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1.3

Abbreviations used in this Manual

The abbreviations used in this manual are explained in the table below.

Abbrev.

Meaning

AGND

Analog ground

BTB/RTO

Ready to operate

CAN

Fieldbus (CANopen)

Communité Europeenne (=EC)

CLK

Clock signal

COM

Serial interface for a PC-AT

DGND

Digital ground

DIN

Deutsches Institut für Normung

Disk

Magnetic storage (diskette, hard disk)

EEPROM

Electrically erasable memory

EMC

Electromagnetic compatibility

EMI

Elektromagnetic interference

European standard

ESD

Electrostatic discharge

F-SMA

Fiber Optic Cable connector according to IEC 60874-2

IEC

International Electrotechnical Commission

IGBT

Insulated gate bipolar transistor

ISO

International Standardization Organization

LED

Light-emitting diode

Megabyte

Zero pulse

NSTOP

Limit-switch input, rot. dir. CCW (left)

Personal Computer

PELV

Protected low voltage

PLC

Programmable logic controller

PSTOP

Limit-switch input, rot. dir. CW (right)

PSU

Power supply unit

PWM

Pulse-width modulation

RAM

Volatile memory

RBext

External regen resistor

RBint

Internal regen resistor

RES

Resolver

ROD 426

A quad B Encoder

SRAM

Static RAM

SSI

Synchronous serial interface

Underwriter Laboratory

V AC

AC voltage

V DC

DC voltage

VDE

Verein deutscher Elektrotechniker

AX2500 Installation Manual

General

02/06

Beckhoff

Содержание AX2500 Series

Страница 1: ...on Setup Keep all product manuals as a product component during the life span of the servo amplifier Pass all product manuals to future users owners of the servo amplifier Edition 02 06 Digitaler Serv...

Страница 2: ...Microsoft Corp HIPERFACE is a registered trademark of Max Stegmann GmbH EnDat is a registered trademark of Dr Johannes Heidenhain GmbH Technical changes to improve the performance of the equipment may...

Страница 3: ...ctions 17 2 10 Motor holding brake control 18 2 11 Regen circuit 19 2 11 1 LED display 19 2 12 Grounding system 19 2 13 Switch on off behaviour 20 2 13 1 Stop function as per EN 60204 VDE 0113 20 2 13...

Страница 4: ...der master with 24V signal level X3 53 4 9 3 Connection to a sine cosine encoder master X2 53 4 10 Interface for stepper motor controllers pulse direction 54 4 10 1 Connection to a stepper motor contr...

Страница 5: ...WS Internet browser Acrobat Reader in several language ver sions You can print out this documentation on any standard printer A printed copy of the docu mentation is available from us at extra cost Th...

Страница 6: ...ctor according to IEC 60874 2 IEC International Electrotechnical Commission IGBT Insulated gate bipolar transistor ISO International Standardization Organization LED Light emitting diode MB Megabyte N...

Страница 7: ...machine must produce a hazard analysis for the ma chine and take appropriate measures to ensure that unforeseen movements do not result in personal injury or material damage l Do not open or touch th...

Страница 8: ...f the servo amplifiers are used in residential areas or in business or commercial premi ses then additional filter measures must be implemented by the user The AX2500 family of servo amplifiers is onl...

Страница 9: ...manufacturer of the machine or plant is responsible for ensuring that they meet the limits required by the EMC regulations Advice on the correct installation for EMC such as shielding grounding arrang...

Страница 10: ...e which can be trigge red by electrically operated devices The technical conformance with the U S and Cana dian standard is determined by an independent UL cUL inspector through the type testing and r...

Страница 11: ...s required for AX25x6 Synchronous servomotor linear or rotary Motor lead pre assembled or motor cable as cut off length loose connectors motor and amplifier side Feedback cable pre assembled or both f...

Страница 12: ...cuit 1 x 115V AC AX250x only unearthed operation is permitted 3 x 115V AC AX250x only unearthed operation is permitted 1 x 230V AC AX250x only unearthed operation is permissible 3 x 230V AC all types...

Страница 13: ...play on the master l fully programmable via RS232 interface Completely digital control l digital current controller space vector pulse width modulation 62 5 s l freely programmable digital speed contr...

Страница 14: ...2 8 Components of a servo system 14 AX2500 Installation Manual Technical description 02 06 Beckhoff 24V supply fuses drive contactor terminals motor AX2500 PC Control PLC...

