Mannesmann Rexroth Indramat ECODRIVE DKC01.1 Project Planning Manual Download Page 5

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ECODRIVE DKC01.1/DKC11.1 Drive Controllers

Table of contents

DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P

Table of contents

1.1 Application features.............................................................................................................................. 1-1

1.2 Overview of the functions..................................................................................................................... 1-1

2 Safety instructions for electrical drives

2-1

2.1 General ................................................................................................................................................ 2-1

2.2 Protection against contact with electrical parts .................................................................................... 2-2

2.3 Protection against shocks caused by safety extra-low voltage (SELV) ......................................... 2-3

2.4 Protection against dangerous movements........................................................................................... 2-4

2.5 Protection against magnetic and electromagnetic fields during operation and assembly ................... 2-6

2.6 Protection during handling and assembly ............................................................................................ 2-7

2.7 Safe battery usage ............................................................................................................................... 2-7

3 Selecting the components

3-1

3.1 Overview of the required components ................................................................................................. 3-1

3.2 Selection procedure ............................................................................................................................. 3-2

3.3 Compiling the required data................................................................................................................. 3-3

4 ECODRIVE DKC drive controllers

4-1

4.1 Hardware.............................................................................................................................................. 4-1

View of unit.................................................................................................................................... 4-1

Dimensional sheets and installation dimensions........................................................................... 4-2

Technical data ............................................................................................................................... 4-4

Type code and rating plate............................................................................................................ 4-7

4.2 Firmware .............................................................................................................................................. 4-8

4.3 An overview of the electrical connections ............................................................................................ 4-9

Front view with supply terminals ................................................................................................... 4-9

Overall connection diagrams....................................................................................................... 4-10

4.4 Electrical connection to the supply terminal strips ............................................................................. 4-14

Serial interface X1 ....................................................................................................................... 4-14

X2 positioning or stepper interface.............................................................................................. 4-18

X3 analog inputs and outputs...................................................................................................... 4-25

X4 terminals for the control circuit............................................................................................... 4-29

X5, X6, X7 motor connections .................................................................................................... 4-30

X9 DC bus connection ................................................................................................................ 4-30

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Summary of Contents for Indramat ECODRIVE DKC01.1

Page 1: ...DKC01 1 DKC11 1Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Project Planning Manual mannesmann Rexroth engineering Indramat 270950 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 2: ... 1996 The reproduction and transmission of this document the use and com munication of its content to third parties without the expressed consent of INDRAMAT GmbH are forbidden Violators are liable for the payment of damages All rights are reserved in the event a patent is granted or a util ity model is registered DIN 34 1 INDRAMAT GmbH Bgm Dr Nebel Str 2 D 97816 Lohr a Main Telephone 49 09352 40 ...

Page 3: ...tion MKD Digital AC Motors Project Planning Manual DOK MOTOR MKD PRJ2 EN P for a detailed description of the servomotors and for the selection of the required cable ECODRIVE DKC01 1 DKC11 1 Drive Controllers Description of Functions DOK ECODRV DKC01 11 1 FKB1 EN P for testing and selecting the functions EMC in Drive and Control Systems Project Planning 209 0049 4305 02 EN 04 96 for the EMC complia...

Page 4: ...About this documentation ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 5: ... battery usage 2 7 3 Selecting the components 3 1 3 1 Overview of the required components 3 1 3 2 Selection procedure 3 2 3 3 Compiling the required data 3 3 4 ECODRIVE DKC drive controllers 4 1 4 1 Hardware 4 1 View of unit 4 1 Dimensional sheets and installation dimensions 4 2 Technical data 4 4 Type code and rating plate 4 7 4 2 Firmware 4 8 4 3 An overview of the electrical connections 4 9 Fro...

Page 6: ...mmendations 7 1 7 2 Technical data 7 1 7 3 Dimensional data and installation dimensions 7 2 7 4 Front views 7 2 7 5 Electrical connection 7 3 7 6 Type code 7 4 8 NFD NFE line filter 8 1 8 1 Selection 8 1 8 2 Dimensional data and installation dimensions 8 2 8 3 Electrical connection 8 3 8 4 Line filters for DC24V NTM power supplies 8 5 8 5 Type code 8 5 9 DST DLT transformers 9 1 9 1 Selection 9 1 ...

Page 7: ...nnection 11 2 Selecting fuse protector Q1 and line contactor K1 11 3 11 3 Control circuit to the power connection 11 4 11 4 Protection against indirect contact 11 5 12 Preparing for Startup 12 1 Required equipment 12 1 13 Condition of the drive components on delivery 13 1 Packaging 13 1 Accompanying documents 13 1 Identification of the components 13 1 14 Index 14 1 Buy www ValinOnline com Phone 84...

Page 8: ...IV Table of contents ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 9: ...t switch absolute or incremental position detection absolute or incremental position output integrated holding brake control increased operating safety adjustable error response automatic parameter matching easy startup operation 1 2 Overview of the functions The functions of the digital intelligent drive system are differentiated pri marily according to the interface of the higher level control T...

Page 10: ...e with integrated position control Up to 32 positioning blocks can be stored in the drive controller and selected over parallel inputs The positioning block is executed autonomously Mechanical translatory elements such as gear ratios or feed constants are adapted in the drive All position speed and acceleration data can be weighted independ ently of the axis kinematics A drive internal referencing...

Page 11: ...ield oriented stator current control Linear scale High resolution positioning interface Position command value Diagnosis Operating data Parameters MS DOS PC Parameters Diagnosis Operating data command value 10V Fig 1 2 Servodrive with analog speed interface and integrated actual position detection The analog speed command value can be set to any value The actual position value is output either inc...

