SSD COMPANY LIMITED 637f User Manual

637f

Servo drive

Product Manual

07-02-10-01-E-V0505.doc

UL:07-02-01

UL:07-02-02-01

UL: 07-02-09-02

UL:07-02-10-02

UL:07-05-02-03

Additional Supporting Documentation

Product Manual Rack 6 U and EMV

Product Manual Power Supply Plug-in Module NE B

Feedback System HIPERFACE

®

Product - Manual Safe Standstill SBT

Product Manual SUCOnet K

UL:07-05-03-02

UL:07-05-04-02

UL:07-05-05-02

UL:07-05-07-02

UL:07-05-08-02

Product Manual Bus Interface CAN for 635 / 637 / 637+ / 637f

Product Manual Bus Interface DP for 635 / 637 / 637+ / 637f

Product Manual Bus Interface Interbus S for 635 / 637 / 637+ / 637f

Product Manual I/O Interface for 635 / 637 / 637+ / 637f

Product Manual Bus Interface Device Net for 635 / 637 / 637+ / 637f

________________________________________________________________________________________________________________________________________________________________________________________________________________________

2 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

UL:07-09-04-02

UL:10-06-03

UL: CD

UL:10-06-05

UL: 12-01

Additional Supporting Documentation

Product Manual Suppression Aids EH

Product Manual Serial Transfer Protocol 635 / 637 / 637+ / 637f EASY- Serial

EASYRIDER

Product Manual Software BIAS

Product Manual Accessories - Plugs

®

Windows - Software

®

UL:12-02

Product Manual Accessories - Cable

UL:12-03

Product Manual Ballast Resistors

Changes are subject to change without notice.

SSD Drives has registered in part trademark protection and legal protection of designs. The handing over of the descriptions may not be construed as the transfer of any rights.

Made in Germany, 2005

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 3

Seite

Table of Contents

The Most Important Thing First ........................................................................7

Safety Precation .................................................................................................8

1 General Information................................................................................10

1.1 System Description.......................................................................................................................10

1.1.1 Digital Communication..................................................................................................................11

1.1.2 Operation configurations...............................................................................................................11

1.1.3 Compatibility with 637 Servo Drives (Not required for new projects)...........................................12

1.1.4 Compatibility with 637+ Servo Drives..........................................................................................12

1.2 Type Code ...............................................................................Fehler! Textmarke nicht definiert.

1.2.1 Combination possibilities for the various communications / I/O - modules..................................14

1.2.2 Layout module slots......................................................................................................................15

1.2.3 Layout of Power Board.................................................................................................................15

1.3 Range Data...................................................................................................................................16

1.3.1 Insulation Concept........................................................................................................................16

1.3.2 General Data.................................................................................................................................16

1.3.3 Compact Units 637f/K D6R...........................................................................................................17

1.3.4 Plug-In Modules 637f/D6R............................................................................................................18

1.3.5 Single- and Three-Phase Supply..................................................................................................19

1.3.6 Output Power................................................................................................................................20

1.4 Dimensions...................................................................................................................................21

1.4.1 Dimensions for Compact Device and Plug-In Module..................................................................21

1.4.2 EMC-Clip (optional) .....................................................................................................................22

2 Connector Assignments and Functions ..............................................23

2.1 General View of Connections for Compact Device 637f/ K D6R 02 – 10 ....................................23

2.1.1 637f/K D6R 02...10 Width 14 HP..................................................................................................23

2.1.2 637f/K D6R 16...30 Width 20 HP..................................................................................................24

2.2 Connector Pin Assignments and Contact Functions....................................................................25

2.2.1 Power Connections for Plug-In Module 637f/D6R........................................................................25

2.3 Signal Connections.......................................................................................................................26

2.3.1 Control Signal Plug X10 - SUB D25 Socket.................................................................................26

2.4 Feedback Sensor X30..................................................................................................................29

2.4.1 Function module X300..................................................................................................................29

2.4.2 Feedback Sensor Connection X30 (SUB D 09 Socket)...............................................................30

2.5 Multi-function X40.........................................................................................................................31

2.5.1 Incremental Output.......................................................................................................................32

2.5.2 Incremental-Input..........................................................................................................................32

2.5.3 Stepper Motor Input......................................................................................................................33

2.5.4 Stepper Motor Input......................................................................................................................33

2.5.5 SSI Encoder Interface...................................................................................................................34

2.6 Digital Interfaces...........................................................................................................................35

2.6.1 Service Interface - COM1 (RS232)...............................................................................................35

2.6.2 Fieldbus Interface - COM2............................................................................................................36

2.7 Option module RP SBT ................................................................................................................44

2.7.1 Safe Stop......................................................................................................................................44

2.7.2 Brake control and PTC evaluation................................................................................................45

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4 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Seite

Table of Contents

3 Operating modes....................................................................................46

3.1 Operating modes and pin functions..............................................................................................47

3.2 Configurable pin-functions (depending on the operating mode)..................................................48

3.3 Function diagrams from inputs and outputs .................................................................................49

4 Mechanical Installation ..........................................................................50

4.1 Mounting.......................................................................................................................................50

4.2 Control cabinet - mounting............................................................................................................50

4.3 Cooling..........................................................................................................................................50

5 Electrical Installation..............................................................................51

5.1 Safety............................................................................................................................................51

5.2 The danger of electric shocks.......................................................................................................51

5.3 Danger areas................................................................................................................................51

5.4 Grounding, safety grounding ........................................................................................................51

5.4.1 Ground connections......................................................................................................................51

5.5 Short-circuit capability and discharge currents.............................................................................51

5.6 Fuses, contactors, filters...............................................................................................................52

5.7 Correction of supply current .........................................................................................................53

5.8 Brake resistor................................................................................................................................54

5.8.1 Selection of the brake resistor......................................................................................................54

5.8.2 Configuration of the brake resistor ...............................................................................................55

6 Wiring instructions.................................................................................57

6.1 General Information......................................................................................................................57

6.2 Control cabling..............................................................................................................................57

6.3 Power cabling ...............................................................................................................................57

6.4 Installation of the rack...................................................................................................................57

6.5 Analog setpoint.............................................................................................................................57

6.6 Safety rules...................................................................................................................................57

6.7 Electromagnetic compatibility (EMC)............................................................................................57

6.7.1 Hints for mounting.........................................................................................................................58

6.7.2 Example for mounting...................................................................................................................59

6.7.3 Achieveable specifications and conditions...................................................................................59

7 Setting and programming......................................................................60

7.1 Jumper..........................................................................................................................................60

7.2 Digital communication see: Chapter 13........................................................................................60

8 Commissioning.......................................................................................61

8.1 Preparation ...................................................................................................................................61

8.2 Commissioning in steps................................................................................................................62

9 Diagnose und Fehlersuche....................................................................65

9.1 7-segment display.........................................................................................................................65

9.2 Reset of a regulator trouble..........................................................................................................69

9.3 Trouble shooting...........................................................................................................................70

10 Block circuit diagram.............................................................................71

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 5

Seite

Table of Contents

11 General Technical Data..........................................................................72

11.1 Power circuit .................................................................................................................................72

11.2 Control circuit................................................................................................................................72

11.3 Signal inputs and outputs, connection X10 ..................................................................................72

11.4 Signal inputs and outputs, connection X120B resp. 120C...........................................................73

11.5 Digital control................................................................................................................................73

11.6 Digitale communication.................................................................................................................74

11.7 Resolver evaluation/transmitter principle......................................................................................74

11.8 Controllersystem...........................................................................................................................74

11.9 Analog-Outps................................................................................................................................75

11.10 Thermal data.................................................................................................................................75

11.11 Mechanical data............................................................................................................................75

12 Disposal...................................................................................................76

13 Software...................................................................................................77

13.1 EASYRIDER® Windows - Software..............................................................................................77

13.2 SSD Drives programming language BIAS....................................................................................78

14 Certificates..............................................................................................81

15 Index ........................................................................................................86

16 Modification Record...............................................................................88

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6 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

The Most Important Thing First

Thanks for your confidence choosing our product. These operating instructions present themselves as an overview of the technical data and

features. Please read the operating instructions before operating the product . If you have any questions, please contact your nearest SSD Drives representative.

Improper application of the product in combination with dangerous voltage can lead to injuries. In addition, damage can also occur to motors or other products. Therefore please observe our safety precautions strictly.

Safety precautions

We assume that, as an expert, you are familiar with the relevant safety regulations, especially in accordance with VDE 0100, VDE 0113,VDE 0160, EN 50178, the accident prevention regulations of the employers liability insurance company and the DIN regulations and that you are able to use and apply them. As well, relevant European Directives must be observed.

Depending on the kind of application, additional regulations e.g. UL, DIN are subject to be observed. If our products are operated in connection with components from other manufacturers, their operating instructions are also subject to be observed strictly.

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 7

Safety Precation

Attention

Digital servo drives, corresponding to EN 50178/VDE 0160, are power electronic components utilized for the regulation of the flow of energy in electrical power installations. They are exclusively designed and configured to supply SSD Drives, or SSD Drives approved, servo motors. Handling, installation, operation, and maintenance are only permitted under the conditions of and in keeping with the effective and/or legal regulations, regulation publications and this technical document.

Safety Precautions

The operator must make sure that these regulations are strictly followed. The Concept of Galvanic Separation and Insulation:

Galvanic separation and insulation corresponding to EN 50178/VDE 0160, provides for additional insulation protection.

In addition, all digital signal inputs and outputs are provided with a galvanic separation utilizing either a relay or an optical coupler. In this way, an increased level of protection against potential interference and a limitation of potential damage due to incorrect connections are provided.

The voltage level must not exceed the designated low safety voltage of 60V DC or 25V AC, respectively, in accordance with EN 50178/VDE 0160. The operator must make sure that these regulations are strictly followed.

High Voltage! Danger of Electrocution! Life Threatening Danger!

Danger !

Caution !

Due to safety considerations and the product guarantee, the operator is prohibited from opening the servo drive case. Service, maintenance and repair of SSD Drives products should only be carried out by specified representatives of the company. Expert configuration and professional installation, as described by this document, are the best way to insure for the problem-free operation of the SSD Drives servo drive!

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8 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Please observe!

Safety Precautions

Pay Special Attention to the Following:

Permissible Protection Class: Protective Grounding - operation is only permitted when the protective conductor is connected according to regulations. The operation of servo drives is not allowed, under the sole use of a residual current operated protective device as protection against indirect touching. The servo drive may only be used in the rack or in its compact enclosure. Furthermore the regulator is designed solely for control cabinet operation. Work on or with the servo drive may only be carried out with insulated tools. Installation work may only be done in a de-energized state. When working on the drive, one should not only block the active – input, but also separate the drive completely from the main power connection.

CAUTION - Risk of Electrical Shock:

Wait 3 minutes after switching the component off, to allow the capacitors to discharge. Screws sealed with varnish fulfill an important protection function and may not be moved or removed. It is prohibited to penetrate the inside of the unit with objects of any kind. Protect the unit from falling parts, pieces of wire, metal parts, etc., during installation or other work in the control cabinet. Metal parts can lead to a short-circuit in the servo drive. Before putting the unit into operation, remove additional covers so that the unit does not overheat. With measurements at the servo drive it is absolutely necessary to observe the potential separation

SSD Drives GmbH is not liable for damages which may occur when the instructions and/or the applicable regulations are not explicitly observed!

Stop !

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 9

1 General Information

1.1 System Description

The 5th generation of the digital servo drive serves to regulate the current, speed and position of AC servo motors, (standard: with resolver)

All control circuits and functions are realized digitally.

System variants

Rack - version: 637f/D6R.... Compact - version: 637f/K D6R....

Su pply volta ge:

1*oder 3* 230VAC/50..60Hz

3*40 0...460VA C/50..60Hz

Power supp ly p lug -i n modul e

NE B

R

Us 24VDC

Fan

AC

DC

Servodrives

637f/ K D6 R

M

Rack, R6

R6 EMV

Su pply volta ge:

1*oder 3* 230VAC/50..60Hz 3*40 0...460VA C/50..60Hz

or

Us 24VDC

Servodrive

Fan

R

637f/ K D6 R

AC

DC

Power supply unit

Explanations for the rack and power supply modules are documented in separate descriptions. If required, the returned braking energy can be drawn off into additional external ballast resistors. The AC-supply voltage is fed directly or via transformer to the associated power supply module.

The devices are designed to be operated on networks which are grounded at the centre point (TN networks) !

M

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10 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

General Information 1

System Description

1.1.1 Digital Communication

Diagnostics / Setup

General: by 7 segment display Comfortable: via PC with EASYRIDER (serial interface RS232)

Communication The serial-communication-protocol is open and fully documented. (Explanation see separate documentation) Every user has unrestricted access to all functions and parameters.

EASYRIDER



customer-ma de software



PLC Software



PLC, binary selectionl,+/- 10V

®

Windows – Software from version V8.xx









 

⌧

COM1 RS232 COM2

X10

RS232 RS422

RS485 CAN-BUS 1

CAN-BUS 2 SUCOnet K Profibus DP

Interbus S Devi ceNet

current-loop

position-loop

637f

speed-loop



PLC

instr uctions



1.1.2 Operation configurations

There are opportunities ranging from simple current and speed control to programmable position control processes (PLC), supported by the 1500 BIAS command blocks.

