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Page 5

3.4.4

CAN interface [X4]

........................................................................... 35

3.4.5

Technology module: PROFIBUS

.......................................................... 36

3.4.6

Technology module: EtherCAT

............................................................ 36

3.4.7

I/O functions and device control

.......................................................... 36

TECHNICAL DATA

.................................................................................................. 37

4.1

General Technical data

.................................................................................... 37

4.2

Operating and display elements

......................................................................... 39

4.3

Supply [X9]

................................................................................................... 40

4.4

Motor connection [X6]

..................................................................................... 42

4.4.1

Current derating

.............................................................................. 42

4.5

Motor feedback connection [X2A]

...................................................................... 47

4.5.1

Resolver connection [X2A]

................................................................. 48

4.5.2

Encoder connection [X2B]

................................................................. 48

4.6

Communication interfaces

................................................................................ 51

4.6.1

RS232 [X5]

................................................................................... 51

4.6.2

USB [X19]

..................................................................................... 51

4.6.3

Ethernet [X18]

................................................................................ 51

4.6.4

CAN bus [X4]

................................................................................. 51

4.6.5

SD/MMC card

................................................................................ 52

4.6.6

I/O interface [X1]

............................................................................. 52

4.6.7

Incremental encoder input [X10]

......................................................... 53

4.6.8

Incremental encoder output [X11]

....................................................... 54

FUNCTION OVERVIEW

............................................................................................. 55

5.1

Motors

........................................................................................................ 55

5.1.1

Synchronous servo motors

................................................................ 55

5.1.2

Linear motors

................................................................................. 55

5.2

Functions of the item servo positioning controller C 1-Series

..................................... 56

5.2.1

Compatibility

.................................................................................. 56

5.2.2

Pulse width modulation (PWM)

........................................................... 57

5.2.3

Setpoint management

...................................................................... 57

5.2.4

Torque-controlled mode

.................................................................... 58

5.2.5

Speed-controlled mode

..................................................................... 58

Содержание C 1-02

Страница 1: ...Phone 49 0 212 6580 0 Friedenstra e 107 109 Telefax 49 0 212 6580 310 42699 Solingen E mail info item24 com Germany http www item24 com Product Manual item Servo Positioning Controller C 1 Series desi...

Страница 2: ...mentation item does not guarantee that the products meet the buyer s demands and purposes or that they work together with other products selected by the buyer item does not assume any liability for da...

Страница 3: ...Revision Information Author item Industrietechnik GmbH Manual title Product Manual item Servo Positioning Controller C 1 Series File name DOK_BEDA_Steuerung C1 Serie_ SEN_ AQU_ V1 docx Version 5 0 Jul...

Страница 4: ...ive extra low voltage PELV 24 2 4 5 Protection against dangerous movements 25 2 4 6 Protection against contact with hot parts 26 2 4 7 Protection during handling and assembly 27 3 PRODUCT DESCRIPTION...

Страница 5: ...2 Encoder connection X2B 48 4 6 Communication interfaces 51 4 6 1 RS232 X5 51 4 6 2 USB X19 51 4 6 3 Ethernet X18 51 4 6 4 CAN bus X4 51 4 6 5 SD MMC card 52 4 6 6 I O interface X1 52 4 6 7 Increment...

Страница 6: ...ming 62 5 3 6 Positioning sequences 63 5 3 7 Optional stop input 63 5 3 8 Contouring control with linear interpolation 63 5 3 9 Time synchronized multi axis positioning 64 6 FUNCTIONAL SAFETY TECHNOLO...

Страница 7: ...cation X1 87 8 5 1 Device side X1 89 8 5 2 Counterplug X1 89 8 5 3 Pin assignment X1 90 8 5 4 Cable type and design X1 91 8 5 5 Connection notes X1 91 8 6 Connection Resolver X2A 92 8 6 1 Device side...

Страница 8: ...s on safe and EMC compliant installation 103 8 11 1 Definitions and terms 103 8 11 2 General information on EMC 103 8 11 3 EMC areas first and second environment 104 8 11 4 EMC compliant cabling 104 8...

