10
14 32 20 20 FR03036

several drives in parallel

MAINS INPUT LINE CURRENT for mains FUSE MAINS

POWER 400 V ∑ Î0 Urms = 400 V RATING FILTER
kW Â A eff. Type gG
4.4 10 6.5 10 FR03016
6.6 15 9.5 16
13.2 30 19 32 FR03036
24.2 55 36 50/63

The cable cross-section and contactor rating must be selected accordingly.

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4.4.3 Auxiliary power supply

The power supplies required for regulation (+/- 15 V, 5 V, 24 V) are drawn from an intermediate
dc voltage which may be obtained:
either from a single-phase supply from the mains, drawn between two phases ahead of
the main contactor (terminal block B4 input).
or from a separate single-phase (230 V or 400 V) supply connected to terminal block
B4. In this case, the supply must be isolated from the mains by a transformer
(secondary 230 V or 400 V +/- 10% 100VA).
or from an intermediate power voltage, through diodes (B4 not connected). With this
arrangement (not recommended), power failure leads to the loss of low-level supplies
and, in particular, the pulses generated by the "encoder emulation" option.

Clarification:

1) Connection of the auxiliary power source is not compulsory because it is fed internally by
the direct bus. Connection proves necessary if we want to save the position and the state
through the encoder output (emulation) when for safety reasons, the mains power is turned
off.

2) If the auxiliary power source is used, it is essential for it to be connected to the same
phases (2 out of 3 for three-phase) as the mains power supply (see recommended
diagram – see chapter 4.2), to avoid damage to the appliance.
If this is not possible, this auxiliary power source can possibly originate from another
circuit, but it must, imperatively, be isolated from the system using a transformer whose
secondary will not be earthed. The voltage of the transformer secondary must be identical
to the mains voltage (230V for mono appliances or three-phase 230V or 400V for three-
phase 400V appliances).

4.4.4 External braking resistor connection

This feature applies to 60/100 - 230 V three-phase and 32/64 - 400 V three-phase supplies only.
Use with internal resistor: short-circuit B6/2 and B6/3 with a 4 mm2 isolated cable.
B6/1 is not connected.
Use the external resistor: connect the external resistor between B6/1 and B6/2. The
B6/3 terminal is not connected.
Maximum current in cable:
With RE 91001 (2000 W): 26 A for the 32/64 A, 400 V three-phase module.
With RE 91002 (4500 W): 31 or 62 A (see page 21) for the 60/100 A, 230 V three-phase
module.
2 2
Cable type: unshielded, cross-section 2.5 mm for 2000 W, 4 mm for 4500 W.
Maximum recommended distance: 10 m.
Resistor end: Connection via terminal block via packing gland PG 16, for cable diameters
between 10 mm and 14 mm.

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4.4.5 Terminal block B1: brake supply

This terminal block may receive 24 V supply voltage for the brake mounted on the motor. It is
supplied at the motor terminal block B2.

Regulated / filtered 24 V ±10% voltage. Protection against overvoltage by 26 Joule varistor, this
protection is effective from 30 V.

CAUTION: Do not use the 24 V available at X2 for this function.

4.4.6 Earth connection (front panel Faston tab)

Chassis earth:

For compliance with the standards in force, the lead cross-section must normally be identical to
that of the mains connection and at least 16mm².

4.5 Connecting Servomotors

4.5.1 Power cable definition
The motor / drive power connection cables will have as a minimum:

• 3 isolated conductors connected to phases U2, V2, W2. Cross-sections as in the

table on the next page. The presence of chokes internal to the DIGIVEX means there
is no need for shielding of the three power conductors.
• 1 earth conductor (green and yellow).
• 2 twisted and shielded pairs for connection of the motor thermal protection. Cross-
section in the order of 1mm².
• 2 twisted and shielded pairs for connection of the holding brake (if present). Cross-
section in the order of 1mm².
• 1 “shielding continuity” conductor (green/orange) to be connected to the
servoamplifier earth

Power cable cross-section

The cable cross-sections given in the table below take account of:

The rated drive current.

The motor / drive distance, service voltage loss = RI.
The ambient temperature, cable Joule losses = RI².
the standardized increase in cable sections.

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The cable section to be used is given in the table below

Distance 0m 50m 100m

DIGIVEX Rating Cable cross-section in mm²
2/4 and 4/8 0.5 1
7.5/15 and 8/16 1 2.5
16/32 and 15/30 2.5 6*
32/64 and 30/60 6 10*
60/100 10 16*

* cross-section incompatible with power terminal blocks see §4.3.1. Provide an intermediate
terminal block nearby.

Connection by connector

The power connection by connector is available as an option. The removable part of the connector
(plug) can be supplied on request.

List of power cables, power connectors, and equipped cables for H or L series motors

MOTOR Cable cross- Power Equipped

section Power
(mm²) Cable Plug (1) Cable
0,5 6537P0019 220065R1610 220049R49..
HX200-HX300-HX400
LX200-LX300-LX400 1 6537P0009 220065R1610 220049R42..
HS-HD-HX600/HS800
LS-LD-LX600/LS800 2,5 6537P0010 220065R1611 220049R43..

HD-HX-HV800 2,5 6537P0010 220065R3611 220049R48..

LD-LX-LV800
HS900 6 6537P0011 220065R3610 220049R45..
LS900
HD-HV900 10 6537P0012 220065R3610 220049R46..
LD-LV900
HXA-HVA 16 6537P0013 220065R3610 220049R47..
All HW et LV
HD-HV1000 25 6537P0014
LD-LV1000

Length 5 m / 10 m / 15 m / 25 m / 50 m. Add the length in metres to the cable product number.

(1) Straight power plug with crimp-fit contact.

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4.5.2 Guidelines for the use of long cables

The inductors and, where necessary, the resistors are to be fitted between the DIGIVEX Single
Drive (as close as possible to the drive) and the motor when used with long cable lengths.

U2
CHOKE

Servoamplifier V2 Motor
CHOKE

W2
CHOKE

References of inductors

Cable Normal L ≤ 20 m 20 < L < 30 m 30 ≤ L < 70 m 70 ≤ L < 100 m

length (L) Shielded L ≤ 15 m 15 < L < 20 m 20 ≤ L < 50 m 50 ≤ L < 70 m
Not
2/4 – 4/8 - DSF02 DSF02
DIGIVEX Single

recommended
SF02032 +
7,5/15 – 8/16 - - DSF02
Drive

resistor
15/30 to 32/64 - - SF02025 SF02025
60/100 - - SF02026 SF02026

• DSF02: three inductances of 50 mH damped by resistors to rise on rail DIN

• For lengthes superior to 100 m, consult us.
• Damping resistor to be used with SF02032 :RE 40008 470 Ω 25 W
The use of self dampers for shorter distances can be envisaged to reduce parasite reception,
caused by capacitive coupling with power cables.

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Connection cable between DSD and DSF02

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4.5.3 Motor end connection

Power connection

There are two possibilities for connection:

Terminal block + resolver connector.

Power connector + resolver connector.

Terminal block connection

For the terminal block, the clamping nuts and washer come in a bag
Take care when fitting the lugs not to loosen the connecting leads between the motor and the
terminal block.

The power connection lugs are to be inserted between

the striated washer and the flat washer.

