Eurotherm Drives 631 Product Manual
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All rights strictly reserved. No part of this document may be stored in a retrieval system, or transmitted in any form or
by any means to persons not employed by a Eurotherm group company without written permission from Eurotherm
Drives Ltd.
Although every effort has been taken to ensure the accuracy of this document it may be necessary, without notice, to
make amendments or correct omissions. Eurotherm Drives cannot accept responsibility for damage, injury, or expenses
resulting therefrom.
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Eurotherm Drives warrants the goods against defects in design, materials and workmanship
for the period of 12 months from the date of delivery on the terms
detailed in Eurotherm Drives Standard Conditions of Sale IA058393C.
Eurotherm Drives reserves the right to change the content and product specification without notice.
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This manual is to be made available to all persons who are required to install, configure or
service equipment described herein, or any other associated operation.
The information given is intended to highlight safety issues, and to enable the user to obtain
maximum benefit from the equipment.
Complete the following table for future reference detailing how the unit is to be installed and
used.
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Serial Number
(see product label)
Where installed
(for your own
information)
Unit used as a:
(refer to Certification
for the Inverter)
Unit fitted:
R Component R Relevant Apparatus
R Wall-mounted
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The equipment described regulates the flow of energy in electrical power installations, and is
intended for supplying only Eurotherm (or Eurotherm approved) servo motors.
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Installation, operation and maintenance of the equipment should be carried out by qualified
personnel. A qualified person is someone who is technically competent and familiar with all
safety information and established safety practices; with the installation process, operation and
maintenance of this equipment; and with all the hazards involved.
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• The equipment must be permanently earthed due to the high earth leakage current.
• The servo motor must be connected to an appropriate safety earth.
• The equipment contains high value capacitors which take time to discharge after removal of
the mains supply.
• Before working on the equipment, ensure isolation of the mains supply from terminals L1
and L2/N.
• Never perform high voltage resistance checks on the wiring without first disconnecting the
unit from the circuit being tested.
• When replacing a unit in an application and before returning to use, it is essential that all
user defined parameters for the product’s operation are correctly installed.
• This equipment contains electrostatic discharge (ESD) sensitive parts. Observe static
control precautions when handling, installing and servicing this product.
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The specifications, processes and circuitry described herein are for guidance only and may need
to be adapted to the user’s specific application.
Eurotherm Drives does not guarantee the suitability of the equipment described in this Manual
for individual applications.
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Under fault conditions, power loss or other operating conditions not intended, the equipment
may not operate as specified. In particular:
• The motor speed may not be controlled
• The direction of rotation of the motor may not be controlled
• The motor may be energised
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The user must provide guarding and /or additional safety systems to prevent risk of injury and
electric shock.
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• All control and signal terminals are SELV, i.e. protected by double insulation. Ensure all
wiring is rated for the highest system voltage.
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• All exposed metalwork in the Inverter is protected by basic insulation and bonding to a
safety earth.
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These are not recommended for use with this product but ,where their use is mandatory, only
Type B RCDs should be used.
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The 631 Digital Servo Drive is designed to control Eurotherm approved AC Brushless Servo
Motors. It is available in a range of current ratings from 1 to 6 Amps.
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The EASYRIDER software ? is used to set-up the drive. An “Autopilot” set-up wizard can be
started when using the software.
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The “BIAS” progamming language is contained in EASYRIDER ? which provides for up to
1500 lines of program code.
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The unit is operated remotely using the analog/digital inputs and outputs via a PLC, for example.
Multiple units can be controlled using RS232, CAN-Bus or Incremental Bus.
Four operating modes offer various speed, torque and position controls.
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There is a seven-segment diagnostic display for trip and fault finding information.
The internal RFI filter offers enhanced EMC compliance without the need for additional external
components.
An internal dynamic brake resistor is provided.
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• Check for signs of transit damage
• Check the product code on the rating label conforms to your requirement.
If the unit is not being installed immediately, store the unit in a well-ventilated place away from
high temperatures, humidity, dust, or metal particles.
Refer to Chapter 2: “An Overview of the Servo Drive” to check the rating label/product code.
Refer to Chapter 8: “Routine Maintenance and Repair” for information on returning damaged
goods.
