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Function overview

Page 48

Product Manual

“Servo drive DIS-2 310/2 FB FS STO“

Version 4.0

5.3

Positioning mode

In the positioning mode, a positioning control is superimposed on the speed control. In the positioning

mode, a certain position is specified. The motor has to move to this position automatically, i.e. without

help from an external control system. In this operating mode, the controller cascade in the DIS-2 310/2

FB FS STO is extended as shown in

Figure 3



The position controller is a proportional controller (short: P controller). The current position is

determined based on the information that is provided by the internal encoder evaluation. The

position deviation is processed in the position controller and passed on to the speed controller as a

speed setpoint.



The trajectory generator calculates the motion profile that is needed to reach the target based on

the current position and speed. It provides the position setpoint for the position controller and a

pilot speed for the speed controller in order to improve the control dynamics for rapid positioning

processes.



The positioning control provides numerous messages that are required for the external control

system, e.g. a target-reached message and a following error message.

position

controller

trajectory generator

speed

setpoint

position
setpoint

x actual

speed feed

forward

target reached

POS

position

parameters

temp. data set

positioning

start

remaining distance

message

correction speed

dead range

following error

monitoring

following error

Position parameters of:
- positioning unit
- fieldbus
- homing
- path program

Figure 3:

Positioning control block diagram

Contrary to many competitor products, the DIS-2 310/2 FB FS STO recalculates the

entire movement during every control cycle. With this concept, positioning processes can

be changed or aborted at any time even during the movement.

This concept can be realised thanks to the high level of performance of the Motion-

Control-DSP that is used for the control process in the DIS-2 310/2 FB FS STO.

Содержание DIS-2 310/2 FB FS STO

Страница 1: ...geräte und Elektronik GmbH Phone 49 0 531 8668 0 Kocherstraße 3 Telefax 49 0 531 8668 555 38120 Braunschweig E Mail vertrieb metronix de Germany http www metronix de Product Manual Servo drive DIS 2 310 2 FB FS STO ...

Страница 2: ... described in the user documentation Metronix does not guarantee that the products meet the buyer s demands and purposes or that they work together with other products selected by the buyer Metronix does not assume any liability for damages resulting from the combined use of its products with other products or resulting from improper handling of machines or systems Metronix Meßgeräte und Elektroni...

Страница 3: ...IS 2 310 2 FB FS STO Version 4 0 Revision Information Author Metronix Meßgeräte und Elektronik GmbH Manual title Product Manual Servo drive DIS 2 310 2 FB FS STO File name P HB_DIS 2_310_2_FB FS STO_4p0_EN docx Version 4 0 November 2018 ...

Страница 4: ...ELV 25 2 4 5 Protection against dangerous movements 26 2 4 6 Protection against contact with hot parts 27 2 4 7 Protection during handling and assembly 28 3 PRODUCT DESCRIPTION 29 3 1 General 29 3 1 1 Basic information 29 3 1 2 Area of application and intended use 29 3 1 3 Performance characteristics of the DIS 2 310 2 FB FS STO 30 3 2 Power supply 32 3 2 1 Single phase AC power supply 32 3 2 2 In...

Страница 5: ... Relative positioning 50 5 3 3 Absolute positioning 50 5 3 4 Motion profile generator 50 5 3 5 Positioning sequences 51 5 3 6 Software limit switches 52 5 3 7 Brake management 52 5 4 Synchronisation electronic gear unit 52 5 4 1 Pulse direction interface 52 5 5 Use of digital and analogue inputs and outputs 52 5 6 Jogging and teaching 52 6 FUNCTIONAL SAFETY TECHNOLOGY 53 6 1 General intended use 5...

Страница 6: ...ION 75 7 1 Important notes 75 7 2 Position and alignment of the connectors 75 7 2 1 Connectors on the main board 76 7 2 2 Connectors for the fieldbus interfaces and RS232 interface CANopen PROFIBUS or EtherCAT 76 7 3 Dimensions of the housing 77 7 4 Mounting 78 8 ELECTRICAL INSTALLATION 82 8 1 Connection to power supply control and motor 82 8 2 Connectors on the basic device DIS 2 310 2 FB FS STO ...

Страница 7: ... 2 FB FS STO servo drive to the power supply and to the control panel or control unit 103 9 5 Connecting the PC 103 9 6 Checking whether the system is ready for operation 104 10 SERVICE FUNCTIONS AND ERROR MESSAGES 105 10 1 Protection and service functions 105 10 1 1 Overview 105 10 1 2 Overcurrent and short circuit monitoring 106 10 1 3 Monitoring of the intermediate circuit voltage 106 10 1 4 Lo...

Страница 8: ...atus window with the state Normal operation 70 Figure 14 General Status window Safety module Status window and Error messages warnings window with the state Error 71 Figure 15 General Status window and Safety module Status window with the state Safe state reached 72 Figure 16 Safety module Parameters window 72 Figure 17 Arrangement of the connectors DIS 2 310 2 FB FS STO Top view of the device 75 ...

Страница 9: ...ke resistor 90 Figure 30 Position and connection technology module interface 91 Figure 31 Position and connection STO signals X40 and X40A 93 Figure 32 Position and connection RS232 interface 95 Figure 33 Position and connection CAN interface 97 Figure 34 Position and connection PROFIBUS interface 98 Figure 35 Position and connection EtherCAT interface 99 ...

Страница 10: ... Technical data Evaluation of Incremental encoder X2 38 Table 14 Technical data Evaluation of HIPERFACE Encoders X2 39 Table 15 Technical data RS232 X5 40 Table 16 Technical data Digital inputs and outputs X1 40 Table 17 Technical data Analogue inputs and outputs X1 41 Table 18 Technical data Incremental encoder input X1 DIN4 DIN5 DIN6 42 Table 19 Technical data Incremental encoder output X1 DOUT1...