Digpl3.D

Motor direction of rotation: by wiring as recommended, a positive set point applied to the drive
entails clockwise rotation (viewed from the power shaft end).

U Phase U
ALIMENTATION/SUPPLY/SPEISUNG

V Phase V

W Phase W
U V W
1 3
1 Optional brake +24 V cable ≥ 1mm²
2 4
2 Optional brake 0V
FREIN/BRAKE Thermal
BREMSE sensor 3 Thermal sensor cable ≥ 1mm²

4 Thermal sensor

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PLUG 220065R1610/1611 PLUG 220065R3610/3611

CABLE CROSS-SECTION FOR PLUGS

PLUG 220065R1610 : power & earth: 0.14 - 1.5 mm². Brake & thermal: 0.14 - 1 mm²
PLUG 220065R1611 : power & earth: 0.75 - 2.5 mm². Brake & thermal: 0.14 - 1 mm²
PLUG 220065R3611 : power & earth: 1.5 - 4 mm². Brake & thermal: 1 - 2.5 mm²
PLUG 220065R3610 : power & earth: 6 - 16 mm². Brake & thermal: 1 - 2.5 mm²

PLUG PINS

FUNCTION 220065R1610/R1611 220065R3610/R3611 CABLE COLOR

BRAKE + A + Green/Red
BRAKE - B - Green/Bblue
THERMAL PROTECTION C 1 Orange
THERMAL PROTECTION D 2 Yellow

EARTH 2 Green/Yellow

U2 1 U Black
V2 4 V White
W2 3 W Red

Shielding to be
- - Green/Orange
connected to the
earth at the
servoamplifier end

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Holding brake connection

Brushless motors can be equipped with a specially sized brake to maintain the axis immobilized. If
24 V ±10% dc voltage is applied across the brake terminals, the brake disc is free and the motor can
rotate.

The 24 V dc supply used for brake control must be regulated and filtered. It is to be connected to
terminal block B1. The brake is to be connected to terminals B2/6 and B2/7.

Thermal protection connection

The two terminals of the thermal sensor located in the motor terminal box are to be connected to B2/4
and B2/5.

Motor fan connection

Some motors can be supplied in the fan-cooled version.

Motor fan characteristics:

Supply voltage: 400 V or 230 V three-phase 50/60 Hz.

Power consumption: 45 W
Connection by connector (plug 220056P0200 supplied on request).
When connecting, check the direction of fan rotation and that air actually flows.
The direction of circulation is shown in the dimension drawings.

Connector removable plug

Viewed from F

Digpl7.T/dm8.H

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4.5.4 Resolver connection

The resolver is a high-precision sensor (±10 angular minutes as standard) which must be wired
carefully:
routed separately from the power cables.
twisted pairs (sine, cosine, excite) with general shielding. The general shielding must be
connected to the metal-plated Sub-D connector cover. Do not connect the shielding at
the motor end.

Parvex S.A. can supply this cable in either of two forms:

Separate cable, in this case wire as in the drawing below.
Cable fitted with Sub-D plug at the drive end and connector at motor end. This solution
is highly recommended as the cable is ready for use.

Maximum distance between the resolver and the DIGIVEX SINGLE DRIVE: 200 m (Please ask
about greater distances).

Maximum permissible cross-section:

by the Sub-D connector: 0.5mm².
by the connector removable plug: 0.14 - 1 mm² (solder- or crimp-fit contacts)

RESOLVER CONNECTOR REMOVABLE PLUG (motor end connector)

220065R4621 (solder-fit contacts - standard)
220065R1621 (crimp-fit contacts)

Viewed from F

Dm7.H

For XD motors :
Connect by Sub-D connector under rear cover (cable routed through special cable gland).

Please ask for details.

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4.5.5 Automatic control Input / Output connection

See functions and characteristics of these inputs / outputs in Section 5.
Terminal block B5: linked to the main contactor control (OK contacts potential-free).
Sub-D X2: RS232 link with PC: use a standard 9-pin - RS232 cable - extension.
Sub-D X2 and X4: use the cable as in drawing FELX 304553 (see § 4.3.2.3).

4.6 Accessories and Tools

4.6.1 Input mains filter:
Dimensions as in drawings FELX 304967 and FELX 305603 (see following pages).

4.6.2 Inductors for long cables

Between motor and drive. See § 4.5.2 for choice. See FELX 302983 for dimensions
(following pages).

4.6.3 External braking resistor

See drawing FELX 4045237 (next page).

4.6.4 Cables
Plain cables.
♦ Resolver cable: 6537P0001
♦ Input / Output cable : CB 08304
♦ Emulation cable: CB 08307
Complete cables (equipped with connectors and/or Sub-D connectors).
♦ Resolver cable: 220049R61-- (-- = length in metres) 5m/10m/15m/25m/50m.
♦ Input / Output cable: FELX 304544R--- (code 1 or 2 and length in metres
3m/5m/10m/15m/20m).
♦ Encoder emulation cable: FELX 304546R1--(-- = length in metres)
3m/5m/10m/15m/20m.
For the RS232 cable (Sub-D X3), see commercially available cables with 9-pin Sub-D
extension.
Power cable (supplied unequipped or equipped with connector plug).
See § 4.5.3. connection by connector.

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5. AUTOMATIC CONTROL INPUT / OUTPUT

FUNCTIONS AND CHARACTERISTICS
5.1 Input / Output Characteristics
Logic inputs
24 V dc optocoupled inputs (isolation voltage 100 V)
type 2 inputs under IEC 1131-2
these inputs may be connected directly to PNP type outputs (no external load resistor
required)
LOGIC INPUTS
ENTREES LOGIQUES
4.7V 1.5 K
78L05

5K 10 K

MINI TYPICAL MAXI

Level 0 input voltage - 0V 5V

Level 1 input voltage 11V 24V 30V
Level 0 input current - 0mA 2mA
Level 1 input current 7mA 13mA 15mA
Ton response time (0 to 1) - 1 ms -
Toff response time (1 to 0) - 1 ms -

Logic outputs
The outputs are supplied by a 24 V internal supply (isolated 24 V and 0 V and common at
terminal 25 and 13 (24 V)). An external 24 V supply must not be connected to the outputs. The
three 0V of the outputs and terminal 25 are connected :
Max output current (level 1) : 50 mA
Residual current (level 0) : Negligible
Response time : 1 ms
Voltage drop for I = 50 mA :2V

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Opto-isolated output (opto-mos), PNP type, the load being for connection to the 0V logic (i.e.
between the two contacts allocated to this output).

LOGIC OUTPUTS
24 V internal

22 Ohms

22 K

DIGPL17.D/20W

SPEED SET POINT INPUT 2.2 nF

4.7 nF 15 BITS + SIGN

22 K
22 K 22 K
22 K 22 K

2.2 nF
22 K
4.7 nF
DIGPL17.D/W

3.3 nF
ANALOG OUTPUTS
40K

47.5 Ohms 47.5 Ohms

2.2 nF

DIGPL17.D/31W

CURRENT LIMITATION INPUT

9 BITS + SIGN 4.7 nF

22 K 22 K 11 K

4.7 nF

22 K
4.7 nF
22 K 4.7 nF
DIGPL17.D/18W
11 K

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5.2 RESET and Contactor Control

- B5/1 Reset +
- B5/2 Reset -

A 24 V leading edge applied to B5/1 compared with B5/2 reinitializes the system after power
supply or drive failure.
Notice that the system can also be reset by the "reset" button on the front panel or by switching
the power supply off completely (power and auxiliaries).
This control has no effect during normal operation. The system must be "reset" after any active
fault.

