ITEM C 1-02 Product Manual Download Page 6

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Page 6

5.2.6

Torque-limited speed control

.............................................................. 58

5.2.7

Synchronization to the external clock signal

........................................... 58

5.2.8

Load torque compensation for vertical axes

........................................... 59

5.2.9

Positioning and position control

.......................................................... 59

5.2.10

Synchronisation, electronic gearing

..................................................... 59

5.2.11

Brake management

......................................................................... 59

5.3

Positioning control

.......................................................................................... 60

5.3.1

Overview

....................................................................................... 60

5.3.2

Relative positioning

.......................................................................... 61

5.3.3

Absolute positioning

......................................................................... 61

5.3.4

Driving profile generator

.................................................................... 61

5.3.5

Homing

......................................................................................... 62

5.3.6

Positioning sequences

...................................................................... 63

5.3.7

Optional stop input

........................................................................... 63

5.3.8

Contouring control with linear interpolation

............................................ 63

5.3.9

Time-synchronized multi-axis positioning

............................................... 64

FUNCTIONAL SAFETY TECHNOLOGY

.......................................................................... 65

6.1

General

....................................................................................................... 65

6.1.1

DIP switch

..................................................................................... 66

6.1.2

Assignment of the DIP switch

............................................................. 67

6.2

Integrated safety technology (schematic representation)

.......................................... 69

6.3

Module variants

............................................................................................. 70

6.3.1

FBA module

................................................................................... 70

6.3.2

FSM 2.0 – STO (Safe Torque Off)

........................................................ 71

MECHANICAL INSTALLATION

................................................................................... 72

7.1

Important notes

............................................................................................. 72

7.2

View of the device

.......................................................................................... 74

7.3

Mounting

..................................................................................................... 76

ELECTRICAL INSTALLATION

..................................................................................... 77

8.1

Connector configuration

.................................................................................. 77

8.2

item C 1-Series complete system

....................................................................... 78

Summary of Contents for C 1-02

Page 1: ...Phone 49 0 212 6580 0 Friedenstra e 107 109 Telefax 49 0 212 6580 310 42699 Solingen E mail info item24 com Germany http www item24 com Product Manual item Servo Positioning Controller C 1 Series desi...

Page 2: ...mentation item does not guarantee that the products meet the buyer s demands and purposes or that they work together with other products selected by the buyer item does not assume any liability for da...

Page 3: ...Revision Information Author item Industrietechnik GmbH Manual title Product Manual item Servo Positioning Controller C 1 Series File name DOK_BEDA_Steuerung C1 Serie_ SEN_ AQU_ V1 docx Version 5 0 Jul...

Page 4: ...ive extra low voltage PELV 24 2 4 5 Protection against dangerous movements 25 2 4 6 Protection against contact with hot parts 26 2 4 7 Protection during handling and assembly 27 3 PRODUCT DESCRIPTION...

Page 5: ...2 Encoder connection X2B 48 4 6 Communication interfaces 51 4 6 1 RS232 X5 51 4 6 2 USB X19 51 4 6 3 Ethernet X18 51 4 6 4 CAN bus X4 51 4 6 5 SD MMC card 52 4 6 6 I O interface X1 52 4 6 7 Increment...

Page 6: ...ming 62 5 3 6 Positioning sequences 63 5 3 7 Optional stop input 63 5 3 8 Contouring control with linear interpolation 63 5 3 9 Time synchronized multi axis positioning 64 6 FUNCTIONAL SAFETY TECHNOLO...

Page 7: ...cation X1 87 8 5 1 Device side X1 89 8 5 2 Counterplug X1 89 8 5 3 Pin assignment X1 90 8 5 4 Cable type and design X1 91 8 5 5 Connection notes X1 91 8 6 Connection Resolver X2A 92 8 6 1 Device side...

Page 8: ...s on safe and EMC compliant installation 103 8 11 1 Definitions and terms 103 8 11 2 General information on EMC 103 8 11 3 EMC areas first and second environment 104 8 11 4 EMC compliant cabling 104 8...