Page 12: ... rotation can be set to any value be tween 16 and 65536 The maximum step frequency is independent of the load It is techni cally impossible to skip steps due to the position controlled operation The stepper interface can be set to three standard signal definitions for exchanging signals between the control and the drive controller quadrature signals forwards backwards signals step and direction si...

Page 13: ...ace Lead axis transmitter FS0203 fh5 MS DOS PC Parameters Diagnosis Operating data RS 232 Lead axis position 3 Fig 1 4 Servodrive with electronic gearbox function Operating modes Speed synchronization Angle synchronization The lead axis position is given in degrees 360 degrees represent one lead axis encoder revolution The lead axis encoder must be connected to the DKC stepper inter face The maxim...

Page 14: ...1 6 Introduction to the system ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 15: ... the assembly installation and operation of the product as well as all warnings and precautionary measures in this documentation Furthermore personnel should be trained instructed or authorized to switch electrical circuits on and off and to ground and mark them in accordance with the requirements of safety engineering Personnel should possess adequate safety equipment and be trained in first aid ...

Page 16: ...supply line or the voltage source before beginning work Secure equipment from reclosure Wait 5 minutes after switching off power to allow ca pacitors to discharge before using the equipment Measure the voltage of the capacitors before begin ning work in order to eliminate dangers arising from touching components Never touch the electrical connection points of a com ponent while the power is turned...

Page 17: ...ction against shocks caused by safety extra low voltage SELV All connectors and terminals on INDRAMAT products with voltages from 5 to 50 volts are safety extra low voltages offering a shockproof design to meet the following standards international IEC 364 4 411 1 5 European countries in the EC EN 50178 1994 section 5 2 8 1 WARNING High electrical voltages due to incorrect connec tions Danger to l...

Page 18: ...smitters and primary detectors defective components errors in the software These errors can occur just after the equipment has been switched on or after an indefinite period of time The monitors in the drive components virtually exclude failure in the con nected drives However personnel safety requires that additional meas ures be taken to ensure correct operation Faulty drive motions which are in...

Page 19: ...nough to withstand the maximum possible momentum Mount the emergency stop switch E stop at an easily accessible place in the immediate vicinity Verify that the E stop switch works before starting operation Isolate the drive power connection by means of an E stop circuit or use a starting lock out to prevent unin tentional startup Make sure that the drives have been shut down be fore accessing or e...

Page 20: ...al implants must not be permitted access to the following areas Areas in which electrical equipment and parts are mounted operated or put into operation Areas in which motor parts with permanent mag nets are stored repaired or mounted If it becomes necessary for a person with a pace maker to enter such an area this must be approved by a physician beforehand Implanted pacemakers or those to be impl...

Page 21: ...nded loads Remove any leaking liquids on the floor immediately to prevent slipping 2 7 Safe battery usage Batteries consist of reactive chemicals contained in a solid case Im proper use can therefore lead to injuries or equipment damage CAUTION Risk of injury due to improper handling Do not attempt to reactivate empty batteries by heat ing them or by any other means danger of explosion or corrosio...

Page 22: ...2 8 Safety instructions for electrical drives ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 23: ...er Mains filter for power connections Mains contactor Drive controller FWA Firmware Drive Top commissioning program IKS ready made feedback cable Servo motor Auxiliary bleeder module Auxiliary capacitance module Those components shown with a gray shaded background are absolutely necessary System voltage DC 24 V IKG ready made power cable Power supply unit Fig 3 1 Overview of the required component...

Page 24: ...lls below or exceeds 3xAC230V 10 select a DST transformer see Chap 9 3 Check the DC24V control voltage supply for the DKC If a voltage of DC24 Volt 20 is not available select a suitable NTM power supply see Chap 7 Check the DC24V voltage for the motor holding brake If a voltage of DC24 Volt 10 is not available then select a suitable NTM power supply see Chap 7 Check the continuous regenerative pow...

Page 25: ...tinuous regenerative power PRD in kW Continuous torque at standstill MDN in Nm Maximum torque MMAX in Nm Short term operation torque MKB in Nm Maximum motor speed nMAX in min 1 Required power connection ou put SAN in kVA Required mains rated voltage UN in V Motor controller combination DKC MKD Motor moment of inertia JM in kgm DKC current consumption IN DC 0 7 in A Power consumption of the motor h...

Page 26: ...3 4 Selecting the components ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 27: ... ITyp 30 A DKC 040 7 FW ITyp 40 A Mains connection 1 x AC 230 V oder 3 x AC 230 V Intermediate circuit connection for BZM auxiliary bleeder module or CZM auxiliary capacitance module or further DKCs PI0200 fh5 Mains connection AC 380 460 V Fig 4 1 Main distinguishing hardware features of the DKC controllers Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 28: ...n dimensions MB0201 fh5 min 80 mm 210 258 25 318 S1 343 360 8 X8 X7 X6 H1 X5 X4 X3 X2 X1 min 80 mm 17 32 5 65 70 7 7 cooling air outlet cooling air inlet M6 in mounting panel distance to adjacent unit Fig 4 2 Dimensional data and installation dimensions DKC01 1 030 3 FW Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 29: ... 210 258 13 cooling air outlet cooling air inlet 333 S1 343 360 8 32 5 65 70 M6 in mounting panel distance to adjacent unit X6 H1 X5 X4 X3 X2 X1 min 80 mm 14 X7 X8 X9 7 7 Fig 4 3 Dimensional data and installation dimensions DKC01 1 040 7 FW DKC11 1 040 7 FW Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 30: ...t Peak current Power disspation without bleeder dissipation Peak bleeder output DKC Continous bleeder output DKC Maximum feedback energy DKC Storage energy DKC DC bus capacitance DC bus voltage Unit Mains frequency Continous current at 1 The drive data for 4 and 8 kHz switching frequencies are listed in the document ECODRIVE DKC servo drive Selection Data three phase Fig 4 4 Technical data for the...

