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User Manual

JM-105 - Digital Servo Amplifier

60872838

We automate your success.

Содержание JM-105

Страница 1: ...User Manual JM 105 Digital Servo Amplifier 60872838 We automate your success...

Страница 2: ...ese alterations will not necessarily be documented in every single case This manual and the information contained herein have been compiled with due diligence However Jetter AG assume no liability for...

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

Страница 4: ...ndly and to address your wishes and requirements This manual contains important information on how to transport erect install operate maintain and repair the digital servo amplifier JetMove 105 Theref...

Страница 5: ...cidentally touching dangerous parts of the device Important This sign is to indicate a possible impending situation which might bring damage to the product or to its surroundings It also identifies re...

Страница 6: ...nce to PC keyboard and HMI keys This symbol informs you of additional references data sheets literature etc associated with the given subject product etc Further this text provides helpful hints for y...

Страница 7: ...ns on EMC 16 2 Installing the JetMove 105 19 2 1 Scope of delivery 19 2 2 Mechanical Installation 20 2 3 Electrical Installation 23 2 4 Checking the Installation 24 2 5 Notes on Safety as regards Comm...

Страница 8: ...Mot 68 7 7 Connection of the Resolver 71 7 7 1 Specification 71 7 7 2 Resolver Cable With Mating Connector 71 7 7 3 Resolver Cable Without Mating Connector 73 7 8 Sin Cos Encoder Connection 74 7 8 1 S...

Страница 9: ...JetMove 105 Table of Contents Jetter AG 9 Appendix A Recent revisions 99 Appendix B Glossary 100 Appendix C List of Illustrations 103 Appendix D Index 104...

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

Страница 11: ...voltage The operating voltage for motor supply by the digital servo amplifier JetMove 105 ranges between 12 V and 48 V DC Thus the digital servo amplifier is not subject to the EG Low Voltage Directi...

Страница 12: ...ecifically designed for the servo amplifier JetMove 105 Parts and equipment from other manufacturers are not tested on our part and are therefore not released by Jetter AG The installation of such par...

Страница 13: ...t to Jetter AG The digital servo amplifier JetMove 105 is maintenance free Therefore absolutely no inspection or maintenance works are required for the operation of this device 1 1 6 Disposal In case...

Страница 14: ...check them for proper functioning Prior to commissioning the machine manufacturer shall conduct a hazard analysis for the machine and take appropriate measures to prevent personal injury and damage t...

Страница 15: ...eration the surfaces respectively the heat sinks of the servo amplifier JetMove 105 can heat up The left sidewall and the rear panel can reach temperatures of up to 85 C Do not touch the left sidewall...

Страница 16: ...nctioning of the digital servo amplifier JetMove 105 can be dangerous for persons or damage the machinery This should be prevented by installing additional safety devices One safety precaution is to i...

Страница 17: ...le of 90 Shielded cables must be used for the following lines Analog lines data lines motor cables coming from inverter drives servo output stage frequency converter lines between components and inter...

Страница 18: ...ed to the connector for example with a screw type terminal It is important that shield and strain relief are highly conductive and directly connected to a grounded surface with the greatest possible s...

Страница 19: ...cable of cable confection no 530 x x m length 0 2 m through 5 0 m See also chapter 7 Description of Connections page 43 Motor power cable see also chapter 7 3 Servo Motor page 52 Encoder cable see als...

Страница 20: ...tor line below In both cases make sure there is a clearance of 25 mm between the JetMove and adjacent devices see Fig 4 page 22 Make sure there is a clearance of at least 25 mm under and above the Jet...

Страница 21: ...JetMove 105 2 2 Mechanical Installation Jetter AG 21 Fig 3 Recommended mounting m i n 2 5 m m...

Страница 22: ...t Ratings Voltage Motor Current 3 17 34VAC 0 400Hz 3 5A Enclosure Rating Ambient Temperature JM 105 Rev Part No 10000633 Made in Germany Jetter AG Gr terstrasse 2 D 71642 Ludwigsburg Type IP20 0 40 C...

Страница 23: ...ables according to standards Check whether the ground cable is connected To connect resolvers or power units you can use prefabricated cables available from Jetter or opt for self made cables Please r...

