Jetter JM-204-480 User Manual

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User Manual

JM-204-480 - Digital Servo Amplifier

60870618

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Item # 60870618 Rev. 2.10 September 2017 / Printed in Germany

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

This user manual and the information contained herein have been compiled with due diligence. Jetter AG shall not be liable for printing or general errors contained herein or for incidental or consequential damage in connection with the furnishing, performance, or use of this material.

The brand names and product names used in this document are trademarks or registered trademarks of the respective title owner.

2 Jetter AG

JetMove 204-480

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:++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 204-480:

Model:

Serial number:

Year of construction:

Order number:

To be entered by the customer:

Inventory number:

Place of operation:

Jetter AG 3

Significance of this User Manual

This user manual is an integral part of the digital servo amplifier JetMove 204-480.

• Therefore it must be kept in a way that it is always at hand until the digital servo amplifier JetMove 204-480 will be disposed of.

• Pass this user manual on if the JetMove 204-480 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.

From the servo amplifier JetMove 204-480 module may result unavoidable residual risks to persons and property. For this reason, any person who has to deal with the transport, installation, operation, maintenance, and repair of the digital servo amplifier JetMove 204-480 must have been familiarised with it and must be aware of these dangers. Therefore, this person 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.

History

Edition Meaning

1.00 First edition

1.01 Modifications, see Appendix A of user manual rev. 1.01

2.00 Modifications, see Appendix A of user manual rev. 2.00

2.01 Style and spelling have been revised

2.10 For revisions, please refer to Appendix A: "Recent revisions", Seite 115 of the user manual, revision 2.10

4 Jetter AG

JetMove 204-480

Description of Symbols

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

Danger

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

Attention

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.

You are asked to wear goggles. Failure to comply may lead to bodily injuries.

This sign is to warn you of material damage due to applying hard blows or shocks to the motor flange and shaft.

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.

Important

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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

· / -

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.

PC and user interface keys.

This symbol informs you of additional references (data sheets, literature, etc.) associated with the given subject, product, etc. It also helps you to find your way around this manual.

6 Jetter AG

JetMove 204-480 Table of Contents

1 Safety Instructions 11

1.1 General Information 11

1.1.1 Usage to the intended purpose 11

1.1.2 Non-intended use 11

1.1.3 Qualified personnel 12

1.1.4 Modifications and alterations to the module 12

1.1.5 Servicing and repairs 12

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 17

1.3.1 Hazards during operation 17

1.3.2 Hazards after POWER has been turned OFF 19

1.4 Instructions on EMI 20

2 Installing the JetMove 204-480 23

2.1 Scope of Delivery 23

2.2 Mechanical Installation 24

2.3 Electrical Installation 26

2.4 Checking the Installation 27

2.5 Notes on Safety as regards the Installation 27

2.6 Notes on Safety as regards Commissioning 28

2.7 Notes on decommissioning 28

3 Operating Conditions 29

4 Physical Dimensions 33

5 Technical Data 35

5.1 Electrical Specification 35

5.2 Motor Protection 39

5.2.1 Built-in temperature sensor 39

5.2.2 I²t calculation 39

5.2.3 Motor overload protection according to UL 40

6 Drive Controller Structure 43

7 Description of Connections 45

7.1 Power Supply Connection 45

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Table of Contents

7.2 Motor Connection 46

7.2.1 General remarks 46

7.2.2 Assignment and specification 47

7.2.3 Motor power cable with mating connector SC 48

7.2.4 Motor power cable with mating connector SM 51

7.2.5 Connection assignment of terminal box 54

7.3 Resolver Connection 55

7.3.1 Specification 55

7.3.2 Resolver cable with mating connector 55

7.4 HIPERFACE Connection 57

7.4.1 Specification 57

7.4.2 HIPERFACE cable with mating connector 57

7.5 Sin-Cos Encoder Connection 60

7.5.1 Adapter 60

7.5.2 Specification 60

7.5.3 Connection diagram 61

7.6 External Ballast Resistor and DC Link Connection 64

7.7 Digital Inputs, Logic Power Supply 70

7.8 Connection Details for Digital Outputs 72

7.9 Jetter System Bus 73

7.9.1 Specifications of the Jetter system bus cable 73

8 Status Monitoring 75

9 Diagnostics 77

9.1 Error Messages 77

9.2 Alarms 81

10 Connection Diagrams 83

11 Analog Input (Option) 87

11.1 Function 87

11.2 Technical Data 87

11.3 Description of Connections 88

12 Ethernet Interface (Option) 89

12.1 Function 89

12.2 Description of Connections 89

12.2.1 Connection JetMove 204-480...-OEM - PC or JetControl 90

12.2.2 Connection JetMove 204-480...-OEM - PC or JetControl via a switch 90

12.3 Logic Circuit LEDs, Mode Selector 91

8 Jetter AG

JetMove 204-480 Table of Contents

12.3.1 LEDs 91

12.3.2 The DIP switches 92

12.4 Setting the IP Address 92

12.4.1 Fixed IP address 92

12.4.2 IP address taken out of the configuration store 92

12.4.3 IP address taken out of the switch position 94

13 Safe Standstill (Option) 95

13.1 Introduction 95

13.2 Motion System JetMove 204-480 96

13.3 Safety Instructions 97

13.4 Performance Test 97

13.5 Demands on the Safety System 97

13.5.1 Control variants for "Safe Standstill" 99

13.5.2 Application 1 100

13.5.3 Application 2 101

13.5.4 Application 3 102

13.5.5 Application 4 103

13.6 Block Diagram JM-204-480 with the "Safe Standstill" Function 104

14 Counting Input (Option) 107

14.1 Function 107

14.2 EnDat 2.2 107

14.2.1 Technical data 107

14.2.2 Description of connections 108

14.2.3 EnDat cable with mating connector 108

14.2.4 Voltage supply encoder 110

14.3 Synchronous Serial Interface (SSI) 111

14.3.1 Technical data 111

14.3.2 Description of connections 111

14.3.3 SSI cable 112

14.4 Incremental Encoder 113

14.4.1 Technical data 113

14.4.2 Description of connections 113

14.4.3 Incremental encoder cable 114

15 Ordering Information 115

15.1 Document Survey 115

15.2 Options 115

Appendix

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Table of Contents

Appendix A: Recent Revisions 119 Appendix B: Glossary 120 Appendix C: List of Abbreviations 122 Appendix D: List of Illustrations 123 Appendix E: Index 124

10 Jetter AG

JetMove 204-480 1.1 General Information

Table of Contents 1 Safety Instructions

1.1 General Information

The digital servo amplifier JetMove 204-480 fulfils the accepted safety regulations and standards. Special emphasis was given to the safety of the users.

The following additional regulations apply to the user:

• pertinent accident prevention regulations;

• accepted safety rules;

• EC guidelines and other country-specific regulations.

1.1.1 Usage to the intended purpose

Usage to the intended purpose includes operation in accordance with this user manual.

The digital servo amplifier JetMove 204-480 may only be operated in the closed control cabinet and within the range of the set values. Do not apply a voltage to the digital servo amplifier JetMove 204-480 that is higher than the prescribed operating voltage.

Each of the three phases of the digital servo amplifier JetMove 204-480 has got an operating voltage ranging between AC 340 V and AC 530 V. Thus, the digital servo amplifier JetMove 204-480 comes under the EG Low Voltage Directive.

It is the explicit purpose of the digital servo controller JetMove 204-480 to torque-, speed- and/or position-control, and to drive brushless synchronous servo motors, asynchronous motors and three-phase stepper motors. The rated voltage 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 204-480 is used to control machinery, such as conveyors, production machines, and handling machines.

1.1.2 Non-intended use

The digital servo amplifier JetMove 204-480 must not be used in technical systems which to a high degree have to be fail-save, e. g. ropeways and aeroplanes.

Please do not use the integrated braking circuit in applications, where safety hazards can occur.

The digital servo amplifier JetMove 204-480 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.

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1 Safety Instructions

1.1.3 Qualified personnel

Depending on individual phases of the product life cycle, there are different demands on the personnel being involved. These demands have to be met, in order to grant safety in handling the JetMove 204-480 at each phase of the product life cycle.

Phase of the Product Life Cycle

Transport / Storage: Only properly trained and instructed personnel with

Mounting / Installation:

Commissioning / Programming:

Operation: Only trained, instructed and authorized personnel with

: Trained personnel specified in electrical automotive

Minimum Demands on the Personnel

knowledge of correctly handling electrostatically sensitive components.

Trained personnel specified in electrical automotive engineering, such as industrial electronics engineers.

Trained and instructed specialist personnel having got broad knowledge and experience in electrical engineering / motion systems, such as industrial electronics engineers of automation engineering.

knowledge of correctly handling electrostatically sensitive devices.

engineering, such as industrial electronics engineers.

1.1.4 Modifications and alterations to the module

Due to safety reasons, neither opening the digital servo amplifier JetMove 204-480, nor carrying out any modifications or alterations to the device and its functions is allowed.

Any modifications to the servo amplifier JetMove 204-480 not expressly authorised 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 204-480. Parts and equipment of other manufacturers are not tested on our part, and are, therefore, not released by us.

The installation of such parts may impair the safety and the proper functioning of the digital servo amplifier JetMove 204-480.

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

1.1.5 Servicing and repairs

Repairs at the digital servo amplifier JetMove 204-480 must not be carried out by the operator. The digital servo amplifier JetMove 204-480 does not contain any parts to be repaired by the operator. For being repaired, the servo amplifier JetMove 204 -480 must be sent to Jetter AG.

12 Jetter AG

JetMove 204-480 1.1 General Information

The digital servo amplifier JetMove 204-480 is maintenance-free. Therefore, absolutely no inspection or maintenance works are required for the operation of the module.

1.1.6 Disposal

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

The environmental regulations for the respective country apply to disposing of the digital servo JetMove 204-480 amplifier on the operating company’s premises.

You can disassemble the digital servo amplifier JetMove 204-480 into its main components by unscrewing it (aluminium heat sink and side plate, steel casing cover, electronic boards).

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1 Safety Instructions

1.2 Ensure Your Own Safety

Isolate the digital servo amplifier JetMove 204-480 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. Please follow the information given in chapter 1.3 "Residual Dangers", page 17.

Danger

Safety and protective devices, e.g. the barrier and cover of the terminal box must never be shunted or by-passed.

Dismantled protective equipment, such as the fuses and the thermal motor circuit-breakers, must be reattached prior to commissioning and checked for proper functioning.

Before commissioning, the machine manufacturer must carry out a danger analysis of the respective machine and take adequate measures so that inadvertent motions will not lead to personal injury and to material damage.

1.2.1 Malfunctions

In the case of malfunctions or other faults, please immediately separate the digital servo amplifier JetMove 204-480 from the mains.

Please follow the information given in chapter 1.3 "Residual Dangers", page 17.

Malfunctions or other damages are to be reported to an authorised person at once.

Secure the digital servo amplifier JetMove 204-480 against misuse or accidental use.

1.2.2 Information signs and labels

Writings, information signs, and labels always have to be observed and kept readable.

Damaged or unreadable information signs and labels have to be exchanged.

14 Jetter AG

JetMove 204-480 1.2 Ensure Your Own Safety

1.2.3 Earthing procedure

Screw the enclosure of the digital servo amplifier JetMove 204-480 onto a highly conducting, earthed panel.