"BIAS" User shell for intelligent drive controls

see: chapter 3 Operating modes

chapter 13.2 BIAS commands chapter 13.3 Extended BIAS commands



diagnostic s



setup

⌧

programming

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 11

1 General Information

System Description

1.1.3 Compatibility with 637 Servo Drives (Not required for new projects)

The 637f series servo drives are essentially pin- and functionally compatible with the servo drives 637. However, when a servo drive 637 is replaced with a 637f drive, the existing application must be checked and carefully tested to determine compliance under the corresponding safety precautions. The following points should be checked in any case and eventually be adjusted before the function test:

1. Motor direction parameter and limit switch setting (see release note V6.12)

2. Position setpoints and comparison values have to be quadrupled, resp. sixteenfold

(low encoder resolution at 637)

3. Coupling factors in synchronous applications have to be quadrupled, resp. sixteenfold (low encoder resolution at 637)

4. Execution of BIAS- and PLC programs is 2.25 times quicker than with the 637. This can cause timing problems with improper programming (e.g. wait times with NOPs)

1.1.4 Compatibility with 637+ Servo Drives

(Not required for new projects)

Der Servoregler 637f ist voll funktionskompatibel zu 637+

Funktion 637 637+ 637f

PC-Operating-Software

PC-Connection-Cable

see: chapter 2.6.2.3 Power Part, Power Data and

Power Connectors Control Singals, Connector X10 see: chapter 2.3.2 Analog Set Point X10.5/18,

Resolution Resolver Signals, Connector X30

see: chapter 2.4.2 Feedback – Interface - Module

X300 see: chapter 2.4.1 Multifunction, Connector X40 see: chapter 2.5

Interface, Connector COM2 see: chapter 2.6.2 – 2.6.2.9 Options Module see: chapter 2.6.2 – 2.6.2.10 Operating Modes, BIAS – Functions see: chapter 3 and 13.2

PROG-Key present Analog-Output - Test Signals

MP1/MP2: > connector X 10

> Front Test Sockets yes no Technical Data

Analog Out

MP1 / X10.17 MP2 / X10.6

Control Loops see: chapter 11.5

Control Loop Parameters Jumper

see: chapter 7.1

EASYRIDER

or Windows Version

PC - SUBD-9 to

LEMO connector (COM1)

12/14 Bit Resolution

command set compatible

12/14 bits ≈ 1revolution

7 bits , Rout = 10 kOhm 7 bits , Rout = 10 kOhm

®

DOS Version

12 bits

pin–compatible

-

compatible

position value

Generally compatible,

EASYRIDER®

Windows Version

equal pinning and function

equal equal

X 10.6 / X 10.17

performance boost

compared

cycle time twice as fast

EASYRIDER®

Windows Version V8.xx

PC - SUBD-9 to

4-pin module connector (COM1)

equal

14 bits

extended functionality

16 Bit Resolution

HIPERFACE

- SIN / COS extended functionality

extended functionality CAN BUS 2, RP_2Cx

extended functionality

RP_SBT

future extensions possible

position value 16 bit ≈ 1 revolution

not available

8 bits , Rout = 1.8 kOhm

10 bits , Rout = 1.8 kOhm

to 637:

possible optimization required

JP2.2, JP2.3, JP2.7, JP2.8

performance boost

compared to 637f:

cycle time for speed twice as

fast,

position eight times as fast

as

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12 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

General Information 1

1.2 Modle code

standard optional special

marking

type: 637f/

a

X D6R XX .S5 -X -X -XXX -XXX -XXx -XXX

marking description

a

b c

d .S5 = Digital servo drive 5th generation e

f

g1

g2

h

i

at assignment [C] Interface you can used 1 x CAN *

XXXX/ = 637f ≅ SSD Drives-fast-design K = 1-axis-compact digital-servo drive system

0 = design plug-in device D6R = Digital 6U drive Rated current:

02 = 2 amps 04 = 4 amps 06 = 6 amps 10 = 10 amps

16 = 16 amps 22 = 22 amps 30 = 30 amps

Intermediate circuit rated voltage:

-3 = 325V (230V AC) 16..30A only as rack system possible

-7 = 650V (460V AC)

-E = With EMC-Clip unit

-0 = Without EMC-Clip unit additional option modules on the drive for communication via COM2

-000 = None option

-232 = RS 232 interface ≅ slot A (B)

-422 = RS 422 interface ≅ slot A (B)

-485 = RS 485 interface ≅ slot A (B)

-CAN = CAN – Bus ≅ slot A (B)

-2CA = 2 x CAN (without I/O’s) ≅ slot B (A) / [C*]

-2C8 = 2 x CAN + 4 outputs and 4 inputs ≅ slot B (A) / [C*]

-DEV = CAN - Bus / DeviceNet ≅ slot B (A)

-SUC = SUCOnet K ≅ slot B (A)

-PDP = Profibus DP ≅ slot B (A)

-IBS = Interbus S (Attention: changed front plate) ≅ slot B (A)

-EA5 = I/O interface (5 inputs, 2 outputs) ≅ slot B (A) additional option modules on the drive via X200

-000 = No Options

-EAE = I/O interface (14 inputs, 10 outputs) ≅ slot C

-SBT = Safety – Board Module ≅ slot C X300 – Function module

-RD2 = Standard X30

-HF2 = HIPERFACE module 2nd version ≅ slot D

-SC2 = Sinus / Cosinus - module 2nd version ≅ slot D Entry only at use

-Sxx = Special - resistance - setting

-X7x = Broad-band contact X10.7 - X10.8

-BSx = Protection moisture condensation

-B7x = Protection moisture condensation + Broad-band contact X10.7 - X10.8

-923 = Jumper 209 / 2 - 3 open , by SBT - Option Thermo - Contact X30 (PTC / NTC)

Typical Example

A typical example of an order of a 1-axis compact device in SSD Drives design:

Type:

a b c d e f g1 g2 h i

637f/ KD6R 02 .S5 -3 -0 -2CA -EAE -RD2 -

b c d e f g1 g2 h i

(Attention: changed front plate)

Resolver module 2nd version ≅ slot D

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 13

1 General Information

x

Modle Code

1.2.1 Combination possibilities for the various communications / I/O - modules

Slots  A B C Option modules  232 422 485 CAN 2CA 2C8 DEV SUC PDP IBS EA5 EAE SBT *2CA *2C8

Type Codel 

637f/xD6Rxx.S5-x-x-232-000-xxx 637f/xD6Rxx.S5-x-x-232-EAE-xxx 637f/xD6Rxx.S5-x-x-232-SBT-xxx 637f/xD6Rxx.S5-x-x-232-2CA-xxx 637f/xD6Rxx.S5-x-x-232-2C8-xxx 637f/xD6Rxx.S5-x-x-422-000-xxx 637f/xD6Rxx.S5-x-x-422-EAE-xxx 637f/xD6Rxx.S5-x-x-422-SBT-xxx 637f/xD6Rxx.S5-x-x-422-2CA-xxx 637f/xD6Rxx.S5-x-x-422-2C8-xxx 637f/xD6Rxx.S5-x-x-485-000-xxx 637f/xD6Rxx.S5-x-x-485-EAE-xxx 637f/xD6Rxx.S5-x-x-485-SBT-xxx 637f/xD6Rxx.S5-x-x-485-2CA-xxx 637f/xD6Rxx.S5-x-x-485-2C8-xxx 637f/xD6Rxx.S5-x-x-CAN-000-xxx 637f/xD6Rxx.S5-x-x-CAN-EAE-

xxx 637f/xD6Rxx.S5-x-x-CAN-SBT-xx

637f/xD6Rxx.S5-x-x-2CA-000-xxx 637f/xD6Rxx.S5-x-x-2CA-EAE-xxx 637f/xD6Rxx.S5-x-x-2CA-SBT-xxx 637f/xD6Rxx.S5-x-x-2C8-000-xxx 637f/xD6Rxx.S5-x-x-2C8-EAE-xxx 637f/xD6Rxx.S5-x-x-2C8-SBT-xxx 637f/xD6Rxx.S5-x-x-DEV-000-xxx 637f/xD6Rxx.S5-x-x-DEV-EAE-xxx 637f/xD6Rxx.S5-x-x-DEV-SBT-xxx 637f/xD6Rxx.S5-x-x-SUC-000-xxx 637f/xD6Rxx.S5-x-x-SUC-EAE-xx 637f/xD6Rxx.S5-x-x-SUC-SBT-xxx 637f/xD6Rxx.S5-x-x-PDP-000-xxx 637f/xD6Rxx.S5-x-x-PDP-EAE-xxx 637f/xD6Rxx.S5-x-x-PDP-SBT-xxx 637f/xD6Rxx.S5-x-x-PDP-2CA-xxx 637f/xD6Rxx.S5-x-x-PDP-2C8-xxx 637f/xD6Rxx.S5-x-x-IBS-000-xxx 637f/xD6Rxx.S5-x-x-IBS-EAE-xxx 637f/xD6Rxx.S5-x-x-IBS-SBT-xxx

637f/xD6Rxx.S5-x-x-EA5-000-xxx 637f/xD6Rxx.S5-x-x-EA5-EAE-xxx 637f/xD6Rxx.S5-x-x-EA5-SBT-xxx

637f/xD6Rxx.S5-x-x-000-EAE-xxx 637f/xD6Rxx.S5-x-x-000-SBT-xxx

-000 = none option  possible com bination at assignment [C] Interface you can used 1 x CAN *

    

-

- -

- - -

- - - -

- - - - -

Example:

637f/xD6Rxx.S5-x-x-232-EAE-RD2 … -232 = on slot A … -EAE = on slot C … -RD2 = on slot D (Motor - Feedbacksystem)

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

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

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14 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

General Information 1

Modle Code

1.2.2 Layout module slots

Module slots: A -232

-422

-485

-CAN B -2CA

-2C8

-DEV

-SUC

-PDP

-IBS

-EA5

C -EAE

-SBT *-2CA *-2C8

Motor - Feedbacksysteme:

-RD2: Standard resolver D -HF2: Option HIPERFACE

* kann nur 1 mal CAN verwendet werden

Note: The option modules of the slots A / B / C can only be reached after removing the cooling plate.

1.2.3 Layout of Power Board

View solder side (solder jumper)

JP2.8 JP2.3 JP2.7 JP2.2

JP101. 1/ 2/ 3 JP102 1/ 3/ 2 JP100 2/ 3/ 1 JP1 1/ 3/ 2 JP2 2/ 3/ 1 JP3 1/ 3/ 2 JP4 2/ 3/ 1

JP209. 1/ 2/ 3

Solder jumper function see: Chapter 7.1

®

-SC2: Option rotor position transmitter

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 15

1 General Information

1.3 Range Data

1.3.1 Insulation Concept

COM1 COM2

Remote IN

X10

analog

X10 digital

X30 X40

1)

dep. Optionsmodule

1) GND

doubl e insulation VDE 0160

Insul ation of cont rol voltage supply

Tak e Car e ! The insulat ion of control ( Com1..X40) depends on the insulation of control voltage suppl y

Required for safe separation (P E LV): d ouble insulation

Additional in su lation via opto-coup ler o r r elay (wit hout Safet y-Func tions)

see addit i onal hint s, c hapter 2.4. 2

power - terminal s

L1, L2, L3 DC-bus

M1, M2, M3

brak - ci r quit

Us DC 24 V

PE

custome r pa rt

power supply

DC 24 V

AC

1.3.2 General Data

Enclosure Rating for Mounting in a Cubicle

Operating Temperature Range EN 50178 / VDE 0160, class 3K3 Storage Temperature Range -25°...+55° C Air Pressure 86 kPa - 106 kPa Humidity 5% - 85%, 40°C Operating Temp 0...40°C Reduced Operation

De-rating of the Output Current Altitude h Reduced Operation

De-rating of the Output Current Safety Over Voltage - Category of Power Circuit EN 50178 / VDE 0160, UL, cUL III, Pollution Degree - for Mounting in a Cubicle VDE / UL: 2 Vibration Test in Accordance with

DIN IEC 68-2-6, Test FC Condition for Testing Frequency Range Amplitude Acceleration Test Time per Axis Frequency Sweep Speed

IP20

1)

>40°...< 50°C

2% /°C

1)

h ≤ 1000m

h > 1000...≤ 4000m

1% / 100m

10...57Hz 57...150Hz 0,075 mm

1g

10 sweep cycle

1 octave/min

1)

Use only fan-cooled devices. For reduced operating

conditions, no UL approval is available.

L1 N

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16 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

General Information 1

Range Data

1.3.3 Compact Units 637f/K D6R

Compact Units

-3 -7 -3 -7 -3 -7 -3 -7 -7 -7 -7

Input

Supply Voltage

50..60 Hz

Phases

Supply Peparation

Power-On Current Limit

Control Voltage Control Current

incl. Fan Output

Sine-Wave Voltage at Un

De-rating of Unr Rated Current RMS Max. Current RMS

Time for Imax Min. Motor

Inductance (terminal / terminal)

Brake Circuit Setpoint DC

Max. Power

min. [V] 14 Un [V] 230 460 230 460 230 460 230 460 460 460 460 max.

1;3 3 1;3 3 1;3 3 Fuses, contacts, filters see chapter 5.6 model

1)

Us [V] 21,5....24....29, attention: insulation-concept chapter 1.3.1

Is DC

Unr [Veff] 220 447 220 447 220 447 220 447 447 447 447 3)

Inr [A] 2 4 6 10 16 22 30

Imaxr

4)

min.

Lph/ph [mH] 6,0 12,0 3,0 6,0 2,0 4,0 1,2 2,4 2,0 1,1 0,8

Ub [V] 375 730 375 730 375 730 375 730 730 730 730

637f / K D6R 02

.S5

toleranc

e

K D6R 04

.S5

K D6R 06

.S5

K D6R 10

.S5

+ 10%

NTC 4 Ohm NTC 2 Ohm

[A] Continuous: max. 1,2A Power-On-Peak:

nom. 3A; max.. 6A / 0,8 mS, 2,5A / 25 mS

depending upon load and single or 3-phase supply. (see chapter 1.3.5)

[A]

Sec

4 5

8 5

12

5

20

5

K D6R 16

.S5

K D6R 22

.S5

K D6R 30

Continuous: max 1,5A PowerOn-Peak: nom. 3A; max. 6A / 0,8 mS, 3A / 25 mS

32

5

44

5

.S5

60

5

Pbmax [kW] 4,5 8,7 4,5 8,7 6,7 13,0 11,2 21,7 29,0 34,8 34,8

3)

Continuous Power Internal Resistor

Min. External Resistor

General Power Loss

Fan, Electronic

24V DC

Pbnenn [W]

2)

Rbint Pd Pmax

Rbextmi n

[Ω] [W]

[kW]

[Ω]

PE loss

[W]

[V]

≤ 560

100

30

1,4

30

1,7

30

1,4

30

1,7

30

1,4

30

1,7

30

1,4

30

1,7

------

300

100

300

100

300

100

300

47 82 47 82 27 47 15 27 20 15 15

29

2 Piece L 024 / (12TE * 25) 1 Piece L 024 / (12TE * 15)

36 2 Piece L 024 / (16TE x 25) Fan Models

1 2 Piece L 024 /

36

(16TE x 20)

Power Stage per A

[W/A] 9 12 9 12 9 12 9 12 12 12 12 Weight [kg] 5,0 8,8 Additional Data

see: chapter 11

1) Suggested: transformer-based supply

2) Use only SSD Drives-released types

3) Max. continuous performance reduced to 80%, see chapter 1.3.6

4) References chapter 1.3.6

36

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 17

1 General Information

t

Range Data

1.3.4 Plug-In Modules 637f/D6R

Plug-In Modules

-3 -7 -3 -7 -3 -7 -3 -7 -3 -7 -3 -7 -3 -7

Input

DC-BUS Rated min. [V] 20 Ug [V] 325 650 325 650 325 650 325 650 325 650 325 650 325 650

max. Control Voltage Us [V] 24V DC +20% -10%, attention: insulation-concept chapter 1.3.1 Control Current

Fan

Output Sine-Wave Voltage

at Un De-rating of Unr depending on load and single or 3-phase supply (see chapter 1.3.5) Rated Current RMS Inr [A] 2 4 6 10 16 22 30 3) Max. Current RMS

Time for Imax Min. Motor

Inductance (terminal / terminal)

Brake-Circuit Setpoint DC

Max. Power Continuous Rating Min. External

Resistor General

Power Loss Electronic Output Stage per A

Weight [kg] 1,5 4,0 Additional Data

1)

Is DC

2)

Typ

Unr [Veff] 220 447 220 447 220 447 220 447 220 447 220 447 220 447

Imaxr [A]

Lph/ph [mH] 6,0 12,0 3,0 6,0 2,0 4,0 1,2 2,4 1,0 2,0 0,55 1,1 0,4 0,8

Ub [V] 375 730 375 730 375 730 375 730 375 730 375 730 375 730 Pbmax [kW] 4,5 8,7 4,5 8,7 6,7 13,0 11,2 21,7 15,0 29,0 18,0 34,8 18,0 34,8 Pbnenn [W]

2)

Rbextmin

PE loss

1) Suggested: transformer-based supply

2) Use only SSD Drives-released types

3) Max. continuous performance reduced to 80%, see chapter 1.3.6

4) References chapter 1.3.6

637f/ D6R 02

.S5

olerance + 10%

[A]

min. 4 5 Sec

[Ω]

[W]

[W/A]

Continuous: max 0,8A Power-On-Peak: nom. 2A; max 5A / 0,8 mS, 2A / 25mS

L220

---

33 63 33 63 22 43 12 24 10 20 8,2 15 8,2 15

20

9

D6R 04

.S5

--- L220K L220G

K

8

5 Sec

20

9

12

20 12

D6R 06

.S5

12

5 Sec

20

12

9

D6R 10

.S5

20

5 Sec

≤ 560

20

9

see chapter 11

20 12

D6R 16

.S5

32

5 Sec

20

12

9

D6R 22

.S5

44

5 Sec

20

12

9

D6R 30

.S5

60

5 Sec

20

12

9

3)

________________________________________________________________________________________________________________________________________________________________________________________________________________________

18 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

General Information 1

Range Data

1.3.5 Single- and Three-Phase Supply

Due to the line-ripple of the DC-Bus, the rate of usable output voltage is reduced as follows. This reduction affects the maximum attainable speed of the applied motor.