Refer to Chapter 9: “Accessories” to check for the correct items.
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This manual is intended for use by the installer, user and programmer of the 631 Servo Drive. It
assumes a reasonable level of understanding in these three disciplines.
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Enter the “Model No” from the rating label into the table at the front of this manual. It is
important that you pass this manual on to any new user of this unit.
Use the manual to help you plan the following:
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Know your requirements:
• certification requirements, CE/UL/CUL conformance
• conformance with local installation requirements
• supply and cabling requirements
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Know your operator:
• how is it to be operated, RS232, CAN-Bus?
• what level of user is going to operate the unit?
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Know your application:
• select the appropriate Operating Mode
• plan your “programming”
• enter a password to guard against illicit or accidental changes
• learn how to back-up your application data
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The manual is divided into chapters and paragraphs. Page numbering restarts with every chapter,
i.e. 5-3 is Chapter 5, page 3.
Further descriptions,
that relate to this document.
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Encoder/Stepper connection
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used to configure
each 631 individually
Motor 1
Motor 2 (synchronised to Motor 1)
The Servo Drive is controlled via RS232, CAN-Bus or Incremental Bus using a PLC. It is
configured using the EASYRIDER software.
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Table 2-1 Control Features
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Custom-made Software
=
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:
PLC
EASYRIDER
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631 Servo Drive
"
"
_
_
CAN-Bus
X20/X21
RS232
X15
current-loop
speed-loop
position-loop
506
•
†
PLC I/O ±10V
Conventional Control
(analog setpoint value)
+10V -10V
631
)
Instructions
Pos.1
)
Figure 2-2 Communications Options
Point-to-Point
Position Control
'
'
Diagnostics
M
Pos.2
"
Setup
Synchronisation
(electronic gearbox)
X10
_
Programming
CAN-Bus Network
Unit X
Unit Y
631
PLC
CAN
M
Stepper motor
control or
incremental
encoder
R
Pulse Control
631
1 : X
Pos Y
631
AC Servo
Figure 2-3 Typical Applications
CAM Profiling
Pos X
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The unit is fully identified using a five block alphanumeric code which records how the Servo
Drive was calibrated, and its various settings when despatched from the factory.
The Product Code appears as the “Model No.”. Each block of the Product Code is identified as
below:
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1R1
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)# #)LOWHU
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631/002/230/F/00
Servo Drive Type 631 / rated output current 2A / AC supply 230V / with internal filter /
Eurotherm standard mechanical package.
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0,3 m
3mm
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8 cm max
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SIDE VIEW PANEL MOUNTING VIEW DIN MOUNTING VIEW
Figure 3-1 Mechanical Dimensions for 631
W1
H1
Adjustable mounting clip can be
easily re-positioned to allow
different mounting configurations
Fixing hole
centres
H3
DIN mounting
dimensions
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The unit must be installed in a vertical position to guarantee the best air circulation for the
cooling ribs of the heat sink. Vertical installation above other drive racks or above other heat
producing devices can lead to overheating.
You must install the unit inside a suitable cubicle. The inside of this cubicle must be free from
dust, corrosive fumes, gases, and all liquids including condensation.
If the unit is being installed in a place where condensation is likely, install a suitable
anticondensation heater. The heater must be SWITCHED OFF during normal operation.
Automatic switch off is recommended.
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The digital servo drive is protected against damage caused by overheating.
There is a thermal sensor installed on the heat sink. When the temperature rises to >95°C, the
drive is automatically switched off. This setting cannot be changed. Use a cabinet of the correct
size for adequate air circulation, see below.
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The servo drive gives off heat in normal operation and must therefore be mounted to allow the
free flow of air through the ventilation slots and heatsink. Maintain minimum clearances for
ventilation as shown below to ensure heat generated by other adjacent equipment is not
transmitted to the Servo Drive. Be aware that other equipment may have its own clearance
requirements. When mounting two or more 631s together, these clearances are additive.
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Ensure that the mounting surface is normally cool.
631
631
631
631
631
100mm / 4"
100mm / 4"
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It is better to place heat-producing devices low down inside an enclosure to support internal
convection, which will spread the heat. If placing devices up high is unavoidable, you should
consider increasing the (upper) dimensions of the cubicle, or installing fans.
