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WAS.handling Electro Documentation

4.2 Slot-PLC

The PLC is a user-friendly interface between customer interface and ACOPOS drive. It provides the required
movement commands at the correct time. Positions and Drive – Sequences are handled and stored by the
Slot-PLC.

The Slot-PLC is available in two different versions:

-

AC140: with user interface Profibus

-

AC141: with user interface CAN-Bus (also for DeviceNet)

The following interfaces are standard included in both PLCs:

-

RS232

-

Ethernet

-

1 digital Output / 2 Inputs

-

CAN-Interface for internal connection of the drives an the I/O-Module

The  Data  is  stored  on  an  integrated  CompactFlash  –  memory  card.  Additionally,  there  is  a  battery  buffered
static ram disc available, where for example the part counter and the counter of operating hours is stored. For
parameterization  of  the  software  on  the  Slot-PLC  there  is  a  Windows  –  Program  provided.  For  example  the
load,  positions  and drive sequences can be adjusted by this program. The connection between Windows-PC
(Laptop) and Slot-PLC is via serial interface (RS232) or via Ethernet.

The PLC - Software supports the following operating modes:

-

reference run

-

jogging mode

-

machine zero point teaching

-

position teaching

-

move to position 1...127 (absolute or relative)

-

32 sequences each with 32 commands

-

8 freely programmable cams

-

8 Outputs for free use

-

8 Inputs for free use

-

1 demo sequence

-

Controlling of Lubrication pump

Indications

Illustration

LED Descr.

Colour

Description

Status
(RUN)

red
red with orange flashing
red/green flashing (1 Hz)
orange
green
green with orange flashing

ERROR/RESET
Loading/unpacking/starting BOOT AR
Start-up of the BOOT or CF - AR
SERVICE/DIAG/BOOT mode
RUN
RUN - BATTERY LOW

RS232
(X1)

orange flashing

Data transfer to user
interface IF 1 (RS232)

Profibus
(PB)

orange

Data transfer to user

interface IF 3 (Profibus)

Ethernet
(ACT)

orange
orange flashing

Ethernet LINK (IF6)
Ethernet ACTIVE (IF6)

CAN
(RX)

orange

Data received on user
interface IF2 (CAN)

CAN
(TX)

orange

Send data on user
interface IF2 (CAN)

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Содержание HP140

Страница 1: ...04 2010 ...

Страница 2: ... We accept no liability for damages directly or indirectly related to the provision or use of this documentation This does not include damages arising from death personal injury or damage to health or to such damages resulting from a grossly negligent or deliberate infringement of obligations Windows and Windows XP are registered trade marks of Microsoft Corporation in the USA and or other countri...

Страница 3: ...cal installation ACOPOS drive 15 3 3 Installation of external I O Module 22 3 4 Electrical installation of I O Module 23 3 5 Connection Diagram for control cables 24 3 6 Motor connection 25 3 7 Customers interface 26 4 Getting started 30 4 1 Drive controls 30 4 2 Slot PLC 33 4 3 Mechanics Motors and Feedback 34 4 4 Machine Zero Position 35 4 5 Windows User Interface Software 36 5 Service und Maint...

Страница 4: ... shown as follows depending on the degree of risk Danger Imminent danger Fatal injury death or substantial material damage can be caused if the appropriate safety measures are not taken Warning Minor injuries may occur if the appropriate safety measures are not taken Electrical hazard Warning against hazardous voltage Useful Information ...

Страница 5: ...intenance of the system and who have the qualifications and know how appropriate for this work Qualified personnel are persons who have the necessary qualifications and who are familiar with the execution of the work cited above and the operation of the system All work in other areas such as transport storage and disposal must be carried out by persons with the appropriate training General Prior t...

Страница 6: ...lar the power line and the motor line immediately after disconnection of the servo drive from the supply voltage due to the possibility that capacitors are still charged up After switching off the device wait for at least 5 minutes and then check at the terminals DC1 and DC1 whether the capacitor has discharged to voltages 42 VDC before touching live parts or disconnect connections The fact that t...

Страница 7: ...witching off of the energy supply to the drive machinery i e an uncontrolled shut down SS1 Safe Stop 1 Stop Category 1 Introduction of active braking and activation of the STO function after a defined amount of time has expired Implementation by user This is described in a separate chapter of these Operating Instructions Section 4 1 2 This must be observed A wiring diagram is also provided in this...

