TECHNICAL MANUAL

DRIVES
4000 S-AT
SMALL

4000 M-AT
MEDIUM

4000 L-AT
LARGE

E208415

IRT SA Tel. +41 (0)32 729 93 60

Rue du Puits-Godet 16 Fax +41 (0)32 724 10 23
CH-2000 Neuchâtel e-mail [email protected]
http://www.irtsa.com

Your drive provider

September 2013-Rev. 5
 Technical manual Drives Series 4000 AT

UL Requirements Drives Series 2000 / 4000 AT

1. Field wiring terminal to use 60/75 or 75°C copper (CU) wire only.
2. Input power terminal tightening torque = 1.2 Nm
3. Motor terminal tightening torque = 0.5 Nm
4. No overspeed protection incorporated
5. Degree of overload protection provided internally by the drive, in percent of full
load current or current value.
6. Open chassis to be installed in an enclosure that protects the drive from
conductive dust and condensation (pollution degree 2 environment).
7. Maximum surrounding air temperature = 40 degree C.
8. These devices are not provided with motor overtemperature sensing.
9. Integral solid state short circuit protection does not provide branch circuit
protection. Branch circuit protection must be provided in accordance with the
National Electrical Code and any additional local codes.
10. Suitable for use on A circuit capable of delivering not more than 5000 rms -
symmetrical amperes, 230 (2000 Serie) and 400 (4000 Serie) Volts maximum.
The short circuit ampere rating and the fuse ampere rating shall be in
accordance with the following rating table :
Branch Fuses
Drive Model
Ratings Reference
4003 30A – 690V Ferraz Shawmut, JFHR2 –
4005 (rated I2t 815) type A070GRB 30EI13, 10,3 x 38
4009 (reference M330015)
2005
2010
2020 50A – 690V Ferraz Shawmut, JFHR2 –
4015 (rated I2t 2250) type 6.900 CP gRC, 14.51 x 50
4025 (reference L220902)
4050 100A / 690V Ferraz Shawmut, JFHR2 –
(rated I2t type 6.900 CP gRC, 22.58 x 100
11950) (reference W220911)

UL listed drives : 2000 S-AT 4000 S-AT 4000 M-AT 4000 L-AT

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 Technical manual Drives Series 4000 AT

Contents

CHAPTER A - DESCRIPTION AND TECHNICAL DATA 4

1. INTRODUCTION 4

2. DESCRIPTION 5

3. TECHNICAL DATA 7
3.1 GENERAL DATA FOR ALL TYPES 7
3.2 ELECTRICAL DATA 8
3.2.1 INRUSH CURRENT 9

3.3 DRIVES AT OUTLINES 10

3.3.1 SMALL AT DRIVE OUTLINES 10
3.3.2 MEDIUM AT DRIVE OUTLINES 11
3.3.3 LARGE AT DRIVE OUTLINES 12

3.4 MOTORS 13
3.5 POSITION FEEDBACK 13

4. FUSES 14

5. OPTION LIST 14

6. ADD-ON BOARDS 15

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 Technical manual Drives Series 4000 AT

CHAPTER A - DESCRIPTION AND TECHNICAL DATA

1. Introduction

The servo-amplifiers serie 4000 AT are intended for the control of 3 phases brushless servo-
motors and asynchronous servo-motors.

The motors regulated by the serie 4000 AT servo-amplifiers should have the following
characteristics:

 Rotor constructed with permanent magnets or winding cage arranged in 1, 2, 3, 4,

5 or 6 pole pairs, without commutator.
 Stator constructed with 3 windings connected in star or delta.
 Brushless motors : electronic commutation is performed by means of a feedback
type :
Speed one resolver
Absolute encoder SinCos Hiperface compatible
Incremental encoder with U, V and W signals
EnDat.
 Asynchronous motors : electronic commutation is only performed by means of a
feedback type :
Speed one resolver
Incremental encoder.
 Motors with Hall effect sensors and tachogenerator are not suitable.

The servo-amplifier serie 4000 AT are fully digital. High-performance torque, speed and
positioning control fulfils all requirements for rapid response and control accuracy.

Digital control allows comprehensive diagnostics, motor parameters tuning, data and fault
logging, etc.. using a PC based user program.

A wide range of firmware assures to meet the requirements of practically any application.

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 Technical manual Drives Series 4000 AT

2. Description

The particular features of the servo-amplifiers serie 4000 AT are described thereunder:

Power supply
 Single-Axis unit incorporating braking module for connection to 3 phases power
supply. Possibility to connect the drives to a common DC-bus voltage.
 Direct 400V three-phase main supply.
 Option: Internal filters in power source reducing noise emission.

Power driver
 Galvanic isolation between control and power electronics.
 IGBT output stage.
 Digital PWM current loop providing very low ripple motor currents and high
motor efficiency.