Страница 9: ...itoring for the PFC stage 112 11 1 9 Initial operation status 112 11 1 10 Rapid discharge of the DC bus 112 11 1 11 Operating hours counter 112 11 2 Display of operating mode and error messages 113 11...

Страница 10: ...Page 10 12 2 4 Display elements 152 12 2 5 EtherCAT interface 153 12 3 General installation notes for technology modules 154...

Страница 11: ...5 Figure 14 item servo positioning controller C 1 Series Mounting plate 76 Figure 15 Connection to power supply and motor 77 Figure 16 Complete setup of the item C 1 Series with motor and PC 79 Figure...

Страница 12: ...1 05 Rated current for an ambient temperature of 40 C 44 Table 17 Controller C 1 08 Rated current for blocked or slowly rotated servo motor fel 2 Hz and for an ambient temperature of 40 C 45 Table 18...

Страница 13: ...card 101 Table 41 Pin assignment MMC card 101 Table 42 EMC requirements First and second environment 104 Table 43 Operating mode and error display 113 Table 44 Error messages 115 Table 45 Technical da...

Страница 14: ...d operation of the FSM 2 0 STO PROFIBUS Manual item Servo Positioning Controller C Series Description of the implemented PROFIBUS DP protocol CANopen Manual item Servo Positioning Controller C Series...

Страница 15: ...plug set contains the counterplugs for the following connections Supply X9 Motor connection X6 Type C 1 02 C 1 05 C 1 08 item order number available on request available on request Table 3 Connector...

Страница 16: ...and controllers 2 1 Used symbols Information Important information and notes Caution Nonobservance may result in severe property damages DANGER Nonobservance may result in property damages and in per...

Страница 17: ...instructions in this manual and who are sufficiently qualified in their field of expertise Education and instruction concerning the standards and accident prevention regulations for the application or...

Страница 18: ...or sound functioning of the servo positioning controller DANGER Inappropriate handling of the servo positioning controller and non compliance with the warnings as well as inappropriate intervention in...

Страница 19: ...us personal injury from electrical shock DANGER High electrical voltage caused by wrong connections Danger to life or serious personal injury from electrical shock DANGER Surfaces of device housing ma...

Страница 20: ...tion measures should be taken for control panels such as connecting contactors and relays using RC elements or diodes The safety rules and regulations of the country in which the device will be operat...

Страница 21: ...ctrical power drive systems Part 5 1 Safety requirements Electrical thermal and energy EN 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Functional EN ISO 12100...

Страница 22: ...gain until the DC bus circuit is discharged in the case of Maintenance and repair work Cleaning long machine shutdowns Prior to carrying out maintenance work make sure that the power supply has been t...

Страница 23: ...s by integrating the module FSM 2 0 STO for example Initial operation must be carried out with idle motors to prevent mechanical damages for example due to the wrong direction of rotation Electronic d...

Страница 24: ...th see for example EN 60800 5 1 Prior to the initial operation even for short measuring or testing purposes always connect the ground conductor of all electrical devices as per the terminal diagram or...

Страница 25: ...occur directly after switching on the device or after an indeterminate time of operation The monitors in the drive components for the most part rule out malfunctions in the connected drives In view of...

Страница 26: ...rfaces may be hot Risk of injury Risk of burning Do not touch housing surfaces in the vicinity of heat sources Danger of burning Before accessing devices let them cool down for 10 minutes after switch...

Страница 27: ...g general safety notes apply Comply with the general setup and safety regulations on handling and assembly Use suitable assembly and transportation devices Prevent incarcerations and contusions by mea...

Страница 28: ...xception The PFC stage is an active mains current converter required to fulfil the corresponding standards on the limitation of the mains harmonics for category C2 residential areas The PFC stage also...

Страница 29: ...inet plates All devices comply with the IP20 degree of protection Integration of all filters to fulfil the EMC regulations industrial inside the device for example line filter motor output filter filt...

Страница 30: ...via I O level or fieldbus High resolution 16 bit analog input Technology slots for extensions such as I O extension module or PROFIBUS interface Note Depending on the current consumption only one tec...