Страница 8: ...mer interface digital inputs customer interface digital outputs mains connection motor line red encoder line red Eingänge des Verstärkers Enable Not Aus Quickstop 24V Versorgung customer interface Profibus or CAN option 1 or 2 digital I O Moduls with 16 In and Outputs each motor line blue encoder line blue drive control Z Axis Parameterization via RS232 or Ethernet drive control Y Axis Ethernet ...

Страница 9: ...n interval 30 sec Power loss 80 W 120 W EMC according to EC directive 89 336 EWG applicable harmonized standards EN 61800 3 noise resistance EN 550011 class B noise emission Low voltage directive according to EC directive 73 23 EWG applicable harmonized standards EN60204 1 VDE113 Protection according to IEC 60529 IP 20 C UL US listed yes Dimensions width 58 5 mm height 257 mm depth 220 mm width 70...

Страница 10: ...max baud rate 115 2 kBaud Indications X1 LED Interface IF2 X2 Interface type CAN Potential separation YES Design 9pol DSUB plug max baud rate 500 kBit s bis 60m Indications RX TX LED s Bus terminating resistor external Interface IF3 X3 Interface type Profibus DP RS485 Potential separation YES Design 9pol DSUB socket Controller ASIC SPC3 RAM 1 5 kByte max baud rate Bus length up to100m Bus length u...

Страница 11: ...ons X1 LED Interface IF2 X2 Interface type RS232 Potential separation NO Design 9pol DSUB plug max baud rate 115 2 kBaud Indications X1 LED Interface type RS232 Interface IF3 X3 Interface type CAN like IF2 Interface IF5 X5 Interface type Ethernet Potential separation JA Design RJ45 socket Baud rates 10 100 Mbit s Indications ACT LED Battery slot Memory Card X1 RS232 X5 Ethernet X4 dig I O X2 CAN i...

Страница 12: ...5mm max 268mm Acceleration max 35 m s max 40 m s Speed max 2 0 m s max 4 0 m s Nominal voltage 320 V DC 320 V DC Nominal peak current 2 8A 5 8A 2 2A 3 8A Nominal peak torque 60N 180N 40N 100N Temperature sensor PTC Switch PTC Switch Air humidity 5 to 95 without condensation Permitted temperature ranges storage 5 C 55 C operation 5 C 45 C Protection according to IEC 60529 IP 20 2 2 5 Measurement sy...

Страница 13: ...WAS handling Electro Documentation 10 2 3 Terminology HP140 T B B Type Motor coil Measurement system Design ...

Страница 14: ...perature of 40 C 104 F specified in the technical data as well as the protective type IP20 must be observed on installation of the devices 3 1 1 Model for 110 230VAC Dimensions 1 A free space of 80 mm must be provided above and below the ACOPOS drive to ensure adequate air circulation For permitting an easy wiring there must be a space of at least 100mm below the ACOPOS drive 2 piece of Acopos 8V1...

Страница 15: ...WAS handling Electro Documentation 12 Drilling template Fixing screws M5 ...

Страница 16: ... Dimensions 2 A free space of 80 mm must be provided above and below the ACOPOS drive to ensure adequate air circulation For permitting an easy wiring there must be a space of at least 100mm below the ACOPOS drive 2 piece of Acopos 8V1022 50 Air output Air input ...

Страница 17: ...WAS handling Electro Documentation 14 Drilling template Fixing screws M5 ...

Страница 18: ...characteristics C in accordance with IEC 60898 or time delay fuses with trip characteristics M in accordance with IEC 60269 1 should be used Fault Current Servo drives have an internal power rectifier In the event of an earth contact a flat DC fault direct current can block the triggering of an AC current or pulse current sensitive residual current operated circuit breaker RCD and thus suspend the...

Страница 19: ...WAS handling Electro Documentation 16 3 2 1 Connecting diagram ACOPOS 1010 single phase connection 1 x 208V 230V three phase connection 3 x 208V 230V ...

Страница 20: ...17 WAS handling Electro Documentation ACOPOS 1022 three phase connection 3 x 400V 480V ...

Страница 21: ...r should open parallel with the opening of the mains contactors Due to time overlap an error main power low can occur Switch on interval 30sec Please note Wait at least 5 minutes after the system has been switched off before touching live parts or disconnecting connections Rapid start up is not possible required when using a light curtain please consider switch on interval Please note the followin...