Do only use the digital servo amplifier JetMove 204-480 at the threephase, earthed industrial network (TN network, TT network with earthed neutral, 5,000 A max, symmetric rated current at 400 / 480 V + 10 %). The digital servo amplifier must not be operated when connected to unearthed networks and to asymmetrically earthed networks.

The digital servo amplifier JetMove 204-480 has got a leakage current greater than 3.5 mA. In order to avoid electric shocks, a second protective earth conductor will be required.

For this, the following measures must be taken:

• The protective earth bus must be connected to the PE (GND) bolt (1) located at the top side of the rack as well as to the PE (GND) terminal X1 (2) (please refer to fig. 1). The diameter of the two earthing conductors must be equal to the diameter of the supply lines (1.5 mm

• A durable connection with the power supply of the digital servo amplifier JetMove 204-480 must be provided.

• Correct cabling of the PE (GND) bus according to the connection diagram (cf. chapter 10 "Connection Diagrams", page 83) must be carried out.

min. / AWG 16).

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1 Safety Instructions

Fig. 1: Double earthing

Important!

Do not loop an earth-leakage current breaker into the mains power supply.

Do not install a leakage current protection switch in the supply line. If, in spite of this, a leakage current protection switch is installed, same will switch off the digital servo amplifier JetMove 204-480, although there is no fault. When an earth-leakage current breaker needs to be installed in the JetMove 204-480, an isolating transformer must be used.

16 Jetter AG

JetMove 204-480 1.3 Residual Dangers

1.3 Residual Dangers

1.3.1 Hazards during operation

HAZARD caused by high operating voltage!

Extremely hazardous voltages of up to 850 V may occur!

Such voltages may result in muscle cramps, burns, unconsciousness, respiratory

Warning

standstill, or death.

During operation, keep all cover plates and control cabinet doors closed.

Warning

Do not remove the cover.

Do by no means disconnect the electric connections of the digital servo amplifier JetMove 204-480 when it is live.

Do not touch the terminals X1, X62, and X63 while the servo amplifier is running.

In the given context, the terminals have the following meaning:

X1: AC 400/480 V voltage supply

X62: DC motor voltage up to 850 V

X63: DC link voltage up to 850 V

CAUTION! Hot surfaces!

During operation, the surfaces, respectively the heat sinks of the digital servo amplifier JetMove 204-480 can heat up. The internal heat sink can reach temperatures of up to 85 °C.

Warning

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Do by no means touch the enclosure of the digital servo amplifier JetMove 204-480 near the internal heat sink during operation and during the cooling-off period after switching off the device.

Ensure that no temperature sensitive parts are attached to the digital servo amplifier JetMove 204-480.

1 Safety Instructions

Warning

Caution

DANGER in potentially explosive atmosphere!

Do not operate the digital servo amplifier JetMove 204-480 in a potentially explosive atmosphere.

DANGER of injuries caused by mechanic force!

The digital servo amplifier JetMove 204-480 runs a servo motor. This servo motor moves mechanic parts or sharp edges. Therefore, failure or malfunctioning of the digital servo amplifier JetMove 204-480 can be dangerous for persons or damage the manufacturing plant to an amount depending on the respective kind of plant. 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 is to install a guard.

Warning

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 should inadvertently get caught in the rotating shaft.

Never touch a rotating drive shaft.

18 Jetter AG

JetMove 204-480 1.3 Residual Dangers

1.3.2 Hazards after POWER has been turned OFF

DANGER resulting from electric shock!

Up to 7 minutes after switching off the operating voltages, capacitors still carry hazardous residual voltages.

Warning

As a precaution, measure the voltage in the DC link circuit (amplifier terminal) and wait until it has fallen below DC 40 V.

Always wait at least 7 minutes after switching off the device, before separating it from the mains or loosening the connections.

Always wait at least 10 minutes after switching off the device before taking the following actions: – Touching the screws of the terminals X1, X62 and X63; – Disconnecting the terminals and touching the contacts.

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1 Safety Instructions

1.4 Instructions on EMI

The digital servo amplifier JetMove 204-480 is intended for use in industrial surroundings. This module can cause radio interferences in residential areas. This module is operated at the operator's own risk.

The noise immunity of a system corresponds to the weakest component of the system. For this reason, correct wiring and shielding of cables is of paramount importance.

Important!

Measures for increasing immunity to interference:

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

Connect all grounding terminals of the JetMove 204-480. A double grounding terminal will be needed! – Connect the earth to the cover. For this, please refer to fig. 1 on

page 16.

– Connect protective earth (PE / GND) at terminal X1

The distance between the optional line filters and the digital servo amplifier JetMove 204-480 must be as short as possible.

When of a motor cable with included brake lines is used, these brake lines must be shielded separately.

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:

On principle, physical separation should be maintained between signal and power lines. 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.

Shield cables at both ends.

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

20 Jetter AG

JetMove 204-480 1.4 Instructions on EMI

The entire shield must be drawn behind the isolation, and then be clamped under a flat earthed cable strap at 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 metallised connector housing, respectively of the EMC gland bushing, its greatest possible surface area being clamped under the strain relief.

Only use metallised connectors, e.g. SUB-D with metallised housing. Make sure that the strain relief is directly connected with the housing here as well (see fig. 2).

Fig. 2: Shielding of SUB-D connectors in conformity with the EMC standards

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1 Safety Instructions

If the shield cannot be directly attached to the connector, for example, by 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.

Fig. 3: EMC-compatible connection of motor cables

22 Jetter AG

JetMove 204-480 2.1 Scope of Delivery

2 Installing the JetMove 204-480

2.1 Scope of Delivery

• Digital servo amplifier JetMove 204-480

• Mating connector plugged on

• Cable strap serving as strain relief and motor cable shield

• User manual

Installation Accessories (not included in the scope of delivery)

(Please obtain an individual offer from the Jetter headquarters, the Jetter subsidiaries or the distributors.)

System bus cable of cable confection # 530 x.x m; length: 0.2 m to 5.0 m. For details see chapter 7.9 "Jetter System Bus", page 73.

• Motor cable; refer to chapter 7.2 "Motor Connection", page 46

• Synchronous servo motors, e.g. the Jetter JL, JK or JH series

• HIPERFACE cable; please refer to chapter 7.4 "HIPERFACE Connection", page

• Resolver cable; refer to chapter 7.3 "Resolver Connection", page 55

• Motor circuit-breaker; refer to chapter 5 "Technical Data", page 35

• Circuit-breaker, see chapter 5 "Technical Data", page 35

• Thermostatic motor circuit-breaker; refer to chapter 7 "Description of

Connections", page 45

• Mounting screws, 2 pcs.; refer to fig. 5, page 33

Note:

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

Jetter AG 23

2 Installing the JetMove 204-480

2.2 Mechanical Installation

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

Please check the shipment for completeness.

Fix the cable strap serving as strain relief and motor cable shield next to connector X62 (see fig. 3, page 22).

To ensure proper functioning of the JetMove 204-480 check whether the mounting plate in the electric cabinet is unpainted.

The only possible mounting direction is vertical - see “Rear and front view of the JetMove 204-480 enclosure with mounting holes" on page 25.

Please make sure there is a clearance of at least 100 mm under and above the JetMove 204-480 - unobstructed ventilation must be ensured.

Please mark on the panel two positions for the fastening screw threads of the JetMove 204-480 (see fig. 4, page 25).

Drill the holes and cut the thread into the panel.

Screw the corresponding fitting bolts into the thread by approximately half of their length.

By means of the oblong holes in the rear plate, hang up the JetMove 204-480 by the fitting bolts; then screw them tightly.

24 Jetter AG

JetMove 204-480 2.2 Mechanical Installation

DETAIL A

348.5

310

277

21.

71.5

7.5

Fig. 4: Rear and front view of the JetMove 204-480 enclosure with mounting holes

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2 Installing the JetMove 204-480

2.3 Electrical Installation

Check for correct motor and servo amplifier assignment.

Compare rated voltage and continuous rated current of servo amplifier and motor. The motor must be isolated against voltages of DC 850 V min.; also refer to “Compatible AC Servo Motors" on page 39.

Connect the JetMove 204-480 according to the connection wiring diagram shown in chapter 10 "Connection Diagrams", page 83. Especially check the power lines for appropriate protection, see “Overload protection" on page 35. Protecting the motor cables is not advisable.

Select the cables according to standards.

Check whether all ground cables are connected (double earthing), see chapter 1.2.3 "Earthing procedure", page 15.

To connect resolvers or power units you can use prefabricated cables available from Jetter or opt for self-made cables. For details see chapter 7 "Description of Connections", page 45.

To ensure that installation is carried out in conformance with EMC regulations, the following items have to be observed especially: – If possible, run control cables and power cables separately; – Connect the encoder (resolver or HIPERFACE encoder); – 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. 3, page 22.

Please further note the chapter 1.4 "Instructions on EMI", page 20.

26 Jetter AG

JetMove 204-480 2.4 Checking the Installation

2.4 Checking the Installation

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

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.

2.5 Notes on Safety as regards the

Danger

Installation

HAZARD caused by high operating voltage and electric shock!

Extremely hazardous voltages of up to 850 V may occur!

Please observe the following precautions in order to avoid muscle cramps, burns, unconsciousness, respiratory standstill, etc., and death:

Have installation and maintenance jobs carried out by qualified personnel only, see chapter 1.1.3 "Qualified personnel", page 12.

Switch off the operating voltage.

Please take into account the information on residual dangers given in chapter 1.3.2 "Hazards after POWER has been turned OFF", page 19.

Before carrying out installation and maintenance jobs, separate the servo amplifier JetMove 204-480 and all connected devices from the mains (pull out the mains plug).

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2 Installing the JetMove 204-480

2.6 Notes on Safety as regards

HAZARD caused by high operating voltage and electric shock!

Extremely hazardous voltages of up to 850 V may occur!

Commissioning

Danger

Please observe the following precautions in order to avoid muscle cramps, burns, unconsciousness, respiratory standstill, etc., and death:

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

Prior to commissioning, please do the following:

Reattach dismantled protective equipment and check it for proper functioning. By doing so, you will prevent accidents resulting from moving parts.

Secure the servo amplifier JetMove 204-480 against accidental contact with conductive parts and components.

Only connect devices or electrical components to the signal lines of the digital servo amplifier JetMove 204-480 (Enable, Limit+/-, REF, BRAKE 1 and BRAKE 2) that have been sufficiently isolated against the connected electric circuits. These signal lines may only be connected with units that have got the ground potential of the DC 24 V power supply.

The digital servo amplifier JetMove 204-480 has got a leakage current greater than 3.5 mA. In order to avoid electric shocks, a second protective earth conductor will be required. For this, the measures listed in chapter 1.2.3 "Earthing procedure", page 15 must be taken.

Each commissioning, even a short functional test, must always be carried out with a PE (GND) bus correctly connected.

2.7 Notes on decommissioning

Before returning the device, remove the cable strap serving as strain relief and motor cable shield.

28 Jetter AG

JetMove 204-480 3 Operating Conditions

3 Operating Conditions

Operating Parameters

Ambient Conditions Reference

Transport conditions Temperature: DIN EN 50178

(Units within packing) -25 °C ... 70 °C

Air Humidity:

5% ... 95% No condensing

Storage conditions Temperature: DIN EN 50178

(Units within packing) -25 °C ... 55 °C

change 20 K/h max.

