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NYCe 4000

Multi-axis motion control system

Hardware System Manual

Project Planning Manual
R911337671

Edition 18

Summary of Contents for R911172904

Page 1: ...NYCe 4000 Multi axis motion control system Hardware System Manual Project Planning Manual R911337671 Edition 18 ...

Page 2: ...16 7th edition DOK NY4000 HW SYSTEM PR08 EN E 12 2017 8th edition DOK NY4000 HW SYSTEM PR09 EN E 03 2018 9th edition DOK NY4000 HW SYSTEM PR10 EN E 07 2018 10th edition DOK NY4000 HW SYSTEM PR11 EN E 03 2019 11th edition DOK NY4000 HW SYSTEM PR12 EN E 08 2019 12th edition DOK NY4000 HW SYSTEM PR13 EN E 06 2020 13th edition DOK NY4000 HW SYSTEM PR14 EN E 07 2020 14th edition DOK NY4000 HW SYSTEM PR...

Page 3: ...regarding any disposal exploitation reproduction editing distribution as well as in the event of applications for industrial property rights Liability The specified data is intended for product description purposes only and shall not be deemed to be a guaranteed characteristic unless expressly stipulated in the contract All rights are reserved with respect to the content of this documentation and ...

Page 4: ...act with Electrical Parts and Housings 11 2 4 2 Safety Extra Low Voltage as Protection Against Electric Shock 13 2 4 3 Protection against Dangerous Movements 13 2 4 4 Protection against Magnetic and Electromagnetic Fields during Operation and Mounting 16 2 4 5 Protection against Contact with Hot Parts 16 2 4 6 Protection during Handling and Mounting 17 3 Important Directions for Use 19 3 1 Appropr...

Page 5: ...re you begin 42 6 8 2 Cable connections 42 6 8 3 Environmental conditions 43 6 9 IT Security 43 7 NY4114 Ethernet MCU Module 45 7 1 Overview 45 7 2 Module identification 46 7 3 Module dimensions 47 7 4 Field Diagnostics 47 7 5 24V System power supply 49 7 6 Service Mode and Stop Axes Inputs 49 7 7 ETH1 ETH2 ETH3 connection information 51 7 8 USB connection information 51 7 9 Installation requireme...

Page 6: ...9 5 Power switch on off precautions 86 9 6 I O Connector 87 9 7 Digital Inputs 88 9 8 Digital Outputs 90 9 9 Digital High Speed Inputs and Outputs 93 9 10 TTL Digital Inputs 95 9 11 Encoder Inputs and Encoder Power Supply 96 9 12 Drive Output 96 9 12 1 Characteristics 96 9 12 2 Motor types 97 9 12 3 Connection information 98 9 13 Drive Power 99 10 NY4130 DC Drive Module 101 10 1 Overview 101 10 2 ...

Page 7: ...Digital High Speed Inputs and Outputs 140 11 12 5 Volt Digital Inputs 141 11 13 Encoder Inputs and Encoder Power Supply 143 11 14 Drive Output 143 11 14 1 Characteristics 143 11 14 2 Motor types 144 11 14 3 Connection information 145 11 15 Drive Power 146 12 NY4150 and NY4150 10 SERCOS III Master Module 147 12 1 Overview 147 12 2 Module identification 148 12 3 Module dimensions 149 12 4 Field Diag...

Page 8: ...tion 206 14 3 2 Direct cable connection between PC and NY4112 based node s 207 14 3 3 Connection between PC and NY4112 based node using a switch 207 14 3 4 DHCP support 208 14 4 IEEE 802 3 multi node configuration NY4114 MCU 208 14 4 1 Introduction 208 14 4 2 Direct cable connection between PC and NY4114 based node s 209 14 4 3 Connection between PC and NY4114 based node using a switch 209 14 4 4 ...

Page 9: ... NY4130 222 17 5 8 Forced cooled systems NY4140 223 17 5 9 Convection cooled systems NY4140 223 18 Cleaning Disposal and Environmental Protection 227 18 1 Cleaning 227 18 2 Disposal 227 18 3 Environmental Protection 227 19 Service and Support 229 19 1 Helpdesk 229 19 2 Service Hotline 229 19 3 Internet 229 19 4 Before contacting us 229 20 Appendix EU declaration of conformity modules 231 VI 233 Ta...

Page 10: ...drive system configuration of the drive system components arrangement of the components in the control cabinet electromagnetic compatibility EMC connections of the components in the drive system 1 2 General Information Damage can be caused to the NYCe 4000 module or circuit boards if electrostatic charge present in people and or tools is discharged across them Therefore please note the following i...

Page 11: ... WARNING Do not plug in or unclamp live connections 1 3 Cross reference component name order number short name 1 3 1 Introduction This chapter identifies the components of the NYCe 4000 system the official component name with its order number and the short name as used in the user documentation The short name is used in the user documentation to improve readability 1 3 2 NYCe 4000 system housings ...

Page 12: ...ELIEF 41XX NY4901 10 R911172941 NY4901 10 NYA04 1 STRAIN RELIEF 4112 NY4901 20 R911403463 NY4901 20 NYA04 1 STRAIN RELIEF 4114 NY4901 30 R911403464 NY4901 30 NYA04 1 STRAIN RELIEF 4150 NY4901 40 R911403465 NY4901 40 NYA04 1 SHIELD SUP MOT 5PCS NY4910 R911172999 NY4910 NYA04 1 1394B INT PCIE NY4917 R911345705 NY4917 NYA04 1 CONSET SYSPW NY4920 10 R911325078 NY4920 10 NYA04 1 CAP 100V NY4921 R911325...

Page 13: ...NIT TL6S 3685032 R911343601 NYA04 1 LMS COIL UNIT TL9N 3685311 R911343558 NYA04 1 LMS COIL UNIT TL9S 3675312 R911343559 NYA04 1 LMS COIL UNIT TL12N 3697459 R911343597 NYA04 1 LMS COIL UNIT TL12S 3685033 R911343435 NYA04 1 LMS COIL UNIT TL15N 3687460 R911343560 NYA04 1 LMS COIL UNIT TL15S 3685034 R911343561 NYA04 1 LMS COIL UNIT TL18N 3685223 R911343562 NYA04 1 LMS COIL UNIT TL18S 3685224 R91134360...

Page 14: ...0 10 NYA04 1 LMS MRSENSOR 180 NY4981 00 R911174592 NY4981 00 NYA04 1 LMS MAGNETSCALE 5 XXXX NY4985 R91117yyyy NY4985 NYA04 1 SHARED CABLE M M 01 0M NY4951 70 R911174516 NY4951 70 NYA04 1 SENSORCABLE M F 00 6M NY4951 00 R911174517 NY4951 00 NYA04 1 SENSORCABLE M F 01 5M NY4951 10 R911174518 NY4951 10 NYA04 1 SENSORCABLE M F 03 0M NY4951 20 R911174519 NY4951 20 NYA04 1 SENSORCABLE M F 05 0M NY4951 3...

Page 15: ...6 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 16: ...ich however are not intended to be placed on the market as a single functional unit Machine Entirety of interconnected parts or units at least one of which is movable Thus a machine consists of the appropriate machine drive elements as well as control and power circuits which have been assembled for a specific application A machine is for example intended for processing treatment movement or packa...

Page 17: ...red a safety alert symbol in accordance with ANSI Z535 6 2011 Fig 2 1 Example of a Safety Instruction The signal word is meant to draw the reader s attention to the safety instruction and identifies the hazard severity The safety alert symbol a triangle with an exclamation point which precedes the signal words DANGER WARNING and CAUTION is used to alert the reader to personal injury hazards DANGER...

Page 18: ... instructions in this document or tampering with the product including disabling of safety devices can result in property damage injury electric shock or even death WARNING Observe the safety instructions 2 3 2 Requirements for Safe Use Read the following instructions before initial commissioning of the electric components of the drive and control system in order to eliminate the risk of injury an...

Page 19: ...turer must make sure that the delivered components are suited for his individual application and check the information given in this application documentation with regard to the use of the components make sure that his individual application complies with the applicable safety regulations and standards and carry out the required measures modifications and complements Commissioning of the delivered...

Page 20: ...in proximity to electric drive systems Risk of burns by hot housing surfaces Risk of injury by improper handling Injury by crushing shearing cutting hitting 2 4 Instructions with Regard to Specific Dangers 2 4 1 Protection against Contact with Electrical Parts and Housings This section concerns components of the drive and control system with voltages of more than 50 volts Contact with parts conduc...

Page 21: ...he covers and guards provided for this purpose before switching on Never touch electrical connection points of the components while power is turned on Do not remove or plug in connectors when the component has been powered As a basic principle residual current operated circuit breakers cannot be used for electric drives to prevent direct contact Secure built in devices from penetrating foreign obj...

Page 22: ...mming devices PCs notebooks display units to these connections Danger to life risk of injury by electric shock High electrical voltage by incorrect connection WARNING If extra low voltage circuits of devices containing voltages and circuits of more than 50 volts for example the mains connection are connected to Bosch Rexroth products the connected extra low voltage circuits must comply with the re...

Page 23: ...sonal safety especially the danger of injury and or property damage this alone cannot be relied upon to ensure complete safety Until the integrated monitoring functions become effective it must be assumed in any case that faulty drive movements will occur The extent of faulty drive movements depends upon the type of control and the state of operation 14 233 Safety Instructions for Electric Drives ...

Page 24: ... an emergency stop circuit or use a safe starting lockout Make sure that the drives are brought to a safe standstill before accessing or entering the danger zone Additionally secure vertical axes against falling or dropping after switching off the motor power by for example mechanically securing the vertical axes adding an external braking arrester clamping mechanism or ensuring sufficient equilib...

Page 25: ...ot surfaces of components of the drive and control system Risk of burns CAUTION Do not touch hot surfaces of for example braking resistors heat sinks supply units and drive controllers motors windings and laminated cores According to the operating conditions temperatures of the surfaces can be higher than 60 C 140 F during or after operation Before touching motors after having switched them off le...

Page 26: ...opriate measures Always use suitable tools Use special tools if specified Use lifting equipment and tools in the correct manner Use suitable protective equipment hard hat safety goggles safety shoes safety gloves for example Do not stand under hanging loads Immediately clean up any spilled liquids from the floor due to the risk of slipping NYCe 4000 Multi axis motion control system Hardware Sys te...

Page 27: ...18 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 28: ...h products make sure that all the pre requisites for an appropriate use of the products are satisfied Personnel that in any way shape or form uses our products must first read and understand the relevant safety instructions and be familiar with appropriate use If the product takes the form of hardware then they must remain in their original state in other words no structural changes are permitted ...

Page 29: ...rements etc and in the position specified 3 3 Inappropriate Use Using the NYCe 4000 modules outside of the above referenced areas of application or under operating conditions other than described in the documentation technical data and specifications is defined as inappropriate use NYCe 4000 modules may not be used if they are subject to operating conditions that do not meet the specified ambient ...

Page 30: ... of the following EU directive and with the following harmonized European standards Low Voltage Directive 2014 35 EU EMC Directive 2014 30 EU These components are built in units which owing to their installation characteristics are not able to comply with the regulations for complete apparatus machines or installations from the outset For this reason they may only be used for built in purposes The...