Page 9: ...itoring for the PFC stage 112 11 1 9 Initial operation status 112 11 1 10 Rapid discharge of the DC bus 112 11 1 11 Operating hours counter 112 11 2 Display of operating mode and error messages 113 11...

Page 10: ...Page 10 12 2 4 Display elements 152 12 2 5 EtherCAT interface 153 12 3 General installation notes for technology modules 154...

Page 11: ...5 Figure 14 item servo positioning controller C 1 Series Mounting plate 76 Figure 15 Connection to power supply and motor 77 Figure 16 Complete setup of the item C 1 Series with motor and PC 79 Figure...

Page 12: ...1 05 Rated current for an ambient temperature of 40 C 44 Table 17 Controller C 1 08 Rated current for blocked or slowly rotated servo motor fel 2 Hz and for an ambient temperature of 40 C 45 Table 18...

Page 13: ...card 101 Table 41 Pin assignment MMC card 101 Table 42 EMC requirements First and second environment 104 Table 43 Operating mode and error display 113 Table 44 Error messages 115 Table 45 Technical da...

Page 14: ...d operation of the FSM 2 0 STO PROFIBUS Manual item Servo Positioning Controller C Series Description of the implemented PROFIBUS DP protocol CANopen Manual item Servo Positioning Controller C Series...

Page 15: ...plug set contains the counterplugs for the following connections Supply X9 Motor connection X6 Type C 1 02 C 1 05 C 1 08 item order number available on request available on request Table 3 Connector...

Page 16: ...and controllers 2 1 Used symbols Information Important information and notes Caution Nonobservance may result in severe property damages DANGER Nonobservance may result in property damages and in per...

Page 17: ...instructions in this manual and who are sufficiently qualified in their field of expertise Education and instruction concerning the standards and accident prevention regulations for the application or...

Page 18: ...or sound functioning of the servo positioning controller DANGER Inappropriate handling of the servo positioning controller and non compliance with the warnings as well as inappropriate intervention in...

Page 19: ...us personal injury from electrical shock DANGER High electrical voltage caused by wrong connections Danger to life or serious personal injury from electrical shock DANGER Surfaces of device housing ma...

Page 20: ...tion measures should be taken for control panels such as connecting contactors and relays using RC elements or diodes The safety rules and regulations of the country in which the device will be operat...

Page 21: ...ctrical power drive systems Part 5 1 Safety requirements Electrical thermal and energy EN 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Functional EN ISO 12100...

Page 22: ...gain until the DC bus circuit is discharged in the case of Maintenance and repair work Cleaning long machine shutdowns Prior to carrying out maintenance work make sure that the power supply has been t...

Page 23: ...s by integrating the module FSM 2 0 STO for example Initial operation must be carried out with idle motors to prevent mechanical damages for example due to the wrong direction of rotation Electronic d...

Page 24: ...th see for example EN 60800 5 1 Prior to the initial operation even for short measuring or testing purposes always connect the ground conductor of all electrical devices as per the terminal diagram or...

Page 25: ...occur directly after switching on the device or after an indeterminate time of operation The monitors in the drive components for the most part rule out malfunctions in the connected drives In view of...

Page 26: ...rfaces may be hot Risk of injury Risk of burning Do not touch housing surfaces in the vicinity of heat sources Danger of burning Before accessing devices let them cool down for 10 minutes after switch...

Page 27: ...g general safety notes apply Comply with the general setup and safety regulations on handling and assembly Use suitable assembly and transportation devices Prevent incarcerations and contusions by mea...

Page 28: ...xception The PFC stage is an active mains current converter required to fulfil the corresponding standards on the limitation of the mains harmonics for category C2 residential areas The PFC stage also...

Page 29: ...inet plates All devices comply with the IP20 degree of protection Integration of all filters to fulfil the EMC regulations industrial inside the device for example line filter motor output filter filt...

Page 30: ...via I O level or fieldbus High resolution 16 bit analog input Technology slots for extensions such as I O extension module or PROFIBUS interface Note Depending on the current consumption only one tec...