Страница 11: ...able 36 Pin assignment X8 91 Table 37 Pin assignment X40 94 Table 38 Pin assignment X40A 94 Table 39 Pin assignment X5 95 Table 40 Pin assignment to set up an RS232 adapter cable for connection to a PC notebook 96 Table 41 Pin assignment X401 and X402 97 Table 42 Pin assignment X401 and X402 98 Table 43 Pin assignment X401 and X402 99 Table 44 Error overview 110 ...

Страница 12: ... of the implemented PROFIBUS DP protocol EtherCAT Manual Servo drive DIS 2 Description of the implemented EtherCAT protocol German version User Manual DIS 2 48 10 DIS 2 48 10 IC DIS 2 48 10 FB Description of the device functionality and the software functionalities of the firmware including the RS232 communication Description of the parameterisation program DIS 2 ServoCommander TM with instruction...

Страница 13: ...device interface M12 circular connector for rear panel installation 1x Counterplug for the STO interface Table 2 Scope of supply DIS 2 310 2 FB FS STO PROFIBUS 1x Servo drive DIS 2 310 2 FB FS STO PROFIBUS Metronix part number 9019 3103 14 1x STO connection cable pre fabricated on both sides with the device interface M12 circular connector for rear panel installation 1x Counterplug for the STO int...

Страница 14: ...RICON counterplug for DIS 2 310 2 FB FS STO 2x 8 pole VARICON counterplug incl sleeve frame sleeve housing and EMC cable gland Metronix part number 9019 3120 01 1x Control panel DIS 2 310 2 FB FS STO Metronix part number 9019 0330 00 1x Line filter Metronix END 230 4 Necessary to fulfil the EMC directive EN 61800 3 conducted interference 1 st environment category C1 Metronix part number 9504 0005 ...

Страница 15: ...llux PLR 100 61 41 100 10 30 W 100 W continuous power output dimensions 61 mm x 40 5 mm height approx 1 5 mm in the area of the connecting cables height approx 4 mm with strands l 105 mm connector by JST VHR 2N and contacts SVH 41T P1 1 Metronix part number 9519 0002 00 1x Parameterisation program DIS 2 ServoCommander TM Metronix part number 9019 0900 00 ...

Страница 16: ...ety notes for electrical drives and controllers 2 1 Used symbols Information Important information and notes Caution Nonobservance may result in severe property damages DANGER Nonobservance may result in property damages and in personal injuries Caution Dangerous voltages The safety note indicates a possible perilous voltage ...

Страница 17: ...roduct as well as all warnings and precautions as per the instructions in this manual and who are sufficiently qualified in their field of expertise Education and instruction or authorisation to switch devices systems on and off and to ground them as per the standards of safety engineering and to efficiently label them as per the job demands Education and instruction as per the standards of safety...

Страница 18: ... safety and warranty reasons Professional control process design is a prerequisite for sound functioning of the servo drive DANGER Inappropriate handling of the servo drive and non compliance with the warnings as well as inappropriate intervention in the safety features may result in property damage personal injuries electric shock or in extreme cases even death ...

Страница 19: ...currents Danger to life or serious personal injury from electrical shock DANGER High electrical voltage caused by wrong connections Danger to life or serious personal injury from electrical shock DANGER Surfaces of device housing may be hot Risk of injury Risk of burning DANGER Dangerous movements Danger to life serious personal injury or property damage due to unintentional movements of the motor...

Страница 20: ...ts Preventive interference rejection measures should be taken for control panels such as connecting contactors and relays using RC elements or diodes The safety rules and regulations of the country in which the device will be operated must be complied with The environment conditions defined in the product documentation must be kept Safety critical applications are not allowed unless specifically a...

Страница 21: ...61800 3 Adjustable speed electrical power drive systems Part 3 EMC requirements and specific test methods EN 61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety requirements Electrical thermal and energy EN 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Functional EN ISO 12100 Safety of machinery General principles for design Risk asses...

Страница 22: ...on Keep the electrical equipment voltage free using the main switch and protect it from being switched on again until the DC bus circuit is discharged in the case of Maintenance and repair work Cleaning long machine shutdowns Prior to carrying out maintenance work make sure that the power supply has been turned off locked and the DC bus circuit is discharged The external or internal brake resistor...

Страница 23: ...work in the machine area only if AC and or DC supplies are switched off Switched off output stages or servo drive enablings are no suitable means of locking In the case of a malfunction the drive may accidentally be put into action This does not apply to drives with the Safe Torque Off STO feature see chapter 6 Initial operation must be carried out with idle motors to prevent mechanical damages fo...

Страница 24: ...idental contact Rack mounted devices must be protected against accidental contact by means of a housing for example a switch cabinet The national regulations for safety accident prevention must be complied with Always connect the ground conductor of the electrical equipment and devices securely to the mains supply Comply with the minimum copper cross section for the ground conductor over its entir...

Страница 25: ...ence with the following standards International IEC 60364 4 41 European countries within the EU EN 61800 5 1 DANGER High electrical voltages due to wrong connections Danger to life risk of injury due to electrical shock Only devices and electrical components and wires with a protective extra low voltage PELV may be connected to connectors and terminals with voltages between 0 to 50 Volts Only conn...

Страница 26: ...personal protection particularly the danger of personal injury and or property damage this may not be relied on exclusively Until the built in monitors come into effect faulty drive movements must be taken into account their magnitude depends on the type of control and on the operating state DANGER Dangerous movements Danger to life risk of injury serious personal injuries or property damage For t...