Page 31: ...V Fig 4 6 Principle for connecting the DC24V control voltage by switching on the power supply via Q2 preferred method Rv K1 X4 1 X4 4 24V 0V DC24V power supply DKC V02DCC1P fh5 Connecting additional DKC x 1 DKC x 2 max 6 DKC 6BZM01 1 K1 closing delay 100 ms DC1 10A Rv 2 2Ω 5W wire resistance S1 Cotact DC1 6 A L1 L2 L3 S1 K1 Fig 4 7 Principle for connection the 24V via S1 with a starting current li...

Page 32: ...g 4 8 Load utilization as a value dependent upon ambient temperature and installation altitude Symbol 55 internal blower cooling TUM MAX C 0 45 TUM C 30 85 TL C 1000 m 95 25 g m3 IP20 as per EN 60529 DIN VDE 0470 1 1992 IEC 529 1989 stationary use in control cabinets 4 4 m kg TB0204 fh5 Unit Non conductive dirt contamination no condensation The values indicated in the selection data for MDN and MK...

Page 33: ...ries Drive controller TL0200 fh5 DKC 01 11 1 030 040 3 7 Type code fields Example Firmware FW A firmware specifying the functions of the drive must be ordered separately Fig 4 10 DKC type code TS0200 fh5 DKC01 1 040 7 FW 253158 SN253160 01708 K16 96 A03 Production week Serial number Change index Barcode Type of machine Part no Fig 4 11 DKC rating plate Buy www ValinOnline com Phone 844 385 3099 Em...

Page 34: ...are release version If newer functions are added the index of the firmware version is incre mented see type codes FW A ECODRV ASE 02 V RS MS 01 99 02 TL0202 fh5 FW A ECODRV 02 Test version Standard T V RS MS ASE Parallel interface Firmware Version Firmware type alphnumeric Name of product Product ECODRIVE Class Product machine Item i d Firmware Type codes Example Firmware type Firmware release sta...

Page 35: ... X1 X3 X3 X4 X4 X5 X6 X6 X7 X8 X9 X2 Br Br 1 1 Screw down push in terminals 0 2 4 mm AWG 24 10 Voltage connection for holding brake Intermediate circuit connection not on DKC01 1 030 3 Power connection Positioning record selection or inputs for stepper interface Control voltage Controller enable Motor temperature monitoring Motor connection Motor feedback connection 15 pole D Sub connector INS 439...

Page 36: ...1 RS485 RS485 Bb Bb RF 24V X4 0 V ready to operate RS 232 interface contr volt for DKC drive enable start signal 0V RS 485 interface AH Start 1 2 3 4 5 6 1 2 3 zero ref to contr volt TM TM Br Br Symbols 1 1 Switching capacity DC 24 V 2 5 A 2 Specifications for ready made cables connectors and types of cables can be found in the documentation Connection Accessories for INDRAMAT drives cable documen...

Page 37: ...3 DKC01 1 drive controller in operating mode ANALOG interface ready to operate contr volt for DKC drive enable start signal zero ref to contr volt homing homing switch travel range limit switch Sensor inputs path switch point analog outputs torque reduction voltage connection for holding brake holding brake DC bus connection not with DKC01 1 030 3 Symbols 2 Specifications for ready made cables con...

Page 38: ...acity DC 24 V 2 5 A DKC011 1 drive controller with ANALOG interface ready to operate contr volt for DKC drive enable start signal zero ref to contr volt analog outputs torque reduction voltage connection for holding brake holding brake DC bus connection Symbols 2 Specifications for ready made cables connectors and types of cables can be found in the documentation Connection Accessories for INDRAMA...

Page 39: ...e STEP MOTOR interface Feedrate Override holding brake DC bus connection not with DKC01 1 030 3 ready to operate interface contr volt for DKC drive enable start signal interface zero ref to contr volt Symbols 1 Switching capacity DC 24 V 2 5 A 2 Specifications for ready made cables connectors and types of cables can be found in the documentation Connection Accessories for INDRAMAT drives cable doc...

Page 40: ...ming parameterizing and di agnosis during startup operation and service procedures It is also used when setting the drive addresses as a requirement for op erations via RS 485 With the RS 232 it is possible to parameterize only one drive at a time when using the DriveTop startup program DKC cable IKS 0101 AP0224 fh5 TxD RxD GND DTR DSR RTS CTS 3 2 5 4 6 7 8 DKC 1 External shield on PC must be atta...

Page 41: ...485 P 2D implements the interface in a way suited for industrial use and for assem bly in cabinets AP5017D1 fh5 DKC 6 5 4 PC RS 232 RS 485 1 Enclosure 180 Ohm 0 5W X1 DKC RS485 RS485 RS485 RS485 1 The last DKC in series with terminator 2 Connect the outer shield to the PC and converter at the ground potential strain relief of the metallized connector shell 3 The RS 232 interface cable is displayed...