Страница 15: ...al voltage drop at rated current V 5 5 Quiescent dissipation output stage disabled W 12 15 12 15 12 15 12 15 Dissipation at rated current without regen dissipation W 35 60 30 40 35 60 30 40 Inputs out...

Страница 16: ...pol plug 2 9 3 Recommended tightening torques Connector Tightening torque X1 X3 X6 0 3 Nm X0 1 3 Nm Earthing bolts 3 5 Nm lower mounting bolt 3 5 Nm 2 9 4 Fusing 2 9 4 1 Internal fusing Function Auxil...

Страница 17: ...lution level 2 as per EN 60204 EN 50178 Enclosure rating IP 20 Mounting position normally vertical p 25 Ventilation AX25x3 free convection AX25x6 add on fan p 72 Make sure that there is adequate force...

Страница 18: ...braking force During the internal enable delay time of 100ms the speed setpoint of the servo amplifier is internally driven down a 10ms ramp to 0V The brake output is switched on when 3 of the final s...

Страница 19: ...off with the error message overvoltage p 66 The BTB RTO contact terminals X1 1 2 will be opened simultaneously p 49 Technical data Supply voltage Rated data DIM Value 3 x 230 V Upper switch on thresho...

Страница 20: ...The Stop functions are defined in EN 60204 VDE 0113 Paras 9 2 2 and 9 2 5 3 Categories of Stop functions Category 0 Shut down by immediate switch off of the supply of energy to the drive machinery i...

Страница 21: ...er Category 0 or Category 1 The Emergency Stop Category must be determined by a risk evaluation of the machine Category 0 Only hard wired electromechanical components may be used for an Emergency Stop...

Страница 22: ...This page has been deliberately left blank 22 AX2500 Installation Manual Technical description 02 06 Beckhoff...

Страница 23: ...If a motor power cable is used which includes cores for brake control the brake control cores must be separately shielded Earth the shielding at both ends p 28 l Install all heavy current cables with...

Страница 24: ...ate motor housing and CNC GND of the controls Notes on connection techniques are on page 32 Wiring Route power leads separately from control cables Wire the BTB RTO contact in series into the safety l...

Страница 25: ...stem width 40mm make sure there is a conductive connection to the mounting plate Mount the protective cover 7mm on the left side of the system Tools required Screwdriver with approx 5 mm blade width A...

Страница 26: ...3 3 1 Dimensions 26 AX2500 Installation Manual Installation 02 06 Beckhoff AX250x and AX251x AX252x...

Страница 27: ...diagrams indicates that you must take care to provide an electrically conductive connection with the largest possible area between the unit indicated and the mounting plate in the control cabinet This...

Страница 28: ...ram AX250x and AX251x 28 AX2500 Installation Manual Installation 02 06 Beckhoff p 38 p 57 p 56 p 52 p 39 p 43 p 40 p 46 p 46 p 48 p 49 p 38 p 39 AX250x AX251x Follow the safety instructions p 7 and th...

Страница 29: ...3 4 2 Connection diagram AX252x AX2500 Installation Manual 29 Beckhoff 02 06 Installation p 57 p 52 p 39 p 43 p 40 p 46 p 46 p 48 AX252x Follow the safety instructions p 7 and the use as directed p 8...

Страница 30: ...3 Example of connections for multi axis system 30 AX2500 Installation Manual Installation 02 06 Beckhoff AX252x AX252x AX250x AX251x M M M Follow the safety instructions p 7 and the use as directed p...

Страница 31: ...3 4 4 Connector assignments AX2500 Installation Manual 31 Beckhoff 02 06 Installation...

Страница 32: ...00 are provided with an over all metal ferrule at the amplifier end that is electrically connected to the shielding Thread a cable tie through each slot in the shielding strip front panel of the servo...

Страница 33: ...ulation PETP polyesteraphthalate code 12Y Capacitance Motor cable less than 150 pF m RES encoder cable less than 120 pF m Technical data The brackets in the cable designation indicate the shielding Al...

Страница 34: ...ut this parameter setting yourself on the amplifier but on a PC with the assistance of the operator software The PC is connected to the servo amplifier by a null modem serial p 56 cable The setup soft...

Страница 35: ...WINDOWS 98 2000 ME XP or WINDOWS NT 4 0 Emergency operation is possible with an ASCII terminal emulation Interface setting 9600 bps databit 8 stopbit 1 no parity no handshake Unix Linux DRIVE EXE doe...

