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Operating Instructions CDF3000

3.10

Safe Torque Off (STO) ...........................................3-20

3.10.1

Danger analysis and risk assessment ................ 3-20

3.10.2

Definition of terms ............................................. 3-20

3.10.3

Description of function ....................................... 3-22

3.10.4

Basic information .............................................. 3-23

3.10.5

Hazard due to dangerous voltage: ..................... 3-23

3.10.6

Hazard due to axis movement at the motor: ...... 3-24

3.10.7

Overview of "STO" connections for CDF ............ 3-25

3.10.8

Wiring and commissioning ................................. 3-26

3.10.9

Function test STO .............................................. 3-28

3.10.10

3.11

Control connections .............................................. 3-30

3.11.1

Specification of control connections .................. 3-31

Commissioning

4.1

Choosing the commissioning .................................4-2

4.2

Serial commissioning .............................................4-3

4.2.1

Serial commissioning with K

....................... 4-3

4.2.2

Serial commissioning with D

RIVE

ANAGER

............ 4-5

4.3

Initial commissioning .............................................4-6

4.3.1

Pre-set solutions ................................................ 4-8

4.3.2

Setting the motor and encoder ........................... 4-11

4.3.3

Making basic settings ........................................ 4-14

4.3.4

Saving the settings ............................................ 4-15

4.4

Test run .................................................................4-16

4.5

Operation with K

KP300 ...............................4-20

4.6

Operation with D

RIVE

ANAGER

...............................4-21

Troubleshooting

5.1

LEDs ........................................................................5-1

5.2

Error messages .......................................................5-2

5.3

User errors in K

operation .............................5-4

5.4

User errors in S

MART

ARD

operation ........................5-4

Содержание CDF3000

Страница 1: ...Positioning controller Rated current 8 A Power supply 24 48 V DC CDF3000 Operation Manual...

Страница 2: ...ge without notice The content of our documentation was compiled with the greatest care and attention and is based on the latest information available to us We should nevertheless point out that this d...

Страница 3: ...ectric shock Take protection measures against electric shock according to IEC 60364 4 41 2005 AMD1 section 411 3 As a protection measure use additional protective equipotential bonding as described in...

Страница 4: ...ial Automation Germany GmbH 35633 Lahnau Type Rev 213702782 SN Data Set 213702782 SN Material Nr 10549020 Material Nr 10549020 Serien Nr Serial no Kalenderwoche Calendar week Jahr Year Figure 01 1 Rat...

Страница 5: ...machine fully complies with the provisions of the EC Directive 2006 42 EC Machinery Directive compliance with EN 60204 is mandatory Commissioning i e starting intended operation is only permitted on s...

Страница 6: ...STO 1001 21B 5 00 09 2020 01 14 Note related to chapter 5 Hotline service repair Address KEBA Industrial Automation Germany GmbH Gewerbestrasse 5 9 35633 Lahnau If you have any questions about the pr...

Страница 7: ...DE CDB CDF3000 1001 22B x xx Project planning and description of function Communication manual CANopen Project planning and description of function Communication manual PROFIBUS DP Project planning an...

Страница 8: ...nstitution on whether an EC declaration of conform ance is required for drive controllers with integrated safety function Pictograms Attention Operating errors may cause damage to or malfunction of th...

Страница 9: ...osition plan 3 4 3 3 Connection of mains units 3 5 3 3 1 Wire cross section for X1 and X3 3 8 3 4 Motor connection 3 9 3 5 Encoder connection on LTi motors 3 10 3 5 1 Specification of interface X6 3 1...

Страница 10: ...ls 3 29 3 11 Control connections 3 30 3 11 1 Specification of control connections 3 31 4 Commissioning 4 1 Choosing the commissioning 4 2 4 2 Serial commissioning 4 3 4 2 1 Serial commissioning with K...

Страница 11: ...Operating Instructions CDF3000 5 5 Reset 5 5 A Appendix A 1 Technical data A 2 A 2 Ambient conditions A 4 A 3 UL Approbation A 5 B Index...

Страница 12: ...Operating Instructions CDF3000...

Страница 13: ...generally potential danger sources Rotating parts Hot surfaces Electrical voltages Protection against magnetic and or electromagnetic fields during installation and operation For persons with pacemake...

