Lust MASTERCONTROL MC6000 Series Instruction Manual Download Page 8

Page: 8 / 177

Displays and Error Messages ......................................................................... 9-1

9.1

Operating display ............................................................................................... 9-1

9.2

Error Messages ................................................................................................ 9-1

9.2.1

Warnings and errors in the Servocontroller ........................................................ 9-2

9.2.2

KeyPad operator errors ...................................................................................... 9-4

9.2.3

Errors when using SmartCard ............................................................................ 9-4

9.2.4

Trouble shooting ................................................................................................ 9-5

Description of Parameters ............................................................................ 10-1

10.1

System for Parameter Names ....................................................................... 10-1

10.1.1

Areas _ENCD, _MOT, _TCON, _SCON, _PCON ............................................ 10-1

10.1.2

Other areas and VAL Menü .............................................................................. 10-3

10.2

VAL Menu Parameters ................................................................................... 10-4

10.3

PARA Menu Parameters ................................................................................ 10-5

10.3.1

Configuation area (_CONF) ............................................................................ 10-7

10.3.2

Encoder area (_ENCD) .................................................................................. 10-19

10.3.3

Option slot 1 (_OPTN1) ................................................................................. 10-21

10.3.4

Option slot 2 (_OPTN2) ................................................................................. 10-21

10.3.5

Motor area (_MOT) ........................................................................................ 10-22

10.3.6

Torque control area (_TCON) ......................................................................... 10-25

10.3.7

Speed control area (_SCON) ......................................................................... 10-26

10.3.8

Position control area (_PCON) ....................................................................... 10-29

10.3.9

Serial interface area (_SIO) ........................................................................... 10-30

10.3.10

area (_KPAD) .................................................................................... 10-33

10.3.11

Safety and error reaction parameters area (_SCTY) ...................................... 10-37

10.3.12

Custom software area (_USER) ..................................................................... 10-41

10.3.13

Reference value input area (_REF) ............................................................... 10-42

Description of I/O Module 1 (AH1) and EKL300 ........................................... 11-1

11.1

I/O Module 1 .................................................................................................... 11-1

11.2

Terminal allocation I/O Module1 ....................................................................... 11-2

11.3

EKL300 ............................................................................................................ 11-3

11.4

Software description I/O Module 1 ................................................................... 11-5

Servomotor Design Specifications ............................................................... 12-1

12.1

Synchronous and Asynchronous Servomotor series ........................................ 12-1

12.2

Ordering details for ASx and PSx Servomotors ................................................ 12-2

12.3

Servomotor models .......................................................................................... 12-3

12.4

Basic versions of Servomotors ........................................................................ 12-5

12.5

Typical M-n graph for Servomotors .................................................................. 12-6

12.6

Technical specifications: Asynchronous Servomotors ASx-xx .......................... 12-7

12.7

Technical specifications: synchronous Servomotors PSx-xx ............................ 12-8

12.8

Dimensions of Servomotors ........................................................................... 12-10

12.9

Dimensions for shaft, flange and foot ............................................................. 12-11

12.10

Dimensions for motors with self cooling and external cooling ........................ 12-13

12.11

Permissible axial and radial loads .................................................................. 12-14

12.12

Technical specifications: shape and shaft seal IP65 ....................................... 12-15

12.13

Technical specifications: self cooling and external cooling ............................. 12-16

12.14

Technical specifications: holding brake .......................................................... 12-18

Index

Parameter Overview

Summary of Contents for MASTERCONTROL MC6000 Series

Page 1: ...Servocontroller 4 64 A stop return start enter SMART C A R D CTRL min 1 Instruction Manual MASTERCONTROL MC6000 ANTRIEBSTECHNIK ...

Page 2: ...nal Module EKL 300 Mains filter Line choke Mains connection stop return start enter SMART C A R D CTRL min 1 InterBus S Interface CAN Bus Interface Servocontroller MC6000 synchronous servomotors series PSx asynchronous servomotors series ASx various cables PC Interface SMARTCARD for easy matching of servocontrollers to the motors I O Module1 SMARTCARD storages all parameters RS485 SMART C A R D SM...

Page 3: ... and questions at the commissioning stage It is essential to read the Instruction Manual because incorrect use of the servodrive can damage both the servodrive itself and also other parts of the installation Because of the rotating parts of the drive and the high voltages involved this type of equipment is potentially hazardous to human life If after reading the instructions you still have questio...

Page 4: ...n or rotating machinery Warning you must follow this instruction Warning before opening the equipment disconnect from the mains and wait approximately two minutes for the DC link capacitors to discharge Prohibited incorrect operation may cause damage to equipment Useful tip Note ...

Page 5: ... and Bus system Software Overview Using KEYPAD and SMARTCARD Configuration Assigning input and output functions Processing of reference values Emergency Stop etc Structure of controls Torque control speed control and position control Displays and Error Messages Parameter Description by Subject Area I O Module 1 and EKL300 Servomotor Project Data Technical specifications dimensional drawings axial ...

Page 6: ...ns 2 4 3 Installation and Commissioning 3 1 3 1 Instructions for installation 3 1 3 2 Installation of drive system 3 2 3 3 Commissioning of the drive system 3 2 3 4 Important tips 3 4 4 Electrical Connections 4 1 4 1 System connection diagram 4 1 4 2 Electromagnetic compatability 4 2 4 3 Power Terminals 4 3 4 3 1 Mains power supply connection 4 3 4 3 2 Motor connection 4 4 4 3 3 Connection of ther...

Page 7: ...erence Value Input 7 5 7 2 1 Short description of reference inputs 7 5 7 2 2 Description of reference inputs 7 5 7 2 3 Setting reference inputs 7 9 7 3 Special functions 7 10 7 3 1 Emergency Stop 7 10 7 3 2 Automatic start 7 10 7 3 3 Motor potentiometer function MOP 7 11 7 3 4 OS00 output as PWM output 7 11 7 3 5 Torque limitation SCALE 7 12 7 4 Examples of applications 7 13 7 4 1 Example analog r...

Page 8: ... 12 Custom software area _USER 10 41 10 3 13 Reference value input area _REF 10 42 11 Description of I O Module 1 AH1 and EKL300 11 1 11 1 I O Module 1 11 1 11 2 Terminal allocation I O Module1 11 2 11 3 EKL300 11 3 11 4 Software description I O Module 1 11 5 12 Servomotor Design Specifications 12 1 12 1 Synchronous and Asynchronous Servomotor series 12 1 12 2 Ordering details for ASx and PSx Serv...

Page 9: ...4 must be observed Commissioning ie starting normal intended operation is only permitted under conditions of strict adherence to the EMC Directive 89 336 EEC For the Low Voltage Directive 73 23 EEC the harmonized standards in the series prEN 50178 DIN VDE 0160 in conjunction with EN 60439 1 DIN VDE 0660 part 500 and EN 60146 DIN VDE 0558 are used for Servodrives Technical specifications and connec...

Page 10: ...MC6000 Instruction Manual 1 2 1 3 Manufacturer s Declaration for Servocontrollers ...

Page 11: ...MC6000 Instruction Manual 1 3 ...

Page 12: ...MC6000 Instruction Manual 1 4 1 4 Manufacturer s Declaration for Servomotors ...

Page 13: ...MC6000 Instruction Manual 1 5 ...

Page 14: ...MC6000 Instruction Manual 1 6 1 5 MC6000 with CE Mark Copy of the CE Test Certificate as as exaple for MC6404 and MC6408 ...

Page 15: ...MC6000 Instruction Manual 1 7 Copy of Summary ofTest Results as an example for MC6404 and MC6408 ...

Page 16: ...t EMC Installation CE including EMC The MASTERDRIVE drive system has been designed such that it complies not only with the low voltage directive but also the EMC directive assuming appropriate installation and even the strict directive for domestic use Conformance testing was carried out in the renowned Schenck laboratories under laboratory conditions and there is no guarantee that these findings ...

Page 17: ... integrated positioning and sequence control reduced space requirements in cabinet reduced wiring costs reduced drag errors and reduced load on central control System solution with asynchronous and synchronous motor range this gives you the capacity to create the ideal solution in both technical and economic terms CE conformity this means that acceptance of your machine or installation will be str...

Page 18: ...des can be added in any order M C 6 x x x 5 4 3 2 1 locations 1 5 Example MC6408 KP0 D2 C2 with CAN bus interface with encoder interface for evaluating sin cos encoder without KP100 controller M C 6 x x x Continuous current RMS see MC6000 Technical Specifications Mains voltage see MC6000 Technical Specifications MASTERCONTROL MC6000 Series Model code for non standard models Standard model with KP1...

Page 19: ...ion with 8 inputs and 4 outputs Section 11 The I Os are fully programmable 1 9 MC6000 Servocontroller Models Control 1 2 Encoder Interface 3 Application Hardware The model codes on the nameplate identify how the device is equipped 4 Bus Interface 5 Braking chopper version Standard Without bus interface in slot X6 C1 INTERBUS S interface for local bus link IBS L Section 4 8 C2 CAN Bus interface CAN...

Page 20: ...trollers to the xxx xx xxxx Servomotor series ASx and PSx Accessories for fitting to the Servocontroller Order Description Code EKL300 Terminal module for external wiring of control terminals of application hardware AH1 and AH2 With connecting cable KSS252 KSS252 Connecting cable to link MC6000 Servocontroller and EKL300 terminal module Connecting cable length 1 8m LBSKK200 Interface converter cab...