Страница 31: ...eries allows dynamic conversion in both directions between motor and generator operation without dead times No parameterisation by user necessary 3 2 1 1 Behaviour during switch on As soon as the item...

Страница 32: ...sured and used for the pre control of the PFC stage 3 phase power stage M 3 microcontroller voltage controller motion controller IC for power factor correction L D C u_q i_q PWM U_Zk i_v i_u T8 I_in U...

Страница 33: ...possible for both devices It is not allowed to connect the DC Busses if the devices are connected to different mains phases It is forbidden to supply device 1 via L1 N and device 2 via L2 N when the D...

Страница 34: ...against ground fault or short circuits against mains voltage or negative DC bus voltages Simultaneous use of the internal and external brake resistors is not possible The external resistors are not a...

Страница 35: ...d as a parameterisation interface but it can also be used for controlling the item servo positioning controller C Series 3 4 3 UDP interface X18 The UDP communication enables the connection of the ite...

Страница 36: ...table in which the positioning targets are stored and from which they can later be retrieved At least four digital inputs serve the purpose of target selection one input is used as a start input The...

Страница 37: ...ve humidity up to 90 not bedewing Protection degree IP20 Protection class I Pollution degree 2 CE conformity Low voltage directive EMC directive 2006 95 EC verified by application of the harmonised st...

Страница 38: ...lation l 25 m Category C3 industrial area l 25 m Cable capacity of a phase against shield or between two lines C 200 pF m Derating of the cable length see also chapter 8 11 5 Operation with long motor...

Страница 39: ...indicate the operating status Table 9 Display elements and RESET button Element Function Seven segment display Display of operating mode and a coded error number in the case of a malfunction LED 1 two...

Страница 40: ...A 24 VDC 20 0 65 A plus current consumption of a possibly connected holding brake and I Os Table 11 Technical data Internal brake resistor X9 Type Controller C 1 02 Controller C 1 05 Controller C 1 08...

Страница 41: ...2000 W Below the nominal supply voltage the power output of the PFC stage is reduced linearly These performance curves are shown in the following figure Figure 3 Performance curve of the PFC stage 10...

Страница 42: ...3 V 5 mA Power loss efficiency with regard to the rated output power typical 8 92 with smaller electrical rotational frequencies fel shorter permissible times are valid with C 1 08 see the following...

Страница 43: ...ncies less than 2 Hz and those over 3 Hz For rotational frequencies lying in between these two values interpolation is required Therefore in the following you will find two tables for the C 1 08 the f...

Страница 44: ...lock frequency kHz 19 Output current ARMS 1 9 Max output current ARMS 3 8 5 7 7 6 Max allowed time s 5 1 3 0 5 Table 16 Controller C 1 05 Rated current for an ambient temperature of 40 C Parameter Val...

Страница 45: ...put current ARMS 16 24 32 Max allowed time s 5 0 7 0 2 Power stage clock frequency kHz 12 Output current ARMS 7 4 Max output current ARMS 14 8 22 2 29 6 Max allowed time s 5 0 7 0 2 Power stage clock...

Страница 46: ...nt ARMS 16 24 32 Max allowed time s 5 1 3 0 5 Power stage clock frequency kHz 12 Output current ARMS 7 4 Max output current ARMS 14 8 22 2 29 6 Max allowed time s 5 1 3 0 5 Power stage clock frequency...

Страница 47: ...ncoder single turn multi turn with HIPERFACE Multiturn absolute encoder with EnDat The encoder type is determined in the item Motion Soft parameterisation software The feedback signal is available via...

Страница 48: ...motor identification The resolver offset angle which is determined automatically during the identification is readable and writeable for service purposes Table 19 Technical data Resolver X2A Parameter...

Страница 49: ...r signals It is determined during motor identification or can be set via the parameterisation software Metronix ServoCommander In general the hall sensor offset angle is zero Sick Stegmann encoders Si...

Страница 50: ...og incremental encoders ROD 400 ERO 1200 1300 1400 ERN 100 400 1100 1300 Singleturn absolute encoders EnDat 2 1 2 2 ROC 400 ECI 1100 1300 ECN 100 400 1100 1300 Multiturn absolute encoders EnDat 2 1 2...

