MOOG MSD Multi Axis Servo Drive System (DC-AC)

MOOG MSD Servo Driven Multi Axis System: Comprehensive Installation, Debugging, and Project Planning Guide

Introduction

Moog MSD servo driven multi axis system is a high-performance and highly flexible driving solution suitable for multi axis collaborative motion control in industrial automation. The system consists of a DC powered DC-AC servo drive and a matching power supply unit, supporting rated currents from 4A to 450A, with efficient energy utilization and simplified wiring structure. This guide will systematically explain its mechanical installation, electrical wiring, debugging process, diagnostic functions, and project planning points, providing engineers with a one-stop technical reference.

1、 System Overview and Security Standards

1.1 System Composition and Characteristics

The MSD multi axis system is based on modular design and supports both air cooling and liquid cooling methods, making it suitable for high-density installation environments. The system has the following advantages:

Energy Efficiency: Supports energy feedback to the grid, reducing operating costs.

Flexible installation: Pre assembled DC connection cables simplify the wiring between drivers.

Strong scalability: Supports multiple power levels from Size 1 (4A) to Size 7 (450A).

1.2 Safety regulations and responsibilities

Operators must strictly follow safety guidelines, including:

Electrical safety: The live parts of the equipment may have high voltage (AC 480V/DC 900V), and after power failure, it is necessary to wait for at least 10 minutes to ensure capacitor discharge.

Mechanical safety: Rotating components, automatically starting actuators, and high-temperature surfaces (with heat sink temperatures up to 100 ° C) all pose potential risks.

Electromagnetic compatibility: The installation area should be away from sensitive equipment such as pacemakers and metal implants.

Responsibility attribution: System integrators and operators are responsible for the safe operation of the entire machine and comply with relevant standards such as EN ISO 12100 and EN ISO 13849-1.

2、 Key points of mechanical installation

2.1 Installation environment and conditions

Protection level: The control cabinet must meet at least IP4X protection. If the safety torque cutoff (STO) function is used, IP54 or above is required.

Installation direction: The driver must be installed vertically on a well grounded backplate to ensure smooth airflow for heat dissipation.

Vibration restriction: The equipment must not be exposed to a vibrating environment for a long time.

2.2 Installation steps and layout

Marking and Drilling: Mark the installation holes on the backplate according to the size of the driver, paying attention to maintaining the minimum installation clearance (see Tables 3.1 and 3.2 in the manual).

Installation sequence: Starting from the power unit, arrange the drivers in decreasing power order to minimize thermal interference.

Cooling system connection (liquid cooling model):

Use a 3/8-inch quick connector to avoid galvanic corrosion caused by mixing aluminum and copper materials.

The coolant temperature should not exceed 10 ° C above the ambient temperature to prevent condensation.

2.3 Layout Examples and Common Errors

Correct layout: The power unit is placed in the center, and the drivers are arranged in decreasing power to both sides.

Wrong layout: Avoid power increasing arrangement or disorderly arrangement of mixed power, otherwise it may cause local overheating.

3、 Electrical installation and wiring

3.1 Cable selection and wiring

Shielding requirements: All power, motor, and signal cables must use double copper braided shielding with a coverage rate of 60-70%.

Wiring separation: Strong and weak current cables should be separated by at least 200mm, and metal partitions should be used if necessary.

Grounding system: All grounding points should be connected to the central grounding point in a star topology, and the cross-sectional area of the grounding conductor should not be less than 10mm ².

3.2 Control and Power Connection

Control power supply (+24V DC):

Connect through X9/X10 (Size 1-6A) or X44 (Size 7).

Attention should be paid to the special wiring requirements for Size 5 devices (short circuit between X9 and X4).

DC power connection:

Use pre assembled DC connection cables for sizes 1-5.

Custom cables with a cross-sectional area of no less than 35mm ² are required for sizes 6A and above.

Size 7 requires an external fast fuse (such as 2 x 400A, 700V DC).

3.3 Encoder and motor connection

Encoder cable: The original prefabricated cable (such as C08335-013-xxx) must be used, and no intermediate cutting or switching is allowed.

Motor connection:

The shielding layer of the motor cable should be grounded extensively at both ends.

Motor temperature sensors (such as PTC, KTY) need to meet basic insulation requirements.

Brake Drive:

Size 1-4: Connected through X13, maximum current 2A.

Size 5-7: Requires an external 24V power supply and supports cable breakage detection.

4、 Debugging and Diagnosis

4.1 Initial power on process

Connect the control power supply: Only power on 24V DC, and observe the display screen to see "00" → "51" indicating that initialization is complete.

Connect to PC: Connect Moog DRIVE ADMINIST 5 software via USB or Ethernet interface.

Parameter configuration: Use the software wizard to set motor parameters, control modes, etc.

Start test: sequentially enable the power supply, power level, and motion control, and test the motor operation under no-load conditions.

4.2 Status and Fault Diagnosis

Equipment status display:

5.1 ": No DC link voltage, not ready.

3: The power level is ready and can be started.

5 ": The drive is ready to receive the set values.

Fault indication: Display "Er" alternately flashing fault code and location, which can be reset by 24V or confirmed by software.

4.3 Safety Torque Shutdown (STO)

The STO function is implemented through X4/22 terminals and complies with IEC/EN 61800-5-2 safety standards. For detailed instructions, please refer to the independent document (CB19388).

5、 Project Planning and System Selection

5.1 Comparison of Multi Axis System Solutions

Solution for using power supply unit:

Advantages: Supports energy feedback, power factor correction, and all axes can operate at full power simultaneously.

Disadvantages: High initial investment and large space occupation.

Power supply scheme using AC-AC servo drive:

Advantages: Low cost and compact structure.

Disadvantage: Regenerated energy can only be dissipated through braking resistors, and the total number of axles is limited.

5.2 Selection calculation steps

Calculate shaft power demand: Calculate effective torque and peak power based on load torque, speed, and motion curve.

Choose motor and encoder: Select the motor type (servo motor) and encoder (Resolve, Sin/Cos, EnDat, etc.) based on dynamic performance and accuracy requirements.

Match driver: Select the corresponding size DC-AC driver based on the rated current and peak current of the motor.

Select power supply unit: Determine the specifications of the power supply unit or AC-AC driver based on the total system power, simultaneous coefficient, and DC link capacitance.

5.3 Example of cost-benefit analysis

Taking the three-axis system as an example:

Independent AC shaft scheme: investment cost of 100%, energy consumption benchmark.

AC-AC power supply multi axis solution: investment of 108%, energy saving of 5%, investment payback period of about 6 months.

Multi axis solution for power supply unit: investment of 163%, energy saving of 10%, investment payback period of about 23 months.

6、 Technical data of liquid cooling system

Coolant requirements: It is recommended to add anti-corrosion agent to deionized water to avoid excessive chloride ions and sulfates.

Flow and pressure:

Size 3-4: Approximately 3-4 L/min, maximum pressure 2 bar.

Size 6A-7: Approximately 12-14 L/min, maximum pressure 2 bar.

Temperature monitoring: When the temperature of the radiator exceeds 65 ° C (air-cooled) or 90 ° C (liquid cooled), the equipment will be protected and shut down.