- B5/3 – B5/4 : Contact OK

Cut-out power : max voltage 250 Vac, max 1A.
This contact is closed if:

the power supply is present.

the drive, low-level and power, indicate no faults.
the power bus voltage is present.

This contact authorizes the main contactor to self-hold

the green "POWER ON" LED is on

ATTENTION: Opening the OK contact must cause the main contactor to open with a maximum
delay of 100 ms.

Main contactor control

Opening the OK relay causes the main contactor to open. The OK relay opens under the
following circumstances:

No phase.
Recovery fault.
Maximum power bus voltage.
Minimum power bus voltage.
Drive fault.
Auxiliary supply fault.
Maximum mains voltage.

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5.3 Initilialization Sequence

After auxiliary power has built up: (approx. 300 ms)
To ⇐ Mains supply present
To + Tc ⇒ capacity precharging internal relay closes and relay "OK"
To + Tc + 500 ms ⇒ INIT. signal

The INIT. (initialization) signal releases the drive.

DSD 230V SINGLE-PHASE

DSD 2/4 4/8 7,5/15
Tc(ms) 150 300 400

DSD 230V THREE-PHASE

DSD 4/8 7,5/15 15/30 30/60 60/100
Tc(ms) 150 150 300 450 600

DSD 400V THREE-PHASE

DSD 2/4 4/8 8/16 16/32 32/64
Tc(ms) 150 150 300 450 600

The "OK" relay closes when the minimum bus voltage transits. Maximum time 100 ms.

5.4 Stop Sequence

5.4.1 Normal stoppage

Normal stoppage is achieved by deliberately opening the main contactor.

To ⇐ contactor opened
To + 10ms ⇒ "POWER OFF" LED comes on
To + 20ms ⇒ OK contact on terminal block B5 opens
To + 20ms + delay ⇒ "DRIVE OK" output of connector X2 goes to 0 after bus discharge
The discharge time depends on the activity of the drive during this
phase.
The motor continues to be controlled until the output trips.
"POWER ON" LED goes off,

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5.4.2 Stoppage subsequent to mains supply or braking fault

To ⇐ Fault detected.
To + 20ms ⇒ OK contact of terminal block B5 opens and fault type at power
supply end displayed.
The external plc must then open the main contactor at the latest
100 ms after the OK relay opens.
Let Tr be the contactor opening delay.
To + 20ms +Tr+delay ⇒ "DRIVE OK" output of X2 socket goes to 0 after bus discharge.
The discharge time depends on the activity of the drive during this
phase.
The motor continues to be controlled until the output trips.
"POWER ON" LED goes off,

5.4.3 Stoppage subsequent to motor drive fault

To ⇐ Fault detected
To + 10ms ⇒ The "FAULT" LED comes on and the "DRIVE OK" output of the X2
socket goes to 0. The motor is no longer controlled.
To + 20ms ⇒ The OK contact of terminal block B5 opens.
The external automatic control must open the main contactor at
the latest 100 ms after "OK" opens.
After the main contactor opens "POWER OFF" lights up.
To + 20ms + delay ⇒ "POWER ON" LED goes off,

N.B. A mains failure entails the bus dc voltage discharge command two seconds after.

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6. SERVO-CONTROL PARAMETER
FUNCTION AND SETTING
6.1 Servocontrol Parameter Functions
6.1.1 List of parameters
Choice of regulation type:
Speed Proportional: P
⇒ Proportional integral: PI
2
⇒ Proportional double integral: PI
Current regulation

In all cases : Minimum value Maximum value

Filtering frequency 20 Hz 800 Hz
Offset - 1% V max. + 1% V max.
Current limitation 0A I pulse - drive

For speed regulation (P, PI, PI²)

Maximum speed 100 rpm/min 100 000 rpm /min
Speed for 1 V 10 rpm /min 20 000 rpm /min
Proportional gain I pulse - drive /156 I pulse - drive x 210
Integration stop 0,1 Hz 1 50 Hz
Speed 1 and Speed 2 48 rpm /min < Speed 1 < Speed 2 < Max speed
Predictors (gravity, dry or dynamic friction, acceleration).

6.1.2 Regulation selection: current, proportional, PI, PI²

Current regulation
Choosing "current" means current can be controlled directly (therefore the motor torque through
the torque coefficient Kt). This then gives 10 V = pulse peak current of the drive selected
beforehand.
2
In this mode, PI/PI settings and predictors are neutralized. The only functions operative are:
Current limitation (often reduced below the permanent drive current, so as not to trip in
mean or rms values.
The second order low pass filter (filtering frequency), for reducing the effect of any
resonance.

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Choosing P

The drive is used in a speed loop with purely proportional gain. This gain is the ratio between the
output current and the speed error. It is expressed in mA / rpm.

For the same current I, if the gain increases, the error ε is reduced, the rapidity of the system
increases as does its bandwidth.

An increase in gain may lead to instability because of the other components in the loop
(resonances, second order filter).

The use of proportional action P alone has the drawback of giving zero rigidity because there is
no integration ahead of the current section.

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Choosing PI (proportional and integral action)

Compared with P action alone, PI provides the following two modifications:

The gain (open loop) at zero frequency is infinite. If there is a torque surge, there will be
an angular discrepancy of the motor shaft compared with the state at rest. This angle
will be proportional to the torque applied and there will not be any permanent speed
drift. The system can be said to be "rigid". This rigidity is strictly proportional to the
integration stop frequency.

The proportional gain P sets the bandwidth f0 (system rapidity). The integral action
entails -90° phase shift, which creates instability. This phase shift is not troublesome at
low frequencies, but may make the system unstable at higher frequencies. It is therefore
best to adjust the "integral stop frequency" correctly (0.2 - 0.3 times the bandwidth f0).

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2
Choosing PI action (proportional and double integration)

2
Compared with P action alone, PI provides the following two modifications:
Rigidity when stopped is infinite. When motor torque surges and after a transient period,
the motor shaft returns to the position it was in at rest (there is no longer any permanent
position discrepancy).
The double integral action entails a -180° phase shift at low frequencies. Poor
adjustment of the integral stop frequency may entail instability in the system. Restrict to
0.1 to 0.2 times the bandwidth f0.

6.1.3 Integration stoppage

See the previous paragraph for the function of this parameter. Below is its definition after the
Bode graphs only (gain / frequency and phase / frequency).

Gradient-1 Gradient-2

6.1.4 Speed scaling

The choice of motor - drive assembly determines a maximum possible speed. The "Maximum"
speed parameter can be used to reduce this maximum speed for the application. This parameter
is external to the speed loop and modifying it does not modify gain.
The "Speed for 1 Volt" parameter determines the speed "gradient" (e.g. maximum speed can be
obtained for 10 V, 9 V or 7 V, depending on the positioning control).

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6.1.5 Filtering frequency

Resonance phenomenon

Many systems have one or more resonance frequencies related most of the time to mechanical
phenomena: inertia or mass, associated with the rigidity of the mechanical components (belts,
screws, reducing gear, frames, etc.).

