Jetter JM-105 User Manual

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User Manual

JM-105 - Digital Servo Amplifier

60872838

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Introduction

Item # 60872838 Revision 2.16.1 September 2017 / Printed in Germany

Jetter AG reserve the right to make alterations to its products in the interest of technical progress. These alterations will not necessarily be documented in every single case.

This manual and the information contained herein have been compiled with due diligence. However, Jetter AG assume no liability for printing or other errors or damages arising from such errors.

The brand names and product names mentioned in this manual are trade marks or registered trade marks of the respective title owner.

2 Jetter AG

JetMove 105 Introduction

How to Contact us:

Jetter AG Graeterstrasse 2 D-71642 Ludwigsburg Germany

Phone - Switchboard: ++49 7141/2550-0 Phone - Sales: ++49 7141/2550-433 Phone - Technical Hotline: ++49 7141/2550-444

Telefax - Sales: ++49 7141/2550-484 E-Mail - Sales: sales@jetter.de E-Mail - Technical Hotline: hotline@jetter.de Internet Address: http://www.jetter.de

This User Manual is an Integral Part of the JetMove 105:

Type:

Serial #:

Year of manufacture:

Order #:

To be entered by the customer:

Inventory #:

Place of operation:

Jetter AG 3

Introduction

Significance of this User Manual

This operator's manual is an integral part of the digital servo amplifier JetMove 105 and

• must be kept in a way that it is always at hand until the the digital servo amplifier JetMove 105 will be disposed of.

• Pass this manual on if the digital servo amplifier JetMove 105 is sold or loaned/ leased out.

In any case you encounter difficulties to clearly understand this user manual, please contact the manufacturer. We would appreciate any suggestions and contributions on your part and would ask you to contact us. This will help us to produce manuals that are more user-friendly and to address your wishes and requirements.

This manual contains important information on how to transport, erect, install, operate, maintain and repair the digital servo amplifier JetMove 105. Therefore, the persons carrying out these jobs must carefully read, understand and observe this manual, and especially the safety instructions.

Missing or inadequate knowledge of the manual results in the loss of any claim of liability on part of Jetter AG. Therefore, the operating company is recommended to have the instruction of the persons concerned confirmed in writing.

System Requirements

This user manual is giving a description of the servo amplifier JetMove 105 with operating system version 2.16.0.00.

History

Revision Remarks

2.12.2 Original revision in English

2.16.1 For modifications, see Appendix A of user manual rev. 2.16.1

4 Jetter AG

JetMove 105 Introduction

Description of Symbols

This sign is to indicate a possible impending danger of serious physical damage or death.

Warning

This sign is to indicate a possible impending danger of light physical damage. This sign is also to warn you of material damage.

Caution

Important

This sign indicates hazard of life due to electric shock caused by a high operating voltage.

This sign is to indicate hazard of serious physical damage or death due to accidentally touching dangerous parts of the device.

This sign is to indicate a possible impending situation which might bring damage to the product or to its surroundings. It also identifies requirements necessary to ensure faultless operation.

You will be informed of various possible applications and will receive further useful suggestions. It also gives you words of advice on how to efficiently use hardware and software in order to avoid unnecessary efforts.

Note

· / -

Jetter AG 5

Enumerations are marked by full stops, strokes or scores.

Operating instructions are marked by this arrow.

Automatically running processes or results to be achieved are marked by this arrow.

Introduction

Reference to PC keyboard and HMI keys.

This symbol informs you of additional references (data sheets, literature, etc.) associated with the given subject, product, etc. Further, this text provides helpful hints for your guidance through the manual.

6 Jetter AG

JetMove 105 Table of Contents

1 Safety Instructions 11

1.1 General Safety Instructions 11

1.1.1 Intended Conditions of Use 11

1.1.2 Usage Other Than Intended 11

1.1.3 Personnel Qualification 12

1.1.4 Modifications and Alterations to the Module 12

1.1.5 Repair and Maintenance 13

1.1.6 Disposal 13

1.2 Ensure Your Own Safety 14

1.2.1 Malfunctions 14

1.2.2 Information Signs and Labels 14

1.2.3 Earthing procedure 15

1.3 Residual Dangers 15

1.3.1 Hazards during Operation 15

1.4 Instructions on EMC 16

2 Installing the JetMove 105 19

2.1 Scope of delivery 19

2.2 Mechanical Installation 20

2.3 Electrical Installation 23

2.4 Checking the Installation 24

2.5 Notes on Safety as regards Commissioning 25

3 Operating Conditions 27

4 Physical Dimensions 33

5 Technical Specifications 35

5.1 Electrical Specification 35

5.2 Motor Protection 38

5.2.1 I²t Calculation 38

6 Drive Controller Structure 41

7 Description of Connections 43

7.1 Demands on the Power Supply Unit for Motor Operating Voltage 43

7.1.1 Recommendations on the power supply circuit breaker +Vmot 44

7.1.2 General remarks 45

7.1.3 Recommendations on preventing overvoltage at braking or lowering a vertical load 46

7.2 Power Supply 50

Jetter AG 7

Table of Contents JetWeb

7.3 Servo Motor 52

7.3.1 Motor with male connector 54

7.3.2 Motor with screw clamping terminals and cables with male

connectors 54

7.3.3 Motor with screw clamping terminals and cables with male

connectors 55

7.3.4 Pre-fabricated motor cable with SC mating connector 56

7.3.5 Motor Cable Permanently Fixed to the Motor 59

7.4 Brush-Type DC Motor 61

7.5 2-Phase Stepper Motor 63

7.5.1 Stepper motor control 65

7.5.2 Acceleration and deceleration 67

7.6 LinMot®68

7.7 Connection of the Resolver 71

7.7.1 Specification 71

7.7.2 Resolver Cable With Mating Connector 71

7.7.3 Resolver Cable Without Mating Connector 73

7.8 Sin- / Cos-Encoder Connection 74

7.8.1 Specification 74

7.9 Connection of the Incremental Encoder 77

7.9.1 Specification 77

7.10 Digital and Analog Inputs and Outputs 80

7.11 Jetter System Bus 82

7.11.1 JETTER System Bus Cable Specification 82

8 Status Monitoring 85

9 Diagnostics 87

9.1 Error Messages 87

9.2 Alarms 90

10 Wiring Diagrams 91

11 Ordering Information 93

11.1 List of Documentation 93

11.2 Device 93

11.3 Motor power cable with mating connector SC 94

11.4 Resolver Cable 95

11.5 System Bus Cable 95

List of Appendices

8 Jetter AG

JetMove 105 Table of Contents

Appendix A: Recent revisions 99 Appendix B: Glossary 100 Appendix C: List of Illustrations 103 Appendix D: Index 104

Jetter AG 9

Table of Contents JetWeb

10 Jetter AG

JetMove 105 1.1 General Safety Instructions

Contents 1 Safety Instructions

1.1 General Safety Instructions

The digital servo amplifier JetMove 105 meets the applicable safety regulations and standards. Special emphasis was given to the safety of the users.

Further, the user should adhere to the following regulations:

• pertinent accident prevention regulations;

• accepted safety rules;

• EC guidelines and other country-specific regulations.

1.1.1 Intended Conditions of Use

Usage according to the intended conditions of use includes operation in accordance with these operating instructions.

The digital servo amplifier JetMove 105 may only be operated in the closed control cabinet and within the range of the set values, see chapter 5 "Technical Specifications", page 35. Do not apply a voltage to the digital servo amplifier JetMove 105 that is higher than the specified operating voltage.

The operating voltage for motor supply by the digital servo amplifier JetMove 105 ranges between 12 V and 48 V DC. Thus, the digital servo amplifier is not subject to the EG Low Voltage Directive.

The servo amplifier JetMove 105 is for driving electric motors of various designs. The winding insulation of the motors must be higher than, or at least equal to, the DC link voltage supplied by the servo amplifier.

The digital servo amplifier JetMove 105 is used to drive machinery, such as conveyors, production machines, and handling machines.

1.1.2 Usage Other Than Intended

This digital servo amplifier must not be used in technical systems which to a high degree have to be fail-safe, e.g. ropeways and aeroplanes.

Do not use the integrated braking circuit in applications, where, in case of braking circuit failure, safety hazards can occur.

The servo amplifier JetMove 105 is not a safety-relevant device according to the machinery directive 2006/42/EG. Therefore, using this servo amplifier for safety-relevant applications as regards safety of persons is neither adequate nor permitted.

Jetter AG 11

1 Safety Instructions

If the digital servo amplifier JetMove 105 is to be run under operating conditions, which differ from the conditions mentioned in chapter 3 "Operating Conditions", page 27, the manufacturer must be contacted beforehand.

1.1.3 Personnel Qualification

Depending on the life cycle of the product, the persons involved must possess different qualifications. These demands have to be met, in order to grant safety in handling the JetMove 105 at each phase of the product life cycle.

Product Life Cycle Minimum Qualification

Transport / Storage: Trained and instructed personnel with knowledge in

handling electrostatic sensitive components.

Mounting / Installation: Specialized personnel with training in electrical

engineering, such as industrial electronics engineer.

Commissioning / Programming:

Operation: Trained, instructed and assigned personnel with

Decommissioning: Specialized personnel with training in electrical

Trained and instructed experts with profound knowledge of, and experience with, electrical / drive engineering, such as electronics engineer for automation technology.

knowledge in operating electronic devices.

engineering, such as industrial electronics technician.

1.1.4 Modifications and Alterations to the

Module

Due to safety reasons, neither opening the digital servo amplifier JetMove 105, nor carrying out any modifications or alterations to the device and its functions is allowed.

Any modifications to the servo amplifier JetMove 105 not expressly authorized by the manufacturer will result in a loss of any liability claims to Jetter AG.

The original parts are specifically designed for the servo amplifier JetMove

105. Parts and equipment from other manufacturers are not tested on our part,

and are, therefore, not released by Jetter AG.

The installation of such parts may impair the safety and the proper functioning of the digital servo amplifier JetMove 105.

Any liability on the part of Jetter AG for any damages resulting from the use of nonoriginal parts and equipment is excluded.

12 Jetter AG

JetMove 105 1.1 General Safety Instructions

1.1.5 Repair and Maintenance

Repairs to the digital servo amplifier JetMove 105 must not be carried out by the operator. The servo amplifier JetMove 105 does not contain any parts to be repaired by the operator. For being repaired, the servo amplifier JetMove 105 must be sent to Jetter AG.

The digital servo amplifier JetMove 105 is maintenance-free. Therefore, absolutely no inspection or maintenance works are required for the operation of this device.

1.1.6 Disposal

In case of obvious damage or erratic behaviour, the servo amplifier must not be used any more.

When disposing of devices, the local environmental regulations must be complied with.

You can disassemble the digital servo amplifier JetMove 105 into its main components by unscrewing it (aluminum heat sink and side plate, steel casing cover, PCBs).

Jetter AG 13

1 Safety Instructions

Warning

1.2 Ensure Your Own Safety

Isolate the digital servo amplifier JetMove 105 from the mains, if maintenance works have to be carried out. By doing so, you will prevent accidents resulting from electric voltage and moving parts. Follow the information given in chapter 1.3 "Residual Dangers", page 15.

Safety and protective devices, e.g. guards, must not in any case be shunted or by-passed.

Prior to commissioning reattach dismantled protective equipment, such as guards, and check them for proper functioning.

