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3 Product description

Integrated functional safety

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"Safe Torque Off (STO)" safety function integrated in the device

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SS1 functionality possible

Homing and positioning

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Integrated positioning control with a wide range of functions as per "CAN in
Automation (CiA) DSP402" plus numerous additional application-specific
functions.

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Jerk-free or time-optimal positioning, relative or absolute with regard to a reference
point. Point-to-point positioning with and without smooth position transitions.

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High-speed sample inputs for triggering the storage of position marks

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Numerous homing methods

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Rotor and position triggers

Brake control and automatic brake

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Direct control of a motor holding brake with high current without using an external
relay

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Adjustable brake delay times

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"Automatic brake" for deactivating the power section during longer breaks to save
energy

Electrical characteristics BL 4100-M / BL 4100-D

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Wide-range supply input (AC)

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"Soft switch-on" features for the soft precharging and quick charging of the DC bus

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DC bus coupling between devices with the same mains power supply for buffering
the brake energy

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Improved monitoring and analysis of the mains power supply by a direct
measurement of the mains voltage

Electrical characteristics BL 4800-M / BL 4800-D

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Wide-range supply input (DC)

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Due to the robust design, no DC link precharging is required when connecting the
battery

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DC bus coupling between devices with the same mains power supply for buffering
the brake energy

Mounting Instructions BL 4000-M and BL 4000-D

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Содержание 9200-4104-2000

Страница 1: ...Important Read thoroughly before use Retain for future reference Mounting Instructions smartServo BL 4000 D smartServo BL 4000 M ...

Страница 2: ...antee that the products meet the buyer s demands and purposes or that they work together with other products selected by the buyer Metronix does not assume any liability for damage resulting from the combined use of its products with other products or resulting from improper handling of machines or systems Metronix reserves the right to modify amend or improve the document or the product without p...

Страница 3: ...9 0 531 8668 0 Telefax 49 0 531 8668 555 E mail vertrieb metronix de https www metronix de Revision Information Manual title Mounting Instructions BL 4000 M and BL 4000 D File name MI_BL 4000 M and BL 4000 D_1p0_EN pdf Version 1 0 Year 2021 Mounting Instructions BL 4000 M and BL 4000 D Page 3 of 95 ...

Страница 4: ...ption 17 3 1 Type designation 17 3 2 Device view BL 4000 M 18 3 3 Device view BL 4000 D 19 3 4 Features 21 4 Mounting 24 5 Electrical installation 26 5 1 Notes concerning the safe and EMC compliant installation 26 5 1 1 Explanations and terminology 26 5 1 2 General information about electromagnetic compatibility 26 5 1 3 BL 4100 M BL 4100 D Proper wiring 27 5 1 4 ESD protection 28 5 2 Additional r...

Страница 5: ... a restart 69 6 5 BL 4100 M BL 4100 D Motor connector X6 71 6 6 BL 4800 M BL 4800 D Motor connector X6 74 6 7 Resolver and encoder connector X2 76 6 8 USB X19 79 6 9 Realtime Ethernet X21 X22 79 6 10 I O Interface X1 80 6 10 1 Time response of the digital inputs 83 6 10 2 Time response of the digital outputs 84 6 10 3 Time response during power ON 85 7 Storage transport 86 8 Maintenance cleaning r...

Страница 6: ... Structure of the warning notes Warning notes have the following structure l Signal word l Type of hazard l Measures to prevent the hazard Signal words Indicates an imminent hazard If the situation is not avoided extremely serious and possibly fatal injuries will result Indicates a potentially hazardous situation If the situation is not avoided extremely serious and possibly fatal injuries may res...

Страница 7: ...ystem l PROFIBUS PROFINET manual ARS 2000 FS smartServo BL 4000 This manual describes the commissioning procedure for the servo drives ARS 2000 FS or BL 4000 with a PROFINET control system You can find all of these documents on our homepage for download Certificates and declarations of conformity for the products described in this manual can also be found at our homepage https www metronix de 1 3 ...

Страница 8: ...y of machinery Functional safety of safety related electrical electronic and programmable electronic control systems EN ISO 12100 Safety of machinery General principles for design Risk assessment and risk reduction IEC 61508 Teil 1 7 Functional safety of electrical electronic programmable electronic safety related systems IEC 82079 1 Preparation of instructions for use Structuring content and pres...

Страница 9: ... Proper installation l Proper project planning taking in consideration all of the potential risks necessary protective and emergency measures and the installation l Careful operation and proper maintenance Only trained and qualified personnel in accordance with section 2 3 Target group on page 10 are authorised to work with or on the electrical systems The following instructions must be read and u...

