Bosch Rexroth IndraDrive CDB02 Project Planning Manual Download Page 8

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Bosch Rexroth AG

DOK-INDRV*-CXX02******-PR03-EN-P

VI/143

IndraDrive Control Sections CSB02, CSE02, CSH02, CDB02

Courtesy

CMA/Flodyne/Hydradyne

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Motion

Control

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Hydraulic

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Pneumatic

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Electrical

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Mechanical

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(800)

426-5480

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www.cmafh.com

Summary of Contents for Rexroth IndraDrive CDB02

Page 1: ...mpany IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Edition 03 Project Planning Manual R911338962 Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 2: ...h Rexroth AG It may not be re produced or given to third parties without its consent 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 docu mentation and the availability of the product Title Type of Documenta...

Page 3: ... on to others 16 3 2 2 Requirements for safe use 16 3 2 3 Hazards by improper use 17 3 3 Instructions with regard to specific dangers 18 3 3 1 Protection against contact with electrical parts and housings 18 3 3 2 Protective extra low voltage as protection against electric shock 19 3 3 3 Protection against dangerous movements 20 3 3 4 Protection against electromagnetic and magnetic fields during o...

Page 4: ...iew with connection points 46 6 On board connection points 47 6 1 CSB02 interface equipment 47 6 2 X4 Motor Encoder Connection 48 6 3 X4 1 X4 2 Motor Encoder Connection 49 6 4 X24 P2 X25 P1 communication 50 6 5 X26 Engineering interface 52 6 6 X31 single axis digital inputs digital output 53 6 7 X31 double axis digital inputs digital output 54 6 8 X32 single axis analog input 55 6 9 X32 double axi...

Page 5: ...tems 79 8 1 2 Encoder type 79 IndraDyn S MSM motors 5V supply voltage 79 IndraDyn S MSK QSK motors S1 M1 S2 M2 S3 M3 S5 M5 12 V supply voltage 80 HIPERFACE 12 V supply voltage 81 EnDat 2 1 according to Heidenhain standard 5 V supply voltage 82 1Vpp according to Heidenhain standard 5 V supply voltage 83 1Vpp 12 V supply voltage 84 TTL 5 V supply voltage 85 TTL 12 V supply voltage 86 SSI 5 V supply ...

Page 6: ...l inputs type B probe 116 Digital inputs safety technology L options 117 Digital Inputs Safety Technology S Options 118 8 7 3 Digital Outputs 119 Digital Outputs Standard 119 Digital Outputs Safety Technology L Options 120 Digital Outputs Safety Technology S Options 121 8 8 Analog Voltage Input 123 8 9 Analog Current Input 124 8 10 Analog Output 125 8 11 Relay Contacts 126 8 11 1 Relay Contact Typ...

Page 7: ...9 3 2 Analog output 130 10 Accessories 131 11 Environmental protection and disposal 133 11 1 Environmental protection 133 11 2 Disposal 133 12 Service and support 135 Index 137 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG V 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Table of Contents Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 ...

Page 8: ...roth AG DOK INDRV CXX02 PR03 EN P VI 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 9: ...Removed Safe Stop 1 S0 safety technology Changed name of S5 option Safe Motion instead of Safe Motion Enhanced Technical data func tions Multi Ethernet Updated LED displays Technical data other Added shield connection for analog inputs outputs Accessories Added HAT02 Tab 1 1 Changes DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 7 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Introduction Co...

Page 10: ...mber R911 A Asynchronous Motors MAD MAF Project Planning Manual MAD MAF PRxx EN P 295781 H Synchronous Kit Spindle Motors Project Planning Manual MBS H PRxx EN P 297895 L Synchronous Linear Motors Project Planning Manual MLF PRxx EN P 293635 S Synchronous Motors MSK Project Planning Manual MSK PRxx EN P 296289 T Synchronous Torque Motors Project Planning Manual MBT PRxx EN P 298798 1 In the docume...

Page 11: ... as of MPx 18 Application Manual SI3 SMO VRS APxx EN P 338920 Rexroth IndraMotion MLD Libraries as of MPx 18 Reference Book MLD SYSLIB3 RExx EN P 338916 Rexroth IndraMotion MLD As of MPx 18 Application Manual MLD3 VRS APxx EN P 338914 1 In the document typecodes xx is a wild card for the current edition of the documentation example RE02 is the second ed ition of a Reference Book Tab 1 5 Documentat...

Page 12: ...or your feedback Please send your remarks to Address for your feedback Bosch Rexroth AG Dept DC IA EDY1 Buergermeister Dr Nebel Str 2 97816 Lohr Germany E mail dokusupport boschrexroth de Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 10 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Introduction Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 42...

Page 13: ... ordered separately The re spective firmware package has to be simultaneously ordered for control sec tions 1 2 3 Mounting and Dismounting the Control Section General Information In case the control section is delivered separately observe the following in structions Training Risk of damage to the control section by im proper handling NOTICE Only such persons trained by Rexroth for mounting and dis...

Page 14: ...em on a conductive support Control sections may only be stored or dispatched in conductive packaging Limited Number of Plug In Actions Risk of damage to the control section or pow er section by mounting and dismounting the control section too often NOTICE For a drive controller the control section must not be mounted and dismoun ted more than a maximum of 20 times Bosch Rexroth AG DOK INDRV CXX02 ...

Page 15: ...e permitted It is not permitted to decompile software products or alter source codes Damaged or faulty products may not be installed or put into operation Make sure that the products have been installed in the manner descri bed in the relevant documentation 2 1 2 Areas of use and application Drive controllers made by Rexroth are designed to control electrical motors and monitor their operation Con...

Page 16: ...cludes for example operation under water under extreme temperature fluctuations or extremely high maximum temperatures Furthermore Drive controllers may not be used in applications which have not been expressly authorized by Rexroth Please carefully follow the specifications outlined in the general Safety Instructions Components of the Rexroth IndraDrive system are products of category C3 with lim...

Page 17: ...ral devices or systems interconnected for a defined purpose and on a defined site which however are not intended to be placed on the market as a single functional unit Machine A machine is the 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 fo...

