Jenaer Antriebstechnik EtherCAT CANopen ECOVARIO 616 Installation And Operating Instructions Manual Download Page 26

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Installation and Operating Instructions ECOVARIO® 616, 616 D

Subject to change without notice!

Order designation

CAN

EtherCAT

Ethernet

Pro

ﬁ bus DP

Pro

ﬁ net

RS485

RS232

USB

STO functio

Enco

der

input A

Enco

der

input B

Enco

der

output

Digit

al inputs/

output

r co

nnect.

axis 1

r co

nnect.

axis 2

lding brake

axis 1

lding brake

axis 2

AC po

wer

supply

Ballast

resist

ECOVARIO

616AN-AJ-000-000

X21

X13

X14

X11

X12

X22

X5A

X7A

ECOVARIO

616AN-BJ-000-000

X21

X13 X14

X11

X12

X22

X5A

X7A

ECOVARIO

616AR-AJ-000-000

X21

X13

X14 X8

X11

X12

X22

X5A

X7A

ECOVARIO

616AR-BJ-000-000

X21

X13 X14 X8

X11

X12

X22

X5A

X7A

ECOVARIO

616AN-FJ-000-000

X21

X22

X13

X14

X11

X12

X5A

X7A

ECOVARIO

616AN-GJ-000-000 X21

X22

X13 X14

X11

X12

X5A

X7A

ECOVARIO

616AR-FJ-000-000

X21

X22

X13

X14 X8

X11

X12

X5A

X7A

ECOVARIO

616AR-GJ-000-000

X21

X22

X13 X14 X8

X11

X12

X5A

X7A

ECOVARIO

616AN-KJ-000-000

X21

X22

X13

X14

X11

X12

X5A

X7A

ECOVARIO

616AN-LJ-000-000

X21

X22

X13 X14

X11

X12

X5A

X7A

ECOVARIO

616AR-KJ-000-000

X21

X22

X13

X14 X8

X11

X12

X5A

X7A

ECOVARIO

616AR-LJ-000-000

X21

X22

X13 X14 X8

X11

X12

X5A

X7A

ECOVARIO

616AN-PJ-000-000

X21 X22

X13

X14

X11

X12

X5A

X7A

ECOVARIO

616AN-QJ-000-000 X21 X22

X13 X14

X11

X12

X5A

X7A

ECOVARIO

616AR-PJ-000-000

X21 X22

X13

X14 X8

X11

X12

X5A

X7A

ECOVARIO

616AR-QJ-000-000

X21 X22

X13 X14 X8

X11

X12

X5A

X7A

ECOVARIO

616DN-AJ-000-000 X21

X13

X14

X11

X12

X22

X1A,

X2A

(axis 1)

X1B,

X2B

(axis 2)

X5A

X5B

X7A

X7B

ECOVARIO

616DN-BJ-000-000 X21

X13 X14

X11

X12

X22

X5A

X5B

X7A

X7B

ECOVARIO

616DR-AJ-000-000

X21

X13

X14 X8

X11

X12

X22

X5A

X5B

X7A

X7B

ECOVARIO

616DR-BJ-000-000

X21

X13 X14 X8

X11

X12

X22

X5A

X5B

X7A

X7B

ECOVARIO

616DN-FJ-000-000

X21

X22

X13

X14

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DN-GJ-000-000 X21

X22

X13 X14

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DR-FJ-000-000

X21

X22

X13

X14 X8

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DR-GJ-000-000 X21

X22

X13 X14 X8

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DN-KJ-000-000 X21

X22

X13

X14

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DN-LJ-000-000

X21

X22

X13 X14

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DR-KJ-000-000

X21

X22

X13

X14 X8

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DR-LJ-000-000

X21

X22

X13 X14 X8

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DN-PJ-000-000

X21 X22

X13

X14

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DN-QJ-000-000 X21 X22

X13 X14

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DR-PJ-000-000

X21 X22

X13

X14 X8

X11

X12

X5A

X5B

X7A

X7B

ECOVARIO

616DR-QJ-000-000 X21 X22

X13 X14 X8

X11

X12

X5A

X5B

X7A

X7B

Table 6.1: Overview of interfaces ECOVARIO 616, ECOVARIO 616 D

Summary of Contents for EtherCAT CANopen ECOVARIO 616

Page 1: ...Installation and Operating Instructions ECOVARIO 616 ECOVARIO 616 D ...