Страница 22: ...ects the contactor as the drive is disabled before the contactors are opened powerless switching of the contacts A rapid start up is possible required when using a light curtain Please note the following disadvantages on this type of circuit When the drive is enabled you may be switching a DC current with the contactor The motor winding is an inductivity The resulting induction voltage can damage ...

Страница 23: ...ot 2 Slot 3 AC120 Encoder PLC AC140 4 3 2 1 4 3 2 1 NOT AUS 24V L 1 L 2 L 3 N PE The following must be taken into consideration Observe chapter 4 1 2 Secure restart inhibit For frequent switching no switch on interval Wear free Rapid starting possible light curtain Fulfils safety category 3 pursuant to EN 954 1 Stop functions of categories 0 1 2 Motor terminals U V W can still be carrying voltage ...

Страница 24: ...eleased This triggers an active braking via the ACOPOS input Quickstop clamp X 1 2 If the drive etc fails the release delayed auxiliary relay K3 is released after a defined time period and causes a shutdown of the energy supply to the motor clamp X 1 9 The delay time is set to the calculated time for the stop ramp max 0 1s for the horizontal Axes of the HP140 Thus the shortest possible braking dis...

Страница 25: ...WAS handling Electro Documentation 22 3 3 Installation of external I O Module The optional available I O Module can be mounted directly or onto a DIN rail The Dimensions are as follows ...

Страница 26: ...6 can supply up to 2A The sum of all currents is max 10A Control elements Status LED green normal operation green flash startup red RESET red flash wrong node number orange faulty output orange flash supply outputs I O Monitor Use the Select key to toggle between the display of the inputs green and the outputs red 24V supply for the I O Module Bridge Terminating resistor CAN Bus CAN Bus 24V supply...

Страница 27: ...inal resistor is integrated Onto the I O Module the bridge Term has to be wired 3 5 3 CAN Bus two of I O Modules At the version with two I O Modules and two drive controls the cable 563 200000204 has to be used The Wiring is similar as with one I O Module but the bridge TERM is necessary only at the end of the line Clamp Function Pin 1 Bridge Pin 2 Bridge Pin 3 n c Pin 4 n c Pin 5 n c Pin 6 n c Pi...

Страница 28: ...s the lines are signed as follows Vertikal axis red left drive control with Slot PLC AC140 Horizontal axis blue right drive control with module AC110 The wires of the motor lines are signed with specified indications The motor lines have to be fixed with the supplied cable brackets to ensure the shield is also well connected Observe the allocation of shield ...

Страница 29: ...cription Function 1 2 3 DATA Data 4 CNTRL Transmit Enable 5 Profibus_GND Profibus_GND potential separated 6 5V 50mA 5V Supply 50mA potential separated 7 8 DATA Data 9 CNTRL Transmit Enable 3 7 2 CAN Bus D Sub Plug male Pin Description Function 1 2 CAN_L CAN Low 3 CAN_GND CAN 0V 4 5 6 7 CAN_H CAN High 8 9 ...

Страница 30: ... configurable via Software For this reason here is no circuit shown For connecting more powerful devices the Outputs 13 16 onto the additional I O Module are available Digital In and Outputs on Slot PLC On the lower side of the Slot PLC there is a 8 pin Plug which is supplying one digital Output 24V 500mA and two digital Inputs 24V Clamp Function Pin 1 GND Pin 2 24V Supply Pin 3 Input 4 1 Pin 4 In...

Страница 31: ... X1 16 E 1 14 Configurable via Windows Program X1 17 E 1 15 Configurable via Windows Program X1 18 E 1 16 Configurable via Windows Program Outputs Clamp on I O extension CX408 Function Description X2 1 GND 0V 24V Supply of Outputs X2 2 24V 24V Supply of Outputs X2 3 A 1 1 Configurable via Windows Program X2 4 A 1 2 Configurable via Windows Program X2 5 A 1 3 Configurable via Windows Program X2 6 A...

Страница 32: ...e HP140 there is a preconfigured cable delivered If pneumatic valves and Tool Connector are requested the wiring is as follows Sensor Actor Color SBS4 Terminal block Pin X40 color of wire 24V brown 1 9 black white 24V GND blue 2 10 violet brown Valve 1 A1 13 white green Valve 2 A2 6 rose A3 14 brown green A4 7 blue A5 15 rot Sensor 1 white E1 3 green Sensor 2 green E2 11 green red Sensor 3 yellow ...