Page 31: ...oss of UL conformity due to changes to the component The UL marking is only valid for the component in its delivery status After any modification by the customer to the component the UL compliance is to be verified Loss of UL conformity due to assembly with not UL compliant components The UL marking is only valid for an assembly if all components used in the assembly are UL compliant 3 4 6 RoHS Fi...

Page 32: ... for the interface electronics to the physical world regarding power requirements of the servo motors types of motors types of position sensor interfaces and amount of axis related I O A motion node has one central processor module motion control unit or MCU with an IEEE 1394b or IEEE 802 3 interface and executes the general node software The axis drive modules are connected to this MCU The drive ...

Page 33: ...802 3 to communicate with the host PC and other nodes The MCU communicates via the system backplane with the drive modules The MCU also generates all power supply voltages required by the logic of the drive modules in the node One MCU is required for every NYCe 4000 motion node The NY4110 MCU module is described in detail in chapter 5 NY4110 MCU Module on page 29 The NY4112 MCU module is described...

Page 34: ...e with a Drivelink connection based on the SERCOS III standard hardware to connect IndraDrive amplifiers of Bosch Rexroth The NY4150 is described in chapter 12 NY4150 and NY4150 10 SERCOS III Master Module on page 147 fig 4 3 Basic structure example of NYCe 4000 motion node on page 25 gives an overview of the NYCe 4000 node structure with the MCU and some of the drive modules 2 axis drive module N...

Page 35: ...is an interconnection between the MCU and the drive modules It is used for internal node communication between the modules and the distribution of the necessary supply voltages generated on the MCU to all the drive modules On this backplane the interconnection is made between the following parts The motion control MCU module NY4110 NY4112 NY4114 The drive module NY4120 NY4120 10 NY4125 NY4130 NY41...

Page 36: ...ckplane IEEE802 3 network NY4112 NY4114 2 axis drive module NY4120 2 axis drive module NY4130 1 axis drive module NY4140 5 axis drive module NY4125 M M M M M M M M M M MCU NY4110 NY4112 NY4114 Fig 4 4 Backplanes in the node structure NYCe 4000 Multi axis motion control system Hardware Sys tem Manual 27 233 System Overview R911337671_Edition 18 Bosch Rexroth AG ...

Page 37: ...28 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 38: ...tions provide galvanic insulation between nodes and the network The MCU does not supply power to the IEEE 1394b connections nor does it consume power from the IEEE 1394b connections The MCU has no provision to enable power supply to the IEEE 1394b connections If power from an external source is supplied to a IEEE 1394b connector this power is not passed on to the other IEEE 1394b connectors Interc...

Page 39: ...ication number Field explanation 1 Type code 2 Version level and status 3 Date of manufacture yyWww 4 Material number 5 Serial number 6 2D bar code Tab 5 1 Explanation of the fields of the NY4110 identification label 30 233 NY4110 MCU Module NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 40: ... status indicator NET IEEE 1394b network status indicator The indications of the status indicator LEDs are described in tab 5 3 MCU status LED indications on page 31 and tab 5 4 NET status LED indications on page 32 LED indication visible color Description Green flashing POST Power On Self Test in progress Green continuously Result of POST is OK Node initialization successfully completed Orange co...

Page 41: ... NYCeConfigurator Network communication active Duty cycle of red flashes depends on amount of communication More communication messages indicated by higher red intensity Orange flashing alternated with red flashing at approximately 1 Hz Network communication error and node selected in NYCeConfigurator Tab 5 4 NET status LED indications 5 5 24V System power supply The 24 V power supply generates al...

Page 42: ...nt and must support inrush currents of 3A 6A for 10 ms to prevent startup problems 5 6 Service Mode and Stop Axes Inputs Characteristic Description Number of digital inputs 2 INP_Service_Mode INP_Stop_Axes Functions Enter service mode Stop all axes in node High and low side switching Possible for both inputs Galvanic insulated Yes Switch time Filter delay Typical 100 μs Permitted input voltage 30 ...

Page 43: ...quipment on a metal frame or mounting base and make sure there is a galvanic contact 4 Both inputs can be used either as high side switching HSS or as low side switching LSS High side switching HSS Inp_Common Inp_ 24 Volt 0 Volt Node Application PNP High side switching HSS Inp_Common Inp_ 24 Volt 0 Volt Node Application Low side switching LSS Inp_Common Inp_ Node Application 0 Volt 24 Volt Low sid...

Page 44: ...eloped for this purpose See the NYCe 4000 Standard Housings and Accessories manual for detailed information about the NY4901 Make sure that your machine design has sufficient free clearance space in front of the NY4110 module for the cable strain relief bracket and the minimum allowed bending of the IEEE 1394b cable s The width of the NY4901 cable strain relief bracket is 55 mm Consult the specifi...

Page 45: ...36 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 46: ...better for 100BASE TX Cable length 100 m The IEEE 802 3 connections provide galvanic insulation between nodes and the network The MCU does not supply power to the IEEE 802 3 connections nor does it consume power from the IEEE 802 3 connections The MCU has no provision to enable power supply to the IEEE 802 3 connections If power from an external source is supplied to a IEEE 802 3 connector this po...

Page 47: ...Date of manufacture yyWww 4 Material number 5 Serial number 6 2D bar code Tab 6 1 Explanation of the fields of the NY4112 identification label 6 3 Module dimensions Fig 6 3 NY4112 module dimensions 38 233 NY4112 Ethernet MCU Module NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 48: ...ader has 2 LEDs incorporated at the left side of the header The upper LED green or orange is the speed indicator Factory default the LED is green to indicate a network speed of 100 Mbps and orange to indicate a network speed of 1 Gbps This behavior can change depending on the installed NYCe 4000 firmware The lower LED yellow is the link activity indicator The LED is illuminated when the Ethernet c...

Page 49: ... the converter switches on is 16 2V This means that the external power supply should be able to deliver at least 1 5 times the nominal current at 24V required for the node The chosen external system power supply must be able to fulfil this current requirement and must support inrush currents of 3A 6A for 10 ms to prevent startup problems 6 6 Service Mode and Stop Axes Inputs Characteristic Descrip...

Page 50: ...d connect at least one of the minus wires of each power supply to Shield housing connector 2 Connect the minus of the I O power supply to the housing and or safety earth if this is not already the case 3 Connect the NYCe 4000 power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 4 Both inputs can be used either as high side switching HSS or as ...

Page 51: ...on cables to connect to an other node and the host See chapter 14 Network on page 205 for more information about the network connection The connections to the Ethernet network are located on the front of the NY4112 module Some form of network cable strain relief is advised You can use the NY4901 10 cable strain relief bracket or the NY4901 20 cable strain relief bracket which is specifically devel...

Page 52: ...manual for fan units that mount on the system housing 6 9 IT Security The operation of installations systems and machines requires the implementation of an integral concept for state of the art IT security Bosch Rexroth products are part of this integral concept Bosch Rexroth product characteristics have to be taken into consideration in an integral IT security concept The relevant characteristics...

Page 53: ...44 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 54: ...tures 3 ethernet interface connections to build a NYCe 4000 network The ethernet interfaces support 1000BASE T and 100BASE TX and auto MDIX automatic cable cross over detection Standard ethernet network cable Cat 5e STP or better for 1000BASE T Cat 5 STP for 100BASE TX Cable length 100 m The ethernet connections provide galvanic insulation between the node and the network The MCU does not supply p...

Page 55: ...ed 7 2 Module identification An identification label is attached on the NY4114 module 6 1 5 4 2 3 Fig 7 2 Identification label of the NY4114 Identification number Field explanation 1 Type code 2 Version level and status 3 Date of manufacture yyWww 4 Material number 5 Serial number 6 2D bar code Tab 7 1 Explanation of the fields of the NY4114 identification label 46 233 NY4114 Ethernet MCU Module N...

Page 56: ... color or two specific colors and the flash frequency can be slow 0 5 Hz and fast 2 Hz You can see from the status indicator LED when the problem occurred The status indicator LED also indicates normal operation mode states MCU LED state continuous off or on Off Red Orange Green No 24V System power On board power supply failure replace board Hardware start up failure Hardware boot failure Hardware...

Page 57: ... Orange 2nd level boot problem 2nd level boot error Recovery boot active forced by jumper Green Normal operation mode and multi node system network stable nodes synchronizing While the MCU is in recovery mode the node is not visible in the tree view of the NYCe 4000 tools Tab 7 5 MCU LED fast flashing states Ethernet network connections The NY4114 module has 3 RJ45 ethernet sockets on the front pa...

Page 58: ...be able to supply the full power required for the entire node including the connected encoders The minimum level at which the converter switches on is 16 2V This means that the external power supply should be able to deliver at least 1 5 times the nominal current at 24V required for the node The chosen external system power supply must be able to fulfil this current requirement and must support in...

Page 59: ... shielding on the NYCe 4000 side of the cable must be connected to Shield housing connector Connect the other side to a convenient metal part or leave it open Both inputs may be associated with more than one power supply and or the cable may contain more than one minus for power supply If this is the case and if the cable is unshielded connect at least one of the minus wires of each power supply t...

Page 60: ...s IPv4 192 168 41 14 Default subnet mask 255 255 255 0 Default gateway 0 0 0 0 Tab 7 8 NY4114 connection characteristics 7 8 USB connection information On the front of the MCU module is one microUSB On The Go USB 2 0 port This USB port can be used to connect a memory stick to the MCU You can copy data from the memory stick and write the data to the flash memory of the MCU or read data from the fla...

Page 61: ...NY4114 See the NYCe 4000 Standard Housings and Accessories manual for detailed information Make sure that your machine design has sufficient free clearance space in front of the NY4114 module for the cable strain relief bracket and the minimum allowed bending of the Ethernet cable s The width of the NY4901 10 cable strain relief bracket is 60 mm and the width of the NY4901 30 cable strain relief b...

Page 62: ...s Avoid electrostatic discharges You always start the MCU in the so called recovery mode Depending on the unknown cause of the problem two methods are available to return the MCU to a operational state The first method preserves the stored configuration tables and data in the flash memory The second method erases all data in the flash memory While the MCU is in recovery mode the node is not visibl...

Page 63: ...e module or the backplane connectors 3 2 Tighten the two screws on the cover plate of the NY4114 module 3 3 Connect the network connection s to the NY4114 module 3 4 Switch on the 24V System power supply 3 5 Wait until the MCU LED on the NY4114 is fast flashing green orange 4 Connect to the web server of the MCU Enter in the address field of the web browser on the PC the default IP address 192 168...

Page 64: ...y green the recovery was successful and all stored data in the flash memory is preserved If the MCU LED remains flashing orange the firmware recovery was not sufficient to solve the problem You must use the 2nd recovery method to return the MCU to the operational status and loose all data stored in the flash memory 2nd recovery method The 2nd method returns the MCU to the operational mode by rever...

Page 65: ...ctors 6 2 Tighten the two screws on the cover plate of the NY4114 module 6 3 Connect the network connection s to the NY4114 module 6 4 Switch on the 24V System power supply The MCU LED on the NY4114 starts slow flashing green orange 6 5 Connect to the web server of the MCU Enter in the address field of the web browser on the PC the default IP address 192 168 41 14 The Recovery Bootloader page appe...

