Digital Servo Amplifier
AX2040/2070
Assembly, Installation, Setup
Keep all product manuals as a product component
during the life span of the servo amplifier.
Pass all product manuals to future
users / owners of the servo amplifier.
Edition 02/06
Previous versions :
Edition Remarks
09/05 First edition
02/06
Chapter 1 updated, motor choke added, DeviceNet, SynqNet and EtherCat expansion cards added, chap
ter 6 restructured, feedback section updated, cross section (awg)
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WINDOWS is a registered trademark of Microsoft Corp.
HIPERFACE is a registered trademark of Max Stegmann GmbH
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
Technical changes which improve the performance of the equipment may be made without prior notice !
Printed in the Federal Republic of Germany
All rights reserved. No part of this work may be reproduced in any form (by printing, photocopying, microfilm or
any other method) or stored, processed, copied or distributed by electronic means without the written permission of
Beckhoff.
Beckhoff
02/06 Contents
1 General
1.1 About this manual ...................................................................................7
1.2 Symbols used in this manual ..........................................................................7
1.3 Abbreviations used in this manual ......................................................................8
2 Technical Description
2.1 Safety Instructions ..................................................................................9
2.2 Use as directed ....................................................................................10
2.3 European directives and standards ....................................................................11
2.4 CE - conformance ..................................................................................11
2.5 UL and cUL- Conformance ...........................................................................12
2.6 Nameplate .......................................................................................13
2.7 Instrument description ..............................................................................13
2.7.1 Package supplied ............................................................................13
2.7.2 The digital servo amplifiers of the series AX2040/2070 ...............................................14
2.8 Connection to different mains supply networks ...........................................................16
2.9 Components of a sero system ........................................................................17
2.10 Technical data ....................................................................................18
2.10.1 Fusing .....................................................................................19
2.10.1.1 Internal fusing ...........................................................................19
2.10.1.2 External fusing ...........................................................................19
2.10.2 Allowable ambient conditions, ventilation, mounting position ...........................................19
2.10.3 Conductor cross-sections ......................................................................20
2.10.4 Recommended torques ........................................................................20
2.10.5 LED display .................................................................................20
2.11 Grounding system..................................................................................20
2.12 Control for motor holding brake .......................................................................21
2.13 Regen circuit ......................................................................................22
2.14 Switch-on and switch-off behavior .....................................................................23
2.14.1 Stop function to EN 60204 .....................................................................23
2.14.2 Emergency Stop strategies .....................................................................24
2.15 Restart lock -AS-...................................................................................25
2.15.1 Advantages of the restart lock ...................................................................25
2.15.2 Functional description .........................................................................25
2.15.3 Block diagram ...............................................................................26
2.15.4 Signal diagram (sequence) .....................................................................26
2.15.5 Installation / Setup ............................................................................27
2.15.5.1 Safety instructions ........................................................................27
2.15.5.2 Functional test ...........................................................................27
2.15.5.3 Connection diagram.......................................................................27
2.15.6 Application examples .........................................................................28
2.15.6.1 Moving single axis-groups in setting-up operation................................................28
2.15.6.2 Switching off grouped axes with separate working areas ..........................................28
2.15.6.2.1 Control circuit.......................................................................28
2.15.6.2.2 Mains supply circuit ..................................................................29
3 Installation
3.1 Important notes ....................................................................................31
3.2 Guide to installation and wiring ........................................................................32
3.3 Assembly ........................................................................................33
3.3.1 Dimensions .................................................................................34
3.4 Wiring ...........................................................................................35
3.4.1 Connection diagram ..........................................................................36
3.4.2 Example of connections for a multi-axis system .....................................................37
3.4.3 Pin assignments .............................................................................38
3.4.4 Notes on connection techniques .................................................................39
3.4.4.1 Shielding connection to the front panel ........................................................39
3.4.4.2 Technical data for cables...................................................................40
3.5 Setup software ....................................................................................41
3.5.1 General ....................................................................................41
3.5.1.1 Use as directed ..........................................................................41
3.5.1.2 Software description ......................................................................41
3.5.1.3 Hardware requirements ....................................................................42
3.5.1.4 Operating systems........................................................................42
3.5.2 Installation under WINDOWS 95 / 98 / 2000 / ME / NT / XP ............................................42
Page
AX2040/2070 Installation Manual 3
Contents
02/06 Beckhoff
4 Interfaces
4.1 Block diagram .....................................................................................43
4.2 Power supply .....................................................................................44
4.2.1 Mains supply connection (X0) ...................................................................44
4.2.2 24V auxiliary supply (X4).......................................................................44
4.2.3 DC bus link .................................................................................44
4.3 Motor connection with brake (X0, X4)...................................................................45
4.4 Motor connection with choke (X0) .....................................................................45
4.5 External regen resistor (X0) ..........................................................................45
4.6 Feedback ........................................................................................46
4.6.1 Resolver (X2) ...............................................................................46
4.6.2 ComCoder (X1) ..............................................................................47
4.6.3 Incremental or sine encoder with hall sensors (X1) ..................................................48
4.6.4 Sine Encoder with EnDat or HIPERFACE (X1) ......................................................49
4.6.5 Incremental Encoder (X5) ......................................................................50
4.6.6 Sine Encoder without data channel (X1) ...........................................................51
4.7 Digital and analog inputs and outputs...................................................................52
4.7.1 Analog inputs (X3) ............................................................................52
4.7.2 Analog outputs (X3)...........................................................................53
4.7.3 Digital inputs (X3) ............................................................................54
4.7.4 Digital outputs (X3) ...........................................................................55
4.8 Encoder emulations ................................................................................56
4.8.1 Incremental encoder output - A quad B (X5) ........................................................56
4.8.2 SSI encoder emulation - position output (X5) .......................................................57
4.9 Master-slave operation, encoder master control ..........................................................58
4.9.1 Connection to a AX20 master, 5B signal level (X5) ..................................................58
4.9.2 Connection to incremental encoder master with 24V signal level (X3) ....................................59
4.9.3 Connection to a sine-cosine encoder master (X1) ...................................................59
4.10 Interface for stepper-motor controllers (pulse-direction) .....................................................60
4.10.1 Connection to a stepper motor controller with 5V signal level (X5) .......................................61
4.10.2 Connection to stepper motor controller with 24V signal level (X3).......................................61
4.11 RS232 interface, PC connection (X6) ...................................................................62
4.12 CANopen interface (X6) .............................................................................63
5Setup
5.1 Important notes ....................................................................................65
5.2 Guide to setup ....................................................................................66
5.3 Parameter setting ..................................................................................67
5.3.1 Multi-axis system .............................................................................67
5.3.1.1 Node address for CAN-bus .................................................................67
5.3.1.2 Baud rate for CAN-bus ....................................................................67
5.3.2 Key operation / LED display ....................................................................68
5.3.2.1 Key operation............................................................................68
5.3.2.2 Status display ...........................................................................68
5.3.2.3 Standard menu structure ...................................................................69
5.3.2.4 Extended menu structure...................................................................69
5.4 Error messages ...................................................................................70
5.5 Warning messages .................................................................................71
Page
4 AX2040/2070 Installation Manual
Beckhoff
02/06 Contents
6 Expansions, accessories
6.1 Expansion Cards ..................................................................................73
6.1.1 Guide to installation of expansion cards ...........................................................73
6.1.2 Expansion card -I/O-14/08- .....................................................................74
6.1.2.1 Front view ..............................................................................74
6.1.2.2 Technical data ...........................................................................74
6.1.2.3 Light emitting diodes (LEDs) ................................................................74
6.1.2.4 Select motion task number (sample) ..........................................................74
6.1.2.5 Connector assignments ....................................................................75
6.1.2.6 Connection diagram.......................................................................76
6.1.3 Expansion cards -PROFIBUS- ..................................................................77
6.1.3.1 Front view ..............................................................................77
6.1.3.2 Connection technology ....................................................................77
6.1.3.3 Connection diagram.......................................................................77
6.1.4 Expansion card -SERCOS- .....................................................................78
6.1.4.1 Front view ..............................................................................78
6.1.4.2 Light emitting diodes (LEDs) ................................................................78
6.1.4.3 Connection technology ....................................................................78
6.1.4.4 Connection diagram.......................................................................79
6.1.4.5 Modifying the station address ...............................................................79
6.1.4.6 Modifying the baud rate and optical power .....................................................79
6.1.5 Expansion card -DEVICENET- ..................................................................80
6.1.5.1 Front view ..............................................................................80
6.1.5.2 Connection technology ....................................................................80
6.1.5.3 Connection diagram.......................................................................80
6.1.5.4 Combined module/network status-LED ........................................................81
6.1.5.5 Setting the station address (device address)....................................................81
6.1.5.6 Setting the transmission speed ..............................................................81
6.1.5.7 Bus cable ...............................................................................82
6.1.6 Expansion card -ETHERCAT- ...................................................................83
6.1.6.1 Front view ..............................................................................83
6.1.6.2 LEDs ..................................................................................83
6.1.6.3 Connection diagram.......................................................................83
6.1.7 Expansion card -SYNQNET- ....................................................................84
6.1.7.1 Front view ..............................................................................84
6.1.7.2 NODE ID Switch .........................................................................84
6.1.7.3 Node LED table .........................................................................84
6.1.7.4 SynqNet Connection, Connector X21B/C (RJ-45)................................................84
6.1.7.5 Digital inputs/outputs, connector X21A (SubD 15-pin, socket) ......................................85
6.1.7.6 Connection diagram digital inputs/outputs, connector X21A ........................................85
6.1.8 Expansion module -2CAN- .....................................................................86
6.1.8.1 Installation ..............................................................................86
6.1.8.2 Front View ..............................................................................86
6.1.8.3 Connection technology ....................................................................86
6.1.8.4 Connector assignments ....................................................................87
6.1.8.5 Connection diagram.......................................................................87
6.2 Accessories ......................................................................................88
6.2.1 External 24VDC / 5A supply ....................................................................88
6.2.2 External 24VDC / 20A supply ...................................................................89
6.2.3 External regen resistor BAS ....................................................................90
6.2.4 Mains filters 3EF .............................................................................91
6.2.5 Mains chokes 3L
6.2.6 Motor chokes 3YLN ...........................................................................93
.............................................................................92
7 Appendix
7.1 Transport, storage, maintenance, disposal...............................................................95
7.2 Removing faults / warnings...........................................................................96
7.3 Glossary .........................................................................................98
7.4 Index ...........................................................................................100
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AX2040/2070 Installation Manual 5
02/06 Beckhoff
This page has been deliberately left blank.
6 AX2040/2070 Installation Manual
Beckhoff
1 General
1.1 About this manual
This manual describes the digital servo amplifiers of the AX2040/2070 series (standard version).
You can find information about:
General Chapter 1
l
Technical description Chapter 2
l
Assembly / installation Chapter 3
l
Interfaces Chapter 4
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Setup Chapter 5
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Expansikons / Accessories Chapter 6
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Transport, storage, maintenance, disposal Chapter 7
l
A more detailed description of the expansion cards which are currently available and the digital
connection to automation systems can be found on the accompanying CD-ROM in Acrobat-Reader
format (system requirements: WINDOWS with Internet browser) in several language versions.
You can print this documentation on any standard printer. A printed copy of the documentation is
available from us at extra cost.
02/06 General
This manual makes the following demands on qualified personnel :
Transport : only by personnel with knowledge in handling electrostatically
sensitive components.
Installation : only by electrically qualified personnel
Setup : only by personnel with extensive knowledge of electrical
engineering / drive technology
1.2 Symbols used in this manual
Danger to personnel
from electricity and its
effects effects
ð p.
see page l special emphasis
Danger to maschinery,
general warning
Important
notes
AX2040/2070 Installation Manual 7
General
02/06 Beckhoff
1.3 Abbreviations used in this manual
The abbreviations used in this manual are explained in the table below.
Abbrev. Meaning
AGND Analog ground
AS Restart Lock, option
BTB/RTO Ready to operate
CAN Fieldbus (CANopen)
CE Communité Européenne (EC)
CLK Clock signal
COM Serial interface for a PC-AT
DGND Digital ground
DIN German Institute for industrial Standards
Disk Magnetic storage (diskette, hard disk)
EEPROM Electrically erasable programmable memory
EMC Electromagnetic compatibility
EMI Electromagnetic interference
EN European standard
ESD Electrostatic discharge
F-SMA Fiber Optic Cable connector according to IEC 60874-2
IEC International Electrotechnical Commission
IGBT Insulated Gate Bipolar Transistor
INC Incremental Interface
ISO International Standardization Organization
LED Light-emitting diode
MB Megabyte
NI Zero pulse
NSTOP Limit-switch input for CCW rotation (left)
PELV Protected low voltage
PGND Ground for the interface
PSTOP Limit-switch input for CW rotation (right)
PWM Pulse-width modulation
RAM Volatile memory
R
regen(RB
R
Bext
R
Bint
RES Resolver
ROD 426 (EEO) A quad B encoder
PLC Programmable logic controller
SRAM Static RAM
SSI Synchronous serial interface
UL Underwriters Laboratory
VAC AC voltage
VDC DC voltage
VDE Verein deutscher Elektrotechniker
XGND Ground for the 24V supply
) Regen resistor
External regen resistor
Internal regen resistor
8 AX2040/2070 Installation Manual
Beckhoff
2 Technical Description
2.1 Safety Instructions
Only properly qualified personnel are permitted to perform activities such as trans
l
port, installation, setup and maintenance. Properly qualified persons are those who
are familiar with the transport, assembly, installation, setup and operation of the pro
duct, and who have the appropriate qualifications for their job. The qualified person
nel must know and observe:
IEC 364 and CENELEC HD 384 or DIN VDE 0100
IEC-Report 664 or DIN VDE 0110
national accident prevention regulations or BGV A3
02/06 Technical Description
-
-
-
Read this documentation before carrying out installation and setup. Incorrect hand
l
ling of the servo amplifier can lead to personal injury or material damage. It is vital
that you keep to the technical data and information on connection requirements (on
the nameplate and in the documentation).
The servo amplifiers contain electrostatically sensitive components which may be
l
damaged by incorrect handling. Ground yourself before touching the servo amplifier
by touching any unpainted metal surface. Avoid contact with highly insulating mater
ials (artificial fabrics, plastic film etc.). Place the servo amplifier on a conductive sur
face.
The manufacturer of the machine must generate a hazard analysis for the machine,
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and take appropriate measures to ensure that unforeseen movements cannot cause
injury or damage to any person or property.
Do not open the units. Keep all covers and switchgear cabinet doors closed during
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operation. Otherwise there are deadly hazards, with the possibility of severe danger
to health or material damage.
l
During operation, servo amplifiers, according to their degree of enclosure protection,
may have uncovered live components. Control and power connections may be live,
even if the motor is not rotating.
l
Servo amplifiers may have hot surfaces during operation.
l
Never undo the electrical connections to the servo amplifier while it is live. There is a
danger of electric arcing with damage to contacts and danger to persons.
-
-
-
l
Wait at least five minutes after disconnecting the servo amplifier from the mains
supply voltage before touching live sections of the equipment (e.g. contacts) or
undoing connections. Capacitors can still have dangerous voltages present up to five
minutes after switching off the supply voltages. To be sure, measure the voltage in
the DC bus link circuit and wait until it has fallen below 40V.
Safety instructions
AX2040/2070 Installation Manual 9
Technical Description
2.2 Use as directed
The servo amplifiers are components which are built into electrical equipment or machines, and can
only be used as integral components of such equipment. The manufacturer of the machine must
generate a hazard analysis for the machine, and take appropriate measures to ensure that unfore
seen movements cannot cause injury or damage to any person or property.
02/06 Beckhoff
-
The AX2040/2070 family of servo amplifiers can be connected directly to symmetrically eart
hed(grounded) three-phase industrial mains supply networks [TN-system, TT-system with eart
hed(grounded) neutral point, not more than 5000rms symmetrical amperes, 480VAC maximum]
when protected by fuses type Fusetron FRS-R-50 for AX2040 or FRS-R-80 class RK5 for AX2070,
manufactured by Bussman, or equivalent, 480VAC min.