Страница 24: ...g and connections by means of the connection diagrams used Check the holding brake if existing for proper functioning Check to see whether all necessary protection measures against accidental contact...

Страница 25: ...o amplifier JetMove 105 against accidental contact with conductive parts and components Only connect devices or electrical components to the signal lines of the digital servo amplifier JetMove 105 Ena...

Страница 26: ...2 Installing the JetMove 105 26 Jetter AG...

Страница 27: ...fficiently DIN EN 50178 Storage conditions units within packing Temperature 25 C bis 55 C maximum fluctuation 20 K h Air humidity 5 to 95 non condensing Maximum storage period 1 year without restricti...

Страница 28: ...ance of at least 25 mm under and above the JetMove sufficient ventilation must be granted Important Measures to avoid damages in transit and storage The packaging material and the storage place are to...

Страница 29: ...ns DC voltage supply inputs and outputs Frequency bands 0 15 to 0 5 MHz limit 100 dB V 0 5 to 5 MHz limit 86 dB V 5 to 30 MHz limit 90 dB V decrease by the logarithm of the frequency up to 70 dB V Mea...

Страница 30: ...cat 3 installation DIN EN 61800 3 DIN EN 61000 4 3 Operating Parameters EMC Immunity to Interference Power Connections Parameter Value s Reference Standard Burst fast transients Test voltage 2 kV Rep...

Страница 31: ...disturbances Frequency 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Acceptance criterion A 2nd environment cat 3 installation DIN EN 61800 3 DIN EN 61000 4 6 Operating Parameters EMC Immunity to In...

Страница 32: ...3 Operating Conditions 32 Jetter AG...

Страница 33: ...24 48VDC 10A Output Ratings Voltage Motor Current 3 17 34VAC 0 400Hz 3 5A Enclosure Rating Ambient Temperature JM 105 Rev Part No 10000633 Made in Germany Jetter AG Gr terstrasse 2 D 71642 Ludwigsburg...

Страница 34: ...4 Physical Dimensions 34 Jetter AG...

Страница 35: ...nt at an ambient temperature of 40 C Nominal current Ieff 8 A Peak current Ieff 16 A t 10 s at T 40 C See Note 1 on page 37 Continuous output 384 W Short circuit protection motor side Designed for pha...

Страница 36: ...Limit negative limit switch Limit and Input Inp DC 24 V 14 32 V related to the controller potential Input current of 8 mA max each Refer to chapter 7 10 Digital and Analog Inputs and Outputs page 80...

Страница 37: ...edance 20 k Power loss Pv Amplifier at rated output typically 24 W 36 W max Logic circuit 6 W max Weight mating connectors included 500 g Electrical Specification Note 1 Cooling The overtemperature pr...

Страница 38: ...level error 30 is set to 100 The I t value is readable in a variable of JetMove 105 through JetSym or the PLC The digital servo amplifier JetMove 105 calculates the percentage of motor power loss acc...

Страница 39: ...A Overload factor 2 Motor time constant 1 800 s 30 min Important Because of the fact that after reset the I t calculation always starts with zero the motor overload calculation is wrong if the motor i...

Страница 40: ...5 Technical Specifications 40 Jetter AG...

Страница 41: ...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 I...

Страница 42: ...adjustable Position feedback controller Cycle time 250 s Speed pre control adjustable Position setpoint generator Sine square and linear acceleration deceleration ramp can be parameterized individual...

Страница 43: ...upply unit can be configured with a 1 or 3 phase wiring The output of the power supply unit is rated at the output required by the motor Output power P in Watt W Torque M in Nm Revolutions n in 1 min...

Страница 44: ...46 Between amplifier and power supply unit significant pulse like currents of short rise times are flowing In each supply cable there is an ohmic and an inductive component If the values are too high...

Страница 45: ...em can be destroyed Always use short wires of a large cross section to connect the voltage supply and the JetMove 105 If the lines are to be longer than 2 meters use twisted wires for the supply and e...

Страница 46: ...take up the back fed energy The capacitor must be designed for a voltage of at least 100 V Designing an external capacitor Where UMax 60 V CInt 200 F UNom 48 V EM back fed energy J Calculating the br...

Страница 47: ...m s2 h1 Height before deceleration m h2 Height after deceleration m IM Motor current during deceleration A RPh Resistance of the motor td Delay time s FL Friction power of the motor N If the calculat...