Prior to commissioning, the machine manufacturer shall conduct a hazard analysis for the machine and take appropriate measures to prevent personal injury and damage to property resulting from accidental movements.

1.2.1 Malfunctions

In the case of malfunctions or other faults, immediately separate the digital servo amplifier JetMove 105 from the mains.

Follow the information given in chapter 1.3 "Residual Dangers", page 15.

Immediately report any malfunctions or other damages to the responsible person.

Secure the servo amplifier JetMove 105 against misuse or accidental use.

1.2.2 Information Signs and Labels

Follow the instructions given on markings, information signs, and labels. Keep markings, signs and labels readable.

Replace damaged or unreadable information signs and labels.

14 Jetter AG

JetMove 105 1.3 Residual Dangers

1.2.3 Earthing procedure

Screw the enclosure of the digital servo amplifier JetMove 105 down to a highly conducting, plane and earthed panel.

Connect the earthing terminal (X1:PE) to an earth point of low impedance. Use a short line of a great cross-section.

1.3 Residual Dangers

1.3.1 Hazards during Operation

Warning

WARNING! Hot Surfaces!

During operation, the surfaces, respectively the heat sinks of the servo amplifier JetMove 105 can heat up. The left sidewall and the rear panel can reach temperatures of up to 85 °C.

Do not touch the left sidewall or rear panel of the servo amplifier JetMove 105 during operation and after switching off, while the device is still cooling down.

Make sure that no temperature-sensitive parts have been connected or fastened to the servo amplifier JetMove 105.

DANGER in a potentially explosive atmosphere!

Do not operate the digital servo amplifier JetMove 105 in a potentially explosive atmosphere.

Jetter AG 15

1 Safety Instructions

Caution

DANGER of injuries caused by mechanic force!

The digital servo amplifier JetMove 105 drives a motor. This motor moves mechanic parts or sharp edges. Therefore, failure or malfunctioning of the digital servo amplifier JetMove 105 can be dangerous for persons or damage the machinery. This should be prevented by installing additional safety devices.

• One safety precaution is to install a second set of limit switches to interrupt the power supply of the motor.

• Another safety precaution would be installing a guard.

Make sure that hazards to persons are precluded even when the drive is rotating unintentionally.

Do not remove any guards.

Do not wear gloves, lest they could get caught in the rotating drive shaft.

Warning

Never touch a rotating drive shaft.

Do not touch the motor during or after operation:

Temperatures can reach as high as 140 °C.

1.4 Instructions on EMC

The digital servo amplifier JetMove 105 is intended for use in industrial environment. It may cause radio interferences when used in residential areas. It is operated at the operator's own risk.

The electromagnetic immunity of a system depends on the weakest component of the system. For this reason, correct wiring and shielding of cables is of paramount importance.

Important!

Measures for increasing EMC in electric plants:

Earth the device adequately according to chapter 1.2.3 "Earthing procedure", page 15.

16 Jetter AG

JetMove 105 1.4 Instructions on EMC

Connect the motor cable. If applicable, an optional PE bus must be near the servo amplifier. Shield cables on both ends.

If a motor power cable is used which includes cores for brake control, the brake control cores must be separately shielded. The shielding braid must be connected on both ends of the cables.

Follow the instructions given in Application Note 016 "EMC-Compatible Installation of the Electric Cabinet" published by Jetter AG.

The following instructions are excerpts from Application Note 016:

Screw the enclosure of the digital servo amplifier JetMove 105 down to a highly conducting, plane and earthed panel.

Keep signal and power lines physically separated. We recommend spacings greater than 20 cm. Cables and lines should cross each other at an angle of 90°.

Shielded cables must be used for the following lines: Analog lines, data lines, motor cables coming from inverter drives (servo output stage, frequency converter), lines between components and interference suppressor filter, if the suppressor filter has not been placed at the component directly.

Both ends of the cable must be shielded.

Unshielded wire ends of shielded cables should be as short as possible.

The entire shield must be drawn behind the isolation, and then be clamped under an earthed strain relief with the greatest possible surface

area.

When male connectors are used:

The shield (impedance shielding) must, in its entire perimeter, be drawn behind the shielding clamp of the metallized connector housing, respectively of the EMC gland bushing, its greatest possible surface area being clamped under the strain relief of the JetMove 105.

Only use metallized connectors, e.g. SUB-D with metallized housing. Make sure that the strain relief is directly connected with the housing here as well (see Fig. 1).

Jetter AG 17

1 Safety Instructions

JetMove 105

Metal Rail

Motor Cable

Shield

Fig. 1: Shielding of SUB-D connectors in conformity with EMC standards

If the shield cannot be attached to the connector, for example, with a screw type terminal:

It is important that shield and strain relief are highly conductive and directly connected to a grounded surface with the greatest possible surface area. When doing so, grounding must be implemented in a way that the unshielded portion of the cable is as short as possible (refer to Fig. 2).

18 Jetter AG

Fig. 2: Shielding of screw terminals to EMC standards

JetMove 105 2.1 Scope of delivery

2 Installing the JetMove 105

2.1 Scope of delivery

• Digital servo amplifier JetMove 105

• Mating connector plugged-on

• User Manual

Accessories

The accessories are not part of the scope of delivery!

• System bus cable of cable confection no. 530 x.x m; length: 0.2 m through 5.0 m See also chapter 7 "Description of Connections", page 43.

• Motor power cable, see also chapter 7.3 "Servo Motor", page 52.

• Encoder cable, see also chapter 7.7 "Connection of the Resolver", page 71.

• Motors, e.g. synchronous servo motors of the Jetter motor series JL1 or JH2.

• DC power supply unit

• Ballast Resistor

Note!

If you are not sure which mounting accessories you will need, please contact Jetter AG.

Jetter AG 19

2 Installing the JetMove 105

2.2 Mechanical Installation

Prior to installing the digital servo amplifier check it for possible transport damages.

Please check the shipment for completeness.

To ensure proper functioning of the JetMove 105, check whether the mounting plate in the electric cabinet is unpainted.

The JetMove 105 has been designed for natural convection. Mount the JetMove in horizontal orientation (label on top) or vertical orientation (motor line below). In both cases, make sure there is a clearance of 25 mm between the JetMove and adjacent devices (see Fig. 4, page 22).

Make sure there is a clearance of at least 25 mm under and above the JetMove 105 - unobstructed ventilation must be granted.

Mark on the panel two positions for the fastening screw threads of the JetMove 105 (see Fig. 4, page 22).

Drill the holes and cut the respective threads (M4) into the panel.

Screw the lower fitting screws into the thread by approximately half of their length.

By means of the oblong holes in the rear plate, hang up the JetMove 105 by the fitting screws; then screw them down tightly.

Screw down the upper fitting screws.

20 Jetter AG

JetMove 105 2.2 Mechanical Installation

min. 25 m

Fig. 3: Recommended mounting

Jetter AG 21

2 Installing the JetMove 105

136

(2x)

Input Ratings:

Power Supply:

Current:

1 * 24-48VDC

10A

Output Ratings:

Voltage:

Motor Current:

3 * 17-34VAC, 0-400Hz

3 * 5A

Enclosure Rating:

Ambient Temperature:

JM-105

Rev.:

Part No.: 10000633

Made in Germany

Jetter AG Gräterstrasse 2 D-71642 Ludwigsburg

Typ e:

IP20

0 - 40°C, 32 - 104°F

X62

IN / OUT

X18

BUS IN

X19

BUS OUT

X61

ENCODER

SUPPLY & MOTOR

U2 V2

BALLAST

+Vmot

+Vlog

ERR

AXARR

136

137.7

44.5

(2x) 4.2

44.5

84.5

Fig. 4: Mounting holes in the enclosure

22 Jetter AG

JetMove 105 2.3 Electrical Installation

2.3 Electrical Installation

Check the assignments of servo amplifier and motor.

Compare rated voltage and continuous rated current of servo amplifier and motor. The motor must be isolated against voltages of DC 100 V min.; also refer to “Compatible Synchronous Servo Motors” on page 37.

Connect the JetMove 105 according to the wiring diagram shown in chapter 10 "Wiring Diagrams", page 91. Especially check the mains lines for appropriate protection, see “Usage of short-circuit breakers when several JetMove 105 are connected.” on page 92. Protecting the motor cables is not advisable.

Select the cables according to standards.

Check whether the ground cable is connected.

To connect resolvers or power units you can use prefabricated cables available from Jetter or opt for self-made cables. Please refer to chapter 7 "Description of Connections", page 43.

To ensure that installation is carried out in conformance with EMC regulations, the following items have to be observed especially: – Please ground the 0 V line as closely to the motor power supply unit

as possible.

– If possible, do not run the controller cable together with the power

supply and motor cable; – Connect the position transducer; – Use shielded terminals or EMC-compatible connectors; – Connect holding brake, if available, and connect shields on both

sides of the cables; – Connect the motor leads according to fig. 2, page 18.

Please further note the chapter 1.4 "Instructions on EMC", page 16.

Jetter AG 23

2 Installing the JetMove 105

2.4 Checking the Installation

Check motor and servo amplifier wiring and connections by means of the connection diagrams used.

Check the holding brake, if existing, for proper functioning.

Check to see whether all necessary protection measures against accidental contact with live or moving parts have been taken.

Carry out any other checks specific to or required for your system.

24 Jetter AG

JetMove 105 2.5 Notes on Safety as regards Commissioning

2.5 Notes on Safety as regards Commissioning

Have commissioning jobs carried out by qualified personnel only, see chapter 1.1.3 "Personnel Qualification", page 12.

Prior to commissioning, please do the following:

Reattach dismantled protective equipment and check it for proper functioning. This way, protection from moving parts of the machine will be achieved.

Secure the servo amplifier JetMove 105 against accidental contact with conductive parts and components.

Only connect devices or electrical components to the signal lines of the digital servo amplifier JetMove 105 (Enable, Limit+/-, REF, BRAKE) that have been sufficiently isolated from the mains circuit. These signal lines may only be connected with units that have got the ground potential of the +V

power supply.

LOG

Accordingly, do only connect encoders with the servo amplifier, if they have been sufficiently isolated from the connected mains and motor power supply.

Always carry out each commissioning, even a short functional test, with correctly connected PE bus;

Jetter AG 25

2 Installing the JetMove 105

26 Jetter AG

JetMove 105

3 Operating Conditions

Operating Parameters

Power Rating

Parameter Value(s)

Power rating Power section at X1:+Vmot

24 / 48 V DC (12 ... 48 V DC) SELV or PELV I

= 27.5 A

max.

Logic section at X1:+Vlog 24 V DC (12 ... 40 V DC) SELV or PELV I

= 250 mA at 24 V

max.

Fluctuations of power supply

Voltage dips 3 ms max.

Reference Standard

Operating Parameters

Environment

Parameter Value(s)

Environmental conditions

Storage conditions (units within packing)

Transport conditions (units within packing)

Pollution degree 2 DIN EN 50178

Corrosion Immunity/Chemical Resistance

Max. operating altitude

Temperature: 0 °C to +40 °C (+40 °C to +50 °C: Derating 2.5 %/K) Air humidity: 5 % to 85 %, non-condensing Make sure the control cabinet is being cooled sufficiently.

