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User Manual

JM-208-480 - Digital Servo Amplifier

60870619

We automate your success.

Содержание JetMove 208-480

Страница 1: ...User Manual JM 208 480 Digital Servo Amplifier 60870619 We automate your success...

Страница 2: ...of technical progress These alterations need not be documented in every single case This user manual and the information contained herein have been compiled with due diligence Jetter AG shall not be...

Страница 3: ...9 7141 2550 433 Phone Technical Hotline 49 7141 2550 444 Telefax 49 7141 2550 484 E Mail Sales sales jetter de E Mail Technical Hotline hotline jetter de Internet Address http www jetter de This User...

Страница 4: ...and property For this reason any person who has to deal with the transport installation operation maintenance and repair of the digital servo amplifier JetMove 208 480 must have been familiarised with...

Страница 5: ...used by a high operating voltage This sign is to indicate hazard of serious physical damage or death due to accidentally touching dangerous parts of the device This sign indicates that you must wear g...

Страница 6: ...to avoid unnecessary efforts Enumerations are marked by full stops strokes or scores Operating instructions are marked by this arrow Automatically running processes or results to be achieved are marke...

Страница 7: ...1 3 2 Hazards after POWER has been Turned OFF 18 1 4 Instructions on EMI 18 2 Installing the JetMove 208 480 23 2 1 Scope of Delivery 23 2 2 Mechanical Installation 24 2 3 Electrical Installation 26 2...

Страница 8: ...Specifications 62 7 5 3 Connection Diagram 63 7 6 External Ballast Resistor and DC Link Connection 66 7 7 Digital Inputs Logic Power Supply 72 7 8 Connection Details for Digital Outputs 74 7 9 Jx2 Sy...

Страница 9: ...14 2 2 Description of Connections 100 14 2 3 EnDat Cable with Mating Connector 100 14 2 4 Voltage Supply of the Encoder 102 14 3 Synchronous Serial Interface SSI 103 14 3 1 Technical Data 103 14 3 2...

Страница 10: ...Table of Contents 10 Jetter AG...

Страница 11: ...s the digital servo amplifier JetMove 208 480 comes under the EG Low Voltage Directive It is the explicit purpose of the digital servo controller JetMove 208 480 to torque speed and or position contro...

Страница 12: ...ility on the part of Jetter AG for any damages resulting from the use of non original parts and equipment is excluded 1 1 5 Servicing and Repairs Repairs at the digital servo amplifier JetMove 208 480...

Страница 13: ...By doing so you will prevent accidents resulting from electric voltage and moving parts Please follow the information given in chapter 1 3 Residual Dangers page 16 Safety and protective devices e g th...

Страница 14: ...rrent is greater than 3 5 mA In order to avoid electric shocks a second protective earth conductor is required For proper earthing take the following measures Connect the protective earth bus to the P...

Страница 15: ...NOTICE Do not install an earth leakage current breaker in the mains power supply circuit If this advice is disregarded and an ELCB is installed it will switch off the servo amplifier although there is...

Страница 16: ...the terminals X1 X62 and X63 while the servo amplifier is running In the given context the terminals have the following meaning X1 AC 400 480 V voltage supply X62 DC motor voltage up to 850 V X63 DC l...

Страница 17: ...igital servo amplifier JetMove 208 480 can be dangerous for man or damage the manufacturing plant to an amount depending on the respective kind of plant This should be prevented by installing addition...

Страница 18: ...lifier terminal and wait until it has fallen below DC 40 V Always wait at least 7 minutes after switching off the device before separating it from the mains or loosening the connections Always wait at...

Страница 19: ...m inverter drives servo output stage frequency converter lines between components and interference suppressor filter if the suppressor filter has not been placed at the component directly Shield cable...

Страница 20: ...1 Safety Instructions 20 Jetter AG Fig 2 Shielding of SUB D connectors in conformity with the EMC standards...

Страница 21: ...cannot be attached to the connector directly for example with a screw type terminal Shield and cable strap have to be connected with low impedance and at their greatest possible surface area to earth...

Страница 22: ...1 Safety Instructions 22 Jetter AG...

