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• DOK-DIAX02-DDS02.1*ANA-ANW1-EN-E1,44 • 12.96

2. The digital intelligent AC servo drive with ANALOG interface

System configuration
DA 01

Fig. 11: ANALOG interface with incremental position actual-value output for motor
series with digital servo feedback

System configuration
RA 01

Fig. 11: ANALOG interface with incremental position actual-value output for motor
series with resolver feedback

ENA3A-Abb6/InbetrDDS

Designation

Associated type code

Drive controller / basic unit

Software module

TYS-DDS 2.1 - . . . . - DA01 - 00

DDS 2.1- . . . . -D

Configured
drive controller:

Configuration rating plate (sticker)

ANALOG interface with incremental encoder emulator

DSM 2.1-E11-01.RS

DAE 1.1

Suitable
servo motor series

Analog velocity command

Incremental position actual value

Configured
drive controller

NC control

Cable

ANALOG interface with
position actual-value output

System configuration DA 01

Digital AC servo motor
MDD 065, 071, 090, 093, 095, 112, 115, 117

Suitable
servo motor series:

MDD .... - . - ... - .. L - ....../.... ,

ENA3A-Abb5/InbetrDDS

Designation

Associated type code

Drive controller / basic unit

Software module

TYS-DDS 2.1 - . . . . - RA01 - 00

DDS 2.1- . . . . -R

Configured
drive controller:

2 Configuration rating plate (sticker)

ANALOG interface with incremental encoder emulator

DSM 2.1-E11-01.RS

DAE 1.1

Suitable
servo motor series

Analog velocity command

Incremental position actual value

Configured
drive controller

NC control

Cable

ANALOG interface with
position actual-value output

System configuration RA 01

Digital AC servo motor with resolver feedback

MDD .... - . - ... - .. G - ....../.... ,

Suitable
servo motor series:

Summary of Contents for DDS 2.1

Page 1: ...lugosza 2 6 Street 51 162 Wroc aw Poland biuro rgbelektronika pl 48 71 325 15 05 www rgbautomatyka pl www rgbelektronika pl DATASHEET www rgbautomatyka pl www rgbelektronika pl OTHER SYMBOLS DEA 5 1 D...

Page 2: ...d with a wide variety of tools and having several testing stands at their disposal are a guarantee of the highest quality service OUR SERVICES ENCODERS SERVO DRIVERS LINEAR ENCODERS SERVO AMPLIFIERS C...

Page 3: ...DDS 2 1 and MDD Digital Intelligent AC Servo Drives with ANALOG interface DOK DIAX02 DDS02 1 ANA ANW1 EN P Application Manual mannesmann Rexroth engineering Indramat 257182...

Page 4: ...DOK DIAX02 DDS02 1 ANA ANW1 EN E1 44 12 96 2...

Page 5: ...agnostics 5 ____________________________________________________________________ Commissioning procedure up to initial start up of the AC servo drive 6 ________________________________________________...

Page 6: ...DOK DIAX02 DDS02 1 ANA ANW1 EN E1 44 12 96 4...

Page 7: ...tal AC servo drive Titel Type of documentation Documenttype Internal file reference Reference This documentation is used INDRAMAT GmbH 1993 Copyingofthisdocument andgivingittoothersandtheuseorcommunic...

Page 8: ...c No 209 0069 4317 DDS2 Fans for MDD Fans for mounting on MDD servo motors Project planning manual technical data design data assembly fan types for MDD motors Doc No 9 578 003 4 MDD MDD Digital AC se...

Page 9: ...tal intelligent AC drives with SERCOS interface Application manual technical data components operation commissioning Doc No 209 0069 4322 SYSDA 1 1 Digital AC servo drive Digital AC servo drives Digit...

Page 10: ...DOK DIAX02 DDS02 1 ANA ANW1 EN E1 44 12 96 8...

Page 11: ...tery power source 36 4 3 Service cable IN 391 37 4 4 Personal computer PC 37 4 5 VT 100 Terminal 38 5 Operating the drive controller during commissioning and diagnostics 39 5 1 How to handle the param...

Page 12: ...nce 95 9 1 Diagnosing the operating status of the controller using its status display 95 9 2 Status indications during drive initialization 96 9 3 Fault diagnostics and clearance using the drive contr...