Temperature: -25 °C bis +55 °C, maximum fluctuation: 20 K/h Air humidity: 5 % to 95 %, non-condensing Maximum storage period: < 1 year without restrictions

Temperature: -25 °C to +70 °C Air humidity: 5 % to 95 %, non-condensing

No special protection against corrosion. Ambient air must be free from higher concentrations of acids, alkaline solutions, corrosive agents, salts, metal vapors, or other corrosive or electroconductive contaminants

Up to 1,000 m above sea level. From 1,000 to 2,500 m above sea level: derating of 1.5% per 100 m increase in alitude

Reference Standard

DIN EN 50178

Jetter AG 27

3 Operating Conditions

Operating Parameters

Mechanical Parameters

Parameter Value(s)

Free Falls Withstanding Test

Vibration resistance • 10 Hz ... 57 Hz: 0.075 mm

Degree of protection

Mounting Orientation

Within original packing, the device withstands dropping over all of its edges

amplitude

• 57 Hz ... 150 Hz: 1 g acceleration:

• 1 octave per minute, 10 frequency sweeps (sinusoidal), all three spatial axes

IP20 DIN EN 60529

Vertical or horizontal Please make sure there is a clearance of at least 25 mm under and above the JetMove - sufficient ventilation must be granted.

Reference Standard

DIN EN 50178 DIN EN 60068-2-31

DIN EN 50178 DIN EN 60068-2-6

Important!

Measures to avoid damages in transit and storage:

The packaging material and the storage place are to be chosen in a way that the values given in the above table “Operating Parameters Mechanical Parameters” on page 28 are kept to.

Operating Parameters

Electrical Safety

Parameter Value(s)

Protection Class III DIN EN 61800-5-1

Dielectric strength Protective network conductor and

network logics: 380 V DC, 5 s

Isolation Protective network conductor and

network logics: > 1 M at 500 V

Protective Connection

Overvoltage category

< 60 V, 25 A, 0.1 DIN EN 61800-5-1

I DIN EN 61800-5-1

Reference Standard

DIN EN 61800-5-1

DIN EN 50178 DIN VDE 0110-1 UL 508C

28 Jetter AG

JetMove 105

Operating Parameters

EMC - Emitted Interference

Parameter Value(s)

Enclosure • Frequency range

30 ... 230 MHz, limit 50 dB (µV/m) at 10 m

• Frequency range

230 ... 1000 MHz, limit 60 dB (µV/m) at 10 m

environment, cat. 3 installation)

Signal and control line connections, DC voltage supply inputs and outputs

Frequency bands:

• 0.15 to 0.5 MHz, limit 100 dB

(µV)*

• 0.5 to 5 MHz, limit 86 dB (µV)*

• 5 to 30 MHz, limit 90 dB (µV),

decrease by the logarithm of the

frequency up to 70 dB (µV)* * Measuring by means of the quasipeak detector

environment, cat. 3 installation)

Reference Standard

DIN EN 61800-3

Important!

This is a product of restricted availability according to IEC/EN 61800-3. This module can cause radio interferences in residential areas. In this case, the user must take adequate measures to prevent this.

Jetter AG 29

3 Operating Conditions

Operating Parameters

EMC - Immunity to Interference

Enclosure

Parameter Value(s)

ESD Discharge through air:

Test peak voltage 8 kV Contact Discharge: Test peak voltage 4 kV Acceptance criterion B

environment, cat. 3 installation)

RF Field amplitudemodulated

Frequency band 80 ... 1000 MHz; test field strength 10 V/m AM 80 % with 1 kHz Acceptance criterion A

environment, cat. 3 installation)

Reference Standard

DIN EN 61800-3 DIN EN 61000-4-2

DIN EN 61800-3 DIN EN 61000-4-3

Operating Parameters

EMC - Immunity to Interference

Power Connections

Parameter Value(s)

Burst (fast transients)

Impulse voltages tr/th 1.2/50 µs, 8/20 µs

Guided radio disturbances

Test voltage 2 kV Repetition rate 5 kHz Acceptance criterion B

environment, cat. 3 installation)

1 kV (phase to phase) 2 kV (phase to ground) Acceptance criterion B

environment, cat. 3 installation)

Frequency 0.15 ... 80 MHz Test voltage 10 V AM 80 % with 1 kHz Acceptance criterion A

environment, cat. 3 installation)

Reference Standard

DIN EN 61800-3 DIN EN 61000-4-4

DIN EN 61800-3 DIN EN 61000-4-5

DIN EN 61800-3 DIN EN 61000-4-6

30 Jetter AG

JetMove 105

Operating Parameters

EMC - Immunity to Interference

Power interfaces

Parameter Value(s)

Burst (fast transients)

Test voltage 2 kV Repetition rate 5 kHz Capacitive interference Acceptance criterion B

environment, cat. 3 installation)

Reference Standard

DIN EN 61800-3 DIN EN 61000-4-4

Operating Parameters

EMC - Immunity to Interference

Signal interfaces

Parameter Value(s)

Burst (fast transients)

Guided radio disturbances

Test voltage 1 kV Repetition rate 5 kHz Capacitive interference Acceptance criterion B

environment, cat. 3 installation)

Frequency 0.15 ... 80 MHz Test voltage 10 V AM 80 % with 1 kHz Acceptance criterion A

environment, cat. 3 installation)

Reference Standard

DIN EN 61800-3 DIN EN 61000-4-4

DIN EN 61800-3 DIN EN 61000-4-6

Operating Parameters

EMC - Immunity to Interference

Measuring and Control Lines in Process

Environments

Parameter Value(s)

Burst (fast transients)

Impulse voltages tr/th 1.2/50 µs, 8/20 µs

Guided radio disturbances

Test voltage 2 kV Repetition rate 5 kHz Capacitive interference Acceptance criterion B

environment, cat. 3 installation)

1 kV (phase to ground) Acceptance criterion B

environment, cat. 3 installation)

Frequency 0.15 ... 80 MHz Test voltage 3 V AM 80 % with 1 kHz Acceptance criterion A

environment, cat. 3 installation)

Reference Standard

DIN EN 61800-3 DIN EN 61000-4-4

DIN EN 61800-3 DIN EN 61000-4-5

DIN EN 61800-3 DIN EN 61000-4-6

Jetter AG 31

3 Operating Conditions

32 Jetter AG

JetMove 105

1.7

136

(

)

Input Ratings:

Power Supply:

Current:

1 * 24-48VDC

10A

Output Ratings:

Voltage:

Motor Current:

3 * 17-34VAC, 0-400Hz

3 * 5A

Enclosure Rating:

Ambient Temperature:

JM-105

Rev.:

Part No.: 10000633

Made in Germany

Jetter AG Gräterstrasse 2 D-71642 Ludwigsburg

Type:

IP20

0 - 40°C, 32 - 104°F

X62

IN / OUT

X18

BUS IN

X19

BUS OUT

X61

ENCODER

SUPPLY & MOTOR

U2 V2

BALLAST

+Vmot

+Vlog

ERR

AXARR

136

137.7

44.5

) 4

44.5

84.5

11.1

84.5

26.5

58.8

90.9

12.5

43.6

4 Physical Dimensions

Fig. 5: Physical Dimensions - JetMove 105

For more information on installation, please also refer to fig. 3 on page 21

Jetter AG 33

4 Physical Dimensions

34 Jetter AG

JetMove 105 5.1 Electrical Specification

5 Technical Specifications

5.1 Electrical Specification

Electrical Specification

Rated voltage supply • 24 / 48 V DC (12 ... 48 V DC)

= 27.5 A

max.

• The voltage output has to comply with the power supply unit of the SELV or PELV type.

Inrush current limitation The JM-105 is equipped with an internal

200 µF capacitors for buffering. The inrush current is not limited. See "Recommendations on the power supply circuit breaker +Vmot" on page 44.

Supply cable Cable size Material Temperature class

Max. output voltage of the motor 60 V

Motor output current at an ambient temperature of 40 °C

Continuous output 384 W

Short-circuit protection, motor side Designed for

Motor overload protection See "Motor Protection" on page 38.

Motor inductivity 125 µH min. between any two motor lines

Motor cable Cable size Material Capacity Temperature class Maximum length

1.0 mm

Copper > 60 °C

Nominal current: I Peak current: I T < 40°C)

See "Note 1!" on page 37.

• phase to phase

• phase to 0 V or ground

4 * 0.75 mm Copper < 150 pF/m > 60 °C maximum line length is 25 m (for greater length please contact Jetter AG)

min.

eff

min. (AWG 18)

= 8 A

eff

= 16 A (t <= 10 s at

Ballast resistor An internal ballast resistor has not been

installed. If the DC link voltage increases too much at decelerating the motor, install an external ballast resistor.

Residual voltage The DC link voltage is discharged within 10

seconds at switching off the device.

Jetter AG 35

5 Technical Specifications

Leakage current < 0.1 mA at a cable length of 3 m.

Electrical Specification

The leakage current increases at increasing cable length. The 0 V connection is connected to earth by a resistor of 400 k and a capacitor of 75 nF.

Voltage supply of processor logics (demands on power supply module)

Inrush current limitation of the processor logics

Enable1/2, reference switch (REF), positive limit switch (Limit+), negative limit switch (Limit-), and Input (Inp)

Brake circuit (X62:2) Can be switched by the application program

• 24 V DC (12 ... 40 V) 250 mA at 24 V Additonally: 500 mA for digital output Additonally: 300 mA for encoder supply at X61

• The voltage output has to comply with the power supply unit of the SELV or PELV type.

The JM-105 is equipped with an internal 200 µF capacitors for buffering. The inrush current is not limited.

• DC 24 V (14 ... 32 V) related to the controller potential

• Input current of 8 mA max. each

• Refer to: chapter 7.10 "Digital and Analog Inputs and Outputs", page 80

of the PLC or automatically at enable of the motor current. 24 V DC (+V I

= 0.5 A

max.

Contact: Semiconductor switch (NOC with integrated free-wheeling diode and shortcircuit monitoring) Connect this pin only to devices that are related to the same potential as the power supply of the controller logic.

- 0.5 V)

log

Encoder supply (X61:1 and 6) • Encoder supply voltage:

5 V DC +/-5 %, max. 350 mA

• Encoder supply voltage: 24 V DC (+Vl

Resolver inputs • Resolver excitation: 8 Vpp

• Frequency: 8 kHz

• Input impedance: 30 k

SinCos encoder inputs • 1 Vpp differential signals

• max. frequency: analog 450 kHz, digital 5 MHz

• Input impedance: 30 k

36 Jetter AG

- 0.5 V), max. 300 mA

JetMove 105 5.1 Electrical Specification

Electrical Specification

Incremental encoder inputs • 5 V differential signals (RS-422) or 5 V

single-ended

• max. frequency: 8 MHz,

min. pulse duration 50 ns

• Input impedance: 15 k

Analog input • 1 differential channel

• 12-bit resolution

• Voltage range 0 ... 10 V

• Value range 0 ... 32767 (in steps of 8)

• Sampling interval 2ms

• Input impedance 20 k

Power loss P

Weight (mating connectors included)

• Amplifier at rated output:

typically 24 W, 36 W max.

• Logic circuit: 6 W max.

•500 g

Note 1!

Cooling:

• The overtemperature protection trips at 85 °C

• The overtemperature alarm is activated at 80 °C

Compatible Synchronous Servo Motors

Motor types Jetter motors of the JL1 and JH2 series.

Please refer to "Jetter Motor Catalog" or contact the sales department of Jetter AG.

Note!

In case you intend to use motors other than the above mentioned types, please contact Jetter AG.