Страница 36: ...This page has been deliberately left blank 36 AX2500 Installation Manual Installation 02 06 Beckhoff...

Страница 37: ...presents all the important interfaces divided between master and axis module The precise location of the connectors and terminals can be seen on page 31 4 1 Block diagram AX2500 Installation Manual 37...

Страница 38: ...supplies Directly to supply filter is integrated fusing e g fusible cut outs to be provided by the user p 16 4 2 2 24V auxiliary voltage X0 Electrically isolated supply from an external 24V DC PSU e...

Страница 39: ...ly from the same mains identical mains supply voltage may be connected by the DC bus link 4 4 Motor connection with brake X6 Max admisible length of the motor cable is 25 m 4 5 External regen resistor...

Страница 40: ...l X1 p 44 Sine Cosine Zero Incremental encoder A quad B X5 p 45 A B Zero 4 6 1 Resolver X5 Our rotary servomotors have 2 pole hollow shaft resolvers built in as a standard It is possible to connect 2...

Страница 41: ...nd for the resolution an incremental encoder The thermostat contact in the motor is connected via the ComCoder cable to X2 and evaluated there If cable lengths of more than 25m are planned please cons...

Страница 42: ...ute informa tion for commutation can be used as complete feedback system combined with an addi tional Hall encoder All signals are connected to X2 If cable lengths of more than 25m are planned please...

Страница 43: ...the AX2500 as a feedback device for drive tasks that require highly precise positioning or extremely smooth running The thermostat contact in the motor is connected via the encoder cable to the AX2500...

Страница 44: ...information for the position controller every time the 24V auxiliary voltage is switched on If lead lengths of more than 50m are planned please consult our customer service The thermostat contact in...

Страница 45: ...r every time the 24V auxiliary vol tage is switched on If lead lengths of more than 50m are planned and for questions concerning the power supply of the encoder please consult our customer service The...

Страница 46: ...e voltage range for both inputs 10 V supplementary Update rate 62 5 s Input Analog IN terminals X3 2 3 Input voltage max 10 V 14 bit resolution scalable Standard setting Speed Setpoint Fixing the dire...

Страница 47: ...t must be stored in the EEPROM of the servo amplifier and the 24V auxiliary supply for the servo amplifier must be switched off and then on again to reset the amplifier software Limit switches PSTOP N...

Страница 48: ...minal X3 8 and DIGITAL OUT2 terminal X3 9 to output messages from pre programmed functions that are stored in the servo amplifier A list of the pre programmed functions can be found in the Online Help...

Страница 49: ...l the motor which is attached does not have any torque Ready to operate contact BTB RTO Operational readiness terminals X1 1 and X1 2 is signalled via a floating relay contact The contact is closed wh...

Страница 50: ...Feedback system Resolution Zero position ROD 1 Resolver 16 1024 one per revolution only if A B 1 EnDat HIPERFACE 16 4096 and 8192 524288 2n one per revolution only if A B 1 ROD interpolation 3 Increme...

Страница 51: ...and are not variable The following table shows the allocation of the SSI date Revolution Resolution 11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The signal sequence can be output i...

Страница 52: ...t frequency Please contact our customer support for information on connecting external SSI enco ders Signal diagram for encoders with RS422 or 24V outputs 4 9 1 Connection to a AX2500 master 5V signal...

Страница 53: ...cy 100 kHz transition speed tv 0 1 sec AGND terminal X3 1 must be connected to the ground of the control system 4 9 3 Connection to a sine cosine encoder master X2 You can use this interface to set up...

Страница 54: ...The number of steps can be adjusted so that the servo ampli fier can be adjusted to the pulse direction signals of any stepper motor controller Various monitoring signals can be output The analog inpu...

Страница 55: ...connected to the ground of the control system 4 10 2 Connection to a stepper motor controller with 24V signal level X3 You can use this interface to connect the servo amplifier to a stepper motor con...

Страница 56: ...o a serial interface on the PC do not use a null modem link cable The interface has the same potential as the internal logic and uses AGND as the ground reference The interface is selected and set up...

Страница 57: ...AGND must be connected to the control system ground for potential equalization CAN bus cable To meet ISO 11898 you should use a bus cable with a 120 W characteristic impedance The maximum usable cable...

