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2 Table of contents

Installation manual PMCprimo Drive2

Page

Table of contents

General conditions ........................................................................................... 2

1.1

Copyright ................................................................................................................. 2

1.2

Notes ....................................................................................................................... 2

1.3

Previous editions ..................................................................................................... 2

Table of contents .............................................................................................. 3

Type key ............................................................................................................ 6

Safety instructions ........................................................................................... 7

European directives and standards................................................................ 8

Abbreviations and symbols............................................................................. 10

General .............................................................................................................. 11

7.1

About this manual.................................................................................................... 11

7.2

Requirements .......................................................................................................... 11

7.3

Prescribed use (Use as directed) of the control....................................................... 11

7.4

Instrument description ............................................................................................. 13

7.4.1

Scope of delivery .............................................................................................. 13

7.4.2

Accessories ...................................................................................................... 13

7.4.3

The PMCprimo Drive2 family............................................................................ 14

7.4.3.1

Performance data .................................................................................... 14

7.4.3.2

Fieldbus Interface .................................................................................... 14

7.4.3.3

Soft-PLC CoDeSys

................................................................................ 14

7.4.3.4

Interfaces ................................................................................................. 14

7.4.3.5

Power supplies ........................................................................................ 14

7.4.3.6

Power section .......................................................................................... 15

7.4.3.7

Electrical supply....................................................................................... 15

7.4.3.8

Power input filter ...................................................................................... 15

7.4.3.9

Operation and programming .................................................................... 15

7.4.3.10

Integrated safety..................................................................................... 15

7.5

Connection to different mains supply networks ....................................................... 16

7.6

Block diagram – part 1............................................................................................. 17

7.7

Block diagram – part 2............................................................................................. 18

7.8

Components of a servo system ............................................................................... 19

7.9

Technical data ......................................................................................................... 20

7.9.1

External fusing.................................................................................................. 21

7.9.2

Permissible ambient conditions ventilation, mounting position ......................... 21

7.9.3

Conductor cross-sections ................................................................................. 22

7.9.4

LED-Display ..................................................................................................... 22

7.10

Grounding system ................................................................................................... 23

7.11

Control for motor-holding brake .............................................................................. 23

7.12

Regen circuit ........................................................................................................... 25

7.13

Switch-on and switch-off behaviour......................................................................... 26

7.13.1

Stop function to EN 60204 (VDE 0113) .......................................................... 26

7.13.2

Emergency Stop strategies ............................................................................ 27

7.13.2.1

Category 0 .............................................................................................. 27

7.13.2.2

Category 1 .............................................................................................. 27

7.14

Option -AS .............................................................................................................. 28

7.14.1

General........................................................................................................... 28

7.14.2

Prescribed use................................................................................................ 28

7.14.3

Functional description..................................................................................... 29

7.14.4

Block diagram................................................................................................. 30

7.14.5

Signal diagram ............................................................................................... 30

7.14.6

Installation and Commissioning...................................................................... 31

7.14.6.1

Safety instructions .................................................................................. 31

7.14.6.2

Application example................................................................................ 31

7.14.6.3

Connection diagram................................................................................ 31

Installation......................................................................................................... 32

8.1

Important instructions .............................................................................................. 32

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Содержание PMCprimo Drive2

Страница 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Страница 2: ...Motion Control PMC Installation Manual Item No 21 486 02 PMCprimo Drive2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 3: ...document at any time The examples given serve only as illustrations No guarantee is given for their suitability in particular applications Although the utmost care has been taken in the production of...

Страница 4: ...5 7 5 Connection to different mains supply networks 16 7 6 Block diagram part 1 17 7 7 Block diagram part 2 18 7 8 Components of a servo system 19 7 9 Technical data 20 7 9 1 External fusing 21 7 9 2...

Страница 5: ...55 9 5 4 Application example 55 9 6 RS232 interface PC interface X6 56 9 6 1 General 56 9 6 2 Pin assignment of the null modem cable 57 9 7 Digital signals 59 9 7 1 Digital inputs I1 1 I1 8 X10 59 9 7...

Страница 6: ...10 5 2 Error messages amplifier 83 10 6 Warnings 84 10 7 Status messages 85 10 7 1 Status messages PMCprimo 85 10 7 2 Status messages drive 85 11 Appendix 86 11 1 Notes on EMC problems 86 11 1 1 Cabl...

Страница 7: ...3 Type key Page 6 Installation manual PMCprimo Drive2 3 Type key Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 8: ...ive2 on a conductive surface Do not open the units Keep all covers and switchgear cabinet doors closed during operation Otherwise there are deadly hazards with the possibility of severe danger to heal...