Страница 10: ... the servo drive 2 3 Target group Over its entire service life work on the servo drive with the exception of its operation may only be performed by specialist personnel and or instructed persons who have been trained for the required tasks The servo drive is to be operated by the user Trained and qualified personnel Qualified personnel in the sense of this document are persons who are sufficiently...

Страница 11: ...erved l The technical data as well as the connection and installation conditions of the servo drive are stated in this document and must be complied with at all times l Refer to General technical data on page 62 for the protection rating and pollution degree of the servocontroller Ensure that the environment corresponds to this protection rating and pollution degree rating l Use only original acce...

Страница 12: ...ervocontroller has been switched off the corresponding connections and an external braking resistor carry dangerous DC bus voltages Contact with these voltages may result in serious or even fatal injuries Make sure that the DC bus has discharged by measuring at the DC bus terminals ZK and ZK or wait for the maximum discharge time This is for BL 4100 M BL 4100 D 30 minutes For BL 4800 M BL 4800 D n...

Страница 13: ... Wait until the DC bus has discharged in the following cases l maintenance and repairs l cleaning l long downtimes The standard motor holding brake that is included in the scope of supply or any other external motor holding brake that is actuated by the servo drive is not suitable for the protection of the operators if used alone Be particularly careful during the installation process During the i...

Страница 14: ...power supply or voltage source Secure it against reconnection Install the respective covers and guards against accidental contact prior to switching the device system on Rack mounted devices must be protected against accidental contact by way of an enclosure e g a switch cabinet Prior to start up and even for brief measurements or tests connect the protective earth conductor ground conductor of al...

Страница 15: ...r or faulty wiring or cabling l errors during the operation of the components l errors of the sensors and transducers l defective or non EMC compliant components l software errors in the superordinate control system These errors can occur directly after the activation of the device or after some time during the operation The monitoring systems in the drive components exclude any malfunction in the...

Страница 16: ...t can be installed operated and removed without any danger l Appropriate installation clearances must also be defined l Comply with the intended use of the servo drive l When transporting the servo drive pay particular attention to the edges and corners of housings and other components Use suitable personal protective equipment l If you install the components of the system on a wall or on the floo...

Страница 17: ...CAT PROFINET interface Parameter sets that have been created for the ARS 2000 FS series can be used for the BL 4000 C BL 4000 M BL 4000 D series and vice versa 3 1 Type designation Type key using the example of a BL 4840 D Figure 1 Nomenclature Pos Description 1 Type designation Basic Line 2 4th servo drive product family 3 Mains power connection 1 single phase 3 three phase 4 Nominal current in A...

Страница 18: ...00 M left and BL 4100 M right 1 Warnings 4 X19 USB interface with cover cap 2 Safety Symbols as per ISO 7000 5 Product name 3 Status indicator LED READY ERROR ENABLE BLUETOOTH 6 Connector descriptions View on connector side Figure 3 View on connector side of aBL 4800 M left and a BL 4100 M right 8 X3 24 V supply and STO 11 X22 Real time Ethernet interface 9 X9 Power supply 12 X1 I O communication ...

Страница 19: ...indicator LED READY ERROR ENABLE BLUETOOTH 7 Warnings 4 X19 USB interface with cover cap 8 Product name Bottom view Figure 5 Bottom view of a BL 4800 D left and BL 4100 D right 9 X21 Real time Ethernet interface 13 X6 Motor connection 10 X9 Power supply 14 X1 I O communication 11 X2 Resolver Multi encoder 15 X3 24 V supply and STO 12 X22 Real time Ethernet interface Mounting Instructions BL 4000 M...

Страница 20: ...iew Figure 6 Side view of a BL 4800 D left and BL 4100 D right 1 X6A Motor connection 13 X6 Motor connection BL 4100 D and BL 4800 D max 16 A 11 X2 Resolver Multi encoder Mounting Instructions BL 4000 M and BL 4000 D Page 20 of 95 ...

Страница 21: ...machines with sinusoidal EMF l Torque motors l Linear motors l Air core and iron core linear motors with a low motor inductance 0 1 4 mH l Automatic determination of the motor parameters User friendly parameterisation with the Metronix ServoCommander software l Adjustment of all of the parameters via a PC and online representation of operating parameters and diagnostic messages l User guided initi...

