Jetter JM-206-230, JM-206B-230 User Manual

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User Manual

JM-206(B)-230 - Digital Servo Amplifier

60870529

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Introduction

Item # 60870529 Revision 3.10 Septermber 2017 / Printed in Germany

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

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

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

2 Jetter AG

JetMove 206B-230 Introduction

How to Contact us:

Jetter AG Graeterstrasse 2 71642 Ludwigsburg Germany

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

Fax - Sales: +49 7141 2550-484 E-mail - Sales: sales@jetter.de E-mail - Technical Hotline: hotline@jetter.de Web address: http://www.jetter.de

This User Manual is an Integral Part of the JetMove 206B-230:

Type:

Serial #

Year of Manuafacture:

Order #

To be entered by the customer:

Inventory #

Place of Operation:

Jetter AG 3

Introduction

Significance of this User Manual

This user manual is an integral part of the digital servo amplifier JetMove 206B-230 and

• must be kept in a way that it is always at hand until the digital servo amplifier JetMove 206B-230, will be disposed of.

• Pass this manual on, if the digital servo amplifier JetMove 206B-230 is sold, alienated or loaned.

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.

Unavoidable residual hazards for persons and property may result from this digital servo amplifier JetMove 206B-230. For this reason, any person who has to deal with the transport, installation, operation, maintenance, and repair of the digital servo amplifier JetMove 206B-230 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

Revision Remarks

2.00 Original issue

3.00 For revisions, please refer to Appendix A of this user manual, revision 3.00

3.01 Correction of style and orthography

3.02 Correction of style and orthography

3.10 For revisions, please refer to Appendix A of this user manual, revision 3.10

4 Jetter AG

JetMove 206B-230 Introduction

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.

Caution

Important!

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

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

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

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

Note!

· / -

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Enumerations are marked by full stops, strokes or scores.

Operating instructions are marked by this arrow.

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

Introduction

Reference to PC keyboard and HMI keys.

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

6 Jetter AG

JetMove 206B-230 Table of Contents

1 Safety Instructions 11

1.1 General Safety Instructions 11

1.1.1 Intended Conditions of Use 11

1.1.2 Usage Other Than Intended 11

1.1.3 Personnel Qualification 12

1.1.4 Modifications and Alterations to the Device 12

1.1.5 Repair and Maintenance 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 is turned OFF 19

1.4 Instructions on EMI 20

2 JetMove 206B-230 - Installation Instructions 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 29

3 Operating Conditions 31

4 Mounting Dimensions 35

5 Technical Data 37

5.1 Electrical Specifications 37

5.2 Motor Protection 41

5.2.1 Built-In Temperature Sensor 41

5.2.2 I²t Calculation 41

5.2.3 Motor Overload Calculation to UL 43

6 Drive Controller Structure 45

7 Description of Connections 47

7.1 Power Supply Connection 47

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Table of Contents

7.2 Motor Connection 49

7.2.1 General Remarks 49

7.2.2 Assignment and Specifications 50

7.2.3 Motor Power Cable with Mating Connector SC 51

7.2.4 Motor Power Cable with Mating Connector SM 54

7.2.5 Connection Assignment of Terminal Box 57

7.3 Resolver Connection 58

7.3.1 Specification 58

7.3.2 Resolver Cable with Mating Connector 58

7.4 HIPERFACE Connection 60

7.4.1 Specification 60

7.4.2 HIPERFACE Cable with Mating Connector 60

7.5 Sin-Cos Encoder Connection 63

7.5.1 Adapter 63

7.5.2 Specification 63

7.5.3 Connection Diagram 64

7.6 Digital Inputs, Logic Power Supply 67

7.7 Jetter System Bus 69

7.7.1 Specifications of the Jetter System Bus Cable 69

8 Status Monitoring 71

9 Diagnostics 73

9.1 Fault Messages 73

9.2 WARNINGS 77

10 Connection Diagrams 79

11 Analog Input (Option) 85

11.1 Operating Principle 85

11.2 Technical Data 85

11.3 Description of Connections 86

12 Ethernet Interface (Option) 87

12.1 Operating Principle 87

12.2 Description of Connections 87

12.2.1 Connection between the JetMove 206B-230...-OEM and a PC or JetControl 88

12.2.2 Connection between the JetMove 206B-230...-OEM and a PC or JetControl through a Switch 88

12.3 Logic Circuit LEDs, Switches 89

12.3.1 LEDs 89

12.3.2 The DIP Switches 90

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JetMove 206B-230 Table of Contents

12.4 Setting the IP Address 90

12.4.1 Default IP Address 90

12.4.2 IP Address Out of the Configuration Memory 90

12.4.3 IP Address Taken from the Switch Position 92

13 Safe Standstill (Option) 93

14 Counting Input (Option) 95

14.1 Operating Principle 95

14.2 EnDat 2.2 95

14.2.1 Technical Data 95

14.2.2 Description of Connections 96

14.2.3 EnDat Cable with Mating Connector 96

14.2.4 Power Supply of the Encoder 98

14.3 Synchronous Serial Interface (SSI) 99

14.3.1 Technical Data 99

14.3.2 Description of Connections 99

14.3.3 SSI Cable 100

14.4 Incremental Encoder 101

14.4.1 Technical Data 101

14.4.2 Description of Connections 101

14.4.3 Incremental Encoder Cable 102

15 Ordering Information 103

15.1 List of Documentation 103

15.2 Options 103

List of Appendices

Appendix A: Recent Revisions 107 Appendix B: Differences between JetMove 206-230 and JetMove 206B-230 108 Appendix C: Glossary 110 Appendix D: List of Illustrations 113 Appendix E: Index 114

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Table of Contents

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JetMove 206B-230 1.1 General Safety Instructions

Table of Contents 1 Safety Instructions

1.1 General Safety Instructions

The digital servo amplifier JetMove 206B-230 fulfills the accepted safety regulations and standards. Special emphasis was given to the safety of the users.

Further, the user should adhere to the following regulations:

• pertinent accident prevention regulations;

• accepted safety rules;

• EC guidelines and other country-specific regulations.

1.1.1 Intended Conditions of Use

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

The digital servo amplifier JetMove 206B-230 may only be operated in the closed control cabinet and within the range of the set values, seechapter 5 "Technical Data", page 37. Do not apply a voltage to the digital servo amplifier JetMove 206B-230 that is higher than the prescribed operating voltage.

The single phase or each of the three phases of the digital servo amplifier JetMove 206B-230 has got an operating voltage ranging between AC 195 V and AC 265 V. Thus, the digital servo amplifier comes under the EG Low Voltage Directive.

It is the explicit purpose of the digital servo amplifier JetMove 206B-230 to torque-, speed- and position-control, and to drive brushless synchronous servo motors. The winding insulation of the motors must be higher than, or at least equal to, the DC link voltage supplied by the servo amplifier.

The digital servo amplifier JetMove 206B-230 is used to control machinery, such as conveyors, production machines, and handling machines.

1.1.2 Usage Other Than Intended

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

The servo amplifier JetMove 206B-230 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.

If the digital servo amplifier JetMove 206B-230 is to be run under operating conditions, which differ from the conditions mentioned in chapter 3 "Operating Conditions", page 31, the manufacturer is to be contacted beforehand.

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1 Safety Instructions

1.1.3 Personnel Qualification

Depending on the life cycle of the product, the persons involved must possess different qualifications. These qualifications are required to ensure proper handling of the JetMove 206B-230 in the corresponding life cycle.

Product Life Cycle Minimum Qualification

Transport / Storage: Trained and instructed personnel with knowledge in

handling electrostatic sensitive components.

Mounting / Installation: Trained personnel specified in electrical automotive

engineering, such as industrial electronics engineers.

Commissioning / Programming:

Operation: Trained, instructed and assigned personnel with

Decommissioning: Specialized personnel with training in electrical

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

knowledge of operating electronic devices.

engineering, such as industrial electronics technician.

1.1.4 Modifications and Alterations to the Device

For safety reasons, no modifications and alterations to the digital servo amplifier JetMove 206B-230 and its functions are permitted.

Any modifications to the servo amplifier JetMove 206B-230 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 206B-230. Parts and equipment from other manufacturers are not tested by Jetter AG, and are, therefore, not released by Jetter AG.

The installation of such parts may impair the safety and the proper functioning of the digital servo amplifier JetMove 206B-230.

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

1.1.5 Repair and Maintenance

Repairs at the digital servo amplifier JetMove 206B-230 must not be carried out by the operator. The servo amplifier JetMove 206B-230 does not contain any parts to be repaired by the operator. For being repaired, the servo amplifier JetMove 206B-230 must be sent to Jetter AG.

12 Jetter AG

JetMove 206B-230 1.1 General Safety Instructions

The digital servo amplifier JetMove206B-230 is maintenance-free. Therefore, absolutely no inspection or maintenance works are required for the operation of this device.

1.1.6 Disposal

When disposing of the digital servo amplifier, the local environmental regulations must be complied with.