Page 21: ...ce 17 terminals for PTC MC6464 4 slot X7 e g for I O Module 1 18 supply terminals MC6432 or PosMod1 19 supply terminals MC6464 5 LED status display gelb H3 20 RS485 serial interface X8 8 control terminals X5 21 encoder simulation port X9 9 jumper for analog ref value input 22 encoder port X10 10 socket for KeyPad X4 23 interface port X11 for 11 terminals for motor thermistor X3 InterBus S or CAN B...

Page 22: ... sec I A 2 I 1 5 I Switching frequency f kHz 4 8 16 factory setting 8 kHz Motor system synchronous or asynchronous Protection against short yes but not at RB terminals circuit and ground fault Code Unit MC6404 MC6408 MC6412 MC6416 MC6432 MC6464 Mains voltage U V 3 x 400 460 10 Asymmetry of 3 mains voltage Frequency f Hz 48 62 Power factor of cos 0 97 fundamental wave Efficiency η 95 Power loss P W...

Page 23: ...6408 MC6412 MC6416 MC6432 MC6464 Cooling air temperature T C 0 40 up to 1000 m a s l Type of cooling forced cooling Relative humidity rF 15 85 non condensing VDE0160 Power reduction relative P 5 C above 40 C cooling air temperature to cooling air temperature max 50 C Power reduction relative P 5 per 1000 m above 1000 m a s l to installation height max 2000 m a s l Storage temperature T C 25 55 VDE...

Page 24: ...ers are typically housed in cabinets with external air throughflow They are attached to a mounting board with four M5 screws It is essential that the minimum separaration distances above and below the unit are observed to avoid overheating The ventilation slots on the top surface must not be covered or closed off under any circumstances Warning Take care to ensure that no foreign bodies such as me...

Page 25: ...cilities ensure specified environmental conditions e g cooling air are provided It is essential to check that the encoder type and the encoder cable are compatible as detailed in the table below Otherwise correct operation cannot be guaranteed Example for motor name plate In each case the last two digits xx indicate the length of the cable in metres The following lengths are available as standard ...

Page 26: ... during self testing the red backlit display will indicate the cause of the fault see Section 9 wait 2 minutes after power off 3 2 Installation of the drive system 1 When installing the Servomotor in the system or machine observe the instructions inSections 4 3 2 and 12 If possible delay installing shaft end items e g gears pulleys couplings etc until after commissioning so that tests can be carri...

Page 27: ...de to position control 5 Set the parameters for the Servodrive for your application using the KEYPAD for commissioning set user level MODE 3 choose the required control mode CFCON in configuration _CONF now it is a simple matter to control the drive using the CTRL menu and to carry out tests in the required control mode If the motor is already connected to the system the user must ensure that the ...

Page 28: ...64 41 9 66 1 57 49 64 41 9 66 1 87 Fax 49 64 41 9 66 1 77 Warning Download from SMARTCARD first If the motor is operated without the appropriate SMARTCARD DRIVE being downloaded first the control characteristics are not usually as good It can lead to the motor overspeeding or even being destroyed 3 4 Important Tips Warning Do not remove encoder cable Under no circumstances must the encoder cable e...

Page 29: ...r 8 Serial interface RS485 D Detail of top 9 Encoder simulation port 1 Control terminals 10 Encoder port 2 Jumper for selecting current 11 X11 output X12 input for reference values 0 20 mA InterBus S or CAN Bus interface 3 Line reactor accessory not essential 12 X6 slot e g for Interbus S for operating controller or CAN Bus interface 4 Braking resistor internal or external 13 X7 slot e g for PosMo...

Page 30: ...rst but if a non screened control cable is used interference will be level 2 To comply with the radio interference regulations EN50081 2 EN55011 emission of interference the measures marked with a X in Table B must be carried out wait 2 minutes after power off Measures Effect Reason A B 1 Screw Servocontroller to metal mounting plate using serrated locking washers Good conductivity high surface ar...

Page 31: ... RB L1 L2 L3 W V U PTC PTC 1 2 3 4 5 6 7 8 9 10 11 12 13 14 with original encoder cable with screened control cable with good star grounding with mains filter see section 4 2 with screened mains cable with screened motor cable asynchronous or synchronous Servomotor resolver oder optical encoder MC6000 Servocontroller X5 X1 X3 X2 X10 control terminals 10 mm2 star grounding point main ground in cabi...

Page 32: ...age to the whole installation There may also be danger to human life Explanation In a controlled drive frequency inverter switching over of motor phases results in reversal of the rotating field and hence direction of rotation of the motor In a controlled drive of this type switch over would cause a fault in the control loop of the control circuit Warning Danger of Death Do not touch motor termina...

Page 33: ...x must not be dismantled If the motor has an external fan this must be connected appropriately and the correct direction of rotatation of the fan checked c f direction of rotation arrow on the fan casing An adequate supply of cooling air is required for effective cooling Motor cooling Permissible environmental temperature of motors is 5 to 40 C The motors must be mounted such that adequate heat di...

Page 34: ...ction of thermistor The thermistor PTC which is integral in the motor casing is connected to the Servocontroller for thermal monitoring of the motor Contacts 1 and 2 are connected in the motor terminal box to the 2 PTC terminals X3 in the MC6000 The PTC connection is screened and must be connected to ground at both ends PTC connection via separate screened cable or together with motor cable or tog...

Page 35: ...llation For this reason the design values of braking resistor and braking transistor must be checked with regard to the application before commissioning During commissioning safe operation must be checked If the design values are incorrect resulting in overload the braking resistor and the braking circuit may be destroyed and the machine and the installation may be damaged Model code Braking trans...

Page 36: ...rnal braking chopper JM moment of inertia of the motor JL moment of inertia of the load reduced to the motor shaft ML load moment prefix sign shows direction of effect n speed before braking min 1 n speed after braking min 1 tBr braking duration R U P Br ZK Br 2 max with UZK 745 V Ensure that RBr Rmin see Table Page 4 5 Fig 1 Example for operating profile a lifting application t n M t PBr P3 P5 t1...

Page 37: ...2 operation for cyclic braking use BR2 not permissible Example 2 1 Any point on the curves can be calculated from the permissible braking energy Emax 2 Only for MC6412 to MC6464 3 only for MC6432 MC6464 4 only for MC6464 Note It is important to differentiate between Internal ON duration EDi switch on limit of internal braking transistor duty cycle EDi 10 means max 8 seconds braking with peak braki...

Page 38: ...for cyclic braking curve B Is the internal braking resistor still adequate if the lifting operation is to be every 90 seconds including 6 seconds total braking time on a regular basis 1 Braking duration Braking time 2 Permissible braking energy for the MC6404 3 Condition for each working point in the example from the table on pages 4 7 at the foot An external braking resistor is in fact required U...

Page 39: ...tion 4 4 4 Warning Cancel Start before switching on ENPO input again Otherwise the system will try to correct the difference between the reference value and the actual value which has arisen in the meantime i e the drive will start of its own accord 2 Emergency Stop This is triggered via a programmable input to which the function Emergency Stop has been allocated The motor will then be braked to a...

Page 40: ...creened The cable screen must be grounded at both ends at the Servocontroller using the cable clamp provided for the purpose The control inputs and outputs have a common potential which is isolated from the mains potential The control inputs and outputs are not potential isolated via optocouplers as most programmable controls PLC are themselves potential isolated 4 4 1 Control Terminal Allocation ...

Page 41: ...programmable sampling time 1 ms delay time input filter 10 ms PLC compatible 24 V logic to DGND Switching level HIGH 19 2 to 26 8 V DC LOW 0 to 4 8 V DC other voltages not permissible contact current 6 4 mA 24 V 8 mA 30 V input impedance 3 9 kΩ Power stage enable ENPO hardware enabling of power stage delay time input filter 10 ms PLC compatible 24 V logic to DGND high level power stage enabled Out...

Page 42: ...0 IS01 ENPO OS00 OS01 X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 20 20 mA 10 V ISA0 10 V ISA0 ISA1 24V 24V IS00 IS01 ENPO OS00 OS01 X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 10 10 V 20 K J2 J1 y y y J2 J1 y y y J2 J1 y y y AGND AGND AGND 24V O0 SPS PLC 14 DGND 4 4 3 Identification of Input and Output Codes The codes for inputs and outputs are made up as follows I S0 0 Number of I O Location module Input Output...

Page 43: ...0 V ISA0 10 V ISA0 ISA1 24V 24V IS00 IS01 ENPO OS00 OS01 X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 0 10 V 10 K 10 V ISA0 10 V ISA0 ISA1 24V 24V IS00 IS01 ENPO OS00 OS01 X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 0 20 mA 10 V ISA0 10 V ISA0 ISA1 24V 24V IS00 IS01 ENPO OS00 OS01 X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 J2 J1 y y y J2 J1 y y y J2 J1 y y y AGND AGND AGND 24V O0 SPS PLC 14 DGND 10 V ISA0 10 V ISA0 ISA1 ...

Page 44: ...allel with a PLC e g use of 5 digital inputs and 2 digital outputs 1 2 3 4 5 6 7 8 9 10 11 12 13 14 X5 10 V ISA0 10 V ISA0 ISA1 24V 24V IS00 IS01 ENPO OS00 OS01 1 2 3 4 5 6 7 8 9 10 11 12 13 14 X5 max 65mA 24V DGND R2 10 V ISA0 10 V ISA0 ISA1 24V 24V IS00 IS01 ENPO OS00 OS01 X5 1 2 3 4 5 6 7 8 9 10 11 12 13 14 24V O1 O3 O2 O0 O4 I0 I1 SPS PLC AGND DGND ...