Страница 51: ...t 12 MBaud to 480 MBaud Connector type USB B no current consumption from the bus integrated power supply Communication protocol item specific generic device 4 6 3 Ethernet X18 Table 23 Technical data...

Страница 52: ...b most significant bit DIN 4 Control input power stage enable at High DIN 5 Controller enable at high signal acknowledge error with falling edge DIN 6 Limit switch input 0 DIN 7 Limit switch input 1 D...

Страница 53: ...mA 9 bit resolution fLimit 1 kHz 4 6 7 Incremental encoder input X10 The input supports all common incremental encoders For example encoders corresponding to the industry standard ROD426 by Heidenhai...

Страница 54: ...igh once per rotation for the programmed number of lines for the duration of a signal period as long as the encoder signals A and B are high Table 29 Technical data Incremental encoder output X11 Para...

Страница 55: ...servo motors The motor specifications are determined and parameterized by means of an automatic motor identification 5 1 2 Linear motors Besides rotary applications the item servo positioning control...

Страница 56: ...rcurrent precontrol E1 E2 Figure 4 Control scheme of the item C 1 Series Figure 4 shows the basic control structure of the item C 1 Series Current controller speed controller and positioning controlle...

Страница 57: ...s Uout sin ULL motor approx 210 VRMS Uout sin sin3x ULL motor approx 235 VRMS 5 2 3 Setpoint management For speed controlled and torque controlled modes of operation the setpoint can be set via a setp...

Страница 58: ...activated and the width can be set The setpoints of the speed as well as the actual position are generally determined from the encoder system inside the motor which is also used for commutation For th...

Страница 59: ...following will be called synchronisation The controller can serve as master or slave If the item servo positioning controller C 1 Series is the master it can provide the slave with its current rotor...

Страница 60: ...of a target via a communication interface and also target positions which can be retrieved via the digital inputs For each entry it is possible to set the positioning method the driving profile the ac...

Страница 61: ...of absolute positioning the target position is a fixed absolute position referred to the zero or reference point 5 3 4 Driving profile generator Driving profiles are categorized in time optimal and j...

Страница 62: ...ng on the application without requiring another homing with a new enabling Since the existing digital inputs are used in standard applications the use of the analog inputs AIN 1 AIN 2 as digital input...

Страница 63: ...ng set 0 to 255 can be used in the path program For further information please refer to the software manual item Servo Positioning Controller C Series 5 3 7 Optional stop input The optional stop input...

Страница 64: ...allows simultaneous movements for multi axis applications in conjunction with interpolated positioning mode All servo positioning controllers of the item C 1 Series that is the entire controller casc...

Страница 65: ...grated safety technology In their delivery status the item servo positioning controller C Series are not equipped with integrated features for the safety relevant monitoring and control of movements b...

Страница 66: ...tion If all of the switches on the module are set to zero factory setting the fieldbus communication parameters of the parameter data set of the basic device will be used The position of the DIP switc...

Страница 67: ...on of the technology modules that are listed in Table 32 Switch position 0 Activation of the communication The baud rate and the fieldbus address will be taken from the parameter data set or depending...

Страница 68: ...the addresses will be added as an offset of a predefined base address of the corresponding bus system The base address can be predefined in the item Motion Soft and can then be saved in the parameter...

Страница 69: ...ate circuit Power inverter Synchronus machine Encoder Angle Motor speed Current Intermediate circuit voltage Control signals Power switch Signal processing Control Control module Communication Field b...

Страница 70: ...nication can be configured with the aid of this DIP switch Depending on the fieldbus that is used it is possible for example to adjust the fieldbus node number or the baud rate and so on This means th...

Страница 71: ...Functional safety technology Page 71 6 3 2 FSM 2 0 STO Safe Torque Off Please refer to the Original instructions FSM 2 0 STO for further information...

Страница 72: ...to ensure sufficient venting The item servo positioning controller C 1 Series may be installed adjacently in one switch cabinet without a gap proper usage and installation on a heat dissipating rear p...