Page 18: ...njury electric shock or even death 3 2 2 Requirements for safe use Read the following instructions before initial commissioning of the compo nents of the electric drive and control system in order to eliminate the risk of injury and or property damage You must follow these safety instructions Rexroth is not liable for damages resulting from failure to observe the safety instructions Read the opera...

Page 19: ... accordance with EMC requirements can be found in the section on EMC in the respective application docu mentation The machine or installation manufacturer is responsible for compliance with the limit values as prescribed in the national regulations The technical data connection and installation conditions of the compo nents are specified in the respective application documentations and must be fol...

Page 20: ... components in accordance with the connection diagram Even for brief measurements or tests operation is only allowed if the equipment grounding conductor has been permanently connected to the points of the components provided for this purpose Before accessing electrical parts with voltage potentials higher than 50 V you must disconnect electric components from the mains or from the power supply un...

Page 21: ...g conductor Leakage current 3 5 mA 1 equipment grounding conductor 2 equipment grounding conductors 1 5 mm2 16 AWG 10 mm2 8 AWG 2 1 5 mm2 16 AWG 2 5 mm2 14 AWG 2 2 5 mm2 14 AWG 4 mm2 12 AWG 2 4 mm2 12 AWG 6 mm2 10 AWG 2 6 mm2 10 AWG 10 mm2 8 AWG 16 mm2 6 AWG 16 mm2 6 AWG 25 mm2 4 AWG 35 mm2 2 AWG 50 mm2 1 0 AWG 25 mm2 4 AWG 70 mm2 2 0 AWG 35 mm2 2 AWG Tab 3 1 Minimum cross section of the equipment...

Page 22: ...ds upon the type of control and the state of opera tion Dangerous movements Danger to life risk of injury serious injury or property damage A risk assessment must be prepared for the installation or machine with its specific conditions in which the components of the electric drive and control system are installed As a result of the risk assessment the user must provide for monitoring func tions an...

Page 23: ...h fre quency remote control and radio equipment in its possible positions of normal use It might possibly be necessary to perform a special electro magnetic compatibility EMC test 3 3 4 Protection against electromagnetic and magnetic fields during opera tion and mounting Electromagnetic and magnetic fields Hazards for persons with active medical implants or passive metallic im plants as well as fo...

Page 24: ... the machine or in stallation guards shieldings or barriers or safety instructions in the ap plication documentation 3 3 6 Protection during handling and mounting Risk of injury by improper handling Injury by crushing shearing cutting hit ting Observe the relevant statutory regulations of accident prevention Use suitable equipment for mounting and transport Avoid jamming and crushing by appropriat...

Page 25: ...dling of the connected supply systems supply lines or connections can cause injuries or property damage Risk of injury by improper handling of pressurized lines Do not attempt to disconnect open or cut pressurized lines risk of ex plosion Observe the respective manufacturer s operating instructions Before dismounting lines relieve pressure and empty medium Use suitable protective equipment safety ...

Page 26: ...used to alert the reader to personal injury hazards DANGER In case of non compliance with this safety instruction death or serious injury will occur WARNING In case of non compliance with this safety instruction death or serious injury could occur CAUTION In case of non compliance with this safety instruction minor or moderate in jury could occur NOTICE In case of non compliance with this safety i...

Page 27: ...Plates at the Drive Controller 1 Power section 2 Control section 3 Firmware 4 Control panel Fig 4 1 Type Plates at the Drive Controller DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 25 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Identifying the Control Section Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 28: ...rmware Type Plate 1 Bar code 2 Type 3 Factory identifier 4 Production week example 13W38 means year 2013 week 38 5 Material number Fig 4 3 Firmware Type Plate Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 26 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Identifying the Control Section Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www...

Page 29: ...2013 week 38 6 Material number 7 Serial number Fig 4 4 Control Panel Type Plate DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 27 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Identifying the Control Section Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 30: ...roth AG DOK INDRV CXX02 PR03 EN P 28 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 31: ...wer sec tions All power sections manufactured since 2007 can use the control sections See power section type plate FD must be at the least 07W01 Supported power sections Power section Control section HCS02 CSB02 1 CSE02 1 CSH02 1 HCS03 HCS04 HMS01 HMS02 HMU05 CSB02 5 CSH02 5 HMD01 CDB02 1 Tab 5 2 Assigned power sections 5 1 3 Firmware Supported firmware Control sections Firmware CSB02 1 CSH02 1 CD...

Page 32: ...ing 1 1 5 5 5 8 Analog inputs 10 V 1 1 1 3 2 1 3 2 1 3 2 2 Analog inputs 0 20 mA 2 0 2 2 0 2 2 0 2 Analog outputs 10 V 2 2 2 2 Cycle times1 µs Current control 125 62 5 125 62 5 125 62 5 62 5 62 5 125 Velocity control 500 125 250 125 250 125 125 125 250 Position control 1000 250 500 250 500 250 250 250 500 Communication 1000 2000 250 500 250 500 250 250 250 500 1 Cycle times depend on firmware vers...

Page 33: ... Motion S4 Safe Motion S5 Safe Motion Bus SB Digital analog inputs outputs DA Tab 5 5 Overview of control section options DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 31 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Rexroth IndraDrive control sections Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 34: ...front See documentation of power sections Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 32 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Rexroth IndraDrive control sections Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 35: ...y 1 NN Not equipped L3 STO Safe Torque Off Other design NN None Firmware FW Firmware must be ordered as a separate subposition 1 The L3 interface guarantees both the function and the certifica tion Tab 5 7 CSE02 type code The figure illustrates the basic structure of the type code Our sales representative will help you with the current status of availa ble versions DOK INDRV CXX02 PR03 EN P Bosch ...

Page 36: ...tage input 24V 0V Bb relay X49 0 75 1 5 20 14 Safety technology L3 H1 Interface for control panel Optional connection point the optional connection points are marked with gray background color in the exemplary figure Tab 5 8 CSE02 connection points Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 34 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Rexroth IndraDrive control sections Courtesy of C...

Page 37: ...erface 2 NN Not equipped PB PROFIBUS CN CANopen EC Multi encoder interface EM Encoder emulation Interface 3 safety technology 1 NN Not equipped L3 STO Safe Torque Off S4 Safe Motion 2 S5 Safe Motion 2 SB Safe Motion Bus 2 Interface 4 NN Not equipped EC Multi encoder interface 3 EM Encoder emulation 4 DA Digital analog I O extension 2 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 35 143 IndraDrive Con...