Page 45: ...or message the HIGH level is cancelled at input ENPO and then reapplied Errors can also be reset using the KEYPAD multifunction control unit 4 4 6 Input of Current Reference Values Both Jumpers J1 and J2 can be used to select input reference at analog input ISA0 and ISA1 as voltage or current reference signal The jumpers are immediately under the control terminals Internal resistance 500 Ω with cu...

Page 46: ...f Death Under no circumstances must the encoder cable ever be withdrawn during operation because the Servocontroller would lose all control of the motor This could lead to damage to the motor and the equipment and also be a source of danger to people because of the uncontrolled rotation of the drive 4 5 1 Resolver Cable KRX Nxx KRX KSxx KRX Nxx Cable not festoonable Lapp Unitronic CY Pi CY 3x2x0 2...

Page 47: ...J B blue black 8 n c 9 S CLK yellow 10 R CLK purple 11 B 0 V white 12 E A green black 13 F A yellow black 14 K B red black 15 n c outer screen to casing KG1 KSxx Cable not festoonable Heidenhain 244 957 01 KG2 3 KSxx Cable festoonable Heidenhain 266 306 01 Connector X1 Sub D 15 pin metal housing Connector X2 Connector19 pin socket Schaltbau Munchen T1 Unit KRX Nxx KRX KSxx KG1 KSxx KG2 3 KSxx for ...

Page 48: ...terface 1 potential free 24 V supply 2 potential free 5 V supply 3 not potential free use of internal 5 V supply The block diagram below shows the serial interface and connection options 5V_B RS485 Driver GND_B GND_B 5V_B DGND 5V_B DIRECTION TxD RxD GND_B 5V GND_B DGND 5V 9 X8 3 2 8 RS485 RS485 5 4 6 7 5V 24V OUT 24V_IN 5V_B B C A D 9 X8 3 2 8 5 4 6 7 9 X8 3 2 8 5 4 6 7 5V GND 24V GND 3 1 2 No Fun...

Page 49: ...he screening must be grounded via the connector housing to grounding conductors If Bus operation must be ensured in case of mains power supply failure then the 24 V voltage for the control section must be an external supply see Section 4 4 1 Sub D 25pol PC RS232 2 TxD 3 RxD 7 GND PCs with RS232 interface 25 pin Sub D socket can be connected using the interface connector cable which is available as...

Page 50: ...L min 1 10V I O 7 Twin Device Technology Servorcontroller receives speed reference values 10V from positioning control and returns encoder simulation as position information Encoder simulation is provided at connector X9 25 pin Sub D socket This simulates an incremental encoder with square wave output signals using the signals from the encoder connected at X10 Encoder simulation is generated using...

Page 51: ...signals Line receiver MC3486 is suitable for evaluating differential signals The line should be terminated with a 120 Ω resistor If required the output signals from the MC3486 can be potential isolated via an optocoupler Pin no X9 Assignment Function 1 5V output in the case of incremental encoder input to supply encoder load 40 mA 2 n c 3 2R incremental encoder input 4 n c 5 2B incremental encoder...

Page 52: ...ing a screened cable and the screening must be grounded to a grounding conductor via the connector housing X11 Assignment X12 1 Uv0 1 2 Uv0 2 3 5 V 4 RBST 5 SLI 5 6 CKI 6 7 CRI 7 8 DI 8 9 COM 9 10 COM 10 11 RC 11 12 SLO 12 13 CKO 13 14 CRO 14 15 D0 15 n c 3 4 Local Bus connection C1 Sub D 15 pin Remote Bus connection C7 Sub D 9 pin X11 Connection X12 1 D0 1 2 DI 2 3 COM 3 5 5 V 6 D0 6 7 DI 7 9 RBS...

Page 53: ...24V supply see Section 4 4 1 Screening The Bus must be wired using a screened cable and the screening must be grounded to a grounding conductor via the connector housing 1 External 24V supply required 24 V DC 10 100 mA X11 X12 Allocation 1 5 V 2 CAN_L 3 GND CAN 1 4 ADR0 5 ADR1 6 GND CAN 1 7 CAN_H 8 ADR2 9 24V CAN 1 Technical Specifications Supply voltage 24 V DC 20 for MC6000 controller Current ma...

Page 54: ... 2 ON 1 2 3 4 5 6 7 8 Technical Specifications Supply voltage 24 V DC 20 for MC6000 controller 24 V DC 10 for CAN Bus pin 9 X11 X12 Current max 3 A slots 1 and 2 occupied typically 0 5 A Baud rate can be set from 50 kBit s 1 km line length to 1 MBit s 40 m line length Transmission CAN Bus to ISO11898 DIP switch Pin No ADRx 8 7 6 5 4 3 2 1 Address X X X 0 0 0 0 0 0 X X X 0 0 0 0 1 1 X X X 0 0 0 1 0...

Page 55: ...ion Control MC6000 Software Parameter setting The configuration software is used for setting parameters for individual components Some parameters depend on the drive system hardware eg the motor and encoder specifications and data specific to that the controller eg device rated current options fitted etc The motor and encoder data are stored on the SMARTCARD and can be downloaded to the equipment ...

Page 56: ...s include controller application and the lag time of the torque controller As these parameters have been factory set for best results they will only need modifying in exceptional cases by qualified users The control software is described in Section 8 Control Software In normal use there is no need to become involved in the complicated control structures ...

Page 57: ... Description Function 1 LCD display 140 segments backlit red green 2 key Scroll backw3ards in menu structure change value 3 key Scroll forwards in menu structure change value 4 stop return key Stop CTRL menu exit or exit from selected menu 5 start enter key start CTRL menu confirm or select menu option 6 SmartCard chip card data store storage of device settings 7 cable max length 0 30 m Dimensions...

Page 58: ...lecting menu options and specific parameters and for changing them Press once to jump to the next menu branch or parameteror to increment or decrement a parameter value by the smallest step size If a key is held down displayed values will change until released scroll function The stop return key is used for exiting from a menu branch or cancelling parameter changes old value is retained The start ...

Page 59: ... segment display for editing status parameter number or exponential 13 VAL menu display actual values eg speed 14 PARA menu change parameter setting 15 CTRL menu control drive from KeyPad 16 CARD menu load save device settings using SmartCard 17 Physical unit to 20 displays V A VA with automatic assignment 18 Physical unit to 20 displays h min 1 with automatic assignment 19 Physical unit to 20 dis...

Page 60: ...e current operating level or whether it can also be edited parameter status E parameter status flashing If a user tries to edit a parameter which in the current operating mode level can only be displayed this fact is indicated by error ATT1 reset using start end key Note If no key is pressed for 10 minutes the operating level is reset to Level 1 This avoids the risk of unauthorized access to a hig...

Page 61: ...r exit from any action by pressing stop return key Reset to factory settings single parameter press and simultaneously all parameters press and while switching mains on KEYPAD will display RESET Then download read in SMARTCARD DRIVE for matching to the motor Symbols used x any parameter status S or E NNNNN any parameter E parameter status flashing signifies Edit mode Display Action Description MEN...

Page 62: ...a _CONF _CONF or Possible search for further parameters to be edited in the PARA menu NNNNN stop return Exit from PARA menu MENU Example 2 Setting Position Control mode By way of an example control mode is here set to Position Control The corresponding parameter is CFCON CONFIGURATION CONTROL in _CONF which contains the system configuration The parameter CFCON must be set to PCON mode POSITION CON...

Page 63: ... save LOCK enable write protect UNLCK disable write C next parameter Select parameter Enter password Select parameter area Start with start enter key D Display parameter value Display parameter value or change Enable MOP function Function terminated error free MOP Motor operated potentiometer function in the CTRL Menu Section 6 6 3 6 7 1 The VAL Menu The VAL menu is used exclusively for displaying...

Page 64: ...simple to use The following subject areas are defined Note Not all the subjects displayed listed here can be displayed on the KEYPAD The reason is that subjects which are dependent on device configuration and current operating mode do not contain parameters and are not displayed in the PARA menu This makes it easier to make a selection from the relevant subjects In the standard version of the devi...

Page 65: ...rol circuit parameters are in _TCON _SCON and _PCON and are factory set for optimum results Small adjustments may be necessary in specific cases eg moment of inertia of the installation This is described in detail in Section 8 Control Software _OPT1 and _OPT2 are reserved for parameters in versions with option slot X6 and X7 eg InterBus S Interface The _USER area is reserved for customer specific ...

Page 66: ...ible from any other control location Drive control using the KEYPAD CTRL Menu At menu level the CTRL Menu is accessed by pressing thestart enter key If STOP is displayed it means that no reference value has been entered via the KEYPAD Press start enter again to edit the reference value The reference value is expressed as an exponential to allow a wide range of settings Holding down the key changes...

Page 67: ...eter MOP function using KEYPAD press key to increase reference value online press key to reduce reference value online The ramp symbol flickers to indicate that the value is being changed Pressing thestop return keyonce causes the motor to continue running with a constant reference value A new reference value can be entered Pressing the start enter key again causes the Servocontroller to use the n...

Page 68: ... R D Function Description READ Read some or all parameters from the SmartCard WRITE Save all parameters on the SmartCard LOCK Enable SmartCard write protected UNLOCK Disable SmartCard write protection Note 1 The CARD Menu can only be selected when control is disabled 2 Control cannot be started whilst you are still in the CARD menu 3 For this reason there is an automatic switch to the VAL Menu aft...