Страница 33: ...raking of the axis the drive controls are equipped with a Quickstop Input The Function called secure restart inhibit to deactivate the system and prevent unexpected restart is realized with a digital input on clamp X1 9 the Enable Superfluous brake energy is given to an internal brake resistor 4 1 1 Indications The ACOPOS controller is equipped with three LED s for direct diagnostics Illustration ...

Страница 34: ...ontrolled shut down SS1 Safe Stop 1 Stop Category 1 Introduction of active braking and activation of the STO function after a defined amount of time has expired Implementation by user The restart inhibit interrupts the energy supply to the drive by blocking the pulses to the IGBT s This means that no rotary field can be built up in the servo motor This function is realized by the terminal X1 9 on ...

Страница 35: ...safety category must be selected individually for each indexing table in a machine on the basis of a risk assessment This risk assessment is part of the overall risk assessment for a machine On the CD ROM supplied you will find the manual of the drive manufacturer as well as the TÜV approval certificate file ACOPOS_mdt_V131_04_2004 pdf ACOPOS_SafePulseDisablingCertificate_x_00 pdf You will find fu...

Страница 36: ...he load positions and drive sequences can be adjusted by this program The connection between Windows PC Laptop and Slot PLC is via serial interface RS232 or via Ethernet The PLC Software supports the following operating modes reference run jogging mode machine zero point teaching position teaching move to position 1 127 absolute or relative 32 sequences each with 32 commands 8 freely programmable ...

Страница 37: ...on of 0 244µm yields The used measuring system belongs to the family of the incremental measuring systems Because off this the motor phase commutation and the reference position must be found after each Power ON Motor commutation With the first enablement of the axis after Power ON the drive automatically searches the motor commutation For this the drive gives a frequency model onto the axis and i...

Страница 38: ...he high dynamics of the linear motors a crash at full speed to the mechanical limit may deform it Normally this is prevented by the Software but in case of emergency stop or power loss the axes could run to their limits Never move with full speed to the mechanical limit Keep the end of the axis clean Make sure that no parts block the way during the reference search 4 4 Machine Zero Position Depend...

Страница 39: ...een PC and PLC via RS232 or ethernet has to be established For connecting via RS232 there is a so called Null Modem Cable necessary The assignment can be found in the electric manual This parameterization is only necessary one time after the implementation of the HP140 All important parameters are placed to disposal via Interface to customers PLC For further Information please read the manual WAS ...

Страница 40: ...battery is removed without supply voltage Save the data in advance Windows Program Store parameters Procedure for battery replacement 1 Drain electrostatic charge at the top hat rail or the ground connection do not reach into the power supply 2 Remove the cover for the Lithium battery with a screwdriver 3 Pull on the pullout strip to remove the battery do not grip the battery with a pair of pliers...

Страница 41: ... under the battery so that it does not extend from the battery compartment 6 Replace the cover The recess for the screwdriver should point upwards Lithium batteries are hazardous waste Spent batteries have to be disposed of appropriately The battery has the type CR2477N with a Voltage of 3V ...

Страница 42: ...emark 1 Motor line 4 x1 5mm 2 x 2 x 0 75 mm 2 Circular Connector BSTA 108 FR 19 08 0006 000 3 Shrink wrap 4 Wire tip sleeve Circular Connector Pin Designation Function 1 U Motor connection U 4 V Motor connection V 3 W Motor connection W 2 PE protective ground connector A T Temperature sensor B T Temperature sensor C B Break Reserved D B Break Reserved Rote Marking vertical motor Z Axis Blue Markin...

Страница 43: ...ale 4 Shrink Wrap for Designation D Sub male connector Pin Designation Function 1 A Channel A 2 COM 1 3 9 11 13 15 Encoder supply 0V 3 B Channel B 4 5V out 0 25A Encoder supply 5V 5 D Data 6 Reserve 7 R Reference inverted 8 T Clock 9 A Channel A inverted 10 Sense COM Sense 0V 11 B Channel B inverted 12 Sense 5V Sense 5V 13 D Data inverted 14 R Reference 15 T Clock inverted Red Marking Feedback ver...

Страница 44: ...ling Electro Documentation 6 1 3 Assignment control cable for valves gripper 563 200000100 104 6 1 4 Assignment Null Modem Cable 563 200000010 The Null Modem Cable is used for connecting the Laptop to Slop PLC X1 ...

Страница 45: ...WAS handling Electro Documentation 42 6 1 5 Assignment CAN Adapter 563 200000200 6 1 6 Assignment CAN Adapter 563 200000202 ...

Страница 46: ...43 WAS handling Electro Documentation ...

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