In a zone of reduced frequency around the resonance frequency, there occur:

Marked variations in loop gain.
Marked variations in the closed loop phase.
This leads to instabilities or "squeaking", with more or less violent oscillation.

Second order filter

This phenomenon cannot be dealth with by P/PI/PI2 adjustment. If the resonance cannot be
dealt with mechanically, the frequencies concerned must be eliminated. This is the function of
the second order low pass filter.

Diggb17.D/pl35.W

6.1.6 Predictors
Purpose of predictors

Four physical phenomena:

Vertical mass.
Dry friction
Friction proportional to speed.
Acceleration.

Are direct and calculable causes of modification of motor torque.

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The purpose of the predictors is, by calculation, to act directly on the current set point, without
recourse to the speed loop and without waiting for the speed error produced by these
phenomena (see block diagram).

The principle of predictor setting and work is to minimize the current set point part from the P, PI,
2
PI branch and therefore to reduce the speed error.

As these predictors are outside the speed loop (which must be adjusted first), they do not affect
stability. They provide an appreciable improvement on response time.

The acceleration predictor improves stability and allows gain to be increased in any position loop
superimposed on the speed loop.

However, it should be noticed that many speed servocontrols do not require the use of these
predictors.

General characteristics of each predictor

Mass or gravity compensation (vertical axis)

The current value, in amps, required by the motor to move the mass at constant speed (average
between up and down) is introduced directly into the parameter.

Dry or "static" friction

The friction force is fixed, whatever the speed. Its direction is opposed to motion, the sign
therefore depends on the speed set point sign.

In this case too, the values are entered directly in amps, for the required motor current to
overcome friction.

The "threshold" expressed in rpm defines a speed "band" within which this compensation is zero.

Dipl17gb.D/pl36.W

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The threshold is of the order of 1/1000th of maximum speed. This zone allows torque oscillation
to be reduced during rapid and repeated changes of the speed sign. This is the case, in
particular, at rest when there is a position loop.
"Dynamic" friction compensation
Friction proportional to speed, encountered on some mechanical components using fluids.
Value to enter: coefficient in amps / rpm.
Acceleration prediction
Depending on the total inertia (load and motor rotor) and on the desired acceleration, the torque
necessary is equal to: C = ΣJ . dω / dt.
The set point is monitored therefore in order to send a set point that is proportional to inertia
(fixed) and to acceleration to the current control. This is one of the limits of the system; there is
no point in having a variation in the speed set point that is greater than the maximum possible
acceleration of the motor, given by dω / dt = peak torque / ΣJ. Acceleration prediction is only
useful if there is a ramp on the speed reference.
The parameter used is tpr, prediction time, in milliseconds; tpr can vary between:

0 ms (no prediction)
t = td, start up time from 0 to maximum speed, with full drive current. There is then
100% correction.

6.2 Inputting Parameters

Customisation parameters for the motor-drive unit are introduced at start up using a PC under
Windows via the Digivex PC software (see brochure PVD 3483 DIGIVEX P.C SOFTWARE).
They may be read and in part altered via the display/parameter setting terminal.
The characterization is safeguarded in an EEPROM store mounted on a plug-in sub-print. This
store can therefore be transferred from one drive to another of the same calibre.
Transfer of data from this EEPROM to a servoamplifier of different rating generates a fault. The
parameters stored in the EEPROM are retained.
Customization unit reference : SZ6608
With a short circuit on Jo for spindle motors
With an open circuit on Jo for axis motors
Label :
Motor name
Speed reference value
Adjustment number.

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6.3 Setting with Digivex PC Software

6.3.1 Outline

SELECT MOTOR/DRIVE COMBINATION

SELECT TYPE OF REGULATION

CURRENT SPEED (P/PI/PI≤)

CURRENT LIMITATION, POSSIBLE SETTINGS

SECOND ORDER FILTER, fc Max. Speed, Current limitation,
Speed for 1 Volt

FILTER fc & PROPORTIONAL GAIN P

NO PREDICTOR ADJUSTMENT
(suppress resonance)

ENTER PI OR PI≤
Set integral stop frequency

GRAVITY AND DRY FRICTION

PREDICTORS

DYNAMIC FRICTION AND

ACCELERATION PREDICTORS

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6.3.2 Parameter setting tools

Without PC software or hand help terminal

There is no access to any setting modifications. The two variables usually assigned to the two
analog outputs can be displayed only on a standard oscilloscope:

♦ Number 1 output: speed measurement.

♦ Number 2 output: current set point.

With the hand help terminal, without PC software

If the system allows complete access (level 2), the hand help terminal provides access to the
servo-control parameters (regulation type, gain, etc.). They can be displayed in two ways:

♦ Either by direct read-off from the LCD screen of:

Input set point
Current set point
Bus voltage
Temperature
Speed measurement

♦ Or by assigning two of five internal variables:

Input set point in rpm
Speed measurement in rpm
Current set point in Amps
Bus voltage in Volts
Position in degrees
to the two analog outputs, and using an external oscilloscope.

If at level 1, it is possible only to modify the gain already in place (ratio 0.7 to 1.4), speed for a set
point of 10V (±10% unless already at maximum speed) and offset (±1%).

With the Digivex PC software

Three tools are accessible:

♦ Speed set point generation (fixed, scale, sine wave) with adjustable amplitude,
frequency and mean value.
♦ Oscilloscope function, for displaying and recording the response curves of any
two of the accessible internal variables.
♦ Adjustment procedure which allows, using the two functions above ("parameter"
window open) to make adjustments (except predictors) from the response at one
scale.

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Accessible internal variables (via Digivex PC software or hand help terminal)

The following internal variables may be selected:
DIGIVEX DRIVE SOFTWARE BLOCK

GRAVITY
COMPENSATION
GC

DRY FRICTION
N SIGN COMPENSATION
+/- DF ANALOG
INPUT
VISCOUS FRICTION
COMPENSATION
C = KN
INPUT
ACCELERATION TORQUE
COMPENSATION CURRENT
INPUT C = K dN/dt
LIMIT

OSCILLATOR

SPEED: SECOND VECTOR +

SCALING P, PI, PII OR ORDER CONTROL
TORQUE FILTER
SPEED (OR TORQUE) POWER
SET POINT ROTOR POSITION

ENCODER
EMULATION
OPTION

ZERO MARK
RESOLVER
DIGITIAL ZERO MARK MOTOR
SPEED PROCESSING EXTERNAL

EXCITE

COSINE - SINE

Digbl1.Ds4/W

Reference
♦ 1 Input set point in rpm
♦ 2 Speed measurement in rpm
2
♦ 3 P, PI, PI output in Amps
♦ 4 Sum in Amps
♦ 5 Current set point in Amps
♦ 6 Acceleration in ms
♦ 7 Viscous friction in Amps
♦ 8 Dry friction in Amps
♦ 9 Position in degrees
♦ Iu Phase current U in Amps
♦ Iw Phase current W in Amps

The two selected variables may be chosen :

either in interactive mode, by positioning on the points of the diagram the "2 probe tips"
available
or from the list proposed in the "TOOLS - OSCILLOSCOPE" table. Access via the name
of the variables. This is valid for the variables: the eleven above plus the following :

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♦ Temperature in degrees centigrade

♦ Bus voltage in Volts
♦ I Active current in Amps
♦ I Reactive current in Amps
♦ Id current in Amps
♦ Iq current in Amps
♦ Ud voltage in Volts
♦ Uq voltage in Volts
♦ Auxiliary input in Volts
♦ Low frequency generation

It should be noticed that these variables can be assigned to the two analog outputs, which
means a separate oscilloscope can be used.