Page 69: ...operating level MODE parameter Press the start enter keyto go into edit mode Edit mode is indicated by the flashing parameter status E The parameter value can now be changed using and arrow keys The new setting can be confirmed by pressing start enter or cancelled by pressing stop return PARA Menu structure The PARA Menu has been selected Tap the start enter key to change the subject level The or ...

Page 70: ...urn start enter stop return start enter 0 9 start enter stop return 0 9 Changing parameters Changes in parameter values usually take effect immediately ie they become effective whilst the drive is controlled In the case of some parameters however areset is necessary because any change in these parameters could have far reaching consequences A reset can be triggered by especially suitable for setti...

Page 71: ...ea 2 Select control mode CFCON _CONF torque speed or position 3 Select control location CLSEL _CONF Control via terminals serial interface InterBus S CAN Bus etc 1 4 Program function selectors FIS0x FISAx _CONF Allocate functions to inputs and outputs FOS0x etc see Section 7 1 5 Program reference values _REF see Section 7 2 1 The control location identifies the source of control commands START and...

Page 72: ...gs can be stored on SMARTCARDs and transferred to other servo spindles In this way several drives can have their parameters set to identical values quickly and reliably By reading in theSMARTCARD READ ALL all settings can be copied to other drives This eliminates the need for steps 2 to 5 in the Five Point Plan If you only wish to copy the configuration for example if there are various motors then...

Page 73: ... level signal 1 ADy x Switching between reference value sources see Section 7 2 ENDL Detecting hardware limit switches ccw cw with low level ENDR If a limit switch has been triggered the device can be turned in the other direction E EXT Signal input for error messages from an external device e g from the PLC The response of the Servocontroller is determined by parameter R EXT _SCTY MP UP Motor pot...

Page 74: ...ut if not required ERR there is a fault error WARN there is a warning error without error response ERR there is no error WARN there is no warning ACTIV control is active green LED flashing ROT_R clockwise counterclockwise stationary depends on ROT_L parameter SPD_0 CONF ROT_0 LIMIT the actual value of the control has reached a limit value depends on parameters RLIM1 RLIM2 _REF REF the actual value...

Page 75: ...of the PARA Menu and also display The parameters which have been calculated and therefore cannot be edited are identified in the diagram with an asterisk after the parameter number There are 16 reference value inputs A 2 analog inputs RS485 serial interface digital reference value input not with standard software motorised potentiometer MOP via digital inputs POSMOD1position controller Bus Interfa...

Page 76: ... 434 REF3 435 REF6 438 REFV 447 RLIM2 81x RLIM2 RLIM2 RLIM1 80x RFIX6 79x RFIX5 78x RFIX4 77x RFIX3 76x RFIX2 75x RFIX1 74x RSSL2 418 RSSL3 419 SADD3 423 RF3FA 448 ACCR 842 DECR 852 FIxxx INV Off RLIM2 81x RLIM1 80x FISA1 ANALG RNA1 83x FISA0 ANALG RNA0 82x B C A 1 10 14 11 12 2 3 4 5 6 7 8 9 15 17 18 19 20 START ACTV 400 D RCON RCON RLIM2 RCON 0 10 V 0 20 mA 10 V 20 mA START STOPR 496 16 13 15 FI...

Page 77: ...put e g Mode speed control RNA1 3000 means that a speed of 3000 rpm corresponds to a reference value of 10 V When using analog inputs the function selectors e g FISA0 _CONF should have their parameters set accordingly If reference values are to be entered via the serial interface then the appropriate sector of the required reference value channel must be switched to RSIO There are six software ref...

Page 78: ...reference speed The ramp generator is triggered by the START signal The drive coasts on uncontrolled if the START signal is withdrawn c f Stop ramp Section 7 3 1 Calculation of the Overall Reference Value D The total reference value is produced by the switching of all reference value channels together The total reference value can be limited to one area by using the parameters RLIM1 and RLIM2 CTRL...

Page 79: ...et 8 0 0 RFIX1 Default 1 0 RFIX2 0 1 RCON off 1 1 RA0 Setting Offset binary Offset decimal ADx 0 0001 b 1 ADx 1 0010 b 2 ADx 2 0100 b 4 ADx 3 1000 b 8 b Switching between a number of reference value sources using external signals Set RSSL3 for example to the reference value to be selected if there are no external signals at the inputs Using the diagram Structure of reference value input check how ...

Page 80: ...een reset Warning The ENPO signal must not be discontinued during the Emergency Stop condition or the motor would be isolated from its control In that case the Servocontroller would lose control of the motor and the motor would coast on uncontrolled 7 3 2 Auto Start In many applications it may be necessary to enable control automatically after switching on mains power In such cases the parameter A...

Page 81: ...EF Set MOP as reference value source Parameter MPCNF _CONF Select operating mode MOP configuration Parameter RINC _REF Determines step for increment decrement Input with MP UP function Increases reference value Input with MP DN function Reduces reference value 7 3 3 Motor operated Potentiometer Motor operated Potentiometer MOP function means that the reference value is increased or reduced by a sp...

Page 82: ...ces from the moment of inertia of the load may also act on the motor shaft 7 3 5 Torque Limitation SCALE In many applications there is a requirement for the torque limitation to be adjusted continuously The SCALE function can be used to adjust the torque limitation via the analog input ISA1 When the SCALE function is enabled it also affects Emergency Stop FISA1 SCALE 0 10 V 0 20 mA 0 100 TCMMX M G...

Page 83: ...be connected b What parameter settings should be made c What parameters should be set if an asymetrical speed range of 1000 to 3000 min 1 is required Solution a Control terminal connections b Setting configuration parameters using the Five Point plan Parameter Setting Area 1 Read in the SmartCard with the motor specifications 2 Select control mode CFCON SCON _CONF 3 Select control location CLSEL T...

Page 84: ... of the operation The control circuits have been set to suit the motor by reading in the SMARTCARD and do not require any further matching in standard applications c Setting parameters for asymmetrical speed range Solution 1 with prefix switching A fixed reference value channel 1 is switched on which continuously adds 1000 min 1 to the reference value of the analog input The following changes shou...

Page 85: ... be necessary particularly for the baud rate SBAUD and the device address SADDR The drive will then be controlled using control word SCTL1 Do not forget to bridge signal ENPO to 24 V Parameter Setting Area 1 Read in SmartCard with motor data 2 Select control mode CFCON TCON _CONF 3 Select control location CLSEL SIO _CONF 4 Do not set function selectors as no _CONF inputs or outputs are required 5 ...

Page 86: ...lector RSSL3 is set to the first reference value RFIX1 Switching between the reference values is on a bit coded basis via inputs IS01 and ISA0 Both inputs change the value of the offset for reference value channel 3 parameter SADD3 by means of using its binary value So that Bit 0 of ISO1 and Bit 1 of ISA0 are affected the function selector should be set as follows FIS01 AD3 0 Bit 0 of offset for R...

Page 87: ...have been entered the drive parameters are fully customized to meet your requirements 6000 3 2000 1 1 1 min min s s Parameter Setting Area 1 Read in SmartCard with motor data 2 Choose control mode CFCON SCON _CONF 3 Choose control location CLSEL TERM _CONF 4 Set function selectors _CONF IS00 Start control FIS00 START IS01 Switch bit FIS01 AD3 0 ISA0 Switch bit 1 FISA0 AD3 1 ISA1 Emergency Stop FIS...

Page 88: ...rs _CONF IS00 Start control FIS00 START IS01 ohne Funktion FIS01 OFF ISA0 Switching bit 3 FISA0 ANALG ISA1 Ref value 0 10 V FISA1 AD3 3 5 Program reference value input RSSL1 RCON _REF RSSL2 RCON Use channel 3 RSSL3 RA0 switch off others RSSL4 RCON Fixed ref value e g 0 rpm RFIX2 0 Scaling 10 V 3000 rpm RNA0 3000 Parameter Setting Area 4 Set function selectors _CONF IS00 Start control FIS00 START I...

Page 89: ...portant in positioning applications Precision Resolution and precision are inherently higher when using a digital version than with analog control The price Because they are simpler three phase motors are also cheaper Space requirements The AC motor is considerably more compact than the DC motor Service Life AC servo motors are virtually non wearing whereas DC motors are expensive to maintain and ...

Page 90: ...ontrollers may be set as parameters in the specific area The control circuits are matched automatically to the motor data by downloading theSMARTCARD which produces excellent results with the specific motor Tedious fine tuning of controller settings is a thing of the past Depending on the application it may be necessary however to match one or two specific parameters if for example the system has ...

Page 91: ...frequency of the modulator can be controlled using parameter PMFS _CONF The torque controller parameters which can be set in _TCON are gain TCG reset time TCTLG and torque limitation TCMMX The scanning time of the TCTS controller is fixed at 125 µs The torque controller has two inputs m1 and m2 which can be summated internally The second input is necessary for inputting initial control values in p...

Page 92: ... the device can only take double the rated current for ten seconds If the application requires limitation of torque then TCMMX should have its parameters set accordingly Note TCMMX limits the reference value of the torque Only when the shaft is stationary does this correspond to torque limitation on the motor shaft In the case of extreme external moments of inertia it may also apply in the dynamic...