Page 13: ...functions offer the ideal pre requisites for CNC machine tool axes Electronic transmissions e g for gear milling machines Grinding machines Robots Handling systems Assembly equipment Woodworking mach...

Page 14: ...lektrotechnik und Elektroindustrie e V ZVEI Central Association of Electrical Engineering and the Electrical Industry SERCOS interface Fig 2 CNC axis with digital three phase AC servo drive and SERCOS...

Page 15: ...U Rotor position Feedback 10V M 3 analog NC control position loop Kv W X SERCOS 09 Nov 89 14 13 04 2 3 4 5 5 4 Zum Mech berblick Modus ndern 1 1 2 3 4 5 6 7 8Programm verlassen File service Antriebs...

Page 16: ...on of AC servo motor MDD and a DDS 2 1 drive controller ENA3A Abb1 InbetrDDS Power supply module Digital AC servo drive drive controller DDS 2 1 AC main spindle drive Mains power connection Other digi...

Page 17: ...adigitalACservodrivewithaDDS2 1drivecontrollerandanMDDdigital AC servo motor ENA3A Abb2 InbetrDDS L L X8 S1 1 11 A3 A1 A2 X1 Configured DDS 2 1 drive controller Electrical connection accessories Moto...

Page 18: ...Nr Text 1 NC Zykluszeit 2 SERCOS Zykluszeit 3 Sende Reaktionszeit 5 Me zeit f r Istwerte 6 Sendezeitpunkt Antriebs Telegramm T1 7 Me zeitpunkt der Istwerte 8 Zeitpunkt f r Sollwert G ltig T3 9 Anfangs...

Page 19: ...controller ENA3A Abb3 1 InbetrDDS Soft ware module DDS 2 1 Command communi cation module Additio nal plug in modules Drive controller basic unit U5 U1 U4 U3 U2 Configuration rating plate Achtung Hier...

Page 20: ...AC servo drive ENA3A Abb4 InbetrDDS RA 01 DA 01 RA 02 DA 02 System configuration Motor feedback version Type of position actual value output Command communication ANALOG interface with position actua...

Page 21: ...rsion 1 4 Cooling method Liquid cooled F Refrigeration technique outside cabinet K Heat dissipation technique inside cabinet W 5 Current ratings 15A 015 25A 025 50A 050 100A 100 150A 150 6 Feedback MD...

Page 22: ...s 1 6 1 11 Analog velocity command Incremental position actual value 2 1 3 4 U5 U1 Configured drive controller NC control Cable ANALOG interface with position actual value output 5 System configuratio...

Page 23: ...ies 1 6 1 11 Analog velocity command Absolute position actual value 2 1 3 4 U5 U1 Configured drive controller NC control Cable ANALOG interface with position actual value output 5 System configuration...

Page 24: ...cuit connection X5 Slot for command communication module U1 Motor feedback connection X4 Analog I Os X3 RS 232 interface for VT 100 terminal or PC X2 Control voltage bus connection X1 Connection for m...

Page 25: ...er basic unit The rating plate is located on the front panel of the basic unit Fig 15 D D S 2 1 W 0 5 0 D Example 1 Designation Digital drive controller DDS 2 Series 2 3 Version 1 4 Cooling method Liq...

Page 26: ...olute encoder emulation enables the output of internal drive informationonpositionorangleviatheSSI synchronousserialinterface usual in absolute encoders thus providing a position actual value for exte...

Page 27: ...emulator DAA Digital ANALOG interface with incremental encoder emulator DAE Digital SERCOS interface DSS 2 Series 1 3 Version 1 Fig 20 Type code explaining the additional plug in modules Example 1 Des...

Page 28: ...ging in the old software module into the new drive controller Software modules can be duplicated for use on other identical machines or for security purposes Duplication is done using the serial inter...

Page 29: ...Type code Software module Fig 23 Type code explaining the software module D S M 2 1 S 1 1 0 1 R S Example 1 Designation DSM DSM 2 Series 2 3 Version 1 4 Software type Analog absolute encoder DAA1 1 A1...

Page 30: ...r principle Optical scanning with angle dependent of a code disk coupling ratio Maximum 256 x 213 2 097 152 3 x 213 24 576 position resolution increments revolution increments revolution System accura...