Страница 27: ...with hot parts DANGER Housing surfaces may be hot Risk of injury Risk of burning Do not touch housing surfaces in the vicinity of heat sources Danger of burning Before accessing devices let them cool down for 10 minutes after switching them off Touching hot parts of the equipment such as the housing which contain heat sinks and resistors may cause burns ...

Страница 28: ...g cutting crushing The following general safety notes apply Comply with the general setup and safety regulations on handling and assembly Use suitable assembly and transportation devices Prevent incarcerations and contusions by means of suitable protective measures Use suitable tools only If specified use special tools Use lifting devices and tools appropriately If necessary use suitable protectiv...

Страница 29: ...Off Figure 1 Type key 3 1 2 Area of application and intended use The DIS 2 310 2 FB FS STO servo drive was designed for the decentralised control of three phase permanent magnet synchronous machines Thanks to numerous encoder feedback options and various control methods such as block commutation and sine commutation the servo drive can be adapted optimally to the motor characteristics The servo dr...

Страница 30: ... 3 Performance characteristics of the DIS 2 310 2 FB FS STO The DIS 2 310 2 FB FS STO has the following performance characteristics Compact design the housing closed on five sides can be mounted on the motor either directly or by way of an adapter plate see section 7 4 Mounting Highly precise control thanks to a high quality sensor system Full integration of all of the components of the controller...

Страница 31: ... reference point Point to point positioning with or without smooth position transitions Speed and angle synchronous operation with an electronic gear unit Numerous homing methods Integrated path program to create simple positioning sequences with or without dependence on digital inputs Jogging mode Teach in mode Short cycle times 100 µs in the current control circuit 200 µs in the speed control ci...

Страница 32: ...on If possible a two pole circuit breaker 10 A with delayed action B10 should be installed in the mains power supply line see also section 8 1 Connection to power supply control and motor 3 3 Brake chopper The DIS 2 310 2 FB FS STO servo drive has an integrated brake chopper A braking resistor is available as an accessory part see also section 1 2 Scope of supply in the form of a plate type resist...

Страница 33: ...US The PROFIBUS communication is realised in accordance with DP V0 For drive applications the functions are available based on PROFIDRIVE version 3 1 The functionality includes functions in accordance with application class 1 speed control and application class 3 point to point positioning In addition it is possible to integrate the device into a control system by way of an I O image via PROFIBUS ...

Страница 34: ... switches can be used as a reference point for positioning control One input is used for enabling the servo drive The DIS 2 310 2 FB FS STO servo drive has two analogue inputs for input levels in the range of 10 V to 10 V Both inputs are differential inputs 12 bits in order to guarantee a high level of interference immunity The analogue signals are quantised and digitised by the analogue digital c...

Страница 35: ...ve msl above 1000 m above msl with power reduction 1 per 100 m Humidity Relative humidity up to 90 no bedewing Protection degree IP54 dependent on mounting IP67 may be achieved Protection class I Pollution degree 2 EC type examination for integrated safety function Safe Torque Off STO See chapter 6 CE conformity Low voltage directive EMC directive Interference emission Interference immunity Direct...

Страница 36: ...unting plate Type PLR of Metallux Metronix order no 9519 0002 00 Resistance 100 Continuous power pulse power 30 W 1450 W 1 An external fuse B10 is recommended see section 3 2 3 2 Current consumption of the DIS 2 310 2 without additional wiring 3 Maximum admissible current consumption of an optional holding brake 4 Maximum current consumption when DOUT0 to DOUT2 and the CAN bus are active 4 3 Motor...

Страница 37: ...ry encoder interface Resolvers Analogue Hall sensors Digital Hall sensors six step encoders Incremental encoders with digital Hall sensors Stegmann incremental encoders single turn and multi turn absolute encoders with a HIPERFACE interface The parameterisation of the relevant encoder evaluation in the servo drive is performed with the aid of the parameterisation software DIS 2 ServoCommander TM T...

Страница 38: ...t your local supplier Table 12 Evaluation of Six Step Sensors Hall and block commutation mode X2 Parameter Values Suitable Hall sensors Hall sensors with 5V supply 120 phase shift between phases open collector or push pull output iout 5 mA Resolution 6 steps per electric turn Delay time signal detection 200 µs Speed resolution Depends on number of poles of the motor Max rotational speed 3 000 min ...

Страница 39: ...tegmann HIPERFACE SCS60 70 SCM60 70 SRS50 60 SRM50 60 SNS50 60 SKS36 SKM36 SEK 34 37 52 SEL 34 37 52 for other types please contact your supplier Resolution Up to 16 Bit depends on number of increments Delay time signal detection 200 µs Speed resolution approx 4 min 1 Absolute accuracy of angle detection 5 Max rotational speed 6 000 min 1 3 000 min 1 at 1024 increments revolution ...

Страница 40: ...remental input A signal Bit 4 Target selection for positioning 4 target groups with separate positioning parameter Bit 5 selectable e g speed acceleration DIN5 usable as incremental input B signal DIN6 usable as incremental input N signal Control signal start positioning DIN7 End switch input 0 DIN8 End switch input 1 DIN9 Servo drive enable at high signal acknowledge error with falling edge Logic...

Страница 41: ...10V input range 12 Bit resolution differential 250µs delay time Input protection up to 30V Analogue input AIN0 AIN0 Analogue input usable as input for current or speed setpoint Pins shared with DIN0 and DIN1 Analogue input AIN1 AIN1 Analogue input usable as input for current or speed setpoint Pins shared with DIN2 DIN3 Analogue output AMON0 0 10V output range 8 Bit resolution fLimit 1kHz ...