Страница 23: ...ngth 0 2 m to 5 0 m For details see chapter 7 9 Jx2 System Bus page 75 Motor cable refer to chapter 7 2 Motor Connection page 48 Synchronous servo motors e g the Jetter JL JK or JH series HIPERFACE ca...

Страница 24: ...e electric cabinet is unpainted The only possible mounting position is vertical see Please make sure there is a clearance of at least 100 mm under and above the JetMove 208 480 unobstructed ventilatio...

Страница 25: ...JetMove 208 480 2 2 Mechanical Installation Jetter AG 25 Fig 4 Rear and front view of the JetMove 208 480 enclosure with mounting holes DETAIL A 348 5 310 277 21 5 71 5 O 5 5 7 5...

Страница 26: ...e connected double earthing see chapter 1 2 3 Earthing Procedure page 14 Observe the max tightening torque see appendix F To connect resolvers or power units you can use prefabricated cables available...

Страница 27: ...caused by high operating voltage and electric shock Extremely hazardous voltages of up to 850 V may occur Please observe the following precautions in order to avoid muscle cramps burns unconsciousness...

Страница 28: ...JetMove 208 480 against accidental contact with conductive parts and components Only connect devices or electrical components to the signal lines of the digital servo amplifier JetMove 208 480 Enable...

Страница 29: ...he degree of pollution crushing if the functionality of the safety function STO is no longer guaranteed Make sure that the following operating parameters are met Operating Parameters Ambient Condition...

Страница 30: ...st corrosion Ambient air must be free from higher concentrations of acids alcaline solutions salts metal vapours or other corrosive or electroconductive contaminants DIN EN 50178 Operating altitude Up...

Страница 31: ...1 DIN EN 60146 1 1 DIN EN 60204 2 65 kV 2 s Isolation Power to Earth and Power to Logic 1 MOhm at 500 V Protective connection 12 V 25 A 0 1 Ohm DIN EN 60204 Overvoltage category III DIN EN 50178 DIN...

Страница 32: ...vailability according to IEC EN 61800 3 and may cause radio interferences in a residential environment Follow the instructions below If this product is used in a residential environment take appropria...

Страница 33: ...N EN 61000 4 5 Interference Immunity Process Measuring and Control Lines Parameter s Value Reference Conducted radio disturbances Frequency 0 15 80 MHz Test voltage 10 V AM 80 at 1 kHz Criterion A DIN...

Страница 34: ...3 Operating Conditions 34 Jetter AG...

Страница 35: ...JetMove 208 480 Jetter AG 35 4 Physical Dimensions Fig 5 Physical dimensions of the JetMove 208 480 in mm 278 7 283 9 71 5 310 348 5 277 21 5...

Страница 36: ...4 Physical Dimensions 36 Jetter AG...

Страница 37: ...electrical safety has been violated by not observing the degree of pollution crushing if the functionality of the safety function STO is not ensured Make sure that the following electrical specificat...

Страница 38: ...Supply cable Cable size Material Temperature class 4 1 5 mm2 AWG 16 Copper 60 C Maximum output voltage of the motor 850 V Motor output current at an ambient temperature of 45 C Nominal current Irms 8...

Страница 39: ...rox 88 PTC Continuous output 140 Watt Peak output 3 kW for 0 6 s Overload protection internal warning and error External ballast resistor In order to achieve greater brake power an external ballast re...

Страница 40: ...8 480 together with software enable Digital Outputs Number of outputs Type of outputs Rated voltage Voltage range Load current Electrical isolation Protective circuit Protection against inductive load...

Страница 41: ...monitoring Alarm threshold for heat sink temperature monitoring The duration of operation by maximum motor current is evaluated by a starting temperature of 45 C INFO 2 A line filter can supply severa...

Страница 42: ...or power dissipation Compatible Synchronous Servo Motors Motor types Jetter motors of the JHN JHQ and Jl series with 2 cable technology Please also refer to the User Manual of the motors or contact th...

Страница 43: ...never be reached as long as the average motor current is lower than the nominal current of the motor Further calculating always starts by 0 at t 0 the result of the equation is 0 After some time that...