Jetter AG 37

5 Technical Specifications

xt() 100%

average motor current

nominal current

----------------------- --------------------------------





× 1e

---–

–







×=

tT 1

nominal current

average motor current

------------------------- --------------------------- -





–ln×–=

5.2 Motor Protection

5.2.1 I²t Calculation

The digital servo amplifierJetMove 105 calculates the model of motor power dissipation by an I²t calculation. The calculated value is a measure of the average power dissipation of the motor. It is calculated in percent of the maximum motor power dissipation. For this calculation it is important, that the parameters are entered correctly: – Nominal current (which is the minimum of nominal motor current and nominal

– Overload factor – and time constant of the motor

The I²t calculation has to be activated by JetSym or by the PLC program. It is possible to parameterize the warning level. The error level (error 30) is set to 100 %.

servo amplifier current),

The I²t value is readable in a variable of JetMove 105 through JetSym or the PLC.

The digital servo amplifier JetMove 105 calculates the percentage of motor power loss according to the following formula:

x(t) = Displayed value of the motor power loss in %

t = Time since start of motor running it with the average current (in seconds)

T = Motor time constant (in seconds)

The formula shows that the 100 % value will never be reached as long as the average motor current is lower than the nominal current of the motor. Further, calculating always starts by 0 (at t = 0, the result of the equation is 0). After some time that is by far longer than the motor time constant, the result does virtually not change any more. The time till error trip (x = 100 %) is a result of the following formula:

38 Jetter AG

JetMove 105 5.2 Motor Protection

After reset, the values of the important parameters are:

Nominal current: 8 A

Overload factor: 2

Motor time constant: 1,800 s (30 min)

With these parameters the 100 % error level will be reached if, for example the motor is run by a current of 16 A for about 8 minutes and 30 seconds.

Because of the fact that after reset the I²t calculation always starts with zero, the motor overload calculation is wrong if the motor is already hot when the digital servo amplifier JetMove 105 is switched on (i. e. at the time of parameters of I²t

Important

calculation are written after switching on 24 V logic power supply). For this reason, please wait, until the motor has cooled down before re-enabling the axis.

Jetter AG 39

5 Technical Specifications

40 Jetter AG

JetMove 105

Power Sectio

Motor

Space

Vecto r

PWM

Encoder

d,q

α,β

u,v,w

inv. Park inv. Clarke

Park

Clarke

IuPIv

IdRe f = 0

SpeedRef

Iq Con troller

Id Controller

EncoderEvalu-atio

Spee d

α,βu,v,

d,q

α,β

PosRef

Pos

Rho

CurrentSc

aling

IqRef

UqRef

Ualpha

Ubeta

UvRef

UwRef

UuRef

PWMuH/L

PWMvH/L

PWMwH/L

IuI

Ialpha

Ibeta

Setpoint

Generator

SpeedFwd

urrent Detectio

Uemk

Speed

Kp, Tn

Voltage Generator

URef

UdRef

Speed

Pos

IRef

EMF

Pre-Control

Speed Controller

Pos Controller

max

min

IFwd

6 Drive Controller Structure

Fig. 6: Block Diagram of Drive Controller Structure

Jetter AG 41

6 Drive Controller Structure

Drive Controller Specification

All servo amplifiers can be parameterized through the control program.

Motor control (commutation) Space vector modulation

PWM frequency 16 kHz

Current controller

– Cycle time 62.5 µs

Speed controller

– Cycle time 125 µs

– Power supply adjustable

Position feedback controller

Description Remarks

– Cycle time 250 µs

– Speed pre-control adjustable

Position setpoint generator

– Sine-square and linear acceleration/deceleration

ramp

– Setpoint output cycle (position feedback controller

interpolation)

Position sensing

Resolver:

– Resolution 12 bits per revolution

– Sampling interval 62.5 µs

Sine/cosine encoder:

– Resolution of absolute position 15 Bit per encoder period

– Resolution of velocity pickup 20 Bit per encoder period

– Sampling interval 62.5 µs

can be parameterized individually

2 ms

42 Jetter AG

JetMove 105 7.1 Demands on the Power Supply Unit for Motor Operating Voltage

Rectifier

Bridge

Transformer

xyz

Line

Filter

Electrolytic

Capacitor

DC Link

Voltage

DC 48

Mn⋅ 955,

--------- -

Dissipation

UUnUM+=

KEn⋅

1000

--------------=

7 Description of Connections

7.1 Demands on the Power Supply Unit for Motor Operating Voltage

We recommend a power supply unit configuration consisting of transformer, rectifier and charging capacitor (electrolytic capacitor).

Fig. 7: Configuration of the power supply unit for motor operating voltage

The power supply unit can be configured with a 1- or 3-phase wiring.

The output of the power supply unit is rated at the output required by the motor:

Output power P in Watt (W) Torque M in Nm Revolutions n in 1/min Power dissipation P

The power supply voltage is rated at the required speed and torque:

Where:

Counter-EMF U Back EMF constant K Revolutions n in 1/min

Dissipation

in Volt (V)

in Watt (W)

in V*min/1000

Voltage U

Jetter AG 43

generating the required torque at maximum RPM.

7 Description of Connections

Power supply unit

Input

Output

JetMove 105

+Vmot

Circuit breaker

By the energy fed back into the JetMove 105, the voltage at the output of the power supply unit can be increased to 60 V. See "Recommendations on preventing overvoltage at braking or lowering a vertical load" on page 46.

Between amplifier and power supply unit, significant pulse-like currents of short rise-times are flowing. In each supply cable, there is an ohmic and an inductive component. If the values are too high, the efficiency of the power supply unit buffer is questionable. – Blocking capacitors will be thermally overloaded. – Peak voltages can lead to destruction of the controller board.

From this, the following requirements to the supply cable result:

• Make sure, the cross-section is sufficient.

• decrease the inductance by twisting.

Install an external charging capacitor close to the JetMove 105, if the distance the between power supply unit and the JetMove 105 is greater than 20 m. The charging capacitor must stand a high AC load. Electrolytic capacitors meet this requirement. For more information refer to Fig. 9.

In order to prevent EMI, the 0 V potential that is close to the power supply unit for motor operation voltage should be connected to earth.

7.1.1 Recommendations on the power supply circuit breaker +Vmot

If the +V value high enough to destroy the servo amplifier. We recommend to place the circuit breaker for the motor power supply at the INPUT of the power supply unit (see Fig.

8), and NOT at its output, i.e. between power supply unit and servo amplifier. This

way, the current-limiting circuitry of the power supply is used to limit the inrush current of the JetMove 105.

power supply is energized abruptly, the inrush current might reach a

MOT

Fig. 8: Terminal X1 - Recommended inrush current limitation

44 Jetter AG

JetMove 105 7.1 Demands on the Power Supply Unit for Motor Operating Voltage

Uninterruptable

Power

Supply

Input

Output

JetMove 105

+Vmot

If the solution just mentioned cannot be put into practice (in case of power supplies that cannot be interrupted, or if batteries/accus are used), connect an external capacitor of at least 470 µF / 100 V between circuit breaker and servo amplifier, in order to limit the slew rate of the motor supply voltage.

Fig. 9: Terminal X1 - Alternative inrush current limitation

7.1.2 General remarks

Important!

Recommended wiring of the voltage supply +Vmot

Always make sure there is an external circuit breaker to switch off the power supply. Always switch off the power supply before installing the motion system.

Always limit the inrush current of the motion system. Otherwise the motion system can be destroyed.

Always use short wires of a large cross-section to connect the voltage supply and the JetMove 105. If the lines are to be longer than 2 meters, use twisted wires for the supply and earthing return line. If wires of more than 20 meters are to be used, apply a capacitor of at least 1,000 µF (set for the maximum possible voltage) close to the X1 terminal.

If the same power supply is used for multiple motion systems, apply a star-connection the electrical center of which consists of the supply outputs. Connect each motion system to the general motor voltage supply using different wires for either positive or feedback phases.

Connect the grounding wire / the shielding of the JetMove 105 with a fixed earthing position. The JetMove 105 generates electro-magnetic disturbances if its enclosure has not been earthed. Apply a short connection of a large cross-section between the PE of the servo amplifier and the connection to ground. Whenever this is possible, mount the JetMove 105 on a metallized and earthed surface.

Jetter AG 45

7 Description of Connections

Max

Nom

–

----------------------------- C

Int

–=

1 2

-- - J

MJL

+()2πnMmLgh1h2–()3I

RPht

– MLtdπn

–+=

Kinetic energy

Potential energy

Switching losses

Friction

7.1.3 Recommendations on preventing

At fast braking or reversing the axis motion, the braking energy is fed back to the motor power supply. This can cause the DC link voltage to increase. If the voltage has reached a limit of 60 V, the overvoltage error is recognized and the motor control deactivated. There are two ways of preventing overvoltage:

Possibility # 1:

overvoltage at braking or lowering a vertical load

Connecting an external capacitor: The external capacitor must be able to take up the back-fed energy. The capacitor must be designed for a voltage of at least 100 V.

Designing an external capacitor:

Where: U

= 60 V

Max

= 200 µF

Int

= 48 V

Nom

: back-fed energy [J]

Calculating the braking energy in case of a rotatory motor:

Where:

: Inertia of the motor [kgm2]

: Inertia load of the motor [kgm2]

: Motor speed before deceleration [1/s]

: Mass of the load at non-horizontal motion [kg]

g = 9.81 m/s

h1: Height before deceleration [m]

: Height after deceleration [m]

: Motor current during deceleration [A]

RPh: Resistance of the motor [ ]

: Delay time [s]

: Friction torque of the motor [Nm]

46 Jetter AG

JetMove 105 7.1 Demands on the Power Supply Unit for Motor Operating Voltage

1 2

-- -

mL+()v

mMmL+()gh1h2–()3I

RPht

– F

tdvM×

-----------------

–+=

Kinetic energy Potential energy

Switching losses

Friction

Calculating the braking energy in case of a linear motor:

Where: m

: Motor mass [kg]

: Mass of the load [kg]

: Motor speed before deceleration [m/s]

g = 9.81 m/s

h1: Height before deceleration [m] h

: Height after deceleration [m]

: Motor current during deceleration [A]

RPh: Resistance of the motor [ ] t

: Delay time [s]

: Friction power of the motor [N]

If the calculation described above cannot be carried out because of missing values, a good starting value for the capacitor is 10,000 µF / 100 V.

Jetter AG 47

7 Description of Connections

Max

Peak

----------

---------- -

1 2

-- - CU

Max

–()–

-----------------------------------------------------------=

PBltd⋅

CycleINom

⋅

------------------------ ------- -

PBltd⋅

Cycle

--------------- -=

Peak

Max

---------------=

Possibility # 2:

Connecting an external braking (ballast) resistor: The motion system leads the back-fed energy to the braking resistor, as soon as the threshold of 55 V has been reached. The following conditions have to be met before selecting the braking resistor:

1. Limiting the maximum current:

Where: U

= 60 V

Max

= 27.5 A

Peak

2. Limiting by means of the maximum braking power:

Calculating the braking power:

Where: C = C

Max

: Delay time [s]

+ C

Ext

and C

Int

= 200 µF

Int

= 60 V

= 55 V

: Braking energy (see above)

3. Limiting by means of the average current value:

Where: t

: Time interval between two delays in case of recurring motions

Cycle

= 8 A

Nom

4. Selection by means of average power and peak value:

48 Jetter AG

JetMove 105 7.1 Demands on the Power Supply Unit for Motor Operating Voltage

Max

Peak

-------------

---------- -

PBltd⋅

CycleINom

⋅

------------------------ ------- -

---------- ->

Note 1!