Страница 48: ...um current Where UMax 60 V IPeak 27 5 A 2 Limiting by means of the maximum braking power Calculating the braking power Where C CExt CInt and CInt 200 F UMax 60 V UBl 55 V EM Braking energy see above t...

Страница 49: ...he braking power has to be decreased or else the cycle time of the delays has to be increased PBl td tCycle INom 2 UBl 2 2PBl Caution WARNING Hot Surfaces The surface of the braking resistor can heat...

Страница 50: ...size 2 1 0 mm for the motor power supply Cable size 1 0 5 mm for the logic power supply Material Copper Temperature class 60 C Stripping length of cores 6 mm Shielding not required Power Supply Termi...

Страница 51: ...2 Power Supply Jetter AG 51 Fig 10 X1 Supply Voltage Connected with Enclosure VLOG 3V R optional BL X1 DC DC GND JetMove 105 X1 Voltage Supply and Motor Connection DSP Controller 0V VLOG 24 V DC VMOT...

Страница 52: ...lass 60 C Stripping length of cores 6 mm Cable shielding Braided copper shield of 80 coverage min Maximum cable length 50 m As of a line length of 40 m we recommend using a motor line reactor at the J...

Страница 53: ...Controller 0V VLOG 24 V DC VMOT VMOT 24 48V DC Important Alternative measures to avoid malfunctions of the control system and the motor The brake has to be operated through a separately shielded brak...

Страница 54: ...tor on page 71 Motor specification S S A S B or S X for JH2 motors 7 3 2 Motor with screw clamping terminals and cables with male connectors Fig 13 Motor with cables and male connectors The motor is e...

Страница 55: ...pped with screw clamping terminals with cables for power and feedback cables In the type designation xxx x the cable length is specified in meters The cable ends are not equipped with connectors This...

Страница 56: ...mating connector SC female connector can be ordered from Jetter AG by supplying the following particulars Article 15100070 Motor connector for the Jetter motor series JH2 JH3 JH4 JH5 JL2 JL3 JL4 JK4...

Страница 57: ...xxxx Terminals of the JetMove 105 Shield Mating connector of the motor female solder side 4 x 1 0 mm2 Shielded highly flexible 4 wire cable with PE The wires are equipped with wire end ferrules Connec...

Страница 58: ...the motor female solder side 7 x 1 0 mm2 Shielded highly flexible 6 wire cable with PE The wires are equipped with wire end ferrules Connect both sides of the shield with the greatest possible surfac...

Страница 59: ...e Motor Power Cable without Mating Connector For connection without motor holding brake Motor Power Cable Fixed to the Motor Terminals of the JetMove 105 Shield Motor 7 x 1 0 mm2 Shielded highly flexi...

Страница 60: ...als of the JetMove 105 Shield Motor 7 x 1 0 mm2 Shielded highly flexible 6 wire cable with PE The wires are equipped with wire end ferrules Connect shield with the greatest possible surface area Pin W...

Страница 61: ...l 0 22 Nm Specification of the Motor Cable Cable cross sectional area of up to 2 1 0 mm Material Copper Temperature class 60 C Stripping length of cores 6 mm Cable shielding Braided copper shield of 8...

Страница 62: ...VLOG 3V X1 DC DC GND JetMove 105 X1 Voltage Supply and DC Motor Connections DSP Controller 0V VLOG 24 V DC VMOT VMOT 24 48V DC R optional BL Important Alternative measures to avoid malfunctions of the...

Страница 63: ...crew clamping terminal 0 22 Nm Specification of the Motor Cable Cable cross sectional area of up to 4 1 0 mm Material Copper Temperature class 60 C Stripping length of cores 6 mm Cable shielding Braid...

Страница 64: ...Enc los ure VLOG 3V X1 DC DC GND JetMove 105 X1 Voltage Supply and Stepper Motor Connections DSP Controller 0V VLOG 24 V DC VMOT VMOT 24 48V DC Important Alternative measures to avoid malfunctions of...

Страница 65: ...For this purpose a bridge connection as shown in Fig 18 is fit best Fig 18 Bipolar circuit for 2 phase stepper motors This way it is possible to limit the number of connections between motor control...