Three-phase The unloaded output voltage will be reduced to approx. 90%, maximally 85 %

Single-phase only servo drive 637f / ..02 up to 06

see the following diagram:

supply:

supply: 50 – 60 Hz

Derating of servo drive output voltag e in case of single-phase operationen

Output curr en t [A ]

RMS

12 10

8 6 4

Hint for parameterization: To avoid unexpected tripping of the under voltage threshold, the parameter setting should be left on default values (EASYRIDER

Required motor-terminal-voltage for specified speed.

2 0

0

20 40 60 80 100

Output voltage in % of unloaded condition

®

Windows – Software).

Approximation: (up to 3000RPM)

Ukl = 1,2 * (EMF * n / 1000) + I * (Rph + RL) [V]

Ukl Required motor voltage [V EMF Back-EMF of motor [V Rph Resistance of motor (between terminals) [ RL Line resistance of motor cable [ I Motor-current [A

RMS

[%]

]

RMS

] / 1000 RPM

RMS

Ω]

]

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 19

1 General Information

Range Data

1.3.6 Output Power

In case of continuous operation in the full-load range, the limits as shown in the following diagram need to be respected. Typical servo applications are not affected by this restriction. (S3 operation: Start/Stop).

________________________________________________________________________________________________________________________________________________________________________________________________________________________

20 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

2

General Information 1

1.4 Dimensions

1.4.1 Dimensions for Compact Device and Plug-In Module

front side

D

A

18

B

D

C

d

400

262

386

Ø 5,

detail

Ø 10

243

220

plug -in modu l e

space for fan

a

d

Ø 5,2

1,6

280

detail

9

5,2

637f/K D6R 02...10 width 637f/K D6R 16...30 width

A 65,0 mm 14 HP 104,6 mm 20 HP B 60,0 mm 100,0 mm C 30,0 mm 71,0 mm D 14,5 mm 14,5 mm a 40,2 mm 8 HP 80,4 mm 16 HP

1 HP ≈ 5,08mm

Important Note: You will need additional space on the front side, of approx. 70 mm, for the signal mating plugs!

233

304

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 21

1 General Information

Dimensions

1.4.2 EMC-Clip (optional)

1.4.2.1 For 8 HP Drive

side view front view

1.4.2.2 For 16 HP Drive

side view front view

EMC - Clip for

Feedback cable

1

(e.g. Resolver)

Mains cable

Motor cable

2

3

Meaning:

1,2,3 = cage clamp terminals

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22 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

2 Connector Assignments and Functions

Connector Assignments and Functions 2

2.1 General View of Connections for Compact Device 637f/ K D6R 02 – 10

2.1.1 637f/K D6R 02...10 Width 14 HP

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 23

2 Connector Assignments and Functions

General View of Connections for Compact Device 637f/ K D6R 02 – 10

2.1.2 637f/K D6R 16...30 Width 20 HP

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24 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

2.2 Connector Pin Assignments and Contact Functions

2.2.1 Power Connections for Plug-In Module 637f/D6R

(at the rear of the rack) (H15 multiple pin strip according to DIN 41612)

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 25

2 Connector Assignments and Functions

2.3 Signal Connections

2.3.1 Control Signal Plug X10 - SUB D25 Socket

Complete Representation X10

Reference to pin 22 & pin 23: With controllers with option module SBT, kindly note the extended

functions of these signals (see documentation 07-02-10-02-E-Vxxxx).

________________________________________________________________________________________________________________________________________________________________________________________________________________________

26 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

Signal Connections

Control Signal Plug X10 - SUB D25 Socket

Connection Example (without option SBT)

drive side

control signal plug X10

model: SUB D 25

PLC

1)

24V

0V

-

+

2)

L1

~

=

N

PELV-

isolation

2)

L1

~

N

Supply may be used for mutliple brakes

=

+24V (br)

0V (br)

sprea d out

mecanical

limit switches

+/- 10V

output ready

0V refer ence point, I/ O-s u pply

input active

+24V, I/O-supply

option: brake

V1

K1

22

14 15 16

17 18

19 20

21

23 24

25

1 2

3 4 5

6 7 8

9 10

11 12

13

Brake-Connection Type A :

when Is olation-Type of Break - Inst allation is Basic (not PELV). The PELC - Isolation of Control - Cirquit s i s uneffect ed.

Eurotherm

AC-Servomotor

3 ~

option: brake

Brake-Connection Type B :

when isol ation-type of break - in sta llation is PELV.

AC-Servomotor

3 ~

1) Security- and supervising logic, to be programmed by user !

2) IMPORTANT: The power-supply for the motor-brake has to be adapted to the type of brake. Voltage-Drops caused by long cables also may effect malfunctions of the brake.

V1: Varistor e.g.. Siemens Q69X3431, 38 V DC K1: Couple-relais min. 2A,/60VDC PELV Isolation

X10.23 X10.9

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 27

2 Connector Assignments and Functions

Signal Connections

Control Signal Plug X10 - SUB D25 Socket Inputs / Outputs

Control Signal Plug X10

function type description

X10

1

shield connector shield

2

configurable (chapter 3) OPTO input stabilized auxiliary voltage

3

-12VDC; max. 80 mA

4

configurable (chapter 3) OPTO input

reference point to X10.18

5

Current monitor can be scaled

6

in the speed controller menu via JP100 (solder jumper)

can be assigned as free and

7

loopable potential of the READY contact

ON: regulator without fault

8

OUT: regulator fault or supply voltage off

Reference point for digital

9

inputs Reference potential for

10

analog signals 11 configurable (chapter 3) OPTO Input 12 configurable (chapter 3) OPTO Output

configurable (chapter 3) OPTO Output

13

configurable (chapter 3) OPTO Input

14 15 configurable (chapter 3) OPTO Input

stabilized auxiliary voltage

16

+12V DC; max 80 mA

actual speed value monitor,

17

scalable

nominal speed value; 18

scalable differential

referenced to X10.5

Setting of the current limit 19

can be activated and scaled

(0..+10V for 0.. I 20 configurable (chapter 3) OPTO Output

21 Nominal: 24V DC Supply for outputs

H = output stage is active

22

L = output stage inactive

configurable (chapter 3) Relay output

23

24 configurable (chapter 3) OPTO input 25 configurable (chapter 3) OPTO input

Data of the digital inputs and outputs see chapter 11 General technical data Reference to Pin 22 & Pin 23: With controllers with option module SBT, kindly note the extended

functions of these signals (see documentation 07-02-10-02-E-Vxxxx).

max)

output auxiliary voltage

analog input

0...+-10V Ri = 10 kOhm

MP2 analog output,

0…+-10V

Optional

Relay Output

fixed: ready Reference point for digital inputs

Ground

output auxiliary voltage MP1 analog output,

0…+-10V Analog input

0...+-10V / Ri = 10 kOhm

analog input

0..+10V

Ri = 10 kOhm

OPTO input

fixed: active

________________________________________________________________________________________________________________________________________________________________________________________________________________________

28 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

2.4 Feedback Sensor X30

The Feedback system generates a digital value, representing the rotor position

Derivated from this value:

 commutation according to pole pair number  actual speed value  position value for position control

2.4.1 Function module X300

The connector X30 is directly related to the function module X300. This plug-in module (see chapter 1.4.3.1) determines the type of usable Feedback system. Thus the 637f drive system gets flexibility and is adaptable to future requirements.

Types X300 Description

X300_RD2 Standard Resolver X300_HF2

Option HIPERFACE

®

X300_SC2 Option Sinus/Cosinus Further types on reques

Plug and Play

The 637f identifies the type of the module X300. The EASYRIDER You follow the instructions in the EASYRIDER

At function module RD2 the function code is already installed (factory default).

®

Windows – Software loads the correct function code.

®

Windows – Software.

Note:

With application of the function module X300_HF2 (HIPERFACE®) please observe documentation 07-02-09-02-E-Vxxxx.

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 29

2 Connector Assignments and Functions

Feedback Sensor X30

2.4.2 Feedback Sensor Connection X30 (SUB D 09 Socket)

Pinning of Motor - Feedback - Socket X30 with: Resolver Module X300_RD2

Module: X300_RD2 PIN

Function

X30

1 shield 2 PTC optional 3 cos + 4 sin + 5 carrier +

6 PTC optional 7 cos -

8 sin 9 carrier -

HIPERFACE

®

- Module X300_HF2

(Standard Module)

Module: X300_HF2 PIN

Function

X30

1 GND 2 10 VDC 3 cos + 4 sin + 5 data -

6 7 ref cos 8 ref sin 9 data +

Sinus / Cosinus - Module X300_SC2

Module: X300_SC2 PIN

Function

X30

1 GND 2 5,5 V 3 cos + 4 sin + 5 zero pulse +

6 7 ref cos 8 ref sin 9 zero pulse -

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30 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

2.5 Multi-function X40

Description of the X40:

Via a programmable I/O processor, the X40 connection can be configured differently. EASYRIDER Standard functions:

- Incremental output

- Incremental input

- Stepper motor - pulse inputs

- SSI interface

The unobstructed configurability provides ideal conditions for synchronous applications.

General data X40 plug type: SUB D 09 male plug maximum input or output frequency: 200 kHz maximum cable length connected to galvanical

insulated terminals (Encoder, controls) maximum cable length connected to groundrelated terminals (other drives, controls) maximum number of signal inputs to one as incremental-output configured device

output signals: driver model MAX483 or compatible, RS422 differential logic level: nominal range: 0,0 ... 5,0V 150mA max. input signals: receiver model MAX483 or compatible, RS422 differential input level: diff min = 0,2V nominal signal difference: 1,0V current consumption: 1...4 mA (depending on frequency)

Notice:

Master / Slave operation 1 Master, maximum 8 Slaves Condition: Devices directly side by side !

®

Windows - Software

25 m; for extended distances please contact our engineer

2 m, take care for good common grounding ! 8

L ≤ 0,5V H ≥ 2,5V

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 31

2 Connector Assignments and Functions

Multi-function X40

2.5.1 Incremental Output

EASYRIDER® Windows - Software X40 Mode = 0 Incremental encoder simulation for processing in positioning modules Standard: 1024 increments pulse duty cycle further selectable pulse numbers: 2048, 512, 256, 128, 64, 4096

Inr. I/O X40 PIN

Function Designation

X40

1 Channel B B 2 Channel B inverted /B 3 Shield connector Shield 4 Channel A A 5 Channel A inverted /A

Reference *

6

Channel Z inverted zero impulse

7

Channel Z, zero impulse

8 9 Supply voltage output max. 150 mA + 5 VDC

Design Rule:

The input frequency range of the connected control must meet at least the value of pulse output frequency on X40.

n = max. speed (rpm) x = increments e.g. 1024 f = output frequency at X40.1,2,4,5

Formula:

Example: n = 4000 1/min

=f

2.5.2 Incremental-Input

EASYRIDER® Windows - Software X40 Mode = 1 Parameter range of the input signals: 10...1000000 increments

Figure:

GND /Z Z

x)*(n * 1,2

=f

[Hz] =

60

1024)*(4000 * 1,2

60

Hz 81920=

Note:

The operation of incremental encoders via long cables may cause a voltage drop of the encoder power supply. We recommend the use of a separate voltage supply if necessary.

________________________________________________________________________________________________________________________________________________________________________________________________________________________

32 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

Multi-function X40

2.5.3 Stepper Motor Input

pulse / direction EASYRIDER

Inr. I/O X40 PIN

Function Designation

X40

1 Output: Drive active inverted /READY 2 Output: Drive active READY 3 Shield connector Schield 4 Pulse inverted /P 5 Pulse P

Reference potential (generally to connect) GND

6

Direction inverted /R

7

Direction R

8 9 Supply voltage output max. 150 mA +5 VDC

2.5.4 Stepper Motor Input

pulse positive / negative EASYRIDER

®

Windows - Software X40 Mode = 2

®

Windows - Software X40 Mode = 3

Figure: Puls / Richtung

Figure: Puls positiv / negativ

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 33

2 Connector Assignments and Functions

Multi-function X40

2.5.5 SSI Encoder Interface

EASYRIDER® Windows - Software X40 Mode = SSI_13 bit Singleturn EASYRIDER

EASYRIDER® Windows - Software X40 Mode = SSI_25 bit Multiturn EASYRIDER

Inr. I/O X40 PIN

Function Designation

X40

Serial data from SSI encoder,

1

GRAY code up to 26 bit inverted Serial data from SSI encoder,

2

GRAY code up to 26 bit

3 Shield connector Schirm

Clock output, inverted

4

Standard frequenzy: 179 kHz Clock output

5

Standard frequenzy: 179 kHz Reference potential GND

6

do not connect

7

do not connect

8

Supply voltage output max. 150 mA

If other data required:

9

a) Use of X300 module b) External supply

TAKT and /TAKT twisted pair DATA and /DATA twisted pair Cable screened, screen grounded at both sides, max. cable length: 200m

Note:

For further information about SSI (Synchronous Serial Interface), please refer to the documentations of appropriate suppliers. (e.g.: Comp. Sick or Hengstler)

®

Windows - Software X40 Mode = SSI _14 bit Singleturn

®

Windows - Software X40 Mode = SSI_26 bit Multiturn

(13 bit Single- / 12 bit Multiturn) (14 bit Single- / 12 bit Multiturn)

/DATA DATA

/TAKT TAKT

+5 VDC

________________________________________________________________________________________________________________________________________________________________________________________________________________________

34 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

2.6 Digital Interfaces

2.6.1 Service Interface - COM1 (RS232)

Standard

Functions:

 Supporting all diagnosis and setup tasks  Connection to your PC is made with the

SSD Drives communication cable KnPC/D  Communication is made via the SSD Drives operating program (EASYRIDER

Com 1 RS232 Function drive side RS232 PC side

PIN PIN

4-pin modular jack

®

Windows - Software)

RXD TXD

GND

Receive serial data

1

Transmit serial data

2

do not connect

3

GND

4

3 2

5

TXD RXD

GND

Type Code Länge Beschreibung Kn PC 637f / 631-03.0 3 m PC-side, Sub D 09-plug Kn PC 637f / 631-05.0 5 m Drive side, 4-pin RJ 10-plug

Note:

The service interface RS232 is not galvanically isolated and should not be planned for this reason as an operating interface ("hard-wiring")! The mains connection of the PC must be made closed to the drive, to achieve a common ground.