Страница 22: ...tor holding brake with high current without using an external relay l Adjustable brake delay times l Automatic brake for deactivating the power section during longer breaks to save energy Electrical characteristics BL 4100 M BL 4100 D l Wide range supply input AC l Soft switch on features for the soft precharging and quick charging of the DC bus l DC bus coupling between devices with the same main...

Страница 23: ...risable band stop filters for suppressing the natural frequency of the controlled system l Load torque compensation for vertical axes l Synchronisable internal clock system for the synchronisation with external clock sources for CANopen and EtherCAT fieldbus systems by way of an internal PLL Certification and qualification l Integration of numerous filters e g filters for the 24 V supply the input...

Страница 24: ...D are intended for decentralised mounting near the motor outside a control cabinet l Preferred installation position Vertical with the circular connectors X1 X3 etc facing downwards Generally other mounting positions are also possible l The servo drives of device family BL 4000 D have mounting holes at the top and bottom of the mounting bracket The servo drive is fastened with these holes using tw...

Страница 25: ...the safety instructions in section 2 6 Safety notes for installation and maintenance on page 12 l Use only suitable tools If specified use special tools l Always use suitable personal protective equipment see section 2 5 Personal protective equipment on page 12 section 2 5 Personal protective equipment on page 12 l The motor servo drive combination can be mounted in any position However it must be...

Страница 26: ...netic interference from an electrical installation or an electrical device to other devices in the vicinity via cables or the environment 5 1 2 General information about electromagnetic compatibility The interference emission and interference immunity of a servo drive always depend on the overall drive concept consisting of the following components l Power supply l Servo drive l Motor l Electromec...

Страница 27: ...he motor cable to the back panel of the control cabinet by way of suitable shield terminals The unshielded cable end should not be longer than 80 mm l The mains end PE connector must be connected to the PE connection point of the supply connector X9 l The earthing grounding screw of the mounting plate must also be connected to the mains side PE connector via a separate earth lead BL 4100 D See sec...

Страница 28: ...all of the system components and wire the servo drive completely prior to switching on the voltage supply l The person commissioning the system as well as the service and maintenance personnel must have undergone ESD training and wear corresponding footwear l When handling the system e g the USB connector it is useful to touch the control cabinet housing should be at PE potential with your hand pr...

Страница 29: ...vide galvanic separation from mains voltage l DC source voltage shall not exceed 48Vdc and be capable of delivering not more than 1000Adc of prospective current and l When products are protected by fuses or circuit breakers Fuse BF1 142 5631 5702 Littelfuse Circuit breaker Listed S201UDC K20 ABB Wiring requirements and environmental conditions l For use in Pollution Degree 2 Environment only l BL ...

Страница 30: ...ircuit breaker and a mains filter must be installed in the mains power supply line see Cable type and configuration X9 on page 31 In addition you can protect the servo drive with an AC DC sensitive residual current device RCD with 300 mA minimum Direct DC coupling of the DC buses of several devices with equal DC bus voltage is possible by way of the terminals ZK and ZK see section DC bus coupling ...

Страница 31: ...bus voltage 4 ZK Neg DC bus voltage PE PE Connection of the protective earth ground conductor of the mains power supply Cable type and configuration X9 We recommend using the pre assembled cables from Phoenix Contact listed above If other cables are used the minimum cross sections listed in the following table must be observed in any case The power supply cable must be shielded up to the mains fil...

Страница 32: ...tween the circuit breaker and the controller Mains filter Würth 810912010 or comparable In larger systems with many controllers of the same family the use of a suitable common mains filter may make more sense In this case contact the technical support Mounting Instructions BL 4000 M and BL 4000 D Page 32 of 95 ...

Страница 33: ... provided via X3 See section 5 5 Connector 24 V supply and STO X3 on page 35 A melting fuse or an automatic circuit breaker must be used in the 48 V power supply see Cable type and configuration X9 on page 34 The GND potentials of the 24 V and the 48 V supply must be connected to each other at a common point to reduce potential shifts This common point must be earthed It is possible to couple the ...

Страница 34: ...cable names that are stated refer to cables made by Letronic and Kaltenbach They have proved to be reliable and are successfully used in many applications However it is also possible to use comparable cables from other manufacturers A melting fuse or an automatic circuit breaker must be used in the supply line to protect the cable and the device For fixed installation ÖLFLEX SERVO 719 CY 4G4 For f...

Страница 35: ... or the like can be inserted parallel to the safety wiring For example use the maximum wire cross section of 1 5 mm or suitable wire end sleeves with insulating collars for the connection to the associated connector Configuration on the device X3 Phoenix Contact SACC CIP M12MS 8P SMD SH T 1411959 M12 8 pin A coded Mating connector Phoenix Contact 1 5 m Cable PVC SAC 8P 1 5 PUR M12FS SH 1522862 2 0...

