-Schemat kabla rs232 - Program DriverTOP ANG - Instrukcja DriverTop ANG - Instrukcja Montażowa serii DKC01.1 DKC11.1 i CS ANG - Kody błędów ANG
============================================================================
09.06.2009
DriveTop Fc Version 01V27
Copyright (c) 2009 Bosch Rexroth AG. Alle Rechte vorbehalten.
============================================================================
WICHTIGE INFORMATIONEN :
Systemvoraussetzung
- Pentium PC
- 32 Megabyte RAM
- 15 MB freier Platz auf der Festplatte
- Super VGA Monitor Mindestauflösung von 800 * 600
- Microsoft Windows 95/98/2000/ME/XP/Vista
Unterstützte Frequenzumrichter
- IndraDrive Fc
engineering
mannesmann
Rexroth
ECODRIVE
Drive Controller
DKC02.1
Trouble Shooting Guide: SSE 03VRS
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P
274828
Indramat
ECODRIVE Drive Controller DKC02.1
Title
Type of Documentation
ECODRIVE Drive Controller DKC02.1
Trouble Shooting Guide
Documentation Code
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P
Internal file reference
• Map 57-03V-EN Register 9
• 209-0073-4324-00
The purpose of this
documentation?
This documentation assists maintenance personnel in identifying errors
with equipment.
It should:
• help in understanding error messages
• help in finding the causes for defects
• describe the procedure for error recovery
• simplify the process of establishing contact with the INDRAMAT
customer service department.
Editing Sequence
This documentation is intended as a switch board panel supplement for
the machine manufacturer.
Document identification of previous
and current releases
Remarks
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P
Copyright
Release
date
12/96
First release
© INDRAMAT GmbH, 1997
Copying this document, and giving it to others or the use or
communication of the contents thereof without express authority, are
forbidden. Offenders are liable for the payment of damage. All rights are
reserved in the event of the grant of a patent or the registration of a utility
model or design (DIN 34-1).
Validity
Published by
All rights are reserved with respect to the content of this documentation
and the availability of the product.
INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Telefon 09352/40-0 • Tx 689421 • Fax 09352/40-4885
Dept. END (GB/OS)
About this Documentation
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
Contents
1 Diagnostic Message Descriptions
1-1
1.1 Overview of Diagnostic Message Descriptions ....................................................................................1-1
Diagnostic Message Types............................................................................................................1-1
Makeup of a Diagnostic Message..................................................................................................1-1
2 Error Diagnostic Messages
2-1
UL Motor Type not registered ........................................................................................................2-1
PL Load parameter default values.................................................................................................2-1
F207 Switching to uninitialized operation mode.............................................................................2-2
F218 Heatsink Overtemperature Shutdown ..................................................................................2-2
F219 Motor Overtemperature Shutdown .......................................................................................2-3
F220 Bleeder Overtemperature Shutdown ....................................................................................2-3
F226 Undervoltage Error ...............................................................................................................2-4
F228 Excessive Deviation .............................................................................................................2-4
F229 Motor Encoder Failure: Quadrant Error ................................................................................2-5
F234 Emergency Stop ...................................................................................................................2-5
F236 Excessive Position Feedback Difference .............................................................................2-5
F237 Excessive Position Command Difference ............................................................................2-6
F242 External Encoder Failure: Signals too small.........................................................................2-6
F245 External Encoder Failure: Quadrant Error ............................................................................2-7
F248 Low Battery Voltage..............................................................................................................2-7
F267 Erroneous Internal Hardware Synchronization.....................................................................2-8
F276 Absolute encoder error & gt; P-0-0097 ......................................................................................2-8
F401 Double MST Error Shutdown................................................................................................2-9
F402 Double MDT Error Shutdown ...............................................................................................2-9
F403 Invalid Communication Phase Shutdown .............................................................................2-9
F404 Error during Phase Progression .........................................................................................2-10
F405 Error during Phase Regression ..........................................................................................2-10
F406 Phase Switching Without Ready Signal .............................................................................2-10
F629 Positive Travel Limit Value is Exceeded.............................................................................2-10
F630 Negative Travel Limit Value is Exceeded ...........................................................................2-11
F643 Positive Travel Limit Switch Detected ................................................................................2-12
F644 Negative Travel Limit Switch Detected...............................................................................2-12
F822 Motor Encoder Failure: Signals too Small ..........................................................................2-13
F860 Overcurrent: Short in Power Stage.....................................................................................2-13
F870 + 24 Volt Error ....................................................................................................................2-13
F873 Power supply drive stage fault............................................................................................2-14
F878 Velocity Loop Error .............................................................................................................2-14
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Contents
I
ECODRIVE Drive Controller DKC02.1
F879, Crossing Velocity Limit (S-0-0091) Value..........................................................................2-15
F895 4 kHz Fault .........................................................................................................................2-15
3 Warning Diagnostic Messages
3-1
E249 Positioning vel. (S-0-0259) greater S-0-0091.......................................................................3-1
E250 Drive Overtemperature Warning ..........................................................................................3-1
E251 Motor Overtemperature Warning .........................................................................................3-1
E252 Bleeder Overtemperature Warning ......................................................................................3-2
E253 Target position out of travel zone .........................................................................................3-2
E254 Not Homed ...........................................................................................................................3-2
E255 Feedrate Override(S-0-0108) = 0.........................................................................................3-3
E256 Torque Limit = 0 ...................................................................................................................3-3
E257 Continuous Current Limiting Active ......................................................................................3-3
E259 Command velocity limitation active ......................................................................................3-4
E410 Slave not scanned or address 0...........................................................................................3-4
E825 Overvoltage in the Power Stage...........................................................................................3-4
E829 Positive Position Limit Value Exceeded ...............................................................................3-5
E830 Negative Position Limit Value Exceeded..............................................................................3-5
E843 Positive Travel Zone Limit Switch Activated.........................................................................3-5
E844 Negative Travel Zone Limit Switch Activated .......................................................................3-6
4 Command Diagnostic Messages
4-1
C100 Communication phase 3 transition check ............................................................................4-1
C101 Invalid Communication Parameter (S-0-0021).....................................................................4-1
C102 Limit Error Communication Parameter (S-0-0021) .............................................................4-1
C104 Config. IDN for MDT not configurable ..................................................................................4-1
C105 Configured Length & gt; Max. Length for MDT..........................................................................4-2
C106 N for AT not configurable .....................................................................................................4-2
C107 Configured Length & gt; Max. Length for AT.............................................................................4-2
C108 Time Slot Parameter & gt; SERCOS Cycle Time......................................................................4-3
C109 Position of Data Record in MDT (S-0-0009) even................................................................4-3
C110 Length of MDT (S-0-0010) odd ............................................................................................4-3
C111 ID9 + Record Length - 1 & gt; Length MDT (S-0-0010).............................................................4-4
C112 TNcyc (S-0-0001) or TScyc (S-0-0002) Error ......................................................................4-4
C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) Error ........................................................4-4
C114 T4 & gt; TScyc (S-0-0002) - T4min (S-0-0005) .........................................................................4-5
C115 T2 too small..........................................................................................................................4-5
C200 Communication phase 4 transition check ............................................................................4-5
C201 Invalid Parameter (- & gt; S-0-0022) ..........................................................................................4-5
C202 Limit Error Parameter (- & gt; S-0-0022) .....................................................................................4-6
C203 Parameter Calculation Error (- & gt; S-0-0022) ...........................................................................4-6
C207 Load Error LCA ...................................................................................................................4-6
C210 External Feedback Required (- & gt; S-0-0022) .........................................................................4-6
C211 Invalid Feedback Data (- & gt; S-0-0022)...................................................................................4-7
C212 Invalid amplifier data (- & gt; S-0-0022)......................................................................................4-7
C213 Position data scaling error....................................................................................................4-7
C214 Velocity data scaling error....................................................................................................4-8
II
Contents
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
C215 Acceleration data scaling error.............................................................................................4-8
C216 Torque/force data scaling error ............................................................................................4-9
C217 Motor feedback data reading error.......................................................................................4-9
C218 External feedback data reading error...................................................................................4-9
C220 Mot. Feedback Initialization Error.......................................................................................4-10
C221 Ext. Feedback Initializing Error ..........................................................................................4-10
C227 Modulo range error.............................................................................................................4-11
C300 Set absolute measuring .....................................................................................................4-11
C301 Setting Absolute Measuring Not Allowed, Drive Enable.....................................................4-11
C302 Absolute Measuring System Not Installed .........................................................................4-11
C500 Reset class 1 diagnostic ....................................................................................................4-12
C600 Drive-controlled homing procedure command ...................................................................4-12
C601 Homing Not Possible If Drive Is Not Enabled.....................................................................4-12
C602 Distance homing switch - reference mark erroneous ........................................................4-12
C603 Homing Not Permitted In This Operating Mode .................................................................4-12
C604 Homing of absolute encoder not possible ..........................................................................4-13
C605, Homing velocity too great..................................................................................................4-13
C700 Basic load...........................................................................................................................4-13
C800 Command Base-Parameter load .......................................................................................4-13
D400 Positive stop drive procedure command ............................................................................4-14
D401 ZKL1 Error at Command Start ...........................................................................................4-14
5 Status Diagnostic Messages
5-1
A000 Communication Phase 0 ......................................................................................................5-1
A001 Communication Phase 1 ......................................................................................................5-1
A002 Communication Phase 2 ......................................................................................................5-1
A003 Communication Phase 3 ......................................................................................................5-2
A010 Halt Drive..............................................................................................................................5-2
A012 Control and Power Sections Ready for Operation................................................................5-2
A013 Ready for Power ON ............................................................................................................5-2
A100 Drive in Torque Mode...........................................................................................................5-2
A101 Drive in Velocity Mode..........................................................................................................5-3
A102 Position Mode Encoder 1 .....................................................................................................5-3
A103 Position Mode Encoder 2 .....................................................................................................5-3
A104 Position Mode Encoder 1 / lagless positioning.....................................................................5-3
A105 Position Mode Encoder 2 / lagless positioning.....................................................................5-3
A106 Drive-Controlled Interpolation/Encoder 1 .............................................................................5-4
A107 Drive-Controlled Interpolation/Encoder 2 .............................................................................5-4
A108 Drive-Controlled Interpolation/Encoder 1/Lagless................................................................5-4
A109 Drive-Controlled Interpolation/Encoder 2/Lagless................................................................5-4
6 Exchanging Drive Components
6-1
6.1 Procedure for Exchanging Devices ......................................................................................................6-2
Exchange the DKC: .......................................................................................................................6-3
Motor Exchange:............................................................................................................................6-3
Cable Exchange: ...........................................................................................................................6-4
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Contents
III
ECODRIVE Drive Controller DKC02.1
IV
Contents
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
1
Diagnostic Message Descriptions
1.1
Overview of Diagnostic Message Descriptions
Diagnostic Message Types
Each operational state of the drive controller is characterized by a
diagnostic message.
Note the following distinctions:
Error diagnostic messages
Warning diagnostic messages
Command diagnostic messages
Status diagnostic messages
Operation status messages
Makeup of a Diagnostic Message
A diagnostic message consists of:
• A diagnostic number and
• a diagnostic text
F2/28 excessive output error
diagnostic text
diagnostic number
Fig. 1-1: Diagnostic message makeup: a diagnostic message number and text.
In the example shown above, " F2 " and " 28 " alternate in the H1 display.
Parameter P-0-0001, Diagnostic number appears in hexadecimal form.
Also, the drive controller stores the diagnostic number and diagnostic text
as the string " F2/28, Excessive output error " in parameter S-0-0095,
Diagnostic message.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Diagnostic Message Descriptions
1-1
ECODRIVE Drive Controller DKC02.1
H1-Display
The H1-Display serves as an optical display of the diagnostic message
on the drive controller.
H1 DISPLAY
EK0003d1.ds4
Fig. 1-2: H1-Display
An icon representing the diagnostic number appears on this two-place
seven-segment display. The arrangement of the display is based on the
" Diagnostic message priority display " screen.
This display allows you to see the current operation status at a glance,
without using a communications interface.
The operating mode cannot be seen from the H1-Display. If the drive is
enabled and no command was activated, then the symbol " AF " appears
on the display.
1-2
Diagnostic Message Descriptions
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
Diagnostic message
output priority
If more than one diagnostic message has been generated, then the
message with the highest priority will be displayed first.
The illustration below shows the order of priority.
Error
3
5
,
2
5
,
7
& lt;
Warning
Command
error
Command
active
yes
Ready to operate ?
no
Drive lock
active
Ready to
operate
Communication phase
Drive
ready
Drive
Halt
Drive
enable
Fig. 1-3: Diagnostic message priority
Plain text diagnostic message
Plain text diagnostic messages contain the diagnostic number followed
by the diagnostic text, as shown in the example, " Excessive output error "
(Fig. 1-1).
It can be read from parameter S-0-0095, Diagnostic message and
displays the drive status directly to the user interface.
The plain text diagnostic message will be shown in the current language
as set in language selection.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Diagnostic Message Descriptions
1-3
ECODRIVE Drive Controller DKC02.1
Notes
1-4
Diagnostic Message Descriptions
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
2
UL
Error Diagnostic Messages
Motor Type not registered
Description:
The controller settings for current controller, speed controller and position
controller are stored in the motor feedback. When the controller is
connected to the motor for the first time, the controller indicates that the
controller settings are not correct for that motor type. When the " initial
program loading " command is started, the default settings from the
feedback storage are loaded into the drive controller.
Pressing the S1 button on the drive controller starts the " initial program
loading " command.
Cause:
The motor has been replaced.
A parameter file has been loaded in which the parameter P-0-4036,
Contacted Motor Type and the motor type are different.
Remedial action:
Start command " C700 initial program loading " or press S1 button.
PL
Load parameter default values
Description:
After the firmware (EPROMs) has been replaced, the drive shows " PL " if
parameters are different in the old and the new firmware. Pressing the
S1 button on the drive controller or starting the command " load base
parameters " clears all parameter values and sets the parameters to their
default values.
Cause:
The firmware has been replaced; the number of parameter in the new
firmware is different from the number of parameters in the old firmware.
Remedial action:
Press S1 on the drive controller. This clears all parameter values and
sets the parameters to their factory-set default values.
⇒ This overwrites all parameters and motion blocks.
CAUTION
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Error Diagnostic Messages
2-1
ECODRIVE Drive Controller DKC02.1
F207 Switching to uninitialized operation mode
Cause:
" 0 " has been programmed in at least one of the four mode parameters S0-0032..35. This mode has been selected by bits 8 and 9 in the master
control word while the drive controller was activated.
Remedial action:
Enter the required mode in the activated mode parameter.
Valid modes are:
Meaning:
Bit list of mode parameters:
Torque control
0000 0000 0000 0001
Velocity control
0000 0000 0000 0010
Position control with position
feedback value 1
0000 0000 0000 x011
Position control with position
feedback value 2
0000 0000 0000 x100
Drive-internal interpolation with
position feedback value 1
0000 0000 0001 x011
Drive-internal interpolation with
position feedback value 2
0000 0000 0001 x100
Fig. 2-1: Modes
Parameter:
Primary mode
S-0-0032
Secondary mode 1
S-0-0033
Secondary mode 2
S-0-0034
Secondary mode 3
S-0-0035
Verify that a valid interpolation type has been entered.
F218 Heatsink Overtemperature Shutdown
Description:
The heat sink temperature of the DKCs is monitored. The unit is switched
off to prevent damage if the heat sink temperature is too high.
Cause:
1.
2.
Other modules or cabinet installation prevent convection.
4.
Error Diagnostic Messages
The heat sink of the DKC is polluted.
3.
2-2
The ambient temperature is too high. The specified performance
characteristics are valid up to an ambient temperature of 45°C.
Fan defective
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
Remedial action:
Ref. 1. Reduce ambient temperature (provide cooling for the switchgear
cabinet, for example)
Ref. 2. Clean the heat sink
Ref. 3. Install the unit in a vertical position and provide sufficient
clearance for the ventilation of the heat sink.
Ref. 4. Replace the unit
F219 Motor Overtemperature Shutdown
The drive generates this error message when the motor temperature
exceeds 150°C.
Cause:
1.
Motor overload. The effective torque requested from the motor
has exceeded the permissible continuous torque value for too
long a time.
2.
Broken wire or short-circuit in the cable to the motor temperature
monitor.
3.
Instability in the speed control loop.
Remedial action:
Ref. 1. Verify motor rating. Check whether the drive conditions of a
system that has been used for a long time have changed in the
meantime (pollution, friction, moved masses, etc.).
Ref. 2. Check the cable to the motor temperature monitor (X6/1 and
X6/2) for broken wires or short-circuit.
Ref. 3. Check the parameter values of the speed control loop (see
Functional Description).
F220 Bleeder Overtemperature Shutdown
Description:
Overload of the built-in brake resistance. The drive is shut down after
braking if the maximum braking energy is exceeded. This protects the
bleeder from thermal destruction.
Cause:
1.
The energy returned from the mechanical system of the machine
via the motor is too high.
Remedial action:
Ref. 1. Too much power --- & gt; reduce acceleration values
Too much energy --- & gt; reduce velocity values
Verify drive rating
Install additional bleeder module if necessary
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Error Diagnostic Messages
2-3
ECODRIVE Drive Controller DKC02.1
F226 Undervoltage Error
The DC bus voltage is monitored. The drive is shut down after the
selected error reaction when the voltage falls below the minimum
threshold.
Cause:
1.
Power shutdown without previous de-activation of the drive via
the controller enable signal (RF)
2.
Activating the drive via the controller enable signal (RF) without
previous activation of the power section.
3.
Malfunction of the power supply.
Remedial action:
1.
Verification of the logic required for activating the drive in the
connected controller.
2.
Malfunctions in the power supply must be eliminated.
F228 Excessive Deviation
When the position control loop in the drive is closed, it checks whether
the specified command value can be followed. A model position
feedback value is computed in the drive and compared with the actual
position feedback value. This error is generated if the difference between
theoretical and actual position feedback value exceeds the value of the
parameter S-0-0159, Monitoring Window for more than 64 ms.
Cause:
1.
The acceleration capacity of the drive has been exceeded.
2.
The axis has been blocked.
3.
Incorrect values in the drive parameters.
4.
Incorrect value of S-0-0159, Monitoring Window
5.
The power supply was switched off while the controller enable
signal was applied.
Remedial action:
Ref. 1. Check the parameter S-0-0092, Bipolar Torque/Force Limit
Value and set it to the maximum value that is permissible for the
application.
Reduce the specified acceleration value of the controller (see
Controller Manual).
Ref. 2. Check the mechanical system and eliminate axis jamming
Ref. 3. Check drive parameters
Ref. 4. Set S-0-0159, Monitoring Window
Ref. 5. Check if there are error messages different to " 28 " in the AC
servo drive.
2-4
Error Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
F229 Motor Encoder Failure: Quadrant Error
A hardware error was detected in the employed motor encoder interface.
Cause:
1.
Defective encoder cable
2.
Interference on encoder cable
3.
Defective motor encoder interface
4.
Defective drive controller
Remedial action:
Ref. 1. Replace the encoder cable
Ref. 2. Lay the encoder cable separately from power cables
Ref. 3. Replace the motor encoder interface
Ref. 4. Replace the drive controller
F234 Emergency Stop
Cause:
The emergency stop function has been triggered by switching off the
+24 V signal art the emergency stop input. The drive was shut down with
the selected error reaction.
Remedial action:
1.
Eliminate the cause that has switched off the +24 V signal at the
emergency stop input.
2.
Activate the command " Reset class 1 diagnostics " via the
controller (see Controller Manual).
F236 Excessive Position Feedback Difference
Cause:
Position feedback value 1 and position feedback value 2 are set to the
same value and the cyclic evaluation of both encoders is started in the
communication phase 4 transition check command. In cyclic operation
(phase 4), the position feedback value difference of both encoders is
compared with S-0-0391, Monitoring Window External Feedback. The
error F236, Excessive Position Feedback Difference is issued and the
programmed error reaction performed if the value of the difference
exceeds the monitoring window.
1.
Incorrect parameter for external encoder
(S-0-0115, Position feedback 2 type parameter
S-0-0117, Resolution of rotational feedback
2.
Incorrect parameter values for mechanical system between
motor shaft and external encoder
(S-0-0121, Input revolutions of load gear
S-0-0122, Output revolutions of load gear
S-0-0123, Feed constant)
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Error Diagnostic Messages
2-5
ECODRIVE Drive Controller DKC02.1
3.
The mechanical system between motor shaft and external
encoder is not rigid (e.g. gear play)
4.
Defective encoder cable
5.
Defect in signal conditioning of external measuring system
6.
Maximum input frequency of encoder interface exceeded
7.
External encoder not mounted on driven axis
Remedial action:
Ref. 1. Check S-0-0115, Position feedback 2 type parameter and
S-0-0117, Resolution of rotational feedback
Ref. 2. Check S-0-0121, Input revolutions of load gear,
S-0-0122, Output revolutions of load gear, and
S-0-0123, Feed constant
Ref. 3. Increase S-0-0391, Monitoring Window External Feedback
Ref. 4. Replace encoder cable
Ref. 5. Replace axis controller
Ref. 6. Reduce velocity
Ref. 7. Set S-0-0391, Monitoring Window External Feedback to 0 (deactivate monitoring function)
F237 Excessive Position Command Difference
Cause:
The position command values that arrive via the SERCOS interface are
monitored when the drive works in position control mode. The position
command value monitoring function responds if two consecutive position
command values require the drive to provide a velocity that is equal to or
greater than the value specified in S-0-0091, Bipolar Velocity Limit
Value. While the excessive position command value is stored in
parameter P-0-0010, the last valid position command value is stored
in parameter P-0-0011.
Remedial action:
Compare S-0-0091, Bipolar Velocity Limit Value with the programmed
velocity and adjust if necessary.
F242 External Encoder Failure: Signals too small
Cause:
In the high-resolution evaluation of an external measuring system, the
analog signals of the measuring system are employed for monitoring the
sine and cosine signal.
Remedial action:
• Check the cables to the measuring system
• Check the measuring system
2-6
Error Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
F245 External Encoder Failure: Quadrant Error
A hardware fault has been detected in the external measuring system’s
high-resolution position interface for sinusoidal signals.
Cause:
1.
2.
3.
Defective encoder cable
Interference on encoder cable
Defective amplifier
Remedial action:
Ref. 1. Replace the encoder cable
Ref. 2. Lay the encoder cable separately from power cables
Ref. 3. Replace the amplifier
F248 Low Battery Voltage
Cause:
In a motor of the MKD series, the absolute position information is stored
in a battery-backed electronics system in the motor feedback. The
battery has been designed for a utilization period of 10 years. This
message is output if the battery voltage drops below 2.8 V. The function
of the absolute encoder is ensured for another two weeks.
Hazard:
CAUTION
Faults in controlling motors and/or moved
elements may lead to injuries.
⇒ Action:
Replace battery as soon as possible
Preparation for changing batteries
The following parts are required:
• Size 10 TORX screwdriver
• Flat nose pliers; torque wrench
• New pre-assembled battery (order no.: 257101)
Hazard:
CAUTION
Faults in controlling motors and/or moved
elements may lead to injuries.
⇒
Switch off the power supply and secure it
against being switched on again. Replace
the battery while the control voltage is
switched on.
If the control voltage were switched off while the battery is disconnected,
the right reference point would be lost and must be re-established.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Error Diagnostic Messages
2-7
ECODRIVE Drive Controller DKC02.1
Removing the battery:
• Use a size 10 screwdriver to remove the TORX screws 1
• Pull out the cover of the RSF resolver feedback
• Remove connector 2 of the battery
• Loosen battery clamp 3 and remove battery
Inserting the battery
• Insert the pre-assembled battery (order no.: 257101) in the enclosure
and tighten the clamping device.
• Caution! Do not squeeze the battery cable
• Reconnect battery connector 2
Close the cover of the resolver feedback, insert the 4 TORX screws and
use the torque wrench to tighten them (1.8 Nm)
F267 Erroneous Internal Hardware Synchronization
Cause:
A phase control loop synchronizes the drive control activities of all drives
that are connected to a SERCOS loop. Proper synchronization is
monitored. This error is generated if the average deviation exceeds 7 µs.
Remedial action:
Replace drive controller
F276 Absolute encoder error & gt; P-0-0097
The current actual position is saved when a drive controller with an
absolute encoder motor (multi-turn) is switched off. When it is switched
back on, the position that is determined by the absolute encoder
evaluation is compared with the stored value. This error is generated if
the deviation exceeds the programmed value of P-0-0097, Monitoring
Window abs. Encoder.
Cause:
1.
First-time activation after the motor has been replaced, for
example (saved position is invalid).
2.
The axis is moved in de-activated state by more than the
distance that has been selected in P-0-0097, Monitoring
Window abs. Encoder.
3.
Incorrect position initialization.
Remedial action:
Ref. 1. Clear the error (establish the reference dimension)
Ref. 2. The axis is moved while it was switched off, and is outside its
valid position.
Check whether a new motion command will lead to a damage.
Clear the error afterwards.
Ref. 3. Hazard by unwanted axis movements.
Check the reference dimension. There is a feedback defect if the
reference dimension is incorrect. Replace the feedback
(complete motor in the case of an absolute motor encoder with
MDD or MKD motor).
2-8
Error Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
F401 Double MST Error Shutdown
The drive has not received the master synchronization message frame in
two consecutive SERCOS cycles.
Cause:
1.
Malfunction in the fiber optics cable
2.
Excessive damping of the light signals
3.
(General) malfunction in the SERCOS interface
4.
Master failed
Remedial action:
Ref. 1. Check all fiber optics connections in the SERCOS loop.
Ref. 2. Measure the damping in the fiber optics cables.
The maximum damping between TX and RX may not fall
below 12,5 dB.
Ref. 3. Replace the SERCOS interface module in the drive.
Ref. 4. Check the master if all slaves have stopped.
F402 Double MDT Error Shutdown
The drive has not received the master data message frame (MDT) in two
consecutive SERCOS cycles.
Cause:
1.
Malfunction in the fiber optics cable
2.
Excessive damping of the light signals
3.
(General) malfunction in the SERCOS interface
4.
Failure of the complete bus
Remedial action:
Ref. 1. Check all fiber optics connections in the SERCOS loop
Ref. 2. Measure the damping in the fiber optics cables.
The maximum damping between TX and RX may not fall
below 12,5 dB.
Ref. 3. Replace the SERCOS interface module in the drive
Ref. 4. Check the master
F403 Invalid Communication Phase Shutdown
The SERCOS master module has specified an illegal communication
phase (phase & gt; 4).
Cause: Error in the controller’s SERCOS master module.
Remedial action: Contact the controller manufacturer.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Error Diagnostic Messages
2-9
ECODRIVE Drive Controller DKC02.1
F404 Error during Phase Progression
Phase progression did not follow the required sequence.
Cause: Error in the controller’s SERCOS master module
Remedial action: Contact the controller manufacturer
F405 Error during Phase Regression
Regression from a communication phase did not lead to phase 0.
Cause:
Error in the controller’s SERCOS master module
Remedial action:
Contact the controller manufacturer
F406 Phase Switching Without Ready Signal
The SERCOS master has made an attempt to change phases without
waiting for the ready message from the drive.
Cause:
Error in the controller’s SERCOS master module
Remedial action:
Contact the controller manufacturer
F629 Positive Travel Limit Value is Exceeded
The drive has been provided with a command value that leads to an axis
position outside the positive travel range. The axis has been stopped and
the error reaction " set velocity command value to zero " issued. Bit 2 of P0-0090, Travel limit parameter has been set to " Exceeding the travel
limit is an error " , or a drive control command has been started while the
axis limit value is exceeded (e.g. drive-controlled homing).
Cause:
S-0-0049, Positive position limit value is exceeded.
Remedial action:
1.
2.
Error Diagnostic Messages
Check the controller software limits
3.
2-10
Check S-0-0049, Positive position limit value
Activate the axis after the error reaction
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
Procedure:
• Clear the error
• Activate power if it has been de-activated
• Move the axis to the permissible working range
Note: Only command values that lead back into the permissible
working range will be accepted. Any other command value will
stop the drive again.
F630 Negative Travel Limit Value is Exceeded
The drive has been provided with a command value that leads to an axis
position outside the negative travel range. The axis has been stopped
and the error reaction " set velocity command value to zero " issued. Bit 2
of P-0-0090, Travel limit parameter has been set to " Exceeding the
travel limit is an error " , or a drive control command has been started
while the axis limit value is exceeded (e.g. drive-controlled homing).
Cause:
S-0-0050, Negative position limit value is exceeded.
Remedial action:
1.
Check S-0-0050, Negative position limit value
2.
Check the controller software limits
3.
Activate the axis after the error reaction
Procedure:
• Clear the error
• Activate power if it has been de-activated
• Move the axis to the permissible working range
Note: Only command values that lead back into the permissible
working range will be accepted. Any other command value will
stop the drive again.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Error Diagnostic Messages
2-11
ECODRIVE Drive Controller DKC02.1
F643 Positive Travel Limit Switch Detected
The positive travel limit switch has been actuated. The axis has been
stopped with the error reaction " set velocity command value to zero " . Bit
2 of P-0-0090, Travel limit parameter has been set to " Exceeding the
travel limit is an error " , or a drive control command has been started
while the axis limit value is exceeded (e.g. drive-controlled homing).
Cause:
The positive travel limit switch has been actuated.
Remedial action:
1.
Reset the error
2.
Activate the power supply
3.
Move the axis into the permissible working range
Note: The drive will not accept any command values that lead further
away from the permissible range. Specifying such a command
will again result in this error.
F644 Negative Travel Limit Switch Detected
The negative travel limit switch has been actuated. The axis has been
stopped with the error reaction " set velocity command value to zero " . Bit
2 of P-0-0090, Travel limit parameter has been set to " Exceeding the
travel limit is considered as an error " , or a drive control command has
been started while the axis limit value is exceeded (e.g. drive-controlled
homing).
Cause:
The negative travel limit switch has been actuated.
Remedial action:
1.
Reset the error
2.
Activate the power supply
3.
Move the axis into the permissible working range
Note: The drive will not accept any command values that lead further
away from the permissible range. Specifying such a command
will again result in this error.
2-12
Error Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
F822 Motor Encoder Failure: Signals too Small
The amplitudes of the sine and cosine signals from the motor encoder
are monitored.
Note: The error cannot be cleared in communication phase 4.
Transition to communication phase 2 is necessary before the
error can be cleared.
Remedial action:
• Check the cables .
• The signal cables must be laid separately from the motor power
cables. The screen must be connected at the drive controller (see
Configuration Instructions of the drive controller).
• Check the measuring system. Replace it if necessary.
F860 Overcurrent: Short in Power Stage
The current in the power transistor bridge has exceeded twice the value
of the device peak current. The torque of the drive is released at once,
and an optional blocking brake is applied immediately.
Cause:
1.
Short-circuit in the motor cable
2.
Defect in the drive controller’s power stage
Remedial action:
Ref. 1. Check the motor cable for a short-circuit.
Ref. 2. Replace the drive controller
F870 + 24 Volt Error
The drive controller has detected an error in the +24-V supply.
Note: The error cannot be cleared. The unit must be switched off.
Cause:
1.
Short-circuit in the emergency stop circuit
2.
24-V supply is below the minimum value
Remedial action:
Ref. 1. Check the emergency stop circuit for short-circuit condition
Ref. 2. Check the power supply unit. Replace it if necessary.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Error Diagnostic Messages
2-13
ECODRIVE Drive Controller DKC02.1
F873 Power supply drive stage fault
Description:
The power supply of the drive stages is monitored. The drive is switched
off if the voltage is too low.
Cause:
1.
The power supply voltage of the driver stages is too low.
Remedial action:
Ref. 1. Replace the control unit.
F878 Velocity Loop Error
If, with an active speed control loop, the difference between speed
command value and feedback value is greater than 10% of the maximum
motor speed, the speed feedback value must change in the direction of
the command value. This error is generated if an approach to the
command value cannot be detected for more than 20 ms and if the
effective torque/force command value is within the limit (= P-0-4046,
Active peak current).
Cause:
1.
Wrong connection of motor cable
2.
Power section of drive controller is defective
3.
Feedback is defective
4.
Incorrect setting of speed controller parameter value
5.
Acceleration or deceleration ramp is too steep
Remedial action:
Ref. 1. Check the motor cable connection
Ref. 2. Replace the drive controller
Ref. 3. Replace the motor
Ref. 4. Check the speed controller according to the application
description (see Chapter " Speed controller " )
Ref. 5. Reduce the maximum acceleration in the controller
2-14
Error Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
F879, Crossing Velocity Limit (S-0-0091) Value
In torque control mode, the actual velocity is monitored. This error is
generated if the velocity that has been programmed in the parameter S0-0091, Bipolar Velocity Limit Value is exceeded (1.125-fold value,
minimum 100 rpm).
Cause:
The command torque is higher than the load torque. This causes the
actual velocity to be increased up to the maximum possible motor speed.
Remedial action:
Assign the correct torque command value for the required task. Reduce
the parameter S-0-0092, Bipolar Torque/Force Limit Value.
F895 4 kHz Fault
Description:
The 4-kHz signal that is used for producing the resolver signals is
synchronized with software processing. This error message is generated
in the case of a synchronization error.
Cause:
1.
Incorrect synchronization of resolver excitation voltage and
software
2.
The error could be caused by an electrostatic discharge.
Remedial action:
Ref. 1. Replace the drive controller and return it to the factory for
inspection
Ref. 2 Cycle the power to all units off and back on. If this does not lead
to a positive result: Replace the drive controller and return it to
the factory for inspection
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Error Diagnostic Messages
2-15
ECODRIVE Drive Controller DKC02.1
Notes
2-16
Error Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
3
Warning Diagnostic Messages
E249 Positioning vel. (S-0-0259) greater S-0-0091
Cause:
For " drive-internal interpolation " mode, a velocity is specified in the
parameter S-0-0259, Positioning velocity that is used for approaching
the specified target position.
The message E249 is generated if that velocity is higher than the
permissible maximum value S-0-0091, Bipolar Velocity Limit Value.
The message bit 4 in S-0-0013, Class 3 Diagnostics is set at the same
time.
Remedial action:
Reduce S-0-0259, Positioning velocity
E250 Drive Overtemperature Warning
The temperature of the heat sinks in the drive controller has reached the
maximum permissible value. The drive follows the command value
specification for a period of 30 seconds. Thus, the axis can be stopped
via the controller in a process-related manner (e.g. terminating
machining, exiting interference zone, etc.). After these 30 seconds, the
drive performs the reaction that has been specified in the parameter P-00119, Deceleration as best as possible.
Cause:
1.
Failure of the inbuilt fan
2.
Failure of the cabinet air conditioning
3.
Incorrect switchgear cabinet dimensioning with respect to heat
dissipation
Remedial action:
Ref. 1. Replace the drive controller in the event of a fan failure.
Ref. 2 Establish the function of the cabinet air conditioning system.
Ref. 3 Check switchgear cabinet dimensioning.
E251 Motor Overtemperature Warning
The motor temperature has risen beyond the maximum permissible
value. The drive follows the command value specification for a period of
30 seconds. Thus, the axis can be stopped via the controller in a
process-related manner (e.g. terminating machining, exiting interference
zone, etc.). After these 30 seconds, the drive performs the reaction that
has been specified in the parameter P-0-0119, Deceleration as best as
possible.
Cause:
Motor overload.
The effective torque requested from the motor has exceeded the
permissible standstill continuous torque value for too long a time.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Warning Diagnostic Messages
3-1
ECODRIVE Drive Controller DKC02.1
Remedial action:
Verify motor rating. Check whether the drive conditions of a system that
has been used for a long time have changed in the meantime (pollution,
friction, moved masses, etc.).
E252 Bleeder Overtemperature Warning
Description: (see Cause:)
Cause:
The energy recovered from the motor loads the brake resistance in the
DKC to approximately 90%. The bleeder overtemperature warning
indicates that a bleeder overload must be expected if the recovered
energy continues rising.
Remedial action:
Reduce the acceleration values and/or the velocity, and check drive
rating.
E253 Target position out of travel zone
Cause:
For " drive-internal interpolation " mode, the system checks whether the
specified S-0-0258, Target Position is inside the possible travel range of
the drive. This is defined by the two parameters S-0-0049, Positive
position limit value and S-0-0050, Negative position limit value.
The message E253 is generated and the warning bit 13 in S-0-0012,
Class 2 Diagnostics set if the target position is outside the travel range.
Remedial action:
Check the specified S-0-0258, Target Position, and correct it if
necessary.
E254 Not Homed
Description:
If " absolute position blocks " are selected in " block-controlled mode " , the
drive must be homed. An absolute position cannot be approached if this
is not the case. The drive rejects the positioning block and stops. This
warning is issued.
Cause:
An absolute positioning block has been selected without the drive being
homed.
Remedial action:
1.
2.
3-2
Warning Diagnostic Messages
Home the drive
Select a " relative positioning block "
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
E255 Feedrate Override(S-0-0108) = 0
The parameter S-0-0108, Feedrate override permits the travel velocity
of drive-controlled motion commands to be modified.
This warning is output if the parameter is 0. The drive cannot follow
pending command values in this case.
Cause:
1.
The feedrate potentiometer of the connected controller is set to
zero or is incorrectly be interpreted.
2.
The parameter has been set to an incorrect value.
Remedial action:
Ref. 1. Check the feedrate potentiometer
Ref. 2 Set the parameter to the value that is correct for the application.
E256 Torque Limit = 0
Cause:
1.
Protection against mechanical overload can be provided by
limiting the maximum torque through the parameter S-0-0092,
Bipolar Torque/Force Limit Value. If the current value of that
parameter is zero, the motor does not develop a torque and does
not follow the specified command values.
Remedial action:
Ref. 1. Set the torque limit to a value that is greater than zero.
E257 Continuous Current Limiting Active
The thermal load of the drive controller is monitored. If the drive is
requested to provide a command current profile that represents too high
a loading on the power transistors (excessive temperature of the power
output stage), the drive responds with dynamically reducing the effective
peak current, and outputs this warning. The parameter P-0-4046, Active
peak current is reduced.
Cause: Overload of the drive controller.
Remedial action:
1.
Check the amplifier rating.
2.
Reduce the acceleration.
Check whether the drive conditions of a system that has been
used for a long time have changed in the meantime (pollution,
friction, moved masses, etc.).
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Warning Diagnostic Messages
3-3
ECODRIVE Drive Controller DKC02.1
E259 Command velocity limitation active
In position control and velocity control mode, the effective velocity
command value is limited to the value in parameter S-0-0091, Bipolar
Velocity Limit Value. This warning is output if the resulting velocity
command value reaches this limit.
Cause:
The value of parameter S-0-0091, Bipolar Velocity Limit Value is too
low.
Remedial action:
In normal operation, the parameter S-0-0091, Bipolar Velocity Limit
Value should be set to a value that is 10% higher than the NC working
speed.
E410 Slave not scanned or address 0
Each slave that shall participate in the further phase startup process
must be addressed by the SERCOS master during initialization of the
SERCOS loop in communication phase 1. Each slave that has not been
addressed or for which drive address " 0 " has been selected issues a
warning E410. Communicating with these slaves at higher
communication phases is not possible. They merely work in repeater
mode.
Cause:
Slave has not been scanned in phase 1, or address " 0 " has been
selected.
Remedial action:
• Select the correct slave address
• Check the SERCOS master configuration
E825 Overvoltage in the Power Stage
Cause:
1.
The energy recovered by the mechanical machine system via the
motor has momentarily risen to a level that the bleeder could not
completely convert into heat. Consequently, the DC bus voltage
has exceeded the permissible maximum limit. This has deactivated the motor torque. The controller is re-activated when
the DC bus voltage falls below the permissible maximum value.
2.
DC bus voltage is too high.
Remedial action:
Ref. 1. Reduce the acceleration values and check the drive rating. If
necessary, use an additional bleeder.
Ref. 2 Check the mains power supply.
3-4
Warning Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
E829 Positive Position Limit Value Exceeded
The drive has received a command value that has led to an axis position
outside the positive travel range. The axis is stopped by setting the
velocity command value to zero. A class 1 diagnostics error is not
generated. The drive automatically follows command values that lead
back to the valid range. Bit 2 of S-0-0090, Command Value Transmit
Time (TMTSG) has been set to " Exceeding the travel limit is considered
as a warning " .
Cause:
S-0-0049, Positive position limit value exceeded.
Remedial action:
Specify command values that lead back to the valid range.
E830 Negative Position Limit Value Exceeded
The drive has received a command value that has led to an axis position
outside the negative travel range. The axis is stopped by setting the
velocity command value to zero. A class 1 diagnostics error is not
generated. The drive automatically follows command values that lead
back to the valid range. Bit 2 of S-0-0090, Command Value Transmit
Time (TMTSG) has been set to " Exceeding the travel limit is considered
as a warning " .
Cause:
S-0-0050, Negative position limit value exceeded.
Remedial action:
Specify command values that lead back to the valid range.
E843 Positive Travel Zone Limit Switch Activated
The drive has received a command value that has led to an axis position
outside the positive travel range. The axis is stopped by setting the
velocity command value to zero. A class 1 diagnostics error is not
generated. The drive automatically follows command values that lead
back to the valid range. Bit 2 of S-0-0090, Command Value Transmit
Time (TMTSG) has been set to " Exceeding the travel limit is considered
as a warning " .
Cause:
The positive travel zone limit switch has been actuated.
Remedial action:
Specify command values that lead back to the valid range.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Warning Diagnostic Messages
3-5
ECODRIVE Drive Controller DKC02.1
E844 Negative Travel Zone Limit Switch Activated
The drive has received a command value that has led to an axis position
outside the negative travel range. The axis is stopped by setting the
velocity command value to zero. A class 1 diagnostics error is not
generated. The drive automatically follows command values that lead
back to the valid range. Bit 2 of S-0-0090, Command Value Transmit
Time (TMTSG) has been set to " Exceeding the travel limit is considered
as a warning " .
Cause:
The negative travel zone limit switch has been actuated.
Remedial action:
Specify command values that lead back to the valid range.
3-6
Warning Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
4
Command Diagnostic Messages
C100 Communication phase 3 transition check
The command S-0-0127 C1 Communication phase 3 transition check
has been activated.
C101 Invalid Communication Parameter (S-0-0021)
Cause:
Communication parameters that are required for drive operation in
communication phase 3 are invalid.
Remedial action:
The invalid parameters are stored in the parameter S-0-0021, IDN List
of Invalid Op. Data for Comm. Ph. 2. Write to the invalid parameters to
make them valid.
C102 Limit Error Communication Parameter (S-0-0021)
Cause:
The value of a parameter that is required for drive operation in
communication phase 3 is outside its minimum/maximum input value
limits.
Remedial action:
The invalid parameters are stored in the parameter S-0-0021, IDN List
of Invalid Op. Data for Comm. Ph. 2.
Write values to those parameters that are inside the limits.
C104 Config. IDN for MDT not configurable
Cause:
Message frame type 7 has been selected in parameter S-0-0015,
Telegram Type Parameter. S-0-0024, Config. List of the Master Data
Telegram contains parameters that are not contained in S-0-0188, List
of configurable data in the MDT.
Remedial action:
Either select a preferred message frame (message frame type = 0...6),
or enter parameters in S-0-0024, Config. List of the Master Data
Telegram that are also contained in S-0-0188, List of configurable
data in the MDT.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Command Diagnostic Messages
4-1
ECODRIVE Drive Controller DKC02.1
C105 Configured Length & gt; Max. Length for MDT
Cause:
Message frame type 7 has been selected in the parameter S-0-0015,
Telegram Type Parameter. The length of the configured data record in
the MDT (that is defined through S-0-0024, Config. List of the Master
Data Telegram) exceeds the maximum permissible value of S-0-0186,
Length of the config. data record in the MDT.
Remedial action:
Either select a preferred message frame in S-0-0015, Telegram Type
Parameter (message frame type = 0...6) or reduce the number of
configured parameters in the MDT.
C106 N for AT not configurable
Cause:
Message frame type 7 has been selected in parameter S-0-0015,
Telegram Type Parameter. Parameters have been entered in S-0-0016,
Custom Amplifier Telegram Configuration List that are not entered in
S-0-0187, List of Configurable Data in the AT.
Remedial action:
Either select preferred message frame in the parameter S-0-0015,
Telegram Type Parameter (message frame type = 0...6), or enter
parameters in S-0-0016, Custom Amplifier Telegram Configuration
List that are contained in S-0-0187, List of Configurable Data in the
AT.
C107 Configured Length & gt; Max. Length for AT
Cause:
Message frame type 7 has been selected in the parameter S-0-0015,
Telegram Type Parameter. The length of the configured data record in
the AT (that is defined through S-0-0016, Custom Amplifier Telegram
Configuration List) exceeds the maximum permissible value of S-00187, Length of the config. data record in the AT.
Remedial action:
Either select a preferred message frame in S-0-0015, Telegram Type
Parameter (message frame type = 0...6) or reduce the number of
configured parameters in the AT ( S-0-0016 ).
4-2
Command Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
C108 Time Slot Parameter & gt; SERCOS Cycle Time
Cause:
One of the time slot parameters
S-0-0006, AT Transmission Starting Time (T1)
S-0-0089, MDT Transmit Starting Time (T2)
S-0-0007, Feedback Acquisition Starting Time (T4)
S-0-0008, Command Valid Time (T3)
exceeds S-0-0002, SERCOS Cycle Time TScyc
Remedial action:
Correct the corresponding parameter(s). The definition of these times is
within the responsibility of the controller manufacturer and is specified by
the SERCOS interface.
C109 Position of Data Record in MDT (S-0-0009) even
Cause:
The parameter S-0-0009, Beginning Address in Master Data
Telegram contains an even value. This is illegal.
Remedial action:
The parameter S-0-0009, Beginning Address in Master Data
Telegram must be set to an odd number. The definition of this parameter
is within the responsibility of the controller manufacturer and is specified
by the SERCOS interface.
C110 Length of MDT (S-0-0010) odd
Cause:
The parameter S-0-0010, Length of Master Data Telegram contains an
odd value. This is illegal.
Remedial action:
The parameter S-0-0010, Length of Master Data Telegram must be set
to an even number. The definition of this parameter is within the
responsibility of the controller manufacturer and is specified by the
SERCOS interface.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Command Diagnostic Messages
4-3
ECODRIVE Drive Controller DKC02.1
C111 ID9 + Record Length - 1 & gt; Length MDT (S-0-0010)
Cause:
The parameters S-0-0009, Beginning Address in Master Data
Telegram and S-0-0010, Length of Master Data Telegram have been
set to incorrect values. The length of the data record in the MDT for the
drive plus the start address in the MDT exceed the total MDT length.
Remedial action:
Correct the parameter values of S-0-0009, Beginning Address in
Master Data Telegram and S-0-0010, Length of Master Data
Telegram. The definition of this parameter is within the responsibility of
the controller manufacturer and is specified by the SERCOS interface.
C112 TNcyc (S-0-0001) or TScyc (S-0-0002) Error
Cause:
Only integer multiples of 1 ms are permitted for S-0-0001, NC Cycle
Time and S-0-0002, SERCOS Cycle Time. A different value has been
used here.
Remedial action:
Correct S-0-0001, NC Cycle Time and S-0-0002, SERCOS Cycle Time.
The definition of these parameters is within the responsibility of the
controller manufacturer and is specified by the SERCOS interface.
C113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) Error
Cause:
The value of S-0-0001, NC Cycle Time can only be equal to or a multiple
of S-0-0002, SERCOS Cycle Time TScyc. A different value has been
used here.
Remedial action:
Correct S-0-0001, NC Cycle Time and S-0-0002, SERCOS Cycle Time.
The definition of these parameters is within the responsibility of the
controller manufacturer and is specified by the SERCOS interface.
4-4
Command Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
C114 T4 & gt; TScyc (S-0-0002) - T4min (S-0-0005)
Cause:
The maximum value permitted for S-0-0007, Feedback Acquisition
Starting Time (T4) is:
S-0-0002, SERCOS Cycle Time - S-0-0005, Minimum
Feedback Acquisition Time (T4min)
The value of S-0-0007, Feedback Acquisition Starting Time (T4) is
incorrect.
Remedial action:
Correct S-0-0007, Feedback Acquisition Starting Time (T4). The
definition of this parameter is within the responsibility of the controller
manufacturer and is specified by the SERCOS interface.
C115 T2 too small
Cause:
The selected value of S-0-0089, MDT Transmit Starting Time (T2) is
incorrect. The drive cannot work with the value.
Remedial action:
Correct S-0-0089, MDT Transmit Starting Time (T2).
The definition of this parameter is within the responsibility of the
controller manufacturer and is specified by the SERCOS interface.
C200 Communication phase 4 transition check
Meaning:
The command S-0-0128, C2 Communication phase 4 transition
check has been activated.
C201 Invalid Parameter (- & gt; S-0-0022)
Cause:
Communication parameters that are required for drive operation in
communication phase 4 are invalid. The invalid parameters are stored in
S-0-0022, IDN List of Invalid Op. Data for Comm. Ph. 3.
Remedial action:
Write to the invalid parameters of S-0-0022, IDN List of Invalid Op.
Data for Comm. Ph. 3 to make them valid.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Command Diagnostic Messages
4-5
ECODRIVE Drive Controller DKC02.1
C202 Limit Error Parameter (- & gt; S-0-0022)
Cause:
The value of a parameter that is required for drive operation in
communication phase 4 is outside its minimum/maximum input value
limits, or the entered value cannot be processed (with bit strings). The
incorrect parameters are listed in S-0-0022, IDN List of Invalid Op. Data
for Comm. Ph. 3.
Remedial action:
Write valid values to the parameters that are listed in S-0-0022, IDN List
of Invalid Op. Data for Comm. Ph. 3.
C203 Parameter Calculation Error (- & gt; S-0-0022)
Cause:
Parameters that are required for phase 4 operation cannot be processed
in their present form. The incorrect parameters are listed in S-0-0022,
IDN List of Invalid Op. Data for Comm. Ph. 3.
Remedial action:
Write correct values to the parameters that are listed in S-0-0022, IDN
List of Invalid Op. Data for Comm. Ph. 3.
C207
Load Error LCA
Cause: Unit is defective.
Remedial action:
1.
Switch the unit off and back on. If this proves unsuccessful:
2. Replace the unit.
C210 External Feedback Required (- & gt; S-0-0022)
Cause:
The values that have been entered in the parameters S-0-0147, Homing
Parameter or in the mode parameters S-0-0032..35 require an external
encoder. The parameter P-0-0075, Interface Feedback 2, however, has
been set to " 0 " (no external interface available).
Remedial action:
Change S-0-0147, Homing Parameter or mode parameters S-00032..35 to using a motor encoder instead of an external encoder.
To activate the external measuring system, set P-0-0075, Interface
Feedback 2 to a value that is different from " 0 " .
4-6
Command Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
C211 Invalid Feedback Data (- & gt; S-0-0022)
The motor feedback of an MDD or MKD motor contains a data storage
unit. An attempt has been made of reading the parameters that are
stored there. An error has occurred in this process.
Cause:
1.
2.
3.
Defective motor feedback cable
Defective motor feedback
Defective drive controller
Remedial action:
Ref. 1. Check the motor feedback cable
Ref. 2. Replace the motor
Ref. 3. Replace the amplifier
C212 Invalid amplifier data (- & gt; S-0-0022)
During drive initialization, the operating software fetches data from an
EEPROM in the drive controller. The error message is generated if that
access fails.
Cause:
Hardware defect in the drive controller.
Remedial action:
Replace the drive controller
C213 Position data scaling error
Cause:
The position data scaling parameters permit the position data display
format to be selected. The drive-internal format of the position data
depends on the employed motor encoder and the encoder resolution.
The factor for converting the position data from drive-internal format to
display format or vice versa is outside the range that can be processed,
since either
• rotary motor and linear position scaling with motor reference, or
• the determined factor for the conversion of the position data from
drive-internal format to display format or vice versa
cannot be represented.
Remedial action:
Check and correct the relevant parameters, such as:
S-0-0076, Position Data Scaling Type
S-0-0077, Linear Position Data Scaling Factor
S-0-0078, Linear Position Data Scaling Exponent
S-0-0079, Rotational position resolution
S-0-0116, Resolution of rotational feedback 1
S-0-0121, Input revolutions of load gear
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Command Diagnostic Messages
4-7
ECODRIVE Drive Controller DKC02.1
S-0-0122, Output revolutions of load gear
S-0-0123, Feed constant
S-0-0277, Position feedback 1 type parameter 1
C214 Velocity data scaling error
Cause:
The velocity data scaling parameters permit the velocity data display
format to be selected. The drive-internal format of the velocity data
depends on the employed motor encoder and the encoder resolution.
The factor for converting the velocity data from drive-internal format to
display format or vice versa is outside the range that can be processed.
Remedial action:
Check and correct the relevant parameters, such as:
S-0-0044, Velocity data scaling type
S-0-0045, Velocity data scaling factor
S-0-0046, Velocity data scaling exponent
S-0-0116, Resolution of rotational feedback 1
S-0-0121, Input revolutions of load gear
S-0-0122, Output revolutions of load gear
S-0-0123, Feed constant
S-0-0277, Position feedback 1 type parameter 1
C215 Acceleration data scaling error
Cause:
The acceleration data scaling parameters permit the acceleration data
display format to be selected. The drive-internal format of the
acceleration data depends on the employed motor encoder and the
encoder resolution. The factor for converting the acceleration data from
drive-internal format to display format or vice versa is outside the range
that can be processed.
Remedial action:
Check and correct the relevant parameters, such as:
S-0-0160, Acceleration data scaling type
S-0-0161, Acceleration data scaling factor
S-0-0162, Acceleration data scaling exponent
S-0-0116, Resolution of rotational feedback 1
S-0-0121, Input revolutions of load gear
S-0-0122, Output revolutions of load gear
S-0-0123, Feed constant
S-0-0277, Position feedback 1 type parameter 1
4-8
Command Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
C216 Torque/force data scaling error
Cause:
The torque/force data scaling parameters permit the torque/force data
display format to be selected. The drive-internal format of the
torque/force data depends on the employed motor encoder and the
encoder resolution. The factor for converting the torque/force data from
drive-internal format to display format or vice versa is outside the range
that can be processed.
Remedial action:
Check and correct the relevant parameters, such as:
S-0-0086, Torque/Force data scaling type
S-0-0093, Torque/force data scaling factor
S-0-0094, Torque/Force data scaling exponent
S-0-0110, Amplifier Peak Current
S-0-0111, Motor Current at Standstill
C217 Motor feedback data reading error
Encoder resolution and feedback type are read from the motor’s
feedback storage. An error has occurred during the read process.
Cause:
1.
Defective motor feedback cable
2.
Defective motor feedback
Remedial action:
Ref. 1. Check the motor feedback cable
Ref. 2. Replace the motor
C218 External feedback data reading error
An error has occurred during initialization with the external encoder.
Cause:
1.
Defective motor feedback cable
2.
Defective motor feedback
Remedial action:
Ref. 1. Check the motor feedback cable
Ref. 2. Replace the motor
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Command Diagnostic Messages
4-9
ECODRIVE Drive Controller DKC02.1
C220 Mot. Feedback Initialization Error
Certain checks are performed during initialization with the motor encoder.
A fault has been detected during these checks. Possible faults include:
• Error in reading the angle correction data
• Error in copying the angle correction data
• Fault in communicating with the encoder
• Fault in assembling the position of an initialization track
• Fault in reading the analog signals of an initialization track
• Incorrect pointer length of the analog signals of an initialization track
• Invalid offset between high- and low-resolution track
• Fault in the measuring system’s microcontroller
Cause:
1.
Defective motor feedback cable
2.
Defective motor feedback
3.
Defective measuring system interface
Remedial action:
Ref. 1. Check the motor feedback cable
Ref. 2. Replace the motor
Ref. 3. Replace the measuring system interface (module)
C221 Ext. Feedback Initializing Error
Certain checks are performed during initialization with the motor encoder.
A fault has been detected during these checks. Possible faults include:
• Error in reading the angle correction data
• Error in copying the angle correction data
• Fault in communicating with the encoder
• Fault in assembling the position of an initialization track
• Fault in reading the analog signals of an initialization track
• Incorrect pointer length of the analog signals of an initialization track
• Invalid offset between high- and low-resolution track
• Fault in the measuring system’s microcontroller
Cause:
1.
Defective cable of external feedback
2.
Defective feedback
3.
Defective measuring system interface
Remedial action:
Ref. 1. Check the cable to external feedback
Ref. 2. Replace the feedback
Ref. 3. Replace the measuring system interface (module)
4-10
Command Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
C227 Modulo range error
See functional description of " Modulo processing boundary conditions "
C300 Set absolute measuring
The command P-0-0012, Command ’Set Absolute Measurement’ has
been activated via the employed controller.
C301 Setting Absolute Measuring Not Allowed, Drive Enable
Cause:
The command " C300 Set absolute measuring emulator " has been
started while the controller enable signal was active.
Remedial action:
Terminate the command and de-activate the controller enable signal.
C302 Absolute Measuring System Not Installed
The command P-0-0012, Command ’Set Absolute Measurement’ has
been started without an absolute measuring system being available.
The command can only be executed if an absolute measuring system
exists.
Cause:
1.
The command has incorrectly been activated.
2.
The connected motor or the external measuring system are not
designed as absolute encoders.
Remedial action:
Ref. 1. Prevent command execution.
Ref. 2. Equip motor or external measuring system with absolute encoder
functions.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Command Diagnostic Messages
4-11
ECODRIVE Drive Controller DKC02.1
C500 Reset class 1 diagnostic
S-0-0099, Reset class 1 diagnostic, the command for clearing errors,
has been activated via the employed controller.
C600 Drive-controlled homing procedure command
The command S-0-0148, C6 Drive controlled homing procedure has
been activated via the employed controller.
C601 Homing Not Possible If Drive Is Not Enabled
Cause:
The command was started without the controller enabling signal being
activated. This is not permitted.
Remedial action:
1.
Switch on the power supply
2.
Switch on the controller enabling signal
3.
Start the command again
C602 Distance homing switch - reference mark erroneous
Cause:
Evaluation of the zero switch has been activated. The distance between
the positive zero switch edge and the reference marker that is to be
evaluated is outside the permissible range.
Remedial action:
Enter the value from the parameter S-0-0298, Reference Cam shift by...
in the parameter S-0-0299, Home switch offset.
C603 Homing Not Permitted In This Operating Mode
Cause:
The homing command cannot be executed if the drive is used in torque
control or in speed control mode.
Remedial action:
Clear the homing command
Select a different mode
4-12
Command Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
C604 Homing of absolute encoder not possible
The command S-0-0148, C6 Drive controlled homing procedure has
been started. The encoder selection in S-0-0147, Homing Parameter
has selected an absolute measuring system. The command can only be
executed if the command P-0-0012, Command ’Set Absolute
Measurement’ has been activated beforehand.
Remedial action:
Execute the command P-0-0012, Command ’Set Absolute
Measurement’ before you start the command S-0-0148, C6 Drive
controlled homing procedure. This action establishes the absolute
dimension reference.
C605, Homing velocity too great
Cause:
Unequivocal allocation of a reference marker to a zero switch is not
possible at a high velocity since the zero switch is only evaluated every
2 ms.
Remedial action:
Reduce the value of S-0-0041, Homing velocity.
C700 Basic load
With motors of the MDD and MKD series, the mechanical system of the
machine is adapted to the digital drive by activating the speed controller
parameters that are stored in the motor feedback. The drive controller
employs the C7 message to indicate that the command C700 initial
program loading has been activated via the command S-0-0262,
Command Basic Load.
Cause:
The command C700 initial program loading has been activated.
C800 Command Base-Parameter load
Description:
Pressing the S1 button on the drive controller when the display shows
" PL " or starting P-0-4094, Command Parameter Default Set clears all
parameters and sets them to a default value that is stored in the
software.
The motion blocks will be lost, too.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Command Diagnostic Messages
4-13
ECODRIVE Drive Controller DKC02.1
D400 Positive stop drive procedure command
When the command " travel to dead stop " is activated, all controller
monitoring functions are de-activated that would cause a class 1
diagnostics message to be issued when the drive is blocked by a dead
stop.
Cause:
The command D400 Positive stop drive procedure command has
been activated.
D401 ZKL1 Error at Command Start
Cause:
A class 1 diagnostics error has been detected when the command " travel
to dead stop " was activated. The command could therefore not be
executed.
Remedial action:
Eliminate the cause of the reported error. Clear the error and start the
command again.
4-14
Command Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
5
Status Diagnostic Messages
A000 Communication Phase 0
The communication structure is subdivided into four different
communication phases: The phases 0 and 1 are used for identifying the
devices.
Initialization is performed in ascending order. The controller specifies the
communication phase.
An interruption in the phase progression is shown by the status display
being stopped at the attained communication phase.
If diagnosis A000 Communication Phase 0 is active, the drive is in
phase 0 and waits for the controller to trigger the transition from phase 0
to phase 1.
A001 Communication Phase 1
The communication structure is subdivided into four different
communication phases: The phases 0 and 1 are used for identifying the
devices.
Initialization is performed in ascending order. The controller specifies the
communication phase.
An interruption in the phase progression is shown by the status display
being stopped at the attained communication phase.
If diagnosis A001 Communication Phase 1 is active, the drive is in
phase 1 and the controller has not yet activated the transition from phase
1 to phase 2.
A002 Communication Phase 2
The communication structure is subdivided into four different
communication phases: Time and data structure of the protocols for
communication phases 3 and 4 are prepared in phase 2.
Initialization is performed in ascending order. The controller specifies the
communication phase.
An interruption in the phase progression is shown by the status display
being stopped at the attained communication phase.
Before the controller transitions to communication phase 3, the
command S-0-0127 C1 Communication phase 3 transition check
must be started. Transition to communication phase 3 is not possible if
the command is negatively acknowledged. The problems diagnosed by
the drive must first be eliminated.
Note:
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
The correctness of the parameters is not checked.
Status Diagnostic Messages
5-1
ECODRIVE Drive Controller DKC02.1
A003 Communication Phase 3
The communication structure is subdivided into four different
communication phases. Initialization is performed in ascending order.
The controller specifies the communication phase. Transition to
communication phase 4 completes initialization and permits power to be
enabled.
An interruption in the phase progression is shown by the status display
being stopped at the attained communication phase. The drive is in
phase 3 if the diagnosis A003 Communication phase 3 is active.
Before the controller transitions to communication phase 4 (operating
mode), the command S-0-0128, C2 Communication phase 4 transition
check must be started. Transition to communication phase 4 is not
possible if the command is negatively acknowledged. The problems
diagnosed by the drive must first be eliminated.
Note:
The correctness of the parameters is not checked.
A010 Halt Drive
The " Drive stop " function has been activated. That function is used for
stopping an axis at a defined acceleration and a defined jerk.
Subsequently, the drive is electrically held.
The function is activated either by clearing the drive stop bit (bit 13) in the
master control word or by interrupting a drive control command (e.g.
drive-controlled homing).
A012 Control and Power Sections Ready for Operation
Control voltage is applied to the drive and the power supply has been
switched on. The drive is ready for power output.
A013 Ready for Power ON
Control voltage is applied to the drive; there is no fault in the drive. The
drive is ready for the power to be switched on. It does not supply a
torque. If it exists, the mechanical holding brake is applied.
A100 Drive in Torque Mode
The drive is in torque mode. It follows the torque command value
characteristic specified by the controller.
5-2
Status Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
A101 Drive in Velocity Mode
The drive is in velocity control mode. It follows the velocity command
value characteristic specified by the controller. The speed control loop is
closed in the controller.
A102 Position Mode Encoder 1
The drive is in position control mode. The position control loop is
closed in the drive via a position encoder. The controller only specifies
the position command value characteristic; the drive follows the
command value with a lag.
Encoder 1 means that the position encoder is attached to the motor
shaft (indirect measurement of the axis position).
A103 Position Mode Encoder 2
The drive is in position control mode. The position control loop is
closed in the drive via a position encoder. The controller only specifies
the position command value characteristic; the drive follows the
command value with a lag.
Encoder 2 means that the position encoder is attached to the machine
axis (direct measurement of the axis position).
A104 Position Mode Encoder 1 / lagless positioning
The drive is in position control mode. The position control loop is
closed in the drive via a position encoder. The controller only specifies
the position command value characteristic; the drive follows the
command value without a lag.
Encoder 1 means that the position encoder is attached to the motor
shaft (indirect measurement of the axis position).
A105 Position Mode Encoder 2 / lagless positioning
The drive is in position control mode. The position control loop is
closed in the drive via a position encoder. The controller only specifies
the position command value characteristic; the drive follows the
command value without a lag.
Encoder 2 means that the position encoder is attached to the machine
axis (direct measurement of the axis position).
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Status Diagnostic Messages
5-3
ECODRIVE Drive Controller DKC02.1
A106 Drive-Controlled Interpolation/Encoder 1
The controller provides the drive with a position control value that is
identical to the target position of the travel distance. The drive now
generates (interpolates) an internal position command value
characteristic that does not exceed the maximum values of jerk,
acceleration and velocity that have been defined by the controller.
The drive approaches the target position of the travel distance with a lag.
Encoder 1 means that the position encoder is attached to the motor
shaft (indirect measurement of the axis position).
A107 Drive-Controlled Interpolation/Encoder 2
The controller provides the drive with a position control value that is
identical to the target position of the travel distance. The drive now
generates (interpolates) an internal position command value
characteristic that does not exceed the maximum values of jerk,
acceleration and velocity that have been defined by the controller.
The drive approaches the target position of the travel distance with a lag.
Encoder 2 means that the position encoder is attached to the machine
axis (direct measurement of the axis position).
A108 Drive-Controlled Interpolation/Encoder 1/Lagless
The controller provides the drive with a position control value that is
identical to the target position of the travel distance. The drive now
generates (interpolates) an internal position command value
characteristic that does not exceed the maximum values of jerk,
acceleration and velocity that have been defined by the controller.
The drive approaches the target position of the travel distance without a
lag.
Encoder 1 means that the position encoder is attached to the motor
shaft (indirect measurement of the axis position).
A109 Drive-Controlled Interpolation/Encoder 2/Lagless
The controller provides the drive with a position control value that is
identical to the target position of the travel distance. The drive now
generates (interpolates) an internal position command value
characteristic that does not exceed the maximum values of jerk,
acceleration and velocity that have been defined by the controller.
The drive approaches the target position of the travel distance without a
lag (activate step control).
Encoder 2 means that the position encoder is attached to the machine
axis (direct measurement of the axis position).
5-4
Status Diagnostic Messages
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
6
Exchanging Drive Components
No one wants to spending long hours searching for errors in individual
devices and repairing devices connected to the machinery. Such repair
activities always seems to result in loss of production.
These ECODRIVE diagnostic messages are therefore designed to
provide specific and effective help in locating the source of an error.
Defective drive components can be exchanged without any difficulty,
which guarantees the quickest possible resolution of the malfunction and
return to operation without lengthy assembly and adjustment work.
When you return a defective device to the Indramat Service Center,
please include a completed copy of the problem report found at the end
of this chapter. This will ensure that you get the repaired drive
component back as soon as possible and/or you can receive further
assistance from INDRAMAT.
Note: The replacement component must have exactly the same code
description as the component that was removed! To ensure that
this is the case, let INDRAMAT know the code description for the
replacement component.
Position of the Identification Plates:
The identification plate for the DKC drive controller is found on the front
side of the casing. It contains all data related to this device.
The identification plate for MKD motors is on the right side of the motor
(when you are looking at the motor shaft with the motor connection box
on top).