Page 42: ... are connected Switch RS232 to DTE Data Terminal Equipment data direction change over for RS 485 via RTS pin 2 TxD pin 3 RxD Set the jumper connection to 3 and 4 data direction change over polarity transmit mode Signal to RTS 3V to 15V receive mode Signal to RTS 3V to 15V 18OR BUS END RS485 RS232 ON OFF DTE DCE S1 2 3 1 4 RTS CTS RTS CTS XX5000D1 fh5 Fig 4 21 Switch position jumper position in the...

Page 43: ...GND Interface converter PSM EG RS232 RS485 P 2D metallized connector shell TxD RxD RTS 2 4 7 3 1 RTS 3 2 5 RS232 7 GND GND TxD 2 RxD 2 TxD 2 RxD 2 metallized connector shell PC with 25 pin D subminiature connector metallized connector shell metallized connector shell Fig 4 22 RS 232 cable PC interface converter DKC AP5016d1 fh5 D A D B GND RS485 RS485 GND twisted wire pair 2 1 3 4 5 6 X1 Interface...

Page 44: ...ning blocks are selected at the POSITIONING interface The signals for the stepper motor control are transmitted via these terminal strips at the stepper interface Control inputs and status reports in the positioning and stepper interface AP0223 fh5 13 14 15 16 17 18 19 20 21 22 23 24 NF NS LIMIT LIMIT JOG JOG WSP INREF INBWG INPOS 0V 0 5 mm2 max 20 m 0 5 mm2 HIGH 6 k 3 10 k 2 k 10 n min HIGH LOW I...

Page 45: ...0 5 V approx 8 kOhm Fig 4 25 Jog inputs AP0221 fh5 13 14 15 16 17 18 19 20 21 22 23 24 NF NS LIMIT LIMIT JOG JOG WSP INREF INBWG INPOS 0V 0 5 mm2 max 20 m 0 5 mm2 HIGH 6 k 3 10 k 2 k 10 n min HIGH LOW Input resistance 0 Vext Negative limit switch Positive limit switch HIGH X2 Inputs max Input voltage 16 V 8 V 30 V 0 5 V approx 8 kOhm Useful in operating mode Positioning interface Fig 4 26 Travel l...

Page 46: ...80 mA ext out ca µ5 s output switch to LOW out 300 mA the 13 14 15 16 17 18 19 20 21 22 23 24 NF NS LIMIT LIMIT JOG JOG WSP INREF INBWG INPOS 0V X2 Path control point Homing in Movement in Position in Output current I Outputs Output voltage Rise and fall time Overload protection when Fig 4 27 Status reports Status reports Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 47: ...ut voltage 16 V 8 V 30 V 0 5 V approx 5 kOhm 10k 1n 24 V Uext min HIGH LOW Output current I Outputs max Output voltage 16 V 1 V U 0 V 80 mA ext out Rise and fall time ca 5 µs Overload protection when outputs switch to LOW out 300 mA the 5 V 200 6k3 10k 2k 10n POS1 POS2 POS3 POS4 POS5 Fig 4 28 Connecting the positioning input signals and outputs for acknowledg ing the positioning signals Positionin...

Page 48: ... Blocking diode 1N4148 24 V Output SPS Inputs DKC Terminal X2 1 X2 2 X2 3 X2 4 POS1 POS4 5 V 2k 10n 200 Fig 4 29 Circuit proposal Stepper interface SV0200 fh5 1 Quadrature signals 2 Forward backwards signals 3 Step and direction singnals SM 1 SM 2 SM 1 SM 2 SM 2 SM 1 Right hand rotation Left hand rotation t1 t1 t2 t3 tL t2 5 6 µs t3 5 6 µs tL 2 8 µs t1 1 4 µs Left hand rotation Left hand rotation ...

Page 49: ... range should be at least 2 5 volts The greater the differential voltage range the higher the operational reliability against interference AP0219 fh5 Control unit 0 Vext Channel max 20 m 0V 1 2 3 4 5 6 7 8 9 10 11 12 SM1 SM1 SM2 SM2 X2 min Clock frequency Inputs max Input voltage 0 V 30 V max 175 kHz 2k 4k 15 V 5 V 15 V 5 V 200 200 2k 2k 2k 50k 22p SM SM Channel Channel Channel Fig 4 31 Control wi...

Page 50: ... is preferable to single channel control as the noise immunity of differential signals is generally better than with zero referenced signals AP0218 fh5 Control unit 0 V 2k4 2k4 2k4 0V 1 2 3 4 5 6 7 8 9 10 11 12 SM1 SM1 SM2 SM2 X2 min Clock frequency Uext DC 24 V Inputs max Input voltage 0 V 30 V max 175 kHz 2k 4k 15 V 5 V 15 V 5 V 200 200 2k 2k 2k 50k 22p SM SM Fig 4 32 Control with open collector...

Page 51: ...arallel or absolute value serial via the X3 9 16 supply terminal Analog interface AP0213 fh5 0 5 mm2 0 5 mm2 max 20 m CNC 0 Vext E1 E2 IRED 1 IRED 2 AK1 0V AK2 1 2 3 4 5 6 7 8 X3 20k 20k 20k 20k ADC 12 Bit min between E1 E2 between E1 0VM E2 0VM Input current E1 E2 Inputs max Input voltage 10 V 0 5 mA 10 V 15 V 15 V Input resistance approx 20 kOhm Input drift 18 µV C AD convertor 12 Bit Resolution...

Page 52: ...Input voltage 10 V 0 5 mA X3 10 V 15 V 15 V Input resistance approx 20 kOhm Input drift 18 µV C AD convertor 12 Bit Resolution per Bit 4 8 mV Fig 4 34 Connecting the analog torque reduction AP0212 fh5 z B oszilloscope CH1 CH2 min AK1 0V AK2 0V Outputs max Output voltage 10 V 10 V DA transformer 8 Bit Resolution per Bit 78 mV 5 6 7 8 AK1 0V AK2 X3 Fig 4 35 Connection assignments of the diagnostic o...