Страница 36: ...off STO in the Product manual smartServo BL 4000 D smartServo BL 4000 M This type of connection can be part of an emergency stop circuit or safety door setup for example Cable type and configuration X3 Characteristic Value Max cable length unshielded 30 m Max cable length shielded 30 m Cable cross section flexible conductors wire end sleeve with insulating collar one conductor 0 25 mm 0 5 mm Minim...

Страница 37: ...in technology X6B Label B An analogue motor temperature sensor is connected via the encoder interface at X2 Label C This is described in section 5 11 Connector BL 4000 M resolvers and encoder X2 on page 53 Figure 13 Connector arrangement motor X6 holding brake X6B and angle encoder X2 Configuration on the device X6 X6B X6 B5P VH B LF Manufacturer JST X6B Push in PCB terminal 2060 452 998 404 Manuf...

Страница 38: ...ust not be used as the sole stop element in safety oriented applications Cable type and configuration X6 The cable names that are stated refer to cables made by Lapp and Helukabel However it is also possible to use comparable cables from other manufacturers for example Lütze U V W and PE LAPP KABEL MULTI STANDARD SC 1 UL 0 75 mm 300V 105 C BR BR HELUTHERM 145 UL AWG 24 0 2 mm 300V 120 C Comply wit...

Страница 39: ... must not be equipped with a crimp contact An existing holding brake in the motor is connected to the terminals BR and BR of X6B The cables must be fitted with suitable wire ferrules on the plug side When connecting the holding brake be sure to observe the maximum output current provided by the servo drive Mounting Instructions BL 4000 M and BL 4000 D Page 39 of 95 ...

Страница 40: ...L encoder is used this encoder is also connected via X6 Configuration on the device X6 Intercontec 615 915 ytec Double Receptacles angled rotatable EEDA107NN00000002000 with Inserts 60 251 11 and 60 252 11 Mating connector X6 Intercontec 615 915 ytec Double Receptacles angled rotatable ESTA201MR01320500000 with Inserts 61 231 11 and 61 232 11 Pin assignment motor with a motor temperature sensor Fi...

Страница 41: ...s also possible to use comparable cables from other manufacturers for example Lütze or Helukabel For fixed installation LAPP KABEL ÖLFLEX SERVO 719 CY For highly flexible use drag chains LAPP KABEL ÖLFLEX SERVO FD 796 CP Device type Cable type Specification U V W PE BL 4104 D 4 G 1 0 2 x 2 x 0 75 4 x 1 0 mm AWG 18 Comply with the required minimum cross section Always observe the minimum cross sect...

Страница 42: ... electrical voltage The signals for the temperature sensor MT and MT at the motor connector X6 must be connected to protective extra low voltage PELV on the motor side and they must be insulated against the motor phases Risk of injury The brake output of the servo drive BR BR must not be used as the sole stop element in safety oriented applications Risk of destruction due to the mix up of connecto...

Страница 43: ...ed via the encoder interface at X2 Label B This is described in section 5 11 Connector BL 4000 M resolvers and encoder X2 on page 53 Figure 17 Threaded terminals motor X6 holding brake plug X6B and angle encoder plug X2 Configuration on the device X6 Threaded terminals M4 Mating connector X6 Cable lug standard e g Weitkowitz 13015 M4 4mm Angled cable lug 90 e g Weitkowitz 13115 M4 4mm Screw hexago...

Страница 44: ...ply with the required minimum cross section Always observe the minimum cross sections for the lines U V and W Connection notes X6 Connect the motor phases U V W to the threaded terminals with standard or angled cable lugs For optimum conductivity the cable lug must rest directly on the screw terminal and be screwed tight with an M4x10 screw with a tightening torque of 2 Nm A suitable clamping wash...

Страница 45: ...oder is used this encoder is also connected via X6 Configuration on the device X6 X6A X6 Intercontec 615 915 ytec Double Receptacles angled rotatable EEDA107NN00000002000 with Inserts 60 252 11 X6A Amphenol RT00164SNH03 X6A Inserts female SC000519S Mating connector X6 X6A X6 Intercontec 615 915 ytec Stecker ESTA201MR01320500000 with 4x Inserts 61 232 11 X6A Amphenol RT06164PNH Gasket X6A Amphenol ...