Page 2: ......

Page 3: ...ik GmbH The content of this document has been worked out and checked carefully Nevertheless differences from the real state of the hard and software can never be fully excluded Necessary corrections will be carried out in the next edition ECOSTEP ECOVARIO und ECOLIN are registered trademarks of Jenaer Antriebstechnik GmbH Jena BISS is a registered trademark of iC Haus GmbH Bodenheim CANopen is a r...

Page 4: ...Installation and Operating Instructions ECOVARIO 616 616 D 4 Subject to change without notice ...

Page 5: ... power stage 14 4 3 General technical data 15 4 4 Order key 16 4 5 Suitable types of motors 17 4 5 1 ECOSPEED motors 17 4 5 2 Direct linear motors ECOLIN 17 4 5 3 DC servo motors 17 5 Installation 18 5 1 Mounting 18 5 1 1 Inportant notes 18 5 1 2 Dimensions 18 5 1 3 Assembly 19 5 2 Electrical Installation 20 5 2 1 Important notes 20 5 2 2 EMC compliant installation 20 5 2 3 Connection diagram 21 5...

Page 6: ...terface 49 6 8 4 X22 Designs with EtherCAT interface 5 2 6 8 5 X22 Designs with Profinet interface 55 7 Commissioning 58 7 1 Important notes before commissioning 58 7 2 Control and display elements 58 7 3 Work schedule commissioning 59 7 3 1 State display 60 7 3 2 Error messages 61 7 3 3 Setting and querying displaying parameters via the keys 64 7 3 4 Bootloader mode 64 8 Parameter setting 65 8 1 ...

Page 7: ...e injuries Left symbol General danger Right symbol Dangerous electrical voltages Indique une situation dangereuse Le non re spect de l indication de danger mènera à la mort ou à des blessures graves ou irréversibles Pictogramme de gauche indication générale de danger Pictogramme de droite Danger du au courant électrique WARNING AVERTISSEMENT Warning about a dangerous situation Disregarding this wa...

Page 8: ... life or a risk of serious health and material damage Covers and cabinet doors have to be kept closed during operation With the opening of the device all warranty and liability claims against Jenaer Antriebs technik GmbH are void Ne pas ouvrir l appareil pendant l utilisation Il y a danger de mort ou danger de graves dommages à la santé et au matériel Les capots et portes d armoires électriques do...

Page 9: ...se en service ainsi qu en mode mainte nance Des dérangements doivent être résorbés sans délai par du personnel qualifié 2 6 Prescribed use Utilisation conforme The servo amplifiers ECOVARIO are components which are built into electrical equipment or machines and can only be used as integral components of such equipment The leakage current of ECOVARIO is higher than 3 5 mA All notes about technical...

Page 10: ... not longer rotating Drives with a suspended load must have an additional safe mechanical blocking La fonction de sécurité STO doit être intégrée dans un circuit de sécurité les exigences des direc tives DIN EN 60204 DIN EN ISO 12100 1 et 2 et EN ISO 13849 1 sont suffisantes Elle ne doit être activée que si le moteur est arrêté et isolé de toute force s exerçant sur lui par exemple des charges sus...

Page 11: ...t of machines Part 1 General requirements 3 3 1 UL CSA conformity according to UL 508C under preparation Conformité UL CSA d après UL 508C en préparation If ECOVARIO servo amplifiers are to be used in countries where UL Underwriters Laboratories Inc or cUL conformity resp is required the appropriate type has to be selected cf chapter 4 3 Order key For further information see UL file number E244038...

Page 12: ... of the EMC directive The servo amplifiers have been tested by an authorized testing laboratory in a defined configuration with the system components which are described in this documentation Any divergence from the configuration and installation described in this manual means that you will be responsible for carrying out new measurements to ensure that the regulatory requirements are fulfilled Fo...

Page 13: ...ere applied EN 60204 1 2006 EN ISO 13849 1 2008 EN 61800 5 2 2007 EN 61800 5 1 VDE160 EN 61800 3 2004 Das Produkt ist nach Artikel 2 Buchstabe c der Richtlinie 2006 42 EG als Sicherheitsbauteil definiert Es ist ausschließlich für den Einbau in eine Maschine bestimmt Die Inbetriebnahme ist so lange untersagt bis die Gesamtmaschine in die das Produkt eingebaut werden soll den Bestimmungen der Richtl...