Assembled cables are supplied with a label (cable mark) that carries the
cable number and the length of the assembled cable.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Exchanging Drive Components
6-1
ECODRIVE Drive Controller DKC02.1
Specifications for Model Label - Base Equipment
DKC _._ - _ _ _ _ - _
S.No.: _ _ _ _ _ _ _ _ _ _ _ A_ _ S _ _
Pre-Formed Engine Performance Cable
2)
INDRAMAT - Cable
IKS _ _ _
No.
Length:
1)
m
Pre-Formed Engine Feedback Cable
INDRAMAT - Cable
IKG _ _ _
2)
1)
No.
Length:
m
MKD _ _ _ _ - _ _ _ - _ _ _ _ _ _ / _ _ _ _
1. Pre-formed cables made by INDRAMAT (with connector) are identified with a
model label. The label provides the ordering information (IKS 103 for the
Feedback cable, for instance).
2. If cables are ordered without the connector, refer to the stamp on the cable
sheathing (Engine Feedback Cable IN 488, for instance).
AP5001F1.DRW
Fig. 6-1: Code description of the drive components
6.1
Procedure for Exchanging Devices
Danger of accident with life-threatening voltage
levels!
⇒ 1. Before working with electrical equipment, turn off
the main switch and take steps to ensure that it will
not
be
switched
on
again.
The drives must be at a standstill, because motor
rotations cause voltage to be generated back through
motor cables.
⇒ 2. Do not unplug live connection.
6-2
Exchanging Drive Components
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
Exchange the DKC:
• Turn off the main switch.
• Ensure the drive will not be turned back on prematurely.
⇒ Before making contact with the connecting lines and
clamps, wait for the capacitor to discharge for at least
1 minute! Do not begin working with the connecting
cables until then!
• Detach the connecting lines from the DKC.
• Remove the screws from the upper and lower portions of the casing.
Remove the DKC from the drive package.
• Insert the new DKC and tighten the screws.
• Attach the new DKC according to the machine control plans.
• Load the parameter file from DriveTop which was saved during the
installation into the DKC.
• Power up the machine.
Motor Exchange:
• Turn off the main switch.
• Ensure the drive will not be turned back on prematurely.
Note: When the motor is exchanged, open connectors from power
connections should be covered with protective caps to protect
against the spread of coolant, lubricating fluid or dirt (adm.
protection level V2).
• When exchanging mechanisms from the AC servo motor, please
observe the directions from the machine manufacturer.
⇒ Danger of accident due to undesired axis motion. For
servo axis with indirect path measuring systems
through the motor, the absolute position will be lost
when the motor is exchanged!
This is why it is necessary to reconstruct the absolute
position to the machine coordinate system after the
exchange.
• Reconstruct the absolute position for servo axes. Acquire the position
feedback value indirectly through the motor’s own measurement
system.
• Reconstruct the absolute position for the position feedback value
output when the feature " Indirect absolute position feedback value
output " is used.
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Exchanging Drive Components
6-3
ECODRIVE Drive Controller DKC02.1
Cable Exchange:
• Turn off the main switch.
• Ensure the drive will not be turned back on prematurely.
⇒ Danger of accident with life-threatening voltage
levels. Connect or disconnect the power connector
connections for the cables only if electrical power has
been turned off for the machine!
Note: When the cables are exchanged, open connectors from power
connections should be covered with protection caps to protect
against the spread of coolant, lubricating fluid or dirt (adm.
protection level V2).
V2
MKD
V2
Machine housing
V2
V2 V2
DKC
Switchboard wall
Immediate environment requirements
V2
Conductive contamination cannot occur when operating the
control drive (at least not with the IP 65); when installing or
exchanging drive components, non-conductive contamination
or light condensation may momentarily occur.
AP5002F1.DRW
Fig. 6-2: Contamination level according to DIN VDE 0160
• When exchanging cables, observe the machine manufacturer’s
directions.
⇒ Only connect the power connectors if they are dry
and clean.
Note: If you are not using assembled cables from INDRAMAT, check to
see if the new cables comply with the connection plan from the
machine manufacturer!
6-4
Exchanging Drive Components
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
Error Report
for
DKC and MKD digital AC servodrives
This error report helps clarify errors and their causes. It is imperative to also find hidden, sporadic, or application induced
problem and eliminate them.
- Always send error reports with repairs.
- In other cases send error reports to the appropriate INDRAMAT location or to the INDRAMAT Quality Assurance address
printed in the address field.
INDRAMAT would like to thank you for by providing you with a quick and thorough turnaround.
Company:
Location:
Date:
Department:
Name:
Telephone:
Error report
Details of the faulty drive
Model specifics
Basic device
Motor specifics:
Motor type:
DKC _._ - _ _ _ _ - _
Enter the
display at
the time of
the error
S.No.: _ _ _ _ _ _ -
Power supply:
single-phase
three-phase
Serial number:
H1
Operating mode used:
Firmware details:
FWA-ECODRV-
-
-
Details of the machine on which the error occurred:
Machine manufacturer:
Type:
Machine number:
Hours of operation:
Installation date:
Machine control system manufacturer and type:
Designation of the machine shaft in which the error occurred:
How was the error detected:
Supplementary information:
Error condition:
Causes:
is continually present
during installation
occurs sporadically
occurs after approx.
hours
occurs during vibration
unknown
connection error
external cause
mechanical damage
loose power connection
condensation in device
Accompanying phenomenon:
mechanical system problems
is the switch box
power supply failure (24 Vext.)
air-conditioned? Y / N
control system failure
motor failure
cable break
defective ventilator
Have there been similar
errors in the same shaft before?
How often:
additional information:
Did the errors always occur on
specific days or at specific times?
INDRAMA T GmbH
Bgm.-Dr .Nebel-Straße 2
Abt. QSP
D-97816 Lohr am Main
PI0001d1.drw
Fig. 6-3: Problem Report
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Exchanging Drive Components
6-5
ECODRIVE Drive Controller DKC02.1
Notes
6-6
Exchanging Drive Components
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
Customer Service Locations
Germany
Sales area Center
Sales area East
Sales area West
Sales area North
INDRAMAT GmbH
D-97816 Lohr am Main
Bgm.-Dr.-Nebel-Str. 2
INDRAMAT GmbH
D-09120 Chemnitz
Beckerstraße 31
INDRAMAT GmbH
D-40880 Ratingen
Harkortstraße 25
INDRAMAT GmbH
D-22525 Hamburg
Kieler Str.212
Telefon: 09352/40-4817
Telefax: 09352/40-4989
Telefon: 0371/3555-0
Telefax: 0371/3555-230
Telefon: 02102/4318-0
Telefax: 02102/41315
Telefon: 040/853157-0
Telefax: 040/853157-15
Sales area South
Sales area South-West
INDRAMAT Service-Hotline
INDRAMAT GmbH
D-80339 München
Ridlerstraße 75
INDRAMAT GmbH
D-71229 Leonberg
Böblinger Straße 25
INDRAMAT GmbH
Telefon: D-0172/660 040 6
Telefon: 089/540138-30
Telefax: 089/540138-10
Telefon: 07152/972-6
Telefax: 07152/972-727
-oderTelefon: D-0171/333 882 6
Customer service locations in Germany
Europe
Austria
Austria
Belgium
Denmark
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
Hägelingasse 3
A-1140 Wien
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
Randlstraße 14
A-4061 Pasching
Mannesmann Rexroth N.V.-S.A.
Geschäftsbereich INDRAMAT
Industrielaan 8
B-1740 Ternat
BEC AS
Zinkvej 6
DK-8900 Randers
Telefon: +43 1/985 25 40-400
Telefax:+43 1/985 25 40-93
Telefon: +43 7229/644 01-36
Telefax: +43 7229/644 01-80
Telefon: +32 2/582 31 80
Telefax: +32 2/582 43 10
England
Finnland
France
France
Mannesmann Rexroth Ltd.
INDRAMAT Division
Broadway Lane, South Cerney
Cirencester, Glos GL7 5UH
Rexroth Mecman OY
Riihimiehentie 3
SF-01720 Vantaa
Rexroth - Sigma S.A.
Division INDRAMAT
Parc des Barbanniers 4,
Place du Village
F-92632 Gennevilliers Cedex
Rexroth - Sigma S.A.
Division INDRAMAT
17, Loree du Golf
F-69380 Dommartin
Telefon: +44 1285/86 30 00
Telefax: +44 1285/86 30 03
Telefon: +358 9/84 91 11
Telefax: +358 9/84 63 87
Telefon: +33 1/41 47 54 30
Telefax: +33 1/47 94 69 41
Telefon: +45 87/11 90 60
Telefax: +45 87/11 90 61
Telefon: +33 4/78 43 56 58
Telefax: +33 4/78 43 59 05
France
Italy
Italy
Netherlands
Rexroth - Sigma S.A.
Division INDRAMAT
270, Avenue de lardenne
F-31100 Toulouse
Rexroth S.p.A.
Divisione INDRAMAT
Via G. Di Vittoria, 1
I-20063 Cernusco S/N.MI
Rexroth S.p.A. Divisione
INDRAMAT
Via Borgomanero, 11
I-10145 Torino
Hydraudyne Hydrauliek B.V.
Kruisbroeksestraat 1a
P.O. Box 32
NL-5280 AA Boxtel
Telefon: +33 5/61 49 95 19
Telefax: +33 5/61 31 00 41
Telefon: +39 2/923 65-270
Telex: 331695
Telefax: +39 2/92 36 55 12
Telefon: +39 11/771 22 30
Telefax: +39 11/771 01 90
Telefon: +31 41 16/519 51
Telefax: +31 41 16/514 83
Spain
Spain
Sweden
Switzerland
Rexroth S.A.
Centro Industrial Santiago
Obradors s/n
E-08130 Santa Perpetua de
Mogoda (Barcelona)
Goimendi S.A.
División Indramat
Jolastokieta (Herrera)
Apartado 11 37
San Sebastion, 20017
AB Rexroth Mecman
INDRAMAT Division
Varuvägen 7
S-125 81 Stockholm
Rexroth SA
Département INDRAMAT
Chemin de l`Ecole 6
CH-1036 Sullens
Telefon: +34 3/7 47 94 00
Telefax: +34 3/7 47 94 01
Telefon: +34 43/40 01 63
Telex: 361 72
Telefax: +34 43/39 93 95
Telefon: +46 8/727 92 00
Telefax: +46 8/64 73 277
Telefon:+41 21/731 43 77
Telefax: +41 21/731 46 78
Switzerland
Russia
Rexroth AG
Geschäftsbereich INDRAMAT
Gewerbestraße 3
CH-8500 Frauenfeld
Tschudnenko E.B.
Arsenia 22
153000 Ivanovo
Rußland
Telefon: +41 52/720 21 00
Telefax: +41 52/720 21 11
Telefon: +7 93/22 39 633
European Customer service locations without Germany
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Customer Service Locations
ECODRIVE Drive Controller DKC02.1
Outside Europe
Argentina
Argentina
Australia
Brazil
Mannesmann Rexroth S.A.I.C.
Division INDRAMAT
Acassusso 48 41/7
1605 Munro (Buenos Aires)
Argentina
Nakase
Asesoramiento Tecnico
Diaz Velez 2929
1636 Olivos
(Provincia de Buenos Aires)
Argentina
Argentina
Australian Industrial Machinery
Services Pty. Ltd.
Unit ¾5 Horne ST
Campbellfield VIC 2061
Australia
Mannesmann Rexroth Automação
Ltda.
Divisão INDRAMAT
Rua Georg Rexroth, 609
Vila Padre Anchieta
BR-09.951-250 Diadema-SP
Caixa Postal 377
BR-09.901-970 Diadema-SP
Telefon: +54 1/756 01 40
+54 1/756 02 40
Telex: 262 66 rexro ar
Telefax: +54 1/756 01 36
Telefon: +61 3/93 59 0228
Telefax: +61 3/93 59 02886
Telefon +54 1/790 52 30
Telefon: +55 11/745 90 65
+55 11/745 90 70
Telefax: +55 11/745 90 50
Canada
China
China
China
Basic Technologies Corporation
Burlington Division
3426 Mainway Drive
Burlington, Ontario
Canada L7M 1A8
Rexroth (China) Ltd.
Shanghai Office
Room 206
Shanghai Intern. Trade Centre
2200 Yanan Xi Lu
Shanghai 200335
P.R. China
Rexroth (China) Ltd.
Shanghai Parts & Service Centre
199 Wu Cao Road, Hua Cao
Minhang District
Shanghai 201 103
P.R. China
Rexroth (China) Ltd.
1430 China World Trade Centre
1, Jianguomenwai Avenue
Beijing 100004
P.R. China
Telefon: +1 905/335-55 11
Telefax: +1 905/335-41 84
Telefon: +86 21/627 55 333
Telefax: +86 21/627 55 666
Telefon: +86 21/622 00 058
Telefax: +86 21/622 00 068
Telefon: +86 10/50 50 380
Telefax: +86 10/50 50 379
China
Hongkong
India
Japan
Rexroth (China) Ltd.
A-5F., 123 Lian Shan Street
Sha He Kou District
Dalian 116 023
P.R. China
Rexroth (China) Ltd.
19 Cheung Shun Street
1st Floor, Cheung Sha Wan,
Kowloon, Honkong
Mannesmann Rexroth (India) Ltd.
INDRAMAT Division
Plot. 96, Phase III
Peenya Industrial Area
Bangalore - 560058
Rexroth Co., Ltd.
INDRAMAT Division
I.R. Building
Nakamachidai 4-26-44
Tsuzuki-ku, Yokohama 226
Japan
Telefon: +86 411/46 78 930
Telefax: +86 411/46 78 932
Telefon: +852 2741 13 51/-54 und
+852 741 14 30
Telex: 3346 17 GL REX HX
Telefax: +852 786 40 19
+852 786 07 33
Telefon: +91 80/839 21 01
+91 80/839 73 74
Telex: 845 5028 RexB
Telefax: +91 80/839 43 45
Korea
Korea
Mexico
Rexroth-Seki Co Ltd.
1500-12 Da-Dae-Dong
Saha-Gu, Pusan, 604-050
Seo Chang Corporation Ltd.
Room 903, Jeail Building
44-35 Yoido-Dong
Youngdeungpo-Ku
Seoul, Korea
Telefon: +81 45/942-72 10
Telefax: +81 45/942-03 41
Motorización y
Diseño de Controles, S.A. de C.V.
Av. Dr. Gustavo Baz No. 288
Col. Parque Industrial la Ioma
Apartado Postal No. 318
54060 Tlalnepantla
Estado de Mexico
Telefon: +82 51/264 90 01
Telefax: +82 51/264 90 10
Telefon: +82 2/780-82 07 ~9
Telefax: +82 2/784-54 08
Telefon: +52 /397 86 44
Telefax: +52 /398 98 88
USA
USA
USA
USA
Rexroth Corporation
INDRAMAT Division
5150 Prairie Stone Parkway
Hoffman Estates, Illinois 60192
Rexroth Corporation
INDRAMAT Division
2110 Austin Avenue
Rochester Hills, Michigan 48309
Telefon: +1 847/645-36 00
Telefax: +1 847/645-62 01
Telefon: +1 810/853-82 90
Telefax: +1 810/853-82 90
Rexroth Corporation
INDRAMAT Division
Northeastern Sales Office
7 Columbia Blvd.
Peabody, MA 019660
Rexroth Corporation
INDRAMAT Division
Southeastern Sales Office
3625 Swiftwater Park Drive
Suwanee, GA 30174
Telefon: +1 508/531-25 74
Telefax: +1 508/531-2574
Telefon: +1 770/932 3200
Telefax: +1 770/932-1903
Customer service locations outside Europe
Customer Service Locations
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
ECODRIVE Drive Controller DKC02.1
Notes
DOK-ECODRV-SSE-03VRS**-WAR1-EN-P • 12.96
Customer Service Locations
Indramat
Industrial
Hydraulics
Electric Drives
and Controls
Linear Motion and
Assembly Technologies
Rexroth EcoDrive Cs
Drives
Project Planning Manual
Pneumatics
Service
Automation
Mobile
Hydraulics
R911295758
Edition 02
About this Documentation
Title
Rexroth EcoDrive Cs Drives
Rexroth EcoDrive Cs
Drives
Type of Documentation
Project Planning Manual
Document Typecode
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Internal File Reference
• Document Number 120-1000-B344-02
Purpose of Documentation
This documentation describes …
•
•
planning the electrical control cabinet construction
•
Record of Revisions
planning the mechanical control cabinet construction
logistical handling of the equipment
Release
Date
Notes
DOK-ECODR3-DKC**.3-CS*-PR01-EN-P
03.2004
first edition
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
11.2004
second edition
Copyright
Description
Bosch Rexroth AG 2004
Copying this document, giving it to others and the use or communication
of the contents thereof without express authority, are forbidden. Offenders
are liable for the payment of damages. All rights are reserved in the event
of the grant of a patent or the registration of a utility model or design
(DIN 34-1).
Validity
Published by
The specified data only serve to describe the product. No statements
concerning a certain condition or suitability for a certain application can be
derived from our information. The given information does not release the
user from the obligation of own judgement and verification. It must be
remembered that our products are subject to a natural process of wear
and aging.
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Telephone +49 (0)93 52/40-0 • Tx 68 94 21 • Fax +49 (0)93 52/40-48 85
http://www.boschrexroth.de/
Dept. EDY/EDY1 (MW/US)
Note
This document has been printed on chlorine-free bleached paper.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Rexroth EcoDrive Cs Drives
Contents I
Contents
1
Introduction to the System
1-1
1.1
Rexroth EcoDrive Cs Drive System.............................................................................................. 1-1
1.2
Rexroth EcoDrive Cs Device Range ............................................................................................ 1-2
Individual Components ............................................................................................................ 1-2
Configuration ........................................................................................................................... 1-2
1.3
Drive Controller – Motor Combinations ........................................................................................ 1-4
1.4
Type Codes .................................................................................................................................. 1-5
Drive Controllers with Analog/Parallel Interface ...................................................................... 1-5
Drive Controllers with SERCOS interface ............................................................................... 1-6
Drive Controllers without Master Communication (Basic Devices) ......................................... 1-7
Master Communication............................................................................................................ 1-8
2
Important Directions for Use
2.1
2-1
Appropriate Use............................................................................................................................ 2-1
Introduction .............................................................................................................................. 2-1
Areas of Use and Application .................................................................................................. 2-2
2.2
3
Inappropriate Use ......................................................................................................................... 2-2
Safety Instructions for Electric Drives and Controls
3-1
3.1
Introduction ................................................................................................................................... 3-1
3.2
Explanations ................................................................................................................................. 3-1
3.3
Hazards by Improper Use............................................................................................................. 3-2
3.4
General Information ...................................................................................................................... 3-3
3.5
Protection Against Contact with Electrical Parts........................................................................... 3-5
3.6
Protection Against Electric Shock by Protective Low Voltage (PELV) ......................................... 3-6
3.7
Protection Against Dangerous Movements .................................................................................. 3-7
3.8
Protection Against Magnetic and Electromagnetic Fields During Operation and
Mounting ....................................................................................................................................... 3-9
3.9
Protection Against Contact with Hot Parts.................................................................................. 3-10
3.10 Protection During Handling and Mounting.................................................................................. 3-10
3.11 Battery Safety ............................................................................................................................. 3-11
3.12 Protection Against Pressurized Systems.................................................................................... 3-11
4
Technical Data (Drive Controllers)
4.1
4-1
Dimensional Drawings .................................................................................................................. 4-1
DKC01.3-0xx Drive Controllers with Analog/Parallel Interface ............................................... 4-1
DKC02.3-004 (100 W), DKC02.3-008 (200 W) and DKC02.3-012 (400 W) Drive
Controllers with SERCOS interface......................................................................................... 4-2
DKC02.3-018 (750 W) Drive Controller with SERCOS interface ............................................ 4-3
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
II Contents
Rexroth EcoDrive Cs Drives
DKC10.3-004 (100 W), DKC10.3-008 (200 W) and DKC10.3-012 (400 W) Drive
Controllers – Basic Devices..................................................................................................... 4-4
DKC10.3-018 (750 W) Drive Controller – Basic Device .......................................................... 4-5
4.2
Mass and Materials....................................................................................................................... 4-6
4.3
Ambient and Operating Conditions............................................................................................... 4-7
4.4
Electrical Data............................................................................................................................... 4-9
Power Section.......................................................................................................................... 4-9
Performance Data.................................................................................................................. 4-11
Control Voltage Connection................................................................................................... 4-15
4.5
Control and Display Elements (H1, S1, S2, S3) ......................................................................... 4-16
H1 (Diagnostic Display) ......................................................................................................... 4-16
S1 (Button)............................................................................................................................. 4-16
S2, S3 (Address Switch)........................................................................................................ 4-16
4.6
5
CE Label, C-UL Listing, Tests .................................................................................................... 4-17
Electrical Connections
5.1
5-1
Connections Independent of the Device....................................................................................... 5-1
Views of the Devices and Terminal Connector Designations ................................................. 5-1
Schematic Overall Connection Diagram ................................................................................. 5-3
X1, Mains and Control Voltage................................................................................................ 5-5
X2, Additional Choke and Braking Resistor ............................................................................ 5-6
X3, Motor ................................................................................................................................. 5-9
Ground Connection ............................................................................................................... 5-11
X4, Encoder ........................................................................................................................... 5-12
X5_1: Digital Inputs ............................................................................................................... 5-13
X5_2: Digital Outputs............................................................................................................. 5-15
X5_3: Holding Brake.............................................................................................................. 5-18
X6, Serial Interface RS232 .................................................................................................... 5-21
5.2
Connections Dependent on the Device ...................................................................................... 5-23
DKC01.3 – Analog/Parallel Interface..................................................................................... 5-23
DKC02.3 – SERCOS interface .............................................................................................. 5-31
DKC03.3 – Profibus-DP Interface.......................................................................................... 5-33
DKC06.3 – DeviceNet Interface with COMBICON Connector .............................................. 5-39
DKC16.3 – DeviceNet Interface with Sealed Micro-Style Connector.................................... 5-41
DKC05.3 – CANopen Interface ............................................................................................. 5-43
5.3
Mounting a Master Communication Module ............................................................................... 5-45
Removing the Shipping Brace ............................................................................................... 5-45
Inserting the Master Communication Module........................................................................ 5-46
5.4
6
Replacing a Master Communication Module.............................................................................. 5-47
Mains and Supply Voltage Connection
6-1
6.1
Connection Features .................................................................................................................... 6-2
6.2
Kinds of Connection...................................................................................................................... 6-3
Single-Phase Connection ........................................................................................................ 6-3
Three-Phase Connection......................................................................................................... 6-4
6.3
Inrush Current and Mains Phase Current..................................................................................... 6-5
Characteristic of Inrush Current............................................................................................... 6-5
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Rexroth EcoDrive Cs Drives
Contents III
Inrush Current Impulse ............................................................................................................ 6-6
Computing Phase Current on the Mains ................................................................................. 6-9
Mains Connection with Phase Currents of More than 25 A................................................... 6-11
Mains Connection with Phase Currents of Less than 25 A ................................................... 6-12
6.4
Selecting Q1 Fuse and K1 Contactor ......................................................................................... 6-13
6.5
Mains Filter ................................................................................................................................. 6-14
6.6
Operation on 400/480 V Mains ................................................................................................... 6-15
Basics .................................................................................................................................... 6-15
Selecting the Mains Transformer .......................................................................................... 6-15
6.7
The Ground Conditions of the Power Supply Network............................................................... 6-16
6.8
Earth-leakage Circuit Breaker .................................................................................................... 6-17
6.9
Control Circuits for the Mains Connection .................................................................................. 6-17
Overview................................................................................................................................ 6-17
Control Circuits with E-Stop................................................................................................... 6-18
7
Designing the Control Cabinet
7.1
7-1
Notes on Control Cabinet Project Planning .................................................................................. 7-1
Mounting Position and Distances ............................................................................................ 7-1
Arranging the Components in the Control Cabinet.................................................................. 7-3
7.2
General Information ...................................................................................................................... 7-6
7.4
Wire Routing in the Control Cabinet ............................................................................................. 7-7
7.5
8
Using Cooling Units in the Control Cabinet .................................................................................. 7-4
7.3
EMC in the Control Cabinet .......................................................................................................... 7-7
Motors
8.1
8-1
Overview ....................................................................................................................................... 8-1
Basic Type ............................................................................................................................... 8-1
Options .................................................................................................................................... 8-1
Benefits.................................................................................................................................... 8-1
8.2
MSM Type Code........................................................................................................................... 8-2
Motor MSM020B...................................................................................................................... 8-2
Motor MSM030 ........................................................................................................................ 8-3
Motor MSM040B...................................................................................................................... 8-4
Types ....................................................................................................................................... 8-5
8.3
Technical Data.............................................................................................................................. 8-6
Basics ...................................................................................................................................... 8-6
Definition of Parameters .......................................................................................................... 8-7
8.4
MSM020B ..................................................................................................................................... 8-9
Dimensions .............................................................................................................................. 8-9
Key......................................................................................................................................... 8-10
Cables at the Motor ............................................................................................................... 8-10
Technical Data....................................................................................................................... 8-11
8.5
MSM030B ................................................................................................................................... 8-13
Dimensions ............................................................................................................................ 8-13
Key......................................................................................................................................... 8-14
Cables at the Motor ............................................................................................................... 8-14
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
IV Contents
Rexroth EcoDrive Cs Drives
Technical Data....................................................................................................................... 8-15
8.6
MSM030C ................................................................................................................................... 8-17
Dimensions ............................................................................................................................ 8-17
Key......................................................................................................................................... 8-18
Cables at the Motor ............................................................................................................... 8-18
Technical Data....................................................................................................................... 8-19
8.7
MSM040B ................................................................................................................................... 8-21
Dimensions ............................................................................................................................ 8-21
Key......................................................................................................................................... 8-22
Cables at the Motor ............................................................................................................... 8-22
Technical Data....................................................................................................................... 8-23
8.8
Application Instructions............................................................................................................... 8-25
Operating Conditions ............................................................................................................. 8-25
Degree of protection .............................................................................................................. 8-26
Design and Installation Positions........................................................................................... 8-27
Housing Materials .................................................................................................................. 8-28
Holding Brake ........................................................................................................................ 8-29
Output Shaft and Motor Bearing............................................................................................ 8-30
Encoder ................................................................................................................................. 8-34
Acceptances, Approvals ........................................................................................................ 8-39
8.9
Assembly .................................................................................................................................... 8-40
Skilled Technical Personnel .................................................................................................. 8-40
Mounting the Motor................................................................................................................ 8-40
Connecting the Motor ............................................................................................................ 8-41
8.10 Startup, Operation, and Maintenance......................................................................................... 8-42
Startup ................................................................................................................................... 8-42
Operation ............................................................................................................................... 8-43
Maintenance .......................................................................................................................... 8-43
9
Identifying the Components
9-1
9.1
Marking the Components.............................................................................................................. 9-1
9.2
Type Plates ................................................................................................................................... 9-1
Type Plates at the Drive Controller.......................................................................................... 9-1
Type Plate at the Motor ........................................................................................................... 9-3
10 Additional Components
10-1
10.1 Cables......................................................................................................................................... 10-1
Motor Cable IKG0331............................................................................................................ 10-1
Motor Extension Cable IKG0332 ........................................................................................... 10-2
Encoder Cable IKS0230 ........................................................................................................ 10-3
Encoder Extension Cable IKS0232 ....................................................................................... 10-4
Encoder Emulation Cable RKG0008 ..................................................................................... 10-5
RS232 Cable IKB0041 .......................................................................................................... 10-6
10.2 Accessories ................................................................................................................................ 10-7
SUP-E01-DKC*CS-CONSIG ................................................................................................. 10-7
SUP-E02-DKC*CS-CONPWR............................................................................................. 10-10
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Rexroth EcoDrive Cs Drives
Contents V
SUP-E03-DKC*CS-BATTRY ............................................................................................... 10-12
SUP-E04-DKC*CS-ENCODR (Encoder Adapter) ............................................................... 10-13
SUP-E05-DKC*CS-SURGEP .............................................................................................. 10-19
SUP-E06-DKC*CS-CONSIG ............................................................................................... 10-21
10.3 Braking Resistor ....................................................................................................................... 10-23
Notes ................................................................................................................................... 10-23
Identification......................................................................................................................... 10-23
Mechanical Data .................................................................................................................. 10-24
Electrical Data...................................................................................................................... 10-25
10.4 DC24V NTM power supplies .................................................................................................... 10-26
Application recommendations ............................................................................................. 10-26
Technical data ..................................................................................................................... 10-26
Dimensional sheets and installation dimensions................................................................. 10-27
Front views .......................................................................................................................... 10-27
Electrical connection............................................................................................................ 10-28
Type code ............................................................................................................................ 10-29
10.5 DST transformers ..................................................................................................................... 10-30
Selection .............................................................................................................................. 10-30
Autotransformers for Drive Controllers ................................................................................ 10-30
Technical Data..................................................................................................................... 10-31
Type Code ........................................................................................................................... 10-37
10.6 Mains Filter ............................................................................................................................... 10-38
NFE01.1............................................................................................................................... 10-38
NFE02.1............................................................................................................................... 10-39
NFD03.1 .............................................................................................................................. 10-40
11 Service & Support
11-1
11.1 Helpdesk ..................................................................................................................................... 11-1
11.2 Service-Hotline ........................................................................................................................... 11-1
11.3 Internet........................................................................................................................................ 11-1
11.4 Vor der Kontaktaufnahme... - Before contacting us... ................................................................ 11-1
11.5 Kundenbetreuungsstellen - Sales & Service Facilities ............................................................... 11-2
12 Index
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
12-1
VI Contents
Rexroth EcoDrive Cs Drives
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Introduction to the System 1-1
Rexroth EcoDrive Cs Drives
1
Introduction to the System
1.1
Rexroth EcoDrive Cs Drive System
Rexroth EcoDrive Cs is a new generation of system-compatible AC servo
drives in the lower power range of 100 to 750 W. The drive controllers
and motors have a specifically compact design.
The drive controllers are equipped with the SERCOS interface,
PROFIBUS-DP, DeviceNet or CANopen master communication modules;
they are perfectly suited for use in systems with multiple-axis devices and
can also be used as intelligent single axes on a standard field bus.
There are four motor sizes (100 W, 200 W, 400 W, 750 W) with minimum
dimensions that are adapted to the drive controllers.
The following options are available for the motors:
• integrated holding brake
• drive shaft with key
• absolute encoder for detecting the current position of the load without
travelling to reference point
Typical applications of Rexroth EcoDrive Cs are:
• handling systems
• packaging machines
• mounting systems
• printing machines
• machine tools
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
1-2 Introduction to the System
1.2
Rexroth EcoDrive Cs Drives
Rexroth EcoDrive Cs Device Range
Individual Components
The following
EcoDrive Cs:
individual
components
are
available
for
Rexroth
• motors
• basic devices
• master communication cards
• battery for the absolute encoder
• cables (motor, encoder, RS232)
• connection and mounting accessories
• external braking resistor
• mains transformer
Note:
These individual components can be ordered individually.
Configuration
A drive controller with PROFIBUS-DP, DeviceNet or CANopen interface is
characterized by the configuration of the basic device with the respective
master communication card.
There are the following end devices:
End device
Basic device
Master
communication
card
Master
communication
DKC01.3-0xx
-
none
analog/parallel
DKC02.3-0xx
-
none
SERCOS
DKC03.3-0xx
DKC10.3-0xx
ECM01.1-PB01
PROFIBUS-DP
DKC05.3-0xx
DKC10.3-0xx
ECM01.1-CN01
CANopen
DKC06.3-0xx
DKC10.3-0xx
ECM01.1-DN01
DeviceNet
DKC10.3-0xx
DKC10.3-0xx
ECM01.1-NNNN
digital I/Os
DKC16.3-0xx
DKC10.3-0xx
ECM01.1-DN02
DeviceNet with
sealed micro-style
connector
Fig. 1-1:
Note:
Device configurations for Rexroth EcoDrive Cs
Mounting a master communication card: see chapter 5.3.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Introduction to the System 1-3
Rexroth EcoDrive Cs Drives
device types
DKC02.3
SERCOS
DKC01.3
analog/
parallel
master communication card
DKC10.3
Profibus; CanOpen; DeviceNet
basic device
DKC10.3
PB01
+
analog/
parallel
DKC10.3
CN01
+
DKC10.3
DN01
+
DKC10.3
DN02
+
parallel
DKC02.3-xxx DKC01.3-xxx DKC10.3-xxx
DKC03.3-xxx
Fig. 1-2:
Note:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
DKC05.3-xxx
DKC06.3-xxx
DKC16.3-xxx
Overview
Given the respective configuration of the digital inputs/outputs,
a basic device without master communication card can be
used as a drive with parallel interface (7 inputs, 3 outputs).
1-4 Introduction to the System
1.3
Rexroth EcoDrive Cs Drives
Drive Controller – Motor Combinations
Note:
Drive controller
The individual drive controllers may only be operated with the
respective motors.
Motor
Properties (motor)
MSM020B-0300-NN-C0-CG0
100 W: incremental, plain shaft, without brake
MSM020B-0300-NN-C0-CG1
100 W: incremental, plain shaft, with brake
MSM020B-0300-NN-C0-CC0
100 W: incremental, key, without brake
MSM020B-0300-NN-C0-CC1
100 W: incremental, key, with brake
MSM020B-0300-NN-M0-CG0
100 W: absolute, plain shaft, without brake
MSM020B-0300-NN-M0-CG1
100 W: absolute, plain shaft, with brake
MSM020B-0300-NN-M0-CC0
100 W: absolute, key, without brake
MSM020B-0300-NN-M0-CC1
100 W: absolute, key, with brake
MSM030B-0300-NN-C0-CG0
200 W: incremental, plain shaft, without brake
DKCxx.x-004
MSM030B-0300-NN-C0-CG1
200 W: incremental, plain shaft, with brake
MSM030B-0300-NN-C0-CC0
200 W: incremental, key, without brake
MSM030B-0300-NN-C0-CC1
200 W: incremental, key, with brake
MSM030B-0300-NN-M0-CG0
200 W: absolute, plain shaft, without brake
MSM030B-0300-NN-M0-CG1
200 W: absolute, plain shaft, with brake
MSM030B-0300-NN-M0-CC0
200 W: absolute, key, without brake
MSM030B-0300-NN-M0-CC1
200 W: absolute, key, with brake
MSM030C-0300-NN-C0-CG0
400 W: incremental, plain shaft, without brake
MSM030C-0300-NN-C0-CG1
400 W: incremental, plain shaft, with brake
MSM030C-0300-NN-C0-CC0
400 W: incremental, key, without brake
MSM030C-0300-NN-C0-CC1
400 W: incremental, key, with brake
DKCxx.x-008
DKCxx.x-012
MSM030C-0300-NN-M0-CG0
400 W: absolute, plain shaft, without brake
MSM030C-0300-NN-M0-CG1
400 W: absolute, plain shaft, with brake
MSM030C-0300-NN-M0-CC0
400 W: absolute, key, without brake
MSM030C-0300-NN-M0-CC1
400 W: absolute, key, with brake
MSM040B-0300-NN-C0-CG0
750 W: incremental, plain shaft, without brake
MSM040B-0300-NN-C0-CG1
750 W: incremental, plain shaft, with brake
MSM040B-0300-NN-C0-CC0
750 W: incremental, key, without brake
MSM040B-0300-NN-C0-CC1
750 W: incremental, key, with brake
MSM040B-0300-NN-M0-CG0
750 W: absolute, plain shaft, without brake
MSM040B-0300-NN-M0-CG1
750 W: absolute, plain shaft, with brake
MSM040B-0300-NN-M0-CC0
750 W: absolute, key, without brake
MSM040B-0300-NN-M0-CC1
750 W: absolute, key, with brake
DKCxx.x-018
Fig. 1-3:
Drive controller – motor combinations
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Introduction to the System 1-5
Rexroth EcoDrive Cs Drives
1.4
Type Codes
Note:
The following figures illustrate the basic structure of the type
codes. Your sales representative will help you with the current
status of available versions.
Drive Controllers with Analog/Parallel Interface
Abbrev.
Column
1
2
3
4
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: D K C 0 1 . 3 - 0 0 4 - 3 - M G P - 0 1 V R S
1.
1.1
Product
DKC . . . . . . . . . . = DKC
2.
2.1
Line
1 . . . . . . . . . . . . . . . . . . . = 01
3.
3.1
Design
3 ........................=3
4.
4.1
4.2
4.3
4.4
Rated current
4A..........................
8A..........................
12 A . . . . . . . . . . . . . . . . . . . . . . . . . .
18 A . . . . . . . . . . . . . . . . . . . . . . . . . .
5.
5.1
DC-bus nominal voltage
DC 300 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 3
6.
6.1
Firmware
Multi interface general purpose . . . . . . . . . . . . . . . . = MGP
7.
7.1
Firmware version
e.g., 01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 01
8.
8.1
Nature of the firmware
Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = V
9.
9.1
Firmware release status (update) (00 to 99)
Release status (the currently valid status
= status of the items list delivered) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = RS
= 004
= 008
= 012
= 018
Illustration example: DKC01.3-XXX-3
Fig. 1-4:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Type code for drive controllers with analog/parallel interface
1-6 Introduction to the System
Rexroth EcoDrive Cs Drives
Drive Controllers with SERCOS interface
Abbrev.
Column
1
2
3
4
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: D K C 0 2 . 3 - 0 0 4 - 3 - M G P - 0 1 V R S
1.
1.1
Product
DKC . . . . . . . . . . = DKC
2.
2.1
Line
2 . . . . . . . . . . . . . . . . . . . = 02
3.
3.1
Design
3 ........................=3
4.
4.1
4.2
4.3
4.4
Rated current
4A..........................
8A..........................
12 A . . . . . . . . . . . . . . . . . . . . . . . . . .
18 A . . . . . . . . . . . . . . . . . . . . . . . . . .
5.
5.1
DC-bus nominal voltage
DC 300 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 3
6.
6.1
Firmware
Multi interface general purpose . . . . . . . . . . . . . . . . = MGP
7.
7.1
Firmware version
e.g., 01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 01
8.
8.1
Nature of the firmware
Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = V
9.
9.1
Firmware release status (update) (00 to 99)
Release status (the currently valid status
= status of the items list delivered) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = RS
= 004
= 008
= 012
= 018
Illustration example: DKC02.3-XXX-3
Fig. 1-5:
Type code for drive controllers with SERCOS interface
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Introduction to the System 1-7
Rexroth EcoDrive Cs Drives
Drive Controllers without Master Communication (Basic Devices)
Abbrev.
Column
1
2
3
4
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: D K C 1 0 . 3 - 0 0 4 - 3 - M G P - 0 1 V R S
1.
1.1
Product
DKC . . . . . . . . . . = DKC
2.
2.1
Line
10 . . . . . . . . . . . . . . . . . . = 10
3.
3.1
Design
3 ........................=3
4.
4.1
4.2
4.3
4.4
Rated current
4A..........................
8A..........................
12 A . . . . . . . . . . . . . . . . . . . . . . . . . .
18 A . . . . . . . . . . . . . . . . . . . . . . . . . .
5.
5.1
DC-bus nominal voltage
DC 300 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 3
6.
6.1
Firmware
Multi interface general purpose . . . . . . . . . . . . . . . . = MGP
7.
7.1
Firmware version
e.g., 01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 01
8.
8.1
Nature of the firmware
Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = V
9.
9.1
Firmware release status (update) (00 to 99)
Release status (the currently valid status
= status of the items list delivered) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = RS
= 004
= 008
= 012
= 018
Illustration example: DKC10.3-XXX-3
Fig. 1-6:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Type code for drive controllers without master communication (basic
devices)
1-8 Introduction to the System
Rexroth EcoDrive Cs Drives
Master Communication
Abbrev.
Column
1
2
3
4
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: E C M 0 1 . 1 - P B 0 1 - N N
1.
1.1
Product
ECM . . . . . . . . . = ECM
2.
2.1
Line
1 . . . . . . . . . . . . . . . . . . . = 01
3.
3.1
Design
1. . . . . . . . . . . . . . . . . . . . . . . . . = 1
4.
4.1
4.2
4.3
4.4
4.5
Interface
CANopen. . . . . . .. . . . . . . . . . . . . . . . = CN01
DeviceNet (open style). . . . . . . . . . . . . = DN01
DeviceNet (micro style) . . . . . . . . . . . . = DN02
none (cover) . . . . . . . . . . . . . . . . . . . . = NNNN
PROFIBUS-DB. . . . . . . . . . . . . . . . . . . . = PB01
5.
5.1
Other design
none . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NN
Illustration example: ECM01.1
Fig. 1-7:
Type code for master communication
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Important Directions for Use 2-1
Rexroth EcoDrive Cs Drives
2
Important Directions for Use
2.1
Appropriate Use
Introduction
Rexroth products represent state-of-the-art developments and
manufacturing. They are tested prior to delivery to ensure operating safety
and reliability.
The products may only be used in the manner that is defined as
appropriate. If they are used in an inappropriate manner, then situations
can develop that may lead to property damage or injury to personnel.
Note:
Bosch Rexroth AG, as manufacturer, is not liable for any
damages resulting from inappropriate use. In such cases, the
guarantee and the right to payment of damages resulting from
inappropriate use are forfeited. The user alone carries all
responsibility of the risks.
Before using Rexroth products, make sure that all the pre-requisites for
an appropriate use of the products are satisfied:
• Personnel that in any way, shape or form uses our products must first
read and understand the relevant safety instructions and be familiar
with appropriate use.
• If the product takes the form of hardware, then they must remain in
their original state, in other words, no structural changes are permitted.
It is not permitted to decompile software products or alter source
codes.
•
•
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Do not mount damaged or faulty products or use them in operation.
Make sure that the products have been installed in the manner
described in the relevant documentation.
2-2 Important Directions for Use
Rexroth EcoDrive Cs Drives
Areas of Use and Application
Drive controllers made by Rexroth are designed to control electrical
motors and monitor their operation.
Control and monitoring of the motors may require additional sensors and
actors.
Note:
The drive controllers may only be used with the accessories
and parts specified in this document. If a component has not
been specifically named, then it may not be either mounted or
connected. The same applies to cables and lines.
Operation is only permitted in the specified configurations and
combinations of components using the software and firmware
as specified in the relevant function descriptions.
Every drive controller has to be programmed before starting it up, making
it possible for the motor to execute the specific functions of an application.
The drive controllers are designed for use in single or multiple-axis drive
and control applications.
To ensure an application-specific use, the drive controllers are available
with differing drive power and different interfaces.
Typical applications of drive controllers are:
•
handling and mounting systems,
•
packaging and foodstuff machines,
•
printing and paper processing machines and
•
machine tools.
The drive controllers may only be operated under the assembly,
installation and ambient conditions as described here (temperature,
system of protection, humidity, EMC requirements, etc.) and in the
position specified.
2.2
Inappropriate Use
Using the drive controllers outside of the above-referenced areas of
application or under operating conditions other than described in the
document and the technical data specified is defined as “inappropriate
use " .
Drive controllers may not be used if
•
they are subject to operating conditions that do not meet the above
specified ambient conditions. This includes, for example, operation
under water, in the case of extreme temperature fluctuations or
extremely high maximum temperatures or if
•
Bosch Rexroth has not specifically released them for that intended
purpose. Please note the specifications outlined in the general safety
instructions!
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Safety Instructions for Electric Drives and Controls 3-1
Rexroth EcoDrive Cs Drives
3
Safety Instructions for Electric Drives and Controls
3.1
Introduction
Read these instructions before the initial startup of the equipment in order
to eliminate the risk of bodily harm or material damage. Follow these
safety instructions at all times.
Do not attempt to install or start up this equipment without first reading all
documentation provided with the product. Read and understand these
safety instructions and all user documentation of the equipment prior to
working with the equipment at any time. If you do not have the user
documentation for your equipment, contact your local Rexroth
representative to send this documentation immediately to the person or
persons responsible for the safe operation of this equipment.
If the equipment is resold, rented or transferred or passed on to others,
then these safety instructions must be delivered with the equipment.
WARNING
3.2
Improper use of this equipment, failure to follow
the safety instructions in this document or
tampering with the product, including disabling
of safety devices, may result in material
damage, bodily harm, electric shock or even
death!
Explanations
The safety instructions describe the following degrees of hazard
seriousness in compliance with ANSI Z535. The degree of hazard
seriousness informs about the consequences resulting from noncompliance with the safety instructions.
Warning symbol with signal
word
Degree of hazard seriousness according
to ANSI
Death or severe bodily harm will occur.
DANGER
Death or severe bodily harm may occur.
WARNING
Bodily harm or material damage may occur.
CAUTION
Fig. 3-1:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Hazard classification (according to ANSI Z535)
3-2 Safety Instructions for Electric Drives and Controls
3.3
Rexroth EcoDrive Cs Drives
Hazards by Improper Use
High voltage and high discharge current!
Danger to life or severe bodily harm by electric
shock!
DANGER
Dangerous movements! Danger to life, severe
bodily harm or material damage by
unintentional motor movements!
DANGER
High electrical voltage due to wrong
connections! Danger to life or bodily harm by
electric shock!
WARNING
Health hazard for persons with heart
pacemakers, metal implants and hearing aids in
proximity to electrical equipment!
WARNING
Surface of machine housing could be extremely
hot! Danger of injury! Danger of burns!
CAUTION
CAUTION
Risk of injury due to improper handling! Bodily
harm caused by crushing, shearing, cutting and
mechanical shock or incorrect handling of
pressurized systems!
Risk of injury due to incorrect handling of
batteries!
CAUTION
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Safety Instructions for Electric Drives and Controls 3-3
Rexroth EcoDrive Cs Drives
3.4
General Information
• Bosch Rexroth AG is not liable for damages resulting from failure to
observe the warnings provided in this documentation.
• Read the operating, maintenance and safety instructions in your
language before starting up the machine. If you find that you cannot
completely understand the documentation for your product, please ask
your supplier to clarify.
• Proper and correct transport, storage, assembly and installation as
well as care in operation and maintenance are prerequisites for
optimal and safe operation of this equipment.
• Only persons who are trained and qualified for the use and operation
of the equipment may work on this equipment or within its proximity.
• The persons are qualified if they have sufficient knowledge of the
assembly, installation and operation of the equipment as well as an
understanding of all warnings and precautionary measures noted in
these instructions.
• Furthermore, they must be trained, instructed and qualified to
switch electrical circuits and equipment on and off in accordance
with technical safety regulations, to ground them and to mark them
according to the requirements of safe work practices. They must
have adequate safety equipment and be trained in first aid.
• Only use spare parts and accessories approved by the manufacturer.
• Follow all safety regulations and requirements for the specific
application as practiced in the country of use.
• The equipment is designed for installation in industrial machinery.
• The ambient conditions given in the product documentation must be
observed.
• Use only safety features and applications that are clearly and explicitly
approved in the Project Planning Manual.
For example, the following areas of use are not permitted: construction
cranes, elevators used for people or freight, devices and vehicles to
transport people, medical applications, refinery plants, transport of
hazardous goods, nuclear applications, applications sensitive to high
frequency, mining, food processing, control of protection equipment
(also in a machine).
• The information given in the documentation of the product with regard
to the use of the delivered components contains only examples of
applications and suggestions.
The machine and installation manufacturer must
• make sure that the delivered components are suited for his
individual application and check the information given in this
documentation with regard to the use of the components,
• make sure that his application complies with the applicable safety
regulations and standards and carry out the required measures,
modifications and complements.
• Startup of the delivered components is only permitted once it is sure
that the machine or installation in which they are installed complies
with the national regulations, safety specifications and standards of the
application.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
3-4 Safety Instructions for Electric Drives and Controls
Rexroth EcoDrive Cs Drives
• Operation is only permitted if the national EMC regulations for the
application are met.
The instructions for installation in accordance with EMC requirements
can be found in the documentation " EMC in Drive and Control
Systems " .
The machine or installation manufacturer is responsible for
compliance with the limiting values as prescribed in the national
regulations.
• Technical data, connections and operational conditions are specified in
the product documentation and must be followed at all times.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Safety Instructions for Electric Drives and Controls 3-5
Rexroth EcoDrive Cs Drives
3.5
Protection Against Contact with Electrical Parts
Note:
This section refers to equipment and drive components with
voltages above 50 Volts.
Touching live parts with voltages of 50 Volts and more with bare hands or
conductive tools or touching ungrounded housings can be dangerous and
cause electric shock. In order to operate electrical equipment, certain
parts must unavoidably have dangerous voltages applied to them.
High electrical voltage! Danger to life, severe
bodily harm by electric shock!
⇒
DANGER
⇒
⇒
⇒
⇒
⇒
⇒
⇒
⇒
⇒
⇒
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Only those trained and qualified to work with or on
electrical equipment are permitted to operate, maintain
or repair this equipment.
Follow general construction and safety regulations when
working on high voltage installations.
Before switching on power the ground wire must be
permanently connected to all electrical units according
to the connection diagram.
Do not operate electrical equipment at any time, even
for brief measurements or tests, if the ground wire is not
permanently connected to the points of the components
provided for this purpose.
Before working with electrical parts with voltage higher
than 50 V, the equipment must be disconnected from
the mains voltage or power supply. Make sure the
equipment cannot be switched on again unintended.
The following should be observed with electrical drive
and filter components:
Wait five (5) minutes after switching off power to allow
capacitors to discharge before beginning to work.
Measure the voltage on the capacitors before beginning
to work to make sure that the equipment is safe to
touch.
Never touch the electrical connection points of a
component while power is turned on.
Install the covers and guards provided with the
equipment properly before switching the equipment on.
Prevent contact with live parts at any time.
A residual-current-operated protective device (RCD)
must not be used on electric drives! Indirect contact
must be prevented by other means, for example, by an
overcurrent protective device.
Electrical components with exposed live parts and
uncovered high voltage terminals must be installed in a
protective housing, for example, in a control cabinet.
3-6 Safety Instructions for Electric Drives and Controls
Rexroth EcoDrive Cs Drives
To be observed with electrical drive and filter components:
High electrical voltage on the housing!
High leakage current! Danger to life, danger of
injury by electric shock!
⇒
DANGER
⇒
⇒
⇒
Protection Against Electric Shock by Protective Low
Voltage (PELV)
All connections and terminals with voltages between 0 and 50 Volts on
Rexroth products are protective low voltages designed in accordance with
international standards on electrical safety.
High electrical voltage due to wrong
connections! Danger to life, bodily harm by
electric shock!
⇒
WARNING
⇒
3.6
Connect the electrical equipment, the housings of all
electrical units and motors permanently with the safety
conductor at the ground points before power is
switched on. Look at the connection diagram. This is
even necessary for brief tests.
Connect the safety conductor of the electrical
equipment always permanently and firmly to the
supply mains. Leakage current exceeds 3.5 mA in
normal operation.
Use a copper conductor with at least 10 mm² cross
section over its entire course for this safety conductor
connection!
Prior to startups, even for brief tests, always connect
the protective conductor or connect with ground wire.
Otherwise, high voltages can occur on the housing
that lead to electric shock.
Only connect equipment, electrical components and
cables of the protective low voltage type (PELV =
Protective Extra Low Voltage) to all terminals and
clamps with voltages of 0 to 50 Volts.
Only electrical circuits may be connected which are
safely isolated against high voltage circuits. Safe
isolation is achieved, for example, with an isolating
transformer, an opto-electronic coupler or when
battery-operated.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Rexroth EcoDrive Cs Drives
3.7
Safety Instructions for Electric Drives and Controls 3-7
Protection Against Dangerous Movements
Dangerous movements can be caused by faulty control of the connected
motors. Some common examples are:
• improper or wrong wiring of cable connections
• incorrect operation of the equipment components
• wrong input of parameters before operation
• malfunction of sensors, encoders and monitoring devices
• defective components
• software or firmware errors
Dangerous movements can occur immediately after equipment is
switched on or even after an unspecified time of trouble-free operation.
The monitoring in the drive components will normally be sufficient to avoid
faulty operation in the connected drives. Regarding personal safety,
especially the danger of bodily injury and material damage, this alone
cannot be relied upon to ensure complete safety. Until the integrated
monitoring functions become effective, it must be assumed in any case
that faulty drive movements will occur. The extent of faulty drive
movements depends upon the type of control and the state of operation.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
3-8 Safety Instructions for Electric Drives and Controls
Rexroth EcoDrive Cs Drives
Dangerous movements! Danger to life, risk of
injury, severe bodily harm or material damage!
⇒
⇒
⇒
Keep free and clear of the machine’s range of motion
and moving parts. Possible measures to prevent
people from accidentally entering the machine’s range
of motion:
- use safety fences
- use safety guards
- use protective coverings
- install light curtains or light barriers
⇒
⇒
⇒
⇒
⇒
DANGER
Ensure personal safety by means of qualified and
tested higher-level monitoring devices or measures
integrated in the installation. Unintended machine
motion is possible if monitoring devices are disabled,
bypassed or not activated.
Pay attention to unintended machine motion or other
malfunction in any mode of operation.
Fences and coverings must be strong enough to
resist maximum possible momentum, especially if
there is a possibility of loose parts flying off.
Mount the emergency stop switch in the immediate
reach of the operator. Verify that the emergency stop
works before startup. Don’t operate the machine if the
emergency stop is not working.
Isolate the drive power connection by means of an
emergency stop circuit or use a starting lockout to
prevent unintentional start.
Make sure that the drives are brought to a safe
standstill before accessing or entering the danger
zone. Safe standstill can be achieved by switching off
the power supply contactor or by safe mechanical
locking of moving parts.
Secure vertical axes against falling or dropping after
switching off the motor power by, for example:
- mechanically securing the vertical axes
- adding an external braking/ arrester/ clamping
mechanism
- ensuring sufficient equilibration of the vertical axes
The standard equipment motor brake or an external
brake controlled directly by the drive controller are
not sufficient to guarantee personal safety!
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Safety Instructions for Electric Drives and Controls 3-9
Rexroth EcoDrive Cs Drives
Disconnect electrical power to the equipment using a
master switch and secure the switch against
reconnection for:
- maintenance and repair work
⇒
- cleaning of equipment
- long periods of discontinued equipment use
⇒
3.8
Prevent the operation of high-frequency, remote
control and radio equipment near electronics circuits
and supply leads. If the use of such equipment cannot
be avoided, verify the system and the installation for
possible malfunctions in all possible positions of
normal use before initial startup. If necessary, perform
a special electromagnetic compatibility (EMC) test on
the installation.
Protection Against Magnetic and Electromagnetic Fields
During Operation and Mounting
Magnetic and electromagnetic fields generated near current-carrying
conductors and permanent magnets in motors represent a serious health
hazard to persons with heart pacemakers, metal implants and hearing
aids.
Health hazard for persons with heart
pacemakers, metal implants and hearing aids in
proximity to electrical equipment!
⇒
WARNING
Persons with heart pacemakers, hearing aids and
metal implants are not permitted to enter the following
areas:
- Areas in which electrical equipment and parts are
mounted, being operated or started up.
- Areas in which parts of motors with permanent
magnets are being stored, operated, repaired or
mounted.
⇒
⇒
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
If it is necessary for a person with a heart pacemaker
to enter such an area, then a doctor must be
consulted prior to doing so. Heart pacemakers that
are already implanted or will be implanted in the
future, have a considerable variation in their electrical
noise immunity. Therefore there are no rules with
general validity.
Persons with hearing aids, metal implants or metal
pieces must consult a doctor before they enter the
areas described above. Otherwise, health hazards will
occur.
3-10 Safety Instructions for Electric Drives and Controls
3.9
Rexroth EcoDrive Cs Drives
Protection Against Contact with Hot Parts
Housing surfaces could be extremely hot!
Danger of injury! Danger of burns!
⇒
⇒
⇒
CAUTION
Do not touch housing surfaces near sources of heat!
Danger of burns!
After switching the equipment off, wait at least ten (10)
minutes to allow it to cool down before touching it.
Do not touch hot parts of the equipment, such as
housings with integrated heat sinks and resistors.
Danger of burns!
3.10 Protection During Handling and Mounting
Under certain conditions, incorrect handling and mounting of parts and
components may cause injuries.
Risk of injury by incorrect handling! Bodily
harm caused by crushing, shearing, cutting and
mechanical shock!
⇒
⇒
⇒
⇒
⇒
⇒
⇒
⇒
CAUTION
Observe general installation and safety instructions
with regard to handling and mounting.
Use appropriate mounting and transport equipment.
Take precautions to avoid pinching and crushing.
Use only appropriate tools. If specified by the product
documentation, special tools must be used.
Use lifting devices and tools correctly and safely.
For safe protection wear appropriate protective
clothing, e.g. safety glasses, safety shoes and safety
gloves.
Never stand under suspended loads.
Clean up liquids from the floor immediately to prevent
slipping.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Safety Instructions for Electric Drives and Controls 3-11
Rexroth EcoDrive Cs Drives
3.11 Battery Safety
Batteries contain reactive chemicals in a solid housing. Inappropriate
handling may result in injuries or material damage.
Risk of injury by incorrect handling!
⇒
Note:
⇒
⇒
⇒
⇒
CAUTION
Do not attempt to reactivate discharged batteries by
heating or other methods (danger of explosion and
cauterization).
Never charge non-chargeable batteries (danger of
leakage and explosion).
Never throw batteries into a fire.
Do not dismantle batteries.
Do not damage electrical components installed in the
equipment.
Be aware of environmental protection and disposal! The
batteries contained in the product should be considered as
hazardous material for land, air and sea transport in the sense
of the legal requirements (danger of explosion). Dispose
batteries separately from other waste. Observe the legal
requirements in the country of installation.
3.12 Protection Against Pressurized Systems
Certain motors and drive controllers, corresponding to the information in
the respective Project Planning Manual, must be provided with
pressurized media, such as compressed air, hydraulic oil, cooling fluid
and cooling lubricant supplied by external systems. Incorrect handling of
the supply and connections of pressurized systems can lead to injuries or
accidents. In these cases, improper handling of external supply systems,
supply lines or connections can cause injuries or material damage.
Danger of injury by incorrect handling of
pressurized systems!
Note:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
⇒
⇒
⇒
⇒
⇒
CAUTION
Do not attempt to disassemble, to open or to cut a
pressurized system (danger of explosion).
Observe the operation instructions of the respective
manufacturer.
Before disassembling pressurized systems, release
pressure and drain off the fluid or gas.
Use suitable protective clothing (for example safety
glasses, safety shoes and safety gloves)
Remove any fluid that has leaked out onto the floor
immediately.
Environmental protection and disposal! The media used in the
operation of the pressurized system equipment may not be
environmentally compatible. Media that are damaging the
environment must be disposed separately from normal waste.
Observe the legal requirements in the country of installation.
3-12 Safety Instructions for Electric Drives and Controls
Rexroth EcoDrive Cs Drives
Notes
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
X5_2
RB2
RB3
RB1
X2
X5_1
DL2
160
172
182
DL1
L2C
X1
L3
X6
L2
INPUTíF200V-240V
L1C
L1
7 8
4 5 6
X3
X5_3
High Temperature
Do not touch heatsink
when power is ON.
Risk of burn.
DANGER
X4
Hazardous Voltage
Do not touch terminals within
10 minutes after disconnect the
power. Risk of electric shock.
Design notice
U
QR
ON ON HIGH
Phase F.L.C Freq.
Power
3
1.1A 50/60Hz
3
1.5A 0-333.3Hz 750W
ON OFF
Read the manual and follow the safety instructions before use.
Where residual-current-operated protective device(RCD) is used for protection in case of direct or
indirect contact,only RCD of Type B is allowed on the supply side of this Electronic Equipment(EE).
Never fail to connect Protective Earth(PE) terminal.
65/75í Wire Only. Use Copper Conductors Only.
Refer to Manual for Wiring and Wire Size. Refer to Manual for Over Load Protection.
S20
Voltage
S1
R
V
ADDRESS
S2
S3
9 0 1
9 0 1
LISTED 7Z45
E164620
OFF OFF LOW
INPUT200-230V
OUTPUT
37V
A15
DKC01.3-0xx Drive Controllers with Analog/Parallel Interface
Fig. 4-1:
2
1
RX
X21
Rexroth Indramat GmbH
K40/02
TRANSMITTER
POWER
Made in Japan
X20
TX
DKC02.3-001-3-MGP-01VRS
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
OFF ON
X5
4 5 6
7 8
11
5
Technical data of motors: see chapter 8
Note:
123456
123456-F0001
SN123456-F0001
2 3
5.2
50
10
NODE
Rexroth
2 3
H1
LINE ERROR
Cs
ECODRIVE
170
70
50
10
5.2
Dimensional Drawings
4.1
X4
W
Technical Data (Drive Controllers)
4
Technical Data (Drive Controllers) 4-1
Rexroth EcoDrive Cs Drives
DKC01.3-0xx Drive Controllers with Analog/Parallel Interface
2.5
maszblatt_analog_parallel.fh7
X5_2
RB2
RB3
RB1
X2
182
172
DL1
160
X5_1
DL2
L2C
X1
L3
X6
L2
INPUTíF200V-240V
L1C
L1
7 8
4 5 6
X3
X5_3
High Temperature
Do not touch heatsink
when power is ON.
Risk of burn.
DANGER
X4
Hazardous Voltage
Do not touch terminals within
10 minutes after disconnect the
power. Risk of electric shock.
U
Voltage
Design notice
DKC02.3-004 (100 W), DKC02.3-008 (200 W) and DKC02.3-012
(400 W) drive controllers with SERCOS interface
Fig. 4-2:
QR
ON ON HIGH
Phase F.L.C Freq.
Power
3
1.1A 50/60Hz
3
1.5A 0-333.3Hz 200W
OFF ON
X5
INPUT200-230V
OUTPUT
37V
1
2
Read the manual and follow the safety instructions before use.
Where residual-current-operated protective device(RCD) is used for protection in case of direct or
indirect contact,only RCD of Type B is allowed on the supply side of this Electronic Equipment(EE).
Never fail to connect Protective Earth(PE) terminal.
65/75í Wire Only. Use Copper Conductors Only.
Refer to Manual for Wiring and Wire Size. Refer to Manual for Over Load Protection.
ON OFF
R
S20
LISTED 7Z45
E164620
OFF OFF LOW
A15
X21
X21
Rexroth Indramat GmbH
K40/02
RX
RX
Made in Japan
X20
DKC02.3-001-3-MGP-01VRS
X20
TX
TX
123456
TRANSMITTER
POWER
ON
2
1
S20
123456-F0001
X6
S1
4 5 6
7 8
11
5
170
5.2
SN123456-F0001
H1
LINE ERROR
Cs
ECODRIVE
2 3
ADDRESS
S2
S3
9 0 1
9 0 1
2 3
V
NODE
Rexroth
X4
W
55
27.5
Rexroth EcoDrive Cs Drives
4-2 Technical Data (Drive Controllers)
DKC02.3-004 (100 W), DKC02.3-008 (200 W) and DKC02.3-012 (400 W)
Drive Controllers with SERCOS interface
2.5
27.5
5.2
maszblatt_55.fh7
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
DANGER
X5_3
X5_2
RB2
RB3
RB1
X2
X5_1
DL2
182
160
172
DL1
L2C
L3
X1
X6
L2
INPUTíF200V-240V
L1C
L1
7 8
4 5 6
X4
High Temperature
Do not touch heatsink
when power is ON.
Risk of burn.
U
Hazardous Voltage
Do not touch terminals within
10 minutes after disconnect the
power. Risk of electric shock.
Design notice
V
QR
ON ON HIGH
Phase F.L.C Freq.
Power
3
1.1A 50/60Hz
3
1.5A 0-333.3Hz 750W
2
1
Voltage
ON OFF
Read the manual and follow the safety instructions before use.
Where residual-current-operated protective device(RCD) is used for protection in case of direct or
indirect contact,only RCD of Type B is allowed on the supply side of this Electronic Equipment(EE).
Never fail to connect Protective Earth(PE) terminal.
65/75í Wire Only. Use Copper Conductors Only.
Refer to Manual for Wiring and Wire Size. Refer to Manual for Over Load Protection.
DKC02.3-018 (750 W) drive controller with SERCOS interface
Fig. 4-3:
S20
R
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
OFF ON
X5
OFF OFF LOW
INPUT200-230V
OUTPUT
37V
ADDRESS
S2
S3
9 0 1
9 0 1
LISTED 7Z45
E164620
X21
A15
X21
RX
RX
Rexroth Indramat GmbH
K40/02
X20
Made in Japan
X20
TX
TX
DKC02.3-001-3-MGP-01VRS
X3
4 5 6
7 8
5
11
170
70
123456
123456-F0001
TRANSMITTER
POWER
ON
2
1
S20
SN123456-F0001
X6
S1
2 3
ECODRIVE
Cs
LINE ERROR
H1
X4
W
NODE
Rexroth
2 3
5.2
50
10
50
5.2
10
Technical Data (Drive Controllers) 4-3
Rexroth EcoDrive Cs Drives
DKC02.3-018 (750 W) Drive Controller with SERCOS interface
2.5
maszblatt_70.fh7
X5_2
RB1
X2
X5_1
DL2
DL1
182
172
160
L2C
X1
L3
X6
L2
INPUTíF200V-240V
L1C
L1
7 8
45 6
X3
X5_3
High Temperature
Do not touch heatsink
when power is ON.
Risk of burn.
DANGER
X4
Hazardous Voltage
Do not touch terminals within
10 minutes after disconnect the
power. Risk of electric shock.
Design notice
RB3
QR
Read the manual and follow the safety instructions before use.
Where residual-current-operated protective device(RCD) is used for protection in case of direct or
indirect contact,only RCD of Type B is allowed on the supply side of this Electronic Equipment(EE).
Never fail to connect Protective Earth(PE) terminal.
65/75í Wire Only. Use Copper Conductors Only.
Refer to Manual for Wiring and Wire Size. Refer to Manual for Over Load Protection.
RB2
Phase F.L.C Freq.
Power
3
1.1A 50/60Hz
3
1.5A 0-333.3Hz 200W
R
LISTED 7Z45
E164620
U
Voltage
INPUT200-230V
OUTPUT
37V
A15
DKC10.3-004 (100 W), DKC10.3-008 (200 W) and DKC10.3-012
(400 W) drive controllers – basic devices
Fig. 4-4:
Rexroth Indramat GmbH
K40/02
2.5
5.2
Made in Japan
Cs
ECODRIVE
X5
123456
V
45 6
7 8
5
11
( 79 )
DKC10.3-001-3-MGP-01VRS
123456-F0001
SN123456-F0001
X6
S1
2 3
ADDRESS
S2
S3
90 1
90 1
2 3
LINE ERROR
H1
X4
W
NODE
Rexroth
50
14.5
50
14.5
5.2
170
24
55
Rexroth EcoDrive Cs Drives
4-4 Technical Data (Drive Controllers)
DKC10.3-004 (100 W), DKC10.3-008 (200 W) and DKC10.3-012 (400 W)
Drive Controllers – Basic Devices
maszblatt_79.fh7
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
X5_3
High Temperature
Do not touch heatsink
when power is ON.
Risk of burn.
DANGER
X5_2
RB1
X2
X5_1
DL2
DL1
172
182
160
L2C
L3
X1
X6
L2
INPUTíF200V-240V
L1C
L1
7 8
45 6
X4
Hazardous Voltage
Do not touch terminals within
10 minutes after disconnect the
power. Risk of electric shock.
Design notice
Read the manual and follow the safety instructions before use.
Where residual-current-operated protective device(RCD) is used for protection in case of direct or
indirect contact,only RCD of Type B is allowed on the supply side of this Electronic Equipment(EE).
Never fail to connect Protective Earth(PE) terminal.
65/75í Wire Only. Use Copper Conductors Only.