The servo amplifiers must not be operated directly on power supply networks >230V without an
earth (ground) or with an asymmetrical earth (ground).
Connection to other mains supply networks ð p. 16.
-
-
The use of external mains chokes and mains filters is required.
Periodic overvoltages between outer conductor (L1, L2, L3) and housing of the servo amplifier may
not exceed 1000V (peak value).
Transient overvoltages (< 50µs) between the outer conductors may not exceed 1000V.
Transient overvoltages (< 50µs) between outer conductors and housing may not exceed 2000V.
The regen resistors have to be protected by fuses type Limitron KLM, rated for 500VAC/DC
The AX2040/2070 family of servo amplifiers is only intended to drive specific brushless synchro
nous servomotors with closed-loop control of torque, speed and/or position. The rated voltage of the
motors must be at least as high as the DC bus link voltage of the servo amplifier. The motor must
have integral thermal protection.
The servo amplifiers may only be operated in a closed switchgear cabinet, taking into account the
ambient conditions defined on page 19 and the dimensions shown on page 33. Ventilation or cooling may be necessary to prevent enclosure ambient from exceeding 45°C (113°F).
Use copper wire only. Wire size may be determined from EN 60204 (or table 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
(page 11), if the components are delivered by Beckhoff.
Restart lock -AS-
The restart lock -AS- is exclusively intended to provide safety for personnel, by preventing the res
tart of a system. To achieve this personnel safety, the wiring of the safety circuits must meet the
safety requirements of EN60204, EN292 and EN 954-1..
The -AS- restart lock must only be activated,
— when the motor is no longer rotating (setpoint = 0V, speed = 0rpm, enable = 0V).
Drives with a suspended load must have an additional safe mechanical blocking
(e.g. by a motor-holding brake).
— when the monitoring contacts (KSO1/2 and BTB/RTO) for all servo amplifiers are wired into
the control signal loop (to recognize a cable break).
The -AS- restart lock may only be controlled by a CNC if the control of the internal safety relay is
arranged for redundant monitoring.
The -AS- restart lock must not be used if the drive is to be made inactive for the following reasons :
1. - cleaning, maintenance and repair operations
- long inoperative periods
In such cases, the entire system should be disconnected from the supply by the personnel,
and secured (main switch).
2. - emergency-stop situations
In an emergency-stop situation, the main contactor is switched off (by the emergency-stop
button or the BTB-contact in the safety circuit).
-
10 AX2040/2070 Installation Manual
Beckhoff
02/06 Technical Description
2.3 European directives and standards
Servo amplifiers are components that are intended to be incorporated into electrical plant and
machines for industrial use. When the servo amplifiers are built into machines or plant, the amplifier
must not be used until it has been established that the machine or equipment fulfills the require
ments of the EC Machinery Directive (98/37/EC), the EC EMC Directive (89/336/EEC) and the EC
Low Voltage Directive (73/23/EEC.)
Standards to be applied for conformance with the EC Machinery Directive (98/37/EEC):
EN 60204-1 (Safety and Electrical Equipment in Machines)
EN 292 (Safety of Machines)
The manufacturer of the machine must generate a hazard analysis for the machine,
and take appropriate measures to ensure that unforeseen movements cannot
cause injury or damage to any person or property.
Standards to be applied for conformance with the EC Low Voltage Directive (73/23/EEC):
EN 60204-1 (Safety and Electrical Equipment in Machines)
EN 50178 (Electronic Equipment in Power Installations)
EN 60439-1 (Low Voltage Switchgear Combinations)
Standards to be applied for conformance with the EC EMC Directive (89/336/EEC):
EN 61000-6-1 / EN 61000-6-2 (Interference Immunity in Residential & Industrial Areas)
EN 61000-6-3 / EN 61000-6-4 (Interference Generation in Residential & Industrial Areas)
-
The manufacturer of the machine/plant is responsible for ensuring that it meets the limits required
by the EMC regulations. Advice on the correct installation for EMC (such as shielding, grounding,
treatment of connectors and cable layout) can be found in this documentation.
The machine/plant manufacturer must check whether other standards or EC
Directives must be applied to the machine/plant.
2.4 CE - conformance
Conformance with the EC EMC Directive (89/336/EEC) and the Low Voltage Directive (73/23/EEC)
is mandatory for the supply of servo amplifiers within the European Community. Product standard
EN 61800-3 is applied to ensure conformance with the EMC Directive. The Declaration of Confor
mity form can be found on our website (download area).
Concerning noise immunity the servo amplifier meets the requirements to the 2nd environmental
category (industrial environment). For noise emission the amplifier meets the requirement to a pro
duct of the category C2 (motor cable £ 25m).
Warning! This product can cause high-frequency interferences in non industrial
environments which can require measures for interference suppression.
With a motor cable length from 25m onwards, the servo amplifier meets the requirement to the
category C3.
The servo amplifiers have been tested in a defined configuration, using the system components that
are described in this documentation. Any divergence from the configuration and installation descri
bed in this documentation means that you will be responsible for carrying out new measurements to
ensure conformance with regulatory requirements. The standard EN 50178 is applied to ensure
conformance with the Low Voltage Directive.
-
-
-
AX2040/2070 Installation Manual 11
Technical Description
02/06 Beckhoff
2.5 UL and cUL- Conformance
This servo amplifier is listed under UL file number E217428.
UL (cUL)-certified servo amplifiers (Underwriters Laboratories Inc.) fulfill the relevant U.S. and
Canadian standard (in this case UL 840 and UL 508C).
This standard describes the fulfillment by design of minimum requirements for electrically operated
power conversion equipment, such as frequency converters and servo amplifiers, which is intended
to eliminate the risk of fire, electric shock, or injury to persons, being caused by such equipment.
The technical conformance with the U.S. and Canadian standard is determined by an independent
UL (cUL) inspector through the type testing and regular check-ups.
Apart from the notes on installation and safety in the documentation, the customer does not have to
observe any other points in direct connection with the UL (cUL)-certification of the equipment.
UL 508C
UL 508C describes the fulfillment by design of minimum requirements for electrically operated
power conversion equipment, such as frequency converters and servo amplifiers, which is intended
to eliminate the risk of fire being caused by such equipment.
UL 840
UL 840 describes the fulfillment by design of air and insulation creepage spacings for electrical
equipment and printed circuit boards.
12 AX2040/2070 Installation Manual
Beckhoff
2.6 Nameplate
The nameplate depicted below is attached to the side of the servo amplifier.
The information described0 below is printed in the individual fields.
02/06 Technical Description
Servo amplifier type
Eiserstr. 5
D-33415 Verl
Typenbezeichnung
Spannungsversorgung
Umgebungstemp.
Ambient temp.
Model Number
Power Supply
008102106842
max.
Electrical supply
ambient temperature
2.7 Instrument description
2.7.1 Package supplied
Installed load
Tel.: +49-(0)5246/963-0
Fax: +49-(0)5246/963-149
Ser.Nr
Nennstrom
Nom. Current
Output current
in S1 operation
Ser.No.
E217428
Bemerkung
Schutzart
5.76
CommentsSerial number
U
CUS
L
®
LISTED
IND. CONT. EQ.
1VD4
Comment
Encl.Rating
Enclosure Rating
When you order a AX2040/2070 series amplifier, you will receive:
— AX20xx
— mating connectors X3, X4
The mating SubD connectors are not part of the package!
— Assembly and Installation Instructions
— Online documentation on CD-ROM
— Setup software DRIVE.EXE on CD-ROM
Accessories:
— Mains filter 3EF (ð p.91) required
— Mains choke 3L (ð p.92) required
— Motor choke 3YLN (ð p.93) optional to reduce velocity ripple
— AC Servomotor (linear or rotary)
— motor cable as a cut-off length
— brake cable as a cut-off length
— feedback cable (pre-assembled) or
— external regen resistor BAS (ð p.90)
— communications cable to the PC (ð p.62) or Y-adapter (ð p.67) for parameter setting of up
— power cable, control cables, fieldbus cables (as lengths)
(must be ordered separately)
both feedback connectors separately, with feedback cable as length
to 6 servo amplifiers from one PC
- A.4.028.6/10
AX2040/2070 Installation Manual 13
Technical Description
02/06 Beckhoff
2.7.2 The digital servo amplifiers of the series AX2040/2070
Standard version
2 current ratings (40 A, 70 A)
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wide range of rated voltage (3x208V
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shield connection directly at the servo amplifier
l
two analog setpoint inputs
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integrated CANopen (default 500 kBaud), for integration into CANbus systems and for
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–10%
to 3x480V
setting parameters for several amplifiers via the PC-interface of one amplifier
integrated RS232, electrically isolated, integrated pulse-direction interface
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-AS- built-in safety relay (personnel-safety starting lock-out), (ð p.25)
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Slot for an expansion card
l
Power supply
With external mains filter and mains choke directly off grounded 3~ system,
l
230V
208V
-10%
-10%
... 480V
... 480V
+10%
+10%
,50Hz,
,60Hz,
+10%
)
TN-system, TT-system with earthed (grounded) neutral point, not more than 5000 rms sym
metrical amperes, 480VAC maximum; when protected by fuses type Fusetron FRS-R-80
(Class RK5), manufactured by Bussman, or equivalent 480VAC min
Connection to other mains supply networks only with insulating transformer ð p. 16
BB6 rectifier bridge, off 3-phase earthed (grounded) supply, integral inrush circuit
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Fusing (e.g. fusible cutout) provided by the user
l
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All shielding connections directly on the amplifier
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Output stage: IGBT- module with isolated current measurement
l
Regen circuit: with dynamic distribution of the regen power between several
amplifiers on the same DC bus link circuit, external regen resistor
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DC bus link voltage 260 — 900 VDC, can be switched in parallel
l
Interference suppression filter for the 24V aux. supply (to category C2) is integrated
External interference suppression filter for the supply input (to category C2)
required. External mains choke required.
Integrated safety
l
Safe electrical separation to EN 50178 between the power input / motor connections and the
signal electronics, provided by appropriate insulation/creepage distances and complete elec
trical isolation
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Soft-start, overvoltage recognition, short-circuit protection, phase-failure monitoring
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Temperature monitoring of servo amplifier and motor
(when using our motors with our pre-assembled cables)
-
-
Auxiliary supply voltage 24VDC
Electrically isolated, internal fusing, from an external 24VDC psu, e.g. with isolating transformer
14 AX2040/2070 Installation Manual
Beckhoff
02/06 Technical Description
Operation and parameter setting
With our user-friendly software for setup through the serial interface of a PC
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Direct operation by means of two keys on the servo amplifier and a 3-character LED display
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for status display in case of no PC available
Fully programmable via RS232 interface
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Completely digital control
Digital current controller (space vector pulse-width modulation, 62.5 µs)
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Freely programmable digital speed controller (62.5 µs or 250 µs)
l
Integral position controller with adaptation possibilities for customer needs (250 µs)
l
Pulse direction interface integrated for connection of a servomotor to a stepping motor
l
control
Evaluation of the resolver signals and sine-cosine signals of a high-resolution encoder
l
Encoder simulation (incremental or SSI)
l
Comfort functions
2 analog monitor outputs
l
4 programmable digital inputs (normally, two are defined as limit-switch inputs)
l
2 programmable digital outputs
l
Freely programmable combinations of all digital signals
l
Expansions
-I/O-14/08- expansion card, ð p. 74
l
l
PROFIBUS DP expansion card, ð p. 77
l
SERCOS expansion card, ð p. 78
l
DeviceNet expansion card, ð S. 80
l
EtherCat expansion card, ð S. 83
l
SynqNet expansion card, ð S. 84
l
-2CAN- Expansion module, separated connectors for CAN bus and RS232, ð p. 86
l
Third party expansion cards (ModBus, FireWire, LightBus etc. - contact distributors for furt
her information)
-
AX2040/2070 Installation Manual 15
Technical Description
02/06 Beckhoff
2.8 Connection to different mains supply networks
On this page 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 asymmetrical earth(ground).
- A.4.038.1/12
AX20
208V with 60Hz only
230...480V with 50Hz or 60Hz
AX20
AX20
AX20
AX20
AX20
AX20
AX20
AX20
AX20
AX20
16 AX2040/2070 Installation Manual
Beckhoff
02/06 Technical Description
2.9 Components of a sero system
PC
Control / PLC
AX2040/2070
restart lock -AS-
24V-power
supply
Mains filter
Mains choke
Drive contactor
Fuses
Fuses
Regen resistor
Motor
Terminals
Cables drawn bold are shielded.
AX2040/2070 Installation Manual 17
Technical Description
2.10 Technical data
Rated data DIM AX2040 AX2070
Rated-supply voltage (grounded system)
Rated installed load for S1 operation kVA 30 50
Max. DC bus link voltage V= 900
Rated output current (rms value, ± 3%)
@ 230V Arms 40 85
@ 400V Arms 40 80
@ 480V Arms 40 70
Peak output current (max. ca. 5s, ± 3%)
@ 230V 80 160
@ 400V 80 160
@ 480V 80 140
Clock frequency of the output stage kHz 8
Technical data of the regen circuit — ð p.22
Overvoltage protection threshold V 450...900
Form factor of the output current
(at rated data and min. load inductance)
Bandwidth of subordinate current controller kHz > 1,2
Residual voltage drop at rated current V 5
Quiescent dissipation, output stage disabled W 40
Dissipation at rated current (incl. power
supply losses, without regen dissipation)
Inputs/Outputs
Setpoint 1/2, resolution 14bit/12bit V
Common-mode voltage max. V
Input resistance to AGND
Digital inputs
Digital outputs, open collector
BTB/RTO output, relay contacts
Aux. power supply, electrically isolated V 24 (-0% +15%)
without brake A 2
Aux. power supply, electrically isolated V 24 (-0% +15%)
with brake (consider voltage loss!) A 4
Max. output current, brake A 2
Connections
Control signals — Combicon 5,08 / 18 pole , 2,5mm²
Power signals — Terminals 10mm² — 50mm²
Resolver input — SubD 9pole (socket)
Sine-cosine encoder input — SubD 15pole (socket)
PC-interface, CAN — SubD 9pole (plug)
Encoder simulation, ROD (EEO) / SSI — SubD 9pole (plug)
Thermal control, Motor — min. 15VDC, 5mA
Mechanical
Weight kg 19,5 21
Height without shield sheet, w/o eyes (w. eyes) mm 345 (375)
Height with shield sheet, w/o eyes (w. eyes) mm 484 (495)
Width mm 250
Depth without connectors mm 300
Depth with connectors mm 325
02/06 Beckhoff
V~ 3 x 230V-10% ... 480V+10%, 50 Hz
V~ 3 x 208V-10% ... 480V+10%, 60 Hz
— 1.01
W 400 700
±10
±10
kW
V low 0...7 / high 12...36
mA 7
V max. 30
mA 10
V DC max. 30, AC max. 42
mA 500
20
18 AX2040/2070 Installation Manual
Beckhoff
2.10.1 Fusing
2.10.1.1 Internal fusing
Circuit Internal fuse
Auxiliary supply 24V 4 AT
Regen resistor electronic
2.10.1.2 External fusing
02/06 Technical Description
Fusible cutouts or similar
(Fuse UL time delay)
AC supply F
N1/2/3
Type of branch circuit fuses:
AX2040 AX2070
50 AT (FRx-50) * 80 AT (FRx-80) *
Class RK5, 480V min
Regen resistor F
* (x=SorS-Rfor480V applications x=NorN-Rfor230V applications ð p. 10)
Note: The AX2040/2070 drives are suitable for use on a circuit capable of delivering not more
than 5000rms symmetrical amperes, 480VAC max.
B1/2
KLM 20 KLM 30
2.10.2 Allowable ambient conditions, ventilation, mounting position
Storage temperature/humidity/duration
Transport temperature / humidity
Supply voltage tolerances
Input power (ð p.16)
Aux. power supply
Ambient temperature in operation
Humidity in operation
Site altitude
Pollution level Pollution level 2 to EN60204/EN50178 Enclosure protection IP 20 Mounting position Ventilation
Make sure that there is sufficient forced ventilation within the switchgear cabinet.