Page 93: ...ontroller MOSNM _MOT Rated speed of motor SM and ASM MOSMX _MOT Maximum speed of motor only in the case of ASM only for speed limitation The parameter SCSMX limits the maximum speed of the motor The maximum value for this parameter is obtained from the data of the motor in use In the case of synchronous motors this is the rated speed MOSNM and in the case of asynchronous motors the maximum speed M...

Page 94: ...ld be set using the parameter SCJ This results in proportional matching of the resulting controller gain Using parameter SCGFA it is possible to fine tune the gain on line The gain of the controller is calculated as follows SCG SCJ MOJNM MOJNM SCGFA 2 100 If the moment of inertia of the installation is not known the function of the Servocontroller should be used for setting speed control as descri...

Page 95: ...used especially in cases where the moment of inertia of the installation is not known exactly The step response provides the following Servocontroller values automatically a Rise time TA b First overshoot c Number of overshoots which are grater than 10 of the first overshoot a Rise time TA b First overshoot c Number of overshoots which are greater than 10 of the first overshoot Definition overshoo...

Page 96: ...ink can be read in _SCON of the PARA Menu STIME SetupTime Rise time 1OVER First Overshoot First overshoot 10PC Ten Percent Number of overshoots until the amplitude has reduced to less than 10 of the first overshoot The values of the rise time and the first overshoot are only valid if the torque limitation of the motor was not reached otherwise control behaves in non linear fashion If the limit cas...

Page 97: ...ening Asynchronous motors can be run at high speed with reduced torque in the field weakening range The graph shows the main features of torque relative to speed in the field weakening range Speed torque graph for an asynchronous motor Relevant Parameters The MC6000 Servocontroller has additional parameters for operating in the field weakening area speed control _SCON FCxxx VCxxx The parameters ha...

Page 98: ...it the specific the application see Torque Control Mode 2 The _SCON parameters are also important in position control see Speed Control Mode 3 P Amplification of Position Controller The total P gain results from the parameters PCG _PCON parameter for P amplification of position controller PCGFA _PCON for scaling and fine setting of PCG 0 999 The total P gain is calculated as follows PCG PCGFA 100 ...

Page 99: ...rning X X X reference value limit enabled RLIM1 RLIM2 1 X X X error X X X error response X X X charging relay not driven 9 2 Error Messages x xx xxx wild card characters represent any alpha numeric character Resetting of warnings and Servocontroller errors after correcting the cause rising flank on ENPO input of control terminals warning This disconnects the Servocontroller from the motor The moto...

Page 100: ...ore power off power E CPU processor defective 1 E OC 1 overvoltage caused by incorrectly check control circuit parameters f or insulation fault or internal check installation 1 defect in device E OV 1 over voltage from brake 1 chopper overload set DECR ramp to slower braking too long or too hard _REF set external braking resistor or or chopper mains power supply over voltage adjust mains voltage E...

Page 101: ...yed before the error correct it message 8 initialization error 1 13 function and reference value check selectors and correct selector settings incompatible setting _CONF _REF 101 pole pair of resolver illegal set parameter ECNPP _ENCD different from the motor pole pair and not 1 102 invalid switching frequency 1 EEPROM error 103 initialization of current control 1 107 probably incorrect motor type...

Page 102: ...eters incompatible ERR96 link to SmartCard distrupted ERR97 SmartCard data invalid CS test ERR98 insufficient memory on SmartCard ERR99 selected area not on SmartCard no parameters transferred from SmartCard Error Cause Solution ATT1 parameter cannot be changed in current select higher MODE 1 level mode or cannot be edited ATT2 motor must not be controlled on line from cancel start signal from the...

Page 103: ... function selectors for analog inputs Drive turns but reference value cannot be use reference value 3 or 4 inverted eg change of direction of rotation RSSL3 RSSL4 _REF not possible Drive does not turn with required reference value switch off reference value channels not in use RSSLx RCON _REF switch off Offset for selectors FIxxx not ADx y _CONF Ramps inactive set parameters for ramps ACCR and DEC...

Page 104: ...1 Areas _ENCD _MOT _TCON _SCON _PCON In the areas which relate to control structures and configuration of the encoder and configuration of the motor it is possible to deduce the function of the parameter from its parameter name The parameter names in these groups are strictly based on a three stage scheme This scheme is possible and meaningful because it consists almost exclusively of physical val...

Page 105: ...ification Formula Code English A Acceleration C Current D Deceleration F Flux G Gain J Inertia L Inductance M Torque P Power R Resistance S Speed T Time V Voltage Index English _R Rotor _S Stator 1 99 Index Numerical DC DC Link F Filter time FA Factor LG Lag MN minimum value MX maximum value NM nominal value RF Reference value S Sample time Abbreviation English ENA Enable LIM Limitation LNC Line C...

Page 106: ... However the clear connection between the name and the meaning of thre parameter is maintained by the parameter names being easy to remember This is further assisted by the use of uniform abbreviations form the same functions in parameter identification Abbreviations used widely in these areas Abbreviation English A Analog C order CON Control CF Configuration D Digital ERR Error F Function Selecto...

Page 107: ...C6000 447 REFV 1 Nm rpm U Reference Value Reference value of control value 495 IOSTA 1 I O Status Status of inputs and outputs 2 9 TAX 3 Controller Tax Instantaneous load on controller 10 MAXTX 3 Maximum Tax Maximum load on controller 12 MIDTX 3 Mid Tax Mid load on controller 96 ERR2 3 Error 2 Second to last error 1 97 ERR3 3 Error 3 Third from last error 1 98 ERR4 3 Error 4 Fourth from last error...

Page 108: ...ly be modified from user level MODE 3 and upwards Effective Changes All parameter changes can also be made on line ie whilst the control is in operation In most cases the changed parameter becomes effective immediately Changes in control specific parameters such as control mode control gain etc only take effect after the parameter list has been re initialized see Section 6 7 The line effect of cha...

Page 109: ...Bus Possible parameter settings are listed under Value range in and in tables under No Allocation of user levels and SMARTCARD areas Note Parameters which depend on the hardware present or which are derived from software settings are not stored on the SMARTCARD These parameters are identified with no data storage eg Hardware and Software Status word CFHSW and CFSSW in area _CONF MODE Reference Val...

Page 110: ...area SYSTM ANFIL Analog Filter Constant Time constant of analog filter for the analog reference value inputs ISA0 ISA1 Parameter number 410 Physical unit ms Value range see table below Factory setting 4 Customer setting Display level 3 Editing level 4 SMARTCARD area REFRC Setting Function 0 0 ms 1 1 ms 2 2 ms 3 4 ms 4 8 ms 5 16 ms To correct error increase time constant To be used if the reference...

Page 111: ...speed or voltage limit The speed limit can be set using parameter SCSMX _SCON In the case position control position is entered in rotations r A reference value of 1 00 represents a position which is displaced by 360 clockwise CFCMX Configuration Current Maximum Maximum permissible effective value of current 100 overload for 10s the value depends on the device type and is derived automatically from...

Page 112: ...ed 3 0004 H Encoder with square wave output is connected 4 0008 H Single turn absolute encoder with SSI interface G2 5 0010 H Multi turn absolute encoder with SSI Schnittstelle G3 6 0020 H Slot 1 X6 in use 7 0040 H Slot 2 X7 in use 8 0080 H Asynchronous motor connected 9 0100 H Synchronous motor connected 10 0200 H Reluctance motor connected Example 00C1 H Asynchronous motor with resolver connecte...

Page 113: ...Control location selector terminals KEYPAD source for START and INV control commands reference values in accordance with reference value input also from other locations Parameter number 402 Physical unit Value range see table below Factory setting TERM Customer setting Display level 1 Editing level 2 SMARTCARD area REFRC No Setting Identification Function 1 TERM Terminal Control drive from termina...

Page 114: ...D1 1 Offset for RSSL1 SADD1 Bit 1 switching 2 6 AD1 2 Offset for RSSL1 SADD1 Bit 2 switching 4 7 AD1 3 Offset for RSSL1 SADD1 Bit 3 switching 8 8 AD2 0 Offset for RSSL2 SADD2 Bit 0 switching 1 9 AD2 1 Offset for RSSL2 SADD2 Bit 1 switching 2 10 AD2 2 Offset for RSSL2 SADD2 Bit 2 switching 4 11 AD2 3 Offset for RSSL2 SADD2 Bit 3 switching 8 12 AD3 0 Offset for RSSL3 SADD3 Bit 0 switching 1 13 AD3 1...

Page 115: ...fset for RSSL2 SADD2 Bit 2 switching 4 11 AD2 3 Offset for RSSL2 SADD2 Bit 3 switching 8 12 AD3 0 Offset for RSSL3 SADD3 Bit 0 switching 1 13 AD3 1 Offset for RSSL3 SADD3 Bit 1 switching 2 14 AD3 2 Offset for RSSL3 SADD3 Bit 2 switching 4 15 AD3 3 Offset for RSSL3 SADD3 Bit 3 switching 8 16 AD4 0 Offset for RSSL4 SADD4 Bit 0 switching 1 17 AD4 1 Offset for RSSL4 SADD4 Bit 1 switching 2 18 AD4 2 Of...

Page 116: ... 2 14 AD3 2 Offset for RSSL3 SADD3 Bit 2 switching 4 15 AD3 3 Offset for RSSL3 SADD3 Bit 3 switching 8 16 AD4 0 Offset for RSSL4 SADD4 Bit 0 switching 1 17 AD4 1 Offset for RSSL4 SADD4 Bit 1 switching 2 18 AD4 2 Offset for RSSL4 SADD4 Bit 2 switching 4 19 AD4 3 Offset for RSSL4 SADD4 Bit 3 switching 8 20 ENDL Limit switch left counter clockwise low active 1 21 ENDR Limit switch right clockwise low...