Page 38: ...ipment B 3 Only if interface equipment B and interface 2 PB or CN 4 Only if interface equipment B and interface 2 PB CN or EC Tab 5 9 CSB02 1 type code The figure illustrates the basic structure of the type code Our sales representative will help you with the current status of availa ble versions Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 36 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 ...

Page 39: ...safety technology 1 NN Not equipped L3 STO Safe Torque Off S4 Safe Motion S5 Safe Motion SB Safe Motion Bus Interface 4 NN Not equipped EC Multi encoder interface 2 EM Encoder emulation 3 DA Digital analog I O extension Other design NN None Firmware FW Firmware must be ordered as a separate subposition NW Without control panel without firmware 1 The L3 S4 S5 and SB interfaces guarantee both the fu...

Page 40: ... 1 0 75 1 5 20 14 Digital inputs outputs analog inputs current voltage analog outputs volt age X37 1 0 75 1 5 20 14 Digital inputs outputs X38 1 0 75 1 5 20 14 Analog inputs outputs X41 0 75 1 5 20 14 Safety technology S4 S5 SB With SB X41 X42 X43 not availa ble LEDs available X42 X43 X48 0 75 1 5 20 14 Safety technology Only available in conjunction with safety technology S4 S5 SB X49 0 75 1 5 20...

Page 41: ...erface Interface 3 NN Not equipped PB PROFIBUS EC Multi encoder interface EM Encoder emulation Interface 4 safety technology axis 1 1 NN Not equipped L3 STO Safe Torque Off S4 Safe Motion 2 S5 Safe Motion 2 SB Safe Motion Bus 2 Interface 5 safety technology axis 2 1 NN Not equipped 2 L3 STO Safe Torque Off 3 S4 Safe Motion 4 S5 Safe Motion 2 SB Safe Motion Bus 2 DOK INDRV CXX02 PR03 EN P Bosch Rex...

Page 42: ...nction and the certification 2 Only if interface 4 NN 3 Only if interface 4 L3 4 Only if interface 4 S4 6 Only if interface 4 SB 7 Only if interface 3 PB or EC 8 Only if interface 3 PB EC or EM Tab 5 12 CDB02 type code The figure illustrates the basic structure of the type code Our sales representative will help you with the current status of availa ble versions Bosch Rexroth AG DOK INDRV CXX02 PR...

Page 43: ...s X41 1 X41 2 0 75 1 5 20 14 Safety technology S4 S5 SB With SB X41 X42 X43 not availa ble LEDs available X42 1 X43 1 X42 2 X43 2 X48 1 X48 2 0 75 1 5 20 14 Safety technology Only available in conjunction with safety technology S4 S5 SB X49 1 X49 2 0 75 1 5 20 14 Safety technology L3 H1 Interface for control panel 1 Connection points of axis 1 have the extension 1 e g X4 1 connections of axis 2 ha...

Page 44: ...ace 2 NN Not equipped ET Multi Ethernet 1 PB PROFIBUS 1 CN CANopen 1 EC Multi encoder interface EM Encoder emulation Interface 3 safety technology 2 NN Not equipped L3 STO Safe Torque Off S4 Safe Motion S5 Safe Motion SB Safe Motion Bus Interface 4 NN Not equipped EC Multi encoder interface 3 EM Encoder emulation 3 DA Digital analog I O extension Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 42 143 I...

Page 45: ...antee both the function and the certification 3 Only if interface 2 ET PB CN or EC Tab 5 14 CSH02 1 type code The figure illustrates the basic structure of the type code Our sales representative will help you with the current status of availa ble versions DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 43 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Rexroth IndraDrive control sections Courte...

Page 46: ...ce 2 NN Not equipped ET Multi Ethernet 1 PB PROFIBUS 1 CN CANopen 1 EC Multi encoder interface EM Encoder emulation Interface 3 safety technology 2 NN Not equipped L3 STO Safe Torque Off S4 Safe Motion S5 Safe Motion SB Safe Motion Bus Interface 4 NN Not equipped EC Multi encoder interface 3 EM Encoder emulation 3 DA Digital analog I O extension Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 44 143 In...

Page 47: ...nd SB interfaces guarantee both the function and the certification 3 Only if interface 2 ET PB CN or EC Tab 5 15 CSH02 5 type code The figure illustrates the basic structure of the type code Our sales representative will help you with the current status of availa ble versions DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 45 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Rexroth IndraDrive co...

Page 48: ...ts current voltage analog outputs voltage X37 0 75 1 5 20 14 Digital inputs outputs X38 0 75 1 5 20 14 Analog inputs outputs X41 0 75 1 5 20 14 Safety technology S4 S5 SB With SB X41 X42 X43 not availa ble LEDs available X42 X43 X48 0 75 1 5 20 14 Safety technology Only available in conjunction with safety technology S4 S5 SB X49 0 75 1 5 20 14 Safety technology L3 X61 0 25 0 5 CANopen communicati...

Page 49: ...e type code A basic scope B extended scope CSB02 Interface equipment A B X4 X31 X32 X33 X35 Tab 6 1 Interface equipment DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 47 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 On board connection points Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 50: ... 1Vpp EnDat 2 1 EnDat 2 2 in preparation Sin cos encoder 1Vpp with reference track 5V TTL square wave encoder with reference track SSI Combined encoder for SSI combination of SSI and sin cos encoder 1Vpp Resolver resolvers are not supported if an optional Safe Motion safety technology is available at the same time Hall sensor box SHL02 1 Digital Hall sensor in conjunction with Hall sensor adapter ...

Page 51: ...itive B TTL Track B TTL positive 14 EncCLK Clock negative B TTL Track B TTL negative 15 Sense Return of reference potential Sense line VCC_Resolver Resolver supply Connector housing Overall shield Tab 6 3 Pin Assignment 6 3 X4 1 X4 2 Motor Encoder Connection Encoder Evaluation at Double Axis Control Sections X4 1 Axis 1 X4 2 Axis 2 Pin Assignment chapter 6 2 X4 Motor Encoder Connection on page 48 ...