Refer to Manual for Wiring and Wire Size. Refer to Manual for Over Load Protection.
RB3
QR
R
LISTED 7Z45
E164620
RB2
Phase F.L.C Freq.
Power
3
1.1A 50/60Hz
3
1.5A 0-333.3Hz 200W
A15
U
Voltage
INPUT200-230V
OUTPUT
37V
ADDRESS
S2
S3
90 1
90 1
DKC10.3-018 (750 W) drive controller – basic device
Fig. 4-5:
Rexroth Indramat GmbH
K40/02
2.5
5.2
Made in Japan
X5
DKC10.3-001-3-MGP-01VRS
V
45 6
7 8
5
11
170
(94)
123456
123456-F0001
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
SN123456-F0001
X6
S1
2 3
ECODRIVE
Cs
LINE ERROR
H1
2 3
X3
NODE
Rexroth
X4
W
50
22
5.2
50
22
24
70
Technical Data (Drive Controllers) 4-5
Rexroth EcoDrive Cs Drives
DKC10.3-018 (750 W) Drive Controller – Basic Device
maszblatt_94.fh7
4-6 Technical Data (Drive Controllers)
4.2
Rexroth EcoDrive Cs Drives
Mass and Materials
Designation
Symbol
Unit
DKC**.3-004
DKC**.3-008
DKC**.3-012
DKC**.3-018
1.4
1.4
1.4
1.7
1.8
1.8
1.8
2.1
mass
SERCOS
Analog/
Parallel
m
kg
PROFIBUS
DeviceNet
CANopen
materials used
-
Fig. 4-6:
free of asbestos and silicone
Mass and materials
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Technical Data (Drive Controllers) 4-7
Rexroth EcoDrive Cs Drives
4.3
Ambient and Operating Conditions
Note:
Designation
The drive controllers and their additional components are
designed for control cabinet mounting!
Symbol
Unit
Value
allowed ambient and air inlet
temperature for rated data
TA
°C
+0 ... +40
maximum allowed ambient and air
inlet temperature with derating
TA
°C
+55
storage and transport temperature
TL
°C
-20 ... +80
m
1000
max. allowed installation altitude for
rated data
max. allowed installation altitude
-
m
2000
(max. allowed ambient temperature then is 40 °C
instead of 55 °C)
max. allowed relative humidity
-
%
90
free of moisture condensation
allowed degree of contamination
2, according to EN 50178
fine dusts not allowed, no moisture condensation
degree of protection
IP20, according to EN 60529 = DIN VDE 0470-1-1992 (IEC 529-1989)
Vibration sinus in operation according
to EN 60068-2-6:
Amplitude and frequency:
0.15 mm (peak-peak) at 10 ... 57 Hz
Acceleration and frequency:
1 g at 57 ... 150 Hz
Tolerance:
±15 %
Vibration distortion (Random) in
operation according to IEC 68-2-36:
Frequency:
20 ... 150 Hz
Spectral acceleration density
amplitude:
0.005 g /Hz
Tolerance:
± 3 dB
Virtual value (r.m.s.) of the
total acceleration:
1.0 g
2
Fig. 4-7:
Note:
Compatibility with foreign
matters
Ambient and operating conditions
The user must check that the ambient conditions, in particular
the control cabinet temperature, are complied with by
calculating the heat levels in the control cabinet.
All Rexroth controls and drives are developed and tested according to the
state-of-the-art of technology.
As it is impossible to follow the continuing development of all materials
(e.g. lubricants in machine tools) which may interact with our controls and
drives, it cannot be completely ruled out that any reactions with the
materials used by Bosch Rexroth might occur.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
4-8 Technical Data (Drive Controllers)
Rexroth EcoDrive Cs Drives
For this reason, before using the respective material a compatibility test
has to be carried out for new lubricants, cleaning agents etc. and our
housings/our housing materials.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Technical Data (Drive Controllers) 4-9
Rexroth EcoDrive Cs Drives
4.4
Electrical Data
Power Section
Designation
Symbol
Unit
operating mode on the mains
mains input voltage
DKC**.3
single-phase*
ULN
V
three-phase
1 x AC
3 x AC
200 - 240 +10%, -15%
mains frequency
fLN
Hz
connected load
SLN
kVA
nominal inrush current**
(depending on mains input voltage)
IL,cont
A
nominal continuous input current**
(depending on mains input voltage
and supply)
IL,max (On)
A
soft-start resistor
RDC(Start)
Ohm
4.7
continuous power soft-start resistor
PDC(Start)
W
17
fS
kHz
4 and 8
Iout_eff cont2
A
switching frequency (selectable)
continuous output current **
characteristic curve output current
50/60
-004: 0.4
-008: 0.7
-012: 1.4
-018: 2.1
-004: 0.4
-008: 0.7
-012: 1.4
-018: 2.4
IEIN1 = ULN.max*1,414/RDC(Start);
see chapter 6.3 Inrush Current and Mains Phase
Current
-004:
-008:
-012:
-018:
1.1
1.3
2.2
5.3
-004:
-008:
-012:
-018:
-004: 1.0
-008: 1.6
-012: 2.5
-018: 3.4
0.7
1.1
1.8
4.0
-004: 1.0
-008: 1.6
-012: 2.5
-018: 4.3
I
Iout_eff max
Iout_eff_cont1
t
t
T
maximum output current**,
t=400ms;
Iout_eff _cont1=0A
base load current at maximum
current**;
t=400ms; T=4s
output frequency range
Iout_eff max
A
-004: 3.0
-008: 4.8
-012: 7.5
-018: 10.3
-004: 3.0
-008: 4.8
-012: 7.5
-018: 12.9
Iout_eff cont1
A
-004: 0.4
-008: 0.5
-012: 0.9
-018: 1.1
-004: 0.4
-008: 0.5
-012: 0.9
-018: 1.4
(Iout_eff max)
fout
Hz
-004 ... -012: 0 ... 333.3
-018: 0 ... 300
power dissipation of the device
(without internal continuous braking
resistor power at 8 kHz)
PVDiss,Drive
W
-004: 24.7
-008: 31.3
power dissipation of the device
(without internal continuous braking
resistor power at 4 kHz)
PDiss,Drive
W
-012: 34.5
-018: 41.9
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
4-10 Technical Data (Drive Controllers)
Rexroth EcoDrive Cs Drives
Designation
Symbol
Unit
DKC**.3
motor power dissipation
PDiss,Motor
W
-004: 39.8
-008: 52.2
-012: 48.9
-018: 42.6
PBS
kW
-004 ... -018: 1.68
(0.2 seconds ON, 67 seconds OFF)
W R,MAX
Ws
-004: 12.0
-008 ... -018: 15.5
max. DC bus charging energy
W MAX
kWs
-004: 0.04
-008 ... -018: 0.06
storable energy of the
DC bus capacitors
W DC
Ws
-004: 7.5
-008 ... -018: 10.5
nominal DC bus capacity
CDC
mF
-004: 0.54
-008 ... -018: 0.81
DC bus voltage
(depending on mains input voltage)
UDC
V
152 - 420
continuous DC bus power
(at 3 x AC 220 V, at Ta ≤ 40 °C)
PDC
W
-004: 140
-008: 253
-012: 457
-018: 796
PDCpeak
W
-004: 500
-008: 864
-012: 1469
-018: 2474
Ohm
100
continuous bleeder power
W
17
energy absorption
Ws
400
braking resistor peak power
at UDC = 240 V
(allowed load cycle)
max. regenerative power
DC bus peak power
internal braking resistor (bleeder):
resistance
*
**
Fig. 4-8:
in the case of a 750 W device (DKC**.3-0018) a three-phase
connection causes a shorter service life and derating
the indicated values are rms values (Ieff = I/√2);
the values are identical for all switching frequencies
Technical data of mains connection and power section
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Technical Data (Drive Controllers) 4-11
Rexroth EcoDrive Cs Drives
Performance Data
Power Balance (Controller and Motor)
Pmech
PLN
PDC
POUT
P4
P3
P2
P1
PDiss,Motor
PDiss,Drive
leistungsbilanz.fh7
PLN:
input power
PDC:
DC bus power
POUT:
output power of drive controller
Pmech:
power at the driven shaft of the motor
PDiss,Drive: power dissipation of drive controller
P1: rectifier losses
P2: IGBT losses
PDiss,Motor: power dissipation of motor
P3: brake losses
P4: motor losses
Fig. 4-9:
Power balance (controller and motor)
The following performance data apply under the following conditions:
• ambient temperature:
40 °C
• installation altitude:
1000 m
• The braking resistor installed in the drive controller is not active
(because an external braking resistor is used, for example).
Device type
PLN
PDC
PDiss
Pmech
η
DKCxx.3-0004
165
140.3
64.5
100.5
60.9
DKCxx.3-0008
284.5
253.2
83.5
201
70.6
DKCxx.3-0012
491.6
457.1
83.4
408.2
83
DKCxx.3-0018
838.1
796.2
84.5
753.6
89.9
PLN:
PDC:
PDiss:
Pmech:
η:
Fig. 4-10:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
input power
DC bus power
power dissipation of drive controller and motor
power at the driven shaft of the motor
efficiency
Performance data under rated conditions
4-12 Technical Data (Drive Controllers)
Rexroth EcoDrive Cs Drives
Derating
Dimensioning
The power data apply to motors and drive controller within the specified
ambient and operating conditions (see " Fig. 4-7:Ambient and operating
conditions " ).
Differing conditions reduce the performance data
• of the drive controller:
•
allowed continuous DC bus power
•
continuous braking resistor power
•
continuous current
• of the motor:
•
power
•
continuous torque at standstill
•
S1 continuous torques
•
short-time service torque MKB
according to the following diagrams.
Note:
If deviating ambient temperatures and higher installation
altitudes occur simultaneously, both utilization factors must be
multiplied. The installation altitude must only be taken into
account once, deviating ambient temperatures must be taken
into account separately for motor and drive controller.
According to restrictions of the conditions, the following derating applies:
Note:
In the following it is understood that the other conditions (max.
ambient temperature, no internal braking power, three-phase
operation) are kept!
The maximum allowed installation altitude is 2000 m. Operation at an
installation altitude of more than 1000 m causes derating due to reduced
atmospheric pressure.
1
load factor
Operation at Installation
Altitudes & gt; 1000 m
0,8
0,6
0
1000
2000
installation altitude above
sea level in m
auslastbarkeit_hoehe.FH7
Fig. 4-11: Derating at installation altitudes & gt; 1000 m
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Technical Data (Drive Controllers) 4-13
Rexroth EcoDrive Cs Drives
Operation at Ambient
Temperatures & gt; 40 °C
Note:
In the following it is understood that the other conditions (max.
installation altitude of 1000 m, no internal braking power,
three-phase operation) are kept!
The maximum allowed ambient temperature is 55 °C. Operation above an
ambient temperature of 40 °C causes a derating of 2% per 1 °C:
load factor
1
0,8
0,6
5
40
45
50
55
ambient temperature in °C
auslastbarkeit_temperatur.FH7
Fig. 4-12: Derating at ambient temperatures & gt; 40 °C
Operation with Internal Braking
Power
Note:
In the following it is understood that the other conditions (max.
ambient temperature of 40 °C, max. installation altitude of
1000 m, three-phase operation) are kept!
Using the internal braking resistor causes additional power dissipation
(heat) in the drive controller and derating (200 W and 400 W drive
controllers only):
100
[%]
200 W
80
60
400
P1
W
40
20
0
0
10
20
30
40
50
60
70
P2
80
90
100
[%]
ecocs_derating_200_400.fh7
Fig. 4-13: Derating when using the internal braking resistor
Note:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
In case the above derating causes problems in servo
operation, you can use the full power of the drive controller by
removing the existing jumper at the RB2 and RB3 terminal
connectors and connecting an external braking resistor to the
RB1 and RB2 terminal connectors.
4-14 Technical Data (Drive Controllers)
Rexroth EcoDrive Cs Drives
Single-Phase Operation
Note:
750 W devices (DKCxx.3-0018) are designed for three-phase
operation! Single phase operation reduces the service life of
the drive controllers significant.
1
load factor
0,8
0,7
264
200
170
power supply voltage in V
ecocs_derating_750.FH7
Fig. 4-14: Derating with single-phase operation (750 W devices)
With 100, 200, and 400 W devices single-phase operation doesn't cause
derating.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Technical Data (Drive Controllers) 4-15
Rexroth EcoDrive Cs Drives
Control Voltage Connection
(data at 25 °C ambient temperature)
Designation
Symbol
Unit
UN3
V
AC200-240 +10%, -15%
f
Hz
50/60
UN3max
V
AC 264 ( = 240V +10%)
max. inrush current
IEIN3
A
37.5 at AC 264 V ( = 240 V +10%)
max. input capacitance
CN3
mF
0.039
power consumption (at X1 at UN=200 V)
PN3
W
SERCOS Drive:
basic device:
basic device + SERCOS:
basic device + DeviceNet:
basic device + PROFIBUS:
8.6
7.2
8.8
8.6
10.2
power consumption (at X1 at UN=240 V)
PN3
W
SERCOS Drive:
basic device:
basic device + SERCOS:
basic device + DeviceNet:
basic device + PROFIBUS:
9.0
7.6
9.1
9.0
10.6
control voltage
frequency
max. allowed undervoltage
Fig. 4-15:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
DKC**.3
Control voltage connection
4-16 Technical Data (Drive Controllers)
4.5
Rexroth EcoDrive Cs Drives
Control and Display Elements (H1, S1, S2, S3)
S3
ADDRESS
7 8
2 3
45 6
H1
S2
90 1
7 8
Rexroth
S3
90 1
45 6
NODE
2 3
H1
S2
LINE ERROR
ECODRIVE Cs
S1
S1
panel.fh7
Fig. 4-16:
H1: diagnostic display, S1: button, S2, S3: address switch
H1 (Diagnostic Display)
For display of the diagnostic messages (errors and operating states).
S1 (Button)
Depending on the situation the S1 button has different functions:
•
Normal operation:
Reset button for resetting error diagnoses.
•
Device initialization (after switching on the supply):
button for activating the bootstrap loader (firmware update)
•
With baud rate scan:
button for activating the manual mode
•
Commissioning:
During baud rate scan press button for at least 5 seconds to get into
the setting mode.
S2, S3 (Address Switch)
Switch for setting the drive address.
The address of the drive can be set by means of two ten-stage switches.
The address can be a number from 1 to 99.
Example:
switch setting S3 = 9 (tens unit)
switch setting S2 = 1 (unit)
drive address = 9 * 10 + 1 = 91
Note:
The unit is supplied with the address not being pre-set.
The setting of switches S2 and S3 depends on the type series,
the firmware which is used or the desired drive address.
⇒
Address Switch S2, S3
Drive Address
See Functional Description of firmware
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Technical Data (Drive Controllers) 4-17
Rexroth EcoDrive Cs Drives
4.6
CE Label, C-UL Listing, Tests
CE Label
CEf1.fh7
Fig. 4-17:
C-UL Listing
CE label
In accordance with UL508 C.
The devices are C-UL-US listed under the item " Rexroth " .
Tests
High voltage test
in accordance with EN50178
Insulation voltage test
in accordance with EN50178s
Separation between control and in accordance with EN50178
power voltage circuits
Air gaps and leakage distances in accordance with EN50178
Fig. 4-18:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Tests
4-18 Technical Data (Drive Controllers)
Rexroth EcoDrive Cs Drives
Notes
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-1
Rexroth EcoDrive Cs Drives
5
Electrical Connections
5.1
Connections Independent of the Device
Views of the Devices and Terminal Connector Designations
Front View
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
4 5 6
H1
2 3
2 3
7 8
NODE
LINE ERROR
EcoDrive Cs
X6
X6
L1
S1
X6
X1
INPUT : 200V-240V
L2
L3
X20
X*
RX
X21
S20
2
1
ON
X5_1
RB1
X5
X5_2
RB2
X5_3
X3
X4
W
X3
V
U
X5_2
X5_3
RB3
X2
X2
DL2
X5_1
DL1
L2C
L1C
X1
TX
X4
X4
schnittstellen_overview.fh7
Fig. 5-1:
Front view with terminal connector designations
Description of connections:
Connection
Designation
See page
mains, control voltage
X1
5-5
reactance coil, braking resistor
X2
5-6
motor
X3
5-9
encoder
X4
5-12
digital inputs
X5_1
5-13
digital outputs
X5_2
5-15
holding brake
X5_3
5-18
RS232
X6
5-21
master communication
X*
5-23
ground
5-11
Fig. 5-2:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Connections
5-2 Electrical Connections
Rexroth EcoDrive Cs Drives
Pin Assignments
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
LINE ERROR
X1
INPUTíF200V-240V
X6
L1
L2
L3
L2C
L1C
X21
S20
2
1
ON
DL1
X2
DL2
X5_1
1 IN1
RB1
X5
6 Bb2
5 Bb1
4 OUT7
3 OUT8
2 0V_ext
1 +24V_ext
1
6
X5_2
1
X5_3
4
X4
U
V
W
ground
6 IN6
5 IN5
4 IN4
3 IN3
2 IN2
RX
RB3
RB3
RB2
X3
motor
DL2
RB1
X20
10
RB2
braking resistor
DL1
TX
U
reactance coil
L2C
V
control voltage
L3
L1C
W
mains voltage
10 OUT1
9 IN7
8 0V_ext
7 0V_ext
X6
S1
L1
L2
7 8
4 5 6
Cs
4 5 6
H1
ECODRIVE
2 3
2 3
7 8
NODE
1
X4
4
3
2
1
ground
BRBR+
+24V_ext_brake
0V_ext_brake
schnittstellen_overview_text_en.fh7
Fig. 5-3:
Pin assignments of the interfaces
The digital inputs (IN1…7) and outputs (OUT1…3) are free configurable.
At delivery the inputs and outputs are preconfigured (see page 5-13
onward).
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-3
Rexroth EcoDrive Cs Drives
Schematic Overall Connection Diagram
L1
N
(1ph)
L1 L2 L3 (3ph)
mains
filter
transformer
magnetic
contactor
necessary, when mains voltage & gt; 240 V
necessary
master
communication
Rexroth
LINE ERROR
X6
X6
INPUTíF200V-240V
L2
L3
X1
X20
RX
X21
S20
L2C
L1C
TX
2
1
ON
voltage supply
of holding brake
DL2
X2
RB1
X5
X5_2
RB2
RB3
BRBR+
U
24V
X5_3
V
X3
X4
W
RB1
RB3
RB2
U
V
W
Ground
Shield
X5_1
DL1
braking
resistor
L1
S1
L1
L2
L3
L1C
L2C
7 8
7 8
4 5 6
Cs
4 5 6
ECODRIVE
2 3
2 3
optional
RS232
ADDRESS
S2
S3
9 0 1
9 0 1
NODE
H1
0V
X4
encoder
cable
motor cable
anschlussplan_gesamt_en.fh7
Fig. 5-4:
Schematic overall connection diagram
Concerning description of connections: see table on page 5-1.
Concerning cables: see chapter 10.1
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-4 Electrical Connections
Rexroth EcoDrive Cs Drives
Meaning
Note
mains filter
Is used for radio interference suppression
transformer
When the mains voltage is higher than 240 V you must use a transformer (e.g.
autotransformer) to reduce the voltage
magnetic contactor
Switches the supply voltage of the motor on or off.
From the input of the magnetic contactor the lines for the control voltage are branched off.
L1-conductor at L1C and N-conductor at L2C.
braking resistor
By connecting an external braking resistor a derating of the continuous DC bus power can
be prevented.
Connection is realized at RB1 and RB2.
If you do not use any external braking resistor, the RB2 and RB3 connections must be
jumpered.
The braking resistor is available as an accessory.
voltage supply of holding
brake
If a motor with holding brake is used, the voltage supply of the holding brake must be
realized externally.
The holding brake is connected at the X5_3 interface (see page 5-18).
Data for the holding brake: see chapter " Holding Brake " on page 8-29
encoder cable
If a motor with encoder is used, an encoder cable must be connected to the X4 interface.
The encoder cable is available as an accessory.
motor cable
The motor cable contains:
•
the lines for connecting the motor (U, V, W, ground)
•
the line with ring cable lug for connecting the cable shield to the ground connection of
the drive controller
•
the separately shielded lines including connector for connecting the holding brake to
the X5_3 interface (BR+, BR-)
The motor cable is available as an accessory.
RS232 cable
The RS232 cable is used to connect a PC to the drive controller.
The RS232 cable is available as an accessory.
master communication
Depending on the design of the drive controller, one of the following master
communications can be used:
•
SERCOS
•
DeviceNet
•
PROFIBUS-DP
•
CANopen
Fig. 5-5:
Notes on the schematic overall connection diagram
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-5
Rexroth EcoDrive Cs Drives
X1, Mains and Control Voltage
Lethal electric shock caused by live parts with
more than 50 V!
⇒
DANGER
Before starting to work on the drive controller switch
off the voltage supply via the main switch or the
circuit breaker.
Always mount or dismount both connectors (motor
connection and mains connection) at the drive
controller.
Observe the notes in the " Safety Instructions for
Electric Drives and Controls " chapter.
⇒
⇒
Technical Data of the Terminal Connector
Graphic Representation
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
LINE ERROR
X6
S1
X1
INPUTíF200V-240V
TX
X20
RX
X21
S20
2
1
ON
X2
DL2
X5_1
DL1
L2C
L1C
L3
L2
X6
L1
L1
L2
L3
L1C
L2C
7 8
4 5 6
Cs
4 5 6
H1
ECODRIVE
2 3
2 3
7 8
NODE
X3
X5_3
X4
W
V
U
X5_2
RB2
RB3
RB1
X5
X4
schnittstellen_X1.fh7
Fig. 5-6:
Design
Terminal connector X1
Type
Number of poles
Type of design
spring tension
5
socket on connector
Fig. 5-7:
Connection Cross Section
Design
Max. connectable cross section
[mm²]
Cross section in AWG
gauge No.
2.5
12
Fig. 5-8:
Connection cross section
Connection of Mains and Control Voltage
See chapter 6 Mains and Supply Voltage Connection
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-6 Electrical Connections
Rexroth EcoDrive Cs Drives
X2, Additional Choke and Braking Resistor
Technical Data of the Terminal Connector
Graphic Representation
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
LINE ERROR
X6
X1
INPUTíF200V-240V
X6
S1
TX
X20
RX
X21
S20
2
1
ON
X2
X5_1
DL1
DL2
RB1
RB3
RB2
7 8
4 5 6
Cs
4 5 6
H1
ECODRIVE
2 3
2 3
7 8
NODE
X3
X4
X5_3
X5_2
X5
X4
schnittstellen_X2.fh7
Fig. 5-9:
Design
Terminal connector X2
Type
Number of poles
Type of design
spring tension
5
socket on connector
Fig. 5-10: Design
Connection Cross Section
Cross section
single-core
[mm²]
Cross section
in AWG
gauge No.
0,75 - 2
18 - 14
Fig. 5-11: Connection cross section
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-7
Rexroth EcoDrive Cs Drives
DL1, DL2: Additional Choke
By connecting an additional choke it is possible to increase the allowed
continuous DC bus power.
Note:
Note:
Choke Connection
If there isn't any choke used these connections must be
jumpered. A wire bridge is supplied together with the device.
Rexroth doesn't deliver
EcoDrive Cs drives.
additional chokes
device-external
device-internal
X2
DL1
DL2
DL1
DL2
X2_Dx.FH7
Fig. 5-12: Connection for choke
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
for
Rexroth
5-8 Electrical Connections
Rexroth EcoDrive Cs Drives
RB1, RB2, RB3: Braking Resistor
Note:
The internal braking resistor causes a derating of the
continuous DC bus power. See page 4-12.
By connecting an external braking resistor the derating of the continuous
DC bus power can be prevented.
Note:
Accessory
Data
When an external braking resistor is used, the drive has to be
informed of this fact by means of the DriveTop commissioning
software (call in DriveTop by menu item " Drive Functions - & gt;
Drive controller " )
An external braking resistor is available as an accessory.
Data for the internal braking resistor: see chapter 4.4 " Electrical Data "
Braking Resistor Connection
device-external
device-internal
X2
RB1
external braking
resistor
RB2
X2_RBx_mit_RB.FH7
Fig. 5-13: Connection for braking resistor
Note:
If you do not use any external braking resistor, the RB2 and
RB3 connections must be jumpered.
device-external
device-internal
X2
RB3
RB2
X2_RBx_ohne_RB.FH7
Fig. 5-14: Jumper on RB2 and RB3
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-9
Rexroth EcoDrive Cs Drives
X3, Motor
Lethal electric shock caused by live parts with
more than 50 V!
⇒
⇒
DANGER
Before starting to work on the drive controller switch
off the voltage supply via the main switch or the fuse.
Always mount or dismount both connectors (motor
connection and mains connection) at the drive
controller.
Observe the notes in the " Safety Instructions for
Electric Drives and Controls " chapter.
⇒
Technical Data of the Terminal Connector
Graphic Representation
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
4 5 6
H1
LINE ERROR
Cs
ECODRIVE
2 3
2 3
7 8
NODE
X6
TX
X20
RX
X21
S20
2
1
ON
X2
X5_1
X1
INPUTíF200V-240V
X6
S1
X3
X4
X5_3
X5_2
U
V
W
X5
X4
Ground
schnittstellen_X3.fh7
Fig. 5-15: Terminal connector X3
Design
Type
Number of poles
Type of design
spring tension
4
socket on connector
Fig. 5-16: Design
Connection Cross Section
Max. connectable cross section
[mm²]
Max. cross section in AWG
gauge No.:
0,75 - 2
18 - 14
Fig. 5-17: Connection cross section
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-10 Electrical Connections
Motor Cables
Rexroth EcoDrive Cs Drives
For connecting drive controller and motor please use the appropriate
Rexroth motor power cables. See chapter 10.1
Cable length:
The maximum cable length is 40 m with:
•
ready-made Rexroth cable
•
ambient temperature of ≤ 40 °C according to EN 60204
•
maximum switching frequency of 8 kHz
WARNING
No warranty!
If cables manufactured by a company other than Bosch
Rexroth resp. cables longer than 40 m are used, the
Bosch Rexroth warranty for the entire drive system
becomes invalid.
Use ready-made Rexroth cables!
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-11
Rexroth EcoDrive Cs Drives
Ground Connection
Technical Data of the Terminal Connector
Graphic Representation
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
Cs
4 5 6
ECODRIVE
2 3
2 3
7 8
NODE
H1
LINE ERROR
X6
TX
X20
RX
X21
S20
2
1
ON
X2
X5_1
X1
INPUTíF200V-240V
X6
S1
X3
X4
X5_3
X5_2
X5
X4
ground
schnittstellen_erde.fh7
Fig. 5-18: Ground connection
Design
Type
Number
Type of design
terminal block
2
threaded terminal end for
M4 ring cable lugs
Fig. 5-19: Design
Connection Cross Section
Cross section
single-core
[mm²]
Max. cross section
in AWG
gauge No.
2.0
14
Fig. 5-20: Connection cross section
Contrary to the safety instruction in chapter 3.5 a copper conductor cross
section of 2 mm2 would be sufficient.
Cable Length
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Maximum 1 m
5-12 Electrical Connections
Rexroth EcoDrive Cs Drives
X4, Encoder
Technical Data of the Terminal Connector
Graphic Representation
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
Cs
4 5 6
ECODRIVE
2 3
2 3
7 8
NODE
H1
LINE ERROR
X6
TX
X20
RX
X21
S20
2
1
ON
X2
X5_1
X1
INPUTíF200V-240V
X6
S1
6
X4
3
2
X4
5
4
X5_3
X4
X3
X5_2
X5
1
schnittstellen_X4.fh7
x4_molex.fh7
Fig. 5-21: Terminal connector X4
Design
Type
Number of poles
Type of design
socket
6
socket on device
Fig. 5-22: Design
Connectors
Encoder Connection
1
encoder voltage supply output (5V)
2
encoder voltage supply output (0V)
3
positive pole of battery*
4
negative pole of battery*
5
encoder signal input (PS)
6
encoder signal input (PS negated)
*
battery not required if the absolute encoder is used as an incremental encoder;
the battery is set into the drive controller (see chapter " Motors " → " Startup,
Operation, and Maintenance " → " Maintenance " → " Battery " )
Fig. 5-23: Encoder connection
Shield Connection
Encoder Cable
shield is grounded by means of shielding plate in connector
maximum allowed length of encoder cable: 40 m
data for encoder cable: see chapter 10.1
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-13
Rexroth EcoDrive Cs Drives
X5_1: Digital Inputs
Technical Data of the Terminal Connector
Graphic Representation
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
Cs
4 5 6
ECODRIVE
2 3
2 3
7 8
NODE
H1
LINE ERROR
X6
S1
IN7
X20
0V_ext
0V_ext
RX
X21
S20
2
1
ON
IN6
X2
X5_1
X1
INPUTíF200V-240V
X6
OUT1
TX
IN5
IN4
IN3
IN2
IN1
X3
X4
X5_3
X5_2
X5
X4
schnittstellen_X51.fh7
Fig. 5-24: Terminal connector X5_1
Design
Type
Number of poles
Type of design
spring tension
10
socket on connector
Fig. 5-25: Design
Connection Cross Section
Cross section
single-core
[mm²]
Cross section in AWG
gauge No.
0,25 - 0.5
23 - 20
Fig. 5-26: Connection cross section
Note:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
The digital inputs can be configured by means of the " Digital
inputs " firmware function in conjunction with the freely
configurable signal control word. The following paragraph
describes the default configuration of the digital inputs.
5-14 Electrical Connections
Rexroth EcoDrive Cs Drives
Connections
Digital Input Connection
10 OUT1
9 IN7
8 0 V ext
(connect to negative pole of external 24 V power supply)
7 0 V ext
(connect to negative pole of external 24 V power supply)
6 IN6
5 IN5
4 IN4
3 IN3
2 IN2
1 IN1
Fig. 5-27: Digital inputs
Note:
Default configuration: see Functional Description of firmware.
Note:
As the digital inputs are galvanically separated, the reference
conductor of the separate power supply unit has to be
connected to GND.
Input circuitry of Digital Inputs
R1
R1
C1
5V6
R2
C1
R3
0 Vext
X5_1_dig_ein_prinzip.fh7
R1:
1k
R2:
10k
R3:
4k7
C1:
no data
Fig. 5-28: Input circuitry (block diagram)
Inputs of Digital Inputs
voltage:
min.
max.
High
5V
30 V
Low
-3 V
11 V
current:
min.
max.
High
6 mA
30 mA
Low
no data
30 mA
input resistance
12 kOhm
Fig. 5-29: Inputs
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-15
Rexroth EcoDrive Cs Drives
X5_2: Digital Outputs
Technical Data of the Terminal Connector
Graphic Representation
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
Cs
4 5 6
ECODRIVE
2 3
2 3
7 8
NODE
H1
LINE ERROR
X6
TX
X20
RX
X21
S20
2
1
ON
Bb2
X2
X5_1
X1
INPUTíF200V-240V
X6
S1
Bb1
OUT7
OUT8
0V_ext
+24V_ext
X3
X4
X5_3
X5_2
X5
X4
schnittstellen_X52.fh7
Fig. 5-30: Terminal connector X5_2
Design
Type
Number of poles
Type of design
spring tension
6
socket on connector
Fig. 5-31: Design
Connection Cross Section
Cross section
single-core
[mm²]
Cross section in AWG
gauge No.
0,25 - 0.5
23 - 20
Fig. 5-32: Connection cross section
Note:
The digital outputs can be configured by means of the " Digital
outputs " firmware function in conjunction with the freely
configurable signal status word. The following paragraph
describes the default configuration.
Connections (Default Configuration)
Connection of Digital Outputs
6
" ready for operation " contact (relay output; N/O contact)
5
" ready for operation " contact (relay output; N/O contact)
4
OUT7
3
OUT8
2
0 V ext
1
+24 V ext
Fig. 5-33: Control outputs
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-16 Electrical Connections
Rexroth EcoDrive Cs Drives
Note:
Default configuration: see Functional Description of firmware.
OUT7, OUT8
Output Circuitry of Digital
Outputs
R1
C1
X5_1_dig_out_prinzip.FH7
R1:
20k
C1:
no data
Fig. 5-34: Output circuitry (block diagram)
Technical Data
output voltage:
min.
max.
High
16 V
24 Vext - 1 V
Low
-0,5 V
1,5 V
output current Iout
80 mA
rise time / fall time
without load
65 µs / 40 µs
with load
70 µs / 6 µs
overload protection
short-circuit proof
electrical isolation
optocoupler
Fig. 5-35: Technical Data
Bb1, Bb2
+12V
Bb1
Bb2
GND
Relais_Bb1_Bb2.fh7
Abb. 5-36:Bb1, Bb2 relay
Loadability of the connection
Bb:
max. switching voltage:
DC 40 V
max. switching current:
DC 1 A
max. continuous current:
DC 1 A
Minimum contact load:
10 mA
Guaranteed number of switching operations at
max. time constant of load & lt; 50 ms:
250,000
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-17
Rexroth EcoDrive Cs Drives
Switching states
Bb:
The Bb contacts opens:
• if control voltage for drive controller is not applied
• if 24 volts not present at the emergency stop input when the E-stop
function is activated (depends on parameterization, see Functional
Description).
• with an error in the drive (depends on parameterization, see firmware
Functional Description: " Power off on error " ).
How to use the contact, see page 6-17
Damage possible if Bb contact not connected!
The ready to operate contact Bb acknowledges the drive
is ready for mains voltage.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
⇒
⇒
WARNING
Integrate Bb contact as per " Control Circuits for the
Mains Connection " .
The evaluation of the Bb contact by a PLC may not
cause any operating delay of more than 10 ms.
5-18 Electrical Connections
Rexroth EcoDrive Cs Drives
X5_3: Holding Brake
Dangerous movements! Danger to personnel
from falling or dropping axes!
⇒
DANGER
The optionally delivered motor holding brake or an
external brake controlled by the drive controller are
not sufficient to guarantee the safety of personnel!
Personnel safety must be achieved using higherranking, fail-safe procedures:
Dangerous areas should be blocked off with fences
or grids.
Additionally secure vertical axes against falling or
sinking after switching off the motor power by, for
example:
- mechanically blocking the vertical axis,
⇒
- adding an external braking/catching/clamping
mechanism or
- providing sufficient counterbalance for the axis.
Switching performance: see Functional Description of firmware.
Technical Data of the Terminal Connector
Graphic Representation
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
Cs
4 5 6
H1
ECODRIVE
2 3
2 3
7 8
NODE
LINE ERROR
X6
TX
X20
RX
X21
S20
2
1
ON
X2
X5_1
X1
INPUTíF200V-240V
X6
S1
X5
X3
X4
X5_3
X5_2
BRBR+
+24V_ext_brake
0V_ext_brake
X4
schnittstellen_X53.fh7
Fig. 5-37: Terminal connector X5_3
Design
Type
Number of poles
Type of design
spring tension
4
socket on connector
Fig. 5-38: Design
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-19
Rexroth EcoDrive Cs Drives
Connection Cross Section
Max. cross section
single-core
[mm²]
Cross section in AWG
gauge No.
0,25 - 0.5
23 - 20
Fig. 5-39: Connection cross section
BR+, BRConnection
4
holding brake-
3
holding brake+
2
+24V_ext_brake
1
0V_ext_brake
Fig. 5-40: Holding brake and voltage connection
Load Capacity of the BR+, BR- connection:
max. switching voltage
DC 36 V
max. switching current
DC 1 A
max. continuous current
DC 1 A
voltage drop electronic contact
100 mV
guaranteed number of switching operations
unlimited (wear-resistant
electronic contact)
short-circuit and overload protection
present
Voltage connection for brake
Note:
The motor holding brake is not supplied by the drive controller.
Observe the data of the motor holding brake.
Note:
It is impossible to loop through the voltages to other drive
controllers. Other drive controllers have to be connected to the
voltage source in star-shaped form.
Risk of damage!
⇒
CAUTION
The maximum allowed current load of the terminal
connectors for the voltage supply of the brake and
the control voltage supply must also be observed in
the case of a short circuit.
max. voltage at X5_3.1 referring to X5_3.2:
current consumption at X5_3.3 and required supply
voltage:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
36 V
see chapter Holding
Brake on page 8-29
5-20 Electrical Connections
Line for Voltage Connection of
Brake
Rexroth EcoDrive Cs Drives
line cross section
voltage stability of a single strand against
ground:
line routing:
max. inductance between 24 V source
and X5_3:
Controlling the Motor Holding
Brake
min. 1 mm
2
≥ 750 V
parallel where possible (twist)
100 µH
(corresponds to approx. 2 x 75 m)
The drive controller assumes the control of the holding brake.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-21
Rexroth EcoDrive Cs Drives
X6, Serial Interface RS232
Note:
The serial interface (RS232) is required for programming,
parameterization and diagnosis during commissioning and
servicing.
Technical Data of the Terminal Connector
Graphic Representation
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
Cs
4 5 6
H1
ECODRIVE
2 3
2 3
7 8
NODE
LINE ERROR
X6
X6
TX
X20
RX
TxD
X21
S20
2
1
GND
ON
3
X2
X5_1
X1
INPUTíF200V-240V
X6
S1
6
X5
1
4
2
8
X5_3
X4
X3
X5_2
7
5
X4
RxD
schnittstellen_X6.fh7
PS2_stecker_ecocs.fh7
Fig. 5-41: Terminal connector X6
Design
Type
Number of poles
Type of design
MiniDIN
8
socket on device
Cross section
single-core
[mm²]
Cross section
multi-core
[mm²]
Cross section
in AWG
gauge No.
--
0.25 – 0.5
--
Fig. 5-42: Design
Connection Cross Section
Fig. 5-43: Connection cross section
Connection Assignment
-
1
-
2
X2_UART_TxD
4
X2_UART_RxD
5
-
6
-
7
-
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
3
GND
8
5-22 Electrical Connections
Rexroth EcoDrive Cs Drives
max. 15 m
X6
RxD
3
TxD
3
5
GND
DTR
5
4
DSR
PC with 9-pin
D-SUB connector
2
6
RTS
CTS
7
TxD
RxD
GND
4
8
max. 15 m
X6
TxD
3
RxD
3
5
GND
DTR
7
4
DSR
PC with 25-pin
D-SUB connector
2
6
RTS
CTS
4
TxD
RxD
GND
20
5
rs232_pc_regler_kabel.FH7
Fig. 5-44: Connecting a PC to the RS232 interface
number of nodes: a maximum of 1
transmission distance: a maximum of 15 m
•
transmission rates: 9600 and 19200 baud
•
8-bit ASCII protocol
•
no parity bit
•
Particularity
•
•
Features
1 stop bit
Using the RS232 interface it is possible to parameterize just one drive at
a time with the assistance of the DriveTop commissioning program.
Note:
RS485 communication is impossible!
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-23
Rexroth EcoDrive Cs Drives
5.2
Connections Dependent on the Device
DKC01.3 – Analog/Parallel Interface
View of Interface to Master Communication
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
Cs
4 5 6
H1
ECODRIVE
2 3
2 3
7 8
NODE
LINE ERROR
X1
INPUTíF200V-240V
DL1
L2C
L1C
L3
L2
X6
L1
S1
X2
DL2
X5_1
X7
X3
X5_3
X4
W
V
U
X5_2
RB2
RB3
RB1
X5
X4
X5_4
schnittstellen_X7_X54.fh7
X5_4: Analog and digital I/Os
X7:
Incremental and absolute encoder emulation
Fig. 5-45: View of interface to master communication
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
ana_para_front.FH7
5-24 Electrical Connections
Rexroth EcoDrive Cs Drives
X5_4, Analog and Digital I/Os
Design
Type
Number of poles
Type of design
spring tension
9
socket on connector
Fig. 5-46: Design
Connection Cross Section
Max. cross section
single-core
[mm²]
Cross section in AWG
gauge No.
0,25 - 0.5
23 - 20
Fig. 5-47: Connection cross section
Pin Configuration
9
8
7
6
5
4
3
2
1
IN11
IN10
IN9
IN8
OUT6
OUT5
OUT4
OUT3
OUT2
ana_para_anschluss.FH7
9
IN11 (input)
8
IN10 (input)
7
IN9 (input)
6
IN8 (input)
5
OUT6 (output)
4
OUT5 (output)
3
OUT4 (output)
2
OUT3 (output)
1
OUT2 (output)
Fig. 5-48: Pin configuration
Note:
Default configuration: see Functional Description of firmware.
The inputs IN8, IN9 and IN10, IN11 can optionally be configurated as
analog inputs (see Functional Description of firmware).
Voltage Range between Analog
Inputs
Resolution
Input
±10V
working
voltage
range
between
analog
inputs:
Analog/Digital converter: 12 bits
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-25
Rexroth EcoDrive Cs Drives
X7, Incremental and Absolute Encoder Emulation
Design
Type
Number of poles
Type of design
MiniDIN
8
socket on device
Cross section
single-core
[mm²]
Cross section
multi-core
[mm²]
Cross section
in AWG
gauge No.
--
0.25 – 0.5
--
Fig. 5-49: Design
Connection Cross Section
Fig. 5-50: Connection cross section
3
6
4
1
7
2
8
5
ps2_X7.fh7
Pin Configuration
Pin
Function
Symbol
I/O
1
Encoder emulation (incremental)
IgsUA1+
O
2
Encoder emulation (incremental)
IgsUA1-
O
3
Ground
0V
-
4
Encoder emulation (incremental)
IgsUA2+
O
SSI: CLK+
I
IgsUA2-
O
SSI: CLK-
I
0V
-
Encoder emulation (SSI)
5
Encoder emulation (incremental)
Encoder emulation (SSI)
6
Ground
7
Encoder emulation (incremental)
IgsUA0+
O
Encoder emulation (SSI)
SSIData+
O
Encoder emulation (incremental)
IgsUA0-
O
Encoder emulation (SSI)
SSIData-
O
8
Fig. 5-51: Pin configuration
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-26 Electrical Connections
Rexroth EcoDrive Cs Drives
Connection encoder - emulation
max. cable length:
40 m
max. allowed capacitance per length unit
– between the outputs
– between output and 0 V
5 nF
10 nF
shielding
see also Fig. 5-52:
Connection of
incremental actual position value output and
Fig. 5-56:
Output of absolute actual
position value in SSI format
double shield protected
Damaging potential by utilizing non and single
shielded cables.
CAUTION
Note:
⇒
Cable
Utilize double shielded cables.
The output of the actual position value is updated every
1000 µs. Due to the non synchronized processing of these
signals in the controller sampling inaccuracies and beat effects
arise.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-27
Rexroth EcoDrive Cs Drives
Incremental Encoder Emulation
Connection
Incremental encoder emulation
length l
X7
1
2
3
4
5
6
positioning
interface
-incremental-
IgsUA1+
IgsUA10V
IgsUA2+
IgsUA20V
7
8
CNC
IgsUA0+
IgsUA0-
0 Vext
emu_inkr_anschluss.FH7
Fig. 5-52: Connection of incremental actual position value output
Differential outputs incremental
encoder emulation
Output voltage:
min.
max.
High
2.5 V
5V
Low
0V
0.5 V
max. output current Iout
I20I mA
max. load capacitance
between output and 0 V
10 nF
max. output frequency f
1 MHz
Overload protection
Outputs may not be short circuited. Danger of
damage!
Fig. 5-53: Differential outputs
Note:
The differential outputs correspond to RS422 specs.
A termination resistor is required an the controller side, if it is
not present then add an external resistance of 150 - 180 Ohm.
Signal for incremental actual
position value output
one line
UA1
Square-wave pulse
looking at the motor
shaft and in
clockwise direction
UA2
UA0
t1
t1
t1 & lt; 50 ns
SV0201F1.FH7
Fig. 5-54: Signal for incremental actual position value output
Output frequency f
f=
Line Quantity
•n
Revolution s
f:
output frequency
n:
velocity (rotary)
Fig. 5-55: Calculating the output frequency f
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-28 Electrical Connections
Rexroth EcoDrive Cs Drives
Note:
The output frequency results from the parameter setting.
= & gt; See also firmware Functional Description: " Encoder
Emulation " .
Pass-band width of the
controller-side signal filtering for
UA1 and UA2
Note:
Conditionally due to the internal signal processing the period
duration and the duty cycle of the signals put out vary.
Therefore the following requirements of the signal filtering for
UA1 and UA2 arise.
f ≥ 500 kHz fPass ≥ 1 MHz
f & lt; 500 kHz fPass ≥ 2 x f
Note:
The evaluation electronics of the control must be able to
process the maximum output frequency of 1 MHz. Otherwise
not all of the signal pulses can be evaluated.
Note:
The frequency measurement is not suitable for the RPM
measurement derived from the incremental emulator signals.
RPM Measurement
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-29
Rexroth EcoDrive Cs Drives
Absolut Encoder-Emulation (SSI-format)
Connection
Absolute Encoder Emulation
length l
X7
1
2
3
4
5
6
CNC
positioninginterface
-absolute-
0V
SSIClk+
SSIClk0V
SSIData+
SSIData-
7
8
0 Vext
emu_absolut_anschluss.FH7
Fig. 5-56: Output of absolute actual position value in SSI format
Differential input circuit
absolute encoder emulation
SSICLK+
R2
R1
C1
SSICLK-
R3
Ap5321f1.fh7
Schematics
Fig. 5-57: Differential input circuit
Differential inputs
absolute encoder emulation
Input voltage:
min.
max.
High
2.5 V
5V
Low
0V
0.5 V
Input resistance
see circuit
Pulse frequency
(100 – 1000 kHz)
Polarity protected within allowable input voltage range
Fig. 5-58: Differential outputs
Differential outputs absolute
encoder emulation
See " Fig. 5-53: Differential outputs " .
Note:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
The differential outputs correspond to RS422 specs.
A termination resistor is required an the controller side, if it is
not present then add an external resistance of 150 - 180 Ohm.
5-30 Electrical Connections
Rexroth EcoDrive Cs Drives
Pulse diagram for absolute actual position output (SSI format)
resolution for 4096 rotations
resolution for 1 rotations
T
Tp
pulse
1
2
3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
1
2
data
1 1 G23 G22 G21 G20 G19 G18 G17 G16 G15 G14 G13 G12 G11 G10 G9 G8 G7 G6 G5 G4 G3 G2 G1 G0 PFB
0
1
1 G23 G22
m
Tp
T
pulse
1
2
24
G23
data
G22
G0
25
PFB
tv
G0
G23
m
T
Tp
tv
PFB
=
=
=
=
=
=
=
least significant bit in gray code
most significant bit in gray code
stored parallel information
pulse time
pulse break & gt; 20 µs
delay time max. 650 ns
power failure bit (not used and always logically LOW)
SV0202F1.FH7
Fig. 5-59: Pulse diagram for absolute actual position output (SSI format)
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-31
Rexroth EcoDrive Cs Drives
DKC02.3 – SERCOS interface
View of Interface to Master Communication
TX
X20
fiber optic connection for
SERCOS ring
RX
X21
2
1
switch to set
transmitting power
ON
sercos_front.FH7
Fig. 5-60: View of interface to master communication
Connection Diagram for SERCOS interface
SERCOS interface Connection
SERCOS interface
TX
fiber optic cable
optical transmitter
RX
fiber optic cable
optical receiver
sercos_lwl.FH7
Fig. 5-61: Connection assignment inputs/outputs for DKC02.3
Switch
2
1
ON
sercos_schalter.FH7
Fig. 5-62: Switch for setting the transmission power
The switch allows setting the transmission power for the SERCOS
interface.
The device is delivered with medium transmission power (-4,5 dBm) set.
Switch Position
A switch is in the ON position when the switch lever is positioned on the
right side.
Transmission Power
In the following table you can recognize the relationship between switch
position, transmission power and max. fiber optic cable length.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-32 Electrical Connections
Rexroth EcoDrive Cs Drives
Position of
switch S20/1
Position of
switch S20/2
Transmission
power with opt.
high level in dBm
Transmission
power with opt.
high level in µW
max. length
with plastic
fiber optic cable
max. length
with glass
fiber optic
cable (*1)
OFF
OFF
-7
200
0...15 m
--
ON
OFF
-4.5
350
15...25 m
--
OFF
ON
-1
800
25...35 m
--
ON
ON
0
1000
35...50 m
0...500 m
Fig. 5-63: Relationship between switch position S20/1, S20/2 and the
transmission power
(*1): The data for the maximum lengths of the fiber optic cables only apply
if the following preconditions have been met:
•
•
Data Rate
fiber optic cables IKO 982, IKO985 or IKO 001 approved by Rexroth
are used
Connection without separating points. If separating points (couplings)
are used, the maximum length for plastic fiber optic cables is reduced
by approx. 10 meters, by approx. 100 meters for glass fiber optic
cables.
The data rate is automatically set by the firmware.
Fiber Optic Cables
Drive controllers with a SERCOS interface are connected to higher-level
control units by means of fiber optic cables.
The fiber optic cables (cable, connector, or the entire ready-made cables)
have to be ordered separately.
For more detailed information on the subject of " fiber optic cables " please
refer to the Application Manual " LWL - Handling " (Fiber Optic Cable
Handling), (DOK-CONNEC-CABLE*LWL**-AWxx-EN-P, Part. No.
284755).
The following points are dealt with in the " LWL – Handling " (Fiber Optic
Cable Handling) manual:
• general information on fiber optic cables
• basic planning information for optical transmission systems
• instructions for laying fiber optic cables
• attenuation measurement on ready-made fiber optic cable
• available fiber optic FSMA plug-in connectors and fiber optic cables
• instructions for assembling FSMA connectors
• tools for assembling fiber optic cables
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-33
Rexroth EcoDrive Cs Drives
DKC03.3 – Profibus-DP Interface
Note:
How to proceed when replacing a master communication
module: see page 5-47.
Master Communication Card
ECM01.1-PB01
View of Interface to Master Communication
6
5
9
Profibus interface
(female, 9 pins)
H30
H31
H32
H33
1
Diagnostic indicators
profibus_front.FH7
Fig. 5-64: View of interface to master communication
Technical Data of the Terminal Connector
Design
Type
Number of poles
Type of design
D-SUB
9
bushings on unit
Cross section
single-core
[mm²]
Cross section
multi-core
[mm²]
Cross section
in AWG
gauge No.
--
0.08-0.5
--
Fig. 5-65: Design
Connection Cross Section
Fig. 5-66: Connection cross section
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-34 Electrical Connections
Rexroth EcoDrive Cs Drives
Connection Diagram for Profibus-DP Interface
Connections of Profibus-DP
Interface
Profibus-DP Interface
device-external
Receive/transmit data P
Repeater control signal P
Busground
Bus 5 V
Receive/transmit data N
Repeater control signal N
device-internal
1
2
3
4
5
6
7
8
9
n.c.
n.c.
B
CNTR-P
BUSGND
VP
n.c.
A
CNTR-N
profibus_anschluss.FH7
Fig. 5-67: Connection
Compatibility of the Interface
Recommended Cable Type
Pin Configuration of the Plug-In
Connector
according to DIN EN 50 170
according to DIN EN 50 170 – 2, cable type A
Pin
DIR
Signal
Function
1
--
n.c.
2
--
n.c.
3
I/O
RS485+
receive/transmit data-positive
4
O
CNTR-P
repeater control signal
0V
0V
+5V
repeater supply
--
n.c.
RS485-
receive/transmit data-negative
0V
0V
5
6
O
7
8
9
I/O
Fig. 5-68: Signal pin configuration of the connector
Shield Connection
Via D-subminiature screws and metallized connector housing.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-35
Rexroth EcoDrive Cs Drives
Signal Specification
Signal
Specification
+5V
+5 V (±10%)
repeater supply
max. 75 mA
repeater control signal
TTL compatible
1: transmit
0: receive
output resistance: 350R
VOL ≤ 0.8 V at IOL ≤ 2 mA
VOH ≥ 3.5 V at IOH ≤ 1 mA
receive/transmit data
EIA-RS485 standard
Fig. 5-69: Signal specification
Danger of destroying output
" +5V Repeater supply " by overload!
Diagnostic Displays
H30 – H33
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
⇒
⇒
CAUTION
do not short-circuit
do not exceed maximum current
For the meaning of the diagnostic displays please see the Functional
Description of the respective firmware.
5-36 Electrical Connections
Rexroth EcoDrive Cs Drives
Bus Connectors
The PROFIBUS connectors each have a connectable terminating
resistor. The terminating resistor must always be active at both the first
and last bus node. Carry out the connection as shown in the figures
below.
5
16
5
shield
A1 B1 A2 B2
ON
Bus connection and switch
position for all other stations
OFF
ON
OFF
Bus connection and switch
position for the first and last stations
A1 B1 A2 B2
AP5069f1.fh7
Fig. 5-70:
Preparing a cable for connecting a bus connector
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-37
Rexroth EcoDrive Cs Drives
To prepare a bus cable, proceed as follows:
• use cable according to DIN EN50170 / 2 edition 1996
• strip cable (see previous illustration)
• insert both cores into screw terminal block
Do not interchange the cores for A and B.
Note:
• press cable sheath between both clamps
• screw both cores into screw terminals
on
1
B
off
A
A
B
A B
A B
Sie
Sie
me
n
s
me
n
s
2
1 Switch connection for the first and final slave in the Profibus-DP
2 The cable shield must be placed bare on the metal guide
Ap5074f1.fh7
Fig. 5-71: Bus connection for the first and last slave, bus connector with 9-pin DSUB socket, INS 0541
on
1
B
off
A
A
B
A B
A B
Siemens
Siemens
Siemens
Siemens
2
1 Terminating resistor is off
2 The cable shield must be placed bare on the metal guide
Ap5075f1.fh7
Fig. 5-72: Bus connection for all other slaves, bus connector with 9-pin D-SUB
socket, INS 0541
1
on
off
A
A
B
B
A B
A B
Sie
me
ns
Sie
me
ns
2
1 Switch connection for the first and final slave in the Profibus-DP
2 The cable shield must be placed bare on the metal guide
Ap5076f1.fh7
Fig. 5-73: Bus connection for the first and last slave without 9-pin D-SUB socket,
INS 0540
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-38 Electrical Connections
Rexroth EcoDrive Cs Drives
1
on
off
A
A
B
B
A B
A B
Siemens
Siemens
Siemens
Siemens
2
1 Terminating resistor is off
2 The cable shield must be placed bare on the metal guide
Ap5077f1.fh7
Fig. 5-74: Bus connection for all other slaves without 9-pin D-SUB socket, INS
0540
Connect the drive controller to a control unit using a shielded two-wire
conductor in accordance with DIN 19245/ section 1.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-39
Rexroth EcoDrive Cs Drives
DKC06.3 – DeviceNet Interface with COMBICON Connector
Note:
How to proceed when replacing a master communication
module: see page 5-47.
Master Communication Card
ECM01.1-DN01
View of Interface to Master Communication
5
DeviceNet Interface
(male, 5 pins)
1
H64
H65
H62
H60
H63
H61
diagnostic indicators
devicenet_front.FH7
Fig. 5-75: View of interface to master communication
Technical Data of the Terminal Connector
Design
Type
Number of poles
Type of design
COMBICON
5
sockets on connector
Cross section
single-core
[mm²]
Cross section
multi-core
[mm²]
Cross section
in AWG
gauge No.
0.2-2.5
0.2-1.5
24-16
Fig. 5-76: Design
Connection Cross Section
Fig. 5-77: Connection cross section
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-40 Electrical Connections
Rexroth EcoDrive Cs Drives
Connection Diagram for DeviceNet Interface
DeviceNet Interface Connection
DeviceNet Interface
device-external
device-internal
1
2
3
4
5
VCANshield
CAN+
V+
devicenet_anschluss.FH7
Fig. 5-78: Connection
Compatibility of the Interface
as per DeviceNet specification 2.0 Vol. 1
Open Screw Connector
Recommended Cable Type
as per DeviceNet specification 2.0 Vol. 1, appendix B
Connections of the Bus Nodes
as per DeviceNet specification 2.0 Vol. 1, appendix B
terminating resistor: 121 Ohm, 1%, ¼ W
Baud Rate and Cable Length
Pin Configuration of the Plug-In
Connector
as per DeviceNet specification 2.0 Vol. 1
Pin
Definition
1
V-
0V
2
CAN-
differential signal
3
shield
shield connection
4
CAN+
differential signal
5
V+
interface supply
Fig. 5-79: Assignment of the interface signals
Maximum Bus Voltage
+30 V
Bus voltage
Current consumption
11 V
70 mA
18 V
45 mA
24 V
35 mA
32 V
Current Consumption on the
Bus
28 mA
Fig. 5-80: Current consumption via bus connector
Diagnostic Displays
H60 – H65
For the definition of the diagnostic displays please see the Functional
Description of the respective firmware.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-41
Rexroth EcoDrive Cs Drives
DKC16.3 – DeviceNet Interface with Sealed Micro-Style Connector
Note:
How to proceed when replacing a master communication
module: see page 5-47.
Master Communication Card
ECM01.1-DN02
View of Interface to Master Communication
4
1 5 3
DeviceNet Interface X160
(male, 5 pins)
2
S160
Data Rate
PGM
switch
data rate
500
250 125
H164
H162
H160
H165
IO
H163
NET
H161
MOD
diagnostic indicators
devicenet_16_front.FH7
Fig. 5-81: View of interface to master communication
Technical Data of the Terminal Connector
Design
Type
Number of poles
Type of design
sealed micro-style
5
pins on unit
Cross section
single-core
[mm²]
Cross section
multi-core
[mm²]
Cross section
in AWG
gauge No.
0.2-2.5
0.2-1.5
24-16
Fig. 5-82: Design
Connection Cross Section
Fig. 5-83: Connection cross section
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-42 Electrical Connections
Rexroth EcoDrive Cs Drives
Connection Diagram for DeviceNet Interface
DeviceNet Interface Connection
DeviceNet Interface
device-external
4
1
5
3
2
device-internal
1
2
3
4
5
bare
red
black
white
blue
devicenet_16_anschluss_stecker.FH7
shield
V+
VCAN_H
CAN_L
devicenet_16_anschluss.FH7
Fig. 5-84: Connection
Compatibility of the Interface
as per DeviceNet specification 2.0 Vol. 1
sealed micro-style connector
Recommended Cable Type
as per DeviceNet specification 2.0 Vol. 1, appendix B
Connections of the Bus Nodes
as per DeviceNet specification 2.0 Vol. 1, appendix B
terminating resistor: 121 Ohm, 1%, ¼ W
Baud Rate and Cable Length
Pin Configuration of the Plug-In
Connector
as per DeviceNet specification 2.0 Vol. 1
Pin
Definition
1
shield
shield connection
2
V+
interface supply
3
V-
0V
4
CAN_H
differential signal
5
CAN_L
differential signal
Fig. 5-85: Assignment of the interface signals
Maximum Bus Voltage
+30 V
Bus voltage
Current consumption
11 V
70 mA
18 V
45 mA
24 V
35 mA
32 V
Current Consumption on the
Bus
28 mA
Fig. 5-86: Current consumption via bus connector
Diagnostic Displays
H160 – H165
For the definition of the diagnostic displays please see the Functional
Description of the respective firmware.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-43
Rexroth EcoDrive Cs Drives
DKC05.3 – CANopen Interface
Note:
How to proceed when replacing a master communication
module: see page 5-47.
Master Communication Card
ECM01.1-CN01
View of Interface to Master Communication
5
9
1
6
CANopen Interface
(male, 9 pins)
H54
H52
H50
Diagnostic indicators
H55
H53
H51
canopen_front.FH7
Fig. 5-87: View of interface to master communication
Technical Data of the Terminal Connector
Design
Type
Number of poles
Type of design
D-SUB
9
pins on device
Cross section
single-core
[mm²]
Cross section
multi-core
[mm²]
Cross section
in AWG
gauge No.
--
0.08-0.5
--
Fig. 5-88: Design
Connection Cross Section
Fig. 5-89: Connection cross section
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-44 Electrical Connections
Rexroth EcoDrive Cs Drives
Connection Diagram for CANopen Interface
CANopen Interface Connection
CANopen Interface
device-external
device-internal
1
2
3
4
5
6
7
8
9
n.c.
CAN_L
0V
n.c.
shield
0V
CAN_H
n.c.
n.c.
canopen_anschluss.FH7
Fig. 5-90: Connection
Compatibility of the Interface
as per ISO 11 898
Recommended Cable Type
as per ISO 11 898
Pin Configuration of the X50
Plug-In Connector
Pin
Definition
1
n.c.
n.c.
2
CAN_L
differential signal
3
0V
Gnd
4
n.c.
n.c.
5
shield
shield connection
6
0V
0V
7
CAN_H
differential signal
8
n.c.
n.c.
9
n.c.
n.c.
Fig. 5-91: Assignment of the interface signals
Shield Connection
Diagnostic Displays
H50 – H55
Via D-subminiature screws and metallized connector housing.
For the definition of the diagnostic displays please see the Functional
Description of the respective firmware.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-45
Rexroth EcoDrive Cs Drives
5.3
Mounting a Master Communication Module
Possible damage to the master communication
module due to ESD!
⇒
CAUTION
Put on an earthing clip.
Removing the Shipping Brace
FW
34
134212356 A-ECODdeR3-MGP-01
Ma
in
VR
56-F 4
000156 Japan S-MS
-F0 K40/02
001
SN12
Rex
roth
A15
E
AD
9 0 S3 DRES
7
6
3
R
2
8
7
45
6
S
9 0 S2
1
ERRO
8
3
LINE
2
Cs
45
NOD
H1
1
ECO
DRIV
E
S1
X6
X1
X2
X3
fkm_transportsicherung.fh7
1. Unscrew two screws of the shipping brace at the drive controller.
2. Remove the shipping brace.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-46 Electrical Connections
Rexroth EcoDrive Cs Drives
Inserting the Master Communication Module
FW
34
134212356 A-ECODdeR3-MGP-01
Ma
in
VR
56-F 4
000156 Japan S-MS
-F0 K40/02
001
Rex
roth
SN12
A15
E
AD
9 0 S3 DRES
8
7
8
7
45
6
S
9 0 S2
3
R
2
ERRO
1
LINE
3
Cs
6
H1
2
E
45
NOD
DRIV
1
ECO
S1
X6
X1
X2
X3
fkm_einsetzen.fh7
1. Carefully plug on master communication module at the drive
controller.
2. Tighten three screws of the master communication module at the
drive controller.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Electrical Connections 5-47
Rexroth EcoDrive Cs Drives
5.4
Replacing a Master Communication Module
Possible damage to the master communication
module due to ESD!
Put on an earthing clip.
⇒
CAUTION
1. Unscrew three screws of the master communication module at the
drive controller:
12
40
S K
S-M
VR
-01 n
GP pa
3-M in Ja
DR ade
CO M
A-E
1
00
FW 3456
F0
01
00
-F
56
35461S2N1234
NOD
E
AD
9 0 S3 DRES
3
8
7
6
45
8
7
6
S
9 0 S2
2
ERRO
R
1
LINE
3
Cs
45
H1
2
E
1
DRIV
5
A1
S1
roth
/02
Rex
ECO
X6
X1
X2
X3
fkm_austausch.fh7
Fig. 5-92: Screws of the master communication module
2. Draw off master communication module sidewards from the drive
controller.
3. Plug on new master communication module at the drive controller.
4. Tighten three screws of the master communication module at the
drive controller.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
5-48 Electrical Connections
Rexroth EcoDrive Cs Drives
Notes
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Mains and Supply Voltage Connection 6-1
Rexroth EcoDrive Cs Drives
6
Mains and Supply Voltage Connection
Lethal electric shock caused by live parts with
more than 50 V!
⇒
DANGER
Before starting to work on the drive controller switch
off the voltage supply via the main switch or the
circuit breaker.
Always mount or dismount both connectors (motor
connection and mains connection) at the drive
controller.
Observe the notes in the " Safety Instructions for
Electric Drives and Controls " chapter.
⇒
⇒
Contents of the Chapter:
• connection features
• kinds of connection (single-phase, three-phase)
• inrush current and mains phase current
• selecting Q1 fuse and K1 contactor
• mains filter
• operation on 400/480 V mains
• ground conditions of the power supply network
• fusing via earth-leakage circuit breaker
• control circuits for the mains connection
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
6-2 Mains and Supply Voltage Connection
6.1
Rexroth EcoDrive Cs Drives
Connection Features
• Rexroth EcoDrive Cs drive controllers must be permanently connected
to the power supply network.
• Single-phase and three-phase connection possible
• Mains and supply voltage connection have to be done via individual
cables.
• It is impossible to interconnect the DC buses and group or central
supply is therefore impossible!
• The control voltage (24 V) is generated internally. For control voltage
supply 230 V are connected externally.
• Connection by means of WAGO terminal blocks
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Mains and Supply Voltage Connection 6-3
Rexroth EcoDrive Cs Drives
6.2
Kinds of Connection
• Three-phase connection at 3 x 240 V
• Single-phase connection at 1 x 240 V
Note:
When operating the drive controllers on mains with 3 x 400 V,
it is necessary to use transformers.
Note:
DKC**.3-018 drive controllers are designed for a three-phase
mains connection. Single-phase operation considerably
reduces the service life of the drive controllers and causes
derating (see chapter Derating on page 4-12).
Single-Phase Connection
Danger of destroying the drive controller!
⇒
CAUTION
Mains Voltage Range
Do not connect the drive controller directly to mains
voltages higher than 240 V! In the case of higher
mains voltages, the connection must be realized via
a transformer.
1 x AC min. 200 V -15% (
170 V) ... max. 240 V +10% (
264 V)
Connection to Drive Controller
L1*
L1
L3*
L2
T
K1
L3
L1C
L2C
netzanschluss_1ph_m_spartrafo.fh7
L1*, L3*: mains
T:
autotransformer (only necessary when mains input voltage is higher
than 240 V)
K1:
magnetic contactor
L1, L3: mains terminal connectors; twisted wires
L1C, L2C: control voltage terminal connectors; twisted wires
Fig. 6-1: Single-phase mains connection
Note:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
If a neutral N is present in the control cabinet, you possibly do
not need a transformer.
6-4 Mains and Supply Voltage Connection
Connection Cross Section
Rexroth EcoDrive Cs Drives
Connection
Cross section
[mm²]
Cross section in AWG
gauge No.
L1, L3
0.75 - 2
18 - 14
L1C, L2C
0.75
18
Fig. 6-2:
Note:
Connection Cross Section
Strong mechanical influence on the test tap of the terminal
connectors can increase the transition resistance and destroy
the terminal connectors.
Three-Phase Connection
Danger of destroying the drive controller!
⇒
CAUTION
Mains Voltage Range
Do not connect the drive controller directly to mains
voltages higher than 240 V! In the case of higher
mains voltages, the connection must be realized via
a transformer.
3 x AC min. 200 V -15% (
170 V) ... max. 240 V +10% (
264 V)
Connection to Drive Controller
L1*
L1
L2*
L2
L3*
L3
T
K1
L1C
L2C
netzanschluss_3ph_m_spartrafo.fh7
L1*, L2*, L3*: mains
T:
autotransformer (only necessary when mains input voltage is higher
than 240 V)
K1:
magnetic contactor
L1, L2, L3: mains terminal connectors; twisted wires
L1C, L2C: control voltage terminal connectors; twisted wires
Fig. 6-3: Three-phase mains connection
Connection Cross Section
Connection
Cross section
[mm²]
Cross section in AWG
gauge No.