ð p.95
ð p.95
min 3x230V
min 3x208V
AC / max 3x 480V
-10%
AC / max 3x 480V
-10%
+10%
+10%
,50Hz
,60Hz
24 VDC (-0% +15%), check voltage drop
0to+45
o
C (32 to 113 °F) at rated data
+45 to +55°C (113 to 131 °F) with power derating
2.5% / K
rel. humidity 85%, no condensation
up to 1000m a.m.s.l. without restriction
1000...2500m a.m.s.l. with power derating 1.5%/100m
generally vertical. ð p.33
forced convection by built-in fans
AX2040/2070 Installation Manual 19
Technical Description
2.10.3 Conductor cross-sections
Observe the technical data for connection cables ð p. 40.
Following EN 60204 (for AWG: table 310-16 of the NEC 60°C or 75°C column), we recommend for
single-axis systems:
AC connection
DC bus link 25 mm² (2 awg), shielded for lengths > 20 cm, 600V,105°C (221°F)
Motor cables
Resolver, thermostat-motor
Encoder, thermostat-motor
Setpoints, monitors, AGND 0.25 mm² (22awg) twisted pairs, shielded
Control signals, BTB, DGND 0.5 mm² (20 awg)
Holding brake (motor)
+24 V / XGND max. 2.5 mm² (12 awg), check voltage drop
Regen resistor ð p.45, min. 10 mm² (6 awg), shielded, 1000V,105°C (221°F)
For multi-axis systems, please note the special operating conditions in your installation
25 mm² (2 awg), shielded between filter and amplifier, 600V,105°C
(221°F)
ð p.45, cross section see manual of the used motor series,
capacitance <250pF/m, 600V,105°C (221°F)
4x2x0.25 mm² (22awg) twisted pairs, shielded, max.100m,
capacitance <120pF/m
7x2x0,25 mm² (22awg) twisted pairs, shielded, max.50m,
capacitance <120pF/m
min. 1.5 mm² (14 awg), 600V,105°C (221°F), shielded,
check voltage drop
02/06 Beckhoff
2.10.4 Recommended torques
Connector Recommended torque
X3, X4 0.3 Nm(2.25 in lb)
X10 0,3 Nm (2.25 in lb)
X0 6...8 Nm (45... 60 in lb)
2.10.5 LED display
A 3-character LED display shows the amplifier status after switching on the 24V supply
(ð p.69). During operation and parameter setting of the amplifier via the keys on the front panel, the
parameter and function numbers (ð p.69) are displayed, as well as the numbers of any errors
which occur (ð p.70).
2.11 Grounding system
AGND — ground for analog inputs/outputs, internal analog/µC ground
DGND — ground for digital inputs/outputs, optically isolated
XGND — ground for external 24V aux. voltage, optically and inductively isolated
PGND — ground for encoder emulation, RS232, CAN, PROFIBUS, optically isolated
The potential isolation is shown in the block diagram (ð p. 14).
20 AX2040/2070 Installation Manual
Beckhoff
02/06 Technical Description
2.12 Control for motor holding brake
A 24V / max. 2A holding brake in the motor can be controlled directly by the servo amplifier.
Check voltage drop, measure the voltage at brake input and check brake function
(brake and no brake).
This function does not ensure personnel safety!
The brake function must be enabled through the BRAKE parameter (setting: WITH BRAKE). In the
diagram below you can see the time and functional relationships between the ENABLE signal,
speed setpoint, speed and braking force.
During the internal ENABLE delay time of 100ms the speed setpoint of the servo amplifier is
internally driven down a 10ms ramp to 0V. The brake output is switched on when 3% of the final
speed is reached.
The rise (tbrH) and fall (tbrL) 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 45.
A safe (for personnel) operation of the holding brake requires an additional “make” (n.o.) contact in
the brake circuit and a suppressor device (varistor) for the brake.
Recommended brake circuit diagram :
- A.4.031.3/01, A.4.038.1/10
AX2040/2070
AX2040/2070 Installation Manual 21
Technical Description
2.13 Regen circuit
During braking with the aid of the motor, energy is fed back to the servo amplifier. This energy is
converted into heat in the regen resistor (ð p. 90). The regen resistor is switched into circuit by the
regen circuit. The regen circuit (thresholds) are adjusted to the supply voltage with the help of the
setup software.
Our customer service can help you with the calculation of the regen power which is required. A des
cription of the interface can be found on page 45.
Functional description:
1.- Individual amplifiers, not coupled through the DC bus link (DC+, DC-)
The circuit starts to respond at a DC bus link voltage of 400V, 720V or 840V (depending on the
supply voltage). If the energy which is fed back from the motor, as an average over time or
as a peak value, is higher than the preset regen power, then the servo amplifier will output
the status “regen power exceeded” and the regen circuit will be switched off. At the next
internal check of the DC bus link voltage (after a few ms) an overvoltage will be detected and
the servo amplifier will be switched off with the error message “Overvoltage F02” (ð p. 70).
The BTB/RTO contact (terminal X3/2,3) will be opened at the same time (ð p. 55).
2.- Several servo amplifiers coupled through the DC bus link circuit (DC+, DC-)
Thanks to the built-in regen circuit with its patented power distribution, several amplifiers
(even with different current ratings) can be operated off a common DC bus link. This is achieved
by an automatic adjustment of the regen thresholds (which vary, because of tolerances).
The regen energy is distributed equally among all the amplifiers. The combined power of
all the amplifiers is always available, as continuous or peak power. The switch-off takes
place as described under 1. (above) for the servo amplifier with the lowest switch-off
threshold (resulting from tolerances).
The RTO (BTB) contact of this amplifier (terminals X3/2,3) will be opened at the same time
(ð p. 55).
02/06 Beckhoff
-
Regen circuit: technical data AX
Supply voltage Rated data DIM 2040 2070
External regen resistor Ohm 15 10
Upper switch-on level of regen circuit V 400 - 430
3 x 230 V
Switch-off level of regen circuit V 380 - 410
Overvoltage F02 V 450
Continuous power of regen circuit (R
Pulse power, external (R
max. 1s) kW 10 16
Bext
) max. kW 6
Bext
External regen resistor Ohm 15 10
Upper switch-on level of regen circuit V 720 - 750
3 x 400 V
Switch-off level of regen circuit V 680 - 710
Overvoltage F02 V 800
Continuous power of regen circuit (R
Pulse power, external (R
max. 1s) kW 35 50
Bext
) max. kW 6
Bext
External regen resistor Ohm 15 10
Upper switch-on level of regen circuit V 840 - 870
3 x 480 V
Switch-off level of regen circuit V 800 - 830
Overvoltage F02 V 900
Continuous power of regen circuit (R
Pulse power, external (R
max. 1s) kW 45 70
Bext
) max. kW 6
Bext
22 AX2040/2070 Installation Manual
Beckhoff
02/06 Technical Description
2.14 Switch-on and switch-off behavior
The diagram below illustrates the correct functional sequence for switching the servo amplifier on
and off.
DC bus link
2.14.1 Stop function to EN 60204
If a fault occurs (ð p. 70) the output stage of the servo amplifier is switched off and the BTB/RTO
contact is opened. In addition, a global error signal can be given out at one of the digital outputs
(terminals X3/16 and X3/17) (see online help for the setup software). These signals can be used by
the higher-level control to finish the current PLC cycle or to shut down the drive (with additional
brake or similar.).
The built-in restart lock -AS- can be used to switch off the drive via a positive-action (approved by
Trade Liability Association) safety relay, so that personnel safety is ensured at the drive shaft
(ð p. 25).
Instruments which are equipped with a selected “Brake” function use a special sequence for swit
ching off the output stage (ð p. 21).
The Stop 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 machinery (i.e an uncontrolled shut-down);
Category 1: A controlled shut-down, during which the supply of energy to the drive
machinery is maintained to perform the shut-down, and where the energy
supply is only interrupted when the shut-down has been completed;
Category 2: A controlled shut-down, where the supply of energy to the drive machinery
is maintained.
Every machine must be equipped with a Stop function to Category 0. Stop functions to Categories 1
and/or 2 must be provided if the safety or functional requirements of the machine make this neces
sary.
-
-
You can find additional information and implementation examples in our application note “Stop and
Emergency Stop functions".
- A.4.038.3/01
AX2040/2070 Installation Manual 23
Technical Description
02/06 Beckhoff
2.14.2 Emergency Stop strategies
The Emergency Stop function is defined in EN 60204 (VDE 0113), Para. 9.2.5.4.
Implementation of the Emergency Stop function :
You can find wiring recommendations in our application note
“Stop and Emergency Stop functions”
Category 0:
The controller is switched to “disable”, the electrical supply (208...480VAC) is disconnected.
The drive must be held by an electromagnetic holding device (brake).
In multiaxis systems with connected DC bus link bus (intermediate circuit) the motor cable
has to be disconnected by a changeover switch (contactor, e.g. Siemens 3RT1516-1BB40)
and short-circuited by resistors connected in a star configuration.
Category 1:
If hazardous conditions can result from an emergency stop switch-off with an unbraked
run-down, then the drive can be switched off by a controlled shut-down.
Stop Category 1 permits electromotive braking with a switch-off when zero speed has
been reached. Safe shut-down can be achieved, when the loss of the mains supply is not
rated as a fault and the control takes over the disabling of the servoamplifier.
In the normal situation, only the supply power is switched off in a safe manner.
The 24V auxiliary supply remains switched on.
24 AX2040/2070 Installation Manual
Beckhoff
02/06 Technical Description
2.15 Restart lock -AS-
2.15.1 Advantages of the restart lock
A frequently required application task is the protection of personnel against the restarting of drives.
This can not be achieved by an electronic inhibit, but must be implemented with mechanical ele
ments (positively driven relay contacts).
To get round this problem, up to now either the main contactor in the mains supply line was swit
ched off, or another contactor was used to disconnect the motor from the servo amplifier.
The disadvantages of this method are :
— the DC bus link has to be charged up again at restart
— wear on the contacts of the contactors, caused by switching under load
— extensive wiring required, with additional switching components
The restart lock -AS- avoids these disadvantages. A safety relay in the servo amplifier is activated
either by the PLC or manually. Positively driven contacts provide a safe disconnection of the ampli
fier, the setpoint input of the servo amplifier is inhibited, and a signal is sent to the safety circuit.
The suggested circuits (ð p. 28) fulfills safety category 1 (EN 954-1). You can fulfill safety
category 3, if you use a mains contactor with suited supervision.
Advantages of the restart lock -AS- :
— the DC bus link remains charged up, since the mains supply line remains active
— only low voltages are switched, so there is no contact wear
— very little wiring is required
— the functionality and the personnel safety when using the circuit recommendations in
this documentation have been approved by the Trade Liability Association.
-
-
-
2.15.2 Functional description
The connector (X10) is mounted on the front panel of the AX2040/2070.The coil connections and a
make (n.o.) contact of a safety relay are made available through 4 terminals on this connector.
The 24VDC safety relay in the servo amplifier (approved) is controlled externally. All the relay contacts have positive action.
Two contacts switch off the driver supply of the output stage in the servo amplifier, and short the
internal setpoint signal to AGND (0 V).
The make (n.o.) contact used for monitoring is looped into the control circuit.
If the safety relay is not energized, then the monitoring contact is open and the servo amplifier is
ready for operation.
If the drive is electronically braked, the servo amplifier is disabled and the motor-holding brake is
on, then the safety relay is energized (manually or by the controls).
The supply voltage for the driver circuit of the output stage is switched off in a safe manner, the
internal setpoint is shorted to 0V, and the monitoring contact bridges the safety logic in the control
circuit of the system (monitoring of protective doors etc.)
Even if the output stage or driver is destroyed, it is impossible to start the motor.
If the safety relay itself is faulty, then the monitoring contact cannot bridge the safety logic of the
system. Opening the protective devices will then switch off the system.
AX2040/2070 Installation Manual 25
Technical Description
2.15.3 Block diagram
02/06 Beckhoff
2.15.4 Signal diagram (sequence)
- A.4.031.1/32,30
26 AX2040/2070 Installation Manual
Beckhoff
2.15.5 Installation / Setup
2.15.5.1 Safety instructions
Observe the prescribed use of the restart lock -AS- (ð p. 10)
l
The monitoring contacts (KSO1/2) for each amplifier must be looped into the control
l
circuit. This is vital, so that a malfunction of the internal safety relay or a cable break
can be recognized.
If the restart lock -AS- is automatically activated by a control system (KSI1/2), then
l
make sure that the output of the control is monitored for possible malfunction. This
can be used to prevent a faulty output from activating the restart lock -AS- while the
motor is running.
Keep to the following functional sequence when the restart lock -AS- is used :
l
1. Brake the drive in a controlled manner (speed setpoint = 0V)
2. When speed = 0 rpm, disable the servo amplifier (enable = 0V)
3. If there is a suspended load, block the drive mechanically
4. Activate the restart lock -AS-
2.15.5.2 Functional test
02/06 Technical Description
The functioning of the restart lock must be tested during setup, after every alteration in the wiring of
the system, or after exchanging one or more components of the system.
1. Stop all drives, with setpoint 0V, disable drives,
mechanically block any suspended loads
2. Activate the restart lock -AS-.
3. Open protective screens (but do not enter hazardous area)
4. Pull off the X10 connector from an amplifier: the mains contactor must drop out
5. Reconnect X10. Switch on mains contactor again.
6. Repeat steps 4 and 5 for each individual servo amplifier.
2.15.5.3 Connection diagram
AX2040/2070
- A.4.031.1/30
AX2040/2070 Installation Manual 27
Technical Description
02/06 Beckhoff
2.15.6 Application examples
2.15.6.1 Moving single axis-groups in setting-up operation
In setting-up operation, people will frequently be within the danger zone of the machinery. Axes will
normally be moved under the control of permission switches. An additional switch-off of the unused
axes, by means of the restart lock, increases the safety margin and avoids the repeated switching
of main contactors or motor contactors.
2.15.6.2 Switching off grouped axes with separate working areas
Even when several AX2040/2070 are operating off a common mains supply and DC bus link, it is
possible to set up groups for separate working areas. These groups can then be switched off sepa
rately for personnel safety. For this purpose, we have provided you with a suggested circuit (mains
supply circuit and control circuit for 2 separate working groups which have interconnected DC bus
links and a common mains supply voltage).
2.15.6.2.1 Control circuit
The suggested circuit fulfills safety category 1 (EN 954-1). You can fulfill safety category 3, if you
use a mains contactor with suited supervision.
- A.4.031.1/31
-
28 AX2040/2070 Installation Manual
Beckhoff
2.15.6.2.2 Mains supply circuit
02/06 Technical Description
- A.4.031.3/05
AX20
AX20 AX20 AX20 AX20
AX2040/2070 Installation Manual 29
Technical Description
02/06 Beckhoff
This page has been deliberately left blank.
30 AX2040/2070 Installation Manual
Beckhoff
3 Installation
3.1 Important notes
02/06 Installation
Protect the servo amplifier from impermissible stresses. In particular, do not let any compo
l
nents become bent or any insulation distances altered during transport and handling. Avoid
contact with electronic components and contacts.
Check the combination of servo amplifier and motor. Compare the rated voltage and current
l
of the units. Carry out the wiring according to the connection diagram on page 35.
Make sure that the maximum permissible rated voltage at the terminals L1, L2, L3 or +DC,
l
–DC is not exceeded by more than 10% even in the most unfavourable case
(see EN 60204-1 Section 4.3.1). An excessive voltage on these terminals can lead to
destruction of the regen circuit and the servo amplifier.
The use of external mains chokes and mains filters is required.
l
The fusing of the AC supply input and the 24V supply is installed by the user (ð p. 19).
l
Take care that the servo amplifier and motor are earthed (grounded) properly. Do not use
l
painted (non-conductive) mounting plates.
Route power and control cables separately. We recommend a separation of at least 200mm.
l
This improves the interference immunity required by EMC regulations.
Install all shielding with large areas (low impedance), with metallised connector housings or
l
shield connection clamps where possible. Earth (ground) the shielding at both ends (ðp.36).
Notes on connection techniques can be found on page 39.
Feedback lines may not be extended, since thereby the shielding would be interrupted and
l
the signal processing could be disturbed.