Page 117: ...0MN 1023 OA0MX 1023 for input ISA1 OA0MN 0 OA0MX 1023 FOS00 FOS01 Function Selector Output Standard Function selector for output OS00 and OS01 00 01 Parameter number 445 446 Physical unit Value range see table below Factory setting OFF Customer setting Display level 2 Editing level 2 SMARTCARD area REFRC No Setting Function 0 OFF None 1 ERR Error 2 WARN Warning 3 ERR No error 4 WARN No warning 5 A...

Page 118: ... reset 1 Status control with reset 2 Flank control no reset 3 Flank control with reset No Setting Function 13 OPTN1 Output is assigned to module in slot 1 and function assigned 2 14 OPTN2 Output is assigned to module in slot 2 and function assigned 2 15 ERRW Warning or error 16 ERRW No warning and no error 17 USER0 Output can be used by custom software 18 USER1 see accompanying documentation 19 US...

Page 119: ...unoccupied 0001 H CAN Bus Interface 01FF H Interbus S Interface OPTN1 Option1 Identification of module card in slot 1 X6 Parameter number 307 Physical unit hexadecimal Value range see table below Factory setting dependant on device configuration Customer setting Display level 1 Editing level cannot be edited SMARTCARD area No data storage Changed effected only after re initializing see Section 6 7...

Page 120: ... frequency of final stage PWM frequency Switching This is also the frequency at which the analog function of ouputs OS00 OS01 is driven Parameter number 341 Physical unit kHz Value range 4 8 16 kHz Factory setting 8 kHz Customer setting Display level 2 Editing level 2 SMARTCARD area SYSTM Change effective only after re initializing see Section 6 7 REF_R Reference Reached Reference value window for...

Page 121: ...meter number 401 Physical unit min 1 Value range 0 02 20 Factory setting 0 2 Customer setting Display level 2 Editing level 2 SMARTCARD area REFRC If the speed of the motor is larger than this window the direction of rotation is indicated by the sybols and on KEYPAD This parameter also determines from what speed ouputs will be set to which functions ROT_R ROT_L or ROT_0 have been assigned A value ...

Page 122: ... Note The number of pole pairs of the motor must be equivalent to that of the motor or simply one see table above ECOFF Encoder Offset Offset of encoder correction value for physical installation Parameter number 333 Physical unit hexadecimal Value range 0000h FFFFh Factory setting je nach Einbaulage Customer setting Display level 4 Editing level cannot be edited SMARTCARD area DRIVE Setting Pole ...

Page 123: ...rtia it may be necessary to increase the time filter constant ECTF should only be changed by one step however as control can become unstable if this setting is incorrect This may become apparent when the motor is stationary and hums loudly Requirements for higher value settings should be discussed with LUST ECTS EncoderTime Sampling Encoder time sampling Parameter number 330 Physical unit kHz Valu...

Page 124: ...2 _OPTN2 _OPTN2 can only be selected from the PARA menu if there is a module card in Option Slot 2 X7 Then the specific parameters are displayed in this area These parameters are explained in the appropriate section I O Module 1 The parameters for the I O expansion module are explained in Section 11 POSMOD1 The positioning and sequence control is parametered using the user friendly PC interface Lu...

Page 125: ...M Motor Inductivity L Mutual Magnetizing inductance of motor Parameter number 312 Physical unit H Value range 0 001 0 9999 Factory setting motor dependent read in from SMARTCARD Customer setting Display level 3 Editing level cannot be edited SMARTCARD area DRIVE MOJNM Motor Inertia Nominal Moment of inertia of the motor rated Parameter number 319 Physical unit kg m Value range 0 0 0 12 Factory set...

Page 126: ... range 0 0 256 Factory setting motor dependent read in from SMARTCARD Customer setting Display level 2 Editing level cannot be edited SMARTCARD area DRIVE MOMNM Motor Torque M Nominal Rated torque of motor Parameter number 318 Physical unit Nm Value range 0 0 256 Factory setting motor dependent read in from SMARTCARD Customer setting Display level 2 Editing level cannot be edited SMARTCARD area DR...

Page 127: ...dited SMARTCARD area DRIVE MOSNM Motor Speed Nominal Rated speed of motor Parameter number 315 Physical unit min 1 Value range 500 1000 1500 2000 3000 4000 6000 Factory setting motor dependent read in from SMARTCARD Customer setting Display level 2 Editing level cannot be edited SMARTCARD area DRIVE MOSMX Motor Speed Maximum Maximum motor speed only for asynchronous motors Parameter number 316 Phy...

Page 128: ...ctory setting motor dependent read in from SMARTCARD Customer setting Display level 4 Editing level cannot be edited TCTLG Torque Controller Time Lag Lag time of torque controller I proportion Parameter number 352 Physical unit s Value range 125 µs 50ms Factory setting motor dependent read in from SMARTCARD Customer setting Display level 4 Editing level cannot be edited TCMMX Torque Controller Tor...

Page 129: ...CARD area DRIVE Note SCG is ideally matched to the motor by reading in from theSMARTCARD and should only be changed in exceptional cases if gain matching using parameter SCGFA 0 1000 is not adequate 1OVER First Overshoot First overshoot Set up mode for speed control Parameter number 454 Physical unit min 1 Value range 16384 16384 Factory setting 0 Customer setting Display level 4 Editing level can...

Page 130: ...d Maximum Speed limitation of speed controller Parameter number 384 Physical unit min 1 Value range MOSMX Maximum rpm of motor Factory setting motor dependent read in from SMARTCARD Customer setting Display level 2 Editing level 3 SMARTCARD area APPLI Notes for use of positioning and sequence control POSMOD1 AH2 1 Asynchronous motors can only be driven up to the motor rated speed MOSNM 2 Motor par...

Page 131: ...ber 361 Physical unit s Value range 249 6 or 499 2 µs Factory setting 249 6 µs Customer setting Display level 2 Editing level cannot be edited SMARTCARD area no data storage STIME SetupTime Set up time Set up mode for speed control Parameter number 453 Physical unit s Value range 25 25 Factory setting 0 Customer setting Display level 4 Editing level cannot be edited SMARTCARD area no data storage ...

Page 132: ...ontroller ramp Maximum Overshoots if PCAMX set too high Parameter number 382 Physical unit min 1 s 1 Value range 0 1 106 Factory setting 18000 0 Customer setting Display level 2 Editing level 3 SMARTCARD area APPLI PCGFA Position Controller Gain Factor Matching factor for gain of position controller P proportion from 0 1000 Parameter number 386 Physical unit Value range 0 05 999 16384 PCG 100 Fact...

Page 133: ...ge SBAUD Serial Baud Rate Baud rate of serial interface data transfer rate Parameter number 81 Physical unit Bit s Value range see table below Factory setting 0 Customer setting Display level 3 Editing level 3 SMARTCARD area SYSTM No Function 0 9600 Bit s 1 4800 Bit s 2 2400 Bit s 3 1200 Bit s 4 19200 Bit s 5 28800 Bit s 6 57600 Bit s Note When the baud rate is changed the change is not normally i...

Page 134: ...08 H reserved 5 0010 H reserved 6 0020 H reserved 7 0040 H Reset error withg rising flank 8 0080 H Set reset output OS00 1 9 0100 H Set reset output OS01 1 10 15 reserved SDMMY Serial Dummy Dummy parameter of serial interface Parameter number 83 Physical unit Value range 0 255 Factory setting 0 Customer setting Display level 3 Editing level 3 SMARTCARD area no data storage Explanation This is a du...

Page 135: ... be displayed Parameter number 84 Physical unit s Value range 0 00 20 00 Factory setting 0 00 Customer setting Display level 3 Editing level 3 SMARTCARD area SYSTM Note The setting SWDGT 0 00 switches the Watchdog off Bit positionHex Title Meaning 0 01 H Power on Bit is set each time power is switched on 1 02 H Watchdog Watchdog has detected timeout 2 04 H EEPROM busy The EEPROM is currently busy ...

Page 136: ...ter number 5 Physical unit Value range 1 65535 Factory setting 10000 Customer setting Display level 3 Editing level 3 SMARTCARD area SYSTM CTLFA 65 535 CTLFA 1 x CTLFA t t Duration of key depression or x Change in reference value Explanation The value of this parameter determines the sensitivity of the MOP function when the or keys are presssed The graph explains the function of this parameter No ...

Page 137: ...otection PSWX prevents unauthorised access to safety critical parameters Parameter number 1 Physical unit Value range see table below Factory setting 1 Customer setting Display level 1 Editing level 1 SMARTCARD area no data storage Setting Used for Comment 1 User without access permission no parameters can be edited most important are displayed 2 User with basic knowledge most important parameters...

Page 138: ...e subsequent controller enable the new parameter values are active immediately without delay _CONF _ENCD _OPT2 _OPT1 _MOT _TCON _SCON _PCON _SIO _KPAD _SCTY _REF PROG Program Functions Select special program functions Parameter number 4 Physical unit Value range see table below Factory setting 2 Customer setting Display level 3 Editing level 3 SMARTCARD area SYSTM PNUM Parameter Number Switch para...