Air Humidity:

5 % ... 95 % No condensing

Max. Storage Time:

1 Year

Ambient temperature

Air humidity 5 % ... 85 %

Pollution degree 2 DIN EN 50178

Corrosion immunity / Chemical resistance

0 ... 45 °C (45 °C ... 55 °C with derating of 2.5 %/K) Take care for sufficient cooling

No condensing

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

DIN EN 50178

Operating altitude Up to 1,000 m above sea

level. 1,000 to 2,500 m above sea level with derating of

1.5 % per 100 m.

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DIN EN 50178

3 Operating Conditions

Operating Parameters

Mechanical Conditions Reference

Free falls withstanding test

Vibration resistance • 10 Hz ... 57 Hz: with an

Degree of protection IP20 DIN EN 60529

Mounting position Vertical (refer to Fig. 4, page

Electrical Safety Conditions Reference

Protection class I DIN EN 50178

Dielectric strength Power to Earth and

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

amplitude of 0.075 mm

• 57 Hz ... 150 Hz: 1.0 g constant acceleration

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

25)

For sufficient air flow there must be a clearance of 100 mm above and below the device

Power to Logic

2.65 kV, 2 s

DIN EN 50178 DIN EN 60068-2-31

DIN EN 50178 DIN EN 60068-2-6

DIN EN 61800-5-1 DIN EN 60146-1-1 DIN EN 60204

Insulation Power to Earth and

Power to Logic

> 1 MOhm at 500 V

Protective connection 12 V, 25 A, 0.1 Ohm DIN EN 60204

Overvoltage category III DIN EN 50178

DIN VDE 0110-1

Important!

Measures to avoid damages in transit and storage:

The packing material and the storage place are to be chosen in a way that the values given in the above table "Operating Parameters", page 29 are met.

30 Jetter AG

JetMove 204-480 3 Operating Conditions

EMC

Emitted Interference

Parameters Value Reference

Enclosure • Frequency band

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

• Frequency band 230 ... 1,000 MHz, limit 37 dB (μV/m) at 30 m (class B)

Mains alternating current

• Frequency band

0.15 ... 0.5 MHz, limit 79 dB(μV)

• Frequency band

0.5 ... 30 MHz, limit 73 dB(μV)

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.

Additional line filters can be helpful here. See "Line filter" on page 36.

EMC

Interference Immunity: Enclosure

Parameters Value Reference

RF Field, amplitudemodulated

ESD Contact discharge:

Jetter AG 31

Frequency band 80 ...1,000 MHz; test field strength 10 V/m AM 80 % with 1 kHz Criterion A

Test peak voltage 6 kV Criterion B

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

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

3 Operating Conditions

EMC

Interference Immunity: Power Lines and Power Interfaces

Parameters Value Reference

Conducted radio disturbances

Burst (fast transients) Test voltage 2 kV

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

Interference Immunity: Process, Measuring and Control Lines

Parameters Value Reference

Conducted radio disturbances

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

tr/tn 5/50 ns Repetition rate 5 kHz Criterion B

1 kV (Launching phase conductor against phase conductor) 2 kV (Launching phase conductor against ground potential) Criterion B

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

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

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

Burst (fast transients) Test voltage 2 kV

tr/tn 5/50 ns Repetition rate 5 kHz Criterion B

Interference Immunity: Signal Lines

Parameters Value Reference

Conducted radio disturbances

Burst (fast transients) Test voltage 1 kV

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

tr/tn 5/50 ns Repetition rate 5 kHz Criterion B

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

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

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

32 Jetter AG

JetMove 204-480 4 Physical Dimensions

4 Physical Dimensions

Fig. 5: Mounting dimensions of the JetMove 204-480 (in mm)

Jetter AG 33

4 Physical Dimensions

34 Jetter AG

JetMove 204-480 5.1 Electrical Specification

5 Technical Data

5.1 Electrical Specification

Electrical Specification

Rated voltage supply • 3-phase

Direct supply V Common mode of the voltage 2 % max. (voltage dips 10 ms max. at continuous power)

• 48 ... 62 Hz (Frequency change 2 % / s max.)

Power supply tolerance -15 % ... + 10 %

Inrush current limitation < 10 A limited to < 500 ms during the

switch-on sequence

= 3x400/480 V

rms

Overload protection For each phase an external overload

protection is required, for example – circuit-breaker 10 A C – fuse 10 A M (medium time lag) – motor circuit breaker 10 A

For systems with UL approval use overload protection devices that are UL listed (acc. to UL 508)(NKJH) self protected combination motor controller (Specification: 480 V, 16 A). The JetMove 204-480 is suitable for use on a circuit capable of delivering not more than 50 kA (symmetric) at 600 Volt eff. max.

Supply cable Cable size Material Temperature class

Maximum output voltage of the motor

Motor output current at an ambient temperature of 45 °C

4 * 1.5 mm Copper > 60 °C

850 V

Nominal current: I Peak current for a max. period of 3 minutes: I

rms

(The duration depends on the temperature of the heat sink)

See "Note 1!" on page 38.

= 8 A

min. (AWG 16)

= 4 A

rms

Continuous power of motor 2 kW (1.5 hp)

Jetter AG 35

5 Technical Data

Electrical Specification

Short-circuit protection, motor side Designed for:

• phase to phase

• phase to earth

Motor overload protection Refer to “Motor Protection" on page 39.

Motor cable Cable size Material Capacity Temperature class Max. length of motor cable

Line filter Line filter ensuring EMC

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

4 * 1.0 mm Copper < 150 pF/m > 60 °C max. 50 m (for greater length please contact Jetter AG)

environment to DIN EN 61800-3. The following filters can be applied with input circuits:

– FMAC-932-1610 with I – FMAC-932-2510 with I – FMAC-934-3610 with I

See "Note 2!" on page 38.

• DC 24 V (20 ... 30 V)

•

≤ 0.6 A

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

min. (AWG 16)

in a residential

= 16 A

= 25 A

= 36 A

Inrush current limitation of the processor logics

Internal ballast resistor • Resistor: approx. 120 .(PTC)

External ballast resistor In order to achieve greater brake power, an

Residual voltage To avoid hazard of electrical shock wait at

• The JM-204-480 is equipped with a 220 µF capacitor for buffering. The inrush current is not limited.

• Continuous pow er : 7 5 W a t t Power consumption depends on the present temperature of the heat sink

• Maximum capacity: 1 kW for 0.6 s

• Overload protection internal (warning and error)

external ballast resistor can be installed. For this, see “Connection of External Ballast Resistor and DC link Circuit of Another JM-204-480" on page 64.

least 7 minutes after switching-off the digital servo amplifier before attempting to pull out the plug or remove this unit (see page 19).

36 Jetter AG

JetMove 204-480 5.1 Electrical Specification

Electrical Specification

Leakage current > 3.5 mA

See "Danger" on page 38.

Digital inputs – Enable (E); – Reference switch (R); – Limit switch RH (L+); – Limit switch LH (L-); – Input (Inp)

Braking relays V

Digital outputs

DC 20 V ... 30 V related to the ground potential of voltage supply of processor logics, with an input current of 7.5 mA max. each.

See "Digital Inputs, Logic Power Supply" on page 70.

= DC 30 V

max

= DC 2 A

max

Contact: N/O connected to BR1 and BR2 on X10

The lines may only be connected to devices that are related to the same potential as the power supply of the controller logic.

Can be switched by the control program of PLC or by operating system of JetMove 204-480 together with software enable.

Number of outputs Type of outputs Rated voltage Voltage range

Load current Electrical isolation Protective circuit

Protection against inductive loads Signal voltage ON

Power dissipation P

4 Transistor pnp type 24 V 20 ... 30 V related to the ground potential of voltage supply of processor logics max. 0.5 A / output None Short-circuit, overload, overvoltage, overtemperature protection Yes Type V

supply

-1.5 V

Output stage: 65 W max. Logic circuit: 20 W max.

Jetter AG 37

5 Technical Data

120 °C

115 °C

I/I

80 °C 75 °C

Note 1!

Active Cooling:

• The fan is activated at 60 °C and deactivated at 40 °C.

• The temperature limit of the heat sink for overtemperature protection is dynamically set, depending on the overload limit.

Overload

Fig. 6: Maximum heat sink temperature depending on the motor current

Shutdown threshold for heat sink temperature monitoring Alarm threshold for heat sink temperature monitoring.

• The duration of operation by maximum motor current is evaluated by a starting temperature of 45 °C.

Note 2!

A line filter can supply several digital servo amplifiers, as long as If (line filter current) is greater than the total current required by all connected servo

amplifiers.

DANGER resulting from electric shock!

Danger

In order to prevent electric shocks, ground the digital servo amplifier JetMove 204-480 by all means via two positions; for this, refer to chapter 1.2.3 "Earthing procedure", page 15.

38 Jetter AG

JetMove 204-480 5.2 Motor Protection

Compatible AC Servo Motors

Motor types Jetter motors of the JH, JL and JK 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 types mentioned above, please contact Jetter AG.

5.2 Motor Protection

There are three ways of motor protection.

5.2.1 Built-in temperature sensor

JetMove 204-480 is able to run with three different temperature sensors:

Sensor type Type of sensor signal evaluation

KTY83-110 Temperature is measured in °C.

Warning level is adjustable. Error detection at max. temperature of motor.

PTC Go-no-go decision

Error detection at max. temperature of motor.

Temperature switch Go-no-go decision

Error detection at max. temperature of motor.

5.2.2 I²t calculation

The digital servo amplifierJetMove 204-480 calculates the model of motor power loss by an I²t calculation. The determined value is related to the average power loss of the motor. It is specified in percent of the maximum power loss of the motor. For this calculation it is important, that the parameters – nominal current (which is the minimum of nominal motor current and nominal

servo amplifier current). – current overload factor – and time constant of the motor are programmed correctly.

Jetter AG 39

5 Technical Data

xt() 100%

average motor current

set current

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





× 1e

---–

–







×=

tT 1

set current

average motor current

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





–ln×–=

The I²t calculation must 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 %.

The I²t value is readable in a register of JetMove 204-480 through JetSym or the PLC.

The digital servo amplifier JetMove 204-480 calculates the percentage of motor power loss according to the following formula:

x(t) = displayed value of 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 stop (x = 100 %) is a result of the following formula:

Important

After reset, the values of the important parameters are the following ones:

Continuous rated current: 4 A

Overload factor: 2

Motor time constant: 1800 s (30 min.)

With these parameters the 100 % error level will be reached if, for example the motor is run by a current of 8 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 204-480 is switched on (i. e. at the time of parameters of I²t calculation are written after switching on 24 V logic power supply).

5.2.3 Motor overload protection according to UL

The UL standard prescribes a motor overload detection for a servo amplifier that meets the following points:

40 Jetter AG

The "trip current" is defined to be 1.15 times the user-set nominal current.

JetMove 204-480 5.2 Motor Protection

• If the average motor current corresponds to the trip current the overload protection must switch off the motor after a limited time.

• If the average motor current is 2 times higher than the trip current the overload protection must switch of the motor after at least 8 minutes.

• If the average motor current is 6 times higher than the trip current the overload protection must switch off the motor after at least 20 seconds.

This protection (error message 31 will occur) can be parameterised only through the nominal current value. The motor overload protection is always active and cannot be deactivated.

Because of the fact that after reset the motor overload calculation always starts with zero, the result is wrong if the motor is already hot when the digital servo amplifier JetMove 204-480 is switched on (i. e. at the time of switching on the

Important

24 V logic power supply).

Jetter AG 41

5 Technical Data

42 Jetter AG

JetMove 204-480

6 Drive Controller Structure

Fig. 7: Block diagram of drive controller structure

Jetter AG 43

Drive controller specification

All drive controllers can be parameterized through the control program.