The cable between servo amplifier and regen resistor must be shielded.
l
l
Install all heavy-current cables with an adequate cross-section, as per EN 60204 (ð p. 20)
and use the requested cable material (ð p. 40) to reach max. cable length.
l
Wire the BTB/RTO contact in series into the safety circuit of the installation. The safety circuit must control the mains relay. Only in this way is the monitoring of the servo amplifier
assured.
l
Ensure that there is an adequate flow of cool, filtered air into the bottom of the switchgear
cabinet or use heat exchangers. Observe page 19 .
l
It is permissible to alter the servo amplifier settings by using the setup software.
Any other alterations will invalidate the warranty.
-
Never disconnect the electrical connections to the servoamplifier while it is live. In
unfavourable circumstances this could result in destruction of the electronics.
Residual charges in the capacitors can have dangerous levels up to 300 seconds
after switching off the mains supply voltage. Measure the voltage in the DC bus
link (+DC/-DC), and wait until the voltage has fallen below 40V.
Control and power connections can still be live, even when the motor is not
rotating.
AX2040/2070 Installation Manual 31
Installation
02/06 Beckhoff
3.2 Guide to installation and wiring
The following notes should assist you to carry out the installation in a sensible sequence, without
overlooking anything important.
In a closed switchgear cabinet. Observe page 19 .
Site
Ventilation
The site must be free from conductive or corrosive materials.
For the mounting position in the cabinet ð p. 33
Check that the ventilation of the servo amplifier is unimpeded
and keep within the permitted ambient temperature ð p. 19 .
Keep the required space clear above and below the servo amplifier ð p33.
Assembly
Cable selec
tion
Grounding
Shielding
Wiring
Assemble the servo amplifier and power supply, filter and choke close
together on the conductive, grounded mounting plate in the cabinet.
-
Select cables according to EN 60204 (ð p. 20)
EMC-compliant (EMI) shielding and grounding (ð p. 36)
Earth (ground) the mounting plate, motor housing and CNC-GND of the controls.
Notes on connection techniques are on page 39
Route power leads and control cables separately
Wire the BTB/RTO contact in series into the safety loop
— Connect the digital control inputs to the servo amplifier
— Connect up AGND (also if fieldbuses are used)
— Connect the analog setpoint, if required
— Connect up the feedback unit (resolver and/or encoder)
— Connect the encoder emulation, if required
— Connect the expansion card (see corresponding manual on the CD-ROM)
— Connect the motor cables, connect shielding to EMI connectors at both ends
— Connect motor-holding brake, connect shielding to EMI connectors at
both ends
— Connect the external regen resistor (with fusing)
— Connect aux. supply (for max. permissible voltage values ð p. 19)
— Connect mains choke and mains filter (shielded lines between filter and
servo amplifier)
— Connect main power supply (for max. permissible voltage values ð p. 19)
— Connect PC (ð p. 62).
Final check
— Final check of the implementation of the wiring,
— according to the wiring diagrams which have been used.
32 AX2040/2070 Installation Manual
Beckhoff
3.3 Assembly
Ask our customer service for information for pass through mounting
Material : 4 hexagon socket screws to DIN 912, M6
Tool required : 5 mm Allen key
02/06 Installation
- A.4.038.4/12
AX2040/2070
AX2040/2070 Installation Manual 33
Installation
3.3.1 Dimensions
02/06 Beckhoff
- A.4.038.4/07
34 AX2040/2070 Installation Manual
Beckhoff
3.4 Wiring
Only professional staff who are qualified in electrical engineering are allowed to install the
servo amplifier.
The installation procedure is described as an example. A different procedure may be sensible or
necessary, depending on the application of the equipment.
We provide further know-how through training courses (on request).
Caution !
Only install and wire up the equipment when it is not live, i.e. when neither the
mains power supply nor the 24 V auxiliary voltage nor the operating voltages of
any other connected equipment is switched on.
Take care that the cabinet is safely disconnected (with a lock-out, warning signs
etc.). The individual voltages will be switched on for the first time during setup.
02/06 Installation
The ground symbol
that you must take care to provide an electrically conductive connection with the
largest possible surface area between the unit indicated and the mounting plate in
the switchgear cabinet.
This connection is for the effective grounding of HF interference, and must not be
confused with the PE- symbol W (a protective measure to EN 60204).
Use the following connection diagrams:
Overview : page 36
Multi-axis systems, example : page 37
Mains power : page 44
Motor : page 45
Feedback
Resolver : page 46
Encoder with Hall : page 47
Incr. or sine Encoder with Hall : page 48
Encoder with EnDat/HIPERFACE : page 49
Incremental encoder (AqB) : page 50
Encoder without data channel : page 51
Encoder Emulation
ROD (A quad B) : page 56
SSI : page 57
Master-Slave Interface : page 58
Pulse-Direction Interface : page 60
RS232 / PC : page 62
CAN Interface : page 63
Restart lock -AS- : page 27
Expansion cards
I/O-14/08 : page 76
PROFIBUS : page 77
SERCOS : page 79
DeviceNet : page 80
EtherCat : page 83
SynqNet : page 84
-2CAN- : page 87
X, which you will find in all the wiring diagrams, indicates
AX2040/2070 Installation Manual 35
Installation
3.4.1 Connection diagram
02/06 Beckhoff
Reference Safety Instructions (ð p.9) and
Use As Directed (ð p.10) !
ð p.49
- A.4.038.1/03
AX2040/2070
ð p.52
ð p.53
ð p.46
ð p.45
ð p.54
ð p.44
ð p.45
ð p.44
ð p.55
ð p.25
ð p.56
ð p.57
ð p.58
ð p.60
ð p.63
ð p.62
ð p.74
ð p.77
ð p.78
ð p.80
ð p.83
ð p.84
36 AX2040/2070 Installation Manual
Beckhoff
02/06 Installation
3.4.2 Example of connections for a multi-axis system
Reference Safety Instructions (ð p.9) and
Use As Directed (ð p.10) !
AX2040/2070
- A.4.038.1/04
AX2040/2070
AX2040/2070 Installation Manual 37
Installation
3.4.3 Pin assignments
02/06 Beckhoff
- A.4.038.4/13
Þ p. 46
Þ p. 62/63
Þ p. 49
Þ p. 56 ff
38 AX2040/2070 Installation Manual
Beckhoff
02/06 Installation
3.4.4 Notes on connection techniques
3.4.4.1 Shielding connection to the front panel
- A.4.029.4/25
Remove the outer covering of the
cable and the shielding braid from
the cores for the required 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 shielding rail (front panel) of the
servo amplifier.
AX2040/2070
AX2040/2070
Use the cable tie to clamp the
shielding braid of the cable firmly
to the shielding rail.
AX2040/2070 Installation Manual 39
Installation
3.4.4.2 Technical data for cables
Further information on the chemical, mechanical and electrical characteristics of the cables can be
obtained from out customer service .
Observe the restrictions in the chapter "Conductor cross-sections" on page 20.
To operate the amplifier with the max. permitted cable length, you must use cable
material which meets the requirements on the capacity given below.
Insulation material
Sheathing PUR (polyurethane, code 11Y)
Core insulation PETP (polyesteraphtalate, code 12Y)
Capacitance
Motor cable £ 4mm² : less than 150 pF /m
>4mm² : less than 250 pF/m
Feedback cable less than 120 pF/m
Technical data
— The brackets in the cable designation indicate the shielding.
— Alle cables are suitable for use as trailing cables.
— The technical data refer to the use as moveable cables.
— Operating life : 1 million bending cycles
02/06 Beckhoff
Operation-
Cores max. length used for
[mm²] [m] [°C] [°F] [mm] [mm]
(4x1,0) Motor / power -30 / +80 -22 / 176 10 100
(4x1,5) Motor / power -30 / +80 -22 / 176 10.5 105
(4x2,5) Motor / power -5 / +70 23 / 158 12,6 125
(4x4) Motor / power -5 / +70 23 / 158 14,7 150
(4x10) Motor / power -5 / +70 23 / 158 19 190
(4x16) Motor / power -5 / +70 23 / 158 23,3 230
(4x25) Motor / power -5 / +70 23 / 158 32,7 330
(4x2x0,25) 100* Resolver -30 / +80 -22 / 176 7,7 70
(7x2x0,25) 50* Encoder -30 / +80 -22 / 176 9,9 90
Temperature
range
Operation-
Temperature
range
Outside
diameter
Bending
radius
40 AX2040/2070 Installation Manual
Beckhoff
3.5 Setup software
3.5.1 General
This chapter describes the installation of the setup software for the AX2040/2070 digital servo
amplifiers.
We offer training and familiarisation courses on request.
3.5.1.1 Use as directed
The setup software is intended to be used for setting up and storing the operating parameters for
the AX2040/2070 series of servo amplifiers. The attached servo amplifier can be setup with the
assistance of the software - during this process the drive can be controlled directly by the service
functions.
Only professional personnel who have the relevant expertise described on page 7
are permitted to carry out online parameter setting for a drive which is running.
Sets of data which are stored on data media are not safe against unintended
alteration by other persons. After loading a set of data you must therefore check all
parameters thoroughly before enabling the servo amplifier.
02/06 Installation
3.5.1.2 Software description
The servo amplifiers must be adapted to the requirements of your installation. Usually you will not
have to carry out this parameter setting yourself on the amplifier, but on a PC, with the assistance of
the setup software. The PC is connected to the servo amplifier by a null-modem cable (ð p. 62).
The setup software provides the communication between AX2040/2070 and the PC.
You will find the setup software on the accompanying CD-ROM and at our website in the download
area.
With very little effort you can alter parameters and instantly observe the effect on the drive, since
there is a continuous (online) connection to the amplifier.
Simultaneously, important actual values are read out from the amplifier and displayed on the PC
monitor (oscilloscope function).
Any interface modules (expansion cards) which may be built into the amplifier are automatically
recognized, and the additional parameters which are required for position control or motion-block
definition are made available.
Sets of data can be stored on data media (archived) and loaded again. Sets of data which are
stored on data media can be printed.
We supply you with motor-specific default sets of data for the most common combinations of servo
amplifier and motor. In most applications you will be able to use these default values to get your
drive running without any problems.
AX2040/2070 Installation Manual 41
Installation
3.5.1.3 Hardware requirements
The PC interface (X6, RS232) of the servo amplifier is connected to the serial interface of the PC by
a null-modem cable (not a null-modem link cable !)(ð p. 62).
Connect / disconnect the interface cable only when the supply is switched off for
both the PC and the servo amplifier.
The interface in the servo amplifier is electrically isolated by an optocoupler, and is at the same
potential as the CANopen interface.
Minimum requirements for the PC:
Processor : Pentium I or higher
Operating system : WINDOWS 95(c) / 98 / 2000 / ME / NT4.0 / XP
Graphics adapter : Windows compatible, color
Drives : hard disk with at least 10 MB free space
Main memory : at least 8MB
Interface : one free serial interface (COM1:, :2, :3 or COM4:)
3.5.1.4 Operating systems
WINDOWS 95(c) / 98 / 2000 / ME / NT / XP
02/06 Beckhoff
CD-ROM drive
DRIVE.EXE is executable under WINDOWS 95(c) / 98 / 2000 / ME / NT 4.0 / XP.
The HTML help system is not available under WINDOWS 95a and 95b.
WINDOWS FOR WORKGROUPS 3.xx, DOS, OS2
DRIVE.EXE is not executable under WINDOWS 3.xx, DOS and OS2.
In emergency, operation is possible through an ASCII terminal emulation (without user-interface).
Interface settings : 9600 bps, no parity, no handshake
Unix, Linux
The software function has not been tested running within Unix or Linux.
3.5.2 Installation under WINDOWS 95 / 98 / 2000 / ME / NT / XP
An installation program can be found on the CD-ROM which makes it easier to install the setup soft
ware on your PC.
Installation
Autostart function activated:
Insert the CD-ROM into a free drive. A window with the start screen opens. There you find a link to
the setup software DRIVE.EXE. Click it and follow the instructions.
Autostart function deactivated:
Insert the CD-ROM into a free drive. Click on START (task bar), then on Run. Enter the program
call: x:\start.exe (x = correct CD drive letter).
Click OK and proceed as described above.
-
Connection to the serial interface of the PC
Connect the interface cable to a serial interface on your PC and the PC interface (X6) of the
AX2040/2070 (ð p. 62).
42 AX2040/2070 Installation Manual
Beckhoff
4 Interfaces
All important interfaces are shown in this chapter. The precise location of the connectors and
terminals can be seen on page 38. The block diagram below is just an overview.
4.1 Block diagram
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- A.4.038.1/09
AX2040/2070 Installation Manual 43
Interfaces
02/06 Beckhoff
4.2 Power supply
4.2.1 Mains supply connection (X0)
— EMI filter and mains choke (required) provided by the user
— Fusing (e.g. fusible cut-outs) provided by the user ð p. 19
AX2040/2070
4.2.2 24V auxiliary supply (X4)
— Electrically isolated, external 24VDC supply, e.g. with insulating transformer
— Required current rating ð p. 18
— Integrated EMI filter for the 24V auxiliary supply
AX2040/2070
4.2.3 DC bus link
Can be connected in parallel, thanks to patented circuit to distribute the regen power among all the
amplifiers connected to the same DC bus link circuit. (Connection example ð p. 37).
Only servo amplifiers with mains supply from the same mains (identical mains
supply voltage) may be connected b*y the DC bus link.
- A.4.038.1/ 05, 06
44 AX2040/2070 Installation Manual
Beckhoff
02/06 Interfaces
4.3 Motor connection with brake (X0, X4)
Cross section see manual of the motor series.
AX2040/2070
4.4 Motor connection with choke (X0)
Use choke with long motor cables to reduce velocity ripple.
AX2040/2070
4.5 External regen resistor (X0)
Fusing and regen resistor provided by the user
- A.4.038.1/07, 08
AX2040/2070
AX2040/2070 Installation Manual 45
Interfaces
4.6 Feedback
Feedback system Conn. See Remarks
Resolver X2 p.46 2 to 36 poles
ComCoder X1 p.47 A, B, Zero, Hall
Incremental or Sine Encoder with Hall X1 p.48
Sine Encoder with EnDat / HIPERFACE X1 p.49 Sine, cosine, clock, data
Sine Encoder without Data channel X1 p.51 Sine, cosine, Zero
Incremental encoder (A quad B) X5 p.50 A, B, Zero
4.6.1 Resolver (X2)
Our rotatory servomotors have 2-pole hollow-shaft resolvers built in as a standard. It is possible to
connect 2...36-pole resolvers to the AX2040/2070.
If cable lengths of more than 100m are planned, please contact our customer service .
The thermostat contact in the motor is connected via the resolver cable to the
AX2040/2070 and evaluated there.
AX2040/2070
02/06 Beckhoff
A, B, Zero, Hall or
Sine, Cosine, Zero, Hall
- A.4.031.1/26
46 AX2040/2070 Installation Manual
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4.6.2 ComCoder (X1)
As an option our motors can be equipped with a ComCoder as feedback unit. For the commutation
hall sensors are used and for the resolution an incremental encoder.
The thermostat contact in the motor is connected via the ComCoder cable to X1 and
evaluated there.
If cable lengths of more than 25m are planned, please consult our customer service.
Frequency limit (A, B): 250 kHz
02/06 Interfaces
AX2040/2070
SubD15
round, 17 pin
AX2040/2070 Installation Manual 47
Interfaces
02/06 Beckhoff
4.6.3 Incremental or sine encoder with hall sensors (X1)
Feedback devices (incremental or sine-cosine), which don't deliver an absolute information for com
mutation, can be used as complete feedback system combined with an additional Hall encoder. All
signals are connected to X1.
If cable lengths of more than 25m are planned, please consult our customer service.
Frequency limit (A, B): 250 kHz
AX2040/2070
SubD15
-
48 AX2040/2070 Installation Manual
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02/06 Interfaces
4.6.4 Sine Encoder with EnDat or HIPERFACE (X1)
As an option, our servomotors can be fit with a single-turn or multiturn sine-cosine encoder. Prefer
red types are ECN1313 and EQN1325.
This encoder is used by the AX2040/2070 as a feedback device for drive tasks which require highly
precise positioning or extremely smooth running.