If , the braking power must be decreased.

Caution

This can either be attained by a longer delay time or by a larger C

(external

Ext

capacitor at the power supply).

Note 2!

If either the braking power has to be decreased or else the

cycle time of the delays has to be increased.

WARNING! Hot Surfaces!

The surface of the braking resistor can heat up during operation.

During operation or during the cooling-off period after the power has been turned off, do touch the braking resistor.

Please make sure that no temperature-sensitive parts have been connected or fastened to the braking resistor.

Note!

Options 1 and 2 can also be combined.

Jetter AG 49

7 Description of Connections

7.2 Power Supply

Specification of Terminal X1

• 8-pin screw clamping terminal (type MC 1.5/ 8-ST-3.5)

• Diameter of the cable apt for connecting: 0.14 - 1.5 mm

with bootlace ferrules and plastic sleeve: 0.25 - 1 mm

• Bladed screw-driver: 0.4 x 2.5 mm

• Stud torque for the screw clamping terminal: 0.22 Nm

Specifications of Connecting Cable

• Cable size: 2 * 1.0 mm² for the motor power supply

• Cable size: 1 * 0.5 mm² for the logic power supply

• Material: Copper

• Temperature class: 60 °C

• Stripping length of cores: 6 mm

• Shielding not required

Power Supply

Terminals X1 on the

amplifier side

PE PE conductor The PE conductor is connected to

Signal Specification

the enclosure.

MOT

LOG

0V Zero potential

DC link supply 24 / 48 V DC (12 ... 48 V DC)

Power supply of the logic unit

for the power supply

= 27.5 A

max.

No inrush current limitation

24 V DC (12 .. 30 V) I

= 250 mA at 24 V

max.

No inrush current limitation

Ground reference for +V +V

LOG

MOT

and

50 Jetter AG

JetMove 105 7.2 Power Supply

Connected with Enclosure

LOG

+3V

R (optional)

DCDCGND

JetMove 105

X1 - Voltage Supply and Motor Connection

DSP Controller

LOG

24 V DC

MOT

24 / 48V DC

Fig. 10: X1 - Supply Voltage

Jetter AG 51

7 Description of Connections

7.3 Servo Motor

Specification of Terminal X1

• 8-pin screw clamping terminal (type MC 1.5/ 8-ST-3.5)

• Diameter of the cable apt for connecting: 0.14 - 1.5 mm

with bootlace ferrules and plastic sleeve: 0.25 - 1 mm

• Bladed screw-driver: 0.4 x 2.5 mm

• Stud torque for the screw clamping terminal: 0.22 Nm

Specification of the Motor Cable

• Cable size: 4 * 1.00 mm²

• Material: Copper

• Temperature class: 60 °C

• Stripping length of cores: 6 mm

• Cable shielding: Braided copper shield of 80 % coverage min.

• Maximum cable length: 50 m

As of a line length of 40 m, we recommend using a motor line reactor at the JM105 (see "Motor line reactor to be mounted on the DIN rail, screwing connection", page 93)

Motor connection

Terminals X1 on the

amplifier side

Signal Specification

U2 Motor phase 1 Motor cable

V2 Motor phase 2 Motor cable

W2 Motor phase 3 Motor cable

BALLAST Ballast resistor An optional ballast resistor can be

connected between this terminal and ground.

PE PE conductor The PE conductor is connected to

the enclosure.

52 Jetter AG

JetMove 105 7.3 Servo Motor

Connected with Enclosure

LOG

+3V

R (optional)

DCDCGND

JetMove 105

X1 - Voltage Supply and Motor Connection

DSP Controller

LOG

24 V DC

MOT

24 / 48V DC

Fig. 11: X1 - Servo motor connection

Important!

Alternative measures to avoid malfunctions of the control system and the motor:

The brake has to be operated through a separately shielded brake line.

Important!

Measures to avoid oscillation and blocking of the motor:

Avoid mixing-up of the motor phases, resp. be sure to connect the motor phase cables according to the pin assignment.

Jetter AG 53

7 Description of Connections

There are two motor cabling options:

7.3.1 Motor with male connector

Fig. 12: Motor with male connector

For the power connections and for the feedback, the motor has been equipped with screw clamping terminals. With the help of prefabricated cables, the connection to the JetMove 105 is established (See "Pre-fabricated motor cable with SC mating connector" on page 56. and “Resolver Cable With Mating Connector” on page 71). Motor specification: S, S-A, S-B or S-X for JH2 motors

7.3.2 Motor with screw clamping terminals and cables with male connectors

Fig. 13: Motor with cables and male connectors

The motor is equipped with screw clamping terminals with cables for power and feedback cables. In the type designation xxx.x,, the cable length is specified in meters. At the cable ends, male connectors have been fixed that correspond to the pre-fabricated JetMove 105 connection cables (See "Pre-fabricated motor cable with SC mating connector" on page 56. und “Resolver Cable With Mating Connector” on page 71). Motor specification: S4-xxx.x for JH2 and JL1 motors

54 Jetter AG

JetMove 105 7.3 Servo Motor

7.3.3 Motor with screw clamping terminals and cables with male connectors

Fig. 14: Motor with cable and without a male connector

The motor is equipped with screw clamping terminals with cables for power and feedback cables. In the type designation xxx.x, the cable length is specified in meters. The cable ends are not equipped with connectors. This way, the motor cable can be connected with the JetMove 105 directly. The feedback cable has to be connected with a SUB-D male connector. Motor specification: S3-xxx.x for JH2 and JL1 motors

Jetter AG 55

7 Description of Connections

7.3.4 Pre-fabricated motor cable with SC

The pre-fabricated motor cable is used with the variants “Motor with male connector” on page 54 and “Motor with screw clamping terminals and cables with male connectors” on page 54.

Note!

The suitable mating connector SC (female connector) can be ordered from Jetter AG by supplying the following particulars:

Article # 15100070 Motor connector for the Jetter motor series JH2, JH3,

Article # 15100105 Motor connector for the Jetter motor series JH2, JH3,

mating connector

JH4, JH5, JL2, JL3, JL4, JK4, JK5, JK6 without brake

JH4, JH5, JL2, JL3, JL4, JK4, JK5, JK6 with brake

Note!

The motor cable with the SC mating connector matching the Jetter motor series JH can be obtained from Jetter AG. It is confectioned with the matching motor mating connector and can be ordered by the following order reference:

Without Brake:

KAY_0626_xxxx

With Brake:

KAY_0624_xxxx

Mating connector of the motor (solder side)

Fig. 15: View on the SC series mating connector of the motor (internal thread M23)

56 Jetter AG

JetMove 105 7.3 Servo Motor

mating connector

solder side

Cable Specification of the Motor Power Cable with Mating Connector SC for JetMove 105

For connection without motor holding brake

Motor Power Cable KAY_0626_xxxx

Terminals of the

JetMove 105

4 x 1.0 mm

The wires are equipped with wire end ferrules.

Pin Wire Number Signal Pin

Shield Mating

connector of the

motor (female,

solder side)

Shielded, highly flexible 4-wire cable with PE.

Connect both sides of the shield with

the greatest possible surface area!

Use metallized housing only!

X1.U2 1 Phase 1 1

X1.V2 2 Phase 2 5

X1.W2 3 Phase 3 2

X1.PE Yellow-green PE conductor

Dimensions of the motor mating connector are specified in millimeters.

Jetter AG 57

7 Description of Connections

mating connector

solder side

For connection with motor holding brake

Motor Power Cable KAY_0624_xxxx

Terminals of the

JetMove 105

7 x 1.0 mm

The wires are equipped with wire end ferrules.

Pin Wire Number Signal Pin

Shield Mating

connector of the

motor (female,

solder side)

Shielded, highly flexible 6-wire cable with PE.

Connect both sides of the shield with

the greatest possible surface area!

Use metallized housing only!

X1.U2 1 Phase 1 1

X1.V2 2 Phase 2 5

X1.W2 3 Phase 3 2

X1.PE Yellow-green PE conductor

X62.2 5 Brake + 6

X62.1 4 Brake - 4

Dimensions of the motor mating connector are specified in millimeters.

58 Jetter AG

JetMove 105 7.3 Servo Motor

7.3.5 Motor Cable Permanently Fixed to the Motor

The motor cable is used for the variant “Motor with screw clamping terminals and cables with male connectors” on page 55.

Specification of the Motor Power Cable without Mating Connector

For connection without motor holding brake

Motor Power Cable Fixed to the Motor

Terminals of the

JetMove 105

7 x 1.0 mm

The wires are equipped with wire end ferrules.

Pin Wire Number Signal

X1.U2 1 Phase 1

Shield Motor

Shielded, highly flexible 6-wire cable with PE.

Connect shield with the

greatest possible surface

area!

X1.V2 2 Phase 2

X1.W2 3 Phase 3

X1.PE Yellow-green PE conductor

Jetter AG 59

7 Description of Connections

For connection with motor holding brake

Motor Power Cable Fixed to the Motor

Terminals of the

JetMove 105

7 x 1.0 mm

The wires are equipped with wire end ferrules.

Pin Wire Number Signal

X1.U2 1 Phase 1

Shield Motor

Shielded, highly flexible 6-wire cable with PE.

Connect shield with the

greatest possible surface

area!

X1.V2 2 Phase 2

X1.W2 3 Phase 3

X1.PE Yellow-green PE conductor

X62.2 4 Brake +

X62.1 5 Brake -

60 Jetter AG

JetMove 105 7.4 Brush-Type DC Motor

7.4 Brush-Type DC Motor

Specification of Terminal X1

• 8-pin screw clamping terminal (type MC 1.5/ 8-ST-3.5)

• Diameter of the cable apt for connecting: 0.14 - 1.5 mm

with bootlace ferrules and plastic sleeve: 0.25 - 1 mm

• Bladed screw-driver: 0.4 x 2.5 mm

• Stud torque for the screw clamping terminal: 0.22 Nm

Specification of the Motor Cable

• Cable cross-sectional area of up to 2 * 1.0 mm²

• Material: Copper

• Temperature class: 60 °C

• Stripping length of cores: 6 mm

• Cable shielding: Braided copper shield of 80 % coverage min.

• Maximum cable length: 25 m

Motor connection

Terminals X1 on the

amplifier side

U2 Motor phase + Motor cable

Signal Specification

V2 Motor phase - Motor cable

BALLAST Ballast Resistor An optional ballast resistor can be

connected between this terminal and ground.

PE PE conductor The PE conductor is connected to

the enclosure.

Jetter AG 61

7 Description of Connections

Connected with Enclosure

LOG

+3V

DCDCGND

JetMove 105

X1 - Voltage Supply and DC-Motor Connections

DSP Controller

LOG

24 V DC

MOT

24 / 48V DC

R (optional)

Fig. 16: X1 - DC motor connection

Important!

Alternative measures to avoid malfunctions of the control system and the motor:

The brake has to be operated through a separately shielded brake line.