Page 139: ...ng user level MODE Parameter number 100 101 102 Physical unit Value range 0 65535 Factory setting 222 333 444 Customer setting Display level 2 Editing level 2 SMARTCARD area SYSTM PSWCT Password CTRL Menu Password for the control menu PASSW prompt Parameter number 105 Physical unit Value range 0 65535 Factory setting 465 Customer setting Display level 3 Editing level 3 SMARTCARD area SYSTM ...

Page 140: ...ey of KEYPAD for approximately 3 seconds set the RESET Bit in the SIO control word SCTL1 control via serial interface only in the case of control via serial interface CLSEL SIO Set the bit Reset error in the interbus control word control via InterBus S only when controlling via Interbus S CLSEL OPTN1 Reaction table The following applies to all parameters in this area Display level 2 Editing level ...

Page 141: ...tion to encoder error incorrect type or not present Parameter number 55 Value range 5 Factory setting 5 Customer setting R EXT Reaction on Error External Reaction to error message from external control via input control terminal Parameter number 54 Value range 0 5 Factory setting 0 Customer setting R FLT Reaction on Error Floating Point Reaction to error in floating point calculation Parameter num...

Page 142: ...ent not actually a device error currently not implemented Parameter number 49 Value range 1 5 Factory setting 1 Customer setting R OFF Reaction on Error Off Reaction to undervoltage or power off Parameter number 42 Value range 1 5 Factory setting 1 Customer setting R OLI Reaction on Error Over Limitation Reaction to I t switch off of servo controller Inverter The I t monitoring switches the contro...

Page 143: ... 1 Customer setting R PWR Reaction on Error Power Reaction to unrecognised power stage error Parameter number 53 Value range 5 Factory setting 5 Customer setting R PAR Reaction on Error Parameter List Reaction to invalid data in parameter list Parameter number 51 Value range 3 5 Factory setting 3 Customer setting R OV Reaction on Error Over Voltage Reaction to overvoltage error Parameter number 44...

Page 144: ...000 Servocontroller which have customised software installed This area has no parameters in standard software so it is not listed in the PARA menu R TIM Reaction on Error Time Reaction to run time error Parameter number 58 Value range 0 5 Factory setting 3 Customer setting R WDG Reaction on Error Watchdog Reaction to error watchdog triggered Parameter number 40 Value range 0 5 Factory setting 0 Cu...

Page 145: ...tting ACCR very high 30 000 min 1 s 1 Then the drive will accelerate at maximum torque to the referenced speed The ramp generator can be switched off entirely using ACCR 0 or DECR 0 acceleration and braking ramps disabled DECR Deceleration Ramp Braking ramp only for speed control Parameter number 852 Physical unit min 1 s 1 Value range 0 65535 Factory setting 0 Customer setting Display level 2 Edi...

Page 146: ...cannot be edited SMARTCARD area ALL REF1 REF2 REF3 REF4 REF5 REF6 Reference Value 1 6 Intermediate values of the reference value input parameters to display the reference value on the reference channels Parameter number 433 434 435 436 437 438 Physical unit Nm min 1 or r depending on control mode Value range 32764 32764 Factory setting 0 Customer setting Display level 3 Editing level cannot be edi...

Page 147: ...nd control mode Factory setting RLIM1 3000 Nm 12000 min 1 3000 r RLIM2 3000 Nm 12000 min 1 3000 r Customer setting Display level 2 Editing level 2 SMARTCARD area REFRC Changes effective only after re initializing see Section 6 7 Note If RLIM1 is selected to be RLIM2 then the error E PAR will be displayed invalid parameter list RFIX1 RFIX2 RFIX3 RFIX4 RFIX5 RFIX6 Reference Fixed Value 1 6 Fixed ref...

Page 148: ...erated potentiometer function MOP using di gital inputs 1 2 Parameter number 429 Physical unit Nm min 1 or r depending on control mode Value range 32764 32764 Factory setting 0 Customer setting Display level 2 Editing level cannot be edited SMARTCARD area ALL RSIO Reference from Serial Input Output Serial interface can be selected as reference value source using reference value selector Parameter ...

Page 149: ...annels 1 to 4 used for selecting a reference value source Parameter number 417 418 419 420 Physical unit Value range see table below Factory setting RCON RSSL3 RFIX1 Customer setting Display level 2 Editing level 2 SMARTCARD area REFRC No Setting Reference value source 0 RCON None reference value source switched off constant 0 1 RA0 Analog input ISA0 2 RA1 Analog input ISA1 3 RSIO Serial interface...

Page 150: ...puts of the standard equipment with the exception of the PLC function of the outputs The inputs and outputs of the module are available on 2 separate plug in terminal blocks and also on the 25 way sub D connector The external terminal module EKL300 is also available as an accessory and can be linked to this connector Features of I O Module 1 50 mA outputs PLC compatible potential isolation via opt...

Page 151: ...ND X5 X14 5V GND IN GND GND IN X14 9 10 X14 9 10 24V X5 IExx 1 2 GND IExx 24V Note The housing is at same potential as the cable screening Sub D connector X15 The connector plug can be used for connecting the external EKL300 Terminal Module via a screened 1 1 connector cable KSS252 or for direct wiring of the installation 1 2 3 4 5 6 7 8 10 11 12 13 9 14 15 16 17 18 20 21 22 23 19 24 25 IE00 IE02 ...

Page 152: ... on the X2 terminals The EKL300 can also be used in conjunction with the positioning and sequence controlPOSMOD1 The terminals are then allocated differently and the range of functions is extended see description of POSMOD1 y y y y y y y y PTC PTC U W V L1 L2 L3 RB RB 1 2 3 4 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 No Function 1 MC6000 Servocontroller 2 I O Module 1 model code AH1 3 EKL300 terminal modul...

Page 153: ...indentification I0 IE00 O0 OE00 etc Wiring diagram A 24V external supply is required for potential free operation Inputs and outputs can be supplied separately No Function No Function 1 LEDs for inputs X2A output terminals 2 LEDs for outputs X2B ground for output terminals GND OUT 3 variations for CAN Bus X3 CAN Bus input 1 X1A input terminals X4 CAN Bus output 1 X1B ground for input terminals GND...

Page 154: ...tart control with pre set reference value 2 INV invert reference value of reference value channels 3 and 4 see diagram Structure of Reference Value Input Section 7 4 3 STOP trigger Emergency Stop function by applying a low level 4 19 ADy x switching between ref value sources see Section Reference Value Input 20 ENDL evaluation of hardware limit switches ccw cw with low level 21 ENDR if a limit swi...

Page 155: ...kwise or stationary 7 ROT_L is recognized depends on parameter SPD_0 CONF 8 ROT_0 9 LIMIT the actual value of the control has reached a limit value dependent on parameters RLIM1 RLIM2 _REF 10 REF the actual value has reached the reference value window dependent on parameter REF_R _CONF 11 ASM an asynchronous motor is parametered 12 SIO the output is controlled by control word SCTL1 _SIO 13 OPTN1 t...

Page 156: ...t outputOE02 3 set reset output OE03 SOEXT Status Word Output Extern Status word of external output for monitoring outputs via serial interface Parameter number 480 Physical unit binary 8 bit Value range see table below Factory setting 00h Customer setting Display level 3 Editing level cannot be edited Bit Function 0 monitor output OE00 1 monitor output OE01 2 monitor output OE02 3 monitor OE03 ou...

Page 157: ...s Servomotor Series stop return start enter SMART C A R D CTRL min 1 Features of the asynchronous ASx Servomotors Features of the synchronous PSX Servomotors most cost effective solution for applications compact design with in which the larger physical size is no rotor losses acceptable large speed range with constant low moment of inertia of rotor so excellent maximum power output dynamic respons...

Page 158: ...on Description A AS Asynchronous Servomotor PS Permanently excited Synchronous Servomotor B Type cooling C Size length D Voltage version E Holding brake F Encoder system G Rated speed S A Code sections K and L are only used where there is a deviation from the standard version See table Servomotor Models Order Code Type Code A B C D E F G Rated speed 3000 min 1 Resolver R2 4 pole Without holding br...

Page 159: ...4 units long ASx 3x 4x Installation 260 3 units long ASx 4x D 2 Rated voltage of motors 330V All E 0 Without holding brake All 1 With permanently excited holding brake All Observe max speed 0 Without encoder system All R1 Resolver 2 pole All R2 Resolver 4 pole preferred type for ASx All ASx R8 Resolver 6 pole preferred type for PSx All PSx G1 Incremental encoder with sin cos outputs All ASx F G2 I...

Page 160: ...x 1x and ASx 1x Please observe the technical specifications of the Servomotors Connections Rated Speed Notes In all encoders G1 G2 and G3 the connector can be directed either straight or at 90 For matching power connectors and for cable see Section 4 Accessories Options and customer Options and customer specific versions 0 Standard shaft end A side with feather key All 1 Shaft end A side without f...

Page 161: ...mension DIN 42948 and IEC 72 Eccentricity concentricity Tolerance N normal and radial run out DIN 42955 R reduced to order Vibration level ISO 2373 Step N R available as option Step R S available as option Thermal monitoring of motor PTC Thermistor in Stator Windings Torque loading In order to eliminate the risk of themal overload of motors the effective torque load must not be greater than the ra...

Page 162: ...Continous power of motor at rated working point MN nN at rated current IN and rated voltage UN Mmax Imax Limit curve Motors can only be loaded with 5 times the rated current Field weakening area The maximum peak torque output in the field weakening area depends on the voltage reserve Typical torque characteristics are proportional to the function 1 f or 1 n M n Graph for asynchronous motors 12 5 T...