You can disassemble the servo amplifier JetMove 206B-230 into its main components by unscrewing it (aluminum heat sink and side plate, steel casing cover, electronic boards).

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1 Safety Instructions

Warning

1.2 Ensure Your Own Safety

Isolate the digital servo amplifier JetMove 206B-230 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 note chapter 1.3 "Residual Dangers", page 17.

Safety and protective devices, e.g. the barrier and cover of the terminal box or the thermal motor circuit-breaker must not in any case be shunted or by-passed.

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

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

1.2.1 Malfunctions

In the case of malfunctions or other faults, please immediately separate the digital servo amplifier JetMove 206B-230 from the mains.

Please note chapter 1.3 "Residual Dangers", page 17.

Malfunctions or other damages have to be reported to a responsible person at once.

Secure the servo amplifier JetMove 206B-230 against misuse or accidental use.

1.2.2 Information Signs and Labels

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

Replace damaged or unreadable information signs and labels.

14 Jetter AG

JetMove 206B-230 1.2 Ensure Your Own Safety

1.2.3 Earthing Procedure

Screw the enclosure of the digital servo amplifier JetMove 206B-230 onto a highly conducting, earthed panel.

Do only use the servo amplifier JetMove 206B-230 at the three-phase, earthed industrial network (TN network, TT network with earthed neutral, 5,000 A max, symmetric rated current at 400 / 480 V + 10 %). The servo amplifier must not be operated when connected to unearthed networks and to unsymmetrically earthed networks. A one-phase connection to these mains can be established by means of a mains phase and a neutral wire. The three-phase connection may only be established by means of an isolating or autotransformer (also refer to chapter "Power supply connection", page 37, and chapter 10 "Connection Diagrams", page 79).

The leakage current of the digital servo amplifier JetMove 206B-230 is greater than 3.5 mA. Therefore, a second protective earth conductor is required in order to avoid electric shocks.

For this, the following measures have to be taken:

• The protective earth conductor must be connected to the PE screw (1) located at the top side of the rack as well as to the PE terminal X1 (2); for this, please refer to Fig. 1. The cross-sectional areas of the two earthing conductors must be equal to the cross-sectional areas of the supply lines (1.5 mm

• A durable connection with the power supply of the digital servo amplifier JetMove 206B-230 has to be provided.

• Correct cabling of the PE bus according to the connection diagram must be carried out, chapter 10 "Connection Diagrams", page 79.

min.).

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1 Safety Instructions

Fig.: 1: Double earthing

Important!

Do not install an earth-leakage current breaker in the mains power supply.

Using an earth-leakage current breaker (FI) within the mains power supply is not possible. If, in spite of this, an earth-leakage current breaker is installed, it will switch off the digital servo amplifier JetMove 206B-230, although there is no fault. When a leakage current screen needs to be installed in the JetMove 206B-230, an isolating transformer must be used.

16 Jetter AG

JetMove 206B-230 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 DC 480 V occur!

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

Danger

standstill, or death.

During operation, all coverings and control cabinet doors have to be kept closed.

Danger

Do not remove the cover.

Do not disconnect the electric connections of the servo amplifier JetMove 206B-230 when it is live.

Do not touch the screws of the terminals X1 and X62 during operation.

The terminals have the following meaning:

X1: AC 230 V voltage supply

X62: DC motor voltage up to 480 V

Hot surface hazard!

During operation, the surfaces, respectively the heat sinks of the digital servo amplifier JetMove 206B-230 can heat up. The internal heat sink can reach temperatures of up to 90 °C.

Caution

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Do not touch the enclosure of the servo amplifier JetMove 206B-230 near the internal heat sink during operation and during the coolingoff period after switching off the device.

Make sure that no temperature-sensitive parts have been connected or fastened to the servo amplifier JetMove 206B-230.

1 Safety Instructions

Danger

Caution

DANGER in a potentially explosive atmosphere!

Do not operate the digital servo amplifier JetMove 206B-230 in a potentially explosive atmosphere.

DANGER of injuries caused by mechanic force!

The digital servo amplifier JetMove 206B-230 drives a servo motor. This servo motor moves mechanic parts or sharp edges. Therefore, failure or malfunctioning of the digital servo amplifier JetMove 206B-230 can be dangerous for man 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 would be installing a guard.

Danger

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 get caught in the rotating drive shaft.

Never touch a rotating drive shaft.

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JetMove 206B-230 1.3 Residual Dangers

1.3.2 Hazards after POWER is turned OFF

DANGER resulting from electric shock!

Capacitors installed in the servo amplifier can still have dangerous voltages present up to five minutes after switching off the operating voltage.

Danger

Always wait at least five minutes after switching off the device, before

separating it from the mains or loosening the connections.

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

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1 Safety Instructions

1.4 Instructions on EMI

The digital servo amplifier JetMove 206B-230 is intended for use in industrial surroundings. It may cause radio interferences when used in residential areas. It is operated at the operator's own risk.

The noise immunity of a system is determined by 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:

Ground the enclosure according to chapter 1.2.3 "Earthing Procedure", page 15.

Connect all grounding terminals of the JetMove 206B-230. A double grounding terminal is required! – Connect the protective earth terminal located on the enclosure – Connect the protective earth (PE) to terminal X1. Please refer to fig. 1 on page 16

Connect the motor lines. If applicable, an optional line filter must be near the servo amplifier. Shield cables on both ends.

If a motor power cable is used which includes cores for brake control, the brake control cores must be separately shielded. Earth the shielding at both ends.

The distance between the optional line filters and the servo amplifier JetMove 206B-230 must be as short as possible.

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

The following instructions are excerpts from Application Note 016:

Screw the enclosure of the digital servo amplifier JetMove 206B-230 onto a highly conducting, earthed panel.

On principle, physical separation should be maintained between signal and voltage lines. We recommend spacings greater than 20 cm. Cables and lines should cross each other at an angle of 90°.

20 Jetter AG

JetMove 206B-230 1.4 Instructions on EMI

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

Both sides of the cable must be shielded.

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

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

surface area.

When male connectors are used:

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

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

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

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

It is important that shield and strain relief are highly conductive and directly connected to a grounded surface with the greatest possible surface area. When doing so, grounding must be implemented in a way that the unshielded portion of the cable is as short as possible (refer to fig. 3).

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1 Safety Instructions

Mating Connector

Cable Strap

Motor Cable

15 mm

Fig.: 3: Shielding of screw terminals in conformity with the EMC standards

22 Jetter AG

JetMove 206B-230 2.1 Scope of Delivery

2 JetMove 206B-230 - Installation

Instructions

2.1 Scope of Delivery

• Digital servo amplifier JetMove 206B-230

• The mating connector is plugged on.

• Cable strap serving as strain relief and motor cable shield

• User manual

Accessories

The accessories are not part of the scope of delivery!

• System bus cable of cable assembly number 530 x.x m; length: 0.2 m to 5.0 m. See chapter 7.7 "Jetter System Bus", page 69

• Motor power cable, see chapter 7.2 "Motor Connection", page 49

• Resolver cable, see chapter 7.3 "Resolver Connection", page 58

• HIPERFACE cable, see chapter 7.4 "HIPERFACE Connection", page 60

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

• Motor circuit braker, see chapter 5 "Technical Data", page 37

• Circuit braker, see chapter 5 "Technical Data", page 37

• Isolating transformer or autotransformer

• Mounting screws, 2 pcs.; refer to fig. 4, page 25

Note!

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

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2 JetMove 206B-230 - Installation Instructions

2.2 Mechanical Installation

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

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 206B-230, check whether the mounting plate in the electric cabinet is unpainted.

The only possible mounting position is vertical - see siehe fig. 4, page 25.

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

Mark on the panel two positions for the fastening screw threads of the JetMove 230B-230 (see fig. 4, page 25).

Drill the holes and cut the respective threads 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 206B-230 by the fitting bolts; then screw them tightly.

24 Jetter AG

JetMove 206B-230 2.2 Mechanical Installation

12.

8.59

239.5

291.3

33.8

264268.821922.8

DETAIL A 4:1

Fig.: 4: Rear and front view of the JetMove 206B-230 enclosure with mounting holes

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2 JetMove 206B-230 - Installation Instructions

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 480 V min.; also refer to "Compatible Synchronous Servo Motors" on page 40.

Connect the JetMove 206B-230 according to the connection wiring diagram shown in chapter 10 "Connection Diagrams", page 79. Especially check the power lines for appropriate protection, see "Overload protection" on page 37. Protecting the motor cables is not advisable.

Select the cables according to standards.

Verify that all earthing cables are connected (double earthing).

To connect resolvers or power units you can use prefabricated cables available from Jetter or opt for self-made cables. Please refer to chapter 7 "Description of Connections", page 47.

Please regard the following items regarding installation according to EMC: – If possible, run control cables and power cables separately; – Connect resolver; – Use shielded terminals or EMC-compatible connectors; – Connect holding brake, if available, and connect shields on both

sides of the cables;

– Connect the motor lines according to fig. 3, page 22.