6.3.3 Parameter access conditions with Digivex PC software

Access level

Level 1, always accessible, can be used to modify:

♦ Proportional gain in the limited proportions (0.7 to 1.4).

♦ Speed for a set point of 10V (±10%, unless already at maximum speed).
♦ Offset adjustment (±1%).

It can also be used for measuring all the parameters.

Level 2, accessible by entering a code, this level can be used to modify all the
parameters required for the application.

These levels are valid whether "on line" or "off line" with the PC software or with the hand help
terminal.

Working "off line"

If access can be gained to level 2 and the PC software is being used, complete parameter files
can be prepared "off line": motor choice, servo-control parameters, work on inputs and outputs,
etc. This is data processing work on files (File Menu, Open, Save as, etc.).

Working "on line" (access to level 2)

In this mode, there is an RS232 serial link connection between the PC and its software and the
Digivex Single Drive drive.

To go "on line"

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♦ Check, via File + serial link Set-up, that the PC set-up is compatible with the
drive (9600 bauds / 8 data bits / no parity / 1 stop bit).
♦ Call up "Connect".

To go back "off line"

♦ Call up "Disconnect".

When going "on line" all the parameters in the drive are copied to the PC. Any parameter
modified by the PC will be copied in the drive.

The "on line" mode has the following particularities:

Parameters concerning the resolver cannot be modified.

Servo-control parameters can only be modified by the + or - keys, the numerical values
cannot be keyed in directly.
To send a complete parameter file via the serial link (first time loading, copying from one
drive to another).
Torque is set to zero (T = 0) via the software at the time of transfer and stays there. It
must then be set to software "1" or on the "connector" (see Digivex PC software
instructions PVD 3483F).
The drive checks compatibility with the drive rating. It may then refuse the file.

6.3.4 Entering parameters via Digivex PC software

See Digivex PC software instructions PVD 3483 F:

Choice of rating
Choice of motor (standard or special)
Choice of resolver
Entering servo-control parameters (global transfer)
Assigning inputs / outputs and variables
Use of the oscilloscope function
Two parameters set : "extended parameter set" option

6.3.5 Setting loop parameters for speed regulation

This can be done by using the "Setting Assistant" menu or directly with the stimuli and
oscilloscope.

Speed for 1 V and maximum speed

The maximum possible speed is set when the motor - drive choice is made.

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It can be reduced only here :

Choose a "dc" stimulus of, say, 1 volt.

By "drive status" (in the COMMANDS menu) or by the oscilloscope function, check the
value obtained for the "speed measurement in rpm" variable.

Proportional gain adjustment

Initial status

Switch to proportional gain P alone.

Filtering frequency fc to maximum (800 Hz) and low gain.
System ready to run, no predictor.

Proportional gain and filter frequency are adjusted simultaneously. If, by increasing proportional
gain, the system starts to resonate, the resonance must be eliminated by reducing the filter
frequency, then increasing P, etc. until a compromise is found.

Maximum recommended for P.

There is a maximum advisable proportional gain, depending on the drive rating, and
corresponding to maximum current oscillation.

RATING P In mA/ rpm

2/4 35
4/8 75
7,5/15 ou 8/16 150
15/30 ou 16/32 300
30/60 ou 32/64 600
60/100 1200

N.B. This gain may be exceeded under certain circumstances. Please ask for details.

Generate a speed set point scale (0.5 to 1 V).

Use the oscilloscope function to display

Channel 1 ⇒ the input set point
Channel 2 ⇒ the speed measurement
Trigger on channel 1 at 1 or 2 percent of N max, leading edge.

Increase gain P

The stimulus is excited on line. The response is collected at one scale of speed set point.

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There are three possibilities :

Non oscillating response

A response must be obtained without overshooting and oscillation. For example, increase gain
until oscillations gradually appear, then reduce it by 20 to 30%.

If the maximum value shown in the table is reached with P gain, without reducing the filtering
frequency, then:

Stop increasing P
Reduce the filtering frequency until the limit of oscillation

Filtering frequency setting

Oscillations may appear on the response obtained above (even when speed is increasing).

Response with pseudo-oscillation

This gives frequency resonance (probably mechanical origin) fr = 1/T, greater than 100 Hz.

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Then reduce the filtering frequency until the oscillation disappears almost completely. If that
cannot be done, the maximum gain is reached.

If possible, gain can be increased again until a response is obtained without oscillation.
Oscillation may reappear. Reduce the filtering frequency a little more.

Notice that it is essentially P and filtering frequency that determine the bandwidth.

If the resonance frequency is too low, adjust the filter frequency to a high value.

PI/PI2 - integral stop frequency setting

Initial status

P gain alone. P and filtering frequency setting completed.

Integration stop frequency = 0.
Still no integration.
System ready to run.

♦ Select PI or PI².
♦ Use the same stimulus as before (index analysis).
♦ "On line", increase the integration stop frequency until overshoot is obtained in
the order of:

25 - 30% in PI
15 - 20% in PI²

Without oscillation.

If the frequency is too high, fairly low frequency oscillations occur (< 50 Hz). Frequency must
then be reduced (never readjust P gain).

Speed
measurement
fi too high

pseudo-period

Time

Dipl43gb.D/45W

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Speed
measurement
fi too high

pseudo-period

Time

Dipl43gb.D/46W

2
Do not change PI to PI without setting the integral frequency to 0.

6.3.6 Setting predictors

Initial conditions

All loop parameters (P, integral and filtering frequency, max. speed, current limitation)
are set (without predictors).
The system is ready to run.

Setting the Gravity and Static Friction predictors

Notice that the gravity factor is zero for a horizontal axis.

Take a square stimulus, offset = 0, peak to peak value = 3 to 5% of maximum speed in

rpm, frequency 0.2 to 1 Hz.
Display on the oscilloscope function:

♦ The input set point,

♦ The current set point.

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Input
reference

Time

Current
reference

Time

Diggb43.D/47W
N.B. I+ and I- are to be taken with their sign. In general I- is negative.
In principle:
I+ + I−
Gravity = in Amps (horizontal motion, gravity = 0).
2
I −I
Static friction = + - in Amps.
2
Enter these values into the parameters.
Enter the threshold value (e.g. threshold = max. speed / 1000).
After introducing the values, the result obtained can be checked with the same stimulus.
Check the input set point on one channel and the P, PI, PI2 output on the other channel.
This should give a result close to:
P, PI, PI≤
Output

Time

Dipl43gb.D/49W
Setting the dynamic friction and acceleration parameters. (It is assumed that the dry friction
and gravity predictors have been set).

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Use a sine stimulus, offset 0, peak to peak value 10 to 20% of maximum speed,
frequency 0.2 to 1 Hz.
Use the oscilloscope function to display:

♦ The input set point on one channel.

♦ P, PI, PI² output on the other channel.