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Figure 3-2 Cabling Requirements
Cables are considered to be electrically sensitive, clean or noisy. You should already have
planned your cable routes with respect to segregating these cables for EMC compliance.
If not, refer to Chapter 12: “Certification for the Servo Drive”.
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631
Remove Terminal Cover by pressing here and pulling down
8VLQJ#&DJH#&ODPS#7HUPLQDOV
Remove the terminal cover as shown above.
Insert a flat-bladed screwdriver (size 3.5 mm max.) inside the smallest
hole. Lever the screwdriver, keeping it firmly pressed into the hole. The
cage will open.
Insert the stripped wire (5mm to 6mm/0.22in.) or wire crimp inside the
cage keeping the screwdriver in position.
608
Remove the screwdriver. Note the cage provides the correct force for a
secure
connection.
0RWRU#7KHUPLVWRU
The temperature sensor in the motor windings of the approved Eurotherm servo motors are
classed as SELV, (i.e. protected by double insulation). Refer to Chapter 12: “Certification for the
Servo Drive” - Solid State Motor Overload Protection.
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resolver cable (without thermistor connections)
thermistor wires
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X30
SELV
631
Isolation
motor
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We do not recommend the use of circuit breakers (e.g. RCD, ELCB, GFCI), but where their use
is mandatory, they should:
• Operate correctly with dc and ac protective earth currents (i.e. type B RCDs as in
Amendment 2 of IEC755).
• Have adjustable trip amplitude and time characteristics to prevent nuisance tripping on
switch-on.
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When the ac supply is switched on, a pulse of current flows to earth to charge the
internal/external ac supply EMC filter’s internal capacitors which are connected between phase
and earth. This has been minimised in Eurotherm Drives’ filters, but may still trip out any circuit
breaker in the earth system. In addition, high frequency and dc components of earth leakage
currents will flow under normal operating conditions. Under certain fault conditions larger dc
protective earth currents may flow. The protective function of some circuit breakers cannot be
guaranteed under such operating conditions.
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The wiring terminals accept a maximum conductor size of 12 AWG (3.2mm²).
The servo drive, when fitted with an internal ac supply EMC filter, is only suitable for earth
referenced supplies (TN).
Refer to Chapter 12: “Certification for the Servo Drive” for information on earthing
requirements.
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Refer to Chapter 14: “Application Notes” - Dynamic Braking for selection details and Chapter
11: “Technical Specifications” - Power Details.
DBR1
DBR2
Top View of 631
Figure 3-3 External Brake Resistor Terminals
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123456 78910
X1
protective earth
60:
Motor Cable Clamp
To Motor Brake
control circuitry
Screen Connections - ensure good
connection with conductive surface
on the cubicle, remove varnish.
230V ac 50/60Hz supply
230V ac 50/60Hz supply
motor supply
motor supply
motor supply
protective earth
red
blue
L1
L2/N
M1/U
M2/V
M3/W
Power
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Servo Motor
Figure 3-4 631 Power and Earth Wiring Connections
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In order to conform with the specified generic EMC standards, the motor cable must be screened
and the screen connected to both the motor frame and the motor cable clamp. This clamp is
internally connected to power terminals PE (Protective Earth) and provides convenient 360°
connection. It is used for the motor protective earth, motor and control cable screen connections.
Refer to Chapter 12: “Certification for the Servo Drive” for information on meeting generic
EMC standards and minimising electrical interference.
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Functional Earth connected to
cubicle backplate providing clean earth
for electronic ground and screens
X10
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Figure 3-5 631 Control Wiring Connections
Pin Type Function
L1
L2/N
M1/U
M2/V
M3/W
Screen Connections:
ensure good connection
with conductive surface
on the cubicle.
Remove varnish.
Control Cable
Retainer
Control
1
±10V, Ri - 10k
2
±10V, Ri - 10k
3 0V PLC External supply for digital i/o,
4 24V DC PLC External supply for digital i/o,
5 Opto-OUT Configurable ? (s. 3.1.1)
6 Opto-OUT Configurable ? (s. 3.1.1)
7 Opto-IN ACTIVE, non-configurable
8 Opto-IN Configurable ? (s. 3.1.1)
9 Opto-IN Configurable ? (s. 3.1.1)
10 Opto-IN Configurable ? (s. 3.1.1)
ANALOG IN, differential to pin 2
Ω
referenced to GND
ANALOG IN, differential to pin 1
Ω
referenced to GND
related to pin 4
related to pin 3
activates motor power when high
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All control and signal terminals are SELV, i.e., protected by double/re-inforced insulation.