Page 52: ...ollers can be integrated in different Ethernet field bus systems e g sercos III EtherCAT EtherNet IP or PROFINET IO Tab 6 4 X24 P2 X25 P1 communication Description The connection point complies with IEEE 802 3 standard CSx02 CDB02 Tab 6 5 Connection point P1 P2 P1 means Port 1 and P2 means Port 2 Thereby the error counter of the firmware can be directly assigned to a Port Connection sercos III Eth...

Page 53: ...r level control unit or remote communication nodes Minimum bending radius 48 75 mm if laid flexibly 32 50 mm if laid permanently Order code for a 30 m long cable RKB0011 030 0 RKB0013 Short cables to connect devices arranged side by side in the control cabi net 4 lengths available 0 19 m 0 25 m 0 35 m 0 55 m Order code for a 0 55 m long cable RKB0013 00 55 Minimum bending radius 30 75 mm Tab 6 6 F...

Page 54: ...ng cables 100 m at maximum to connect the drive system to the high er level control unit or remote communication nodes Minimum bending radius 48 75 mm if laid flexibly 32 50 mm if laid permanently Order code for a 30 m long cable RKB0011 030 0 RKB0013 Short cables to connect devices arranged side by side in the control cabi net 4 lengths available 0 19 m 0 25 m 0 35 m 0 55 m Order code for a 0 55 ...

Page 55: ...g terminal con nector Unit min max Connection cable Stranded wire mm2 0 2 1 5 AWG 24 16 Stripped length mm 10 Tab 6 8 Function pin assignment properties GND Reference X33 1 2 is the GND reference of the digital inputs and outputs Technical data chapter 8 7 2 Digital inputs on page 115 chapter 8 7 3 Digital Outputs on page 119 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 53 143 IndraDrive Control Sec...

Page 56: ..._2 Digital input output input type A Not assigned Spring terminal con nector Unit min max Connection cable Stranded wire mm2 0 2 1 5 AWG 24 16 Stripped length mm 10 Tab 6 9 Function pin assignment properties GND Reference X33 1 2 is the GND reference of the digital inputs and outputs Technical data chapter 8 7 2 Digital inputs on page 115 chapter 8 7 3 Digital Outputs on page 119 Bosch Rexroth AG ...

Page 57: ...se shielded cables for cable lengths 30 m Tab 6 10 Function pin assignment properties Shield connection chapter 9 3 Analog inputs outputs Shield connection on page 130 Technical data chapter 8 8 Analog Voltage Input on page 123 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 55 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 On board connection points Courtesy of CMA Flodyne Hydradyne Motion Co...

Page 58: ... length mm 10 Shielding Only use shielded cables for cable lengths 30 m Tab 6 11 Function pin assignment properties Shield connection chapter 9 3 Analog inputs outputs Shield connection on page 130 Technical data chapter 8 8 Analog Voltage Input on page 123 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 56 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 On board connection points Courtesy of C...

Page 59: ... nector Unit Min Max Connection cable Stranded wire mm2 0 2 1 5 AWG 24 16 Stripped length mm 10 10 Tab 6 12 Function Pin Assignment Properties Technical Data Bb relay chapter 8 11 1 Relay Contact Type 2 on page 126 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 57 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 On board connection points Courtesy of CMA Flodyne Hydradyne Motion Control Hydraul...

Page 60: ...13 Function pin assignment properties GND Reference X33 1 2 is the GND reference of the digital inputs and outputs Shield connection chapter 9 3 Analog inputs outputs Shield connection on page 130 Technical data chapter 8 7 2 Digital inputs on page 115 chapter 8 7 3 Digital Outputs on page 119 chapter 8 8 Analog Voltage Input on page 123 chapter 8 9 Analog Current Input on page 124 chapter 8 10 An...

Page 61: ...ength mm 10 Tab 6 14 Function pin assignment properties GND Reference X33 1 2 is the GND reference of the digital inputs and outputs Shield connection chapter 9 3 Analog inputs outputs Shield connection on page 130 Technical data chapter 8 7 2 Digital inputs on page 115 chapter 8 7 3 Digital Outputs on page 119 chapter 8 10 Analog Output on page 125 The connection point is only available at double...

Page 62: ...roth AG DOK INDRV CXX02 PR03 EN P 60 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 63: ... Applies to BASIC CSB02 1B BASIC CDB02 1B ADVANCED Option S5 supports All safety functions as does option S4 Two encoder evaluations Resolver encoder evaluation Safe Motion Bus SB No separate connection point Applies to BASIC CSB02 1B BASIC CDB02 1B ADVANCED The safety functions are implemented via the com munication Safe Torque Off L3 X49 Applies to ECONOMY BASIC ADVANCED Control panel Standard c...

Page 64: ...oder Connection on page 48 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 62 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Optional connection points Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 65: ... pin male Unit Min Max Connection cable Stranded wire mm2 0 25 0 5 Tab 7 2 Function Pin Assignment Properties Emulated Encoder Systems Incremental encoder Absolute encoder SSI encoder Incremental encoder with signal level converter DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 63 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Optional connection points Courtesy of CMA Flodyne Hydradyne Motio...

Page 66: ...itive SSI_Data RS422 Out SSI data positive 10 0 V 0 V Reference potential inner shield 11 ULA0 RS422 Out Reference track negative SSI_Data RS422 Out SSI data negative 12 UA1 RS422 Out Track A1 positive 13 UA1 RS422 Out Track A1 negative 14 UA2 RS422 Out Track A2 positive 15 UA2 RS422 Out Track A2 negative Connector housing Overall shield Tab 7 3 Pin Assignment Technical Data chapter 8 2 EM Encoder...

Page 67: ...r 6 4 X24 P2 X25 P1 communication on page 50 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 65 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Optional connection points Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 68: ...t Shield Connection Via D sub mounting screws and metallized connector housing Compatibility of the Interface According to DIN EN 50 170 Recommended Cable Type According to DIN EN 50 170 2 cable type A Bus Connectors The PROFIBUS connectors each have a connectable terminating resistor The terminating resistor must always be active at both the first and last bus node Carry out the connection as sho...

Page 69: ...change the cores for A and B Press cable sheath between both clamps Screw on both cores in screw terminals 1 Switch position for first slave and last slave in PROFIBUS DP 2 Cable shield must have direct contact to metal Fig 7 3 Bus Connection for First and Last Slave Bus Connector With 9 pin D Sub Female Connector INS0541 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 67 143 IndraDrive Control Section...