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 35

2 Connector Assignments and Functions

Digital Interfaces

2.6.2 Fieldbus Interface - COM2

Option modules SUB D09 socket

Many different functions can be implemented by optional Funktionen realisiert werden. Layout - see chapter 1.2.3

Overview:

module designation interface galvanic isolation design slot

RP 232 RS 232 - A A RP 422 RP 485

1)

RS 422/485 - A A

1)

RS 422/485 X A A RP CAN CAN X A A RP PDP Profibus DP X B B RP SUC SUCOnet K X B B RP IBS RP DEV RP 2CA RP 2C8

2)

Interbus S X B B DeviceNet X B B

3)

CAN1/CAN2 X B B or C

3)

CAN1/CAN2 X B B or C

using of the option modules.

1)

full - duplex (4-wire)

2)

additional plug Interbus Rem. IN (SUB D)

3)

additional plug COM 3 (B)

2.6.2.1 additional In-/Outputs module designation inputs outputs connection via design slot

RP EA5

4)

5 2 COM2 B B RP EAE 14 10 X200 C C RP 2C8 4 4 X120 B/C B B or C

4)

no Fieldbus possibility (interface)

Caution!

The connections COM2 or COM3 B/C and X30 are implemented via SUB D09 socket. It is to be guaranteed by the customer that an interchanging is not possible!

The solder ring jumpers JP2.8, 2.3, 2.7, 2.2 must be switched dependent on the option module. See chapter 7.1 (factory-adjusted)

2.6.2.2 Additional CAN-BUS2 Interface

(Use in combination with other Fieldbus)

modul designation interface galvanic isolation design slot

RP 2CA RP 2C8

CAN2 X C C

3)

CAN2 X C C

3)

additional plug COM 3 (B)

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36 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

Digital Interfaces

2.6.2.3 Module Designs

Design A Design B Design C

2.6.2.4 Pin assignment for RS232 with option module RP 232

Pin assignment as RS232

1 2 RXD 3 TXD 4 5 GND 6 7 8 9 -

2.6.2.5 Pin assignment for RS422/485 with option module RP 422, without

with option module RP 485, with

Pin assignment as RS422/485

1 2 3 4 Data In 5 GND 6 Data In invertierted 7 Data Out invertierted 8 Data Out 9 -

Parallel wiring up to 16 devices

galvanic isolation

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 37

2 Connector Assignments and Functions

Digital Interfaces

2.6.2.6 Pin Assignment for CAN/DeviceNet with option module RP CAN / RP DEV / RP 2CA / RP 2C8, with galvanic isolation

Pin description designation

1 - 2 CAN_L bus line

(dominant low)

3 Ground GND 4 - 5 - 6 Optional ground GND 7 CAN_H bus line

(dominant high) 8 - 9 - -

CAN_L

CAN_H

2.6.2.7 Pin assignment for Profibus DP with option module RP PDP, with galvanic isolation

description designation

1 - 2 - 3 Line B B 4 Request to send RTS 5 Ground GND 6 Potential +5V +5V 7 - 8 Line A A 9 - -

2.6.2.8 Pin assignment for SUCOnet K with option module RP SUC, with galvanic isolation

description designation

1 - 2 - 3 Data line + TA/RA 4 - 5 Signal ground SGND 6 - 7 Data line - TB/RB 8 - 9 - -

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38 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

Digital Interfaces

2.6.2.9 Pin assignment for Interbus S with option module RP IBS, with galvanic isolation

Remote OUT (COM2)

Remote OUT (SUB D09 socket)

Com 2

1 Data line OUT forward

2 Data line IN backward

3 Reference potential GND I 4 - 5 VCCI +5V 6 Data line OUT forward

7 Data line IN backward

8 - 9 Reporting input * RBST

description designation

DO2

(error voltage A)

DI2

(error voltage A)

/DO2

(error voltage B)

/DI2

(error voltage B)

* to forward Interbus-S interface

Remote IN (COM3 B) Remote IN (SUB D09 plug) ≅ additional plug

Remote

description designation

IN

1 Data line IN forward

(error voltage A)

2 Data line OUT backward

(error voltage A) 3 Reference potential GND I 4 - 5 - 6 Data line IN forward

(error voltage B) 7 Data line OUT backward

(error voltage B) 8 - 9 - -

Attention: specific front panel is required !

DO1

DI1

/DO1

/DI1

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 39

2 Connector Assignments and Functions

Digital Interfaces

2.6.2.10 Pin assignment for I/O interface with option module RP EA5, with galvanic isolation

Digitale I/O Option

COM2

SUB D09 socket

Com 2

designation comment status

1 BIAS input 101 standard input 2 BIAS input 102 standard input 3 BIAS input 107 standard input 4 BIAS input 108 standard input 5 0VSPS ground reference

0VSPS

6 BIAS input 106 standard input 7 BIAS output 109 standard output 8 BIAS output 110 standard A 9 +24VSPS ext. +24V feed-in UB

Notice !!

The inputs with the internal number 107 and 108 must be connected to the pins with number 3 and 4. The outputs with the internal number 109 and 110 must be connected to the pins with number 7 and 8

B

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40 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

Digital Interfaces

2.6.2.11 Pin assignment for I/O interface with option module RP EAE, with galvanic isolation

Digitale I/O Option

X200

SUB D26 High Density socket

X200

designation comment status

1 Bias input 201 standard input 2 Bias input 202 standard input 3 Bias input 203 standard input 4 Bias input 204 standard input 5 Bias input 205 standard input 6 Bias input 206 standard input 7 Bias input 207 standard input 8 Bias input 208 standard input

9 Bias output 209 standard output 10 Bias output 210 standard output 11 Bias input 211 standard input 12 Bias input 212 standard input 13 Bias input 213 standard input 14 Bias input 214 standard input 15 Bias input 215 standard input 16 Bias input 216 standard input 17 Bias output 217 standard output 18 Bias output 218 standard output 19 Bias output 219 standard 20 Bias output 220 standard 21 Bias output 221 standard 22 Bias output 222 standard 23 Bias output 223 standard

output output output output output

24 Bias output 224 standard output 25 +24 V SPS Ext. +24 V feed-in Ub 26 0 V SPS Ground reference 0 V SPS B

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 41

2 Connector Assignments and Functions

Digital Interfaces

2.6.2.12 Pin assignment for I/O interface with option module RP 2C8, with galvanic isolation

Digitale I/O Option X120B (min./max. cable cross-section: 0,08mm² / 1,5mm²)

orr X120C Cage – Clamp terminal 10pole..

designation

X120

1 Input 121 BIAS Reset drive fault Input 2 Input 122 3 Input 123 4 Input 124 5 Output 125 6 Output 126 7 Output 127 8 Output 128

comment

Function 0 Function 1

BIAS BIAS BIAS BIAS BIAS BIAS BIAS

status

Limit switch + Limit switch Reference switch Cam 1 Output Cam 2 Output Cam 3 Output Cam 4 Output

Input Input Input

9 +24 V SPS Ext. +24 V feed-in Ub

10 0 V SPS Ground reference 0 V SPS B

Signal statuses of the I/O are indicated in each case by a 2mm LED at the front plate.

Connector COM3 B – see chapter 2.6.2.6

LED lighten I/O = high LED off I/O = low

X120

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42 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

Digital Interfaces

2.6.2.12.1 DIL – switch position for module RP2CA and RP 2C8, with galvanic separation

DIL – switch position CAN

Default = all off

20-------------------------------2

6

note number

0 - 127

Example: node number 5; 1MBaud

DIL – switch position bus termination

COM2

COM3

0

---------22

2

baud rate

222120 0 0 0 0 20 kBaud 0 0 I 1 50 kBaud 0 I 0 2 100 kBaud 0 I I 3 125 kBaud I 0 0 4 250 kBaud I 0 I 5 500 kBaud I I 0 6 800 kBaud I I I 7 1000 kBaud (1MBaud)

Default COM2/COM3

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 43

2 Connector Assignments and Functions

2.7 Option module RP SBT

2.7.1 Safe Stop

Connector assignment X290:

X290

1 Input Active 2 Reference point

3 Starting lockout

designation comment status

1)

OPTO Input

Input Active

Relais Input

deactivated

4 Reference point

Relais Input

Starting lockout 5 Checkback contact Free contact Break contact 6 Checkback contact Free contact Break contact

Hinweis:

1)

With employment the option module RP SBT changes the function “AKTIV” from the connecting

plug X10.22 after X290.1! The input X10.22 can be used then as free programmable input (BIAS).

Use of the function Safe Stop

The option RP_SBT of the drive controller 637fxx-x.S5 supports the safety function “Safe Stop”, protection against unexpected starting, according to the requirements of the EN954-1 “Category 3” and EN1037. The stop of the machine must be caused and guaranteed before by the external machine control. This applies in particular to vertical axes without selflocking mechanics or counterweight. If an error arises in the drive system during the active brake phase, the axis can coast down uncontrolled or even accelerate actively.

In order to use the Starting lockout function intended, it is to be looped into the net contactor circle or emergency stop circle with the obligation-led reporting contact X290.5/6. With not plausible functioning of the Starting lockout relay, related to the operating mode of the machine, a galvanic separation of the drive concerned from the net must take place. The Starting lockout and the associated mode may be used again only after error correction.

Due to a danger analysis / view of risk (to be accomplished according to machine guideline 89/392/EWG and/or EN 292; EN 954 and EN 1050) the machine manufacturer must project the safety circuit of its machine types for the entire machine including all integrated components (also the electric drives).

Block diagram:

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44 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Connector Assignments and Functions 2

Option module RP SBT

2.7.2 Brake control and PTC evaluation

Connector assignment X280

X280

designation status

1 Supply for brake output and PTC evaluation Input 2 Reference point for supply Input 3 Reference point for Brake control Output 4 Brake control Active ok. Relais output 5

PTC

Input

6 PTC Input

Use of the Brake control

The relay output X290.3 serves for the control of holding brakes. This output is functionally identical to the output X10.23. The output at X290.3 has the following advantages over X10.23:

The isolation relay contact  control electronics corresponds to the basis isolation. I.e. also brake installations (which correspond to the basis isolation) without interface relays, while maintaining the PELV isolation (double) of the drive controller are operated (see X10 connection example chapter 2.3.2)

The brake control possesses an active clamping of over voltages between the two brake connections. Stronger dimensioning of the brake contact.

Use of the PTC evaluation

The PTC connection serves for the monitoring of the engine temperature. In its function mode it is identical to the port X30.2/6. The following advantage exists over X30.2/6 :

The isolation evaluation circle

 control electronics corresponds to the basis isolation. I.e. also

PTC thermistors (which correspond to the basis isolation) can be evaluated, without waiving the safe separation to the control electronics.

Block diagram / Connector assignment

Circuit diagram

Further details see product manual 07-02-10-02-E-V..

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 45

3 Operating Mode

3 Operating modes

The preselection of the device functions are carried out by choosing the operating modes 0...5 according to the following table, see chapter 3.1, (EASYRIDER

Each operating mode allows the assignment of different in- and output functions (F0..F6).

Operating

Reference-source Hints for selecting the operating

mode

0 1 2

analog (X10.5/18) switchable the operating modes 1 and 2 by input X10.24

speed control analog torque controller analog

®

Windows - Software).

3

analog (X10.5/18) / digital

4

digital or analog in acc. to parameter set

5 digital or analog in acc.

to programming or via digital communication (e.g. fieldbus)

simple applications with requirement of switching between position and speed control position controller (input X10.24) handling like operating mode 4

general position-controlled systems. Up to 10 positions can be stored under identifier-numbers and activated like shown.

simple to complex systems using instructions BIAS (up to 1500 command blocks) PLC - functions for further information: see chapter 13.1 and 13.2

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46 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Operating Mode 3

3.1 Operating modes and pin functions

operating modes

Available

pins

number

input

X10.14

input

X10.15

input

X10.4

input

X10.25

input

X10.11

input

X10.24

input

X10.2

torque / speed-

L = torqueH = speed control

0

control

1

speed

control

2

torque

control

3

position /

speed-control

F0, F1 F0, F1 F0, F1 F0, F1, F2,

F3

F0, F1 F0, F1 F0, F1 F0, F1, F2,

F3

--- --- --- --- F2,F6

F1 F1 F1 F1 F1,F2,F6 F0

--- --- F0 L = torque-

H = speed control

--- --- --- --- F0

output

X10.12

output

X10.13

output

X10.20

output

X10.23

F0, F2, F5 F0, F2, F5 F0, F2, F5 F0, F1,F3, F5 F0, F1,F3,

The assignment of the functions F0..F5 is listed in the following table

4

position

control

F0, F1, F2,

F3,F6

F0, F1, F2,

F3,F6

F1, F2,F6

F5

position control

F0, F1, F2, F3,F6

F0, F1, F2, F3,

5

+ BIAS

functions

F0, F1, F2,F6

F0, F2, F3,F6

F1, F2, F3,F6

F2, F3

F4, F5

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 47

3 Operating Mode

w

3.2 Configurable pin-functions (depending on the operating mode)

Input functions (depending on the operating modes)

input

Nr.

input

X10.14

input

X10.15

input

X10.4

input

X10.25

input

X10.11

input

X10.24

input

X10.2

output X10.12

output X10.13

output X10.20

output X10.23

function

F0

⌧ ⌧

latch input 1

function

F1

limit switch +

limit switch -

extended

latch



latch input 2

⌧



start (slope 0->1) for BIAS move commands

operating mode selection

(0) – 1or 2 (3) – 1or 4

start (slope 0-->1)

ith position set selection in position control (4)

position

reached

temperature

monitoring

warning reference

active ok

(motor brake)

regulator

trouble reset

reference sensor

⌧

reference

output

reference

output

reference

output

function

3)

1) set selection data 20

3)

1) set selection data 2a

1) set selection data 2b

1) set selection data 2c

3)

1) set selection data 2d

3)

1) set selection data 2

strobe (slope 0-->1) for BIAS-set selection

F2

max

⌧

function

move manually

tracking

window

exceded

tracking

window

exceded

tracking

window

exceded

tracking

window

exceded

F3

+

-

function

F4

⌧ ⌧

function

F5

⌧ ⌧ ⌧ ⌧ ⌧ ⌧ ⌧ ⌧ ⌧

⌧ ⌧ ⌧

⌧ ⌧ ⌧ ⌧

synchron-

format trigger

start offset

trigger

⌧

non

drive trouble

non

regulator

trouble

non

drive trouble

non

drive trouble

function

2)

F6

CAN

Node no.

20

CAN

Node no.

2a

CAN

Node no.

2b

CAN

Node no.

2c

CAN

Node no.

2d

CAN

Node no.

max

2

-

⌧ BIAS-function, free programmable.(in operating mode 5) resp. no function in operating mode 0 at 4.

 fast input for optimal timing

1) With every row (from the top to the bottom) in which the function F2 is assigned to an input, the binary value (2n) increases by 1. (see example) Operating mode 4: only permissible set number 0 - 9 !

2) only possible with module RP-CAN.

3) Is the Option RP 2C8 (chapter. 2.6.2.12) insertion, are the contact function as the same definition on X10 plug invalid (the inputs can freely programmable and use in BIAS program)

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48 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Operating Mode 3

3.3 Function diagrams from inputs and outputs

Fault s ignal / protection fu nctio n

2

regu lat o r pro tect ion

t

I

output Warning(F0) X10.20

output R eady X10.8

Wa rnin g dis p lay

fault signal display

2

motor protection

t

I

output W arning(F0) X10.20

output R eady X10.8

Wa rnin g dis p lay

fault signal display

NTC-output stage protection

output Warning(F0) X10.20

output Ready X10.8

Wa rnin g dis p lay

fault signal display

Protection mode switching off

in acc. with EASYR IDER co nfig .- menue

/8/

95 °C

/8/

Warn in g time ap prox. 3 sec.