Страница 9: ...the domestic range industrial range EN 61000 6 3 or EN 61000 6 4 noise emission within the domestic range industrial range The manufacturer of the machine or plant is responsible for ensuring that the...

Страница 10: ...ndard is determined by an independent UL cUL fire inspector through the type testing and regular check ups Apart from the notes on installation and safety in the documentation the customer does not ha...

Страница 11: ...RES Revolver PLC Programmable logic controller SRAM Static RAM SSI Synchronous serial interface TN TT Netz Mains standard DIN 57100 T310 UL Underwriter Laboratories V AC AC voltage V DC DC voltage VDE...

Страница 12: ...nnected directly to symmetrically earthed grounded three phase industrial mains supply networks TN system TT system with earthed grounded neutral point not more than 5000 rms symmetrical amperes 480 V...

Страница 13: ...le 310 16 of the NEC 60 C or 75 C column for AWG size We only guarantee the conformance of the servo amplifiers with the standards for industrial areas if the components motors cables amplifiers etc a...

Страница 14: ...or PMCtendo AC1 or PMCtendo AC2 Motor cable pre assembled or both motor connectors separately with motor cable as cut off length Feedback cable pre assembled or both feedback connectors separately wit...

Страница 15: ...Interface CAN Bus with 500 kBit s or 1 MBit s CANopen linking up to 60 PMCprimo motion control systems Modbus interface devices like panels Option Profibus DP small easy communication with SoftPLC Op...

Страница 16: ...ply e g for commissioning or setting up is possible 7 4 3 8 Power input filter Interference suppression filter for the supply input to Class A is integrated Interference suppression filter for the 24V...

Страница 17: ...you ll find all possible connection variations to different mains supply networks An isolating transformer is always required for 400 480V mains networks without earth ground and for networks with as...

Страница 18: ...7 General Installation manual PMCprimo Drive2 Page 17 7 6 Block diagram part 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 19: ...7 General Page 18 Installation manual PMCprimo Drive2 7 7 Block diagram part 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 20: ...7 General Installation manual PMCprimo Drive2 Page 19 7 8 Components of a servo system Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 21: ...fusing external fusing page 21 Auxiliary supply 24V internal 3 15 AT Regen resistor internal electronic Inputs Analog inputs X3 resolution 14bit AI1 and 12bit AI2 V 10 Common mode voltage max V 10 In...

Страница 22: ...Fusible cutouts or similay PMCprimo Drive2 01 03 PMCprimo Drive2 06 10 PMCprimo Drive2 14 20 AC supply FN1 2 3 6 AT 10 AT 20 AT 24V supply FH1 2 max 16 AF Regen resistor FB1 2 4 AF 6 AF 6 AF 7 9 2 Pe...

Страница 23: ...otor choke MD400 Resolver thermostat motor 8x0 25 mm twisted pairs shielded max 100m capacitance 120pF m HIPERFACE Encoder thermostat motor 10x0 14 mm twisted pairs shielded max 100m capacitance 120pF...

Страница 24: ...lated The potential isolation is shown in the block diagram S 17 18 7 11 Control for motor holding brake A 24V max 2A holding brake in the motor can be controlled directly by the PMCprimo Drive2 This...

Страница 25: ...and fall fbrL times of the holding brake which is built into the motors are different for the various types of motor see motor manual A description of the interface can be found on page 49 A safe for...

Страница 26: ...lifiers even with different current ratings can be operated off a common DC link if they have a common supply voltage This is achieved by an automatic adjustment of the regen thresholds which vary bec...

Страница 27: ...op functions are defined in EN 60204 VDE 0113 Para 9 2 2 9 2 5 3 There are three categories of stop functions Category 0 Shut down by immediately switching off the supply of energy to the drive machin...

Страница 28: ...angeover switch contactor e g Siemens 3RT1516 1BB40 and shortcircuited by resistors connected in a star configuration 7 13 2 2 Category 1 If hazardous conditions can result from an emergency stop swit...

Страница 29: ...nality and the personnel safety when using the circuit recommendations in this documentation have been approved by the trade liability association 7 14 2 Prescribed use The AS restart lock is exclusiv...

Страница 30: ...ed then the monitoring contact is open and the PMCprimo Drive2 is ready for operation If the drive is electronically braked the PMCprimo Drive2 is disabled and the motor holding brake is on then the s...

Страница 31: ...7 General Page 30 Installation manual PMCprimo Drive2 7 14 4 Block diagram 7 14 5 Signal diagram Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 32: ...owing application example describes the function of the AS option A PLC is controlling the function 1 The PLC sets the signal activate AS with a digital output to a digital input of the PMCprimo Drive...