Page 31: ...eries allows dynamic conversion in both directions between motor and generator operation without dead times No parameterisation by user necessary 3 2 1 1 Behaviour during switch on As soon as the item...

Page 32: ...sured and used for the pre control of the PFC stage 3 phase power stage M 3 microcontroller voltage controller motion controller IC for power factor correction L D C u_q i_q PWM U_Zk i_v i_u T8 I_in U...

Page 33: ...possible for both devices It is not allowed to connect the DC Busses if the devices are connected to different mains phases It is forbidden to supply device 1 via L1 N and device 2 via L2 N when the D...

Page 34: ...against ground fault or short circuits against mains voltage or negative DC bus voltages Simultaneous use of the internal and external brake resistors is not possible The external resistors are not a...

Page 35: ...d as a parameterisation interface but it can also be used for controlling the item servo positioning controller C Series 3 4 3 UDP interface X18 The UDP communication enables the connection of the ite...

Page 36: ...table in which the positioning targets are stored and from which they can later be retrieved At least four digital inputs serve the purpose of target selection one input is used as a start input The...

Page 37: ...ve humidity up to 90 not bedewing Protection degree IP20 Protection class I Pollution degree 2 CE conformity Low voltage directive EMC directive 2006 95 EC verified by application of the harmonised st...

Page 38: ...lation l 25 m Category C3 industrial area l 25 m Cable capacity of a phase against shield or between two lines C 200 pF m Derating of the cable length see also chapter 8 11 5 Operation with long motor...

Page 39: ...indicate the operating status Table 9 Display elements and RESET button Element Function Seven segment display Display of operating mode and a coded error number in the case of a malfunction LED 1 two...

Page 40: ...A 24 VDC 20 0 65 A plus current consumption of a possibly connected holding brake and I Os Table 11 Technical data Internal brake resistor X9 Type Controller C 1 02 Controller C 1 05 Controller C 1 08...

Page 41: ...2000 W Below the nominal supply voltage the power output of the PFC stage is reduced linearly These performance curves are shown in the following figure Figure 3 Performance curve of the PFC stage 10...

Page 42: ...3 V 5 mA Power loss efficiency with regard to the rated output power typical 8 92 with smaller electrical rotational frequencies fel shorter permissible times are valid with C 1 08 see the following...

Page 43: ...ncies less than 2 Hz and those over 3 Hz For rotational frequencies lying in between these two values interpolation is required Therefore in the following you will find two tables for the C 1 08 the f...

Page 44: ...lock frequency kHz 19 Output current ARMS 1 9 Max output current ARMS 3 8 5 7 7 6 Max allowed time s 5 1 3 0 5 Table 16 Controller C 1 05 Rated current for an ambient temperature of 40 C Parameter Val...

Page 45: ...put current ARMS 16 24 32 Max allowed time s 5 0 7 0 2 Power stage clock frequency kHz 12 Output current ARMS 7 4 Max output current ARMS 14 8 22 2 29 6 Max allowed time s 5 0 7 0 2 Power stage clock...

Page 46: ...nt ARMS 16 24 32 Max allowed time s 5 1 3 0 5 Power stage clock frequency kHz 12 Output current ARMS 7 4 Max output current ARMS 14 8 22 2 29 6 Max allowed time s 5 1 3 0 5 Power stage clock frequency...

Page 47: ...ncoder single turn multi turn with HIPERFACE Multiturn absolute encoder with EnDat The encoder type is determined in the item Motion Soft parameterisation software The feedback signal is available via...

Page 48: ...motor identification The resolver offset angle which is determined automatically during the identification is readable and writeable for service purposes Table 19 Technical data Resolver X2A Parameter...

Page 49: ...r signals It is determined during motor identification or can be set via the parameterisation software Metronix ServoCommander In general the hall sensor offset angle is zero Sick Stegmann encoders Si...

Page 50: ...og incremental encoders ROD 400 ERO 1200 1300 1400 ERN 100 400 1100 1300 Singleturn absolute encoders EnDat 2 1 2 2 ROC 400 ECI 1100 1300 ECN 100 400 1100 1300 Multiturn absolute encoders EnDat 2 1 2...