Страница 44: ...5 Technical Data 44 Jetter AG Therefore wait until the motor is cold before enabling the axis again...

Страница 45: ...ter at least 8 minutes If the average motor current is 6 times higher than the trip current the overload protection has to switch off the motor after at least 20 seconds This protection error message...

Страница 46: ...5 Technical Data 46 Jetter AG...

Страница 47: ...e IuP IvP Iq Id IdRef 0 SpeedRef Iq Controller Id Controller Encoder Evalu ation Speed u v w d q PosRef Pos Rho Current Scaling IqRef UqRef Ualpha Ubeta UvRef UwRef UuRef PWMuH L PWMvH L PWMwH L Iu Iv...

Страница 48: ...eedback controller Cycle time Speed pre control 250 s adjustable Position setpoint generator Sine square and linear acceleration deceleration ramps Setpoint output cycle position feedback controller i...

Страница 49: ...2 1 5 Nm 10 6 13 3 lbf inch Ambient temperature 45 C max Field wiring Connecting Cable Specifications Cable size min 4 1 5 mm AWG 16 Material Copper Temperature class 60 C Shielding Not required Fig...

Страница 50: ...d motor Always connect brake lines to a separate power supply unit DC 24 V if brake and motor lines are run together in one bunch of cables and are not separately shielded NOTICE Measures to avoid osc...

Страница 51: ...digital servo amplifier JetMove 208 480 has to be done following the wiring diagram below Connecting the brake is optional In this case the wires for the brake have to be at least 300 mm longer than t...

Страница 52: ...thread M23 INFO The suitable mating connector SC female connector can be ordered from Jetter AG under part number 15100070 INFO The ready made motor power is equipped with the corresponding motor mati...

Страница 53: ...ng Terminals of JetMove 208 480 Shield Mating Connector of the Motor female solder side 4 x 1 5 mm2 AWG 16 4 Shielded highly flexible 4 wire cable with PE GND The wires are equipped with wire end ferr...

Страница 54: ...5 mm2 2 x 1 5 mm2 AWG 16 6 Highly flexible 6 wire cable with PE GND separately shielded brake lines and all over shielding The wires are equipped with wire end ferrules Connect both sides of the shiel...

Страница 55: ...ad M40 INFO The compatible mating connector SM female connector can be ordered from Jetter AG under part number 60860443 INFO The ready made motor power cable is equipped with the corresponding SM mot...

Страница 56: ...g Terminals of JetMove 208 480 Shield Mating Connector of the Motor female solder side 4 x 4 mm2 AWG 12 4 Shielded highly flexible 4 wire cable with PE GND The wires are equipped with wire end ferrule...

Страница 57: ...4 x 4 mm2 2 x 0 5 mm2 AWG 12 4 AWG 20 2 Highly flexible 6 wire cable with PE separately shielded brake lines and all over shielding The wires are equipped with wire end ferrules Connect both sides of...

Страница 58: ...ative to motor connectors Connection Assignment of Terminal Box for the Jetter Motor Series Connection Terminals Motor Terminal Box Terminal Assignment X62 U2 Pin 1 Phase 1 X62 V2 Pin 2 Phase 2 X62 W2...

Страница 59: ...Temperature class 60 C Maximum cable length 50 m 7 3 2 Resolver Cable with Mating Connector Mating connector of the resolver solder side Fig 12 RC series mating connector of the resolver internal thr...

Страница 60: ...taching screws must have a metric thread Connect shield with the greatest possible surface area Use metallized enclosure only Pin Signal Core color Pin 8 Cosine red 1 3 Cosine blue 2 2 Sine yellow 3 7...

Страница 61: ...e and reference sine Cosine and reference cosine DATA and DATA 0 V and voltage supply Shielding has to be connected to the connector housings on both sides Material Copper Temperature class 60 C Maxim...

Страница 62: ...7 Description of Connections 60 Jetter AG HIPERFACE mating connector solder side Fig 13 RC series HIPERFACE mating connector internal thread M23 Solder Side 12 9 11 5 7 8 6 4 10 2 1 3...