Page 14: ...tors motor connectors and the signal electronics Overvoltage detection short circuit protection phase failure supervision Temperature monitoring of the servo amplifier and of the motor Motor overload protection I2 t monitoring Parameterization Commissioning software ECO Studio with wizard functions Controller data Digital current velocity and position control with position speed and torque limitin...

Page 15: ...due to line supply fluctuations are not taken into consideration That means that with 15 less input voltage the output data UON PON on X5 have to be reduced by 15 For motors with a low inductivity the motor dimensioning for the maximum velocity should be 25 to 50 below the specified voltages otherwise very high ripple current For motors with a high inductivity even a higher reduction might be requ...

Page 16: ...self protecting motor controller certified acc to UL508 type E can be used 24 V supply max 12 A fast external ballast resistance not accessory resistors DPRxx xxx 1 t b d t b d 1 The accessory ECOVARIO resistors DPRxx xxx are intrinsically safe and therefore do not have to be fused Table 4 5 General technical data ambient conditions Ambient conditions ECOVARIO is designed for ambient conditions of...

Page 17: ...Profinet RS485 I CAN Profinet RS232 K CAN Ethernet RS485 L CAN Ethernet RS232 P CAN EtherCAT RS485 Q CAN EtherCAT RS232 Options R Safety function Safe torque off STO N no option Supply A 3 phase AC 1 axis power stage D 3 phase AC 2 axis power stage Current rating rms for 5s 16 max 16 A Voltage rating DC bus 6 max 600V Name of the unit CAN RS232 as service interface for ECO Studio only no object di...

Page 18: ...C contain rotative 3 phase low pole servo motors with holding torques between 0 5 and 11 Nm For technical data and accessories for the motors see our product catalogue ECOVARIO ECOMPACT ECOSTEP Drives or our web site www jat gmbh de Fig 4 1 Motor series 60C 80C and 110C 4 5 2 Direct linear motors ECOLIN Series SLM contains iron core 3 phase encoder commutated syn chronous linear motors from 220 to...

Page 19: ...trique ou un environne ment équivalent qui présente un degré de protection minimum IP54 Depending on the power losses an appropriate ventilation should be provided Il faut prévoir une ventilation suffisante pour compenser les pertes par échauffement Observe the mounting spaces Les espaces libres doivent être respectés Use 60 75 C copper wire only The accessory cables provided by Jenaer Antriebstec...

Page 20: ...ortant that the air flow is not disturbed by components above or below the servo amplifiers The distance between the servo amplifers has to be at least 3 mm The surface of the mounting plate has to be conductive e g zinc plated Varnished mounting plates must not be used INFO INDICATION Make sure that no heat accumulation can occur in the cabinet The servo amplifier switches off at too high tempera...

Page 21: ...conductor must have at least the same diameter as the supply cables The servo amplifier should be mounted onto a conductive not var nished metal mounting plate When the device is used in an UL environment ECOVARIO 616 xx xJ xxx xxx is suitable for use on a circuit capable of delivering not more than 5 kARMS symmetrical amperes 480Y 277 V maximum when protected by DIQV listed circuit breaker rated ...

Page 22: ...r ECOVARIO 616 ECOVARIO 616 Controller Peripherics Encoder A U V W 15 M CWI CCWI Home Positive limit switch Negative limit switch Homing switch Digital input Enable RESET ENABLE Digital input READY OUT1 X5A BRAKE1 BRAKE1 GND X7A Ready Reset X1A X2A X11 Encoder B 15 X12 X8A OUT2 24V GND 24V Logik X6 L3 L2 L1 PE F F B1 B2 RB X4 RI R L GND R or Brake USB or PROFIBUS DP or Ethernet EtherCAT X21 X13 X1...