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

26 Jetter AG

JetMove 206B-230 2.4 Checking the Installation

2.4 Checking the Installation

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

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

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

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

Danger

2.5 Notes on Safety as regards the

Installation

HAZARD caused by high operating voltage!

Extremely hazardous voltages of up to DC 480 V may occur!

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

Have installation and maintenance jobs carried out by qualified personnel onlychapter 1.1.3 "Personnel Qualification", 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 is turned OFF", page 19.

Before carrying out installation and maintenance jobs, separate the servo amplifier JetMove 206B-230 and all connected devices from the mains (pull out the mains plug).

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2 JetMove 206B-230 - Installation Instructions

2.6 Notes on Safety as regards Commissioning

HAZARD caused by high operating voltage!

Extremely hazardous voltages of up to DC 480 V may occur!

Danger

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

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

Before energizing the device make sure that the following requirements are complied with:

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

Secure the servo amplifier JetMove 206B-230 against accidental contact with conductive parts and components.

Only connect devices or electrical components to the signal lines of the digital servo amplifier JetMove 206B-230 (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.

Only connect resolver, HIPERFACE and servo motor to the servo amplifier, if they have been sufficiently isolated from the connected electric circuits.

The leakage current of the digital servo amplifier JetMove 206B-230 is greater than 3.5 mA. Therefore, a second protective earth conductor is required in order to avoid electric shocks. For this, the measures listed in chapter 1.2.3 "Earthing Procedure", page 15, have to be taken.

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

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JetMove 206B-230 2.7 Notes on Decommissioning

2.7 Notes on Decommissioning

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

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2 JetMove 206B-230 - Installation Instructions

30 Jetter AG

JetMove 206B-230

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 % Non-condensing

Storage conditions Temperature: DIN EN 50178

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

Change max. 20 K/h

Air humidity:

5 % ... 95 % Non-condensing

Max. storage time:

1 year

Ambient temperature 0 ... 45 °C

(45 °C ... 55 °C with derating of 2.5 %/K) Please be careful of sufficient cooling

Air humidity 5 % ... 85 %

Non-condensing

Pollution degree 2 DIN EN 50178

Corrosion immunity / chemical resistance

No special protection against corrosion. Ambient air has to 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 at an

Degree of protection IP20 DIN EN 60529

Mounting position Vertical

Electrical safety conditions Reference

Class of protection I DIN EN 61800-5-1

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

(refer to fig. 4, page 25) For sufficient air flow there has to be a clearance of 100 mm above and below the device.

power to logic

1.7 kVdc, 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

Isolation Power to earth and

power to logic

> 1 MOhm at 500 V

Protective connection 12 V, 25 A, 0.1 Ohm DIN EN 61800-5-1

Overvoltage category III DIN EN 61800-5-1

DIN VDE 0110-1

Important!

Measures to avoid damages in transit and storage:

The packaging material and the storage place are to be chosen in a way that the values given in the above table "Operating Parameters" on page 31 are kept to.

32 Jetter AG

JetMove 206B-230

EMC

Emitted Interference

Parameter Value Reference

Housing • 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)

Line AC • Frequency band

0.15 ... 0.5 MHz, limit 79 dB (μV)

• Frequency band

0.5 ... 30 MHz, limit 73 dB(μV)

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 38.

DIN EN 61800-3

EMC

Interference Immunity: Enclosure

Parameters Value Reference

HF field amplitude-modulated

ESD Contact discharge:

Jetter AG 33

Frequency band 80 ... 1,000 MHz; test field strength 10 V/m AM 80 % at 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 Connections and Power Interfaces

Parameters Value Reference

Conducted radio disturbances

Burst (fast transients) Test voltage 2 kV

Voltage surges tr/th 1,2/50 µs, 8/20 µs

Interference Immunity: Process, Measuring and Control Lines

Parameters Value Reference

Conducted radio disturbances

Burst (fast transients) Test voltage 2 kV

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

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

1 kV (phase to phase) 2 kV (phase to ground) Criterion B

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

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

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

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

Interference Immunity: Signal Interfaces

Parameters Value Reference

Conducted radio disturbances

Burst (fast transients) Test voltage 1 kV

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

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

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

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

34 Jetter AG

JetMove 206B-230

261.6

264

291.

268.

821922.

4 Mounting Dimensions

Fig.: 5: Mounting dimensions of the JetMove 206B-230

For installation, please also refer to fig. 4 on page 25.

Jetter AG 35

4 Mounting Dimensions

36 Jetter AG

JetMove 206B-230 5.1 Electrical Specifications

5 Technical Data

5.1 Electrical Specifications

Electrical Specifications

Rated voltage supply • Direct supply U

Common mode voltage 2 % max. Power dissipation 3 ms max.

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

Power supply connection

• for a rated power of the motor,> 1kW, a three-phase connection is standard.

Power supply tolerance U

Inrush current limitation < 30 A limited to 50 ms during the switch-on-

Overload protection For each phase an external overload

• 1-phase: direct (U

• 3-phase: via autotransformer or isolating transformer

e.g. Primary circuit: U Secondary circuit: U

See "Note 1!" on page 39.

= 195 V ... 265 V (-15 % ... + 15 %)

eff

sequence

Refer to "Time between deactivating and activating the mains power supply" on page 40

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

= 230 V

eff

= 230 V: L to N)

eff

= 3 x 400 V.

eff

= 3 x 230 V

eff

For systems with UL approval, use overload protection devices that are UL listed (acc. to UL 508) (HKJH) and a self-protected combination motor controller (specification: 230 V, 10 A) for UL-certified systems. The JetMove 206B-230 is suitable for use on a circuit capable of delivering not more than 50,000 rms symmetrical Ampere, 600 Volt

max.

eff

Output voltage of the motor Three-phase with 325 V typical (480 V

max.)

Motor output current at an ambient temperature of 45 °C

Jetter AG 37

Nominal current: I Spitzenstrom min. 5 Sekunden: I (The duration depends on the temperature of the heat sink)

See "Note 2!" on page 39.

eff

= 6 A

= 12 A

eff

5 Technical Data

Electrical Specifications

Continuous output 1.4 kW (for a three-phase mains

connection)

Short-circuit protection, motor side Designed for

• phase to phase

• phase to earth

Motor overload protection See "Motor Protection" on page 41.

Motor cable Cable size Material Capacitance Temperature class Maximum length of the motor cable

Line filter Line filter ensuring EMC

Voltage supply of processor logics (Demands on the power supply module)

4 * min. 1.5 mm Copper < 150 pF/m > 60 °C 50 m max. (for greater lengths please contact Jetter AG)

environment to DIN EN 61800-3 with no limitations. The following filters can be applied with input circuits:

– FMAC-931-0810 8 A – FMAC-932-1610 16 A – FMAC-932-2510 25 A – FMAC-934-3610 36 A

See "Note 3!" on page 39.

• 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.

(AWG 16 min.)

in a residential

Internal ballast resistor • Resistor: 120

• Continuous output: 75 W

• Maximum capacity internally limited to 1 kW at 0.6 s (warning and error message)

Residual voltage To havoid hazard of electrical shock wait at

least 5 minutes after switching off the digital servo amplifier before attempting to pull out the plug or remove this unit (refer to page 19).

Leakage current > 3.5 mA

See "Danger resulting from electric shock!" on page 40.

38 Jetter AG

JetMove 206B-230 5.1 Electrical Specifications

Electrical Specifications

Digital inputs – Enable (E) – Reference switch (R) – Limit switch right (L+) – Limit switch left (L-) – Input (Inp)

Braking relay (contacts: Br1 and Br2)

Power dissipation P

Note 1!

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 "Digitale Inputs, Logic Power Supply" on page 67.

= 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 206B-230 together with software enable.

100 W max.

When a transformer is used:

The neutral point on the secondary side of the circuit must be grounded.

Note 2!

Active cooling:

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

• The overtemperature protection is activated at 85 °C.

• The overtemperature alarm is activated at 80 °C.

• The duration or the peak current are measured at a starting temperature of 45 °C at the heat sink.

Note 3!

A line filter can supply several digital servo amplifiers JetMove 206B-230, as soon as I

connected servo amplifiers.

(the current of the line filter) is greater than the total current of the

Jetter AG 39

5 Technical Data

Important

Time between deactivating and activating the mains power supply

If the drive system has been run by motor power (speed and torque at the moment) and the mains power supply is deactivated, the inrush current limitation unit must cool down for 2 to 3 minutes. If this is not considered, the inrush current limitation unit can be destroyed.

Danger resulting from electric shock!

In order to prevent electric shocks, ground the digital servo amplifier JetMove 206B-230 by all means via two positions; for this, refer to chapter 1.2.3 "Earthing Procedure", page 15.

Warning

Compatible Synchronous Servo Motors

Motor types Jetter motors of the series JL, JK, and JH, and

Bautz motors of the series M and F. Please refer to "Jetter Motor Catalog" or contact the sales department of Jetter AG.

Note!

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

40 Jetter AG

JetMove 206B-230 5.2 Motor Protection

5.2 Motor Protection

There are three ways of motor protection.