Function Meaning

Motor control (commutation) Space vector

modulation

PWM frequency 8 kHz

Current controller

– Cycle time 62.5 µs

Speed controller

– Cycle time – Current pre-control

Position feedback controller

– Cycle time – Speed pre-control

125 µs adjustable

250 µs adjustable

Position setpoint generator

– Sine-square and linear acceleration/deceleration

ramps

– Setpoint output cycle (position feedback controller

interpolation)

Position sensing Resolver:

– Resolution – Sampling interval Sine-cosine sensor (multi- and single-turn): – Interface – Resolution of absolute position – Resolution of velocity pickup – Sampling interval

can be parameterized individually 2 ms

12 bits per revolution

62.5 µs

HIPERFACE 15 bits per revolution 20 bits per revolution

62.5 µs

44 Jetter AG

JetMove 204-480 7.1 Power Supply Connection

V1 W1

yellow / green

Core 3

Line voltage 3

Core 2

Line voltage 2

Core 1

Line voltage 3

7 Description of Connections

7.1 Power Supply Connection

Specification of Terminal X1

• 4-pin male connector; screw connection (type: Phoenix PC 6/4-ST-10,16)

• Allowed conductor size: max. 0.5 ... 6 mm

(AWG 20 ... 7)

• Torque: 1.2 ... 1.5 Nm (10.6 ... 13.3 lbf-inch)

• Ambient temperature: max. 45 °C

• Field wiring

Specifications of Connecting Cable

• Cable size: min. 4 * 1.0 mm² (AWG 18)

• Material: Copper

• Temperature class: 60 °C

Shielding

• Not required

Power Supply

Amplifier Field

Wiring Terminal X1

U1 L1 • AC 400 ... 480 V

V1 L2

Power Lines Specification

between the power lines

W1 L3

PE (GND) PE / GND conductor

Fig. 8: Power supply connection

Jetter AG 45

7 Description of Connections

7.2 Motor Connection

7.2.1 General remarks

Important!

Measures to avoid malfunctions of the control system and the motor:

Always connect brake lines to a separate power supply unit DC 24 V if brake and motor lines are run together in one bunch of cables, and are not separately shielded.

Important!

Measures to avoid oscillation and blocking of the motor:

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

46 Jetter AG

JetMove 204-480 7.2 Motor Connection

If the motor is not equipped with a free-wheeling diode, it must be installed here. Jetter motors do have a free-wheeling diode! Recommended diode type: 1N4002

not

NOTE!

Connect shield

with the

greatest possible surface area

to the metallized

connector housing

7.2.2 Assignment and specification

Specification of Terminal X62

• 4-pin connector (type Phoenix PC 6 / 4 - ST - 10,16)

• Allowed conductor size: max. 0.5 ... 6 mm

(AWG 20 ... 7)

• Torque: 1.2 ... 1.5 Nm (10.6 ... 13.3 lbf-inch)

• Ambient temperature: max. 45 °C

• Field wiring

Specifications of Connecting Cable

• Cable size: min. 4 * 1.0 mm² (AWG 18)

• Material: Copper

• Temperature class: 60 °C

Shielding

• Braided copper shield of 80 % coverage

Connection of the motor to the digital servo amplifier JetMove 204-480 has to be done following the wiring diagram below. Connection of the brake is optional. In this case, the wires for the brake have to be at least 300 mm longer than the wires of the motor.

Fig. 9: Connection of motor lines

Jetter AG 47

7 Description of Connections

Solder

Side

7.2.3 Motor power cable with mating connector

Note!

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

Art. no. 15100070 Motor mating connector for the Jetter motor series JH2,

Art. no. 15100105 Motor mating connector for the Jetter motor series JH2,

JH3, JH4, JH5, JL2, JL3, JL4, JK4, JK5, JK6 without brake

JH3, JH4, JH5, JL2, JL3, JL4, JK4, JK5, JK6 with brake

Note!

The motor power cable with mating connector SC for the Jetter motor series JL2, JL3, JL4, JK5, JK6, JH2, JH3, JH4 and JH5 can be purchased from Jetter AG. It is equipped with the respective motor mating connector and can be ordered by the following cable confection numbers (KABEL-KONF-Nr.):

Without brake:

Cable confection no. 26.1

With brake:

Cable confection no. 24.1

Mating connector of the motor (solder side)

Fig. 10: View on the SC series mating connector of the motor (internal thread M23)

48 Jetter AG

JetMove 204-480 7.2 Motor Connection

Cable Specification of the Motor Power Cable with Mating Connector SC for JetMove 204-480

For connection without motor holding brake

Motor Power Cable - Cable Confection No. 26.1

Field Wiring

Terminals of the

JetMove 204-480

4 x 1.5 mm 16(4))

The wires are equipped with wire end ferrules.

Connect both sides of the shield with the greatest possible

(AWG

surface area! Use metallized housing only!

Shielded, highly flexible 4-wire cable with PE (GND)

Shielding Mating

Connector of

the Motor

(female, solder

side)

Pin Wire

Number

X62.U2 1 Phase 1 1

X62.V2 2 Phase 2 5

X62.W2 3 Phase 3 2

X62.PE (GND) yellow-green PE/GND grounding

Dimensions of the motor mating connector are specified in millimeters.

Jetter AG 49

Signal Pin

7 Description of Connections

For connection with motor holding brake

Motor Power Cable - Cable Confection No. 24.1

Field Wiring

Terminals of the

JetMove 204-480

(4 x 1.5 mm

1.5 mm (AWG 16(6))

The wires are equipped with wire end ferrules.

(2 x

))

Shielding Mating

Connector of the

Motor (female,

solder side)

Highly flexible 6-wire cable with PE (GND) (separately shielded brake lines and allover shielding)

Connect both sides of the shield

with the greatest possible surface

area!

Use metallized housing only!

Pin Wire Number Signal Pin

X62.U2 1 Phase 1 1

X62.V2 2 Phase 2 5

X62.W2 3 Phase 3 2

X62.PE

(GND)

X10.BRAKE2 5 Brake + 6

X10.GND 4 Brake - 4

Dimensions of the motor mating connector are specified in millimeters.

yellow-green PE / GND

grounding

50 Jetter AG

JetMove 204-480 7.2 Motor Connection

Solder Side

7.2.4 Motor power cable with mating connector

Note!

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

Article no. 60860443 Motor mating connector for the motor series JL5,

JL6, JL7, JL8, and JK7

Note!

The motor power cable with mating connector SM, matching the Jetter motor series JL5 to JL8 and JK7, can be obtained from Jetter AG. It is equipped with the respective motor mating connector and can be ordered by the following cable confection numbers (KABEL-KONF-Nr.):

Without brake:

Cable confection no. 201

With brake:

Cable confection no. 202

Mating connector of the motor (solder side)

Fig. 11: View on the SM series mating connector of the motor (internal thread M40)

Jetter AG 51

7 Description of Connections

Cable Specification of the Motor Power Cable with Mating Connector SM for JetMove 204-480

For connection without motor holding brake

Motor Power Cable - Cable Confection No. 201

Field Wiring

Terminals of the

JetMove 204-480

4 x 4 mm (AWG 12(4))

The wires are equipped with wire end ferrules.

Shielding Mating

Connector of the

Motor (female,

solder side)

Shielded, highly flexible 4-wire cable with PE (GND).

Connect both sides of the shield

with the greatest possible surface

area!

Use metallized housing only!

Pin Wire Number Signal Pin

X62.U2 1 Phase 1 U

X62.V2 2 Phase 2 V

X62.W2 3 Phase 3 W

X62.PE

(GND)

Dimensions of the motor mating connector are specified in millimeters.

52 Jetter AG

yellow-green PE / GND

conductor

JetMove 204-480 7.2 Motor Connection

For connection with motor holding brake

Motor Power Cable - Cable Confection No. 202

Field Wiring

Terminals of the

JetMove 204-480

(4 x 4 mm² + (2 x

0.5 mm (AWG 12(4) + AWG 20(2))

The wires are equipped with wire end ferrules.

))

Shielding Mating

Connector of the

Motor (female,

solder side)

Highly flexible 6-wire cable with PE (GND) (separately shielded brake lines and allover shielding)

Connect both sides of the shield

with the greatest possible surface

area!

Use metallized housing only!

Pin Wire Number Signal Pin

X62.U2 1 Phase 1 U

X62.V2 2 Phase 2 V

X62.W2 3 Phase 3 W

X62.PE

(GND)

X10.BRAKE2 5 Brake + +

X10.GND 6 Brake - -

Dimensions of the motor mating connector are specified in millimeters.

yellow-green PE / GND

conductor

Jetter AG 53

7 Description of Connections

7.2.5 Connection assignment of terminal box

Connection Assignment of Terminal Box

for the Jetter Motor Series

Field Wiring Terminals

of the Amplifier

X62.U2 PIN 1 Phase 1

X62.V2 PIN 2 Phase 2

X62.W2 PIN 3 Phase 3

X62.PE (GND)

X10.BRAKE2 PIN 7 Brake +

X10.GND PIN 8 Brake -

*) alternative to motor connectors

Motor Terminal Box - Terminal Assignment

PIN 4 PE / GND

conductor

54 Jetter AG

JetMove 204-480 7.3 Resolver Connection

Solder Side

10 2

7.3 Resolver Connection

7.3.1 Specification

Specifications of the Mating Connector for X61

• 9-pin male SUB-D connector

• Metallized enclosure

Specification of Resolver Cable

• Cable size: 4 * 2 * 0.14 mm² (AWG 26(8))

• 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

• Max. cable length: 50 m

7.3.2 Resolver cable with mating connector

Note!

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

Article no. 15100069 Resolver / HIPERFACE

The complete resolver cable between the servo amplifier series JetMove 2xx and the Jetter motor series JL, JK, and JH can be ordered from Jetter AG. It can be ordered by supplying the following cable confection number:

Cable confection no. 23 for the servo amplifier series JetMove 2xx

Mating connector of the resolver (solder side)

Fig. 12: View on the RC series mating connector of the resolver (internal thread M23)

Jetter AG 55

7 Description of Connections

Shield

mating connector

solder side

Resolver Cable - Cable Confection No. 23

JetMove 2xx

(SUB-D connector

X61)

Attaching screws must have a metric thread!

Pin Signal Core Color Pin

8 Cosine + red 1

Shielding Motor

(Resolver)

(female,

solder side)

Connect shield with the greatest

possible surface area!

Use metallized housing only!

3 Cosine - blue 2

2 Sine - yellow 3

7 Sine + green 4

1 R1R (exciter

pink 5

winding +)

6 R2L (exciter

gray 6

winding -)

9Th1

white 7

(thermal sensor)

4Th2

brown 8

(thermal sensor)

- unassigned - 9 - 12

Dimensions of the resolver mating connector are specified in millimeters.

56 Jetter AG

JetMove 204-480 7.4 HIPERFACE Connection

7.4 HIPERFACE Connection

7.4.1 Specification

Specifications of the Mating Connector for X61 (ENCODER)

• 9-pin male SUB-D connector

• Metallized enclosure

Specification of HIPERFACE Cable

• Cable size: 4 * 2 * 0.14 mm² + 2 * 0.5 mm² (AWG 26(8) + AWG 20(2)) 2 * 0.5 mm² (AWG 20(2)) must be used for the power supply unit and for GND.