Page 23: ...21 X13 X14 RS485 CAP1 CAP1 CAP2 CAP2 altern RS232 RS422 RS422 Machine signals Capture Fast event PC 4 2 PROFIBUS DP CAN X22 Parameterizing interfaces Ethernet EtherCAT CAN or Profinet 5 4 8 or Profinet under preparation Digital input axis 2 Enable axis 2 RESET ENABLE Digital input axis 2 READY OUT1 Ready axis 2 Reset axis 2 X1B OUT2 GND 24V Logic DIN6 DIN7 DIN8 Digital output axis 1 Digital output...

Page 24: ...r pulse current sensitive earth leakage circuit breaker Residual currents cause a pre magnetization of the transformer core and thus increase the the to lerance for residual currents To meet the requirements of EN 61800 5 1 we recommend therefore the use of the following earth leakage circuit breakers depending on the application universal RCDs type B in plant with 3 phase power system connection ...

Page 25: ...rs are labelled X4 X22 X21 X13 X12 X11 X14 DC link voltage ballast resistor Options EtherCAT Profibus DP Ethernet CAN USB RS485 RS232 Capture Encoder axis 2 Encoder axis 1 X8B X2B X1A STO function axis 2 Digital inputs axis 2 24V Digital inputs outputs axis 1 X8A STO function axis 1 X2A Digital inputs axis 1 X1B 24V Digital inputs outputs axis 2 X5A X6 X7B Motor brake axis 2 Power connector Motor ...

Page 26: ...0 000 X21 X22 X13 X14 X11 X12 X5A X7A X6 X4 ECOVARIO 616AR PJ 000 000 X21 X22 X13 X14 X8 X11 X12 X5A X7A X6 X4 ECOVARIO 616AR QJ 000 000 X21 X22 X13 X14 X8 X11 X12 X5A X7A X6 X4 ECOVARIO 616DN AJ 000 000 X21 X13 X14 X11 X12 X22 X1A X2A axis 1 X1B X2B axis 2 X5A X5B X7A X7B X6 X4 ECOVARIO 616DN BJ 000 000 X21 X13 X14 X11 X12 X22 X5A X5B X7A X7B X6 X4 ECOVARIO 616DR AJ 000 000 X21 X13 X14 X8 X11 X12...

Page 27: ...B Circuit of the digital inputs and outputs axis 1 axis 2 Load Load Load External Power Supply 24 VDC 24 V 24 V 24 V 24 V 24 V GND GND ECOVARIO 616 Control RESET ENABLE Galvanic isolation GND 24 V 2 1 3 4 5 6 7 8 X1A axis 1 X1B axis 2 nc OUT1 OUT2 READY RESET ENABLE 24 V GND GND R 1 2 3 4 5 6 7 8 Fig 6 2 Mating connector X1A X1B Combicon MC 1 5 8 ST 3 81 CN2 7 BDNZX1 Phoenix No 17 55 40 2 INFO IND...

Page 28: ...tor X2A X2B Combicon MC 1 5 8 ST 3 81 CN1 8 BDNZX2 Phoenix No 17 55 41 5 Fig 6 5 Connector X2A X2B Circuit of the digital inputs axis 1 axis 2 Peripherics DGND DGND DGND DGND ECOVARIO 616 Galvanic isolation DGND GND Positive Negative limit switch limit switch Homing Control signal CWI X2A axis 1 X2B axis 2 n c CCWI HOME DIN6 8 2 3 4 5 R DGND Control signal DIN7 DGND Control signal DIN8 24 V 24V IO...

Page 29: ...data of the power stage A ballast resistor will prevent the DC link voltage from rising up to the limit of the overvoltage trip ECOVARIO 616 and 616 D are equipped with a built in ballast resistor For using the internal ballast resistor a bridge between R and RI is required Alterna tively an external ballast resistor can be connected The ECOVARIO accessory ballast resistors DPRxx xxx are intrinsic...

Page 30: ... the ballast resistor shown in Table 6 6 can be reduced by pro gramming The objects 0x2701 09 switch on threshold and 0x2701 10 switch off threshold are used for this The continuous power of the ballast resistor can be set in the objects 0x2701 11 power and 0x2701 12 Ohm value For more details please refer to the manual Object Dictionary ECOVARIO ECOSTEP ECOM PACT ...