Page 53: ...ion value ou tput AP0216 fh5 max 40 m CNC Positions interface incremental 0 Vext 0 14 mm2 0V UA2 UA2 UA1 UA1 UA0 UA0 13 14 15 16 9 10 11 12 min HIGH LOW Output current I RS422 compatible differential outputs max Output voltage 2 5 V 0 8 V 0 V out Overload Do not short circuit outputs Danger of damage 5 V max 20 mA Output frequency max 504 kHz X3 Fig 4 37 Incremental actual position value output Ac...

Page 54: ...a 1 2 G23 G22 1 Tp G23 G22 G0 PFB tm T m tv least significant bit in gray code most significant bit in gray code stored parallel information pulse time max 10 µs min 1 µs monoflop time 25 µs pulse break 25 µs delay time of the first pulse max 540 ns all others 360 ns power failure bit not used and always logically LOW G0 G23 m T tm Tp tv PFB SV0202 fh5 resolution for 4096 rotations resolution for ...

Page 55: ...voltage 2 V 0 8 V 0 V Pulse frequency 100 1000 kHz 5 V 12 kOhm 13 14 15 16 9 10 11 12 Fig 4 40 Output of the absolute actual position value according to the SSI for mat X4 terminals for the control circuit AP0211fh5 4 5 6 Bb Bb RF 24V 0 V Ready to operate Controller enable Control voltage connection for DKC AH Start 1 2 3 Drive stop start Zero reference to control votage X4 6 k 3 10 k 2 k 10 n min...

Page 56: ...Manual X9 DC bus connection Note Does not apply to DKC01 1 030 3 FW DC bus connection for connecting an auxiliary bleeder module BZM01 1 or an auxiliary capacitance module CZM01 1 or a DKC drive controller The maximum line length is 1 0 m twisted with at least a 2 5 m cross section AP0206 FH5 Intermediate circuit connection on DKC01 1 040 7 FW on DKC11 1 040 7 FW L 1 L 2 L 1 L 2 1 2 3 4 Intermedia...

Page 57: ... by the bleeder brake resistance If the available regenerative power and energy from the mechanics ex ceeds the absorbing capabilities of the bleeder built into the unit this ca pability can be increased on the DKC 040 7 FW by using the following hardware configurations A drive and auxiliary bleeder module connected via the DC bus circuit 1 DKC BZM Several drive controllers connected via the DC bu...

Page 58: ...ous operation PBD BZM continuous regenerative power that the auxiliary module can process in continuous operation in kW PRS peak regenerative power in kW WROT rotary energy in Ws WPOT potential energy in Ws WROT MAX max occurring rotary energy in an emergency stop in Ws WPOT MAX max occurring potential energy in an emergency stop E stop in Ws tZ cycle time in s JLAST load torque in kgm JM motor in...

Page 59: ...ive controller can process in continuous operation in kW PRS peak regenerated power in kW WROT rotary energy in Ws WPOT potential energy in Ws WROT MAX max occurring rotary energy in an E stop in Ws WPOT MAX max occurring potential energy in an E stop in Ws tZ cycle time in s JLAST load torque in kgm JM motor inertia in kgm mLAST load weight in kg WMAX BZM storable energy in BZM 01 1 in kWs WMAX D...

Page 60: ...us regenerative power that the drive controller can process in continuous operation in kW PRS peak regenerative power in kW WROT rotary energy in Ws WPOT potential energy in Ws WROT MAX max occurring rotary energy in the E stop position in Ws WPOT MAX max occurring potential energy in the E stop in Ws tZ cycle time in s JLAST load torque in kgm JM motor inertia in kgm mLAST load weight in kg WMAX ...

Page 61: ...ation dimensions ECODRIVE DIGITAL AC SERVO BLEEDER 109 0963 3901 01 X9 L 1 L 2 L 1 L 2 X4 H1 H2 S1 RESET MB0200 fh5 min 80 mm 210 13 333 343 360 8 32 5 65 70 Clearance to adjacent units 14 7 7 233 min 80 mm Fig 5 4 Dimensions of the auxiliary bleeding module BZM01 1 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 62: ...Front view DC bus connection Control voltage H1 LED green Steady light auxiliary bleeder functioning properly Flashing light DC bus 50V H2 LED red Steady light Auxiliary bleeder overload Bb contact open S1 Reset key Ready to operate X9 Plug in screw terminal 0 2 to 4 mm AWG 24 10 rigid or flexible X4 Plug in screw terminal 0 2 to 2 5 mm AWG 24 12 rigid or flexible flexible with or without ring ter...

Page 63: ...nnection must correspond to selection table 11 1 Fusing Protective conductor connection 10mm 2 Fig 5 7 Connection assignment for the auxiliary bleeding module BZM01 1 5 6 Type code and rating plate BZM 01 1 01 07 DC bus nominal voltage 700 V Nominal Output 1 0 kW Version Series Auxiliary bleeder module TL0203 fh5 BZM 01 1 01 07 Type codes Example Fig 5 8 Type code TS0202 fh5 BZM01 1 01 07 260066 S...