• Cores have to be twisted in pairs and have to be included in an overall shielding.

• The following signal lines have to be twisted in pairs: Sine + and reference sine Cosine+ and reference cosine DATA - and DATA + 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

• Max. cable length: 50 m

7.4.2 HIPERFACE cable with mating connector

Note!

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

Article no. 15100069 Resolver / HIPERFACE

The complete HIPERFACE cable between the servo amplifier series JetMove 2xx and the Jetter motor series JL, JK, and JH can be ordered from Jetter AG. It can be ordered by supplying the cable designation and the respective cable length in cm:

KAY_0723-xxxx for the digital servo amplifier series JetMove 2xx

Jetter AG 57

7 Description of Connections

Solder Side

10 2

HIPERFACE mating connector (solder side)

Fig. 13: RC series HIPERFACE mating connector (internal thread M23)

58 Jetter AG

JetMove 204-480 7.4 HIPERFACE Connection

Shield

mating connector

solder side

HIPERFACE Cable - KAY_0723-xxxx

JetMove 2xx

(SUB-D connector

X61)

Attaching screws must

have a metric thread!

Pin Signal Core Color Pin

- unassigned - 1

- unassigned - 2

Shielding Motor

HIPERFACE

(female,

solder side)

Connect shield with the greatest

possible surface area!

Use metallized housing only!

7 Sine + white 3

2 Reference sine brown 4

8 Cosine + green 5

3 Reference cosine yellow 6

6 DATA - (RS-485) gray 7

1 DATA + (RS-485) pink 8

40 Vblue9

5 Power supply

red 10

(7 through 12 V)

9 Thermal sensor black 11

Thermal sensor - 12

Pin 9 and pin 12 are short-circuited

Dimensions of the HIPERFACE mating connector are specified in millimeters.

Jetter AG 59

7 Description of Connections

7.5 Sin-Cos Encoder Connection

7.5.1 Adapter

An adapter is needed for connecting a sin-cos encoder. This adapter can be obtained from Jetter AG by the following specification:

JM-200-ENC-ADAP (Article # 10000430)

Another 9-pin SUB-D connector of the encoder cable can be connected to this adapter. Further, this adapter allows for connecting an individual temperature sensor of the motor, as normally these signals are not conducte via the encoder cable, if a sin-cos encoder is used.

7.5.2 Specification

Specifications of the Mating Connector for X61 (ENCODER)

• 9-pin male SUB-D connector

• Metallized enclosure

Sin-Cos Encoder Cable Specifications

• Cable size: 2 * 2 * 0.14 mm² + 2 * 0.5 mm² (AWG 26(4) + AWG 20(2)), if there is no index signal.

• Cable size: 3 * 2 * 0.14 mm² + 2 * 0.5 mm² (AWG 26(6) + AWG 20(2)), if there is no index signal.

• 2 * 0.5 mm² (AWG 20(2)) must be used for the power supply unit and for GND.

• Cores have to be twisted in pairs and have to be included in an overall shielding.

• The following signal lines have to 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

• Max. cable length: 100 m

60 Jetter AG

JetMove 204-480 7.5 Sin-Cos Encoder Connection

7.5.3 Connection diagram

Fig. 14: Sin-cos encoder connection with adapter

Jetter AG 61

7 Description of Connections

Shield

Sin-Cos Encoder Cable

JetMove 2xx

(SUB-D Connector

X61) with Adapter

JM-200-ENC-ADAP

Attaching screws must

have a metric thread!

Pin Signal

7Sine +

2 Reference sine

8Cosine +

Shielding

Connect shield with the greatest possible surface

area!

Use metallized housing only!

3 Reference cosine

1 Index +

6 Reference index

40 V

5 Power supply (5 V - 100 mA max.)

9unassigned

62 Jetter AG

JetMove 204-480 7.5 Sin-Cos Encoder Connection

Important!

To be considered before connecting sin-cos encoders

If a sin-cos encoder is to be used, commutation finding always has to be carried out after applying the logic power supply and before giving the first enable. If this is not considered, the motor might move uncontrollably.

The counting direction of the position in the JetMove 2xx is reversed in the following cases: Case 1: The signal sine+ is exchanged with the signal cosine+, and the signal reference-sine is exchanged with the signal reference cosine Case 2: The signal sine is exchanged with the signal reference sine Case 3: The signal cosine is exchanged with the signal reference cosine

Due to conduction loss, a voltage smaller than 5 V might reach the encoder. If necessary, the encoder supply cords have to have a greater diameter.

If a motor temperature sensor is not used, the inputs have to be shortcircuited at the adapter, so the JetMove 2xx will not give an error message.

Jetter AG 63

7 Description of Connections

7.6 External Ballast Resistor and DC

Connection of External Ballast Resistor and DC link

Link Connection

Circuit of Another JM-204-480

Danger

Field Wiring Terminals

X63

- Negative pole of the DC link voltage

+ Positive pole of the DC link voltage

int

Connection with the internal ballast resistor (for this purpose, it must be connected with BR

Reference potential for the ballasting circuit

Connector Pin Assignment

)

HAZARD caused by high operating voltage!

Extremely hazardous voltages of up to 850 V may occur!

Please, observe the following precautions in order to avoid injuries such as muscle cramps, burns, unconsciousness, respiratory standstill, etc., and possibly death:

A high DC link voltage is applied to each of the eight terminals X63!

Please do never establish a connection to these terminals, while power is being supplied to the JetMove 204-480 or up to 7 minutes after having separated the JetMove 204-480 from the power supply.

Ballast System

When a mechanic system is braked by the motor, the energy will be given back to the servo amplifier. This energy is led to the ballast resistor to convert it into heat. The ballast resistor is switched into the DC link circuit by the ballast circuit. The JetMove 204-480 is supplied with an internal ballast resistor. If the power that is supplied back is too high for the internal resistor, an external ballast resistor can be added. It is also possible to run the JetMove 204-480 with an external ballast resistor only.

64 Jetter AG

JetMove 204-480 7.6 External Ballast Resistor and DC Link Connection

BRint

UB- UB-

UB+

UB+ UB+ BRc

BRc

BRint

UB- UB-

UB+

UB+ UB+ BRc

BRc

Use of internal ballast resistor (delivered condition)

Fig. 15: Wiring of X63 for connecting the internal ballast resistor

For the use of the internal ballast resistor the terminal BRint and one BRc terminal of X63 have to be connected. This is the standard wiring of the JetMove 204-480 in delivered condition by Jetter AG.

The JetMove 204-480 is measuring the load of the ballast resistor and sets a warning bit, if the ballast load reaches a specific value. If the resistor is overloaded, an error occurs (error F06). In this case, an external ballast resistor has to be used.

Use of external ballast resistor in addition to the internal ballast resistor

Fig. 16: Wiring of X63 for connecting the internal and external ballast resistor

Mount the external ballast resistor between a terminal UB+ and a terminal BR

Jetter AG 65

7 Description of Connections

BRint

UB- UB-

UB+

UB+ UB+ BRc

BRc

Parameters of external ballast resistor for this configuration:

Value of the resistor: 120

Continuous output: 75 W or greater

Maximum capacity: 1 kW for 0.6 s

Type: Low inductivity

This configuration causes the energy dissipation to be twice as high as it would be if configured with an internal resistor only. Still, half of the heat is still emitted inside the cover of the amplifier.

In order to prevent this, a third variety of a configuration can be chosen:

Use of external ballast resistor instead of the internal ballast resistor

Fig. 17: Wiring of X63 for connecting the external ballast resistor

Mount the external ballast resistor between a terminal UB+ and a terminal BR Remove the bridge between BR

and BRc.

int

66 Jetter AG

JetMove 204-480 7.6 External Ballast Resistor and DC Link Connection

Parameters of external ballast resistor in this configuration:

Value of the resistor: 120

Continuous output: 75 W or greater

Maximum capacity: 1 kW for 0.6 s

Type: Low inductivity

These are the same values as with the internal resistor.

As an alternative, the following parameters can apply to a resistor:

Value of the resistor: 60

Continuous output: 150 W or greater

Maximum capacity: 2 kW for 0.6 s

Type: Low inductivity

This configuration causes the energy dissipation to be twice as high as it would be if configured with an internal resistor only. With both resistors, the internal overload control is working as well as using the internal ballast resistor only.

Coupling DC Link Circuits of Two or Three JetMove 204-480

Another way uf utilizing the braking energy of the motor is to couple the DC links of several JetMove 204-480. In most cases, not all axes of a machine have to decelerate at the same time. This way, other axes can use the feedback energy for acceleration. The coupling both reduces the heat inside the amplifier emitted by the ballast resistor and leads to higher dynamic performance, provided that not all axes accelerate at the same time.

Jetter AG 67

7 Description of Connections

BRint

UB- UB-

UB+

UB+ UB+ BRc

BRc

BRint

UB- UB-

UB+

UB+ UB+ BRc

BRc

BRint

UB- UB-

UB+

UB+ UB+ BRc

BRc

Fig. 18: Wiring of X63 for coupling DC link circuits of up to three JetMove 204-480

Coupling DC links guarantees equal distribution of load for all internal ballast resistors. A special ballast circuit ensures that the braking energy which is not used by another amplifier is equally distributed among all ballast resistors.

Important!

Requirements on the coupling of DC link circuits:

Before connecting a coupled JetMove 204-480, completely connect all wires of X63.

Otherwise the device could be damaged!

Do not couple more than three JetMove 204-480.

Do not couple JetMove 204-480 with other amplifier types.

Do not release the other JetMoves 204-480 if one of the coupled devices is not ready for operation.

The power supplies of coupled JetMoves 204-480 have to be activated and deactivated simultaneously. For this reason, please connect the supply lines of the coupled JetMove 204-480 with exactly the same contactor and the same fuses, identical cable diameters and cable lengths (difference <0.5 m).

68 Jetter AG

JetMove 204-480 7.6 External Ballast Resistor and DC Link Connection

The minimum cable size for a DC link coupling is 4 mm² (AWG 12).

The maximum cable length between two JetMoves 204-480 is 0.5 m.

It is also possible to combine coupled DC links with external ballast resistors. In this case, it is important to use identical resistors and cables for all coupled JetMove 204-480.

Jetter AG 69

7 Description of Connections

7.7 Digital Inputs, Logic Power Supply

Specification of terminal X10

• 10-pin spring tension terminal (type ZEC 1,0/10-ST-3,5)

• Diameter of the cable apt for connecting: 0.2 ... 1 mm with bootlace ferrules in a plastic sleeve: 0.25 ... 0.75 mm

• Bladed screw-driver: 0.4 x 2.5 mm

(AWG 24 ... AWG 16)

Digital Inputs, Logic Power Supply

Wiring

Terminal

X10 at the

Amplifier

ENABLE Hardware

REF Reference

Signal Function Specification

• A high signal at this enable for the power supply of the motor (input)

switch (input)

input is necessary for the motor to be supplied (the power supply has to be connected before software enable).

• A low signal de-

energizes the motor immediately.

• Depending on the

parameter setting, this input is used for referencing.

(AWG 24 ... AWG 18)

• DC 24 V

• 7.5 mA max.

• Operating point: < 6 V low, > 15 V high

• DC 24 V

• 7.5 mA max.

• Operating point: < 6 V low, > 15 V high

LIMIT + Positive limit

switch (input)

LIMIT - Negative

limit switch (input)

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

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

NC or NO contact

• DC 24 V

• 7.5 mA max.