Страница 42: ...30V active high following DIN EN 61131 2 Max input frequency FLimit 50 kHz lines s fLimit depending on input filter data measured with RInput 13 3 k and CInput 470 pF The output provides incremental encoder signals that can be processed in superordinate control systems The signals are generated based on the angle of rotation of the encoder with a freely programmable line count The emulation provid...

Страница 43: ...High tSTO1 ON 5 ms typical maximum 10 ms Switch on time STO2 from Low to High tSTO1 ON 10 ms typical maximum 15 ms Switch off time STO1 from High to Low tSTO1 OFF 5 ms typical maximum 10 ms Switch off time STO2 from High to Low tSTO2 OFF 55 ms typical maximum 60 ms Maximum test impulse length STO1 2 for OSSD signals 19 2 V 24 V 28 8 V max 2 5 ms max 4 ms max 4 ms Table 21 Technical data Feedback c...

Страница 44: ... CANopen protocol as per DS301 and DSP402 Current consumption of the activated CAN technology module 5 mA 4 7 2 PROFIBUS X401 402 Table 23 Technical data PROFIBUS X401 X402 Communication interface Values Controller PROFIBUS controller VPC3 C max 12 MBaud Protocol PROFIBUS DP 32 byte telegrams with mode dependent structure Current consumption of the activated PROFIBUS technology module 20 mA 4 7 3 ...

Страница 45: ... setpoint sources are available 2 analogue inputs AIN 0 AIN 1 RS232 Fieldbus CANopen interface or PROFIBUS DP interface or EtherCAT interface Synchronisation input The block diagram Figure 2 shows the fundamental set up In the case of a rotor oriented control two phase currents and the rotor position are measured First the currents are transformed into an imaginary part and a real part with the he...

Страница 46: ...he accuracy of the torque control depends mainly on the motor and also on the sensor system that is used to measure the rotor position With a good synchronous machine a high resolution rotary encoder SINCOS encoder and good controller adjustment the DIS 2 can reach a torque ripple in the range of 1 to 3 referred to the maximum current or to the associated maximum torque of the motor In the speed c...

Страница 47: ...ieldbus pos contr Selector velocity controller n_set_pos Set point ramp d dt T n_ist U sin_res U cos_res Resolver analogue Hall sensor interpretation SinCos sensor Incremental sensor interpretation U sin_sc U cos_sc phi_mot N act eps_mot velocity filter d dt x act reference run fixed zero Sync RS232 fieldbus pos contr Selector correcting set point AIN1 RS232 fieldbus vel contr i_max Selector torqu...

Страница 48: ...ides the position setpoint for the position controller and a pilot speed for the speed controller in order to improve the control dynamics for rapid positioning processes The positioning control provides numerous messages that are required for the external control system e g a target reached message and a following error message position controller trajectory generator speed setpoint position setp...

Страница 49: ...message can be set for all of the 64 positions sets as a whole The maximum number of available position sets i e 16 or 64 can be set via the DIS 2 ServoCommander TM software In addition there are position data sets for fieldbus based positioning processes and for homing The positioning control thus supports point to point movements with zero final speed standstill at target Positioning processes c...

Страница 50: ... sequences are added to one another e g for a trimming unit or a conveyor belt endless positioning in one direction is possible chain dimension In order to add a follow up positioning run to the current target position while a positioning run is in progress the option relative referred to last target can be used In addition a positioning run in progress can be aborted by a new positioning run with...

Страница 51: ... sequences Positioning sequences consist of a series of position sets These are completed one after the other A standard position set can become part of a path program The result is an interlinked list of positions POS1 POS13 POS19 START END POS5 POS6 POS7 POS8 Figure 5 Path program The DIS 2 310 2 FB FS STO servo drive supports this type of linking of position sets to form a path program A detail...

Страница 52: ...gnal A and B single ended signal on the 24 V level If the DIS 2 310 2 FB FS STO servo drive is used as a slave A B and N single ended signals can be processed on the 24 V level This applies to the speed control and positioning modes The synchronisation input can be weighted with a gear factor In addition the line count of the incremental encoder emulation and of the incremental encoder input can b...

Страница 53: ...e in section 6 2 2 The machine stop must be initiated and ensured by the control system of the machine This applies particularly to vertical axes without a self locking mechanism or weight compensation Vertical axes require further safety measures Following a hazard analysis risk assessment in accordance with the machinery directive 2006 42 EC the machine manufacturer must plan the safety system f...

Страница 54: ...ation of the Safe Torque Off STO function Floating feedback contact for the operating status and diagnosis The STO function is integrated in the basic device The Safe Stop 1 SS1 function can be realised with a suitable external safety switching device and a suitable wiring of the DIS 2 310 2 FB FS STO basic device There are three suitable measures for realising the STO function Contactor between t...

Страница 55: ... torque and thereby neither any dangerous movements In the case of suspended loads or other external forces additional measures must be taken in order to prevent them from sagging e g mechanical holding brakes In the Safe Torque Off STO state the standstill position will not be monitored The machine must be stopped in a safe manner e g via a safety switching device This applies particularly to ver...

Страница 56: ...drivers In the permissible temperature range the configuration of the transfer circuit ensures that the signal is always a square wave signal during the operation When the driver supply is disconnected via STO2 the driver supply feedback signal assumes the logic state 1 For self diagnosis the enable signals STO1 and STO2 and the associated feedback signals will be checked for plausibility in the D...

Страница 57: ... for bridging the pins 1 3 and 5 in order to deactivate the STO function 6 2 3 Control inputs STO1 STO2 X40 The control inputs STO1 and STO2 are used for requesting the STO safety function Safe Torque Off via two channels They enable the direct connection of safe semiconductor outputs electronic safety switching devices active safety sensors e g light curtains with OSSD signals and switching conta...