5.2.1 Built-In Temperature Sensor

The JetMove 206B-230 servo amplifier is able to run by means of three different temperature sensors and to evaluate their data:

Sensor type Type of sensor signal evaluation

KTY83-110 The temperature is measured in °C.

The warning level is adjustable. An error message is activated at maximum motor temperature

PTC Go-no-go decision

An error message is activated at maximum motor temperature

Temperature switch Go-no-go decision

An error message is activated at maximum motor temperature

5.2.2 I²t Calculation

The digital servo amplifier JetMove 206B-230 calculates the model of motor power loss by an I²t calculation. The calculated value is a measure of the average power dissipation of the motor. It is calculated in percent of the maximum motor power dissipation. For this calculation it is important, that the parameters are entered correctly: – Continuous rated current (either continuous rated motor current or continuous

rated amplifier current, taking the lower value of the two) – Overload factor – and time constant of the motor

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

The I²t value is readable in a variable of JetMove 206B-230 through JetSym or the PLC.

The digital servo amplifier JetMove 206B-230 calculates the percentage of motor power loss according to the following formula:

Jetter AG 41

5 Technical Data

xt() 100%

average motor current

rated current

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





× 1e

---–

–







×=

tT 1

rated current

average motor current

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





–ln×–=

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 continuous rated 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:

After reset, the values of the important parameters are:

Important

Continuous rated current:

Overload factor: 2

Motor time constant 1,800 s (30 min)

With these parameters the 100 % error level will be reached if, for example the motor is run by a current of 12 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 206B-230 is switched on (i. e. at the time of parameters of I²t calculation are written after switching on 24 V logic power supply).

6 A

42 Jetter AG

JetMove 206B-230 5.2 Motor Protection

5.2.3 Motor Overload Calculation to UL

The UL standard prescribes a motor overload detection for a servo amplifier according to the following criteria:

The "trip current" is defined to be 1.15 times the user-set continuous rated current-

• If the average motor current corresponds to the trip current, the overload

protection has to switch off the motor after a limited time.

• If the average motor current is 2 times higher than the trip current the overload

protection has to switch off 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 of the motor after at least 20 seconds.

This protection (error message 31 is activated) can be parameterized only through the rated current value. The motor overload protection is always active and cannot be deactivated.

Important

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 206B-230 is switched on (i. e. at the time of connecting the 24 V logic power supply).

Jetter AG 43

5 Technical Data

44 Jetter AG

JetMove 206B-230

Power Section

Motor

Spac e

Vect or

PWM

Encoder

d,q

α,β

u,v,w

inv. Park inv. Clarke

Park

Clarke

IuPIv

IdRef = 0

SpeedRef

Iq Controller

Id Controller

EncoderEval

u-ation

Speed

α,β

u,v

d,q

α,β

PosRef

Pos

Rho

CurrentSc

aling

IqRef

UqRef

Ualpha

Ubeta

UvRef

UwRef

UuRef

PWMuH/L

PWMvH/L

PWMwH/L

Ialpha

Ibeta

Setpoint

Generator

SpeedFwd

Current Dete

ction

Uemk

Speed

Kp, Tn

Voltage Generator

URef

UdRef

Spee d

Pos

IRef

EMF

Pre-Control

SpeedController

PosController

max

min

IFwd

6 Drive Controller Structure

Fig.: 6: Block diagram of drive controller structure

Jetter AG 45

6 Drive Controller Structure

Drive Controller Specification

All drive controllers can be parameterized through the control program.

Motor control (commutation) Space vector

PWM frequency 16 kHz

Current controller

– Cycle time 62.5 µs

Speed controller

Operating Principle Remarks

modulation

– Cycle time – Current pre-control

Position controller

– Cycle time – Speed pre-control

Position setpoint generator

– Sine-square and linear acceleration and

deceleration ramps

– Setpoint output cycle (position feedback controller

interpolation)

Position sensing

Resolver:

– Resolution –Scan time

Sine-cosine sensor (multi- and single-turn):

– Interface – Resolution of absolute position – Resolution of velocity pickup –Scan time

125 µs adjustable

250 µs adjustable

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

46 Jetter AG

JetMove 206B-230 7.1 Power Supply Connection

U1 V1 W 1 PE

yellow/green

Core 3

Line Voltage 3

Core 2

Line Voltage 2

Core 1

Line Voltage 1

7 Description of Connections

7.1 Power Supply Connection

Specification of Terminal X1

• 4-pin spring tension terminal (type ZEC 1.5/ 4-ST-7.5 C2 R1,4; for printed circuit

boards)

• Diameter of the cable apt for connecting: 0.25 ... 1.5 mm

• Bladed screw-driver: 0.6 x 3.5 x 100 mm

Specifications of Connecting Cable

• Cable size: 4 * 1.5 mm² (AWG 16(4))

• Material: Copper

• Temperature class: 60 °C

• Stripping length of cores: 6 mm

• Bootlace ferrules are not required.

(AWG 24 ... AWG 16)

Cable Shielding

• Not needed

Power Supply

3-Phase Connection

Terminals X1 on the

Amplifier Side

U1 L1 • AC 230 V between the

V1 L2

W1 L3

PE PE conductor

Signal Specification

power lines

Jetter AG 47

Fig.: 7: Connection of the 3-phase supply line

7 Description of Connections

yello w/g reen

Core 2

Neutral

Core 3

Line Voltage

V1U1 PEW1

Fuse or circuit breaker or

motor circuit breaker

Power Supply

1-Phase Connection

Terminals X1 on the

Signal Specification

Amplifier Side

U1 L • AC 230 V between

V1 N

mains phase and neutral conductor

PE PE conductor

Fig.: 8: Connection of the 1-phase supply line

One-phase connection is only possible up to a motor rating of 1 kW.

Note!

48 Jetter AG

JetMove 206B-230 7.2 Motor Connection

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.

Jetter AG 49

7 Description of Connections

Strain relief of the JM-206 B-230

green/yellow

Core 1

Phase 1

Core 2

Phase 2

Core 3

Phase 3

Motor

Brake +

Brake -

EL+RTL-

24V

Br1

Br2

24 V 0 V

X62

A free-wheeling diode is necessary in c ase it has n ot b een int egrat ed in the motor yet. In Jetter motors, free-wheeling diodes have not been in tegra ted! Recom mend ed dio de t ype : 1N4002

X10

Important Note!

The sh ield is ext ensively

connected with the

met allised con nec to r ho usin g

7.2.2 Assignment and Specifications

Specification of the Connector for Terminal X62

• 4-pin connector (type PC 4/ 4-ST-7.62)

• Diameter of the cable apt for connecting: 0.25 - 4.0 mm

• Bladed screw-driver: 0.6 x 3.5 x 100 mm

(AWG 24 - AWG 12)

• Stud torque for the screw clamping terminal:

0.5 Nm (4.4 ... 5.3 lbf-inch)

Specification of the Motor Cable

• Cable size: 4 * 1.5 mm² (AWG 16(4))

• Material: Copper

• Temperature class: 60 °C

• Stripping length of cores: 6 mm

• Bootlace ferrules are recommended.

Cable Shielding

• Braided copper shield of 80 % coverage

Connection of the motor to the digital servo amplifier JetMove 206B-230 has to be done following the wiring diagram below. Connection of the brake is optional.

50 Jetter AG

Fig.: 9: Connection of motor lines

JetMove 206B-230 7.2 Motor Connection

Solder Side

7.2.3 Motor Power Cable with Mating

Connector SC

Note!

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

Item # 15100070 Motor mating connector for the Jetter motor series

JH2, JH3, JH4, JH5, JL2, JL3, JL4, JK4, JK5, JK6, and for the Bautz motor series M25, M40, F50, F63, F80 without brake

Item # 15100105 Motor mating connector for the Jetter motor series

JH2, JH3, JH4, JH5, JL2, JL3, JL4, JK4, JK5, JK6, and for the Bautz motor series M25, M40, F50, F63, F80 with brake

Note!

Motor power cable with mating connector SC (female connector) suitable for the Jetter motor series JL2, JL3, JL4, JK4, JK5, JK6, and for the Bautz motor series M25, M40, F50, F63, F80 can be ordered from Jetter AG by supplying the following particulars: It is confectioned with the matching motor mating connector and can be ordered by the following cable assy numbers:

Without brake:

Cable assy # 26.1

With brake:

Cable assy # 24.1

Mating Connector of the Motor (solder side)

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

Jetter AG 51

7 Description of Connections

Mating Connector

Solder Side

Mating Connector

Cable Strap

Motor Cable

Cable Specification of the Motor Power Cable with Mating Connector SC for JetMove 206B-230

For connection without motor holding brake

Motor Power Cable, Cable Assy # 26.1

Connecting

Terminals of JetMove

206B-230

(4 x 1.5 mm

(AWG 16(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 1

X62.V2 2 Phase 2 5

X62.W2 3 Phase 3 2

X62.PE yellow-green PE conductor

Dimensions of the motor mating connector are specified in millimeters.