Page 66: ... an integral IT security concept The relevant characteristics are documented in the IT security guideline R911342562 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual 57 233 NY4114 Ethernet MCU Module R911337671_Edition 18 Bosch Rexroth AG ...

Page 67: ...58 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 68: ...adrature encoders with and without index pulse is available on board as well as other encoders and there is a possibility to add one NY4199 SinCos Option module to connect another position sensor for example EnDat or SinCos The quadrature encoder is also known as A B encoder S0S90 encoder and 3 channel digital incremental encoder See chapter 13 Encoders on page 157 for the supported encoder types ...

Page 69: ...ut or Rexroth MSM encoder input If a drive slot was configured for an NY4140 drive module and now used for an NY4120 drive module make sure that the DP drive voltage is changed lowered before you install the NY4120 drive module 8 2 Module identification An identification label is attached on the NY4120 module 6 1 5 4 2 3 Fig 8 2 Identification label of the NY4120 Identification number Field explan...

Page 70: ...on the front panel The various indications are described in tab 8 3 DRV status LED indications on page 61 LED indication Description Red steady Default setting when the drive module starts power up Fatal error on the drive module or gateware is not correct or not loaded or module not operational because a communication problem is detected call service Orange steady Gateware loaded but node not yet...

Page 71: ...upply is applied before the drive power supply is applied The preferred method to switch on and off the drive power is by means of the mains switch as indicated by in fig 8 4 Schematic of drive power supply to a node on page 62 to prevent destructive inrush currents AC power DC power supply 1 DP x Node C in drive NY4921 fuse Fig 8 4 Schematic of drive power supply to a node If you want to remove t...

Page 72: ...In1c Opt_1 7 Enc0Index Enc0Index Dig5VIn0a Dig5VIn0a Opt_1 8 Enc0QuadB Enc0QuadB Dig5VIn0b Dig5VIn0b Opt_0 9 Enc0QuadA Enc0QuadA Dig5VIn0c Dig5VIn0c Opt_0 10 EncGND EncVref EncGND Enc5V0 Enc5V1 11 DigIn0 DigIn1 DigIn2 DigIn3 DigComm0 12 DigIn4 DigIn5 DigIn6 DigIn7 DigComm1 13 FastIn0 FastIn1 FastOut0 FastOut1 GND_DIO 14 DigOut0 DigOut1 DigOut2 DigOut3 24V_DIO 15 24V_DIO 24V_DIO 24V_DIO 24V_DIO GND...

Page 73: ...ential no galvanic insulation Range user selectable 4 20 mA 10 V differential 10 V single ended Input impedance NY4120 10 kΩ 1 nF NY4120 10 10 kΩ 10 pF Common mode rejection 80 dB at 200 Hz from 200 Hz 20 dB decade Max common mode voltage 12 V Resolution 12 bit monotonic Linearity 1 LSB Accuracy Absolute 3 of full scale Relative 0 1 of full scale Sample frequency Synchronously 32 kHz Bandwidth NY4...

Page 74: ...contact 4 AnGND is connected to the internal system ground ground MCU drive logic encoder ground and host PC if the MCU is NY4110 and an IEEE 1394b cable is used 5 For proper use this ground may not be connected to motor or digital I O ground The choice between the voltage or current measurement of the analog inputs is user selectable by a software parameter see the file nhiparameters h parameter ...

Page 75: ...Ce 4000 side Consult for this the supplier s installation instructions 8 8 Analog Outputs Characteristic Description Number of analog outputs 2 AnOut0 and AnOut1 with common AnGND Type Single ended no galvanic insulation Functions External power amplifier control General Purpose analog output Grounding Both analog output signals refer to AnGND see note 1 Range 10 V 10V Resolution 16 bit monotonic ...

Page 76: ...have to be separate for each output as the drawing suggests but may be common for all analog signals in the cable 3 Follow the following cabling instructions Always use a shielded cable The shielding on the NYCe 4000 side of the cable must be connected to Shield house connector If the equipment on the application side is metal connect the shield to the equipment housing 4 If the analog equipment o...

Page 77: ...me sample Count transitions interval 1 per MCU s time sample DigIn6 can be defined as disable drive input for axis0 DIgin7 can be defined as disable drive input for axis1 Disable drive functionality is defined through the function SacWriteParameter see NYCe 4000 Software User Manual The power amplifier is disabled after the disable drive input is detected active for approximately 500 µs Note The 2...

Page 78: ...house connector Connect the other side to a convenient metal part or leave it unconnected The digital I O may be associated with more than one power supply and or the cable may contain more than one minus for power supply If this is the case and if the cable is unshielded connect at least one of the minus wires of each power supply to Shield house connector 2 Connect the minus of the I O power to ...

Page 79: ...ommended to use an NPN transistor output in combination with high side switching as shown in fig 8 10 HSS with an NPN output transistor on page 70 High side switching HSS DigComm DigIn 24 Volt 0 Volt Node Application NPN NOT RECOMMENDED Fig 8 10 HSS with an NPN output transistor 6 24 Volt Hall sensors can be connected to the digital inputs use the digital inputs DigIn0 DigIn1 and DigIn2 for the fi...

Page 80: ...rrent 1 A Galvanic insulation Yes Short circuit protected Yes Fail no load detection No Grounded load Yes high side switching IEC61131 2 compliant Yes PWM Pulse Width Modulation Yes 1 Indicated times only apply with a resistive load Tab 8 8 Characteristics of the digital outputs Pulse time specification Unit Minimum Typical Maximum Digital output pulse duration μs 10 10 000 000 Pulse accuracy tPUL...

Page 81: ...on b see fig 8 12 PWM signal specification parameters on page 72 which can only have a discrete increment step size The increment step size is equal to the pulse accuracy and depends on the specified PWM frequency These discrete values for the pulse duration and pulse pause duration imply that the actual PWM frequency and duty cycle may differ from the specified PWM frequency and duty cycle active...

Page 82: ...er supply If this is the case and if the cable is unshielded connect at least one of the minus wires of each power supply to Shield house connector 2 Connect the minus of the I O power to the housing and or safety earth if this is not already the case 3 Connect the NYCe 4000 a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 4 A fuse must ...

Page 83: ...d output High speed PWM output with on delay Type of load Only resistive or capacitive loads are supported The fast digital output cannot be used for inductive loads Grounded load Yes high side switching outputs Galvanic insulated Yes Switch time 2 2 μs with load current 50 mA Short circuit protected Yes single PTC fuse for both outputs Fail no load detection No Voltage supply 24 V 6 V Output curr...

Page 84: ...14 Output circuit for FastOut0 FastOut1 and input circuit for FastIn0 FastIn1 For cabling and power supply connections of the fast digital inputs and fast digital outputs the same rules apply as for normal digital inputs and outputs with one additional note The cable with signal wire s of fast digital inputs and or fast digital outputs must also include the return current path for every signal in ...

Page 85: ... in the NYCe 4000 Standard Housings Accessories manual Signal interface RS485 or 5 V half RS485 referenced to 2 05 V Galvanic insulated No Line termination On board 120 Ω in series with 680 pF Interface type input frequency 5 V open collector Depends on driver and pull up resistor TTL 1 MHz RS485 10 MHz Sink and source current According to RS485 specification Supply for signal source Enc5V0 and En...

Page 86: ...de is metal connect the shield to the equipment housing For proper use this ground may not be connected to motor or digital I O ground 8 13 Encoder Inputs and Encoder Power Supply The following encoder types can be used with the NY4120 Quadrature encoder Analog inputs Rexroth MSM incremental or absolute position encoder Sanyo Denki absolute position encoder EnDat2 2 encoder For SinCos based encode...

Page 87: ...witched on Only when the encoder power supply for both axes is switched off pins Enc5V0 and Enc5V1 are switched off For detailed connection information see chapter 13 Encoders on page 157 Do not connect or disconnect the encoders while the system power supply is switched on This can destroy the encoder electronics 8 14 Drive Output 8 14 1 Characteristics Two PWM amplifiers with four half H bridges...

Page 88: ...distribution which is designed for use on a square wave or block commutation inverter supply voltage controlled by Hall sensors If the Hall sensors are connected to the Dig5VIn inputs you cannot use the digital encoders EnDat2 x Rexroth MSM or Hiperface at the same time because the Hall sensors use the same I O lines as these digital encoders PWM Brushless AC servo motor control BLAC BLAC motors h...

Page 89: ...f the cable must be connected to Shield house connector Connect the other side to a convenient metal part or leave it open 2 Connect the DR_GND of the drive power to the housing and or safety earth if this is not already the case 3 Connect the NYCe 4000 a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 4 A fuse must be installed between t...

Page 90: ...drive at 80 V The maximum voltage at which the software disables the drive can only be set to a user defined value lower than 80 V See Software User Manual parameter SAC_PAR_POS_SERVO_OVER_VOLTAGE_LIMIT Input current 14 A 30 A peak Overvoltage protection No Undervoltage protection Yes The minimum voltage at which the software disables the drive is 12 V default value or a higher user defined voltag...

Page 91: ...82 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 92: ...ncoder is also known as A B encoder S0S90 encoder and 3 channel digital incremental encoder See chapter 13 Encoders on page 157 for the supported encoder types Fig 9 1 5 axis low power PWM drive module NY4125 The main features of the NY4125 are the following PWM frequency 16 96 kHz I continuous 2 A rms per axis Bus voltage is minimal 15 V maximal 36 V Small motors supported Short circuit overvolta...

Page 93: ...the NY4125 drive module 9 2 Module identification An identification label is attached on the NY4125 module 1 5 NYM04 1 5PW NNNN 12W50 AE1 R911 172221 00542 97058789 2 4 3 6 7 Fig 9 2 Identification label of the NY4125 Identification number Field explanation 1 Type code 2 Version level and status 3 Material number 4 2D bar code 5 Date of manufacture yyWww 6 Serial number 7 Manufacturer ID Tab 9 1 E...

Page 94: ...nel The various indications are described in tab 9 3 DRV status LED indications on page 85 LED indication Description Red steady Default setting when the drive module starts power up Fatal error on the drive module or gateware is not correct or not loaded or module not operational because a communication problem is detected call service Orange steady Gateware loaded but node not yet operational be...

Page 95: ...drive power supply is applied The preferred method to switch on and off the drive power is by means of the mains switch as indicated by in fig 9 4 Schematic of drive power supply to a node on page 86 to prevent destructive inrush currents AC power DC power supply 1 DP x Node C in drive NY4921 fuse Fig 9 4 Schematic of drive power supply to a node If you want to remove the drive module from the bac...

Page 96: ...ndex 8 Enc0QuadB Enc0QuadB Enc2QuadB Enc2QuadB Enc4QuadA 9 Enc0QuadA Enc0QuadA Enc2QuadA Enc2QuadA Enc4QuadA 10 EncGND EncVref EncGND Enc5V0 Enc5V1 11 DigIn0 DigIn1 DigIn2 DigIn3 DigComm0 12 DigIn4 DigIn5 DigIn6 DigIn7 DigComm1 13 FastIn0 StopAlarm FastOut0 FastOut1 GND_DIO 14 DigOut0 DigOut1 DigOut2 DigOut3 24V_DIO 15 24V_DIO 24V_DIO 24V_DIO 24V_DIO GND_DIO 16 DigIn8 DigIn9 DigIn10 DigIn11 DigCom...