Страница 58: ...ata in section 4 6 The permissible test pulse duration is slightly dependent on the control voltage level at the inputs STO1 and STO2 Example Input voltage for STO1 and STO2 24 V OSSD signals with a test pulse duration of 4 ms will be tolerated 6 2 4 Feedback contacts REL1 REL2 X40 If the STO function is not active the feedback contact is open This is the case for example if only one of the two co...

Страница 59: ...tions will be performed Detection of the PWM signal block by STO1 Detection of the disconnection of the driver supply for the power semiconductors by STO2 Deactivation of the drive control and also of the actuation of the power semiconductors PWM Deactivation of the actuation of the holding brake Evaluation of the actuation of the STO inputs discrepancy time Detection of application related error ...

Страница 60: ... Time Description Value tSTO1 ON STO1 switching time from low to high STO1 switch on time from low to high until the blocking of the PWM signal is deactivated section 4 6 tSTO2 ON STO2 switching time from low to high STO2 switch on time from low to high until the supply of the output stage drivers is available section 4 6 tSTO1 OFF STO1 switching time from high to low STO1 switch off time from hig...

Страница 61: ... data in Table 28 Notes The actuation of the holding brake is realised via the basic device and not in a safety oriented manner The holding brake will not be engaged until the speed is at 0 The illustration shows the coasting of the motor regardless of the activation deactivation of the brake The setpoint will not be enabled until the holding brake delay tV Brake OFF has elapsed Figure 8 Time beha...

Страница 62: ...tage drivers is no longer available section 4 6 tDIN9 low Time during which DIN9 must be low before STO1 2 will be switched on again 0 ms tV DIN9 low Delay during which DIN9 must still be low after STO1 2 have been switched on again and the status of the STO function has changed 5 ms tV Drive Internal delay due to the firmware 0 5 ms tV Brake ON Switch off delay of the holding brake time until the...

Страница 63: ...e time behaviour in Figure 9 is based on the SS1 example circuit in section 6 5 2 and on the control signal S1 for K1 You can find the time data in Table 29 Figure 9 Time behaviour when activating the safety function SS1 external switching with restart closed open servo drive enabling DIN9 speed Holding brake option servo drive enabling internal safety switching device ...

Страница 64: ...STO2 switch off time from high to low until the supply of the output stage drivers is no longer available At this point of time both signals are low depending on the switching sequence and switching time section 4 6 tV DIN9 low Delay during which DIN9 must still be low after STO1 2 have been switched on again and the status of the STO function has changed 5 ms tV Drive Internal delay due to the fi...

Страница 65: ...equest is realised via two channels and via the switch S1 As a result the output stage will be switched off via two channels Once the output stage has been switched off this is output by the floating contact REL1 REL2 1 2 3 4 5 L 230V AC N 230V AC PE 24V DC C6 C5 C4 B8 B4 L1 PE 24V GND N X1 A5 DIN9 X1 1 5 2 STO1 STO2 X40 Ausgang SPS Regler Freigabe Nur relevante Anschlüsse gezeichnet Ohne Querschl...

Страница 66: ...direct wiring of light grids the crossfault detection will be performed by the light grid provided that it is suitable for this purpose If safety switching devices are used the contacts REL1 and REL2 can be integrated in the feedback loop of the safety switching device The illustration shows the pin assignment of the STO connector X40 directly on the board and not the pin assignment of the circula...

Страница 67: ... and safe torque switch off SS1 Safe Stop 1 The safety function Safe Stop 1 SS1 type C can be requested by various devices Figure 11 The switch S1 in Figure 11 can be for example an emergency stop switch a switch of a protective door or a light curtain The safety request is realised via two channels and via the switch S1 towards the safety switching device The safety switching device switches the ...

Страница 68: ...g X1 A5 DIN9 off without delay and the inputs STO1 and STO2 X40 1 X40 5 with a delay The necessary delay depends on the application and must be determined specifically for the application The delay must be chosen so that even at top speed the drive is decelerated to zero speed by way of the quick stop ramp in the DIS 2 FB FS STO before STO1 2 are switched off The illustration shows the pin assignm...

Страница 69: ...back signals Option to parameterise the discrepancy time between STO1 and STO2 Support of the specified warnings and error messages Figure 12 Indication of the type of servo drive and extended status window 6 6 1 Servo drive type indication At the lower edge of the DSC main screen there is a status bar It shows the type of servo drive see Figure 12 6 6 2 Status indication of the state machine The ...

Страница 70: ...e DIS 2 FB FS STO The status results from an evaluation of the STO input signals and their respective feedbacks This window can be opened either via the menu Parameters Functional safety Status or via the Safety button in the quick access toolbar below menu bar see Figure 12 In order to emphasise its importance in view of the functional safety the Safety button is yellow The following shows the th...

Страница 71: ...onal safety technology Page 71 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 4 0 Figure 14 General Status window Safety module Status window and Error messages warnings window with the state Error ...

Страница 72: ...with the integrated STO safety function the Safety module Parameters window has been added to the DSC parameterisation software This window can be opened via the menu Parameters Functional safety Parameters and it is used to parameterise the discrepancy time This value is preset to 100 ms and should be fine for the usual applications If necessary the discrepancy time see section 6 2 3 1 between ST...

Страница 73: ...and validation plan been created Yes No 3 Have the steps of the validation plan including an analysis and test been performed and has a validation report been created At least the following tests must be performed for a validation Yes No a Check of the components Is the DIS 2 310 2 FB FS STO being used check against the type plates Yes No b Is the wiring correct check against the circuit diagram Y...