Page 51: ...t 12 MBaud to 480 MBaud Connector type USB B no current consumption from the bus integrated power supply Communication protocol item specific generic device 4 6 3 Ethernet X18 Table 23 Technical data...

Page 52: ...b most significant bit DIN 4 Control input power stage enable at High DIN 5 Controller enable at high signal acknowledge error with falling edge DIN 6 Limit switch input 0 DIN 7 Limit switch input 1 D...

Page 53: ...mA 9 bit resolution fLimit 1 kHz 4 6 7 Incremental encoder input X10 The input supports all common incremental encoders For example encoders corresponding to the industry standard ROD426 by Heidenhai...

Page 54: ...igh once per rotation for the programmed number of lines for the duration of a signal period as long as the encoder signals A and B are high Table 29 Technical data Incremental encoder output X11 Para...

Page 55: ...servo motors The motor specifications are determined and parameterized by means of an automatic motor identification 5 1 2 Linear motors Besides rotary applications the item servo positioning control...

Page 56: ...rcurrent precontrol E1 E2 Figure 4 Control scheme of the item C 1 Series Figure 4 shows the basic control structure of the item C 1 Series Current controller speed controller and positioning controlle...

Page 57: ...s Uout sin ULL motor approx 210 VRMS Uout sin sin3x ULL motor approx 235 VRMS 5 2 3 Setpoint management For speed controlled and torque controlled modes of operation the setpoint can be set via a setp...

Page 58: ...activated and the width can be set The setpoints of the speed as well as the actual position are generally determined from the encoder system inside the motor which is also used for commutation For th...

Page 59: ...following will be called synchronisation The controller can serve as master or slave If the item servo positioning controller C 1 Series is the master it can provide the slave with its current rotor...

Page 60: ...of a target via a communication interface and also target positions which can be retrieved via the digital inputs For each entry it is possible to set the positioning method the driving profile the ac...

Page 61: ...of absolute positioning the target position is a fixed absolute position referred to the zero or reference point 5 3 4 Driving profile generator Driving profiles are categorized in time optimal and j...

Page 62: ...ng on the application without requiring another homing with a new enabling Since the existing digital inputs are used in standard applications the use of the analog inputs AIN 1 AIN 2 as digital input...

Page 63: ...ng set 0 to 255 can be used in the path program For further information please refer to the software manual item Servo Positioning Controller C Series 5 3 7 Optional stop input The optional stop input...

Page 64: ...allows simultaneous movements for multi axis applications in conjunction with interpolated positioning mode All servo positioning controllers of the item C 1 Series that is the entire controller casc...

Page 65: ...grated safety technology In their delivery status the item servo positioning controller C Series are not equipped with integrated features for the safety relevant monitoring and control of movements b...

Page 66: ...tion If all of the switches on the module are set to zero factory setting the fieldbus communication parameters of the parameter data set of the basic device will be used The position of the DIP switc...

Page 67: ...on of the technology modules that are listed in Table 32 Switch position 0 Activation of the communication The baud rate and the fieldbus address will be taken from the parameter data set or depending...

Page 68: ...the addresses will be added as an offset of a predefined base address of the corresponding bus system The base address can be predefined in the item Motion Soft and can then be saved in the parameter...

Page 69: ...ate circuit Power inverter Synchronus machine Encoder Angle Motor speed Current Intermediate circuit voltage Control signals Power switch Signal processing Control Control module Communication Field b...

Page 70: ...nication can be configured with the aid of this DIP switch Depending on the fieldbus that is used it is possible for example to adjust the fieldbus node number or the baud rate and so on This means th...

Page 71: ...Functional safety technology Page 71 6 3 2 FSM 2 0 STO Safe Torque Off Please refer to the Original instructions FSM 2 0 STO for further information...

Page 72: ...to ensure sufficient venting The item servo positioning controller C 1 Series may be installed adjacently in one switch cabinet without a gap proper usage and installation on a heat dissipating rear p...