Page 31: ...rpm 6 Vibration severity 7 Motor version 8 Feedback RSF G RSF IDG K DSF L DSF MTG M 9 Spigot diameter 10 Drive shaft 11 Installation position of power plug 12 Holding brake without holding brake 0 wi...

Page 32: ...uild date Week and year of manufacture 3 Motor type 4 S No Serial number 5 Com No Job number 6 Part No Part number 7 Bar code 8 natural convection Cooling method natural convection 9 MdN Continuous ze...

Page 33: ...er equipment Digital AC servo drives are installed in machinery and plant It is imperative that they be used as prescribed Use as prescribed can only be guaranteed when the machine plant is in flawles...

Page 34: ...peration of servo axes in unsecured working areas of a machine Unintentional start up can be prevented by disconnecting the power contactor E STOP disconnecting the master switch when operation is int...

Page 35: ...All connections on terminal block X5 carry lethal voltage levels when power is switched on The same applies to the power and DC link circuit terminals of the power supply module Protection against in...

Page 36: ...cc to VDE 0113 Our Sales Department will provide additional information on request Electrostaticchargesrepresentadangertoelectronicequipment Bodies liable to come into contact with components and circ...

Page 37: ...0069 4302 The following measuring instruments are required multimeter for voltage measurement oscilloscope or plotter required only to produce test records for prototype commissioning and as an aid in...

Page 38: ...S1 R1 10 15V G R2 1k0 10k V X15 24V 10 External power supply X4 X16 0V E1 E2 TVW RF Ul 0Vl AH Ired1 Ired2 S3 H1 bin r Cod S4 H2 H3 Drive controller Digital AC servo drives are intended for use in sec...

Page 39: ...nditions IBM compatible MS DOS operating system RS 232 interface installed Floppy disk drive or hard disk for storage of parameters VT 100 terminal emulation software installed The VT 100 terminal emu...

Page 40: ...the DDS 2 1 as it has no memory capacity Terminal settings Parameters Settings Terminal type VT 100 Columns 80 Lines 24 Line feed off only CR after ENTER Automatic line wrap off Backspace key active...

Page 41: ...1 Switch on the power at the power supply module see Application Manual for the power supply module The parametrization and diagnostics program stored in the DDS 2 1 will respond with the following me...

Page 42: ...imp Zero pulse marker pulse The type designations of the installed motor drive controller combina tion The current operating mode Velocity current and motor torque values Rotor position The PARAMETERS...

Page 43: ...PLIFIER AND MOTOR PARAMETERS SAVE PARAMETERS ESC LOAD PARAMETERS Note The fields with a white background correspond to the keys on the keyboard 1 If the drive controller is equipped with an incrementa...

Page 44: ...E1 44 12 96 42 5 Operating the drive controller during commissioning and diagnostics Program start screen message Main menu Absolute encoder error Fig 34 Program start screen message Fig 35 Main menu...

Page 45: ...12 96 43 Drive status 5 Operating the drive controller during commissioning and diagnostics Language selection Safety note Drive Parametrization Fig 38 Safety note to PARAMETERS menu Fig 36 DRIVE STAT...

Page 46: ...d diagnostics Parameter menu Operating modes scaling Feedback versions with DSF or RSF Operating modes scaling Feedback versions with DSF or RSF Help text Fig 39 PARAMETER menu of parametrization and...

Page 47: ...es scaling Feedback versions with absolute encoder options DSF MTG or RSF IDG Operating modes scaling Feedback versions with absolute encoder options DSF MTG or RSF IDG Help text Fig 42 OPERATING MODE...

Page 48: ...ntroller during commissioning and diagnostics Incremental encoder setup Help text Absolute encoder setup Fig 45 Help text to INCREMENTAL ENCODER SETUP menu Fig 46 ABSOLUTE ENCODER SETUP menu Absolute...

Page 49: ...2 96 47 5 Operating the drive controller during commissioning and diagnostics Fig 48 MODULO PARAMETERS menu Modulo parameters Modulo parameters Help text Fig 50 ERROR REACTION menu Error reaction Fig...

Page 50: ...Operating the drive controller during commissioning and diagnostics Torque current limits Fig 51 TORQUE CURRENT LIMITS menu Fig 52 Help text to TORQUE CURRENT LIMITS menu Torque current limits Help t...

