Afag 50315434 Operating Instructions Manual Download Page 35

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Operating instructions EN

◼

SE-24

◼

01.06.2022

◼

V1.5

–66

7.1.6 EtherCAT connection

The EtherCAT is connected to the SE-24 servo controller via two d-coded 5 pole M12
sockets.

7.1.6.1 EtherCAT IN [X2d]

Figure 8: View of the connection [X2d]

7.1.6.2 EtherCAT OUT [X3d]

Figure 9: View of the connection [X3d]

For the functional description of the input and output data please see the document:

SE-24 EtherCAT Manual

X2d, EtherCAT IN

Flush-type socket, 5 pole M12, d-coded

Phoenix: 1419616

SACC-DSI-M12FSD-4CON-M16/0,5

Pin

Designation

Specification

Tx+

Transmission
data +

Rx+

Received data +

Tx-

Transmission
data -

Rx-

Received data -

n.c.

X3d, EtherCAT OUT

Flush-type socket, 5 pole M12, d-coded

Phoenix: 1419616

SACC-DSI-M12FSD-4CON-M16/0,5

Pin

Designation

Specification

Tx+

Transmission data
+

Rx+

Received data +

Tx-

Transmission data
-

Rx-

Received data -

n.c.

Summary of Contents for 50315434

Page 1: ...Servo Controller SE 24 Operating Instructions Operating manual Copyright by Afag Automation AG ...

Page 2: ...E 24 3m 50315431 SE 24 Stick 50315432 I O cable SE 24 5m 50312913 Power cable SE 24 SE 48 5m 50118124 Brake release switch SE 24 50315438 Assembly and initial start up may be carried out by qualified personnel only and according to these operating instructions Version of this documentation SE 24 OI vers 1 5 en 01 06 2022 CAUTION Complementary documents are available for the different models Please...

Page 3: ...a possible dangerous situation Disregard of this information can result in death or serious personal injuries invalidity CAUTION Indicates a possibly dangerous situation Disregard of this information can result in damage to property or light to medium personal injuries NOTE Indicates general notes useful operator tips and operating recommendations which don t affect safety and health of the person...

Page 4: ...hot parts 19 3 3 6 Protection during handling and installation 20 4 Product description 21 4 1 Basic information 21 4 2 Field of application and proper use 22 4 3 SE 24 performance features 23 5 Technical data 24 5 1 Ambient conditions and qualification 24 5 2 Dimensions and weight 24 5 3 Power data 25 5 4 Protective devices 25 5 5 Motor temperature monitoring 25 5 6 Emitter evaluation and analog ...

Page 5: ... off Emergency stop 46 9 Functional description 49 9 1 Basic functions 49 9 1 1 Position mode 49 9 1 2 Current mode 49 9 2 Dynamic current limitation 51 9 3 SE 24 I O signal diagram 52 9 4 SE 24 fieldbus signal diagram 53 10 Error messages fault diagnosis chart 54 10 1 Overview of faults 54 11 Instructions for safe and EMC compatible installation 59 11 1 Explanations and terminology 59 11 2 Genera...

Page 6: ... 37 Figure 11 View of the connection X3a 37 Figure 12 View of the connection X4 40 Figure 13 View of the connections on the output side OUT all types 41 Figure 14 View of the connection X5 42 Figure 15 View of the connection X6 43 Figure 16 View of the connection X7 44 Figure 17 Example of a circuit diagram of the SE 24 I O 47 Figure 18 Example of a circuit diagram of the SE 24 fieldbus 48 Figure ...

Page 7: ... Text Electromagnetic Compatibility Applied harmonized standards IEC EN 61000 6 2 IEC EN 61000 6 4 Important information Servo controllers are no products in the sense of the EC Machinery Directive The servo controllers may only be used in machines or systems after the manufacturer of the machine or system has guaranteed the CE conformity of the overall machine or system According to the EMC Direc...

Page 8: ...document present documentation description SE 24 Operating Manual Description of the technical data and the functions of the device as well as notes on the plug assignment installation and operation of the SE 24 servo controller It is meant for persons who want to get familiar with the SE 24 servo controller CAUTION The operating manual is the main document and must be read by all means before ins...