Digital controller
 Full-digital servo-amplifier for Brushless motor with resolver.
 Easy software update and fully programmable through serial link RS232 or RS485.
 Possibility to integrate a customised INTERFACE board.
 Energy managing system for fan-cooling.
 Multi loops control (torque and speed).
 Sinusoidal current output ensures smooth torque and optimal performance at low
speed.
 7 segment status indicator for diagnostic display.

User's inputs
 Analogue speed or current input command +/- 10V or digital input command.
 RS232 serial port and RS485 serial port for multi axis controller system.
 Limit switches for overrun protection in both directions.
 External power supply to the Control and Interface boards to keep position data
and alarms in case of main power supply interruption.

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 Technical manual Drives Series 4000 AT

User's outputs
 Incremental encoder output simulation with adjustable resolution from 1 to 1024
ppr and adjustable marker pulse. Differential line driver outputs.
 Ready relay contact.

Protections
 Protection and rugged construction for use in adverse conditions.
 Power stage fully protected against short-circuit and over-temperature.
 Motor protection by I2t limitation.
 Detection of resolver fault, motor wiring failure, motor overheating.

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 Technical manual Drives Series 4000 AT

3. Technical data

3.1 General data for all types

Description Unit 4000 AT Serie

Supply frequency Hz 45 to 65
Operating temperature range °C 0 to 60
Operating temperature range at full power °C 0 to 45
(from 45°C, reduce output current by 2%/°C to
60°C)
Storage temperature range °C -25 to +55
PWM chopper frequency kHz 7.5
Differential input reference V + 10 to -10
Speed control range 1/32768
Speed loop bandwidth Hz max. 150
Current loop bandwidth Hz max. 2000
Output frequency to motor Hz 0 to 500
Incremental encoder simulation ppr 1 to 1024 (2048)
Theoretical max. speed for motor with resolver rpm 7500 or 12000
"speed one" depending on firmware version
Standard baud rate Bd. 9600
Serial link Transmission Full duplex
Format 1 START bit, 8 DATAS bit, no parity,
1 STOP bit
Time between power on and enable drive sec Max. 3
International Protection IP20
Supply Voltage VAC 3x400 +10% -20%
Max. output voltage to motor V 3 x 390
ON-Switching threshold of brake module VDC 670
OFF-Switching threshold of brake module VDC 660
ON-Trip threshold of overvoltage VDC 710
OFF-Trip threshold of overvoltage VDC 690
OFF-Trip threshold of undervoltage VDC 395
ON-Trip threshold of undervoltage VDC 380
Cooling Natural air convection
Air fan forced over 40°C
Indicative weight : Small AT kg 3.3
Medium AT 6.2
Large AT 10,5

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 Technical manual Drives Series 4000 AT

3.2 Electrical data

Rated rms Rated pk. Max. rms Max. peak Rated Max.
Drive current current current current power power
AT Type (Irms rated) (Ipeak rated) (Irms max) (Ipeak max) (Prated) (Pmax)
(A) (A) (A) (A) (kW) (kW)
Small 4003 3 4 6 8.5 2 4
4005 5 7 10 14 3.5 7
4009 9 13 18 25 6 12
Medium 4015 15 21 30 42 10 20
4025 25 35 50 70 17 34
Large 4050 50 70 100 140 34 68

Note: Irms = Ipeak / 1,41 Vrms = 390V

P = 1,73 x Irms x Vrms or P = 3 x Irms/phase x Vrms/phase

Braking power :

Drive Rbraking Peak braking Max. continuous Surge energy

AT type power braking power (T=300K)
() (kW) (W) (kJ)
Small 4003 60 7.5 250 5
4005 60 7.5 250 5
4009 60 7.5 250 5
Medium 4015 30 15 500 10
4025 16.5 27 500 15
Large 4050 11 40 1000 22

The surge energy rating is the maximum permitted dynamic brake application from cold. To
a first approximation, heat is then removed at the rate given by the continuous power figure
: thus about 20 seconds interval must be allowed between full energy stops.