Page 97: ...ns 1 per MCU s sample time DigIn7 DigIn11 can be configured as disable drive input for respectively axis0 axis1 axis2 axis3 axis4 All FETs of an axis are opened to create an open circuit of motor coils The power amplifier is disabled after the disable drive input is detected active for approximately 500 µs High and low side switching Possible for all 3 groups in groups of 4 digital inputs Galvanic...

Page 98: ...nconnected The digital I O may be associated with more than one power supply and or the cable may contain more than one minus for power supply If this is the case and if the cable is unshielded connect at least one of the minus wires of each power supply to Shield house connector For the disable drive inputs The cable with signal wire s should also contain the return current path for every signal ...

Page 99: ... to use an NPN transistor output in combination with high side switching as shown in fig 9 7 HSS with an NPN output transistor on page 90 High side switching HSS DigComm DigIn 24 Volt 0 Volt Node Application NPN NOT RECOMMENDED Fig 9 7 HSS with an NPN output transistor 9 8 Digital Outputs Characteristic Description Number of digital outputs 4 DigOut0 DigOut3 with GND_DIO Functions State output Pul...

Page 100: ... of the digital outputs PWM signal specifications Unit Minimum Typical Maximum Digital output PWM frequency Hz 0 1 10 000 PWM duty cycle 0 100 Pulse accuracy for fPWM 6 25 Hz ms 1 Pulse accuracy for fPWM 6 25 Hz µs 50 Digital output on delay before PWM μs 0 10 000 000 On delay accuracy for tDELAY 160 ms μs 50 On delay accuracy for tDELAY 160 ms ms 1 Tab 9 8 PWM signal specifications of the digital...

Page 101: ... Note 5 100V Fig 9 9 DigOut0 DigOut1 DigOut2 and DigOut3 are schematically identical Notes 1 Follow the following cabling instructions Shielded cable is recommended but not mandatory If shielded cable is used the shielding on the NYCe 4000 side of the cable must be connected to Shield house connector Connect the other side to a convenient metal part or leave it open The digital I O may be associat...

Page 102: ...r MCU s sample time Count transitions max frequency 250 kHz StopAlarm for the drive module all axes In less than 10 µs the upper FETs are open and the lower FETs of the bridges are closed to create a short circuit of the motor coils fastest stop of the motor The StopAlarm input is default configured high active High and low side switching No always grounded load high side switching Galvanic insula...

Page 103: ... Pulse time specifications of the digital outputs on page 91 for the pulse time specification and tab 9 8 PWM signal specifications of the digital outputs on page 91 for the PWM signal specification of the digital high speed output Node FastOut GND_DIO PTC fuse BSP250 BC847 BC847 1k 24V_DIO High speed digital output to other output StopAlarm 620 Ω 100 pF PC410 Node High speed digital input GND_DIO...

Page 104: ...Input TTLIn2 referenced by identifier NYCE_DIG5VIN0C Input TTLIn3 referenced by identifier NYCE_DIG5VIN1A Input TTLIn4 referenced by identifier NYCE_DIG5VIN1B Signal interface TTL logic Galvanic insulated No Input thresholds Input low voltage range 0 0 8 V Input high voltage range 2 0 5 5 V Input current Typical 40 µA input low 1 4 mA input high Maximum input voltage 5 10 V 0 5 V Interface type TT...

Page 105: ... that the encoder power supply voltage on the pins Enc5V0 Enc5V1 Enc5V2 Enc5V3 and Enc5V4 can be switched on and off independently for each axis For detailed connection information see chapter 13 Encoders on page 157 Do not connect or disconnect the encoders while the system power supply is switched on This can destroy the encoder electronics At stand still of an axis with a high resolution encode...

Page 106: ... 2 A rms per axis BLAC motor 2 8 A per axis DC motor I peak 3 A rms max 100 ms per axis BLAC motor 4 2 A max 100 ms per axis DC motor Motor power voltage 0 V 35 V Overcurrent protection No Short circuit detection Yes at 6 A peak 0 5 A of the PWM top current half bridge HBx_1 to half bridge HBx_2 half bridge HBx_y to DR_GND Thermal protection 105 C on PCB Tab 9 12 NY4125 drive output characteristic...

Page 107: ...ry If shielded cable is used the shielding on the NYCe 4000 side of the cable must be connected to Shield house connector Connect the other side to a convenient metal part or leave it open 2 Connect the DR_GND of the drive power to the housing and or safety earth if this is not already the case 3 Connect the NYCe 4000 a power supply or other equipment on a metal frame or mounting base and make sur...

Page 108: ... V The maximum voltage at which the software disables the drive can only be set to a user defined value lower than 40 V See Software User Manual parameter SAC_PAR_POS_SERVO_OVER_VOLTAGE_LIMIT Input current 10 A 15 A peak Overcurrent protection Yes at 20 A Overvoltage protection No Undervoltage protection Yes The minimum voltage at which the software disables the drive is 12 V default value or a hi...

Page 109: ...100 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 110: ...S90 encoder and 3 channel digital incremental encoder See chapter 13 Encoders on page 157 for the supported encoder types Fig 10 1 DC drive module NY4130 The main features of the NY4130 are the following Bus voltage is minimal 15 V maximal 26 V I continuous 2 A for 15 V per axis 1 A for 26 V per axis Over temperature protection Quadrature encoder cable break detection Power consumption approximate...

Page 111: ...n the NY4130 module 6 1 5 4 2 3 Fig 10 2 Identification label of the NY4130 Identification number Field explanation 1 Type code 2 Version level and status 3 Date of manufacture yyWww 4 Material number 5 Serial number 6 2D bar code Tab 10 1 Explanation of the fields of the NY4130 identification label 102 233 NY4130 DC Drive Module NYCe 4000 Multi axis motion control system Hardware Sys tem Manual B...

Page 112: ... front panel The various indications are described in tab 10 3 DRV status LED indications on page 103 LED indication Description Red steady Default setting when the drive module starts power up Fatal error on the drive module or gateware is not correct or not loaded or module not operational because a communication problem is detected call service Orange steady Gateware loaded but node not yet ope...

Page 113: ... The preferred method to switch on and off the drive power is by means of the mains switch as indicated by in fig 10 4 Schematic of drive power supply to a node on page 104 to prevent destructive inrush currents AC power DC power supply 1 fuse Node C in drive DP NY4130 x Fig 10 4 Schematic of drive power supply to a node If you want to remove the drive module from the backplane follow this sequenc...

Page 114: ...Dig5VIn1b Dig5VIn1b Opt_2 6 Enc1QuadA Enc1QuadA Dig5VIn1c Dig5VIn1c Opt_1 7 Enc0Index Enc0Index Dig5VIn0a Dig5VIn0a Opt_1 8 Enc0QuadB Enc0QuadB Dig5VIn0b Dig5VIn0b Opt_0 9 Enc0QuadA Enc0QuadA Dig5VIn0c Dig5VIn0c Opt_0 10 EncGND EncVref EncGND Enc5V0 Enc5V1 11 DigIn0 DigIn1 DigIn2 DigIn3 DigComm0 12 DigIn4 DigIn5 DigIn6 DigIn7 DigComm1 13 FastIn0 FastIn1 FastOut0 FastOut1 GND_DIO 14 DigOut0 DigOut1...

Page 115: ...ntial no galvanic insulation Range user selectable 10 V differential 10 V single ended Input impedance 200 kΩ 1 nF differential Common mode rejection 80 dB at 200 Hz from 200 Hz 20 dB decade Max common mode voltage 12 V Resolution 16 bit monotonic Linearity 3 LSB Accuracy Absolute 3 of full scale Relative 0 1 of full scale Sample frequency Synchronously 32 kHz Bandwidth 4 kHz 10 Reference Voltage ...

Page 116: ...nnected to the internal system ground ground MCU drive logic encoder ground and host PC if the MCU is NY4110 and an IEEE 1394b cable is used 5 You can use AnVref as a reference voltage for improved accuracy for example for a DAC if used in your design 6 If the analog input source provides a balanced differential signal connect the signal wires to the corresponding input pins on the NYCe 4000 side ...

Page 117: ...put Grounding Both analog output signals refer to AnGND see note 1 Range 10 V 10V Resolution 16 bit monotonic DAC8532 Accuracy Absolute 3 of full scale Relative 0 1 of full scale Offset Typical 30 mV max 120 mV Noise 0 55 mV rms Maximum output current 10 mA Range load resistor R2 in figure below 1 kΩ Capacitive load C2 in figure below 10 nF Output short circuit proof Yes Ishort 35mA Bandwidth DAC ...

Page 118: ...r If the equipment on the application side is metal connect the shield to the equipment housing 4 If the analog equipment on the application side accepts a differential preferred or single ended signal the AnGND signal must be connected to the application ground with a resistor R If this resistor is not included in the equipment itself install it for example in the connector at the equipment side ...

Page 119: ...0 V StopAlarm0 is connected to axis0 StopAlarm1 is connected to axis1 High and low side switching Possible for DigIn0 DigIn7 in groups of 4 digital inputs and with restrictions for DigIn8 and DigIn9 Galvanic insulated Yes DigIn0 DigIn9 Switch time Filter delay Permitted input voltage Input high level Input low level Input current 24V Jitter on switching times Typical 100 μs 30 V 30 V 15 V 30 V or ...

Page 120: ...gIn8 and DigIn9 As all other inputs StopAlarm0 and StopAlarm1 Fast inputs only to be used as stop alarm StopAlarm 100 pF PC410 Node DigComm2 620 Ω 3V9 620 Ω Fig 10 9 Schematics of StopAlarm0 and StopAlarm1 Notes 1 Follow the following cabling instructions Shielded cable is recommended but not mandatory If shielded cable is used the shielding on the NYCe 4000 side of the cable must be connected to ...

Page 121: ...4 Volt Low side switching LSS DigComm DigIn Node Application 0 Volt 24 Volt NPN Fig 10 10 HSS and LSS 5 Keep in mind that these digital inputs do not have a high impedance If the application uses an open collector output to connect to these digital inputs use an NPN transistor for low side switching and use a PNP transistor for high side switching see fig 10 10 HSS and LSS on page 112It is not rec...

Page 122: ...t current 0 02 A 1 A 2 A peak max 50 ms Output turn on time 1 Typical 50 μs Output turn off time 1 Typical 50 μs with a load current 1 A Note turn off time increases if load current 1 A Galvanic insulation Yes Short circuit protected Yes Fail no load detection No Grounded load Yes high side switching IEC61131 2 compliant Yes PWM Pulse Width Modulation Yes 1 Indicated times only apply with a resist...

Page 123: ...lse duration a and pulse pause duration b see fig 10 12 PWM signal specification parameters on page 114 which can only have a discrete increment step size The increment step size is equal to the pulse accuracy and depends on the specified PWM frequency These discrete values for the pulse duration and pulse pause duration imply that the actual PWM frequency and duty cycle may differ from the specif...