Page 64: ...5 8 BZM auxiliary bleeder module ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 65: ...power loss in the cabinet note the following W W ROT ZW DKC CZM Fig 6 1 Condition for avoiding power dissipation from the regenerative energy W J J n ROT LAST NUTZ M 2 2 60 2 π WROT rotary energy of the application in Ws nNUTZ maximum effective speed in min 1 JLAST load torque of the application in kgm JM motor inertia Fig 6 2 Calculating the rotary energy W C C U U ZW DKC CZM DKC CZM B 2 ZW 2 2 1...

Page 66: ... Delay time in seconds t3 Dwell time in seconds tz Cycle time in seconds WROT Rotary energy in Ws n RPM in min 1 Peak feedback output in kW Average of the regenerated power ir a during cycle continous regenerated power P P RS RD Fig 6 5 Calculating the regenerative power in the processing cycle This produces the following results WROT 195 Ws WZW DKC CZM 209 Ws This indicates that the condition WRO...

Page 67: ... installation dimensions ECODRIVE DIGITAL AC SERVO CAPACITOR 109 0963 3901 01 X9 L 1 L 2 L 1 L 2 MB0203 fh5 min 80 mm 210 13 333 343 360 8 32 5 65 70 14 7 7 233 min 80 mm Clearance to adjacent units Fig 6 6 Dimensions for the auxiliary capacitance modules CZM01 1 Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 68: ...l 0 2 to 4 mm AWG 24 10 Protective conductor connection Fig 6 7 Front view of the auxiliary capacitance module CZM01 1 6 4 Electrical connection R02DCC1P fh5 CZM01 1 DKC 040 7 FW L 1 L 2 L 1 L 2 X9 L 1 L 2 L 1 L 2 X9 Protective conductor connection Protective conductor connection 10mm 2 max 1meter stranded 4 mm2 DC bus connection Fig 6 8 Connecting the auxiliary capacitance module CZM01 1 Buy www ...

Page 69: ...ltage 700 V Rated capacity 1 0 mF Version Series Auciliary capacitance module TL0204 fh5 CZM 01 1 01 07 Type code fields Example Fig 6 9 Type code TS0203 fh5 CZM01 1 01 07 260068 SN260100 01061 K21 96 A01 Production week Serial number Change index Barcode Type of machine Part no Fig 6 10 Rating plate Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 70: ...6 6 CZM Auxiliary Capacitance Module ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 71: ...ply will increase the output voltage accordingly INDRAMAT recommends a 10A automatic circuit breaker of 10 A with tripping characteristics for the DC24V NTM power supplies Use the line filter NFE01 1 250 006 for interference suppression 7 2 Technical data NTM01 1 024 002 2 1 50 0 61 1 2 32 16 NTM01 1 024 004 3 8 100 1 2 2 2 32 16 NTM01 1 024 006 5 5 150 1 9 3 2 32 16 lEIN Symbol POUT Designation U...

Page 72: ... L rails DIN 50 Table of dimensions A B C C C 20 mm cooling clearance Fig 7 2 Dimensional sheet DC24V NTM power supplies 7 4 Front views LED green Output voltage applied Potentiometer for fine adjustments of output voltage Pins for changing input voltage Pins connect input voltage AC 100 120 V Pins not connect input voltage AC 200 240 V Input voltage Zero point V Output voltage Protective ground F...

Page 73: ...5 V V FG L N A B DC 24 V V 1 2 1 Fig 7 4 Front view and terminal designation of the power supplies NTM01 1 024 004 and NTM01 1 024 006 7 5 Electrical connection Always use the NTM together with the line filter NFE01 1 230 006 AP0202 fh5 NFE01 1 230 006 L N NTM L N DC 24 V P N E P N V V 0 V Mains section RF interference suppression filter PE Fig 7 5 Connecting the power supply to a line filter Note...

Page 74: ...ains section Fig 7 6 Connecting the sensor cables NTM01 1 024 004 and NTM01 1 024 006 7 6 Type code NTM 01 1 024 02 Output nominal current 2 1 A 4 2 A 6 3 A Output nominal voltage DC 24 V Version Series Power supply module TL0205 fh5 NTM 01 1 024 02 04 06 Type codes Example Fig 7 7 Type code Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 75: ...5 10 AWG 6 6 13 5 20 3 1 AC 480 V 10 75 3 NFD 02 1 480 075 25 AWG 3 20 4 AC 480 V 10 130 3 NFD 02 1 480 130 50 AWG 1 0 40 7 5 AC 480 V 10 180 3 NFD 02 1 480 180 95 AWG 4 0 61 11 AC 230 V 10 7 5 1 NFD 02 1 230 008 6 AWG 10 7 2 1 1 1 max continuous current at the power connection at an ambient temperature of 45 C Fig 8 1 Technical data of the available line filters Operating frequency from DC to 60 ...

Page 76: ... 0 8 290 30 6 5 300 1 0 1 9 M5 030 335 150 1 60 305 320 35 6 5 400 1 0 1 9 M5 055 329 185 1 80 300 314 55 6 5 500 1 5 12 M6 075 329 220 80 300 314 55 6 5 1 5 M6 130 429 1 5 240 110 0 8 400 1 2 414 80 6 5 1 5 M10 180 438 1 5 240 110 0 8 400 1 2 414 50 6 5 500 2 15 M10 1 1 5 0 6 1 0 5 0 3 0 2 15 0 2 1 M01DCD1P fh5 NFD 02 1 480 180 F G H D J L M B K C E L H L Load NFE 02 1 230 008 NFD 02 1 480 008 To...

Page 77: ...oss section 10 mm 2 Remove any paint or coatings from the mounting points of the filter Use a tooth lock washer with galvanized or tin plated screws 8 3 Electrical connection To assemble and install the line filters observe the recommendations in the documents EMC in Drive and Control Systems Project Planning Manual central grounding point within control enclosure fuse power supply master switch f...