Page 70: ... 1 Terminating resistor is off 2 Cable shield must have direct contact to metal Fig 7 6 Bus Connection for all Other Slaves Without 9 pin D Sub Female Connector INS0540 Connect the drive controller to a control unit using a shielded two wire line in accordance with DIN 19245 Part 1 Signal Specification chapter 8 4 PB PROFIBUS on page 111 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 68 143 IndraDrive...

Page 71: ...8 Spring terminal con nector Unit Min Max Connection cable Stranded wire mm2 0 2 1 5 AWG 24 16 Stripped length mm 10 Tab 7 7 Function Pin Assignment Properties Technical Data chapter Digital Inputs Type A Standard on page 115 chapter Digital Outputs Standard on page 119 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 69 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Optional connection points ...

Page 72: ...Unit min max Connection cable Stranded wire mm2 0 2 1 5 AWG 24 16 Stripped length mm 10 Tab 7 8 Function pin assignment properties Shield connection chapter 9 3 Analog inputs outputs Shield connection on page 130 Technical data chapter 8 8 Analog Voltage Input on page 123 chapter 8 9 Analog Current Input on page 124 chapter 8 10 Analog Output on page 125 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P ...

Page 73: ...upply Available Overvoltage protection Available Tab 7 9 X41 Safe Motion safety technology Technical data chapter Digital Inputs Safety Technology S Options on page 118 chapter Digital Outputs Safety Technology S Options on page 121 7 9 X41 1 X41 2 Safe Motion safety technology Assignment X41 1 Axis 1 X41 2 Axis 2 Pin assignment chapter 7 8 X41 Safe Motion safety technology on page 71 DOK INDRV CX...

Page 74: ... radius 4xD 4x6 mm 24 mm Order code for a 0 55 m long cable RKB0051 00 55 RKB0052 Long cables to connect remote communication nodes also outside of the con trol cabinet Available lengths 1 m 2 m 5 m Minimum bending radius 8xD 8x6 mm 48 mm Order code for a 5 m long cable RKB0052 005 0 A flexible installation of the cable is not allowed Tab 7 10 X42 X43 7 11 X42 1 X42 2 X43 1 X43 2 Safe Motion safet...

Page 75: ...ed length mm 10 Tab 7 12 Mechanical data SBC safety technology additionally requires an external HAT02 control module 7 13 X48 1 X48 2 SBC safety technology Assignment X48 1 Axis 1 X48 2 Axis 2 Pin assignment chapter 7 12 X48 SBC safety technology on page 73 SBC safety technology additionally requires an external HAT02 control module DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 73 143 IndraDrive Con...

Page 76: ...When the dynamization outputs do not work check the power supply connection The polarity might possibly have been re versed Technical data chapter Digital inputs safety technology L options on page 117 chapter Digital Outputs Safety Technology L Options on page 120 7 15 X49 1 X49 2 optional safety technology Safe Torque Off Assignment X49 1 Axis 1 X49 2 Axis 2 Pin assignment chapter 7 14 X49 optio...

Page 77: ...3 CAN GND Reference potential of CAN signals 4 n c 5 Drain Shield Shield connection 6 GND Reference potential of device 7 CAN H Positive CAN signal Dominant High 8 n c 9 n c Tab 7 15 Signal Assignment Technical Data chapter 8 5 CN CANopen on page 112 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 75 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Optional connection points Courtesy of CMA Flod...

Page 78: ...trol panel with memory card slot N Standard control panel without memory card slot Memory size 018 18 MB example Other design NN None Firmware FW Firmware must be ordered as a separate subposition Tab 7 16 HAP01 type code Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 76 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Optional connection points Courtesy of CMA Flodyne Hydradyne Motion Control ...

Page 79: ...amming module The display shows operating states command and error diagnoses and pending warnings Using the four keys the commissioning engineer or service technician can have extended diagnoses displayed and trigger simple commands Memory 2 MB data flash memory 16 MB code flash memory 32 kB retain data FRAM memory DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 77 143 IndraDrive Control Sections CSB02...

Page 80: ...hed on so that it can be recognized not suited for hot plug can be used as programming module The display shows operating states command and error diagnoses and pending warnings Using the four keys the commissioning engineer or service technician can have extended diagnoses displayed and trigger simple commands Memory 400 kbytes for MLD boot program 492 bytes for MLD retain variables Bosch Rexroth...

Page 81: ...ox SHL03 1 8 1 2 Encoder type IndraDyn S MSM motors 5V supply voltage Properties Encoder systems of the MSM motors are digital encoder systems that can be evaluated in absolute form Connection diagram 1 Line cross section 0 5 mm observe allowed encoder cable length 2 Line cross section 0 14 mm Fig 8 1 EC connection diagram with encoder system of IndraDyn S MSM mo tors For direct connection to the ...

Page 82: ...ss section 0 14 mm Fig 8 2 Connection diagram MSK QSK encoder interface for S1 M1 S2 M2 S5 M5 encoder systems For direct connection to the encoder system use our RKG4200 cable Power supply 12 V the voltage is made available via the EC interface Technical specification of the power supply See chapter 12 V power supply on page 92 Cable length The maximum allowed cable length depends on several facto...

Page 83: ...ace Technical specification of the power supply See chapter 12 V power supply on page 92 Observe that the third party encoder used must be suited for the voltage available at the EC interface as the encoder supply volt age Cable length The maximum possible cable length depends on several factors See chapter 8 1 4 Encoder cable length on page 94 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 81 143 Ind...

Page 84: ...tion of the power supply See chapter 5 V power supply on page 92 Cable Length 75 m at most when using the Sense function When you do not use the Sense function the maximum cable length is re duced see chapter 8 1 4 Encoder cable length on page 94 Technical properties Use the Sense function to ensure stable power supply at the encoder De scription of the Sense function See chapter 5 V power supply ...

Page 85: ...of the power supply See chapter 5 V power supply on page 92 Cable Length 75 m at most when using the Sense function When you do not use the Sense function the maximum cable length is re duced see chapter 8 1 4 Encoder cable length on page 94 Technical properties Use the Sense function to ensure stable power supply at the encoder De scription of the Sense function See chapter 5 V power supply on pa...