Page 9: ... DP SE 24 programming example Siemens S7 V5 5 Description to the programming example for Siemens S7 V5 5 SE 24 programming example Siemens TIA V12 0 Description to the programming example for Siemens TIA V12 0 SE 24 EtherCAT Manual Description of the fieldbus control of the SE 24 servo controller under EtherCAT SE 24 programming example Beckhoff TwinCAT 2 Description to the programming example for...

Page 10: ...manual or the warning instructions on the product itself are those persons who are familiar with the installation the assembly commissioning and operation of the product as well as with all the warnings and precautionary measures according to the operating instructions in this product manual and have the necessary qualifications corresponding to their activity Training and instruction or authoriza...

Page 11: ... to any of the user instructions for the servo controller please contact the responsible sales representative Demand immediate dispatch of these documents to the person s responsible for the safe operation of the servo controller NOTE In case of sale lending and or other form of transfer of the servo controller these safety instructions must also be handed over NOTE Opening of the servo controller...

Page 12: ...nual or improper interventions in the safety devices can result in damage to property and personal injuries 3 2 Dangers from improper use CAUTION The surfaces of the machine housing may be hot Danger of injury Danger of burns CAUTION Movements that cause danger Danger to life serious bodily injury or damage to property from unintentional movements of the motors ...

Page 13: ...It must be possible to connect the servo controller and the power supplies used to the mains supply according to the EN standards and VDE specifications in such a way that they can be isolated from the mains using suitable isolating devices e g main switch contactors power circuit breakers NOTE As a precaution interference suppression measures must be taken for the switchgear e g contactors and re...

Page 14: ...anual The compliance with the limiting values specified by the national specifications is the responsibility of the manufacturer of the system or machine CAUTION The technical data the connection and installation conditions for the servo controller can be taken from this operating manual and must be complied with by all means CAUTION The general installation and safety specifications for the work ...

Page 15: ...s 3 3 2 Safety instructions for installation and maintenance For the installation and maintenance of the system the relevant DIN VDE EN and IEC specifications as well as all national and local safety and accident prevention regulations apply in any case The system manufacturer or the owner operator must ensure compliance with these regulations CAUTION The operation maintenance and or repairs to th...

Page 16: ...sonnel safety CAUTION Render the electrical equipment free of voltage via the main switch and secure it against being switched on again wait until the intermediate circuit has been discharged during maintenance work and repairs cleaning work long operational downtimes Before carrying out any maintenance work it must be ensured that the power supply has been switched off locked and that the interme...

Page 17: ...n case of a fault this may result in an unintended movement of the drive CAUTION The commissioning must be carried out with coasting motors to avoid mechanical damage e g owing to a wrong direction of rotation CAUTION Electronic devices are basically not fail safe It is the responsibility of the user to ensure that upon failure of the electrical device his system is taken into a safe state CAUTION...

Page 18: ...hnical data must not be exceeded Only those devices electrical components and cables which have a protective low voltage PELV Protective Extra Low Voltage may be connected to all connections and terminals with voltages from 0 to 50 volt Connect or apply only such voltages or electrical circuits that are safely isolated from dangerous voltages Safe isolation is achieved for example by isolation tra...

Page 19: ... damage to property Protection of persons must be ensured by means of monitoring devices or measures that are set up at the plant site These are provided according to the specific conditions of the system and a danger and fault analysis by the system manufacturer The safety regulations applicable for the system are also included thereby Switching off bypassing or missing activation of safety devic...

Page 20: ...y in this context CAUTION Follow the general installation and safety specifications on handling and installation Use suitable installation and transportation equipment Prevent squeezing and crushing by taking suitable precautionary measures Only use suitable tools If prescribed use special tools Use hoists and tools in a technically sound manner If required use suitable protective equipment for ex...

Page 21: ...hes and were especially designed for the drive of Afag handling components The control variant can be seen from the designation of the devices SE 24 Profibus Control Intermediate circuit voltage Type designation Figure 1 Type code The servo controllers of the SE 24 series are available with the following control variants Type Order No Control SE 24 I O 50315434 Digital inputs and outputs SE 24 Pro...