52 Jetter AG

JetMove 206B-230 7.2 Motor Connection

Mating Connector

Solder Side

Mating Connector

Cable Strap

Motor Cable

For connection with motor holding brake

Motor Power Cable, Cable Assy # 24.1

Connecting

Terminals of JetMove

206B-230

(4 x 1.5 mm

1.5 mm

(2 x

))

(AWG 16(6))

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 1

X62.V2 2 Phase 2 5

X62.W2 3 Phase 3 2

X62.PE yellow-green PE conductor

X10.BRAKE2 5 Brake + 6

X10.GND 4 Brake - 4

Dimensions of the motor mating connector are specified in millimeters.

Jetter AG 53

7 Description of Connections

Solder Side

7.2.4 Motor Power Cable with Mating

Note!

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

Item # 60860443 Motor mating connector JL5

Note!

Connector SM

The Jetter motor power cable with mating connector SM, matching the JL5 motor series, can be obtained from Jetter AG. It is confectioned with the matching motor mating connector and can be ordered by the following cable assy numbers:

Without brake:

Cable assy # 201

With brake:

Cable assy # 202

Mating Connector of the Motor (solder side)

54 Jetter AG

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

JetMove 206B-230 7.2 Motor Connection

Mating Connector

Solder Side

Mating Connector

Cable Strap

Motor Cable

Cable Specification of the Motor Power Cable with Mating Connector SM for JetMove 206B-230

For connection without motor holding brake

Motor Power Cable, Cable Assy # 201

Connecting

Terminals of JetMove

206B-230

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 yellow-green PE conductor

Dimensions of the motor mating connector are specified in millimeters.

Jetter AG 55

7 Description of Connections

Mating Connector

Solder Side

Mating Connector

Cable Strap

Motor Cable

For connection with motor holding brake

Motor Power Cable, Cable Assy # 202

Connecting

Terminals of JetMove

206B-230

(4 x 4 mm

0.5 mm

))

+ (2 x

(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 yellow-green PE conductor

X10.BRAKE2 5 Brake + +

X10.GND 6 Brake - -

Dimensions of the motor mating connector are specified in millimeters.

Note!

For cables having been manufactured before April 2005: The signal "Brake -" is assigned to core # 4.

56 Jetter AG

JetMove 206B-230 7.2 Motor Connection

7.2.5 Connection Assignment of Terminal Box

Connection Assignment of Terminal Box

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 Pin 4 Protective earth

X10.BRAKE2 Pin 7 Brake +

X10.GND Pin 8 Brake -

alternative to motor connectors

Motor Terminal Box - Terminal Assignment

Jetter AG 57

7 Description of Connections

Solder Side

10 2

7.3 Resolver Connection

7.3.1 Specification

Specification of Mating Connector X61 (ENCODER)

• 9-pin male SUB-D connector

• Metallized housing

Specification of the 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

• Maximum 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 can be ordered from Jetter AG by supplying the following particulars:

Item # 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 obtained from Jetter AG. It can be ordered by supplying the following cable assy number:

Cable assy # 23 For the servo amplifier series JetMove 2xx

Mating connector of the resolver (solder side)

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

58 Jetter AG

JetMove 206B-230 7.3 Resolver Connection

Shield

Mating Connector

Solder Side

12911

Resolver Cable of Cable Assy # 23

JetMove 2xx

(SUB-D male

connector X61)

Attaching screws

must have a metric

thread!

Pin Signal Core Color Pin

Shielding Motor (Resolver)

(female, solder

side)

Connect shield with the greatest

possible surface area!

Use metallized housing only!

8 Cosine + red 1

3 Cosine - blue 2

2Sine -amber3

7Sine +green4

1 R1R (exciter

pink 5

winding +)

6R2L (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.

Jetter AG 59

7 Description of Connections

7.4 HIPERFACE Connection

7.4.1 Specification

Specification of Mating Connector X61 (ENCODER)

• 9-pin male SUB-D connector

• Metallized enclosure

HIPERFACE Cable Specification

• 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.

• The cables have to be twisted in pairs and 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 power supply

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

• Material: Copper

• Temperature class: 60 °C

• Maximum cable length: 50 m

7.4.2 HIPERFACE Cable with Mating

Connector

Note!

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

Item # 15100069 Resolver / HIPERFACE

The complete HIPERFACE cable connecting the servo amplifier series JetMove 2xx and the Jetter motor series JL, JK and JH can be obtained from Jetter AG. It can be ordered by submitting the following cable specifications and the respective cable length in cm:

KAY_0723-xxxx For the servo amplifier series JetMove 2xx

60 Jetter AG

JetMove 206B-230 7.4 HIPERFACE Connection

Solder Side

10 2

HIPERFACE mating connector (solder side)

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

Jetter AG 61

7 Description of Connections

Shield

Mating Connector

Solder Side

12911

HIPERFACE Cable of KAY_0723-xxxx

JetMove 2xx

(SUB-D male

connector X61)

Attaching screws

must have a metric

thread!

Pin Signal Core Color Pin

Shielding Motor

(HIPERFACE)

(female, solder

side)

Connect shield with the greatest

possible surface area!

Use metallized housing only!

- unassigned - 1

- unassigned - 2

7 Sine + white 3

2 Reference sine brown 4

8 Cosine + green 5

3 Reference cosine amber 6

6 DATA - (RS-485) gray 7

1 DATA + (RS-485) pink 8

40 Vblue9

5 Power supply

red 10

(7 through 12

volts)

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.

62 Jetter AG

JetMove 206B-230 7.5 Sin-Cos Encoder Connection

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 (item # 10000430) 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 conducted 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 power 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

Jetter AG 63

7 Description of Connections

7.5.3 Connection Diagram

Fig.: 14: Sin-cos encoder connection with adapter

64 Jetter AG

JetMove 206B-230 7.5 Sin-Cos Encoder Connection

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

7 Sine +

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.)

9 unassigned

Jetter AG 65

7 Description of Connections

Important!

To be considered before connecting sin-cos encoders

If a sin-cos encoder is to be used, after applying the logic power supply to the JetMove 2xx and before the first enable, commutation finding always has to be carried out. 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.

66 Jetter AG

JetMove 206B-230 7.6 Digital Inputs, Logic Power Supply

7.6 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

Digitale Inputs, Logic Power Supply

Wiring

Terminal

X10 at the

Amplifier

ENABLE Hardware

REF Reference

Signal Operating Principle Specification

• At this input, a high enable for the power supply of the motor (Input)

switch (Input)

signal is necessary for power supply of the motor (This signal must have been applied before carrying out the software enable).

• A low signal de-

energizes the motor immediately.

• Depending on the

parameter setting, this input is used for reference run.

(AWG 24 ... AWG 16)

(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

NC or NO contact

LIMIT + Positive limit

switch (input)

LIMIT - Negative

limit switch (input)

Jetter AG 67

• 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.

• DC 24 V

• 7.5 mA max.

• Operating point: < 6 V low,

> 15 V high

NC or NO contact

• DC 24 V

• 7.5 mA max.

• Operating point: < 6 V low,

> 15 V high

NC or NO contact

7 Description of Connections

⊥

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 Voltage

supply of processor logics

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 206B-230 at release of the motor current.

Important Note!

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

•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 < 0.6 A)

= DC 30 V

max.

= DC 2 A

max.

N/O

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

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

68 Jetter AG

JetMove 206B-230 7.7 Jetter System Bus

ΩΩΩ

7.7 Jetter System Bus

By means of the Jetter system bus, the JetMove 206B-230 is interlinked with the controller, additional JetMove amplifiers, or Jetter peripheral modules. The system bus input BUS-IN is a 9-pin SUB-D male connector, and the system bus output BUSOUT is a 9-pin SUB-D female connector.

7.7.1 Specifications of the Jetter System Bus Cable

Specification of Connectors

On the BUS-OUT (X19) side

• 9-pin male SUB-D connector

• Metallized enclosure

On the BUS-IN (X18) side

• 9-pin female SUB-D connector

• Metallized enclosure

System Bus Cable Specification

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

Technical Data of the System Bus Cable

Operating Principle Description

Core cross-sectional area

Capacity of the cable 60 pF/m max.

Resistivity 1 MBaud: Maximum 70 /km

1 MBaud: 0.25 - 0.34 mm

500 kBaud: 0.34 - 0.50 mm

250 kBaud: 0.34 - 0.60 mm

125 kBaud: 0.50 - 0.60 mm

500 kBaud: Maximum 60 /km

250 kBaud: Maximum 60 /km

125 kBaud: Maximum 60 /km

Number of cores 5

Shielding Complete shielding, no paired shielding

Twisting Core pairs CL and CH must be twisted.

Jetter AG 69

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

System Bus Cable of Cable Assy # 530

Shielding

Line Length

BUS-OUT Connect shield with the greatest

possible surface area!

Use metallized housing only!

Pin Signal Pin

1CMODE01

2CL2

3GND3

4CMODE14

5TERM 5

6Unassigned6

7CH7

8Unassigned8

9 Do not connect 9

BUS-IN

70 Jetter AG

JetMove 206B-230

8 Status Monitoring

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

JetMove 206B-230 - LEDs

LED Color Meaning

5V 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 JetMove 206B-230. The various display modes are set by the Motion Setup. Mode 0 (default) is used for normal operation and mode 1 for commissioning.