Page 31: ...on of motor and brake with one cable The insulated meshes of the overall shield and of the shield of the brake cable must in any case be connected to the chasis earth or protective earth Due to impro per grounding or free mesh dangerous voltages may occur at the shield Fig 6 8 Mating connector X5A X5B GIC 2 5 HCV 4 ST 7 62 Nr 17 45 64 5 Phoenix Signal Keying Pin 3 phase motor 1 GND Phase U U 2 Con...

Page 32: ... contre les arcs intégrée Inrush current limiting The peak inrush current is limited to maximum 50 A by a temperature depending resistor After rechar ging the DC link the limiting resistor is bridged by a relay contact and thus can cool down during normal operation Inbetween two switch on and switch off sequences must be a delay of at least 10 s A cyclic switching on and off the servo amplifier by...

Page 33: ...Dauer 0 5 A Brake B 3 Table 6 9 Pin assignment connector X7A X7B Fig 6 13 Mating connector X7A X7B ZEC 1 0 3 ST 3 5 C1 3 R1 3 19 98 20 5 Phoenix Fig 6 14 Brake connection brake current Imax 0 5 A Fig 6 15 Brake connection brake current Imax 0 5 A INFO INDICATION The 2 axis device ECOVARIO 616 D has assigned the interface X7A to axis 1 and X7B to axis 2 In the 1 axis device ECOVARIO 616 X7B is not ...

Page 34: ...ts to SIL2 or PLd respectively according to EN 61800 5 2 or EN ISO 13849 1 The function is established by means of the circuitry shown in Fig 6 17 The signals are lead to the connector X8 Further the signals Enable and Ready of connector X1 are used Using the STO function The internal logic circuit safely switches off the power stages of the servo amplifier and zeroes the demand values The inputs ...

Page 35: ...lifier has been reset The safe status of the restart lock channel A is signalled by the contact between ASO1 and ASO2 if the drive is blocked the contact is closed The signal can be fed to a higher level safety PLC and can e g be used for enabling a door lock Channel B If the 24 V voltage is not applied to the Enable input the power stage is switched off via a FPGA The STO function protects agains...

Page 36: ...a current in the motor is pro duced by damaged driver transistors the high pole servo motors as well as the 2 phase servo motors cannot start because the necessary rotating field is not created In the worst case however a short hitch can occur at the motor shaft movement of max 1 2 pole pair of the motor If the internal semiconductor switch is damaged or a cable is broken the safety equipment swit...

Page 37: ...ers The 1 axis servo amplifier ECOVARIO 616 provides two encoder connectors The 2 axis servo amplifier ECOVARIO 616 D provides one encoder connector per axis X11 for axis 1 and X12 for axis 2 NOTICE PRUDENCE Never plug and pull encoder cables while they are live Always switch off the logic supply of the ECOVARIO Otherwise damages to the encoder can occur Ne connectez ou ne déconnectez jamais le câ...

Page 38: ...Temp sensor TSENSE Temp sensor 11 B Track B B Track B Track B Z Track N 12 VENCSENSE Sensor UP VENCSENSE Sensor UP VENCSENSE Sensor UP VENCSENSE Sensor UP 13 B Track B B Track B Track B Z Track N 14 A Track A A Track A Track A CLK CLK 15 A Track A A Track A Track A CLK CLK the same supply voltage for both encoders Setting the supply voltage Up The voltage UP at the respective encoder interface can...

Page 39: ...ation and Operating Instructions ECOVARIO 616 616 D 39 Fig 6 20 Example for connection for a 5 V incremental encoder SinCos encoder deviations in brackets Fig 6 21 Example for connection for a BISS encoder via standard cable ABS65 300 525 xx ...

Page 40: ...cosine B 9 Z Track N Z Index track Data Data channel Data Data 10 TSENSE Temperature sensor TSENSE Temperature sensor TSENSE Temperature sensor TSENSE Temperature sensor 11 12 VENCSENSE Sensor UP VENCSENSE Sensor UP VENCSENSE Sensor UP VENCSENSE Sensor UP 13 14 CLK CLK 15 CLK CLK Setting the supply voltage Up The voltage UP at the respective encoder interface can be parameterized and is set via th...

Page 41: ... Installation and Operating Instructions ECOVARIO 616 616 D 41 Fig 6 23 Example for connection for a 5 V incremental encoder SinCos encoder deviations in brackets Fig 6 24 Example for a BISS encoder via standard cable ABS65 300 525 xx ...