• Operating point: < 6 V low, > 15 V high

NC or NO contact NC contact recommended

• DC 24 V

• 7.5 mA max.

• Operating point: < 6 V low, > 15 V high

NC or NO contact NC contact recommended

70 Jetter AG

JetMove 204-480 7.7 Digital Inputs, Logic Power Supply

⊥

INPUT Digital input • Depending on the

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

Common ground

DC 24 V Power

supply for the controller logic

BRAKE 1 Braking relay

contact Br1

BRAKE 2 Braking relay

contact Br2

Relay contact for motor holding brake

The relay can be operated either by the control program or by the firmware of the JetMove 204-480 at release of the motor current.

Important Note!

A free-wheeling diode is necessary if not integrated in the motor already. In Jetter motors, freewheeling diodes have not been integrated! Recommended diode type: 1N4002

is connected to the GND of the control system

• DC 24 V

• 7.5 mA max.

• Operating point:

< 6 V low, > 15 V high

GND

for all inputs and supply of the logic

GND

for all inputs and supply of the logic

DC 20 ... 30 V (I < 0.8 A)

= DC 30 V

max.

= DC 2 A

max.

Contact: Type NO

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

For connection diagram please refer to “Connection Diagrams", page 83.

Jetter AG 71

7 Description of Connections

24V

24 V

0 V

Load

X31

7.8 Connection Details for Digital Outputs

Digital Outputs

Terminals X31 on the

Signal Specification

Amplifier Side

DC 24 V Power supply for the

outputs

1 2

Digital output signals (PNP outputs)

DC 20 ... 30 V with I = max. 2 A (max. 0.5 A per output)

See

“Digital outputs", page 37. 3 4

0 V Common ground Ground

is connected to the GND of the control system

Fig. 19: Connection details for digital outputs

72 Jetter AG

JetMove 204-480 7.9 Jetter System Bus

7.9 Jetter System Bus

The Jetter system bus is used for connecting the JetMove 204-480 to the PLC and to other JetMoves or Jetter PLC modules. The system bus input BUS-IN is a 9-pin SUB-D male connector, while the output BUS-OUT is a 9-pin SUB-D female connector.

7.9.1 Specifications of the Jetter system bus cable

Specification of Connectors

BUS-OUT side (X19)

• 9-pin male SUB-D connector

• Metallized housing

BUS-IN side (X18)

• 9-pin female SUB-D connector

• Metallized housing

System bus cable specification

For manufacturing a system bus cable, the following minimum requirements have to be considered:

System Bus Cable - Technical Data

Function Description

Core cross-sectional area 1 MBaud: 0.25 to 0.34 mm

500 kBaud: 0.34 to 0.50 mm

250 kBaud: 0.34 to 0.60 mm

125 kBaud: 0.50 to 0.60 mm

Cable capacitance Maximum 60 pF / m

Resistivity 1 MBaud: Maximum 70 /km

500 kBaud: Maximum 60 /km

250 kBaud: Maximum 60 /km

125 kBaud: Maximum 60 /km

(AWG 24 to 22)

(AWG 22 to 20)

(AWG 22 to 19)

(AWG 20 to 19)

Number of cores 5

Shielding Complete shielding, no paired shielding

Twisting Core pairs CL and CH must be twisted.

Material Copper

Temperature class 60 °C

Jetter AG 73

7 Description of Connections

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

Line Length

System Bus Cable - Cable Confection Number 530

Shielding

BUS-OUT Connect shield with the greatest

possible surface area!

Use metallized housing only!

Pin Signal Pin

1CMODE01

2CL2

3GND3

4CMODE14

5TERM5

6 unassigned 6

7CH7

8 unassigned 8

9 Do not connect 9

BUS-IN

74 Jetter AG

JetMove 204-480

5 V

L 2 L 3

L 1

8 Status Monitoring

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

JetMove 204-480 - LEDs

LED Color Meaning

5 V Green Logic module voltage is OK

L1 Yellow Axis is standing still (speed = 0)

L2 Yellow A voltage of 24 V is applied to the input of

the positive limit switch (LIMIT+).

L3 Yellow A voltage of 24 V is applied to the input of

the negative limit switch (LIMIT-).

Note!

The seven-segment display of the output stage indicates the operating and fault conditions of the digital servo amplifier. The various display modes are set by the Motion Setup. Mode 0 (default) is used for normal operation and mode 1 for commissioning.

JetMove 204-480 - 7-Segment Display

Mode 0: Normal Operation

Color Status Meaning

0 NOT READY TO BE

SWITCHED ON

1 SWITCH-ON INHIBIT Initialization completed. Safe state

2 READY TO BE SWITCHED ONDrive controller was disabled by

Initialisation of amplifier functions

achieved after initialization and acknowledgement of errors. The drive controller can be switched on.

software command. The drive controller can be switched on.

3 SWITCHED ON DC link monitoring is activated.

4 OPERATION_ENABLED The drive controller is enabled.

7 QUICK STOP ACTIVATED A quick stop has been activated.

The drive was decelerated to zero speed and then locked.

Jetter AG 75

JetMove 204-480 - 7-Segment Display

Mode 0: Normal Operation

E ERROR REACTION

ACTIVATED

F MALFUNCTION The drive controller is locked, error

F X. X. ERROR NUMBER Error of number X. X. has occurred.

. Flashing dot Warning activated

0. Flashing "ZERO" Boot sector has been activated

C. Flashing "C" OS flash gets deleted

E. Flashing "E" OS flash gets deleted

L. Flashing "L" OS loader gets loaded

P. Flashing "P" OS is transferred to the flash memory

U. Flashing "U" The boot sector waits for OS update

A fault has been recognized. An adjustable error reaction may be activated.

can be acknowledged.

JetMove 204-480 - 7-Segment Display

Mode 1: Commissioning

Color Meaning Meaning

b M > 0, n > 0 --> quadrant I Mode of operation -

c M < 0, n > 0 --> quadrant II Mode of operation -

e M < 0, n < 0 --> quadrant III Mode of operation -

f M > 0, n < 0 --> quadrant IV Mode of operation -

a The positive current limit has been

d The negative current limit has been

Actual Value

reached

< 0,5 % n

max.

Motor

Generator

Motor

Generator

76 Jetter AG

JetMove 204-480 9.1 Error Messages

9 Diagnostics

9.1 Error Messages

Note!

In the case of an error message, the letter "F" and two successive numbers appear on the 7-segment display every second.

Error Message Table JetMove 204-480

Error number

F 00 Hardware error Internal hardware

F 01 Internal supply

F 02 Mains phase

F 03 Motor cable

Error type Description Response to

defect

One or more power

error

breakage

supply voltages are beyond their limits.

Failure of one of the mains phases.

The motor cable is broken

Be careful: The motor cable is tested when the drive controller is enabled for the first time.

errors

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

Troubleshooting

– Cut drive controller from

power lines

– Return the amplifier for

repair

– Cut drive controller from

power lines

– Return the amplifier for

repair

– Check fuses and wiring – Acknowledge the error

– Check the motor cable

connections

– Acknowledge the error

F 04 Overvoltage in

the DC link

Jetter AG 77

A DC link voltage >850 V has been detected.

– Immediate

motor power disable

– Check input voltage

supply.

– If the motor is used as

generator, reduce the regenerating power.

– Acknowledge the error

Error Message Table JetMove 204-480

Error number

F 05 Current overload Output current was

F 06 Ballast resistor

F 07 Overtemperature

F 08 Motor

Error type Description Response to

greater than 2.5 x rated current.

The ballast resistor

overload

of the device

overtemperature

has been overloaded

The amplifier has reached the maximum temperature

The motor has reached the maximum temperature Also refer to “Builtin temperature sensor", page 39.

errors

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

Troubleshooting

– Check motor cable for

short circuit between lines or lines to earth

– Check current

regulations. Correct the parameters, if required

– Acknowledge the error

– Let the amplifier cool

down

– After cooling down,

acknowledge the error

– Reduce regeneration

power

– Let the amplifier cool

down

– After cooling down,

acknowledge the error

– Reduce power of drive

system

– Let the motor cool down – After cooling down,

acknowledge the error

– Reduce the average

load of motor

F 09 Encoder failure Encoder breakage

or initialisation error

F 10 Overspeed The actual shaft

speed has exceeded a value of 1.25 x maximum speed.

F 11 Current

overrange

A current temporarily too high has been detected

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– For extended

diagnostics purposes use motion setup

– Check the encoder line

and all plug-in connections

– Acknowledge the error

– Check motor and

encoder connections

– Check the speed

controller parameters. Modify parameters, if required.

– Acknowledge the error

– Reduce Kp of the

current controller by 10 to 20 %

– Acknowledge the error

78 Jetter AG

JetMove 204-480 9.1 Error Messages

Error Message Table JetMove 204-480

Error number

F 12 Ground fault One or more

F 13 (combined with F00)

F 14 (combined with F 00)

F 15 The hardware

Error type Description Response to

phases of the motor cable or inside the motor have been shortcircuited to earth

Internal checksum error

Internal communication error

enable is missing

An internal checksum error has occurred

An internal communication error has occurred

The software enable is given without a hardware enable.

errors

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

Troubleshooting

– Check the motor cable

and the motor

– Acknowledge the error

– Switch the 24 V supply

off and on again

– If the error occurs

repeatedly, return the amplifier for repair

– Switch the 24 V supply

off and on again

– If the error occurs

repeatedly, return the amplifier for repair

– Disable the drive by

means of the software

– Acknowledge the error

F16 Power input

overcurrent

F 17 Software limit

switch has been actuated

F 18 Hardware limit

switch has been actuated

The current at the power input is too high

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

One hardware limit switch has tripped

– Immediate

motor power disable

– Stop at max.

current (max. torque)

– Stop at max.

current (max. torque)

– Check input voltage – Reduce mechanical

power of the motor

– Acknowledge the error

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

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

– Check target position – Check reference

position – Acknowledge the error – Return the axis to a

position within the

machine travel limits

(monitoring of hardware

limit switches is re-

enabled automatically at

entering this range)

Jetter AG 79

Error Message Table JetMove 204-480

Error number

F 20 Undervoltage in

F 21 Overvoltage DC

F 22 The drive has

F 23 Tracking error The tracking error

Error type Description Response to

The DC link the DC link voltage

link voltage

stalled

voltage is less than

the minimum value

The DC link

voltage has

exceeded the

maximum value

The drive could not

overcome the n = 0

threshold within the

time limit specified

by the parameter

"blocking-triping

time".

has exceeded the

limit defined in

parameter

"tracking error

limit" for the time

specified in

"tracking window

time".

errors

– Stop with

emergency stop ramp

– Stop with

emergency stop ramp

– Immediate

motor power disable

– Stop with

emergency stop ramp

Troubleshooting

– Check the voltage of the

power line

– Check the parameter

min. trip"

– Acknowledge the error

– Check the voltage of the

power line

– In generator operation

reduce braking power

– Acknowledge the error

– Eliminate the cause of

stalling

– Acknowledge the error

– Check the drive

mechanism

– Check steepness of

acceleration/ deceleration ramps and amplifier parameters in relation to the parameters "tracking error limit" and "tracking window time"

– Acknowledge the error

F 24 (combined with F 01)

F 25 - F 27 (combined with F 01)

F 28 Error in power

F 29 Mains power too

80 Jetter AG

Error in 24 V supply voltage

Internal supply error

charging circuit

high

External 24 V

supply was lower

than 18 V

One or more

internal supply

voltages has fallen

below their limit

The input current

limitation circuit is

defective

The average mains

power is too high

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– Check external power

supply

– Acknowledge the error

– Note the number of error – Return the amplifier for

repair

– Note the number of error – Return the amplifier for

repair

– Acknowledge the error – Reduce the average

load of motor

JetMove 204-480 9.2 Alarms

Error Message Table JetMove 204-480

Error number

F 30 I²t error The average power

F 31 Motor overload

Error type Description Response to

loss of the motor was more than the max. value configured by nominal motor current, overload factor and motor time constant Refer to “I²t calculation", page 39.