/3/

I-LIMIT

Warn in g time ap prox. 3 sec.

/4/

I-LIMIT

Warn in g time ap prox. 6 sec.

/5/

I-LIMIT

Protection mode limiting

acc. with EAS YRIDER config. menue

/3/

ma x. current

/4/

ma x. current

/5/

90 °C

rated current of regulator

rated current of motor

100 °C

ass u m e m o tor tem p er ature curve

NTC-motor protection

output Temp.(F0) X10.13

output Ready X10.8

Wa rnin g dis p lay

fault signal display

PTC -motor prote cti o n

output Temp.(F0) X10.13

output R eady X10.8

Warning disp lay

fault signal display

Function Pass i ve -Delay (recommanded by use of m otor brake)

input ACTIVE X10.22

setpoint internally to zero

Temp.

V2

V1

R_NTC1

R_PTC

t1

switch off with R_ NTC2

/h/

switch off with R_ PTC after warning time

/h/

/9/

R_NT C 2

t2

/9/

Warn in g time ap prox. 6 sec.

Nsoll

Temp.

t

I-LIMIT

Nsetpoint

V1

R_NTC1

R_PTC

t1

decreas e as of R _ NT C1

/h/

no limitin g function with PTC

V2

R_NTC2

t2

/9/

current limiting

t

output s t age Active output AK TIVE -OK(F 0) X 10.23 (holding brake)

reaction ti m e fo r brake

Hint: With the assembly of the option module SBT you kindly note the extended functions of the signals (see documentation 07-02-10-02-E..)

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 49

4 Mechanische Installation

4 Mechanical Installation

4.1 Mounting

SSD Drives digital servo drives may be installed only in a vertical position to guarantee the best air circulation for the cooling ribs of the heat sink. Vertical installation above other drive racks or above other heat producing devices can lead to overheating. In addition the drives are to be operated exclusively in SSD Drives racks or the compact enclosure respectively.

4.2 Control cabinet - mounting

Installation should be carried out only in a control cabinet in which the inside must be free from dust, corrosive fumes, gases and all liquids.

Make absolutely sure that the condensing of evaporating liquids including atmospheric moisture is avoided. Should the digital servo drive be installed in a place where condensation is likely, a suitable anticondensation heater must be installed. The heater must be SWITCHED OFF during normal operation.

Automatic switch off is recommended SSD Drives-digital servo drives should not be installed in are as which have been classified as

dangerous, if they have not been installed in an approved enclosure an accordance with regulations and checked.

Make sure, there is enough cooling and space ! (see sketch)

 only horizontal !  on the side

no

distance is required

General rule: It is better to place heat-producing devices low in an enclosure to support internal convection and to spread the heat. If placing such devices up high is unavoidable, enlarging the upper dimensions at the expense of height or installing fans should be considered.

4.3 Cooling

The digital servo drives are protected against damages caused by overheating. There is a thermal sensor installed on the heat sink. When the temperature rises to >95°C, the drive is automatically switched off. This setting cannot be changed. Make sure a cabinet of proper size is selected for adequate air circulation

If the device becomes operated in a not ventilated device, the case volume of the specified control cabinet must be calculated in accordance with the following table !

Units Volume of cabinet

637f/0D6R02...D6R10 0,12 m³ 637f/0D6R16...D6R30 0,25 m³

For more exact information, please, address to the control-cabinet manufacture

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50 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

l

5 Electrical Installation

Electrical Installation 5

5.1 Safety

The voltages carried by power supply cables, motor cables, connectors, and certain parts of the drive can cause serious electric shocks and even death

5.2 The danger of electric shocks

Caution !

Risk of electrical shock, wait 3 minutes after switching off, for discharging the capacitors. Disconnect SSD Drives plug-in units from mains before working on them. A period of three minutes must

pass after switching off so that the internal capacitors can discharge completely. Until the discharge time is over, there can be dangerous voltages in the module ! Persons, which monitoring or carrying out electrical installation and maintenance must be adequately qualified and schooled in these activities.

5.3 Danger areas

The use of variable speed drives of all kinds can invalidate the certification for dangerous areas (apparatus group and/or temperature class) of explosion-protected motors. Inspection and certification for the complete installation of servo motors and electronic components must be obtained.

5.4 Grounding, safety grounding

The grounding impedance must meet the requirements of local industrial safety regulations and should be inspected and checked at appropriate and regular intervals

5.4.1 Ground connections

It is recommended to attach a ground bus of high conductivity copper as near as possible to the servo-rack or regulator modules in order to minimize the length of the cable connections. The recommended dimensions are:

Thickness: d = 5 to 6 mm

Length (m)

< 0,5 20 0,5 < 1,0 40

Width (mm)

b

d

grounding bus-bar

1,0 < 1,5 50

Ways of raised discharge currents > DC 10mA resp. > AC 3,5mA the PE-Bolt of the drive has to be connected to PE using copper-cable minimum 10mm² !

5.5 Short-circuit capability and discharge currents

Due to the working-principle of servo drives there may discharge currents to PE exceeding DC 10mA resp. AC 3,5mA. Suitable for use on a circuit capable of delivery not more than 5000 RMS symmetrical amperes 505V maximum. (Note according to UL508C)

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 51

5 Electrical Installation

5.6 Fuses, contactors, filters

Compact units

637f/ KD6R 02

.S5

KD6R 04

.S5

KD6R 06

.S5

KD6R 10

.S5

KD6R 16

.S5

KD6R 22

.S5

KD6R 30

.S5

-3 -7 -3 -7 -3 -7 -3 -7 -7 -7 -7

Fuses, Contactors

RCD-switch not recommended. Required setpoint: 300 mA, no protection against life danger mains input currents [A] 3,5 5 7,5 12 19 26 30 mains protection 1) Type T10A T10A T10A T20A T25A (T32A) 35A (T32A) 35A protector-switch 2) Type PKZM0-16 PKZM0-16 PKZM0-16 PKZM0-16 PKZM0-25 PKZ2/ZM32 PKZ2/ZM32 mains fuse 2) Type DIL 00M DIL 00M DIL 00M DIL 00M DIL 0M DIL 0M DIL 0M Line filters general only for use in earth referenced supplies(TN). Current drain to PE !

industrial env. max. motor cable 50m (EN55011 A)

residential env. max. motor cable 20m (EN55011 B)

industrial env. max. motor cable 50m (EN55011 A)

residential env. max motor cable 20m (EN55011 B)

industrial env. max. motor cable 20m (EN55011 A)

residential env. max motor cable 20m (EN55011 B)

4)

single-phase

Type

3-phasig

Type LNF B 3*480/008

3-phasen, max. 3 Un its,

Type LNF B 3*480/018; LNF B *480/033 + ferrite core FR

Type LNF B 3*480/018; LNF B 3*480/033 + ferrite core FR

3)

LNF E 1*230/012

up to AC 230V !!

+

ferrite core

LNF E 1*230/012

up to AC 230V !!

+

ferrite core

+

ferrite core FR 3

+

ferrite core FR 3

LNF B 3*480/018

ferrite core FR 6

LNF B 3*480/018

ferrite core FR 3

+

not possible !

LNF B 3*480/033

+

ferrite core FR 6

LNF B 3*480/033

+

ferrite core FR 3

supplied by a common filter

other types upon request

(according to ref.measurements with 3 units, supplied by common line)

other types upon request

(according to ref.measurements with 3 units, supplied by common line)

Plug-in modules

637f / D6R 02

.S5

D6R 04

.S5

D6R 06

.S5

D6R 10

.S5

D6R 16

.S5

D6R 22

.S5

D6R 30

.S5

-3 -7 -3 -7 -3 -7 -3 -7 -3 -7 -3 -7 -3 -7

Fuses, contactors, filters

general

fuses

peak making currents Depending on power-supply unit, limiting equipment is requiered (delay contactor) filters only for use in earth referenced supplies(TN). Current drain to PE ! filter types Orientation: Table of compact units. Further types: see separate manual

1) recommended for UL-requirements: Bussmann Type FRS-R, 600V, use only UL-approved fuse-holders !

2) recommended, Klöckner Moeller for instance

3) Measurement of conducted emissions only

4) for applications with continuous load: see notes in chapter 5.7

4)

1)

Orientation: Table for compact units and the addition of rated currents of used

units on the DC-Bus. Depending on the application, energy sharing effects by DC-link may reduce the required supply current considerable.

Rule of the thumb: single-phase operation: 2...3 times of added rated currents

Rule of the thumb: 3-phase operation: 1,5...2 times of added rated currents

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52 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Electrical Installation 5

5.7 Correction of supply current

Attention in case of continous load:

Due to the capacitive input impedance of DC-Bus, the input current is deformated. This guides to RMS -values higher than the sinus-based calculated values. Fuses, contactors and line filters have to be selected in respect to this effect. In typical servo application with Stop/Go-operation (S3-Operation), the rating to nominal data will be sufficient. In other cases, the value has to be corrected using the following diagram.

Example: Drive type 637f/KD6R16.S5-7 is supplied by AC 230V 3-ph. Output-power: Pout = 200V x 16A x 1,73 = 5,54 kW This output-power must be generated by: calculated supply-current Iac sinus = 5,54kW / (230V x 1,73) = 13,9 A Correction-Factor from diagram: 1,6 RMS. Supply-Current Ieff = Iac sinus x 1,6 = 22,3 A

Result: All supply-equipment has to be selected in respect to the enhanced current.

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 53

5 Electrical Installation

5.8 Brake resistor

5.8.1 Selection of the brake resistor

The energy of a moving system flows back to the Drive. The DC-Bus capacitors are able to take a small value. The rest has to be converted to heat by a resistor. Switching of this brake resistor depends on the DC-Bus voltage. The load of the resistor is simulated and supervised electronically (EASYRIDER sufficient to meet the requirements of the application.

®

Windows - Software). Peak power (Pmax) and continuous power (Pd) ratings have to be

RPM

Movement

n1

tb1

I [A]

Ib

T

Braking-Current

Calculation

Step 1 Calculation of brake-power

(Approximation. Capacitor-load, friction-and drivelosses neglected)

Power of motion: Pkin = 0,0055 * J * n1² / tb1 [W]

Motor-losses: Pvmot = Ib² * (Ri + RL) [W]

t [sec]

De finition of Data Speed at Brake-Start

Braking T im e

Cycle-Time

Braking-Current Ib = 3,2 A Motor-Resistance Cable-Resistance

Pkin = 0,0055 * 0,0005 * 3000²/0,1

Pvmot = 3,2² * (3,6 + 0,3)

Values for Examp le

n1 = 3000 RPM

tb1 = 0,1 sec.

T = 2,0 sec.

J = 0,0005 kgm ² Tota l In e r ti a

Rp h = 3,6 Ohm

RL = 0,3 Oh m

example

Pkin = 247 W

Pvmot = 40 W

Cont. Power: Pd = 0,9 * (Pkin-Pvmot) * tb1 / T [W]

Peak-Power: Pmax = (1,8 * Pkin) - Pvmot [W]

used units:

J total inertia [kgm²] n1 speed at Brake-Start [RPM] tb1 braking time [Sec] T cykle time [Sec] Ib brake-current [A] Rph resistance of motor (between terminals) [Ω] RL line resistance of motor cable [Ω]

Pd = 0,9 * (247 - 40) * 0,1 / 2

Pd = 9,3 W

Pmax = (1,8 * 247) - 40

Pmax = 405 W

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54 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Electrical Installation 5

Brake resistor

selection of the brake resistor

Step 2

Internal / external Brake-resistor required ?

see data in chapter 1.3.3 / 1.3.4

In case of unsufficient capability or not included internal Brake-Resistor, a type may be selected from the following list

External and internal Brake-Resistors will be switched in parallel. The internal and external performance-Data may be added in this case.

Result: The internal capability is sufficient

Example-Drive type

637f/K D6R04-7

acc. to data in 1.3.3:

internal resistor:

Cont. Power Pd = 30W

Peak Power Pmax = 1700W

Required:

Pd = 9,3W Pmax = 405W

5.8.2 Configuration of the brake resistor

Possible ballast circuit configurations at digital devices a) Compact design

The plug-in modules of servo-control series 635/637/637+/637f are provided with an on board ballast electronics. It is intended for application as compact unit KDER resp. KD6R. These compact units contain the necessary ballast resistor incl. fuse for the ballast circuit. Except KD6R 16..30-7 (external resistor only).

b) Rack design While the plug-in modules are used in a rack, the NEB power supply module takes dissipation of the braking energy (adjustment of ballast monitoring: please see NEB manual). In this case the ballast electronics of the plug-in module will be deactivated with the configuration parameter "Ballast activate = N". All further ballast parameters are no longer relevant then.

r.g. a) Adjustment of ballast circuit for compact units:

1. Ballast electronics activated: In this case the ballast electronics of the plug-in module will be activated. "Ballast activate = J".

2. Operating point: The operating point has to be adjusted dependent on the voltage variant.

"Ucc Ballast on = 375 V" for 230 V AC supply

"Ucc Ballast on = 720 V" for 400..460 V AC supply

3. Resistance value: As resistance value, the parallel resistance from internal and external resistance has to be adjusted.

4. Rated power: As ballast power (braking energy), the sum total of internal and external resistor power has to be adjusted.

Precondition for correct monitoring of shunted ballast resistors is the nearly same ratio of P - cont. power to P - pulse power. This is guarantied with the SSD Drives standard combinations.

..KD6R 16..30-7 units do not contain an internal ballast resistor. At these versions the values of the external resistor can be feed directly.

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 55

5 Electrical Installation

+

=

+

=

Brake resistor

selection of the brake resistor

Example:

EASYRIDER

Evaluation resistance value in use of internal and external resistances.

Internal “Ballast resistances = 300 Ohm“ for ..KD6R10..-7 External “Ballast

Set up resistance value =

resistances = 100 Ohm“ for ..KD6R10..-7

1

:formula +=

1

Rtotal.

1

= 75.Rtotal

300

.Rtotal

75 Ohm

1

Rext.

.intR

+

100

1

Ω

1

Ω

Evaluation Ballst power in use of internal and external Ballast power.

Internal “Ballast power = 30 Watt“ for ..KD6R10..-7 External “Ballast power = 100 Watt“ for ..KD6R10..-7

Pext.Pint.Ptotal.:formula

Set up rated power = 130 Watt

Ω=⇒

130WPges.100W30WPtotal. =⇒

Caution !

Placing of external brake resistors

Brake-resistor are dissipating heat ! Make sure, that there will be no fire-danger in case of operating the resistor in nominal- or fail-conditions

________________________________________________________________________________________________________________________________________________________________________________________________________________________

56 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

6 Wiring instructions

Wiring Instructions 6

6.1 General Information

Digital servo drives are designed for operation in metallic grounded enclosures. For perfect operation as well as for observance of all regulations the front board must be connected

with the enclosure electrically and fixed.

6.2 Control cabling

Recommended cross section 0,25 mm².The control signal lines must be laid seperate from the power signal lines.(see chapter 6.7.1) The resolver cable must contain three shielded pairs and must be shielded as a whole. The shielding should be connected to the ground spread out on the regulator side. We recommend using SSD Drives resolver cable KIR. Cable for transmitting data are always to be laid shielded !

6.3 Power cabling

Recommended section according to rated current. Use only 75° Cu-cables.