Страница 58: ...oftware protocol can be found in the manual Communication profile PROFIBUS DP The selection of cables cable routing shielding bus connectors bus termination and propagation times are described in the...

Страница 59: ...in SERCOS Phase 1 or the axis cannot be operated although the RT LED is lighting up cyclically Err indicates that SERCOS communication is faulty or suffering from interference If this LED is very bri...

Страница 60: ...This page has been deliberately left blank 60 AX2500 Installation Manual Interfaces 02 06 Beckhoff...

Страница 61: ...to the servo amplifier while it is live Capacitors can still have dangerous residual charges up to 300 seconds after switching off the supply voltage The heat sink and front panel of the amplifier ca...

Страница 62: ...minal voltage of the amplifier Motor pole no must match the feedback unit in the motor IRMS maximum is the motor standstill current I0 nameplate IPEAK maximum is 4 x motor standstill current I0 Limit...

Страница 63: ...odules The PC cable only has to be connected to the master The internal address assignment is carried out automatically so that it is only necessary to set up the basic station address for the master...

Страница 64: ...n rapid succession decrease number by ten press and hold right key then press left key as well enters a number return function 5 3 2 2 Status display on the axis module Each axis module is fitted with...

Страница 65: ...5 3 2 3 Status display on the master AX2500 Installation Manual 65 Beckhoff 02 06 Setup...

Страница 66: ...hecksum error F11 brake cable break short circuit short to ground F12 motor phase motor phase missing cable break or similar F13 internal temperature internal temperature too high F14 output stage fau...

Страница 67: ...switch 2 passed software limit switch 2 n08 motion task error a faulty motion task was started n09 no reference point no reference point set at start of motion task n10 PSTOP PSTOP limit switch activ...

Страница 68: ...This page has been deliberately left blank 68 AX2500 Installation Manual Setup 02 06 Beckhoff...

Страница 69: ...ng 3 15AT Output voltage 24V 1 Max output current 5A Residual ripple 150mVss Switching peaks 240mVss Output fusing short circuit proof Temperature range 0 to 60 C Mounting method DIN rail vertical mou...

Страница 70: ...none Output voltage 24V 1 Max output current 20A Residual ripple 0 1 Output fusing short circuit proof Test voltage to VDE 0550 Temperature range 20 to 60 C Mounting method on mounting plate supplied...

Страница 71: ...3 External regen resistor BAR U Caution Surface temperature may exceed 200 C Observe the requested free space Do not mount to combustible surface AX2500 Installation Manual 71 Beckhoff 02 06 Accessori...

Страница 72: ...the housing The electrical connection takes place auto matically when mounting the fan Please consider that a mounted fan increases the required space underneath the amplifier p 25 The drawing below s...

Страница 73: ...scharge yourself before touching the servo amplifier Avoid contact with highly insulating materials artificial fabrics plastic films etc Place the servo amplifier on a conductive surface max stacking...

Страница 74: ...unit feedback connector not inser ted feedback cable is damaged check connector check cable F05 message undervoltage supply voltage not present or too low when servo amplifier is enabled only enable t...

Страница 75: ...etpoint cable motor phases swapped brake not released drive is mechanically blocked no of motor poles set incor rectly feedback set up incorrectly apply enable signal check setpoint cable correct moto...

Страница 76: ...nalog I O join AGND and CNC GND n12 message Motor default values loaded Motor number stored in sine encoders EEPROM different than what drive is configured for If n12 is displayed default valu es for...

Страница 77: ...ed when the motor is at standstill I I t threshold Monitoring of the r m s current that is actually required incremental encoder interface Position signalling by 2 signals with 90 phase difference not...

Страница 78: ...eration with a periodic change of direction ROD interface Incremental position output S servo amplifier Control device for regulating the speed torque and position of a servomotor setpoint ramps Limit...

Страница 79: ...llation wiring 24 setup 62 H Hall interface 42 hardware requirements 35 humidity 73 I incremental encoder interface 45 inputs ANALOG IN 46 DIGI IN 1 2 47 enable 49 encoder 43 encoder for master slave...

Страница 80: ...rage 73 storage duration 73 storage temperature 73 supply connection interface 38 supply voltage 17 switch on off behaviour 20 symbols 5 system components summary 14 T technical data 15 ambient condit...

Страница 81: ...This page has been deliberately left blank AX2500 Installation Manual 81 Beckhoff 02 06 Appendix...

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