Page 124: ... for power supply If this is the case and if the cable is unshielded connect at least one of the minus wires of each power supply to Shield house connector 2 Connect the minus of the I O power to the housing and or safety earth if this is not already the case 3 Connect the NYCe 4000 a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 4 A fu...

Page 125: ...digital outputs 2 FastOut0 and FastOut1 Function External stepper drive control 1 High speed state output High speed pulsed output High speed PWM output with on delay Type of load Only resistive or capacitive loads are supported The fast digital output cannot be used for inductive loads Grounded load Yes high side switching outputs Galvanic insulated Yes Switch time 2 μs with load current 50 mA Sh...

Page 126: ... digital outputs must also include the return current path for every signal in the cable For normal digital I O this is recommended but for fast digital I O this is mandatory 10 12 5 Volt Digital Inputs Characteristic Description Number of inputs 6 divided in two groups of 3 inputs Dig5VIn0a Dig5VIn0b and Dig5VIn0c for axis0 Dig5VIn1a Dig5VIn1b and Dig5VIn1c for axis1 Function Quadrature counter i...

Page 127: ...ncVref EncGND RS485 output Dig5VIn EncVref EncGND signal RS485 differential input signals 5 Volt input signals Node Node Application Application See Note 2 See Note 2 Dig5VIn Dig5VIn Dig5VIn Dig5VIn Dig5VIn Gnd Gnd Enc5V Enc5V switch open collector totem pole R R Fig 10 15 Input circuit of the digital inputs and 2 connection examples Notes 1 Connect the NYCe 4000 power supplies or other equipment ...

Page 128: ...nnect or disconnect the encoders while the system power supply is switched on This can destroy the encoder electronics 10 14 Drive Output 10 14 1 Characteristics Two balanced 2 quadrant linear power devices are used as voltage amplifiers for the NY4130 These amplifiers can also be used in single ended mode unbalanced The Drive Output can be switched to 0 Volt within 20 µs when the StopAlarm0 axis0...

Page 129: ... DC servo motors can be connected to the NY4130 10 14 3 Connection information Characteristic Description Cable length max 15 m Current capability Conform application Capacitance max 100 pF m Tab 10 15 Motor cable characteristics The motor is connected to the drive according to fig 10 16 Motor connection circuit NY4130 on page 121 and tab 10 16 Motor connections on page 121 120 233 NY4130 DC Drive...

Page 130: ...he DR_GND of the drive power to the housing and or safety earth if this is not already the case 3 Connect the NYCe 4000 a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 4 A fuse must be installed between the V of the drive power supply and DRVPW L on the node and between the V of the drive power supply and DRVPW L on the node The fuses a...

Page 131: ...e The drive power and the drive ground are designed to conduct 14 A continuous Characteristic Description Number of inputs 3 DRVPW L DRVPW L DR_GND Positive drive power voltage 15 V 26 V Negative drive power voltage 15 V 26 V Note Positive and negative drive power voltage must always be symmetrical Absolute maximum rating 29 V positive drive power 29 V negative driver power Note The software disab...

Page 132: ...C_PAR_POS_SERVO_UNDER_VOLTAGE_LIMIT and SAC_PAR_NEG_SERVO_UNDER_VOLTAGE_LIMIT respectively Tab 10 17 NY4130 drive power inputs characteristics 10 16 Installation requirements Make sure that your machine design has at least 35 mm free clearance space in front of the protruding case of the modules for the heat sink of the NY4130 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual 123 ...

Page 133: ...124 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 134: ...r and 3 channel digital incremental encoder See chapter 13 Encoders on page 157 for the supported encoder types Fig 11 1 PWM drive module NY4140 The main features of the NY4140 are the following Current control loop PWM frequency 16 or 32 kHz I continuous 7 A rms BLAC BLDC stepper motor 10 A DC motor Bus voltage is minimal 48 V maximal 150 V Over current and over temperature protection Quadrature ...

Page 135: ... 11 2 Module identification An identification label is attached on the NY4140 module 6 1 5 4 2 3 Fig 11 2 Identification label of the NY4140 Identification number Field explanation 1 Type code 2 Version level and status 3 Date of manufacture yyWww 4 Material number 5 Serial number 6 2D bar code Tab 11 1 Explanation of the fields of the NY4140 identification label 126 233 NY4140 High Voltage Drive ...

Page 136: ...t panel The various indications are described in tab 11 3 DRV status LED indications on page 127 LED indication Description Red steady Default setting when the drive module starts power up Fatal error on the drive module or gateware is not correct or not loaded or module not operational because a communication problem is detected call service Orange steady Gateware loaded but node not yet operatio...

Page 137: ... supply is applied before the drive power supply is applied The preferred method to switch on and off the drive power is by means of the mains switch as indicated by in fig 11 4 Schematic of drive power supply to a node on page 128 to prevent destructive inrush currents AC power DC power supply 1 DP x Node C in drive NY4921 fuse Fig 11 4 Schematic of drive power supply to a node If you want to rem...

Page 138: ... Opt_2 5 Opt_2 6 Opt_1 7 Enc0Index Enc0Index Dig5VIn0a Dig5VIn0a Opt_1 8 Enc0QuadB Enc0QuadB Dig5VIn0b Dig5VIn0b Opt_0 9 Enc0QuadA Enc0QuadA Dig5VIn0c Dig5VIn0c Opt_0 10 EncGND EncVref EncGND Enc5V0 11 DigIn0 DigIn1 DigIn2 DigIn3 DigComm0 12 DigIn4 DigIn5 DigIn6 DigIn7 DigComm1 13 FastIn0 FastIn1 FastOut0 FastOut1 GND_DIO 14 DigOut0 DigOut1 24V_DIO 15 24V_DIO 24V_DIO 24V_DIO 24V_DIO GND_DIO 16 17 ...

Page 139: ...AnIn0 AnIn0 Type Differential no galvanic insulation Range user selectable 4 20 mA 10 V differential 10 V single ended Input impedance 10 kΩ 1 nF Common mode rejection 80 dB at 200 Hz from 200 Hz 20 dB decade Max common mode voltage 12 V Resolution 12 bit monotonic Linearity 1 LSB Accuracy Absolute 3 of full scale Relative 0 1 of full scale Sample frequency Synchronously 32 kHz Bandwidth 4 kHz 10 ...

Page 140: ...ound MCU drive logic encoder ground and host PC if the MCU is NY4110 and an IEEE 1394b cable is used 5 For proper use this ground may not be connected to motor or digital I O ground The choice between the voltage or current measurement of the analog inputs is user selectable by a software parameter see the file nhiparameters h parameter NHI_PAR_ANINx_ADC_DIMENSION_SLOTy x 0 1 y 0 4 and the NYCe 40...

Page 141: ... NYCe 4000 side Consult for this the supplier s installation instructions 11 8 Analog Outputs Characteristic Description Number of analog outputs 2 AnOut0 and AnOut1 with common AnGND Type Single ended no galvanic insulation Functions External power amplifier control General Purpose analog output Grounding Both analog output signals refer to AnGND see note 1 Range 10 V 10V Resolution 16 bit monoto...

Page 142: ...ot have to be separate for each output as the drawing suggests but may be common for all analog signals in the cable 3 Follow the following cabling instructions Always use a shielded cable The shielding on the NYCe 4000 side of the cable must be connected to Shield house connector If the equipment on the application side is metal connect the shield to the equipment housing 4 If the analog equipmen...

Page 143: ...In1 Digin2 for axis0 Position latching Change of state events 1 per MCU time sample Count transitions interval 1 per MCU time sample DigIn6 can be defined as disable drive input for axis0 Disable drive functionality is defined through the function SacWriteParameter see NYCe 4000 Software User Manual The power amplifier is disabled after the disable drive input is detected active for approximately ...

Page 144: ... connector Connect the other side to a convenient metal part or leave it unconnected The digital I O may be associated with more than one power supply and or the cable may contain more than one minus for power supply If this is the case and if the cable is unshielded connect at least one of the minus wires of each power supply to Shield house connector 2 Connect the minus of the I O power to the h...

Page 145: ...d LSS on page 136 It is not recommended to use an NPN transistor output in combination with high side switching as shown in fig 11 10 HSS with an NPN output transistor on page 136 High side switching HSS DigComm DigIn 24 Volt 0 Volt Node Application NPN NOT RECOMMENDED Fig 11 10 HSS with an NPN output transistor 6 24 Volt Hall sensors can be connected to the digital inputs for the first axis DigIn...

Page 146: ... off time increases if load current 1 A Galvanic insulation Yes Short circuit protected Yes Fail no load detection No Grounded load Yes high side switching IEC61131 2 compliant Yes PWM Pulse Width Modulation Yes 1 Indicated times only apply with a resistive load Indicated times change if the load has a capacitive component Tab 11 8 Characteristics of the digital outputs Pulse time specification Un...

Page 147: ...uration a and pulse pause duration b see fig 11 12 PWM signal specification parameters on page 138 which can only have a discrete increment step size The increment step size is equal to the pulse accuracy and depends on the specified PWM frequency These discrete values for the pulse duration and pulse pause duration imply that the actual PWM frequency and duty cycle may differ from the specified P...

Page 148: ... supply If this is the case and if the cable is unshielded connect at least one of the minus wires of each power supply to Shield house connector 2 Connect the minus of the I O power to the housing and or safety earth if this is not already the case 3 Connect the NYCe 4000 a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 4 A fuse must be...

Page 149: ...lsed output High speed PWM output with on delay Type of load Only resistive or capacitive loads are supported The fast digital output cannot be used for inductive loads Grounded load Yes high side switching outputs Galvanic insulated Yes Switch time 2 2 μs with load current 50 mA Short circuit protected Yes single PTC fuse for both outputs Fail no load detection No Voltage supply 24 V 6 V Output c...

Page 150: ...lude the return current path for every signal in the cable For normal digital I O this is recommended but for fast digital I O this is mandatory 11 12 5 Volt Digital Inputs Characteristic Description Number of Hall inputs 3 Dig5VIn0a Dig5VIn0b and Dig5VIn0c for axis0 Function Hall Input see note in chapter 11 14 2 Motor types on page 144 Quadrature counter inputs Rexroth MSM encoder input General ...

Page 151: ...VIn Dig5VIn Dig5VIn Gnd Enc5V 2 2 kW Dig5VIn EncVref EncGND signal 5 Volt input signals Node Application See Note 2 Dig5VIn Gnd Enc5V switch open collector totem pole Fig 11 15 Input circuit of the digital inputs and 2 connection examples Notes 1 Connect the NYCe 4000 power supplies or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 2 EncVref and EncGND ...

Page 152: ...all sensors of the BLDC motor are connected to the 24 Volt digital inputs the digital encoders Rexroth MSM incremental and absolute SinCos EnDat2 1 EnDat2 2 and Hiperface can always be used on either axis For detailed connection information see chapter 13 Encoders on page 157 Do not connect or disconnect the encoders while the system power supply is switched on This can destroy the encoder electro...

