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Indel 610535700, Hardware Manual

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Indel 610535700 Hardware Manual Download Page 13

Indel motion boards

Technical details 

Absolute feedback systems

Digital absolute feedback systems 

AX4

Number of dig. feedback systems (motor 1, 3)

2

Endat 2.1

Endat 2.2

a.A.

Synchronous serial interface, max. Telegram length

Bit

32

Hiperface

Biss

a.A.

An incremental encoder can also be connected to the absolute feedback inputs.
See section 3.3.5 Pin assignment for AX4 encoder systems

Resolver

Resolver inputs

MAX-Boards

with DBMT 

connector board

Resolution

Bit

16

Reference, bridge circuit

Vrms

2

Sine/cosine input

Vrms

1

Multi-pole resolvers

Resolver cable 

Pair-twisted, double shielded

Number of channels per board

2

Rev 1.31; 04/11/2013

Page 13/54

Summary of Contents for 610535700

Page 1: ...Hardware Manual Indel motion boards Made in Switzerland Rev 1 31 Indel AG 04 11 2013 Language English...

Page 2: ...sions pin assignment 19 3 3 1 Dimensions of AX4 19 3 3 2 Pin arrangement for AX4 board 20 3 3 3 Pin assignment for digital inputs and outputs in AX4 21 3 3 4 Pin assignment for supplies and interfaces...

Page 3: ...dbus systems 47 8 1 GinLink 47 8 2 INFO Link 48 8 3 Error messages 49 8 4 Warnings 49 9 Sales and service 50 9 1 Manufacturer 50 9 2 Maintenance cleaning repair 50 9 3 Transport and storage 50 9 4 Dis...

Page 4: ...llowing tasks in a 8 32kHz cycle PID position controller speed regulation active current regulation 2 Target value torque regulation Measuring wheel correction inc encoder Limitation for IMAX I2t cont...

Page 5: ...A 4x1 25A 16 Out 24V 2A 16 Inp 24V 4 Analogue Input 610636340 4x2 5A GIN MAX4 Multi Axes Board 4 x 3 Phase 48V 2 5A 16x24V 2A IO 14 x Analog Input 10V 4 x Analog Out 10V 610636341 2x5A GIN MAX4 Multi...

Page 6: ...onnel Only qualified specialist personnel may carry out work such as transport assembly installation commissioning servicing and maintenance National accident prevention regulations must be observed E...

Page 7: ...ng within the expected time span In unfortunate cases this can lead to personal injury or property damage Protection from dangerous movements Incorrect control of motors can trigger unwanted and dange...

Page 8: ...safety measures may be required for machines that contain a large number of Indel servo drives In such cases the installation of a central mains filter is usually sufficient When using Indel motion bo...

Page 9: ...In the event of failure the operator is responsible for ensuring that the machine system is put into a safe condition Rev 1 31 04 11 2013 Page 9 54 All diagnosis and monitoring functions can only inte...

Page 10: ...cient cooling requi red possibly with fan vertical upright Vibration as per IEC 68 2 6 Amplitude frequency response mm Hz 0 35 10 120 Shock g 1 Interference emission industrial zone EN 61000 6 4 Inter...

Page 11: ...le lengths 20m use choke 0 5 1mH m 20 Min Cable length in parallel operation of GIN AX4 Minimum length of the parallel strands of the motor connections m 0 12 Motor temperature monitoring Bi metal sen...

Page 12: ...Arms 5 0 5 0 10 0 IMAX at 16kHz sampling rate Arms 5 0 5 0 10 0 IMAX brake FET ADC 5 5 10 10 Minimum external braking resistance 48V supply Ohm 10 10 10 10 External fusing triggering characteri stic S...

Page 13: ...32 Hiperface Biss a A An incremental encoder can also be connected to the absolute feedback inputs See section 3 3 5 Pin assignment for AX4 encoder systems Resolver Resolver inputs MAX Boards with DB...

Page 14: ...oved at 10m s A safety factor of 2 has already been included 2 Example Incremental encoder with 1 m resolution with 4 quadrant resolution can be moved at 10m s A safety factor of 2 has already been in...

Page 15: ...r logic 0 VOFF 5 4 Input impedance Ohm 26 7k Galvanic isolation of inputs and outputs Number of trigger inputs 4 Trigger inputs UMAX V 5 Pulsators optional TTL outputs AX4 TTL outputs 74ABT245 VOUT MA...

Page 16: ...range Relative accuracy of individual measure ment Relative accuracy averaged for 100 values Absolute accuracy 10 V Bit 14 15 14 1 V Bit 13 14 13 0 1 V Bit 12 14 12 Optimum stability of measurement v...

Page 17: ...gue inputs 1 3 X19 X20 Potentiometer input 3 X38 Potentiometer voltage V 10 PT 100 inputs 4 7 X20 X21 X22 Measuring current for PT 100 re sistance mA 3 333 Thermocouple inputs 8 12 X11 X15 PT 100 bala...