Страница 73: ...Mechanical installation Page 73 Figure 10 item servo positioning controller C 1 Series Installation space...

Страница 74: ...Mechanical installation Page 74 7 2 View of the device Figure 11 item servo positioning controller C 1 02 Front view...

Страница 75: ...der input X1 I O interface Figure 12 item servo positioning controller C 1 02 Top view X2A RESOLVER X6 X2B ENCODER X6 Motor Connection BR holding brake BR holding brake PE Connection for inner shield...

Страница 76: ...t of the cooling body profile This is why the best possible heat transfer to the control cabinet plate has to be ensured Recommended tightening torque for an M5 screw of property class 5 6 2 8 Nm Plea...

Страница 77: ...brake resistor alternative L Mains neutral conductor ZK Pos DC bus voltage ZK Neg DC bus voltage BR INT Connection of internal brake resistor BR CH Brake chopper connection for internal external brak...

Страница 78: ...eries must be connected to ground with its PE connection The item C 1 Series must be completely wired first Only then the operating voltages for the DC bus and the electronics may be switched on In th...

Страница 79: ...Electrical installation Page 79 Figure 16 Complete setup of the item C 1 Series with motor and PC...

Страница 80: ...bus coupling a direct DC supply for the DC bus is possible 8 3 1 Device side X9 C 1 02 and C 1 05 PHOENIX MINI COMBICON MC1 5 9 G 5 08 BK C 1 08 PHOENIX COMBICON MSTBA 2 5 9 G 5 08 BK 8 3 2 Counterpl...

Страница 81: ...r against BR INT and external brake resistor against ZK 7 PE PE Connection ground conductor from mains 8 24V 24 VDC 20 0 55 A 0 65 A C 1 02 C 1 05 and C 1 08 Supply for control module 9 GND24V GND 0 V...

Страница 82: ...IX MINI COMBICON MC 1 5 9 ST 5 08 BK PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK The item servo positioning controller C 1 Series has an internal brake chopper with brake resistor For more brake power it i...

Страница 83: ...08 PHOENIX COMBICON MSTBA 2 5 9 G 5 08 BK 8 4 2 Counterplug X6 C 1 02 and C 1 05 PHOENIX MINI COMBICON MC1 5 9 ST 5 08 BK C 1 08 PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK C 1 02 and C 1 05 PHOENIX MINI...

Страница 84: ...U 1 Please comply with Chapter 9 Additional requirements for the servo drives concerning the UL approval on page 107 The cable shield of the motor cable must also be connected to the controller housi...

Страница 85: ...ST 5 08 BK Connect the inner shields to PIN 3 maximum length 40 mm Length of unshielded cores maximum 35 mm Connect total shield on controller side flat to PE terminal maximum length 40 mm Connect tot...

Страница 86: ...ake GND Holding brake Free wheeling diode Figure 19 Connecting a holding brake with high current draw 1A to the device The switching of inductive direct current via relay produces strong currents and...

Страница 87: ...C 1 Series features two potential ranges Analog inputs and outputs All analog inputs and outputs refer to AGND AGND is internally connected with GND the reference potential for the control module wit...

Страница 88: ...ies Figure 20 Basic circuit diagram connector X1 The item servo positioning controller C 1 Series comprises one differential AIN 0 and two single ended analog inputs designed for input voltages within...

Страница 89: ...put voltages in the range of 10 V and an output for a reference voltage of 10 V These outputs can be led to the superimposed control the reference potential AGND must be carried along If the control h...

Страница 90: ...18 24V 24 V 100 mA Auxiliary voltage for IOs at X1 6 GND24 Reference GND Reference potential for digital I Os 19 DIN 0 POS Bit 0 Target selection positioning Bit 0 7 DIN 1 POS Bit 1 Target selection p...

Страница 91: ...y lead to deviation of the analog measured values In the case of limited cable lengths l 2 m wiring inside control cabinet the outer dual sided PE shield is enough to guarantee undisturbed operation F...

Страница 92: ...NE trace signal differential 6 S4 2 S1 3 5 Veff 5 10 kHz Ri 5 k COSINE trace signal differential 7 S3 3 AGND 0 V Shield for signal pairs inner shield 8 MT GND 0 V Reference potential temperature senso...