Page 153: ...o the NY4140 PWM Brushless DC servo motor control BLDC BLDC motors have a trapezoidal stator winding distribution which is designed for use on a square wave or block commutation inverter supply voltage controlled by Hall sensors If the Hall sensors are connected to the Dig5VIn inputs you cannot use the digital encoders EnDat2 x Rexroth MSM or Hiperface at the same time because the Hall sensors use...

Page 154: ...Ce 4000 side of the cable must be connected to Shield house connector Connect the other side to a convenient metal part or leave it open 2 Connect the DR_GND of the drive power to the housing and or safety earth if this is not already the case 3 Connect the NYCe 4000 a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 4 A fuse must be insta...

Page 155: ...voltage at which the software disables the drive can only be set to a user defined value lower than 170 V See Software User Manual parameter SAC_PAR_POS_SERVO_OVER_VOLTAGE_LIMIT Input current 7 A 15 A peak Overvoltage protection No Undervoltage protection Yes The minimum voltage at which the software disables the drive is 35 V default value or a higher user defined voltage level See Software User ...

Page 156: ... the NY4150 Both modules are referred as NY4150 in this chapter unless a difference must be explained The NY4150 SERCOS III Master module must always be installed in drive slot 0 of the system housing right next to the MCU Part number for the NY4150 is R911325072 ordering code is NYM04 1 SE3 MAST NY4150 Part number for the NY4150 10 is R911172782 ordering code is NYM04 1 SE3 MAST NY4150 10 Analog ...

Page 157: ...irmware versions of the IndraDrive Microprocessor core for SERCOS III V1 1 protocol support 2 standard RJ45 Ethernet headers on the front panel 2 LEDs on the front panel for status indication of the module Power consumption approximately 3 W at 24 V system power supply voltage measurement conditions IndraDrive communication active no digital I O connected Per module the following I O are available...

Page 158: ...of manufacture yyWww 4 Material number 5 Serial number 6 2D bar code Tab 12 1 Explanation of the fields of the NY4150 identification label 12 3 Module dimensions Fig 12 4 NY4150 module dimensions NYCe 4000 Multi axis motion control system Hardware Sys tem Manual 149 233 NY4150 and NY4150 10 SERCOS III Master Module R911337671_Edition 18 Bosch Rexroth AG ...

Page 159: ...cted on the backplane call service The NY4150 10 is only supported in NYCe 4000 Software Release 40V00 or higher Orange steady Gateware microware and SERCON100M loaded but node not yet operational because other drive modules in the node are initializing Green steady Gateware microware and SERCON100M is loaded module is OK Tab 12 3 DRV status LED indications LED indication Description Off Microproc...

Page 160: ...drive modules other NYCe4000 nodes maximum 8 IndraDrive to PC and or drives drive slot 0 slot 1 slot N drive drive Fig 12 5 NY4150 in NYCe 4000 architecture The NY4150 SERCOS III Master module supports IndraDrive amplifiers in combination with the other standard drive modules The following functional availability and limitations apply The total amount of axes supported in one NYCe 4000 node is 10 ...

Page 161: ...s installed in another drive slot Two new motor types can be configured for the NY4150 IndraBLAC and IndraLMS All axes defined on an NY4150 must be of the same motor type 12 6 I O Connector The SERCOS III Master module I O connector uses a 150 pin 2mm Modular Interconnect System The pinout is sorted on insulated areas Pin Row A Row B Row C Row D Row E 1 AnGND AnVref AnIn1 AnIn1 2 AnGND AnVref AnIn...

Page 162: ...LMS application the digital outputs are connected to the LMS MUX NY4960 or the NY4074 NY4079 internal multiplexer See the NYCe 4000 Standard Housings and Accessories Manual for detailed information 12 9 Connection NY4150 IndraDrive The connection between the NY4150 and the IndraDrive s forms a double ring topology A shielded twisted pair STP cable from the PORT2 header connects the NY4150 to the f...

Page 163: ...ure power supplies are switched off before installation or removal of the NY4150 module Do not apply power until the NY4150 module is installed Damage to components may occur due to electrostatic discharges WARNING Comply with all ESD protective measures while working with modules and components Avoid electrostatic discharges The RJ45 connections to the SERCOS network are located on the front of t...

Page 164: ...racket is 65 mm Consult the specifications of the cable manufacturer for the minimum allowed bending radius See for more information the NYCe 4000 Standard Housings Accessories manual You must use some form of cable strain relief for the connection cables to the NY4150 module to ensure reliable connections IndraDrive I O connection See the NYCe 4000 Software User Manual chapter Single Axis Control...

Page 165: ...156 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 166: ...os based encoders on page 200 SinCos encoder EnDat2 1 encoder Hiperface encoder The power supply for all encoders connected to the drive modules in a system housing is integrated on the MCU MCU NY411x NY4130 NY4140 NY4125 NY4120 24V SYSTEM system housing encoder power supply 5 25 V max 3 A max 2 encoders max 2 encoders max 1 encoder max 5 encoders ENC ENC ENC ENC Fig 13 1 Power supply diagram for ...

Page 167: ...pins Enc5V0 and Enc5V1 are switched off See tab 13 1 Drive module encoder power supply characteristics on page 159 for the properties of the encoder power supply and tab 13 2 Encoder connection cable characteristics on page 159 for the connection cable characteristics for the encoders You must take care that the total current supplied by the encoder power supply for the connected encoders to a sin...

Page 168: ...ce 80 120 Ω Capacitance max 100 pF m Tab 13 2 Encoder connection cable characteristics 13 3 Timing aspects of the control loop This chapter explains the timing aspects of the control loop components Components that act in the control loop are for example the position encoder A D conversion time needed for certain encoders calculation time needed by the Position Velocity Loop PVL the Current Contro...

Page 169: ...gital I O Quadrature sync latch MCU sample latch latch latch 32 kHz 31 25 µs latch MCU sample MCU sample node frequency 8 kHz 125 µs PVL on drive PVL on drive PVL on drive sync Note 1 Note 2 Fig 13 2 Relation of MCU sample PVL sample and encoder data PVL on drive 32 kHz fig 13 2 Relation of MCU sample PVL sample and encoder data PVL on drive 32 kHz on page 160 shows that the information of the ana...

Page 170: ...e drive module The PVL on the drive module adds dithering and the test signal to the controller out signal The PVL on the drive module is the only component that communicates information to the CCL The PVL on the MCU always starts after the end of the sync packet see fig 13 4 Timing relation of MCU sample PVL sample encoder information PVL on MCU on page 161 SinCos PVL on MCU ADC digital encoder d...

Page 171: ...ise the update of the PWM output is concurrently executed with the CCL The update of the PWM may be delayed one CCL sample depending on the PWM frequency see fig 13 5 Timing relation of PVL sample CCL sample and PWM signal on page 162 The figure also shows that the CCL result on the PWM signal will be effective earlier if the PWM frequency is set higher The CCL frequency can be set at 4 8 16 or 32...

Page 172: ... on page 163 EnDat clock frequency Maximum PVL frequency 1 MHz 4 kHz 2 MHz 8 kHz 4 MHz 16 kHz Tab 13 3 Maximum PVL frequency vs EnDat2 2 encoder clock frequency For more information see the NYCe 4000 Tools Manual NYCeConfigurator chapter Configuration at the axis level Digital inputs and digital outputs The hardware inputs such as digital inputs and temperature sensor are always up to date in the ...

Page 173: ...lt digital inputs This means that a BLDC motor with 5 Volt Hall sensors and a digital encoder cannot be used on the same axis There is one exception see SinCos encoder below See NYCe 4000 Standard Housings Accessories chapter Encoder connections of the system housing for complete information of the pinout of the encoder header The following table gives a summary of the possible or not possible com...

Page 174: ...s1 if a BLDC motor with 5 Volt Hall sensors is connected to axis0 Note that if the Hall sensors are used on the 24 Volt digital inputs the EnDat2 1 encoder can be used with a BLDC motor EnDat2 2 encoder The EnDat2 2 encoder uses the Dig5Vinxa connection for clock and the Dig5Vinxc connection for data Thus the EnDat2 2 encoder cannot be used in combination with a BLDC motor with 5 Volt Hall sensors...

Page 175: ...0 On board 390 Ω for NY4140 On board 400 Ω for NY4125 Input frequency QuadA QuadB and Index not guaranteed with open collector output Max 10 MHz incremental pulse count up to 40 MHz Pulse width Index pulse not guaranteed with open collector output Tindex 25 ns Phase alarm Yes if quadrature phase difference Tph 16 ns within one sample Cable break alarm Yes but only when differential signals are off...

Page 176: ...or QuadA QuadB and or QuadB Position error Short circuit between differential inputs QuadA and QuadA QuadB and QuadB Index and Index Cable break error Tab 13 7 Cable break and short circuit detection conditions Notes NYCe 4000 supports quadrature encoders with and without index If you connect a Quadrature without index encoder you must connect the Index or Index input of that axis on the drive mod...

Page 177: ...cable break detection Tskew 2500 ns input inputN Fig 13 7 Timing requirements of the encoder signals QuadA QuadB and In dex Encoder inputs assignment Backplane pin Description Remark Enc QuadA Enc QuadA QuadA signal for axis 1 Enc QuadB Enc QuadB QuadB signal for axis 1 Enc Index Enc Index Index signal for axis 2 Enc5V Power supply for axis 1 EncVref Common reference signal EncGND Common ground si...

Page 178: ...you must switch on the encoder power reset and home the axis 2 Connect the NYCe 4000 a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 3 EncGND is connected to the internal system ground which is ground MCU drive logic analog I O and host PC if the MCU is NY4110 and an IEEE 1394b cable is used For proper use this ground may not be connect...

Page 179: ...sensor The analog inputs of the drive can be configured for connection of an analog position sensor Characteristic Description Number of analog inputs 2 NY4120 NY4130 1 NY4140 Type Differential no galvanic insulation Range user selectable 4 20 mA not available on NY4130 10 V differential 10 V single ended Input impedance 10 kΩ 1 nF Resolution 12 bit monotonic NY4120 NY4140 16 bit monotonic NY4130 ...

Page 180: ...the equipment on the application side is metal connect the shield to the equipment housing 3 Connect the NYCe 4000 a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 4 AnGND is connected to the internal system ground which is ground MCU drive logic encoder ground and host PC if the MCU is NY4110 and an IEEE 1394b cable is used For proper u...

Page 181: ... shows how to connect the analog inputs AnInC AnGND AnIn AnIn Node Appplication AnInC AnGND Application ground AnIn AnIn Node Appplication AnInC AnGND AnIn AnIn Node Appplication 4 20 mA See Note5 10 Volt Differential 10 Volt Single ended Fig 13 11 How to connect the analog inputs 13 7 Rexroth MSM incremental encoder Power supply Characteristic Specification Main power supply 5 25 V 0 1 V Switch o...

Page 182: ...lated No Encoder signal interface RS422 differential Line termination On board 120 Ω in series with 680 pF on NY4120 and NY4140 On board 400 Ω on NY4125 Input frequency Max 2 5 MHz not guaranteed with open collector output Pull up resistors for open collector driver 2k2 on board on NY4120 NY4140 Not included on NY4125 If necessary add externally Cable break alarm By software protocol errors Miscel...