Page 86: ...de available via the EC interface Technical specification of the power supply See chapter 12 V power supply on page 92 Cable length The maximum allowed cable length depends on several factors See chapter 8 1 4 Encoder cable length on page 94 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 84 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydrady...

Page 87: ... page 92 Cable Length 75 m at most when using the Sense function When you do not use the Sense function the maximum cable length is re duced see chapter 8 1 4 Encoder cable length on page 94 Technical properties Use the Sense function to ensure stable power supply at the encoder De scription of the Sense function See chapter 5 V power supply on page 92 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 85...

Page 88: ...e available via the EC interface Technical specification of the power supply See chapter 12 V power supply on page 92 Cable length The maximum allowed cable length depends on several factors See chapter 8 1 4 Encoder cable length on page 94 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 86 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyn...

Page 89: ... page 92 Cable Length 75 m at most when using the Sense function When you do not use the Sense function the maximum cable length is re duced see chapter 8 1 4 Encoder cable length on page 94 Technical properties Use the Sense function to ensure stable power supply at the encoder De scription of the Sense function See chapter 5 V power supply on page 92 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 87...

Page 90: ...de available via the EC interface Technical specification of the power supply See chapter 12 V power supply on page 92 Cable length The maximum allowed cable length depends on several factors See chapter 8 1 4 Encoder cable length on page 94 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 88 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydrady...

Page 91: ...f the power supply See chapter 5 V power supply on page 92 Cable Length 75 m at most when using the Sense function When you do not use the Sense function the maximum cable length is re duced see chapter 8 1 4 Encoder cable length on page 94 Technical properties Use the Sense function to ensure stable power supply at the encoder De scription of the Sense function See chapter 5 V power supply on pag...

Page 92: ...solver power supply on page 92 Observe that the resolver encoder used must be suited for the voltage available at the EC interface as the encoder supply volt age Cable length 75 m at most Specific technical features The encoder evaluation has been sized for resolvers with a transfer ratio of 0 5 Resolvers are not supported if an optional Safe Motion safety technology is available at the same time ...

Page 93: ...supply on page 92 Cable length The maximum allowed cable length depends on several factors See chapter 8 1 4 Encoder cable length on page 94 Specific technical features For detailed information on the Hall sensor box SHL02 1 see the Func tional Description Rexroth Hall sensor box SHL02 1 R911292537 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 91 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB0...

Page 94: ...er can influence the voltage of the encoder supply For correct Sense evaluation the encoder supply lines 5V and GND_Encoder have to have the same line cross section If the encoder has a Sense connection connect the Sense line at this connection A possibly existing Sense connection is not used If the encoder has no Sense connection apply the 0 V encoder potential to the Sense line on the encoder si...

Page 95: ...ia firmware The parking axis firmware command C1600 causes the encoder power supply to be switched off DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 93 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 96: ... depending on cable cross section Allowed encoder cable length for 5 V encoder systems with Sense function 75 m at most exception 40 m at most for IndraDyn S MSM motors The cross section of the supply voltage lines has to be at least 0 5 mm2 Allowed encoder cable length for 12 V encoder systems Requirements The cross section of the supply voltage lines is at least 0 5 mm2 The minimum allowed suppl...

Page 97: ...t consumption of the MSK motor encoders 60 mA Allowed encoder cable length for resolver encoder systems 75 m at most The cross section of the supply voltage lines must be at least 0 5 mm2 DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 95 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mecha...

Page 98: ... B B Fig 8 17 Input circuit for resolver evaluation block diagram Input circuit for square wave sig nals Fig 8 18 Input circuit for square wave signals block diagram Properties of differential input for square wave signals Data Unit min typ max Input voltage high V 2 4 5 0 Input voltage low V 0 0 8 Input frequency kHz 1000 Input resistance ohm 120 Tab 8 5 Differential input square wave signals Bos...

Page 99: ...hm 12 Converter width A D converter Bit 12 Tab 8 6 Resolver operation input data DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 97 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 100: ... motor Increasing actual position val ues with motor motion in the di rection of cable outlet Square wave TTL Without absolute value Sine 1 Vpp With absolute value e g En Dat Amplitude modulated signal Resolver 1 See following note Tab 8 7 Signal assignment to the actual position value Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 98 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical d...

Page 101: ...rized If available the reference track R R R provides the refer ence mark pulse at positive signals of track A and track B in the so called 0 th quadrant Standard setting See Functional Description of firmware DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 99 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneu...

Page 102: ...ntal encoder emulation Connection Fig 8 19 Incremental encoder with signal level conversion single ended Fig 8 20 Incremental encoder RS422 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 100 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 103: ...w V 0 0 5 Output current IOut mA 20 Overload protection Present Short circuit protection Present Tab 8 10 Outputs RS422 Data Symbol Unit min typ max Input voltage high UIn_High V 2 5 5 Input voltage low UIn_Low V 0 0 5 Input resistance difference RIn_D ohm 110 130 Input resistance RIn kOhm 150 Overload protection Present Short circuit protection Present Tab 8 11 Inputs RS422 DOK INDRV CXX02 PR03 E...

Page 104: ...ce RIn_D ohm 110 130 Input resistance RIn kOhm 150 Clock frequency f kHz 100 1000 Overload protection Present Short circuit protection Present Tab 8 12 Differential inputs Differential outputs absolute en coder emulation Data Symbol Unit min typ max Output voltage high UOut_High V 2 5 5 Output voltage low UOut_Low V 0 0 5 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 102 143 IndraDrive Control Sectio...

Page 105: ... external line terminating resistor 150 180 ohm Pulse diagram 1 Resolution for 4096 revolutions 2 Resolution for 1 revolution G0 Least significant bit in Gray code G23 Most significant bit in Gray code m Stored parallel information T Clock time Tp Clock break 20 μs tv Delay max 200 ns PFB Power failure bit not used and always logically LOW Fig 8 23 Pulse diagram with absolute actual position value...

Page 106: ...05 chapter EtherCAT on page 105 chapter sercos III on page 105 chapter PROFINET IO on page 106 Diagnostic LED chapter EtherNet IP on page 107 chapter EtherCAT on page 108 chapter sercos III on page 109 chapter PROFINET IO on page 110 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 104 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Moti...