Страница 14: ...comply with the connection conditions and tech nical specifications Comply with the standards for electrical installations such as wire cross section earthing lead and ground connections Do not touch...

Страница 15: ...warranty granted by LTi will become void 1 3 Responsibility Electronic devices are never fail safe The company setting up and or operating the machine or plant is itself responsible for ensuring that...

Страница 16: ...1 4 Operating Instructions CDF3000 1 Safety...

Страница 17: ...ut restric tion For mounting in switch cabinets with convection heat loss is dis charged to the outside via the cabinet walls always fit an internal air circulation fan The backing plate must be well...

Страница 18: ...2 2 Operating Instructions CDF3000 2 Mechanical installation Maximum pollution severity 2 Further information on environmental conditions can be found in the appendix...

Страница 19: ...ate Dimensional drawings hole spac ing see Table 2 1 The tapping area will provide you with good full area contact 2 Mount the servo regulator vertically on the backing plate Do not forget the mountin...

Страница 20: ...h convection heat loss is dis charged to the outside via the cabinet walls always fit an internal air circulation fan The backing plate must be well earthed CDF30 008 Weight kg 0 8 B Width 55 H Height...

Страница 21: ...onnection 3 13 3 6 Serial interface SIO 3 14 3 7 CANopen interface X5 3 16 3 8 Multi axis operation 3 17 3 9 Braking resistor RB 3 18 3 10 Safe Torque Off STO 3 20 3 10 1 Danger analysis and risk asse...

Страница 22: ...3 2 Operating Instructions CDF3000 3 Installation Attention Installation must only be carried out by qualified electricians who have undergone instruction in the necessary accident prevention measures...

Страница 23: ...KSxxx 24V against I O GND Analog setpoint 1 Analog setpoint 2 CAN Master Mains unit 24 V 0 2 A only for CAN Feedback safety stop Request safety stop Mains unit 24 V DC 0 9 A Control Part with power dr...

Страница 24: ...ion Table 3 1 Legend Terminal plan CDF3000 3 2 Position plan Connection Protective earth PE Attention Please observe chapter 3 3 Connec tion of mains units Page 3 5 Legend Explanation continue Fig 3 2...

Страница 25: ...h EN 50178 Fig 3 3 Connection overview DC mains supply Note Power side 24 48 V DC Each unit is to be protected sepa rately with a fuse of max rating 16 A utilisation category gG Provide power to the c...

Страница 26: ...erator operation The threshold for the use of the brake chop per can be up to 58 V depending on the setting in the parameter DCVIN on this topic refer to note on page 3 7 Due to the large dynamic rang...

Страница 27: ...ply voltage In the CDF3000 please first set the parameter DCIN to the nominal value for the supply voltage connected such that Unom DCIN requirement on supply voltage Tolerance max 10 voltage stabilis...

Страница 28: ...X3 Positioning controller Device connected load kVA Wire cross section mm CDF30 008 0 55 1 5 2 5 Table 3 3 Cable cross section X1 and X3 the local regulations and conditions are to be observed Lengths...

Страница 29: ...d manner race up Attention At the motor terminals the device is not earth fault proof Step Action Comment 1 Look for the desired synchronous motor There are three motors available LST 037 LSH 050 LSH0...

Страница 30: ...assignment in the Table 3 6 Step Action Comment 1 Select the correct encoder type 2 Wire the encoder connection with a shielded wire Use the prefabricated encoder cables KRY2 CDF KSxxx Resolver Do no...

Страница 31: ...upply 5 2 V 5 max 150 mA Not electrically isolated from the power potential 48 V Scanning frequency 8 kHz 4 kHz Interface log SSI Graycode Lines per revolution resolution 13 bit single turn 25 bit mul...

Страница 32: ...tempera ture monitoring For thermal monitoring of the motor winding a PTC thermistor can be connected to X 6 9 and 10 via the encoder line The type used must be set in parameter 330 MOPTC during commi...

Страница 33: ...nimum displayable motor speed nmin depend ing on the lines per revolution of the encoder Note A speed nmin cannot be measured In this range the actual speed of 0 min 1 is set In the range 0 n nmin the...

Страница 34: ...ing the interface for control purposes is not permitted Grun deinstellungen Voreing este llte L sungen Erstinbetrieb nahme Erweitert Istwerte Fehler W arnu ng Einstellung in Date i speichern Hilfe Abb...