Average motor

protection to UL

power loss was higher than the definition according to UL. See chapter 5.2.3 "Motor overload protection according to UL", page 40

errors

– Immediate

motor power disable

– Immediate

motor power disable

Troubleshooting

– Let the motor cool down – After cooling down,

acknowledge the error

– Check the configuration

of nominal motor current, overload factor and motor time constant

– Reduce the average

load of motor

– Let the motor cool down – Acknowledge the error – Reduce the average

load of motor

F 38 Asymmetric

encoder signal

F 39 Error at

commutation finding

F 42 Malfunction of

encoder 2 (only for the option CNT)

9.2 Alarms

If the dot in the display is flashing, one or several warnings have been recognized. Please check in the motion setup or by issuing the motion commands in the PLC program which warning is active.

The analog sinecosine signals have not got the same amplitude.

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

Encoder breakage or initialisation error of the encoder

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– Check wiring or encoder

signals

– Acknowledge the error

– Check parametering – Check wiring or encoder

signal

– Acknowledge the error

– Check the encoder line

and all plug-in connections

– Acknowledge the error

Jetter AG 81

82 Jetter AG

JetMove 204-480

X62

Motor

X63

X61

ENCODER

24 V

Gnd

X18

BUS-IN

X19

BUS-OUT

9-pin

SUB-D

R2 R1 S4 S2 S1 S3 T1 T2

61 278394

ENABLE

LIMIT + LIMIT REF INPUT

DC BRAKE 1 BRAKE 2

24 V 0,6 A

⊥ ⊥

DC24V

1 2 3

X31

Digital outputs

3 x AC 400 V

Br +

Br -

L3L2L1

Filter

L1’

L2' L3’

U2V2W2

Contactor

Load for digital

outputs

X10

Dig. inputs,

logic power supply

Bus cable coming from the previous bus member

Bus cable leading to the next bus member

External ballast resistor and DC links for connection with further devices

Note!

A free-wheeling diode is needed, in case it has not been integrated in the motor yet. In Jetter motors, freewheeling diodes have

been integrated! Recommended diode type: 1N4002

not

10 Connection Diagrams

refer to page 73 refer to page 64

Fig. 20: Connection diagram JetMove 204-480-RE

Jetter AG 83

JetMove 204-480

X62

Motor

X63

X61

ENCOER

24 V

Gnd

X18

BUS-I

X19

BUS-OUT

9-pin

SUB-D

D+ D- Sin R-Si Cos R-Co

Ter

16 7283 4

ENABLE

LIMIT + LIMIT REF INPUT

DC BRAKE 1 BRAKE 2

24 V 0,6 A

⊥ ⊥

DC24V

1 2

3 4 0V

X31

Digital outputs

3 x AC 400 V

Br +

Br -

PEL3L2L1Filter

L1’

L2' L3’

U2V2W2

Contactor

Load for

digital outputs

X10

Dig. inputs

Logic power

supply

Bus cable coming from previous bus member

Bus cable leading to the next bus member

External ballast resistor and DC link

for connection with further devices

U+

Note!

A free-wheeling diode is needed, in case it has not been integrated in the motor yet. In Jetter motors, free-wheeling diodes have not been integrated yet. Recommended diode type: 1N4002

refer to page 73 refer to page 64

Fig. 21: Connection diagram JetMove 204-480-HI

84 Jetter AG

JetMove 204-480

Key to the connection diagrams:

1 Line filter (optional) (refer to “Line filter" on page 36)

2 Mains protection (refer to “Overload protection" on page 35)

3 Motor

4 Motor holding brake (optional)

5 Position transducer (resolver or absolute encoder with

HIPERFACE)

6 Motor overtemperature protection

Jetter AG 85

86 Jetter AG

JetMove 203B-230 11.1 Function

11 Analog Input (Option)

11.1 Function

For the digital servo amplifier JetMove 204-480, an optional integrated analog input card can be ordered (article designation of the device: JM-204-480...-IA1). This card supplies an analog input of a 12-bit resolution. The converted value of the measured voltage can be read by a register of the JetMove in the PLC program or processed by the firmware of the JetMove in an additional controller. This way it is possible, for example, to realize a pressure control loop in which the motor controlled by the JetMove generates the pressure. In this case, a pressure sensor in the machine connected to the analog input of the JetMove would deliver the actual pressure value to the control loop.

11.2 Technical Data

Technical Data for the Analog Input

Connection SUB-D connector (male) at the device

Voltage range 0 ... 10 V

Input current max. 1.4 mA

Resolution 12 bits

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

Electrical isolation None

Accuracy Zero error Gain error

max. ± 5 LSB (± 40 values) corresponds to ± 12.2 mV max. ± 20 LSB (± 160 values) corresponds to ±48.8mV

Jetter AG 87

11 Analog Input (Option)

Shield

11.3 Description of Connections

Specification of the mating connector for X72

• SUB-D, 9-pin female connector

• Metallized enclosure

Specification of the cable to the analog input

• Cable size: 2 * 0.14 mm² min. (AWG 26(2))

• Cores have to be twisted and shielded.

• Shielding has to be connected to the connector housings on both sides.

• Material: Copper

• Temperature class: 60 °C

Pin Assignment of the Analog Input

Shielding

X72 Connect shield with the greatest possible surface area!

Use metallized enclosure only!

Pin Signal

1 Analog signal (0 - 10 V to pin 6)

6 - 9 Analog GND (connected to earth in device)

2 - 5 Keep unoccupied

88 Jetter AG

JetMove 204-480 12 Ethernet Interface (Option)

12 Ethernet Interface (Option)

12.1 Function

For the JetMove 204-480, an optional integrated Ethernet interface can be ordered (article designation of the device: JM-204-480...-OEM). This enables the JetMove 204-480 to be addressed by the controller via Ethernet instead of being addressed by the Jetter system bus.

Functional Equipment

1 Ethernet interface 10/100 MBit/s, TX

10-pin DIP switch for the lower 8 bits of the IP address and various operating modes

LED for status indication RUN / ERR

RUN / STOP / LOAD

12.2 Description of Connections

The digital servo amplifier JetMove 204-480...-OEM is connected with the Ethernet by the RJ45 female connector (X71).

There are two types of interconnecting cables used for 10/100 MBit/s twisted pair Ethernet.

• Straight-through twisted pair cables

• Crossover cables (transmitting and receiving lines are crossed)

Jetter AG 89

12 Ethernet Interface (Option)

The LEDs of the JetMove 204-480...-OEM Ethernet

Designation Function

ACT Activity: The JetMove 204-480...-OEM

LNK Linkage: The JetMove 204-480...-OEM

12.2.1 Connection JetMove 204-480...-OEM - PC

Direct connection between a PC or JetControl and a JetMove 204-480...-OEM is established by means of a crossover cable.

transmits or receives data via the Ethernet

is connected with the Ethernet

or JetControl

Note!

12.2.2 Connection JetMove 204-480...-OEM - PC or JetControl via a switch

If the connection between PC or JetControl and a JetMove 204-480...-OEM is established through a switch, straight-through cables have to be used.

Terminals have to be interconnected by means of crossover cables:

•PC to PC

• JetControl to PC

• JetControl to JetMove...-OEM

•etc.

Terminals with infrastructure components (e. g. switch) have to be interconnected via straight-through cables:

• PC to switch

• JetControl to switch

• JetMove...-OEM to switch

•etc.

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JetMove 204-480 12 Ethernet Interface (Option)

If the proper cable is not available, the uplink port of a switch/hub can be used. The pin assignment of an uplink port allows connection of terminals or can be switched over.

Some devices are provided with an automatic crossover function which ensures automatic adjustment to the cable and distant station.

Note!

12.3 Logic Circuit LEDs, Mode Selector

12.3.1 LEDs

Logic Circuit LEDs

ERR (red LED) Flashes shortly at initializing.

It remains lit in case of an initialization error at the Ethernet interface

RUN (green LED) Flashes regularly at correct functioning

of the Ethernet interface

The current state of the LED can be queried in register 10182.

LED Error Messages

Following power-up the red LED (ERR) and the green LED (RUN) are flashing

After start-up, the red LED (ERR) flashes three times, after this, both LEDs, red (ERR) and green (RUN) are flashing simultaneously

The switch is in LOAD position. The boot loader is running. The operating system of the Ethernet interface is neither being checked, nor has it been started.

The switch is in RUN or STOP position. The boot loader is running. There is no valid operating system of the Ethernet interface.

The red LED (ERR) and the green LED (RUN) are flashing alternately during runtime

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Fatal operating system error of the Ethernet interface

12 Ethernet Interface (Option)

12.3.2 The DIP switches

The switches are evaluated at starting up the JetMove 204-480...-OEM. Switches 1 through 8 influence the IP address, while switches 9 and 10 influence starting the operating system.

Start-Up Process

Position Meaning

Switches 9 and 10

9 = OFF, 10 = OFF (NORMAL OPERATION)

9 = OFF, 10 = ON (LOAD) The boot process proceeds as far as to

9 = ON Reserved

After power-up the switch has no influence on the interface function. The current position of the switch can be scanned in register 10181.

Normal function of the Ethernet interface

the initial program loader of the Ethernet interface

12.4 Setting the IP Address

There are four ways of assigning an IP address to a JetMove 204-480...-OEM. The IP address that is actually being used can be read in register 2931.

12.4.1 Fixed IP address

At activating the controller, while the DIP-switches 1 to 8 are set to "OFF", the JetMove 204-480...-OEM has got the IP-address 192.168.10.15. If, at the other possibilities of setting, it is not clear which IP address is being used, a definite state can be achieved by this way of "emergency setting".

12.4.2 IP address taken out of the configuration store

At activating the JetMove 204-480...-OEM, while the DIP-switches 1 to 8 are set to "ON", the JetControl has got the IP-address which has been stored to the configuration memory.

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JetMove 204-480 12 Ethernet Interface (Option)

The configuration memory can be accessed by means of the "/System/cfgvar.ini" file or registers 10131 through 10145.

Configuration file

In order to gain FTP access to the configuration file "/System/cfgvar.ini", the user having got the administrator rights must have been connected. This file has the same structure as a Windows *.Ini file:

[CFGVAR] Version = 4 IP_Address = 192.128. 10. 97 IP_SubNetMask = 255.255.255. 0 IP_DefGateway = 192.128. 10. 1 BasePort = 50000 IP_DNS = 192.118.210.209

Important!

Do not change the version number.

Alternative access to the configuration memory is possible via registers 10131 through 10145. In order to make a change via registers, first the password register with password value 2002149714 (0x77566152) must be loaded. Then, registers 10132 through 10145 are modified. After this, the changes must be saved to the configuration memory by writing any value into register 10100.