Page 42: ...ure inputs are not galva nically separated and can also be configured as digital inputs The RS485 interface of the ECOVARIO may as well serve for a 4 conductor full duplex as also a 2 con ductor half duplex connector Transmitter and receiver of the ECOVARIO meet the specifications of EIA RS485 up to 250 kBaud and are EMC protected according to IEC 61000 4 4 The communication protocol allows networ...

Page 43: ...e Installation and Operating Instructions ECOVARIO 616 616 D 43 Fig 6 26 Example for connection RS485 point to point connection in half duplex mode Bild 6 27 Example for connection RS485 point to point connection in full duplex mode ...

Page 44: ...hat a 1 1 standard cable for communication with a COM port 9 pole Sub D connector can be used Transmitter and receiver of the ECOVARIO 114 D meet the specifications of EIA 232E and CCITT V 28 and are EMC protected according to IEC 61000 4 2 The communication protocol allows net work operation of up to 126 ECOVARIO units as slaves in a mono master network For this option a ring structure of the RS2...

Page 45: ...g to IEC 61000 4 2 and is internally sup plied To communicate via the USB interface firstly the unit ID of the ECOVARIO must be set The ID is set with the front keys of the ECOVARIO Each ID can only be allocated once ID 0 is reserved and may not be allocated Fig 6 30 RS232 network in ring structure Fig 6 31 RS232 cable ECOVARIO PC view of the solder or crimp side of the plug connectors at the cabl...

Page 46: ...or crimp side Pin Signal Description 1 n c 2 CAN_L CAN data L 3 CAN_GND reference potential to CAN data 4 n c 5 n c 6 CAN_GND reference potential to CAN_V 7 CAN_H CAN data H 8 n c 9 CAN_V 8 18 VDC max 50 mA for ECOVARIO 6xx xx Ax xxx xxx and ECOVARIO 6xx xx Bx xxx xxx no external supply voltage for the CAN interface is required Table 6 21 Pin assignment connector X21 Fig 6 35 Circuit X21 design wi...

Page 47: ... ECOVARIO 6 xx xx H x xxx xxx CAN RS485 Profinet interface ECOVARIO 6 xx xx I x xxx xxx CAN RS232 Profinet interface CAN RS232 as service interface for ECO Studio only no object dictionary acc to CANopen DS402 6 8 1 X22 Designs with encoder emulation The interface encoder emulation is supplied by an external voltage of 5 VDC The maximum cable length is 10 m Fig 6 37 Mating connector X22 9 pole Sub...

Page 48: ...rface of the ECOVARIO is electrically seperated from the rest of the device But the reference potentials are interconnected via 1 MΩ and 100 nF The interface is supplied by the unit an external supply in not necessary The shroud of the Sub D connector is connected to chassis earth GND Fig 6 38 Connector assignment X22 on designs with encoder emulation Bild 6 39 Mating connector X22 9 pole Sub D so...

Page 49: ...5 Ω Capacitance per unit length 30 pF m Loop resistance 110 Ω km Core diametre 0 64 mm Core cross section 0 34 mm The maximum cable length depends on the transmission rate E g with a transmission rate of 187 5 kBit s the maximum cable length is 1200 m at 12 MBit s the cable should not be longer than 100 m At transmission rates 1 5 MBit s spur lines must be avoided Common connectors provide the pos...

Page 50: ...is only necessary if a communication to external network is intended to be set up The interfaces X22A and X22B are each equipped with the following display elements green LED displays Link Activity orange LED displays Collision Detection An ECOVARIO which is operated with the Ethernet interface automatically selects the interface used for message transfer If a CAN bus connection is available all m...

Page 51: ...e transport via Ethernet The original CAN data is extracted from these packages and is lead to the CAN bus All bus nodes also the ECOVARIO with Ethernet interface can receive them In the other direction all CAN messages received via the bus are pa cked into UDP packages and sent via the Ethernet The Ethernet function supports full SDO transfer with one or more client applications on PC IPC side Th...

Page 52: ...via the CAN bus The SDO transfer with the PC IPC does not re ach the CAN bus which is not disturbed e g synchronous motion In order to change the operation mode the gateway mode has to be deactivated in each device object 0x2FB2 sub index 12 because otherwise the devices would send the messages to each other continuously Process data communication is decoupled completely from the Ethernet in this ...