Страница 35: ...esult the RS232 the notebook and the CDF3000 may be irreparably damaged For this reason an opto isolator is to be used in the interface cable suppliers of opto isolators are established IT accessory s...

Страница 36: ...al to be wired by customer via bridge Pin 1 2 Max incoming frequency 1 MHz Ext Voltage supply Protective extra low voltage PELV with safe isolation in accordance with EN 50178 24 V 10 100 mA potential...

Страница 37: ...ISD00 ISD01 ISD02 OSD00 OSD04 OSD05 OSD05 ENPO Motor LSH X3 X6 CDF3000 Resol ver X5 CAN_HIGH CAN_LOW CAN_GND CAN_ 24V 7 2 3 9 ISDSH RSH RSH 24V GND GND 12 13 14 15 10 20 19 16 18 17 3 4 5 L L PE PE RB...

Страница 38: ...he DC link If the voltage exceeds a threshold value the internal braking transistor is activated and the regenerated power is converted into heat by means of a braking resistor The switching transisto...

Страница 39: ...Attention The braking resistor is to be mounted such that in the case of the failure of the chopper transistor e g if there is a short in the chopper transistor the braking resistor will not represen...

Страница 40: ...ed certification body T V Rheinland Conform ance to parts EN ISO 13849 1 EN 62061 EN 61800 5 1 and EN 61508 is ensured Qualification The operator of the safety related system is trained in accordance...

Страница 41: ...tions EN ISO 13849 1 2008 Safety of machines safety related parts of controls The EN ISO 13849 standard emerged from EN 954 1 supplemented by the aspects of qual ity management and reliability EN 6206...

Страница 42: ...to prove that the safety related system under investigation meets the specified safety requirements of the safety related system in every respect before or after installation Positive opening operatio...

Страница 43: ...the motor creating a torque This variant offers the following advantages over the solution with a motor contactor No need for the external motor contactor So less wiring Space saving Better EMC perfor...

Страница 44: ...additional measures e g by two brakes safety bolts or a clamping device with brake Despite correct shutdown in the case of a short circuit in two offset branches of the power section an axis movement...

Страница 45: ...DC Imax typically 3 mA at 24 V UIn max 24 V 20 RIn nom 3 k internal signal delay time 2ms Terminal scan cycle 1 ms yes ENPO STO X2 12 Request input STO Low level OSSD support Disable restart inhibit S...

Страница 46: ...for CDF3000 is shown in Fig 3 12 Relay outputs Feedback signal normally open contact STO OSD02 RSH X2 17 X2 18 Diagnosis STO both tripping channels active one NO contact with automatically resetting...

Страница 47: ...wer stage ready low L H2 L H2 OFF OFF Power stage ready low H H L ON ON Power stage disabled via twochannels high H L H OFF OFF Power stage disabled via one channel low L H H OFF OFF Power stage ready...

Страница 48: ...n the illustrated example circuit unless an external circuit is used If on the restoration of the supply of power ENPO and ISDSH are high see truth table and Autostart is programmed the axis may start...

Страница 49: ...it CDF Safety related parameters in accordance with EN 62061 EN 61508 Safety related parameters in accordance with EN ISO 13849 SIL 3 PL e HFT 1 Category 3 SIL 5 5 E 10 1 h PL 2 907 a Safety related p...

Страница 50: ...olutions available to make it easier to commission the device 4 Wire the control terminals with shielded cables Only the signals ENPO ISDSH and a start signal control via terminal are strictly require...

Страница 51: ...n cycle 1ms Tolerance U 1 of end value no ISA01 ISA01 9 8 no Digital inputs Note In the range 4 8 V 18 V the performance of the inputs is undefined ISD00 ISD01 ISD02 13 14 15 Limit frequency 500 Hz Sw...

Страница 52: ...evel low high 4 8 V 18 V DC Imax at 24 V typically 3 mA RIN 3 k internal signal delay time 100 s Terminal scan cycle 1 ms yes RSH 18 17 Safe Standstill feedback signal Relay 1 make contact 24 V 0 2 A...

Страница 53: ...24 V 5 11 ext 24 V 2 V Feed for control electronics strictly required for operation of the CDF3000 Imax_in 0 9 A currents on the outputs OSD00 OSD03 and OSD04 GND 3 4 Reference point for control elec...