Страница 63: ...achingscrewsmust have a metric thread Connect shield with the greatest possible surface area Use metallized enclosure only Pin Signal Core Color Pin Unassigned 1 Unassigned 2 7 Sine white 3 2 Referenc...

Страница 64: ...ting Connector for X61 ENCODER 9 pin male SUB D connector Metallized enclosure Sin Cos Encoder Cable Specifications Cable size 2 2 0 14 mm 2 0 5 mm AWG 26 4 AWG 20 2 if there is no index signal Cable...

Страница 65: ...JetMove 208 480 7 5 Sin Cos Encoder Connection Jetter AG 63 7 5 3 Connection Diagram Fig 14 Sin cos encoder connection with adapter...

Страница 66: ...Adapter JM 200 ENC ADAP Shielding Attaching screws must have a metric thread Connect shield with the greatest possible surface area Use metallized housing only Pin Signal 7 Sine 2 Reference sine 8 Cos...

Страница 67: ...rsed in the following cases Case 1 The signal sine is exchanged with the signal cosine and the signal reference sine is exchanged with the signal reference cosine Case 2 The signal sine is exchanged w...

Страница 68: ...Resistor and DC Link Circuit of Another JM 208 480 Amplifier Terminal X63 Connector Pin Assignment UB Negative pole of the DC link voltage UB Positive pole of the DC link voltage BRint Connection wit...

Страница 69: ...y Jetter AG The JetMove 208 480 is measuring the load of the ballast resistor and sets a warning bit if the ballast load reaches a specific value If the resistor is overloaded an error occurs error F0...

Страница 70: ...ver of the amplifier In order to prevent this a third variety of a configuration can be chosen Use of external ballast resistor instead of the internal ballast resistor Fig 17 Wiring of X63 for the ex...

Страница 71: ...resistor only Coupling DC Link Circuits of Two or Three JetMove 208 480 Another way uf utilizing the braking energy of the motor is to couple the DC links of several JetMove 208 480 In most cases not...

Страница 72: ...ier is equally distributed among all ballast resistors BRint UB UB UB UB UB BRc BRc BRint UB UB UB UB UB BRc BRc BRint UB UB UB UB UB BRc BRc NOTICE Requirements on the coupling of DC link circuits Be...

Страница 73: ...upled JetMove 208 480 The power supplies of coupled JetMoves 208 480 have to be activated and deactivated simultaneously For this reason please connect the supply lines of the coupled JetMove 208 480...

Страница 74: ...pplied the power supply has to be connected before software enable A low signal de energizes the motor immediately DC 24 V 7 5 mA max Operating point 6 V low 15 V high REF Reference switch input Depen...

Страница 75: ...r all inputs and supply of the logic DC 24 V Voltage supply for the controller logic DC 20 28 8 V I 0 6 A BRAKE 1 Braking relay contact Br1 Relay contact for motor holding brake The relay can be opera...

Страница 76: ...em Fig 19 Connection details for digital outputs Digital Outputs Terminals X31 Signal Specifications DC 24 V Power supply for the outputs DC 20 30 V at I max 2 A max 0 5 A per output 1 2 3 4 Digital o...

Страница 77: ...in SUB D socket female Metallised enclosure System Bus Cable Specification For manufacturing a system bus cable the following minimum requirements are important JX2 System Bus Cable Technical Data Des...

Страница 78: ...m 3 m 500 kBaud 100 m 1 m 39 m 250 kBaud 200 m 3 m 78 m 125 kBaud 200 m JX2 System Bus Cable Cable Confection 530 Shielding BUS OUT Connect shield with the greatest possible surface area Use metallize...

Страница 79: ...y modes are set by the Motion Setup Mode 0 default is used for normal operation and mode 1 for commissioning 5 V L 2 L 3 L 1 JetMove 208 480 Seven Segment Display Mode 0 Normal Operation Value State D...

Страница 80: ...ashing E OS flash is deleted L Flashing L OS loader is being loaded P Flashing P OS is transferred to the flash memory U Flashing U The boot sector waits for OS update JetMove 208 480 Seven Segment Di...