6.4 Installation of the rack

When the rack is secured not in a hinged bay but on a mounting plate, it is recommended to do the wiring of the connections for the power connector X50 on the rear of the rack before installing. With hinged-bay installation, the customer must ensure that the parts sensitive to voltage such as the Ucc bus, mains supply lines, etc., are protected against electric shock.

6.5 Analog setpoint

The setpoint input is a differential input. Therefore the poling can be done depending on the requirements. Important: the setpoint voltage must be galvanically connected to the reference potential of the control connections (plug X10). It is possible to connect one pole directly to GND.

6.6 Safety rules

Caution !

Plug / unplug all modules only when Ucc (DC-BUS) is off, that is, the green LED on the power supply module is off and the discharge time > 3 minutes has elapsed. The user must ensure protection against accidental touching.

6.7 Electromagnetic compatibility (EMC)

Confirmity in accordance with the EEC Directive 89/336/EEC has been evaluated using a referencesystem, consisting of a compact type drive and a line-filter on mounting-plate, connected to an AC-syncronous motor. Mainly responsible for EMC-emissions is the motor cable. So this has to be installed exeptional carefully. The layout of grounding is very important. Grounding has to be low-impedant for high frequences. That means, all ground-connecting parts have to use area. The measurements made are valid under the use of SSD Drives - cables, suppression aids and line filters and by application of the following wiring instructions:

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 57

6 Wiring Instructions

Electromagnetic compatibility (EMC)

6.7.1 Hints for mounting

All components are mounted inside of

A

a steel control cubicle on a mounting plate (thickness min. 3mm). Recommended: Galvanizing

The connection between drive housing filter-

B

housing and mountig-plate must be blank and not reduced by varnish. All screws must be well fixed ! Use only SSD Drives-filters and cables for motor

C

and resolver Place all wires and cables as close as possible

D

to any grounded metal parts Separate power- and control cables. Minimum

E

distance: 0,3m crosspoints: 90°

Avoid cable-loops. Especially the line between

F

line-filter and drive has to be as close and short as possible (drilled)

Maintain screen as close as possible to the

G

cable-end (max distance 8 cm)

Connect screen-connections according to

H

general view of connetions, see chapter 2.1. Ground screens on both sides, shortest way. For long cables: Connect additional screen-area along the way Connect screens area-contacted to good

I

grounded points

Connect unused wires in cables to ground

K

Install control cables directly close to grounded

L

metal-parts or screend when leaving the controlcubicle Take care for good grounding of control-

M

transformer (DC 24V). Use transformer with metal-socket and take care for conductive contact to mounting-plate Take care for good general grounding of the

N

complete system. Interconnect several mounting-plates with copper-rails or copperband. Take care for ground connection between control-cubicle and machine !

0,3 m

3mm

8 cm max

90°

________________________________________________________________________________________________________________________________________________________________________________________________________________________

58 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Wiring Instructions 6

Electromagnetic compatibility (EMC)

6.7.2 Example for mounting

6.7.3 Achieveable specifications and conditions

conditions additional conditions

Area Class

Emissions: transmitted by cable or by air

Industrial A EN50081-2/

EN55011Klasse A

Residential B EN50081-1/

EN55011 Klasse B

Interference

Industrial A EN50082-2 - - - immunity: (≅ radiation) transmitted by cable or by air

Residential B - - - -

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 59

Standard

Motor-cable

length

see

chapter 5.6

see

chapter 5.6

Area Class

LNF S/E

LNF B

LNF S/E

LNF B

Standard

closed

cabinet with

≥ 15 dB

attenuation

toroidal

ferrite cores

see

chapter

5.6

7 Setting and Programming

7 Setting and programming

7.1 Jumper

All jumpers are set to a standard position in production !

Layout of the Jumpers see: Chapter 1.2.3

7.2

JP100, bridged pad...

2 and 3 (standard)

1 and 3 READY contact can be wired freely

JP101, bridged pad...

2 and 3 (standard) 1 and 3 Analog input X10.19 with internal Pull-

JP102, bridged pad...

2 and 3 (standard) 1 and 3 X10.23 = GND internal

JP1, JP2 bridged pad...

2 and 3 (standard) 1 and 3 X10.15 = low-active

JP3, JP4 bridged pad...

2 and 3 (standard) 1 and 3 X10.14 = low-active

JP2.8, JP2.3 JP2.7, JP2.2

open Default, RP CAN, RP DEV, RP PDP close RP 232, RP 422, RP 485,

JP209 2-3 JP209 1-3

close Default RP SBT Further connecting configuration see:

Product Manualo 07-02-10-02-E-Vxxxx RP_SBT

Digital communication

see: Chapter 13

READY contact with reference to common output supply voltage on X10.21

Analog input X10.19 without internal Pull-up.

up to +12 V (FRR compatible)

X10.23 = active ok. output

(FRR compatible)

adjust identically !

X10.15 = high-active

adjust identically !

X10.14 = high-active

RP 2CA, RP 2C8 RP IBS, RP EA5, RP SUC

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60 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

8 Commissioning

Caution !

Commissioning 8

Wiring errors or incompatible operation may cause unpredictable motions. Avoid danger for man and machine !

8.1 Preparation

 For PC-link use the SSD Drives communication software

EASYRIDER

we suggest exercises in simulation mode to get familiar with EASYRIDER.This chapter presumes the knowledge how to handle EASYRIDER. Suggestions: Use test equipment to train yourself.

 For security-reasons the access to several functions is blocked by password. Commissioning

has to be executed by trained stuff only.

 Users may have their application-adapted commissioning methods when familiar with

the product, on their own responsibility.

 The system must be in accordance with all valid safety specifications. The function of all

safety equipment (limit-switches for example) have to be checked.

 To activate the power-stage of the drive, the "ACTIVE"-signal (X10.22 against X10.9) has to be exited.

Hint: With the assembly of the option module SBT you kindly note the extended functions of the signals (see documentation 07-02-10-02-E..)

®

Windows - Software. For the start,

EASYRIDER

®

Windows - Software contains interactive HELP - functions.

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 61

8 Commissioning

8.2 Commissioning in steps

Step Action Remark

1 Before switching on

Check the wiring, especially:

Filter polarity, supply Motor wiring, motor polarity Resvolver wiring, polarity (or other feedback systems)

With critical mechanical part: remove motor shaft from

2

application Connect PC by RS232 link to the drive service port COM1

3

and start EASYRIDER

Set up state

4

®

NOT ACTIVE

635/ 637/ 637+/ 637f 1)

X10.22 against X10.9

631

X10.7 against X10.4

Power on

Switch on control voltage

5

635/ 637/ 637+/ 637f Us = 24V DC EASYRIDER

®

communicates (see diagnosis F9)

631 Us = 230V AC

avoid danger

7-segmentdispay

Are parameters already evaluated?

6

Yes: load parameter-file

No: continue with 7

xxx.WDD. Store parameters in the drive. If existent: load BIASfile xxx.WBD and store in drive. Proceed with 10 or 15 (experts)

Menu Commissioning:

7

Select the used motor from the EASYRIDER

®

- Library

reduced torque

Adjust max. current to nominal motor current or smaller When leaving that menu:

8

Tuning-parameters for current loop will be calculated and

Confirm acceptance of offered

parameters offered to the user. Normally, these values give dynamic servo motion.

Store data power-fail-save in the drive

9

10 Menu: Tuning speed loop

1)

Hint: With the assembly of the option module SBT you kindly note the extended functions of the

signals (see documentation 07-02-10-02-E..)

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62 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Commissioning 8

Commissioning in steps

Step Action Remark

11

12

“ACTIVE” switched

Adjust test generator as required. Activate test generator with “START F8”.

Activate graph to display motor current or speed. Can be optimize manually (P- and I- gain)

13

Is the result ok?

Yes: continue with 14 No: continue with U1

14

Preparation to the position controller The commissioning of the position controller is first

recommended without linked mechanics. In the case of secure function, the mechanics can then be linked up.

15 Power OFF.

Connect motor-shaft to application Move application to a free area between mechanical limits.

Power ON. Menu: Tuning position loop

7-segmentdispay

16

Adjust test generator. Select Pos. 1 and Pos. 2 to uncritical value. Select slow speed and low acceleration first, rise up later

17

“ACTIVE” – switched. Every activation of “START F8” excites a motion form Pos. 1 to Pos 2 and with next activation, form Pos. 2 to Pos. 1

18

Observe the behaviour of application and graph. Optimize tuning-parameters (P-, I- and V gain)

19

Is the result ok?

Yes: continue with 20 No: continue with 9

20 Basic power-up is done now.

Further functions (Interfaces, fieldbus functions, synchronizing and so on may be done adapted to selected equipments

21 Select the menu “File” store parameters” and store the

data in the regulator, protect against lost, with F7-key

mind: reaction-time- to

Emergency stop

data save

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 63

8 Commissioning

Commissioning in steps

Step Action Remark

U1.1 Menu: Tuning Speed Loop

Stabile parameters are calculate bases on the system data; and can be called up with “Default value”. Sometimes it is recommended to make further manual tuning. Rated value can be soured either digital by the internal generator or analogue by

U1.2

635/ 637/ 637+/ 637f 631 +/- 10V at X10.5/18 +/- 10V at X10.1/2

ATTENTION!

Too hard tuning will cause current-ripple and high power dissipation.

Too weak adjustment cause slow loops reactions that may cause problems for the tuning of position loops.

P- gain too high or I-time constant too small Motor noise

U1.3

It the result ok?

Yes: continue with 9 No: continue with U2.1

U2.1 Menu: Tuning Current Loop

Stable parameters are calculated bases on the system data and can be called up with “default value” Manual tuning may be useful. Rated value can be soured either digital by the internal generator or analogue by

635/ 637/ 637+/ 637f 631 +/- 10V at X10.5/18 +/- 10V at X10.1/2

ATTENTION!

Tuning of current loops should be only done after consultation of SSD Drives experts.

continue with 9

P- gain too small or I-time constant too high

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64 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Diagnosis and Trouble-Shooting 9

9 Diagnose und Fehlersuche

9.1 7-segment display

Many sources of faults can be narrowed down with the diagnosis display.

explanation comment

no display

any control voltage? external fuses ok?

system ready for operate

drive ready, not active

drive ready for operate!

DC link voltage within the limits, power stage active, fault-free

internal STOP with serial deactivating

activate drive via serial interface

regulator of serial interface (bus interface) deactivated !

only if bus interface is integrated

deactivated with delay time for the brake

deactivated via input. on off

Output

ready warning

off off

2)

servo drive display

631 635/637 637+ 637f

   

deactivated via serial command. off off Active input is activated with switching on

24 V control voltage switch enable X10.xx switch on 0 V and

after that 24 V Under voltage of control voltage

Power supply switched on? Power supply o.k ? internal fuse o.k.? control voltage < 17 V

Under voltage in DC-bus < Ua low threshold

check power supply (power supply unit, wiring, fuse), check under voltage parameter

feedback system error (e.g. resolver)

wiring to encoder system ok? encoder system supply ok?

I²t- overload of the drive does the control loop oscillate?

P-amplification too high mechanics stiff? requirements too high? is warning /8/ evaluated?

1)

Reaction to these errors chapter: Function diagrams from inputs and outputs

2)

With configuration corresponding chapter : Operating modes and pin functions

3)

Only warning respect. status indicator

The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus) is switched off for safety reasons.

off off

1) 1)



X10.

7



X10.22



X10.

22

   

   



22

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 65

9 Diagnosis and Trouble-Shooting

7-segment display

explanation comment

overload of the motor I²t does the control loop oscillate?

P-amplification too high mechanics stiff? requirements too high? is warning /8/ evaluated?

over temperature of the output stage (> 95°C)

adequate cooling of the regulator? ambient temperature too high?

over voltage on DC bus

ballast module ok? adequate ballast module?

chassis shorting and short circuit due to hardware motor cabling ok? digital-loops setup ok?

short circuit to chassis in the motor? braking resistor: ohm- value too low? try to start fresh! send in for repair

WARNING! Overload of the regulator I²t or motor I²t or temp.output stage too high. If no reaction within approx. 3sec.it switches off with signals /3/, /4/ or /5/. Signal /8/ clears when there is no more danger or it is switched off

mechanics stiff? defective bearings; cold grease? reduce requirements and creep to next possible STOP

over temperature motor(NTC/PTC)

Output

ready warning2)

1) 1)

off off

on

off

1)

631 635/637 637+ 637f

   

servo drive display

check overload of the motor / cooling etc.

motor temperature too high

check overload of the motor / cooling etc.

ballast active

Brake energy is removed

warning I²t ballast too high

ballast resistance usage >90%

switch off ballast

ballast resistance overloaded

1)

Reaction to these errors chapter: Function diagrams from inputs and outputs

2)

With configuration corresponding chapter : Operating modes and pin functions

3)

Only warning respect. status indicator

The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus) is switched off for safety reasons.

on

1)

   

1)

   

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66 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Diagnosis and Trouble-Shooting 9

7-segment display

explanation comment

X 300 – Module not inserted or wrong inserted or defect

X 300 testing

X 300 – setting wrong

X 30 / X40 Counter-Configuration test in the EASYRIDER® Windows – Software

3)

tracking window exceeded

only in operation mode position control, will be deleted with the next run-command

tracking error with switch off

only in operation mode "position control"

3)

limit switch +

limit switch + X10.xx on 0 Volt, from Firmware 6.16

3)

limit switch -

limit switch - X10.xx on 0 Volt, from Firmware 6.16

3)

limit switch + / limit switch -

both limit switch X10.xx on 0 Volt, from Firmware 6.16

memory-checksum-error

Output

ready warning2)

off off

servo drive display

631 635/637 637+ 637f

   

   



X10.



X10.



X10. X10.9

8

9

8



X10.14



X10.15



X10.14 X10.15



X10.14



X10.15



X10.

14

X10.15



X10.



X10.



X10. X10.15

   

14

15

14

try new start, store the value again

DC Bus Unterspannung < 100 V

-

1: internal software error, Watchdog 2: blinking: BIAS software error

1: Firmware version check 2: Bias program error fix

1)

Reaction to these errors chapter: Function diagrams from inputs and outputs

2)

With configuration corresponding chapter : Operating modes and pin functions

3)

Only warning respect. status indicator

The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus) is switched off for safety reasons.

   

      



________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 67

9 Diagnosis and Trouble-Shooting

7-segment display

explanation comment

starting lockout RP SBT

terminal X290. 3/4 check

Max. speed overload

check speed limits resp. setpoint speed

CAN - Open 402 Sync Message error in Interpolated positioning mode

-

1)

Reaction to these errors chapter: Function diagrams from inputs and outputs

2)

With configuration corresponding chapter : Operating modes and pin functions

3)

Only warning respect. status indicator

The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus) is switched off for safety reasons.

Output

ready warning2)

631 635/637 637+ 637f

   



6.19c

servo drive display



 

8.19d

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68 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Diagnosis and Trouble-Shooting 9

9.2 Reset of a regulator trouble

A general precondition for correct execution of the Reset is the elimination of the error cause.

The error signals

at

blinking

(BIAS)

of the drive can be reset via:

1. Control voltage OFF/ON,

2. the serial command “Drive Reset“ 0x02 The host login must be occurred.

The drive must be deactivated via the serial command “deactivate Drive“ 0x00.

3. the fieldbus-command “ Drive Reset“ 0x16 (22 decimal) The host login must be occurred via the BUS command 0x01.The drive must be deactivated

via the BUS command “deactivate Drive“ 0x14. The fieldbus command “Drive Reset“ with constant repetition of the fieldbus command 0x16 will be

works-off only once. For further processing, it is necessary, meanwhile to send another control word (e.g. 0 status order).