Page 53: ...een two devices is limited to 100 m For process control and visualization of EtherCAT devices the operation with the PC software TwinCAT manufacturer Beckhoff GmbH is proposed For configuration instructions and an application example please refer to Application Note 26 he objects which are required for the configuration of the EtherCAT communication are described in the manual Object Dictionary EC...

Page 54: ...are managed Parallel operation In principle CAN and EtherCAT can be operated in parallel cf Fig 6 46 where the CAN bus is used for parame terization while EtherCAT is used for the synchronous interpolated operation As soon as the ECOVARIO has been configurated successfully by the EtherCAT master and has been set to preoperational state via EtherCAT the NMT telegrams via CAN are ignored PDOs assign...

Page 55: ... provides an Ethernet stack By means of the Ethernet stack it is possible to support the manufacturer specific UDP protocol for Ethernet communication Thus a communication e g with ECO Studio can be established in parallel to the ProfiNet traffic The interfaces X22A and X22B can each be used for the connection to the PC or a server end of a star shaped connection as well as for the connection to f...

Page 56: ...Profinet network a ProfiDrive compatible controller can be used For configuration instructions and an application example with the PLC S7 1500 manufacturer Siemens please refer to Application Note 33 There are two ways to implement the operation with Profinet interface as a pure Profinet application communication with ECO Studio in parallel to the Profinet bus operation The two ways are described ...

Page 57: ...IP of the ECO Studio PC have to be in the same subnet The gateway address of the ECOVARIO has to be the IP adress of the ECO Studio PC The settings can be made via object 0x2FB2 or via Step 7 Fig 6 49 Communication of ECO Studio in parallel to the Profinet traffic for IRT operation only AK4 in other cases a Fig 6 48 Example Profinet operation of the ECOVARIO 616 616D with star shaped connection vi...

Page 58: ...rts must be pro tected safely against touching Even up to six minutes after disonnection from the supply capacitors can still have dangerous voltages present To be sure measure the DC link circuit and wait till it has fallen below 40 V Danger de mort ou danger de blessures par des tensions élevées 850 V Ne touchez pas de pièces de l amplificateur de servomoteurs qui peuvent être potentiellement co...

Page 59: ...uration NOTICE PRUDENCE Incorrect parameter settings can cause damage or destruction of machine parts Device configuration and mechanical configuration must be adjusted to each specific case De mauvais paramétrage peuvent endommager ou détruire des paries de la machine Les appareils et la configuration mécanique doivent être individuellement adaptés à chaque cas With the help of the ECO Studio dev...

Page 60: ...ters are available or if these are invalid the unit is in the state not configurated After setting or storing the unit must be restarted Operation Display shows Inactive state power stage switched off at both axes display 0 dot flashes Display shows Active state power stage switched on at axis 1 axis 2 switched off dot flashes Display shows Active state power stage switched on at axis 2 axis 1 swi...

Page 61: ...n if the error reoccurs send in device to manufacturer A20 Incorrect calibration data Send in device to manufacturer A21 Watchdog error of standard loadware If the error reoccurs send in the device to manufacturer A22 PLD firmware inappropriate for loadware Send in device to manufacturer A23 Loadware does not support this device Contact service hotline of Jenaer Antriebstechnik GmbH A24 Firmware L...

Page 62: ...D30 Following error too high Check axis parameters and operating conditions Check whether the axis is freely movable Check whether the second position measu ring system still counts correctly D31 Commutation not found Check if axis is freely movable Check whether the motor phases are connected correctly whether the encoder counts and whether the commutation settings are correctly D32 Internal soft...

Page 63: ... EEPROM Writing to the object 0x607C home_offset removes the error cause User data is only stored in multiturn absolute value encoders E20 Mismatch between stored position value and actual encoder value more than 1 2 revolution Carry out homing procedure E21 Incorrect multiturn value Error cause is a contamination or a defect of the revolution counter of the multiturn absolute value encoder E23 Qu...