Страница 74: ...sed Yes No Does the system detect a short circuit between STO1 and STO2 or has a suitable fault exclusion been defined Yes No Only if a safety switching device with an evaluation of the REL1 REL2 feedback contact is used Is the drive being stopped in the event of a short circuit of REL1 and REL2 Yes No Is the restart being prevented This means that if the emergency stop has been actuated and if th...

Страница 75: ...tom The maximum permissible temperature of the housing is 80 C to guarantee the specified service life of the electronic system Connect the connecting cable for X1 as closely as possible to the DIS 2 310 2 FB FS STO servo drive to increase the reliability of the cabling Installation spaces Keep a minimum distance of 100 mm to other components each underneath and above the device to ensure sufficie...

Страница 76: ...d on the mounting plate X6 Connectors for the three motor phases U V and W X8 Expansion interface for technology modules fieldbuses X40 Connector of the STO interface This interface is led to the outside via a 5 pole M12 circular connector The circular connector normally is fixed on the mounting plate 7 2 2 Connectors for the fieldbus interfaces and RS232 interface CANopen PROFIBUS or EtherCAT X5 ...

Страница 77: ...Mechanical installation Page 77 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 4 0 7 3 Dimensions of the housing Figure 18 Dimensions of the housing ...

Страница 78: ...chieve the highest protection against water Further the mounting flange should have a milling groove for mounting the brake resistor and to keep the required clearance and creepage distances between DC bus potential and PE Achieving the protection degree of IP67 is possible by using a good mechanical construction Figure 19 Mounting example without STO synchronous servo motor mounting plate with br...

Страница 79: ...ng two figures show a mounting example of an STO application In this case the mounting plate must be milled deeper so that the M12 circular connector X40A can be integrated Figure 21 DIS 2 310 2 FB FS STO mounting example with STO synchronous servo motor mounting plate with brake resistor and servo drive ...

Страница 80: ... 310 2 FB FS STO Version 4 0 Figure 22 DIS 2 FB FS STO Example of a mounting plate universal Right side view Top view Rear view The green hatched area is reserved for the optional brake resistor and therefore must not be blocked The brake resistor is about 3mm high ...

Страница 81: ...2 310 2 FB FS STO Version 4 0 Figure 23 DIS 2 FB FS STO Example of a realised mounting plate Right side view Top view Rear view The green hatched area is reserved for the optional brake resistor and therefore must not be blocked The brake resistor is about 3mm high ...

Страница 82: ...ypical application with two or more DIS 2 310 2 FB FS STO servo drives with a connection to 230 V AC power supply to a 24 V DC logic supply and to a control or to a PLC without STO functionality The connector X40 for the integrated safety function Safe Torque Off STO is not shown in this figure The STO applications are described in section 6 5 Figure 24 Connection to power supply control and motor...

Страница 83: ...the braking resistor through the connector X300 on the circuit board as shown in Figure 24 Normally the braking resistor is installed on the mounting plate for the electronics housing DANGER Only use the brake resistor that is approved by the manufacturer The used brake resistor must have a high pulse loading capacity to be able to permanently withstand the short peak loads Unsuitable brake resist...

Страница 84: ...the intermediate circuit DC bus and the logic system If the 24 V DC power supply connections are reversed if the power supply is too high or if the connections of the intermediate supply and the logic supply are mixed up the DIS 2 310 2 FB FS STO servo drive may be permanently damaged Verify that the power supply used for the power and for the logic part fulfil the specifications for the DIS 2 310...

Страница 85: ...ower supply and I O X1 Configuration on the device X1 Phoenix PLUSCON VARIOCON Counterplug X1 Phoenix PLUSCON VARIOCON kit consisting of 1x VC TFS6 2x VC TFS8 1x VC TR2 3M 1x VC MEMV T2 Z 1x VC EMV KV PG21 11 5 15 5 13 5 Dimensions approximately H x W x DH 86 mm x 80 mm x 32 mm C B A 6 5 4 8 7 6 5 8 7 6 5 3 2 1 4 3 2 1 4 3 2 1 Figure 25 Connection and pin numbering X1 ...

Страница 86: ...ogue input with AIN1 or Digital input Positioning destination selector Bit 2 B1 AIN0 DIN1 10 V 10 V Inverted analogue input 0 Differential analogue input with AIN0 or Digital input Positioning destination selector Bit 1 B2 DOUT2 0 V 24 V Digital output programmable encoder output track B B3 AMON0 0 V 10 V 2 mA Analogue output 0 B4 GND 0 V Reference potential for the control signals B5 AIN0 DIN0 10...

Страница 87: ...ssignment X6 Pin No Denomination Values Specification 1 PHASE_W 3 x 0 V 300 V 2 Aeff nom 6 Aeff max 0 Hz 300 Hz Connection of the three motor phases 2 PHASE_V 3 PHASE_U 4 n c Safety clearance between PE and motor phase 5 PE Protective earth 8 2 3 Connection Angle encoder X2 Configuration on the device X2 Molex No 87832 1614 Counterplug X2 Molex No 51110 1651 with up to 16 contacts Molex No 50394 8...

Страница 88: ...resolver signal S3 or connection to incremental encoder track A 8 HALL_V 0 V 5 V Ri 5 k Phase V Hall sensor for commutation Input with 4 7 k pull up at 5 V 9 SIN B 1 5 VRMS diff Ri 10 k Connection to resolver signal S2 or connection to incremental encoder track B 10 HALL_W 0 V 5 V Ri 5 k Phase W Hall sensor for the commutation Input with 4 7 k pull up at 5 V 11 SIN B 1 5 VRMS diff Ri 10 k Connecti...