4. a 0 – 1 flank on input X10.11

Precondition:

- The input X10.11 is with function 1“Reset drive fault“ configured

(EASYRIDER

- There is no host login.

The input Active,(X10.22) is inactive (0V)

-

The signal must be present min. 250 ms

-

®

Windows – Software)

1)

Notice !!

After remove of the tracking error deactivation the warning message (tracking error) is active up to the next move command.

The error signal

1)

Hint: With the assembly of the option module SBT you kindly note the extended functions of the

(releasing before ready) can be reset by deactivation the drive.

signals (see documentation 07-02-10-02-E..)

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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 69

9 Diagnosis and Trouble-Shooting

9.3 Trouble shooting

The following list refers to faults which can occur during operation.

Display:

Error Explanation and remedy

no motor run despite current flow motor mechanically blocked?

motor runs unevently check setpoint wiring

no reaction of setpoint progression, despite torque in standstill

no current flow; no torque despite activating the regulator correctly

Interference symptoms with power frequency

Motor takes up preferred positions after activation

Motor runs up immediately after activation although there is no setpoint

Motor reaches in idling cycle very different speed when running to the right or to the left

1) Display

motor brake released?

check grounding and shielding too high P-amplification in the speed controller reduce value

®

(with EASYRIDER

setting/speed control) too small I-time in the speed controller? reduce value

®

(with EASYRIDER

setting/speed control) Limit switch functions

effective (BIAS) motor cables interrupted?

Is input "I extern" (X10.19) activated (config. menu) and not notched up?

limit switch - input

activated and not notched up? Ground loops in setpoint or actual value wiring?

Shieldings laid on both sides? Signal cables near high voltage cables?

Position encoder or motor cables with reversed poles? Resolver or Feedback- encoder incorrectly adjusted? Number of motor poles wrong matching? (config. menu)

Motor cables or feedback- cables reversed? Encoder incorrectly adjusted?

(e.g. Resolver) Feedback-Encoder incorrectly adjusted

(e.g. Resolver)

or

mostly short after activating; before warning

1)

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70 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

10 Block circuit diagram

Block Circuit Diagram 10

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 71

11 General Technical Data

11.1 Power circuit

galvanic separation from control circuit in acc. with EN 50178 / VDE 0160 specification in accordance with UL 508C and cUL short circuit and to frame proof for Min. 2000 releasings overvoltage monitoring D6R..-3 overvoltage monitoring D6R..-7 undervoltage monitoring min. 15V DC; configurable overtemperature switch off at 95 ° C +/- 5% clock frequency 4,75 kHz frequency of current ripple 9,5 kHz

11.2 Control circuit

galvanic separation from power circuit in acc. with EN 50178 / VDE 0160 further information: see concept of insulation chapter 1.3.1 see data compact units chapter. 1.3.3 see data plug-in modules chapter 1.3.4

11.3 Signal inputs and outputs, connection X10

Max. 400V DC ±5V DC Max. 765V DC ±10V DC

additional galvanic separation from power and control circuit

nominal voltage of the in- and outputs 24 V DC number of outputs

signal outputs via OPTO coupler

signal outputs via RELAY U

contact protection with inductive load internal varistor number of inputs

signal outputs via OPTO coupler

Shortest time of signal at all input to accept the signal in an application:

Damping of the transfer from low to high (0-->24V):

Interrupt response time for fast input 10µs (X10.4, X10.25) Damping of the transfer from

high to low (24-->0V)

5 U

= 45V DC;

max

I = 0..60 mA; short circuit proof, resistive load

= 45V DC;

max

I = 1uA...1,2A

8 L = 0...7 V DC or open H = 15...30 V DC Iin 24VDC: 8 mA

> 1 ms fast input:

20µs (X10.4, X10.25)

fast input: 250µs (X10.4, X10.25)

Damping of the transfer from low to high (0-->24V):

Damping of the transfer from high to low (24-->0V)

________________________________________________________________________________________________________________________________________________________________________________________________________________________

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General Technical Data 11

11.4 Signal inputs and outputs, connection X120B resp. 120C

additional galvanic separation from power and control circuit

nominal voltage of the in- and outputs 24 V DC +20% / -10% number of outputs

signal outputs via OPTO coupler

4

resistive load Imax. = 2A inductive loadmax. 1Henry

I

. I

out

1A 1A 1A 1A 1A 1A

0,33A 0,33A 0,33A

0,2A 0,2A 0,2A

short-circuit current limited by (5A) over-temperature protection, active overvoltage clamping (50V); keyed

number of inputs signal outputs via OPTO coupler

4 L = 0...7 V DC or open H = 15...30 V DC Iin at 24VDC: 8 mA

Shortest time of signal at all input to accept the

> 1 ms

signal in an application: Damping of the transfer from

low to high (0-->24V): Damping of the transfer from

high to low (24-->0V)

default input: 200µs default input: 1000µs

11.5 Digital control

. I

out

.

current control

Loop-Cycle-Time 105 µs settings according to factory specifications or motor data

speed control -menue current limits, Adjustment by: Analog Input

0..10V = 0..100%; can be normed, 10Bit

speed control

Loop-Cycle-Time 105 µs settings speed control menue

U

= 10 V, can be normed; Ri = 10k differential setpoint input analog

soll

resolution (including sign)

14 bit

digital setpoint input via interfaces

position control

Loop-Cycle-Time 105 µs

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 73

11 General Technical Data

11.6 Digitale communication

RS232 - service interface COM1

19200 baud, 8 databits, 1 startbit, 1 stopbit, parity: even

Optional RS232 / RS422 / RS 485

on SUB D – socket CAN1, Profibus DP, SUCOnet K

on SUB D – socket Interbus S on SUB D – socket (OUT)

Interbus S (Remote IN) CAN2

11.7 Resolver evaluation/transmitter principle

General: The specified data refer to the combination of the standard resolver interface with Function-Module X300_RD2; operated with the SSD Drives resolver R 21-T05, R15-T05

carrier frequency ft = 4,75 kHz ripple of the speed actual value signal 2% 1) max. position resolution for one revolution 65536 / 16 bit absolute position accuracy +/- 0,7 ° 1) relative position accuracy +/- 0,08 ° 1)

1)

Data under check, Reality: Quality improved

11.8 Controllersystem

COM2

additional on SUB D – socket

system run-up time after switching on

max. 6 sec.

the control voltage data memory / organization Flash Eprom 256 KB

RAM 64 KB; EEPROM 96 kByte

________________________________________________________________________________________________________________________________________________________________________________________________________________________

74 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

General Technical Data 11

11.9 Analog-Outps

measuring pin X10.17

signal range -10V.....0.....+10V

magnifier function can be normed resolution 10 bit, independend of norming internal resistance 1,8 kOhm

measuring pin X10.6

signal range -10V.....0.....+10V

magnifier function can be normed resolution 8 bit, independend of norming internal resistance 1,8 kOhm

11.10 Thermal data

thermal data see chapter 1.3

11.11 Mechanical data

dimensions see chapter 1.4 weight see chapter 1.3

Further data you will find in chapter 1.3

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 75

12 Disposal

The digital servo drive consists of different materials. The following table shows, which materials can be recycled and which have to be disposed

of in a special way.

material recycle disposal

Metal plastics material printed board assembly

Dispose of the appropriate materials in accordance with the valid environmental control laws.

yes no yes no

no yes

________________________________________________________________________________________________________________________________________________________________________________________________________________________

76 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Software 13

13 Software

13.1 EASYRIDER® Windows - Software

EASYRIDER® Windows - Software is an comfortable tool to use all drive functions. Detailed Online-Help-information’s and instruction are available.

®

EASYRIDER

Instructions: (extract)

 Autopilote-function as interactive tutorial  System identification  BIAS - instruction-set editor  Oszilloscope-function  start-up and comissioning-tools  Setting of parameters, Setting of configurations  Servo-diagnostics, Interface diagnostics, Fieldbus diagnostics  Motor library  save system data in file, load system data from file  send system data to servo drive, save system data in servo drive  load system data from servo drive

Important:

Edited data in EASYRIDER

®

are transmitted to the RAM of the servo drive and active after use of the instruction SEND. Only the instruction SAVE in EEPROM writes data into a not volatile memory. Data are stored there power-fail save.

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 77

13 Software

13.2 SSD Drives programming language BIAS

In Operating mode 5 – Position control with BIAS, three user-defined programs can be executed parallel. The BIAS-program and the PLC-program (sequence cascades, 1 command per position controller sampling = 844 µs) as well as the Mathematics program (cyclic execution in remaining time of processor).

The BIAS-program is primary intended for administration of travel commands. If application permits, also simple calculations can be performed and analog/digital I/O‘s can be serviced in this task. The PLC-task is conceived to perform I/O logic, sequence control, monitoring and CAN-Bus communication. The Mathematics program is designed for complex calculations, e.g. computing of a cam, executed by the BIAS-program afterwards. But it is also possible to store the same tasks here, as basically defined for PLCtask, which can increase PLC performance of the 637+ controller approx. twenty times.

While the BIAS-program will be executed from the start block directly after activation of operating mode 5, the PLC-program will be first started by BIAS-command "PLC-program" and the Mathematics program by command "Mathematics program". At reaching the command "End of program" (Mode = 0) the respective execution pointer re-jumps to his start label. Within the command set the following command groups are provided:

Pogram flow control

- Fixing start/end of main- and sub-programs

- Conditional and unconditional jump commands Travel relevant commands

-Positioning commands

-Parameter commands

-Technology functions >Register positioning >PID-control >Synchronous applications

Logic commands

- Logic commands for coils and internal relays Variable commands

-Writing and reading of parameters

-Fundamental operations of arithmetic with long integer

-Type-conversions long integer <=> double float (Math.task only)

-Fundamental operations of arithmetic with double float (Math.task only)

-SIN(x),COS(x),SQRT(x) with double float (Math.task only)

-Writing and reading of synchronous profile tables. CAN-Bus commands

-Communication with other SSD Drives products

________________________________________________________________________________________________________________________________________________________________________________________________________________________

78 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Software 13

SSD Drives programming language BIAS

The user has the possibility to program his sequence himself from this set of commands.

Available program area

The BIAS operation set is listed on the next page. You can read the exact function of the individual commands in the help function of the Windows -Software in the BIAS editor or in the BIAS command description (10-06-05-E-Vxxxx).

EASYRIDER

®

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 79

13 Software

13.3 BIAS – Commands

This command is only permitted

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

0 1 2 3 4 5 6 7 8

Move position

Move

incremental

position

Move datum

Move infinite

positive

Move infinite

negative

Move

synchron

Move CAM

profile

Synchronous

settings 1

Synchronous

settings 2

Move PID;

speed

Move PID;

torque

Set point

[axis no.] =

const.

Set point [axis no.] = [variable X ]

Move relative _____________

Start axis _____________

Stop axis

Move position +

parameter

incremental

position + parameter

Move datum +

parameter

Move infinite

positive + parameter

Move infinite

negative +

parameter

Move synchron

+ parameter

Move analogue

value +

integrator

Move speed +

integrator

_____________

Cycle length =

[variable X]

Load parameter

set X =

[variable[Y]]

Stop axis

parameter

Position = const.

in the BIAS- task

Move

const.

+

[Variable X] = position BIAS-execution pointer

Position = const.

Speed = const

Acceleration = const

Deceleration = const

Gear factor = const.

"Position reached"

window = const

Remaining position =

Ramp filter = const.,

[variable X]

Actual position X =

If actual position X

? [variable Y]

Sensor window =

Sensor position =

adjustment 1 =

This command is only permitted

in the BIAS, PLC and MATH-

.

const.

? const.

const.

Sensor

const.

Sensor

adjustment 2 =

const.

Update parameter

Task

Position =

[variable X]

Speed =

[variable X]

Acceleration =

.

[Variable X]

Deceleration =

.

[variable X]

Gear factor =

[Variable X]

“Position reached“

window =[variable X]

Remaining position

= [variable X]

Maximal current =

[variable X]

Actual position X =

[variable Y]

Analogue output X

= [variable Y]

PID scaling

Sensor window =

[variable X]

Sensor position =

[Variable X]

Sensor

adjustment 1 =

[variable X]

Sensor

adjustment 2 =

[variable X]

PID parameter

This command is only permitted

in the PLC and MATH-Task

[Variable X] =flag Y

This command is only permitted

in the BIAS and PLC -Task

Profile value = [variable X] Save table PLC-program

This command is only permitted

in the MATH-Task

This command is only permitted

in the MATH-Task

This command is only permitted in

the BIAS and MATH-Task

9 A B

[Variable X] =

position

[Variable X] =

speed

[Variable X] =

acceleration

[Variable X] =

deceleration

[Variable X] =

gear factor

[Variable X] =

block number

[Variable X] =

actual position Y

[Variable X] =

analogue input Y

[Variable X] =

latch position Y

[Variable X] =

actual speed Y

[Variable X] =

latch status Y

[Variable X] =

position Y;

axis no.

[Variable X] =

value Y

[Variable X] =

axis status,

axis no. Y

_____________ _____________

_____________ Virtual program

pointer = [variable X]

Jump [Var.[X]]; length

Execute X commands

NOP Flag X = const. If input X ? const. [Variable X] = const. Mathematic program

End of program If flag X ? const. If output X ? const.

Sub- program

End of Sub-program

PLC-program

Jump const.

Jump [variable X]

BIAS-Execution pointer = const.

Wait for

”position reached”

Wait time = const.

Wait time = [variable X]

BIAS-execution

= const.; from

Table

[[variable X]] = const.

If [variable X] ?

const.

Flag X =

flag Y

Flag X =

input Y

Flag X =

output Y

Flag X =

flag Y & flag Z

Flag X =

flag Y | flag Z

Flag X =

flag Y ^ flag Z

Flag X =

! flag Y

Flag X = status Y

If status X ? const.

Modus X = const.

Flag X =

[variable Y]

[Variable X]. bit[Y] =

const.

If [Var. X]. bit Y ==

const. then jump

Axis state, axis no. X, bit Y = const., [flag Z]

Output X = const.

Output X =

flag Y

_____________

IBT- mask number =

const.

IBT- notification number = const.

CAN Command =

[variable X]

IBT- data transfer

CAN2 Command =

[variable X]

_____________

[Variable X] =

[variable Y] + const.

[Variable X] =

[variable Y] – const.

[Variable X] =

[variable Y] * const.

[Variable X] =

[variable Y] / const.

[Variable X] =

flag Y

[Variable X] =

[variable Y].bit Z

number

[Variable X] =

[variable Y]

If [variable X] ?

[variable Y]

[Variable X]=

[variable Y] + [variable

Z]

[Variable X]=

[variable Y] - [variable

Z]

[Variable X]=

[variable Y] * [variable

Z]

[Variable X]=

[variable Y] / [variable

Z]

[Teachvariable X] =

[variable Y]

[Variable X] =

[teachvariable Y]

Profile initialization =

const.

Profile cycle length =

[variable X]

[Variable X] =

profile value

Profile value = [variable

X]

_____________

Save table

_____________

_____________ _____________ _____________

______________ ____________ _____________

_____________ _____________ _____________

Table [[variable X]] = [Y_Variable Z]

[X_Variable Y]= Table

[[variable Z]]

[ W_Variable X] =

[ Y_Variable Z]

[ X_ Variable Y] =

const.

[Variable [X]] =

const.