Page 107: ...legram exchange EtherCAT bus inactive Flashing green Connection to network available with telegram exchange EtherCAT bus active Tab 8 15 Port LED sercos III LED Color flashing pat tern Significance Off No connection No data transmission Permanently lit yellow Data transmission running Permanently lit green Connection to network available Tab 8 16 Port LED DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG...

Page 108: ...sion running Permanently lit green Connection to network available Tab 8 17 Port LED Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 106 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 109: ...red The existing I O connection was unexpectedly aborted e g watchdog Permanently lit red The Duplicate IP Adress Check showed that the IP address which was set already exists in the network Flashing red green The device is running up and carries out a self test Tab 8 18 Diagnostic LED DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 107 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical ...

Page 110: ...ization error The drive controller has not been synchronized to the EtherCAT master Communication error of the drive control ler Red two LEDs lighting up Timeout watchdog Timeout while cyclic process data are monitored Watchdog of the EtherCAT master 1 Flashing pattern One square corresponds to a duration of 200 ms the arrow marks the end of a cycle abbreviations on the squares GN LED permanently ...

Page 111: ... red Communication error Sub device device error C1D 2 Flashing orange Identification S 0 1044 sercos Device Control C Dev bit15 1 Flashing red Internal watchdog 0 1 Flashing pattern One square corresponds to a duration of 250 ms the arrow marks the end of a cycle abbreviations on the squares GN LED permanently lit green OG LED per manently lit orange RD LED permanently lit red LED is off 2 Displa...

Page 112: ...sting I O connection was unexpectedly aborted e g watchdog Permanently lit red The Duplicate IP Adress Check showed that the IP address which was set already exists in the network Flashing red green The device is running up and carries out a self test Tab 8 21 Diagnostic LED Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 110 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functi...

Page 113: ...cification Danger of destroying output 5V repeater supply by overload NOTICE Do not short circuit the output Do not exceed the maximum current Diagnostic Displays For the significance of the diagnostic displays see firmware documentation DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 111 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne ...

Page 114: ...connect at both bus ends to X61 2 and X61 7 Transmission medium 2 twisted two wire lines 4 pin with shield Max allowed bus line lengths Depending on bit rate Recommended connection cable Our RKS number or third party type Tab 8 24 Main Features Bus Lengths Depending on Bit Rates Bit rate kBaud Max allowed network dimension m 1000 25 800 50 500 100 250 250 125 500 50 1000 20 2500 10 5000 Tab 8 25 N...

Page 115: ...41 X42 X43 Not available for Safe Motion Bus option Fig 8 25 Safe Motion display elements DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 113 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 116: ...he safety technology Flashing red green TUNID 2 not yet set Flashing red Abortion of connections Faulty abortion of at least one active con nection Permanently lit red Critical error Critical connection error 1 Flashing pattern One square corresponds to a duration of 250 ms the arrow marks the end of a cycle abbreviations on the squares GN LED permanently lit green RD LED per manently lit red LED ...

Page 117: ...andard Fig 8 26 Symbol Data Unit Min Max Allowed input voltage V 3 30 High V 15 30 Low V 3 5 Current consumption mA 2 5 Control delay µs 1000 position control ler clock 200 position controller clock 1 1 Applies to optional I O extension DA Tab 8 27 Digital Inputs Type A DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 115 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions C...

Page 118: ... 28 Digital inputs type B A Signal B Signal Detection at Probe Input tPuls Pulse width tx Measuring accuracy of the signal edges Fig 8 28 Signal Detection at Probe Input Use To acquire fast digital input signals Probe inputs are fast inputs For control use bounce free switch ing elements e g electronic switches to avoid incorrect evalua tion Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 116 143 Indra...

Page 119: ...A 7 15 1 For KCU02 the specified values must be multiplied with the number of zone nodes of the drive line Tab 8 29 Digital inputs safety technology L options DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 117 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh...

Page 120: ...h V 15 30 Low V 3 5 Current consumption mA 2 5 Tab 8 30 Digital Inputs Safety Technology S Options Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 118 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 121: ...lated to to 4 or 8 outputs 3 In the case of inductive loads with a greater energy content an external free wheeling arm must be installed The effective ter minal voltage must be 25 V 4 The maximum energy content depends on the switching fre quency f of the outputs 5 Applies to optional I O extension DA Tab 8 31 Digital Outputs The digital outputs have been realized with high side switches This mea...

Page 122: ...rrent ON mA 350 Allowed energy content of con nected inductive loads e g re lay coils only allowed as single pulse mJ 400 Short circuit protection Available Overload protection Available Tab 8 32 Digital Outputs Safety Technology L Options Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 120 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyn...

Page 123: ...gh Wiring error with short circuit to low Wiring error with short circuit between the two channels Internal errors In the case of an error the control panel shows the corresponding error message F83xx 1 With a maximum switching frequency of 1 Hz 2 In the case of inductive loads with currents 200 mA or in the case of inductive loads with a greater energy content an exter nal free wheeling arm must ...

Page 124: ...tween two test pulses on both channels φ ms 50 Tab 8 34 Time Behavior Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 122 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 125: ... 1 1 Resolution Bit 14 1 13 2 Cables For cable lengths 30 m only use shielded cables 1 Applies to Cxx02 control sections X32 optional I O extension DA X38 HCS01 drive controllers X32 2 Applies to Control sections with extended scope CSx02 1B X35 CDB02 1B X36 Tab 8 35 Analog Voltage Input DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 123 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technica...

Page 126: ...n dB 50 Resolution Bit 12 1 11 2 Cables For cable lengths 30 m only use shielded cables 1 Applies to Optional I O extension DA X38 2 Applies to Control sections with extended scope CSx02 1B X35 CDB02 1B X36 Tab 8 36 Analog Current Input Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 124 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne M...

Page 127: ... relation to the measur ing range 0 5 with load 10 kΩ 1 with load 2 kΩ Short circuit protection Present Overload protection Present 1 Applies to optional I O extension DA Tab 8 37 Analog Output DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 125 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrica...