62 Jetter AG

JetMove 105 7.5 2-Phase Stepper Motor

7.5 2-Phase Stepper Motor

Specification of Terminal X1

• 8-pin screw clamping terminal (type MC 1.5/ 8-ST-3.5)

• Diameter of the cable apt for connecting: 0.14 - 1.5 mm

with bootlace ferrules and plastic sleeve: 0.25 - 1 mm

• Bladed screw-driver: 0.4 x 2.5 mm

• Stud torque for the screw clamping terminal: 0.22 Nm

Specification of the Motor Cable

• Cable cross-sectional area of up to 4 * 1.0 mm²

• Material: Copper

• Temperature class: 60 °C

• Stripping length of cores: 6 mm

• Cable shielding: Braided copper shield of 80 % coverage min.

• Maximum cable length: 25 m

Motor connection

Terminals X1 on the

amplifier side

U2 Motor phase 1+ Motor cable

Signal Specification

V2 Motor phase 1 - Motor cable

W2 Motor phase 2+ Motor cable

Ballast Motor phase 2 - Motor cable

PE PE conductor The PE conductor is connected to

the enclosure.

Jetter AG 63

7 Description of Connections

Co n ne c t e d with Enc lo s ure

LOG

+3V

DCDCGND

JetMove 105

X1 - Voltage Supply and Stepper Motor Connections

DSP Controller

LOG

24 V DC

MOT

24 / 48V DC

Fig. 17: X1 - Stepper motor connection

Important!

Alternative measures to avoid malfunctions of the control system and the motor:

Operate the brake through a separately shielded brake line.

64 Jetter AG

JetMove 105 7.5 2-Phase Stepper Motor

60s

min

--------- -

360°

RPM

------------

v⋅=

DC Link

Voltage

-AB

-B

7.5.1 Stepper motor control

The stepper motor at the JetMove 105 is controlled by sine-wave commutation (maximum microstep mode). Thus, the noise typical for classic stepper motor controls cannot be heard, not even at lowest speeds. As any other motor types connected to JetMove amplifiers, the stepper motor is also programmed in millimeters or degrees instead of steps, related to load.

The motor speed can be calculated by the following formula:

Speed n in RPM Speed v in °/s

The JetMove 105 has been designed for bipolar operation, i.e. it is possible to let the current flow through the motor winding in both directions. For this purpose, a bridge connection as shown in Fig. 18 is fit best.

Fig. 18: Bipolar circuit for 2-phase-stepper motors

This way it is possible to limit the number of connections between motor control and motor to two per phase (plus PE) with the help of series or parallel connection of the partial windings in or at the motor.

In order to achieve reliable positioning, a defined constant moment must be mustered up to a speed value as high as possible. This must be achieved by adequate controlling. The procedure applied here is constant current operation with vector control. Constant current operation has been made possible by the development of switching controller technology and by making efficient and fast transistors available. Vector control is made use of within the JetMove 2xx series for servo motor control.

Jetter AG 65

7 Description of Connections

RI⋅=

U2ω LI⋅⋅=

ω 2πf2π Z

min

60s

--------- - n2π= Z

RPM

360°

------------- v⋅⋅ ⋅ ⋅⋅ ⋅

ZPUSU

EMF

RI⋅

ω LI⋅⋅

The following entirety of vectors limit constant current operation:

1. Independent of the speed, a certain voltage is needed for having the set current overcome the resistance of the phase. :

Where: Continuous rated current I in Ampere [A] Resistance R per phase in Ohm [ ]

2. Dependent on the speed, a certain voltage is needed for reversing the polarity of the motor current. This voltage is calculated as follows:

Where: Continuous rated current I in Ampere [A] Inductivity L per phase in [Vs/A] Angular velocity in [rad/s]

The angular velocity of a stepper motor is:

Where: Pole pair number = 50 Speed n in [RPM] Angular velocity v in [°/s]

3. When the motor is rotating, the influence of the EMF (Electro-Motive Force) can be realized as well. It is opposed to the operating voltage and decreases the effective voltage during power build-up; power build-up, which is speeded up by the EMF, though.

Theoretically, the motor can be driven to about the same speed which is needed for the vector sum to just compensate the phase voltage. Above this speed, the motor cannot be driven any more.

66 Jetter AG

Fig. 19: Addition of voltage in a synchronous machine

JetMove 105 7.5 2-Phase Stepper Motor

MOT

------------------=

Start

Stop

The maximum phase voltage is calculated out of the DC link voltage as follows:

Thus, the maximum speed depends on the operating voltage. For this reason, the operating voltage should, in general, amount to 48 V.

7.5.2 Acceleration and deceleration

If a stepper motor without actual position feedback is used, exceeding the maximum possible torque of the motor must by all means be inhibited. Therefore, acceleration and deceleration should be carried out by linear ramps.

A linear ramp results in constant acceleration of motor and load. For this purpose, a constant motor torque is required. The degree of a possible acceleration depends on the available torque.

Fig. 20: Acceleration via linear ramp

Jetter AG 67

7 Description of Connections

7.6 LinMot®

LinMot motor models by NTI AG are typically designed for power supply and encoder feedback in one cable. These cables feature a double shielding with encoder signal lines running within the inner shield. The motor lines and the inner shield are protected by the outer shield.

Specification of Terminal X1

• 8-pin screw clamping terminal (type MC 1.5/ 8-ST-3.5)

• Diameter of the cable apt for connecting: 0.14 - 1.5 mm with bootlace ferrules and plastic sleeve: 0.25 - 1 mm

• Bladed screw-driver: 0.4 x 2.5 mm

• Stud torque for the screw clamping terminal: 0.22 Nm

Specification of the Motor Cable

• Cable size: 4 * 1.0 mm²

• Material: Copper

• Temperature class: 60 °C

• Stripping length of cores: 6 mm

• Cable shielding: Braided copper shield of 80 % coverage min.

• Maximum cable length: 25 m

Motor Connection

Terminals X1 on the

amplifier side

U2 Motor phase 1+ red Motor cable

Signal Core Color Specification

V2 Motor phase 1 - pink Motor cable

W2 Motor phase 2+ blue Motor cable

Ballast Motor phase 2 - gray Motor cable

PE PE conductor Shield The PE conductor is

connected to the enclosure.

68 Jetter AG

JetMove 105 7.6 LinMot®

connected with enclosure

LOG

+3 V

DCDCGND

JetMove 105

X1 - Power supply and LinMot connection

DSP Controller

LOG

24 V DC

MOT

24 / 48 V DC

Fig. 21: X1 - LinMot connection

Specification of the Encoder Cable

• Cable cross-sectional area of at least 3 * 0.14 mm²

• with separate shielding

• Material: Copper

• Temperature class: 60 °C

• Maximum cable length: 25 m

Jetter AG 69

7 Description of Connections

Shield

LinMot Encoder Cable

JetMove 105

(male SUB-D connector

X61)

Attaching screws must

have a metric thread!

Pin Signal Core Color

5Sineamber

Shield Cable specification

Maximum cable length:

25 m

Connect shield with the

greatest possible surface

area!

Use metallized housing

only!

4 Cosine green

1 Voltage output

(5 volts)

11 0 V inner shield

Shield Shielding outer shield

white

Note 1!

Supply voltage +5 V at the JetMove 105:

Due to conduction loss, a lower voltage might be supplied to the encoder.

Note 2!

The LinMotor motor cable features double shielding. Do not connect both shields with each other. The inner shield is used as 0 V line. Connect it to 0 V signals only! The outer shield must be connected to the shielding terminal of the Sub-D connector.

70 Jetter AG

JetMove 105 7.7 Connection of the Resolver

7.7 Connection of the Resolver

7.7.1 Specification

Specification of the Connector for Terminal X61 (ENCODER)

• 15-pin high density SUB-D connector (male)

• Metallized enclosure

Specification of the Resolver Cable

• Cable cross-sectional area of at least 3 * 2 * 0.14 mm²

• Cores have to be shielded and twisted in pairs and have to be included in an

overall shielding

• The shield must be connected to the connector housings on both ends of the

cable with the greatest possible surface area.

• Material: Copper

• Temperature class: 60 °C

• Maximum cable length: 50 m

7.7.2 Resolver Cable With Mating Connector

The pre-fabricated resolver cable is used with the variants “Motor with male connector” on page 54 and “Motor with screw clamping terminals and cables with male connectors” on page 54.

Note!

The resolver respectively HIPERFACE mating connector of the synchronous servo motor series JH, JL and JK can be ordered from Jetter AG by supplying the following particulars:

Article # 15100069 Resolver / HIPERFACE

The complete resolver cable connecting the servo amplifier JetMove 105 and the synchronous servo motor series JL1 and JH2 can be obtained from Jetter AG. The resolver cable can be ordered by submitting the following cable specifications and the respective cable length in cm:

KAY_0623_xxxx For the servo amplifier series JetMove 105

Jetter AG 71

7 Description of Connections

Shield

mating connector

solder side

12911

Resolver-Cable of KAY_0623_xxxx

JetMove 105 (male SUB-D

connector X61)

Attaching screws

must have a metric

thread!

Pin Signal Core Color Pin

4Cosine +brown 1

Shield Motor (Resolver)

3 * 2 * 0.14 mm

Connect shield with the greatest

possible surface area!

Use metallized housing only!

(female, solder

side)

14 Cosine - White 2

15 Sine - amber 3

5 Sine + green 4

9 R1 (exciter

pink 5

winding +)

10 R2 (exciter

gray 6

winding -)

Unassigned - 7 - 12

Dimensions of the resolver mating connector are specified in millimeters.

Mating connector of the resolver (solder side)

Fig. 22: RC series mating connector of the resolver (internal thread M23)

72 Jetter AG

JetMove 105 7.7 Connection of the Resolver

Shield

7.7.3 Resolver Cable Without Mating

Connector

The resolver cable is used for the variant “Motor with screw clamping terminals and cables with male connectors” on page 55.

Resolver Cable at the Motor

JetMove 105

(male SUB-D

connector

X61)

Attaching screws must

have a metric thread!

Shield Motor (Resolver)

Connect shield with the

greatest possible

surface area!

Use metallized

housing only!

Pin Signal Core Color

4 Cosine + brown

14 Cosine - White

5Sine + amber

15 Sine - green

9 R1 (exciter winding +) pink

10 R2 (exciter winding -) gray

Thermal circuit-

breaker

Thermal circuit-

breaker

Jetter AG 73

red

blue

7 Description of Connections

7.8 Sin- / Cos-Encoder Connection

7.8.1 Specification

Specification of the Connector for Terminal X61 (ENCODER)

• 15-pin high density SUB-D connector (male)

• Metallized enclosure

Sin-Cos Encoder Cable Specifications

• Cable cross-sectional area of at least 3 * 2 * 0.14 mm² + 2 * 0.25 mm² min.

• 2 * 0.25 mm² must be used for the power supply unit and for GND

• Twisted-pair cables shielded with the all-over shield must be used; the signal lines must also be twisted in pairs: Sine + and reference sine Cosine + and reference cosine Index + and reference index 0 V and voltage supply

• The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area.

• Material: Copper

• Temperature class: 60 °C

• Maximum cable length: 50 m

74 Jetter AG

JetMove 105 7.8 Sin- / Cos-Encoder Connection

Shield

Sin-Cos Encoder Cable

JetMove 105

(male SUB-D connector

X61)

Attaching screws must

have a metric thread!

Pin Signal

5Sine +

Shield Cable specification

Maximum cable length:

100 m

Connect shield with the

greatest possible surface

area!

Use metallized housing

only!

15 Reference sine

4 Cosine +

14 Reference cosine

7 Index +

8 Reference index

1 Voltage output

max

= 350 mA

(5 volts)

6 Voltage output

max

= 300 mA

(24 volts)

11 0 V

Note 1!