Страница 54: ...3 34 Operating Instructions CDF3000 3 Installation...

Страница 55: ...VEMANAGER 4 5 4 3 Initial commissioning 4 6 4 3 1 Pre set solutions 4 8 4 3 2 Setting the motor and encoder 4 11 4 3 3 Making basic settings 4 14 4 3 4 Saving the settings 4 15 4 4 Test run 4 16 4 5 O...

Страница 56: ...inued on Project planning and commissioning have already been completed Loading an existing data set Serial commissioning Page 4 3 Initial project planning and commissioning of the drive system Initia...

Страница 57: ...d The first drive has already been fully taken into operation The KEYPAD is directly plugged onto the positioning control X4 via a RS232 interface Attention The CARD menu can only be selected as long...

Страница 58: ...roller of the next drive insert a SMARTCARD with the required dataset and switch on the mains supply 2 Select the CARD menu load save with the SMARTCARD 3 Choose READ load dataset 4 Choose ALL and sta...

Страница 59: ...oller If the connection setup fails you should check the settings in the menu Extras Options and retry it via the icon 3 Save the current dataset by clicking on the icon either to the parameter databa...

Страница 60: ...d to the notebook via the RS232 interface X4 Attention Never wire or disconnect electrical connections while they are live Input ENPO apply Low Level to terminal X2 12 to avoid unintended starting of...

Страница 61: ...DF3000 4 7 4 Commissioning 1 2 3 4 5 A DE EN FR IT ES FR Opening the main window Setting CDF3000 Fig 4 1 Main window for the different settings in the DRIVEMANAGER Continue with DRIVEMANAGER or Active...

Страница 62: ...ameters for the control location of the drive controller the reference source the assignment of signal processing input and outputs and the type of control are the focal points of the setting The use...

Страница 63: ..._3 Field bus options module Profi bus Field bus options module Profibus EasyDrive Profile Basic SCP_3 PLC PLC SCT_4 PLC I O terminals SCC_4 PLC CANopen field bus interface EasyDrive Profile Basic SCB_...

Страница 64: ...4 Commissioning Select the pre set solution matching your application Fig 4 3 Selecting the pre set solution Note For more detailed information on pre set solutions and termi nal assignment please ref...

Страница 65: ...on tab Motor protection is correctly set and the control circuits for the drive are preset Note The torque control is optimally adjusted so that no further adaptations are required The setting of the...

Страница 66: ...s the first rotary encoder is used for commutation and speed control of the motor motor encoder the second one for position control position controller It is also possible to perform both functions wi...

Страница 67: ...state The viewing is from the front onto the end of the shaft flange The CDF3000 reference and actual values status display under nist Actual speed must indicate a positive speed in clockwise rotatio...

Страница 68: ...ustom setup screens are provided for fine adjustment of each preset solution You can use them to adapt the drive to your application For a detailed description of the individual functions refer to the...

Страница 69: ...hanges can also be saved in a file Saving the settings in a file Choose the file name e g mydata All parameters are saved under the chosen file names e g mydata with the appropriate extension 00D It i...

Страница 70: ...be operated without load torque because otherwise the motor shaft would accel erate uncontrolled up to the adjusted speed limit Attention Destruction of motor The motors are intended for operation on...

Страница 71: ...andstill High level on terminal X2 16 2 Set power stage enable ENPO High level at terminal X2 12 Observe the temporal behaviour of the inputs After controller initialisation as a consequence of parame...

Страница 72: ...th a reference value of e g 100 min 1 Compare the step response of your drive with the illustration With resolv ers the overshoot of the actual speed value should be around 20 with sin cos incremental...

Страница 73: ...from the illustration it is to be assumed that the motor dataset was incorrectly selected or that the wiring is incorrect Check the individual steps from Chapter 3 Installation and Chapter 4 3 Initial...

Страница 74: ...anguage German or English can be configured The KEYPAD KP300 supports the SMARTCARD SC XL Mechanical KP300 Dimensions see fig 70 x 84 x 37 mm W x H x D Weight 120 g Connection RS232 Standard 1 Can be...

Страница 75: ...erwise the serial interface of the CDF3000 may be destroyed by potential displacement see chapter 3 3 Fig 4 9 Connection of positioning controller to notebook DRIVEMANAGER Grun deinstellungen Voreing...