L1, L2, L3
0.75 - 2
18 - 14
L1C, L2C
0.75
18
Fig. 6-4:
Note:
Connection Cross Section
Strong mechanical influence on the test tap of the terminal
connectors can increase the transition resistance and destroy
the terminal connectors.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Mains and Supply Voltage Connection 6-5
Rexroth EcoDrive Cs Drives
6.3
Inrush Current and Mains Phase Current
Characteristic of Inrush Current
Note:
For n parallel-switched inputs the current inrush is n-fold.
DKC**.3-004 (100 W)
60A
inrush current [A]
50A
40A
30A
20A
10A
0A
0
2
4
6
8
10
12
time [ms]
inrush current max.
inrush current min.
Fig. 6-5: Inrush current characteristic of DKC**.3-004 (100 W)
DKC**.3-008 (200 W), DKC**.3-012 (400 W),
DKC**.3-018 (750 W)
60A
inrush current [A]
50A
40A
30A
20A
10A
0A
0
2
4
6
8
10
12
14
16
18
time [ms]
inrush current max.
inrush current min.
Fig. 6-6: Inrush current characteristic of DKC**.3-008 (200 W), DKC**.3-012
(400 W), DKC**.3-018 (750 W)
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
6-6 Mains and Supply Voltage Connection
Rexroth EcoDrive Cs Drives
Inrush Current Impulse
Computing Inrush Current
Impulse
When the power supply (mains voltage) is switched on, the DC bus
capacitors are first charged via the softstart resistance. This causes a
current impulse when switching on that falls off at increasing DC bus
voltage.
IEin =
∑I
UN1 * 2
R Softstart
Ein
= IEinGesamt
IEin:
inrush current of unit in A
IEinGesamt:
total inrush current in A (value relevant for fusing)
UN1:
mains input voltage
RSoftstart:
softstart resistance of unit (see relevant technical data)
Fig. 6-7: Computing inrush current
Note:
Numerical example
To compute the inrush current take all the units connected to
the mains voltage into account.
4 DKC02.3-W0012 drive controllers are connected to a mains connection.
RSoftstart = 4.7 Ohm
(see technical data)
UN1
= 264 V (max. allowed mains input voltage)
IEIN
= 79.4 A
total inrush current:
Note:
This inrush current, however, is only of short duration,
because the time constant of the RC element with
T = RSoftstart x CZwischenkreis is within a range of milliseconds
(T = 2...4 ms)!
For 100 W, 200 W, and 400 W drive controllers: To reduce the inrush
current you can connect our accessories SUP-E05-DKC*CS-SURGEP to
the drive controller at terminal X2 (see chapter 10, page 10-18). This
accessories contains an NTC thermistor (33 Ohm at 25 °C; 19.6 Ohm at
40 °C) to reduce the inrush current.
Risk of damage by heat!
⇒
Reducing inrush current
IEinGesamt = 317.6 A
CAUTION
Note:
400 W drive controllers (DKCxx.x-012) that are
operated with SUP-E05-DKC*CS-SURGEP may
only be operated with a maximum power of 70%.
With higher load the NTC thermistor gets too hot.
For 750 W drive controllers the SUP-E05-DKC*CS-SURGEP
is not suitable.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Mains and Supply Voltage Connection 6-7
Rexroth EcoDrive Cs Drives
Numerical examples
4 DKC02.3-W0012 drive controllers are connected to a mains connection.
Ambient temperature = 25 °C:
• R = RSoftstart + RNTC = 4.7 Ohm + 33 Ohm = 37.7 Ohm
• UN1 = 264 V (max. allowed mains input voltage)
• IEIN = 9.9 A (for a single drive controller)
total inrush current:
IEinGesamt = 39.6 A
Ambient temperature = 40 °C:
• R = RSoftstart + RNTC = 4.7 Ohm + 19.6 Ohm = 24.3 Ohm
• UN1 = 264 V (max. allowed mains input voltage)
• IEIN = 15.4 A (for a single drive controller)
total inrush current:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
IEinGesamt = 61.5 A
6-8 Mains and Supply Voltage Connection
Rexroth EcoDrive Cs Drives
Curve of Inrush Current with Single-Phase Operation
According to the kind of connection (single-phase or three-phase), the
inrush current is of different intensity. The figure below illustrate the test
setup and the basic time flow of the inrush current.
Note:
As the curve of the inrush current is not sinusoidal, make sure
you have the appropriate measuring devices when measuring
the current!
Fig. 6-8: Test setup for voltage measurement with single-phase connection
(U = 230 V)
The measurements below illustrate the basic curve of the inrush current
with completely discharged DC bus when switching on the mains voltage.
I L1C when switching on control
voltage
2003/07/03 13:01:30
Stopped
NORM:200kS/s
5ms/div
(5ms/div)
CH1=100mV
DC 1:1
CH4=20V
DC 10:1
=Filter=
S m oot h i ng : OF F
BW : FULL
Fig. 6-9:
= O f f s et =
CH1 : 0.004V
CH2 : 0.003V
CH3 : 0.000V
CH4 :
0.0V
=Record Length=
Main : 10K
Zoom : 10K
=Trigger=
Mode : NORMAL
Type : EDGE CH1
Delay : 0.0ns
Holdoff : MINIMUM
I L1C (upper curve) and mains voltage or transformer output (lower
curve) when switching on (time basis: T = 5 ms/div)
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Mains and Supply Voltage Connection 6-9
Rexroth EcoDrive Cs Drives
I L1 when switching on mains
voltage
2 00 3 /0 7 /0 3 1 3 :10 :04
S to p pe d
NORM:200kS/s
5 ms/d iv
(5ms/div)
CH1=100mV
DC 1:1
CH4=20V
D C 1 0 :1
=Filter=
Smoothing : O FF
BW : FULL
=O ff s et=
C H 1 : 0.004V
C H 2 : 0.003V
C H 3 : 0.000V
CH4 :
0.0V
=R ec ord Length=
Main : 10K
Zoom : 10K
= T r i g g er =
Mode : N O R MAL
T ype : E D G E C H 1
D elay : 0.0ns
H oldof f : MIN IMU M
Fig. 6-10: I L1 (upper curve) and mains voltage or transformer output (lower
curve) when switching on (time basis: T = 5 ms/div)
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
6-10 Mains and Supply Voltage Connection
Rexroth EcoDrive Cs Drives
Curve of Inrush Current with Three-Phase Operation
Fig. 6-11: Test setup for current measurement with three-phase connection
(U = 3 x 230 V)
I L1C when switching on control
voltage
Inrush currents I L1, I L2, I L3
when switching on mains
voltage
Current consumption as with single-phase operation.
2003/07/03 14:33:26
St opped
NORM:100kS/ s
10ms/div
( 10ms/ div)
CH1=100mV
DC 1:1
CH2=100mV
DC 1:1
I L1
CH3=20V
DC 10:1
I L2
CH4=100mV
DC 1:1
I L3
mains
voltage
=F ilter=
Sm oot h ing : O FF
BW : F ULL
=Off set=
CH1 : 0.004V
CH2 : 0.003V
CH3 :
0.0V
CH4 : 0.000V
=Record Length=
M ain : 10 K
Z oom : 10 K
= Tr igger =
M ode : NO R M AL
T ype : ED G E C H 1
D elay : 0 . 0n s
H oldof f : M IN I MU M
Fig. 6-12: Currents I L1, I L2, I L3 and mains voltage or transformer output
when switching on (time basis: T = 10 ms/div)
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Mains and Supply Voltage Connection 6-11
Rexroth EcoDrive Cs Drives
Computing Phase Current on the Mains
To select a suitable mains contactor and fuses for the power connections
it is necessary to first compute the phase current IN at the mains.
The mains-side phase current IN1
connecting power SN1.
is determined out of the mains
Selecting the mains connecting power in the list or compute it according
to the following formula. With multiple controllers, add the individual
powers.
The mains connecting power can be determined
•
by selecting the mains connecting power in the list resp. the technical
data
- or -
•
by computing it according to the following formula.
Note:
With multiple controllers, add the individual powers and, if
necessary, take a coincidence factor into account, because
often not all servo axes require full power simultaneously.
PZWD =
M EFF ⋅ nMITTEL ⋅ 2 ⋅ π
⋅k
60
PZWD:
required DC bus continuous power in W
MEFF:
rms torque in Nm
nMITTEL:
mean speed in min-1
k:
factor for motor and controller efficiency
Fig. 6-13: Computing DC bus power
SN1 = PZWD ⋅ F
SN1:
connected load in VA
PZWD:
DC bus continuous power in W
F:
connected load factor due to the non-sinusoidal phase current
Fig. 6-14: Computing mains connected load
IN1 =
Single-phase load:
Three-phase load:
IN1 =
IN1:
mains-side phase current in A
SN1: connected load in VA
UN1: voltage between phases of the mains in V
Fig. 6-15: Computing mains-side phase current
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
SN1
UN1
SN1
UN1 ⋅ 3
6-12 Mains and Supply Voltage Connection
Rexroth EcoDrive Cs Drives
Mains Connection with Phase Currents of More than 25 A
L1
L2
L3
F1
A1
T1
F2
K1
³ 6 mm2
F3
F4
max. 2.0 mm2
max. 2.0 mm2
L1 L2 L3
L1C
L2C
L1 L2 L3
L1C
L2C
L1 L2 L3
L1C
L2C
L1 L2 L3
L1C
L2C
L1 L2 L3
L1C
L2C
2
L1 L2 L3
L1C
L2C
3
1
2
3
1
netzanschluss_gr_25A.fh7
A1:
mains filter
F1:
fuse for transformer
F2:
circuit breaker (max. 25 A)
2
F3, F4: fuse (max. 16 A when cross-section is 1.5 mm )
K1:
mains contactor
T1:
transformer
Fig. 6-16: Mains connection with phase currents of more than 25 A
Note:
Distribute the control voltage connections symmetrical to the
three phases (see figure above).
Note:
For TN systems only:
If you use an autotransformer, connect the star point of the
output side and the PE terminal of the autotransformer with a
common earthing bar.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Mains and Supply Voltage Connection 6-13
Rexroth EcoDrive Cs Drives
Mains Connection with Phase Currents of Less than 25 A
L1
L2
L3
F1
A1
T1
F2
K1
max. 2.0 mm2
L1
L2
L3
L1C
L2C
L1
L2
L1C
L2C
L3
L1
L2
L1C
L2C
L3
L1
L2
L3
L1C
L2C
netzanschluss_kl_25A.fh7
A1:
mains filter
F1:
fuse for transformer
F2:
circuit breaker (max. 25 A)
K1:
mains contactor
T1:
transformer
Fig. 6-17: Mains connection with phase currents of less than 25 A
Note:
Note:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Distribute the control voltage connections symmetrical to the
three phases (see figure above).
For TN systems only:
If you use an autotransformer, connect the star point of the
output side and the PE terminal of the autotransformer with a
common earthing bar.
6-14 Mains and Supply Voltage Connection
6.4
Rexroth EcoDrive Cs Drives
Selecting Q1 Fuse and K1 Contactor
Notes
• Several controllers can be operated on a single fuse and mains
contactor. The phase currents and inrush currents of the individual
drives must then simply be added up.
• If a transformer is used, then the fuses and contactors must be
installed on the primary side.
• When selecting the mains contactor (power circuit-breaker), observe
the fuse characteristics to make sure that the relatively strong inrush
current does not cause the fuse to respond.
With the known technical data of the devices and the above formulas
there are the following values:
η [%]
PDC [W]
SN1 [VA]
IEin [A]
IN1 [A]
T [ms]
264
100
61
140.3
400
79.2
1.5
2.54
200
71
253.2
700
79.2
2.7
3.8
400
83
457.1
1400
79.2
5.3
3.8
264
three-phase
Pmech [W]
264
single-phase
UNetz_max [V]
264
Connection
750
90
796.2
2165
79.2
8.2
3.8
264
100
61
140.3
400
79.2
0.9
2.54
264
200
71
253.2
700
79.2
1.5
3.8
264
400
83
457.1
1400
79.2
3.1
3.8
264
750
90
796.2
2165
79.2
4.7
3.8
UNetz_max: Maximum admissible mains input voltage
Pmech: Power at the driven shaft of the motor
η:
Efficiency
PDC: Continuous DC bus power
SN1: Mains connection power
IEin:
Inrush current
IN1:
Phase current of the mains
T:
Time constant of RC element (T = RSoftstart x CZwischenkreis)
Fig. 6-18: Overview of phase currents and inrush current peaks of the devices
for single-phase and three-phase operation
Therefore, the following criteria have to be taken into account when
selecting the mains contactor:
• cable cross section of the supply feeders
The supply feeders of the drive controllers have to be fused by means
of the circuit breakers. The maximum possible wire cross section at
2
the terminal connector is 2.0 mm (- & gt; max. 16 A when cross-section is
2
1.5 mm ).
• mains current consumption at continuous operation in nominal
working point
It must be possible for the mains-side phase current IN1 to be
continuously flowing without the fuse triggering.
• duration of maximum inrush current and device peak current
It must be possible for the inrush current IEin to flow at least for the time
t = 5*T = 15 ms without the fuse triggering. Therefore use slow fuses!
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Mains and Supply Voltage Connection 6-15
Rexroth EcoDrive Cs Drives
6.5
Mains Filter
Note:
Mains filters are available from Rexroth to comply with EMClimits (see chapter 10 Additional Components).
When selecting the mains filter, the sum of the mains-side phase currents
IEin of all drive controllers connected to the mains has to be taken into
account.
Example
6 drive controllers of the DKC0x.3-W0008 (400 W) type are to be
operated with a mains filter. The resulting total current is 6*5.3 A = 31.8 A.
This means that the mains filter has to be dimensioned for at least
31.8 Aeff phase current.
Note:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
You can find detailed information in the project planning
manual " Electromagnetic Compatibility (EMC) in Drive and
Control
Systems " ,
doc.-type
DOK-GENERL-EMV********-PRxx.
6-16 Mains and Supply Voltage Connection
6.6
Rexroth EcoDrive Cs Drives
Operation on 400/480 V Mains
Basics
Operation on the mains with voltages above 240 V requires a mains
transformer. This applies both to single-phase operation and to threephase operation.
Note:
There are often only the 3 phases (L1, L2, L3) available in the
control cabinet so that the resulting voltage is 400 V (480 V)
even with single-phase mains connection (L1, L2)!
Selecting the Mains Transformer
When selecting the mains transformer, the total mains connection power
SN1 and the total phase current IN1 of all drive controllers to be supplied
has to be taken into account (see table below).
Connection
Pmech [W]
η [%]
PDC [W]
SN1 [VA]
Form
factor F
IN1 [A]
IEin [A]
singlephase
100
61
140.3
400
2.436
1.5
78.6
200
71
253.2
700
2.471
2.7
78.6
400
83
457.1
1400
2.905
5.3
78.6
750
90
796.2
2400
2.848
9.1
78.6
100
61
140.3
400
2.436
0.9
78.6
200
71
253.2
700
2.471
1.6
78.6
400
83
457.1
1400
2.905
3.1
78.6
750
90
796.2
2400
2.848
5.3
78.6
three-phase
Pmech: Power at the driven shaft of the motor
η:
Efficiency
PDC: Continuous DC bus power
SN1: Mains connection power
IEin:
Inrush current
Phase current of the mains
IN1:
T:
Time constant of RC element (T = RSoftstart x CZwischenkreis)
Fig. 6-19: Overview of phase currents and inrush current peaks of the devices
for single-phase and three-phase operation
Example
6 drive controllers of the DKC0x.3-W0008 (400 W) type are to be supplied
in a three-phase way via a transformer. The resulting mains connection
power is 6 x 1400 VA = 8400 VA. This means that a transformer of
8.4 kVA has to be used if all axes can load the mains simultaneously. As
often not all axes require power at the same time, a respective
coincidence factor can be taken into account, if necessary.
Note:
Rexroth supplies appropriate transformers (see chapter 10
Additional Components).
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Mains and Supply Voltage Connection 6-17
Rexroth EcoDrive Cs Drives
6.7
The Ground Conditions of the Power Supply Network
Grounded three-phase current
networks
Drive controllers of the Rexroth EcoDrive Cs family can be operated on
three-phase current networks with grounded star point or external
conductors without potential isolation.
Ungrounded three-phase
networks
Ungrounded networks (IT networks) present the increased danger of
unallowable phase to ground overvoltages occurring. Drive controllers of
the Rexroth EcoDrive Cs family can be protected against overvoltages
• By connecting them via an isolating transformer (the star point of the
output side and the PE connection of the power supply unit are linked
on a shared ground rail)
- or -
• If the facility is protected via an overvoltage suppressor.
Note:
Overvoltage
Connecting Rexroth EcoDrive Cs drive controllers via an
isolating transformer offers the best protection against
overvoltage as well as the greatest operating safety.
The periodic overvoltage of Rexroth EcoDrive Cs drive controllers
between phase (L1, L2, L3) and ground may not exceed 1000 V
(threshold value).
Transient overvoltage ( & lt; 50 µs) may, as per EN61800-3/1996, equal a
max value of 1000 V phase to phase and 2000 V phase to ground.
Note:
Note:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
If higher overvoltages occur, then they must be limited with the
use of overvoltage suppressors in the cabinet or building.
Mains voltages exceeding the specified range require the use
of a step-down transformer.
6-18 Mains and Supply Voltage Connection
6.8
Rexroth EcoDrive Cs Drives
Earth-leakage Circuit Breaker
It is not possible to use a earth-leakage circuit breaker in Rexroth
EcoDrive Cs drive controllers (EN 50178/1994, section: 5.3.2.3).
Protection against indirect contact is implemented by the protective
grounded housing of the components of the drive system.
6.9
Control Circuits for the Mains Connection
Overview
The control circuits recommended by Rexroth specify the functional
principle.
Note:
The ready to operate message is output via a relay contact (N/O). If the
Bb contact closes, then the drive is ready to receive power. The contact is
thus a precondition for connecting the mains contactor.
Danger of damage!
⇒
CAUTION
⇒
Signal contact ready-to-operate
Bb
The choice of control and its effects depends on the extent of
the functions and the operating sequence of facility or
machine. It is therefore the responsibility of the manufacturer
of the installation and machine.
The effectiveness of the separation of, the mains
connection via signal contact " Ready to operate Bb " or
the multi-circuits of all Rexroth EcoDrive Cs Bb
contacts must be ensured!
See also Functional Description of firmware: " Power shutdown with
fault "
Note:
When the mains contactor is shut off the mains coil causes
overvoltages. These can cause the Bb contact to drop
prematurely. To attenuate overvoltage use overvoltage limiters
with diode combinations.
DC 24V
K1
AP5123F1.FH7
Fig. 6-20: Recommended protective circuits
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Mains and Supply Voltage Connection 6-19
Rexroth EcoDrive Cs Drives
The use of varistors and RC modules as protective circuits is not allowed.
Varistors age and increase their locking currents. RC modules make
excessive demands of the switching capabilities of the Bb contact. This
leads to early failures of connected components and units.
Note:
Load limits of the Bb contacts must be maintained. Contactors
with AC excitation or those that exceed the load limits of the
effected contact elements (Bb contacts, etc.) can be controlled
with the use of auxiliary contactors.
Damages!
⇒
CAUTION
Before switching the device on again, wait at least
300 ms plus the fall-delay time (typically 80...150 ms)
of the mains contactor.
Control Circuits with E-Stop
Pre-requisite:
Note:
The E-stop input is available if the E-stop function has been
activated in the software and the digital input has been
configured accordingly (see Functional Description of
firmware).
Use the E-stop function if drive-internal error reactions must be activated
as quickly as possible as a result of the following events:
• The emergency off button is pressed.
• Power is shut down.
• Error message from control (lag error monitor, emergency off actuated
by the control).
Note: If the E-stop function is not used, then the drive-internal error
reaction is not triggered until the K1 contactor opens and, as a
result, " undervoltage in DC bus " is detected in the controller.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
6-20 Mains and Supply Voltage Connection
Rexroth EcoDrive Cs Drives
ext. control voltage +DC 24 V
Emergency stop
Safety limit switch
Power off
Control error
message
Bb3)
X5_2/5
X5_2/6
X5_1/6
E- Stop 2)
1)
Power on
Power protection
K1
K1
e_stop_schaltung.FH7
1):
Integrating Bb contacts of more drive controllers in series connection.
(Bb contact: X5_2, Pin 5 and 6);
2):
E-stop for more drive controllers on same contactor.
3):
Switching power of Bb contact must be noted.
Fig. 6-21: Example of generating the E-stop signal
Note:
Do not pick off the E-Stop signal after the Bb contact.
If the safety end switches illustrated also function as a travel
range limit, then a separate set-up must be created in case of
actuation, which makes it possible to move back out of the
end position!
= & gt; See also Functional Description of firmware: " Travel
range limits " .
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Designing the Control Cabinet 7-1
Rexroth EcoDrive Cs Drives
7
Designing the Control Cabinet
7.1
Notes on Control Cabinet Project Planning
All drive components, with the exception of motors, are intended for
mounting into a control cabinet. When planning the control cabinet, take
the technical data of the drive components into account.
To determine the necessary control cabinet size, not only the mechanical
dimensions (dimension sheets, etc.) but also such thermal features as the
power dissipation of the individual components, cooling air outlet
temperatures etc. must be taken into consideration.
Mounting Position and Distances
Mounting Position
Mount the drive controllers and, if required, the auxiliary braking
resistor modules in such a way that their longitudinal axis correlates
with the natural direction of convection. The natural convection
supports the forced cooling air current. The formation of individual
heat spots is inhibited.
Put the backs of the drive controllers on the mounting surface
(mounting plate) of the control cabinet with all-over contact.
⇒
⇒
Distances
D
D
C
7 8
7 8
L1
L2
L3
RX
S1
2
1
ON1 2
L1C
B
ON
A
DL1
ON1 2
ON
RB1 DL2
RB1 DL2
X5
W
V
U
RB2 RB3
U
X5
V
X4
2
1
L2C
RX
S1
RB2 RB3
L3
L2
TX
L1C
B
DL1
ON1 2
ON
W
W
V
U
RB2 RB3
2
1
L2C
L2
L3
L1C
L2C
RB1 DL2
DL1
ON1 2
X4
7 8
7 8
L1
L1
L2
L1C
DL1
RB1 DL2
W
V
U
X5
X6
TX
RX
S1
LINE ERROR
S1
L1
45 6
L3
7 8
7 8
7 8
7 8
45 6
L2C
45 6
RB2 RB3
45 6
X5
45 6
ON
45 6
X6
2 3
2
1
ECODRIVE Cs
2 3
B
RX
S1
H1
LINE ERROR
S1
TX
ADDRESS
S2
S3
90 1
90 1
NODE
2 3
X6
2 3
ECODRIVE Cs
S1
TX
A
H1
LINE ERROR
Rexroth
ADDRESS
S2
S3
90 1
90 1
NODE
2 3
X6
2 3
2 3
2 3
ECODRIVE Cs
S1
Rexroth
ADDRESS
S2
S3
90 1
90 1
NODE
H1
LINE ERROR
45 6
Rexroth
ADDRESS
S2
S3
90 1
90 1
NODE
H1
45 6
Rexroth
ECODRIVE Cs
X4
X4
C
kuehlluft_ein_aus_mit_fronten.fh7
A
B:
min. 40 mm
min. 10 mm (min. 15 mm if you use an encoder adapter (SUP-E04DKC*CS-xxx))
C:
min. 100 mm
D:
arrangement of the blowers (if blowers are necessary)
Fig. 7-1: Distances in the control cabinet
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
7-2 Designing the Control Cabinet
Rexroth EcoDrive Cs Drives
⇒
CAUTION
High temperature
Risk of damage to temperature-sensitive control
cabinet components in the area of the cooling air
outlet.
Make sure the distances are sufficient.
Arranging the Components in the Control Cabinet
Control Cabinet with Multiple Line Structure
Note:
In particular when arranging components in multiple lines
within the control cabinet, it is important to observe their max.
air inlet temperature (see technical data) and, if necessary, to
mount air baffles with blowers used for this specific purpose.
Discharge direction of the
warmed air in the flow-off area
Inlet area of the cooling air for
the upper device line
Additional
blower
For example:
air baffle
Discharge direction of the
warmed air in the flow-off area
Inlet area of the cooling air for
the lower device line
Fig. 7-2:
Exhaust air
to the air
conditioner
Supply air
from the air
conditioner
Example of arrangement for multiple line structure
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Designing the Control Cabinet 7-3
Rexroth EcoDrive Cs Drives
7.2
Using Cooling Units in the Control Cabinet
Unless the rated data are reduced the drive controller may only be
operated up to a specified maximum ambient temperature (see
chapter 4.3). It is therefore possible that a cooling unit will be required.
Possible damage to the controller
Operational safety of the machine endangered
Note the following instructions
Avoiding Dripping or Spraying
Water
⇒
CAUTION
Due to their operating principle condensation water is formed when
cooling units are used. For this reason, please observe the following
information:
•
Always position cooling units in such a way that condensation water
cannot drip onto electronic equipment in the control cabinet.
•
Position the cooling unit in such a way that the blower of the cooling
unit does not spray accumulated condensation water onto electronic
equipment.
correct
incorrect
Cooling system
warm
Cooling system
cold
warm
cold
Air duct
electronic
equipment
electronic
equipment
Cabinet
Cabinet
Eb0001f1.fh7
Fig. 7-3:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Arranging the cooling unit on the control cabinet
7-4 Designing the Control Cabinet
Rexroth EcoDrive Cs Drives
correct
incorrect
Cabinet
Cabinet
Air inlet
Air inlet
Air outlet
Air
duct
Cooling
system
Cooling
system
electronic
equipment
electronic
equipment
Eb0002f1.fh7
Fig. 7-4:
Avoiding Moisture Condensation
Arranging the cooling unit on the front of the control cabinet
Moisture condensation occurs when the temperature of the device is
lower than the ambient temperature.
•
Set cooling units with temperature adjustment to the maximum
surrounding temperature and not lower!
•
Set cooling units with follow-up temperature in such a way that the
interior temperature of the control cabinet is no lower than the
temperature of the surrounding air. Set the temperature limitation to
the maximum surrounding temperature.
•
Only use well-sealed control cabinets so that moisture condensation
cannot arise as a result of warm and moist external air entering the
cabinet.
•
In the event that control cabinets are operated with the doors open
(commissioning, servicing etc.) it is essential to ensure that after the
doors are closed the drive controllers cannot at any time be cooler
than the air in the control cabinet, as otherwise moisture
condensation can occur. In other words, ensure sufficient circulation
in the cabinet to avoid any heat spots.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Designing the Control Cabinet 7-5
Rexroth EcoDrive Cs Drives
7.3
General Information
Damage can be caused to the drive controller or circuit boards if
electrostatic charging present in people and/or tools is discharged across
them. Therefore, please note the following information:
Damage to electronic components and
interference with their safety of operation
caused by electrostatic charges!
⇒
CAUTION
Objects coming into contact with components and
circuit boards must be discharged by means of
grounding. Otherwise errors may occur when
triggering motors and moving elements.
Such objects include:
•
the copper bit when soldering
•
the human body (ground connection caused by touching a
conductive, grounded item)
•
parts and tools (place them on a conductive support)
Endangered components may only be stored or dispatched in conductive
packaging.
Note:
General Information
Rexroth connection diagrams are only to be used for
producing installation connection diagrams! The machine
manufacturer’s installation connection diagrams must be used
for wiring the installation!
• Lay signal lines separately from the load resistance lines because of
the occurrence of interference.
• Feed analog signals (e.g. command values, actual values) via shielded
lines.
• Do not connect mains, DC bus or power leads to low voltages or allow
them to come into contact with these.
• When carrying out a high voltage test or an applied-overvoltage
withstand test on the machine’s electrical equipment, disconnect all
connections to the units. This protects the electronic components
(permitted in accordance with EN 60204-1). During their routine
testing, Rexroth drive components are tested with regard to high
voltage and isolation in accordance with EN 50178.
Risk of damage to the controller by connecting
and disconnecting live connections!
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
⇒
CAUTION
Do not connect and disconnect live connections.
7-6 Designing the Control Cabinet
7.4
Rexroth EcoDrive Cs Drives
Wire Routing in the Control Cabinet
•
Maintain a distance of at least 100 mm between power cables and
control or signal cables (e.g. feedback cables) or
•
separate cable duct with metal divider
Metal cable duct
2...4 mm
Plastic cable duct
& gt; 100 mm
MB5008F1.FH7
Fig. 7-5:
Note:
7.5
Cable duct variants
For details please see Project Planning Manual
" Electromagnetic Compatibility (EMC) in Drive and Control
Systems " , document typecode
DOK-GENERL-EMV********-PRxx.
EMC in the Control Cabinet
Note:
For details please see Project Planning Manual
" Electromagnetic Compatibility (EMC) in Drive and Control
Systems " , document typecode
DOK-GENERL-EMV********-PRxx.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-1
Rexroth EcoDrive Cs Drives
8
Motors
8.1
Overview
Basic Type
• motor with degree of protection IP65 (incl. plug-in connectors;
exception: motor shaft (IP40))
• without holding brake
• with incremental encoder
• with plain shaft
Options
• holding brake
• absolute encoder
• shaft with key
Benefits
MSM motors are characterized by the following advantages:
• High operational reliability
• Maintenance-free operation (owing to the brushless design and use of
bearings grease-lubricated for their entire service life)
• Use under adverse environmental conditions is possible
• Overload protection (owing to motor temperature monitoring)
• High performance data
• High dynamics (owing to the favorable ratio of torque to inertia mass)
• High overload capability (owing to the favorable heat dissipation from
the stator windings to the outside wall of the motor housing)
• Peak torque utilizable across a wide speed range (owing to electronic
commutation)
• Continuous start-stop operation possible with high repeat frequencies
(owing to electrical commutation)
• Any installation position desired
• Easy cabling (owing to cable sets, available in various designs)
• Simple and quick startup (owing to data memory in the motor encoder
unit)
• MSM motors are permanent-magnet motors with electronic
commutation. Special magnet materials permit the motors to be
designed with low inertia masses.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-2 Motors
8.2
Rexroth EcoDrive Cs Drives
MSM Type Code
Each order of a product by Rexroth must be based on the type code. All
available motor versions are uniquely described by their type code. The
following figures describe the individual characters of the type code
(abbrev. column) and their meaning.
Motor MSM020B
Abbrev.
Column
1
2
3
4
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: M S M 0 2 0 B - 0 3 0 0 - N N - C 0 - C G 1
1.
1.1
Product
MSM. . . . . . . . . = MSM
2.
2.1
Size
020 . . . . . . . . . . . . . . . . . = 020
3.
3.1
Length
Length . . . . . . . . . . . . . . . . . . . . = B
4.
4.1
Windings
MSM020B . . . . . . . . . . . . . . . . . . . . . = 0300
5.
5.1
Cooling mode
natural convection, without blower . . . . . . . . . . . . = NN
6.
6.1
6.2
Encoder
Incremental encoder with 1.024 increments . . . . . . . . . . . . = C0
Multiturn absolute encoder with 512 increments . . . . . . . . = M0
7.
7.1
Electrical connection
cable tail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = C
8.
8.1
8.2
Shaft
key per DIN 6885-1.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = C
plain shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = G
9.
9.1
9.2
Holding brake
without holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 0
electrical release 0.29 Nm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 1
10.
Standard reference
Standard
Title
DIN 6885-1
Drive Type with Fastenings without Taper Action;
Parallel Keys, Keyways, Deep Pattern
Fig. 8-1:
Edition
1968-08
Type code for motor MSM020B
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-3
Rexroth EcoDrive Cs Drives
Motor MSM030
Abbrev.
Column
1
2
3
4
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: M S M 0 3 0 B - 0 3 0 0 - N N - C 0 - C G 1
1.
1.1
Product
MSM. . . . . . . . . = MSM
2.
2.1
Size
030 . . . . . . . . . . . . . . . . . = 030
3.
3.1
Length
Lengths . . . . . . . . . . . . . . . . . = B, C
4.
4.1
4.2
Windings
MSM030B . . . . . . . . . . . . . . . . . . . . . = 0300
MSM030C . . . . . . . . . . . . . . . . . . . . . = 0300
5.
5.1
Cooling mode
natural convection, without blower . . . . . . . . . . . . = NN
6.
6.1
6.2
Encoder
Incremental encoder with 1.024 increments . . . . . . . . . . . . = C0
Multiturn absolute encoder with 512 increments . . . . . . . . = M0
7.
7.1
Electrical connection
cable tail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = C
8.
8.1
8.2
Shaft
key per DIN 6885-1.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = C
plain shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = G
9.
9.1
9.2
Holding brake
without holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 0
electrical release 1.27 Nm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 1
10.
Standard reference
Standard
Title
DIN 6885-1
Drive Type with Fastenings without Taper Action;
Parallel Keys, Keyways, Deep Pattern
Fig. 8-2:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Edition
1968-08
Type code for motor MSM030
8-4 Motors
Rexroth EcoDrive Cs Drives
Motor MSM040B
Abbrev.
Column
1
2
3
4
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: M S M 0 4 0 B - 0 3 0 0 - N N - C 0 - C G 1
1.
1.1
Product
MSM. . . . . . . . . = MSM
2.
2.1
Size
040 . . . . . . . . . . . . . . . . . = 040
3.
3.1
Length
Length . . . . . . . . . . . . . . . . . . . . = B
4.
4.1
Windings
MSM040B . . . . . . . . . . . . . . . . . . . . . = 0300
5.
5.1
Cooling mode
natural convection, without blower . . . . . . . . . . . . = NN
6.
6.1
6.2
Encoder
Incremental encoder with 1.024 increments . . . . . . . . . . . . = C0
Multiturn absolute encoder with 512 increments . . . . . . . . = M0
7.
7.1
Electrical connection
cable tail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = C
8.
8.1
8.2
Shaft
key per DIN 6885-1.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = C
plain shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = G
9.
9.1
9.2
Holding brake
without holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 0
electrical release 2.45 Nm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 1
10.
Standard reference
Standard
Title
DIN 6885-1
Drive Type with Fastenings without Taper Action;
Parallel Keys, Keyways, Deep Pattern
Edition
1968-08
Fig. 8-3:
Type code for motor MSM040B
Note:
If you select a motor, regard the detailed informations in
the descriptions of the motors and the informations in
chapter 8.8 " Application Instructions " .
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-5
Rexroth EcoDrive Cs Drives
Types
Motor
Part No.
Features
Holding brake
yes
Power
Encoder
Key
no
incremental
absolute
yes
no
x
x
x
x
x
MSM020B
MSM020B-0300-NN-C0-CG0
295551
MSM020B-0300-NN-C0-CG1
295552
MSM020B-0300-NN-C0-CC0
295568
MSM020B-0300-NN-C0-CC1
295569
x
x
MSM020B-0300-NN-M0-CG0 295549
MSM020B-0300-NN-M0-CG1 295550
x
x
100 W
x
x
x
x
x
MSM020B-0300-NN-M0-CC0 295566
MSM020B-0300-NN-M0-CC1 295567
x
x
x
x
x
x
x
x
x
x
MSM030B
MSM030B-0300-NN-C0-CG0
295555
MSM030B-0300-NN-C0-CG1
295556
MSM030B-0300-NN-C0-CC0
295572
MSM030B-0300-NN-C0-CC1
295573
x
x
MSM030B-0300-NN-M0-CG1 295554
x
x
x
x
200 W
x
x
x
x
x
MSM030B-0300-NN-M0-CC0 295570
MSM030B-0300-NN-M0-CC1 295571
x
x
x
MSM030B-0300-NN-M0-CG0 295553
x
x
x
x
x
x
x
x
x
x
MSM030C
MSM030C-0300-NN-C0-CG0 295560
MSM030C-0300-NN-C0-CG1 295561
MSM030C-0300-NN-C0-CC0
295577
x
MSM030C-0300-NN-M0-CG1 295559
x
x
x
x
x
400 W
x
x
x
x
x
MSM030C-0300-NN-M0-CC0 295574
MSM030C-0300-NN-M0-CC1 295575
x
x
x
MSM030C-0300-NN-M0-CG0 295558
x
x
x
295576
MSM030C-0300-NN-C0-CC1
x
x
x
x
x
x
x
MSM040B
MSM040B-0300-NN-C0-CG0
295564
MSM040B-0300-NN-C0-CG1
295565
MSM040B-0300-NN-C0-CC0
295580
MSM040B-0300-NN-C0-CC1
295581
x
x
MSM040B-0300-NN-M0-CG1 295563
x
MSM040B-0300-NN-M0-CC1 295579
x
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
x
x
750 W
x
x
x
Types
x
x
x
x
Fig. 8-4:
x
x
x
MSM040B-0300-NN-M0-CC0 295578
x
x
x
MSM040B-0300-NN-M0-CG0 295562
x
x
x
x
x
8-6 Motors
8.3
Rexroth EcoDrive Cs Drives
Technical Data
Basics
Thermal Limit Conditions
The motor data and characteristic curves are determined using MSM
motors under the following conditions:
•
Environmental temperature approx. 40 °C
•
Structure not insulated
•
Permissible winding overtemperature ∆T = 80 K (related to
environment)
•
If motors with the optional holding brake are concerned, the data are
always specified for motors with holding brake.
Operating Modes
Rexroth motors are documented according to the test criteria and
measuring methods of EN 60034-1. The characteristic curves specified
correspond to the operating modes S1 or S6.
DtP
P
P
PV
PV
Q
Qmax
TC
DtV
Q
Qmax
t
t
Operating mode S1
Operating mode S6
P:
Load
PV:
Electric losses
Θ:
Temperature
Θmax:
Highest temperature (motor housing)
t:
Time
TC:
Cycle duration
∆tP:
Operating time with constant load
∆tV:
Idle time
Fig. 5-1: Operating modes according to EN 60034-1: 1998
ON time
The operating mode S6 is supplemented by specification of the ON time
(ED) in ≤100%. The ON time is calculated with the following formula:
ED =
∆t P
M
⋅ 100% = ( d ) 2 ⋅ 100%
TC
M KB
ED:
Cyclic duration factor in %
TC:
Cycle duration
∆tP:
Operating time with constant load
Md:
Continuous torque
MKB:
Short time operating torque
Fig. 5-2: Cyclic duration factor
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-7
Rexroth EcoDrive Cs Drives
Definition of Parameters
Electric parameters
Continuous torque at standstill
MdN
The continuous torque that can be output at the motor output shaft at a
speed of n = 0.
Continuous current at standstill
IdN
Phase current (crest value) of the motor required for the continuous
torque at standstill MdN at a speed of n = 0.
Peak current Imax
Maximum, briefly permissible phase current (crest value) of the motor
without adverse affect on the permanent magnet circuit of the motor.
Torque constant at 20 °C KM
Ratio of the increase in torque to the motor phase current (crest value) at
a motor temperature of 20 °C. Unit: (Nm/A). Applicable up to approx.
i = 2x IdN .
Voltage constant at 20 °C KE(eff)
Root-mean-square value of the induced motor voltage at a motor
temperature of
20 °C and 1000 revolutions
per
minute.
–1
Unit: (V/1000 min ).
Winding resistance at 20 °C R12
Winding resistance measured between two phases in ohms ( ).
Ω
Winding inductivity L12
Inductivity measured between two phases in (mH).
Number of pole pairs p
Number of pole pairs of the motor.
Rated speed nN
Typical useful speed defined by the manufacturer. Depending on the
particular application, other useful speeds are possible (see speed-torque
curve).
Rated torque MN
Continuous torque that can be output at the rated speed in operating
mode S1.
Rated current IN(eff)
Phase current of the motor at the rated speed and load with rated torque,
specified as root-mean-square value.
Rated output PN
Power consumption of the motor at the rated speed and load with rated
torque, specified in kilowatts (kW).
Rated voltage UN(eff)
Root-mean-square value of the voltage to be applied to the motor, with
the motor loaded with the rated torque and the rated speed. Unit (V).
Rated frequency fN
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Frequency of the rated voltage at rated speed (Hz).
8-8 Motors
Rexroth EcoDrive Cs Drives
Mechanical parameters
Maximum speed nmax
Maximum permissible speed of the motor. Limiting factors can have
mechanical (centrifugal forces, bearing stress) or electrical (DC link
voltage) causes.
Theoretical maximum torque
Mmax
Maximum torque that can be output for approx. 400 ms at a peak current
of Imax (guaranteed value which, owing to production tolerances, may be
higher by 20%). The achievable maximum torque depends on the drive
controller used. Only the maximum torques Mmax specified in the selection
lists for the motor-controller combination are binding.
Moment of inertia of the rotor JM)
Moment of inertia of the rotor without the optional holding brake. Unit
(kgm²).
Mass mM
Motor mass without the optional holding brake and optional motor fan,
specified in kg.
Thermal time constant Tth
Time of the temperature rise to 63% of the final temperature of the motor
housing with the motor loaded with the permissible S1 continuous torque.
The thermal time constant is destined for the size of the motors and the
used method of cooling.
Θ
100%
63%
0%
~ 5x Tth
Θmax
Tth
1
t/min
ttherm.fh7
(1):
Course of the motor housing temperature over time
Θmax:
Highest temperature (motor housing)
Tth:
Thermal time constant
Fig. 5-3: Thermal time constant
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-9
Rexroth EcoDrive Cs Drives
8.4
MSM020B
Dimensions
N
M
K
L
D
F
H
A
E
G
C
B
A
eco_cs_motor.fh7
Fig. 8-5:
Front and side view of a motor
Motor type
A
B
C
D
without brake
with incremental
encoder
E
F
G
H
K
L
M
N
42
92.5
24
∅8
h6
∅ 22
h7
∅ 48
∅ 3.4
55
38.8
27
2
7
with brake
with incremental
encoder
42
124.0
24
∅8
h6
∅ 22
h7
∅ 48
∅ 3.4
55
38.8
27
2
7
without brake
with absolute
encoder
42
109.0
24
∅8
h6
∅ 22
h7
∅ 48
∅ 3.4
55
38.8
27
2
7
with brake
with absolute
encoder
42
140.5
24
∅8
h6
∅ 22
h7
∅ 48
∅ 3.4
55
38.8
27
2
7
all data in mm
Fig. 8-6:
Dimensions
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-10 Motors
Rexroth EcoDrive Cs Drives
Key
A
B
C
D
E
passfeder.fh7
A
B
C
D
E
14
12.5
3h9
3
6.2
all data in mm
Fig. 8-7:
Key
Cables at the Motor
1
2
motor_kabel_m_g.fh7
1:
2:
Fig. 8-8:
encoder cable
motor cable
Cables at the motor
Length of cables (motor ↔ connector):
• motor cable: 200 mm (+70 mm connector)
• encoder cable: 230 mm (+62 mm connector)
Motor Cable
See chapter 10.1
Encoder Cable
See chapter 10.1
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-11
Rexroth EcoDrive Cs Drives
Technical Data
Designation
Symbol
Unit
Value
cooling type
natural convection
motor overtemperature
K
80 at 30 °C ambient temperature
(max. 130 °C internal temperature;
max. 110 °C surface temperature)
Electric parameters
continuous torque at standstill
MdN
Nm
0.3
continuous current at standstill
IdN
A
0.9
peak current
Imax
A
3
Km
Nm/A
torque constant at 20 °C
1
)
voltage constant at 20 °C
0.33 ±10%
-1
20.3 ±10%
KE(eff)
V/1000min
winding resistance at 20 °C
R12
Ω
17.8 ±10%
winding inductance
L12
mH
15.3 ±8%
p
-
rated speed
nN
min
rated torque
MN
Nm
0.3
rated current
IN
A
0.9
rated power
PN
W
94
rated voltage
UN
V
88
rated frequency
fN
Hz
200
JM
kgm²
Mmax
Nm
number of pole pairs
2
Rated data
4
)
-1
3000
Mechanical parameters
3
rotor inertia )
theoretical maximum torque
4
minimum power strand cross section )
S
mm
thermal time constant
Tth
2
s
maximum speed
allowed storage and transport temp.
allowed ambient temperature
max. installation altitude
7
6
6
)
)
-4
(0.036 x 10 )
0.75
12
-1
min
m
motor mass )
-4
0.95
nmax
3
degree of protection
0.032 x 10
kg
0.5 (0.7)
TL
°C
-20 ... +80
Tum
°C
+0 ... +40
h
m
1000
)
5000
IP65 (housing); IP40 (output shaft)
insulation class (according to DIN
VDE0530 part 1)
B
housing painting
none
1
)
2
)
)
)
3
4
5
6
7
)
)
)
Km is to be used for calculations with crest values (IdN, Imax). For calculations with root-mean-square values (rated data), the
torque constant Km must be multiplied by a factor of 2 .
Values determined according to EN 60034-1. Current and voltage specified as root-mean-square values.
Value in brackets valid for motor with holding brake.
Applicable to REXROTH cables. Rated according to VDE0298-4 (1992) and installation type B2 according to EN 60204-1
(1993) at an ambient temperature of 40 °C.
Without blower unit:
If the limits specified are exceeded, the performance data must be reduced, if necessary.
Provided the power and encoder cables are mounted properly.
Fig. 8-9:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
MSM020B technical data
8-12 Motors
Rexroth EcoDrive Cs Drives
Characteristic: Torque - Speed
MSM020B-0300-NN-... (ambient 30°C)
1
0,9
Drehmoment/Torque in Nm
0,8
0,7
0,6
0,5
0,4
0,3
0,2
0,1
5500
5000
4500
4000
3500
3000
2500
2000
1500
1000
500
0
0
Drehzahl/speed n in m in-1
Md
Mmax[AC240V+10%]
Fig. 8-10:
Mmax[AC200V-15%]
MSM020B torque characteristic
Characteristic: Torque - Temperature
constant load in %
Higher ambient temperatures cause a derating of the available torque:
110
100
90
80
70
60
50
40
30
20
10
0
0
10
20
30
40
50
ambient temperature in °C
with reduced service life
Fig. 8-11:
60
70
without reduced service life
MSM020B utilization depending on the ambient temperature
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-13
Rexroth EcoDrive Cs Drives
8.5
MSM030B
Dimensions
N
M
K
L
D
F
H
A
E
G
C
B
A
eco_cs_motor.fh7
Fig. 8-12:
Front and side view of a motor
Motor type
A
B
C
without brake
with
incremental
encoder
D
E
F
G
H
K
L
M
N
60
96.0
30
∅ 11
h6
∅ 50
h7
∅ 70
∅ 4.5
73
34.0
27
3
7
with brake
with
incremental
encoder
60
129.0
30
∅ 11
h6
∅ 50
h7
∅ 70
∅ 4.5
73
34.0
27
3
7
without brake
with absolute
encoder
60
111.0
30
∅ 11
h6
∅ 50
h7
∅ 70
∅ 4.5
73
34.0
27
3
7
with brake
with absolute
encoder
60
144.0
30
∅ 11
h6
∅ 50
h7
∅ 70
∅ 4.5
73
34.0
27
3
7
all data in mm
Fig. 8-13: Dimensions
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-14 Motors
Rexroth EcoDrive Cs Drives
Key
A
B
C
D
E
passfeder.fh7
A
B
20
C
18
D
E
4h9
4
8.5
all data in mm
Fig. 8-14: Key
Cables at the Motor
1
2
motor_kabel_m_g.fh7
1:
2:
Fig. 8-15:
encoder cable
motor cable
Cables at the motor
Length of cables (motor ↔ connector):
• motor cable: 200 mm (+70 mm connector)
• encoder cable: 220 mm (+62 mm connector)
Motor Cable
See chapter 10.1
Encoder Cable
See chapter 10.1
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-15
Rexroth EcoDrive Cs Drives
Technical Data
Designation
Symbol
Unit
Value
cooling type
natural convection
motor overtemperature
K
80 at 30 °C ambient temperature
(max. 130 °C internal temperature;
max. 110 °C surface temperature)
Electric parameters
continuous torque at standstill
MdN
Nm
0.64
continuous current at standstill
IdN
A
1.6
peak current
Imax
A
4.8
Km
Nm/A
torque constant at 20 °C
1
)
voltage constant at 20 °C
0.42 ±10%
-1
25.6 ±10%
KE(eff)
V/1000min
winding resistance at 20 °C
R12
Ω
6.3 ±7%
winding inductance
L12
mH
21.5 ±8%
p
-
rated speed
nN
min
rated torque
MN
Nm
0.64
rated current
IN
A
1.6
rated power
PN
W
201
rated voltage
UN
V
110
rated frequency
fN
Hz
200
JM
kgm²
Mmax
Nm
number of pole pairs
2
Rated data
4
)
-1
3000
Mechanical parameters
3
rotor inertia )
theoretical maximum torque
4
minimum power strand cross section )
S
mm
thermal time constant
Tth
2
s
maximum speed
-4
1.91
0.75
25
-1
allowed storage and transport temp.
allowed ambient temperature
max. installation altitude
7
6
6
)
)
min
m
motor mass )
-4
(0.13 x 10 )
nmax
3
degree of protection
0.1 x 10
kg
0.96 (1.36)
TL
°C
-20 ... +80
Tum
°C
+0 ... +40
h
m
1000
)
5000
IP65 (housing); IP40 (output shaft)
insulation class (according to DIN
VDE0530 part 1)
B
housing painting
none
1
)
2
)
)
)
3
4
5
6
7
)
)
)
Km is to be used for calculations with crest values (IdN, Imax). For calculations with root-mean-square values (rated data),
the torque constant Km must be multiplied by a factor of 2 .
Values determined according to EN 60034-1. Current and voltage specified as root-mean-square values.
Value in brackets valid for motor with holding brake.
Applicable to REXROTH cables. Rated according to VDE0298-4 (1992) and installation type B2 according to EN 60204-1
(1993) at an ambient temperature of 40 °C.
Without blower unit:
If the limits specified are exceeded, the performance data must be reduced, if necessary.
Provided the power and encoder cables are mounted properly.
Fig. 8-16:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
MSM030B technical data
8-16 Motors
Rexroth EcoDrive Cs Drives
Characteristic: Torque - Speed
MSM030B-0300-NN-... (ambient 30°C)
2,5
Drehmoment/Torque in Nm
2
1,5
1
0,5
5500
5000
4500
4000
3500
3000
2500
2000
1500
1000
500
0
0
Drehzahl/speed n in m in-1
Md
Mmax[AC240V+10%]
Fig. 8-17:
Mmax[AC200V-15%]
MSM030B torque characteristic
Characteristic: Torque - Temperature
Higher ambient temperatures cause a derating of the available torque:
110
100
constant load in %
90
80
70
60
50
40
30
20
10
0
0
10
20
30
40
50
60
70
ambient temperature in °C
with reduced service life
without reduced service life
Fig. 8-18:
MSM030B utilization depending on the ambient temperature
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-17
Rexroth EcoDrive Cs Drives
8.6
MSM030C
Dimensions
N
M
K
L
D
F
H
A
E
G
C
B
A
eco_cs_motor.fh7
Fig. 8-19:
Front and side view of a motor
Motor type
A
B
C
D
without brake
with incremental
encoder
E
F
G
H
K
L
M
N
60
123.5
30
∅14
h6
∅ 50
h7
∅ 70
∅ 4.5
73
61.5
27
3
7
with brake
with incremental
encoder
60
156.5
30
∅14
h6
∅ 50
h7
∅ 70
∅ 4.5
73
61.5
27
3
7
without brake
with absolute
encoder
60
138.5
30
∅14
h6
∅ 50
h7
∅ 70
∅ 4.5
73
61.5
27
3
7
with brake
with absolute
encoder
60
171.5
30
∅14
h6
∅ 50
h7
∅ 70
∅ 4.5
73
61.5
27
3
7
all data in mm
Fig. 8-20: Dimensions
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-18 Motors
Rexroth EcoDrive Cs Drives
Key
A
B
C
D
E
passfeder.fh7
A
B
C
D
E
25
22.5
5h9
5
11
all data in mm
Fig. 8-21: Key
Cables at the Motor
1
2
motor_kabel_m_g.fh7
1:
2:
Fig. 8-22:
encoder cable
motor cable
Cables at the motor
Length of cables (motor ↔ connector):
• motor cable: 200 mm (+70 mm connector)
• encoder cable: 220 mm (+62 mm connector)
Motor Cable
See chapter 10.1
Encoder Cable
See chapter 10.1
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-19
Rexroth EcoDrive Cs Drives
Technical Data
Designation
Symbol
Unit
Value
cooling type
natural convection
motor overtemperature
K
80 at 30 °C ambient temperature
(max. 130 °C internal temperature;
max. 110 °C surface temperature)
Electric parameters
continuous torque at standstill
MdN
Nm
1.2
continuous current at standstill
IdN
A
2.3
peak current
Imax
A
7.4
Km
Nm/A
torque constant at 20 °C
1
)
voltage constant at 20 °C
0.54 ±10%
-1
32.6 ±10%
KE(eff)
V/1000min
winding resistance at 20 °C
R12
Ω
4.3 ±7%
winding inductance
L12
mH
17 ±10%
p
-
rated speed
nN
min
rated torque
MN
Nm
1.2
rated current
IN
A
2.3
rated power
PN
W
377
rated voltage
UN
V
132
rated frequency
fN
Hz
200
JM
kgm²
Mmax
Nm
number of pole pairs
2
Rated data
4
)
-1
3000
Mechanical parameters
3
rotor inertia )
theoretical maximum torque
4
minimum power strand cross section )
S
mm
thermal time constant
Tth
2
s
maximum speed
-4
0.75
25
-1
allowed storage and transport temp.
allowed ambient temperature
max. installation altitude
7
6
6
)
)
min
m
motor mass )
-4
(0.2 x 10 )
3.8
nmax
3
degree of protection
0.17 x 10
kg
1.5 (1.9)
TL
°C
-20 ... +80
Tum
°C
+0 ... +40
h
m
1000
)
5000
IP65 (housing); IP40 (output shaft)
insulation class (according to DIN
VDE0530 part 1)
B
housing painting
none
1
)
2
)
)
)
3
4
5
6
7
)
)
)
Km is to be used for calculations with crest values (IdN, Imax). For calculations with root-mean-square values (rated data),
the torque constant Km must be multiplied by a factor of 2 .
Values determined according to EN 60034-1. Current and voltage specified as root-mean-square values.
Value in brackets valid for motor with holding brake.
Applicable to REXROTH cables. Rated according to VDE0298-4 (1992) and installation type B2 according to EN 60204-1
(1993) at an ambient temperature of 40 °C.
Without blower unit:
If the limits specified are exceeded, the performance data must be reduced, if necessary.
Provided the power and encoder cables are mounted properly.
Fig. 8-23:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
MSM030C technical data
8-20 Motors
Rexroth EcoDrive Cs Drives
Characteristic: Torque - Speed
MSM030C-0300-NN-... (ambient 30°C)
4
3
2,5
2
1,5
1
0,5
5500
5000
4500
4000
3500
3000
2500
2000
1500
1000
500
0
0
Drehzahl/speed n in m in-1
Md
Mmax[AC240V+10%]
Fig. 8-24:
Mmax[AC200V-15%]
MSM030C torque characteristic
Characteristic: Torque - Temperature
Higher ambient temperatures cause a derating of the available torque:
MSM030C
110
100
90
Constant load in %
Drehmoment/Torque in Nm
3,5
80
70
60
50
40
30
20
10
0
0
10
20
30
40
Ambient temperature in °C
with reduced service life
Fig. 8-25:
50
60
70
without reduced service life
MSM030C utilization depending on the ambient temperature
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-21
Rexroth EcoDrive Cs Drives
8.7
MSM040B
Dimensions
N
M
K
L
D
F
H
A
E
G
C
B
A
eco_cs_motor.fh7
Fig. 8-26:
Front and side view of a motor
Motor type
A
B
C
D
without brake
with incremental
encoder
E
F
G
H
K
L
M
N
80
142.5
35
∅19
h6
∅ 70
h7
∅ 90
∅ 6.0
93
76.0
27
3
8
with brake
with incremental
encoder
80
176.5
35
∅19
h6
∅ 70
h7
∅ 90
∅ 6.0
93
76.0
27
3
8
without brake
with absolute
encoder
80
157.5
35
∅19
h6
∅ 70
h7
∅ 90
∅ 6.0
93
76.0
27
3
8
with brake
with absolute
encoder
80
191.5
35
∅19
h6
∅ 70
h7
∅ 90
∅ 6.0
93
76.0
27
3
8
all data in mm
Fig. 8-27: Dimensions
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-22 Motors
Rexroth EcoDrive Cs Drives
Key
A
B
C
D
E
passfeder.fh7
A
B
C
D
E
25
22
6h9
6
15.5
all data in mm
Fig. 8-28: Key
Cables at the Motor
1
2
motor_kabel_m_g.fh7
1:
2:
Fig. 8-29:
encoder cable
motor cable
Cables at the motor
Length of cables (motor ↔ connector):
• motor cable: 200 mm (+70 mm connector)
• encoder cable: 220 mm (+62 mm connector)
Motor Cable
See chapter 10.1
Encoder Cable
See chapter 10.1
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-23
Rexroth EcoDrive Cs Drives
Technical Data
Designation
Symbol
Unit
Value
cooling type
natural convection
motor overtemperature
K
70 at 40 °C ambient temperature
(max. 130 °C internal temperature;
max. 110 °C surface temperature)
Electric parameters
continuous torque at standstill
MdN
Nm
2.4
continuous current at standstill
IdN
A
4.3
peak current
Imax
A
12.9
Km
Nm/A
torque constant at 20 °C
1
)
voltage constant at 20 °C
0.61 ±10%
-1
37.3 ±10%
KE(eff)
V/1000min
winding resistance at 20 °C
R12
Ω
winding inductance
L12
mH
p
-
rated speed
nN
min
rated torque
MN
Nm
2.4
rated current
IN
A
4.3
rated power
PN
W
754
rated voltage
UN
V
132
rated frequency
fN
Hz
200
JM
kgm²
Mmax
Nm
number of pole pairs
2
Rated data
1.5 ±7%
10.7 ±10%
4
)
-1
3000
Mechanical parameters
3
rotor inertia )
theoretical maximum torque
4
minimum power strand cross section )
S
mm
thermal time constant
Tth
2
s
maximum speed
-4
0.75
50
-1
allowed storage and transport temp.
allowed ambient temperature
max. installation altitude
7
6
6
)
)
min
m
motor mass )
-4
(0.75 x 10 )
7.1
nmax
3
degree of protection
0.67 x 10
kg
3.1 (3.8)
TL
°C
-20 ... +80
Tum
°C
+0 ... +40
h
m
1000
)
4500
IP65 (housing); IP40 (output shaft)
insulation class (according to DIN
VDE0530 part 1)
B
housing painting
none
1
)
2
)
)
)
3
4
5
6
7
)
)
)
Km is to be used for calculations with crest values (IdN, Imax). For calculations with root-mean-square values (rated data),
the torque constant Km must be multiplied by a factor of 2 .
Values determined according to EN 60034-1. Current and voltage specified as root-mean-square values.
Value in brackets valid for motor with holding brake.
Applicable to REXROTH cables. Rated according to VDE0298-4 (1992) and installation type B2 according to EN 60204-1
(1993) at an ambient temperature of 40 °C.
Without blower unit:
If the limits specified are exceeded, the performance data must be reduced, if necessary.
Provided the power and encoder cables are mounted properly.
Fig. 8-30:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
MSM040B technical data
8-24 Motors
Rexroth EcoDrive Cs Drives
Characteristic: Torque - Speed
MSM040B-0300-NN-... (ambient 40°C)
8
Drehmoment/Torque in Nm
7
6
5
4
3
2
1
5000
4500
4000
3500
3000
2500
2000
1500
1000
500
0
0
Drehzahl/speed n in m in-1
Md
Mmax[AC240V+10%]
Fig. 8-31:
Mmax[AC200V-15%]
MSM040B torque characteristic
Characteristic: Torque - Temperature
Higher ambient temperatures cause a derating of the available torque:
110
100
constant load in %
90
80
70
60
50
40
30
20
10
0
0
10
20
30
40
50
60
70
ambient temperature in °C
with reduced service life
Fig. 8-32:
without reduced service life
MSM040B utilization depending on the ambient temperature
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-25
Rexroth EcoDrive Cs Drives
8.8
Application Instructions
Operating Conditions
Setup Height and Ambient Temperature
Nominal data
The performance data specified for the motors apply in case of the
following conditions:
• Ambient Temperature of
• Setup Height
Exceeding the nominal data
Derating curves
0 ºC up to +40 ºC
0 m up to 1000 m above MSL.
If you intend to use motors above these ranges, you must take the
“utilization factors” into consideration. This reduces the performance data.
Note:
MSM motors don't have a temperature sensor. Thus, in case
of overload the windings of the motors can be destroyed.
Vibration and Shock Loads
MSM motors can carry loads, such as are typically occurring in case of
presses, punches, or press inlets, only if they are attached in a shockabsorbed or shock-decoupled way. The construction of such attachments
must be checked in isolated cases.
MSM motors, if used stationary and weather-resistant, may be operated
under the following conditions:
• Longitudinal motor axis:
according to class 3M1
• Transverse motor axis:
according to class 3M4
Ensure that the limits specified in the following tables for storage,
transport, and operation of the MSM motors are not exceeded.
⇒
Vibration sinus in operation
according to EN 60068-2-6:
Values
Amplitude and frequency
0.15 mm (peak-peak) at 10...57 Hz
Acceleration and frequency
1 g at 57...150 Hz
Tolerance
±15 %
Fig. 8-33:
Vibration sinus
Vibration distortion (Random) in
operation according to IEC 68-2-36
Values
Frequency
20 ... 150 Hz
Spectral acceleration density
amplitude
0.005 g /Hz
Tolerance
± 3 dB
Virtual value (r.m.s.) of the total
acceleration
1.0 g
Abb. 8-34: Vibration distortion
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
2
8-26 Motors
Rexroth EcoDrive Cs Drives
Degree of protection
The type of protection is defined by the identification symbol IP
(International Protection) and two characteristic numerals specifying the
degree of protection.
The first characteristic numeral defines the degree of protection against
contact and penetration of foreign particles. The second characteristic
numeral defines the degree of protection against water.
First
characteristic
numeral
Degree of protection
6
Protection against penetration of dust (dust-proof);
complete shock protection
Second
characteristic
numeral
Degree of protection
7
Protection against harmful effects if temporarily immersed
in water
5
Protection against a water jet from a nozzle directed
against the housing from all directions (jet water)
Fig. 8-35: IP degrees of protection
Tests regarding the second characteristic numeral must be performed
using fresh water. If cleaning is effected using high pressure and/or
solvents, coolants, or penetrating oils, it might be necessary to select a
higher degree of protection.
The design of the MSM motors complies with the following degrees of
protection according to DIN VDE 0470, Part 1, ed. 11/1992 (EN 60 529):
Motor ranges
Degree of
protection
Remark
Motor housing, power and feedback
connectors (if mounted properly
only)
IP 65
Standard design
motor shaft
IP40
Standard design
Fig. 8-36: Ranges of IP degrees of protection for the motors
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-27
Rexroth EcoDrive Cs Drives
Design and Installation Positions
Permissible types of installation
Description
Sketch
Setup
IM B5
Flange attached on the drive side
of the flange
IM V1
Flange attached on the drive side
of the flange; drive side pointing
down
IM V3
Flange attached on the drive side
of the flange; drive side pointing up
Fig. 8-37: Mounting position
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-28 Motors
Rexroth EcoDrive Cs Drives
Housing Materials
1
2
5
4
3
motor_materialien.fh7
Fig. 8-38:
Housing materials
No.
Material
1
polyvinyl chloride resin;
th
(oil resistance: according to standard " JIS C 3005 " the 20 clause;
test conditions: oil temperature: 70 °C; test time (cable in oil): 4 hours;
oil: machine oil 46 (from GENERAL))
2
aluminum; anodized
3
rubber
4
die-cast aluminum; bare
5
polyamide 46 (nylon 46)
Fig. 8-39:
Materials
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-29
Rexroth EcoDrive Cs Drives
Holding Brake
Optional. Required for holding the servo axis when the machine is in the
de-energized state.
Hazardous movements! Persons endangered by
falling or descending axes!
⇒
⇒
⇒
⇒
DANGER
The serially delivered motor holding brake does not
suffice to ensure overall personal protection!
Ensure personal protection by superordinate failsafe
measures:
Block off the hazardous range by means of a safety
fence or a safety screen.
Additionally secure vertical axes to prevent them from
falling or descending after having switched off the
motor, for instance as follows:
– lock the vertical axis mechanically,
– provide an external braking / collecting / clamping
device, or
– ensure proper weight compensation of the axis.
Operating Principle
The holding brake is operated according to the “electrically releasing”
principle. In the de-energized state, a magnetic force acts upon the brake
armature disk. This causes the brake to close and to hold the axis.
By applying 24 VDC, the permanent magnetic field is compensated by the
electrically generated magnetic field: the brake opens.
t1
t2
24
Un [V]
0
t
brake_diagr.fh7
t1: Connection time (100 W: 25 ms; 200/400 W: 50 ms; 750 W: 60 ms)
t2: Disconnection time (100 W: 25 ms; 200/400 W: 50 ms; 750 W: 60 ms)
Fig. 8-40: Holding brake diagram
The holding brake is activated by the drive controller. This ensures the
proper on and off order in all of the operating states.
Note:
A premature wear and tear of the holding brake is possible!
The holding brake wears after approx. 3000 motor revolutions
in closed state. For that reason, do not use the holding brake
as a system brake to stop a moving axis! This is permitted for
EMERGENCY STOP situations only.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-30 Motors
Rexroth EcoDrive Cs Drives
Please observe the instructions on putting the holding brakes into
operation described in the chapter entitled “Startup, Operation, and
Maintenance”.
Data
Designation
Symbol
Unit
Holding brake data
MSM020B
holding torque
tripping voltage
MSM040B
Nm
0.29
1.27
2.45
V
M4
MSM030B;
MSM030C
& gt; 1
& gt; 1
& gt; 1
24 ±10%
24 ±10%
24 ±10%
0.26
0.36
0.43
0.003
0.03
0.09
rated voltage
UN
V
rated current
IN
A
2
moment of inertia
JB
kgm
clamping delay
t1
ms
≤ 25
≤ 50
≤ 60
release delay
t2
ms
≤ 20
≤ 15
≤ 15
allowed braking energy (once per
braking operation)
J
39.2
137
196
allowed braking energy (total)
J
4.9 x 10
allowed angular acceleration
rad/s
2
10000
3
44.1 x 10
10000
3
147 x 10
3
10000
all data based on an ambient temperature of 20 °C
Fig. 8-41: Technical data of holding brake
• The above values are typical values, except for holding torque, tripping
voltage and rated voltage.
• When the motor was moved the play of the brake is ±1° or less.
• The power supply of the holding brake is realized externally.
• Maximum number of acceleration and braking processes with the
highest allowed angular acceleration: 10 million.
Output Shaft and Motor Bearing
Plain shaft
The standard design recommended for MSM motors provides a frictionlocked shaft-hub connection without play and excellent running
smoothness. Use clamping sets, clamping sleeves or clamping elements
to couple the machine elements to be driven.
Output shaft with key
The optional key permits keyed transmission of torques with constant
direction, with low requirements for the shaft-hub connection.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-31
Rexroth EcoDrive Cs Drives
1
2
3
4
nut_passfeder_eco_cs.fh7
(1):
Key
(2):
Keyway
(3):
Motor shaft
(4):
Centering hole
Fig. 8-42: MSM output shaft with Key
The machine elements to be driven must additionally be secured in axial
direction via the centering hole on the end face.
CAUTION
Shaft damage! In case of intense reversing
operation, the seat of the key may deflect.
Increasing deformations in this area can then
lead to a break of the shaft!
⇒
Balancing with the complete key
Preferably, plain output shafts should be used.
MSM motors are balanced with the complete key. Hence, the machine
element to be driven must be balanced without key.