Страница 93: ...applications LAPP KABEL LFLEX SERVO FD 770 CP 3 x 2 x 0 14 D12Y 2 x 0 5 D12Y CP 8 3 mm with tinned total Cu shielding Error during angle detection up to approximately 1 5 at 50 m cable length 2 x 0 5...

Страница 94: ...pied 6 GND 0 V CAN GND galvanically connected to GND in controller 2 CANL CAN Low signal line 7 CANH CAN High signal line 3 GND 0 V See Pin no 6 8 Not occupied 4 Not occupied 9 Not occupied 5 Shield P...

Страница 95: ...free system Improper cabling may cause the CAN bus to malfunction which in turn can cause the controller to shut down with an error for safety reasons The CAN bus provides a simple and fail safe way o...

Страница 96: ...gs to connect the cable shield In order to keep interferences as low as possible make sure that Motor cables are not installed parallel to signal lines Motor cables comply with item specifications Mot...

Страница 97: ...UNC 8 8 3 Pin assignment X5 Table 38 Pin assignment RS232 interface X5 Pin No Denomination Values Specification 1 Not occupied 6 Not occupied 2 RxD 10 V RI 2 k Receive line RS232 specification 7 Not...

Страница 98: ...5 Interface cable for serial interface null modem 3 core 8 8 5 Connection notes X5 D SUB connector at X5 PC 2 3 4 5 6 7 8 1 9 Connector housing 1 5 9 6 Connector housing 2 3 4 5 6 7 8 1 9 1 5 9 6 Fema...

Страница 99: ...ication 1 VCC 5 VDC 2 D Data 3 D Data 4 GND GND Figure 25 Pin assignment USB interface X19 front view 8 9 4 Cable type and design X19 Interface cable for the USB interface 4 cores shielded and twisted...

Страница 100: ...ad a firmware file 8 10 3 Supported file systems FAT12 FAT16 FAT32 8 10 4 File names Only file and directory names according to the 8 3 standard are supported 8 3 file and directory names have at most...

Страница 101: ...Supply Voltage Ground Supply Voltage Ground 7 DAT0 DO Data Line 0 Bit 0 Card to Host Data and Status 8 DAT1 Data Line 1 Bit 1 reserved 9 DAT2 Data Line 2 Bit 2 reserved Table 41 Pin assignment MMC ca...

Страница 102: ...position ON firmware download requested BOOT DIP Switch in position OFF firmware download not requested When there is no SD MMC card in the card slot of the servo positioning controller and the BOOT...

Страница 103: ...depend on the entire drive concept consisting of the following components Voltage supply Servo positioning controller Motor Electro mechanics Execution and type of wiring Superimposed control In orde...

Страница 104: ...ntroller C 1 Series should be located as close to the motor as possible see also the following chapter 8 11 5 Operation with long motor cables page 105 Motor cable and angle encoder cable must be shie...

Страница 105: ...s and or unsuitable motor cables with an inadvertently high cable capacity the filters may be thermally overloaded To avoid such problems we highly recommend the following procedure for applications t...

Страница 106: ...example Spoerle The item servo positioning controller C 1 Series has been designed to provide high interference immunity For that reason some individual functional blocks are electrically isolated In...

Страница 107: ...A SCR 10 kA 9 2 Wiring and environment regards Use 60 75 or 75 C copper CU wire only The terminal tightening torque is 0 22 0 25 Nm To be used in a Pollution Degree 2 environment only 9 3 Motor tempe...

Страница 108: ...gle encoder cable Motor cable Power supply cable Controller enabling cable 10 3 Connecting the motor Plug the connector of the motor cable into the corresponding socket of the motor and screw tight Pl...

Страница 109: ...face alternative Plug the plug A of the USB interface cable into the socket for the USB interface of the PC Plug the plug A of the USB interface cable into the socket X19 USB of the item servo positio...

Страница 110: ...sor analysis and monitoring function provides operational safety Measuring of motor temperature Measuring of power module temperature Detection of ground faults PE Detection of connections between two...