Page 64: ...ernet IP or EtherCAT addresses can be retrieved Functions of the keys Key S1 select menu navigation count up display values Key S2 enter select menu option accept values 616 D only 7 3 4 Bootloader mode The bootloader mode can be selected in three different ways press both keys during switching on the 24 V control voltage if after switching on the 24 V control voltage an error is recognized by sta...

Page 65: ...dio online documentation Further information on programming the ECOVARIO can be found in the manual Object Dictionary ECOVARIO and ECOSTEP 8 2 Setting the current allocation to the both axes of the ECOVARIO 616 D At ECOVARIO 616 D the current allocation to the both axes can be set For each axis this is done via the object 0x6073 max_current or by means of ECO Studio connected to the respective axi...

Page 66: ...g connector set ECOVARIO 616 1 axis Ballast resistors DPR40 200 Ballast resistor 40 Ω 200 W 500 W cooled ECOVARIO 616 616 D Software tools CD with ECO software tools and documentation all Power supplies logic voltage SV24 1 phase power supply 24 VDC all Cables INK65 491 525 xxx Encoder cable for motors with incremental encoders or SinCos encoders all ABS65 300 525 xxx Encoder cable for motors with...

Page 67: ... shield plate and the bottom shield plate are designed differently and cannot be interchanged Observe Fig 9 1 For mounting the shield plate proceed as follows 1 On the respective side of the servo amplifier loosen the screws Pos 1 and screw them approx 2 mm out 2 Shift the shield plate with the cutout Pos 2 under the screw heads Pos 1 and into the studs on the side of the servo amplifer Pos 3 3 Ti...

Page 68: ...d aluminium casing Intrinsically safe on continuous overload and free convection no short circuit no fault to frame no fire no melting of the casing Protection class IP65 Approvals cCSAus cURus Note Mounting in a built up of heat casing temperatures up to 350 C may occur Braided wire of the connecting cables length 510 40 mm Ø AWG16 or 1 5 mm resp The scope of delivery contains elbow joints with m...

Page 69: ...ECOVARIO 616 616 D 69 9 2 1 Ballast resistors 200 W 500 W cooled DPR40 200 40 Ω 200 W 500 W cooled Fig 9 2 Dimensions of ballast resistor DPRxx 200 above and elbow joint below Fig 9 3 Pulse strength ballast resistors DPRxx 200 without restriction of durability ED duty cycle ...

Page 70: ...C 9 3 Mating connector sets Mating connetor sets for all interfaces of the ECOVARO is available All mating connectors are clearly la belled and designed in a way that there is no danger of mixing them up Table 9 2 Composition of ECOVARIO 616 D mating connector set DHK10 Connector Function Mating connector designation Phoenix ID No Number X1A X1B 24 V digital inputs and outputs Combicon MC 1 5 8 ST...

Page 71: ...rous voltages may occur The following table lists the cables available for connection of the motors of Jenaer Antriebstechnik GmbH If other cables are used functional errors of the drive and EMC problems might occur If you intend to use other cables please double check with our application department whether your cables are appropriate Table 9 4 ECOVARIO accessories cables Cable type Use Character...

Page 72: ...mplifier in which a new loadware can be transmitted into the servo amplifier s memory Brake chopper The brake chopper circuit produces a high inrush current that initiates a quick pulling of the brake After pulling the brake the current is reduced to a lower holding current Capture input Control input for quick event capture of a machine or plant Circuit breaker Switch that cuts the power if an er...

Page 73: ...of events is defined depen ding on external states input data internal states actual values or time states Short circuit Here electrically conductive connection between two power systems or motor phases STO function Safe Torque Off safety function defined in EN DIN 61800 5 2 The motor is not supplied with energy and cannot generate a rotation The STO function is used for the implementation of the ...

Page 74: ...Safety requirements Func tional safety DIN EN ISO 4762 Hexagon socket head cap screws DIN EN ISO 12100 1 Safety of machinery Basic concepts general principles for design Part 1 Basic terminology methodology DIN EN ISO 12100 2 Safety of machinery Basic concepts general principles for design Part 2 Technical principles DIN EN ISO 13849 1 2006 Safety of machinery Safety related parts of control syste...

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Jenaer Antriebstechnik EtherCAT CANopen ECOVARIO 616, Installation And Operating Instructions Manual, Page: 26 / 74

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Summary of Contents for EtherCAT CANopen ECOVARIO 616

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