Modifications to the keys may only be made by the user himself and on
his own responsibility. Rexroth do not give any warranty for modified keys
or motor shafts.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-32 Motors
Rexroth EcoDrive Cs Drives
Bearings and Shaft Load
During operation, both radial and axial forces act upon the motor shaft
and the motor bearings. The construction of the machine and the
attachment of driving elements on the shaft side must be adjusted to one
another to ensure that the load limits specified are not exceeded.
L
A
M
B
L/2
P
wellenbelastung_radial.fh7
L:
P:
A, B:
wellenbelastung_axial.fh7
shaft length
point of action of the radial force
directions of the axial force
The following table shows the allowed shaft load of the individual motors.
Motor
During assembly
radial force
In operation
radial force
axial force
direction A
axial force
direction B
MSM020B
147
88.2
117.6
68.6
58.8
MSM030B;
MSM030C
392
147
196
245
98
MSM040B
686
294
392
392
147
all data in N
Fig. 8-43: Allowed shaft load
Maximum permissible radial
force Fradial_max
The maximum permissible radial force Fradial_max depends on the following
factors:
• Shaft break load
• Point of force application
• Shaft design (plain; with keyway)
Permissible radial force Fradial
The permissible radial force Fradial depends on the following factors:
• Arithmetic mean speed (nmean)
• Point of force application
• Bearing service life
Permissible axial force Faxial
The maximum permissible axial force Faxial is proportional to the radial
force. Please refer to the section entitled “Shaft load” in the technical data
for the proportionality factor.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-33
Rexroth EcoDrive Cs Drives
Bearing service life
Nominal bearing service life
If the MSM motors are operated within the limits specified for radial and
axial loads, the nominal service life of the bearings is as follows:
L10h = 20.000 operating hours
In other cases, the bearing service life is reduced as follows:
3
Fradial _ ist
L10h =
Fradial
⋅ 20000
L10h:
(Bearing service life according to ISO 281, ed. 12/1990)
Fradial:
Determined permissible radial force in N (Newton)
Fradial_ist: Actually acting radial force in N (Newton)
Fig. 8-44: Calculation of the bearing service life L10h if the permissible radial force
Fradial is exceeded
Under no circumstances may the actually acting radial force
Fradial_ist be higher than the maximum permissible radial force
Fradial_max.
Note:
30000
A
25000
B
service life [h]
C
20000
D
15000
10000
5000
0
0
20
40
60
80
100
radial force [%]
motor_lager_lebensdauer.fh7
A: at 70% of maximum permissible axial force
B: at 80% of maximum permissible axial force
C: at 90% of maximum permissible axial force
D: at 100% of maximum permissible axial force
Abb. 8-45: Bearing service life depending on radial and axial force
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-34 Motors
Rexroth EcoDrive Cs Drives
Encoder
To control the motor speed and/or to position the motor, the drive
controller requires information on the current motor position.
To achieve this, the integrated encoder system (motor encoder) makes
the appropriate signals available to the drive controller. The drive
controllers are capable of transmitting the positional value thus
determined to a superordinate CNC or PLC.
Encoder data memory
The encoder electronics is equipped with a data memory where the motor
type name, the control loop parameters and the motor parameters are
filed.
These data are read by the digital intelligent drive controllers by Rexroth.
This ensures
• quick and easy startup,
• adjustment between the motor and the drive controller without the risk
of damage to the motor.
Following encoder variants are available for MSM motors:
Option
Encoder type
Measurement
method
System precision
Position input type
CO
Incremental encoder
inductive
±2 angular minutes
relative
MO
Absolute encoder
optical
±2 angular minutes
absolute
Fig. 8-46: MSM motor encoder
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-35
Rexroth EcoDrive Cs Drives
Incremental Encoder
Provided for relative indirect position detection.
Note:
Characteristics of the incremental encoder: After a voltage
failure or after the first POWER ON, the axis must first always
be moved to its home position, before the processing can
begin.
Designation
Value
Note
type
square-wave
frequency: max. 250 kHz
resolution
10000 (2500 pulses/revolution)
1 zero pulse per revolution
output format
binary
increasing direction
counterclockwise
operating temperature
70 °C
baud rate
2.5 MBaud
accumulative pitch error
+-0° 00' 80''
encoder interface (to drive controller)
serial; baud rate 2.5 MBaud
Fig. 8-47:
Encoder Cable
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Data of incremental encoder
See chapter 10.1
as viewed from the encoder shaft end
8-36 Motors
Rexroth EcoDrive Cs Drives
Absolute Encoder
Provided for absolute indirect position detection within 65536 motor
revolutions. Replaces separate absolute value encoders at the motor.
The absolute axis position at this encoder variety still exists
because of the battery back-up also after power shut down.
If you disconnect the motor from the drive controller, you will
lose the absolute axis position after approx. 1 minute.
Note:
Power supply
Designation
main power supply
battery
Value
Note
5 V ±5%
3.6 V
Battery allows:
•
holding data (in multiturn operation)
•
multiturn operation when power supply fails
See also chapter " Additional Components " → " Accessories "
→ " SUP-E03-DKC*CS-BATTRY "
Changing battery: see page 8-45
Fig. 8-48:
Power supply
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-37
Rexroth EcoDrive Cs Drives
Data for Single-Turn Signals
Designation
Value
Note
absolute values total
33 bit
resolution
17 bit (131072 pulses per revolution)
- & gt; 0.00275°/imp
maximum rotational speed
(in normal operating mode)
6000 rpm
maximum angular acceleration
(in normal operating mode)
80000 rad/s
output format
binary
increasing direction
counterclockwise
accumulative pitch error
±80 " (±8LSB)
adjacent pitch error
±40 " (±4LSB)
accuracy in case the main power
supply is switched on repeatedly
(within a revolution of 3.5° after
switching on power)
±80 " (±8LSB)
encoder interface (to drive controller)
serial; baud rate 2,5 MBaud
2
data based on a temperature of 25 °C
Fig. 8-49: Data for single-turn signals
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
accuracy is 8 bit
as viewed from the encoder shaft end
after the shaft rotates by more than
3.5°, the tolerance increases to
±5LSB due to the increased
correction precision
8-38 Motors
Rexroth EcoDrive Cs Drives
Data for Multi-Turn Signals
Designation
Value
Note
resolution
1 C/T
counter for multi turns
16 Bit
maximum rotational speed
(in normal operating mode)
6000 rpm
maximum rotational speed
(in power-off mode, timer)
6000 rpm
maximum rotational speed
(in power-off mode, power-off operation)
6000 rpm
maximum angular acceleration (in normal
operating mode)
80000 rad/s
2
maximum angular acceleration
(in power-off mode, timer)
80000 rad/s
2
maximum angular acceleration
(in power-off mode, power-off operation)
4000 rad/s
output format
binary
increasing direction
counterclockwise
data rate time (by means of integrated
capacitor)
1 hour (at delivery)
0 - 65535
time of the power-off timer: 5 seconds
calculated value: 7031 rpm
2
15 minutes (after 10 years)
as viewed from the encoder shaft end
calculated value (the service life of
the capacitor basically depends on
the ambient temperature and the
operating voltage)
data based on a temperature of 25 °C
Fig. 8-50: Data for multi-turn signals
Encoder Cable
See chapter 10.1
Encoder service life
Note:
If the MSM encoders are operated within the limits specified
data (ambient temperature: max. 70 °C; rated speed:
-1
3000 min ) the nominal service life of the encoder is as
follows:
L10h = 30.000 operating hours
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-39
Rexroth EcoDrive Cs Drives
Acceptances, Approvals
CE mark
Declaration of conformity
Declarations of conformity certifying the structure of and the compliance
with the applicable EN standards and EC guidelines are available for all
MSM motors. If necessary, these declarations of conformity can be
demanded from the pertinent sales office.
The CE mark is applied to the motor type label of the MSM motors.
CEf1.fh7
Fig. 8-51: CE mark
UR, cUR Listing
The MSM motors listed below have been presented to the UL authorities
“Underwriters Laboratories Inc.®”.
• MSM020B
• MSM030B
• MSM030C
• MSM040B
The motors have been approved by the UL authorities under the file
number and have been marked on their motor type label with the following
sign:
R
cURus.fh7
Fig. 8-52: cUR mark
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-40 Motors
8.9
Rexroth EcoDrive Cs Drives
Assembly
Skilled Technical Personnel
Any work on the system and on the drives or in their vicinity may only be
carried out by appropriately trained technical personnel. The owner of the
system must ensure that all persons carrying out
• installation work,
• maintenance measures, or
• operation activities
on the system are adequately familiar with the contents of this
documentation as well as with all warnings and precautionary measures
contained therein. Qualified technical personnel must have been trained
and instructed and are authorized to activate and deactivate, ground and
mark electric circuits and equipment according to the safety rules and
regulations. Qualified technical personnel must possess the appropriate
safety equipment and have been trained in first aid.
Mounting the Motor
General for mounting
Observe all warnings and safety advices mentioned in chapter 3. This
minimizes the risk of accidents and damage to the system or the motor.
Do all handling advices carefully. This ensures correct mounting and
dismounting of the components.
Before mounting:
If the optional holding brake is
used
1. Procure tools, auxiliary materials, measuring and test equipment.
2. Control all components if they are clean.
3. Proof all components if they are obviously damaged. Defective
components may not be mounted.
4. Ensure that mounting can be done in a dry and clean environment.
5. Ensure that the holder for the motor flange is without burrs.
6. Check whether the motor brake attains the braking moment provided
in the data sheet. If the brake does not attain the moment provided,
first grind the brake. Then proceed as follows.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-41
Rexroth EcoDrive Cs Drives
Mounting the MSM motors:
Mount the motor. All of the measures and tolerances specified in the
dimensional sheets must be kept.
To fix the flange, we recommend to use the screws and tightening
torques listed in the table below.
Motor frame
size
Recommended
screw size
Tightening
torque [Nm]
Minimum
strength [mm]
MSM020B
4x M3
78.4
5.5
MSM030B
4x M4
245
7.0
MSM030C
4x M4
245
7.0
MSM040B
4x M5
515
9.0
Fig. 15-1: Locking screws
Note:
The screwed connections must be able to take up both the
force due to the force of the motor and the forces acting during
operation.
Connecting the Motor
After having mounted the motor mechanically as specified, proceed to
connecting the motor.
Danger to life by electric voltage! Handling
within the range of live parts is extremely
dangerous. Therefore:
⇒
DANGER
⇒
⇒
WARNING
Injuries to persons or property are possible!
Interrupting or connecting live lines may cause
unpredictable dangerous situations or lead to
physical damage. Therefore:
⇒
⇒
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Any work required on the electric system may only be
carried out by skilled electricians. It is absolutely
necessary to use electric tools.
Before starting work, the system must be deenergized and the power switch be secured against
unintentional or unauthorized re-energization.
Before starting work, the appropriate measuring
equipment must be used to check whether parts of
the system are still applied to residual voltage (e.g.
caused by capacitors, etc.). If yes, wait until these
parts have discharged.
Connect and disconnect plug connectors only when
they are dry and de-energized.
During operation of the system, all plug connectors
must be securely tightened.
8-42 Motors
Rexroth EcoDrive Cs Drives
WARNING
Risk of short-circuit caused by liquid coolant or
lubricant! Short-circuits of live lines may cause
unpredictable dangerous situations or lead to
physical damage. Therefore:
Provide open mating sides of power plug connectors
with safety caps when installing or replacing drive
components, if you cannot exclude that they might be
moistened with liquid coolant or lubricant.
⇒
The connection diagrams by Rexroth are exclusively intended for the
preparation of system circuit diagrams!
Connect the motor as specified in the machine manufacturer’s system
circuit diagram!
⇒
8.10 Startup, Operation, and Maintenance
Startup
The MSM motors may be put into operation only if they have been
carefully and properly mounted and if the electric connection has been
properly established.
Before startup
Before putting the MSM motors into operation, the following must be
checked and/or ensured:
• It must be possible to turn the rotor manually with the holding brake
opened; there may be no running noise (e.g. rubbing). If necessary,
the holding brake must be opened by applying a DC voltage of
24 V ±10%.
• The motor must be mounted and aligned correctly. The motor flange
must be coupled to the machine structure or the gear absolutely even.
• It must be ensured that all electric connections (motor and drive
controller) have been established as specified and that the cable
screw unions have been tightened.
• It must be ensured that the protective conductor and/or the protective
grounding have been executed properly.
• If the optional holding brake is used, its operational reliability must be
ensured.
• Shock protection measures against live and moving parts must be
provided for.
Startup
MSM motors may be put into operation only with Rexroth EcoDrive Cs
drive controllers by Rexroth. After the connection has been properly
established and the above requirements are complied with, the MSM
motor can be put into operation via the drive controller.
Note:
Startup of the drives is described in the Functional Description
of the particular firmware MGPxxVRS. Request the
corresponding product documentation from your local sales
office.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-43
Rexroth EcoDrive Cs Drives
Operation
Ensure that the ambient conditions are kept during operation.
Maintenance
Cleaning
Excessive dirt, dust or shavings may affect the function of the motors
adversely, may in extreme cases even cause a failure of the motors. For
that reason, you should clean
Cooling ribs
• the cooling ribs of the motors at regular intervals, in order to obtain a
sufficiently large heat radiation surface. If the cooling ribs are dirty in
part, sufficient heat dissipation via the environmental air is not possible
any longer.
An insufficient heat radiation may have undesired consequences. The
bearing service life is reduced by operation at impermissibly high
temperatures (the bearing grease is decomposing). Switchoff caused by
overtemperature despite operation on the basis of selected data, because
the appropriate cooling is missing.
Bearings
The nominal service life of the bearings is 30.000 h, if the permissible
radial and axial forces are not exceeded. Even if the bearings are loaded
with higher forces to a minor degree only, their service life is affected
negatively.
Connection Cable
Check connection lines for damage at regular intervals and replace them,
if necessary.
Check any optionally present energy management chains (drag chains)
for defects.
Electrocution by live parts of more than 50 V!
⇒
DANGER
Do not repair any connection lines provisionally. If the
slightest defects are detected in the cable sheath,
the system must be put out of operation immediately.
Then the cable must be replaced.
Check the protective conductor connection for proper state and tight seat
at regular intervals and replace it, if necessary.
Holding brake
The check can be done by means of a function (brake check) integrated
in the firmware (see Functional Description).
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-44 Motors
Rexroth EcoDrive Cs Drives
Battery
Absolute encoders
Motors with absolute encoders need a battery to back-up the encoder
signals. The battery is set into the drive controller (Exception: Rexroth
Cartesian Motion Systems (CMS)).
Warning message
The drive controller observes voltage of battery and gives just in time a
warning “F248 Low battery voltage " .
Service life
The service life of the battery depends on the ratio of switch-ON-duration
to switch-OFF-duration:
I=
tON:
tOFF:
I:
Fig. 8-53:
t ON
t OFF
duration, the drive controller is switched on
duration, the drive controller is switched off
ON/OFF ratio
ON/OFF ratio
Service life in years
Service life of battery (Q = 1800 mAh)
20
18
16
14
12
10
8
6
4
2
0
0
Standbyoperation
1
2
3
4
5
6
7
8
9
10
I (ON/OFF ratio)
Fig. 8-54:
Service life of battery
Thus, the longer the drive controller is switched on, the longer is the
service life of the battery.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-45
Rexroth EcoDrive Cs Drives
Refresh
Prior to using the battery you always have to refresh the battery:
1. Connect connector of battery to mating connector of resistor (see
figure below)
(Battery and resistor are parts of SUP-E03-DKC*CS-BATTRY; see
chapter " Additional Components " → " Accessories " )
resistor
mating connector
connector
battery
batterie_refresh.fh7
Fig. 8-55:
Battery refreshing
2. Wait 2 minutes
3. Disconnect battery
Changing the battery
Depending on the operating hours of the motor, the time available for
changing the battery is limited:
capacitor voltage [V]
5,0
4,0
3,0
A
B
C
D
2,0
79
554
time [s]
792
batterie_pufferzeit.FH7
A:
operating hours: 3000 = & gt; backup time 79 s
B:
operating hours: 1000 = & gt; backup time 554 s
C:
operating hours: 0 (condition as supplied) = & gt; backup time 792 s
D:
range of battery undervoltage (2.3 to 2.7 V)
Fig. 8-56: Backup time of supply voltage
During this time the supply voltage of the absolute value encoder is
backed up so that the information regarding the absolute value encoder
position is maintained.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-46 Motors
Rexroth EcoDrive Cs Drives
Note:
If you exceed the backup time when changing the battery the
absolute value encoder position gets lost.
Note:
If you use the drive controllers together with Rexroth Cartesian
Motion Systems (CMS), regard the instructions of the CMS
manual (RE 82 674) now.
1. Push battery cover downwards and remove cover:
X1
TX
X20
RX
X21
S20
X2
2
1
ON
X3
batteriefach.fh7
2. Remove old battery
3. If not already done so, refresh new battery now (see instructions
above)
4. Insert new battery
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motors 8-47
Rexroth EcoDrive Cs Drives
5. Connect connector attached to the battery to one of the two mating
connectors on the drive controller
W
V
U
battery
RB2
RB3
RB1
DL2
DL1
L2C
connector
L1C
L3
L2
L1
mating connector
batteriefach_front.fh7
6. Attach battery cover. Push cover upwards until it snaps in
7. Dispose old battery according to the valid directions of your country
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
8-48 Motors
Rexroth EcoDrive Cs Drives
Notes
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Identifying the Components 9-1
Rexroth EcoDrive Cs Drives
9
Identifying the Components
9.1
Marking the Components
Each drive component is marked by a type designation.
A type plate is attached to all units including the motor.
A label (cable marker) is wrapped round the ready-made cable. The type
designation and length are indicated on this label. (The designation for the
cable itself - without connector - is printed on the cable sheath.)
The marking of accessories packed in bags is either printed on the bag or
indicated on an accompanying note.
9.2
Type Plates
Type Plates at the Drive Controller
2
1
Rex
ro
th
NODE
AD
9 0 S3 DRES
8
7
S
3
7
6
2
45
LINE
ERRO
R
1
9 0 S2
8
3
6
2
Cs
45
H1
1
ECO
DRIV
E
S1
X6
X1
TX
X20
RX
X21
S20
X2
2
1
ON
X3
typenschilder_anordnung.fh7
1:
type plate 1
2:
type plate 2
Fig. 9-1: Type plate arrangement at the drive controller
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
9-2 Identifying the Components
Rexroth EcoDrive Cs Drives
Type plate 1
Company name
Device type
(Model number)
Voltage Phase F.L.C Freq.
Power
1.1A 50/60Hz
1.5A 0-333.3Hz 200W
INPUT 200-230V 3
OUTPUT 37V
3
QR
Rexroth Indramat GmbH
DKC02.3-001-3-MGP-01VRS
123456
Part number
Made in China
E164620
K33/04
A15
SN123456-F0001
R
Hardware index
Barcode
Serial Number
Production week
SN123456-F0001
Prefix
Part number
Example K33/04 means week 33 in year 2004
Continued Number
Producing Country
Identification of supplier
typenschild_geraet_en.fh7
Fig. 9-2:
Type plate 1
Type plate 2
DKC02.3-001-3-MGP-01VRS
123456
Made in China
K33/04
SN123456-F0001
A15
typenschild_2_en.fh7
Fig. 9-3:
Type plate 2
Type plate 2 is a section of type plate 1.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Identifying the Components 9-3
Rexroth EcoDrive Cs Drives
Type Plate at the Motor
typenschild_motor.fh7
Fig. 9-4:
Type plate at the motor
Production week
Example K40/02 means week 40 in year 2002
Motor type
Part number
Hardwareindex
A15
Barcode
Serial Number
Producing Country
Company name
SN295553-F1234
Prefix
Part number
Continued Number
Identification of supplier
Fig. 9-5:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Motor type plate
typenschild_motor_text_en.fh7
9-4 Identifying the Components
Rexroth EcoDrive Cs Drives
Notes
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-1
Rexroth EcoDrive Cs Drives
10
Additional Components
10.1 Cables
Motor Cable IKG0331
3040
3000
3010
3020
3100
2990
100
0500
2990
IKG0331
3030
INK0670
3050
1
2
3
4
3090
IKG0331
100
INS0755/K01
3110
3060
20
20
INS0751/C01
40
3080
3070
order length = length of unfinished cable
remove
sheath
25 mm
110 (pair of cores 5/6)
20
90
strip
4 mm
length of individual cores:
100 mm
core No. 1:
90 mm
core No. 2:
80 mm
core No. 3:
70 mm
core gnge:
3060
motor side
U
V
W
1
0.75 mm2
2
0.75
mm2
2
3
0.75 mm2
3
4
0.75 mm2
gn/gb
U
V
W
EcodriveCs
3040
Br+
Br-
at controller
1
1
5
0.5 mm2
5
2
3
Br+
6
0.5 mm2
6
4
Br-
L=70 mm
7 L=35 mm
3070
3100
3080
order type
part No.
IKG0331/xxx,x (var.)
IKG0331/005,0
IKG0331/010,0
IKG0331/015,0
IKG0331/020,0
298 153
298 154
298 155
298 156
298 157
Secure solder joint (shield - strand) with shrink hose (item 3090 = 12mm)!
Fig. 10-1:
Motor cable IKG331
Motor cable IKG0331 replaces motor cable IKG0330 formerly used.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
10-2 Additional Components
Rexroth EcoDrive Cs Drives
Motor Extension Cable IKG0332
3000
3010
3020
3070
100
IKG0332
INS0751/C01
0500
2990
2990
3030
3040
3050
3060
3070
100
IKG0332
INK0670
3090
3090
INS0757/C01
order length = length of unfinished cable
remove
sheath
25 mm
remove
sheath
25 mm
strip
4 mm
strip
4 mm
U
V
W
motor side
1
0,75 mm2
1
1
2
0,75 mm2
2
2
3
2
0,75 mm
3
4
0,75 mm2
gn/gb
5
0,5 mm2
5
5
0,5 mm2
6
6
Br+
6
Br7
U
V
3
W
4
L=35 mm
L=35 mm
3080
Fig. 10-2:
Br+
Br-
7
3080
Motor extension cable IKG0332
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-3
Rexroth EcoDrive Cs Drives
Encoder Cable IKS0230
order length = length of unfinished cable
3000
3010
3020
2990
2990
0500
IKS0230
INS0753/C01
3040
100
100
IKS0230
3070
3080
remove
sheath
35 mm
6
INS0756/L01
remove
sheath
25 mm
strip
4 mm
strip
4 mm
Reduce braided shield to 6 mm,
pull it back over the outer sheath
and wrap adhesive copper tape
(item 3080) around it.
3030
Shield
9
VCC
1
white
0.5 mm²
1
GND
2
brown
0.5 mm²
2
VB
3
black
0.25 mm²
3
GND
4
red
0.25 mm²
4
SD
5
grey
0.25 mm²
5
/SD
6
pink
0.25 mm²
6
VCC
GND
VB
GND
SD
/SD
The overall shield is connected to the
metallized connector housing via the strain
relief!
order type
IKS0230/xxx,x (var.)
IKS0230/005,0
IKS0230/010,0
IKS0230/015,0
IKS0230/020,0
Secure solder joint (strand - shield) with shrink hose (3060 = 12 mm)!
Fig. 10-3:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Encoder cable IKS0230
part no.
295 922
296 148
296 149
296 140
296 142
10-4 Additional Components
Rexroth EcoDrive Cs Drives
Encoder Extension Cable IKS0232
order length = length of unfinished cable
3000
3010
100
3040
100
2990
2990
0500
IKS0232
3020
3030
IKS0232
INK0750
3060
INS0753/C01
3040
3060
remove
sheath
35 mm
INS0758/C01
remove
sheath
35 mm
strip
4 mm
strip
4 mm
3050
3050
9
Shield
9
VCC
1
white
0,5 mm²
1
GND
2
brown
0,5 mm²
2
VB
3
black
0,25 mm²
3
GND
4
red
0,25 mm²
4
SD
5
grey
0,25 mm²
5
/SD
6
pink
0,25 mm²
6
Shield
VCC
GND
VB
GND
SD
/SD
Secure solder joint (strand - shield) with shrink hose (3070 = 12 mm)!
Fig. 10-4:
Encoder extension cable IKS0232
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-5
Rexroth EcoDrive Cs Drives
Encoder Emulation Cable RKG0008
order length = length of unfinished cable
100
RKG0008
RKG0008
70
drive controller
white
0,14 mm2
1
brown
0,14
mm2
2
green
0,14 mm2
3
gray
0,14 mm2
4
black
0,14 mm2
5
pink
0,14 mm2
6
blue
0,14 mm2
7
red
0,14 mm2
8
Fig. 10-5:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Encoder emulation cable
UA1+
UA1GND
GND
UA2+/CLK+
UA2-/CLKUA0+/Data+
UA0-/Data-
10-6 Additional Components
Rexroth EcoDrive Cs Drives
RS232 Cable IKB0041
order length = length of unfinished cable
1
2
6
100
1
3,4,5
IKB0041
9
INS0663
INS0457
computer
RxD
TxD
GND
DTR
DSR
RTS
CTS
amplifier
2
white
3
3
brown
5
5
green
4
TxD
RxD
GND
4
6
7
8
Secure solder joint with shrink hose (Pos. 7)!
Fig. 10-6:
RS232 cable
Cable IKB0041 replaces cable IKS0199 formerly used.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-7
Rexroth EcoDrive Cs Drives
10.2 Accessories
SUP-E01-DKC*CS-CONSIG
The " SUP-E01-DKC*CS-CONSIG " contains connection and mounting
accessories according to the enclosed packaging slip.
Note:
Fig. 10-7:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
The " SUP-E01-DKC*CS-CONSIG " is not contained in scope
of supply.
SUP-E01-DKC*CS-CONSIG (packaging slip)
10-8 Additional Components
Rexroth EcoDrive Cs Drives
Rex
roth
NOD
E
A
9 0 S3DDRE
6
7
8
8
7
SS
9 0 S2
3
45
OR
2
ERR
1
LINE
3
6
2
Cs
45
H1
1
ECO
DRIV
E
S1
X6
X1
TX
X20
RX
X21
S20
X2
2
1
ON
X3
sup-e01_geraet.fh7
Fig. 10-8:
SUP-E01-DKC*CS-CONSIG connection and mounting accessories
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-9
Rexroth EcoDrive Cs Drives
Folding Ferrite
Fig. 10-9:
Folding ferrite
The folding ferrite reduces external electromagnetic interferences on the
inputs X5_1, X5_2 and X5_3.
How to Use the Folding Ferrite (see figure below):
• Open the folding ferrite
• Wrap control lines once around one half of the folding ferrite. Pay
attention to place the folding ferrite as near to the inputs X5_1, X5_2
and X5_3 as possible
• Close the folding ferrite
A
B
A:
folding ferrite
B:
control lines
Fig. 10-10: How to use the folding ferrite
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
10-10 Additional Components
Rexroth EcoDrive Cs Drives
SUP-E02-DKC*CS-CONPWR
The " SUP-E02-DKC*CS-CONPWR " contains connection accessories
according to the enclosed packaging slip.
Note:
The " SUP-E02-DKC*CS-CONPWR " is contained in scope of
supply.
Fig. 10-11: SUP-E02-DKC*CS-CONPWR (packaging slip)
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-11
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
Cs
7 8
4 5 6
H1
ECODRIVE
2 3
2 3
7 8
NODE
4 5 6
Rexroth EcoDrive Cs Drives
LINE ERROR
X6
X1
INPUTíF200V-240V
TX
X20
RX
X21
S20
2
1
ON
X2
DL2
X5_1
DL1
L2C
L1C
L3
L2
X6
L1
S1
X3
X5_3
X4
W
V
U
X5_2
RB2
RB3
RB1
X5
X4
sup-e02_geraet.fh7
Fig. 10-12: SUP-E02-DKC*CS-CONPWR connection accessories
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
10-12 Additional Components
Rexroth EcoDrive Cs Drives
SUP-E03-DKC*CS-BATTRY
The " SUP-E03-DKC*CS-BATTRY " contains accessories for operating
motors with absolute encoder according to the enclosed packaging slip.
Note:
Battery
Resistor
The " SUP-E03-DKC*CS-BATTRY " is not contained in scope
of supply.
Type: ER6C; 3,6 V; 1800 mA; lithium
10 Ohm
Fig. 10-13: SUP-E03-DKC*CS-BATTRY
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-13
Rexroth EcoDrive Cs Drives
SUP-E04-DKC*CS-ENCODR (Encoder Adapter)
" SUP-E04-DKC*CS-ENCODR " is a module for adapting 1Vss encoders to
the drive controller. The module must be plugged on interface X4 on the
drive controller.
Note:
The " SUP-E04-DKC*CS-ENCODR " is not contained in scope
of supply.
Dimensions
77
64
246
201
70.5
geberadapter_abmessungen.fh7
Fig. 10-14: Drive controller with encoder adapter
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
10-14 Additional Components
Rexroth EcoDrive Cs Drives
Mounting
• If present, unscrew screw of ground connection:
Rexroth
ADDRESS
S2
S3
9 0 1
9 0 1
7 8
4 5 6
Cs
4 5 6
ECODRIVE
2 3
2 3
7 8
NODE
H1
LINE ERROR
X6
TX
X20
RX
X21
S20
2
1
ON
X2
X5_1
X1
INPUTíF200V-240V
X6
S1
X3
X4
X5_3
X5_2
X5
X4
1
geberadapter_erdungsschraube.fh7
1:
Screw of ground connection
Fig. 10-15: Screw of ground connection
• Screw angle plate to the bottom of drive controller:
geberadapter_winkel.fh7
Fig. 10-16: Angle plate
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-15
Rexroth EcoDrive Cs Drives
• Plug encoder adapter on interface X4 of drive controller:
geberadapter_am_geraet.fh7
Fig. 10-17: Encoder adapter on interface X4
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
10-16 Additional Components
Rexroth EcoDrive Cs Drives
• Screw on the encoder adapter (see figure below):
• Screw in the bolt (1)
• If present, screw in screw (2) of ground connection into the bolt
• Screw in second screw (3)
2
1
3
geberadapter_anschrauben.fh7
1:
2:
3:
Fig. 10-18:
Bolt
Screw of ground connection
Screw
Screw on the encoder adapter
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-17
Rexroth EcoDrive Cs Drives
Interfaces - Overview
X8
X4
geberadapter_X4_X8.fh7
Fig. 10-19: Interfaces
Interface X4
Illustration
8
15
9
1
geberadapter_X4.FH7
Fig. 10-20:
Design
Connector X4
Type
No. of pins
Design
D-SUB
15
pins on unit
Cross section
single wire
[mm²]
Cross section
multi core wire
[mm²]
Cross section
in AWG
gauge no.:
--
0.25-0.5
--
Fig. 10-21: Design
Connection cross section
Fig. 10-22: Connection cross section
Connection
device external
device internal
X4
encoder
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
n.c.
n.c.
track Rtrack R+
track Btrack B+
track A+
track An.c.
GND (encoder)
carrier + (8kHz)
+5V (encoder)
carrier - (8kHz)
GND
n.c.
sup_e04_x4_belegung.FH7
Fig. 10-23:
Shield connection
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Connection
Via D-subminiature mounting screws and metal connector housing.
10-18 Additional Components
Rexroth EcoDrive Cs Drives
Interface X8
Illustration
12345678
geberadapter_X8.fh7
Fig. 10-24:
Design
Connector X8
Type
No. of pins
Design
spring tension
8
bushings
Fig. 10-25: Design
Connection cross section
Cross section
single wire
[mm²]
Cross section
in AWG
gauge no.
0,25 - 0,5
23 - 20
Fig. 10-26: Connection cross section
Connection
1
Hall sensor A
2
Hall sensor B
3
Hall sensor C
4
Motor temperature (IN)
5
Motor temperature (GND)
6
+5V (Power supply Hall sensor)
7
GND (Hall sensor)
8
GND
Fig. 10-27: Connection
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-19
Rexroth EcoDrive Cs Drives
SUP-E05-DKC*CS-SURGEP
The
" SUP-E05-DKC*CS-SURGEP "
contains
accessories
(NTC thermistor; 33 Ohm at 25 °C and 19.6 Ohm at 40 °C) for reducing
the inrush current of the drive controller. The " SUP-E05-DKC*CSSURGEP " is suitable for 100 W, 200 W, and 400 W drive controllers.
Risk of damage by heat!
⇒
CAUTION
Note:
400 W drive controllers (DKCxx.x-012) that are
operated with SUP-E05-DKC*CS-SURGEP may
only be operated with a maximum power of 70%.
With higher load the NTC thermistor gets too hot.
For
750 W
drive
controllers
(DKCxx.x-018)
SUP-E05-DKC*CS-SURGEP is not suitable.
the
Connect " SUP-E05-DKC*CS-SURGEP " to terminal X2 of the drive
controller (see mounting instructions in the leaflet enclosed).
Note:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
The " SUP-E05-DKC*CS-SURGEP " is not contained in scope
of supply.
10-20 Additional Components
Rexroth EcoDrive Cs Drives
Fig. 10-28: SUP-E05-DKC*CS-SURGEP (packaging slip)
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-21
Rexroth EcoDrive Cs Drives
SUP-E06-DKC*CS-CONSIG
The " SUP-E06-DKC*CS-CONSIG " contains connection and mounting
accessories for drive controllers DKC01.3-xxx according to the enclosed
packaging slip.
Note:
The " SUP-E06-DKC*CS-CONSIG " is not contained in scope
of supply.
Fig. 10-29: SUP-E01-DKC*CS-CONSIG (packaging slip)
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
10-22 Additional Components
Rexroth EcoDrive Cs Drives
Rex
roth
E
A
9 0 S3DDRE
7
8
8
7
9 0 S2
6
6
SS
3
OR
2
ERR
1
LINE
3
Cs
45
H1
2
E
45
NOD
DRIV
1
ECO
S1
X6
X1
X6
X2
X3
sup-e06_geraet.fh7
Fig. 10-30: SUP-E06-DKC*CS-CONSIG: connection and mounting accessories
Folding ferrite:
Fig. 10-31: Folding ferrite
Usage of folding ferrite: see page 10-10.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-23
Rexroth EcoDrive Cs Drives
10.3 Braking Resistor
Notes
Note:
When an external braking resistor is used, the drive has to be
informed of this fact by means of the DriveTop commissioning
software (call in DriveTop by menu item " Drive Functions - & gt;
Drive controller " ).
The internal braking resistor of the drive controller causes a derating of
the continuous DC bus power. By connecting an external braking resistor
a derating of the continuous DC bus power can be prevented.
With regard to the connection of the external braking resistor see
chapter 5.
Identification
Abbrev.
Column
1
2
3
4
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: E B R 0 1 . 1 - 0 1 0 0 - 1 0 0 R - V D
1.
1.1
Product
EBR . . . . . . . . . = EBR
2.
2.1
Line
1 . . . . . . . . . . . . . . . . . . . = 01
3.
3.1
Design
1. . . . . . . . . . . . . . . . . . . . . . . . . = 1
4.
4.1
Nominal power
e.g. 100 Watt. . . . . . .. . . . . . . . . . . . . = 0100
5.
5.1
Resistor
e.g. 100 Ohm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 100R
6.
6.1
6.2
Construction
vertical (upright format or rather standing). . . . . . . . . . . . . . . . . .= V
horizontal (flat format or rather lying). . . . . . . . . . . . . . . . . . . . . .= H
7.
7.1
Protection mode
e.g. IP50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = D
typenschl_ebr_en.EPS
Fig. 10-32: Type code
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
10-24 Additional Components
Rexroth EcoDrive Cs Drives
Mechanical Data
Dimensions
Upright Format
20.6
400 ±5
40
222 ±2
5
4.3
240 ±2
bremsw_ext_v_ecocs.fh7
all dimensions in mm
Fig. 10-33: Dimensions
Flat Format
20.6
400 ±5
4.3
40
222 ±2
240 ±2
bremsw_ext_h_ecocs.fh7
all dimensions in mm
Fig. 10-34: Dimensions
Weight
Approx. 400 g
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-25
Rexroth EcoDrive Cs Drives
Mounting
Danger of damages due to hot parts!
⇒
CAUTION
The surface of a braking resistor can reach
temperatures of approx. 230 °C. Pay attention to a
sufficient distance to neighboring devices and
components.
Mount the braking resistor vertically at the rear panel of the control
cabinet. The distance to neighboring devices and components must be at
least 40 mm.
Electrical Data
Item
Value
resistance
100 Ohm
continuous bleeder power*
100 W
energy absorption
1000 Ws
Operating voltage between the
connection wires
max. 900VDC clocked
Insulation: internal structure
according to UL 508 C
Sparking distance in air and creepage
distance from conductive housing of
resistor to metallic conductive
components (according to EN50178,
rating: 600V).
≥ 5.5 mm
Insulation resistance
20 MOhm
Insulation voltage
AC2500V according to EN 50178
Connection wires:
Length
400 mm ±5 mm
Cross section
1,3 mm (AWG 16)
Wire end sleeve
CuZn - 3 claws resp. 3 notches
Stability of temperature
250 °C
UL-Listing
ULstyle1659/VDE0295 CI.5) AWM
600V
2
* Conditions: convection cooling, no heat sink, surface
temperature = 250 °C, ambient temperature = 25 °C
Fig. 10-35: Electrical Data
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
10-26 Additional Components
Rexroth EcoDrive Cs Drives
10.4 DC24V NTM power supplies
Application recommendations
If there is no external DC24V control voltage available, then Rexroth
recommends the use of NTM power supply units.
The power supply NTM supplies the control of the holding brake or the
control of the I/O's.
The power supplies contain an overvoltage safety switch with
automatic shutdown. After the automatic shutdown device has
responded, operation can be resumed by switching the power supply
off, briefly, and on again.
The power supplies always function with a starting current limiter.
However, if you switch off and on again within a period of 10 s, the
starting current limit do not work!
•
The NTM01.1-024-004 and NTM01.1-024-006 power supplies make it
possible to measure the voltage applied to the load via cable sensor.
If there is a voltage drop, the power supply will increase the output
voltage accordingly.
•
Fuse protector Q2
•
•
Features
Installation in enclosed control cabinet required.
Rexroth recommends a 10 A automatic circuit breaker with tripping
characteristics C for DC24V NTM power supplies.
Line filter
Note:
Mains filters are available to comply with EMC-limits. For a
selection of information see project planning manual
" Electromagnetic Compatibility (EMC) in Drive and Control
Systems " , doc.-type DOK-GENERL-EMV********-PRxx.
Technical data
Designation
Symbol
Unit
NTM01.1-24-002
NTM01.1-24-004
NTM01.1-24-006
Uout
VDC
24
24
24
%
+-10
+-10
+-10
IN
A
2.1
3.8
5.5
POUT
VA
50
100
150
input current at 230 (115) V
IIN
A
0.61 (1.2)
1.2 (2.2)
1.9 (3.2)
inrush current for 230 (115) V at the
power input line when the NTM is
switched on. Size the back-up fusing
accordingly
IEIN
A
32 (16)
32 (16)
32 (16)
Input voltage
UN
V
Output rated voltage
Adjustment range
Rate current of the 24V output for
45 °C ambient temperature
Output power for 45 °C ambient
temperature
Degree of protection
Standard AC 170...265
by changing the bridge circuit setting AC 85...132
installation in enclosed control cabinet required
Fig. 10-36: Technical data for DC24V NTM power supply units
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-27
Rexroth EcoDrive Cs Drives
Dimensional sheets and installation dimensions
Power supply
NTM01.1-024-..
B
C
30.4 32.1 21.9
B
A
A1
A
D
C
C
Table of dimensions
INDRAMAT
A Connecting block
Type of power supply
A
A1
B
C
D
B L rails DIN 50
NTM01.1-024-002
NTM01.1-024-004
NTM01.1-024-006
173
202
212
168.7
197.7
207.7
100
97
97
45
51
70
17
20
20
C & gt; 20 mm
cooling clearance
Fig. 10-37:
MB0204F1.FH7
Dimensional sheet DC24V – NTM power supplies
Front views
LED green = output
voltage applied
Output
voltage
DC 24 V V+
Zero point V-
Protective ground
Input
voltage
Potentiometer for fine
adjustments of output
voltage
FG
L
N
1) Pins not connected = input voltage AC (200-240) V
Pins connected = input voltage AC (100-120) V
Pins for changing input
voltage 1)
FA0201F1.FH7
Fig. 10-38:
Front view and terminal designations of the power supply
NTM01.1-024-002
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
10-28 Additional Components
Rexroth EcoDrive Cs Drives
Potentiometer for fine
adjustments of output
voltage
LED green = output
voltage applied
S+ sensor input
V+
Output
voltage
2)
DC 24 V V+
Zero point VV-
Protective ground
S- sensor input
2)
FG
A Input voltage
setting
B via bridge 1)
L
Input
voltage
1)
N
1) A/B not connected, input voltage AC (170-265) V
A/B connected with bridge, input voltage AC (85-132) V
2) V+/S+ or V-/S- are connected with bridges
Remove the bridges for using the sensor inputs.
FA0200F1.FH7
Fig. 10-39:
Front view and terminal designation of the power supplies
NTM01.1-024-004 and NTM01.1-024-006
Electrical connection
Note:
Always use the NTM together with the line filter
NFE01.1-250-006. For further information on NFE, see project
planning manual " Electromagnetic Compatibility (EMC) in
Drive
and
Control
Systems " ,
doc.-type
DOK-GENERL-EMV********-PRxx.
RF interference suppression filter
L
LINE
LOAD
Q2
NFE ...
N
Power supply
V+
L
N
NTM ...
V-
+DC 24 V
0V
to the control voltage
connection on the
drive controller
PE
central
ground
AP0202F1.FH7
Fig. 10-40: Connecting the power supply to a line filter
Note:
The contact bridge between V+/S+ and V-/S- must be
removed if sensor inputs are used.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-29
Rexroth EcoDrive Cs Drives
Load
Power supply
V+
Input DC 24 V
VNTM
S+
S-
Strand sensor line
AP0227F1.FH7
Fig. 10-41: Connecting
the
NTM01.1-024-006
sensor
cables
NTM01.1-024-004
Type code
Example:
Type codes
Power supply module
NTM 01.1 - 024 - 02
NTM
Series
01
Version
1
Output nominal voltage
DC 24 V
024
Output nominal current
2.1 A
4.2 A
6.3 A
02
04
06
Fig. 10-42: Type code
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
TL0003F1.FH7
and
10-30 Additional Components
Rexroth EcoDrive Cs Drives
10.5 DST transformers
Selection
Transformers are only needed if the systems voltage exceeds the rated
voltage of the drive controller.
Grounded power supply lines
For grounded power supply lines, the line voltage is matched to the rated
voltage of the units using autotransformers which are suited to one
specific output voltage range.
Ungrounded power supply lines
To match the voltage for ungrounded power supply lines, always connect
isolating transformers to prevent excess phase to ground voltages.
Autotransformers for Drive Controllers
Select an autotransformer suited to both the line voltage and the power
requirements of the system (see chapter 6.6 " Operation on 400/480 V
Mains " ).
Autotransformer DST
part no.
2,00/L/380,460,500-220
R911259937
2,00/S/380,460,500-220
R911225960
2,50/G/400,415,440,460-230-IP
R911264345
2,50/G/400,480,500,525-230-IP
R911269274
2,50/S/380,415,440-220
R911219217
2,50/S/380,415,440,460,500
R911238617
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-31
Rexroth EcoDrive Cs Drives
Technical Data
DST 2,0/S/380,460,500-220
Fig. 10-43: Dimensions
weight
18 kg
terminal
4 mm
Fig. 10-44: Data
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
2
10-32 Additional Components
Rexroth EcoDrive Cs Drives
DST 2,00/L/380,460,500-220
Fig. 10-45: Dimensions
weight
17 kg
terminal
4 mm
2
Fig. 10-46: Data
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-33
Rexroth EcoDrive Cs Drives
DST 2,5/S/380,415,440-220
Fig. 10-47: Dimensions
weight
16 kg
terminal
4 mm
Fig. 10-48: Data
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
2
10-34 Additional Components
Rexroth EcoDrive Cs Drives
DST 2,5/S/380,415,440,460,500-220
Fig. 10-49: Dimensions
weight
21 kg
terminal
4 mm
2
Fig. 10-50: Data
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-35
Rexroth EcoDrive Cs Drives
DST 2,5/G/400,415,440,460-230-IP
Fig. 10-51: Dimensions
weight
31 kg
terminal
4 mm
Fig. 10-52: Data
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
2
10-36 Additional Components
Rexroth EcoDrive Cs Drives
DST 2,5/G/400,480,500,525-230-IP
Fig. 10-53: Dimensions
weight
31 kg
terminal
4 mm
2
Fig. 10-54: Data
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-37
Rexroth EcoDrive Cs Drives
Type Code
Abbrev.
Column
1
2
3
4
1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0
Example: T R A F O
D S T
4 , 0 0 / L / 3 8 0 , 4 1 5 , 4 4 0 - 2 2 0
1.
1.1
Object
Transformer . . . . = TRAFO
2.
2.1
Product
DST. . . . . . . . . . . . . . . . . . . . . . . = DST
3.
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
3.11
3.12
3.13
Nominal power
2.0 kVA . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 kVA . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.0 kVA . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.0 kVA . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5 kVA . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.0 kVA . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5 kVA . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.0 kVA . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.0 kVA . . . . . . . . . . . . . . . . . . . . . . . . . . .
20.0 kVA . . . . . . . . . . . . . . . . . . . . . . . . . . .
25.0 kVA (for vertical mounting only) . . . . .
35.0 kVA (for vertical mounting only) . . . . .
50.0 kVA (for vertical mounting only) . . . . .
4.
4.1
4.2
4.3
Construction (Design)
suitable for mounting into IP55 housing . . . . . . . . . . . . . . . = G
horizontal mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = L
vertical mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = S
5.
5.1
Nominal input voltage (Phase-Phase)
e.g., AC 380 V, AC 415 V, AC 440 V . . . . . . . . . . . . . . . . . . . . . = 380, 415, 440
6.
6.1
Nominal output voltage (Phase-Phase)
e.g., AC 230 V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = 220
7.
7.1
7.2
7.3
7.4
7.5
7.6
Special design
Does not apply to standard transformers.
Frequency:
e.g., 100 Hz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
max. line diameter: e.g., 10 mm2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Protecting style:
e.g., IP23, in protecting housing ST0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Nema-type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
UL standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.
Standard reference
Standard
Title
DIN EN 60529 Degrees of protection provided by enclosures (IP code)
(IEC 60529:1989 + A1:1999); German version
EN 60529:1991 + A1:2000
1 0 MM
= 2,00
= 2,50
= 4,00
= 5,00
= 7,50
= 10,00
= 12,50
= 15,00
= 18,00
= 20,00
= 25,00
= 35,00
= 50,00
Note:
= Field does not apply
Fig. 10-55:Type code
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Edition
2000-09
= 100HZ
= 10MM
= IP23
= NEMA
= UL-N
10-38 Additional Components
Rexroth EcoDrive Cs Drives
10.6 Mains Filter
Note:
Detailed information is available in the instructions in the
Project Planning Manual " Electromagnetic Compatibility (EMC)
in Drive and Control Systems " , document typecode DOKGENERL-EMV********-PRxx-xx-P.
Mains filter
Part no.
NFE02.1-230-008
R911266399
NFE01.1-250-006
R911267874
NFD03.1-480-007
R911286917
NFD03.1-480-016
R911286918
NFE: Single-phase filter
NFD: Three-phase filter
Fig. 10-56: Mains filter
NFE01.1
Dimensions
85
65
LOAD
LINE
54
29.5
27
5.3
6.3
75
12
40
Mb5011f1.fh7
Fig. 10-57: Dimensions
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Additional Components 10-39
Rexroth EcoDrive Cs Drives
NFE02.1
Dimensions
F
H
J
LINE /
NETZ
E
D
A
M
L
LOAD /
LAST
LINE
LOAD
C
G
B
MB5054F1.FH7
A
NFE02.1230-008
B
C
D
E
F
G
H
J
L
M
90
210
60
60
80
40
5,3
40
0,75
15
10
Fig. 10-58: Dimensions
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
10-40 Additional Components
Rexroth EcoDrive Cs Drives
NFD03.1
Dimensions
C
B
F
M
LOAD
A
E
K D
LINE
G
A
B
C
D
E
F
G
K
M
NFD03.1480-007
190
90
50
160
180
20
5,4
190
M5
NFD03.1480-016
250
90
55
220
235
25
5,4
250
M5
Fig. 10-59: Dimensions
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Service & Support 11-1
11
Service & Support
11.1 Helpdesk
Unser Kundendienst-Helpdesk im Hauptwerk Lohr
am Main steht Ihnen mit Rat und Tat zur Seite.
Sie erreichen uns
-
telefonisch - by phone:
über Service Call Entry Center
- via Service Call Entry Center
Our service helpdesk at our headquarters in Lohr am
Main, Germany can assist you in all kinds of inquiries.
Contact us
+49 (0) 9352 40 50 60
Mo-Fr 07:00-18:00
Mo-Fr 7:00 am - 6:00 pm
+49 (0) 9352 40 49 41
-
per Fax - by fax:
-
per e-Mail - by e-mail: service.svc@boschrexroth.de
11.2 Service-Hotline
Außerhalb der Helpdesk-Zeiten ist der Service
direkt ansprechbar unter
After helpdesk hours,
department directly at
contact
our
service
+49 (0) 171 333 88 26
oder - or
+49 (0) 172 660 04 06
11.3 Internet
Unter www.boschrexroth.com finden Sie
ergänzende Hinweise zu Service, Reparatur und
Training sowie die aktuellen Adressen *) unserer
auf den folgenden Seiten aufgeführten Vertriebsund Servicebüros.
At www.boschrexroth.com you may find
additional notes about service, repairs and training
in the Internet, as well as the actual addresses *) of
our sales- and service facilities figuring on the
following pages.
Verkaufsniederlassungen
sales agencies
Niederlassungen mit Kundendienst
offices providing service
Außerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mit
unserem für Sie nächstgelegenen Ansprechpartner auf.
*) Die Angaben in der vorliegenden Dokumentation können
seit Drucklegung überholt sein.
Please contact our sales / service office in your area first.
*) Data in the present documentation may have become
obsolete since printing.
11.4 Vor der Kontaktaufnahme... - Before contacting us...
Wir können Ihnen schnell und effizient helfen wenn
Sie folgende Informationen bereithalten:
For quick and efficient help, please have the
following information ready:
1. detaillierte Beschreibung der Störung und der
Umstände.
1. Detailed description
circumstances.
2. Angaben auf dem Typenschild der betreffenden
Produkte, insbesondere Typenschlüssel und
Seriennummern.
2. Information on the type plate of the affected
products, especially type codes and serial
numbers.
3. Tel.-/Faxnummern und e-Mail-Adresse, unter
denen Sie für Rückfragen zu erreichen sind.
3. Your phone/fax numbers and e-mail address,
so we can contact you in case of questions.
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
of
the
failure
and
11-2 Service & Support
Rexroth EcoDrive Cs Drives
11.5 Kundenbetreuungsstellen - Sales & Service Facilities
Deutschland – Germany
Vertriebsgebiet Mitte
Germany Centre
Rexroth Indramat GmbH
Bgm.-Dr.-Nebel-Str. 2 / Postf. 1357
97816 Lohr am Main / 97803 Lohr
Kompetenz-Zentrum Europa
Tel.:
Fax:
+49 (0)9352 40-0
+49 (0)9352 40-4885
SERVICE AUTOMATION
CALL ENTRY CENTER
Helpdesk
MO – FR
von 07:00 - 18:00 Uhr
from 7 am – 6 pm
vom Ausland:
from abroad:
(0) nach Landeskennziffer weglassen!
don’t dial (0) after country code!
SERVICE AUTOMATION
HOTLINE 24 / 7 / 365
außerhalb der Helpdesk-Zeit
out of helpdesk hours
Tel.: +49 (0)172 660 04 06
Tel. +49 (0) 9352 40 50 60
Fax +49 (0) 9352 40 49 41
service.svc@boschrexroth.de
oder / or
Tel.: +49 (0)171 333 88 26
SERVICE AUTOMATION
ERSATZTEILE / SPARES
verlängerte Ansprechzeit
- extended office time ♦ nur an Werktagen
- only on working days ♦ von 07:00 - 18:00 Uhr
- from 7 am - 6 pm Tel. +49 (0) 9352 40 42 22
Vertriebsgebiet Süd
Germany South
Vertriebsgebiet West
Germany West
Gebiet Südwest
Germany South-West
Bosch Rexroth AG
Landshuter Allee 8-10
80637 München
Bosch Rexroth AG
Regionalzentrum West
Borsigstrasse 15
40880 Ratingen
Bosch Rexroth AG
Service-Regionalzentrum Süd-West
Siemensstr. 1
70736 Fellbach
Tel.: +49 (0)89 127 14-0
Fax: +49 (0)89 127 14-490
Tel.:
Fax:
Tel.: +49 (0)711 51046–0
Fax: +49 (0)711 51046–248
Vertriebsgebiet Nord
Germany North
Vertriebsgebiet Mitte
Germany Centre
Vertriebsgebiet Ost
Germany East
Vertriebsgebiet Ost
Germany East
Bosch Rexroth AG
Walsroder Str. 93
30853 Langenhagen
Bosch Rexroth AG
Regionalzentrum Mitte
Waldecker Straße 13
64546 Mörfelden-Walldorf
Bosch Rexroth AG
Beckerstraße 31
09120 Chemnitz
Bosch Rexroth AG
Regionalzentrum Ost
Walter-Köhn-Str. 4d
04356 Leipzig
Tel.: +49 (0) 61 05 702-3
Fax: +49 (0) 61 05 702-444
Tel.:
Fax:
Tel.:
Fax:
Tel.:
+49 (0) 511 72 66 57-0
Service: +49 (0) 511 72 66 57-256
Fax:
+49 (0) 511 72 66 57-93
Service: +49 (0) 511 72 66 57-783
+49 (0)2102 409-0
+49 (0)2102 409-406
+49 (0)2102 409-430
+49 (0)371 35 55-0
+49 (0)371 35 55-333
+49 (0)341 25 61-0
+49 (0)341 25 61-111
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Service & Support 11-3
Rexroth EcoDrive Cs Drives
Europa (West) - Europe (West)
vom Ausland: (0) nach Landeskennziffer weglassen,
from abroad: don’t dial (0) after country code,
Italien: 0 nach Landeskennziffer mitwählen
Italy: dial 0 after country code
Austria - Österreich
Austria – Österreich
Belgium - Belgien
Denmark - Dänemark
Bosch Rexroth GmbH
Electric Drives & Controls
Stachegasse 13
1120 Wien
Tel.:
+43 (0)1 985 25 40
Fax:
+43 (0)1 985 25 40-93
Bosch Rexroth GmbH
Electric Drives & Controls
Industriepark 18
4061 Pasching
Tel.:
+43 (0)7221 605-0
Fax:
+43 (0)7221 605-21
Bosch Rexroth NV/SA
Henri Genessestraat 1
1070 Bruxelles
BEC A/S
Zinkvej 6
8900 Randers
Tel: +32 (0) 2 451 26 08
Fax: +32 (0) 2 451 27 90
info@boschrexroth.be
service@boschrexroth.be
Tel.:
Fax:
Great Britain – Großbritannien
Finland - Finnland
France - Frankreich
France - Frankreich
Bosch Rexroth Ltd.
Electric Drives & Controls
Broadway Lane, South Cerney
Cirencester, Glos GL7 5UH
Bosch Rexroth Oy
Electric Drives & Controls
Ansatie 6
017 40 Vantaa
Tel.:
+44 (0)1285 863000
Fax:
+44 (0)1285 863030
sales@boschrexroth.co.uk
service@boschrexroth.co.uk
Tel.:
Fax:
Bosch Rexroth SAS
Electric Drives & Controls
Avenue de la Trentaine
(BP. 74)
77503 Chelles Cedex
Tel.:
+33 (0)164 72-63 22
Fax:
+33 (0)164 72-63 20
Hotline: +33 (0)608 33 43 28
Bosch Rexroth SAS
Electric Drives & Controls
ZI de Thibaud, 20 bd. Thibaud
(BP. 1751)
31084 Toulouse
Tel.: +33 (0)5 61 43 61 87
Fax: +33 (0)5 61 43 94 12
France – Frankreich
Italy - Italien
Italy - Italien
Italy - Italien
Bosch Rexroth SAS
Electric Drives & Controls
91, Bd. Irène Joliot-Curie
69634 Vénissieux – Cedex
Tel.: +33 (0)4 78 78 53 65
Fax: +33 (0)4 78 78 53 62
Bosch Rexroth S.p.A.
Via G. Di Vittorio, 1
20063 Cernusco S/N.MI
Hotline: +39 02 92 365 563
Tel.:
+39 02 92 365 1
Service: +39 02 92 365 300
Fax:
+39 02 92 365 500
Service: +39 02 92 365 516
Bosch Rexroth S.p.A.
Via Paolo Veronesi, 250
10148 Torino
Bosch Rexroth S.p.A.
Via Mascia, 1
80053 Castellamare di Stabia NA
Tel.:
Fax:
Tel.:
Fax:
Italy - Italien
Italy - Italien
Netherlands - Niederlande/Holland
Netherlands – Niederlande/Holland
Bosch Rexroth S.p.A.
Via del Progresso, 16 (Zona Ind.)
35020 Padova
Bosch Rexroth S.p.A.
Via Isonzo, 61
40033 Casalecchio di Reno (Bo)
Bosch Rexroth B.V.
Kruisbroeksestraat 1
(P.O. Box 32)
5281 RV Boxtel
Tel.:
Fax:
Tel.:
Fax:
Bosch Rexroth Services B.V.
Technical Services
Kruisbroeksestraat 1
(P.O. Box 32)
5281 RV Boxtel
Tel.:
+31 (0) 411 65 19 51
Fax:
+31 (0) 411 67 78 14
Hotline: +31 (0) 411 65 19 51
services@boschrexroth.nl
+39 049 8 70 13 70
+39 049 8 70 13 77
+358 (0)9 84 91-11
+358 (0)9 84 91-13 60
+39 051 29 86 430
+39 051 29 86 490
+39 011 224 88 11
+39 011 224 88 30
+45 (0)87 11 90 60
+45 (0)87 11 90 61
+39 081 8 71 57 00
+39 081 8 71 68 85
Tel.:
+31 (0) 411 65 16 40
Fax:
+31 (0) 411 65 14 83
www.boschrexroth.nl
Norway - Norwegen
Spain - Spanien
Spain – Spanien
Sweden - Schweden
Bosch Rexroth AS
Electric Drives & Controls
Berghagan 1
or: Box 3007
1405 Ski-Langhus
1402 Ski
Tel.:
+47 (0) 64 86 41 00
Bosch Rexroth S.A.
Electric Drives & Controls
Centro Industrial Santiga
Obradors s/n
08130 Santa Perpetua de Mogoda
Barcelona
Tel.:
+34 9 37 47 94 00
Fax:
+34 9 37 47 94 01
Goimendi S.A.
Electric Drives & Controls
Parque Empresarial Zuatzu
C/ Francisco Grandmontagne no.2
20018 San Sebastian
Bosch Rexroth AB
Electric Drives & Controls
- Varuvägen 7
(Service: Konsumentvägen 4, Älfsjö)
125 81 Stockholm
Tel.:
+34 9 43 31 84 21
- service: +34 9 43 31 84 56
Fax:
+34 9 43 31 84 27
- service: +34 9 43 31 84 60
sat.indramat@goimendi.es
Tel.:
Fax:
Sweden - Schweden
Switzerland East - Schweiz Ost
Switzerland West - Schweiz West
Bosch Rexroth AB
Electric Drives & Controls
Ekvändan 7
254 67 Helsingborg
Tel.:
+46 (0) 42 38 88 -50
Fax:
+46 (0) 42 38 88 -74
Bosch Rexroth Schweiz AG
Electric Drives & Controls
Hemrietstrasse 2
8863 Buttikon
Tel.
+41 (0) 55 46 46 111
Fax
+41 (0) 55 46 46 222
Bosch Rexroth Suisse SA
Av. Général Guisan 26
1800 Vevey 1
Fax:
+47 (0) 64 86 90 62
Hotline: +47 (0)64 86 94 82
jul.ruud@rexroth.no
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Tel.:
Fax:
+41 (0)21 632 84 20
+41 (0)21 632 84 21
+46 (0)8 727 92 00
+46 (0)8 647 32 77
11-4 Service & Support
Rexroth EcoDrive Cs Drives
Europa (Ost) - Europe (East)
vom Ausland: (0) nach Landeskennziffer weglassen
from abroad: don’t dial (0) after country code
Czech Republic - Tschechien
Czech Republic - Tschechien
Hungary - Ungarn
Poland – Polen
Bosch -Rexroth, spol.s.r.o.
Hviezdoslavova 5
627 00 Brno
Tel.:
+420 (0)5 48 126 358
Fax:
+420 (0)5 48 126 112
DEL a.s.
Strojírenská 38
591 01 Zdar nad Sázavou
Tel.:
+420 566 64 3144
Fax:
+420 566 62 1657
Bosch Rexroth Kft.
Angol utca 34
1149 Budapest
Tel.:
+36 (1) 422 3200
Fax:
+36 (1) 422 3201
Bosch Rexroth Sp.zo.o.
ul. Staszica 1
05-800 Pruszków
Tel.:
+48 22 738 18 00
– service: +48 22 738 18 46
Fax:
+48 22 758 87 35
– service: +48 22 738 18 42
Poland – Polen
Romania - Rumänien
Romania - Rumänien
Russia - Russland
Bosch Rexroth Sp.zo.o.
Biuro Poznan
ul. Dabrowskiego 81/85
60-529 Poznan
Tel.:
+48 061 847 64 62 /-63
Fax:
+48 061 847 64 02
East Electric S.R.L.
Bdul Basarabia no.250, sector 3
73429 Bucuresti
Tel./Fax:: +40 (0)21 255 35 07
+40 (0)21 255 77 13
Fax:
+40 (0)21 725 61 21
eastel@rdsnet.ro
Bosch Rexroth Sp.zo.o.
Str. Drobety nr. 4-10, app. 14
70258 Bucuresti, Sector 2
Tel.:
+40 (0)1 210 48 25
+40 (0)1 210 29 50
Fax:
+40 (0)1 210 29 52
Bosch Rexroth OOO
Wjatskaja ul. 27/15
127015 Moskau
Tel.:
+7-095-785 74 78
+7-095 785 74 79
Fax:
+7 095 785 74 77
laura.kanina@boschrexroth.ru
Russia Belarus - Weissrussland
Turkey - Türkei
Turkey - Türkei
Slowenia - Slowenien
ELMIS
10, Internationalnaya
246640 Gomel, Belarus
Tel.:
+375/ 232 53 42 70
+375/ 232 53 21 69
Fax:
+375/ 232 53 37 69
elmis_ltd@yahoo.com
Bosch Rexroth Otomasyon
San & Tic. A..S.
Fevzi Cakmak Cad No. 3
34630 Sefaköy Istanbul
Servo Kontrol Ltd. Sti.
Perpa Ticaret Merkezi B Blok
Kat: 11 No: 1609
80270 Okmeydani-Istanbul
DOMEL
Otoki 21
64 228 Zelezniki
Tel.:
+90 212 413 34 00
Fax:
+90 212 413 34 17
www.boschrexroth.com.tr
Tel:
+90 212 320 30 80
Fax:
+90 212 320 30 81
remzi.sali@servokontrol.com
www.servokontrol.com
Tel.:
+386 5 5117 152
Fax:
+386 5 5117 225
brane.ozebek@domel.si
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Service & Support 11-5
Rexroth EcoDrive Cs Drives
Africa, Asia, Australia – incl. Pacific Rim
Australia - Australien
Australia - Australien
China
China
AIMS - Australian Industrial
Machinery Services Pty. Ltd.
28 Westside Drive
Laverton North Vic 3026
Melbourne
Bosch Rexroth Pty. Ltd.
No. 7, Endeavour Way
Braeside Victoria, 31 95
Melbourne
Shanghai Bosch Rexroth
Hydraulics & Automation Ltd.
Waigaoqiao, Free Trade Zone
No.122, Fu Te Dong Yi Road
Shanghai 200131 - P.R.China
Shanghai Bosch Rexroth
Hydraulics & Automation Ltd.
4/f, Marine Tower
No.1, Pudong Avenue
Shanghai 200120 - P.R.China
Tel.:
+61 3 93 14 3321
Fax:
+61 3 93 14 3329
Hotlines: +61 3 93 14 3321
+61 4 19 369 195
enquires@aimservices.com.au
Tel.:
+61 3 95 80 39 33
Fax:
+61 3 95 80 17 33
mel@rexroth.com.au
Tel.:
Fax:
Tel:
Fax:
China
China
China
China
Bosch Rexroth China Ltd.
15/F China World Trade Center
1, Jianguomenwai Avenue
Beijing 100004, P.R.China
Bosch Rexroth China Ltd.
Guangzhou Repres. Office
Room 1014-1016, Metro Plaza,
Tian He District, 183 Tian He Bei Rd
Guangzhou 510075, P.R.China
Bosch Rexroth (China) Ltd.
A-5F., 123 Lian Shan Street
Sha He Kou District
Dalian 116 023, P.R.China
Melchers GmbH
BRC-SE, Tightening & Press-fit
13 Floor Est Ocean Centre
No.588 Yanan Rd. East
65 Yanan Rd. West
Shanghai 200001
Tel.: +86 10 65 05 03 80
Fax: +86 10 65 05 03 79
Tel.:
Tel.:
Fax:
Tel.:
Fax:
+86 20 8755-0030
+86 20 8755-0011
+86 20 8755-2387
Fax:
+86 21 58 66 30 30
+86 21 58 66 55 23
+86 21 68 86 15 88
+86 21 58 40 65 77
richard.yang_sh@boschrexroth.com.cn
gf.zhu_sh@boschrexroth.com.cn
+86 411 46 78 930
+86 411 46 78 932
+86 21 6352 8848
+86 21 6351 3138
Hongkong
India - Indien
India - Indien
India - Indien
Bosch Rexroth (China) Ltd.
6th Floor,
Yeung Yiu Chung No.6 Ind Bldg.
19 Cheung Shun Street
Cheung Sha Wan,
Kowloon, Hongkong
Bosch Rexroth (India) Ltd.
Electric Drives & Controls
Plot. No.96, Phase III
Peenya Industrial Area
Bangalore – 560058
Bosch Rexroth (India) Ltd.
Electric Drives & Controls
Advance House, II Floor
Ark Industrial Compound
Narol Naka, Makwana Road
Andheri (East), Mumbai - 400 059
Bosch Rexroth (India) Ltd.
S-10, Green Park Extension
New Delhi – 110016
Tel.:
Fax:
Tel.:
Fax:
Tel.: +91 22 28 56 32 90
+91 22 28 56 33 18
Fax: +91 22 28 56 32 93
Tel.:
mohanvelu.t@boschrexroth.co.in
singh.op@boschrexroth.co.in
koul.rp@boschrexroth.co.in
Japan
Japan
Korea
+852 22 62 51 00
+852 27 41 33 44
alexis.siu@boschrexroth.com.hk
Indonesia - Indonesien
+91 80 51 17 0-211...-218
+91 80 83 94 345
+91 80 83 97 374
Fax:
+91 11 26 56 65 25
+91 11 26 56 65 27
+91 11 26 56 68 87
PT. Bosch Rexroth
Building # 202, Cilandak
Commercial Estate
Jl. Cilandak KKO, Jakarta 12560
Bosch Rexroth Automation Corp.