[Variable [X]] =

[variable Y]

[Variable [X]] =

[variable Y]

[Variable X] = [variable Y] ?

[variable Z]

[Variable X] = [variable Y] ?

const.

[D_Variable X] = [D_Variable

Y]+

[D_Variable Z]

[D_Variable X] =

[D_Variable Y] -

[D_Variable Z]

[D_Variable X] =

[D_Variable Y] *

[D_Variable Z]

[D_Variable X] =

[D_Variable Y] /

[D_Variable Z]

If [D_Variable X] ?

[D_Variable Y]

[D_Variable X] =

SIN {[D_Variable Y]}

[D_Variable X] =

COS {[D_Variable Y]}

[D_Variable X] =

SQRT {[D_Variable Y]}

_____________

Command group “Move commands“ Command group “Program control commands“ Command group “Parameter commands“ Command group “Variable commands“ Command group “Flag commands“

Command group “CAN- Commands“

Command group “Mathematic commands“

Command group “Output commands“

Command group “Conditional jump commands“ Command group “637f commands“

________________________________________________________________________________________________________________________________________________________________________________________________________________________

80 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

14 Certificates

Certificates 14

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14 Certificates

________________________________________________________________________________________________________________________________________________________________________________________________________________________

82 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Certificates 14

________________________________________________________________________________________________________________________________________________________________________________________________________________________

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14 Certificates

________________________________________________________________________________________________________________________________________________________________________________________________________________________

84 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

Certificates 14

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 85

15 Index

7

7-segment display.............................................65, 66, 67, 68

A

Achieveable specifications and conditions.........................59

Allgemein technische Daten...............................................72

Analog setpoint ..................................................................57

Analog-Outps.....................................................................75

Änderungsliste....................................................................88

EASYRIDER Instructions..................................................77

EASYRIDER

election of the brake resistor ........................................55, 56

Electrical Installation .........................................................51

Electromagnetic compatibility (EMC)...............................57

EMC Clip...........................................................................22

Example for mounting........................................................59

example of an order.........................................................13

®

Windows - Software..................................77

E

F

B

BIAS – Commands...........................................................80

BIAS commands ................................................................78

Block circuit diagram.........................................................71

Brake control and PTC evaluation .....................................45

Brake resistor .....................................................................54

Feedback Sensor Connection X30......................................30

Feedback-Sensor................................................................29

Fieldbus interface COM2................................................... 36

Function diagrams from inputs and outputs .......................49

Fuses, contactors, filters.....................................................52

G

C

CAN-BUS2 interface .........................................................36

Certificates .................................................81, 82, 83, 84, 85

Combination possibilities

I/O - modules.................................................................14

Commissioning...................................................................61

Commissioning in steps......................................................62

Compact Units 637f/K D6R...............................................17

Compatibility with 637+ Servo Drives..............................12

Compatibility with 637 Servo Drives .................................12

Configurable pin-functions.................................................48

Configuration of the brake resistor.....................................55

Connector assignment X280...............................................45

Connector assignment X290...............................................44

Control cabinet - mounting.................................................50

Control cabling...................................................................57

Control circuit ....................................................................72

Control Signal Plug X10 ....................................................26

Control Signal Plug X10 ....................................................27

Control Signal Plug X10 ....................................................28

Controllersystem ................................................................74

Cooling...............................................................................50

Correction of supply current...............................................53

for the various communications /

General Data.......................................................................16

General Information...........................................................10

General view of connections........................................23, 24

Ground connections............................................................51

Grounding, safety grounding..............................................51

H

H15 multiple pin strip ........................................................25

Hints for mounting.............................................................58

HIPERFACE

®

- Module X300_HF2...............................30

I

Incremental output..............................................................32

Incremental-Input

Installation of the rack........................................................57

Insulation concept ..............................................................16

interface COM1..................................................................35

...............................................................32

J

Jumper................................................................................60

D

Danger areas.......................................................................51

Description X40

Diagnose und Fehlersuche..................................................65

Digital Communication......................................................11

Digital control ....................................................................73

Digitale communication.....................................................74

DIL – switch position.........................................................43

DIL – switch position bus termination...............................43

DIL – switch position for module RP2CA and RP 2C8..... 43

Dimensions for Compact Device and Plug-In Module.......21

Disposal..............................................................................76

.................................................................31

Layout of Power Board......................................................15

measuring pin X10.17 ........................................................75

measuring pin X10.6..........................................................75

Mechanical data .................................................................75

Mechanical Installation......................................................50

Modle code.........................................................................13

Modul – Designs ................................................................37

module slots .......................................................................15

module X300......................................................................29

Mounting............................................................................50

________________________________________________________________________________________________________________________________________________________________________________________________________________________

86 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

L

M

Index 15

O

Operating modes................................................................ 46

Operating modes and pin functions................................... 47

Operation configurations................................................... 11

Option module RP SBT..................................................... 44

Option module RP SBT..................................................... 45

Output power..................................................................... 20

P

Pin Assignment for CAN/DeviceNet................................. 38

Pin assignment for I/O interface.............................40, 41, 42

Pin assignment for Interbus S............................................ 39

Pin assignment for Interbus S............................................ 88

Pin assignment for Profibus DP......................................... 38

Pin assignment for RS232................................................. 37

Pin assignment for RS422/485.......................................... 37

Pin assignment for SUCOnet K......................................... 38

Plug-In Modules 637f/D6R............................................... 18

Power cabling.................................................................... 57

Power circuit ..................................................................... 72

Preparation ........................................................................ 61

R

S

Safe Stop ........................................................................... 44

Safety ................................................................................ 51

Safety Precautions............................................................... 9

Safety rules........................................................................ 57

Selection of the brake resistor ........................................... 54

Sicherheitshinweise......................................................... 4, 8

Signal inputs and outputs..............................................72, 73

Single- and Three-Phase Supply ....................................... 19

Single-phase supply........................................................... 19

Sinus / Cosinus - Module X300_SC2

Software ............................................................................ 77

SSD Drives programming language BIAS........................ 79

SSI-Encoder Interface ....................................................... 34

Stepper motor input........................................................... 33

Stepper motor input

System Description............................................................ 10

System variants ................................................................. 10

........................................................... 33

................................ 30

T

The Most Important Thing First.......................................... 7

Thermal data...................................................................... 75

Three-phase-supply ........................................................... 19

Trouble shooting ............................................................... 70

Range data......................................................................... 16

Remote IN (COM3 B)....................................................... 39

Remote OUT (COM2)....................................................... 39

Reset of a regulator trouble ............................................... 69

Resolver evaluation........................................................... 74

Resolver Module X300_RD2

RS232................................................................................ 35

............................................ 30

W

Wiring instructions............................................................ 57

X

X120B............................................................................... 42

X120C

............................................................................... 42

X200

.................................................................................. 41

________________________________________________________________________________________________________________________________________________________________________________________________________________________

07-02-10-01-E-V0505.doc Product Manaul Type: 637f 87

16 Modification Record

Version Modification Chapter Date Name Comment

V0103 - - 02.06.03 N. Dreilich new V0204 text correction

new functions connection X30 additional In-/Outputs Pin assignment for Interbus S correction safety module SBT Text addition for SBT

7-segment display

new BIAS commands 13.3 16.03.04 N. Dreilich V03004 SSD Drives - 19.10.2004 N.Dreilich Logos V0405 diverse correction

(text, design and photos) all 12.05.2005 N. Dreilich V0505 Model code, extended 18.05.2005 N. Dreilich

1.2

2.1-2.1.1

2.4.2

2.6.2.1

2.6.2.9

2.5.5

2.7

9.1-9.2

photo page 29-30 correction text addition “COM3 B“ page 36 page 46-47 page 12-13/25-27/ 44-45/50-51/65-66 /72 new options

________________________________________________________________________________________________________________________________________________________________________________________________________________________

88 Product Manual Type: 637f 07-02-10-01-E-V0505.doc

AUSTRALIA Eurotherm Pty Ltd

Unit 1 20-22 Foundry Road Seven Hills New South Wales 2147 Tel:

+61 2 9838 0099

Fax:

+61 2 9838 9288

CANADA SSD Drives Inc

880 Laurentian Drive Burlington Ontario Canada, L7N 3V6

:

Tel

+1 905 333-7787

Fax:

+1 905 632-0107

CHINA Eurotherm Pty Ltd

Apt. 1805, 8 Building Hua Wei Li Chao Yang District, Beijing 100021

:

Tel

+86 10 87785520

Fax:

+86 10 87790272

DENEMARK SSD Drives

Enghavevej 11 DK-7100 Vejle Tel

:

+45 70 201311

Fax:

+45 70 201312

FRANCE SSD Drives SAS

15 Avenue de Norvège Villebon sur Yvette 91953 Courtaboeuf Cedex / Paris

:

Tel

+33 1 69 185151

Fax:

+33 1 69 185159

IRELAND SSD Drives 2004/4 Orchard Ave

Citywest Business Park Naas Rd, Dublin 24

:

Tel

+353 1 4691800

Fax:

+353 1 4691300

NETHERLANDS Eurotherm BV

Genielaan 4 2404CH Alphen aan den Rijn

:

Tel

+31 172 411 752

Fax:

+31 172 417 260

SPAN Eurotherm Espana S.A.

Pol. Ind. Alcobendas C/ La Granja, 74 28108 Madrid

:

Tel

+34 91 661 60 01

Fax:

+34 91 661 90 93

GERMANY SSD DRIVES GmbH

Von-Humboldt-Straße 10 64646 Heppenheim

:

Tel

+49 6252 7982-00

Fax:

+49 6252 7982-05

ITALY SSD Drives SpA

Via Gran Sasso 9 20030 Lentate Sul Seveso Milano

:

Tel

+39 0362 557308

Fax:

+39 0362 557312

Poland OBR-USN

ul. Batorego 107 PL 87-100 Torun Tel

:

+48 56 62340-21

Fax:

+48 56 62344-25

SWITZERLAND Indur Antriebstechnik AG

Margarethenstraße 87 CH 4008 Basel Tel

:

+41 61 27929-00

Fax:

+41 61 27929-10

HONG KONG Eurotherm Ltd

Unit D 18/F Gee Chang Hong Centre 65 Wong Chuk Hang Road Aberdeen

:

Tel

+852 2873 3826

Fax:

+852 2870 0148

JAPAN PTI Japan Ltd 7F, Yurakucho Building

10-1, Yuakucho 1-Chome Chiyoda-ku, Tokyo 100-0006

:

Tel

+81 3 32132111

Fax:

+81 3 32131900

Romania Servosisteme SRL Sibiu 17

061535 Bukarest Tel

:

+40 723348999

Fax:

+40 214131290

United Kingdom SSD Drives Ltd

New Courtwick Lane Littlehampton West Sussex BN17 7RZ

:

Tel

+44 1903 737000

Fax:

+44 1903 737100

INDIA Eurotherm DEL India Ltd

152, Developed Plots Estate Perungudi Chennai 600 096, India

:

Tel

+91 44 2496 1129

Fax:

+91 44 2496 1831

KOREA SSD Korea Co., Ltd.

1308, Daeryung Techno Town 8th Bldg., 481-11 Gasan-Dong, Geumcheon-Gu, Seoul 153-803

+82 2 2163 6677

:

Tel

+82 2 2163 8982

Fax:

SCHWEDEN SSD Drives AB

Montörgatan 7 S-30260 Halmstad Tel

:

+46 35 177300

Fax:

+46 35 108407

U.S.A SSD Drives Inc.

9225 Forsyth Park Drive Charlotte North Carolina 28273-3884

:

Tel

+1 704 588 3246

Fax:

+1 704 588 3249

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SSD Drives GmbH

Head Office

Von-Humboldt-Straße 10, D-64646 Heppenheim Telefon +49 (0)6252 7982-00, Fax +49 (0)6252 7982-05

www.SSDdrives.com

Plant Servosystems

Im Sand 14, D-76669 Bad Schönborn

·

Telefon +49 (0)7253 9404-0, Fax +49 (0)7253 9404-99

ssd@ssddrives.de

SSD COMPANY LIMITED 637f User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Additional Supporting Documentation

The Most Important Thing First

Safety Precation

1 General Information

1.1 System Description

1.1.1 Digital Communication

1.1.2 Operation configurations

1.1.4 Compatibility with 637+ Servo Drives

1.2 Modle code

1.2.2 Layout module slots

1.2.3 Layout of Power Board

1.3 Range Data

1.3.1 Insulation Concept

1.3.2 General Data

1.3.3 Compact Units 637f/K D6R

1.3.4 Plug-In Modules 637f/D6R

1.3.5 Single- and Three-Phase Supply

1.3.6 Output Power

1.4 Dimensions

1.4.1 Dimensions for Compact Device and Plug-In Module

1.4.2 EMC-Clip (optional)

1.4.2.1 For 8 HP Drive

1.4.2.2 For 16 HP Drive

2 Connector Assignments and Functions

2.1.1 637f/K D6R 02...10 Width 14 HP

2.1.2 637f/K D6R 16...30 Width 20 HP

2.2 Connector Pin Assignments and Contact Functions

2.2.1 Power Connections for Plug-In Module 637f/D6R

2.3 Signal Connections

2.3.1 Control Signal Plug X10 - SUB D25 Socket

2.4 Feedback Sensor X30

2.4.1 Function module X300

2.4.2 Feedback Sensor Connection X30 (SUB D 09 Socket)

2.5 Multi-function X40

2.5.1 Incremental Output

2.5.2 Incremental-Input

2.5.3 Stepper Motor Input

2.5.4 Stepper Motor Input

2.5.5 SSI Encoder Interface

2.6 Digital Interfaces

2.6.1 Service Interface - COM1 (RS232)

2.6.2 Fieldbus Interface - COM2

2.6.2.1 additional In-/Outputs module designation inputs outputs connection via design slot

2.6.2.2 Additional CAN-BUS2 Interface

2.6.2.3 Module Designs

2.6.2.4 Pin assignment for RS232 with option module RP 232

2.6.2.5 Pin assignment for RS422/485 with option module RP 422, without

2.6.2.6 Pin Assignment for CAN/DeviceNet with option module RP CAN / RP DEV / RP 2CA / RP 2C8, with galvanic isolation

2.6.2.7 Pin assignment for Profibus DP with option module RP PDP, with galvanic isolation

2.6.2.8 Pin assignment for SUCOnet K with option module RP SUC, with galvanic isolation

2.6.2.9 Pin assignment for Interbus S with option module RP IBS, with galvanic isolation

2.6.2.10 Pin assignment for I/O interface with option module RP EA5, with galvanic isolation

2.6.2.11 Pin assignment for I/O interface with option module RP EAE, with galvanic isolation

2.6.2.12 Pin assignment for I/O interface with option module RP 2C8, with galvanic isolation

2.7 Option module RP SBT

2.7.1 Safe Stop

Use of the function Safe Stop

2.7.2 Brake control and PTC evaluation

3 Operating modes

3.1 Operating modes and pin functions

3.3 Function diagrams from inputs and outputs

4 Mechanical Installation

4.1 Mounting

4.2 Control cabinet - mounting

4.3 Cooling

5 Electrical Installation

5.1 Safety

5.2 The danger of electric shocks

5.3 Danger areas

5.4 Grounding, safety grounding

5.4.1 Ground connections

5.5 Short-circuit capability and discharge currents

5.6 Fuses, contactors, filters

5.7 Correction of supply current

5.8 Brake resistor

5.8.1 Selection of the brake resistor