Page 78: ...ol voltage mains contactor NFE mains filter Control voltage connection for DKC X4 Mains connection Protective conductor connection 10mm2 mains filter 1 The use switch mode power sections NTM requires the preliminary switching of the NFE 01 1 230 006 mains filter 2 AC 230 V connecting voltage 10 15 50 to 60 Hz 3 Mounting on mounting panel of DKC is recommended Fig 8 5 Three phase line filter connec...

Page 79: ... Line filter NFE01 1 250 006 AP0228 fh5 NFE01 1 250 006 P N P N E L1 N PE Mains side Machine side Fig 8 7 Contact assignment of the line filter NFE01 1 250 006 The line filter is connected via 6 3 1 tab receptacles in accordance with DIN 462 545 8 5 Type code NFE 01 1 230 008 Rated current in A Nominal voltage in V phase to phase 230 Version Series Mains filter single phase three phase TL0206 fh5 ...

Page 80: ...8 6 NFD NFE line filter ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 81: ...ffer a range of products for selecting suitable isolating transformers Unterlage bei Bedarf anfordern for the DKC 030 3 FW the isolating transformer can be selected according to Fig 9 4 9 2 Autotransformers for DKC 040 7 FW Select an autotransformer according to the line voltage and the power re quirements of the system Proceed with the selection as follows Determine the rating group and read the ...

Page 82: ...put voltage in V of the transformer 480 i 1 26 i 1 50 240 220 500 520 540 560 580 600 620 640 660 680 i 0 52 700 i 1 08 AC 200 240 V AC 480 500 V AC 480 580 V AC 570 690 V DST 240 460 DST 500 460 DST 580 460 DST 690 460 Fig 9 1 Classification of three phase autotransformers into rating groups Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 83: ...80 205 240 300 335 240 300 335 420 480 C 150 175 190 195 265 130 140 155 190 215 105 130 140 155 175 140 155 175 205 222 B 260 365 395 500 540 260 260 325 395 450 190 210 260 325 365 260 325 365 450 500 F 170 230 250 356 400 170 170 210 250 280 125 145 170 210 230 170 210 230 280 356 E 110 160 170 270 110 110 140 170 190 80 95 110 140 160 110 140 160 190 G 120 145 160 158 215 100 110 125 160 155 7...

Page 84: ...09 240 240 240 240 240 240 240 240 310 310 310 310 310 310 350 350 350 370 370 370 370 370 370 370 420 H 6 6 7 7 7 7 7 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 14 4 6 8 5 10 10 11 5 11 5 18 18 21 21 24 5 24 5 26 26 30 5 36 42 50 53 53 65 65 65 68 68 68 80 80 70 80 92 G 55 70 75 85 85 85 85 90 90 110 110 120 120 125 125 110 125 135 150 165 165 160 160 160 160 160 160 ...

Page 85: ...220 2 5 380 460 500 220 4 0 380 415 440 220 4 0 380 460 500 220 5 0 380 415 440 220 5 0 380 460 500 220 7 5 380 415 440 220 7 5 380 460 500 220 10 380 415 440 220 10 380 460 500 220 15 380 220 20 380 220 MB0209 fh5 4 4 4 4 4 4 4 4 4 4 10 10 10 10 10 10 10 10 16 35 65 70 120 140 155 165 180 195 220 235 240 265 300 350 375 395 500 510 600 800 C1 B1 G1 A E F D Hø G B C E F A D Hø Type Prim Sec S DL T...

Page 86: ...ei DKC 11 1 040 7 FW E L1 L2 L3 X8 L1 L2 L3 1 2 3 DST Mains filter 1 1 Protective conductor connection 10mm2 EN 50178 Fig 9 5 Power connection via a three phase autotransformer AP0235 fh5 DKC01 1 030 3 1 x AC 230 V bei DKC 01 1 030 3 FW PE L1 N PE L1 N 1 x AC 50 60 Hz Q1 K1 PE L1 N X8 L1 L2 L3 1 2 3 NFE 1 Power connection for further DKCs Power connection on X8 Mains filter 1 Protective conductor ...

Page 87: ... V AC 415 V Mounting style horizontal mounting vertical mounting Rated power in kVA 20 kVA Product group Three phase autotransformer Three phase isolating autotransformer Type code fields Example Connection symbol YYNO DST 20 00 S 380 415 220 YYNO TL0201 fh5 DST DLT 20 00 L S 380 415 220 YYNO Fig 9 7 Type code for transformers Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin ...

Page 88: ...9 8 DST DLT transformers ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 89: ...ous current at standstill IdN will flow through the drive controller as a maximum value See the respective document ECODRIVE Servomotors MKD Proj ect Planning for the continuous current at standstill IdN Using the IdN value of the motor selected find the value in the diagram in Fig 10 1 for the current dependent power dissipation PV DKC Convert the continuous regenerative power found in Tab Fig 3 ...

Page 90: ...e been closed Otherwise condensation may occur For this rea son it is important that the heat exchange unit continues to operate when the system has been shut down to ensure that temperature within the control cabinet does not deviate from that of the drive com ponents Set the heat exchange unit to a permanent temperature of 40 C Not lower Heat exchangers with follow up temperature must be set so ...

Page 91: ...t Cabinet EB0200 fh5 Cooling system Fig 10 2 Arranging the heat exchange unit on the top of the control cabinet electronic equipment Cooling system Air inlet Air outlet Cabinet Air inlet Air duct Cooling system electronic equipment EB0201 fh5 incorrect correct Cabinet Fig 10 3 Arranging the heat exchange unit at the front of the control cabinet Buy www ValinOnline com Phone 844 385 3099 Email Cust...