Page 51: ...5 Operating the drive controller during commissioning and diagnostics Gain parameters Help text Fig 56 SAVE PARAMETERS menu Save parameters Fig 55 AMPLIFIER MOTOR PARAMETERS menu Amplifier motor param...

Page 52: ...DOK DIAX02 DDS02 1 ANA ANW1 EN E1 44 12 96 50 5 Operating the drive controller during commissioning and diagnostics Load parameters Fig 57 LOAD PARAMETERS menu...

Page 53: ...urn to the user interface To edit the parameter file use only a clear text editor e g DOS Editor Norton Editor These editors do not add control charac ters The saved file can be changed as follows usi...

Page 54: ...odule see power supply module documentation The installed drive components must be suitable for the connection voltages used see Project Planning Doc No 209 0069 4317 00 Check the configuration of the...

Page 55: ...n between the frames of the drive controllers and the rear wall of the cabinet electromagnetic compatibility Twist the power cables leading from the drive controllers to the motor or lay a four core c...

Page 56: ...r supply module The end connector is an integral part of the accessories supplied along with the power supply module Shieldsforthemotorfeedbackcableandtheconductorstothethermistor must be connected up...

Page 57: ...til the power supply module s Ready contact is closed see documentation on the installed power supply module Pre conditions The auxiliary equipment for operating the drive controller has been connecte...

Page 58: ...cedure 1 Consult the selection list Doc No 209 0069 4302 00 IDE to find the overload factor of the installed motor drive controller combination 2 Enter this value in the OPERATING MODES SCALING menu u...

Page 59: ...chine stop Procedure Connect up the batter power source terminals according to Section 4 2 Fig 30 Apply the controller enable signal De activate the drive halt function see Section 7 12 Apply a small...

Page 60: ...61 Earth fault fuse 67 Faulty hardware synchronization 69 15 Volt error 70 24 Volt error 71 10 Volt error 72 8 Volt error 73 Voltage supply driver stage For more details on errors see Section 9 Dange...

Page 61: ...Undelayed torque disable signal axis slows to a halt Undelayed braking through motor holding brake if fitted No error signal to power supply module Unaffected drives connected up to the same power su...

Page 62: ...reaction 2 is set the holding brake closes immediately The motor torque is disabled at once 2 Error reaction 0 or 1 The holding brake closes when the motor speed drops below 10 rpm The holding brake w...

Page 63: ...ries DDS 2 1 drive controllers are equipped with a safety lockout to stop a servo axis starting up accidentally When this lockout is activated the control electronics for the power output stage are di...

Page 64: ...oning the functions of the digital AC servo drive Fig 62 Control inputs and signal outputs of the safety lockout on a DDS 2 1 drive controller ENA3A Abb17 6 InbetrDDS 1 2 3 4 5 6 7 8 9 10 11 AK1 OV AK...

Page 65: ...Doc No 209 0069 4313 Fig 63 Time sequence for safety lockout activation ENA3A Abb65 2 InbetrDDS Controller enable on pin RF Speed command n com on input E1 E2 Motor torque Safety lockout input signal...

Page 66: ...he controller enable signal see Fig 65 and the preset error reaction see Fig 66 To power up the holding brake apply an DC voltage from an external source to the terminal block X6 on the drive controll...

Page 67: ...abled 100 ms after the holding brake has closed 4 ENA3A Abb43 InbetrDDS Error Speed command value 0 Motor torque Holding brake closes Time axis 1 0 1 0 1 0 0 100 200 300 400 500 3 t ms n 10 rpm n 10 r...

Page 68: ...6 Disconnect the external DC power supply 7 Reconnect the cores to X6 as shown in Fig 64 When the holding brake opens this produces an audible sound in the servo motor Activate the holding brake brie...

Page 69: ...a drive error in the associated NC control or signalling device see Fig 67 The signal issued by the drive controller can be indicated through an NC control or a signalling device The Bb contact opens...

Page 70: ...vo drive is equipped with a temperature monitoring feature for both the drive controller and the AC servo motor The causes of overheating may be Contamination of heat transfer points Overloading due t...

Page 71: ...ages Amplifier overtemperature shutdown Motor overtemperature shutdown refer also to Section 9 3 Fig 68 Drive controller inputs and outputs for temperature monitoring ENA3A Abb31 1 InbetrDDS E1 E2 TVW...

Page 72: ...or the desired velocity The signal Velocity at maximum command value serves to set the desired speed of the servo motor This speed is achieved at the previously set command value See parameter Maximum...