Service Center Japan
Yutakagaoka 1810, Meito-ku,
NAGOYA 465-0035, Japan
Bosch Rexroth Automation Corp.
Electric Drives & Controls
2F, I.R. Building
Nakamachidai 4-26-44, Tsuzuki-ku
YOKOHAMA 224-0041, Japan
Bosch Rexroth-Korea Ltd.
Electric Drives and Controls
Bongwoo Bldg. 7FL, 31-7, 1Ga
Jangchoong-dong, Jung-gu
Seoul, 100-391
Tel.: +62 21 7891169 (5 lines)
Fax: +62 21 7891170 - 71
rudy.karimun@boschrexroth.co.id
Tel.: +81 52 777 88 41
+81 52 777 88 53
+81 52 777 88 79
Fax: +81 52 777 89 01
Tel.: +81 45 942 72 10
Fax: +81 45 942 03 41
Tel.:
Fax:
Korea
Malaysia
Singapore - Singapur
South Africa - Südafrika
Bosch Rexroth-Korea Ltd.
1515-14 Dadae-Dong, Saha-gu
Electric Drives & Controls
Pusan Metropolitan City, 604-050
Bosch Rexroth Sdn.Bhd.
11, Jalan U8/82, Seksyen U8
40150 Shah Alam
Selangor, Malaysia
Bosch Rexroth Pte Ltd
15D Tuas Road
Singapore 638520
TECTRA Automation (Pty) Ltd.
71 Watt Street, Meadowdale
Edenvale 1609
Tel.:
+82 51 26 00 741
Fax:
+82 51 26 00 747
eunkyong.kim@boschrexroth.co.kr
Tel.:
+60 3 78 44 80 00
Fax:
+60 3 78 45 48 00
hockhwa@hotmail.com
rexroth1@tm.net.my
Tel.:
+65 68 61 87 33
Fax:
+65 68 61 18 25
sanjay.nemade
@boschrexroth.com.sg
Tel.:
+27 11 971 94 00
Fax:
+27 11 971 94 40
Hotline: +27 82 903 29 23
georgv@tectra.co.za
Taiwan
Taiwan
Thailand
Bosch Rexroth Co., Ltd.
Taichung Industrial Area
No.19, 38 Road
Taichung, Taiwan 407, R.O.C.
Tel :
+886 - 4 -235 08 383
Fax:
+886 - 4 -235 08 586
jim.lin@boschrexroth.com.tw
david.lai@boschrexroth.com.tw
Bosch Rexroth Co., Ltd.
Tainan Branch
No. 17, Alley 24, Lane 737
Chung Cheng N.Rd. Yungkang
Tainan Hsien, Taiwan, R.O.C.
NC Advance Technology Co. Ltd.
59/76 Moo 9
Ramintra road 34
Tharang, Bangkhen,
Bangkok 10230
Tel :
+886 - 6 –253 6565
Fax:
+886 - 6 –253 4754
charlie.chen@boschrexroth.com.tw
Tel.:
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
+66 2 943 70 62
+66 2 943 71 21
Fax:
+66 2 509 23 62
Hotline
+66 1 984 61 52
sonkawin@hotmail.com
+82 234 061 813
+82 222 641 295
11-6 Service & Support
Rexroth EcoDrive Cs Drives
Nordamerika – North America
USA
Headquarters - Hauptniederlassung
Bosch Rexroth Corporation
Electric Drives & Controls
5150 Prairie Stone Parkway
Hoffman Estates, IL 60192-3707
Tel.:
+1 847 6 45 36 00
Fax:
+1 847 6 45 62 01
servicebrc@boschrexroth-us.com
repairbrc@boschrexroth-us.com
USA Central Region - Mitte
USA Southeast Region - Südwest
Bosch Rexroth Corporation
Electric Drives & Controls
Central Region Technical Center
1701 Harmon Road
Auburn Hills, MI 48326
Bosch Rexroth Corporation
Electric Drives & Controls
Southeastern Technical Center
3625 Swiftwater Park Drive
Suwanee, Georgia 30124
Tel.:
Fax:
Tel.:
Fax:
+1 248 3 93 33 30
+1 248 3 93 29 06
USA SERVICE-HOTLINE
- 7 days x 24hrs -
+1-800-REX-ROTH
+1 770 9 32 32 00
+1 770 9 32 19 03
USA East Region – Ost
USA Northeast Region – Nordost
USA West Region – West
Bosch Rexroth Corporation
Electric Drives & Controls
Charlotte Regional Sales Office
14001 South Lakes Drive
Charlotte, North Carolina 28273
Bosch Rexroth Corporation
Electric Drives & Controls
Northeastern Technical Center
99 Rainbow Road
East Granby, Connecticut 06026
Bosch Rexroth Corporation
7901 Stoneridge Drive, Suite 220
Pleasant Hill, California 94588
Tel.:
Tel.:
Fax:
Tel.:
Fax:
+1 800 739 7684
+1 704 5 83 97 62
+1 704 5 83 14 86
+1 860 8 44 83 77
+1 860 8 44 85 95
+1 925 227 10 84
+1 925 227 10 81
Canada East - Kanada Ost
Canada West - Kanada West
Mexico
Mexico
Bosch Rexroth Canada Corporation
Burlington Division
3426 Mainway Drive
Burlington, Ontario
Canada L7M 1A8
Bosch Rexroth Canada Corporation
5345 Goring St.
Burnaby, British Columbia
Canada V7J 1R1
Bosch Rexroth Mexico S.A. de C.V.
Calle Neptuno 72
Unidad Ind. Vallejo
07700 Mexico, D.F.
Bosch Rexroth S.A. de C.V.
Calle Argentina No 3913
Fracc. las Torres
64930 Monterrey, N.L.
Tel.:
+1 905 335 5511
Fax:
+1 905 335 4184
Hotline: +1 905 335 5511
michael.moro@boschrexroth.ca
Tel.
+1 604 205 5777
Fax
+1 604 205 6944
Hotline: +1 604 205 5777
david.gunby@boschrexroth.ca
Tel.:
Fax:
Tel.:
+52 55 57 54 17 11
+52 55 57 54 50 73
mariofelipe.hernandez@boschrexroth.com.m
x
Fax:
+52 81 83 65 22 53
+52 81 83 65 89 11
+52 81 83 49 80 91
+52 81 83 65 52 80
Südamerika – South America
Argentina - Argentinien
Argentina - Argentinien
Brazil - Brasilien
Brazil - Brasilien
Bosch Rexroth S.A.I.C.
" The Drive & Control Company "
Rosario 2302
B1606DLD Carapachay
Provincia de Buenos Aires
NAKASE
Servicio Tecnico CNC
Calle 49, No. 5764/66
B1653AOX Villa Balester
Provincia de Buenos Aires
Bosch Rexroth Ltda.
Av. Tégula, 888
Ponte Alta, Atibaia SP
CEP 12942-440
Bosch Rexroth Ltda.
R. Dr.Humberto Pinheiro Vieira, 100
Distrito Industrial [Caixa Postal 1273]
89220-390 Joinville - SC
Tel.:
Tel.:
+54 11 4768 36 43
Fax:
+54 11 4768 24 13
Hotline: +54 11 155 307 6781
nakase@usa.net
nakase@nakase.com
gerencia@nakase.com (Service)
Tel.:
Tel./Fax: +55 47 473 58 33
Mobil:
+55 47 9974 6645
prochnow@zaz.com.br
+54 11 4756 01 40
+54 11 4756 02 40
+54 11 4756 03 40
+54 11 4756 04 40
Fax:
+54 11 4756 01 36
+54 11 4721 91 53
victor.jabif@boschrexroth.com.ar
+55 11 4414 56 92
+55 11 4414 56 84
Fax sales: +55 11 4414 57 07
Fax serv.: +55 11 4414 56 86
alexandre.wittwer@rexroth.com.br
Columbia - Kolumbien
Reflutec de Colombia Ltda.
Calle 37 No. 22-31
Santafé de Bogotá, D.C.
Colombia
Tel.:
+57 1 368 82 67
+57 1 368 02 59
Fax:
+57 1 268 97 37
reflutec@etb.net.co
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Index 12-1
Rexroth EcoDrive Cs Drives
12
Index
4
400/480 V mains 6-16
A
absolute encoder 8-36
battery 8-44
accessories 10-7
additional components 10-1
address switch 4-16
ambient and operating conditions
drive controllers 4-7
motor 8-25
Analog/Parallel Interface 5-23
appropriate use 2-1
assembly
encoder adapter 10-14
master communication module 5-45
motor 8-40
autotransformer 10-30
B
basic device 1-2
battery
changing 8-45
data 10-12
for absolute encoder 8-44
refresh 8-45
safety 3-11
service life 8-44
Bb 6-18
Bb1, Bb2 5-16
bearing
load 8-32
service life 8-33
Br+, Br- 5-18
brake
connection 5-18
holding brake 8-29
braking resistor
connection 5-8
data 10-23
C
cable
encoder 10-3
encoder emulation RKG0008 10-5
motor 5-10, 10-1
RS232 10-6
cable duct 7-6
CANopen interface 5-43
Cartesian Motion Systems 8-46
CE label 4-17
changing
battery 8-45
choke
connection 5-7
CMS 8-46
combination
drive controller - motor 1-4
components
additional 10-1
configuration 1-2
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
12-2 Index
Rexroth EcoDrive Cs Drives
connection
braking resistor 5-8
choke 5-7
encoder 5-12
ground 5-11
holding brake 5-18
mains and supply voltage 6-1
motor 5-9
continuous current at standstill 8-7
continuous torque at standstill 8-7
control cabinet
construction 7-1
multiple line structure 7-2
wire routing 7-6
control circuits
for the mains connection 6-18
with E-Stop 6-19
control voltage
data 4-15
cooling ribs 8-43
cooling units 7-3
C-UL listing 4-17
cycle duration
motor 8-6
D
data
ambient and operating conditions (drive controllers) 4-7
ambient and operating conditions (motor) 8-25
electrical (drive controller) 4-9
mechanical (drive controller) 4-1
power section 4-9
technical data (motor) 8-6
DC24V NTM power supplies 10-26
degree of protection
motor 8-26
derating 4-12
device configurations 1-2
DeviceNet interface
with COMBICON connector 5-39
with sealed micro-style connector 5-41
diagnostic display 4-16
digital inputs 5-13
digital outputs 5-15
dimensional drawings
drive controller 4-1
DKC01.3 5-23
DKC02.3 5-31
DKC03.3 5-33
DKC05.3 5-43
DKC06.3 5-39
DKC16.3 5-41
DL1, DL2 5-7
drive address 4-16
drive controller
additional components 10-1
combination with motors 1-4
configuration 1-2
degree of protection 4-7
index 9-2
individual components 1-2
mass 4-6
materials 4-6
mounting position 7-1
serial number 9-2
technical data 4-1
type plate 9-1
weight 4-6
DST 10-30
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Index 12-3
Rexroth EcoDrive Cs Drives
E
earth-leakage circuit breaker 6-18
ECM01.1-CN01 5-43
ECM01.1-DN01 5-39
ECM01.1-DN02 5-41
ECM01.1-PB01 5-33
EcoDrive Cs
configuration 1-2
drive system 1-1
individual components 1-2
type codes 1-5
electrical data
drive controller 4-9
EMC 7-6
encoder
absolute encoder 8-36
adapter 10-13
cable 10-3
connection 5-12
data memory 8-34
emulation cable RKG0008 10-5
extension cable 10-4
incremental encoder 8-35
E-Stop 6-19
extension cable
encoder 10-4
motor 10-2
F
F248 Low battery voltage 8-44
ferrite 10-9
fiber optic cables 5-32
filter
mains 6-15
folding ferrite 10-9
front view 5-1
fuse protector Q2 10-26
G
ground
connection 5-11
ground conditions
power supply network 6-17
grounded power supply lines 10-30
grounded three-phase current networks 6-17
H
H1 4-16
hazards by improper use 3-2
holding brake
connection 5-18
data 8-29
wear and tear 8-29
I
idle time
motor 8-6
IKB0041 10-6
IKG0331 10-1
IKG0332 10-2
IKS0230 10-3
IKS0232 10-4
improper use
hazards 3-2
IN1...IN7 5-13
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
12-4 Index
Rexroth EcoDrive Cs Drives
IN8...IN11 5-24
inappropriate use 2-2
consequences, discharge of liability 2-1
incremental encoder 8-35
index
drive controller 9-2
motor 9-3
individual components 1-2
inrush current
characteristic 6-5
computing 6-6
reducing 6-6, 10-19
interfaces
pin assignments (overview) 5-2
K
K1 contactor 6-14
key
motor 8-30
L
L1, L2, L3 5-5
line filter 10-26
M
mains
400/480 V 6-16
filter 6-15, 10-38
mains voltage connection 6-1
mains and control voltage
terminal connector 5-5
mains connection
control circuits 6-18
with phase currents of less than 25 A 6-13
with phase currents of more than 25 A 6-12
mains transformer 6-16
mass
drive controller 4-6
master communication card 1-2
master communication module
mounting 5-45
materials
drive controller 4-6
motor housing 8-28
maximum speed 8-8
moisture condensation 7-4
moment of inertia of the rotor 8-8
motor
index 9-3
motor
acceptances 8-39
approvals 8-39
assembly 8-40
basic type 8-1
battery (absolute encoder) 8-44
benefits 8-1
cable 5-10, 10-1
combination with drive controllers 1-4
connection 5-9
encoder data memory 8-34
extension cable 10-2
feedback 8-34
holding brake 8-29
maintenance 8-43
materials 8-28
MSM020B 8-9
MSM030B 8-13
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Index 12-5
Rexroth EcoDrive Cs Drives
MSM030C 8-17
MSM040B 8-21
operating modes 8-6
operation 8-43
options 8-1
serial number 9-3
service life 8-33
startup 8-42
technical data 8-6
type code MSM020B 8-2
type code MSM030 8-3
type code MSM040B 8-4
types 8-5
mounting
encoder adapter 10-14
master communication module 5-45
mounting position 7-1
motor 8-27
MSM
type code 8-2
types 8-5
MSM020B
description 8-9
type code 8-2
MSM030
type code 8-3
MSM030B
description 8-13
MSM030C
description 8-17
MSM040B
description 8-21
type code 8-4
N
NFD 10-38
NFE 10-38
NTC thermistor 6-6, 10-19
number of pole pairs 8-7
O
ON time
motor 8-6
operating conditions
drive controllers 4-7
motors 8-25
OUT1 5-13
OUT2...OUT6 5-24
OUT7, OUT8 5-16
overall connection diagram 5-3
overvoltage 6-17
P
peak current
motor 8-7
phase current
on the mains 6-11
pin assignments
overview 5-2
plain shaft 8-30
position detection 8-36
power section
data 4-9
power supply network
ground conditions 6-17
Profibus-DP Interface 5-33
protection
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
12-6 Index
Rexroth EcoDrive Cs Drives
against contact with electrical parts 3-5
against contact with hot parts 3-10
against dangerous movements 3-7
against electric shock by protective low voltage (PELV) 3-6
against magnetic and electromagnetic fields during operation and mounting 3-9
against pressurized systems 3-11
degree of 4-7
during handling and mounting 3-10
Q
Q1 fuse 6-14
R
rated current
motor 8-7
rated frequency
motor 8-7
rated output
motor 8-7
rated speed
motor 8-7
rated torque
motor 8-7
rated voltage
motor 8-7
RB1, RB2, RB3 5-8
ready to operate Bb 6-18
refresh
battery 8-45
resistor 10-12
reset button 4-16
resistor
for battery refresh 10-12
RKG0008 10-5
RS232
cable 10-6
interface 5-21
RS485 5-22
RxD 5-21
S
S1 4-16
S2 4-16
S3 4-16
safety instructions for electric drives and controls 3-1
SERCOS
data rate 5-32
interface 5-31
transmission power 5-32
serial interface RS232 5-21
serial number
drive controller 9-2
motor 9-3
service life
battery 8-44
setup height
motor 8-25
shaft
load 8-32
plain 8-30
with key 8-30
Signal filtering 5-28
single-phase connection 6-3
SUP-E01-DKC*CS-CONSIG 10-7
SUP-E02-DKC*CS-CONPWR 10-10
SUP-E03-DKC*CS-BATTRY 10-12
SUP-E04-DKC*CS-ENCODR 10-13
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Index 12-7
Rexroth EcoDrive Cs Drives
SUP-E05-DKC*CS-SURGEP 6-6, 10-19
SUP-E06-DKC*CS-CONSIG 10-21
supply voltage connection 6-1
T
technical data
drive controller 4-1
motor 8-6
terminal connectors
designations 5-1
tests 4-17
theoretical maximum torque 8-8
thermal time constant
motor 8-8
thermistor 10-19
thermistor (NTC) 6-6
three-phase connection 6-4
torque constant 8-7
transformer
mains 6-16
transformers 10-30
TxD 5-21
type code
basic devices 1-7
drive controllers with SERCOS interface 1-5, 1-6
drive controllers without master communication 1-7
master communication 1-8
motor 8-2
motor MSM020B 8-2
motor MSM030 8-3
motor MSM040B 8-4
NTM 10-29
type plate
drive controller 9-1
motor 9-3
U
U, V, W 5-9
ungrounded power supply lines 10-30
ungrounded three-phase networks 6-17
use
directions for use 2-1
hazards by improper use 3-2
V
vibration (drive controller)
distortion 4-7
sinus 4-7
vibration (motor)
distortion 8-25
sinus 8-25
views of the devices 5-1
voltage constant
motor 8-7
W
warning symbols 3-1
weight
drive controller 4-6
winding inductivity 8-7
winding overtemperature 8-6
winding resistance 8-7
X
X1 5-5
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
12-8 Index
Rexroth EcoDrive Cs Drives
X2 5-6
X3 5-9
X4
drive controller 5-12
encoder adapter 10-17
X5_1 5-13
X5_2 5-15
X5_3 5-18
X5_4 5-24
X6 5-21
X7 5-25
X8
encoder adapter 10-18
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 93 52-40-50 60
Fax
+49 93 52-40-49 4 1
service.svc@boschrexroth.de
www.boschrexroth.com
R911295758
Printed in Germany
DOK-ECODR3-DKC**.3-CS*-PR02-EN-P
engineering
mannesmann
Rexroth
ECODRIVE
DKC01.1/DKC11.1 Drive Controllers
Version Notes: ASE 04VRS
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P
275272
Indramat
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Title
Type of documentation
Document code
Internal file reference
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Version Notes FWA-ECODRV-ASE-04VRS-MS
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P
• Mappe 56-04V-EN / Register 10
• Drawing number 209-0073-4334-01
• Based on: 04V10
What is the purpose of this
documentation?
The following documentation is a complement to the function description
DOC-ECODRV-ASE-04VRS**-FKB1-EN-P
It describes the differences between ECODRIVE version 04VRS and the
previous ECODRIVE version 02VRS.
Editing sequence
Release date
Comments
DOK-ECODRV-ASE-04VRS**-FVN1-DE-P
Copyright
Firmware Status
01.97
02VRS - 04VRS
© INDRAMAT GmbH, 1997
Copying this document, and giving it to others and the use or
communication of the contents thereof without express authority are
forbidden. Offenders are liable for the payment of damages. All rights are
reserved in the event of the grant of a patent or the registration of a utility
model or design. (DIN 34-1)
Validity
Published by
All rights are reserved with respect to the content of this documentation
and the availability of the product.
INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Dept. END (MW/JR)
About this documentation
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Contents
1 General Information
1-1
1.1 Product Family .....................................................................................................................................1-1
1.2 EPROM Type .......................................................................................................................................1-1
1.3 Documentation .....................................................................................................................................1-1
1.4 Tips for Product Exchange...................................................................................................................1-2
2 Version Notes FWA-ECODRV-ASE-04VRS-MS
2-1
2.1 Tips for Release ...................................................................................................................................2-1
2.2 EPROM Labelling.................................................................................................................................2-1
2.3 New Functions......................................................................................................................................2-2
Command: - Automatic control loop setting ..................................................................................2-2
Operating mode: - electronic gear functions .................................................................................2-2
Following block mode ....................................................................................................................2-2
Relative process blocks with and without residual distance storage.............................................2-3
Acknowledge block selection ........................................................................................................2-4
Select block via serial interface .....................................................................................................2-4
Processing with reduced speed.....................................................................................................2-4
5 Languages..................................................................................................................................2-4
2.4 New parameters, commands and diagnoses.......................................................................................2-5
New P parameters.........................................................................................................................2-5
New S Parameter ..........................................................................................................................2-6
New diagnoses, commands ..........................................................................................................2-7
2.5 Changed and expanded functions........................................................................................................2-8
Minimum value for filter time constant...........................................................................................2-8
Maximum value for speed parameter............................................................................................2-8
Write protection for current control parameter ..............................................................................2-8
Motor temperature monitoring .......................................................................................................2-8
Position limit value monitoring .......................................................................................................2-9
Travel range limit switch exceeded ...............................................................................................2-9
2.6 Errors cleared.....................................................................................................................................2-10
V10-F1: Travel range limits .........................................................................................................2-10
V10-F2: Jogging into a non-permitted range...............................................................................2-10
V10-F3: F8/78 Error in speed control loop ..................................................................................2-10
V10-F4: RS485 cyclical echo (Line end) .....................................................................................2-10
V10-F5: RS232/485 Inputting lists...............................................................................................2-11
V10-F6: Acceleration pre-control.................................................................................................2-11
V10-F7: Current control reset time = 0 ........................................................................................2-11
Customer Service Locations
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Inhalt
I
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
II Inhalt
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
1
General Information
1.1
Product Family
The product release description refers to the product family:
ECODRIVE
DKC01.1 / DKC11.1
FWA-ECODRV-ASE-04VRS-MS
The following drive controllers can be operated with this software:
• DKC 01.1
• DKC 11.1
1.2
EPROM Type
The following EPROM type is released for this use:
EPROM IC2:
Manufacturer
AMD
Thomson
Fig. 1-1: EPROM IC2:
1.3
Product label
AM27C2048-90DC
M27C4002-80XFI
Documentation
The documentation for the product FWA-ECODRV-ASE-04VRS-MS is
available as follows:
• in hardcopy, i.e., paper form, and as a
• Windows help system
The following table contains a summary of the items available.
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Versionsnotes
1-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
POS
Type
Document style
Register in
Mappe 56-04V
Material
number
Drawing
number
1
DOK-ECODRV-ASE-04VRS**56M1-EN-P
Mappe 56-04V-EN
Paper
--
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DOK-ECODRV-ASE-04VRS**FKB1-EN-P
Functional Description
Paper
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DOK-ECODRV-DKC01/11.1*PRJ1-EN-P
Project Planning Manual
- paper
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DOK-ECODRV-ASE-04VRS**WAR1-EN-P
Trouble Shooting
Guidelines
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DOK-ECODRV-ASE-04VRS**FVN1-EN-P
Version Notes
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DOK-ECODRV-ASE-04VRS**56M1-EN-H1,44
Help System for
Windows3.1 Disk
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Fig. 1-2:
1.4
Documentation for FWA-ECODRV-ASE-04VRS-MS
Tips for Product Exchange
Before you exchange the product, please observe the following points:
0. The drive controller is on.
1. Secure current parameters.
2. Switch drive controller off.
3. Remove all drive controller connections.
4. Remove unit from control cabinet (two screws).
5. Relese mounting bolds of housing lid (4 screws + grounding bolts on
front) and remove the lid.
6. Pull EPROM out (on top, 40p., with sticker) use appropriate lifting
devices.
7. Use EPROM with new firmware there. Note:
) that the orientation is correct, the notch on the EPROM must
agree with that on the base.
) Do not bend the legs. They must all be inserted in the base.
8. Replace housing lid and tighten the screws.
9. Remount the unit back into the control cabinet.
10. 24V control voltage must be switched. If the number of parameters
that require backing up has changed, this will appear as „PL“ in the
display. If key S1 is now pressed, then all parameters are reset to
their default values. During this duration, „C8 Default parameter load“
appears in the display.
11. If command „C8 load default parameters " was started or there is a
different motor type, then this appears during transition from phase 3
to 4 in display as „UL“. Key S1 must now be pressed or the command
clear error started. The controller default values are then loaded out of
the motor feedback into the drive control.
12. Restart DriveTop. Load desired parameter file.
1-2
Version Notes
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
2
Version Notes FWA-ECODRV-ASE-04VRS-MS
2.1
Tips for Release
The software version FWA-ECODRV-ASE-04V10 represents the first
official edition of version 04.
Release Date is 28.04.1997
The following drive controllers can be operated with this firmware.
• DKC01.1-040-7
• DKC11.1-040-7
• DKC01.1-030-3
Note:
2.2
DriveTop version SWA-DTOP**-INB-04VRS-MS-C1,44 is
needed to operate ECODRIVES with drive firmware version
FWA-ECODRV-ASE-04V10.
EPROM Labelling
EPROM IC2:
DKC1.1-ASE-04V10-MS
4952
IC2
2 7 4 7 1 1
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Version Notes
2-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
2.3
New Functions
Command: - Automatic control loop setting
In the automatic control loop setting, both speed and position control loop
are fully automatically parametrized.
This implements the new command " D900 Automatic control loop
setting " in the drive.
In conjunction with DriveTop, the command " D9 Automatic control loop
setting " in DriveTop dialog " Parameter/automatic control loop setting " is
started.
The user can now influence, via the socalled damping factor, the resulting
control loop dynamics. This means no further control-technical knowledge
is needed that for setting the control loop.
In addition, at the end of the control loop setting, the determined moment
of inertia and the maximum parametrizable acceleration is displayed and
stored in a parameter.
Note:
The axis must be moved to optimize the control loop!
Operating mode: - electronic gear functions
Speed synchronization
The drive runs speed-synchronously to a master axis encoder.
The ratio of master axis encoder to following drive can be parametrized.
A drive with incremental encoder emulation can also be used as master
axis encoder. This means that two axes can run synchronously.
Angle synchronization
In angle synchronization mode, the drive runs with position control. The
master axis position is transmitted with the ratio of the electronic gears to
the drive.
A drive with incremental encoder emulation can also be used as a master
axis encoder. This means that two axes can run angle synchronously.
Following block mode
In this mode it is possible to activate several Positioning blocks (max.
64) sequentially and without any interrupt.
In other words, the next process block is automatically selected (in rising
order (e.g., block 0 → block1 → block 2 → ....)
2-2
Version Notes
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
There are four operating modes:
Acceleration at target position (Mode 1)
The drive takes position at target position n, which is in current process
block n. As soon as this target position is exceeded, the drive goes to
the next traversing block n+1.
Accerlation in front of the target position (Mode 2)
The drive positions at target position Xn, which is in the current process
block n. Using acceleration an there is acceleration, in a timely manner, to
the next positioning speed vn+1 so that this speed vn+1 is achieved at the
target position Xn,.
The changeover to the next process block here as well does not occur
until the target position has been passed.
Changeover with cam (external switching signal)
The drive goes to the next traversing block n+1 as soon as the input for
the Following block cam 1 goes to 0- & gt; 1. If the target position is not
reached, then the next process block is switched to during the course of
the traversing action.
Changeover with interim halt
Switching when passing the target position with interim halt is another
operating mode.
In this case, the target position of the drive is decelerated to 0 and then
accelerated to the new positioning speed.
Relative process blocks with and without residual distance storage
With residual distance storage
The residual distance is stored in relative traversing blocks. In other
words, the block which was interrupted is completed when restarted.
The Chain dimension reference in other words also is retained if the
cause for the interruption was a voltage failure (the supply voltage).
Without residual distance storage
An interrupt with restart means that the residual distance is lost.
This means that the relative position block is rerun in its entirety from the
actual position.
The chain dimension reference is lost if the relative block is interrupted. .
If the relative block, however, is completed (IN-POS message active),
then this chain is retained.
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Version Notes
2-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Acknowledge block selection
The last assumed process block is secured, with a power off, in
parameter P-0-4052 last process block. This means that, after switching
power voltage back on, the previously accepted process block is
generated.
If absolute encoders are used, it is possible to decide, after switching the
control voltage on and off, whether the axis is in position or not (INPOS).
Select block via serial interface
In addition to select via digital interface, a block can also now be selected
via a serial interface.
Processing with reduced speed
By influencing a bit in Function parameter P-4027 (bit 6 =1) it is possible
to switch from any processing speed to a new, parametrizable, reduced
speed. It is defined via parameter S-0-259 max. positioning speed.
If the original speed is already smaller than the value in P-0-0259, then
the original speed is retained.
Otherwise, speed is limited to maximum positioning speed.
5 Languages
All parameters and diagnoses in the drive are in five European languages
• German
• English
• French
• Spanish
• Italian
2-4
Version Notes
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
2.4
New parameters, commands and diagnoses
New P parameters
P-0-4051 Process block acknowledgement
Used in process block mode
P-0-4052 Last assumed process block
Used in process block mode
P-0-4033 Master axis encoder resolution
Used in electronic gear function
P-0-0083 Gear transmission adjustment
Used in electronic gear function
P-0-1222 Speed command value filter time constant
Used in electronic gear function
P-0-0142 Synchronization acceleration
Used in electronic gear function
P-0-0143 Synchronization speed
Used in electronic gear function
P-0-0151 Synchronization window
Used in electronic gear function
P-0-0162 Command - automatic control loop setting
Used in automatic control loop setting
P-0-0163 Damping factor for automatic control loop setting
Used in automatic control loop setting
P-0-0164 Application for automatic control loop setting
Used in automatic control loop setting
P-0-0165 Select parameter for autom. control loop setting
Used in automatic control loop setting
P-0-0166 Lower processing range limit for automatic RKE
Used in automatic control loop setting
P-0-0167 Upper processing range limit for automatic RKE
Used in automatic control loop setting
P-0-0168 Maximum parametrizable acceleration
Used in automatic control loop setting
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Version Notes
2-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
New S Parameter
S-0-0096 Slave identification
S-0-0134 Master control word
S-0-0048 Position command value additive
Used in electronic gear function
S-0-0236 Master drive 1 rotations
Used in electronic gear function
S-0-0237 Following drive rotations 1
Used in electronic gear function
S-0-0121 Load gear input revolutions
Used in electronic gear function
S-0-0122 Load gears output revolutions
Used in electronic gear function
The following S parameters were introduced as a copy of already existing
P parameters, for reasons of compatibility.
S-0-0265 Switching languages
S-0-0265 is the same as P-0-0005 change language.
S-0-0390 Diagnosis number
S-0-0390 is the same as P-0-0001 diagnosis number.
S-0-0392 Actual speed value filter
S-0-0392 is the same as P-0-1003 actual speed value filter.
S-0-0348 P-gain acceleration pre-control
S-0-0348 replaces parameter P-0-0050 acceleration factor pre-control.
S-0-0393 Command value mode in modulo format
S-0-0393 is the same as P-0-0013
S-0-0298 Reference cam shifting
S-0-0298 is the same as P-0-0020
S-0-0267 Password
S-0-0267 is the same as P-0-4025
2-6
Version Notes
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
New diagnoses, commands
D900, Command automatic control loop setting
Command for the automatic determination of a control parameter.
D901, Start only with drive enable
The drive was not in control loop at command start.
D902, Motor feedback data invalid
Feedback data not valid at command start (torque constant or number of
pole pairs).
D903, Determining moment of inertia - faulty
Whilst determining mass moment of inertia, a fault occurred. This means
that the automatic control loop setting cannot be conducted.
D904, Automatic control loop setting failed
D905, Processing block limits not sensible
The automatic control loop setting defined for the processing range limit
(P-0-166 and P-0-167) defines a range that either makes no sense (upper
limit & lt; lower limit) or a range that is too small ( & lt; 6 motor rotations).
D906, Processing range limit exceeded
The actual position, while executing a command, exceeds the
processing block range defined by both limits (P-0-166 and P-0-167).
E209 Parameter storage in progress
This warning was introduced to signal that drive storage was still in
progress.
E248 Interpolation acceleration = 0
This warning signals to the internal position command value generator
that the effective acceleration is equal to zero.
E260 Current command value limit active
This warning appears when speed control excedds the limits. Once this
warning appears, the acceleration capacity of the drive is exceeded.
E843 Travel range limit switch - positively actuated
Warning generated if positive limit switch is actuated.
F643 Travel range limit switch - positively exceeded
Error message if position limit switch activated.
E844 Travel range limit switch negatively actuated
Warning generated if limit switch negatively actuated.
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Version Notes
2-7
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F644 Travel range limit switch negatively exceeded
Error message generated if negative limit switch triggered.
F629 Position limit value positively exceeded
Error message generated if positive position limit value exceeded.
F630 Position limit value negatively exceeded
Error message generated if negative position limit value exceeded.
E829 Position limit value positively exceeded
Warning generated if positive position limit value exceeded.
E830 Position limit value negatively exceeded
Warning generated if negative position limit value exceeded.
2.5
Changed and expanded functions
Minimum value for filter time constant
As a new minimum input vaue for the filter time constant, the numeric
value 0 has been declared valid.
This means that drive-internal filters can be switched off be inputting
numeric values smaller than 500µs!
Maximum value for speed parameter
As maximum input value for speed parameters (S-0-0036, S-0-0037, S0259, P-0-4007, P-0-0143, P-0-4030, S-0-0124, S-0-0183), the bipolar
speed limit S-0-0091 is used.
Write protection for current control parameter
The current control parameters S-0-0106 and S-0-0107 are write
protected as of version 4.
This is meant to prevent the user changing the values which have been
optimally set at the factory.
Motor temperature monitoring
Temperature pre-warning
Current function:
Currently, a temporal limit of 30 seconds is implemented. In other words,
a warning condition of 30 seconds was completed with an error.
New function:
Starting with a winding temperature of approximately
temperature prewarning (Warning E251) must be generated.
145°C,a
This state can remain for any length of time without a powering down
initiated by error F219.
2-8
Version Notes
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Temperature off
Current function:
If the winding temperature is greater than 155°C for more than 30
seconds, then the drive is shutdown with an overtemperature error (error
F219).
New function:
Starting with a winding temperature greater than 155°C the drive is
immediately shutdown with an overtemperature error (error F219).
Position limit value monitoring
Current function:
The actuating of the positive or negative limit switch generated one error
message.
New function:
If both the positive and negative position limit values are exceeded, then
two separate warnings are generated, i.e.,
• " E829 position limit value positively exceeded "
• " E830 position limit value negatively exceeded "
or error diagnoses
• " F629 position limit value positively exceeded "
• " F630 position limit value negatively exceeded "
Travel range limit switch exceeded
Current function:
The actuating of the positive or negative limit switch generated one error
message.
New function:
If the positive limit switch was actuated, then, depending upon what was
set, either the warning
• " E843 travel range limit switch positively exceeded "
or the error message
• " F643 travel range limit switch positively exceeded "
is generated.
Given an actuation of the negative limit switch, then depending upon what
was set, either the warning
• " E844 travel range limit switch negatively exceeded "
or the error message
• " F644 travel range limit switch negatively exceeded "
was generated.
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Version Notes
2-9
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
2.6
Errors cleared
V10-F1: Travel range limits
Error :
If the travel range limits (S-0-0049 and S-0-0050) have been activated
with error reactions (S-0-0055) and the drive is standing on either limit
value, then it was possible that the error could not be cleared.
Correct function :
The monitor has been equipped with hysteresis positioning window S-00057.
The hysteresis must be larger than the occurring position error.
V10-F2: Jogging into a non-permitted range
Error :
If the drive is standing on one of the travel range limits (S-0-0049 and S0-0050) and the attempt is made to jog beyond the range, then it could
happen that the warning E8/31 „jogging in a non-permitted range“ was not
generated.
Correct function :
The warning is entered.
V10-F3: F8/78 Error in speed control loop
Error :
If the acceleration direction was altered during a quick acceleration, then
an unjustifiable actuating of the speed control loop monitor could occur
(F878).
The actual speed value used for the monitoring process was excessively
filtered.
Correct function :
The filtering of the actual speed value was reduced.
V10-F4: RS485 cyclical echo (Line end)
Error :
In RS485 mode, with line end and a certain type of hardware drive, it
could happen that the DKC was actuated, then automatically and
cyclically sent its prompt.
The ZERO, which was wrongly read in, was interpreted as an abort signal
and acted as if it were a CR.
Correct function :
If a ZERO is received, then it is removed in the software.
2-10
Version Notes
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
V10-F5: RS232/485 Inputting lists
Error :
If more than 12 symbols were entered for one element when entering a
word or doubleword lists, then the internal DKC memory was deleted and
the software crashed. E3 was displayed on the front of the DKC.
The unit had to shut off and then on again.
Correct function :
The firmware error has been cleared. More symbols can now be entered.
V10-F6: Acceleration pre-control
Error:
The acceleration pre-control was not effective independent of operating
data of S-0-0348.
Cause:
Due to a minor expansion during the calculation of the pre-control factor,
the factor always equalled zero which meant that any operating data of S0-0348 also always equalled zero.
Recovery:
Expand the pre-control factor even more.
V10-F7: Current control reset time = 0
Error:
If a current control reset time of 0 was entered, then this caused a
calculation error in the current controller. This, in turn, caused the motor
to " run away " , i.e., " F878 error in speed control loop " was generated.
Cause:
The input value 0 was not caught in the firmware. This caused a
calculation error during internal division.
Recovery:
Check input values for the numeric value 0.
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Version Notes
2-11
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
2-12
Version Notes
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Customer Service Locations
Germany
Sales area Center
Sales area East
Sales area West
Sales area North
INDRAMAT GmbH
D-97816 Lohr am Main
Bgm.-Dr.-Nebel-Str. 2
INDRAMAT GmbH
D-09120 Chemnitz
Beckerstraße 31
INDRAMAT GmbH
D-40880 Ratingen
Harkortstraße 25
INDRAMAT GmbH
D-22525 Hamburg
Kieler Str.212
Telefon: 09352/40-4817
Telefax: 09352/40-4989
Telefon: 0371/3555-0
Telefax: 0371/3555-230
Telefon: 02102/4318-0
Telefax: 02102/41315
Telefon: 040/853157-0
Telefax: 040/853157-15
Sales area South
Sales area South-West
INDRAMAT Service-Hotline
INDRAMAT GmbH
D-80339 München
Ridlerstraße 75
INDRAMAT GmbH
D-71229 Leonberg
Böblinger Straße 25
INDRAMAT GmbH
Telefon: D-0172/660 040 6
Telefon: 089/540138-30
Telefax: 089/540138-10
Telefon: 07152/972-6
Telefax: 07152/972-727
-oderTelefon: D-0171/333 882 6
Customer service locations in Germany
Europe
Austria
Austria
Belgium
Denmark
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
Hägelingasse 3
A-1140 Wien
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
Randlstraße 14
A-4061 Pasching
Mannesmann Rexroth N.V.-S.A.
Geschäftsbereich INDRAMAT
Industrielaan 8
B-1740 Ternat
BEC AS
Zinkvej 6
DK-8900 Randers
Telefon: +43 1/985 25 40-400
Telefax:+43 1/985 25 40-93
Telefon: +43 7229/644 01-36
Telefax: +43 7229/644 01-80
Telefon: +32 2/582 31 80
Telefax: +32 2/582 43 10
Telefon: +45 87/11 90 60
Telefax: +45 87/11 90 61
England
Finnland
France
France
Mannesmann Rexroth Ltd.
INDRAMAT Division
Broadway Lane, South Cerney
Cirencester, Glos GL7 5UH
Rexroth Mecman OY
Riihimiehentie 3
SF-01720 Vantaa
Rexroth - Sigma S.A.
Division INDRAMAT
Parc des Barbanniers 4,
Place du Village
F-92632 Gennevilliers Cedex
Rexroth - Sigma S.A.
Division INDRAMAT
17, Loree du Golf
F-69380 Dommartin
Telefon: +44 1285/86 30 00
Telefax: +44 1285/86 30 03
Telefon: +358 9/84 91 11
Telefax: +358 9/84 63 87
Telefon: +33 1/41 47 54 30
Telefax: +33 1/47 94 69 41
Telefon: +33 4/78 43 56 58
Telefax: +33 4/78 43 59 05
France
Italy
Italy
Netherlands
Rexroth - Sigma S.A.
Division INDRAMAT
270, Avenue de lardenne
F-31100 Toulouse
Rexroth S.p.A.
Divisione INDRAMAT
Via G. Di Vittoria, 1
I-20063 Cernusco S/N.MI
Rexroth S.p.A. Divisione
INDRAMAT
Via Borgomanero, 11
I-10145 Torino
Hydraudyne Hydrauliek B.V.
Kruisbroeksestraat 1a
P.O. Box 32
NL-5280 AA Boxtel
Telefon: +33 5/61 49 95 19
Telefax: +33 5/61 31 00 41
Telefon: +39 2/923 65-270
Telex: 331695
Telefax: +39 2/92 36 55 12
Telefon: +39 11/771 22 30
Telefax: +39 11/771 01 90
Telefon: +31 41 16/519 51
Telefax: +31 41 16/514 83
Spain
Spain
Sweden
Switzerland
Rexroth S.A.
Centro Industrial Santiago
Obradors s/n
E-08130 Santa Perpetua de
Mogoda (Barcelona)
Goimendi S.A.
División Indramat
Jolastokieta (Herrera)
Apartado 11 37
San Sebastion, 20017
AB Rexroth Mecman
INDRAMAT Division
Varuvägen 7
S-125 81 Stockholm
Rexroth SA
Département INDRAMAT
Chemin de l`Ecole 6
CH-1036 Sullens
Telefon: +34 3/7 47 94 00
Telefax: +34 3/7 47 94 01
Telefon: +34 43/40 01 63
Telex: 361 72
Telefax: +34 43/39 93 95
Telefon: +46 8/727 92 00
Telefax: +46 8/64 73 277
Telefon:+41 21/731 43 77
Telefax: +41 21/731 46 78
Switzerland
Russia
Rexroth AG
Geschäftsbereich INDRAMAT
Gewerbestraße 3
CH-8500 Frauenfeld
Tschudnenko E.B.
Arsenia 22
153000 Ivanovo
Rußland
Telefon: +41 52/720 21 00
Telefax: +41 52/720 21 11
Telefon: +7 93/22 39 633
European Customer service locations without Germany
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Customer Service Locations
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Outside Europe
Argentina
Argentina
Australia
Brazil
Mannesmann Rexroth S.A.I.C.
Division INDRAMAT
Acassusso 48 41/7
1605 Munro (Buenos Aires)
Argentina
Nakase
Asesoramiento Tecnico
Diaz Velez 2929
1636 Olivos
(Provincia de Buenos Aires)
Argentina
Argentina
Australian Industrial Machinery
Services Pty. Ltd.
Unit ¾5 Horne ST
Campbellfield VIC 2061
Australia
Mannesmann Rexroth Automação
Ltda.
Divisão INDRAMAT
Rua Georg Rexroth, 609
Vila Padre Anchieta
BR-09.951-250 Diadema-SP
Caixa Postal 377
BR-09.901-970 Diadema-SP
Telefon: +54 1/756 01 40
+54 1/756 02 40
Telex: 262 66 rexro ar
Telefax: +54 1/756 01 36
Telefon: +61 3/93 59 0228
Telefax: +61 3/93 59 02886
Telefon +54 1/790 52 30
Telefon: +55 11/745 90 65
+55 11/745 90 70
Telefax: +55 11/745 90 50
Canada
China
China
China
Basic Technologies Corporation
Burlington Division
3426 Mainway Drive
Burlington, Ontario
Canada L7M 1A8
Rexroth (China) Ltd.
Shanghai Office
Room 206
Shanghai Intern. Trade Centre
2200 Yanan Xi Lu
Shanghai 200335
P.R. China
Rexroth (China) Ltd.
Shanghai Parts & Service Centre
199 Wu Cao Road, Hua Cao
Minhang District
Shanghai 201 103
P.R. China
Rexroth (China) Ltd.
1430 China World Trade Centre
1, Jianguomenwai Avenue
Beijing 100004
P.R. China
Telefon: +1 905/335-55 11
Telefax: +1 905/335-41 84
Telefon: +86 21/627 55 333
Telefax: +86 21/627 55 666
Telefon: +86 21/622 00 058
Telefax: +86 21/622 00 068
Telefon: +86 10/50 50 380
Telefax: +86 10/50 50 379
China
Hongkong
India
Japan
Rexroth (China) Ltd.
A-5F., 123 Lian Shan Street
Sha He Kou District
Dalian 116 023
P.R. China
Rexroth (China) Ltd.
19 Cheung Shun Street
1st Floor, Cheung Sha Wan,
Kowloon, Honkong
Mannesmann Rexroth (India) Ltd.
INDRAMAT Division
Plot. 96, Phase III
Peenya Industrial Area
Bangalore - 560058
Rexroth Co., Ltd.
INDRAMAT Division
I.R. Building
Nakamachidai 4-26-44
Tsuzuki-ku, Yokohama 226
Japan
Telefon: +86 411/46 78 930
Telefax: +86 411/46 78 932
Telefon: +852 2741 13 51/-54 und
+852 741 14 30
Telex: 3346 17 GL REX HX
Telefax: +852 786 40 19
+852 786 07 33
Telefon: +91 80/839 21 01
+91 80/839 73 74
Telex: 845 5028 RexB
Telefax: +91 80/839 43 45
Korea
Korea
Mexico
Rexroth-Seki Co Ltd.
1500-12 Da-Dae-Dong
Saha-Gu, Pusan, 604-050
Seo Chang Corporation Ltd.
Room 903, Jeail Building
44-35 Yoido-Dong
Youngdeungpo-Ku
Seoul, Korea
Telefon: +81 45/942-72 10
Telefax: +81 45/942-03 41
Motorización y
Diseño de Controles, S.A. de C.V.
Av. Dr. Gustavo Baz No. 288
Col. Parque Industrial la Ioma
Apartado Postal No. 318
54060 Tlalnepantla
Estado de Mexico
Telefon: +82 51/264 90 01
Telefax: +82 51/264 90 10
Telefon: +82 2/780-82 07 ~9
Telefax: +82 2/784-54 08
Telefon: +52 /397 86 44
Telefax: +52 /398 98 88
USA
USA
USA
USA
Rexroth Corporation
INDRAMAT Division
5150 Prairie Stone Parkway
Hoffman Estates, Illinois 60192
Rexroth Corporation
INDRAMAT Division
2110 Austin Avenue
Rochester Hills, Michigan 48309
Telefon: +1 847/645-36 00
Telefax: +1 847/645-62 01
Telefon: +1 810/853-82 90
Telefax: +1 810/853-82 90
Rexroth Corporation
INDRAMAT Division
Northeastern Sales Office
7 Columbia Blvd.
Peabody, MA 019660
Rexroth Corporation
INDRAMAT Division
Southeastern Sales Office
3625 Swiftwater Park Drive
Suwanee, GA 30174
Telefon: +1 508/531-25 74
Telefax: +1 508/531-2574
Telefon: +1 770/932 3200
Telefax: +1 770/932-1903
Customer service locations outside Europe
Customer Service Locations
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Customer Service Locations
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
Customer Service Locations
DOK-ECODRV-ASE-04VRS**-FVN1-EN-P • 07.97
Indramat
engineering
mannesmann
Rexroth
ECODRIVE
DKC01.1/DKC11.1 Drive Controllers
Trouble Shooting Guide: ASE 02VRS
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P
271636
Indramat
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Title
Type of documentation
Docum. type
Internal filing index
ECODRIVE Drive Controller s DKC01.1 / DKC 11.1
Trouble Shooting Guide
DOK-ECODRV-ASE-02VRS**-WAR1-DE-P
• Mappe 56-02V-EN / Register 10
• 209-0073-4304-00
What is the purpose of this
document?
This document is design to assists maintenance personnel in identifing
errors with the machinery
It should:
• help in understanding error messages
• help in finding the causes of errors
• describe the procedure for trouble shooting
• simplify the process of establishing contact with the INDRAMAT
Customer service department
help you use this
documentation
Procedure for change
This documentation is meant as a switch board panel supplement for the
machine manufacturer.
Docu-identification of released up to Enable date Remarks
this point
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P
Copyright notice
07.96
First release
© INDRAMAT GmbH, 1996
Transmission as well as reproduction of this documentation, exploitation
or communication of its contents is not permitted without expressed
written permission. Violation of these stipulations will require
compensation. All rights for the issuance of the patent or registered
design reserved. (DIN 34-1)
Publisher
INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Telephone 09352/40-0 • Tx 689421 • Fax 09352/40-4885
Abt. .END (HP)
Liability
Changes in the contents of the documentation and the delivery rights for
the products are reserved.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Contents
1 Diagnostic Message Description
1-1
1.1 Overview of the Diagnostic Message Descriptions.............................................................................. 1-1
Diagnostic Message Types ........................................................................................................... 1-1
Construction of a diagnostic message .......................................................................................... 1-1
2 Description of Diagnostic Letters F... and E...
2-1
2.1 Error Diagnostic Messages.................................................................................................................. 2-1
UL Motor Type not Reported......................................................................................................... 2-1
PL Default Value of the Parameter Load ...................................................................................... 2-1
F207 Switching to an Uninitilized Operating Mode........................................................................ 2-2
F218 Heatsink Overtemperature Shutdown.................................................................................. 2-2
F219 Motor Overtemperature Shutdown....................................................................................... 2-2
F220 Bleeder Overtemperature Shut Down.................................................................................. 2-3
F226 Undervoltage Error............................................................................................................... 2-3
F228 Excessive Deviation ............................................................................................................. 2-4
F229 Motor Encoder Error: Quadrant Error .................................................................................. 2-4
F248 Low Battery Voltage ............................................................................................................. 2-5
F262 Status Outputs Short Circuited ............................................................................................ 2-5
F276 Absolute Encoder Error, Position Deviation & gt; P-0-0097 ...................................................... 2-6
F630 Travel Limit Value Exceeded .............................................................................................. 2-6
F644 Travel Limit Switch Detected ............................................................................................... 2-7
F822 Motor Encoder Failure: Signal too Small.............................................................................. 2-7
F860 Overcurrent: Short in Powerstage........................................................................................ 2-8
F870 +24 V Error........................................................................................................................... 2-8
F873 Power Supply Driver Stage Fault ......................................................................................... 2-9
F878 Velocity Loop Error............................................................................................................... 2-9
F879 Velocity Limit Value Exceeded (S-0-0092)......................................................................... 2-10
F895 4 kHz Signal Error .............................................................................................................. 2-10
2.2 Warning diagnostic messages........................................................................................................... 2-11
E250 Heatsink Overtemperature Warning .................................................................................. 2-11
E251 Motor Overtemperature Warning....................................................................................... 2-11
E252 Bleeder Overtemperature Warning.................................................................................... 2-12
E253 Target Position Out of Range ............................................................................................ 2-12
E254 Drive not Referenced ......................................................................................................... 2-13
E255 Feedrate-Override(S-0-0108) = 0 ...................................................................................... 2-13
E256 Torque Limit Value = 0....................................................................................................... 2-13
E257 Continuous Current Limiting Active.................................................................................... 2-14
E258 Selected Process Block is not Programmed ..................................................................... 2-14
E259 Command Velocity Limit Active ......................................................................................... 2-14
E264 Target Position not Representable .................................................................................... 2-15
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Contents
I
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E825 Overvoltage Warning ......................................................................................................... 2-15
E830 Position Limit Value Exceeded .......................................................................................... 2-15
E831 Position Limit Value Reached During Jogging................................................................... 2-16
E844 Travel Limit Switch Activated ............................................................................................. 2-16
3 Description of Diagnostic Letters C... and A...
3-1
3.1 Command Diagnostic Messages ......................................................................................................... 3-1
C100 Communication Phase 3 Transition Check ......................................................................... 3-2
C101 Invalid Communication Parameters (S-0-0021) .................................................................. 3-2
C102 Limit Error Communication Parameters (S-0-0021) ............................................................ 3-2
C200 Communication Phase 4 Transition Check ......................................................................... 3-2
C201 Invalid Parameter Block (- & gt; S-0-0022) ................................................................................ 3-3
C202 Limit Error Parameter (- & gt; S-0-0022).................................................................................... 3-3
C203 Parameter Calculation Error (- & gt; S-0-0022) ......................................................................... 3-3
C207 Loading Error LCA ............................................................................................................... 3-3
C208 Invalid SSI Parameter (- & gt; S-0-0022) ................................................................................... 3-4
C211 Invalid Feedback Data (- & gt; S-0-0022) .................................................................................. 3-4
C212 Invalid Amplifier Data (- & gt; S-0-0022) .................................................................................... 3-5
C213 Position Data Scaling Error.................................................................................................. 3-5
C214 Velocity Data Scaling Error.................................................................................................. 3-6
C215 Acceleration Data Scaling Error........................................................................................... 3-6
C216 Torque Data Scaling Error................................................................................................... 3-7
C217 Motor Feedback Data Reading Error................................................................................... 3-7
C220 Motor Feedback Initilization Error ........................................................................................ 3-7
C227 Modulo Range Error ............................................................................................................ 3-8
C300 Command: Set Emulation - Absolute Value ........................................................................ 3-8
C300 Set Absolute Measuring....................................................................................................... 3-8
C301 Setting Absolute Measurement not Allowed, Drive Enabled ............................................... 3-8
C302 Absolute Measurement System not Installed ...................................................................... 3-8
C400 Switch from Operational to Parameter Mode ...................................................................... 3-9
C401 Active Drive, Transition is not Permissable ......................................................................... 3-9
C500 Reset Class 1 Diagnostic .................................................................................................... 3-9
C600 Drive Controlled Homing Procedure................................................................................... 3-9
C601 Homing Procedure not Possible without Drive Enable ........................................................ 3-9
C602 Zero Switch to Home Reference Error .............................................................................. 3-10
C603 Homing Procedure not Possible in this Operating Mode................................................... 3-10
C604 Homing Procedure not Possible with Absolute Measurement Control .............................. 3-10
C700 Basic Load ......................................................................................................................... 3-11
C800 Load Basic Parameters ..................................................................................................... 3-11
3.2 State diagnostic messages ................................................................................................................ 3-12
A002 Communication Phase 2.................................................................................................... 3-12
A003 Communication Phase 3.................................................................................................... 3-12
A010 Drive Halt ........................................................................................................................... 3-12
A012 Control and Power Sections Ready for Operation ............................................................. 3-12
A013 Ready for Power ................................................................................................................ 3-12
A100 Drive in Torque Mode ........................................................................................................ 3-12
A101 Drive in Velocity Mode ....................................................................................................... 3-12
A203 Position Control/Stepper Drive Interface............................................................................ 3-13
II
Contents
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
A204 Position Regulation without Lag/Stepper Drive Interface................................................... 3-13
A206 Position Regulation/Positioning Drive ................................................................................ 3-13
A207 Position Regulation without Lag/Positioning Interface ....................................................... 3-13
AF Drive Enable .......................................................................................................................... 3-13
JF Jogging in the Positive Direction ............................................................................................ 3-13
JB Jogging in the Negative Direction .......................................................................................... 3-13
4 Exchanging Drive Components
4-1
4.1 Procedure for Exchanging Devices...................................................................................................... 4-3
Exchange the DKC:....................................................................................................................... 4-3
Motor exchange:............................................................................................................................ 4-4
Cable exchange: ........................................................................................................................... 4-5
Directory of Customer Service Locations
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Contents
III
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
IV
Contents
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
1
Diagnostic Message Description
1.1
Overview of the Diagnostic Message Descriptions
Diagnostic Message Types
Each operational state of the drive controller will be characterized with a
diagnostic message.
Therein, it will be differentiated between:
• Error diagnostic message
• Warning diagnostic message
• Command diagnostic message
• State diagnostic message
• Process states
Construction of a diagnostic message
A diagnostic message consists of:
• Diagnostic number and a
• Diagnostic text
F2/28 excessive output error
diagnostic text
diagnostic number
Figure 1-1: Construction of a diagnostic message from a diagnostic number and
a diagnostic text.
In the example shown, the “F2” and “28” alternate on the H1 display.
The parameter P-0-001, diagnostic number; appears in hexadecimal
form.
Also, the drive controller stores the diagnostic number and diagnostic text
as the string " F2/28, excessive output error " in the parameter
S-0-0095, diagnostic message.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Diagnostic Message Description 1-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
H1-Display
The H1 condition display on the front side of the DKC gives information
about:
• Operating condition of the drive controller
• Drive controller or cable malfunctions
• Motor malfunctions
• Malfunctions caused by invalid parameter input
• Application errors
H1 DISPLAY
EK0003d1.ds4
Figure 1-2: H1-Display
The symoblized diagnostic number appears on this two positional-seven
segment display.The form of the display is seen on the diagram " Priority
dependent diagnostic message diagram. "
In addition to the display, it is possible to use the communication interface
to quickly monitor the actual process state.
The operating mode is not evident from the H1-Display.If the drive is
enabled and no command was activated, the symbol " AF " appears on the
display.
1-2
Diagnostic Message Description
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Priority of the diagnostic
message output
If more than one diagnostic message is generated at the same point
within the string, the diagnostic with the highest priority will be displayed
first.
The following graphic shows the order of priority.
Error
P
R
I
O
R
I
T
Y
Warning
Command
error
Command
active
yes
Ready to operate ?
no
Drive lock
active
Ready to
operate
Communication phase
Drive
ready
Drive
Halt
Drive
enable
Figure 1-3: Priority dependent diagnostic message diagram
Clear Coded Text-Diagnostic Message
The clear coded text-diagnostic message contains the diagnositic number
followed by the diagnostic text; for example, " excessive output error " (Fig
1-1). It can be read from parameter “S-0-0095, diagnostic message”
and serves the direct display of the process state on a operator surface.
The clear coded text-diagnostic message will be changed over from the
language selection to the current language.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Diagnostic Message Description 1-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes:
1-4
Diagnostic Message Description
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
2
Description of Diagnostic Letters F... and E...
2.1
Error Diagnostic Messages
UL
Motor Type not Reported
Description:
The settings for current regulation, velocity command, and position loop
are stored in the feedback of the motor. After powering up, the drive
compares the motor type stored in the parameters with the connected
motor type. If the two do not match, the drive remains at this state.
By pressing the S1 button, the drive overwrites its stored parameters with
the control loop parameters from the motor feedback.
Cause:
Motor was exchanged.
The parameter " P-0-4036, contacted motor type " from which the motor
type is selected would be loaded..
Remedy:
Command " C700 Basic Load” or press the S1 button.
PL
Default Value of the Parameter Load
Description:
After the exchange of the product (EPROMs), if the parameters have
been changed in regards to the old product, the drive displays " PL " . By
pressing the S1 button on the drive or through starting of the „command
load basic parameter " , all the parameters will be erased and restored with
the default values.
Cause:
Product was exchanged and the number of parameters of the new
product has changed in regards to the old.
Remedy:
Press the S1 button on the drive controller and all the parameters will be
erased and restored with default values
WARNING
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
⇒ With this procedure all parameters and process
blocks will be overwritten.
Description of Diagnostic Letters F... and E...
2-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F207
Switching to an Uninitilized Operating Mode
Description:
A valid operating mode has not been defined.
In the DKC 01, this error can not occur because the input of the operating
mode will be tested when entered.
Remedy:
Input correct operating mode
F218
Heatsink Overtemperature Shutdown
Description:
The temperature of the DKC heatsink will be monitored.
If the
temperature of the heatsink is too high, the drive will power down in order
to protect against damage.
Cause:
1.
Ambient temperature is too high. The specified
operational data is valid up to an ambient temperature
of 45°C.
2.
The DKC's heatsink is dirty.
3.
Air flow is prevented by other assembly parts or a
control cabinet panel assembly.
4.
Heatsink blower may be defective.
Remedy:
For 1.
For 2.
Remove any obstruction or dirt from the heatsink.
For 3.
Install the device vertically and clear a large enough area for
proper heatsink ventilation.
For 4.
F219
Reduce the ambient temperature; for example, through cooling
of the control cabinet.
Exchange drive.
Motor Overtemperature Shutdown
Description:
The motor is too hot. The drive controller has issued the warning " E251
Motor Overtemperature Warning for approx. 30 seconds. The drive
immediately shuts down.
Cause:
1.
The motor was overloaded. The effective torque demanded
from the motor was above its allowable continuous torque level
for too long.
2.
2-2
The motor thermal connection is shorted or grounded.
3.
Instability in the velocity loop.
Description of Diagnostic Letters F... and E...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Remedy:
For 1.
For 2.
Check wires and cables to the motor temperature monitor for
wire breaks and short circuits.
For 3.
F220
Check the installation of the motor. If the system
has been in operation for a long time, check to see if the
the operating conditions have changed. (in regards to
pollution, friction, moved components, etc.)
Check velocity loop parameters.
Bleeder Overtemperature Shut Down
Description:
The regenerated energy from the mechanism of the machine via the
motor has exceeded the power capability of the bleeder resistor. By
exceeding the maximum resistance energy, the drive will shutdown
according to the set error reaction. Thereby protecting the bleeder from
temperature damage.
Cause:
The reflected energy from the machine’s mechanism over the motor is
too large.
Remedy:
With too much power --- & gt; reduce the acceleration value
With too much energy --- & gt; reduce the velocity
Check the drive installation.
May require installation of an additional bleeder module.
F226
Undervoltage Error
Description:
The level of the DC bus voltage will be monitored by the drive controller.
If the DC bus voltage falls below a minimal threshold, the drive
independently shuts down according to the set error reaction.
Cause:
1.
The power source has been interrupted without first switching off
the drive enable signal (RF).
2.
Disturbance in the power supply
Remedy:
For 1
Check the logic regarding the activation of the drive within
the connected control.
For 2
Check the power supply
The error can be cleared by removing the control enable signal.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters F... and E...
2-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F228
Excessive Deviation
Description:
The drive could not process the given command value and reacted
according to the set error reaction.
Cause:
1.
The acceleration ability of the drive was exceeded.
2.
The motor shaft was blocked.
3.
Parameterization error in the drive parameters.
4.
" S-0-0159, Monitoring Window " was parameterized incorrectly
Remedy:
For 1.
For 2.
Check the mechanical system and eliminate any jamming
of the motor shaft.
For 3.
Check the drive parameters
For 4.
F229
Check the Bipolar Torque Limit, S-0-0092 parameter
and set it equal to the maximum allowable value for
the application.
Parameterize " S-0-0159, Monitoring Window "
Motor Encoder Error: Quadrant Error
Description:
An encoder signal error was found during the encoder evaluation.
Cause:
1.
Defective encoder cable
2.
Insulation disturbance on the encoder or the encoder cable
3.
Defective drive controller
Remedy:
For 1.
Check the encoder cable and change if necessary.
For 2.
Use only insulated motor cable and power cables
Separate encoder cable from power cables
For 3.
2-4
Description of Diagnostic Letters F... and E...
Exchange drive controller
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F248
Low Battery Voltage
Cause:
The connected motor has an absolute encoder. The absolute position
information is stored in the motor feedback. This memory has a battery
powered backup for the electronic circuit. The battery is designed for a
operating life of 10 years. If the battery voltage drops below 2.8 V, this
message appears. The absolute encoder function is preserved for about
2 weeks.
Instructions for Exchanging Batteries
Have the following tools and accessories ready:
• Torx screwdriver,size 10
• Needle nose pliers, torque wrench
• New packaged battery (Part no.: 257101)
If the control voltage of the installed battery is turned off, the absolute
position is lost.
The absolute position must be re-established through the process of the
command Set Absolute Measurement.
F262
Status Outputs Short Circuited
Description:
If the status outputs of the DKC are short circuited, the drive controller will
issue an error.
Cause:
Short circuited outputs (X2/6, X2/7, X2/8, X2/9, X2/10, X2/20, X2/21,
X2/22)
Remedy:
Eliminate short circuit
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters F... and E...
2-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F276
Absolute Encoder Error, Position Deviation & gt; P-0-0097
Description:
When turning off the drive controller with a absolute encoder (multiturn),
the actual feedback position will be stored. When powered up, the
absolute position given by the encoder is compared to the stored
position. If the deviation is larger than the paramaterized " Absolute
Encoder-Monitoring Window " , the error " F276, Absolute Encoder
Error " will appear and be given to the control system.
Cause:
1.
Turning on for the first time (invalid stored position).
2.
The motor was moved further than allowed by the parameter in
the absolute encoder monitoring window, P-0-0097, while it was
turned off.
3.
Incorrect position initialization
Remedy:
For 1.
Press S1 to reset the error and set the absolute position.
For 2.
The motor was moved while turned off and sits outside of its
permissible position. Check to see if the displayed position is
correct in relation to the machine zero point. Reset subsequent
errors.
For 3.
An accident may occur by accidental shaft movement.
Check absolute position informartion. A feedback defect is
present if the absolute position information is false. The motor
should be exchanged and sent to the INDRAMAT Customer
Service .
see also the " Absolute Encoder Monitoring " function description
F630
Travel Limit Value Exceeded
Description:
The drive controller has been given a position command value which lies
outside of the allowable travel area. The drive controller has been
instructed to give an error when the travel range has been exceeded.
Exceeding the travel area as an error:
The drive controller brakes with maximum torque. After it has been
stopped the drive controller shifts to torque free operation. After the error
has been cleared, the drive can be once again activated and moved into
the allowable travel area.
Cause:
Position feedback value lies outside of the travel area
Remedy:
1.
Input a command value in the direction of the travel area.
2.
Shift the position limits
3.
Turn off the position limit monitor
(when displaying the position data in modulo format).
2-6
Description of Diagnostic Letters F... and E...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F644
Travel Limit Switch Detected
Description:
The motor was moved and tripped one of the two travel limit switches.
The control drive has been instructed to give an error when the travel
range has been exceeded.
Exceeding the travel area as an error:
The drive brakes with maximum torque. Subsequently, the drive goes into
moment free operation. After the error has been cleared, the drive can be
activated again and moved into the allowable travel area.
Cause:
One of the travel limit switches was tripped.
Remedy:
1.
Move the travel limit switches, if necessary.
3.
F822
Input a command value in the direction of the travel area.
2.
Turn off the position limit monitor (when displaying the position
data in modulo format).
Motor Encoder Failure: Signal too Small
Description:
The motor encoder signals are monitored. If the signal amplitudes as
measured via AK1 and AK2 are outside of the allowable region between
Uss = 12.0V and Uss = 18.0 V, then the error message appears. The drive
becomes torque-free and an optional brake is immediately activated.
Cause:
1.
Defective feedback cable.
2.
Defective feedback.
Remedy:
For 1.
Check the feedback cable
Lay the power cables separate from the feedback cable.
The cable shield must be connected to the drive controller.
(see project reference of the drive control).
For 2.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Exchange motor.
Description of Diagnostic Letters F... and E...
2-7
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
12 - 18 V
Figure 2-1: Methodically measured signal amplitude over AK: X31/1-2
F860
Overcurrent: Short in Powerstage
Description:
The current in the power transistor bridge has exceeded twice the peak
current of the drive. As a result, the drive will be immediately turned off.
The drive has switched to a torque-free condition. An optional brake is
immediately activated.
Cause:
1.
Short circuit in the motor cable.
2.
Defective power section of the drive controller.
3.
The current regulator was incorrectly parameterized.
Remedy:
For 1.
For 2.
Exchange drive controller.
For 3.
F870
Check the motor cable for a short.
The current regulator parameters should not deviate from the
default values of the feedback.
+24 V Error
Description:
The DKC requires a 24V control voltage. If the maximum allowable
tolerance of + or - 20% is exceeded, then the drive is immediately
switched to torque free operation. An optional brake is activated.
Cause:
Disturbance or overload of the 24 V supply voltage. Measure control
voltages.
Remedy:
Check wiring and/or replace power supply module.