Страница 81: ...d their limits Immediate motor power disable Separate the drive controller from the power lines Return the amplifier for repair F 02 Mains phase error The servo amplifier has diagnosed the failure of...

Страница 82: ...or has reached the maximum temperature Also refer to Built In Thermal Sensor on page 41 Immediate motor power disable Let the motor cool down When the motor has cooled down acknowledge failure Reduce...

Страница 83: ...by means of the software Acknowledge failure F 16 Power input overcurrent The current at the power input was to high Immediate motor power disable Check input voltage Reduce mechanical power of the m...

Страница 84: ...eceleration ramp Check the drive mechanism Check steepness of acceleration deceleration ramps and amplifier parameters in relation to the parameters tracking error limit and tracking error window time...

Страница 85: ...amplitudes of the analog sine cosine signals are not identical Immediate motor power disable Check wiring or encoder signals Acknowledge failure F 39 Error at commutation finding Measuring the commuta...

Страница 86: ...ated F 45 Communication error CAN controller is in Bus OFF state The error counter value has reached 255 Stop with emergency stop ramp Check the communication connection F 46 Communication error A sma...

Страница 87: ...6 A DC24V 1 2 3 4 0V X31 Digital outputs X1 3 x AC 400 V Br Br 1 2 PE L3 L2 L1 Filter L1 L2 L3 U2 V2 W2 Contactor Load for digital outputs X10 Dig inputs logic power supply Bus cable coming from the...

Страница 88: ...BRAKE 2 24 V 0 6 A DC24V 1 2 3 4 0V X31 Digital outputs X1 3 x AC 400 V Br Br 1 2 PE L3 L2 L1 Filter L1 L2 L3 U2 V2 W2 Contactor Load for digital outputs X10 Dig inputs Logic power supply Bus cable co...

Страница 89: ...iagrams 1 Line filter optional refer to Line filter on page 38 2 Mains protection refer to Overload protection on page 37 3 Motor 4 Motor holding brake optional 5 Position transducer resolver or HIPER...

Страница 90: ...10 Connection Diagrams 88 Jetter AG...

Страница 91: ...itional controller This way it is possible for example to realize a pressure control loop in which the motor controlled by the JetMove generates the pressure A pressure sensor in the machine is connec...

Страница 92: ...2 0 14 mm min AWG 26 2 Cores have to be twisted and entirely shielded Shielding has to be connected to the connector enclosures on both sides Material Copper Temperature class 60 C Pin Assignment Ana...

Страница 93: ...2 Description of Connections The digital servo amplifier JetMove 208 480 OEM is connected with the Ethernet by a RJ45 socket X71 There are two types of interconnecting cables used for 10 100 MBit s t...

Страница 94: ...0 OEM is established through a switch straight through cables have to be used LEDs of the JetMove 208 480 OEM Ethernet Designation Description ACT Activity The JetMove 208 480 OEM transmits or receive...

Страница 95: ...it in case of an initialization error at the Ethernet interface RUN green Flashes regularly at correct functioning of the Ethernet interface Error Messages indicated by LEDs Following power up the red...

Страница 96: ...P switches 1 through 8 are in OFF position the JetMove 208 480 OEM has got IP address 192 168 10 15 If at the other possibilities of setting it is not clear which IP address is being used a definite s...

Страница 97: ...memory is possible via registers 10131 through 10145 In order to make a change via registers first password register with password value 2002149714 0x77566152 must be loaded Then registers 10132 thro...

Страница 98: ...through 8 is read in once during the start up procedure The actual settings of DIP switches 1 through 8 can be read from register 10180 10139 Subnet mask LSB 0 10140 Default gateway MSB 192 10141 Defa...

Страница 99: ...n Description which can be downloaded from our homepage https www jetter de en downloads motion systems jetmove series jetmove 2xx html jm 2xx_sto option_fb_xxx_function_description Functional descrip...

Страница 100: ...13 Safe Torque OFF STO Option S1 98 Jetter AG...

Страница 101: ...f an actual position can be read via a JetMove register by the controller program or processed by the firmware of the JetMove in the controllers Yet the actual position of an SSI encoder cannot be use...