Страница 33: ...t 20 cm This improves the interference immunity required by EMC regulations If a motor power cable is used which includes cores for brake control the brake control cores must be separately shielded Ea...

Страница 34: ...ation manual PMCprimo Drive2 Page 33 8 2 Assembly Material 2 or 4 hexagon socket screws to DIN 912 M5 Tool required 4 mm Allen key Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SO...

Страница 35: ...8 Installation Page 34 Installation manual PMCprimo Drive2 8 3 Dimensions Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 36: ...ed on for the first time during commissioning Note The ground symbol which you will find in all the wiring diagrams indicates that you must take care to provide an electrically conductive connection w...

Страница 37: ...e controls Route power leads and control cables separately Wire the BTB RTO contact in series into the safety loop of the installation Connect the digital control inputs to the PMCprimo Drive2 Connect...

Страница 38: ...8 Installation Installation manual PMCprimo Drive2 Page 37 8 4 1 Connection diagram PMCprimo Drive2 part 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 39: ...8 Installation Page 38 Installation manual PMCprimo Drive2 8 4 2 Connection diagram PMCprimo Drive2 part 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 40: ...8 Installation Installation manual PMCprimo Drive2 Page 39 8 4 3 Pin assignments overview Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 41: ...8 Installation Page 40 Installation manual PMCprimo Drive2 8 4 4 Pin assignments details Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 42: ...dbus and Profibus the same time For usage an adapter cable is needed RJ 45 RJ 45 Signal Modbus Signal Profibus D Sub9 1 GND DP GND 5 2 9 3 4 4 RxD DP 8 5 RxD DP 3 6 TxD 7 7 TxD 2 8 5V 100mA 6 1 Note A...

Страница 43: ...quired length Secure the cores with a cable tie Remove the outer covering of the cable over a length of about 30mm without damaging the shielding braid Pull a cable tie through the slot in the shieldi...

Страница 44: ...while switching on the 24 V power supply Then this parameters can be set with the menu The operating mode 0 Standalone 2 Node and 3 Host Node When changing the operate mode between 2 and 3 then the ap...

Страница 45: ...uence it is determined if a new drive is in the cabinet This can be done for example with reading the serial number of the drive Example AS AUTOSTART ES AUTOSTART CH0 1 SER1 SERIALNO IF SER1 SER1ACTUA...

Страница 46: ...ation of the connectors and terminals can be seen on page 39 9 1 Power supply 9 1 1 Mains supply X0 Direct to earthed 3 supply 230V 10 480V 10 50 60 Hz integrated filter Fusing e g fusible cut outs pr...

Страница 47: ...rically isolated external 24V DC supply e g with insulating transformer Required current rating page 20 Integrated EMC filter for the 24V auxiliary supply See important notes to commissioning page 78...

Страница 48: ...lectrically isolated external 24V DC supply e g with insulating transformer You can take 24 V from terminal X4 Required current rating page 20 See important notes to commissioning page 78 Artisan Tech...

Страница 49: ...Master encoder supply X10 Common power supply for all connected encoders Voltage range See encoder datasheet Reference ground is EGND External fusing provided by the user Artisan Technology Group Qual...

Страница 50: ...connected in parallel A patented circuit distributes the regen power among all the amplifiers connected to the same DC link circuit 9 2 Motor connection with brake X9 9 2 1 Lead length 25m Artisan Tec...

Страница 51: ...PMCprimo Drive2 9 2 2 Lead length 25m For lead lengths above 25m the choke box MD400 must be wired into the motor lead close to the PMCprimo Drive2 Artisan Technology Group Quality Instrumentation Gu...

Страница 52: ...nual PMCprimo Drive2 Page 51 9 3 External regen resistor X8 Remove the plug in link between the terminals X8 Pin 1 RB and X8 Pin 2 Rbint Artisan Technology Group Quality Instrumentation Guaranteed 888...

Страница 53: ...built in as a standard It is possible to connect 2 36 pole resolvers to the PMCprimo Drive2 If lead lengths of more than 100m are planned please contact our application department The thermostat cont...

Страница 54: ...Cprimo Drive2 as a feedback device for drive tasks which require highly precise positioning or extremely smooth running If lead lengths of more than 50m are planned please consult our applications dep...

Страница 55: ...encoder compatible pulses are generated from this information You can change the resolution with the parameter Resolution s setup software PDRIVE window Encoder Resolution encoder Feddback system 256...

Страница 56: ...bit multiturn information is output on the SUB D Connector X5 The signal sequence can be output in Gray code standard or in binary code Parameter SSI Code window Encoder in PDRIVE A serial signal is r...