2-8
Description of Diagnostic Letters F... and E...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F873
Power Supply Driver Stage Fault
Description:
The voltage supply of the driver stage is monitored and if the voltage is
too low then the drive is turned off.
Cause:
Voltage supply of the driver stage is too low
Remedy:
Exchange drive controller
F878
Velocity Loop Error
Description:
The velocity loop monitor will appear when the following conditions occur
simultaneously:
• The current command value is at the peak current limit
• The difference between the actual velocity and the command velocity
is larger than 10% of the maximum motor velocity.
• The velocity control deviation does not become smaller over a time
frame of 20ms.
Cause:
1.
Motor cable is connected incorrectly.
2.
Defective controller section of the drive.
3.
Defective feedback.
4.
Velocity loop paramaterized incorrectly.
Remedy:
For 1.
Check motor cable connection.
For 2.
Exchange drive controller.
For 3.
Exchange motor
For 4.
Check velocity controller to see if it is within operational
parameters.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters F... and E...
2-9
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F879
Velocity Limit Value Exceeded (S-0-0092)
Description:
The actual velocity is monitored in torque regulation mode. This error is
generated if the programmed velocity in the " S-0-0091, bipolar velocity
limit value " parameter is exceeded by 1.25 times or a maximum of 100
Rpm.
Cause:
The load torque was smaller or larger than the torque command value for
too long a time. This leads to an increase in the actual velocity up to the
maximum possible motor velocity.
Remedy:
Check the primary control loop.
see also the " Velocity Monitoring in Torque Control " function description
F895
4 kHz Signal Error
Description:
The 4kHz signal is synchronized with the software processing for creation
of the resolver signal. This error message is created when
synchronization occurs improperly.
Cause:
1.
The synchronization of the resolver controller voltage is invalid
in regards to the software.
2.
The error can be produced through an electrical discharge.
Remedy:
For 1.
For 2.
2-10
Exchange drive controller and return for testing.
Power down and then on. If this in not successful; exchange
drive controller.
Description of Diagnostic Letters F... and E...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
2.2
E250
Warning diagnostic messages
Heatsink Overtemperature Warning
Description:
The temperature of the heatsink in the drive controller has reached the
maximum allowable temperature. Within a time frame of 30 seconds, the
drive follows the command value input. Consequently, there exists the
possibility to shut down the motor with the control so that it remains true to
the process. (For example close the operation, leave the collision area,
etc.) After 30 seconds, the parameter " Best Possible Deceleration, P-00119 " set reaction appears during operation.
Cause:
1.
Deficiency of the drive's internal blower.
2.
Deficiency of the control cabinet’s climate control.
3.
Incorrect control cabinet dimensioning regarding the
head ventilation.
Remedy:
For 1.
For 2.
Install climitization feature to the cabinet.
For 3.
E251
If the blower fails exchange the drive controller.
Check the dimensions of the control cabinet.
Motor Overtemperature Warning
Description:
The motor is too hot. Within in a time frame of 30 seconds, the drive
follows the command value input. Consequently, there exists the
possibility to shut down the motor with the control so that it remains true to
the process. (For example close operation, leave the collision area, etc.).
After 30 seconds, the parameter " Best Possible Deceleration, P-00119 " set reaction will appear during operation.
Cause:
The motor became overloaded. The effective torque required of the motor
was above the allowable standstill continuous torque for too long.
Remedy:
Check the installation of the motor. For systems which have been in use
for a long time, check to see if the drive conditions have changed (in
regards to pollution, friction, components which have been moved, etc).
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters F... and E...
2-11
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E252
Bleeder Overtemperature Warning
Description:
(see cause)
Cause:
The dampening resistance in the DKC is balanced through the energy
that is reflected from the motor (about 90%). The bleeder
overtemperature warning shows that an overload of the bleeder is
expected with continued increasing feedback energy.
Remedy:
Reduce acceleration value or velocity. Check the drive installation.
E253
Target Position Out of Range
Description:
If a position is entered which would exceed the target position, it will not
be accepted. With “command controlled operation " , the drive will not
move.
Cause:
1.
Position limit value monitor was activated
2.
In the " Drive Internal Interpolation " operating mode, the
" S-0-0258, Target Position " will be checked to determine if it’s
in the possible travel range of the drive.
3.
In the " Command Controlled Operation " operating mode, the
target position of the selected process block will be checked to
see if it lies within the travel range.
The possible travel range is defined through the two parameters " S-00049 Position Limit Positive, " and " S-0-0050, Position Limit Negative. "
The E253 message will be generated if the target position lies outside of
the travel range.
Remedy:
For 1.
Deactivate the position limit monitor
For 2.
Check the entered S-0-0258, target position and correct if
necessary.
For 3.
Check the target position of the process block. Add the relative
path of travel to the actual position.
Additionally, check the position limit value.
2-12
Description of Diagnostic Letters F... and E...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E254
Drive not Referenced
Description:
If " Absolute Positioning Commands " are selected while in " Command
Controlled Operation " the control drive must be homed. If this is not the
case, an absolute position cannot be reached. The drive rejects this
positioning command and stops. The warning will be given.
Cause:
Absolute positioning command was selected without the drive being
referenced.
Remedy:
1.
2.
E255
Reference the drive
Select " Relative Positioning Command "
Feedrate-Override(S-0-0108) = 0
Description:
The transversing velocity can be changed while jogging, homing and
while in positioning operation with the " S-0-0108, Feedrate Override "
parameter. Since the drive controller cannot follow command values
which do not move, the warning will be given if the value of this parameter
is 0.
Cause:
1.
Feedrate-override is set to zero.
2.
The " Feedrate Override Via Analog Output " field is activated
and the voltage there is 0V.
Remedy:
For 1.
For 2.
E256
Set the S-0-0108 parameter on the correct value for the
application.
Deactivate the field or establish a voltage larger than 0V.
Torque Limit Value = 0
Cause:
1.
For protection against mechanical overload, the maximum
torque can be limited by the " S-0-0092, Bipolar Torque Limit
parameter. " If the actual value of this parameter is equal to 0,
the motor does not develop torque and does not follow the
command value which has been entered.
2.
Torque reduction is set through an analog channel and the
established current amounts to 10 V.
Remedy:
For 1.
Set the torque limit to a value larger than 0.
For 2.
Establish the analog voltage so that it is smaller than 10V.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters F... and E...
2-13
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E257
Continuous Current Limiting Active
Description:
The drive controller sets the peak current available for 400ms. Thereafter,
the continuous current limit becomes active and dynamically limits the
peak current to the continuous current.
Cause:
More continuous torque was required than was available.
Remedy:
1.
• 2.
E258
Check the drive installation.
Check the installation of the motor. For systems which have
been in use for a long time, check to see if the drive conditions
have changed (in regards to pollution, friction, components which
have been moved, etc).
Selected Process Block is not Programmed
Cause:
A positioning block was selected for which there is no set target position,
positioning velocity, etc.
Remedy:
Select another positioning block or enter the required data.
E259
Command Velocity Limit Active
Description:
The velocity command value is limited to the value set in the " S-0-0091,
Bipolar Velocity Limit " parameter when in the position and velocity
control operating modes. This warning is given if the value in the " S-00036, Velocity Command Value " parameter reaches this limit.
Cause:
" S-0-0091, Bipolar Velocity Limit " parameter was set too low.
Remedy:
In normal operation, set the " S-0-0091, Bipolar Velocity Limit "
parameter to a value 10% higher than the NC operation velocity.
2-14
Description of Diagnostic Letters F... and E...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E264
Target Position not Representable
Cause:
When using the operating mode " command controlled operation, the
target position of the selected additive process block will be verified to see
if it lies within the represented range.
Remedy:
1.
2.
E825
Check the target position and correct if necessary.
Select the position data display channel in modulo format.
Overvoltage Warning
Cause:
1.
The mechanical system energy reflected via the motor was so
large for a moment that it could not be completely converted to
heat by the bleeder. As a result, the DC Bus voltage rose above
the maximum allowable value. The motor is then switched to
torque free operation. If the DC Bus voltage falls below the
maximum allowable value, the controller will be turned on again.
2.
DC Bus voltage is too high
Remedy:
For 1.
For 2.
E830
Reduce the acceleration value and check the drive controller
layout if necessary.
Install an auxiliary bleeder, if necessary.
Check the supply voltage, if necessary.
Position Limit Value Exceeded
Description:
A position command was given to the drive which lies outside of the
allowable travel area. The reaction of the drive regarding the travel area
being exceeded would be selected as a warning.
Travel Area being exceeded as a warning:
The drive brakes with maximum torque until it is standing still and stays at
that brake point in the activated state. If command values are given that
lead into the allowable travel area, the drive will once again follow these
commands and the warning will be disappear.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters F... and E...
2-15
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E831
Position Limit Value Reached During Jogging
Description:
If the position limit value monitor is activated and the drive is „IN
REFERENCE " , then it will be positioned during movement in the jogging
operation on the position limit value. If the drive is positioned on the
position limit value or on the other side of the position limit value, then the
drive stays still and signals „ " position limit value reached during jogging. "
Remedy:
1.
2.
E844
Move the motor back within the allowable travel area with the jog
function.
Turn off the position limit value monitor.
Travel Limit Switch Activated
Description:
The drive was moved to one of the two travel limit switches. The reaction
of the drive regarding the travel area being exceeded would be selected
as a warning.
Exceeding the Travel Area as a Warning:
The drive brakes with maximum torque until it reaches a standstill and
stays in an activated condition at this position. If command values are
entered which lead into the allowable travel area, the drive will once again
follow these commands and the warning will disappear.
2-16
Description of Diagnostic Letters F... and E...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
3
Description of Diagnostic Letters C... and A...
3.1
Command Diagnostic Messages
The commands serve the control of complex features in the drive.
For example, the features " drive controlled homing procedure " or
" communication phase 3 transition check " are defined as commands.
Commands can start, interrupt or erase a primary control.
A parameter belongs to each command whereby the command can be
controlled by the parameter.
During the command operation, the diagnostic message " Cx " appears in
the H1 display where the x stands for the number of the command.
The drive can distinguish between 3 types of commands.
Command Types
• Drive Control Commands
- Lead to an eventual automatic drive movement
- Can be started only through an inputted control enable
- Deactivates the active operating mode during its operation
• Monitor Commands
Activation or deactivation of monitors or features
• Management Commands
- Lead management tasks that are not interruptable
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters C... and A... 3-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C100
Communication Phase 3 Transition Check
Description:
The command " S-0-0127, C1 communication phase 3 transition
check " is activated. The drive switches from parameter mode into
operational mode.
C101
Invalid Communication Parameters (S-0-0021)
Cause:
During the switch from parameter mode to operational mode, invalid
parameters were found.
Remedy:
Connect the drive with the PC and activate DriveTop. Select the menu
" parameter list of invalid parameters " and set valid parameters.
C102
Limit Error Communication Parameters (S-0-0021)
Cause:
During the switch from parameter mode to operational mode, parameters
were found which exceed its limit value.
Remedy:
Connect the drive with the PC and activate DriveTop. Select the menu
" parameter list of invalid parameters " and set valid parameters.
C200 Communication Phase 4 Transition Check
Description:
The command C2 performs the last steps of the switch from parameter
mode to operational mode. Thereby, numerous parameter checks will be
conducted.
3-2
Description of Diagnostic Letters C... and A...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C201
Invalid Parameter Block (- & gt; S-0-0022)
Cause:
Parameters which are necessary for the operation of the drive in
operational mode are invalid.
Remedy:
Connect the drive with the PC and activate DriveTop. Select the menu
" parameter list of invalid parameters " and set valid parameters.
C202
Limit Error Parameter (- & gt; S-0-0022)
Cause:
Parameters which are necessary for the operation of the drive in
operational mode are outside of its minimum or maximum input values.
Remedy:
Connect the drive with the PC and activate DriveTop. Select the menu
" parameter list of invalid parameters " and set valid parameters.
C203
Parameter Calculation Error (- & gt; S-0-0022)
Cause:
Parameters which are required for operation of the drive in the operation
mode, found errors in the conversion that do not permit an orderly
operation.
Remedy:
Connect the drive with the PC and activate DriveTop. Select the menu
" parameter list of invalid parameters " and set valid parameters.
C207
Loading Error LCA
Cause:
Defective drive
Remedy:
Power down and then on again. If this in not successfull, exchange drive.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters C... and A... 3-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C208
Invalid SSI Parameter (- & gt; S-0-0022)
Description:
When the motors are first distributed, the parameter for absolute control
emulation is purposely invalid to ensure that the " Set Absolute
Measurement Emulator Command " will be executed after a motor is
exchanged.
Cause:
The SSI emulation was selected. The parameters required for emulation
are invalid.
Remedy:
Connect the control drive to a PC and activate DriveTop.
" Actual Position Output " menu with controller emulation type " Absolute
Controller Emulation (SSI) " :
• Describe " Homing Position/Offset "
• Select " Absolute Control Directional Counter "
C211
Invalid Feedback Data (- & gt; S-0-0022)
Description:
Invalid data was found while processing the parameters stored in the
motor feedback.
Causes:
1.
Defective motor feedback cable
2.
Defective motor feedback
Remedy:
For 1.
3-4
Check the motor feedback cable
For 2.
Exchange the motor
Description of Diagnostic Letters C... and A...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C212
Invalid Amplifier Data (- & gt; S-0-0022)
Description:
Cause:
Defective hardware in the drive controller
Remedy:
Exchange drive controller.
C213
Position Data Scaling Error
Cause:
The display format of the position data can be set with the help of the
scaling parameter. The internal drive format of the position data is
dependent on the applied feedback and the controller resolution. The
factor for the conversion of the position data from the internal drive format
into the display format or the reverse conversion is outside of the
workable area because either:
• Rotary motor and linear positional scaling are not representable or
• the average factor for conversion of the position data from the display
format into the internal format (or reverse process) is not
representable.
Remedy:
Connect the drive with a PC and start DriveTop. In the dialog box
„Scaling/Mechanical system " select a scaling setting.
Should another scaling installation other than one from DriveTop be used,
then the following parameters must be checked.
• S-0-0076, Position Data Scaling Type
• S-0-0077, Linear Position Data Scaling Factor
• S-0-0078, Linear Position Data Scaling Exponent
• S-0-0121, Input Revolutions of Load Gear
• S-0-0122, Output Revolutions of Load Gear
• S-0-0123, Feed Constant
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters C... and A... 3-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C214
Velocity Data Scaling Error
Cause:
The display format of the velocity data can be set with the help of the
scaling parameter. The internal drive format of the velocity data is
dependent on the applied feedback and the controller resolution. The
factor for the conversion of the velocity data from the internal drive format
into the display format (or the reverse process) is outside of the workable
area.
Remedy:
Connect the drive with a PC and start DriveTop. In the dialog box
„Scaling/Mechanical system " select a scaling setting.
Should another scaling installation other than one from DriveTop be used,
then the following parameters must be checked.
• S-0-0044, Velocity Data Scaling Type
• S-0-0045, Velocity Data Scaling Factor
• S-0-0046, Velocity Data Scaling Exponent
• S-0-0121, Input Revolutions of Load Gear
• S-0-0122, Output Revolutions of Load Gear
• S-0-0123, Feed Constant
C215 Acceleration Data Scaling Error
Cause:
The display format of the acceleration data can be set with the help of the
scaling parameter. The internal drive format of the acceleration data is
dependent on the applied feedback and the controller resolution. The
factor for the conversion of the acceleration data from the internal drive
format into the display format (or the reverse process) is outside of the
workable area.
Remedy:
Connect the drive with a PC and start DriveTop. In the dialog box
„Scaling/Mechanical system " select a scaling setting.
Should another scaling installation other than one from DriveTop be used,
then the following parameters must be checked.
• S-0-0160, Acceleration Data Scaling Type
• S-0-0161, Acceleration Data Scaling Factor
• S-0-0162, Acceleration Data Scaling Exponent
• S-0-0121, Input Revolutions of Load Gear
• S-0-0122, Output Revolutions of Load Gear
• S-0-0123, Feed Constant
3-6
Description of Diagnostic Letters C... and A...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C216
Torque Data Scaling Error
Cause:
The display format of the torque data can be set with the help of the
scaling parameter. The factor for the conversion of the torque data from
the internal drive format into the display format (or the reverse process) is
outside of the workable area.
Remedy:
Connect the drive with a PC and start DriveTop. In the dialog box
„Scaling/Mechanical system " select a scaling setting.
Should another scaling installation other than one from DriveTop be used,
then the following parameters must be checked.
• S-0-0086, Torque/Force Data Scaling Type
• S-0-0093, Torque/Force Data Scaling Factor
• S-0-0094, Torque/Force Data Scaling Exponent
C217
Motor Feedback Data Reading Error
Cause:
All MKD and MDD motors contain feedback data memory. From this, the
settings for the controller will be read. By processing these values, an
error is detected.
Remedy:
Check the feedback cable
Exchange the motor
C220
Motor Feedback Initilization Error
Description:
A number of tests are performed when the motor feedback is initialized.
An error was detected while doing this. This error can be:
1.
Disturbance in the communication with the controller
2.
Invalid offset between the high and low dissipating path
3.
Error in the micro-controller of the measuring system
Cause:
1.
Defective motor feedback cable
2.
Defective motor feedback
3.
Defective measurement system interface
Remedy:
For 1.
Check the motor feedback cable
For 2.
Exchange the motor
For 3.
Exchange the measuring system interface (module)
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters C... and A... 3-7
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C227
Modulo Range Error
Cause:
The given modulo value is larger than half of the represented positioning
area of the drive. (Half of the represented positioning area for the DKC01
is 2048 rotations.)
Remedy:
Select a smaller modulo value.
see also function
processing "
C300
description:
" Border
requirements
for
modulo
Command: Set Emulation - Absolute Value
Description:
The actual position of the motor can be given by means of an SSI
emulation. The zero point of a given position can be fixed with the " C3
Command set emulation-absolute value " command.
C300
Set Absolute Measuring
Description:
The command " P-0-0012, Set Absolute Measurement was activated via
the control system.
C301
Setting Absolute Measurement not Allowed, Drive Enabled
Cause:
The command „C300 command setting of absolute measurement
emulator " would be started with the given control enable.
Remedy:
End the Command and deactivate the control enable.
C302
Absolute Measurement System not Installed
Description:
The command " P-0-0012, command set absolute measurement " would
be started without an existing absolute measurement system.
The command can not be processed because there is no existing
absolute measurement system.
Cause:
1.
The command was falsely activated.
2.
The connected motor does not contain an absolute encoder.
(Option)
Remedy:
For 1.
3-8
Stop the command process.
For 2.
Equip a motor or external measurement system with an
absolute encoder function.
Description of Diagnostic Letters C... and A...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C400 Switch from Operational to Parameter Mode
Description:
The command for transition is in parameter mode. While editing the
parameters that can be edited only in parameter mode, this command
must be processed.
C401
Active Drive, Transition is not Permissable
Cause:
The command C400 “switch from operational to parameter mode " would
be started without the control enable being activated.
Remedy:
End the command and turn off the drive enable, then the command can
be started from the beginning.
C500
Reset Class 1 Diagnostic
Description:
The command for erasing errors, " S-0-0099, Reset Class 1
Diagnostics " was activated via the connected control system. All internal
drive errors are erased. However, the errors must have been previously
corrected.
C600
Drive Controlled Homing Procedure
Description:
The command " S-0-0148, Drive Controlled Homing Procedure " was
activated via the connected control system. The control drive
automatically performs the internal drive homing procedure. Give the
drive a start command to do this. Prior to this the drive must be enabled
and in motion.
C601
Homing Procedure not Possible without Drive Enable
Cause:
The command would be started without drive enable being turned on.
Remedy:
1.
Enable Drive
2.
Restart the command
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters C... and A... 3-9
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C602
Zero Switch to Home Reference Error
Cause:
During the drive controlled homing procedure, an ambiguous position for
the home reference of the feedback and the switch flank of the home
switch was determined.
Establishing the home switch.
Remedy:
The cam of the home switch must be shifted in such a manner such that
an accurate homing procedure is possible.
• Read the contents of parameter " P-0-0020, Shifting of the Homing
Cam... "
• Mechanically shift the homing cam by the amount in the parameter.
• Re-perform the drive controlled homing procedure.
C603
Homing Procedure not Possible in this Operating Mode
Cause:
During operation of the drive in torque control or velocity control, the
homing command can not be processed.
Remedy:
Clear the homing command.
Set to another operating mode.
C604
Homing Procedure not Possible with Absolute Measurement
Control
Cause:
If the homing command is called up by the absolute value encoder
without previously processing the command " P-0-0012, setting the
absolute measurement, " the reference command will be discontinued
with this error.
If the encoder was able to be homed through the " set absolute
measurement " , a position on the home value will be erased with the
homing command.
Remedy:
Home the absolute encoder with the command " Set Absolute
Measurement "
3-10
Description of Diagnostic Letters C... and A...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C700
Basic Load
Description:
When using MDD and MKD motors, the technical control adaptation of
the mechanical system on the digital drive relates to the activation of the
stored velocity control parameter in the motor feedback. The drive
controller signals with the message C7 that the command C7 basic load
was activated with the command " S-0-0262, command basic load. "
C800
Load Basic Parameters
Description:
By pressing the S1 button on the controller with display PL or by starting
the „load basic parameters command, " all parameters will be erased and
set with the default value.
The process blocks are also lost.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters C... and A... 3-11
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
3.2
State diagnostic messages
A002
Communication Phase 2
Parameter Mode
A003
Communication Phase 3
Parameter Mode
A010
Drive Halt
Description:
With the set control, the function drive halt would be activated. The drivestop-function serves to stop the motor with a defined acceleration and
defined jerk.
The acceleration or the jerk limit of the inputted position block functions
during " linked block operation. "
The acceleration limit and bipolar jerk value function during jogging
operation and stepper motor interface.
The drive will be brought to stand still by the velocity command zero
switch during torque regulation and velocity regulation.
A012
Control and Power Sections Ready for Operation
Description:
The drive is supplied with control voltage and the power is switched on.
The drive is ready for power delivery.
A013
Ready for Power
Description:
The drive is supplied with a control voltage; there are no errors in the
control drive. The drive is ready to be turned on.
A100
Drive in Torque Mode
Description:
The drive is functioning in torque mode. The drive follows the given torque
command value received over the analog channels E1 and E2.
A101
Drive in Velocity Mode
Description:
The drive is functioning in velocity mode. The drive follows the given
velocity command value received over the analog channels E1 and E2.
3-12
Description of Diagnostic Letters C... and A...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
A203 Position Control/Stepper Drive Interface
Description:
The drive is functioning in position control with Stepper interface. The
device follows the position command which will be developed out of the
stepper motor signals.
A204
Position Regulation without Lag/Stepper Drive Interface
Description:
The drive is functioning in position regulation without lag/Stepper Drive
interface. The device follows the position command which will be
developed out of the stepper motor signals.
A206
Position Regulation/Positioning Drive
Description:
The drive is functioning in position regulation/Positioning drive. The drive
is positioned on the selected target position with the given acceleration,
velocity and jerk.
A207
Position Regulation without Lag/Positioning Interface
Description:
The drive is functioning in position regulation without lag/Positioning
Interface. The drive is positioned on the selected target position with the
given acceleration, velocity and jerk.
AF Drive Enable
The drive enable signal has been applied.
velocity command (normal operation)
The drive will follow the
JF Jogging in the Positive Direction
The drive moves with a jogging velocity in the positive direction. The
motor is turning clockwise, when viewing the motor shaft.
JB Jogging in the Negative Direction
The drive moves with a jogging velocity in the negative direction. The
motor is turning counter clockwise, when viewing the motor shaft.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Description of Diagnostic Letters C... and A... 3-13
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes:
3-14
Description of Diagnostic Letters C... and A...
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
4
Exchanging Drive Components
Lengthy error searches in individual devices and the repair devices in the
machine should be avoided because of the loss of production that would
result.
As a result the diagnostic message displays from ECODRIVE makes it
possible to search for the error effectively.
Defective drive components can be exchanged without any difficulty
which guarantees the quickest possible resolution of the defect and return
to operation without the lengthy assembly and adjustment work.
When you return a defective device to Indramat please include a
completed copy of the defect report found at the conclusion of this
chapter. When you do this, you will get the repaired drive component
back as soon as possible and/or you can receive further assistance from
INDRAMAT.
Note:
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
The replacement component must have exactly the same
typecode description as the component that was removed! To
insure that this is the case, let INDRAMAT know the typcode
description for the replacement component.
Exchanging Drive Components 4-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Position of the identification plates:
The identification plate for the DKC drive controller is found on the front
side of the casing. It contains all data related to this drive.
The identification plate for MKD motors is on the right side of the motor
(when looking at the motor shaft with the motor connection box on top).
Assembled cables are supplied with a label (cable mark) that carries the
cable number and the length of the assembled cable.
Specifications for Model Label - Base Equipment
DKC _._ - _ _ _ _ - _
S.No.: _ _ _ _ _ _ _ _ _ _ _ A_ _ S _ _
Pre-Formed Engine Performance Cable
2)
INDRAMAT - Cable
IKS _ _ _
1)
No.
Length:
m
Pre-Formed Engine Feedback Cable
INDRAMAT - Cable
IKG _ _ _
2)
1)
No.
Length:
m
MKD _ _ _ _ - _ _ _ - _ _ _ _ _ _ / _ _ _ _
1. Pre-formed cables made by INDRAMAT (with connector) are identified with a
model label. The label provides the ordering information (IKS 103 for the
Feedback cable, for instance).
2. If cables are ordered without the connector, refer to the stamp on the cable
sheathing (Engine Feedback Cable IN 488, for instance).
AP5001F1.DRW
Figure 4-1: Type Description of the Drive Components
4-2
Exchanging Drive Components
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
4.1
Procedure for Exchanging Devices
Danger of an accident with life-threatening voltage
levels!
⇒ 1. Before working with electrical equipment, turn off
the main switch and take steps to insure that it will not
be switched on again.
The drives must be at a stand still because motor
rotations cause voltage to be generated back through
the motor power cables.
2. Do not separate live connections
Exchange the DKC:
• Turn off the main switch
• protect against the drive being turned back on prematurely
⇒ Before making contact with the connecting lines and
clamps, wait for the capacitor to discharge for at least
1 minute! Only then should you begin work with the
connecting cables!
• Separate the connecting lines from the DKC
• Remove the screws from the upper and lower portions of the casing.
Remove the DKC from the drive package.
• Insert the new DKC and tighten the screws.
• Attach the new DKC according to the machine control plans.
• Load the parameter file from Drive Top which was saved during the
installation into the DKC.
• Power up the machine.
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Exchanging Drive Components 4-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Motor exchange:
• Turn off the main switch
• protect against the drive being turned back on prematurely
Note:
When the motor is exchanged, open connectors from power
connections should be covered with protection caps to protect
against the spread of coolant, lubricating fluid or dirt (adm.
protection level V2).
• when exchanging mechanisms from the AC servo motor, please
observe the directions from the machine manufacturer
⇒ Danger of accident due to undesired axis
movements. For servo axes with indirect path
measuring systems through the motor, the absolute
position will be lost when the motor is exchanged!
This is why it is necessary to reconstruct the absolute
position to the machine coordinate system after the
exchange.
• Reconstruct the absolute position for servo axes. Acquire the position
feedback value indirectly through the motor's own measurement
system.
• Reconstruct the absolute position for the position feedback value
output when the feature " Indirect absolute position feedback value
output " is used.
4-4
Exchanging Drive Components
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Cable exchange:
• Turn off the main switch
• protect against the drive being turned back on prematurely
⇒ Danger of accident with life-threatening voltage levels.
Connect or disconnect the power connector
connections for the cables only if power has been
turned off for the machine!
Note:
When the cables are exchanged, open connectors from power
connections should be closed with protection covers to protect
against the spread of coolant, lubricating fluid or dirt (adm.
protection level V2).
V2
MKD
V2
Machine housing
V2
V2 V2
DKC
Switchboard wall
Immediate environment requirements
V2
Conductive contamination cannot occur when operating the
control drive (at least not with the IP 65); when installing or
exchanging drive components, non-conductive contamination
or light condensation may momentarily occur.
AP5002F1.DRW
Figure 4-2: Contamination level according to DIN VDE 0160
• when exchanging cables, observe the directions given by the machine
manufacturer.
⇒ Only connect the power connectors if they are dry and
clean.
Note:
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
If no assmebled cables from INDRAMAT are used. Check to
see if the new cables comply with the connection plan from the
machine manufacturer!
Exchanging Drive Components 4-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Error Report
for
DKC and MKD digital AC servodrives
This error report helps clarify errors and their causes. It is imperative to also find hidden, sporadic, or application induced
problem and eliminate them.
- Always send error reports with repairs.
- In other cases send error reports to the appropriate INDRAMAT location or to the INDRAMAT Quality Assurance address
printed in the address field.
INDRAMAT would like to thank you for by providing you with a quick and thorough turnaround.
Company:
Location:
Date:
Department:
Name:
Telephone:
Error report
Details of the faulty drive
Model specifics
Basic device
Motor specifics:
Motor type:
DKC _._ - _ _ _ _ - _
Enter the
display at
the time of
the error
S.No.: _ _ _ _ _ _ -
Power supply:
single-phase
three-phase
Serial number:
H1
Operating mode used:
Firmware details:
FWA-ECODRV-
-
-
Details of the machine on which the error occurred:
Machine manufacturer:
Type:
Machine number:
Hours of operation:
Installation date:
Machine control system manufacturer and type:
Designation of the machine shaft in which the error occurred:
How was the error detected:
Supplementary information:
Error condition:
Causes:
is continually present
during installation
occurs sporadically
occurs after approx.
hours
occurs during vibration
unknown
connection error
external cause
mechanical damage
loose power connection
condensation in device
Accompanying phenomenon:
mechanical system problems
is the switch box
power supply failure (24 Vext.)
air-conditioned? Y / N
control system failure
motor failure
cable break
defective ventilator
Have there been similar
errors in the same shaft before?
How often:
additional information:
Did the errors always occur on
specific days or at specific times?
INDRAMA T GmbH
Bgm.-Dr .Nebel-Straße 2
Abt. QSP
D-97816 Lohr am Main
PI0001d1.drw
Figure 4-3: Defect report
4-6
Exchanging Drive Components
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Directory of Customer Service Locations
Germany
Sales Area Central
Sales Area East
Sales Area West
Sales Area North
INDRAMAT GmbH
D-97816 Lohr am Main
Bgm.-Dr.-Nebel-Str. 2
INDRAMAT GmbH
D-09120 Chemnitz
Beckerstraße 31
INDRAMAT GmbH
D-40849 Ratingen
Harkortstraße 25
INDRAMAT GmbH
D-22085 Hamburg
Fährhausstraße 11
Telefon: 09352/40-0
Telefax: 09352/40-4885
Telefon: 0371/3555-0
Telefax: 0371/3555-230
Telefon: 02102/4318-0
Telefax: 02102/41315
Telefon: 040/227126-16
Telefax: 040/227126-15
Sales Area South
Sales Area South East
INDRAMAT Service-Hotline
INDRAMAT GmbH
D-80339 München
Ridlerstraße 75
INDRAMAT GmbH
D-71229 Leonberg
Böblinger Straße 25
INDRAMAT GmbH
Telefon: D-0172/660 040 6
Telefon: 089/540138-30
Telefax: 089/540138-10
Telefon: 07152/972-6
Telefax: 07152/972-727
-oderTelefon: D-0171/333 882 6
Directory of Customer Service Locations in Germany
Europa
Austria
Austria
Belgium
Denmark
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
A-1140 Wien
Hägelingasse 3
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
A-4061 Pasching
Randlstraße 14
Mannesmann Rexroth N.V.-S.A.
Geschäftsbereich INDRAMAT
B-1740 Ternat
Industrielaan 8
BEC Elektronik AS
DK-8900 Randers
Zinkvej 6
Telefon: 1/9852540-400
Telefax:1/9852540-93
Telefon: 07229/4401-36
Telefax: 07229/4401-80
Telefon: 02/5823180
Telefax: 02/5824310
England
Finnland
France
France
Mannesmann Rexroth Ltd.
INDRAMAT Division
Cirencester, Glos GL7 1YG
4 Esland Place, Love Lane
Rexroth Mecman OY
SF-01720 Vantaa
Riihimiehentie 3
Rexroth - Sigma S.A.
Division INDRAMAT
F-92632 Gennevilliers Cedex
Parc des Barbanniers 4,
Place du Village
Rexroth - Sigma S.A.
Division INDRAMAT
F-69634 Venissieux - Cx
91, Bd 1 Joliot Curie
Telefon: 01285/658671
Telefax: 01285/654991
Telefon: 0/848511
Telefax: 0/846387
Telefon: 1/41475430
Telefax: 1/47946941
Telefon: 086/447866
Telefax: 086/447160
Telefon: 78785256
Telefax: 78785231
France
Italy
Italy
Netherlands
Rexroth - Sigma S.A.
Division INDRAMAT
F-31100 Toulouse
270, Avenue de lardenne
Rexroth S.p.A.
Divisione INDRAMAT
I-20063 Cernusco S/N.MI
Via G. Di Vittoria, 1
Rexroth S.p.A. Divisione
INDRAMAT
Via Borgomanero, 11
I-10145 Torino
Hydraudyne Hydrauliek B.V.
Kruisbroeksestraat 1a
P.O. Box 32
NL-5280 AA Boxtel
Telefon: 61499519
Telefax: 61310041
Telefon: 02/92365-270
Telefax: 02/92108069
Telefon: 011/7712230
Telefax: 011/7710190
Telefon: 04116/51951
Telefax: 04116/51483
Spain
Spain
Sweden
Switzerland
Rexroth S.A.
Centro Industrial Santiago
Obradors s/n
E-08130 Santa Perpetua de
Mogoda (Barcelona)
Goimendi S.A.
División Indramat
Jolastokieta (Herrera)
Apartado 11 37
San Sebastion, 20017
AB Rexroth Mecman
INDRAMAT Division
Varuvägen 7
S-125 81 Stockholm
Rexroth SA
Département INDRAMAT
Chemin de l`Ecole 6
CH-1036 Sullens
Telefon: 03/718 68 51
Telex: 591 81
Telefax: 03/718 98 62
Telefon: 043/40 01 63
Telex: 361 72
Telefax: 043/39 93 95
Telefon: 08/727 92 00
Telefax: 08/64 73 277
Telefon: 021/731 43 77
Telefax: 021/731 46 78
Switzerland
Russia
Rexroth AG
Geeschäftsbereich INDRAMAT
Gewerbestraße 3
CH-8500 Frauenfeld
Tschudnenko E.B.
Arsenia 22
153000 Ivanovo
Rußland
Telefon: 052/720 21 00
Telefax: 052/720 21 11
Telefon: 093/22 39 633
Directory of Customer Service Locations without Germany
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Directory of Customer Service Locations
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Outside of Europa
Argentina
Argentina
Australia
Brazil
Mannesmann Rexroth S.A.I.C.
Division INDRAMAT
Acassusso 48 41/7
1605 Munro (Buenos Aires)
Argentina
Nakase
Asesoramiento Tecnico
Diaz Velez 2929
1636 Olivos
(Provincia de Buenos Aires)
Argentina
Argentina
Australian Industrial Machenery
Services Pty. Ltd.
Unit 3/45 Horne ST
Campbellfield VIC 2061
Australia
Mannesmann Rexroth Automação
Ltda.
Divisão INDRAMAT
Rua Georg Rexroth, 609
Vila Padre Anchieta
BR-09.951-250 Diadema-SP
Caixa Postal 377
BR-09.901-970 Diadema-SP
Telefon: 01/756 01 40
01/756 02 40
Telex: 262 66 rexro ar
Telefax: 01/756 01 36
Telefon: 03/93 59 0228
Telefax: 03/93 59 02886
Telefon 01/790 52 30
Telefon: 011/745 90 65
011/745 90 70
Telefax: 011/745 90 50
Canada
China
China
China
Basic Technologies Corporation
Burlington Division
3426 Mainway Drive
Burlington, Ontario
Canada L7M 1A8
Rexroth (China) Ldt.
Shanghai Office
Room 206
Shanghai Intern. Trade Centre
2200 Yanan Xi Lu
Shanghai 200335
P.R. China
Rexroth (China) Ldt.
Shanghai Parts & Service Centre
199 Wu Cao Road, Hua Cao
Minhang District
Shanghai 201 103
P.R. China
Rexroth (China) Ldt.
1430 China World Trade Centre
1, Jianguomenwai Avenue
Beijing 100004
P.R. China
Telefon: 905/335-55 11
Telefax: 905/335-41 84
Telefon: 021/627 55 333
Telefax: 021/627 55 666
Telefon: 021/622 00 058
Telefax: 021/622 00 068
Telefon: 010/50 50 380
Telefax: 010/50 50 379
China
Honkong
India
Japan
Rexroth (China) Ldt.
A-5F., 123 Lian Shan Street
Sha He Kou District
Dalian 116 023
P.R. China
Rexroth (China) Ldt.
19 Cheung Shun Street
1st Floor, Cheung Sha Wan,
Kowloon, Honkong
Mannesmann Rexroth (India) Ltd.
INDRAMAT Division
Plot. 96, Phase III
Peenya Industrial Area
Bangalore - 560058
Rexroth Co., Ltd.
INDRAMAT Division
I.R. Building
Nakamachidai 4-26-44
Tsuzuki-ku, Yokohama 226
Japan
Telefon: 0411/46 78 930
Telefax: 0411/46 78 932
Telefon: 741 13 51/-54 und
741 14 30
Telex: 3346 17 GL REX HX
Telefax: 786 40 19
786 07 33
Telefon: 80/839 21 01
80/839 73 74
Telex: 845 5028 RexB
Telefax: 80/839 43 45
Korea
Korea
Mexico
Rexroth-Seki Co Ltd.
1500-12 Da-Dae-Dong
Saha-Gu, Pusan, 604-050
Seo Chang Corporation Ltd.
Room 903, Jeail Building
44-35 Yoido-Dong
Youngdeungpo-Ku
Seoul, Korea
Telefon: 045/942-72 10
Telefax: 045/942-03 41
Motorización y
Diseño de Controles, S.A. de C.V.
Av. Dr. Gustavo Baz No. 288
Col. Parque Industrial la Ioma
Apartado Postal No. 318
54060 Tlalnepantla
Estado de Mexico
Telefon: 051/264 90 01
Telefax: 051/264 90 10
Telefon: 02/780-82 07 ~9
Telefax: 02/784-54 08
Telefon: 5/397 86 44
Telefax: 5/398 98 88
USA
USA
Rexroth Corporation
INDRAMAT Division
5150 Prairie Stone Parkway
Hoffman Estates, Illinois 60192
Rexroth Corporation
INDRAMAT Division
2110 Austin Avenue
Rochester Hills, Michigan 48309
Telefon: 847/645-36 00
Telefax: 857/645-62 01
Telefon: 810/853-82 90
Telefax: 810/853-82 90
Directory of Customer Service Locations outside of Europa
Directory of Customer Service Locations
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-ASE-02VRS**-WAR1-EN-P • 07.96
Notes
Indramat
engineering
mannesmann
Rexroth
ECODRIVE
DKC01.1/DKC11.1 Drive Controllers
Project Planning Manual
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
270950
Indramat
About this documentation
Title
Type of document
Document code
Internal file reference
Editing sequence
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Project Planning
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
• 209-0069-4390-03
Date
Remark
209-0069-4390-00 EN/05.96
May 96
First edition
209-0069-4390-01 EN/06.96
June 96
Revision
DOK-ECODRV-DKC01/11.1*-PRJ1-EN-P
July 96
2nd edition
DOK-ECODRV-DKC01/11.1*-PRJ1-EN-P
May 97
2nd Revision
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Copyright
Document identification of
previous editions
Feb. 98
new edition
© INDRAMAT GmbH, 1996
The reproduction and transmission of this document, the use and communication of its content to third parties without the expressed consent of
INDRAMAT GmbH are forbidden. Violators are liable for the payment of
damages. All rights are reserved in the event a patent is granted or a utility model is registered (DIN 34-1).
Publisher
INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Telephone +49 (09352) 40-0 • Telex 689421 • Fax +49 (09352) 40-4885
Dept. ENA (VS, HE)
Validity
The contents of this documentation and the availability of the product are
subject to change.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
What is this
documentation for?
About this documentation
It supplies information on:
• planning the mechanical control cabinet
• planning the electrical system in the control cabinet
• logistic handling of the equipment
• preparing the resources for start-up
Supplementary documentation
" ECODRIVE DKC Servo Drives with MKD "
- Selection Lists DOK-ECODRV-DKC+MKD****-AUS1-EN-P
for selecting the motor controller combination.
" MKD Digital AC Motors "
- Project Planning Manual DOK-MOTOR*-MKD********-PRJ2-EN-P
for a detailed description of the servomotors and for the selection of the
required cable.
" ECODRIVE DKC01.1/DKC11.1 Drive Controllers "
- Description of Functions DOK-ECODRV-DKC01/11.1-FKB1-EN-P
for testing and selecting the functions.
" EMC in Drive and Control Systems "
- Project Planning 209-0049-4305-02 EN/04.96
for the EMC-compliant planning and installation of the drive system (EMC
= Electromagnetic Compatibility).
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
About this documentation
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Table of contents
I
Table of contents
1 Introduction to the system
1-1
1.1 Application features.............................................................................................................................. 1-1
1.2 Overview of the functions..................................................................................................................... 1-1
2 Safety instructions for electrical drives
2-1
2.1 General ................................................................................................................................................ 2-1
2.2 Protection against contact with electrical parts .................................................................................... 2-2
2.3 Protection against shocks caused by safety extra-low voltage (SELV)......................................... 2-3
2.4 Protection against dangerous movements........................................................................................... 2-4
2.5 Protection against magnetic and electromagnetic fields during operation and assembly ................... 2-6
2.6 Protection during handling and assembly ............................................................................................ 2-7
2.7 Safe battery usage............................................................................................................................... 2-7
3 Selecting the components
3-1
3.1 Overview of the required components ................................................................................................. 3-1
3.2 Selection procedure ............................................................................................................................. 3-2
3.3 Compiling the required data................................................................................................................. 3-3
4 ECODRIVE DKC drive controllers
4-1
4.1 Hardware.............................................................................................................................................. 4-1
View of unit.................................................................................................................................... 4-1
Dimensional sheets and installation dimensions........................................................................... 4-2
Technical data ............................................................................................................................... 4-4
Type code and rating plate............................................................................................................ 4-7
4.2 Firmware .............................................................................................................................................. 4-8
4.3 An overview of the electrical connections ............................................................................................ 4-9
Front view with supply terminals ................................................................................................... 4-9
Overall connection diagrams....................................................................................................... 4-10
4.4 Electrical connection to the supply terminal strips ............................................................................. 4-14
Serial interface X1....................................................................................................................... 4-14
X2 positioning or stepper interface.............................................................................................. 4-18
X3 analog inputs and outputs...................................................................................................... 4-25
X4 terminals for the control circuit............................................................................................... 4-29
X5, X6, X7 motor connections .................................................................................................... 4-30
X9 DC bus connection ................................................................................................................ 4-30
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
II Table of contents
5 BZM auxiliary bleeder module
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
5-1
5.1 Dimensioning the components relevant for regeneration .................................................................... 5-1
5.2 Dimensional data and installation dimensions ..................................................................................... 5-5
5.3 Technical data...................................................................................................................................... 5-6
5.4 Front view............................................................................................................................................. 5-6
5.5 Electrical connections .......................................................................................................................... 5-7
5.6 Type code and rating plate................................................................................................................... 5-7
6 CZM Auxiliary Capacitance Module
6-1
6.1 Dimensioning ....................................................................................................................................... 6-1
6.2 Dimensional data and installation dimensions ..................................................................................... 6-3
6.3 Front view............................................................................................................................................. 6-4
6.4 Electrical connection ............................................................................................................................ 6-4
6.5 Type code and rating plate................................................................................................................... 6-5
7 DC24V NTM power supplies
7-1
7.1 Application recommendations.............................................................................................................. 7-1
7.2 Technical data...................................................................................................................................... 7-1
7.3 Dimensional data and installation dimensions ..................................................................................... 7-2
7.4 Front views........................................................................................................................................... 7-2
7.5 Electrical connection ............................................................................................................................ 7-3
7.6 Type code ............................................................................................................................................ 7-4
8 NFD / NFE line filter
8-1
8.1 Selection .............................................................................................................................................. 8-1
8.2 Dimensional data and installation dimensions ..................................................................................... 8-2
8.3 Electrical connection ............................................................................................................................ 8-3
8.4 Line filters for DC24V NTM power supplies ......................................................................................... 8-5
8.5 Type code ............................................................................................................................................ 8-5
9 DST / DLT transformers
9-1
9.1 Selection .............................................................................................................................................. 9-1
9.2 Autotransformers for DKC**.*-040-7-FW ............................................................................................. 9-1
9.3 Autotransformers for DKC**.*-030-3-FW ............................................................................................. 9-4
9.4 Electrical connection of the DKC via transformer ................................................................................ 9-6
9.5 Type code ............................................................................................................................................ 9-7
10 Planning the control cabinet
10-1
10.1 Notes on installing the control cabinet ............................................................................................. 10-1
Power dissipation ........................................................................................................................ 10-1
10.2 Using heat-exchange units in the control cabinets .......................................................................... 10-2
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
11 Power connection
Table of contents
III
11-1
11.1 Direct power connection................................................................................................................... 11-1
11.2 Line contactor/fuse protector ........................................................................................................... 11-2
Calculating the phase current at the power connection .............................................................. 11-2
Selecting fuse protector Q1 and line contactor K1...................................................................... 11-3
11.3 Control circuit to the power connection............................................................................................ 11-4
11.4 Protection against indirect contact ................................................................................................... 11-5
12 Preparing for Startup
12-1
Required equipment.................................................................................................................... 12-1
13 Condition of the drive components on delivery
13-1
Packaging ................................................................................................................................... 13-1
Accompanying documents .......................................................................................................... 13-1
Identification of the components ................................................................................................. 13-1
14 Index
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
14-1
IV Table of contents
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
1
Introduction to the system
1.1
Introduction to the system 1-1
Application features
The drive system with the ECODRIVE drive controllers is the most costeffective solution offering the highest functionality for almost any field of
application in which translatory or rotary motions are to be automated.
Outstanding performance data, an extensive range of functions as well as
an excellent price-to-performance ratio represent the salient features of
this drive system.
Product features in terms of the technical applications are:
• universal implementation
• lower total costs
• digital drive concept
• highly dynamic operation
• cost-effective direct connection to the power connection
• software travel limit switch
• absolute or incremental position detection
• absolute or incremental position output
• integrated holding brake control
• increased operating safety
• adjustable error response
• automatic parameter matching
• easy startup operation
1.2
Overview of the functions
The functions of the digital, intelligent drive system are differentiated primarily according to the interface of the higher-level control. The fields of
application for the ECODRIVE drive controllers vary accordingly.
The drive controller DKC01.1 is used as a:
• servodrive with integrated position control
• servodrive with analog speed interface and integrated actual position
detection
• servodrive with stepper interface.
• servodrive with electronic gearbox function
The drive controller DKC11.1 represents a particularly cost-effective solution. It is used as a:
• servodrive with analog speed interface and integrated actual position
detection
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
1-2 Introduction to the system
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Servodrive with integrated position control
SPS-Control
DKC01.1Drive controller
with POSITIONING-interface
MS-DOS ®- PC
AC-servo motor
MKD
Parameters
Diagnosis
Operating data
RS 232
RS 485
Drive processor
I/O _ card
Selection
of the
positioning
records
Control inputs
Stored
positioning
records
Status outputs
2° position 1
21 position 2
2
.
2
.
4
2 position 32
Actual
position
value
M
3~
Fine interpolation
Position control
Speed control
~
~
Field-orinted
stator current
control
High-resolution
positioning interface
FS0200.fh5
Fig. 1-1: Servodrive with integrated position control
• Up to 32 positioning blocks can be stored in the drive controller and
selected over parallel inputs. The positioning block is executed
autonomously.
• Mechanical translatory elements such as gear ratios or feed constants
are adapted in the drive.
• All position, speed, and acceleration data can be weighted independently of the axis kinematics.
• A drive-internal referencing procedure is available for creating a reference dimension.
• The axis can be moved with the jog function during setup operation.
• The positioning speed can be influenced via the feedrate override.
• Travel limit switch inputs and axis limit values which can be parameterized are available for limiting the travel range.
• The drive status can be detected via status outputs.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Introduction to the system 1-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Servodrive with analog speed interface and integrated actual
position detection
Control unit
with position control
DKC01.1 or DKC11.1 drive
controller with ANALOG interface
AC servo motor
MKD
MS-DOS ® - PC
Parameters
Diagnosis
Operating data
Parameters
Diagnosis
Operating data
RS 232
RS 485
Drive processor
Position
command
value
M
+W
Kv
Speed
command
value
D
A
-X
analog
±10V
Positioning
interface
Actual
position
value
3~
A
D
Speed control
~
~
Field-oriented
stator current
control
High-resolution
positioning interface
Linear scale
FS0201.fh5
Fig. 1-2:
Servodrive with analog speed interface and integrated actual position
detection
• The analog speed command value can be set to any value.
• The actual position value is output either incrementally or absolutely.
• Using a switching input, the drive can be shut down independent of the
command value and stopped free of drift during active control.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
1-4 Introduction to the system
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Servodrive with stepper interface
Control unit
with step pulse generation
AC servo motor
MKD
DKC01.1 drive controller
with STEPPER interface
MS-DOS ®- PC
Interpolation
Parameters
Diagnosis
Operating data
RS 232
RS 485
Drive processor
Step pulse
forwards
Stepper
M
Fine interpolation
3~
interface
generation
backwards
Position control
Speed control
~
~
Field-oriented
stator current
control
Actual
position
value
High-resolution
position interface
FS0202.fh5
Fig. 1-3: Servodrive with stepper interface
• The number of steps per rotor rotation can be set to any value between 16 and 65536.
• The maximum step frequency is independent of the load. It is technically impossible to " skip " steps due to the position controlled operation.
• The stepper interface can be set to three standard signal definitions for
exchanging signals between the control and the drive controller.
- quadrature signals
- forwards/backwards signals
- step and direction signal
• A drive-internal referencing procedure is available for creating a reference dimension.
• The axis can be moved with the jog function during setup operation.
• The referencing and jog speed can be influenced via the feedrate
override.
• Travel limit switch inputs and axis limit values which can be parameterized are available for limiting the travel range.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Introduction to the system 1-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Servodrive with electronic gearbox function
Servodrive DKC01.1
with electronic gearbox function
AC-Servomotor
MKD
MS-DOS ®- PC
Parameters
Diagnosis
Operating data
RS 232
RS 485
Drive processor
Lead axis
transmitter
Lead axis
position
Step motor
interface
electronic gearbox
M
3~
Position control
Speed control
Field-oriented
stator current
control
~
~
High-resolution
position interface
FS0203.fh5
Fig. 1-4: Servodrive with electronic gearbox function
• Operating modes
Speed synchronization
Angle synchronization
• The lead axis position is given in degrees (360 degrees represent one
lead axis encoder revolution)
• The lead axis encoder must be connected to the DKC stepper interface.
The maximum allowable signal frequency fmax on the stepper interface
limits the number of lines Zl which can be emulated.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
1-6 Introduction to the system
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Safety instructions for electrical drives 2-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
2
Safety instructions for electrical drives
Please read the following instructions carefully before initial startup.
These safety instructions must be observed at all times.
If the product is transferred to a third-party, the safety instructions must be
included.
Improper use of this equipment and non-compliance
with the safety instructions provided can result in
damage, personal injury or, in extreme cases, death.
WARNING
2.1
General
INDRAMAT GmbH is not liable for any damages resulting from failure
to observe the safety instructions in this document.
• Documentation in the relevant national language should be obtained
before initial startup if the language in this documentation is not perfectly understood.
• Proper transport, correct storage, assembly, and installation as well as
care in operation and maintenance are prerequisites for optimum and
safe operation of this equipment.
• Qualified personnel:
Only qualified personnel should be permitted to operate this equipment
or work in its immediate vicinity. Personnel is considered qualified if it
has sufficient knowledge of the assembly, installation, and operation of
the product as well as all warnings and precautionary measures in this
documentation.
Furthermore, personnel should be trained, instructed or authorized to
switch electrical circuits on and off and to ground and mark them in
accordance with the requirements of safety engineering. Personnel
should possess adequate safety equipment and be trained in first aid.
• Use only replacement parts approved by the manufacturer.
• All safety regulations and requirements for the specific application
must be followed.
• The equipment is designed to be installed in machines for commercial
use.
• Startup is only permitted once it is sure that the machine in which the
products are installed complies with the requirements of the national
safety regulations and safety specifications of the application.
European countries: EC Directive 89/392/EEC (Machine Guideline)
• Operation is only permitted if the national EMC regulations for the specific application have been met. European countries: EC Directive
89/336/EEC (EMC Guideline)
The instructions for installation in accordance with EMC requirements
can be found in the document " EMC Drive and Control Systems. "
The responsibility for adherence to the limiting values required by national regulations lies with the manufacturer of the equipment or machine.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
2-2 Safety instructions for electrical drives
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
• Technical specifications as well as the connection and installation requirements can be found in the product documentation and must be
observed under all circumstances.
2.2
Protection against contact with electrical parts
Note: Only relevant for devices and drive components with voltages exceeding 50 volts.
Coming into contact with components carrying voltages greater than 50
volts can be dangerous. Certain parts are under dangerous voltage when
operating electrical devices.
DANGER
High Voltage!
Danger to life or risk of bodily injury!
⇒ Follow general construction and safety regulations
when working on electrical installations.
⇒ Before switching on power, be sure that the ground
wire is permanently connected to all electrical units
according to the connection diagram.
⇒ At no time may electrical equipment be operated if the
ground wire is not permanently connected to the
proper terminals, even for brief measurements or
tests.
⇒ Disconnect the equipment from the power supply line
or the voltage source before beginning work. Secure
equipment from reclosure.
⇒ Wait 5 minutes after switching off power to allow capacitors to discharge before using the equipment.
Measure the voltage of the capacitors before beginning work in order to eliminate dangers arising from
touching components.
⇒ Never touch the electrical connection points of a component while the power is turned on.
⇒ Cover live parts properly before switching the equipment on so they cannot be touched. Covers provided
with the equipment must be installed before operating
the equipment to prevent contact with live parts. The
equipment may only be operated with the covers designed for shock-hazard protection.
⇒ A GFCI protective device (ground fault circuit interrupter) cannot be used for AC drives! Protection
against indirect contact must be ensured by other
means, for example, by using an overcurrent protection device in accordance with relevant standards.
European countries: in accordance with EN
50178/1994, section 5.3.2.3
⇒ For installation equipment protection against indirect
contact must be ensured using an external housing,
such as a control cabinet. European countries: in accordance with EN 50178/1994, section 5.3.2.3
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
WARNING
2.3
Safety instructions for electrical drives 2-3
High discharge current!
Danger to life or risk of bodily injury!
⇒ All units and the motors must first be connected to a
grounding point with the ground wire or must be
grounded themselves before switching on power.
⇒ The discharge current is greater than 3.5 mA. A permanent connection to the power supply line is therefore required for all units. European countries (EN
50178/1994, section 5.3.2.3)
⇒ Before startup operation always connect the protective conductor or the ground conductor. Otherwise the
housing may harbor high voltages.
Protection against shocks caused by safety extra-low
voltage (SELV)
All connectors and terminals on INDRAMAT products with voltages from
5 to 50 volts are safety extra-low voltages offering a shockproof design to
meet the following standards:
• international: IEC 364-4-411.1.5
• European countries in the EC: EN 50178/1994, section 5.2.8.1
WARNING
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
High electrical voltages due to incorrect connections!
Danger to life or risk of bodily injury!
⇒ Only equipment and lines carrying protective extra low
voltage (PELV) may be connected to connectors and
terminals with voltages ranging from 0 to 50 volts.
⇒ Connect only voltages and circuits safely isolated from
dangerous voltages. Isolation can be achieved, for
example, by using safe isolation transformers, optocouplers or power supply independent battery operation.
2-4 Safety instructions for electrical drives
2.4
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Protection against dangerous movements
Dangerous movements can be caused if the connected motors are not
controlled correctly.
There are various causes of dangerous movements:
• faulty wiring or cable connections
• operating the components improperly
• defective measured value transmitters and primary detectors
• defective components
• errors in the software
These errors can occur just after the equipment has been switched on or
after an indefinite period of time.
The monitors in the drive components virtually exclude failure in the connected drives. However, personnel safety requires that additional measures be taken to ensure correct operation. Faulty drive motions which are
influenced by the type of control and the operating status cannot be entirely excluded until the installed monitors take effect.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DANGER
Safety instructions for electrical drives 2-5
Dangerous movements!
Danger may result in equipment damage, personal injury
or death!
⇒ Personal safety must be ensured by higher-level,
monitoring at the installation or precautionary measures for the reasons listed above. These are provided
by the plant manufacturer according to the specific
conditions of the plant based on a danger and malfunction analysis. The safety regulations in effect for
the plant are included herein.
Avoiding accidents:
⇒ Stay away from the machine’s movement area. Possible measures to be taken to prevent access by unauthorized persons:
- protective fence
- protective railing
- protective covering
- light barrier
⇒ Fences and coverings should be strong enough to
withstand the maximum possible momentum.
⇒ Mount the emergency stop switch (E-stop) at an easily
accessible place in the immediate vicinity. Verify that
the E-stop switch works before starting operation.
⇒ Isolate the drive power connection by means of an Estop circuit or use a starting lock-out to prevent unintentional startup.
⇒ Make sure that the drives have been shut down before accessing or entering the danger zone.
⇒ Disable electrical power to the equipment using a
master switch and secure against reclosure during:
- maintenance and repair work
- equipment cleaning
- long downtime periods
⇒ Avoid operating high-frequency, remote control, and
radio equipment near electrical equipment and their
supply leads. If the use of such equipment cannot be
avoided, verify that the system and plant are in perfect
working order in all working situations before initial
operation. If necessary, the plant must undergo special EMC testing.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
2-6 Safety instructions for electrical drives
2.5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Protection against magnetic and electromagnetic fields
during operation and assembly
Magnetic and electromagnetic fields near current-carrying conductors and
permanent magnets pose a serious health hazard for persons with pacemakers, metal implants and hearing aids.
WARNING
Health hazard for persons with pacemakers, metal
implants and hearing aids in the immediate vicinity
of electrical equipment.
⇒ Persons with pacemakers and metal implants must
not be permitted access to the following areas:
− Areas in which electrical equipment and parts are
mounted, operated or put into operation.
− Areas in which motor parts with permanent magnets are stored, repaired or mounted.
⇒ If it becomes necessary for a person with a pacemaker to enter such an area, this must be approved
by a physician beforehand.
Implanted pacemakers or those to be implanted have
a varying degrees of resistance to interference, making it impossible to establish any general guidelines.
⇒ Persons with metal implants or metal splitters as well
as hearing aids should consult a physician before entering such areas since they represent a health hazard.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
2.6
Safety instructions for electrical drives 2-7
Protection during handling and assembly
Handling or assembling drive components improperly may lead to personal injury.
CAUTION
2.7
Risk of injury due to improper handling!
Bodily injury may be caused by crushing, shearing, cutting, and pounding forces.
⇒ Observe general construction and safety regulations
when working on electrical installations.
⇒ Use suitable assembly and transport equipment.
⇒ Take precautions to prevent pinching and crushing.
⇒ Use only suitable tools. Use special tools as prescribed.
⇒ Employ lifting devices and tools according to the
manufacturers’ instructions.
⇒ If necessary, use suitable protective equipment (for
example goggles, safety shoes, protective gloves).
⇒ Do not stand under suspended loads.
⇒ Remove any leaking liquids on the floor immediately
to prevent slipping.
Safe battery usage
Batteries consist of reactive chemicals contained in a solid case. Improper use can therefore lead to injuries or equipment damage.
Risk of injury due to improper handling!
CAUTION
Note:
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
⇒ Do not attempt to reactivate empty batteries by heating them or by any other means (danger of explosion
or corrosion).
⇒ Do not recharge batteries because they may leak or
explode.
⇒ Do not dispose of batteries by throwing them into a
fire.
⇒ Do not attempt to disassemble batteries.
⇒ Do not damage the electrical components installed in
the equipment.
Environmental protection and disposal! The batteries contained in the product are considered hazardous material for
land, sea, and air transport according to the legal regulations
(danger of explosion). Dispose used batteries separately from
other waste. Observe the national regulations in the country of
installation.
2-8 Safety instructions for electrical drives
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Selecting the components 3-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
3
Selecting the components
3.1
Overview of the required components
System voltage
NFD
Mains filter for
power connections
DST
Transformer
Fuse
Mains filter for
power supply unit
Q1
NFE
Mains contactor
Power supply unit
K1
NTM
Drive controller
DC 24 V
Firmware
DKC
BZM
CZM
Auxiliary capacitance
module
FWA
Drive Top
commissioning
program
Auxiliary bleeder module
PC
IKS - ready-made feedback cable
IKG - ready-made power cable
MKD
Servo motor
Those components shown with a gray-shaded background are absolutely necessary.
Fig. 3-1: Overview of the required components
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
EB0202D4.fh5
3-2 Selecting the components
3.2
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Selection procedure
Dimensioning and selecting the
servo drive
⇒ Dimension the drive according to how it is to be used. A document for
this is under preparation.
⇒ Select motor/drive combination (DKC + MKD) using the " Selection
Data " documentation (see pg. 3, supplementary documentation). "
Compiling the required data
⇒ Enter the values obtained from dimensioning and enter the drives selected into table Fig. 3-2 .
⇒ Calculate the continuous regenerative power according to the specifications in Chapter 5 and enter them in table Fig. 3-2 .
Selecting the required
components
⇒ Use firmware " FWA-ECODRV-ASE-02VRS-MS " for DKC01.1-*** and
DKC11.1-*** (no selection required at this time)
⇒ " Select ready-made cables for the connection between the DKC and
MKD by using the document " MKD Servomotors - Project Planning
Manual " (see pg. 3 of supplementary documentation). "
⇒ Select fuse protector Q1 (see Chapter 11.2).
⇒ Select line contactor K1 (see Chapter 11.2).
Determining components which
may be additionally required
⇒ Check the rated line voltage.
• If, in the case of the DKC**.*-040-7, the rated line voltage falls below
or exceeds 3xAC (380-460)V ±10%, select a DST transformer (see
Chap. 9.2).
• If, in the case of the DKC**.*-030-3, the rated line voltage falls below
or exceeds 3xAC230V ±10%, select a DST transformer (see Chap.
9.3).
⇒ Check the DC24V control voltage supply for the DKC. If a voltage of
DC24 Volt ± 20 % is not available, select a suitable NTM power supply
(see Chap. 7).
⇒ Check the DC24V voltage for the motor holding brake. If a voltage of
DC24 Volt ± 10 % is not available, then select a suitable NTM power
supply (see Chap. 7).
⇒ Check the continuous regenerative power. If it exceeds 0.15 kW, then
consider option with BZM auxiliary bleeder module (see Chap. 5).
⇒ Check the peak regenerative power. If it exceeds 5 kW, then consider
option with DKC**.*-040-7 and if needed, the BZM auxiliary bleeder
module (see chapter 5).
⇒ If the continuous regenerative power exceeds approx. 0.1 kW and the
drive system energy content is less than 200W, the use of an auxiliary
capacitance module CZM can be economical. This makes it possible
to reduce the dissipated energy for the control cabinet by an amount
equal to the continuous regenerative power (see Chap. 6).
⇒ Check the EMC conditions. INDRAMAT recommends the use of NFD
or NFE mains filters to maintain EMC limiting values (see Chap. 8).
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Selecting the components 3-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
3.3
Compiling the required data
Designation
Symbol
Effective load torque
Values/Units
MEFF
.............................. in Nm
Acceleration torque
MACC
.............................. in Nm
Operating torque
MBEARB
Motor speed used
nNUTZ
.............................. in Nm
.............................. in min-1
Load moment of inertia
JLAST
.............................. in kgm²
Maximum rotary energy in the
mechanical system (E-stop case)
WROT,MAX
Continuous regenerative power
PRD
.............................. in Ws
.............................. in kW
Continuous torque at standstill
MDN
.............................. in Nm
Maximum torque
MMAX
............................. in Nm
Short-term operation torque
MKB
............................. in Nm
Maximum motor speed
nMAX
............................. in min-1
Required power connection ouput
SAN
Required mains rated voltage
UN
............................. in kVA
............................. in V
Motor/controller combination
DKC...................................
MKD...................................
Motor moment of inertia
JM
............................. in kgm²
DKC current consumption
IN,DC
Power consumption of the motor
holding brake (if present)
IN,HB
0.7
............................. in A
refer to the project planning
manual MKD Motors
Fig. 3-2: Data required for selecting the components
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
in A
3-4 Selecting the components
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
ECODRIVE DKC drive controllers 4-1
4
ECODRIVE DKC drive controllers
4.1
Hardware
View of unit
DKC**.*-030-3-FW
(ITyp = 30 A)
DKC**.*-040-7-FW
(ITyp = 40 A)
Mains connection
1 x AC 230 V
oder
3 x AC 230 V
Mains connection
AC (380...460) V
Intermediate circuit connection
for
BZM auxiliary bleeder module
or
CZM auxiliary capacitance module
or
PI0200.fh5
further DKCs
Fig. 4-1: Main distinguishing hardware features of the DKC controllers
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
4-2 ECODRIVE DKC drive controllers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Dimensional sheets and installation dimensions
distance to adjacent unit
70
65
210
32,5
min. 80 mm
M6 in mounting panel
7
25
8
cooling air outlet
X1
X2
343
X4
318
360
X3
X5
S1
H1
X6
X7
17
X8
7
258
cooling air inlet
min. 80 mm
MB0201.fh5
Fig. 4-2: Dimensional data and install ation dimensions DKC01.1-030-3-FW
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
distance to adjacent unit
70
65
210
32.5
min. 80 mm
M6 in mounting panel
7
13
8
cooling air outlet
X1
X2
X3
343
360
333
X4
X5
H1
S1
X6
X7
X8
14
X9
258
cooling air inlet
min. 80 mm
7
MB0202.fh5
Fig. 4-3: Dimensional data and installation dimensions DKC01.1-040-7FW/DKC11.1-040-7-FW
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
4-4 ECODRIVE DKC drive controllers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Technical data
Power connection / Power section
Symbol
Designation
Unit
DKC**.1-040-7-FW
DKC01.1-030-3-FW
single-phase
Operating mode at the mains
three-phase
1 x AC 230
± 10%
3 x AC 230
± 10%
Mains input voltage
UN
V
Maximum conn. voltage
SMAX
kVA
1,8
3,2
Making current
IEIN
A
10
10
Mains frequency
fN
Hz
three-phase
fS
Continous current at fS = 4 kHz
ICONT
Continous current at fS = 8 kHz
1)
4,8 ... 9
9 ... 12
50...60
kHz
1)
3 x AC
(380 ... 480) ± 10%
4 or 8
4 or 8
A
12
16
ICONT
A
11
12,5
Rated current
ITYP
A
30
40
Peak current
IPEAK
A
30
40
Power disspation, without
bleeder dissipation
PV
W
100
180
Peak bleeder output DKC
PBM,DKC
kW
5 (for 1 s)
Continous bleeder output DKC
PBD,DKC
kW
0,15
0,15
Maximum feedback energy DKC
WMAX,DKC kWs
5,0
5,0
Storage energy DKC
WZW,DKC
Ws
15
15
DC bus capacitance
CDKC
mF
UZW
V
Switching frequency (selectable)
DC bus voltage
2)
10 (for 0,5 s)
0,15
0,15
DC 500...800
not lead to the outside
1) The drive data for 4 and 8 kHz switching. frequencies are listed in the document " ECODRIVE DKC servo drive " - Selection Data.