Page 92: ...10 4 Planning the control cabinet ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 93: ...mounts of power Only a fuse protector Q1 a line contactor K1 and normally a line filter are required in the power input line If the line voltage deviates from the permitted input voltage the voltage is usually matched using an autotransformer or for special line conditions using an isolating transformer see Chapter 9 1 AP0232 fh5 PE L1 L2 L3 3 x AC 50 60 Hz PE L1 L2 L3 Q1 K1 DKC01 1 030 3 DKC01 1 ...

Page 94: ...table of the drive components or calculate it according to formula Fig 11 4 For several drive controllers add the individual apparent power values P M n DC EFF MITTEL 2 60 π k PDC DC bus power in W MEFF Effective torque in Nm nMITTEL Average speed in min 1 k Factor for motor and controller efficiency 1 25 Fig 11 3 Calculating the DC bus power S P F AN DC F Factor for the connected load F 2 6 for P...

Page 95: ...or Phase current Line cross section 1 Automatic circuit breaker tripping char acteristic C Power circuit breaker Safety fuse class gl for UN 3 x 400 V 50 Hz IN in A mm 2 Cur rent in A N 3 Siemens type Setting value in A N 3 Cur rent in A N 3 Siemens type Nominal operating current N 3 up to 8 7 1 0 10 5 3VU1300 ML00 10 12 10 4 3TF40 12 7 up to 11 1 5 16 7 3VU1300 MM00 16 19 16 6 3TF41 16 10 up to 1...

Page 96: ...uate the excess voltage use an overvoltage limiter with diode combination The use of varistors as a suppressor circuit is not permitted Varistors de cay and increase their blocking state currents This can result in prema ture failure if the connected components and devices The stand by contact opens when there is no control voltage for the DKC if there are errors in the drive AP0237 fh5 K1 1 Integ...

Page 97: ...able insulation it is not possible to install a GFCB device in the power input line compliant to DIN VDE 0160 section 6 5 Thus protection against indirect contact must be achieved by other means The drive system components have a protective grounded housing This makes protection against indirect contact possible by grounding Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin co...

Page 98: ...11 6 Power connection ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 99: ...ostics during startup operation and service procedures Hardware requirements IBM compatibility 80386 SX microprocessor 80486 recommended at least 4 MB RAM memory 8 MB recommended harddisk with at least 2 5 MB of free storage space 3 5 floppy disk drive with a capacity of 1 44 MB one free serial RS 232 interface in the PC COM 1 or COM 2 an EGA monitor or monitor with higher resolution a mouse or co...

Page 100: ...ating mode Speed control with an analog setpoint value when operating via the po sitioning or stepper interface The following figure illustrates a circuit proposal for a setpoint generator 1 2 3 4 10k V 13k DC 10 10 V 15 V 15 V E1 E2 IRED1 IRED2 1 2 3 4 24V RF AH Start 0VM drive enable drive stop start AP0242 fh5 X3 X4 DKC command value encoder directional switch command value analog command value...

Page 101: ...mpanying documents An envelope containing a delivery notice in duplicate is attached to one of delivered packages These are the only shipping documents provided unless special arrangements were made when the order was placed Either the delivery notice or the freight papers will list the total number of packages or transport containers included in the shipment Identification of the components Each ...

Page 102: ... 2 Condition of the drive components on delivery ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 103: ... Homing 4 19 L Line contactor 11 3 M Measuring devices 12 1 P Packaging 13 1 Packaging labels 13 1 Peak regenerative power 5 1 Positioning signals 4 22 POSITIONING interface 4 11 Power connection 11 1 Power dissipation 10 1 R Ready signal contact 11 4 Regenerative energy 5 1 Risk of condensation 10 2 Rotary energy 6 1 RS 232 interface 4 15 RS 485 interface 4 16 S serial bus 4 16 Setpoint generator...

Page 104: ...14 2 Index ECODRIVE DKC01 1 DKC11 1 Drive Controllers DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 105: ...e 01285 658671 Telefax 01285 654991 Finnland Rexroth Mecman OY SF 01720 Vantaa Riihimiehentie 3 Telephone 0 848511 Telefax 0 846387 France Rexroth Sigma S A Division INDRAMAT F 92632 Gennevilliers Cedex Parc des Barbanniers 4 Place du Village Telephone 1 41475430 Telefax 1 47946941 France Rexroth Sigma S A Division INDRAMAT F 69634 Venissieux Cx 91 Bd 1 Joliot Curie Telephone 78785256 Telefax 7878...

Page 106: ...wai Avenue Beijing 100004 P R China Telephone 010 50 50 380 Telefax 010 50 50 379 China Rexroth China Ldt A 5F 123 Lian Shan Street Sha He Kou District Dalian 116 023 P R China Telephone 0411 46 78 930 Telefax 0411 46 78 932 Honkong Rexroth China Ldt 19 Cheung Shun Street 1st Floor Cheung Sha Wan Kowloon Honkong Telephone 741 13 51 54 und 741 14 30 Telex 3346 17 GL REX HX Telefax 786 40 19 786 07 ...

Page 107: ...ECODRIVE DKC01 1 DKC11 1 Drive Controllers Directory of customer service locations DOK ECODRV DKC01 11 1 PRJ3 EN P Notes Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

Page 108: ...Indramat Buy www ValinOnline com Phone 844 385 3099 Email CustomerService valin com ...

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