Page 163: ...I0 IN nN JL m nmax Nm Nm kW A A min 1 kgcm2 kg min 1 ASF V 11 2xxx3 2 1 7 0 54 2 1 1 8 3000 2 8 7 5 12000 ASF V 12 2xxx3 2 7 2 3 0 72 2 8 2 4 3000 3 7 8 6 12000 ASF V 13 2xxx3 3 6 3 0 94 3 54 2 9 3000 4 7 9 7 12000 ASF V 14 2xxx3 5 6 4 7 1 5 5 1 4 3 3000 6 5 12 5 12000 ASF V 15 2xxx3 7 7 6 5 2 7 3 6 2 3000 8 9 14 2 12000 ASF V 21 2xxx3 5 6 4 7 1 5 4 6 3 9 3000 10 9 13 8 12000 ASF V 22 2xxx3 8 4 6 ...

Page 164: ... 4 2 PSM 04 2xxx3 4 8 4 1 1 3 3 7 3 2 3000 7 4 5 3 PSM 04 2xxx4 4 8 3 9 1 6 5 4 1 4000 7 4 5 3 PSM 04 2xxx6 4 8 2 3 1 4 6 7 3 3 6000 7 4 5 3 PSM H 11 2xxx3 3 4 3 2 1 2 6 2 4 3000 5 6 6 5 PSM H 11 2xxx4 3 4 3 1 2 3 4 3 4000 5 6 6 5 PSM H 11 2xxx6 3 4 2 1 1 3 5 3 1 6000 5 6 6 5 PSM H 12 2xxx3 5 6 4 5 1 4 3 9 3 1 3000 8 6 8 3 PSM H 12 2xxx4 5 6 4 1 1 7 5 1 3 7 4000 8 6 8 3 PSM H 12 2xxx6 5 6 3 2 2 8 ...

Page 165: ...3 9 5 3 8 5 6 6 3000 12 5 13 2 PSF V 21 2xxx4 12 3 7 3 3 1 11 3 6 7 4000 12 5 13 2 PSF V 22 2xxx2 17 6 16 3 3 7 6 4 2000 21 15 3 PSF V 22 2xxx3 17 6 14 6 4 6 11 2 9 3 3000 21 15 3 PSF V 22 2xxx4 17 6 10 7 4 5 15 9 1 4000 21 15 3 PSF V 23 2xxx2 22 7 19 4 10 6 8 9 2000 28 18 5 PSF V 23 2xxx3 22 7 16 4 5 1 14 8 10 9 3000 28 18 5 PSF V 23 2xxx4 22 7 11 8 4 9 18 8 9 8 4000 28 18 5 PSF V 24 2xxx2 30 25 ...

Page 166: ... l1 e d22 b20 d 2 1 d 2 0 a b f C øs h w1 n h5 b1 Thread x l39 d1 l3 c1 P1 P2 l20 5 l1 e d22 b20 h5 b1 Thread x l39 d1 l3 c1 P1 P2 l20 5 l1 d22 b20 d 2 1 d 2 0 d 2 1 d 2 0 a b f C øs h g1 g1 w1 n g h5 b1 Thread x l38 d1 l3 c1 P1 P 2 l20 l1 d22 b20 d 2 1 d 2 0 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Connection with connector straig...

Page 167: ...11 12 5 23 18 M4 5 75 5 3 60 2 5 N3 01 PS 02 5 14 16 30 22 M4 8 100 7 80 3 03 04 AS 11 110 120 75 75 u 12 130 140 105 105 PS 13 6 19 21 5 40 32 M6 10 115 9 95 3 150 160 135 135 100 8 30 120 25 7 63 14 180 190 165 165 AS 15 230 240 AS 21 110 155 110 155 u 22 140 185 140 185 PS 23 8 24 27 50 32 M8 17 165 110 11 M8 130 3 5 18 170 215 170 215 125 10 30 150 25 10 50 24 215 260 215 260 AS 25 260 305 31 ...

Page 168: ...3 c1 P1 P 2 l20 l1 e d22 b20 d 2 1 d 2 0 a b f C øs h w1 n h5 b1 Thread x l39 d1 l3 c1 P1 P2 l20 5 l1 e d22 b20 h5 b1 Thread x l39 d1 l3 c1 P1 P2 l20 5 l1 d22 b20 d 2 1 d 2 0 d 2 1 d 2 0 a b f C øs h g1 g1 w1 n g h5 b1 Thread x l38 d1 l3 c1 P1 P 2 l20 l1 d22 b20 d 2 1 d 2 0 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Connection with c...

Page 169: ...01 309 269 308 276 246 284 254 373 381 330 369 303 311 348 356 PS 13 110 118 63 36 5 40 321 329 289 328 306 272 314 284 123 393 401 350 389 333 341 378 386 14 356 364 324 368 336 306 344 314 428 436 385 424 363 371 408 416 AS 15 401 409 369 408 473 481 430 469 AS 21 293 339 259 309 261 231 306 276 379 425 334 384 305 350 347 392 u 22 313 359 279 329 291 261 336 306 399 445 354 404 335 480 377 422 ...

Page 170: ...aximum permissible axial loads FAm assuming a service life of 20000 hours A radial load which is not in the middle of the shaft end can simply be re calculated to take account of the different leverage effect Size Radial Load FRm N Axial Load FAm N FG at Speed n min 1 at Speed n min 1 N 1500 2000 3000 6000 1500 2000 3000 6000 PSx M1 1 PSx M2 310 260 240 210 250 200 170 140 2 PSx M3 3 PSx M4 4 PSx ...

Page 171: ...ructure B35 shaft with additional flange end Access from casing side Arrangement Lubrication Maximum speed Maximum speed Size with oil lubrication min 1 with grease Lubrication min 1 ASx 1x 12000 3500 ASx 2x 10500 3500 ASx 3x 9500 2500 ASx 4x 8000 2500 PSx Mx 9000 6000 PSx Nx PSx 0x 9500 3500 PSx 1x 12000 3500 PSx 2x 10500 3500 Adequate lubrication is essential for reliability Excessive speed caus...

Page 172: ... 100 x 10 steel PSx Nx 230 x 150 x 15 steel PSx 0x 230 x 150 x 15 steel PSx 1x 230 x 150 x 15 steel PSx 2x 300 x 300 x 20 steel If the motor is installed thermally insulated from its mounting the permissible rated torque must be reduced by 5 15 Altitude and coolant average temperature 20 1 1 1 05 1 0 95 0 9 0 85 0 8 Factor k 0 Height above sea level in m 25 30 35 40 45 50 55 60 coolant temperature...

Page 173: ...s 1 L1 2 N PE 1 2 Connection for ASF V 1x to ASF V 2x and PSF V 1x to PSF V 2x Connection for ASF V 3x and ASV 4x 1 2 3 1 U 2 V 3 W PE Size Voltage Mains Frequency Rated Current Protection V Hz A ASF V 1x 1 x 230 6 10 48 62 0 1 IP54 ASF V 2x 1 x 230 6 10 48 62 0 18 IP54 ASF V 3x 3 x 400 6 10 48 62 0 15 IP54 ASV 4x 3 x 400 6 10 48 62 0 21 IP54 PSM Mx PSM Nx PSM 0x PSF V 1x 1 x 230 6 10 48 62 0 1 IP...

Page 174: ...35 24 10 12000 0 2 0 8 0 07 PSx Nx 0 6E 2 5 0 56 24 10 10000 0 3 2 0 38 PSx 0x 0 7M 5 0 7 24 10 10000 0 6 4 0 65 PSx 1x 0 8M 8 0 75 24 10 8000 0 5 4 0 45 PSx 2x 2M 25 1 24 10 6000 1 2 7 5 4 5 Abbreviations MH adhesion m mass weight IN exciter current WL permissible service life switching cycles nmax maximum speed unbraked UN DC voltage for fan JB moment of inertia of the holding brake Suggested ci...

Page 175: ... mains 1 S kVA 3 1 5 1 9 5 11 22 50 Voltage effective U V 3 x 0 400 460 Cont current 400V 460V 1 I A 4 4 8 6 5 12 12 16 14 32 28 64 64 Cont current 400V 460V 2 I A 3 2 3 5 2 7 7 5 6 9 0 7 0 22 18 60 56 Pulse current for 10s I A 2 I 1 5 I Switching frequency of power stage f kHz 4 8 16 factory setting 8 kHz 3 Motor system synchronous or asynchronous Protection against short yes but not at terminals...

Page 176: ...04 MC6408 MC6412 MC6416 MC6432 MC6464 Recommended cable mm 1 5 2 5 4 4 10 25 cross section Recommended mains A 10 16 25 25 50 80 fuse 4 Known errors in software version 2 45 The functions listed below are not yet working or are only working to a limited extent These are deviations with regard to the Instruction Manual 3 Extensions of software functions 1 New encoder is supported from V2 2 The Heid...

Page 177: ...We reserve the right to make technical changes BMC6000 E 02 11 95 Lust Antriebstechnik GmbH Gewerbestr 5 9 D 35633 Lahnau Germany Telephone 49 64 41 9 66 0 Fax 49 64 41 9 66 137 ...

Search results

Summary of Contents for MASTERCONTROL MC6000 Series

Reviews:

Brands by name

Popular brands

Lust MASTERCONTROL MC6000 Series, Instruction Manual

Search results

Summary of Contents for MASTERCONTROL MC6000 Series

Reviews:

Brands by name

Popular brands