If cable lengths of more than 50m are planned, please consult our customer service .
The thermostat contact in the motor is connected via the resolver cable to the
AX2040/2070 and evaluated there.
Frequency limit (A, B): 250 kHz
AX2040/2070
- A.4.031.1/27
SubD15
17pol.round
-
AX2040/2070 Installation Manual 49
Interfaces
4.6.5 Incremental Encoder (X5)
An incremental encoder can be used as standard motor feedback.
02/06 Beckhoff
Select feedback type 8 "RS422 5V with W&S". Drive executes wake&shake to calculate the neces
sary start-up information for the position controller every time the 24V auxiliary voltage is switched
on.
If lead lengths of more than 50m are planned and for questions concerning the power supply of the
encoder, please consult our customer service.
The thermostat contact in the motor is connected to X1 (see p.49) or X2 (see p.46). AGND and
DGND (connector X3) must be joined together !
Frequency limit: 1.5 MHz
Don't use this feedback type with vertical load (hanging load).
AX2040/2070
-
50 AX2040/2070 Installation Manual
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02/06 Interfaces
4.6.6 Sine Encoder without data channel (X1)
A sine-cosine encoder without data channel can be used as standard motor feedback. Select feed
back type 7 "SinCos 5V with W&S". Drive executes wake&shake to calculate the necessary start-up
information for the position controller every time the 24V auxiliary voltage is switched on.
The thermostat contact in the motor is connected via the encoder cable to X1 and evaluated there.
If lead lengths of more than 50m are planned, please consult our customer service.
Frequency limit (A, B): 250 kHz
Don't use this feedback type with vertical load (hanging load).
AX2040/2070
-
AX2040/2070 Installation Manual 51
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02/06 Beckhoff
4.7 Digital and analog inputs and outputs
4.7.1 Analog inputs (X3)
The servo amplifier is equipped with two differential inputs for analog setpoints which are
programmable. AGND (X3/1) must always be joined to the CNC-GND of the controls as a ground
reference.
Technical characteristics
— Differential-input voltage max. ± 10 V
— Resolution 1.25 mV
— Ground reference : AGND, terminal X3/1
— Input resistance 20 kW
— Common-mode voltage range for both inputs ± 10 V
— Update rate 62,5 µs
AX2040/2070
Input Analog-In1 (terminals X3/4-5)
Differential input voltage max. ± 10 V, resolution 14-bit, scalable
Standard setting : speed setpoint
Input Analog-In2 (terminals X3/6-7)
Differential input voltage max. ± 10 V, resolution 12-bit, scalable
Standard setting : torque setpoint
Application examples for setpoint input Analog-In2:
— adjustable external current limit
— reduced-sensitivity input for setting-up/jog operation
— pre-control / override
Fixing the direction of rotation
Standard setting : clockwise rotation of the motor shaft (looking at the shaft end)
— Positive voltage between terminal X3/4 (+ ) and terminal X3/5(-)or
— Positive voltage between terminal X3/6 (+ ) and terminal X3/7(-)
To reverse the direction of rotation, swap the connections to terminals X3/4-5 and. X3/6-7 or
change the ROT. DIRECTION parameter in the “Speed controller” screen.
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52 AX2040/2070 Installation Manual
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4.7.2 Analog outputs (X3)
Technical characteristics
— Reference ground is analog-GND (AGND, terminal X3/1 and X3/10)
— Output resistance : 2.2kW
— Output voltage ±10V
— Resolution : 10 bit.
— Update rate 62,5 µs
AX2040/2070
02/06 Interfaces
Programmable analog outputs Analog-Out 1 / Analog-Out 2
The terminals X3/8 (Analog-Out 1) or X3/9 (Analog-Out 2) can have the following analog signals
assigned to them:
Standard setting :
Analog-Out 1 : Tachometer voltage n
The output delivers ±10V at the preset limit speed.
Analog-Out 2 : Current actual value I
The output delivers ± 10V at the preset peak current (effective r.m.s. value).
You can use the terminals X3/8 (Analog-Out 1) or X3/9 (Analog-Out 2) to output converted analog
values for digital measurements which are contained in the servo amplifier.
You can find a list of pre-programmed functions on the "analog I/O" screen of our setup software.
A.4.031.1/22
act
act
(speed)
(torque)
-
AX2040/2070 Installation Manual 53
Interfaces
4.7.3 Digital inputs (X3)
All digital inputs are electrically isolated through optocouplers.
Technical characteristics
— Reference ground is digital-GND (DGND, terminal X3/18)
— Inputs at X3 meet PLC standards (IEC 61131-2 Typ 1)
— High: 11...30V / 2...11mA, Low -3...5V / <1 mA
— Update rate: 250µs
AX2040/2070
02/06 Beckhoff
ENABLE input
The output stage of the servo amplifier is activated by the enable signal
(terminal X3/15, input 24V, active-high).
In the inhibited state (low signal) the motor which is attached does not have any torque.
Programmable digital inputs :
You can use the digital inputs PSTOP / NSTOP / DIGITAL-IN1 and DIGITAL-IN2 to initiate
preprogrammed functions that are stored in the servo amplifier.
You can find a list of pre-programmed functions on the "digital I/O" screen of our setup software.
If an input is freshly assigned to a pre-programmed function, then the data set must be stored in the
EEPROM of the servo amplifier, and the 24V auxiliary supply of the servo amplifier must be swit
ched off and on again (to reset the amplifier software).
Limit-switches PSTOP / NSTOP
Terminals X3/13 and X3/14 are normally programmed for the connection of limit switches. If these
inputs are not needed for the connection of limit switches, then they are programmable for other
input functions.
Limit-switch positive/negative (PSTOP / NSTOP, terminals X3/13 and X3/14), high level in normal
operation (fail-safe for a cable break).
A low signal (open) inhibits the corresponding direction of rotation, the ramp function remains
effective.
DIGITAL-IN 1 / DIGITAL-IN 2
The digital inputs on terminals X3/11 (DIGITAL-IN 1) or terminal X3/12 (DIGITAL-IN 2) can be logi
cally combined in a pre-programmable function.
- A.4.031.1/24
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-
54 AX2040/2070 Installation Manual
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4.7.4 Digital outputs (X3)
Technical characteristics
— Reference ground is digital-GND (DGND, terminal X3/18)
— All digital outputs are floating
— DIGITAL-OUT1 and 2 : Open-collector, max. 30VDC, 10 mA
BTB/RTO : Relay output, max. 30VDC or 42VAC, 0.5A
— Update rate 250 µs
AX2040/2070
02/06 Interfaces
Ready-to-operate contact BTB/RTO
Operational readiness (terminals X3/2 and X3/3 ) is signalled 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 I²t- limit, or the regen threshold.
All faults cause the BTB/RTO contact to open and the switch-off of the output
stage (if the BTB contact is open, the output stage is disabled -> no power). A list
of the error messages can be found on page 70.
Programmable digital outputs DIGITAL-OUT1/2:
You can use the digital outputs DIGITAL-OUT1 (terminal X3/16) and DIGITAL-OUT2 (terminal
X3/17) to outputs messages from pre-programmed functions that are stored in the servo amplifier.
You can find a list of pre-programmed functions on the "digital I/O" screen of our setup software.
If an input is freshly assigned to a pre-programmed function, then the data set must be stored in the
EEPROM of the servo amplifier, and the 24V auxiliary supply of the servo amplifier must be swit
ched off and on again (to reset the amplifier software).
Evaluate the outputs via inverting interface relays (see connection diagram), for example
Phönix DEK-REL-24/I/1 (turn-on delay 6 ms, turn-off delay 16ms).
-
The described logic in the SETUP SOFTWARE manual refers to the output of the
inverting interface relays. Consider the delay of the applied relay !
- A.4.031.1/20
AX2040/2070 Installation Manual 55
Interfaces
02/06 Beckhoff
4.8 Encoder emulations
4.8.1 Incremental encoder output - A quad B (X5)
The incremental-encoder interface is part of the package supplied. Select the encoder function
ROD (screen page “Encoder”). In the servo amplifier, the position of the motor shaft is calculated
from the cyclic-absolute signals of the resolver or encoder. Incremental-encoder compatible pulses
are generated from this information. Pulses are output on the SubD-connector X5 as two signals, A
and B, with 90° phase difference and a zero pulse.
The resolution (lines before quadrature) can be changed with the RESOLUTION parameter:
Encoder function
(ENCMODE)
ROD (1)
ROD interpolation (3)
You can also adjust and store the position of the zero pulse within one mechanical turn
(parameter NI-OFFSET).
Feedback system Resolution Zero position
Resolver 16...1024
EnDat / HIPERFACE
Incremental encoders without absolut data channel
16...4096 and
8192...524288 (2
4...128 (2
TTL lines per sine line
n
)
one per revolution
(only if A=B=1)
one per revolution
n
)
(only if A=B=1)
analog pass through
from X1 to X5
The drivers are supplied from an internal supply voltage.
PGND must always be connected to the controls.
The max. admissible cable length is 10 m.
Connections and signal description for incremental-encoder interface :
The count direction is upwards when the motor shaft is rotating clockwise (looking at the shaft end).
- A.4.031.1/11
AX2040/2070
56 AX2040/2070 Installation Manual
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02/06 Interfaces
4.8.2 SSI encoder emulation - position output (X5)
The SSI interface (synchronous serial absolute-encoder simulation) is part of the delivered
package. Select the encoder function SSI (screen page “Encoder”). In the servo amplifier, the posi
tion of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder.
This information is used to create a position output in a format that is compatible with the standard
SSI-absolute-encoder format. 24 bits are transmitted.
SINGLE TURN selected: The upper 12 bits are fixed to ZERO, the lower 12 bits contain the posi
tion information. For 2-pole resolvers, the position value refers to the position within one turn of the
motor, for 4-pole resolvers it is within half a turn, and for 6-pole resolvers it is within a third of a turn.
Exception:
bits are set to 1 (data invalid!) until a homing run is performed.
If an encoder with a commutation track is used as the feedback unit, then the upper 12
-
-
MULTI TURN selected: The upper 12 bits contain the number of motor turns, the lower 12 bits con
tain the position information.
The signal sequence can be output in Gray code (standard) or in binary code (parameter
SSI-CODE). The servo amplifier can be adjusted to the clock frequency of your SSI-evaluation with
the SSI-TAKT parameter (cycle time 200 kHz or 1.5MHz and inverted).
The drivers are supplied from internal supply voltage.
PGND must always be connected.
Connection and signal description for SSI interface :
The count direction is upwards when the motor shaft is rotating clockwise (looking at the shaft end).
- A.4.031.1/12
AX2040/2070
-
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02/06 Beckhoff
4.9 Master-slave operation, encoder master control
This interface can be used to link several AX2040/2070 amplifiers together in
master-slave operation.
The parameters for the slave amplifiers are set up with the aid of the setup software.
The resolution (no. of pulses/turn) can be adjusted. The analog setpoint inputs are out of action.
AGND and DGND (connector X3) must be joined together !
Signal diagram (for encoders with RS422 or 24V output)
4.9.1 Connection to a AX20 master, 5B signal level (X5)
This interface can be used to link several AX20 amplifiers together in master-slave operation. Up to
16 slave amplifiers can be controlled by the master via the encoder output. The connector X5 must
be used.
Edge frequency: 1,5MHz, slew rate tv £ 0,1µs
AGND and DGND (connector X3) must be joined together !
AX2040/2070
AX20
58 AX2040/2070 Installation Manual
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02/06 Interfaces
4.9.2 Connection to incremental encoder master with 24V signal level (X3)
This interface can be used to operate the AX2040/2070 as a slave, mastered by an encoder with
24V signal level (master-slave operation). The digital inputs DIGITAL-IN 1 and 2 at connector X3
must be used.
Edge frequency: 250 kHz, slew rate tv £ 0,1µs
AGND and DGND (connector X3) must be joined together !
AX2040/2070
4.9.3 Connection to a sine-cosine encoder master (X1)
This interface can be used to operate the AX2040/2070 as a slave, mastered by a sine-cosine
encoder (master-slave operation). The connector X1 must be used.
Edge frequency: 250 kHz
AGND and DGND (connector X3) must be joined together !
AX2040/2070
AX2040/2070 Installation Manual 59
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4.10 Interface for stepper-motor controllers (pulse-direction)
This interface can be used to connect the servo amplifier to a third-party stepper-motor controller.
The parameters for the servo amplifier are set up with the aid of the setup software (electrical gea
ring). The number of steps can be adjusted, so that the servo amplifier can be adjusted to the
pulse-direction signals of any stepper-motor controller. Various monitoring signals can be output.
The analog setpoint inputs are out of action.
AGND and DGND (connector X3) must be joined together !
Speed profile and signal diagram
-
Note:
Encoder Input A quad B offers more EMI supression.
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02/06 Interfaces
4.10.1 Connection to a stepper motor controller with 5V signal level (X5)
This interface can be used to connect the servo amplifier to a stepper-motor controller with 5V
signal level. The connector X5 must be used.
Edge frequency: 1.5MHz
AGND and DGND (connector X3) must be joined together !
AX2040/2070
4.10.2 Connection to stepper motor controller with 24V signal level (X3)
This interface can be used to connect the servo amplifier to a stepper-motor controller with 24V
signal level. The digital inputs DIGITAL-IN 1 and 2 at connector X3 must be used.
Edge frequency: 250 kHz
AGND and DGND (connector X3) must be joined together !
AX2040/2070
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4.11 RS232 interface, PC connection (X6)
The setting of the operating, position control, and motion-block parameters, can be carried out on
an ordinary commercial PC.
Connect the PC interface (X6) of the servo amplifier while the supply to the equipment is swit
ched off via a normal commercial 3-core null-modem cable to a serial interface on the PC.
Do not use a null-modem link cable!
The interface is electrically isolated through an optocoupler, and is at the same potential as the
CANopen interface.
The interface is selected and set up in the setup software.
Further notes can be found on page 41.
With the optional expansion card -2CAN- the two interfaces for RS232 and CAN, which otherwise
use the same connector X6, are separated onto two connectors (ð p. 84).
AX2040/2070
Interface cable between the PC and servo amplifiers of the
AX2040/2070 series:
-
(View : looking at the face of the built-in SubD connectors, this corresponds to the solder side of the
SubD sockets on the cable)
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4.12 CANopen interface (X6)
The interface for connection to the CAN bus (default 500 kBaud). The integrated profile is based on
the communication profile CANopen DS301 and the drive profile DSP402. The following functions
are available in connection with the integrated position controller:
Jogging with variable speed, reference traverse (zeroing), start motion task, start direct task, digital
setpoint provision, data transmission functions and many others.
Detailed information can be found in the CANopen manual. The interface is electrically isolated by
optocouplers, and is at the same potential as the RS232 interface. The analog setpoint inputs can
still be used.
With the optional expansion card -2CAN- the two interfaces for RS232 and CAN, which otherwise
use the same connector X6, are separated onto two connectors (ð p. 84).
If the analog setpoint inputs are not used, then AGND and DGND (connector X3) must be
joined together !
AX2040/2070
02/06 Interfaces
CAN bus cable
To meet ISO 11898 you should use a bus cable with a characteristic impedance of 120 W. The
maximum usable cable length for reliable communication decreases with increasing transmission
speed. As a guide, you can use the following values which we have measured, but they are not to
be taken as assured limits:
Cable data: Characteristic impedance 100-120 W
Cable capacity max. 60 nF/km
Lead resistance (loop) 159.8 W/km
Cable length, depending on the transmission rate
Transmission rate / kbaud max. cable length / m
1000 20
500 70
250 115
Lower cable capacity (max. 30 nF/km) and lower lead resistance
(loop, 115 W/km) make it possible to achieve greater distances.
(Characteristic impedance 150 ± 5WÞterminating resistor 150 ± 5W).
For EMC reasons, the SubD connector housing must fulfil the following conditions:
— metal or metallized housing
— provision for cable shielding connection in housing, large-area connection
-
AX2040/2070 Installation Manual 63
Interfaces
02/06 Beckhoff
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64 AX2040/2070 Installation Manual
Beckhoff
5 Setup
5.1 Important notes
Only professional personnel with extensive knowledge in the fields of electrical/
drive technology are allowed to setup the servo amplifier.