Page 22: ...ariable frequency current and voltage The SE 24 is designed as a positioning controller for Afag handling components such as SG 50 servo gripper RE 50 18 100V rotary module Before the SE 24 is deployed in special fields of application with increased normative and device safety standards e g medical technology or avionics the user must check in each individual case whether the SE 24 meets the respe...

Page 23: ...g brakes Compliance with the current CE and EN standards without the need for additional external filter measures EMC optimised metal housing for decentral fastening near the motor The device has a degree of protection IP65 Integration of all necessary filters within the device for operational industrial compliance with the EMC regulations e g filters for the 24 V power supply as well as inputs an...

Page 24: ...re 0 to 40 Air humidity Rel air humidity up to 90 no condensation Protection category IP65 CE conformity Low Voltage Directive EMC according to 2004 108 EC EMC Directive not applicable EN61000 6 2 Immunity for industrial environments EN61000 6 4 Emission for industrial environments 5 2 Dimensions and weight Parameters Values Dimensions H W D 47 x 87 x 165 mm without mating plug connector Weight ap...

Page 25: ... all outputs without load typ 40 mA 24 V Max output current 7 5 A Max current more than 60s Up 24V Tamb 40 C 7 5 A Max current more than 600s Up 24V Tamb 40 C 6 A Rated output current Up 24V Tamb 40 C 5 A 5 4 Protective devices Parameters Values Overvoltage power off yes Undervoltage power off yes Excess temperature cut out yes 5 5 Motor temperature monitoring Parameters Values Analog sensor PTC 1...

Page 26: ...nput voltage 5 V max pulse frequency per track 100 kHz Inputs for encoder Type Single ended Inputs A B Inx Input voltage 5 V max pulse frequency per track 300 kHz push pull 100 kHz open collector Supply voltage for Hall sensors and encoder Output voltage 5 V 5 max load 200 mA Analog input Type Single ended Measuring range 0 10 V Resolution 10 bit Input impedance ca 20 kOhm ...

Page 27: ...to 1 Mbit s Protocol DS301 V3 0 Device profile DSP402 V2 0 5 8 Digital inputs and outputs X2 Parameters Value Digital inputs Input voltage low UIN low 30 V 5 V Input voltage high UIN high 9 V 30 V Input voltage high max UIN 30V typ 5 3 mA Digital outputs Type plus switching max output current 0 7 A Short circuit proof yes ...

Page 28: ...Important information For installation of the SE 24 the cut outs at the end plates should be used as fastening points Screw size M5 Keep a clearance of 100 mm above the device in order to ensure adequate ventilation of the SE 24 Fastening points Figure 2 Dimensions and fastening points ...

Page 29: ...ion 7 1 Connections on the input side IN Figure 3 View of the connections on the input side IN I O type left and fieldbus right Plug Designation X1 Performance and logic supply X2 I O interface X2a X2b X2d Fieldbus In M12 X3a X3b X3d Fieldbus Out M12 X4 Programming interface ...

Page 30: ...on 1 0 Volt Common ground potential for the 24 V power supply and the 24 V control supply Conductor cross section at least 1 5mm2 2 Ue 24 Volt Voltage supply of the control electronics Conductor cross section at least 1 0mm2 3 Up 24 Volt Voltage supply of the power electronics Conductor cross section at least 1 5mm2 PE PE Connection to housing CAUTION Do not mix up the voltage supply lines The com...

Page 31: ...ting plug X2 I O cable SE 24 5m Afag No 50312913 7 1 2 3 Pin assignment of the I O cable Pin No Designation Colour assignment 1 drive_enable fault_reset brown 2 start stop_ref blue 3 start stop_move white 4 reserve green 5 pos_nr_bit0 pink 6 pos_nr_bit1 yellow 7 pos_nr_bit2 black 8 pos_nr_bit3 grey 9 ready red 10 drive_enable_ok violet 11 ref_valid grey pink 12 move_ok red blue For the functional ...

Page 32: ...r the functional description of the input and output data please see the document SE 24 Profibus Manual X2b Profibus IN Flush type plug 5 pole M12 b coded Phoenix 1419661 SACC DSI M12MSB 5CON M16 0 5 Pin Designation Specification 1 n c 2 A line R TxD N Data line 3 n c 4 B line R TxD P Data line 5 n c X3b Profibus OUT Flush type socket 5 pole M12 b coded Phoenix 1419674 SACC DSI M12FSB 5CON M16 0 5...