Page 73: ...power cable This may destroy the motor Permissible input signals at the velocity command interface Fig 69 Input signals at the ANALOG interface ENA3A Abb65 9 InbetrDDS E1 E2 TVW RF AH Ired1 Ired2 UI 0...

Page 74: ...ime constant function by entering 0 25 msec An NC control requires position measuring systems to sense the position of machine axes These position measuring systems can either be mounted directly on t...

Page 75: ...l encoder emulation output 1 to 252 144 lines revolution Marker pulse offset 0 to 359 9 deg Increment 0 1 deg Clockwise looking on the motor shaft Max output frequency 504 kHz Refer also to Fig 72 Set...

Page 76: ...the switching edge of the physical home switch coincides with the encoder s marker pulse The homing cycle cannot be completed To avoid this the following procedure is recommended 1 Traverse the servo...

Page 77: ...e velocity step by step If an error occurs repeat the setting procedure Motors with keyways have a normalized position of the keyway in relation to the marker pulse see Fig 73 Checking the marker puls...

Page 78: ...lution conditioning in the drive controller Motors whose feedback circuitry includes an additional absolute encoder option can achieve absolute resolution of up to 4096 motor revolutions The precondit...

Page 79: ...C servo drives Project Planning Manual Doc No 209 0069 4317 0019 Fig 74 Output connector pin allocation for drive controller with absolute encoder interface ENA3A Abb65 35 InbetrDDS DATA DATA X16 NC c...

Page 80: ...ig 75 Example setting the reference position using the absolute encoder parameter Slide Reference position 0 0 4096 motor revolutions 4096 1 2 Useful stroke 1 Maximum stroke with absolute indirect pos...

Page 81: ...ng 0 0 1 1 Risk of personal injury or machine damage Be careful using this parameter because of the danger of positive feedback in the position control loop This will lead to uncontrolled axis motion...

Page 82: ...f the master AK2 connector X3 3 with the analog input E1 of the slave drive controller 5 Connect up the master s OVM test connector X3 4 to the analog input E2 of the salve 6 Make sure the master and...

Page 83: ...he same Maximum permissible deviation 10 Checking the master slave drive Fig 78 Connection diagram for a master slave application same direction of rotation for master and slave ENA3A Abb65 10 InbetrD...

Page 84: ...RAMETERS menu Upper and lower limits for entries 0 to 400 Procedure 1 Call up the TORQUE CURRENT LIMITS menu 2 Select the desired torque reduction 3 Enter the desired torque 7 Commissioning the functi...

Page 85: ...tain Reduced torque 3 Enter the value in the parameter e g current limit 1 114 Example of a torque reduction calculation The full torque for this motor controller combination is Mmax 35 2 Nm Referred...

Page 86: ...ts Ired1 and Ired2 Fig 81 Before recording the step response deactivate the torque limit Assessing the speed control circuit while the torque limit is active will lead to wrong evaluation Fig 81 Activ...

Page 87: ...LOG interface the drive will come to a halt under consideration of any set torque limit see Section 7 11 The status indicator H1 on the drive controller with display the message AH Danger If the drive...

Page 88: ...and must therefore be avoided In cases where these symptoms cannot or can only partly be eliminated the digital intelligent INDRAMAT AC servo drive offers the possibility of adjusting the gain paramet...

Page 89: ...al gain KDI Smoothing time constant TGL This parameter sets the proportional gain of the velocity loop This parameter sets the derivative differential gain of the velocity loop For the definition of t...

Page 90: ...ure or an emergency shutdown machines and workpieces risk being damaged by uncontrolled deceleration of servo axes INDRAMAT power supply units are equipped with monitoring and signalling devices permi...

Page 91: ...or intermittent operation can be se lected according to the duty cycle column of the selection data list Doc No 209 0069 4302 00 load condition S6 to DIN 57530 VDE0530 The maximum cycle time depends o...

Page 92: ...tor Feedback Velocity loop Vact Vcom Micropro cessor Kv M 3 Xd X ENA3A Abb50 InbetrDDS X Rotor position DDS 2 1 controller Kv loop gain factor W command variable X control variable Xd W X control diff...