Acceleration predictor setting. Increase the predictor until P, PI, PI2 output is
minimized. Too high a value increases P, PI, PI2 with a phase change

Input
reference

Time

Maximum positive
Predictor too weak or acceleration
P, PI, PI= zero
Output

Predictor
too high
Time

Predictor correctly
adjusted

DIGPL43.D/
49.W

Very marked difference between optimum setting and no predictor

2
The correct setting corresponds to minimum amplitude P, PI, PI output. The predictor must allow
2
the P, PI, PI output to be reduced in a ratio of at least 5 to 10.

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Remember that the value of tpr (prediction time) (in ms) is close to td (start up time) with:

(Load inertia + motor inertia) . ω max

td =
Max torque

td is the acceleration time from 0 to maximum speed with maximum torque,

td in seconds, inertia in kgm2, max. ω in rd/s, torque in Nm

Setting the dynamic friction predictor. Once all the other predictors have been adjusted,
increase the dynamic predictor to minimize the P, PI, PI² output signal.

When the setting is correct, this output should be minimum and in phase with the input set point.

Input
reference

Time

P, PI, PI=
Output

Time

Minimum value

DIGPL43.D/50.W

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6.3.7 Setting current regulation parameters

If the "current" option has been chosen, the only adjustments needed are:

Current limitation; take care in this type of application that it does not trip with mean or
rms current monitoring. Current limitation is often equal to permanent current.
Second order filter frequency. This can only be done with the "superior" regulation loop
giving the current set point.

6.3.8 Other characterization parameters

Logic and analog inputs / outputs

Access either via the menus (CONTROLS + FORCED INPUTS) or (CONTROLS + OUTPUT
ASSIGNMENT), or in interactive mode by clicking on I/O on the left of the block diagram. This
makes it possible:

To assign one of the internal variables to each of the two 10 V analog outputs.
To force the logic inputs to 0 or 1.

The logic inputs / outputs are assigned permanently.

Encoder emulation option

Choice of number of marks between 1 and 16384 per turn (off line).
Validating by teaching of zero mark position (on line).

Miscellaneous choices

Choice of processing strategy for monitoring of mean or rms currents: current reduction
or power opening (see § 6.2.2.1 and Digivex PC software instructions - PVD 3483F).
Choice of brake use strategy: current reduction or not in the event of brake closure (see
Digivex PC software instructions - PVD 3483F).
Choice of user strategy for thermal protection of motor (with or without thermal
protection).

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7. COMMISSIONING - SERVO-CONTROL PARAMETER

SETTING - DETECTING REASONS FOR STOPPAGE

7.1 Start-up Sequence

7.1.1 Preliminary checks
Wiring check
Power and auxiliary connections to Digivex Single Drive.
Reset wiring.
External 24 V supply for brake.
Check the resolver connections.
♦ Motor end
♦ DIGIVEX Single Drive end
Check the power, brake and thermal connections.
♦ Motor end
♦ DIGIVEX Single Drive end
Supply type check
Power: 50/60 Hz, 230 V single or three-phase, 400 V three-phase depending on model.
Auxiliaries: single-phase 50/60 Hz, 230 V or 400 V depending on model.
Brake supply: 24 V dc ±10% (including oscillation).
Caution: Before doing any work on the system, make sure the power bus is at 0 V. Wait at least
three minutes after the motors have come to a complete stop before starting work. Wait until all
the LEDs have gone out.

7.1.2 Commissioning with Digivex PC software or the hand help

terminal
Remove terminal block B5 from the DIGIVEX SINGLE DRIVE so as not to supply
power. This inhibits the self-hold of the main contactor.
Connect the PC via the RS232 serial link.
Energize the auxiliary parts (low levels) alone; this is possible only if the single-phase
auxiliary supply is taken ahead of the main contactor. The "POWER OFF" LED of the
Digivex Single Drive supply comes on.
Use the PC (Connect menu) to come "on line". If this connection is not made:
♦ Check the serial link set-up is compatible.
♦ Check the serial link cable.

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Once "on line" all the parameters in the Digivex Single Drive can be read.

Check with the PC or console that there are no faults (menu CONTROLS + INCIDENT).
If there is no access for modification (level 1), read the parameters in the drive and
check they conform with the problem: motor type, maximum speed, etc.
Check the CW/CCN/T input status.
If there is access to the change (level 2) set up the drive. This can be done "off line" in a
file and then transferred or modified "on line".
♦ Choice of motor.
♦ Choice of servo-control parameters (without the power part, their validity cannot
be checked).
♦ Ancillary checks: validate brakes, analog outputs, safety strategy, etc...
Refit terminal block B5 (OK relay).
Use the software to force the drive to zero torque.
Turn on the power. Normally the "POWER on" LED lights.

Remove the "zero torque" lock by software or by hardware contact (set "T=0" input to 24
V), the drive releases the brake (if the motor is fitted with one and if a brake has been
declared by software).
Using the stimuli (PC software or console) or the setting assistant (PC) carry out the
system setting.
♦ "dc" stimuli (square with peak-to-peak = 0). Check max. N.
♦ "Square" stimuli or setting procedure for adjusting servo-control parameters.
♦ Digivex PC software for setting the predictors if necessary.

Check the driven mechanism can operate freely.

7.1.3 Commissioning with the hand help terminal

The general procedure is the same as before.

The hand help terminal is reserved for systems that have already been programmed.

either by the PC software

or by transferring the parameters from one drive to another using the PC software or
hand help terminal.
or by physically transferring the EEPROM store containing the customized parameters
of the application.

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7.2 Detecting Reasons for Stoppage

7.2.1 LED display - power supply function

LED COLOR FUNCTION

POWER ON Green Power on, with no fault in the supply or in the

drive control.

POWER OFF Red Auxiliary supply on. No power supply (either

because of a fault, or by switching off).

RECOVERY Red Either, if temporarily on, normal switch in of

recovery resistor.
Or, if permanently on, recovery fault:
- resistor short-circuited (valid only for external
resistors).
OVER VOLT Red Flashing: mains supply overvoltage 480V or 255V
Fixed: bus overvoltage 750 VDC or 400VDC

PHASE Red No mains power phase.

AUX. SUPPLY Green Indicates auxiliary supply is on.

In normal operation, the LED status is as follows:

POWER ON Green
POWER OFF Off
RECOVERY Off
OVER VOLT Off
PHASE Off
AUX. SUPPLY Green

N.B : The Power ON and Power OFF LEDs may come on simultaneously when the power supply
is cut out : mains disconnected and intermediate supply greater than minimum voltage (200V for
400Vac models and 100V for 230Vac models).

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7.2.2 Fault display - drive function

Incidents with drive operation can be displayed in two ways.

• On the drive front panel through the "RUN" and "FAULT" LEDs

RUN FAULT
(Green) (Red) MEANING

Microprocessor fonction correct.

Normal state.
Fault.
cl Operation continues with reduced performance.

Fault with power down.

CPU fault with power down

RUN and FAULT LEDs off. No power supply.

: LED on
Cl : LED flashing

For RS232 serial link

♦ Either by the PME-DIGI software, which specifies in uncoded language, the

problem and advice for correcting it.
♦ Or via the hand help terminal.

7.2.2.1 Fault processing

Two cases arise:

• Faults with the "FAULT" LED on

These faults entail:

♦ Main contactor opens and system powers down.

♦ Initial fault code is stored in the drive.