Page 73: ...Mechanical installation Page 73 Figure 10 item servo positioning controller C 1 Series Installation space...

Page 74: ...Mechanical installation Page 74 7 2 View of the device Figure 11 item servo positioning controller C 1 02 Front view...

Page 75: ...der input X1 I O interface Figure 12 item servo positioning controller C 1 02 Top view X2A RESOLVER X6 X2B ENCODER X6 Motor Connection BR holding brake BR holding brake PE Connection for inner shield...

Page 76: ...t of the cooling body profile This is why the best possible heat transfer to the control cabinet plate has to be ensured Recommended tightening torque for an M5 screw of property class 5 6 2 8 Nm Plea...

Page 77: ...brake resistor alternative L Mains neutral conductor ZK Pos DC bus voltage ZK Neg DC bus voltage BR INT Connection of internal brake resistor BR CH Brake chopper connection for internal external brak...

Page 78: ...eries must be connected to ground with its PE connection The item C 1 Series must be completely wired first Only then the operating voltages for the DC bus and the electronics may be switched on In th...

Page 79: ...Electrical installation Page 79 Figure 16 Complete setup of the item C 1 Series with motor and PC...

Page 80: ...bus coupling a direct DC supply for the DC bus is possible 8 3 1 Device side X9 C 1 02 and C 1 05 PHOENIX MINI COMBICON MC1 5 9 G 5 08 BK C 1 08 PHOENIX COMBICON MSTBA 2 5 9 G 5 08 BK 8 3 2 Counterpl...

Page 81: ...r against BR INT and external brake resistor against ZK 7 PE PE Connection ground conductor from mains 8 24V 24 VDC 20 0 55 A 0 65 A C 1 02 C 1 05 and C 1 08 Supply for control module 9 GND24V GND 0 V...

Page 82: ...IX MINI COMBICON MC 1 5 9 ST 5 08 BK PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK The item servo positioning controller C 1 Series has an internal brake chopper with brake resistor For more brake power it i...

Page 83: ...08 PHOENIX COMBICON MSTBA 2 5 9 G 5 08 BK 8 4 2 Counterplug X6 C 1 02 and C 1 05 PHOENIX MINI COMBICON MC1 5 9 ST 5 08 BK C 1 08 PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK C 1 02 and C 1 05 PHOENIX MINI...

Page 84: ...U 1 Please comply with Chapter 9 Additional requirements for the servo drives concerning the UL approval on page 107 The cable shield of the motor cable must also be connected to the controller housi...

Page 85: ...ST 5 08 BK Connect the inner shields to PIN 3 maximum length 40 mm Length of unshielded cores maximum 35 mm Connect total shield on controller side flat to PE terminal maximum length 40 mm Connect tot...

Page 86: ...ake GND Holding brake Free wheeling diode Figure 19 Connecting a holding brake with high current draw 1A to the device The switching of inductive direct current via relay produces strong currents and...

Page 87: ...C 1 Series features two potential ranges Analog inputs and outputs All analog inputs and outputs refer to AGND AGND is internally connected with GND the reference potential for the control module wit...

Page 88: ...ies Figure 20 Basic circuit diagram connector X1 The item servo positioning controller C 1 Series comprises one differential AIN 0 and two single ended analog inputs designed for input voltages within...

Page 89: ...put voltages in the range of 10 V and an output for a reference voltage of 10 V These outputs can be led to the superimposed control the reference potential AGND must be carried along If the control h...

Page 90: ...18 24V 24 V 100 mA Auxiliary voltage for IOs at X1 6 GND24 Reference GND Reference potential for digital I Os 19 DIN 0 POS Bit 0 Target selection positioning Bit 0 7 DIN 1 POS Bit 1 Target selection p...

Page 91: ...y lead to deviation of the analog measured values In the case of limited cable lengths l 2 m wiring inside control cabinet the outer dual sided PE shield is enough to guarantee undisturbed operation F...

Page 92: ...NE trace signal differential 6 S4 2 S1 3 5 Veff 5 10 kHz Ri 5 k COSINE trace signal differential 7 S3 3 AGND 0 V Shield for signal pairs inner shield 8 MT GND 0 V Reference potential temperature senso...