Страница 111: ...is monitored In the case of incremental encoders the commutation signals are checked Other intelligent encoders provide further means of error detection Measurement and monitoring of the motor temper...

Страница 112: ...d again The parameterisation software item Motion Soft queries the initial operation status and asks the user to parameterize the servo positioning controller At the same time the device shows an A on...

Страница 113: ...eterised seven segment display A Operating mode torque control the two bars on the left hand of the display are on seven segment display I P xxx Positioning xxx stands for the position number The numb...

Страница 114: ...arnings have the same code numbers as error messages As a distinguishing feature warnings have a centre bar before and after the number for example 1 7 0 The following Table 44 Error messages summariz...

Страница 115: ...ge Information Only for connected service module An exchangeable error buffer has been plugged into another device No measures required 7 Log add on Permanent event memory and FSM module Information E...

Страница 116: ...tion of wire break detection system threshold value 3 Motor overtemperature analogue short circuit Check the connecting cables of the temperature sensor short circuit Check the parameterisation of the...

Страница 117: ...heck whether the resistance value is too small Check the brake chopper output of the device 07 0 Overvoltage in the DC bus circuit Check the connection to the braking resistor internal external Extern...

Страница 118: ...cture in encoder parameter set If necessary re determine the data and save it in the encoder again 4 EEPROM data faulty customer specific configuration Motor repaired Perform a homing run and save the...

Страница 119: ...ed 7 Homing Encoder difference control The deviation fluctuates e g due to gear slackness If necessary increase the shut down threshold Check actual value encoder connection 12 0 CAN two nodes with th...

Страница 120: ...output stage could not be enabled The power output stage has not been enabled Check the connection of DIN 4 3 Power output stage prematurely disabled The power output stage has been disabled during a...

Страница 121: ...e encoder not connected or defective The deviation fluctuates e g due to gear slackness If necessary increase the shut down threshold 2 Current jerk control Please contact the Technical Support 18 0 A...

Страница 122: ...pported 2 HW revision not supported Check the firmware version If necessary request an update from the Technical Support 3 Device functionality restricted Please return the device to our sales partner...

Страница 123: ...n error 2 SD card data error 3 SD card write error 4 SD card firmware download error 30 0 Internal conversion error Please contact the Technical Support 31 0 Motor I t Motor blocked Check the power ra...

Страница 124: ...s synchronisation error Failure of synchronization messages from master Insufficient synchronisation interval 35 0 Overspeed protection of the linear motor The encoder signals are disturbed Check the...

Страница 125: ...start of the positioning run Check the speed and acceleration parameters 43 0 Limit switches negative setpoint blocked The drive has left the intended motion range Technical defect in the system Check...

Страница 126: ...ject planning Action Check whether correct module type and correct version are being used With module replacement Module type not yet configured Accept currently integrated safety or fieldbus activati...

Страница 127: ...in brake driver circuit section in the basic device Action Basic device presumably defective If possible replace with another basic device 52 1 Safety function Discrepancy time overrun Cause Control p...

Страница 128: ...the basic device moves in the blocked direction in the Positioning mode Action Check application and change if necessary 53 0 USF0 Safety condition violated Cause Violation of monitored speed limits...

Страница 129: ...when USF3 SSF3 requested Action See USF0 error 53 0 54 0 SBC Safety Condition Violated Cause Brake should engage no feedback received within the expected time Action Check how the feedback signal is c...

Страница 130: ...after reaching the zero speed or remains at idle and stable increase monitoring tolerance time if necessary With b If the actual speed value is very noisy at rest Check and if necessary adjust expert...

Страница 131: ...With b Check whether the drive continues to oscillate after reaching the zero speed or remains at idle and stable increase monitoring tolerance time if necessary With b If the actual speed value is v...

Страница 132: ...tched on energised Only if brake control takes place via DOUT4x and an external brake controller Deactivate 24 hr monitoring in the SBC parameters if the external brake controller allows this 7 SOS SO...

Страница 133: ...equested Action Terminate SS2 or SOS and move axle at least once during this time 3 Resolver X2A Signal error Cause Vector length sin cos is outside the permissible range The amplitude of one of the t...