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• Faults with "FAULT" LED flashing

These faults entail:

♦ Motor current is reduced

♦ Status is stored in drive.
♦ No action on DIGIVEX SINGLE DRIVE OK relay.

These cases arise:

♦ For excessive Digivex dissipater temperature.

♦ For excessive mean drive current or excessive rms motor current, if the drive
parameter setting allows operation to continue. The choice of continuing
operation with reduced current or stopping is made by the "current protection"
strategy in the "servo-control" window of the parameter setting software.

7.2.2.2 Current monitoring

Mean drive current

Each drive is characterized by two currents:

For example for a 15/30 Digivex Single Drive:

permanent permissible current 15 A (peak value of sine wave).

maximum pulse current 30 A, permissible for a limited time (0.3 to 1 seconds).

In order to prevent the drive from overheating, the mean current [I = f(t)] after 2 second
filtering, with the permanent permissible current. There is then a choice between two
strategies:

Strategy 1: Fault, with the power supply OK relay and main contactor opening
eventually.
Strategy 2: Permanent current reduction of drive to 90% of permanent permissible
current. The "FAULT" LED flashes.

Motor rms current

To prevent the motor thermal tripping by the thermal sensor, the drive monitors the rms
current [I2 = f(t)].

The rms current is compared with the permanent permissible current at slow rotation by
the motor Î0 (after first order filtering of 20 second time constant). This data, which is
characteristic of the motor, is known to the drive when the choice of motor - drive is
made.

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As before there is a choice between two strategies:

♦ Strategy 1: Fault.
♦ Strategy 2: Drive pulse current reduced to 0.9 Î0 of motor current. The "FAULT"
LED flashes.
Drive output current

There are two forms of monitoring:

♦ Short-circuit protection: monitoring of current drift.

♦ Excessive output current (maximum current). Check whether the current as
measured exceeds the drive pulse current by 30%..

In both cases, a fault is tripped and the OK relay opens.

7.2.2.3 Temperature monitoring

DIGIVEX SINGLE DRIVE dissipater temperature

♦ If the temperature is less than 70°C at the dissipater, nothing happens.

♦ From 70° to 94°C, there is a fall in pulse current that the drive can deliver (the
"FAULT" LED flashes slowly).
♦ At 95°C the fault is tripped.
Servo-motor winding temperature

Each motor has a thermal sensor. When customizing the drive, this sensor can be
taken into account or ignored. If it is taken into account (usual case), excessive motor
temperature causes a fault.
Ambient temperature
This is measured between the electronic boards and operations are stopped when it
exceeds 60°C.

7.2.2.4 Other monitoring

No resolver
Resolver fault or wiring fault.

Overspeed
Speed > 1.15 times the maximum motor - drive setting.

These two cases entail a fault with:

Red "FAULT" LED comes on.

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7.2.2.5 Summary table of faults and fault finding

: LED on, E=LED off, RF=rapid flashing, SF=slow flashing

RUN FAULT PC SOFTWARE PROGRAMMIN
LED LED FAULT-FINDING G CONSOLE COMMENTS
(Green) (Red)
FAULT-FINDING
Max. drive Overcurrent
current reached
dI/dT fault Short circuit Output or earth short circuit
Excessive mean I average fault Too much current asked of drive
current
Excessive rms I RMS fault Too much current asked of drive. Cycle
current too demanding.
Excessive motor Motor overtemp. Cycle too demanding or no motor fan
temperature cooling
Excessive dissipater Fin overtemp.
temperature
Excessive ambient Ambient Fan cooling stopped or excessive
temperature overtemp. cabinet temperature
Resolver fault Resolver fault Problem with resolver or wiring
Excessive speed Overspeed Speed reference > 10 V
or speed parameter setting error
E CPU fault CPU fault
Bus overvoltage Bus overvoltage Regenerative braking impossible.
☼ ☼
Disconnected from mains supply.
Customization card EEPROM fault Customization card incompatible with drive
☼ ☼
fault rating or drive type
Drive-spindle definition SPINDLE Control type (drive-spindle) incompatible
☼ ☼
BIT DEF. with customization cardSZ6608B

Motor not connected MOTOR Motor wrongly connected

☼ ☼
Disconnect
E E Liaison impossible No power supply

RUN FAULT PC SOFTWARE PROGRAMMIN

LED LED FAULT-FINDING G CONSOLE COMMENTS
(Green) (Red)
FAULT-FINDING
RF Excessive mean Current reduction.
current OR I mean > drive rating

RF Excessive rms Current reduction.

Current Drive RMS current > Îo motor
SF Excessive dissipater Max. current reduced depending on
temperature temperature

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7.2.2.6 Corrective actions

The incidents that may arise (from wiring errors or mishandling) are as follows:
Resolver fault
♦ Check the resolver connection.
Overcurrent
♦ poor motor connection (motor phase missing)
♦ programmed motor does not correspond to connected motor
Overspeed
♦ Nmax. incorrectly set
♦ Accidental transition to torque regulation
Motor fails to run and remains without torque
♦ System is set to zero torque (hardware or software input T=0). The torque has
been forced to zero during a global transfer. Reset system torque (see software
or console instructions).
♦ The motor is not connected.
Motor fails to run, but torque present
♦ CW and CCW inputs set to zero (hardware or software). Check with software or
hand help terminal.

7.2.2.7 7-segment display (SS 6611 mounted)

Function: to provide information on DIGIVEX status discriminating between faults. Format:

placed in the upper part of the DIGIVEX.
Description :

Display Description
0 Drive live, no power present
1 Drive OK, power present
2 Resolver fault
3 Excessive ambient temperature or dissipater temperature
3 Flashing Excessive dissipater temperature / current reduction
4 Excessive speed
5 Maximum supply current
6 Maximum drive current reached or di/dt fault
7 Excessive mean current or excessive rms current
7 Flashing Excessive mean current or excessive rms current: Reduction
8 Bus overvoltage
9 Excessive motor temperature
A Drive/spindle definition fault
F Drive rating incompatible with CUSTOMIZATION
. (dot) CPU fault
- (dash) Unlisted fault

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8. OPTIONS
8.1 Possible associations
Integrated 7-segment Indexing Speed SSI SERCOS
Maximum of two options possible encoder display function output card
SC6631 SS6611 SH6601 SV6601 SC6637 SP6605
Integrated encoder SC6631 X X
7-segment display SS6611 X X
Indexing function SH6601 X
Speed output card SV6601 X
SSI SC6637
SERCOS SP6605

Association examples: Integrated encoder + 7-segment display

OR
Integrated encoder + Indexing function

8.2 Encoder Emulation (SC6631 board)

The resolver is above all a position sensor. It is used to measure the position of the rotor relative to the
stator.

An optional board, placed inside the Digivex Single Drive, is used to convert the signal from the resolver
into a series of pulses that are identical to those from an incremental encoder : A, B, 0 and their
complements.

8.2.1 Programming resolution and zero mark position

This is done with the DIGIVEX PC software or the hand help terminal.

The parameter setting is called up:

Either in graphic mode (double-click on the encoder emulation).

Or via the menus: parameters + options.
Or via the hand help terminal keyboard.
Resolution

Adjustable between 1 and 16384, either by +/- keys, or be entering the number directly (OFF LINE only).

Zero Mark Setting

Setting by teaching, with the PC working "on line".