JetMove 206B-230 - Seven-Segment Display

Mode 0: Normal Operation

Display State Meaning

0 NOT READY TO BE

SWITCHED ON

1 SWITCH-ON INHIBIT Initialization completed. Safe state

Initialization of amplifier functions

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

2 READY TO BE SWITCHED ONDrive controller has been disabled by

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.

Jetter AG 71

8 Status Monitoring

JetMove 206B-230 - Seven-Segment Display

Mode 0: Normal Operation

7 QUICK STOP

ACTIVATED

E ERROR REAKTION IS

ACTIVATED

F MALFUNCTION The drive controller is locked, error

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

. Flashing dot Warning activated

0. Flashing "ZERO" Boot sector 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

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

A quick stop has been activated. The drive is being decelerated to n = 0 and then locked.

An error has been recognized. An adjustable error reaction may be active.

can be acknowledged.

memory.

JetMove 206B-230 - Seven-Segment Display

Mode 1: Commissioning

Display Meaning Meaning

bM > 0, n > 0 --> Quadrant I Mode of operation -

cM < 0, n > 0 --> Quadrant II Mode of operation -

eM < 0, n < 0 --> Quadrant III Mode of operation -

fM > 0, n < 0 --> Quadrant IV Mode of operation -

a Positive current limit has been reached. --

d Negative current limit has been reached. --

as-is value

< 0.5 % n

max.

Motor

Generator

Motor

Generator

72 Jetter AG

JetMove 206B-230 9.1 Fault Messages

9 Diagnostics

9.1 Fault Messages

Note!

In the case of a fault message, the letter "F" and two successive numbers appear on the seven-segment display every second.

Fault Message Table JetMove 206B-230

Error Number

F 00 Hardware error Internal hardware

F 01 Internal voltage

F 02 Mains phase error

F 03 Motor cable

Type of Error Description Reaction Remedy

defect

One or more power

supply error

(is only active in case of a 3-phase connection)

breakage

supply voltages are beyond their limits.

Failure of one of the mains phases.

The motor cable is broken.

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

–Immediate

motor power disable

–Immediate

motor power disable

–Immediate

motor power disable

–Immediate

motor power disable

– Separate the drive

controller from the power lines.

– Return the amplifier for

repair.

– Separate the drive

controller from the power lines.

– Return the amplifier for

repair.

– Check fuses and wiring. – Acknowledge failure.

– Check the motor cable

connections.

– Acknowledge failure.

F 04 Overvoltage in the

DC link

Jetter AG 73

A DC link voltage of > 480 V is detected.

–Immediate

motor power disable

– Check input voltage

supply.

– If the motor is used as

generator, reduce the regenerating power.

– Acknowledge failure.

9 Diagnostics

Fault Message Table JetMove 206B-230

Error Number

F 05 Over-current The output current is

F 06 Ballast resistor

F 07 Amplifier

F 08 Motor

Type of Error Description Reaction Remedy

greater than 2.5 x the rated current.

The ballast resistor

overload

overtemperature

is overloaded.

The amplifier has reached the maximum temperature.

The motor has reached the maximum temperature.

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– Check cable and motor

for a short circuit.

– Check current control

parameters. If necessary, correct parameters.

– Acknowledge failure.

– Let the amplifier cool

down.

– After cooling down,

acknowledge failure.

– Reduce regeneration

power.

– Let the amplifier cool

down.

– After cooling down,

acknowledge failure.

– Reduce power of the

motion system.

– Let the motor cool

down.

– After cooling down,

acknowledge failure.

– Reduce the power of

the drive.

F 09 Encoder failure Encoder breakage

or initialization 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 is 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 failure.

– Check motor and

encoder connections.

– Check speed controller

parameters. If necessary, modify parameters.

– Acknowledge failure.

– Reduce K

current controller by 10 to 20 %.

– Acknowledge failure

of the

74 Jetter AG

JetMove 206B-230 9.1 Fault Messages

Fault Message Table JetMove 206B-230

Error Number

F 12 Ground fault One or several

F 13 (combined with F00)

F 14 (combined with F 00)

F 15 The hardware

Type of Error Description Reaction Remedy

phases of the motor cable or inside the motor have been short-circuited 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.

–Immediate

motor power disable

–Immediate

motor power disable

–Immediate

motor power disable

–Immediate

motor power disable

– Check the motor cable

and the motor.

– Acknowledge failure.

– 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 failure.

F16 Power input

overcurrent

F 17 Trip of software

limit switch is activated.

F 18 The trip of

hardware limit switch is activated.

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 failure.

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

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

– Check target position. – Check reference

position. – Acknowledge failure. – Return the axis to a

position within the

machine travel limits

(monitoring of hardware

limit switches is re-

enabled automatically

at entering this range).

Jetter AG 75

9 Diagnostics

Fault Message Table JetMove 206B-230

Error Number

F 20 Undervoltage in

F 21 Overvoltage of the

F 22 The drive is

F 23 Tracking error The tracking error

Type of Error Description Reaction Remedy

The DC link voltage

the DC link

DC link voltage

blocked.

is less than the set minimum value.

The DC link voltage has exceeded the set 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 the parameter "tracking error limit" for the time specified in "tracking window time".

– Stop with

emergency deceleration ramp.

– Stop with

emergency deceleration ramp.

– Immediate

motor power disable

– Stop with

emergency deceleration ramp.

– Check the supply

voltage.

– Check the parameter

min. trip".

– Acknowledge failure.

– Check the supply

voltage.

– In generator operation,

reduce braking power.

– Acknowledge failure.

– Eliminate the cause of

blocking.

– Acknowledge failure.

– Check the drive

mechanism.

– Check steepness of

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

– Acknowledge failure.

F 24 (combined with F 01)

F 25 - F 27 (combined with F 01)

F 29 The mains power is

76 Jetter AG

Error in 24 V supply voltage

Internal power supply error

too high.

The external 24 V supply was lower than 18 V.

One or more internal supply voltages have fallen below their limits.

The average mains power of the 230 V supply was too high.

– Immediate

motor power disable

– Immediate

motor power disable

– Immediate

motor power disable

– Check external power

supply.

– Acknowledge failure.

– Note the fault number. – Return the amplifier for

repair.

– Acknowledge failure. – Reduce the average

load of the motor.

JetMove 206B-230 9.2 WARNINGS

Fault Message Table JetMove 206B-230

Error Number

F 30 I²t error The average power

F 31 Motor overload

F 38 Asymmetric

Type of Error Description Reaction Remedy

loss of the motor is greater than the max. value configured by nominal motor current, overload factor and motor time constant. See "I²t Calculation" on page 41

The average motor protection according to UL

encoder signal

power loss was

higher than defined

according to UL.

See chapter 5.2.3

"Motor Overload

Calculation to UL",

page 43

The amplitudes of

the analog sine-

cosine signals are

not identical.

–Immediate

motor power disable

–Immediate

motor power disable

–Immediate

motor power disable

– Let the motor cool

down. – Acknowledge failure. – Check the configuration

of nominal motor

current, overload factor

and motor time

constant. – Reduce the average

load of the motor.

– Let the motor cool

down. – Acknowledge failure. – Reduce the average

load of the motor.

– Check wiring or

encoder signals. – Acknowledge failure.

F 39 Error at

commutation finding

F 42 Malfunctioning of

encoder 2 (only for the option CNT)

9.2 WARNINGS

If the dot in the seven-segment display is flashing, one or several warnings have been recognized. Please check in the Motion Setup or by issuing the motion instructions in the controller program which warning is active.

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

Encoder breakage or initialization error

–Immediate

motor power disable

–Immediate

motor power disable

– Check parametering. – Check wiring or

encoder signal. – Acknowledge failure.

– Check the encoder line

and all plug-in

connections. – Acknowledge failure.

Jetter AG 77

9 Diagnostics

78 Jetter AG

JetMove 206B-230

X62

Motor

X61

ENCODER

24 V

Gnd

X18

BUS-IN

X19

BUS-OUT

9 pin

SUB-D

R2 R1 S4 S2 S1 S3 T1 T2

61 2 78394

ENABLE

LIMIT + LIMIT REF INPUT

DC BRAKE 1 BRAKE 2

24 V 0,6 A

⊥ ⊥

3 x AC 230 V

Br +

Br -

L2L1Filter

L1’

L2'

Contactor

X10

Dig. inputs

Logic power supply

Bus cable coming from previous bus member

Bus cable leading to next member

U1 V1 W1 PE

A free-wheeling diode is

needed, if it has not been integrated in the motor. In Jetter motors, freewheeling diodes have

been integrated! Recommended diode type: 1N4002

not

Please Note!

10 Connection Diagrams

see Page 69

Fig.: 15: Connection diagram JetMove 206B-230, 1-phase connection, type of

Jetter AG 79

position transducer: Resolver

See also chapter 7 "Description of Connections", page 47.