Страница 76: ...the notebook and the CDF3000 may be irreparably damaged For this reason an opto isolator is to be used in the interface cable suppliers of opto isolators are established IT accessory suppliers Fig 4...

Страница 77: ...e Active device Monitor Quickly changing digital scope values Control drive Active device Open loop control Basic operation modes Connect to device Communication Connect Single device Bus initializati...

Страница 78: ...4 24 Operating Instructions CDF3000 4 Commissioning...

Страница 79: ...n 5 4 5 5 Reset 5 5 5 1 LEDs The positioning controller is fitted with three status LED s in red H1 yel low H2 and green H3 at the top right H1 H2 H3 Device status red LED H1 yellow LED H2 green LED H...

Страница 80: ...control circuits check ramp setting 4x E OV Overvoltage shut off Voltage overload from mains Check mains voltage restart device Voltage overload resulting from feedback from motor regenerative opera...

Страница 81: ...ed further assistance our specialists at the LTi Service Center will be happy to help Contact us at the following address Mo Fr 8 00 a m to 5 00 p m Tel 06441 966 888 E Mail service lt i com Fax 06441...

Страница 82: ...value too high Reduce value ATT6 New parameter value too low Increase value ATT7 Card must not be read in current state Reset start signal ERROR Invalid password Enter correct password Table 5 2 User...

Страница 83: ...iting will be reset to the last setting saved saved with parameter 150 SAVE Factory setting with KEYPAD Press both cursor keys simultaneously during positioning controller power up to reset all parame...

Страница 84: ...5 6 Operating Instructions CDF3000 5 Troubleshooting...

Страница 85: ...Operating Instructions CDF3000 A 1 1 2 3 4 5 A DE EN FR IT ES FR A Appendix A 1 Technical data A 2 A 2 Ambient conditions A 3 A 3 UL Approbation A 5...

Страница 86: ...or 3 9 10 at 48 V DC 2 2 10 at 24 V DC Attention Set DCIN parameters Please note The brake chopper enable threshold and the selection of the braking resistor are based on the nominal supply voltage In...

Страница 87: ...Operating Instructions CDF3000 A 3 1 2 3 4 5 A DE EN FR IT ES FR DCIN RBmin 24 V 2 2 10 24 V to 32 V 2 7 10 32 V to 40 V 3 3 10 40 V to 48 V 3 9 10 Table A 2 Minimum braking resistors allowed...

Страница 88: ...EN 61800 2 IEC 60721 3 1 class 1K3 and 1K4 25 55 C 3 at air relative humidity 5 95 in transitas per EN 61800 2 IEC 60721 3 2 class 2K3 25 70 C 4 relative air humidity 95 at max 40 C Protection Device...

Страница 89: ...ing Instructions CDF3000 A 5 1 2 3 4 5 A DE EN FR IT ES FR A 3 UL Certification The description of all measures to maintain UL approbation is to be found in the document UL Certification ID No 0927 01...

Страница 90: ...or the sig nals and voltages must comply with the descriptions in the opera tion manual P Analog u V W PE PE RB RB P A n a l o g P A n a l o g 5 V 15 V 15 V RS232 CAN 24 V L L X1 X1 X3 X4 X5 X6 X2 7 I...

Страница 91: ...er connection 3 10 ENPO 3 30 4 17 Error messages 5 2 F Factory setting 5 5 Feather key 4 16 H H1 flash code 5 2 Holding brake plug in connection 3 10 I Inputs Specification 3 25 3 31 K KeyPad 4 20 Key...

Страница 92: ...g of DriveManager 4 5 Serial commissioning with KeyPad 4 3 Service repair 5 3 Shaft end 4 16 Specification Control connections 3 31 Specification of interface X6 3 10 Standards 1 3 Step response 4 19...

Страница 93: ...s as a component in your machine system then the scope of the standard is to be checked for the complete machine system limits for harmonic current emissions Our frequency inverters and servocontrolle...

Страница 94: ...bH Gewerbestrasse 5 9 35633 Lahnau Germany Telephone 49 6441 966 0 fax 49 6441 966 137 info keba de KEBA Group worldwide China Germany India Italy Japan Netherlands Austria Romania Switzerland South K...

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