Page 18: ...no Pin Analogue outputs 1 0 1 X14 Resolver reference 2 2 3 X13 PWM outputs PWM outputs MAX DBMT Number of PWM outputs open collector Pins X27 X28 PDOUT 0 PDOUT 1 2 Maximum PWM frequency kHz 4 Maximum...

Page 19: ...details 3 3 Dimensions pin assignment 3 3 1 Dimensions of AX4 A minimum distance of 50mm must be maintained between the individual motion boards Rev 1 31 04 11 2013 Page 19 54 Fig 2 AX4 front Fig 1 A...

Page 20: ...del motion boards 3 3 2 Pin arrangement for AX4 board Absolute feedback systems can be connected to pins X3B X4B SinCos 1 3 Page 20 54 04 11 2013 Rev 1 31 Fig 6 Motor pins Fig 5 Encoder pins Fig 4 Fro...

Page 21: ...Output 10 15 O OUT 11 Output 11 16 O OUT 12 Output 12 17 O OUT 13 Output 13 18 O OUT 14 Output 14 19 O OUT 15 Output 15 20 O 0V Ground for 24V outputs X17 1 O 0V 24V Ground Digital inputs 2 I IN 0 Inp...

Page 22: ...O Clk Clock 5 O 5V Logic supply 6 O Gnd Ground X29 1 I 24V Supply for logic and inputs Supply 2 I 0V 24V Ground Logic 3 I Earth Earth X30 1 O Out 0 TTL output 0 Pulsators 2 O Out 1 TTL output 1 optio...

Page 23: ...e Incremental encoder interface SSI Interface Pin 4 12V DC Pin 12 5V DC D sub 15 pole Female Incremental encoder to absolute feedback inputs pins X3B X4B Incremental encoders can also be connected to...

Page 24: ...ils Indel motion boards Page 24 54 04 11 2013 Rev 1 31 Interruptions in the encoder and motor cables when leading them into a cabinet or similar should be designed with metal plug connections not clam...

Page 25: ...3A and X4A and to the absolute feedback interface at jacks X3B and X4B Fig 7 und Fig 8 give an example for the absolute feedback interface However we generally recommend that you use incremental encod...

Page 26: ...view of motor pins 3 phase motors in parallel operation Motor 0 5 O Earth X25 4 O X 3 O W Motor X 2 O V Earth 5 Shield 1 O U 4 W 3 Phase W Motor 1 5 O Earth V 2 Phase V X26 4 O X U 1 Phase U 3 O W 2...

Page 27: ...motor L2 L2 3 Stepper motor L2 Motor 1 5 O Earth L1 2 Stepper motor L1 X26 4 O X L1 1 Stepper motor L1 3 O W 2 O V 1 O U Motor 2 5 O Earth X27 4 O X 3 O W Motor Y 2 O V Earth 5 Shield 1 O U L2 4 Step...

Page 28: ...s 3 3 7 Dimensions of MAX boards 3 3 7 1 MAX Boards Total height with pins without cabling 50mm Pins at INFO MAX2 4 10 Pins X1 X3 Pins with press fit technology Harting 0973 196 6904 male Page 28 54 0...

Page 29: ...uring range 0 15 psi Full Scale 90mV PT 100 inputs 4 PT 100 inputs at pins X20 X21 X22 The measuring current for PT100 resistance is 3 3333mA Motor enabler input Input 15 DI15 pin 30 at pin X37 is res...

Page 30: ...s with press fit technology on connector board Companion piece on INFO MAX2 Harting 0973 196 6904 male Pin X4 serial interface RS232 Compona 319 566 RJ12 6p Pins on connector board Companion piece on...

Page 31: ...DBIT Motor pins Molex 43045 series 250V 5A Arrow 43045 0612 Companion piece on cable Pin housing Digikey 43025 0600 Crimp contacts Molex microFit 43030 0007 tin plated Extraction tool Micro Fit Pico...

Page 32: ...3333mA Motor enabler input Input 15 DI15 pin 30 at pin X37 is reserved for the motor enabler All output stages are released by input 15 24V encoder 24V encoders can be connected to pins X9 X10 With t...

Page 33: ...n connector board MAX DBMT Pins X2 X3 Harting 0903 296 6850 female Pins with press fit technology on connector board Companion piece on INFO MAX2 Harting 0973 196 6904 male Pin X4 serial interface RS2...

Page 34: ...et connections MAX4 board as GinLink slave X40 GinLink In X41 GinLink Out MAX4 board as stand alone controller X40 GinLink In X41 Ethernet For stand alone operation rotary switch S1 must be set to 0x4...

Page 35: ...Indel motion boards Technical details 3 3 8 Pin assignment for MAX 2 4 Pin X3 MAX2 MAX4 Rev 1 31 04 11 2013 Page 35 54 Fig 14 MAX2 4 pin assignment X3 Fig 15 MAX2 4 pin description X3 5V 5V...