Page 93: ...applications LAPP KABEL LFLEX SERVO FD 770 CP 3 x 2 x 0 14 D12Y 2 x 0 5 D12Y CP 8 3 mm with tinned total Cu shielding Error during angle detection up to approximately 1 5 at 50 m cable length 2 x 0 5...

Page 94: ...pied 6 GND 0 V CAN GND galvanically connected to GND in controller 2 CANL CAN Low signal line 7 CANH CAN High signal line 3 GND 0 V See Pin no 6 8 Not occupied 4 Not occupied 9 Not occupied 5 Shield P...

Page 95: ...free system Improper cabling may cause the CAN bus to malfunction which in turn can cause the controller to shut down with an error for safety reasons The CAN bus provides a simple and fail safe way o...

Page 96: ...gs to connect the cable shield In order to keep interferences as low as possible make sure that Motor cables are not installed parallel to signal lines Motor cables comply with item specifications Mot...

Page 97: ...UNC 8 8 3 Pin assignment X5 Table 38 Pin assignment RS232 interface X5 Pin No Denomination Values Specification 1 Not occupied 6 Not occupied 2 RxD 10 V RI 2 k Receive line RS232 specification 7 Not...

Page 98: ...5 Interface cable for serial interface null modem 3 core 8 8 5 Connection notes X5 D SUB connector at X5 PC 2 3 4 5 6 7 8 1 9 Connector housing 1 5 9 6 Connector housing 2 3 4 5 6 7 8 1 9 1 5 9 6 Fema...

Page 99: ...ication 1 VCC 5 VDC 2 D Data 3 D Data 4 GND GND Figure 25 Pin assignment USB interface X19 front view 8 9 4 Cable type and design X19 Interface cable for the USB interface 4 cores shielded and twisted...

Page 100: ...ad a firmware file 8 10 3 Supported file systems FAT12 FAT16 FAT32 8 10 4 File names Only file and directory names according to the 8 3 standard are supported 8 3 file and directory names have at most...

Page 101: ...Supply Voltage Ground Supply Voltage Ground 7 DAT0 DO Data Line 0 Bit 0 Card to Host Data and Status 8 DAT1 Data Line 1 Bit 1 reserved 9 DAT2 Data Line 2 Bit 2 reserved Table 41 Pin assignment MMC ca...

Page 102: ...position ON firmware download requested BOOT DIP Switch in position OFF firmware download not requested When there is no SD MMC card in the card slot of the servo positioning controller and the BOOT...

Page 103: ...depend on the entire drive concept consisting of the following components Voltage supply Servo positioning controller Motor Electro mechanics Execution and type of wiring Superimposed control In orde...

Page 104: ...ntroller C 1 Series should be located as close to the motor as possible see also the following chapter 8 11 5 Operation with long motor cables page 105 Motor cable and angle encoder cable must be shie...

Page 105: ...s and or unsuitable motor cables with an inadvertently high cable capacity the filters may be thermally overloaded To avoid such problems we highly recommend the following procedure for applications t...

Page 106: ...example Spoerle The item servo positioning controller C 1 Series has been designed to provide high interference immunity For that reason some individual functional blocks are electrically isolated In...

Page 107: ...A SCR 10 kA 9 2 Wiring and environment regards Use 60 75 or 75 C copper CU wire only The terminal tightening torque is 0 22 0 25 Nm To be used in a Pollution Degree 2 environment only 9 3 Motor tempe...

Page 108: ...gle encoder cable Motor cable Power supply cable Controller enabling cable 10 3 Connecting the motor Plug the connector of the motor cable into the corresponding socket of the motor and screw tight Pl...

Page 109: ...face alternative Plug the plug A of the USB interface cable into the socket for the USB interface of the PC Plug the plug A of the USB interface cable into the socket X19 USB of the item servo positio...

Page 110: ...sor analysis and monitoring function provides operational safety Measuring of motor temperature Measuring of power module temperature Detection of ground faults PE Detection of connections between two...