Страница 66: ...phase in Vs A Angular velocity in rad s The angular velocity of a stepper motor is Where Pole pair number 50 Speed n in RPM Angular velocity v in s 3 When the motor is rotating the influence of the EM...

Страница 67: ...eceleration If a stepper motor without actual position feedback is used exceeding the maximum possible torque of the motor must by all means be inhibited Therefore acceleration and deceleration should...

Страница 68: ...14 1 5 mm2 with bootlace ferrules and plastic sleeve 0 25 1 mm2 Bladed screw driver 0 4 x 2 5 mm Stud torque for the screw clamping terminal 0 22 Nm Specification of the Motor Cable Cable size 4 1 0 m...

Страница 69: ...Cable Cable cross sectional area of at least 3 0 14 mm with separate shielding Material Copper Temperature class 60 C Maximum cable length 25 m connected with enclosure VLOG 3 V X1 DC DC GND JetMove 1...

Страница 70: ...5 Sine amber 4 Cosine green 1 Voltage output 5 volts white 11 0 V inner shield Shield Shielding outer shield 1 6 11 5 10 15 Shield Note 1 Supply voltage 5 V at the JetMove 105 Due to conduction loss a...

Страница 71: ...length 50 m 7 7 2 Resolver Cable With Mating Connector The pre fabricated resolver cable is used with the variants Motor with male connector on page 54 and Motor with screw clamping terminals and cab...

Страница 72: ...05 male SUB D connector X61 Shield Motor Resolver female solder side 3 2 0 14 mm2 Attaching screws must have a metric thread Connect shield with the greatest possible surface area Use metallized housi...

Страница 73: ...Resolver Cable at the Motor JetMove 105 male SUB D connector X61 Shield Motor Resolver Attaching screws must have a metric thread Connect shield with the greatest possible surface area Use metallized...

Страница 74: ...3 2 0 14 mm 2 0 25 mm min 2 0 25 mm must be used for the power supply unit and for GND Twisted pair cables shielded with the all over shield must be used the signal lines must also be twisted in pairs...

Страница 75: ...c thread Connect shield with the greatest possible surface area Use metallized housing only Pin Signal 5 Sine 15 Reference sine 4 Cosine 14 Reference cosine 7 Index 8 Reference index 1 Voltage output...

Страница 76: ...on of Connections 76 Jetter AG Fig 23 Sin Cos encoder connection Sin cos encoder JetMove 105 X61 15 pin Sub D connector 5 V 0 V Sin Cos Index Sin Cos Index 1 11 5 4 7 15 14 8 5 V 0 V Sin Cos Index Sin...

Страница 77: ...r Cable Cable cross sectional area of at least 3 2 0 14 mm 2 0 25 mm min 2 0 25 mm must be used for the power supply unit and for GND Twisted pair cables shielded with the all over shield must be used...

Страница 78: ...able length 100 m Attaching screws must have a metric thread Connect shield with the greatest possible surface area Use metallized housing only Pin Signal 2 K1 12 K1 3 K2 13 K2 7 K0 8 K0 1 Voltage out...

Страница 79: ...or of 120 ohms each must be installed at a cable length of 10 m or more between K0 and K0 K1 and K1 as well as K2 and K2 Note 3 Single ended connection In case of single ended connection only signals...

Страница 80: ...must have a metric thread Pin Signal Description Specification 1 0 V 2 Brake Contacts for the motor holding brake The brake output can be operated either by the control program or by the operating sy...

Страница 81: ...ameter setting this input is used for reference run DC 20 30 V Input resistance 3 KOhm Operating point 4 V low 14 V high NC or NO contact 13 Positive limit switch input Depending on the parameter sett...

Страница 82: ...D connector Metallized enclosure On the BUS IN X18 side 9 pin female SUB D connector Metallized enclosure System Bus Cable Specification The following minimum requirements apply to the manufacture of...

Страница 83: ...m 0 3 m 3 m 500 kBaud 100 m 1 m 39 m 250 kBaud 200 m 3 m 78 m 125 kBaud 200 m System Bus Cable of Cable Confection 0530 Shield BUS OUT Connect shield with the greatest possible surface area Use metall...

Страница 84: ...7 Description of Connections 84 Jetter AG...