Page 128: ...max time con stant of load 1 106 Number of mechanical switching cy cles 1 108 Time constant of load ms ohmic Pick up delay ms 10 Drop out delay ms 10 Tab 8 38 Relay Contacts Type 2 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 126 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data functions Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical ...

Page 129: ...urring power con sumption under statistical assumptions will be lower than the cal culated one Control section Power consumption PN3 at UN3 DC 24 V W max inrush current IEIN3 A max pulse width EIN3Lade ms CSB02 1A 17 1 5 1 CSB02 xB 17 1 CDB02 1B 23 2 3 CSH02 1B 17 2 3 1 Incl EC encoder interface corresponding communication and control panel 2 Incl control panel and PFM memory card 3 At maximum all...

Page 130: ... S4 Safe Motion 2 5 S5 Safe Motion 2 5 SB Safe Motion Bus 2 5 1 See type codes of the control sections 2 At maximum allowed output load plus circuits to be supplied externally Tab 9 2 Power consumption of optional modules Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 128 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Technical data other Courtesy of CMA Flodyne Hydradyne Motion Control Hydra...

Page 131: ...length of the wire ends is 10 mm that all strands of a stranded wire are placed in the funnel of the terminal connector not to use solid wires where possible to use appropriate crimping tools for the wire ends with ferrules 9 2 3 Connection points with screw terminal blocks On screw terminal blocks use wire ends with ferrules Make sure to use ap propriate crimping tools When assembling the connect...

Page 132: ...ts 9 3 2 Analog output A Analog output of drive controller B External device only connect the inner shield of the connection cable to the external device if GND has not been connected to ground in the external device IS Inner shield of the connection cable OS Overall shield of the connection cable Fig 9 2 Shield connection for analog outputs Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 130 143 Indra...

Page 133: ...ontrol module for inductive loads HAT02 control module is used to safely control an inductive load such as a self applying motor holding brake hydraulic pneumatic valve con tactor DOK INDRV CXX02 PR03 EN P Bosch Rexroth AG 131 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Accessories Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 w...

Page 134: ...roth AG DOK INDRV CXX02 PR03 EN P 132 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 135: ...ectric Drives and Controls Buergermeister Dr Nebel Strasse 2 97816 Lohr am Main Germany Packaging The packaging materials consist of cardboard wood and polystyrene These materials can be recycled anywhere without any problem For ecological reasons please refrain from returning the empty packages to us Batteries and accumulators Batteries and accumulators can be labeled with this symbol The symbol ...

Page 136: ... are labeled according to EN ISO 1043 They have to be recycled separately or disposed of according to the valid legal requirements Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 134 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Environmental protection and disposal Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 137: ...s and training can be found on our internet sites Service worldwide Outside Germany please contact your local service office first For hotline numbers refer to the sales office addresses on the internet Preparing information To be able to help you more quickly and efficiently please have the following information ready Detailed description of malfunction and circumstances Type plate specifications...

Page 138: ...roth AG DOK INDRV CXX02 PR03 EN P 136 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 139: ... connection points 41 Type code 39 Changes Documentation 7 CN CANopen 75 Combined encoder for SSI Encoder 5 V supply voltage 89 Communication module CANopen CN 75 Multi Ethernet ET 50 65 PROFIBUS PB interface 66 PROFIBUS PB signal specification 111 sercos III master 50 sercos III slave 50 Component marking 25 Components Documentations 8 Configurability 30 Connection Analog input X32 1 X32 2 56 Ana...

Page 140: ...X36 59 Connection point X37 69 Probe 53 54 Technical data safety technology L options 117 Technical data safety technology S options 118 Technical data type A standard input 115 Technical data type B probe 116 Digital outputs Connection point X31 double axis 54 Connection point X31 single axis 53 Connection point X35 58 Connection point X36 59 Connection point X37 69 Technical data safety technolo...

Page 141: ...n 9 Supported firmware 29 Type plate 26 Functions and interfaces Overview 30 H H4 H5 LED CANopen 112 H10 H11 H12 H13 LEDs 104 H22 LED 104 H24 LED 104 H25 H26 LED Safe Motion 113 Hall sensor box SHL02 1 91 HAP01 Type code 76 HAP01 1A Control panel 77 HAP01 1N Control panel 78 Hazardous substances 133 Helpdesk 135 HIPERFACE 81 Hotline 135 I Identification Control section 25 Inappropriate use 14 Cons...

Page 142: ...Displays 105 Power consumption Basic circuit board of control section 127 Optional modules 128 Power dissipation Basic circuit board of control section 127 Control section 127 Optional modules 128 Probe Technical data 116 Probe input X31 double axis 54 Probe input X31 single axis 53 Production processes 133 PROFIBUS Interface 66 Signal specification 111 PROFINET Multi Ethernet interface 50 Project...

Page 143: ...s safety technology S options 121 Digital outputs standard output 119 Dimensions 32 Functions 79 Power dissipation 127 Relay contact 126 TTL Encoder 5 V supply voltage 85 Encoder 12 V supply voltage 86 Type code ADVANCED CSH02 1 42 ADVANCED CSH02 5 44 BASIC CDB02 double axis 39 BASIC CSB02 1 single axis 35 BASIC CSB02 5 single axis 37 CDB02 39 Control panel 76 CSB02 1 35 CSB02 5 37 CSE02 33 CSH02 ...

Page 144: ...ogy Safe Motion communication 72 X42 1 X42 2 X43 1 X43 2 Optional safety technology Safe Motion communication 72 X48 Safety technology SBC 73 X48 1 X48 2 Safety technology SBC 73 X49 Safe Torque Off 74 X49 1 X49 2 Safe Torque Off 74 X61 CANopen 75 Bosch Rexroth AG DOK INDRV CXX02 PR03 EN P 142 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Index Courtesy of CMA Flodyne Hydradyne Motion Co...

Page 145: ...DRV CXX02 PR03 EN P Bosch Rexroth AG 143 143 IndraDrive Control Sections CSB02 CSE02 CSH02 CDB02 Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

Page 146: ...Box 13 57 97803 Lohr Germany Bgm Dr Nebel Str 2 97816 Lohr Germany Tel 49 9352 18 0 Fax 49 9352 18 8400 www boschrexroth com electrics DOK INDRV CXX02 PR03 EN P Courtesy of CMA Flodyne Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical 800 426 5480 www cmafh com ...

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