Page 93: ...command The zero drift of the servo axis can be compensated using the potentiometer offset voltage compensation on the ANALOG interface see Fig 86 Procedure 1 Apply 24V DC to pins AH drive halt and RF...

Page 94: ...nd value by measuring the DC voltage at pins X3 3 and X3 4 0VM see Fig 29 of the servo drive module Remem ber that 10V corresponds to the rated current of the controller Procedure 1 Call up the OPERAT...

Page 95: ...hat the motor current consumption is at the same minimum value for upward and downward movements of the machine axis Carry out this check both in the feed range and in the rapid traverse range Peak en...

Page 96: ...r axis related parameter contents and should be stored in the machine file This list is to be completed by commissioning personnel on initial start up If necessary the blank specific axis data list ca...

Page 97: ...e operator interface for the Drive Status menu of the DDS 2 1 see Section 5 1 Fig 36 The different types of operating status of the drive are indicated by a two letter code Ready Meaning The drive is...

Page 98: ...immediately follow the applied command signal If the drive controller stalls in one of the status displays during the initialization phase the controller requires to be changed Data RAM error Waiting...

Page 99: ...sionedheatdissipationofthecabinetairconditioning Remedy 1 If the cooling system is defective change the controller 2 Restore the cabinet air conditioning function 3 Check the cabinet dimensioning Moto...

Page 100: ...2 Check the motor cable Overvoltage The DC link circuit voltage has risen above the permissible level Ud 475 V The drive torque has been disabled in order not to risk damaging the power output stage o...

Page 101: ...ation retreating from an area where collisions might occur etc After 30 seconds the drive will react according to the parameter error reaction P 0 0007 see Section 7 1 Cause 1 Failure of the unit s in...

Page 102: ...ection and replace if necessary Faulty hardware synchronization Cause 1 The pulse width modulator of the drive controller is synchronized by a phase control loop The synchronization is monitored and t...

Page 103: ...y module Remedy 1 Check and if necessary replace the control voltage bus cable or plug connector 2 Check the power supply module see application manual for supply module 10 V fault The supply voltage...

Page 104: ...start up command will cause any damage Reset the error using button S1 see Fig 15 If error 76 cannot be reset there is a feedback error and the motor needs to be replaced Program RAM error The memory...

Page 105: ...submenus in the PARAMETERS menu Invalid parameters are indicated by Enter new parameters for these items 3 Replace the software module Error reading motor data All motor data are stored in a data mem...

Page 106: ...the software module Remedy Repeat the entry If the error message appears once more replace the software module Procedure 1 Save the parameters from the old software module 2 Replace the software modul...

Page 107: ...ING MODES SCALING or GAIN PARAMETERS on the operator interface The velocity data scaling at the analog output rpm 10V allows you to scale the velocity data at the analog output channel 1 or 2 The unit...

Page 108: ...e constant com M K v K p T N K DP T GL T SG motor current motor torque load torque i m d m L current loop proportional gain motor winding resistance motor winding inductance torque constant EMF consta...

Page 109: ...e same type designation as the part you removed The configuration rating plate on the transparent protective plate of the defective drive controller carries all the information necessary to order a re...

Page 110: ...que current limit 2 to Torque current limit 3 to Selected error reaction current code Current loop proportional gain 1 V A Velocity loop proportional gain mAs rad Velocity loop integral reaction time...

Page 111: ...irregularly uncontrolled drive motion fault in one direction only burnt out fuse on supply other General details mechanical problems failure of power supply failure of controller motor failure cable b...

Page 112: ...ta List Machine manufacturer Plant No Machine Type Axis designation Axis equipment Drive controller DDS 2 1 Software module DSM 2 1 MDD servo motor MDD Supply module Date Completed by Approved by Comp...

Page 113: ...que current limit 2 Torque current limit 3 Selected error reaction Description Recorded value Unit rpm V rpm ms dgr current code 2 Drive parameters Current loop proportional gain 1 Velocity loop propo...

Page 114: ...mand value 1500 rpm P 7 0004 Command value smoothing filter time constant 20 00 ms P 0 0042 Position data scaling at analog output 90 0 dgr 10V P 0 0040 Velocity data scaling at analog output 1500 rpm...

Page 115: ...DOK DIAX02 DDS02 1 ANA ANW1 EN E1 44 12 96 113 11 Appendix...