Supply voltage +5 V at the JetMove 105:

Due to conduction loss, a lower voltage might be supplied to the encoder.

Jetter AG 75

7 Description of Connections

Sin-cos encoder

JetMove 105 X61: 15-pin Sub-D connector

+5 V

0 V

Sin+

Cos+

Index+

Sin-

Cos-

Index-

5 4

7 15 14

+5 V 0 V Sin+ Cos+ Index+ SinCosIndex-

Fig. 23: Sin/Cos encoder connection

76 Jetter AG

JetMove 105 7.9 Connection of the Incremental Encoder

7.9 Connection of the Incremental Encoder

7.9.1 Specification

Specification of the Connector for Terminal X61 (ENCODER)

• 15-pin high density SUB-D connector (male)

• Metallized enclosure

Specification of the Incremental Encoder Cable

• Cable cross-sectional area of at least 3 * 2 * 0.14 mm² + 2 * 0.25 mm² min.

• 2 * 0.25 mm² must be used for the power supply unit and for GND

• Twisted-pair cables shielded with the all-over shield must be used; the signal lines

must also be twisted in pairs: K0 + and K0 K1 + and K1 K2 + and K2 0 V and voltage supply

• The shield must be connected to the connector housings on both ends of the

cable with the greatest possible surface area.

• Material: Copper

• Temperature class: 60 °C

• Maximum cable length: 50 m

Jetter AG 77

7 Description of Connections

Shield

Incremental encoder cable

JetMove 105

(male SUB-D connector

X61)

Attaching screws must

have a metric thread!

Pin Signal

2K1+

Shield Specification

of the cable

Encoder signal:

5 V differential signal or 5 V single-ended

Maximum cable length:

100 m

Connect shield with the

greatest possible surface

area!

Use metallized housing

only!

12 K1-

3K2

13 K2-

7K0

8K0-

1 Voltage output

= 350 mA

max

(5 volts)

6 Voltage output

= 300 mA

max

(24 volts)

11 0 V

Note 1!

Supply voltage +5 V at the JetMove 105:

Due to conduction loss, a lower voltage might be supplied to the encoder.

78 Jetter AG

JetMove 105 7.9 Connection of the Incremental Encoder

Incremental encoder

JetMove 105 X61: 15-pin SUB-D connector

+5V

0 V K1+ K2+ K0+

K1-

K2-

K0-

1 11 2 3 7 12 13 8

+5V 0V K1 K2 K0 K1K2K0-

5 V

Note 2!

Bus Terminating Resistor

In case of differential connection, a bus terminating resistor of 120 ohms each must be installed at a cable length of 10 m or more between K0+ and K0-, K1+ and K1-, as well as K2+ and K2-.

Note 3!

Single-ended connection:

In case of single-ended connection, only signals K0+, K1+ and K2+ are used. Signals K0-, K1- and K2- must not be connected.

Fig. 24: Incremental encoder connection

Jetter AG 79

7 Description of Connections

Shield

7.10 Digital and Analog Inputs and

Specification of the Female Connector for Male Connector X62 (IN / OUT)

• 15-pin high density SUB-D connector (female)

• Metallized enclosure

• For using the analog inputs, shielding is required

Outputs

Input / Output Cable

JetMove 105

(female Sub-D

connector X62)

Attaching screws must

have a metric thread!

Pin Signal Description Specification

10 V *)

2 Brake Contacts for the motor

The brake output can be

operated either by the

control program or by the

operating system of the

JetMove 105 at release of

equipped with an internal

Shield Specification

If the analog input is

Connect shield with the

greatest possible

holding brake

the motor current.

The JetMove 105 is

freewheeling diode.

semiconductor switch

connects the +V

with the output pin.

These connections are only for devices having got the same reference to ground as the power supply of the logic.

of the cable

used:

surface area!

Use metallized

housing only!

The internal

= DC 0.5 A

max

Contact: N/O

LOG

3 Analog input+ Analog signal 0 - 10 V to pin 4

4 Analog input- Reference of the analog

signal

80 Jetter AG

not connected with

0 V of the motion

system

JetMove 105 7.10 Digital and Analog Inputs and Outputs

5 - 6 0 V Ground *)

7 - 9 Reserved Do not use

10 0 V Ground *)

11 Hardware

enable for the power supply of the motor (input)

12 Reference

switch (input)

13 Positive limit

switch (input)

• At this input, a high signal is necessary for power supply of the motor. (This signal must have been applied before carrying out the software enable)

• A low signal deenergizes the motor immediately.

• Depending on the parameter setting, this input is used for reference run

• Depending on the parameter setting, this input is used as a positive limit switch.

• DC 20 ... 30 V

• Input resistance: 3 KOhm

• Operating point: < 4 V low, > 14 V high

• DC 20 ... 30 V

• Input resistance: 3 KOhm

• Operating point: < 4 V low, > 14 V high

NC or NO contact

• DC 20 ... 30 V

• Input resistance: 3 KOhm

• Operating point: < 4 V low, > 14 V high

14 Negative limit

switch (input)

15 Digital input • Depending on the

*) is connected to the ground of the control system.

• Depending on the parameter setting, this input is used as a negative limit switch.

parameter setting, this input can be used for quick stop, position capture or referencing without stop.

NC or NO contact

• DC 20 ... 30 V

• Input resistance: 3 KOhm

• Operating point: < 4 V low, > 14 V high

NC or NO contact

• DC 20 ... 30 V

• Input resistance: 3 KOhm

• Operating point: < 4 V low, > 14 V high

Jetter AG 81

7 Description of Connections

7.11 Jetter System Bus

The JetMove 105 is interlinked with the controller, additional JetMove amplifiers, or Jetter peripheral modules by means of the Jetter system bus. The system bus input BUS-IN is a 9-pin male Sub-D connector, and the bus output BUS-OUT is a 9-pin female Sub-D connector.

7.11.1 JETTER System Bus Cable Specification

Specification of Connectors

On the BUS-OUT (X19) side

• 9-pin male SUB-D connector

• Metallized enclosure

On the BUS-IN (X18) side

• 9-pin female SUB-D connector

• Metallized enclosure

System Bus Cable Specification

The following minimum requirements apply to the manufacture of the system bus cable:

System Bus Cable - Technical Data

Description Description

Querschnitt / Wire cross section

Cable capacitance maximum 60 pF/m

Resistivity 1 MBaud: maximum 70 /km

1 MBaud: 0.25 - 0.34 mm

500 kBaud: 0.34 - 0.50 mm

250 kBaud: 0.34 - 0.60 mm

125 kBaud: 0.50 - 0.60 mm

500 kBaud: maximum 60 /km

250 kBaud: maximum 60 /km

125 kBaud: maximum 60 /km

Number of cores 5

Shield Complete shielding, no paired shielding

Twisting Core pair CL and CH twisted

82 Jetter AG

JetMove 105 7.11 Jetter System Bus

Shield

Allowed cable lengths

Baud rate Max. cable

length

1 MBaud 30 m 0.3 m 3 m

500 kBaud 100 m 1 m 39 m

250 kBaud 200 m 3 m 78 m

125 kBaud 200 m - -

Max. tap line

length

Max. overall tap

System Bus Cable of Cable Confection # 0530

Shield

line length

BUS-OUT Connect shield with the greatest

possible surface area!

Use metallized housing only!

Pin Signal Pin

1CMODE01

2CL2

3GND3

4CMODE14

5TERM 5

6 Unassigned 6

7CH7

8 Unassigned 8

9 Do not connect 9

BUS-IN

Jetter AG 83

7 Description of Connections

84 Jetter AG

JetMove 105

8 Status Monitoring

The output stage LEDs indicate the operating status of the digital servo amplifier.

Fig. 25: Status monitoring LEDs at the JetMove 105

JetMove 105 - LEDs

LED Color State Description

OS is active:

AXARR Green Is lit Axis is standing still (RPM = 0)

ERR Red Is lit An error has occurred. The control unit

of the servo amplifier is locked, error can be acknowledged.

Boot Phase:

AXARR Green Off

ERR Red Is lit for 1 s The OS is being checked.

OS Update:

AXARR Green Flashing The OS is being programmed.

ERR Red Is lit OS update is active.

Jetter AG 85

8 Status Monitoring

Note!

The ERR display of the output stage indicates the operating and fault conditions of the digital servo amplifier JetMove 105. The different fault conditions are displayed in Motion Setup in JetSym.

86 Jetter AG

JetMove 105 9.1 Error Messages

9 Diagnostics

9.1 Error Messages

Note!

The ERR display of the output stage indicates the operating and fault conditions of the digital servo amplifier JetMove 105. The different fault conditions are displayed in Motion Setup.

Error Message Table - JetMove 105

Error number

F 00 Hardware error Internal hardware

F03 Motor cable

F 04 Overvoltage in the

Type of error Description Response to

defect

The motor cable is breakage (this error occurs as of hardware revision 2A.)

DC link

broken.

Be careful:

The motor cable is

tested when the

servo controller is

enabled for the first

time

A DC link voltage of

>60 V has been

detected

faults

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

Troubleshooting

– Separate the drive

controller from the power lines

– Return the amplifier for

repair

– Check the motor cable

connections

– Acknowledge failure

– Check input voltage

supply

– If the motor is used as

generator, reduce the regenerating power.

– Acknowledge failure

F 05 Over-current The output current

has been greater

than 2.5 x the rated

current or ground

fault during

operation

Jetter AG 87

– Immediate

motor power disable

– Check cable and motor

for a short circuit and ground fault

– Check current control

parameters. If necessary, correct parameters.

– Acknowledge failure

9 Diagnostics

Error Message Table - JetMove 105

Error number

F 07 Amplifier

F 09 Encoder failure Encoder breakage

F 10 Overspeed The actual shaft

Type of error Description Response to

The amplifier has

overtemperature

reached the maximum temperature

or initialization error

speed has exceeded a value of

1.25 x maximum speed

faults

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

Troubleshooting

– Let the amplifier cool

down

– After cooling down,

acknowledge failure

– Reduce power of the

motion system

– For extended

diagnostics purposes use Motion Setup

– Check the encoder line

and all plug-in connections

– Acknowledge failure

– Check motor and

encoder connections

– Check speed controller

parameters. If necessary, modify parameters

– Acknowledge failure

F 11 Current overrange A current

temporarily too high has been detected

F 12 Ground fault One or several

phases of the motor cable or inside the motor have a ground fault

F 15 The hardware

enable is missing

F 17 Software limit

switch has been actuated

The software enable is given without a hardware enable

Actual position is outside the programmed range and a software limit switch has tripped

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– Stop at max.

current (max. torque)

– Reduce K

current controller by 10 ... 20 %

– Acknowledge failure

– Check the motor cable

and the motor

– Acknowledge failure

– Disable the drive by

means of the software

– Acknowledge failure

– Check target position – Acknowledge failure – Return the axis to a

position within the software travel limits (monitoring of software limit switches is reenabled automatically at entering this range)

of the

88 Jetter AG

JetMove 105 9.1 Error Messages

Error Message Table - JetMove 105

Error number

F 18 Hardware limit

F 20 Undervoltage in

F 21 Overvoltage DC

Type of error Description Response to

switch has been actuated

the DC link

link voltage

One hardware limit

switch has tripped

The DC link voltage

is less than the set

minimum value.