Page 111: ...is monitored In the case of incremental encoders the commutation signals are checked Other intelligent encoders provide further means of error detection Measurement and monitoring of the motor temper...

Page 112: ...d again The parameterisation software item Motion Soft queries the initial operation status and asks the user to parameterize the servo positioning controller At the same time the device shows an A on...

Page 113: ...eterised seven segment display A Operating mode torque control the two bars on the left hand of the display are on seven segment display I P xxx Positioning xxx stands for the position number The numb...

Page 114: ...arnings have the same code numbers as error messages As a distinguishing feature warnings have a centre bar before and after the number for example 1 7 0 The following Table 44 Error messages summariz...

Page 115: ...ge Information Only for connected service module An exchangeable error buffer has been plugged into another device No measures required 7 Log add on Permanent event memory and FSM module Information E...

Page 116: ...tion of wire break detection system threshold value 3 Motor overtemperature analogue short circuit Check the connecting cables of the temperature sensor short circuit Check the parameterisation of the...

Page 117: ...heck whether the resistance value is too small Check the brake chopper output of the device 07 0 Overvoltage in the DC bus circuit Check the connection to the braking resistor internal external Extern...

Page 118: ...cture in encoder parameter set If necessary re determine the data and save it in the encoder again 4 EEPROM data faulty customer specific configuration Motor repaired Perform a homing run and save the...

Page 119: ...ed 7 Homing Encoder difference control The deviation fluctuates e g due to gear slackness If necessary increase the shut down threshold Check actual value encoder connection 12 0 CAN two nodes with th...

Page 120: ...output stage could not be enabled The power output stage has not been enabled Check the connection of DIN 4 3 Power output stage prematurely disabled The power output stage has been disabled during a...

Page 121: ...e encoder not connected or defective The deviation fluctuates e g due to gear slackness If necessary increase the shut down threshold 2 Current jerk control Please contact the Technical Support 18 0 A...

Page 122: ...pported 2 HW revision not supported Check the firmware version If necessary request an update from the Technical Support 3 Device functionality restricted Please return the device to our sales partner...

Page 123: ...n error 2 SD card data error 3 SD card write error 4 SD card firmware download error 30 0 Internal conversion error Please contact the Technical Support 31 0 Motor I t Motor blocked Check the power ra...

Page 124: ...s synchronisation error Failure of synchronization messages from master Insufficient synchronisation interval 35 0 Overspeed protection of the linear motor The encoder signals are disturbed Check the...

Page 125: ...start of the positioning run Check the speed and acceleration parameters 43 0 Limit switches negative setpoint blocked The drive has left the intended motion range Technical defect in the system Check...

Page 126: ...ject planning Action Check whether correct module type and correct version are being used With module replacement Module type not yet configured Accept currently integrated safety or fieldbus activati...

Page 127: ...in brake driver circuit section in the basic device Action Basic device presumably defective If possible replace with another basic device 52 1 Safety function Discrepancy time overrun Cause Control p...

Page 128: ...the basic device moves in the blocked direction in the Positioning mode Action Check application and change if necessary 53 0 USF0 Safety condition violated Cause Violation of monitored speed limits...

Page 129: ...when USF3 SSF3 requested Action See USF0 error 53 0 54 0 SBC Safety Condition Violated Cause Brake should engage no feedback received within the expected time Action Check how the feedback signal is c...

Page 130: ...after reaching the zero speed or remains at idle and stable increase monitoring tolerance time if necessary With b If the actual speed value is very noisy at rest Check and if necessary adjust expert...

Page 131: ...With b Check whether the drive continues to oscillate after reaching the zero speed or remains at idle and stable increase monitoring tolerance time if necessary With b If the actual speed value is v...

Page 132: ...tched on energised Only if brake control takes place via DOUT4x and an external brake controller Deactivate 24 hr monitoring in the SBC parameters if the external brake controller allows this 7 SOS SO...

Page 133: ...equested Action Terminate SS2 or SOS and move axle at least once during this time 3 Resolver X2A Signal error Cause Vector length sin cos is outside the permissible range The amplitude of one of the t...