Page 33: ...hout fail to get a stable and fault free system In case of cabling not having been done properly faults can occur on the PROFIBUS during operation which can result in the servo controller getting switched off with an error message for reasons of safety 7 1 4 Bus cable for PROFIBUS The following cables of the company Phoenix Contact should be used for the Profibus connection Bus system cable PROFIB...

Page 34: ...s done at the beginning and at the end of a bus segment Due to the high protection class the PROFIBUS module of the SE 24 servo controller has no integrated terminating resistors Therefore an M12 connector terminating resistor should be used The following bus terminating resistor of the company Phoenix Contact should be used for the Profibus termination Phoenix Contact Profibus terminating resisto...

Page 35: ...iption of the input and output data please see the document SE 24 EtherCAT Manual X2d EtherCAT IN Flush type socket 5 pole M12 d coded Phoenix 1419616 SACC DSI M12FSD 4CON M16 0 5 Pin Designation Specification 1 Tx Transmission data 2 Rx Received data 3 Tx Transmission data 4 Rx Received data 5 n c X3d EtherCAT OUT Flush type socket 5 pole M12 d coded Phoenix 1419616 SACC DSI M12FSD 4CON M16 0 5 P...

Page 36: ...witched off with an error message for reasons of safety 7 1 7 Bus cable for EtherCAT Only use Ethernet cables to connect EtherCAT devices which comply at least with category 5 CAt5 according to EN 50173 or ISO IEC 11801 EtherCAT uses 4 leads of the cable for signal transmission The following cables of the company Beckhoff should be used for the EtherCAT connection EtherCAT cable M12 plug straight ...

Page 37: ...on X3a For the functional description of the input and output data please see the document SE 24 CANopen Manual X2a CANopen IN Flush type plug 5 pole M12 a coded Phoenix 1419645 SACC DSI M12MS 5CON M16 0 5 Pin Designation Specification 1 Shield 2 n c 3 CAN_GND Data ground 4 CAN_H CAN high 5 CAN_L CAN low X3a CANopen OUT Flush type socket 5 pole M12 a coded Phoenix 1419658 SACC DSI M12FS 5CON M16 0...

Page 38: ...ration which can result in the servo controller getting switched off with an error message for reasons of safety 7 1 9 Bus cable for CANopen The following cables of the company Phoenix Contact should be used for the CANopen connection Bus system cable CANopen DeviceNet 5 pole PUR halogen free violet RAL 4001 shielded straight M12 SPEEDCON plug a coded on straight M12 SPEEDCON socket a coded Phoeni...

Page 39: ... is done at the beginning and at the end of a bus segment Due to the high protection class the CAN module of the SE 24 servo controller has no integrated terminating resistors Therefore an M12 connector terminating resistor should be used The following bus terminating resistor of the company Phoenix Contact should be used for the CAN bus termination Phoenix Contact CANopen terminating resistor CAN...

Page 40: ...parameterization Programming cable SE 24 5m Afag No 50315431 SE 24 Stick Afag No 50315432 SE 24 parameterization software afag Tools free download at www afag com For a description of the afag Tools parameterization software please refer to the document SE 24 Software Manual X4 parameterization connection Female socket 4 pole M8 Binder 09 0412 00 04 Subminiature connector series 712 Pin Designatio...

Page 41: ...SE 24 01 06 2022 V1 5 41 66 7 2 Connections on the output side OUT Figure 13 View of the connections on the output side OUT all types Plug Designation X5 Motor connection X6 Transmitter connection X7 Reference sensor connection ...

Page 42: ...pole M17 flush type power socket BEGA 861 FR 01 00 152A 000 7 2 1 2 Mating plug X5 Afag cable depending on the module to be connected or Intercontec plug 7 pole M17 power cable plug BSTA 878 MR 08 86 001A 000 7 2 1 3 Pin assignment X5 Pin No Designation Specification 1 U Motor phase 1 2 V Motor phase 2 3 W Motor phase 3 4 5 Br Brake 6 Br Brake PE PE Ground ...