Page 116: ...usbars L L DC supply voltage busbars X5 1 8 15 7 14 SDO SDI SCL FS Resolver feedback X4 10 S2 3 S4 9 S1 2 S3 4 0V M R3 12 R1 3 6 1 2 3 4 5 6 7 8 9 10 11 1 2 3 4 5 10 0V M TxD TxD RxD RxD RTS RTS AK1 0...

Page 117: ...busbars L L DC supply voltage busbars X5 1 8 15 7 14 SDO SDI SCL FS Digital servo feedback X4 10 C 3 C 9 S 2 S 4 0V M 12 U G 3 6 1 2 3 4 5 6 7 8 9 10 11 1 2 3 4 5 10 0V M TxD TxD RxD RxD RTS RTS AK1...

Page 118: ...ge X3 3 AK2 Analog output channel 2 X3 4 0VM 0 V test voltage X3 5 Earth X3 6 X3 7 Bb Potential free signal contact Ready X3 8 AS Safety lockout X3 9 AS Safety lockout X3 10 ASQ Accept safety lockout...

Page 119: ...n X5 2 A2 Phase 2 motor connection X5 3 A3 Phase 3 motor connection X5 4 L Negative DC link circuit voltage X5 5 L Positive DC link circuit voltage Pin Signal Meaning X6 1 TM Positive temperature sens...

Page 120: ...ext External 24V operating voltage X13 9 0VI ext X13 10 shield Shield X14 1 Ua2 Negated square wave pulse X14 2 not used X14 3 Ua0 Square wave pulse Marker pulse X14 4 Ua0 Negated square wave pulse Ma...

Page 121: ...ction 1 X15 7 Ired2 Torque reduction 2 X15 8 UI ext External 24V operating voltage X15 9 0VI ext X15 10 shield Shield X16 1 not used X16 2 not used X16 3 not used X16 4 not used X16 5 DATA X16 6 DATA...

Page 122: ...ZECHOSLOVAKIA Rexroth Spol s r o Videnska 125 CSFR 639 00 Brno 5 32 46 32 Telex 62 332 Telefax 5 32 42 30 DENMARK BEC Elektronik AS Zinkvej 6 DK 8900 Randers 086 44 78 66 Telefax 086 44 71 60 GERMANY...

Page 123: ...lefax 051 58 13 45 NETHERLANDS Hydraudyne Hydrauliek B V Kruisbroeksestraat 1a P O Box 32 NL 5280 AA Boxtel 04 116 51 951 Telefax 04 116 51 483 SPAIN Rexroth S A Centro Industrial Santiga Obradors s n...

Page 124: ...rich Passold 130 CP 156 BR 89 107 000 Pomerode SC 04 73 87 03 21 Telex 47 32 88 REXR BR Telefax 04 73 87 02 51 Rexroth Hidr ulica Ltda Centro de Servi os Rua Georg Rexroth 182 Vila Padre Anchieta BR 0...

Page 125: ...ng Bangkok 102 60 Thailand 399 09 20 1 399 09 56 8 Telefax 662 399 03 06 AUSTRALIA Australasian Machine Tool Co Pty Ltd 9 Webber Parade East Keilor Melbourne Victoria 30 33 Australia 03 336 78 22 Tele...

Page 126: ...chine They are listed in Section 10 Over view of Parameters Drive related parameters are used to parametrize the drive controller and the AC servo motor They are listed in Section 10 Overview of Param...

Page 127: ...ders supply a defined number of measuring cycles per revolution or stroke Position measurement referred to a reference point is achieved by traversing to the reference point after switching on the sup...

Page 128: ...ing unit that generates alternating voltages with angle dependent amplitude Absolute measurement referred to 360 cyclically absolute RSF Position encoder for cyclical absolute measurement of the rotor...

Page 129: ...signal within one revolution Module in the drive controller containing the operating software and the drive parameters Peak current that the drive controller can supply in 300 ms overload operation m...

Page 130: ...ion servo motor 71 E Earthing 53 Electrostatic charges 36 Emulation software 39 Error reaction 58 I Incremental encoder emulation 73 24 Incremental encoder resolution 73 Initializing phase 95 K KI 86...

Page 131: ...arm 80 Torque fluctuations 72 Torque reduction 82 Type code additional plug in modules 25 Type code command communication module 25 Type code configured drive controller 19 Type code drive controller...

Page 132: ...Indramat...

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