Page 134: ...tage for the ENDAT encoder Check the motor cable screening on motor and drive side EMC malfunctions may trigger the error 8 Impermissible acceleration detected Cause Error in connected position encode...

Page 135: ...was parameterised correctly the limit value P06 07 should be at least 30 50 above the maximum acceleration actually occurring In case of an angle jump in the position data transmitted from the basic d...

Page 136: ...capture times for the position encoders Action Timing disrupted If the error occurs again after a reset the safety module is presumably faulty 57 0 Error I O self test internal external Cause Interna...

Page 137: ...s if 1 The brake output X6 was configured for the brake this is the case with factory settings and 2 A motor without a holding brake is used and the brake connection lines in the motor cable are termi...

Page 138: ...the assignment correct output selected configured for test pulse 6 Electronics temperature too high Cause The safety module s temperature monitor has been triggered the temperature of C1 or C2 was be...

Page 139: ...data error incorrect sequence packet counter in data transmission between the basic device and safety module Too much data traffic new requests are being sent to safety module before old ones have be...

Page 140: ...o data or cross comparison faulty data for C1 and C2 are different Error in cross comparison for digital I O Error in cross comparison for analogue input Error in cross comparison for internal operati...

Page 141: ...or the servo drive or a new version of the safety module is available from the manufacturer 59 1 FSM Fail safe mode supply safe pulse inhibitor Cause Internal error in module in failsafe supply circui...

Page 142: ...ct the Technical Support 6 FSM Parameter set save error Please contact the Technical Support 7 FSM Flash checksum error Cause Voltage interruption power off while parameters were being saved Flash mem...

Page 143: ...configuration of the servo positioning controller and of the control system 4 EtherCAT invalid TPDO length 5 EtherCAT faulty cyclic data transfer Check the EtherCAT wiring Check the configuration of...

Page 144: ...he Profinet module 1 Profinet Bus error No communication possible e g because the bus cable is disconnected Check the cabling and restart the Profinet communication 3 Profinet Invalid IP configuration...

Page 145: ...correct firmware Check the slot If necessary contact the Technical Support 1 Technology module not supported Load the correct firmware If necessary contact the Technical Support 2 Technology module H...

Page 146: ...ters checksum error 9 DEBUG Firmware loaded 91 0 Internal initialisation error Please contact the Technical Support 1 Memory error 2 Controller power stage code read error 3 Internal software initiali...

Page 147: ...plex please contact your sales partner in order to find a solution for your particular application As a special feature S7 function blocks have been developed for the servo positioning controllers Usi...

Page 148: ...ion Interface Floating D SUB 9 pin integrated bus terminating resistors can be activated by DIP switches Special functions Support of diagnosis data RTS signal led out fail safe mode sync freeze The f...

Page 149: ...mission 2 The signal is optional It is used to identify the direction of an external optical waveguide connection 12 1 3 2 Counterplug 9 pin DSUB connector for example Erbic MAX PROFIBUS IDC Switch ma...

Page 150: ...hout integrated terminating resistors the PROFIBUS DP interface has its own terminating resistors They can be activated with the help of the two DIP switches on the module switch set to ON To ensure s...

Page 151: ...pported if the EtherCAT technology module is used If your specific requirements are more complex please contact your sales partner in order to find a solution for your particular application 12 2 2 Ch...

Page 152: ...ature range 25 C to 75 C Operating temperature range 0 C to 50 C Atmospheric humidity 0 90 non condensing Altitude up to 2000 m above msl External dimensions LxWxH approx 92 x 65 x 19 mm Weight approx...

Page 153: ...olour LED green red Run green link activity EtherCAT port 1 red EtherCAT active yellow LED 2 red Link activity EtherCAT port 2 12 2 5 EtherCAT interface Table 50 Signal level and differential voltage...

Page 154: ...hat ESD protection measures are taken when handling technology modules To insert a technology module into the item servo positioning controller C 1 Series please proceed as follows Remove the front pl...

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