Page 43: ...nder miniature circular connector 14 pole series 423 7 2 2 3 Encoder pin assignment X6 Pin No Designation Specification A Encoder GND Incremental encoder reference potential C MTemp Motor temperature sensor reference potential E VDD 5V Incremental encoder power supply 100mA G n c J A Incremental signal L Hall_U Hall sensor phase U M n c N Hall_V Hall sensor phase V O B Incremental signal P Hall_W ...

Page 44: ...igure 16 View of the connection X7 7 2 3 2 Mating plug X7 Afag cable depending on the module to be connected or Phoenix Contact sensor plug SACC M 8MS 3CON M SW Art Nr 1501252 or standard sensor plug 3 pole M8 of another manufacturer X7 reference sensor connection Flush type socket 3 pole M8 Phoenix 1453449 SACC DSI M8FS 3CON M12 0 5 Pin Designation Specification 1 24 VDC Sensor supply 3 0 VDC Sen...

Page 45: ...tion to a higher level control system PLC is carried out dependent on the SE 24 model via digital inputs and outputs or a fieldbus system Profibus DP EtherCAT CANopen The SE 24 servo controller must be completely connected before the voltage supply for the power and control electronics are turned on CAUTION Do not mix up the voltage supply lines The complete motor connection is designed for poled ...

Page 46: ... safety chain is attached PLC PLC or industry PC deployed for controlling the system In normal operation the switching contacts in the ECS Emergency cutout switching device are closed The PLC activates the mains contactor K1 via a digital output Each SE 24 registers its operational readiness with the PLC via a ready signal The PLC controls the controller release of the connected SE 24 via the driv...

Page 47: ...Operating instructions EN SE 24 01 06 2022 V1 5 47 66 Figure 17 Example of a circuit diagram of the SE 24 I O ...

Page 48: ...48 66 Operating instructions EN SE 24 01 06 2022 V1 5 Figure 18 Example of a circuit diagram of the SE 24 fieldbus ...

Page 49: ...as expired the move_ok signal is set 9 1 2 Current mode The module moves to a position Y which was defined in the position set or specified via the fieldbus The corresponding position and current values can be read out continuously only for bus variants When the module reaches a part at position Z the current rises and the move_ok signal is set after the delay period for the current in the current...

Page 50: ...de X position_value actual position Y target_position target position Current maximum current from parameterization Figure 19 Position mode Current mode X position_value actual position Y target_position abortion position Current target_current Figure 20 Current mode ...

Page 51: ...imitPeak can flow is conditioned by the parameter tp CURR_DynLimitTime After this time the motor current decreases to the continuous current Ic CURR_DynLimitCont This is only valid if the current was limited to the peak current Ip CURR_DynLimitPeak all the time If the current was less than the peak current the time tp CURR_DynLimitTime increases accordantly A higher motor current then the continuo...

Page 52: ...n found Start reference run End reference run Selection motion block 1 position mode Start in positioning mode Position window reached Selection motion block 2 current mode Start in current mode Current window reached Selection motion block 3 position mode Start in positioning mode Fault Cancel position run Start reference run Search commutation pos Position run End reference run Fault Acknowledge...

Page 53: ...Search start of commutation pos Commutation position found Start reference run End reference run Start in positioning mode Position window reached Start in current mode Current window reached Start in positioning mode Fault Cancel position run Start reference run Search commutation pos Position run End reference run Fault Acknowledge fault Reference run Current run Switch on controller release ...

Page 54: ...hown as numbers These can be read directly on the servo controller with the afagTools parameterization program With the Bus models of the SE 24 the error numbers can also be read in the error_no object Object name error_no Data type INT16 Access read only Value range 32768 32767 Value 0 There is no error Value 0 Error number see table Error Register ...

Page 55: ...itten 307 0xFECD ERR_Par_HasNotReadPermission Parameter cannot be read 308 0xFECC ERR_Par_ValueOutOfRange Parameter value outside the range 315 0xFEC5 ERR_Par_PermanentData_SSI_BadCRC Data for SSI encoder are defect wrong CRC32 checksum 316 0xFEC4 ERR_Par_BadVersion Version of the saved parameters does not match the firmware 0x6320 318 0xFEC2 ERR_Par_BadCRC Saved parameters are defect wrong CRC32 ...