The setup procedure is described as an example. Depending on the application,
a different procedure may be sensible or necessary. In multi-axis systems, setup each
servo amplifier individually.
The manufacturer of the machine must generate a hazard analysis for the machine,
and take appropriate measures to ensure that unforeseen movements cannot
cause injury or damage to any person or property.
Check that all live connecting elements are protected from accidental contact.
Deadly voltages can be present, up to 900V.
Never disconnect any of the electrical connections to the servo amplifier while it is
live. Capacitors can still have residual charges with dangerous levels up to 300
seconds after switching off the supply power.
Heat sinks of the amplifier can reach a temperature of up to 80°C (176°F) in
operation. Check (measure) the heat sink temperature. Wait until the heat sink has
cooled down below 40°C (104°F) before touching it.
02/06 Setup
If the servo amplifier has been stored for longer than 1 year, then the DC bus link
capacitors will have to be re-formed.
To do this, disconnect all the electrical connections.
Supply the servo amplifier for about 30 min. from single-phase 230VAC to the
terminals L1 / L2. This will re-form the capacitors.
Further setup information:
The adaptation of parameters and the effects on the control loop behavior are
described in the online help.
The setup of the expansion card (if present) is described in the corresponding
manual on the CD-ROM.
We can provide further know-how through training courses (on request).
AX2040/2070 Installation Manual 65
Setup
5.2 Guide to setup
The following instructions should help you to carry out the setup in a sensible order, without any
hazards to people or machinery.
Check installation ð p.31ff. Disconnect the servo amplifier from the supply.
02/06 Beckhoff
Inhibit
Enable signal
Switch on 24V
auxiliary voltage
Switch on PC,
start setup software
Check displayed
parameters,
and correct
if necessary
Supply voltage:
Rated motor voltage:
Motor pole-no:
Feedback:
I
RMS
I
PEAK
Limit speed:
Regen power:
Station address:
0V on terminal X3/15 (Enable)
24VDC on terminal X4/1, ground on terminal X4/3
After the initialisation procedure (about 0.5 sec.) the status is
shown in the LED display (ð p.69)
Select the interface to which the servo amplifier is connected,
The parameters which are stored in the SRAM of the servo
amplifier are transferred to the PC.
It is important to check the following parameters.
If you do not keep to them, parts of the system can be
damaged or destroyed.
set to the actual mains supply voltage
at least as high as the DC bus link voltage of the amplifier
must match the motor (see motor manual)
must match the feedback unit in the motor
maximum is the motor standstill current I
:
maximum is 4 x motor standstill current I
:
(on nameplate)
0
0
maximum is the rated motor speed (on nameplate)
maximum is the permitted regen resistor dissipation
unique address (see setup software manual)
Check
safety devices
Switch on
supply power
Apply 0V setpoint
Enable
Setpoint
Optimization
Setup
the expansion card
Make sure that any unintended movement of the drive
cannot cause danger to machinery or personnel.
through the ON/OFF button of the contactor control
0V on terminals X3/4-5 or X3/6-7
(2000 ms after switching on the supply power) 24VDC on
terminal X3/15, motor stands with standstill torque M
0
apply a small analog setpoint, about 0.5V is recommended,
to terminals X3/4-5 or X3/6-7
If the motor oscillates, the parameter Kp in the menu
page “speed controller” must be reduced.
- the motor is endangered!
Optimize speed, current and position controllers
see setup instructions in the corresponding
manual on the CD-ROM
66 AX2040/2070 Installation Manual
Beckhoff
5.3 Parameter setting
A default parameter set is loaded into your servo amplifier by the manufacturer. This contains valid
and safe parameters for the current and speed controllers.
A database for motor parameters is stored in the servo amplifier. During setup you must select the
data set for the motor that is connected and store it in the servo amplifier. For most applications
these settings will already provide good to very good control loop characteristics.
An exact description of all parameters and the possibilities for optimizing the control loop character
istics can be found in the manual “Setup Software DRIVE.EXE”.
5.3.1 Multi-axis system
Using a special multilink cable, you can connect up to six servo amplifiers together and to your PC :
Cable type -SR6Y- (for 4 amplifiers) or -SR6Y6- (for 6 amplifiers).
With the PC connected to just one servo amplifier you can now use the setup software to select all
amplifiers through the preset station addresses and set up the parameters.
02/06 Setup
-
X6
PC/CAN
PC
COMx
RS232
Baud rates are the same for all amplifiers,
see table below
Add.:01
Cable -SR6Y-
5.3.1.1 Node address for CAN-bus
During setup it makes sense to preset the station addresses for the individual amplifiers and the
baud rate for communication by means of the keypad on the front panel (ð p. 69).
5.3.1.2 Baud rate for CAN-bus
After changing the station address and baud rate you must turn the 24V auxiliary
supply of the servo amplifier off and on again.
X6
CAN
Add.:02
X6
CAN
Add.:03
Add.:04
X6
CAN
Coding of the baud rate in the LED display :
Coding Baud rate in kbit/s Coding Baud rate in kbit/s
0 10 5 250
1 20 6 333
2 50 7 500
3 100 8 666
4 125 9 800
10 1000
- A.4.038.4/11
AX2040/2070 Installation Manual 67
Setup
02/06 Beckhoff
5.3.2 Key operation / LED display
In this chapter the two possible operation menus and the use of the keys in the front panel are
shown. Normally, the AX2040/2070 only places the standard menu at your disposal. If you want to
attend the amplifier via the detailed menu, you must keep the right key pressed while switching on
the 24V-supply.
5.3.2.1 Key operation
The two keys can be used to perform the following functions:
Key symbol Functions
press once : go up one menu item, increase number by one
press twice in rapid succession : increase number by ten
press once : go down one menu item, decrease number by one
press twice in rapid succession : decrease number by ten
press and hold right key, then press left key as well :
enters a number, return function
5.3.2.2 Status display
- A.4.031.3/04, 09
68 AX2040/2070 Installation Manual
Beckhoff
5.3.2.3 Standard menu structure
5.3.2.4 Extended menu structure
02/06 Setup
p.67
the entry will be stored automatically,
when you exit the input field.
- A.4.031.3/03, 08
p.67
p.67
AX2040/2070 Installation Manual 69
Setup
5.4 Error messages
Errors which occur are shown in coded form by an error number in the LED display on the front
panel. All error messages result in the BTB/RTO contact being opened, and the output stage of the
amplifier being switched off (motor loses all torque). If a motor-holding brake is installed, it will be
activated.
Number Designation Explanation
E/S/A/P
...
F01*
F02*
F03*
F04
F05*
F06
F07
F08*
F09
F10
F11
F12
F13*
F14
F15
F16*
F17
F18
F19*
F20
F21
F22
F23
F24
F25
F26
F27
F28
F29
F30
F31
F32
* = These error messages can be cancelled by the ASCII command CLRFAULT, without executing a reset. If
only these errors are present, and the RESET button or the I/O-function RESET is used, the CLRFAULT com
mand is also all that is carried out.
Status Messages Status messages, no error, see p. 68
Status Message updating the startup configuration
heat sink temperature
overvoltage
following error message from the position controller
feedback cable break, short-circuit, short to ground
undervoltage
motor temperature
reserved reserved
overspeed motor runs away, speed is too high
EEPROM checksum error
Flash-EPROM checksum error
brake cable break, short-circuit, short to ground
motor phase motor phase missing (cable break or similar)
internal temperature internal temperature too high
output stage fault in the power output stage
I²t max. I²t maximum value exceeded
supply BTB/RTO 2 or 3 phases missing in the mains supply feed
A/D converter
regen regen circuit faulty or incorrect setting
supply phase
slot fault slot error (hardware fault on expansion card)
handling error software error on the expansion card
reserved reserved
CAN-bus off severe CAN bus communication error
warning warning is displayed as fault
commutation error commutation error
limit switch
AS
reserved reserved
Fieldbus-Sync Fieldbus not synchronized
Emergency timeout Timeout emergency stop
reserve reserve
system error system software not responding correctly
02/06 Beckhoff
heat sink temperature too high
limit is set by manufacturer to 80°
overvoltage in DC bus link
limit depends on the electrical supply voltage
undervoltage in DC bus link
limit is set by manufacturer to 100V
motor temperature too high or temp. sensor defect
limit is set by manufacturer to 145°C
error in the analog-digital conversion, normally caused
by extreme electromagnetic interference
a phase is missing in the mains supply power feed
(can be switched off for 2-phase operation)
homing error (machine has driven onto hardware limit
switch)
operational error with -AS- , input for AS-Enable and
ENABLE have been set at the same time
-
More information about faults and hints for removal can be found on page 96
70 AX2040/2070 Installation Manual
Beckhoff
5.5 Warning messages
02/06 Setup
Faults which occur, but which do not cause a switch-off of the amplifier output stage (BTB/RTO con
tact remains closed), are indicated in the LED display on the front panel by a coded warning
number.
Number Designation Explanation
E/S/A/P
...
n01
n02
n03*
n04*
n05
n06*
n07*
n08
n09
n10*
n11*
n12
n13*
n14
n15
n16
n17
n18
n19-n31
n32
A
* = These warning messages lead to a controlled shut-down of the drive (braking with the emergency ramp)
Status Messages Status messages, no error, see p. 68
Status Message updating the startup configuration
I²t I²t threshold exceeded
regen power reached preset regen power limit
S_fault exceeded preset following error limit
response monitoring response monitoring (fieldbus) has been activated
supply phase Mains supply phase missing
Sw limit switch 1 passed software limit switch 1
Sw limit switch 2 passed software limit switch 2
motion task error a faulty motion task was started
no reference point no reference point (Home) set at start of motion task
PSTOP PSTOP limit-switch activated
NSTOP NSTOP limit-switch activated
motor default values
loaded
expansion card expansion card not operating correctly
SinCos feedback
table error fault according to speed/current table INXMODE 35
Summarized warning Summarized warning for n17 to n31
Fieldbus-Sync Fieldbus not synchronized
Multiturn overflow Max. number of motor turns exceeded
reserved reserved
firmware beta version firmware is an unreleased beta version
reset RESET is present on input DIGITAL INx
only for ENDAT or HIPERFACE
discrepancy between motor number saved in the encoder
and the amplifier, motor default values loaded
SinCos commutation (wake & shake) not completed, will
be canceled when amplifier is enabled and wake & shake
carried out
®
:
-
More information about faults and hints for removal can be found on page 96
AX2040/2070 Installation Manual 71
Setup
02/06 Beckhoff
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72 AX2040/2070 Installation Manual
Beckhoff
02/06 Expansions, accessories
6 Expansions, accessories
6.1 Expansion Cards
6.1.1 Guide to installation of expansion cards
l
l
Use a suitable screwdriver to unscrew
the cover of the option slot.
Take care that no small items (such
as screws) fall into the open option
slot.
l
Press the expansion card firmly into
the slot, until the front cover touches
the fixing lugs. This ensures that the
connectors make good contact.
l
Screw the screws on the front cover
into the threads in the fixing lugs.
l
Push the expansion card carefully
into the provided guide rails of the
main slot, without twisting it.
AX2040/2070 Installation Manual 73
Expansions, accessories
6.1.2 Expansion card -I/O-14/08-
This chapter describes the I/O-expansion card -I/O-14/08-. It only describes the additional features
that the expansion card makes available for the AX2040/2070.
If you ordered the expansion card together with the servo amplifier, then it will be delivered already
inserted into the expansion slot of the servo amplifier and screwed fast.
The -I/O-14/08- provides you with 14 additional digital inputs and 8 digital outputs. The functions of
the inputs and outputs are fixed. They are used to initiate the motion tasks that are stored in the
servo amplifier and to evaluate signals from the integrated position control in the higher-level
control.
02/06 Beckhoff
The functions of the inputs and signal outputs correspond exactly to the functions that can be assig
ned to the digital-I/O on connector X3 of the AX2040/2070.
All inputs and outputs are electrically isolated from the servo amplifier by optocoupler.
6.1.2.1 Front view
6.1.2.2 Technical data
Control inputs 24V / 7mA, PLC-compatible
Signal outputs 24V / max. 500mA, PLC-compatible
Supply inputs, to IEC 1131
Fusing (external) 4 AT
Connectors MiniCombicon, 12-pole, coded on PIN1 and 12 respectively
Cables
Waiting time between 2 motion
tasks
Addressing time (min.) 4ms
Starting delay (max.) 2ms
Response time of digital outputs max. 10ms
-
24V (18 ... 36V) / 100mA plus total current of the outputs (depends on the input wiring of the controls)
The 24VDC voltage has to be supplied by an electrically
isolated power supply, e.g. with insulating transformer.
Data – up to 50m long : 22 x 0.5mm², unshielded,
Supply – 2 x 1mm², check voltage drop
depends on the response time of the control system
6.1.2.3 Light emitting diodes (LEDs)
Two LEDs are mounted next to the terminals on the expansion card. The green LED signals that
the 24V auxiliary supply is available for the expansion card. The red LED signals faults in the out
puts from the expansion card (overload, short-circuit).
-
6.1.2.4 Select motion task number (sample)
Motion task no.
(decimal
174 10101110
- A.4.038.4/27
A7 A6 A5 A4 A3 A2 A1 A0
Motion task no. (binary)
74 AX2040/2070 Installation Manual
Beckhoff
6.1.2.5 Connector assignments
Connector X11A
Terminal Dir Function Description
1 In A0 Motion task no., LSB
2 In A1 Motion task no., 2
3 In A2 Motion task no., 2
4 In A3 Motion task no., 2
5 In A4 Motion task no., 2
6 In A5 Motion task no., 2
7 In A6 Motion task no., 2
8 In A7 Motion task no., MSB
9 In Reference
10 In FError_clear
11 In Start_MT Next
12 In Start_Jog v=x
02/06 Expansions, accessories
1
2
3
4
5
6
Polls the reference switch. If a digital input on the basic unit
is used as a reference input, then the input on the I/O expan
sion card will not be evaluated.
Clear the warning of a following error or the response moni
toring.
The following task, that is defined in the motion task by “Start
with I/O” is started. The target position of the present motion
task must be reached before the following task can be start
ed. The next motion block can also be started by an appro
priately configured digital input on the basic unit.
Start of the setup mode "Jog Mode" with a defined speed. Af
ter selecting the function, you can enter the speed in the au
xiliary variable “x”. The sign of the auxiliary variable defines
the direction. A rising edge starts the motion, a falling edge
cancels the motion.
-
-
-
-
-
-
Connector X11B
Continues the motion task that was previously interrupted.
1 In MT_Restart
The motion task can also be continued by an appropriately
configured digital input on the basic unit.
Start of the motion task that has the number that is presented, bit-coded, at the digital inputs (A0 to A7).
2 In Start_MT I/O
The digital function with the same name, in the basic unit,
starts the motion task with the address from the digital inputs
on the basic unit.
When the target position for a motion task has been reached
3 Out InPos
(the InPosition window), this is signalled by the output of a
HIGH-signal.
A cable break will not be detected
The start of each motion task in an automatically executed
sequence of motion tasks is signalled by an inversion of the
output signal. The output produces a Low signal at the start
of the first motion task of the motion task sequence.
4 Out
Next-InPos
The form of the message can be varied by using ASCII com
mands.
PosReg0 Can only be adjusted by ASCII commands.
5 Out FError
Following-error (low-active).
6 Out PosReg1
7 Out PosReg2
8 Out PosReg3
The preset function of the corresponding position register is
indicated by a HIGH-signal.
9 Out PosReg4
10 Out PosReg5 Can only be adjusted by ASCII commands.
11 Supply 24VDC auxiliary supply voltage
12 Supply I/O-GND Digital-GND for the controls
-
AX2040/2070 Installation Manual 75
Expansions, accessories
6.1.2.6 Connection diagram
AX2040/2070
-I/O-14/08
02/06 Beckhoff
AGND and DGND (connector X3) must be joined together ! A.4.031.1/39
76 AX2040/2070 Installation Manual
Beckhoff
02/06 Expansions, accessories
6.1.3 Expansion cards -PROFIBUS-
This chapter describes the PROFIBUS expansion card for the AX2040/2070.