Страница 57: ...PMCprimo Motion Control Tools on the supplied CD ROM Connect the PC interface X6 of the servo amplifier via a normal commercial 3 core null modem cable to a serial interface on the PC You can select t...

Страница 58: ...ew Looking at the face of the built in SUB D connectors this corresponds to the solder side of the SUB D sockets on the cable Caution Do not connect more cores than shown X6 Pin 2 3 5 The interface ma...

Страница 59: ...parity XOn XOff Software Handshake With the command BD the communication rate can be changed see PMCprimo programming manual Set these parameters with PTerm see PTerm programming manual After clickin...

Страница 60: ...gh optocouplers Reference ground is EGND terminal X10 Pin 2 Logic is PLC compatible H level 11 24V 10 mA L level 0 V 11 V 0 mA The inputs I1 1 to I1 4 are fast inputs 1 us for e g product referencing...

Страница 61: ...I2 1 I2 4 X3 All digital inputs are electrically isolated through optocouplers Reference ground is DGND terminal X3 Pin 18 Logic is PLC compatible H level 12 30V 7mA L level 0 7V 0 mA Artisan Technol...

Страница 62: ...nput 24V active high In the inhibited state low signal the motor which is attached does not have any torque Reference ground is digital GND DGND terminal X3 Pin 18 Logic is PLC compatible H level 12 3...

Страница 63: ...outputs O1 1 O1 8 X10 Reference ground is EGND terminal X10 Pin 3 All digital outputs are electrically isolated and shortcircuit protected high side outputs 24V 0 1 A each output Artisan Technology Gr...

Страница 64: ...or outputs 24V 10 mA each output The both digital outputs DIGITAL OUT 1 2 can not be used with the PMCprimo programming language But you can select with PDrive screen window I O Digital a predefined o...

Страница 65: ...lled by a floating relay contact The contact is closed when the servo amplifier is ready for operation the signal is not influenced by the enable signal the I t limit or the regen threshold Faults wit...

Страница 66: ...alog signals 9 8 1 Analog outputs AO2 and AO3 X3 Reference ground is AGND Terminal X3 Pin1 and X3 Pin10 Output resistance 2 2 k Output voltage range 10 V Resolution 10 Bit Artisan Technology Group Qua...

Страница 67: ...inputs AI1 and AI2 are internal additionally mapped on the digital inputs E2 5 and E2 6 If the value of the applied voltage is beyond 7 5 V it will be regarded as HIGH Signal By this means there are...

Страница 68: ...t s Additional safety signals provide fault detection Much more details about connection systems via CAN are included in the manual PMCprimo CAN network The manual is part of the enclosed CD ROM PMCpr...

Страница 69: ...d Pin 4 is necessary 9 9 5 Speciality last node The last node needs a jumper bridge 0 at CAN 1B between Pin 4 and Pin 9 You can order pre assembled cables with the following Art No Position Art No CAN...

Страница 70: ...rence inputs page 59 This is useful for product referencing For further details see PMCprimo programming manual A master encoder is normally connected at the encoder input of channel 2 But with the FC...

Страница 71: ...of inputs and outputs with a CAN I O module CANopen encoders or a CANopen panel can be included also Pin Description 2 CAN L 3 CAN GND 7 CAN H Note The termination 120 for CAN 2 is activated with a DI...

Страница 72: ...ctrostatic discharge ESDS electrostatic sensitive devices Motion control units contain electrostatic sensitive devices which will be damaged by electrostatic discharge Therefore servicing shall only b...

Страница 73: ...Index Quadrature encoder x1 x2 and x4 Maximum input frequency 1 MHz Minimum track width Z track 200 ns Maximum voltage range ref to EGND 5 V DC The maximum input frequency is 2 5 MHz this means 10 mil...

Страница 74: ...Reference ground is EGND terminal X10 Pin 2 Number of bits 13 32 Format Binary or Gray Clock frequency SSI Clock 100 kHz or 300 kHz set with command FS Maximum voltage range ref to EGND 5 V DC Artisan...

Страница 75: ...the MODBUS is out of service In Standalone mode see PMCprimo programming manual at every control a panel can be connected In networked systems CAN the panel has to be connected to the host system Onl...

Страница 76: ...ts 16 Bit 2 Bytes 1 Word signed Range 32768 to 32767 Hex 0x8000 to 0x7FFF Bus variables can be defined as trigger variables so a program can be executed when the variable is updated 9 11 5 Example Pro...

Страница 77: ...o IN OUT 32 Byte 16 word The GSD file is named HSM_1810 gsd Example Profibus DP Master simulator After starting the Profibus communication the bus variables can be set or read Example Setting the bus...