Page 56: ...cation error 0x8100 511 0xFE01 ERR_Com_MasterGuardTimeExceeded Master Guarding error 0x8130 512 0xFE00 ERR_Com_MasterHeartBeatTimeExceede d Master Heartbeat error 0x8130 601 0xFDA7 ERR_Com_CanBusOff CAN bus is switched off 609 0xFD9F ERR_Com_CanOtherError Other CAN error Commutation Errors 730 0xFD26 ERR_CommutationNotReferenced The calibration of the Commutation is not executed This calibration w...

Page 57: ...nics voltage Ue is too high 0x3110 1020 0xFC04 ERR_DeviceOverTemperature Overtemperature of the device 0x4210 1021 0xFC03 ERR_HeatSinkOverTemperature Overtemperature of end stage 0x4310 1060 0xFBDC ERR_MotShortCircuit Short circuit motor motor motor GND motor power 0x2130 1061 0xFBDB ERR_MotOverCurrent Overcurrent 1078 0xFBCA ERR_Enc_Failed Encoder error Regv errors 3010 0xF43E ERR_Blockage The mo...

Page 58: ...StackOverflow Program stack overflow 30003 0x8ACD ERR_StackUnderflow Program stack underflow 30010 0x8AC6 ERR_SelftestFailed Self test failed 0xFF00 30030 0x8AB2 ERR_ImCalibrationFailed Current calibration failed 0xFF00 30031 0x8AB1 ERR_UmCalibrationFailed Voltage calibration failed 0xFF00 NOTE If your device displays a fault number that is not described in the fault diagnosis table please contact...

Page 59: ...f emitted electrical magnetic or electromagnetic interference by an electrical system or electrical device to other devices in the vicinity via lines or radiation 11 2 General information on EMC The interference emission and interference resistance of a servo controller is always dependent on the overall design of the drive The drive is composed of the following components Voltage supply Servo con...

Page 60: ...ronment covers electricity networks exclusively servicing industrial enterprises 11 4 Connection between SE 24 and motor The following wiring guidelines should be followed for connecting the servo controller to the motor Only use shielded cables Use separate cables for the motor phases and the angle transmitter Optional Use a combined cable for the motor and the angle transmitter with separate shi...

Page 61: ...or of at least 100 nF between the intermediate circuit voltage and PE as well as between GND and PE Ensure a good PE connection between the mains adapter and the SE 24 It is important to have a good refeed of the high frequency leakage current generated by the chopper in the SE 24 in combination with the winding capacity between the motor phase and the PE in the motor In order to ensure that the l...

Page 62: ...SE 24 is the connecting cable between the SE 24 servo controller and the SE 24 Stick and can be used for all types of the SE servo controller Figure 22 Programming cable SE 24 12 2 SE 24 Stick 50315432 The SE 24 Stick is needed together with the Programming cable SE 24 if the afagTools parameterization program is used to access the controller The SE 24 Stick is the gateway from USB to CANopen and ...

Page 63: ...e SE 24 I O Figure 24 I O cable SE 24 For details of the pin assignment and the colour code please see chapter 7 1 2 Input and output connections X2 12 4 Power cable SE 24 SE 48 5 m 50118124 The Power cable SE 24 SE 48 is required for the power supply of the SE 24 servo controller and can be used for all types of the SE 24 servo controller Figure 25 Power cable SE 24 SE 48 For details of the pin a...

Page 64: ...all types of the SE 24 servo controller Figure 26 Brake release switch SE 24 CAUTION Movements that cause danger As the brake is released immediately after the brake release switch was pressed the axis must be secured against unintentional movements before the brake release switch is actuated CAUTION Danger by unintentional actuation The brake switch should not remain inserted at the servo control...

Page 65: ...Operating instructions EN SE 24 01 06 2022 V1 5 65 66 ...

Page 66: ...Afag Automation AG Luzernstrasse 32 CH 6144 Zell Switzerland Tel 41 0 62 959 86 86 Fax 41 0 62 959 87 87 e mail sales afag com Internet www afag com ...

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