10 Connection Diagrams

JetMove 206B-230

X62

Motor

X61

ENCODER

24 V

Gnd

X18

BUS-IN

X19

BUS-OUT

9 pin

SUB-D

ENABLE

LIMIT + LIMIT REF INPUT

DC BRAKE 1 BRAKE 2

24 V 0,6 A

⊥ ⊥

3 x AC 230 V

Br +

Br -

Filter

L1’

L2'

Contactor

X10

Dig. inputs

Logic power supply

Bus cable coming from previous bus member

Bus cable leading to next bus member

U1 V1 W1 PE

D+ D-

Sin

R-SiCosR-CoTTer

16 7

28349

U+

A free-wheeling diode is

needed, if it has not been

in the motor. In Jetter motors, freewheeling diodes have

been integrated! Recommended diode type: 1N4002

not

integrated

Please Note!

see Page 69

Fig.: 16: Connection diagram JetMove 206B-230, 1-phase connection, type of position transducer: HIPERFACE

80 Jetter AG

JetMove 206B-230

X62

Motor

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

⊥ ⊥

3 x AC 230 V

Br +

Br -

172

L3L2L1

Filter

L1’

L2' L3’

Contactor

X10

Dig. inputs

Logic power supply

Bus cable coming from previous bus member

Bus cable leading to next bus member

U1 V1 W1 PE

A free-wheeling diode is

needed, if it has not been integrated in the motor. In Jetter motors, freewheeling diodes have

been integrated! Recommended diode type: 1N4002

not

Please Note!

see Page 69

Fig.: 17: Connection diagram JetMove 206B-230, 3-phase connection, type of position transducer: Resolver

Jetter AG 81

10 Connection Diagrams

JetMove 206B-230

X62

Motor

X61

ENCODER

24 V

Gnd

X18

BUS-IN

X19

BUS-OUT

9 pin

SUB-D

ENABLE

LIMIT + LIMIT REF INPUT

DC BRAKE 1 BRAKE 2

24 V 0,6 A

⊥ ⊥

3 x AC 230 V

Br +

Br -

L3L2L1

Filter

L1’

L2' L3’

Contactor

X10

Dig. inputs

Logic power supply

Bus cable coming from previous bus member

Bus cable leading to next member

U1 V1 W1 PE

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

Ter m

16 7283 49

U+

A free-wheeling diode is

needed, if it has not been integrated in the motor. In Jetter motors, freewheeling diodes have

been integrated! Recommended diode type: 1N4002

not

Please Note!

see Page 69

Fig.: 18: Connection diagram JetMove 206B-230, 3-phase connection, type of position transducer: HIPERFACE

82 Jetter AG

JetMove 206B-230

Key to the wiring diagrams_

1 Line filter (optional) (refer to "Line filter" on page 38)

2 Mains protection (refer to "Overload protection" on page 37)

3 Motor

4 Motor holding brake (option)

5 Position transducer (resolver or HIPERFACE encoder)

6 Motor overtemperature protection

7 Isolating transformer or autotransformer

Jetter AG 83

10 Connection Diagrams

84 Jetter AG

JetMove 206B-230 11.1 Operating Principle

11 Analog Input (Option)

11.1 Operating Principle

For the digital servo amplifier JetMove 206B-230, an optional integrated analog input card can be ordered (article designation of the device: JM-206B-230...-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. A pressure sensor in the machine is connected to the analog input of the JetMove to deliver the actual pressure value for the control loop.

11.2 Technical Data

Technical Data of the Analog Input

Connection SUB-D connector (male) at the device

Voltage range 0 ... 10 V

Input current 1.4 mA max.

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 85

11 Analog Input (Option)

11.3 Description of Connections

Specification of Mating Connector for X72

• 9-pin female SUB-D connector

• Metallized housing

Specification of the Cable leading to the Analog Input

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

• Cores have to be twisted and entirely shielded.

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

• Material: Copper

• Temperature class: 60 °C

cable with the greatest possible surface area.

Pin Assignment of the Analog Input

Shielding

X72 Connect shield with the greatest possible surface area!

Use metallized housing only!

Pin Signal

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

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

2 - 5 Do not use

86 Jetter AG

JetMove 206B-230 12 Ethernet Interface (Option)

12 Ethernet Interface (Option)

12.1 Operating Principle

For the digital servo amplifier JetMove 206B-230, an optional integrated Ethernet interface can be ordered (article designation of the device: JM-206B-230...-OEM). This allows for the JetMove 206B-230 to be addressed by the controller via Ethernet instead of 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 of various operating modes

LED for status indication RUN / ERR

RUN / STOP / LOAD

12.2 Description of Connections

The digital servo amplifier JetMove 206B-230...-OEM is connected with the Ethernet by a RJ45 socket (X71).

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

• Straight-through twisted pair cable

• Crossover cables (transmitting and receiving lines are crossed)

Jetter AG 87

12 Ethernet Interface (Option)

The LEDs of the JetMove 206B-230...-OEM Ethernet

Designation Operating Principle

ACT Activity: The JetMove 206B-230...-OEM

LNK Linkage: The JetMove 206B-230...-OEM

12.2.1 Connection between the

Direct connection between a PC or JetControl and a JetMove 206B-230...-OEM is established by means of a crossover cable.

transmits or receives data via the Ethernet.

is linked with the Ethernet

JetMove 206B-230...-OEM and a PC or JetControl

Note!

12.2.2 Connection between the JetMove 206B-230...-OEM and a PC or JetControl through a Switch

If connection between PC or JetControl and a JetMove 206B-230...-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.

88 Jetter AG

JetMove 206B-230 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, Switches

12.3.1 LEDs

Logic LEDs

ERR (red) Flashes shortly at initializing.

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

RUN (green) Flashes regularly at correct functioning

of the Ethernet interface.

The as-is state of the LED can be scanned in register 10182.

LED Error Messages

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

Following power-up the red LED (ERR) flashes three times, then both LEDs (red = ERR, green = RUN) are flashing.

The selector is in LOAD position. The boot loader is running. The OS of the Ethernet interface is neither checked nor launched.

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

The red LED (ERR) and the green LED (RUN) are flashing alternately with intermittent breaks during runtime.

Jetter AG 89

Fatal operating system error of the Ethernet interface.

12 Ethernet Interface (Option)

12.3.2 The DIP Switches

The switches are evaluated at switching on the JetMove 206B-230...-OEM. Switches 1 through 8 influence the IP address; switches 9 through 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 booting, the switch has no influence to the interface functions. The current position of the mode selector 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 206B-230...-OEM. The actually used IP address can be scanned in register 2931.

12.4.1 Default IP Address

If, at activating the controller, DIP switches 1 through 8 are in "OFF" position, the JetMove 206B-230...-OEM has got IP address 192.168.10.15. In case of any uncertainties with regard to the IP address used, you can use this "loophole" to set the JetControl to a defined state.

12.4.2 IP Address Out of the Configuration Memory

If, at activating the JetMove 206B-230...-OEM, the DIP switches 1 through 8 are in "ON" position, the JetControl has got the IP address saved in the configuration memory. The configuration memory can be accessed by means of the "/System/cfgvar.ini" file or registers 10131 through 10145.

90 Jetter AG

JetMove 206B-230 12 Ethernet Interface (Option)

Configuration File

In order to gain 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

In no case change the version number!

Important!

Registers

Alternative access to the configuration memory is possible via registers 10131 through 10145. In order to make a change via registers, first password register 10159 with password value 2002149714 (0x77566152) has to be loaded. Then, registers 10132 through 10145 are modified. Finally, the changes to the configuration memory have to be saved by entering an arbitrary value into register 10100.

Value Used in

Registers Meaning

the Example

10100 Saving the configuration values

10131 Version number 4

10132 IP address MSB 192

10133 IP address 3SB 128

10134 IP addresse 2SB 10

10135 IP address LSB 97

10136 Subnet mask MSB 255

10137 Subnet mask 3SB 255

10138 Subnet mask 2SB 255

10139 Subnet mask LSB 0

Jetter AG 91

12 Ethernet Interface (Option)

Registers Meaning

Value Used in

the Example

10140 Default gateway MSB 192

10141 Default gateway 3SB 128

10142 Default gateway 2SB 10

10143 Default gateway LSB 1

10144 Port number of the JetIP server 50000

10145 IP address of the DNS server 0xC076D2D1

(192.118.210.209)

10159 Password 2002149714

(0x77566152)

Do not change the version number contained in register 10131.

Important!

12.4.3 IP Address Taken from the Switch Position

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

To make up the IP address, the position of DIP switches 1 through 8 is read in once during the start-up procedure. The actual settings of DIP switches 1 through 8 can be scanned in register 10180.

92 Jetter AG

JetMove 206B-230 13 Safe Standstill (Option)

13 Safe Standstill (Option)

The digital servo amplifier JetMove 206B-230 does not provide the option "Safe Standstill". As an alternative, JM-204-480-S1 can be applied in the same performance range, if working by a mains voltage of 400 V is possible, and if a motor of another back EMF constant is ordered.