Value in the

Example

10100 Saving the configuration values

10131 Version number 4

10132 IP address MSB 192

10133 IP address 3SB 128

10134 IP address 2SB 10

10135 IP address LSB 97

10136 Subnet mask MSB 255

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12 Ethernet Interface (Option)

Value in the

Example

10137 Subnet mask 3SB 255

10138 Subnet mask 2SB 255

10139 Subnet mask LSB 0

10140 Default gateway MSB 192

10141 Default gateway 3SB 128

10142 Default gateway 2SB 10

10143 Default gateway LSB 1

10144 Port number of JetIP server 50000

10145 IP address of the DNS server 0xC076D2D1

(192.118.210.209)

10159 Password 2002149714

(0x77566152)

Important!

Do not change the version number contained in register 10131.

12.4.3 IP address taken out of the switch position

In all other switch positions, the IP-address is taken out of the configuration memory for generating a new IP address; the lowest-order byte (fourth octet) is substituted by the position of the DIP switches 1 to 8.

To make up the IP address, the position DIP switches 1 through 8 is being read in during the start-up procedure. The present setting of DIP switches 1 through 8 can be read out of register 10180.

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JetMove 204-480 13 Safe Standstill (Option)

⊥

13 Safe Standstill (Option)

For the digital servo amplifier JetMove 204-480, an optional integrated card for the "Safe Standstill" and "Safe Restart Inhibit" functions can be ordered (designation of the article: JM-204-480...-S1).

13.1 Introduction

The option "Safe Standstill" serves for safe de-energising of the motor, if personal or material damage caused by a moving or inadvertently started motor is to be safely prevented. This safe switching off meets the stop class 0 to EN 60204. Additionally, by this function a safe restart inhibit has been supplied; as long as the inputs for enable are not being controlled, any restart of the motion system is blocked. Notes and descriptions on this can be found in this manual.

For controlling this function, there exist the terminals Enable1, COM, and Enable2. In order to make dual-channel switch-off possible, two independent enable inputs and ground reference have been supplied. The ground reference of the enable inputs (COM) is potentially isolated from the ground reference of the servo amplifier (see "Common ground" on page 71). The ground reference of enable inputs can differ by up to +/- 100 V from the ground of the control system.

Fig.: 22: Connection X73 for "Safe Standstill"

Note!

Even if the device has been equipped with the option -S1, the function of the ENABLE input at the terminal array X10 is still active. This means the motion system can only produce a certain torque, if this input has been connected to 24 V (against reference ground ).

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13 Safe Standstill (Option)

JM-(D)2xx

Control cabinet

Mech. load to be driven

Motor

Encoder signals

Motor lines

oltagesup

ply 24 VDigital controlinterf

acePower

suppl

Input

“Safe Standstill”

13.2 Motion System JetMove 204-480

The following figure is to demonstrate the basic setting of a motion system using a servo amplifier JM-204-480 equipped with the "Safe Standstill" function.

Fig.: 23: Motion system using a servo JM-(D)2xx servo amplifier

The digital servo amplifier JM-204-480 has been designed for being installed in a control cabinet. The energy for driving a motor is supplied by a one-phase mains system. Further, an extra-low safety voltage of 24 V supplies the control electrics. Via various inputs and outputs of a digital signal interface, communication with higherlevel control elements is established; these control elements issue the motion commands for the motor, receive status reports and transmit them, if necessary. Usually, the motor has been mounted at or within a machine outside the control cabinet. It is connected via a cable to the JetMove 204-480. For reporting the position, it has got an actual position value encoder. The mechanic load to be driven has been mounted to the motor shaft. A safety-relevant device accesses the electronic control system of the JetMove via controller inputs "ENABLE1" and ENABLE2". If Safe Standstill has been required, the motor is de-energized in a way that the torque will be safely deactivated. Yet, this does not mean that there is a safe electric isolation. If a safe electric isolation is necessary, an additional isolating device for interrupting the power supply (e.g. mains switch) must be supplied according to EN 60204.

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JetMove 204-480 13 Safe Standstill (Option)

13.3 Safety Instructions

The "Safe Standstill" function has got the sole purpose to switch off a motion system or to secure it against restarting. In order to gain Personal Safety, the control of the safety circuit must meet the safety requirements to EN 60204, EN 92, and EN ISO 13849-1.

13.4 Performance Test

At the first commissioning, after each intervention into the safety chain of a system, or after exchanging one or more than one components, the "Safe Standstill" function must be checked:

1. Disable all motion systems; mechanically secure pendant loads.

2. Lock the safety chain.

3. Enable an axis (ENABLE, ENABLE1, ENABLE2 and software release). Drive the axis, in case the torque cannot be checked.

4. Interrupt the circuit of the Enable1 circuit at encoder terminal X73; the axis must be de-energised (no torque), respectively stop rotating, immediately.

5. Re-activate the Enable1 input at terminal X73; clear errors within the amplifier.

6. Re-enable the same axis. Drive the axis, in case the torque cannot be checked.

7. Interrupt the circuit of the Enable2 circuit at encoder terminal X73; the axis must be de-energized (no torque), respectively stop rotating, immediately.

8. Re-activate the Enable2 input at terminal X73; clear errors within the amplifier.

13.5 Demands on the Safety System

This paragraph is to describe the safety requirements that can be met by the system. They are based on the standards EN_ISO 13849-1 and IEC 61508.

The following safety functions can be applied:

• Safe Standstill according to EN 954-1, category 3, and IEC 61508 SIL2

• Safe Standstill according to EN 954-1, category 4, and IEC 61508 SIL3

• Safe Standstill according to PL "e" to EN ISO 13849-1

• Restart inhibit according to EN 954-1, category 3, and IEC 61508 SIL2

• Restart inhibit according to EN 954-1, category 4, and IEC 61508 SIL3

• Restart inhibit according to PL "e" to EN ISO 13849-1

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13 Safe Standstill (Option)

"Safe Standstill" is to be realised according to Stop Category 0 or Stop Category 1 according to EN 60204:

• Stop Category 0

• Stop Category 1

JM-2xx-S1 - Performance Level Classification to EN ISO 13849-1

Performance level "e" is based on the following data:

After calling up the safety function, the power supply of the motor is switched off absolutely and immediately. According to IEC 61800 Part 5.2, Stop Category 0 is also called STO (Save Torque Off).

After calling up the safety function, the motor is deactivated in a controlled manner, while, after a set delay time, the power supply for the motor is switched off absolutely and immediately. According to IEC 61800 Part 5.2, SLA (Safety-Limited Acceleration) is not kept in case of switching off via time-relay.

Structure: Cat 3

MTTF

DC: medium (DC

PFH

: high (> 100 years)

= 0.96)

avg

: 0 (all failures will result in a safe condition)

CCF Portion

Within the framework of this classification, the CCF ("Common Cause Failure") referred to in the standard mainly applies to the related application. Here we proceed from the assumption that the measures taken by R&D and application departments will ensure that the required score is achieved.

Basically, the following measures make sure that servo amplifiers of the JetMove 2xx avoid Common Cause Failures:

• Electrical isolation (optocoupler) from power supply units

• Compliance with clearances and creepage distances (layout and wiring)

• Overrating of components and derating

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JetMove 204-480 13 Safe Standstill (Option)

24 V

0 V

<1.3 ms >7.0 ms

24 V

0 V

<0.8 ms

>7.0 ms

<0.8 ms0.5 ms

13.5.1 Control variants for "Safe Standstill"

• Controlling via safety relays

• OSSD control OSSD: Output Signal Switching Device Controlling the inputs "Safe Standstill" with test pulses for recognizing short circuits, shorts between contacts, or shunts of the control cable. The test pulses have a length of 1 ms and a repetition frequency of 100 Hz. At applying a control logic with OSSD signals, errors (e.g. short circuits or shorts between contacts) can be recognized by the logic circuit itself, and they will lead to switching off both signal ways.

The following signal waveforms are accepted by the OSSD signals without triggering an error message:

Fig.: 24: Example: OSSD-signal waveform, single pulse

Fig.: 25: Example: OSSD-signal waveform, dual pulse

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13 Safe Standstill (Option)

COM

X73

DC 24 V

0 V

Contact to the safety device

JetMove (D)2xx

The following figures show the basic illustrations of the respective applications.

13.5.2 Application 1

Fig.: 26: Application 1

The safety device transmits a +24 V signal for activating the servo controller to the two parallel inputs Enable1 and Enable2. At calling up the safety function, the contact opens and thus blocks the enabling signal. The digital servo amplifier switches off the motor power supply safely. By opening the contact, the safety function can be tested. Deactivating the input leads to immediate switching off the motor (Stop Category 0). Give heed that the external safety devices (e.g. emergency stop device) are of the set safety category. Following this example, "Safe Standstill" (according to EN 954-1 Category 1) with Stop Category 0 (according to EN 60204) can be set up, if all safety devices involved also meet the requirements of Category 1.

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Jetter JM-204-480 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

1 Safety Instructions 11

2 Installing the JetMove 204-480 23

3 Operating Conditions 29

4 Physical Dimensions 33

5 Technical Data 35

6 Drive Controller Structure 43

7 Description of Connections 45

8 Status Monitoring 75

9 Diagnostics 77

10 Connection Diagrams 83

11 Analog Input (Option) 87

12 Ethernet Interface (Option) 89

13 Safe Standstill (Option) 95

14 Counting Input (Option) 107

15 Ordering Information 115

Appendix

JetMove 204-480 1.1 General Information

Table of Contents 1 Safety Instructions

1.1.1 Usage to the intended purpose

1.1.2 Non-intended use

1.1.3 Qualified personnel

1.1.4 Modifications and alterations to the module

1.1.5 Servicing and repairs

1.1.6 Disposal

1.2 Ensure Your Own Safety

1.2.1 Malfunctions

1.2.2 Information signs and labels

1.2.3 Earthing procedure

JetMove 204-480 1.3 Residual Dangers

1.3.1 Hazards during operation

1.3.2 Hazards after POWER has been turned OFF

1.4 Instructions on EMI

JetMove 204-480 2.1 Scope of Delivery

2 Installing the JetMove 204-480

2.2 Mechanical Installation

2.3 Electrical Installation

JetMove 204-480 2.4 Checking the Installation

2.7 Notes on decommissioning

JetMove 204-480 3 Operating Conditions

JetMove 204-480 4 Physical Dimensions

JetMove 204-480 5.1 Electrical Specification

5 Technical Data

JetMove 204-480 5.2 Motor Protection

5.2.1 Built-in temperature sensor

5.2.3 Motor overload protection according to UL

6 Drive Controller Structure

JetMove 204-480 7.1 Power Supply Connection

7 Description of Connections

7.2 Motor Connection

7.2.1 General remarks

7.2.2 Assignment and specification

7.2.5 Connection assignment of terminal box

JetMove 204-480 7.3 Resolver Connection

7.3.1 Specification

7.3.2 Resolver cable with mating connector

JetMove 204-480 7.4 HIPERFACE Connection

7.4.1 Specification

7.4.2 HIPERFACE cable with mating connector

7.5 Sin-Cos Encoder Connection

7.5.1 Adapter

7.5.2 Specification

7.5.3 Connection diagram

7.7 Digital Inputs, Logic Power Supply

7.8 Connection Details for Digital Outputs

JetMove 204-480 7.9 Jetter System Bus

7.9.1 Specifications of the Jetter system bus cable

8 Status Monitoring

JetMove 204-480 9.1 Error Messages

9 Diagnostics

JetMove 204-480 9.2 Alarms

10 Connection Diagrams

JetMove 203B-230 11.1 Function

11 Analog Input (Option)

11.2 Technical Data

11.3 Description of Connections