Страница 46: ... Motor phase U 2 V Motor phase V 3 W Motor phase W Pin X6 Name Specification 1 MT 2 MT DSL HIPERFACE DSL 3 BR Holding brake 4 BR Holding brake 5 DSL HIPERFACE DSL Cable type and configuration X6 und X6A The cable names that are stated refer to cables made by Lapp However it is also possible to use comparable cables from other manufacturers for example Lütze or Helukabel X6 LAPP UNITRONIC LiYCY TP ...

Страница 47: ...fications An existing holding brake in the motor must be connected to the terminals BR and BR Please note the maximum output current that is provided by the servo drive Risk of injury The brake output of the servo drive BR BR must not be used as the sole stop element in safety oriented applications Risk of destruction due to the mix up of connectors The servo drive may be irreparably damaged if th...

Страница 48: ...ror signal can be evaluated by digital as well as analogue incremental encoders In the case of analogue incremental encoders the evaluation is only possible if no commutation track Z1 is parameterised and connected The evaluation of the error signal can be inverted With all encoders except resolvers and analogue Hall encoders the supply voltage of the angle encoder can be set This must be set corr...

Страница 49: ...nment resolvers Figure 22 Pin assignment resolvers X2 Pin Name Specification 1 R2 Carrier signal for the resolver 3 R1 5 S4 SIN SINE track signal differential Analogue Hall sensor SINE 7 S2 SIN 9 S3 COS COSINE track signal differential Analogue Hall sensor COSINE 11 S1 COS 6 MT Motor temperature sensor normally closed contact PTC NTC KTY A GND Temperature sensor reference potential Mounting Instru...

Страница 50: ...l differential of the high resolution incremental encoder 1 N 12 COS_Z1 D COSINE commutation signal differential of the high resolution incremental encoder 10 COS_Z1 D 8 SIN_Z1 C SINE commutation signal differential of the high resolution incremental encoder 2 SIN_Z1 C AS NAS 11 COS_Z0 B COSINE track signal differential of the high resolution incremental encoder 9 COS_Z0 B 7 SIN_Z0 A SINE track si...

Страница 51: ...ature sensor normally closed contact PTC NTC KTY 12 DATA SL Bidirectional RS485 data line differential EnDat HIPERFACE BISS 10 DATA SL 8 SCLK MA Clock pulse output RS485 differential EnDat BiSS 2 SCLK MA 11 COS_Z0 B COSINE track signal differential of the high resolution incremental encoder 9 COS_Z0 B 7 SIN_Z0 A SINE track signal differential of the high resolution incremental encoder 5 SIN_Z0 A M...

Страница 52: ...digital incremental encoder 9 A Ua1 7 B Ua2 B track signal RS422 differential of the digital incremental encoder 5 B Ua2 Cable type and configuration X2 The cable names that are stated refer to cables made by Lapp However it is also possible to use comparable cables from other manufacturers for example Lütze or Helukabel Resolvers analogue Hall generators LAPP ÖLFLEX SERVO 728 CY 3 x 2 x 0 14 2 x ...

Страница 53: ...rs with a serial interface RS485 level e g EnDat HIPERFACE BISS l Digital incremental encoders RS422 HALL sensors It is also possible to evaluate an optional error signal AS NAS With some incremental encoders it is possible to detect and signal soiling or other faults malfunctions of the measuring system via an output AS or NAS The error signal can be evaluated by digital as well as analogue incre...

Страница 54: ...ServoCommander parameterisation software and select the Parameters Device parameters Angle encoder settings Figure 27 Angle encoder settings Parameterisation of supply voltage Pin assignment resolvers Figure 28 Pin assignment resolvers X2 Pin Name Specification 1 R2 Carrier signal for the resolver 3 R1 5 S4 SIN SINE track signal differential Analogue Hall sensor SINE 7 S2 SIN 9 S3 COS COSINE track...

Страница 55: ...nal differential of the high resolution incremental encoder 1 N 12 COS_Z1 D COSINE commutation signal differential of the high resolution incremental encoder 10 COS_Z1 D 8 SIN_Z1 C SINE commutation signal differential of the high resolution incremental encoder 2 SIN_Z1 C AS NAS 11 COS_Z0 B COSINE track signal differential of the high resolution incremental encoder 9 COS_Z0 B 7 SIN_Z0 A SINE track ...

Страница 56: ...erature sensor normally closed contact PTC NTC KTY 12 DATA SL Bidirectional RS485 data line differential EnDat HIPERFACE BISS 10 DATA SL 8 SCLK MA Clock pulse output RS485 differential EnDat BiSS 2 SCLK MA 11 COS_Z0 B COSINE track signal differential of the high resolution incremental encoder 9 COS_Z0 B 7 SIN_Z0 A SINE track signal differential of the high resolution incremental encoder 5 SIN_Z0 A...