Note!

The sales staff of Jetter AG will gladly assist you in the selection.

Jetter AG 93

13 Safe Standstill (Option)

94 Jetter AG

JetMove 206B-230 14.1 Operating Principle

14 Counting Input (Option)

14.1 Operating Principle

For the JetMove 206B-230, an optional integrated counter card can be ordered (article designation of the device: JM-206B-230...-CNT). It supplies a counting input equipped with the following interface:

• EnDat 2.2 by Heidenhain

• Synchronous Serial Interface (SSI)

• Incremental counter

The received or counted value of an actual position can be read via a JetMove register by the controller program or processed by the firmware of the JetMove in the controllers.

Yet, the actual position of an SSI encoder cannot be used for position control. It only indicates the position of the leading axis.

14.2 EnDat 2.2

14.2.1 Technical Data

Technical Data of the Input EnDat 2.2

Encoder types Absolute encoders (single, multiturn or linear)

Scanning 62.5 µs

Baud rate 8 MHz

Maximum cable length 100 m

Type of signal 5 V differential signals

Input impedance 22 k

Bus termination 120 integrated resistance

Electrical isolation None

Jetter AG 95

14 Counting Input (Option)

Solder Side

10 2

14.2.2 Description of Connections

Specification of Mating Connector for X72

• 9-pin male SUB-D connector

• Metallized enclosure

EnDat Cable Specification

• Cable size: 2 * 2 * 0.14 mm² + 2 * 0.25 mm² (AWG 26(4) + AWG 23(2))

• The cables have to be twisted in pairs and included in an overall shielding

• The following signal lines have to be twisted in pairs:

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

• Material: Copper

• Temperature class: 60 °C

• Maximum cable length: 100 m

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

DATA - and DATA + Clock - and Clock + 0 V and power supply

cable with the greatest possible surface area.

14.2.3 EnDat Cable with Mating Connector

Note!

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

Item # 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. The resolver cable can be ordered by submitting the following cable specifications and the respective cable length in cm:

KAY_0723-xxxx For the servo amplifier series JetMove 2xx

HIPERFACE mating connector (solder side)

Fig.: 19: RC series mating connector of the EnDat (internal thread M23)

96 Jetter AG

JetMove 206B-230 14.2 EnDat 2.2

Shield

Mating Connector

Solder Side

12911

HIPERFACE-, EnDat Cable of KAY_0723-xxxx

JetMove 2xx

(SUB-D male

connector X72)

Attaching screws

must have a metric

thread!

Pin Signal Core Color Pin

- unassigned - 1

Shielding Motor (EnDat)

5 * 2 * 0.25 mm

Connect shield with the greatest

possible surface area!

Use metallized housing only!

(female, solder

side)

- unassigned - 2

7 DATA - (RS-485) white 3

2 DATA + (RS-485) brown 4

8 unassigned green 5

3 unassigned yellow 6

6 Clock - (RS-485) gray 7

1 Clock + (RS-485) pink 8

40 Vblue9

5 5 V power supply

red 10

200 mA max.

9 unassigned black 11

unassigned - 12

Pin 9 and pin 12 are short-circuited (thermal sensor HIPERFACE)

The measurements of the EnDat mating connector are specified in millimeters.

Jetter AG 97

14 Counting Input (Option)

ΔU

l⋅⋅

γ A⋅

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

ΔU γ A⋅⋅

2In⋅

----------------------- - 161

----------- - A⋅⋅==

⋅

ΔU γ⋅

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

161 m⋅

------------------ l⋅==

ΔU

Ωmm

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

14.2.4 Power Supply of the Encoder

The optional counter card supplies a voltage of 5 V +/- 5 %. The EnDat encoders by Heidenhain have been specified to 3.6 through 5.25 V of

0.2 A max.. This results in a maximum voltage drop of U = 1.15 V on the EnDat

cable. The voltage drop can generally be calculated as follows:

This results in the maximum cable length or in a minimum cable cross section:

Given : Voltage drop in V

: Current consumption by the measuring device in A

: Cross section of the supply cable in mm

: Cable length

: Electric conductivity (for copper: )

Example:

At a cable cross section of 0.34 mm

, there results a maximum cable length of l = 54.74 m or - at a cable length of 80 m - the following cross section is needed: A = 0.55 mm. By a double wiring arrangement, the cable length can be doubled.

98 Jetter AG

JetMove 206B-230 14.3 Synchronous Serial Interface (SSI)

14.3 Synchronous Serial Interface (SSI)

14.3.1 Technical Data

Technical Data of the SSI Input

Encoder types Multiturn absolute encoder

Scanning up to 2 ms

Transmission rate 100 kHz ... 1 MHz

Maximum cable length 50 ... 100 m

Type of signal 5 V differential signals

Input impedance 22 k

Bus termination 120 integrated resistance

Electrical isolation None

14.3.2 Description of Connections

Specification of Mating Connector for X72

• 9-pin male SUB-D connector

• Metallized enclosure

Specification of the SSI Cable

• Cable size: 2 * 2 * 0.14 mm² + 2 * 0.25 mm² (AWG 26(4) + AWG 23(2)) 2 * 0.25 mm² must be used for the power supply unit and for GND.

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

• The following signal lines have to be twisted in pairs: Clock - and Clock + DATA - and DATA + 0 V and power supply

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

• Material: Copper

• Temperature class: 60 °C

• Maximum cable length: 100 m Dependent on the encoder type, the transmission frequency has to be reduced due to the signal runtimes in long cables.

Jetter AG 99

14 Counting Input (Option)

Shield

14.3.3 SSI Cable

SSI Cable

JetMove 2xx

(SUB-D male connector

X72)

Attaching screws must

have a metric thread!

Pin Signal

1Clock +

2 DATA +

Shielding Specification

of the Cable

Encoder signal:

5 V differential signal

Maximum cable length:

100 m

Connect shield with the

greatest possible

surface area!

Use metallized housing

only!

3 do not use

40 V

5 Power supply

5 V, 200 mA max.

6 Clock -

7 DATA -

8 do not use

9 do not use

100 Jetter AG

Jetter JM-206-230, JM-206B-230 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

1 Safety Instructions 11

2 JetMove 206B-230 - Installation Instructions 23

3 Operating Conditions 31

4 Mounting Dimensions 35

5 Technical Data 37

6 Drive Controller Structure 45

7 Description of Connections 47

8 Status Monitoring 71

9 Diagnostics 73

10 Connection Diagrams 79

11 Analog Input (Option) 85

12 Ethernet Interface (Option) 87

13 Safe Standstill (Option) 93

14 Counting Input (Option) 95

15 Ordering Information 103

List of Appendices

JetMove 206B-230 1.1 General Safety Instructions

Table of Contents 1 Safety Instructions

1.1.1 Intended Conditions of Use

1.1.2 Usage Other Than Intended

1.1.3 Personnel Qualification

1.1.4 Modifications and Alterations to the Device

1.1.5 Repair and Maintenance

1.1.6 Disposal

1.2 Ensure Your Own Safety

1.2.1 Malfunctions

1.2.2 Information Signs and Labels

1.2.3 Earthing Procedure

JetMove 206B-230 1.3 Residual Dangers

1.3.1 Hazards During Operation

1.3.2 Hazards after POWER is turned OFF

1.4 Instructions on EMI

JetMove 206B-230 2.1 Scope of Delivery

2.2 Mechanical Installation

2.3 Electrical Installation

JetMove 206B-230 2.4 Checking the Installation

2.6 Notes on Safety as regards Commissioning

JetMove 206B-230 2.7 Notes on Decommissioning

3 Operating Conditions

4 Mounting Dimensions

JetMove 206B-230 5.1 Electrical Specifications

5 Technical Data

JetMove 206B-230 5.2 Motor Protection

5.2.1 Built-In Temperature Sensor

5.2.3 Motor Overload Calculation to UL

6 Drive Controller Structure

JetMove 206B-230 7.1 Power Supply Connection

7 Description of Connections

JetMove 206B-230 7.2 Motor Connection

7.2.1 General Remarks

7.2.2 Assignment and Specifications

7.2.5 Connection Assignment of Terminal Box

7.3 Resolver Connection

7.3.1 Specification

7.3.2 Resolver Cable with Mating Connector

7.4 HIPERFACE Connection

7.4.1 Specification

JetMove 206B-230 7.5 Sin-Cos Encoder Connection

7.5.1 Adapter

7.5.2 Specification

7.5.3 Connection Diagram

JetMove 206B-230 7.6 Digital Inputs, Logic Power Supply

JetMove 206B-230 7.7 Jetter System Bus

7.7.1 Specifications of the Jetter System Bus Cable

8 Status Monitoring

JetMove 206B-230 9.1 Fault Messages

9 Diagnostics

JetMove 206B-230 9.2 WARNINGS

10 Connection Diagrams

JetMove 206B-230 11.1 Operating Principle

11 Analog Input (Option)

11.2 Technical Data

11.3 Description of Connections

JetMove 206B-230 12 Ethernet Interface (Option)

12.1 Operating Principle