Ensure all wiring is rated for the highest system voltage. Control wiring of between 0.08 mm
(28 AWG) - 2.5 mm2 (14 AWG) can be used.
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This clip is used to provide guaranteed segregation of the control and power cables. It may be
reotated in either direction to allow easy installation of the control cables.
Refer to Chapter 4: “Operating the Servo Drive” - Operating Modes.
Refer to Chapter 11: “Technical Specifications” for Control Terminal information.
Refer to Chapter 12: “Certification for the Servo Drive” for information on meeting generic
EMC standards and minimising electrical interference.
1
0V
23
I/O Functions
according to
set-up with
EASYRIDER
4
6
5
8
7
9
10
?
631
X10
2
I/O supply
to be installed by User
L1
N
SELV Isolation
~
=
DC +24V PLC
0V PLC
*
PLC
Analog
Digital
Functions according to user-software
Analog Output. Polarity according to requirement. Setpoint output and input are working related to earth.
*
It may be useful to connect one pole directly to earth, refer to PLC information.
Figure 3-6 Typical Connection to the Control Terminals (X10)
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The resolver provides a digital value for the rotor position to within one revolution, evaluation:
12 or 14 bit. It is adjustable in the Configuration Menu in the EASYRIDER software.
• commutation according to pole pair number
• actual speed value
• incremental position output
• position value for position regulation
The supplied resolver cable is plugged in to the front of the 631 (socket X30), and into the
socket on the Eurotherm approved servo motor. This connection must be made for the 631 to
control the operation of the motor. The cable contains wiring for the resolver and the motor
thermistor.
front
front
891
7
12
6
54
1
2
10
3
4
11
11
2
10
8
9
12
5
solder side
3
7
6
1RWH=#
Pin No.
1
2
3
4
8
7
5
6
9
10
11
12
FunctionColour
white
brown
green
yellow
grey
pink
red
blue
sin +
sin cos +
cos -
carrier +
carrier PTC optional
PTC optional *
screen
screens can be connected to ground
with U-clip or gland using 360°connection
Pin No.
4
8
3
7
5
9
2
6
1
2
3
4
5
solder side
Figure 3-7 Resolver Connections (as supplied cable model KIR)
7KH#SOXJ#W\SH#VKRZQ#DERYH#LV#IRU#XVH#ZLWK#(XURWKHUP#PRWRU#W\SHV#$&0#5Q/#$&5#Q#DQG
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1
6
2
7
3
8
4
9
5
1
6
7
8
9
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This connection provides encoder emulation, encoder input and stepper motor interface.
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GND
X40 X41
Incremental-Out
MASTER
631
mount units side-by-side if possible
keep cables as short as possible
X40/41 signals are referred to PE
Figure 3-8 Application Example
To synchronise several 631 servo drives, connect the X40/41 sockets as shown using the
specified cables. The 631 is configured using EASYRIDER software
GND
X40 X41 X40 X41
Incremental-IN
SLAVE 1
631 631
GND
Incremental-IN
SLAVE 2
.
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The X40/X41 input/output functions are configurable using the EASYRIDER ?#software.
Functions:
Mode 0 Incremental Output
Mode 1 Incremental Input
Mode 2 Step Control Pulse/Direction
Mode 3 Step Control Pulse (+) ( -)
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Incremental encoder simulation for processing in positioning modules
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Standard: 1024 increments; other selectable pulse numbers are 512, 256, 128
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The capability of input frequency of any connected device must at least meet the selected value
of pulse outputs (increments) on X40.
n = maximum speed (rpm)
x = increments e.g. 1024
f = output frequency at X40/41 4,5,6,7
n * x
Formula:
f=
Example: n = 4000 rpm
50
=[Hz]
f=
4000 * 1024
50
= 81920 Hz
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Parameter area of the input signals is 10 - 1,000,000 increments
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