Страница 57: ...ase V of the Hall sensor for commutation 8 HALL_W Phase W of the Hall sensor for commutation 11 A Ua1 A track signal RS422 differential of the digital incremental encoder 9 A Ua1 7 B Ua2 B track signal RS422 differential of the digital incremental encoder 5 B Ua2 Cable type and configuration X2 As only short cables are used for the motor installation variant shielded and twisted cables can usually...

Страница 58: ...wiring of the servo drive and motor compensating electric current may flow via the connected computer and the USB interface This may lead to communication problems To avoid this we recommend using an electrically isolated USB adapter Delock USB Isolator type 62588 by Delock or a comparable adapter Use USB only during commissioning The USB interface should only be used during commissioning and not ...

Страница 59: ...act SACC CIP M8FSD 4P SMD SH R32 1068454 Mating connector X21 X22 Assembled network cable Phoenix Contact M8 plug to M8 plug NBC M8MSD 1 0 93C M8MSD 1423707 M8 plug to RJ45 NBC M8MSD 1 0 93C R4AC 1423711 Pin assignment of the real time Ethernet connector X21 X22 Figure 33 Pin assignment of the real time Ethernet connector Pin Name Description Colour 1 TD Transmission signal Yellow 2 RD Reception s...

Страница 60: ...both ends The servo drive provides a 5 V auxiliary voltage to supply external encoders connected to the master frequency input The differential signals of the master frequency interface A A and B B should each be routed in a twisted pair of wires If a 24V auxiliary supply is needed one of the digital outputs can be permanently configured to On This can be used for example to supply an external swi...

Страница 61: ...r signal A stepper motor signal CLK 12 A CLK Incremental encoder signal A stepper motor signal CLK 13 B DIR Incremental encoder signal B stepper motor signal DIR 14 B DIR Incremental encoder signal B stepper motor signal DIR 15 5 V Encoder supply see pin 11 to 14 16 AIN Analogue input input voltage 30 V max 17 GND Reference potential for Analogue input Cable type and configuration X1 The specified...

Страница 62: ...tion 9 2 CE conformity Machinery Directive on page 90 UL Recognised according to UL 61800 5 1 C22 2 No 274 13 See section 9 3 cURus certification on page 92 and section 5 2 Additional requirements for the UL approval on page 29 Ambient conditions Characteristic Value Storage temperature 25 C to 70 C Ambient temperature 0 C to 30 C BL 4104 D 0 C to 40 C up to 50 C with a power reduction of 2 5 K Pe...

Страница 63: ...mum housing temperature Depending on the installation the servocontroller is additionally heated by the motor for example The following housing temperatures must not be exceeded under any circumstances Characteristic BL 4840 M BL 4840 D BL 4104 M BL 4104 D Maximum housing temperature 82 C 81 C 85 C 93 C Dimensions and weight Characteristic BL 4000 M BL 4000 D Dimensions including the mounting plat...

Страница 64: ... of 230 V and power factor 0 6 Supply with low voltage If low voltage operation is necessary we recommend using a series transformer or isolating transformer for decreasing the voltage DC supply The BL 4100 M BL 4100 D servo drives cannot be supplied with DC voltage via the DC link terminals nor via L1 N DC supply Internal braking resistor Characteristic Value Braking resistor 47 Ω Peak power 4 kW...

Страница 65: ...4800 D Danger of destroying the power supply unit During braking a high voltage can be present at X9 which can destroy the power supply unit To prevent this the switch off threshold in case of overvoltage must be suitably parameterised see section Power supply via main power unit in the Product manual smartServo BL 4000 D smartServo BL 4000 M High charging current when battery is connected When co...

Страница 66: ...rmity Machinery Directive on page 90 Proof testing of the STO function Comply with the following test intervals in order to reach the specified values l For SIL 2 PL d category 3 1x per year l For SIL 3 PL e category 3 every 3 months l For SIL 3 PL e category 4 daily 6 4 1 Electrical data of the STO function Control inputs STOA STOB X3 Characteristic Value Nominal voltage 24 V referred to GNDA GND...

Страница 67: ...ir functionality which is why the switching sequence of STOA STOB is interchangeable in all of the diagrams 6 4 2 1 Time response of the STO activation during operation with a restart The illustration shows the time response starting with the disconnection of the control voltage at STOA B and the sequence that is necessary for restarting the device l The actuation of the holding brake is realised ...