Page 183: ...e software behavior is as follows A power loss error is generated on the axis The axis will go to the error state and be set not homed To recover from this situation you must switch on the encoder power reset and home the axis 3 EncGND is connected to the internal system ground which is ground MCU drive logic analog I O and host PC if the MCU is NY4110 and an IEEE 1394b cable is used For proper us...

Page 184: ...V Switch on off capability Yes switch on off by software NY4120 switch on off per drive NY4125 NY4140 switch on off per axis Battery 3 6 V Battery enables holding data in multi turn operation multi turn operation when power supply fails Tab 13 15 Power supply characteristics Encoder data The absolute encoder type M0 M5 and M6 can be used as single turn encoder without further accessories The absol...

Page 185: ... will report the error Encoder Battery Warning or MSM system down depending on the selected error handler The encoder can be powered using an external battery or the NYCe 4000 encoder power supply It depends on how long the external battery is disconnected and the severity level of the selected error handler whether the error message Encoder Battery Warning or MSM System Down is generated Dependin...

Page 186: ...tion precision Encoder interface to drive controller serial baud rate 2 5 MBaud Tab 13 18 Data for single turn signals data based on a temperature of 25 C Multi turn signals Value Note Resolution 1 C T C T counter value per turn Counter for multi turn Type M0 15 bit 16384 to 16383 Type M5 12 bit 2048 to 2047 Type M6 8 bit 256 to 255 only supported in 50V12 or higher Maximum rotational speed in nor...

Page 187: ...o Galvanic insulated No Encoder signal interface RS422 differential Line termination On board 120 Ω in series with 680 pF on NY4120 and NY4140 On board 400 Ω on NY4125 Input frequency Max 2 5 MHz Cable break alarm By software protocol errors Pull up resistors for open collector driver 2k2 on board on NY4120 and NY4140 Not included on NY4125 If necessary add externally Miscellaneous items Markers c...

Page 188: ...coder power reset and home the axis 3 EncGND is connected to the internal system ground which is ground MCU drive logic analog I O and host PC if the MCU is NY4110 and an IEEE 1394b cable is used For proper use this ground may not be connected to motor or digital I O ground Encoder connection Encoder type M0 For connection of Rexroth MSM encoder type M0 to the NYCe 4000 use encoder cable RKG0040 o...

Page 189: ...0064 connects the Battery and Battery pins of the encoder to Enc5V and EncGND pins of the NYCe 4000 encoder power supply source Fig 13 18 MSM encoder type M5 cable layout Fig 13 19 MSM encoder type M5 cable pinout Encoder type M6 Symbol Remarks NYCe 4000 connection SH FG FG wire and shielding wire are connected by the encoder side Encoder GND E0V main power supply EncGND E5V main power supply Enc5...

Page 190: ...solute position even when system power is switched off Enc5V the encoder works properly but when system power is switched off the absolute position is lost Follow these cabling instructions Always use a shielded cable The shielding on the NYCe 4000 side of the cable must be connected to Shield house connector If the equipment on the application side is metal connect the shield to the equipment hou...

Page 191: ...nding on the selected error handler The encoder can be powered using an external battery or the NYCe 4000 encoder power supply An external battery SUP E01 MSM BATTERYBOX order number R911324240 can be connected to the battery power supply pins of the encoder The encoder cable RKG0040 connects the Battery and Battery pins of the encoder to Enc5V and EncGND pins of the NYCe 4000 encoder power supply...

Page 192: ... acceleration in power off mode 100000 rad s2 Output format binary Increasing direction counterclockwise As viewed from the encoder shaft end Tab 13 25 Data for multi turn signals data based on a temperature of 25 C Encoder inputs characteristics Characteristic Description Number of encoder inputs 2 NY4120 1 NY4140 5 NY4125 NY4199 SinCos Option module required No Galvanic insulated No Encoder sign...

Page 193: ...nc 200 W See Note 3 NY4125 100pF 5V25 DGND Node SN65HVD485 A B See Note 2 See Note 1 Fig 13 20 Input circuit for the Sanyo Denki absolute encoder Notes 1 Connect the NYCe 4000 a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact 2 When switching off the power of the encoder the software behavior is as follows A power loss error is generated ...

Page 194: ...BK BN BE PK PE Shield Fig 13 22 Sanyo Denki absolute encoder cable pinout For proper use you can choose between two voltage sources to connect to Battery Battery 3 6 V battery the encoder always returns an absolute position even when system power is switched off Enc5V the encoder works properly but when system power is switched off the absolute position is lost Follow these cabling instructions Al...

Page 195: ...Dat2 2 encoder Encoder inputs characteristics Characteristic Description Number of encoder inputs 2 NY4120 NY4130 1 NY4140 5 NY4125 NY4199 SinCos Option module required No Galvanic insulated No Encoder signal interface RS422 differential Line termination On board 120 Ω in series with 680 pF on NY4120 NY4130 and NY4140 On board 400 Ω on NY4125 Input frequency Max 4 MHz Pull up resistors for open co...

Page 196: ...5 Enc5V Power supply for axis 0 1 2 3 4 NY4125 EncGND GND Tab 13 31 Encoder inputs assignment See Note 1 SN65HVD485 120 W 680pF DGND 330pF 330pF A B EncGND Dig5VIn See Note 3 MAX1562 ON Enc5V See Note 2 5V25 Dig5VIn NY4120 NY4130 NY4140 5V25 Node 200 W Enc MAX1564 ON Enc5V EncGND Enc 200 W See Note 3 NY4125 100pF 5V25 DGND Node SN65HVD485 A B See Note 2 See Note 1 not on NY4130 2k2 Fig 13 23 Input...

Page 197: ...NY4199 SinCos Option module for SinCos based encoders on page 200 for detailed information Power supply Characteristic Specification Main power supply 5 25 V 0 1 V Switch off capability Yes switch on off by software see note 4 NY4120 switch on off per drive NY4125 NY4130 NY4140 switch on off per axis Tab 13 32 Power supply characteristics Encoder inputs characteristics Characteristic Description N...

Page 198: ...Enc5V0 Power supply for axis0 Dig5VIn1a Dig5VIn1a Sine and Sine for axis1 Dig5VIn1b Dig5VIn1b Cosine and Cosine for axis1 Dig5VIn1c Dig5VIn1c Ref and Ref for axis1 Enc5V1 Power supply for axis1 EncGND GND Tab 13 34 Encoder inputs assignment NYCe 4000 Multi axis motion control system Hardware Sys tem Manual 189 233 Encoders R911337671_Edition 18 Bosch Rexroth AG ...

Page 199: ... Opt_0 10 Ohm 1 nF 10 Ohm 2V5 4K99 4K99 20K 20K 120 Ohm 220 pF 220 pF Opt_1 EncGND Opt_1 10 Ohm 1 nF 10 Ohm 2V5 4K99 4K99 20K 20K EncGND Sin Cos Ref See Note 4 See Note 5 See Note 3 Fig 13 24 SinCos encoder input circuit for axis0 190 233 Encoders NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 200: ... in tab 13 34 Encoder inputs assignment on page 189 These names are respected also for the signals that are connected with the NY4199 SinCos Option module 2 The drive module NY4140 supports only one encoder This still holds while applying an NY4199 SinCos Option module The remaining I O are available for other functionality 3 Connect the NYCe 4000 a power supply or other equipment on a metal frame...

Page 201: ...n off capability Yes switch on off per axis see note 5 NY4120 switch on off per drive NY4130 NY4140 switch on off per axis Tab 13 35 Power supply characteristics Rexroth MSK motors with EnDat2 1 encoders require an external power supply in the range of 7 to 12V DC Encoder data Value Note Type SinCos Output format Analog signals Increasing direction Clockwise As viewed from the encoder shaft end Ta...

Page 202: ... axis0 Opt_1 Opt_1 Cosine and Cosine for axis0 Dig5VIn0a Dig5VIn0a Clock and Clock for axis0 Dig5VIn0c Dig5VIn0c Data and Data for axis0 Enc5V0 Power supply for axis0 Dig5VIn1a Dig5VIn1a Sine and Sine for axis1 Dig5VIn1b Dig5VIn1b Cosine and Cosine for axis1 Dig5VIn0b Dig5VIn0b Clock and Clock for axis1 Dig5VIn1c Dig5VIn1c Data and Data for axis1 Enc5V1 Power supply for axis1 EncGND GND Tab 13 39 ...

Page 203: ...ON Enc5V0 Dig5VIn0a Dig5VIn0a Clock axis 0 Clock axis 0 120 Ohm 220 pF 220 pF Opt_0 EncGND Opt_0 10 Ohm 1 nF 10 Ohm 2V5 4K99 4K99 20K 20K Sin Cos See Note 4 See Note 5 See Note 6 See Note 3 Fig 13 26 EnDat2 1 encoder input circuit for axis0 194 233 Encoders NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 204: ... page 193 These names are respected also for the signals that are connected with the NY4199 SinCos Option module 2 The drive module NY4140 supports only one encoder This still holds while applying an NY4199 SinCos Option module The remaining I O are available for other functionality 3 Since digital and analog signals are combined for the EnDat2 1 encoder special attention must be given to the risk...

Page 205: ...cations a supply of 8V is sufficient The 8V is created on the NY4199 SinCos Option module The power supply can be turned on and off by the software The 8 V power supply can be turned on and off by software This functionality should be handled carefully because the same pin of the appropriate output is used as input for other type of encoders Inaccurate use can damage the encoder hardware Power sup...

Page 206: ...130 1 NY4140 NY4199 SinCos Option module required Yes Tab 13 43 Encoder inputs characteristics Encoder inputs assignment Backplane pin Description Opt_0 Opt_0 Sine and Sine for axis0 Opt_1 Opt_1 Cosine and Cosine for axis0 Dig5VIn0c Dig5VIn0c Data and Data for axis0 Opt_2 8V power supply for axis0 Dig5VIn1a Dig5VIn1a Sine and Sine for axis1 Dig5VIn1b Dig5VIn1b Cosine and Cosine for axis1 Dig5VIn0b...

Page 207: ...8V Dig5VIn0c Dig5VIn0c Data axis 0 Data axis 0 120 Ohm 220 pF 220 pF EncGND 10 Ohm 1 nF 10 Ohm 2V5 4K99 4K99 20K 20K Opt_0 Opt_0 Sin Cos EncGND See Note 4 See Note 5 See Note 7 Fig 13 28 Hiperface encoder input circuit for axis0 198 233 Encoders NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 208: ...e pins on the I O connector at the back of the drive module have already a meaning as shown in tab 13 44 Encoder inputs assignment on page 197 These names are respected also for the signals that are connected with the NY4199 SinCos Option module 3 The drive module NY4140 supports only one encoder This still holds while applying an NY4199 SinCos Option module The remaining I O s are available for o...

Page 209: ...50 ordering code is NYM04 1 ESC NNNN NY4199 Fig 13 30 SinCos Option module NY4199 Main features of the NY4199 SinCos Option module are the following Installed directly on the drive module Power consumption approximately 1 25 W at 24 V system power supply voltage power supply required for connected encoders not included Via the connectors the NY4199 SinCos Option module has three differential signa...