Page 36: ...Technical details Indel motion boards 3 3 9 Pin assignment for MAX 2 Pin X1 MAX2 Page 36 54 04 11 2013 Rev 1 31 Fig 16 MAX 2 pin assignment X3 Fig 17 MAX2 pin description X...

Page 37: ...Indel motion boards Technical details 3 3 10 Pin assignment for MAX 4 Pin X1 MAX4 Rev 1 31 04 11 2013 Page 37 54 Fig 18 MAX4 pin assignment X3 Fig 19 MAX4 pin description X...

Page 38: ...l SinCos 24V DOut 1 X1 A20 B20 Digital outputs 0 7 24V DOut 2 X1 C19 C20 Digital outputs 8 15 0V X1 A2 B2 C2 Ground X1 A3 B3 C3 X1 A4 B4 C4 X1 A5 B5 C5 V Mot X1 A26 B26 C26 Motor supply 24 48V X1 A29...

Page 39: ...le PC 9 pole pin Pin 1 nc Pin 1 Pin 2 Pin 1 Tx Output Rx Pin 2 Pin 3 Pin 2 Rx Input Tx Pin 3 Pin 4 Pin 3 DTR Output DTR Pin 4 Pin 5 Pin 4 DSR Input DSR Pin 6 Pin 6 Pin 5 Gnd Gnd Pin 5 Pin 7 Pin 6 nc n...

Page 40: ...b30 c30 X26 PHOENIX MCV 1937635 5 POL 1 2 3 4 5 1 2 3 4 5 FRAME W U SHIELD Cable MOT_3A AC Motor 3 phase MOT_3B FRAME MOT_2B U V W AC Servo Motor 2 INFO MAX2 Board Distribution Board Fig 23 Connection...

Page 41: ...PHOENIX MCV 1937619 3 POL 1 1 2 2 3 3 Fig 27 Connection example for PWM output 2 Distribution Board Load X1 a22 b22 c22 Load Cable Load SHIELD PWM Output 2 FRAME X1 a1 b1 c1 Load PWM_2 Load FRAME INF...

Page 42: ...inputs and outputs is identical on all MAX boards and AX4 boards Page 42 54 04 11 2013 Rev 1 31 Fig 30 Wiring of digital inputs Din 2 2nF 22k 74LV165 8 11 12 16 13 14 GND D0 D1 VCC D2 D3 4k7 1nF 74LV1...

Page 43: ...Potential equalisation Apply all shielding on both sides You may need to use a potential compensator in order to avoid unwanted leakage currents over the shielding particularly in the case of larger...

Page 44: ...with a filter The optimum filter and placement may need to be defined by means of an emission measurement as the emitted interference is dependent upon the motor cable length among other things Witho...

Page 45: ...ller requires a fuse in the supply line Only use UL certified fuses and holders Triggering characteristic K Safety Cable fuse cross section A mm2 AWG 5 1 17 10 1 17 25 6 9 25 6 9 Manufacturers of UL c...

Page 46: ...otion boards with an ethernet interface The following conditions must be met in order to be able to speak to the MAX 2 4 10 motion boards or the AX4 board via the ethernet interface Ethernet communica...

Page 47: ...1 5 MByte s Standard Ethernet frames 2 8kHz 23 0 MByte s Rev 1 31 04 11 2013 Page 47 54 0 100 200 300 400 500 600 700 800 900 1000 Transmission Rate MHz Can Bus Profibus Sercos INFO Link 100MBit Ether...

Page 48: ...al input 0 15 16 31 Analogue input 0 13 14 25 Analogue output 0 3 4 7 LEDs on the receiver module Power 5V supply Rec INFO link receiver signal OK Transmitting power jumper green The jumpers influence...

Page 49: ...switched on 0x0000 0200 Auto commutation error 0x0000 0400 Power end stop reached 0x0000 0800 Phase error 0x0000 1000 PWM watchdog Interrupt overrun 0x0000 2000 missing Exteral Enable 0x0000 4000 miss...

Page 50: ...nly be carried out by authorised specialist personnel Any warranty on the part of Indel shall expire in the event of unauthorised intervention 9 3 Transport and storage When storing please consider th...

Page 51: ...Indel motion boards Sales and service 9 5 Declaration of conformity Rev 1 31 04 11 2013 Page 51 54...

Page 52: ...Sales and service Indel motion boards Page 52 54 04 11 2013 Rev 1 31...

Page 53: ...Fig 15 MAX2 4 pin description X3 35 Fig 16 MAX 2 pin assignment X3 36 Fig 17 MAX2 pin description X 36 Fig 18 MAX4 pin assignment X3 37 Fig 19 MAX4 pin description X 37 Fig 20 RJ pin 39 Fig 21 RJ 12 6...

Page 54: ...ed pin assignment for AX4 phase U and V corrected 1 25 21 02 2012 Connection example for 5V 24V single ended inc encoder 1 26 27 04 2012 Correction in stand alone operation of MAX4 and AX4 GinLink Out...

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