Страница 89: ...B02B XASK 1 Counterplug X3 JST No XAP 02V 1with 2 contacts JST No SXA 001T P0 6 Figure 28 Position and connection holding brake Table 34 Pin assignment X3 Pin No Denomination Values Specification 1 DOUT3 0 V 24 V max 500 mA Digital output high active for the holding brake internal supply via the 24 V logic supply 2 GND 0 V Reference potential for the holding brake ...

Страница 90: ...g X300 JST No VHR 2N with 2 contacts JST No SVH 41T P1 1 Configuration brake resistor see accessories in section 1 2 Table 4 Figure 29 Position and connection brake resistor Table 35 Pin assignment X300 Pin No Denomination Values Specification 1 ZK 390 V 440 V 4 Anom Connection for brake resistor to intermediate voltage 2 BR CH 0 V 390V 440 V Connection for brake resistor to brake chopper ...

Страница 91: ... V max 100 mA Withdrawal of the protected logic supply of 24 V for future applications device variants 3 DIN8 0 V 24 V Digital 24 V input for limit switches parallel to X1 4 DIN7 0 V 24 V Digital 24 V input for limit switches parallel to X1 5 GND 0 V Reference potential 6 GND 0 V Reference potential 7 RxD 10 V Serial interface signal RxD 8 TxD 10 V Serial interface signal TxD 9 CANHI_NDR 0 V 5 V F...

Страница 92: ... D5 25 D2 26 D3 27 D0 28 D1 29 A11 All signals with 3 3 V CMOS logic level 16 bit parallel interface address bus 30 A12 31 A9 32 A10 33 A7 34 A8 35 A5 36 A6 37 A3 38 A4 39 A1 40 A2 41 DS All signals with 3 3 V CMOS logic level Bus control signals for access to technology modules via the data and address bus and synchronous serial interface for access to technology modules with an SSIO interface 42...

Страница 93: ... with up to 6 contacts Molex No 50394 8051 Configuration on the mounting plate X40A for example PhoenixContact M12 socket SACC DSI FS 5P PG 9 0 5 SCO 0 25 rear panel 5 pin type A coded Counterplug X40A for example M12 plug with xx m cable length SAC 5P MS xx PUR SAC Length in metres Order number 1 5 1518960 5 0 1518986 10 0 1518999 6 5 4 3 2 1 X40 Example for X40A The counterplug Molex No 51110 06...

Страница 94: ...L1 Normally open contact for feedback STO to an external control system 5 STO2 0 V 24 V Control input 2 for STO function 6 REL2 Normally open contact for feedback STO to an external control system Table 38 Pin assignment X40A Pin No Denomination Values Specification 1 STO1 0 V 24 V Control input 1 for STO function 2 STO2 0 V 24 V Control input 2 for STO function 3 REL1 Normally open contact for fe...

Страница 95: ... 3 1 Connection Serial interface X5 Configuration on the device M8 flush type socket 3 pin type Counterplug X5 M8 counterplug for free configuration for example Phoenix order number 1506901 or see accessories section 1 2 Table 4 Figure 32 Position and connection RS232 interface Table 39 Pin assignment X5 Pin No Denomination Values Specification 1 RxD 10 V Receive signal RS232 specification 3 TxD 1...

Страница 96: ...UB 9 connector pin for connection to a PC Specification Pin No Denomination Pin No Denomination Specification 1 RxD 3 TxD_PC Transmit signal RS232 specification 3 TxD 2 RxD_PC Receive signal RS232 specification 4 GND 5 GND Reference potential for the serial interface internally connected with the common reference potential for the logic system Shield Shield Connect the cable shield on both sides o...

Страница 97: ...0 2 0 5 0 10 0 15 0 Length in metres Order number 0 3 1518258 0 5 1518261 1 0 1518274 2 0 1518287 Length in metres Order number 5 1518290 10 1518300 15 1518813 Terminating resistor CANopen M12 Order number 1507816 Figure 33 Position and connection CAN interface Table 41 Pin assignment X401 and X402 Pin No Denomination Values Specification 1 Shield PE Contact for cable shield in the DIS 2 310 2 FB ...

Страница 98: ... coded 2 pin type pre fabricated lengths order name SAC 5P MS xxx 920 FS SCO xxx defines the length in m The following lengths are available xxx 0 3 0 5 1 0 2 0 5 0 10 0 15 0 Length in metres Order number 0 3 1518106 0 5 1518119 1 0 1518122 2 0 1518135 Length in metres Order number 5 1518148 10 1518151 15 1518164 Terminating resistor PROFIBUS M12 1507803 Figure 34 Position and connection PROFIBUS ...

Страница 99: ...X402 M12 flush type plug 4 pin type D coded Counterplug Assembled M12 Bus cable for example made by Phoenix Contact shielded M12 D coded 4 pin type cable pre fabricated lengths order number Length in metres Order number 0 3 1523065 0 5 1523078 1 0 1523081 2 0 1521533 Length in metres Order number 5 1524051 10 1524064 15 1524077 Figure 35 Position and connection EtherCAT interface Table 43 Pin assi...

Страница 100: ...icinity via cables or through the environment 8 4 2 General information concerning EMC The interference emission and interference immunity of a servo drive always depends on the overall drive concept that includes the following components Power supply Servo drive Motor Electromechanical system Configuration and type of wiring Superordinate control system The DIS 2 310 2 FB FS STO servo drive has b...

Страница 101: ...mpliant setup of the drive system The mains end PE connection must be connected to the PE connection point of the supply connection X1 The PE conductor of the motor cable must be connected to the PE connection point of the motor connection X6 The signal lines must be as far away from the power cables as possible They should not be placed parallel If intersections cannot be avoided they should be p...