Page 210: ... 400 kHz Low resolution Count frequency Max 1 6 MHz Pulse width Index pulse Tindex 250 ns ADC resolution Max 12 bits Tab 13 45 General characteristics of the SinCos encoder inputs SinCos encoders generate three signals a sine cosine and reference signal Connections for SinCos encoders are fixed The different SinCos based encoders and appropriate signals are discussed in the chapter 13 11 SinCos en...

Page 211: ...tus 3 Date of manufacture yyWww 4 Material number 5 Serial number 6 2D bar code Tab 13 46 Explanation of the fields of the NY4199 identification label 13 14 3 Module dimensions Fig 13 33 NY4199 module dimensions 202 233 Encoders NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 212: ...tic discharges F E D C B A Fig 13 34 NY4199 SinCos Option module installation 1 Wear a wrist strap to prevent damage to the boards caused by ESD Make sure that you observe all ESD safety precautions 2 Put the screw Ⓐ through the hole of the drive module Ⓓ 3 Put the distance bushing Ⓒ on the screw Ⓐ 4 Install the NY4199 SinCos Option module Ⓑ with the screw and distance bushing on the drive module ...

Page 213: ...204 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 214: ... point on page 206 Only one IEEE 1394b connection is connected to the host PC This assures that the MCU modules in the nodes only operate as a repeater in the IEEE 1394b network if applicable Node 1 Node 2 Node3 Node5 and Node7 operate as repeaters on the IEEE 1394b network The maximum number of devices connected to the IEEE 1394b network is limited to 63 This count includes the PC so you can have...

Page 215: ...ter 14 3 IEEE 802 3 multi node configuration NY4112 MCU 14 3 1 Introduction If the motion control system consists of one node you can use a direct cable connection between the PC and the node If the motion control system consists of more nodes the following methods of connection are available 1 The nodes are daisy chain connected The PC connects to the first node that node connects to the followin...

Page 216: ...nect in this topology for an LMS is limited to 24 nodes fig 14 2 Direct cable connection between PC and NY4112 node s on page 207 shows a daisy chained network using NY4112 MCUs Other configurations are not possible with the NY4112 MCU because this MCU has only 2 ethernet ports 14 3 3 Connection between PC and NY4112 based node using a switch 1 2 3 1 2 Standard ethernet connection Ethernet connect...

Page 217: ... 14 4 IEEE 802 3 multi node configuration NY4114 MCU 14 4 1 Introduction If the motion control system consists of one node you can use a direct cable connection between the PC and the node If the motion control system consists of more nodes the following methods of connection are available 1 The nodes are connected using a binary tree topology The binary tree topology minimizes the depth of the ne...

Page 218: ...chain connected The number of NYCe 4000 nodes you can connect in this topology for an LMS is limited to 24 nodes fig 14 4 Direct cable connection between PC and NY4114 node s on page 209 shows a daisy chained network using NY4114 MCUs The NY4114 MCU has 3 ethernet ports and therefore also supports a binairy tree topology 14 4 3 Connection between PC and NY4114 based node using a switch 1 2 3 2 3 S...

Page 219: ...h 1 2 3 2 3 NODE 3 1 1 1 1 1 1 1 1 Fig 14 6 Connection between PC and NY4114 based nodes using a switch method 2 Other devices with ethernet connection can be connected to the NYCe 4000 ethernet network but the following restrictions apply These ethernet connected devices must be installed outside the IEEE 1588 aware NYCe 4000 segment that is after the last node These ethernet connected devices mu...

Page 220: ...system housing you can communicate with it F drive module NY41xy where xy 20 25 30 40 50 These components are not units because they cannot be used stand alone If only a drive module is put in a system housing you cannot do any useful work with it Drive module can also be I O module power supply module or SERCOS III Master module G header For clear identification the connector at the end of a cabl...

Page 221: ...troller Drive module Module containing the drive technology for stepper motor and or brushless AC servo motor and or brushless DC servo motor and or DC servo motor and analog and digital I O A module can control one or more axes Drive power Incoming supply voltage for the power stages on the drive modules System power Incoming supply voltage for the logic of NYCe 4000 node I O power Digital I O su...

Page 222: ...YCe 4000 node the wiring inductance dramatically reduces the effectiveness of this capacitance In EVERY heavy application it is the customer s responsibility to ensure that an adequate drive power filter capacitance is installed on or immediately next to the I O backplane of a NYCe 4000 node Neglecting to do so may result in unstable behavior of the NY412x NY4140 and possibly even in permanent dam...

Page 223: ...gher than the allowed drive power supply voltage 16 1 2 Filtering on NY40x3 NY4074 and NY40x2 system housings For the NY40x2 NY40x3 and NY4074 standard system housings the capacitor if needed is installed on the housing with a clamp and connected to its filter capacitor connector CAPx Ripple current all axes of a drive module Capacitor for NY4120 NY4125 Capacitor for NY4140 1 A rms No external cap...

Page 224: ... A rms Panasonic electrolytic capacitor of 1000 µF Type number ECOS2DA102EA TS HA series 35 mm x 35 mm 200 VDC working 250 VDC Surge 3 A full power Panasonic electrolytic capacitor of 1500 µF Type number ECOS2DA152EA TS HA series 35 mm x 50 mm 200 VDC working 250 VDC Surge Tab 16 3 Advised capacitors for NY4140 NY4010 4040 4050 housing 16 2 Motor Chokes The measurement of the motor current in the ...

Page 225: ...y will be regenerated when the motor is decelerated When using a large enough electrical network this energy can be reused In other cases some of the energy must be absorbed by an external system Principle A regenerative braking module converts excessive electrical energy into thermal energy heat This will prevent the energy from staying within the network Energy staying within the network can cau...

Page 226: ...C 60068 2 64 2008 17 3 Electromagnetic Compatibility Emission Standard IEC 61000 6 4 2018 is met Electromagnetic compatibility EMC Part 6 4 Generic standards Emission standard for industrial environments Immunity Standard IEC 61000 6 2 2005 is met Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity for industrial environments Electrostatic discharge EN 61000 4 2 2008 Radiated RF ...

Page 227: ...nts higher than 2 A rms and or the environmental temperature is higher than 35 C in a full system configuration When five NY4120 drive modules are used in the NY4053 system housing you can build the maximum configuration with 10 axes fig 17 1 Max motor current for 10 axes 5 NY4120 drive modules and all digital outputs at 1 A load with 3 fans airflow 11 3 m3 hr installed vs environmental temperatur...

Page 228: ...drive modules and all digital outputs at 1A load vs environmental temperature As shown in fig 17 3 Maximum motor current for 10 axes 5 NY4120 drive modules and digital outputs not used vs environmental temperature on page 219 when the digital outputs are not used the absolute maximum environmental temperature increases to 45 C 70 20 30 40 10 0 50 60 Environmental temperature C Motor current A rms ...

Page 229: ...d or the environmental temperature is higher than 25 C in a full system configuration When an NY4125 drive module is used in the NY4063 system housing you can connect 5 axes fig 17 5 Max motor current for 5 axes and all digital outputs at 1 A load with 3 fans airflow 11 3 m3 hr installed vs environmental temperature on page 221 shows the situation when all 5 motors ask continuously the same motor ...

Page 230: ...A continuously the following conditions apply See line Ⓐ The maximum motor current is 2 0 A rms for all axes at an environmental temperature up to 20 C The absolute maximum environmental temperature is 43 C motor current is 0 If the PWM frequency is 32 kHz and all digital outputs drive a load of 1 A continuously the following conditions apply See line Ⓑ The maximum motor current is 2 0 A rms for a...

Page 231: ... following conditions for the environmental temperature 70 20 30 40 10 0 50 60 Environmental temperature C Load Watt 5 10 15 20 0 25 30 Fig 17 7 Max load by 10 axes 5 NY4130 drive modules control frequency 32 kHz and all digital outputs at 1 A load with 3 fans airflow 11 3 m3 hr installed vs environmental temperature 17 5 7 Convection cooled systems NY4130 When five NY4130 drive modules are used i...

Page 232: ...sly the same motor current PWM frequency is 32 kHz and all 10 digital outputs drive a load of 1 A continuously Under these conditions the maximum motor current is 7 A rms at an environmental temperature of up to 55 C 70 20 30 40 10 0 50 60 Environmental temperature C Motor current A rms 2 4 6 8 0 Fig 17 9 Max motor current for 5 axes 5 NY4140 drive modules PWM fre quency 32 kHz and all digital out...

Page 233: ...nmental temperature C Motor current A rms 2 4 6 8 0 PWM frequency 32 kHz PWM frequency 16 kHz Fig 17 10 Maximum motor current for 5 axes 5 NY4140 drive modules and all digital outputs at 1A load vs environmental temperature As shown in fig 17 11 Max motor current for 5 axes 5 NY4140 drive modules PWM frequency 16 kHz and digital outputs not used vs environmental temperature on page 225 when the di...

Page 234: ... Fig 17 11 Max motor current for 5 axes 5 NY4140 drive modules PWM fre quency 16 kHz and digital outputs not used vs environmental temperature NYCe 4000 Multi axis motion control system Hardware Sys tem Manual 225 233 Environmental Conditions R911337671_Edition 18 Bosch Rexroth AG ...

Page 235: ...226 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 236: ...n component Please send the products free domicile to the following address Bosch Rexroth AG Bgm Dr Nebel Str 2 97816 Lohr a Main Germany Packaging Materials The packaging materials consist of cardboard wood and polystyrene They can be easily recycled For ecological reasons you should not return the empty packages to us 18 3 Environmental Protection No Release of Hazardous Substances Our products ...

Page 237: ...s necessary to disassemble the products into individual modules The metals contained in the electric and electronic modules can also be recycled by means of specific separation processes The synthetic materials remaining after these processes can be thermally recycled 228 233 Cleaning Disposal and Environmental Protection NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rex...

Page 238: ...0 50 60 Please check the internet company addresses for hotline call numbers outside Germany 19 3 Internet At www boschrexroth com you may find additional notes about service repairs and training in the Internet as well as the actual addresses of our sales and service facilities 19 4 Before contacting us For quick and efficient help please have the following information ready 1 Detailed descriptio...

Page 239: ...230 233 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 240: ... of conformity modules Fig 20 1 EU declaration of conformity page 1 NYCe 4000 Multi axis motion control system Hardware Sys tem Manual 231 233 Appendix EU declaration of conformity modules R911337671_Edition 18 Bosch Rexroth AG ...

Page 241: ...ig 20 2 EU declaration of conformity page 2 232 233 Appendix EU declaration of conformity modules NYCe 4000 Multi axis motion control system Hardware Sys tem Manual Bosch Rexroth AG R911337671_Edition 18 ...

Page 242: ...Notes NYCe 4000 Multi axis motion control system Hardware Sys tem Manual 233 233 ...

Page 243: ...th AG P O Box 13 57 97803 Lohr a Main Germany Bgm Dr Nebel Str 2 97816 Lohr a Main Germany Phone 49 9352 18 0 Fax 49 9352 18 8400 www boschrexroth com electrics R911337671 R911337671 DOK NY4000 HW SYSTEM PR18 EN E ...

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