Information on the range of functions and the software protocol can be found in the manual
"Communication profile PROFIBUS DP". The PROFIBUS expansion card has two 9-pin Sub-D
sockets wired in parallel. The supply voltage for the expansion card is provided by the servo ampli
fier.
6.1.3.1 Front view
6.1.3.2 Connection technology
Cable selection, cable routing, shielding, bus connector, bus termination and transmission times are
described in the “Installation guidelines for PROFIBUS-DP/FMS” from PNO, the PROFIBUS User
Organization.
6.1.3.3 Connection diagram
-
AX2040/2070
AGND and DGND (connector X3) must be joined together ! - A.4.031.1/41
AX2040/2070 Installation Manual 77
Expansions, accessories
02/06 Beckhoff
6.1.4 Expansion card -SERCOS-
This chapter describes the SERCOS expansion card for AX2040/2070.
Information on the range of functions and the software protocol can be found in the manual
"IDN Reference Guide SERCOS".
6.1.4.1 Front view
6.1.4.2 Light emitting diodes (LEDs)
indicates whether SERCOS telegrams are being correctly received. In the final Communi
RT
cation Phase 4 this LED should flicker, since cyclical telegrams are being received.
indicates that SERCOS telegrams are being transmitted. In the final Communication
Phase 4 this LED should flicker, since cyclical telegrams are being transmitted.
Check the stations addresses for the controls and the servo amplifier if:
TT
- the LED never lights up in SERCOS Phase 1 or
- the axis cannot be operated, although the RT LED is lighting up cyclically.
indicates that SERCOS communication is faulty or suffering from interference.
If this LED is very bright, then communication is suffering strong interference,
or is non-existent.
Check the SERCOS transmission speed for the controls and the servo amplifier
(BAUDRATE) and the fibre-optic connection.
If this LED flickers, this indicates a low level of interference for SERCOS communication,
ERR
or the optical transmitting power is not correctly adjusted to suit the length of cable.
Check the transmitting power of the (physically) previous SERCOS station.
The transmitting power of the servo amplifier can be adjusted in the setup software
DRIVE.EXE on the SERCOS screen page, by altering the parameter for
the cable length.
6.1.4.3 Connection technology
For the fiber optic cable connection, only use SERCOS components to the SERCOS Standard IEC
61491.
-
Receive data
The fiber optic cable carrying receive data for the drive in the ring structure is connected to X13 with
an F-SMA connector.
Transmit data
Connect the fiber optic cable for the data output to X14 with an F-SMA connector.
78 AX2040/2070 Installation Manual
Beckhoff
6.1.4.4 Connection diagram
Layout of the SERCOS bus system in ring topology, with optical fibre cables (schematic).
02/06 Expansions, accessories
AGND and DGND (connector X3) must be joined together !
6.1.4.5 Modifying the station address
The drive address can be set to a value between 0 and 63. With address 0, the drive is assigned
as an amplifier in the SERCOS ring. There are various ways to set the station address:
Keys on the front of the servo amplifier
The SERCOS address can also be modified using the keys on the front (p. 69).
Setup software
The address can also be modified in the setup software. For additional information, please refer to
the “Setup software” manual or the online help. Alternatively, enter the command ADDR # in the
“Terminal” screen, where # is the new address of the drive.
6.1.4.6 Modifying the baud rate and optical power
If the baud rate is not set correctly, communication is not possible. The SBAUD # parameter can be
used to set the baud rate, where # is the baud rate.
If the optical power is not set correctly, errors occur in telegram transmission and the red LED on
the drive lights up. During normal communication, the green send and receive LEDs flash, giving
the impression that the relevant LED is on. The SLEN # parameter can be used to specify the opti
cal range for a standard 1 mm² glass fibre cable, where # is the length of the cable in metres.
SBAUD SLEN
2 2 Mbaud 0 sehr kurze Verbindung
4 4 Mbaud 1…< 15 Länge der Verbindung mit einem 1 mm² Kunststoffkabel
8 8 Mbaud 15…< 30 Länge der Verbindung mit einem 1 mm² Kunststoffkabel
16 16 Mbaud ³ 30 Länge der Verbindung mit einem 1 mm² Kunststoffkabel
Setup software
The parameters can be modified in the setup software, “SERCOS” screen. For additional informa
tion, please refer to the “Setup software” user manual and the online help. Alternatively, the com
mands SBAUD # and SLEN # can be entered in the “Terminal” screen.
-
-
-
- A.4.038.4/24
AX2040/2070 Installation Manual 79
Expansions, accessories
02/06 Beckhoff
6.1.5 Expansion card -DEVICENET-
This section describes the DeviceNet expansion card for AX2040/2070.
Information on the range of functions and the software protocol can be found in our manual “Device
Net Communication Profile”.
6.1.5.1 Front view
6.1.5.2 Connection technology
Cable selection, cable routing, shielding, bus connector, bus termination and transmission times are
all described in the “DeviceNet Specification, Volume I, II”, published by ODVA.
6.1.5.3 Connection diagram
AX2040/2070
-
AGND and DGND (connector X3) must be joined together !
80 AX2040/2070 Installation Manual
Beckhoff
02/06 Expansions, accessories
6.1.5.4 Combined module/network status-LED
LED Meaning
The device is not online.
- The device has not yet finished the Dup_MAC_ID test.
off
- The device is possibly not yet switched on.
green
blinking
green
blinking
The device is operating as normal, is online, and the connections have been establis
hed. The device has been assigned to a master.
The device is operating as normal, is online, but the connections have not been estab
lished.
- The device has passed the Dup_MAC_ID test and is online, but the
connection to other nodes have not been established.
- This device has not been assigned to a master.
- Missing, incomplete or wrong configuration.
An error that can be cleared and/or at least one I/O connection are in a waiting state.
red
- An error has occurred that cannot can be cleared; it may be necessary to
replace the device.
- Communication device failure. The device has detected a fault that
red
prevents communication with the network (for instance, a MAC ID appears
twice or BUSOFF).
-
-
6.1.5.5 Setting the station address (device address)
The station address for the servo amplifier can be set in three different ways:
Set the rotary switches at the front of the expansion card to a value between 0 and 63. Each
l
switch represents a decimal figure. For example, to set the address for the drive to 10, set
MSD to 1 and LSD to 0.
l
Set the rotary switches at the front of the expansion card to a value higher than 63. Now you
can set up the station address by using the ASCII commands DNMACID x, SAVE, COLDSTART, whereby “x” stands for the station address.
l
Set the rotary switches at the front of the expansion card to a value higher than 63. Now you
can set up the station address by using the DeviceNet Object (Class 0x03, Attribute 1). This
is normally carried out with the help of a DeviceNet software setup tool. You must save the
parameters in non-volatile memory (Class 0x25, Attribute 0x65) and then restart the drive
after setting/altering the address.
6.1.5.6 Setting the transmission speed
The DeviceNet transmission speed can be set in three different ways:
l
Set the rotary switch for Baud rate (at the front of the option card) to a value between
0 and 2. 0 = 125 kbit/s, 1 = 250 kbit/s, 2 = 500 kbit/s.
l
Set the rotary switch for Baud rate (at the front of the option card) to a value higher than 2.
Now you can set the Baud rate by using the terminal commands DNBAUD x, SAVE, COLD
START, whereby “x” stands for 125, 250 or 500 .
l
Set the rotary switch for Baud rate (at the front of the option card) to a value higher than 2.
Now you can set the Baud rate by using the DeviceNet Object (Class 0x03, Attribute 2) to a
value between 0 and 2. This is normally carried out with the help of a DeviceNet software
setup tool. You must save the parameters in non-volatile memory (Class 0x25, Attribute
0x65) and then restart the drive after altering the baud rate.
-
AX2040/2070 Installation Manual 81
Expansions, accessories
6.1.5.7 Bus cable
02/06 Beckhoff
To meet ISO 898, a bus cable with a characteristic impedance of 120 W should be used. The maxi
mum usable cable length for reliable communication decreases with increasing transmission speed.
As a guide, you can use the following values which we have measured, but they are not to be taken
as assured limits.
General characteristic Specification
Bit rates 125 kbit, 250 kbit, 500 kbit
Distance with larger
bus connections
Number of nodes 64
Signal environment CAN
Modulation Basic bandwidth
Coupling medium DC-coupled differential transmit/receive operation
Isolation 500 V (option: optocoupler on the transceiver's node side)
Typical differential input impe
dance (recessive state)
Min. differential input impe
dance (recessive state)
Absolute max.
voltage range
500 meters at 125 kBaud
250 meters at 250 kBaud
100 meters at 500 kBaud
ShuntC=5pF
ShuntR=25KW (power on)
Shunt C = 24pF + 36 pF/m of the permanently attached stub cable
ShuntR=20KW
-25 V to +18 V (CAN_H, CAN_L)
The voltages for CAN_H and CAN_L refer to the ground pin of the
transceiver. The voltage is higher than that on the V-terminal by
the amount of the forward voltage drop of the Schottky diode. This
voltage drop must be < 0.6V.
-
Grounding:
The DeviceNet network must only be grounded at one point, to avoid ground loops. The circuitry for
the physical layer in all devices are referenced to the V-bus signal. The ground connection is made
via the power supply for the bus system. The current flowing between V- and ground must not flow
through any device other than the power supply.
Bus topology:
The DeviceNet medium utilizes a linear bus topology. Termination resistors are required at each
end of the connecting cable. Stub cables are permitted up to a length of 6 meters, so that at least
one node can be connected.
Termination resistors:
DeviceNet requires a termination at each end of the connecting cable.
These resistors must meet the following requirements: 120W, 1% metal-film, 1/4 W
A.4.031.1/55
82 AX2040/2070 Installation Manual
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02/06 Expansions, accessories
6.1.6 Expansion card -ETHERCAT-
This section describes the EtherCat expansion card for AX2040/2070. Information on the range of
functions and the software protocol can be found in the EtherCat documentation. This expansion
cards enables the servo amplifier to be connected to the EtherCat network.
6.1.6.1 Front view
6.1.6.2 LEDs
LED Function
flickering = Booting Error
blinking = Invalid Configuration
ERROR
RUN
ACT IN
ACT OUT
single flash = Unsolicited State Change
double flash = Watchdog Timeout
off = No Error
on = Device is in state OPERATIONAL
blinking = Device is in state PRE-OPERATIONAL
single flash = Device is in state SAFE-OPERATIONAL
off = Device is in state INIT
on = linked, but not active at X20A (in)
flickering = linked and active at X20A (in)
off = not linked at X20A (in)
on = linked, but not active at X20B (out)
flickering = linked and active at X20B (out)
off = not linked at X20B (out)
6.1.6.3 Connection diagram
AGND and DGND (connector X3) must be joined together !
AX2040/2070 Installation Manual 83
Expansions, accessories
02/06 Beckhoff
6.1.7 Expansion card -SYNQNET-
This section describes the SynqNet expansion card for AX2040/2070.
Information on the range of functions and the software protocol can be found in the SynqNet docu
mentation..
6.1.7.1 Front view
-
6.1.7.2 NODE ID Switch
With these hexadecimal switches you can set the main and low significant bytes of the Node ID
seperately. SynqNet does not require an address for correct operation in the network, however in
some machines this can be a convenient way of identifying build options to the application program.
LED2 LED1 LED4 LED3
6.1.7.3 Node LED table
LED# Name Function
LED1
LED2
LED3
LED4
LINK_IN
CYCLIC
LINK_OUT
REPEATER
ON = receive valid (IN port)
OFF= not valid, power off, or reset.
ON = network cyclic
BLINK = network not cyclic
OFF = power off, or reset
ON = receive valid (OUT port)
OFF = not valid, power off, or reset
ON = repeater on, network cyclic
BLINK = repeater on, network not cyclic
OFF = repeater off, power off, or reset
6.1.7.4 SynqNet Connection, Connector X21B/C (RJ-45)
Connection to the SynqNet network via RJ-45 connectors (IN and OUT ports) with integrated LEDs.
84 AX2040/2070 Installation Manual
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02/06 Expansions, accessories
6.1.7.5 Digital inputs/outputs, connector X21A (SubD 15-pin, socket)
Inputs (In): 24V (20...28V), opto-isolated, one high-speed input (Pin 4)
Outputs (Out): 24V, opto-isolated, Darlington driver
Pinout connector X21A (SubD 15 pin)
Pin Type Description Pin Type Description
In +24V power supply
1
2
3
4
5
6
7
8
ALARM
Out OUT_01 digital output
In IN_00 capture input (fast)
In IN_04 digital input
In IN_01 digital input
In HOME reference switch
In POSLIM
NODE
Out
indicates a problem with
the node
limit switch, positive di
rection
-
In GND power supply
9
Out OUT_00 digital output
10
Out OUT_02 digital output
11
In IN_02 digital input
12
In IN_03 digital input
13
In NEGLIM
14
NODE-
In
15
DISABLE
limit switch, negative
direction
disables Node
6.1.7.6 Connection diagram digital inputs/outputs, connector X21A
AX20
AGND and DGND (connector X3) must be joined together !
AX2040/2070 Installation Manual 85
Expansions, accessories
6.1.8 Expansion module -2CAN-
Connector X6 of the AX20 is assigned to the signals for the RS232 interface and the CAN interface.
It is therefore not the standard pin assignment for these interfaces, and a special cable is required
to be able to use both interfaces simultaneously.
The -2CAN- expansion module provides the interfaces on separate Sub-D connectors. The two
CAN connectors are wired in parallel. A termination resistor (120 W) for the CAN bus can be swit
ched into circuit if the AX20 is at the end of the bus.
02/06 Beckhoff
-
6.1.8.1 Installation
The modul must be placed onto the option slot after levering off the cover of the option slot:
Screw the distance pieces into the fixing lugs of the option slot.
l
Place the expansion module onto the option slot.
l
l Screw the screws into the threads of the distance pieces.
l
Plug the Sub-D9 socket into connector X6 on the AX20
6.1.8.2 Front View
6.1.8.3 Connection technology
Standard shielded cables can be used for the RS232 and CAN interfaces.
If the servo amplifier is the last device on the CAN bus, then the switch for the bus
termination must be set to ON.
Otherwise, the switch must be set to OFF (condition as delivered).
86 AX2040/2070 Installation Manual
Beckhoff
6.1.8.4 Connector assignments
RS232 CAN1=CAN2
X6A Pin Signal X6B=X6C Pin Signal
1 Vcc 1
2 RxD 2 CAN-Low
3 TxD 3 CAN-GND
44
5 GND 5
66
7 7 CAN-High
88
99
6.1.8.5 Connection diagram
- A.4.038.4/23
02/06 Expansions, accessories
AX2040/2070 Installation Manual 87
Expansions, accessories
02/06 Beckhoff
6.2 Accessories
6.2.1 External 24VDC / 5A supply
Technical data (not available in North America)
Input voltage 120 / 230V
Input current 0,9 / 0,6A
Frequency 50/60Hz
Primary fuse 3,15AT
Output voltage 24V ± 1%
Max. output current 5A
Residual ripple <150mVss
Switching peaks <240mVss
Output fuse short circuit proof
Temperature range 0...+60°C
DIN-rails, vertical mounting
Type of mounting
Weight 0,75kg
- A.4.037.4/07
Keep a clear space of 50mm above and below the in
strument
-
88 AX2040/2070 Installation Manual
Beckhoff
02/06 Expansions, accessories
6.2.2 External 24VDC / 20A supply
Mounting plate
Technical data
Input voltage 3 x 400V AC ± 10%
Input current approx. 1.1A
Frequency 50/60Hz
Primary fusing none
Output voltage 24V ± 1%
Max. output current 20A
Residual ripple <0.1%
Output fusing short-circuit proof
Test voltage to VDE 0550
Temperature range -20 to +60°C
-
- A.4.012.4/33
on mounting plate (supp
Mounting method
Weight 3.5kg
lied)
Keep space free
AX2040/2070 Installation Manual 89
Expansions, accessories
02/06 Beckhoff
6.2.3 External regen resistor BAS
Caution:
Surface temperature may exceed 200°C.
Observe the requested free space.
Do not mount to combustible surface.