Страница 102: ... FS STO is fastened on the motor 9 3 Connecting the DIS 2 310 2 FB FS STO servo drive to the motor Connect the connector see the connector set in section 1 2 Scope of supply to the motor cable Then connect it to the corresponding interface X6 on the DIS 2 310 2 FB FS STO and let it lock into place Connect the connector see the connector set 1 2 Scope of supply to the encoder cable and if included ...

Страница 103: ...ven in the case of very high interference frequencies An optimum PE connection can be realised by mounting the DIS 2 310 2 FB FS STO directly on the motor If you want to mount the DIS 2 310 2 FB FS STO and the motor separately ensure to mount them on the same metal part of the machine In this case the surface of the machine part should be made of uncoated aluminium or galvanised sheet metal In ord...

Страница 104: ... TM 4 The communication with the servo drive will be started 5 Parameterise the servo drive depending on the application If the communication with the servo drive could not be started there is a malfunction Perform the following steps 1 Switch the power supply off 2 Wait for 5 minutes in order to be sure that the intermediate circuit has been discharged 3 Check all of the connecting cables 4 Check...

Страница 105: ...has been eliminated or ceased to exist Operational safety is ensured by an extensive sensor system and numerous monitoring functions Measurement of the motor temperature Measurement of the power unit temperature Measurement of the temperature inside the housing Detection of earth faults PE Detection of connections between two motor phases Detection of a short circuit of the braking resistor Detect...

Страница 106: ... current will be limited to the rated current Check of the current measurement and offset calibration when the power stage is turned on When the power stage is switched on an automatic offset calibration of the current measurement will be performed If the offset is beyond the permissible tolerances an error will be generated 10 1 3 Monitoring of the intermediate circuit voltage Overvoltage monitor...

Страница 107: ...in a square manner with the current in the worst case the squared current value is taken as the measure for the power loss When 80 of the maximum integrated value is reached a warning parameterisable will be issued When 100 is reached the maximum current will be limited to the rated current Monitoring of the automatic motor identification process The system monitors whether the automatic identific...

Страница 108: ...ng The system checks whether the STO channels are activated within the set discrepancy time 10 1 10 Operating hour meter The DIS 2 310 2 FB FS STO servo drive has an integrated operating hour meter It is displayed via the DIS 2 ServoCommander TM parameterisation software in the menu Info Info on the Times tab The current count of the operating hour meter will be saved in the internal flash memory ...

Страница 109: ...C E and W have the following meaning C critical error The controlled operation of the motor cannot be guaranteed The power output stage will be switched off immediately The motor will coast down E error The motor will be decelerated based on the safety ramp Then the output stage will be switched off W warning The operation of the motor is still possible although perhaps only for a limited time The...

Страница 110: ...IS 2 been heated up by the motor If necessary decouple the DIS 2 thermally Check improve the installation and cooling conditions 100 ms X X 5 7392 SINCOS supply error Is the angle encoder connected Is the angle encoder cable defective Is the angle encoder defective Check the configuration of the angle encoder interface 5 ms X 6 7391 SINCOS RS485 communication error Is the angle encoder connected I...

Страница 111: ...rvo drive to the distributor 5 ms X 10 5114 12 V electronic system supply error The error may be due to a defective angle encoder or SINCOS encoder or due to a wiring error of X2 Electronic error in the DIS 2 device The error cannot be eliminated by the user Return the servo drive to the distributor 5 ms X 11 5112 24 V logic supply error Is the 24 V logic supply too high or too low Is it impossibl...

Страница 112: ...on of the motor phase connections Defect inside the DIS 2 output stage defective or insulation fault insulating foil 10 µs X 15 3220 Undervoltage in the intermediate circuit Is the intermediate circuit supply too low Is it impossible to load the intermediate supply sufficiently e g during an acceleration with full current Check the configuration of the intermediate circuit monitoring system If nec...

Страница 113: ...or 19 100 ms X X X 22 5022 Faulty internal STO1 plausibility check The low time of the OSSD input signals is not in the permissible range Please contact the technical support team Electronic error in the DIS 2 device The error cannot be eliminated by the user Return the servo drive to the distributor 100 ms X 23 5023 Faulty internal STO2 plausibility check The low time of the OSSD input signals is...

Страница 114: ...ecouple the DIS 2 thermally Check improve the installation and cooling conditions 100 ms X X X 29 8611 Following error Is the motor blocked Is the controller adjusted optimally in particular the internal control circuits for current and speed Is the parameterised acceleration too high The error window is too small Increase the window 5 ms X X X 30 3280 Intermediate circuit charging time exceeded P...

Страница 115: ... bus 5 ms X 38 Error EtherCAT piggy Has the correct FW been loaded Please contact the technical support team 5 ms X 40 6197 Error Motor and angle encoder identification Is the angle encoder connected Is the angle encoder cable defective Is the angle encoder defective Check the configuration of the angle encoder interface 5 ms X 43 6193 Path program unknown command Please contact the technical supp...

Страница 116: ...mber setting Is the node used more than once in the network 5 ms X X X 56 7510 RS232 communication error The communication is disturbed Check the installation under EMC aspects 5 ms X X X 57 6191 Position data set error There is a conflict between the acceleration and the set travel speed Please contact the technical support team 5 ms X 58 6380 Incorrect operating mode The operating mode has been ...

Страница 117: ...t team 5 ms X 64 6187 Initialisation error Internal error Please contact the technical support team 5 ms X The servo drives manages error no 1 to 64 internally If your device displays an error number that is not described in the error table or that is marked as an unknown error contact your local distributor It is possible that these error numbers have been assigned during firmware extensions or t...

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