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ENGEL Elektroantriebe GmbH ·

Am Klingenweg 10 · D-65396 Walluf

Telefon

+49 6123 9942-0 ·

Telefax

+49 6123 9942-50 · [email protected] · www.engelantriebe.de

Operating Manual

Rev. 1.6

Integrated Synchronous Servo Drives

HBI22xx / HBI26xx
HBI32xx / HBI37xx

Содержание HBI22 Series

Страница 1: ...GmbH Am Klingenweg 10 D 65396 Walluf Telefon 49 6123 9942 0 Telefax 49 6123 9942 50 info engelantriebe de www engelantriebe de Operating Manual Rev 1 6 Integrated Synchronous Servo Drives HBI22xx HBI...

Страница 2: ...TORQUE CONTROL OPERATING MODE 15 4 3 POSITIONING OPERATING MODE 15 4 3 1 Positioning function in I O mode without fieldbus 18 4 3 2 Homing 19 4 3 3 Limit switches 21 4 3 4 Turntable positioning mode...

Страница 3: ...from FW EL3 55 starting from DSerV 6 103 HBI22_37_BA_100114_en 14 01 2010 Various corrections HBI22_37_BA_110801 01 08 2011 1 5 Complete revision valid from Board Rev V3 x FW EL V3 80 DSerV 6 200 HBI2...

Страница 4: ...th conductor must be connected first for the installation The device applies as electronic equipment and is intended for operation in machines The safety instructions of the Machinery Directive 89 392...

Страница 5: ...cuit and power stage can optionally be supplied from separate voltage sources providing runtime data retention during power down conditions Short cycle times of PI current PI speed and P position cont...

Страница 6: ...e Torque constant 3 Nm A 0 025 0 049 0 031 0 061 24V type 48V type Voltage constant V 1k rpm 3 0 5 9 3 8 7 4 24V type 48V type Number of poles 6 6 Ambient temperature C 0 C 40 C No condensation permis...

Страница 7: ...constant 3 Nm A 0 025 0 048 0 034 0 068 24V type 48V type Voltage constant V 1k rpm 3 0 5 8 4 1 8 2 24V type 48V type Number of poles 6 6 Ambient temperature C 0 C 40 C No condensation permissible St...

Страница 8: ...Voltage constant V 1k rpm 8 7 9 1 Number of poles 6 6 Ambient temperature C 0 C 40 C No condensation permissible Storage temperature C 25 C 60 C No condensation permissible Flange dimension mm 65 Ins...

Страница 9: ...0 079 Voltage constant V 1k rpm 9 2 9 5 Number of poles 6 6 Ambient temperature C 0 C 40 C No condensation permissible Storage temperature C 25 C 60 C No condensation permissible Flange dimension mm 7...

Страница 10: ...taken into consideration that the specified continuous output power must be derated for thermally unfavourable couplings 2 Observe chapter 3 6 1 Regenerative operation 3 The rated current is the dire...

Страница 11: ...provide a diode for the decoupling of the operating voltage The effect of the voltage increase when braking can be reduced if necessary by selecting a less abrupt that is a longer brake ramp If applic...

Страница 12: ...use of the error has been remedied and the error has been acknowledged by the control enable The overcurrent and or short circuit monitor recognises short circuits between the motor phases The I t mon...

Страница 13: ...e non volatile memory The HBI drives are operated through digital analogue inputs and outputs I O mode and also optionally operated through CANopen CANopen mode only in xCx design The activation deact...

Страница 14: ...y set The opti misation of current and speed controllers is described in chapter 9 Controller optimisation Sin ramp not possible with analogue speed specification For the function and influence of the...

Страница 15: ...lue for a specified time interval can be calculated as follows Unit approx 100sec 1 Example Calculation for ramp time t 0 25sec profile_acceleration 100sec 1 0 25sec 400 Ramp inactive Non delayed setp...

Страница 16: ...V enable 4 3 Positioning operating mode The positioning operating mode enables point to point positioning with time optimised trapezoidal or jerk free sin speed progression Positioning range 219 524 2...

Страница 17: ...itioning process applies as completed if the deviation of the current position to the target position for a duration defined in Position window time is less than the value parameterised under Position...

Страница 18: ...absolute position value and with selectable starting condition Object target position 607Ah Unit Revolutions of the motor shaft R Target position is absolute New target position is absolute relative...

Страница 19: ...tive limit switch DI3 Negative limit switch DO2 DI4 Start positioning process Pin DO2 DI4 is used as a digital input DO1 DI5 Digital output with selectable function Pin DO1 DI5 is used as a digital ou...

Страница 20: ...ulse homing method 1 2 This method eliminates tolerances of the switching point of the limit switch The drive initially approaches the active edge of the switch at Speed during search for switch rever...

Страница 21: ...characteristics of the ramp are effective as specified in the motion profile type linear sin Object homing acceleration 609Ah Unit 10 RPM sec input value 1000 10 000 RPM sec Speed during Speed with wh...

Страница 22: ...ATION LIMIT SWITCHES the following settings are possible Limit switch monitoring Inactive see chapter 4 4 2 Digital inputs Active see chapter 4 4 2 Digital inputs Type of limit switches Normally close...

Страница 23: ...mentally positive target positions should be approached with a defined direction of rotation e g always clockwise 1 or whether the shortest path should be used In the latter case alternating rotationa...

Страница 24: ...bsolute positioning process is started whereby the new target position is identical to the current setpoint position then there will be no positioning movement initiated b with relative positioning Tu...