- A.4.947.4/24
90 AX2040/2070 Installation Manual
Beckhoff
6.2.4 Mains filters 3EF
02/06 Expansions, accessories
- A.4.038.4/14
AX2040/2070 Installation Manual 91
Expansions, accessories
6.2.5 Mains chokes 3L
02/06 Beckhoff
- A.4.030.4/12
92 AX2040/2070 Installation Manual
Beckhoff
6.2.6 Motor chokes 3YLN
To use with long motor cables to reduce velocity ripple. The terminals BR are used to connect the
motor holding brake. Beside the terminal are block two shield connection terminals for safe connec
tion of the cables's shielding braid.
Mount the choke nearby the servo amplifier. The cable length between amplifier
and choke must not exceed 2m. Connection diagram see page 45.
02/06 Expansions, accessories
-
The increased absorption reduces the permissible rotative frequency and limits thereby the permit
ted motor speed:
— with 6 poles motors to n
— with 8 poles motors n
— with 10 poles motors n
The increased leakage current at rising cable length leads to the reduction of usable amplifier
output current of about 3A. The used motor should need 6A rated current at least, so that a good
regulation quality is reached.
= 3000 rpm
max
= 2250 rpm
max
= 1800 rpm
max
-
Technical data Dim 3YLN40 3YLN70
Rated current
Peak current
Winding inductance
Winding resistance
Power loss
Rotative frequ. (max)
Clock frequency
Test voltage
Overload
Climatic category
Weight
Connection diameter
A
B
C
D
E
F
A 3x40 3x70
A 80 140
mH 0,15 0,05
Ohm 1,51 0,7
W65 70
Hz 150
kHz 2 - 8
- Phase<->PE 2700V DC 1s
A 1,5 x Inom, 1 min/h
- DIN IEC 68 Part 1 25/085/21
kg 10,3 15,3
mm² 10 10
mm 210 210
mm 175 175
mm 120 120
mm 85 85
mm 260 260
mm 6,5 x 10 6,5 x 10
AX2040/2070 Installation Manual 93
Expansions, accessories
02/06 Beckhoff
This page has been deliberately left blank.
94 AX2040/2070 Installation Manual
Beckhoff
02/06 Appendix
7 Appendix
7.1 Transport, storage, maintenance, disposal
Transport : — only by qualified personnel
— only in the manufacturer’s original recyclable packaging
— avoid shocks
— temperature –25 to +70°C (-13...158°F), max. 20k/hr rate of change
— humidity max. 95% relative humidity, no condensation
— the servo amplifiers contain electrostatically sensitive components which can
— be damaged by incorrect handling
— Discharge yourself before touching the servo amplifier. Avoid contact with
— highly insulating materials (artificial fabrics, plastic films etc.).
— Place the servo amplifier on a conductive surface.
— if the packaging is damaged, check the unit for visible damage.
— In this case, inform the shipper and the manufacturer.
Packaging: — Cardboard box with foam padding, can be recycled
— Dimensions: (HxWxD) 410x470x490 mm
— Gross weight, accessories included, approx. 25 Kg
Storage : — only in the manufacturer’s original recyclable packaging
— the servo amplifiers contain electrostatically sensitive components which can
— be damaged by incorrect handling
— Discharge yourself before touching the servo amplifier. Avoid contact with
— highly insulating materials (artificial fabrics, plastic films etc.),
— Place the servo amplifier on a conductive surface.
— max. stacking height: 3 cartons
— storage temperature– 25 to +55°C(-13...131°F),
max. 20K/hr. rate of change
— humidity relative humidity 5...95%, no condensation
— storage duration < 1 year without restriction
> 1 year : capacitors must be re-formed before
setting up the servo amplifier.
To do this, remove all electrical connections and
supply the servo amplifier for about 30 min from
230VAC, single-phase, on terminals L1 / L2.
Maintenance : — the instruments do not require any maintenance
— opening the instruments invalidates the warranty
Cleaning : — if the casing is dirty : cleaning with Isopropanol or similar
do not immerse or spray
— if there is dirt inside the unit: to be cleaned by the manufacturer
— dirty protective grill (fan): clean with a dry brush
Disposal : — the servo amplifier can be reduced to its principal components by unscrewing
— it (aluminium heat sink and front panel steel housing sections, electronics
— boards)
— disposal should be carried out by a certified disposal company.
— We can give you suitable addresses.
AX2040/2070 Installation Manual 95
Appendix
02/06 Beckhoff
7.2 Removing faults / warnings
The table below should be regarded as a “First-aid” box. Depending on the conditions in your instal
lation, there may be a wide variety of reasons for the fault. In multi-axis systems there may be furt
her hidden causes of a fault. Our customer service can give you further assistance with problems.
Fault possible causes
HMI message:
communicati
on fault
F01 message:
heat sink
temperature
F02 message:
overvoltage
F04 message:
feedback unit
F05 message:
undervoltage
F06 message:
motor temperature
F07 message:
aux. voltage
F08 message:
motor runs
away
(overspeed)
F11 message:
brake
— wrong cable used
— cable plugged into wrong position
-
in servo amplifier or PC
— wrong PC interface selected
— permissible heat sink temperature
exceeded
— regen power is insufficient. regen
power limit was reached and the regen
resistor was switched off. This causes
excessive voltage in the DC bus link
circuit.
— supply voltage too high
— feedback connector not inserted
— feedback cable is broken, crushed or
otherwise damaged
— supply voltage not present or too low
when servo amplifier is enabled
— motor thermostat has been activated
— feedback connector is loose or break in
feedback cable
— the aux. voltage produced by the servo
amplifier is incorrect
— motor phases swapped
— feedback set up incorrectly
— short-circuit in the supply cable for the
motor-holding brake
— motor-holding brake is faulty
— fault in brake cable
— no brake connected, although the
brake parameter is set to "WITH"
Measures to remove the cause of
the fault
— use null-modem cable
— plug cable into the correct sockets
on the servo amplifier and PC
— select correct interface
— improve ventilation
— shorten the braking time RAMP or
use an external regen resistor
with a higher power rating and
adjust the regen power parameter
— use mains transformer
— check connector
— check cable
— only enable the servo amplifier
when the mains supply voltage
has been switched on
delay > 2000 ms
— wait until motor has cooled down,
then check why it became so hot
— tighten connector or use
new feedback cable
— return the servo amplifier to the
manufacturer for repair
— correct motor phase sequence
— set up correct offset angle
— remove short-circuit
— replace motor
— check shielding of brake cable
— brake parameter set to
"WITHOUT"
-
-
F13 message:
internal tem
perature
F14 message:
output stage
fault
— permissible internal temperature
-
exceeded
— motor cable has short-circuit/ground
short
— motor has short-circuit / ground short
— output module is overheated
— output stage is faulty
— short-circuit / short to ground in the
external regen resistor
— improve ventilation
— replace cable
— replace motor
— improve ventilation
— return the servo amplifier to the
manufacturer for repair
— remove short-circuit / ground
short
96 AX2040/2070 Installation Manual
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02/06 Appendix
Fault possible causes
F16 message:
mains
BTB/RTO
F17 message:
A/D converter
— enable was applied, although the
supply voltage was not present.
— at least 2 supply phases are missing
— error in the analog-digital conversion,
usually caused by excessive EMI
— wrong cable
F25 message:
— wrong phasing
Commutation
error
F27 message:
error ASoption
— -AS- enable AND HW enable
have been set at the same time
— servo amplifier not enabled
— break in setpoint cable
motor does
not rotate
— motor phases swapped
— brake not released
— drive is mechanically blocked
— no. of motor poles set incorrectly
— feedback set up incorrectly
motor
oscillates
drive reports
following error
motor overheating
— gain too high (speed controller)
— shielding in feedback cable broken
— AGND not wired up
—I
or I
rms
is set to low
peak
— setpoint ramp is too long
—I
rms/Ipeak
set too high — reduce I
— Kp (speed controller) too low
— Tn (speed controller) too high
drive too soft
— PID-T2 too high
— T-Tacho too high
— Kp (speed controller) too high
drive runs
roughly
— Tn (speed controller) too low
— PID-T2 too low
— T-Tacho too low
— offset not correctly adjusted for analog
axis drifts at
setpoint = 0V
setpoint provision
— AGND not joined to the CNC-GND of
the controls
n12 message:
Motor default
values loaded
— Motor number stored in sine encoders
EEPROM different than what drive is
configured for
n14 message:
Wake & shake
— Wake & shake not executed — Enable the drive
active
Measures to remove the cause of
the fault
— only enable the servo amplifier
when the mains supply voltage
has been switched on
— check electrical supply
— reduce EMI,
check screening and grounding
— check wiring
— check resolver poles
(RESPOLES)
check motor poles (MPOLES)
check offset (MPHASE)
— check PLC programming and
wiring
— apply enable signal
— check setpoint cable
— correct motor phase sequence
— check brake control
— check mechanism
— set no. of motor poles
— set up feedback correctly
— reduce Kp (speed controller)
— replace feedback cable
— join AGND to CNC-GND
— increase I
rms
or I
peak
(keep within motor data !)
— shorten setpoint ramp +/-
rms/Ipeak
— increase Kp (speed controller)
— use motor default value for
Tn (speed controller)
— reduce PID-T2
— reduce T-Tacho
— reduce Kp (speed controller)
— use motor default value for
Tn (speed controller)
— increase PID-T2
— increase T-Tacho
— adjust setpoint-offset (analog I/O)
— join AGND and CNC-GND
— If n12 is displayed, default values
for the motor are loaded. Motor
number will be automatically
stored in EEPROM with SAVE.
AX2040/2070 Installation Manual 97
Appendix
7.3 Glossary
C Clock Clock signal
Common-mode voltage The maximum amplitude of a disturbance (on both
CONNECT- modules Modules built into the servo amplifier, with integrated
Continuous power of regen circuit Mean power which can be dissipated in the regen circuit
Counts Internal count pulses, 1 pulse = 1/2
Current controller Regulates the difference between the current setpoint
D DC bus link Rectified and smoothed power voltage
Disable Removal of the enable signal (0V or open)
E Enable Enable signal for the servo amplifier (+24V)
F Final speed Maximum value for speed normalization at ±10V
Fieldbus interface CANopen, PROFIBUS, SERCOS
G GRAY-code Special method of representing binary numbers
H Holding brake Brake in the motor, which can only be used when the
I I²t threshold Monitoring of the actually required r.m.s. current
Input drift Temperature and age-dependent alteration of an analog
Incremental encoder interface Position signalling by 2 signals with 90° phase
Ipeak, peak current The effective value of the peak current
Irms, effective current The r.m.s. value of the continuous current
K Kp, P-gain Proportional gain of a control loop
L Limit-switch Switch limiting the traverse path of the machine;
M Machine The complete assembly of all connected parts or
Monitor output Output of an analog measurement
Motion-block Data packet with all the position control parameters
Multi-axis system Machine with several independently driven axes
N Natural convection Free movement of air for cooling
O Optocoupler Optical connection between two electrically
02/06 Beckhoff
inputs) which a differential input can eliminate
position control, which provide special versions of the
interface for the connection to the higher-level control
20
-1
turn
and the actual value to 0
Output : power output voltage
motor is at stillstand
input
difference, not an absolute position output
implemented as n.c. (break) contact
devices, of which at least one is movable
which are required for a motion task
independent systems
98 AX2040/2070 Installation Manual
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02/06 Appendix
P P-controller Control loop with purely proportional behavior
Phase shift Compensation for the lag between the electromagnetic
and magnetic fields in the motor
PID-controller Control loop with proportional, integral and
differential behavior
PID-T2 Filter time constant for the speed controller output
Position controller Regulates the difference between the position setpoint
and the actual position to 0
Output : speed setpoint
Potential isolation Electrically decoupled
Power contactor System protection device with phase monitoring
Pulse power of the regen circuit Maximum power which can be dissipated in the
regen circuit
R Regen circuit Converts superfluous energy, which is fed back
during braking, into heat in the regen resistor
Reset New start of the microprocessor
Resolver-digital converter Conversion of the analog resolver signals into
digital information
Reversing mode Operation with a periodic change of direction
Ring core Ferrite rings for interference suppression
ROD-Interface Incremental position output
S Servo amplifier Control device for regulating the position of a
servomotor
Setpoint ramps Limits for the rate of change of the speed setpoint
Short to ground Electrically conductive connection between a
phase and PE (protective earth)
Short-circuit here: electrically conductive connection between
two phases
Speed controller Regulates the difference between the speed setpoint
and the actual value to 0
Output : current setpoint
SSI-interface Cyclic-absolute, serial position output
Supply filter Device to divert interference on the power supply
cables to PE
T T-tacho, tachometer time constant Filter time constant in the speed feedback
of the control loop
Tachometer voltage Voltage proportional to the actual speed
Thermostat Temperature-sensitive switch built into the
motor winding
Tn, I-integration time Integral section of a control loop
Z Zero pulse Output once per turn from incremental encoders,
used to zero the machine
AX2040/2070 Installation Manual 99
Appendix
7.4 Index
02/06 Beckhoff
! 24V supply
A A quad B interface ...............56
B Baudrate ....................67
C CANopen-Interface...............63
D DC-link interface ................44
E EMC......................31
F forming .....................65
G Glossary ....................98
H Hall, interface .................48
I incremental encoder, interface .........50
K key operation ..................68
L LC-Display ...................68
20A.....................89
5A.....................88
24Vaux. supply, interface ...........44
abbreviations ..................8
AGND .....................20
ambient temperature ..............19
assembly ....................33
Block diagram .................43
brake ......................21
BTB/RTO....................55
CE-conformance ................11
ComCoder, interface ..............47
conductor cross-sections............20
connection diagram ..............36
connection techniques .............39
DeviceNet bus cable ..............82
DGND .....................20
disposal ....................95
Emergency Stop strategies ..........24
encoder
emulations .................56
interface ..................49
interface master-slave ...........58
error messages ................70
expansion card
-2CAN- ...................86
-DeviceNet- ................80
-EtherCat- .................83
guide to installation ............73
-I/O-14/08- .................74
-PROFIBUS- ................77
-SERCOS- .................78
-SynqNet- .................84
external fusing .................19
ground symbol .................35
grounding
connection diagram ............36
installation .................32
hardware requirements.............42
holding brake..................21
humidity
inputs
installation
Limit Switch Inputs ...............54
....................95
analog setpoints ..............52
DIGI-IN 1/2.................54
enable ...................54
NSTOP...................54
PSTOP...................54
expansion cards ..............73
hardware ..................35
restart lock -AS- ..............27
software ..................42
M m otor chokes .................93
mains supply connection, interface ......44
mains supply networks .............16
maintenance ..................95
master-slave ..................58
monitor outputs.................53
motor holding brake ..............21
motor, interface ................45
mounting position ...............19
multi-axis systems
address / baud rate ............67
connection example ............37
N nameplate ...................13
NSTOP .....................54
O Optical power .................79
options .....................15
other operating systems ............42
outputs
analog out 1/2 ...............53
BTB/RTO..................55
DIGI-OUT 1/2 ...............55
P Package supplied ...............13
Packaging ...................95
Parameter setting ...............67
PC cable ....................62
PC connection .................62
PGND .....................20
pin assignments ................38
pollution level..................19
protection....................19
PSTOP .....................54
pulse-direction, interface ............60
R resolver, interface ...............46
restart lock
block diagram ...............26
Installation/setup ..............27
signal diagram ...............26
restart lock -AS- ................25
RS232/PC, interface ..............62
S safety instructions ................9
setpoint inputs .................52
Setup ......................65
shielding
connection diagram ............36
connection techniques ...........39
installation .................32
sine-cosine encoder, interface .........51
site .......................32
site altitude ...................19
SSI, interface..................57
stacking height .................95
standards....................11
storage .....................95
storage duration ................95
storage temperature ..............95
supply voltage .................19
Switch-on and switch-off behaviour ......23
system components, overview .........17
T technical data .................18
torque, connectors ...............20
transmission speed ..............81
transport ....................95
U use as directed
hardware ..................10
setup software ...............41
V ventilation
Installation .................32
Tech.Data .................19
W Warning messages ...............71
wiring ......................32
X XGND .....................20
100 AX2040/2070 Installation Manual
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