Страница 68: ... 5 ms tSTOA BON STOA B switching time from low to high 0 6 ms typ 1 ms max tDRV Delay of the internal sequence control of the servo drive 10 ms max tENABLO Time that the servo drive enable signal DIN5 or bus enable signal must be low before STOA B will be activated 0 tENABHI Time that the servo drive enable signal DIN5 or bus enable signal must be low after STOA B has been reactivated and the stat...

Страница 69: ...during operation with a restart Figure 36 Time response during the activation of the SS1 safety function external switching with a restart A see section 0 1 Operating mode and error indication on page 1 Mounting Instructions BL 4000 M and BL 4000 D Page 69 of 95 ...

Страница 70: ...est pulse duration on page 67 Maximum response time 5 ms tSTOA BON STOA B switching time from high to low 0 6 ms typ 1 ms max tDRV Delay of the internal sequence control of the servo drive 10 ms max tENABHI Time that DIN5 must be low after STOA B has been reactivated and the status of the STO circuit has changed 20 ms tA Switch off delay of the holding brake Parameterisable1 tF Switch on delay of ...

Страница 71: ...higher the output current is the shorter the permissible time will be l Clock frequency of the power output stage The higher the clock frequency is the shorter the permissible time will be The current derating begins as of a PWM frequency of 10 kHz fPWM and is linear between the reference values that are stated in the following table PWM frequency fPWM BL 4104 M BL 4104 D Inominal Imax 10 kHz 4 A ...

Страница 72: ... the product manual Characteristic Value Sensor type Analogue Sensor type Silicon temperature sensor PTC NTC e g KTY84 130 or similar Characteristic curve Linear non linear parameterisable 10 nodes Measuring range from 300 Ω to 20 kΩ 10 Output voltage 3 3 V Output current 1 7 mA max via 2 kΩ measuring resistor Internal resistance approx 2 kΩ Output for the holding brake in the motor Characteristic...

Страница 73: ...fication RS485 Baud rate 9 37 MHz Frame rate 12 1 to 27 µs Supply voltage 10 V 250 mA Supported transfer modes Transfer of short and long messages with storage of the set of parameters in the encoder Characteristic impedance of the cable and line termination 110 Ω Mounting Instructions BL 4000 M and BL 4000 D Page 73 of 95 ...

Страница 74: ...e output current is the shorter the permissible time will be l Clock frequency of the power output stage The higher the clock frequency is the shorter the permissible time will be The current derating begins as of a PWM frequency of 10 kHz fPWM and is linear between the reference values that are stated in the following table PWM frequency fPWM BL 4840 M BL 4840 D Inominal Imax 10 kHz 40 A 120 A 16...

Страница 75: ...nal resistance approx 2 kΩ Output for the holding brake in the motor Characteristic Value Nominal voltage 24 V Nominal current 700 mA total of all digital outputs and of the holding brake max 900 mA Voltage drop referred to the 24 V input with a load current of 2 A approx 0 5 V Overload protection Yes current limitation to 2 A max Overvoltage protection up to 60 V Internal flyback diode Yes HIPERF...

Страница 76: ... 5 6 Veff short circuit proof Excitation impedance at 10 kHz 4 Ω Stator impedance 30 Ω Measuring range for Hall sensors 6 Vss Resolution 14 bits Signal detection delay 200 µs Speed resolution approx 5 rpm Actual speed value filter 400 µs Absolute angle detection accuracy 0 022 Max speed 16 000 rpm Power supply output The power supply for the encoders can be changed Risk of destruction due to exces...

Страница 77: ... up Track signal input impedance Differential input ca 400 Ω Limit frequency 10 MHz Analogue incremental encoders with commutation signals Analogue incremental encoders with RS422 compatible 1 VSS signals e g ERN 1387 can be connected Characteristic Value Parameterisable number of encoder lines 1 to 218 lines revolution High position resolution of the AB track Z0 and commutation track Z1 12 bits p...

Страница 78: ...HIPERFACE l Digital incremental encoder CDD 50 Characteristic Value Parameterisable number of encoder lines Depending on the encoder Track signals A B Z0 track As per RS485 Input 0 4 V output 0 8 V to 2 V Hall generator input TTL level 0 5 V Low 2 V Hi 2 kΩ pull up Error input AS NAS TTL level 0 5 V Low 2 V Hi 2 kΩ pull up Track signal input impedance Differential input 120 Ω Limit frequency Up to...