Страница 25: ...ts dynamic speed limit or dynamic torque limit Torque limiting in speed control mode In speed control mode a limit value for the maximum torque is additionally specified to the speed setpoint specific...

Страница 26: ...mode No function under CANopen See below for additional footnotes Description of the DI functions Pos neg limit switch The exact function of the limit switches varies depending on the selected operat...

Страница 27: ...ee position controlled Setpoint inverse Inverts the leading sign of the external current or speed setpoint The set speed ramp remains active Constant value 1 2 Selects one of two parameterisable fixed...

Страница 28: ...ing open collector outputs In order to be able to output a high voltage level they must be externally wired with a pull up resistor e g R 1k 1W to 24VDC Observe the digital output s driver capability...

Страница 29: ...d 2 3 9 RD DI7 Digital input 7 selection positioning target Bit 1 5 L 0 5V H 15 30V Ubl 4 Logic supply 24VDC only HBI32 HBI37 3 10 VT TxD RS232 Transmit Data 11 GY PK RxD RS232 Receive Data 12 BU RD D...

Страница 30: ...c 3 BK GND 4 WH 2x 0 32 mm 2 CAN_H 5 BU CAN_L 1 Wire colours and cross sections apply for original ENGEL cable assemblies 2 With use of a shielded cable the shield application should preferentially b...

Страница 31: ...xIx Connector on the device ytec angled receptacle Intercontec series 615 915 with insert 8 pin M12 circular connector a coded male contacts Mating plug 8 pin M12 circular connector a coded female con...

Страница 32: ...n a residential area this product can cause high frequency disturbances which may necessitate interference suppression measures For the optimal operation of the HBI series drives ENGEL offers cable as...

Страница 33: ...r providers CAN bus cable RKC5722 6M 6m PVC CAN bus cable RKC5723 6M 6m PUR as above Reference Hans Turck GmbH Co KG M lheim a d Ruhr www turck com A CAN network comprised of multiple drives can be ea...

Страница 34: ...tion plug open on one end 8x 0 25mm shielding applied on sleeve nut Other providers Cable assembly with M12 connection plug WAKS8 2 S366 2m Cable assembly with M12 connection plug WAKS8 5 S366 5m Cabl...

Страница 35: ...housing for optimum performance 1 2 3 4 5 Z B B BU BN WH RD 6 7 8 A A Z GND n c X2b n c PK GY GN YE Z B B A A Z GND Shield CAN Incremental Sensor Output Device design X1 only xAx Device design X1 X2a...

Страница 36: ...ages Step 5 Start the DSerV service software Connect COMx x 1 99 of your PC laptop and X1 of the drive in accordance with chapter 6 2 Installation diagram and start the DSerV service software The type...

Страница 37: ...rrence of an error leads to the shut down of the power stage i e the motor power is disconnected Errors are shown with the red LED of the status display by means of a blink code whereby the number of...

Страница 38: ...and control parameters of the current controller parameterised in accordance with factory specifications 8 Checksum parameter memory The contents of the parameter memory were read incorrectly Does the...

Страница 39: ...int position exceeds the parameterised positioning range 5 Faulty parameterisation of positioning range Illegal parameterisation of the positioning range limits min max 6 Limit switch monitoring The p...

Страница 40: ...rvice software 8 4 CAN bus error messages Error no Meaning Cause Measures 1 CAN Controller overflow Bus load too high cannot be processed reduce the CAN bit rate if applicable Optimise PDO communicati...

Страница 41: ...put AI1 9 1 Current controller The parameters of the current controller are adjusted ex works In order to restore the condition as supplied load the originally supplied parameter set into the device 9...

Страница 42: ...aximum incline is to be set and the setpoint scaling value is to be adjusted in accordance with the speed required in the application The control parameters of the speed controller are to be initially...

Страница 43: ...42 10 Mechanical dimensions Type Meas L mm HBI2230 125 HBI2230 with brake 157 HBI2260 155 HBI2260 with brake 187 Fig HBI22xx dimensions Type Meas L mm HBI2630 133 HBI2630 with brake 163 HBI2660 163 HB...

Страница 44: ...page 43 Type Meas L mm HBI3260 160 HBI3260 with brake 190 HBI3290 190 HBI3290 with brake 220 Fig HBI32xx dimensions Type Meas L mm HBI3760 165 HBI3760 with brake 195 HBI3790 195 HBI3790 with brake 22...

Страница 45: ...d Serial connection cable see chapter 6 2 Installation diagram 11 2 Installation and start up of the program Note Read the licence agreement on the provided data carrier of the software before install...

Страница 46: ...he program start from a removable data carrier is not possible After the start up of the service software the DSerV program window see below appears and the communication to the connected device is au...

Страница 47: ...e following functions can be selected in the File menu Connect Starts the communication with the drive through the serial interface Disconnect Stops the communication with the drive Parameter up downl...

Страница 48: ...control speed control and positioning mode Selection of the setpoint source Current controller Adjustment of current limits and parameters of the current controller Specification of the motor pole num...

Страница 49: ...point position in positioning mode I t monitor Shows the overcurrent capability of the integrated drive Rising display Overcurrent condition On reaching 100 the motor current is reduced to motor rated...

Страница 50: ...der with which the setpoint current or speed setpoint can be specified through the serial interface In order to react to this setpoint the setpoint source RS232 must be selected in the OPTIMISATION OP...

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