Страница 85: ...ove 105 LEDs LED Color State Description OS is active AXARR Green Is lit Axis is standing still RPM 0 ERR Red Is lit An error has occurred The control unit of the servo amplifier is locked error can b...

Страница 86: ...ing 86 Jetter AG Note The ERR display of the output stage indicates the operating and fault conditions of the digital servo amplifier JetMove 105 The different fault conditions are displayed in Motion...

Страница 87: ...this error occurs as of hardware revision 2A The motor cable is broken Be careful The motor cable is tested when the servo controller is enabled for the first time Immediate motor power disable Check...

Страница 88: ...been detected Immediate motor power disable Reduce Kp of the current controller by 10 20 Acknowledge failure F 12 Ground fault One or several phases of the motor cable or inside the motor have a grou...

Страница 89: ...value default 60 V Stop with emergency deceleration ramp Check the supply voltage In generator operation reduce braking power Acknowledge failure F 22 Drive stalled The drive could not overcome the n...

Страница 90: ...oad factor and motor time constant Reduce the average load of the motor F 38 Asymmetric encoder signal The amplitudes of the analog sine cosine signals are not identical Immediate motor power disable...

Страница 91: ...e 105 1 M L N PE 48 V Gnd Br Br Contactor 2 5 1 9 6 Bus cable leading to the following node X61 Encoder 5 R 14 4 5 15 9 10 S3 S1 S2 S4 R1 R2 24 V Gnd X1 Supply Motor 0V V log V mot PE BL W2 V2 U2 RBL...

Страница 92: ...s section of the installed cables 1 Motor 2 Motor holding brake option 3 If a motor holding brake is used an external free wheeling diode must be installed 4 Ballast resistor 5 Position encoder resolv...

Страница 93: ...ice Programming jetmove_2xx_at_jetcontrol_bi_xxxx_user_information pdf Register description and parametering example Item 60866114 Designation Description Item JM 105 Digital Servo Amplifier 10000633...

Страница 94: ...eters length has got the designation KAY_0626_0500 Connecting cables for Jetter motors with brake The power cable for motors with brake of the designation KAY_0626_xxxx can be ordered in the following...

Страница 95: ...2 1 5 2 2 5 3 3 5 4 4 5 5 5 5 6 6 5 7 7 5 8 9 10 11 12 13 14 15 16 17 18 20 22 24 25 30 50 Length 0 2 m Cable confection 0530 0 2m Article 10309001 Length 0 5 m Cable confection 0530 0 5m Article 103...

Страница 96: ...11 Ordering Information 96 Jetter AG...

Страница 97: ...JetMove 105 Appendices Jetter AG 97 Appendices...

Страница 98: ...Appendices 98 Jetter AG...

Страница 99: ...made in revision 2 16 1 Chapter Remarks Changed Added Cleared Front page yes 1 2 3 Earthing procedure yes 7 3 Max cable length yes 7 3 Note on motor line reactor yes 9 Diagnostics F 12 yes 10 Wiring D...

Страница 100: ...obligation to assess the hazards in order to identify all of those which apply to his machine he must then design and construct it taking account of his assessment Hardware enable Before the axis can...

Страница 101: ...esolver Feedback unit at a servo motor for determining the absolute position within one revolution Other than a HIPERFACE the resolver will not provide any information on how many revolutions the moto...

Страница 102: ...otective earth UL Underwriters Laboratories Inc VDE Verband deutscher Elektrotechniker e V Association of German Electrical Engineers DC link voltage DC circuit within a servo drive on the basis of wh...

Страница 103: ...connection 53 Fig 12 Motor with male connector 54 Fig 13 Motor with cables and male connectors 54 Fig 14 Motor with cable and without a male connector 55 Fig 15 View on the SC series mating connector...

Страница 104: ...ded Conditions of Use 11 J JetMove 105 LEDs 85 M Maintenance 13 Malfunctions 14 53 62 64 Modifications 12 Motor Power Cable KAY_0624_xxxx 58 KAY_0626_xxxx 57 permanently connected with the motor 59 60...

Страница 105: ...JetMove 105 Appendices Jetter AG 105 System Bus Cable Cable confection 530 83 Specification 82 T Technical Specifications 35 U Usage Other Than Intended 11 W Wiring Diagram 91 Wiring diagrams 91...

Страница 106: ...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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