Страница 79: ...USB X19 Communication interface Value Function USB 2 0 USB B slave client Connector type USB B Current consumption None self powered Protocol Manufacturer specific generic device 6 9 Realtime Ethernet X21 X22 At present the servo drives of the BL 4000 M BL 4000 D series support the following fieldbuses and application protocols Fieldbus Profile PROFINET Manufacturer specific protocol based on PROF...

Страница 80: ...in total including the brake output Digital inputs Characteristic Value Nominal voltage 24 V as per DIN EN 61131 2 10 V low 15 30 V high Current consumption 3 2 mA max The mode of operation of the digital inputs can be configured to a large extent The default setting is stated in brackets Characteristic Value Filter time Max jitter DIN0 DIN3 Freely configurable position selector 4 x tx 1 x tx DIN4...

Страница 81: ...put or open collector outputs If TTL encoders are used it must be taken into consideration that the hysteresis is negligible In addition the requirements concerning the signal shield must be fulfilled As an alternative the A and B track signals of the device are interpreted as pulse direction signals by the device so that the servo drive can also be controlled by stepper motor control boards Ensur...

Страница 82: ...the angle of rotation of the encoder with a freely programmable line count Please also note that the track signals will not be automatically output with a constant frequency They may also be generated as so called pulse packets depending on the covered rotational angle of the source This means that the interface for any downstream circuits must be suitable for incremental encoders As a result the ...

Страница 83: ...interpolation cycle time matrix tp Figure 37 Filter time mechanism in the case of digital inputs Parameter Max Maximum delay until the start of a position set becomes active tstart 5 tx tp Current rise time with current feedforward control tn ti tpwm ti Current controller cycle time typically 50 µs tx position controller cycle time typically 200 µs with a current controller cycle time ti of 50 µs ...

Страница 84: ... the firmware tDOUT_ON tDOUT_OFF tx DOUT tHW ON typically 100 µs DOUT tHW OFF typically 300 µs tRISE typically 100 ms with 2 A and inductive load tFALL typically 100 ms with 2 A and inductive load tx position controller cycle time typically 200 µs with a current controller cycle time ti of 50 µs Mounting Instructions BL 4000 M and BL 4000 D Page 84 of 95 ...

Страница 85: ... power ON tboot 4 s Encoder start time tenc 0 7 s resolver 2 s HIPERFACE DSL DC bus charging time tUZK 1 s Output stage active after servo drive enabling tRF 6 ms Movement start delay tF parameterisable 0 32 s Stop delay tA parameterisable 0 32 s Detection of mains power OFF tNoff 0 6 s Mounting Instructions BL 4000 M and BL 4000 D Page 85 of 95 ...

Страница 86: ...e l Transport the servo drive only in its original packaging l Use only suitable transport equipment l Use suitable personal protective equipment l If you notice that the packaging is damaged notify the carrier without delay Then inspect the servo drive for any signs of external or internal damage Transport damage Dangerous electrical voltage Transport damage to the servo drive may compromise the ...

Страница 87: ...ly if this is the case Repair Opening the device is not permissible and will render the warranty null and void Only the manufacturer is authorised to perform repairs Please contact your sales partner Disposal removal decommissioning replacement Dangerous electrical voltage Following the instructions stated hereinbelow to ensure the safe decommissioning of the servo drive l Switch the power supply ...

Страница 88: ...9 Appendix 9 Appendix 9 1 CE conformity EMC RoHS Low Voltage Directive BL 4100 M BL 4100 D Mounting Instructions BL 4000 M and BL 4000 D Page 88 of 95 ...

Страница 89: ...9 Appendix BL 4800 M BL 4800 D Mounting Instructions BL 4000 M and BL 4000 D Page 89 of 95 ...

Страница 90: ...9 Appendix 9 2 CE conformity Machinery Directive BL 4000 M BL 4000 D Mounting Instructions BL 4000 M and BL 4000 D Page 90 of 95 ...

Страница 91: ...9 Appendix Mounting Instructions BL 4000 M and BL 4000 D Page 91 of 95 ...

Страница 92: ...9 Appendix 9 3 cURus certification BL 4000 M BL 4000 D Mounting Instructions BL 4000 M and BL 4000 D Page 92 of 95 ...

Страница 93: ...9 Appendix Mounting Instructions BL 4000 M and BL 4000 D Page 93 of 95 ...

Страница 94: ...9 Appendix Mounting Instructions BL 4000 M and BL 4000 D Page 94 of 95 ...

Страница 95: ...9 Appendix Mounting Instructions BL 4000 M and BL 4000 D Page 95 of 95 ...

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