Страница 134: ...tage for the ENDAT encoder Check the motor cable screening on motor and drive side EMC malfunctions may trigger the error 8 Impermissible acceleration detected Cause Error in connected position encode...

Страница 135: ...was parameterised correctly the limit value P06 07 should be at least 30 50 above the maximum acceleration actually occurring In case of an angle jump in the position data transmitted from the basic d...

Страница 136: ...capture times for the position encoders Action Timing disrupted If the error occurs again after a reset the safety module is presumably faulty 57 0 Error I O self test internal external Cause Interna...

Страница 137: ...s if 1 The brake output X6 was configured for the brake this is the case with factory settings and 2 A motor without a holding brake is used and the brake connection lines in the motor cable are termi...

Страница 138: ...the assignment correct output selected configured for test pulse 6 Electronics temperature too high Cause The safety module s temperature monitor has been triggered the temperature of C1 or C2 was be...

Страница 139: ...data error incorrect sequence packet counter in data transmission between the basic device and safety module Too much data traffic new requests are being sent to safety module before old ones have be...

Страница 140: ...o data or cross comparison faulty data for C1 and C2 are different Error in cross comparison for digital I O Error in cross comparison for analogue input Error in cross comparison for internal operati...

Страница 141: ...or the servo drive or a new version of the safety module is available from the manufacturer 59 1 FSM Fail safe mode supply safe pulse inhibitor Cause Internal error in module in failsafe supply circui...

Страница 142: ...ct the Technical Support 6 FSM Parameter set save error Please contact the Technical Support 7 FSM Flash checksum error Cause Voltage interruption power off while parameters were being saved Flash mem...

Страница 143: ...configuration of the servo positioning controller and of the control system 4 EtherCAT invalid TPDO length 5 EtherCAT faulty cyclic data transfer Check the EtherCAT wiring Check the configuration of...

Страница 144: ...he Profinet module 1 Profinet Bus error No communication possible e g because the bus cable is disconnected Check the cabling and restart the Profinet communication 3 Profinet Invalid IP configuration...

Страница 145: ...correct firmware Check the slot If necessary contact the Technical Support 1 Technology module not supported Load the correct firmware If necessary contact the Technical Support 2 Technology module H...

Страница 146: ...ters checksum error 9 DEBUG Firmware loaded 91 0 Internal initialisation error Please contact the Technical Support 1 Memory error 2 Controller power stage code read error 3 Internal software initiali...

Страница 147: ...plex please contact your sales partner in order to find a solution for your particular application As a special feature S7 function blocks have been developed for the servo positioning controllers Usi...

Страница 148: ...ion Interface Floating D SUB 9 pin integrated bus terminating resistors can be activated by DIP switches Special functions Support of diagnosis data RTS signal led out fail safe mode sync freeze The f...

Страница 149: ...mission 2 The signal is optional It is used to identify the direction of an external optical waveguide connection 12 1 3 2 Counterplug 9 pin DSUB connector for example Erbic MAX PROFIBUS IDC Switch ma...

Страница 150: ...hout integrated terminating resistors the PROFIBUS DP interface has its own terminating resistors They can be activated with the help of the two DIP switches on the module switch set to ON To ensure s...

Страница 151: ...pported if the EtherCAT technology module is used If your specific requirements are more complex please contact your sales partner in order to find a solution for your particular application 12 2 2 Ch...

Страница 152: ...ature range 25 C to 75 C Operating temperature range 0 C to 50 C Atmospheric humidity 0 90 non condensing Altitude up to 2000 m above msl External dimensions LxWxH approx 92 x 65 x 19 mm Weight approx...

Страница 153: ...olour LED green red Run green link activity EtherCAT port 1 red EtherCAT active yellow LED 2 red Link activity EtherCAT port 2 12 2 5 EtherCAT interface Table 50 Signal level and differential voltage...

Страница 154: ...hat ESD protection measures are taken when handling technology modules To insert a technology module into the item servo positioning controller C 1 Series please proceed as follows Remove the front pl...

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ITEM C 1-02, Руководство по эксплуатации продукта

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