When the operator judges the position is suitable, he confirms by acknowledging the zero mark.

8.2.2 Electrical characteristics

The electrical output interface meets standard RS422 for differential serial links. The circuit used is a "LINE
DRIVER" of the MC 26 LS 31 D type. The electrical characteristics are therefore closely related to the use
of this component.
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Voltage supply

The encoder emulation boards are electrically isolated between the output stage through three
optocouplers, needing to be powered by an external +5V ±10%, 100 mA source, as for all
incremental encoders.

In no case can this power supply, which is intended only for electrical isolation, be used to keep
position information from the resolver in the event of failure of the drive's low-level power supply.

Short-circuit capability

A single output may be short-circuited at 0 V at any given time

Signal form

Signal levels:

U high ≥ 2.5V for I high ≥ -20mA

U low ≤ 0.5V for I low ≤ 20mA

Dipl44gb.D/51W

Switching time:

Rise or fall time defined from 10% to 90% of the magnitude in question, without cable and without
load.
tr = tf = 45ns (typical value)

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Time delay between direct and complemented channels

Time delay defined at 50% of magnitudes in question without cable and without load.

-6ns ≤ ta ≤ 6ns (maximum)

Time delay between channels A, B and the zero mark

Time delay defined at 50% of magnitudes in question without cable and without load.

-6ns ≤ td ≤ 6ns (maximum)

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8.2.3 Sub-D connector X4: encoder emulation option

Sub-D 9-pin plug, "Encoder". Maximum conductor cross-section: 0.5 mm².

CONTACT TYPE FUNCTION

1 .

2 Output Top 0

3 Output A

4 Output B

5 Input 5V

6 Output Top 0

7 Output A

8 Output B

9 Input 0V

8.2.4 Encoder emulation cable

2 2
Cable formed from three twisted pairs of 0.14 mm , of one twisted pair of 0.5 mm for 5 V supply
and general shielding.

Cable reference recommend by PARVEX, 6537P0016.

Cables equipped with Sub-D connectors can be supplied, see drawing FELX 304554.

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DIGIVEX SERVO-AMPLIFIER
Reference Description

DPS0612 12 kW power supply

DPS0625 25 kW power supply
DPS0615 15 kW power supply with return to mains
SF_02040 Three-phase choke for 15 kW mains supply

DRA3165V23 +6U rack 3 slots, fan, reduced (4/8)

DRA3165V43 +6U rack 3 slots
DRA3165R23 + 6U rack 3 slots, with external recovery
DRA3168V23 + 6U rack 19" 6 slots, fan, reduced (4/8)
DRA3168V63 + 6U rack 19" 6 slots
DRA3168R43 + 6U rack 6 slots with external recovery

RE_91001 2000 W 27 ohm external resistor

RE_91002 4500 W 12 ohm external resistor
RE_91020 Pair or wall consoles for resistors
TL_83085 6U 11E stopper

DXD06001 Digivex 1/2 single module

DXD06002 Digivex 4/4 single module
DXD06004 Digivex 4/8 single module
DXD06008 Digivex 8/16 single module
DXD06016 Digivex 16/32 double module
DXD06032 Digivex 32/64 single module

DSD13M02 Digivex Single Drive 230V 2/4 1 phase

DSD13M04 Digivex Single Drive 230V 4/8 1 phase
DSD13M07 Digivex Single Drive 230V 7,5/15 Three-phase

DSD13004 Digivex Single Drive 230V 4/8

DSD13007 Digivex Single Drive 230V 7.5/15
DSD13015 Digivex Single Drive 230V 15/30
DSD13030 Digivex Single Drive 230V 30/60
SDS13060 Digivex Single Drive 230V 60/100

DSD16002 Digivex Single Drive 400V 2/4

DSD16004 Digivex Single Drive 400V 4/8
DSD16008 Digivex Single Drive 400V 8/16
DSD16002 Digivex Single Drive 400V 2/4
DSD16004 Digivex Single Drive 400V 4/8
DSD16008 Digivex Single Drive 400V 8/16
DSD16016 Digivex Single Drive 400V 16/32
DSD16032 Digivex Single Drive 400V 32/64
DSD16016 Digivex Single Drive 400V 16/32
DSD16032 Digivex Single Drive 400V 32/64

DPD16050 Digivex Power Drive 50/80

DPD16100 Digivex Power Drive 100/120
DPD16150 Digivex Power Drive 150

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Reference Description
SC_6631 Encoder emulation
SC_6637-1 Simplified SSI encoder card
SC_6637-2 SSI encoder card

DTP001 Programming and parameter setting console

FR_03016 16 A filter (Digivex 12 kW)

FR_03036 36 A filter (Digivex 25 kW and 50/80)
FR_03064 64 A filter (Digivex 100/120)

PVD3464x Digivex Multiple Drive manual D, E, F, GB

PVD3500x Digivex Single Drive manual
PVD3484x Digivex Power Drive manual D, E, F, GB
PVD3488x SSI D, F board manual
x = D German, E Spanish, F French, GB English

Software Parvex Motion Explorer

PMED Pack1 : Software PME + clé Digivex

PMEDC Pack2 : Software PME + clé Digivex et Cyber
PMEREL Mise à jour logiciel PME (sans clé)
PVD3494x PME manual (base) D,E,F,GB
PVD3483x Digivex manual D,E,F,GB
PVD3495x Cyber manual D,E,F,GB

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PLUGS AND CABLES FOR DIGIVEX AND HX, HS, HD

Reference Description

DXDK1 Set of 3 Sub-D connectors for Digivex

DXDK2 Set of 4 Sub-D connectors for Digivex + encoder
emulation

CB_08304 I/O cable by metre for Digivex drive

FELX304544R205 Equipped I/O cable (1 Sub-D) for Digivex drive length 5 m
(1)
FELX304544R105 Equipped I/O cable (2 Sub-D) for Digivex drive length 5 m
(1)

6537P0016 Encoder emulation cable for Digivex drive

FELX304546R105 Equipped encoder emulation cable (2 Sub-D) for Digivex
length 5 m (1)

220065R4621 Motor end resolver cable

6537P0001 Resolver cable by metre
220049R6105 Equipped resolver cable (motor plugs & Sub-D) length
5m (1)

For motors HX3

220065R1610 Size 1 power plug
6537P0019 0.5 mm2 power cable by metre
220049R4905 Equipped power cable - length 5m (1)

For motors HX4, HX6, HS6, HD6, HD6, HS8 and Io < 14 A.
220065R1610 Size 1 power plug
6537P0009 1 mm2 power cable by metre
220049R4205 Equipped power cable - length 5m (1)

For motors HS820EQ ( Io > 14 A)

220065R1611 Size 1 power plug
6537P0010 2.5 mm2 power cable by metre
220049R4305 Equipped power cable - length 5m (1)

For motors HD8, HS9

220065R3611 Size 3 power plug
6537P0010 2.5 mm2 power cable by metre
220049R4805 Equipped power cable - length 5m (1)

For motors HD9 and Io < 60 A

220065R3610 Size 3 power plug
6537P0011 6 mm2 power cable by metre
220049R4505 Equipped power cable - length 5m (1)

For motors H....and Io > 60 A

220065R3610 Size 3 power plug
6537P0012 10 mm2 power cable by metre
220049R4605 Equipped power cable - length 5m (1)

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