Страница 78: ...1 E3 8 E4 1 E4 8 Virtual outputs O2 1 O2 8 O3 1 O3 8 O4 1 O4 8 The virtual inputs an outputs are connected internal together as shown below Outputs O2 x to input E3 x Outputs O3 x to input E3 x Output...

Страница 79: ...rges with dangerous levels up to 300 seconds after switching off the supply power Heat sinks and front panels of the amplifier can reach a temperature of up to 80 C in operation Check measure the heat...

Страница 80: ...ive2 Motor pole no must match the motor see motor manual Feedback must match the feedback unit in the motor IRMS maximum is the motor standstill curent I0 on nameplate IPEAK maximum is 4 x motor stand...

Страница 81: ...rive since there is a continuous online connection to the drive With the tool PSCOPE you can easily watch the drive s current the speed and the position error Sets of data can be stored on data media...

Страница 82: ...ll parameters and the possibilities for optimizing the control loop characteristics can be found in the software manual PDrive 10 4 Programming of the PMCprimo Drive2 All programming of the PMCprimo D...

Страница 83: ...edback error cable break short circuit short to ground xF23 Undervoltage in DC link xF24 Motor temperature too high limit is set by manufacturer to145 C xF25 Aux voltage not OK xF26 Overspeed motor ru...

Страница 84: ...rature F07 Internal aux volage not OK F08 Overspeed F09 EEprom checksum error F10 Flash Eprom checksum error F11 Brake F12 Motor phase missing F13 Internal temperature F14 Output stage F15 I2 t limit...

Страница 85: ...the front panel by a coded warning number Number Meaning n01 I t threshold exceeded n02 preset regen power reached n04 response monitoring watchdog is active n05 supply phase missing n12 HIPFERFACE mo...

Страница 86: ...ST 6 Initializing to reference position IN IB 7 Torque control mode AM XM 9 Waiting WA WB WI etc A Alignment move XM C Software clutch XM ST Example of a status message Channel 3 Executing a position...

Страница 87: ...air act simultaneously as transmitting and receiving antennae The cables listed below must be screened Screen terminal clamps must be installed as close to the equipment as possible Cable Screening R...

Страница 88: ...dangerous body currents Connect the PMCprimo Drive2 to the EMC ground by a short connection with a large surface area braided band to ensure low lead inductance Wire the PE connection for the individu...

Страница 89: ...are battery backed RAM memory 8kB and a real time clock Note It is not possible to use the CAN 2 interface with a incremental or SSI encoder at the same time The configuration is made via jumpers see...

Страница 90: ...2 TxD send data inverted 3 RxD receive data 6 RxD receive data inverted Note For direct connection of the Ethernet interface with a PC you must use a crossover cable The shown cable here is only for...

Страница 91: ...ge in out length for Fieldbus 6 Change offset for Fieldbus 11 Change Fieldbus address 12 Change number of channels 13 Change time and date 14 Change RS 232 configuration 15 Change RS 422 configuration...

Страница 92: ...mo Drive2 Page 91 Now you can establish an Ethernet connection After confirmation of the dialog with the Button you can start with the programming Artisan Technology Group Quality Instrumentation Guar...

Страница 93: ...5 Change the battery observe polarity 6 Unconnect the 24 V 7 Reinstall the PMCprimo board and screw both M3 screws 8 Connect all connectors 9 Check The display BATT expires and shows the actual status...

Страница 94: ...h highly insulating materials artificial fabrics plastic films etc Place the PMCprimo Drive2 on a conductive surface max stacking height 8 cartons storage temperature 25 to 55 o C max 20 C hr rate of...

Страница 95: ...r shorten the braking time RAMP or with a higher power rating and adjust the regen power parameter use mains transformer message mains BTB RTO enable was applied although the supply voltage was not pr...

Страница 96: ...of motor poles set up feedback correctly motor runs away overspeed motor phases swapped feedback set up incorrectly correct motor phase sequence set up correct offset angle motor oscillates gain too h...

Страница 97: ...SI 73 Encoder emulations 54 ROD 54 SSI 55 Error messages primo 82 Error messages 82 F Fuse 21 G Grounding system 23 I Inputs analog 66 digital 59 60 ENABLE 61 virtual 77 Installation 32 important inst...

Страница 98: ...ply X10 47 mains supply 45 master encoder 48 Prescribed use 11 Profibus bus variables 75 Profibus interface 75 PSCOPE 80 PTERM 81 82 R Regen circuit 25 Removing faults 94 RS232 parameter 58 S Safety i...

Страница 99: ...21 486 02 2007 06 Printed in Germany Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 100: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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