(default: 10 V)

The DC link voltage

has exceeded the

set maximum value

(default: 60 V)

faults

– Stop at max.

current (max. torque)

– Stop with

emergency deceleration ramp

– Stop with

emergency deceleration ramp

Troubleshooting

– Check target position – Check reference

position – Acknowledge failure – Return the axis to a

position within the

machine travel limits

(monitoring of hardware

limit switches is re-

enabled automatically

at entering this range)

– Check the supply

voltage – Check the parameter

min. trip"

– Acknowledge failure

– Check the supply

voltage – In generator operation

reduce braking power – Acknowledge failure

F 22 Drive stalled The drive could not

overcome the n = 0 threshold within the time limit specified by the parameter "blocking-triping time"

F 23 Tracking error The tracking error

has exceeded the limit defined in the parameter "tracking error limit" for the time specified in "tracking window time"

– Immediate

servo controller disable

– Stop with

emergency deceleration ramp

– Eliminate the cause of

stalling – Acknowledge failure

– Check the drive

mechanism – Check steepness of

acceleration/

deceleration ramps and

amplifier parameters in

relation to the

parameters "tracking

error limit" and "tracking

error window time" – Acknowledge failure

Jetter AG 89

9 Diagnostics

Error Message Table - JetMove 105

Error number

F 30 I²t Error The average power

F 38 Asymmetric

F 39 Error at

Type of error Description Response to

loss of the motor has been greater than the max. value configured by nominal motor current, overload factor and motor time constant. Refer to “I²t Calculation” on page 38

The amplitudes of

encoder signal

commutation finding

the analog sinecosine signals are not identical.

Measuring the commutation offset could not be completed with results being guaranteed.

faults

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

Troubleshooting

– Let the motor cool down – Acknowledge failure – Check the configuration

of nominal motor current, overload factor and motor time constant

– Reduce the average

load of the motor

– Check wiring or

encoder signals

– Acknowledge failure

– Check parametering – Check wiring or

encoder signal

– Acknowledge failure

F40 Overload of motor

holding brake

9.2 Alarms

If the ERR LED is flashing, one or several alarms have been detected. To find the root cause, check the alarms in the Motion Setup, or through querying by means of motion instructions in the application program.

The internal semiconductor switch signals overload (current >>

0.5 A).

– Stop with

emergency deceleration ramp

– Check wiring or motor

holding brake

– Acknowledge failure

90 Jetter AG

JetMove 105

JetMove

105

48 V

Gnd

Br -

Br +

Contactor

Bus cable leading to the following node

X61

Encoder

14 4 5159

S1S2S4R1R2

24 V

Gnd

Supply & Motor

log

mot

X18

BUS IN

X19

BUS OUT

Br -

Br +

13 14

0V BR

E R

L+

L-

24 V

X62

IN / OUT

Bus cable coming from the previous node

10 Wiring Diagrams

Fig. 26: Wiring diagram - JetMove 105

See also chapter 7 "Description of Connections", page 43.

Jetter AG 91

10 Wiring Diagrams

0 V

+Vmot

+Vlog

0 V

JetMove

105

+Vmot

+Vlog

0 V

JetMove

105

+Vmot

+Vlog

0 V

JetMove

105

24 V DC

48 V DC

0 V

Contactor

Key to the Wiring Diagram:

1 Motor

2 Motor holding brake (option)

3 If a motor holding brake is used, an external free-wheeling

diode must be installed.

4 Ballast resistor

5 Position encoder (resolver or Sin/Cos encoder)

Fig. 27: Usage of short-circuit breakers when several JetMove 105 are connected.

The short-circuit breakers must be rated at the cross-section of the installed cables.

92 Jetter AG

JetMove 105 11.1 List of Documentation

11 Ordering Information

11.1 List of Documentation

The documents listed below have been supplied on the website of Jetter AG at http:/ /www.jetter.de/Support for download.

Programming

jetmove_2xx_at_jetcontrol_bi_xxxx_user_information.pdf

11.2 Device

Designation Description Item #

JM-105 Digital Servo Amplifier 10000633

Replacement for motor connector

L_3x100µH/6A Motor line reactor to be mounted on the

8-pin male connector, 3.5 mm pitch, threaded Phoenix ordering information: MC 1.5/ 8-STF-3.5 (1847181)

DIN rail, screwing connection

60872945

60873577

Jetter AG 93

11 Ordering Information

11.3 Motor power cable with mating connector SC

Connecting cables for Jetter motors without brake:

The power cable for motors without brake of the designation KAY_0626_xxxx can be ordered in the following standard lengths in meters:

1 1.2 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5

7 7.5 8 9 10 11 12 13 14 15 16 17 18

20 22 24 25 30 50

The order reference xxxx designates the length in cm. For example: A resolver cable of 5 meters length has got the designation KAY_0626_0500.

Connecting cables for Jetter motors with brake:

The power cable for motors with brake of the designation KAY_0626_xxxx can be ordered in the following standard lengths in meters:

1 1.2 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5

7 7.5 8 9 10 11 12 13 14 15 16 17 18

20 22 24 25 30 50

The order reference xxxx designates the length in cm. For example: A resolver cable of 5 meters length has got the designation KAY_0624_0500.

94 Jetter AG

JetMove 105 11.4 Resolver Cable

11.4 Resolver Cable

The resolver cable of the designation KAY_0623_xxxx can be ordered in the following standard lengths in meters:

1 1.2 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5

7 7.5 8 9 10 11 12 13 14 15 16 17 18

20 22 24 25 30 50

The order reference xxxx designates the length in cm. A resolver cable of 5 meters length has got the designation KAY_0623_0500.

11.5 System Bus Cable

Jetter system bus connecting cable:

Length 0.2 m:

Length 0.5 m:

Length 1.0 m Cable confection # 0530 1.0m Article # 10309003

Length 1.5 m Cable confection # 0530 1.5m Article # 10309004

Length 2.0 m Cable confection # 0530 2.0m Article # 10309006

Length 2.5 m Cable confection # 0530 2.5m Article # 10309016

Length 3.0 m Cable confection # 0530 3.0m Article # 10309015

Length 4.0 m Cable confection # 0530 4.0m Article # 10309007

Length 5.0 m Cable confection # 0530 5.0m Article # 10309008

Other lengths can be obtained on request.

Cable confection # 0530 0.2m Article # 10309001

Cable confection # 0530 0.5m Article # 10309002

Jetter AG 95

11 Ordering Information

96 Jetter AG

JetMove 105 Appendices

Appendices

Jetter AG 97

Appendices

98 Jetter AG

JetMove 105 Appendices

List of Appendices Appendix A: Recent revisions

Latest changes made in revision 2.16.1:

Chapter Remarks Changed Added Cleared

Front page yes

1.2.3 Earthing procedure yes

7.3 Max. cable length yes

7.3 Note on motor line reactor yes

9 Diagnostics - F 12 yes

10 Wiring Diagram -

Pin 10 instead of pin 6

11 Ordering information

on motor line reactor

Addresses yes

yes

Jetter AG 99

Appendices

Appendix B: Glossary

AC Alternating Current

CE Communautés Européenes

European Union

DC Direct Current

DIN Deutsches Institut für Normung e.V.

DSP Digital Signal Processor

EU European Union

EC Low Voltage Directive

Electro-Magnetic Compatibility (EMC)

EN Europäische Norm, that is: European Standard

ESD Electrostatic Discharge

Hazard analysis Excerpt from the Machinery Directive:

Hardware enable Before the axis can be started up by software enable,

HIPERFACE High Performance Interface

To be considered when using electric devices of a rated voltage between 50 and 1,000 V AC and between 75 and 1,500 V DC.

Definition according to the EMC regulations: "EMC is the ability of a device to function in a satisfactory way in an electro-magnetic environment without causing electromagnetic disturbances itself, which would be unbearable for other devices in this environment."

The manufacturer is under an obligation to assess the hazards in order to identify all of those which apply to his machine; he must then design and construct it taking account of his assessment.

hardware or pulse enable has to be active. This means that a high signal (24 V) has to be connected to the enable input or inputs (restart lockout).

HIPERFACE designates a sensor-transducer system by Sick / Stegmann. The SinCos motor feedback system with the standardised HIPERFACE interface is often used in digital drive technology. Unlike the resolver, the SinCos motor feedback system with HIPERFACE interface contains electronic components. Over several motor rotations, a HIPERFACE will report the absolute position values; this cannot be performed by a resolver. A HIPERFACE is far more precise than a resolver, but also more expensive.

IEC International Eectrotechnical Commission

IGBT Insulated Gate Bipolar Transistor

IP International Protection

100 Jetter AG

Jetter JM-105 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1 Safety Instructions 11

2 Installing the JetMove 105 19

3 Operating Conditions 27

4 Physical Dimensions 33

5 Technical Specifications 35

6 Drive Controller Structure 41

7 Description of Connections 43

8 Status Monitoring 85

9 Diagnostics 87

10 Wiring Diagrams 91

11 Ordering Information 93

List of Appendices

JetMove 105 1.1 General Safety Instructions

Contents 1 Safety Instructions

1.1.1 Intended Conditions of Use

1.1.2 Usage Other Than Intended

1.1.3 Personnel Qualification

1.1.5 Repair and Maintenance

1.1.6 Disposal

1.2 Ensure Your Own Safety

1.2.1 Malfunctions

1.2.2 Information Signs and Labels

JetMove 105 1.3 Residual Dangers

1.2.3 Earthing procedure

1.3.1 Hazards during Operation

1.4 Instructions on EMC

JetMove 105 2.1 Scope of delivery

2 Installing the JetMove 105

2.2 Mechanical Installation

JetMove 105 2.3 Electrical Installation

2.4 Checking the Installation

JetMove 105 2.5 Notes on Safety as regards Commissioning

3 Operating Conditions

4 Physical Dimensions

JetMove 105 5.1 Electrical Specification

5 Technical Specifications

5.2 Motor Protection

6 Drive Controller Structure

JetMove 105 7.1 Demands on the Power Supply Unit for Motor Operating Voltage

7 Description of Connections

7.1.1 Recommendations on the power supply circuit breaker +Vmot

7.1.2 General remarks

7.2 Power Supply

7.3 Servo Motor

7.3.1 Motor with male connector

7.3.2 Motor with screw clamping terminals and cables with male connectors

7.3.3 Motor with screw clamping terminals and cables with male connectors

7.3.5 Motor Cable Permanently Fixed to the Motor

JetMove 105 7.4 Brush-Type DC Motor

JetMove 105 7.5 2-Phase Stepper Motor

7.5.1 Stepper motor control

7.5.2 Acceleration and deceleration

JetMove 105 7.7 Connection of the Resolver

7.7.1 Specification

7.7.2 Resolver Cable With Mating Connector

7.8 Sin- / Cos-Encoder Connection

7.8.1 Specification

JetMove 105 7.9 Connection of the Incremental Encoder

7.9.1 Specification

7.11 Jetter System Bus

7.11.1 JETTER System Bus Cable Specification

8 Status Monitoring

JetMove 105 9.1 Error Messages

9 Diagnostics

9.2 Alarms

10 Wiring Diagrams

JetMove 105 11.1 List of Documentation

11 Ordering Information

11.2 Device

11.3 Motor power cable with mating connector SC

JetMove 105 11.4 Resolver Cable

11.5 System Bus Cable

List of Appendices Appendix A: Recent revisions

Appendix B: Glossary