Страница 102: ...be connected to the connector housings on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Maximum cable length 100 m 14 2 3 EnDat Cable with Mati...

Страница 103: ...ing screws must have a metric thread 5 2 0 25 mm2 Connect shield with the greatest possible surface area Use metallized enclosure only Pin Signal Core Color Pin Unassigned 1 Unassigned 2 7 DATA RS 485...

Страница 104: ...ts in the maximum cable length or in a minimum cable cross sectional area Example At a cable cross sectional area of 0 34 mm2 the maximum cable length is or at a cable length of 80 m the following cro...

Страница 105: ...lines have to be twisted in pairs Clock and Clock DATA and DATA 0 V and voltage supply The shield has to be connected to the connector housings on both ends of the cable with the greatest possible sur...

Страница 106: ...e Encoder signal 5 V differential signal Maximum cable length 100 m Attaching screws must have a metric thread Connect shield with the greatest possible surface area Use metallized enclosure only Pin...

Страница 107: ...uded in an overall shielding The following signal lines have to be twisted in pairs K0 and K0 K1 and K1 K2 and K2 0 V and voltage supply The shield has to be connected to the connector housings on bot...

Страница 108: ...Shielding Specification of the Cable Encoder signal 5 V differential signal Maximum cable length 100 m Attaching screws must have a metric thread Connect shield with the greatest possible surface area...

Страница 109: ...the JetMove 2xx series at the JetControl 24x Item no 60874950 jetmove_2xx_at_the_nano_bi_xxxx_user_information pdf User information on configuration and operation of the JetMove 2xx series at the NAN...

Страница 110: ...15 Ordering Information 108 Jetter AG...

Страница 111: ...the motor internal thread M23 50 Fig 11 SM series mating connector of the motor internal thread M40 53 Fig 12 RC series mating connector of the resolver internal thread M23 57 Fig 13 RC series HIPERFA...

Страница 112: ...Appendices 110 Jetter AG...

Страница 113: ...JetMove 208 480 Appendices Jetter AG 111 Appendices...

Страница 114: ...Appendices 112 Jetter AG...

Страница 115: ...tice in case of non compliance with the operating parameters for devices with opti on S1 3 Instructions for action after expiry of the maximum storage period 3 Note that this product may cause radio i...

Страница 116: ...Value 9 Error F05 Check motor cable for short circuit 9 Error messages F43 F46 12 3 1 Table header LED error messa ges 13 Text on STO 13 Link to separate document on STO for JM 2xx 14 2 3 INFO first...

Страница 117: ...coder A feedback element that converts linear or rotary position absolute or incremental into a digital signal HIPERFACE HIPERFACE is the name of a feedback system developed by Max Stegmann GmbH The S...

Страница 118: ...rollers usually these are 32 bit wide storage positions in a remanent RAM Resolver Expansion to an electric motor to specify the position of the rotor The resolver is a measuring system continually sp...

Страница 119: ...The 2 stands for PROCESS PLC and JetControl 200 LED Light Emitting Diode n Speed PE Protective Earth PELV Protective Extra Low Voltage PFC Power Factor Control PV Power loss PWM Pulse Width Modulatio...

Страница 120: ...procedure 14 Electrical specifications 37 EMC 18 32 Immunity to interference 18 Installation 18 Installation to EMC 26 EnDat cable 100 Cable confection 723 100 EnDat cable KAY_0723_xxxx 101 Ethernet...

Страница 121: ...rs Electric shock 18 27 28 41 High operating voltage 16 Hot surfaces 16 Mechanic force 17 Potentially explosive atmosphere 17 Resolver 57 Resolver cable Cable confection 23 58 S Safe Torque Off STO op...

Страница 122: ...Appendices 120 Jetter AG...

Страница 123: ...JetMove 208 480 Appendices Jetter AG 121...

Страница 124: ...Jetter AG Graeterstrasse 2 71642 Ludwigsburg Germany Phone 49 7141 2550 0 Fax 49 7141 2550 425 info jetter de www jetter de We automate your success...

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