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 Technical manual Drives Series 4000 AT

3.2.1 Inrush current

Wave shape for the nominal values

t 1 2
i (t )  i p  e T  i2  t  ip  T
2

Inrush current ip :

Small 4003, 4005, 4009 AT:

ip = 9.3 A and T = 14 ms  i2 t = 0.6 A2 s

Medium 4015 AT: ip = 18.7 A and T = 21 ms  i2 t = 3.7 A2 s

Medium 4025 AT: ip = 34 A and T = 11.5 ms  i2 t = 6.7 A2 s

Large 4050 AT: ip = 51 A and T = 10.3 ms  i2 t = 13.4 A2 s

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 Technical manual Drives Series 4000 AT

3.3 Drives AT outlines

3.3.1 Small AT drive outlines

Rear mounting Enclosure mounting

Installation, drill and cutout plan :

Rear mounting Enclosure mounting

Disposition

Air flow

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 Technical manual Drives Series 4000 AT

3.3.2 Medium AT drive outlines

Installation, drill and cutout plan :

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 Technical manual Drives Series 4000 AT

3.3.3 Large AT drive outlines

Installation, drill and cutout plan :

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 Technical manual Drives Series 4000 AT

3.4 Motors

 Brushless 3 phases servo-motors

 Asynchronous, 3 phases motors

3.5 Position feedback

 Resolver :

Characteristics :
 Speed One (1 sine period and 1 cosine period per revolution)
 Ratio 0.5  10%
 Reference frequency : 5..10 kHz
 ZRO  95 @ 7,5 kHz (Input impedance)
 ZSO  1000 @ 7,5 kHz (Output impedance)

 Incremental encoder for asynchronous motor only.

 Absolute encoder Stegmann SinCos Multi and Single turn SRS/M

50/60(HIPERFACE compatible).

 Incremental encoder with U, V and W signals for synchronous

motor.

 EnDat encoder.

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 Technical manual Drives Series 4000 AT

4. Fuses

The following fuses are factory equipped in all units of the series 4000 :

Drive Type AT DC-BUS

(FBUS)
Small 4003 , 4005, 4009 30A gRB/690V 10.3x38
Ferraz, art. A070 gRB 30T13
UL: E76491
Art. IRT: 2410.159.30
Medium 4015, 4025 50A gRC/690V 14x51
Ferraz, art. L220902
UL: E76491
Art. IRT: 2410.160.50
Large 4050 100A URB/690V 17x49
Ferraz, art. C220986
UL: E76491
Art. IRT: 2410.163.100

NB : No replacement of any fuse should be carried out until the reason for it’s blowing
has been rectified.

5. Option list

1. EMC FILTER ON 3 PHASES INPUT SUPPLY (Small AT only)

2. MECHANICAL MOTOR BRAKE RELAY
3. RS485 BUS
4. AUXILIARY 24V SUPPLY

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 Technical manual Drives Series 4000 AT

6. Add-on boards

Add-on boards compatible with series 2000 Small drives

 IRT PROFILE
Add-on board to perform simple movements and interfacing with 24V systems
(PLS).
Main characteristics :
 24 V powered.
 DC-DC conversion for drive power back-up (the position value is kept
when main supply of the drive is switched off).
 14 Outputs potential free (24V 100 mA).
 16 Inputs 24V potential free.
 Windows Profile User software for easy setting.
To obtain more information about Profile board, contact your IRT distributor.

Distributed by :
Official IRT distributors.

 UVW ENCODER FEEDBACK

See Special functions specification.

Distributed by :
Official IRT distributors.

 Dual analogic bipolar output

Outputs range : +/- 10V
Output SPEED : 1V corresponds to 1000 RPM
Output CURRENT : 10V corresponds to IMAX DRIVE

Distributed by :
Official IRT distributors.

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 Technical manual Drives Series 4000 AT

Add-on boards compatible with series 2000 Small drives

 MKS IR115 / IR116 / IR117
Synchro-Control, positioning and CANopen interface module for IRT Series 2000
Small drives.

Manufacturer :
MKS Mashinen-Kontroll-System Gmbh
Zwischen den Wegen 32
D-78239 Rielasingen 2 - Germany
Tel. +49 (0)7731-9332-0
Fax +49 (0)7731-9332-30
E-Mail [email protected]
Internet www.mks-sys.com

Distributed by :
MKS.
Official IRT distributors.
 QUIN SERVOnet
Positioning control and SERVOnet (CAN-BUS type) interfacing module for IRT
series 2000 Small drives.

Manufacturer :
Quin Systems limited
Oakland business Centre
Oakland Park
Wokingham
Berkshire RG41 2FD
Tel 0118 977 1077
Fax 0118 977 6728
E-Mail : [email protected]
Internet : www.quin.co.uk

Distributed by :
Quin System.

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 Technical manual Drives Series 4000 AT

DRIVE SERIES 4000 AT, TECHNICAL MANUAL EVOLUTION

(OLD VERSION)

DESCRIPTION
REVISION
CHAPTER

PAGE

PAGE

2 Manual reduced to Technical manual for drives 4000 AT UL

1 1 3 Image from Large Drive
3 8 8 3 Braking power new definition
2 2 4 UL Requirements
3 10 10 4 Drives outlines, Motor + Feedback
2 2 5 UL Requirements

Last modification : September 2013

September 2013 -Rev. 5 Pg 17 / 17