2) Value dependent on power input voltage
TB0202.fh5
Fig. 4-4: Technical data for the power connection and power section
DC24V Power supply
Designation
Symbol Unit
DKC01.1-030-3-FW
DKC**.1-040-7-FW
Control voltage connection
for DKC
Input voltage
UN,DC
V
DC (19,2 ... 28,8) V
Maximum ripple content
w
%
must not exceed the input voltage range
Current consumption
IN,DC
A
0,7
Input voltage
UN,HB
V
DC 24 ± 10%
Maximum ripple content
w
%
must not exceed the input voltage range
Current consumption
IN,HB
A
please see MKD dokumentation
Voltage connection for
holding brake
TB0203.fh5
Fig. 4-5: Technical data for the DC24V power supply
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Additional connection of the DC24 power supply
The DKC drives should be firmly connected to the DC24V power supply;
preferred method Fig. 4-6
They can also be connected to the DC24V power supply in a switchable
manner Fig. 4-7
Preferred method:
The power supply is firmly
connected to the attached DKC
DKC
power supply
24V
L1
L2
L3
X4/1
0V
X4/4
DC24V
Q2
V01DCC1P.fh5
Connecting additional DKC`s
Fig. 4-6:
The power supply is connected
to the attached DKC in a
switchable manner
Principle for connecting the DC24V control voltage by switching on the
power supply via Q2, preferred method
power supply
K1
24V
L1
L2
L3
S1
X4/1
K1
DC24V
DKC
0V
K1 closing delay & gt; 100 ms, DC1≥10A
Rv
X4/4
V02DCC1P.fh5
Rv = 2,2Ω / 5W (wire resistance)
S1 Cotact, DC1≥ 6 A
Fig. 4-7:
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Connecting additional DKC x.1,DKC x.2
(max. 6 DKC + 6BZM01.1)
Principle for connection the 24V via S1 with a starting current limiter
4-6 ECODRIVE DKC drive controllers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Ambient and installation conditions
Ambient temperature and
installation altitude
Selection lists are specified for each motor/drive documentation. Please
refer to the documentation " ECODRIVE Servodrives DKC with MKD Selection Lists The selection lists apply within the given ambient and installation conditions (see Fig. 4-9).
For different conditions, the short-term operating torque is reduced according to the diagrams (see Fig. 4-8). If deviating ambient temperatures
and higher installation altitudes occur simultaneously, both load factors
must be multiplied.
Load with higher
ambient temperatures
Load with higher
installation elevations
1
Load factor
Load factor
1
0,8
0,6
0,8
0,6
0
40
45
50
55
0
1000 2000 3000 4000 5000
Ambient temperature in °C
Fig. 4-8:
Designation
Symbol
Installation altitude meters
above sea level
DG0200.fh5
Load utilization as a value dependent upon ambient temperature and
installation altitude
Unit
DKC01.1-030-3-FW
DKC**.1-040-7-FW
Ambient and installation
conditions
Cooling the power section
natural air cooling
internal blower cooling
Permissible ambient temperature
with nominal data
TUM
°C
Max. permissible ambient
temperature with reduced
nominal data
TUM,MAX
°C
Storage and transport
temperature
TL
°C
-30...+85
Max. installation elevation
with nominal data
m
1000
Max. permissible relative humidity
%
95
Max. permissible absolute humidity
g/m3
25
Degree of contamination
+55
The values indicated in the selection data
for MDN and MKB, drop in the range of +45
to +55°C by 2% per °C of rise in temperature.
Non-conductive dirt contamination, no condensation
Protection category
Weight
+0...+45
IP20, as per EN 60529 = DIN VDE 0470-1-1992 (IEC 529-1989)
stationary use in control cabinets
m
kg
4.4
TB0204.fh5
Fig. 4-9: Ambient and installation conditions
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-7
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Type code and rating plate
Example: DKC 01.1 - 040 - 7 - FW
Type code fields:
DKC
Drive controller
Series
01
11
Version
1
Type
30 A
40 A
030
040
Rated intermediate circuit voltage
300 V
700 V
3
7
Firmware
A firmware specifying the functions of the
drive must be ordered separately.
FW
TL0200.fh5
Fig. 4-10: DKC type code
Type of machine
Production week
DKC01.1-040-7-FW
253158
K16/96
SN253160-01708
Part no.
A03
Barcode
Serial number
Fig. 4-11: DKC rating plate
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Change index
TS0200.fh5
4-8 ECODRIVE DKC drive controllers
4.2
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Firmware
The firmware located in the drive controller determines the functional
features of the ECODRIVE drive controller.
The firmware " FWA-ECODRV-ASE-02VRS-MS " is for the drive controllers DKC01.1-*** and DKC11.1-***.
The firmware has its own order number. This means that it is always possible to order the identical firmware version.
The firmware is updated constantly to eliminate any bugs without altering
the functionality. It is identified on the type code as the firmware release
version.
If newer functions are added, the index of the firmware version is incremented (see type codes).
Example:
Type codes:
Item i. d.
Firmware
FW A-ECODRV-ASE-02 V RS-MS
FW
Class
Product (machine)
A
Name of product
Product: ECODRIVE
ECODRV
Firmware-type (alphnumeric)
Parallel interface
ASE
Firmware-Version (01...99)
02
02
Firmware type
Test version
Standard
T
V
Firmware-release-status (Update)
The status at the time of
delivery.
RS
Language (abbrev. see
INN 09.04, sec. 1)
Multilingual
MS
TL0202.fh5
Fig. 4-12: ECODRIVE firmware type code
Production week
Firmware-type
Part no.
FWA-ECODRV-ASE-02VRS-MS
266285
K19/96
Barcode
SN266285-06394
Serial number
V01
Release status
TS0201.fh5
Fig. 4-13: Firmware rating plate
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-9
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
4.3
An overview of the electrical connections
Front view with supply terminals
X1
RxD
TxD
0V
RS 232 serial
interface
X1
RS 485+
RS 485Shield
4
5
6
1
2
3
X2 1)
Positioning record
selection or inputs
for stepper interface
Positioning record
acknowledgement
POS1/SM1+
POS2/SM1POS3/SM2+
POS4/SM2POS5
POS Q1
POS Q2
POS Q3
POS Q4
POS Q5
0V
Shield
Analog command
value input
Torque reduction
Analog outputs
Control voltage
Controller enable
Drive stop
X2
1
2
3
4
5
6
7
8
9
10
11
12
X1
X2
X3
E1
E2
IRED1
IRED2
AK1
0V
AK2
Shield
1
2
3
4
5
6
7
8
Go to zero point
Zero switch
Travel limit switch
Jog inputs
Path control point
Homing in
Movement in
Position in
X3
X3
X4
UA0+
UA0UA1+/Data+
UA1-/DataUA2+/CLK+
UA2-/CLK0VM
Shield
9
10
11
12
13
14
15
16
4
5
6
X4
24V
RF
AH/Start
1)
NF
NS
LIMIT+
LIMITJOG+
JOGWSP
INREF
INBWG
INPOS
0V
Shield
13
14
15
16
17
18
19
20
21
22
23
24
RS 485 serial
interface
Actual
position value
(incremental
or SSI)
X4
1
2
3
0V
Bb
Bb
Ready to operate
X5
Motor feedback
connection
SDI
FS
R3
R1
0V
S2
S1
8
7
6
5
4
3
2
1
15
14
13
12
11
10
9
SDO
SCL
R3
R1
0V
S4
S3
Shield
Fault clearance button
X5
Diagnosis indicator
H1
S1
Motor temperature
monitoring
Holding
brake control
TM+
TMBr+
Br-
1
2
3
4
A1
A2
A3
X6
1
2
3
X5:
15-pole D-Sub connector (INS 439)
Voltage connection
for holding brake
L1
L2
L3
Power connection
L+1
L+2
L-1
L-2
Intermediate circuit connection
(not on DKC01.1-030-3)
X8
X8
Ground wire connection
and connection for shielding
the motor power cable
24V
0V
Shield
Shield
5
6
7
8
X7
X7
Motor connection
X6
X6
1
2
3
X9
X9
1
2
3
4
X1, X2, X3, X4, X6:
Screw-down push-in terminals
0.2...2.5 mm², AWG 24-12
X7, X8, X9:
Screw-down push-in terminals
0.2...4 mm², AWG 24-10
SB0200.fh5
1) not on DKC11.1-040-7-FW
Fig.. 4-14: Front view of the DKC with supply terminals
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
4-10 ECODRIVE DKC drive controllers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Overall connection diagrams
X4
1
+24V
RF
2
3
0V
5
ready to
operate
RxD
TxD
AH/Start
4
zero ref. to contr. volt.
0V
Bb
6
X1
RS485+
RS485-
Bb
POS1
POS2
POS3
POS4
POS5
POS Q1
POS Q2
POS Q3
POS Q4
POS Q5
0V
2
3
Positioning
input signals
4
5
6
7
acknowledge
positioning
input signals
8
9
10
11
homing
homing switch
travel range
limit switch
Sensor inputs
positive jogging
16
17
18
negative jogging
path switch point
19
20
in reference
in motion
in position
21
22
23
S4
torque
reduction
6
SCL
1
SDI
8
SDO
2
RD
4
BU
7
6
VT
8
1
X7
A2
X1
1
1
U1
U1
2
2
V1
V1
W1
W1
3
3
GN/YE
1
5
1
1
2
6
2
2
Br+
3
7
+
+
Br-
4
8
9
TM-
UA0
UA0
UA1/Data+
UA1/DataUA2/CLK+
UA2/CLK0V
11
12
13
14
15
X2
X6
TM+
TM
10
PTC
8
holding brake
1)
7
6
X8
1
2
L2
L3
3
0V
5
16
power connection
M
3
4
A3
8
L1
Resolverfeedback
10
BK
1
FS
0V
AK2
7
output
act. pos. value
(incremental
or SSI)
7
BN 0,5 2
IRED 2
AK1
5
analog
outputs
9
GY
1
IRED 1
4
3
PK
1
R1
E1
E2
3
5
BN
3
S1
1
GN
9
S3
X3
2
X
WH 0,5 2
2
A1
Feedrate Override
MKDservomotor
4
24
1
RS485+ RS 485RS485- interface
5
0V
NF
NS
LIMIT+
LIMITJOG+
JOGWSP
INREF
INBWG
INPOS
0V
15
4
RS 232interface
X5
S2
14
RxD
0V
3
2)
12
13
TxD
2
6
X2
1
1
U
contr. volt. for DKC
drive enable
start signal
DKC01.1 drive controller
in operating mode
POSITIONING interface
24V
voltage connection
for holding brake
X9
L1
L+1
L2
L+2
L3
+
+
DC bus connection
(not with DKC01.1-030-3)
L-1
PE
L-2
protective conductor
connection ≥ 10 mm2
Symbols:
PE
3)
Plug-in screw terminal, female
Plug-in connector, female
Plug-in screw terminal, male
Plug-in connector, male
Plug-in terminal
AP0200.fh5
1) Switching capacity DC 24 V/ 2,5 A
2) Specifications for ready-made cables, connectors, and types of cables can be found in the documentation " Connection Accessories for
INDRAMAT drives " cable document no. 209-0050-4399-XX or in the motor project planning manuals.
3) The ground connector of units with discharge currents & gt; 3.5 mA must be at least 10mm2 for mechanical reasons. (DIN VDE 0160/EN 50178)
Fig. 4-15: DKC01.1 with POSITIONING interface
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-11
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DKC01.1 drive controller
in operating mode
ANALOG interface
X4
1
contr. volt. for DKC
+24V
RF
2
drive enable
3
start signal
AH/Start
4
zero ref. to contr. volt.
0V
5
ready to
operate
0V
Bb
6
X1
RxD
TxD
RS485+
RS485-
Bb
1
TxD
2
RxD
0V
3
4
RS 232interface
RS485+ RS 485RS485- interface
5
6
X2
1
2
MKDservomotor
3
4
2)
5
6
11
13
NF
NS
LIMIT+
LIMIT-
14
15
16
4
BU
6
VT
8
7
10
Resolverfeedback
1
18
19
path switch point
2
RD
8
SDO
17
BK
15
SDI
BN 0,5 2
14
FS
SCL
9
GY
12
R1
3
PK
10
S2
5
BN
3
S4
0V
12
GN
9
S1
1
2
S3
10
WH 0,5 2
7
9
travel range
limit switch
Sensor inputs
4
0V
8
homing
homing switch
X3
X5
7
WSP
20
21
22
23
0V
X7
24
A1
X3
1
2
3
torque
reduction
6
2
2
V1
V1
8
TM+
9
TM-
UA0
UA0
UA1/Data+
UA1/DataUA2/CLK+
UA2/CLK0V
10
11
12
13
14
15
Br+
Br-
3
X2
1
5
1
1
2
6
2
2
3
7
+
+
4
8
PTC
holding brake
1)
7
6
X8
1
2
L2
L3
W1
GN/YE
3
0V
5
power connection
W1
3
8
16
L1
M
3
X6
0V
AK2
7
output
act. pos. value
(incremental
or SSI)
U1
IRED 2
AK1
5
analog
outputs
U1
4
A3
IRED 1
4
1
U
analog
com. val. input
A2
E1
E2
X1
1
24V
voltage connection
for holding brake
X9
L1
L+1
L2
L+2
L3
L-1
PE
+
+
DC bus connection
(not with DKC01.1-030-3)
L-2
protective conductor
connection ≥ 10 mm2
Symbols:
PE
3)
Plug-in screw terminal, female
Plug-in connector, female
Plug-in screw terminal, male
Plug-in connector, male
Plug-in terminal
AP0204.fh5
1) Switching capacity DC 24 V/ 2,5 A
2) Specifications for ready-made cables, connectors, and types of cables can be found in the documentation " Connection Accessories for
INDRAMAT drives " cable document no. 209-0050-4399-XX or in the motor project planning manuals.
3) The ground connector of units with discharge currents & gt; 3.5 mA must be at least 10mm2 for mechanical reasons. (DIN VDE 0160/EN 50178)
Fig. 4-16: DKC01.1 with ANALOG interface; Supply terminal assignment
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
4-12 ECODRIVE DKC drive controllers
X4
1
contr. volt. for DKC
drive enable
start signal
+24V
RF
2
3
0V
Bb
6
X1
RxD
TxD
0V
5
ready to
operate
DKC011.1
drive controller with
ANALOG interface
AH/Start
4
zero ref. to contr. volt.
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
RS485+
RS485-
Bb
1
TxD
2
RS 232interface
3
RxD
0V
4
RS485+
5
RS485-
RS 485interface
6
MKDservomotor
2)
X3
X5
4
4
BU
6
8
SDO
2
RD
15
SDI
BK
7
FS
SCL
BN 0,5 2
14
R1
9
GY
12
S2
3
PK
10
S4
5
BN
3
S1
1
GN
9
S3
WH 0,5 2
2
0V
VT
8
7
10
Resolverfeedback
1
X7
A1
X3
analog
com. val. input
2
3
torque
reduction
5
AK1
0V
6
7
8
TM+
9
TM-
UA0
UA0
UA1/Data+
UA1/DataUA2/CLK+
UA2/CLK0V
11
output
act. pos. value
(incremental
or SSI)
12
13
14
15
U1
2
2
V1
V1
Br+
Br-
3
X2
1
5
1
1
2
6
2
2
3
7
+
+
4
8
PTC
holding brake
1)
7
6
X8
power connection
2
L2
L3
3
W1
GN/YE
0V
5
1
W1
3
8
16
L1
M
3
X6
AK2
10
U1
4
A3
IRED 1
IRED 2
4
analog
outputs
A2
E1
E2
1
U
1
X1
1
24V
voltage connection
for holding brake
X9
L1
L+1
L2
L+2
L3
+
+
DC bus connection
L-1
PE
L-2
protecxtive conductor
connection ≥ 10 mm2
Symbols:
PE
3)
Plug-in screw terminal, female
Plug-in connector, female
Plug-in screw terminal, male
Plug-in connector, male
Plug-in terminal
AP0205.fh5
1) Switching capacity DC 24 V/ 2,5 A
2) Specifications for ready-made cables, connectors, and types of cables can be found in the documentation " Connection Accessories for
INDRAMAT drives " cable document no. 209-0050-4399-XX or in the motor project planning manuals.
3) The ground connector of units with discharge currents & gt; 3.5 mA must be at least 10mm2 for mechanical reasons. (DIN VDE 0160/EN 50178)
Fig. 4-17: DKC11.1-040-7-FW with ANALOG interface
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-13
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
X4
1
drive enable
+24V
RF
2
3
4
zero ref. to contr. volt.
0V
5
ready to
operate
4
RS485-
6
SM1+
SM1SM2+
SM2-
2
3
4
2)
6
4
WH 0,5 2
1
2
GN
5
9
BN
3
3
PK
9
10
GY
12
BN 0,5 2
0V
8
9
S3
10
S1
11
S4
0V
12
S2
13
R1
NF
NS
LIMIT+
LIMITJOG+
JOGWSP
INREF
INBWG
INPOS
0V
14
15
16
17
18
19
20
in reference
in motion
in position
X3
X5
7
negative jogging
path switch point
21
22
23
14
BK
7
RD
BU
6
8
SDI
VT
8
SDO
1
X7
X1
1
torque
reduction
4
6
V1
3
W
W1
GN/YE
AK2
1
5
1
1
2
6
2
2
Br+
3
7
+
+
Br-
4
8
8
TM+
TM
9
TM-
UA
UA0
UA1/Data+
UA1/DataUA2/CLK+
UA2/CLK0V
10
11
12
13
14
15
PTC
8
1)
holding brake
7
6
X8
1
power connection
2
L2
L3
3
0V
5
16
L1
M
X2
X6
0V
7
output
act. pos. value
(incremental
or SSI)
V
IRED 2
AK1
5
analog
outputs
2
3
A3
E2
IRED 1
U1
3
E1
3
U
2
A2
1
4
X3
2
Resolverfeedback
4
15
FS
SCL
A1
1
7
10
2
24
Feedrate Override
interface
MKDServomotor
5
homing
homing switch
travel range
limit switch
Sensor inputs
positive jogging
RS 232interface
RS485+ RS 485-
5
X2
1
RxD
0V
3
RS485+
RS485-
Bb
TxD
2
0V
Bb
6
1
RxD
TxD
AH/Start
start signal
X1
U
contr. volt. for DKC
DKC01.1 drive controller
in operating mode
STEP MOTOR interface
24V
voltage connection
for holding brake
X9
L1
+
L+1
L2
+
L+2
L3
DC bus connection
(not with DKC01.1-030-3)
L-1
PE
L-2
protective conductor
connection ≥ 10 mm2
Symbols:
PE
3)
Plug-in screw terminal, female
Plug-in connector, female
Plug-in screw terminal, male
Plug-in connector, male
Plug-in terminal
AP0203.fh5
1) Switching capacity DC 24 V/ 2,5 A
2) Specifications for ready-made cables, connectors, and types of cables can be found in the documentation " Connection Accessories for
INDRAMAT drives " cable document no. 209-0050-4399-XX or in the motor project planning manuals.
3) The ground connector of units with discharge currents & gt; 3.5 mA must be at least 10mm2 for mechanical reasons. (DIN VDE 0160/EN 50178)
Fig. 4-18: DKC01.1 with stepping interface
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
4-14 ECODRIVE DKC drive controllers
4.4
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Electrical connection to the supply terminal strips
The description of the electrical connections below are first grouped according to numbers of the supply terminal strips (e.g. X1, X2 etc.) and
then according to the functions.
Serial interface X1
The serial interface is generally used for programming, parameterization
and diagnoses during startup operation and service procedures.
It can be alternatively operated as a RS 232 or RS 485.
RS-232 interface
The RS-232 interface is needed for programming, parameterizing and diagnosis during startup operation and service procedures.
It is also used when setting the drive addresses as a requirement for operations via RS-485.
With the RS 232, it is possible to parameterize only one drive at a time
when using the DriveTop startup program.
max. 15 meters
cable: IKS 0101
X1
RxD
1
RxD
TxD
3
2
TxD
GND
5
3
0V
DTR
4
DSR
6
6
R TS
PC with 9-pin
D-subminiature
connector
2
7
5
CTS
8
4
1)
DKC
max. 15 meters
cable: IKS 0102
X1
RxD
TxD
GND
3
1
RxD
2
2
TxD
7
3
DTR
DSR
6
6
4
5
5
4
R TS
PC with 25-pin
D-subminiature
connector
0V
20
CTS
1)
DKC
1) External shield on PC must be attached to unit chassis.
AP0224.fh5
Fig. 4-19: Connecting a PC to a RS-232 interface on a DKC
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-15
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
RS-485 interface
The RS-485 interface is needed for programming, parameterizing and diagnosis during startup operation and service procedures.
The RS 485 interface allows :
• the implementation of a serial bus with up to 31 stations connected by
means of a twisted pair cable (half duplex mode),
• a transmission length of up to 500 meters
• data rates of 9600/19200 baud and
• the implementation of a central PC-based visualization unit.
Via the RS-485 several DKCs can be put into operation with Drive Top
without reconnecting the interface cable.
To operate DriveTop with several ECODRIVEs, a RS-232/485 converter
is required between the PC and the drives.
The following application example displays a tested assembly with RS485 connection using the Phoenix Contact converter PSM-EG-RS232/
RS485-P/2D.
The Phoenix Contact interface converter PSM-EG-RS232/RS485-P/2D
implements the interface in a way suited for industrial use and for assembly in cabinets.
RS 485
8
1)
Enclosure
180 Ohm / 0,5W
2)
4
5
3
2
1
6
5
4
3
RS485-
DKC
1
X1
X1
24V 0V
2
RS485+
6
RS485-
RS 232
PC
3
D (A)
twisted wire pair
2
D (B)
3)
GND
RS485+
Interface converter PSM-EGRS232/RS485-P/2D
DKC
1) The last DKC in series with terminator
2) Connect the outer shield to the PC and converter at the ground
potential (strain relief of the metallized connector shell)
3) The RS 232 interface cable is displayed in figure AP5015
AP5017D1.fh5
Fig. 4-20: RS-485 Connecting several DKCs
Note:
The cable connection to the equipment must not be arranged
in a star topology but must be wired individually from one DKC
to the next.
The RS-485 requires a terminator on both ends. Both the terminator integrated into the interface converter (180 Ohms) and
the pull-up and pull-down resistors (470 Ohms each) must be
activated. The other end of the cable must also be terminated
with a 180 Ohm / 0.5W resistor. The terminator is connected
directly to the DKC, plug X1, pins 4 and 5.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
4-16 ECODRIVE DKC drive controllers
The converter can be modified for various peripherals by using specific
switch positions.
The switch positions shown below must be used strictly for the following
wiring diagrams.
• Switch RS-485 to ON
⇒ 180 Ohm circuit termination and 470 Ohms pull-up/down are
connected
• Switch RS232 to DTE (Data Terminal Equipment)
data direction change-over for RS-485 via RTS
⇒ pin 2: TxD, pin 3: RxD,
• Set the jumper connection to 3 and 4 data direction change-over polarity
⇒ transmit mode
Signal to RTS +3V to +15V
⇒ receive mode
Signal to RTS -3V to -15V
RS485
RS232
ON
DTE
18OR
BUS-END
OFF
S1
DCE
3
1
4
RTS/CTS
2
RTS/CTS
Switch position in the interface
converter
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
XX5000D1.fh5
Fig. 4-21: Switch position /jumper position in the interface converter PSM-EG-RS
232 / RS 485-P / 2D
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-17
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Connecting the RS-232 of the
PCs to the interface converter
The interface converter must be connected via the D-SUB male connector because of the effects of interference.
Interface converter
PSM-EG-RS232/RS485-P/2D
RS232
RxD
TxD
RTS
PC with 9-pin
D-subminiature
connector
GND
2
2
3
3
7
7
5
5
TxD (2)
RxD (2)
RTS
GND
1)
metallized
connector
shell
metallized
connector
shell
Interface converter
PSM-EG-RS232/RS485-P/2D
RS232
RxD
TxD
RTS
PC with 25-pin
D-subminiature
connector
GND
3
2
2
3
4
7
7
5
TxD (2)
RxD (2)
RTS
GND
1)
metallized
connector
shell
metallized
connector
shell
1) Connect the outer shield to the PC and converter at the
ground potential (strain relief ot the metallized connector shell)
2) Data direction for switch position S1 = DTE
AP5015d1.fh5
Fig. 4-22: RS-232 cable (PC interface converter)
Connecting the RS 485 of the
interface converter to the DKC
twisted wire pair
RS485
X1
1
2
Interface converter
GND
PSM-EG-RS 232/
RS 485-P/2D
D (B)
D (A)
2
3
3
4
8
5
GND
RS485+
RS485-
6
metallized
connector
shell
(strain relief)
Fig. 4-23: RS-485 cable (interface converter - DKC)
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
DKC
AP5016d1.fh5
4-18 ECODRIVE DKC drive controllers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
X2 positioning or stepper interface
Note:
Does not apply to the DKC11.1-040-FW!
The cables for the control inputs and status reports required for both the
POSITIONING interface and the stepper interface are connected to the
X2/(13-24) supply terminals.
The X2/(1-12) supply terminal is given its function by parameterizing the
operating mode during startup.
• The positioning blocks are selected at the POSITIONING interface.
• The signals for the stepper motor control are transmitted via these
terminal strips at the stepper interface.
Control inputs and status reports in the positioning and
stepper interface
Control inputs for referencing
max. 20 m
HIGH
Go to zero point selection 0,5 mm 2
X2
13
14
15
Homing point switch
0,5 mm 2
HIGH
16
17
18
19
20
21
22
0 Vext
23
NF
NS
LIMIT+
LIMITJOG+
JOGWSP
INREF
INBWG
INPOS
0V
24
Inputs:
min.
HIGH
LOW
max.
16 V
-0.5 V
Input voltage
30 V
8V
approx. 8 kOhm
Input resistance
6k3
2k
10 k
10 n
AP0223.fh5
Fig. 4-24: Inputs for referencing
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-19
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Control inputs for jog mode
max. 20 m
Positive jog
0,5 mm 2
HIGH
X2
13
14
15
Negative jog
0,5 mm 2
HIGH
16
17
18
19
20
21
22
0 Vext
23
NF
NS
LIMIT+
LIMITJOG+
JOGWSP
INREF
INBWG
INPOS
0V
24
Inputs:
min.
HIGH
LOW
max.
16 V
-0.5 V
Input voltage
30 V
8V
approx. 8 kOhm
Input resistance
6k3
10 k
2k
10 n
AP0222.fh5
Fig. 4-25: Jog inputs
Control inputs for the travel
range limit/sensor inputs
max. 20 m
Positive limit switch
0,5 mm 2
HIGH
X2
13
14
15
Negative limit switch
0,5 mm 2
HIGH
16
17
18
19
20
21
22
0 Vext
23
NF
NS
LIMIT+
LIMITJOG+
JOGWSP
INREF
INBWG
INPOS
0V
24
Inputs:
Input voltage
min.
Input resistance
max.
16 V
-0.5 V
HIGH
LOW
30 V
8V
approx. 8 kOhm
6k3
2k
10 k
10 n
Useful in operating mode Positioning interface
Fig. 4-26: Travel limit switch
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
AP0221.fh5
4-20 ECODRIVE DKC drive controllers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Status reports
max. 20 m
X2
13
14
15
16
17
18
0,5 mm 2
Path control point
Homing in
19
20
Movement in
Position in
21
22
23
0 Vext
NF
NS
LIMIT+
LIMITJOG+
JOGWSP
INREF
INBWG
INPOS
0V
24
Outputs:
Output voltage
min.
Output current I
max.
16 V
0V
HIGH
LOW
U ext.
1V
80 mA
out
Rise and fall time
Overload protection
ca. µ5 s
when out & gt; 300 mA the
output switch to LOW
24 V
(Uext.)
10 k
1n
AP0220.fh5
Fig. 4-27: Status reports
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-21
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Positioning interface
Positioning signals and outputs
for acknowledging the
positioning signals
max. 20 m
X2
1
2
3
SPS
dig.
I/O
4
5
6
7
8
9
10
11
0 Vext
0,5 mm2
POS1
POS2
POS3
POS4
POS5
POS Q1
POS Q2
POS Q3
POS Q4
POS Q5
0V
12
Inputs:
Input voltage
min.
max.
16 V
-0,5 V
HIGH
LOW
30 V
8V
Input resistance
POS1
POS2
POS3
POS4
approx. 5 kOhm
+5 V
200
5V1
4k7
10k
2k
POS5
6k3
10n
10k
2k
10n
Outputs:
Output voltage
min.
HIGH
LOW
max.
16 V
0V
Uext.
1V
Output current I out
80 mA
Rise and fall time
Overload protection
ca. 5 µs
when out & gt; 300 mA the
outputs switch to LOW
24 V
(Uext.)
10k
1n
AP0217.fh5
Fig. 4-28: Connecting the positioning input signals and outputs for acknowledging the positioning signals
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
4-22 ECODRIVE DKC drive controllers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Note:
If the inputs POS 1 and POS 2 in Fig. 4-28 are assigned a
LOW signal, 5 volts are applied there. If a PLC is connected,
this can cause the control LEDs to respond. This is prevented
by an interconnected blocking diode in accordance with the
circuit proposal Fig. 4-29.
Inputs DKC
Terminal: X2/1; X2/2; X2/3; X2/4
Output
SPS
+5 V
+24 V
200
Blocking
diode
5V1
10k
4k7
1N4148
POS1...POS4
2k
10n
SP0201.fh5
Fig. 4-29: Circuit proposal
Stepper interface
Control modes via the stepper
interface
1: Quadrature-signals
SM 1
SM 2
t1
Left-hand rotation
Right-hand rotation
t1
t1³ 1,4 µs
2: Forward-backwards-signals
SM 1
SM 2
Left-hand rotation
Right-hand rotation
t2
t2 ³ 5,6 µs
3: Step and direction singnals
SM 1
SM 2
Left-hand rotation
tL
tL ³ 2,8 µs
t3
Right-hand rotation
t3 ³ 5,6 µs
SV0200.fh5
Fig. 4-30: Control modes of the stepper interface
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-23
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Control with differential signals
• Logical 1 is recognized if a positive differential voltage is applied from
SM+ to SM-.
• Logical 0 is recognized if a negative differential voltage is applied from
SM+ to SM-.
• To increase noise immunity, the differential voltage range should be at
least 2.5 volts. The greater the differential voltage range, the higher
the operational reliability against interference.
max. 20 m
Control unit
X2
Channel +
1
2
3
Channel -
4
SM1+
SM1SM2+
SM2-
5
6
Channel +
7
8
9
Channel -
10
0 Vext
11
0V
12
Inputs:
min.
max.
0V
Input voltage
30 V
max. 175 kHz
Clock frequency
+5 V
200
+15 V
22p
SM+
+
2k
2k
50k
2k
2k
-
SM4k
200
+15 V
+5 V
Fig. 4-31: Control with differential signals
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
AP0219.fh5
4-24 ECODRIVE DKC drive controllers
Dimensioning the pull-up resistors (2k4 resistors in Fig. 4-32 depends on
the load capability (current, power dissipation) of the open-collector outputs of the control.
Note:
Controlling the stepper interface with differential signals is
preferable to single-channel control as the noise immunity of
differential signals is generally better than with zero-referenced
signals.
2k4
Control unit
2k4
Uext DC +24 V
2k4
Single-channel control via npn
– open-collector outputs (NPN)
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
X2
1
2
3
4
SM1+
SM1SM2+
SM2-
5
6
7
8
9
10
11
0V
0V
12
Inputs:
Input voltage
min.
max.
0V
30 V
max. 175 kHz
Clock frequency
+5 V
200
+15 V
22p
SM+
+
2k
2k
50k
2k
2k
-
SM4k
200
+15 V
+5 V
AP0218.fh5
Fig. 4-32: Control with open-collector outputs
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-25
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
X3 analog inputs and outputs
The inputs and outputs for operating the analog interfaces are connected
via the supply terminal X3/(1-8).
• torque reduction
• setpoint input
• diagnostics outputs
• override function for positioning control
The actual position is output either as an incremental, parallel or absolute
value serial via the X3/(9-16) supply terminal.
Analog interface
Analog setpoint input for
control of speed or torque and
override function
max. 20 m
X3
0,5 mm 2
0,5 mm 2
CNC
1
2
3
0 V ext
4
5
6
7
E1
E2
IRED 1
IRED 2
AK1
0V
AK2
8
Inputs:
Input voltage
min.
± 10 V
± 10 V
between E1-E2
between E1-0VM; E2-0VM
max.
± 15 V
± 15 V
0,5 mA
Input current: E1; E2
Input resistance
approx. 20 kOhm
Input drift
18 µV/°C
AD-convertor
12 Bit
Resolution per Bit
4,8 mV
20k
20k
+
ADC 12 Bit
20k
20k
AP0213.fh5
Fig. 4-33: Analog setpoint input
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
4-26 ECODRIVE DKC drive controllers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Torque reduction
max. 20 m
X3
1
E1
2
+10V
0,5 mm 2
0,5 mm 2
E2
IRED 1
3
4
IRED 2
AK1
5
0V M
0 V ext
6
0V
7
AK2
8
Inputs:
min.
± 10 V
± 10 V
Input voltage
between IRED1-IRED2
between IRED1-0V; IRED2-0V
Input current: E1; E2
max.
± 15 V
± 15 V
0,5 mA
Input resistance
approx. 20 kOhm
Input drift
18 µV/°C
AD-convertor
12 Bit
Resolution per Bit
4,8 mV
20k
20k
+
ADC 12 Bit
20k
20k
AP0214.fh5
Fig. 4-34: Connecting the analog torque redu ction
Diagnostics outputs
z. B. oszilloscope
X3
5
CH1
6
CH2
7
AK1
0V
AK2
8
Outputs:
Output voltage
AK1-0V; AK2-0V
min.
max.
- 10 V
+ 10 V
DA-transformer
8 Bit
Resolution per Bit
78 mV
AP0212.fh5
Fig. 4-35: Connection assignments of the diagnostic outputs
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-27
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Actual position value
360° electric = one cycle
UA1
Square-wave pulse
looking onto motor
shaft and with
clockwise rotation
UA2
UA0
t1
t1
t1 & lt; 50 ns
SV0201.fh5
Fig. 4-36: Signals for the incremental actual position value ou tput
max. 40 m
0,14 mm 2
CNC
X3
9
10
11
Positionsinterface
-incremental-
12
13
14
15
UA0
UA0
UA1
UA1
UA2
UA2
0V
16
0 Vext
RS422 compatible differential outputs:
Output voltage
min.
HIGH
LOW
Output current I
Output frequency
Overload
out
max.
2,5 V
0V
5V
0,8 V
max. |20| mA
max. 504 kHz
Do not short-circuit outputs.
Danger of damage!
Fig. 4-37: Incremental actual position value output
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
AP0216.fh5
4-28 ECODRIVE DKC drive controllers
Recommended input circuit for
secondary electronics
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
X3
CNC
+5V
Ua
Z0
Ua
RS-422
DIN 66 259, sec. 3
Z0 = 120 W
Recommended differential line receiver
AM 26 LS 32
MC 3486
SN 75 ALS 193
SN 75 ALS 195
AP0201.fh5
Fig. 4-38: Recommended input circuit
Actual position value, in the SSI
format
resolution for 4096 rotations
resolution for 1 rotation
T
Tp
pulse
1
2
3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
1
2
data
1 1 G23 G22 G21 G20 G19 G18 G17 G16 G15 G14 G13 G12 G11 G10 G9 G8 G7 G6 G5 G4 G3 G2 G1 G0 PFB
0
1
1 G23 G22
m
Tp
T
puls
1
2
24
G23
data
G22
G0
25
PFB
tm-T/2
tv
tm
=
=
=
m
=
T
=
tm
=
Tp
=
tv
PFB =
G0
G23
least significant bit in gray code
most significant bit in gray code
stored parallel information
pulse time max. 10 µs min. 1 µs
monoflop time 25 µs
pulse break 25 µs
delay time of the first pulse max. 540 ns, all others 360 ns
power failure bit (not used and always logically LOW)
SV0202.fh5
Fig. 4-39: Pulse timing diagram for absolute actual position value output (SSI
format)
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC drive controllers 4-29
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Actual value position SSI
format
max. 20 m
X3
9
0.5 mm 2
CNC
10
11
Positioning
interface
-absolute-
12
13
14
15
Data+
DataCLK+
CLK0V
16
0 Vext
RS422 compatible differential outputs:
min.
HIGH
LOW
max.
2.5 V
0V
Output voltage
5V
0.8 V
Output current I out
Overload protection
max. |20| mA
Outputs may not be short-circuited.
Danger of damage!
RS422 compatible differential inputs:
min.
HIGH
LOW
max.
2V
0V
Input voltage
5V
0.8 V
Input resistor
12 kOhm
(100-1000) kHz
Pulse frequency
AP0215D4
Fig. 4-40: Output of the absolute actual position value according to the SSI format
X4 terminals for the control circuit
X4
1
Control voltage connection for DKC
+24V
RF
AH/Start
2
Controller enable
3
Drive stop/start
4
Zero reference to control votage
0V
5
Ready to
operate
Bb
6
Bb
Inputs:
min.
HIGH
LOW
Input resistance
max.
16 V
-0,5 V
Input voltage
30 V
8V
approx. 8 kOhm
6k3
2k
10 k
10 n
AP0211fh5
Fig. 4-41: Terminals for the control inputs, control voltage, and stand-by contact
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
4-30 ECODRIVE DKC drive controllers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
X5, X6, X7 motor connections
For the terminal connection assignments to the motor connections, refer
to the overall connection diagram in Fig. 4-15.
For further information, please see the documentation " ECODRIVE servomotors MKD " - Project Planning Manual -.
X9 DC bus connection
Note: Does not apply to DKC01.1-030-3-FW!
DC bus connection for connecting:
an auxiliary bleeder module BZM01.1
- or an auxiliary capacitance module CZM01.1
- or a DKC drive controller
The maximum line length is 1.0 m (twisted) with at least a 2.5 m² cross
section.
X9
1
Intermediate circuit connection
on DKC01.1-040-7-FW
on DKC11.1-040-7-FW
2
3
4
L+1
L+2
L-1
L-2
Intermediate circuit voltage between L+ and L-: DC (500...800) V
AP0206.FH5
Fig. 4-42: DC bus connection
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
BZM auxiliary bleeder module 5-1
5
BZM auxiliary bleeder module
5.1
Dimensioning the components relevant for regeneration
For each servo-technical application, it is necessary to check whether the
• continuous regenerative power
• peak regenerative power
• regenerative energy
needed for the application can be sufficiently absorbed by the bleeder
(brake resistance).
If the available regenerative power and energy from the mechanics exceeds the absorbing capabilities of the bleeder built into the unit, this capability can be increased on the DKC**.*-040-7-FW by using the following
hardware configurations.
• A drive and auxiliary bleeder module connected via the DC bus circuit.
(1 DKC+BZM)
• Several drive controllers connected via the DC bus circuit. (up to 6
DKCs)
• Several drive controllers and auxiliary bleeder modules connected via
the DC bus circuit. (up to 6 DKC+BZM)
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
5-2 BZM auxiliary bleeder module
1 DKC + BZM
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
1. Continuous regenerative power
PRD ≤
P BD, DKC + P BD,BZM
PRD =
WROT =
∑ W ROT + ∑ W POT
t Z * 1000
(J LAST + J M
2
⋅ (n NUTZ ⋅
2⋅π 2
) ⋅ z DEC
60
WPOT = m LAST ⋅ g ⋅ h ⋅ z AB
2. Peak regenerative power
PRS ≤
P BM, DKC + P BM,BZM
PRS - & gt; siehe Auswahldaten zu den Servoantrieben
3. Regenerative energy (a single braking in E-stop)
WPOT, MAX + WROT, MAX ≤ WMAX, DKC + WMAX, BZM
WMAX, DKC - & gt; siehe Abb. Technische Daten DKC
WMAX, BZM - & gt; siehe Abb. Technische Daten BZM
PRD :
PBD, DKC :
PBD, BZM :
PRS :
WROT :
WPOT :
WROT, MAX :
WPOT, MAX :
tZ :
JLAST :
JM :
mLAST:
WMAX, BZM :
WMAX, DKC :
g:
h:
nNUTZ :
zAB:
zDEC:
Fig. 5-1:
continuous regenerative power from the mechanical system
during operation in kW
continuous regenerative power in kW that the drive controller
can process in continuous operation
continuous regenerative power that the auxiliary module can
process in continuous operation, in kW
peak regenerative power in kW
rotary energy in Ws
potential energy in Ws
max. occurring rotary energy in an emergency stop in Ws
max. occurring potential energy in an emergency stop (E-stop)
in Ws
cycle time in s
load torque in kgm²
motor inertia, in kgm²
load weight in kg
storable energy in the BZM in kWs
storable energy in the DKC in kWs
gravitational acceleration 9.81 ms²
lowering dimension in m
motor speed used in min-1
number of drops per cycle
number of braking actions per cycle
Check the conditions for regenerative power and regenerative energy
in a DKC connected to a BZM via the DC bus
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
BZM auxiliary bleeder module 5-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
up to 6 DKCs
1. Continuous regenerative power
∑P
RD
≤
0, 8 *
∑P
BD,DKC
∑ W ROT + ∑ W POT
PRD =
WROT =
t z * 1000
(J LAST + J
2
M
)
⋅ (n NUTZ ⋅
2⋅π 2
) ⋅ z DEC
60
WPOT = m LAST ⋅ g ⋅ h ⋅ z AB
2. Peak regenerative power
∑P
RS
≤ 0, 8 * P BM,DKC
PRS - & gt; siehe Auswahldaten zu den Servoantrieben
3. Regenerative energy (a single braking in E-stop)
∑W
POT, MAX
+ ∑WROT, MAX ≤ 0,8 * ∑WMAX, DKC
WMAX, DKC - & gt; siehe Abb. Technische Daten DKC
PRD :
PBD, DKC :
PRS :
WROT :
WPOT :
WROT, MAX :
WPOT, MAX :
tZ :
JLAST :
JM :
mLAST:
WMAX, BZM :
WMAX, DKC :
g:
h:
nNUTZ :
zAB:
zDEC:
Fig. 5-2:
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
continuous regenerative power of the mechanical system that
is generated in continuous o peration, in kW
continuous regenerated power that the drive controller can
process in continuous operation, in kW
peak regenerated power in kW
rotary energy in Ws
potential energy in Ws
max. occurring rotary energy in an E-stop in Ws
max. occurring potential energy in an E-stop in Ws
cycle time in s
load torque in kgm²
motor inertia, in kgm²
load weight in kg
storable energy in BZM 01.1 in kWs
storable energy in the DKC in kWs
9.81 ms²
lowering dimension in m or number of bra king actions
motor speed used in min-1
number of drops per cycle
number of braking actions per cycle
Checking the conditions for regenerative power and regenerative energy with several DKCs connected via the DC bus
5-4 BZM auxiliary bleeder module
up to 6 DKCs + BZM
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
1. Continuous regenerative power
∑P
RD
∑P
≤ 0, 8*
BD, DK C
PRD =
WROT =
∑P
+
BD, B ZM
∑ W ROT + ∑ W POT
t Z * 1000
(J LAST + J M
2
⋅ (n NUTZ ⋅
2⋅π 2
) ⋅ z DEC
60
WPOT = m LAST ⋅ g ⋅ h ⋅ z AB
2. Peak regenerative power
∑P
RS
≤ 0, 8 * P BM, DKC+ P BM, BZM
PRS - & gt; siehe Auswahldaten zu den Servoantrieben
3. Regenerative energy (a single braking in the E-stop position)
∑W
POT, MAX
+ ∑WROT, MAX ≤ 0,8 * ∑WMAX, DKC * ∑WMAX, BZM
WMAX, DKC - & gt; siehe Abb. Technische Daten DKC
WMAX, BZM - & gt; siehe Abb. Technische Daten BZM
PRD :
PBD, DKC :
PRS :
WROT :
WPOT :
WROT, MAX :
WPOT, MAX :
tZ :
JLAST :
JM :
mLAST:
WMAX, BZM :
WMAX, DKC :
g:
h:
nNUTZ :
zAB:
zDEC:
continuous regenerative power of the mechanical system that
occurs in continuous operation in kW
continuous regenerative power that the drive controller can
process in continuous operation in kW
peak regenerative power in kW
rotary energy in Ws
potential energy in Ws
max. occurring rotary energy in the E-stop position in Ws
max. occurring potential energy in the E-stop in Ws
cycle time in s
load torque in kgm²
motor inertia, in kgm²
load weight in kg
storable energy in BZM 01.1 in kWs
storable energy in the DKC in kWs
9.81 ms²
lowering dimension in m or number of bra king actions
motor speed used in min-1
number of drops per cycle
number of braking actions per cycle
Fig. 5-3: Check the conditions for regenerative power and regenerative energy in
a DKC connected to a BZM via the DC bus
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
BZM auxiliary bleeder module 5-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
5.2
Dimensional data and installation dimensions
Clearance to adjacent units
70
65
32,5
7
min. 80 mm
13
8
210
DIGITAL
AC-SERVO
BLEEDER
X4
343
360
333
109-0963-3901-01
ECODRIVE
H1
H2
S1
RESET
X9
14
L+1
L+2
L-1
L-2
233
7
min. 80 mm
MB0200.fh5
Fig. 5-4: Dimensions of the auxiliary bleeding module BZM01.1
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
5-6 BZM auxiliary bleeder module
5.3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Technical data
Value
Designation
Symbol Unit
Continuous bleeder output
(continuous regenerative
power when drives are
braked)
PBD,BZM
kW
Peak bleeder power
(peak regenerative power)
PBM,BZM
kW
Maximum feedback energy
WMAX,BZM kWs
Control voltage between
X4/1 and X4/4
UN,BZM
V
Current consumption of the
24 V connection
IN,BZM
mA
1
40
(perm. load cycle on
for 1s, off for 40s)
40
DC 24 V ±20%
90
TB0205.fh5
Fig. 5-5: Technical data for the BZM
Front view
H1 = LED - green:
• Steady light: auxiliary bleeder functioning properly
• Flashing light: DC bus & lt; 50V
H2 = LED - red:
• Steady light: Auxiliary bleeder overload, Bb contact open
DIGITAL
AC-SERVO
BLEEDER
S1 = Reset key
ECODRIVE
X4: Plug-in screw terminal 0.2 to 2.5 mm², AWG 24-12,
rigid or flexible, flexible with or without ring terminals
109-0963-3901-01
5.4
X9 Plug-in screw terminal 0.2 to 4 mm², AWG 24-10,
rigid or flexible
X4
X4
H1
H2
0V
Bb
Bb
4
5
6
Ready to operate
S1
RESET
X4
+24 V
free
free
1
2
3
Control voltage
Protective conductor connection
X9
X9
L+1
L+2
L-1
L-2
1
2
3
4
+
+
-
DC bus connection
F02DCC1P.fh5
Fig. 5-6: Front view of the auxiliary bleeder module BZM01.1 with supply terminals
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
BZM auxiliary bleeder module 5-7
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
5.5
Electrical connections
BZM01.1
DKC**.*-040-7-FW
free
free
0V
5
Ready to operate
6
Bb
+
L-1
L-2
Diameter of protective
conductor connection
must correspond to
selection table 11-1
(Fusing)
L+2
L+1
max. DC 24 V/1 A
X9
X9
L-1
4
+24 V
L-2
3
L+1
2
L+2
1
Control voltage
connection
DC 24 V ± 20%
Protective conductor connection
≥ 10mm2
X4
+ +
+
DC bus
connection
max. 1meter,
stranded, 4 mm2 R01DCC1P.fh5
Fig. 5-7: Connection assignment for the auxiliary bleeding module BZM01.1
5.6
Type code and rating plate
Example: BZM 01.1 - 01 - 07
Type codes:
Auxiliary bleeder module
BZM
Series
01
Version
1
Nominal Output
1,0 kW
01
DC bus nominal voltage
700 V
07
TL0203.fh5
Fig. 5-8: Type code
Type of machine
Production week
BZM01.1-01-07
260066
K21/96
SN260067-00314
Part no.
B04
Barcode
Serial number
Fig. 5-9: Rating plate
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Change index
TS0202.fh5
5-8 BZM auxiliary bleeder module
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
CZM Auxiliary Capacitance Module 6-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
6
CZM Auxiliary Capacitance Module
6.1
Dimensioning
Note:
Only applies to DKC01.1-040-7-FW and DKC11.1-040-7-FW!
When braking the drive, the rotary energy available in the mechanics is
released as regenerative energy in the DC bus of the DKC. It can be
• released in the form of heat via the bleeder module or auxiliary bleeder
integrated into the DKC
- or • stored as energy in the DKC with a connected auxiliary capacitance
module and reused for subsequent acceleration procedures. This reduces the power dissipated in the cabinet; energy consumption is lowered.
For successful implementation while avoiding an unnecessary power loss
in the cabinet, note the following:
WROT ≤ WZW, DKC+CZM
Fig. 6-1:
Calculating the rotary energy of
an application
Condition for avoiding power dissipation from the regenerative energy
WROT =
WROT :
nNUTZ :
JLAST :
JM :
(J LAST + J M )
2
⋅ (n NUTZ ⋅
2⋅π 2
)
60
rotary energy of the application in Ws
maximum effective speed in min-1
load torque of the application in kgm²
motor inertia
Fig. 6-2: Calculating the rotary energy
Storable energy in the DKC with
a connected CZM01.1
WZW, DKC+CZM
=
CDKC + CCZM
2
2
⋅ (U B - U ZW ) ⋅ 10−3
2
WZW, DKC+CZM :
storable energy in the DKC with CZM in Ws
CCZM :
capacity of the CZM in mF (value = 1.0 mF)
CDKC :
DC bus capacity of the DKC in mF (value = 0.15 mF)
UB :
UB : Response threshold of the bleeder in DKC in V (value = 820)
UZW :
nominal voltage (DC bus) in V (UZW = (2 • 0.98 UN)
UN:
line voltage (effective value) in V
Fig. 6-3: Calculating the storable energy with a CZM01.1
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
6-2 CZM Auxiliary Capacitance Module
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DKC01.-40-7 with AC motor MKD 071 B with the following data:
Application example
Designation
Value
Rotor inertia of the MKD 071 B
JM = 0.00087 kgm²
Maximum effective motor speed
nNutz = 3200 min-1
Load inertia of the application
JLAST = 0.00261 kgm²
Cycle time
tZ = 0.8 s
Line voltage
UN = 400 V
Fig. 6-4: Technical data for application example DKC01.1 with MKD
n
t1
t2
t1
t2
t3
= Accel time in seconds
t3
tz
= Dwell time in seconds
= Delay time in seconds
= Cycle time in seconds
WROT = Rotary energy in Ws
= RPM in min -1
PRS
= Peak feedback output in kW
PRD
PR
n
= Average of the regenerated power
ir a during cycle (continous
regenerated power)
WROT
tz
t
PRD =
WROT
tz
DG0202.fh5
Fig. 6-5: Calculating the regenerative power in the processing cycle
This produces the following results:
WROT = 195 Ws
WZW, DKC+CZM = 209 Ws
This indicates that the condition WROT ≤ WZW, DKC+CZM has been fulfilled. If
the same amount of energy were released via a bleeder, this would result
in a continuous regenerative power of 243 Watts as dissipated power in
the control cabinet due to the cycle time.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
CZM Auxiliary Capacitance Module 6-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
6.2
Dimensional data and installation dimensions
Clearance to adjacent units
70
65
32,5
7
min. 80 mm
13
8
210
DIGITAL
AC-SERVO
CAPACITOR
343
360
333
109-0963-3901-01
ECODRIVE
X9
14
L+1
L+2
L-1
L-2
233
7
min. 80 mm
MB0203.fh5
Fig. 6-6: Dimensions for the auxiliary capacitance modules CZM01.1
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
6-4 CZM Auxiliary Capacitance Module
6.3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Front view
DIGITAL
AC-SERVO
CAPACITOR
109-0963-3901-01
ECODRIVE
X9 Plug-in screw terminal 0.2 to 4 mm², AWG 24-10,
Protective conductor connection
X9
X9
+
+
-
1
2
3
4
L+1
L+2
L-1
L-2
DC bus connection
F03DCC1P.fh5
Fig. 6-7: Front view of the auxiliary capacitance module CZM01.1
Electrical connection
+
+
DC bus
connection
L-1
L-2
L+1
X9
L+2
L-1
L-2
L+1
+
L+2
X9
Protective conductor
connection ≥ 10mm2
DKC**.*-040-7-FW
CZM01.1
Protective conductor
connection
6.4
+
max. 1meter,
stranded, 4 mm2
R02DCC1P.fh5
Fig. 6-8: Connecting the auxiliary capacitance module CZM01.1
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
CZM Auxiliary Capacitance Module 6-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
6.5
Type code and rating plate
Example: CZM 01.1 - 01 - 07
Type code fields:
Auciliary capacitance module
CZM
Series
01
Version
1
Rated capacity
1,0 mF
01
DC bus nominal voltage
700 V
07
TL0204.fh5
Fig. 6-9: Type code
Type of machine
CZM01.1-01-07
260068
Barcode
K21/96
SN260100-01061
Part no.
A01
Serial number
Fig. 6-10: Rating plate
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Production week
Change index
TS0203.fh5
6-6 CZM Auxiliary Capacitance Module
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DC24V NTM power supplies
7
DC24V NTM power supplies
7.1
7-1
Application recommendations
If there is no external DC24V control voltage available, then INDRAMAT
recommends the use of NTM power supply units.
Features
• The power supplies contain an overvoltage safety switch with automatic shutdown. After the automatic shutdown device has responded,
operation can be resumed by switching the power supply off and on
again briefly.
• The power supplies always function with a starting current limiter.
However, if you switch on and off again within a period of 10 s, the
starting current limit may not work!
• The NTM01.1-024-004 and NTM01.1-024-006 power supplies make it
possible to measure the voltage applied to the load via sensor cables.
If there is a voltage drop, the power supply will increase the output
voltage accordingly.
Fuse protector Q2
Interference suppression
7.2
INDRAMAT recommends a 10A automatic circuit breaker of 10 A with
tripping characteristics for the DC24V NTM power supplies.
Use the line filter NFE01.1-250-006 for interference suppression.
Technical data
Symbol Unit
NTM01.1-024-002
NTM01.1-024-004
NTM01.1-024-006
A
2.1
3.8
5.5
POUT
W
50
100
150
Input current at 230 (115) V
IIN
A
0.61 (1.2)
1.2 (2.2)
1.9 (3.2)
Inrush current at 230 (115) V
in the mains supply lead when
powering up. Make sure fuse has
proper size.
lEIN
A
32 (16)
32 (16)
32 (16)
Input voltage
UN
V
Designation
Nominal current of the 24 V output
for the 45°C ambient temperature
IN
Output for 45°C ambient
temperature
Standard AC 170 to 265
by rearranging a bridge AC 85...132
NFE01.1-250-006
(recommended interference suppression filter
to maintain EMC values)
RF interference suppression filter
TB0201.fh5
Fig. 7-1:
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Technical data for DC24V NTM power supplies
7-2 DC24V NTM power supplies
Dimensional data and installation dimensions
C
Power supply unit
NTM01.1-024-..
B
B
A
30.4 32.1 21.9
7.3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
A1
A
D
C
C
Table of dimensions
INDRAMAT
Type of power unit
NTM01.1-024-002
NTM01.1-024-004
NTM01.1-024-006
Fig. 7-2:
7.4
A Connecting block
A
A1
B
C
D
B L-rails DIN 50
173
202
212
168.7
197.7
207.7
100
97
97
45
51
70
17
20
20
C & gt; 20 mm
cooling clearance
MB0204.fh5
Dimensional sheet DC24V – NTM power supplies
Front views
Potentiometer for fine
adjustments of output
voltage
LED green = Output
voltage applied
Output
voltage
DC 24 V V+
Zero point V-
Protective ground
Input
voltage
FG
L
N
Pins for changing input
voltage 1)
1) Pins not connect = input voltage AC (200-240) V
Pins connect = input voltage AC (100-120) V
Fig. 7-3:
FA0201.fh5
Front view and terminal designations of the power supply NTM01.1024-002
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DC24V NTM power supplies
Potentiometer for fine
adjustments of output
voltage
LED green = output
voltage applied
DC 24 V V+
Zero point VV-
Protective ground
S- sensor input
A Input voltage
setting
B via bridge 1)
N
1) A/B not connected, input voltage AC (170-265) V
A/B connected with bridge, input voltage AC (85-132) V
2) V+/S+ or V-/S- are connected with bridges
Remove the bridges for using the sensor inputs.
7.5
2)
FG
L
Input
voltage
1)
Fig. 7-4:
2)
S+ sensor input
V+
Output
voltage
7-3
FA0200.fh5
Front view and terminal designation of the power supplies NTM01.1024-004 and NTM01.1-024-006
Electrical connection
Always use the NTM together with the line filter NFE01.1-230-006.
RF interference suppression filter
L
P
N
N
Mains section
P'
NFE01.1
-230-006
N'
N
V+
L
NTM ...
+DC 24 V
V-
0V
E
AP0202.fh5
PE
Fig. 7-5: Connecting the power supply to a line filter
Note:
Note:
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
The bridge circuits V+/S+ and V-/S- must be removed if sensor inputs are used.
The 0 V connection on the secondary side of 24V power supplies is always attached to the central reference ground point
in the control cabinet (see Chap. 8.3)
7-4 DC24V NTM power supplies
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Load
Mains section
V+
Input DC 24 V
VNTM
S+
S-
Strand sensor line
AP0227.fh5
Fig. 7-6:
7.6
Connecting the sensor cables NTM01.1-024-004 and NTM01.1-024006
Type code
Type codes
Power supply module
Example:
NTM 01.1 - 024 - 02
NTM
Series
01
Version
1
Output nominal voltage
DC 24 V
024
Output nominal current
2,1 A
4,2 A
6,3 A
02
04
06
TL0205.fh5
Fig. 7-7: Type code
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
NFD / NFE line filter 8-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
8
NFD / NFE line filter
8.1
Selection
The filters listed here are designed for the DKC drive controller power
connection.
Please see Chap. 8.4 for information on the line filter for interference
suppression on the DC24V NTM power supply.
Max. line
power connection voltage of the
50..60 Hz
UN
Rated
line
current
No. of
phases
Type of line filter
Power
dissipa
tion
Weight
AWG
in W
n kg
-----
8,7
1,5
1,7
Supply terminals
Brush shunt
mm 2
AWG
mm 2
6
AWG 10
-----
(degree of protection IP10)
INetz
(1)
in V
in A
AC 480 V +10%
7,5
3
NFD 02.1-460-008
AC 480 V +10%
16
3
NFD 02.1-480-016
6
AWG 10
1,34
16
9
AC 480 V +10%
30
3
NFD 02.1-480-030
10
AWG 6
5,37
10
14
1,8
AC 480 V +10%
55
3
NFD 02.1-480-055
10
AWG 6
6
13,5
20
3,1
AC 480 V +10%
75
3
NFD 02.1-480-075
25
AWG 3
-----
-----
20
4
AC 480 V +10%
130
3
NFD 02.1-480-130
50
AWG 1/0
-----
-----
40
7,5
AC 480 V +10%
180
3
NFD 02.1-480-180
95
AWG 4/0
-----
-----
61
11
AC 230 V +10%
7,5
1
NFD 02.1-230-008
6
AWG 10
-----
-----
7,2
1,1
(1) = max. continuous current at the power connection at an ambient temperature of 45°C
Fig. 8-1:Technical data of the available line filters
Technical Data
Operating frequency
from DC to 60 Hz at 40 °C
Power dissipation
measured 2 or 3 x R I
Temperature range
-25 ...+ 85 °C
Overload
1.5 INenn 1 min per hour
Saturation reaction
Reduction of the filter attenuation by 6 dB at 2.5 to
3 times the rated current.
Test voltage
L/N - & gt; PE or L - & gt; PE: 2800 V DC 2 s at 25 °C
L - & gt; PE or L - & gt; L:
Current reduction at
excess temperatures
2
Nenn DC
2125 V DC 2 s or 25 °C
I = IN * 2 ( 85 − Θ) / 40 ; Θ Ambient temperature
in °C ; IN in reference to 45°C
Degree of protection
IP 10
Fig. 8-2: Ambient and operating conditions
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
8-2 NFD / NFE line filter
8.2
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Dimensional data and installation dimensions
K
E
C
Load
B
Line
H
D
J
L
M
G
F
NFD 02.1-480-075
NFD 02.1-480-130
NFE 02.1-230-008
NFD 02.1-480-008
L
H
L
NFD 02.1-480-016
NFD 02.1-480-030
NFD 02.1-480-055
NFD 02.1-480-180
Dimen- NFE 02.1-230-008 NFD 02. 1 - 480
...-030
sion NFD 02.1-480-008 ...-16
A
B
C
D
E
F
G
H
J
K
L
M
O
210
15
0,75
60
40
10
40
90
60
80
5,3
-
305
335
142±0,8 150±1
55
60
275±0,8 305
290
320
30
35
6,5
6,5
300
400
1+0,1 1+0,1
9
9
M5
M5
...-055
329
185±1
80
300
314
55
6,5
500
1,5
12
M6
...-075
...-130
...-180
329 429±1,5 438±1,5
220
240
240
80 110±0,8 110±0,8
300 400±1,2 400±1,2
314
414
414
55
80
50
6,5
6,5
6,5
500
1,5
1,5
2
15
M6
M10
M10
Tolerance
±1
±1,5
±0,6
±1
±0,5
±0,3
±0,2
±15
±0,2
±1
-
M01DCD1P.fh5
Fig. 8-3: Dimensional data, installation dimensions of the NFD, NFE line filters
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
NFD / NFE line filter 8-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
The mounting plate or the control cabinet housing to which the DKC is
mounted are the preferred locations for assembly.
Notes on assembly
Live parts (greater than 50 V)!
Electric shock on contact!
⇒ Before startup operation, the protective ground conductor must first be permanently connected to the filter and then grounded!
⇒ Before touching bare connection lines and terminals,
isolate the filter with the connected terminals or disconnect it. Allow time for discharging! Do not work on
connecting cables until then!
⇒ Due to the high discharge current of the filter, operation is not permitted without a connected protective
conductor!
⇒ This is why the filter may only be operated with a permanently connected protective conductor with a cross
2
section ≥10 mm !
DANGER
⇒ Remove any paint or coatings from the mounting
points of the filter.
⇒ Use a tooth-lock washer with galvanized or tin-plated
screws.
8.3
Electrical connection
To assemble and install the line filters, observe the recommendations in
the documents
" EMC in Drive and Control Systems "
- Project Planning Manual -
NFE mains filter
1 x AC 230 V
+10% -15%
(50-60 Hz)
L1
N
PE
L1
N
PE
L1'
N'
PE'
2)
Q10
Q1 :
Q2
Q1
NFE01.1 LINE
-230-006
mains filter LOAD
K1
NTM
1)
N
Q10:
Q2 :
K1 :
fuse
power supply
master switch
fuse
control voltage
mains contactor
L
=
V+
V-
Control voltage
connection for DKC X4
central grounding
point within
control enclosure
Mains connection
X8
Protective conductor
connection ≥ 10mm2
1) The use of switch-mode power sections (NTM) requires
the preliminary switching of the NFE 01.1-230-006 mains filter
2) Mounting on mounting panel of DKC is recommended
Fig. 8-4: Single-phase line filter connection with NFE02.1-230-008
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
A03DCC1P.fh5
8-4 NFD / NFE line filter
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
NFE mains filter
3 x AC
(50-60 Hz)
L1
L2
L3
PE
L1
L2
L3
E
L1'
L2'
L3'
E'
Q10
3)
2)
Q2
Q1 : fuse
power supply
Q10: master switch
Q2 : fuse
control voltage
K1 : mains contactor
Q1
NFE01.1 LINE
-230-006
mains filter LOAD
K1
NTM
1)
N
L
central
grounding
point
=
V+
V-
Control voltage
connection for DKC X4
Mains connection
Protective conductor
connection ≥ 10mm2
1) The use switch-mode power sections (NTM) requires the
preliminary switching of the NFE 01.1-230-006 mains filter
2) AC 230 V connecting voltage (+10% -15%) (50 to 60 Hz)
3) Mounting on mounting panel of DKC is recommended
X8
A04DCC1P.fh5
Fig. 8-5: Three-phase line filter connection with NFD01.1 or NFD02.1
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
NFD / NFE line filter 8-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
8.4
Line filters for DC24V NTM power supplies
When using the NTM power supply, use the NFE01.1-250-006 line filter
for interference suppression.
44
15
9
12,4
43,2
1
32,2
,
ø5
5
11,2
R
0,4
21
54
19
MB0206.fh5
Fig. 8-6: Dimension drawing: Line filter NFE01.1-250-006
Mains side
L1
Machine side
NFE01.1-250-006
P
P'
N
N
PE
E
N'
AP0228.fh5
Fig. 8-7: Contact assignment of the line filter NFE01.1-250-006
The line filter is connected via 6.3-1 tab receptacles in accordance with
DIN 462 545.
8.5
Type code
Type codes:
Mains filter
single phase
three phase
Example: NFE 01.1 - 230 - 008
NFE
NFD
Series
01
Version
1
Nominal voltage in V (phase to phase)
230
230
Rated current in A
008
Fig. 8-8: Type code
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
TL0206.fh5
8-6 NFD / NFE line filter
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
9
9-1
DST / DLT transformers
9.1
DST / DLT transformers
Selection
Transformers are only needed if the line voltage exceeds the permitted
rated voltage of the DKC.
Grounded power supply lines
For grounded power supply lines, the line voltage is matched to the rated
voltage of the unit using autotransformers:
• for DKC**.*-040-7-FW/DKC11.1-040-7-FW with autotransformers suitable for a specific output voltage range.
• for DKC**.*-030-3-F with autotransformers designed for a specific
output voltage.
Ungrounded power supply lines
To match the voltage for grounded power supply lines, always connect
isolating transformers to prevent excess voltages between the outer conductor and ground.
• for the DKC**.*-040-7-FW this documentation does not offer a range
of products for selecting suitable isolating transformers (Unterlage bei
Bedarf anfordern).
• for the DKC**.*-030-3-FW the isolating transformer can be selected
according to Fig. 9-4.
9.2
Autotransformers for DKC**.*-040-7-FW
Select an autotransformer according to the line voltage and the power requirements of the system.
Proceed with the selection as follows:
⇒ Determine the rating group and read the gearing ratio " i " using the required rated line voltage range from the diagram in Fig. 9-1.
⇒ Calculate the actual transformer output voltage using the rated line
voltage and the gearing ratio " i " .
⇒ Check drive data. The output voltage of the transformer affects the
drive data. See documentation " ECODRIVE Servodrives DKC with
MKD " - Selection lists.
⇒ Select a three-phase autotransformer via the required connected load.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
9-2 DST / DLT transformers
Output voltage in V of the transformer
460
i = 0.52
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
i = 1.26
i = 1.08
i = 1.50
380
AC(200...240)V
AC(480...500)V
DST**/*/240-460
DST**/*/500-460
AC(480...580)V
DST**/*/580-460
AC(570...690)V
DST**/*/690-460
0
DG0203.fh5
200
220
240
480
500
520
540
560
580
600
620
640
660
680
700
Input voltage in V of the transformer
Fig. 9-1: Classification of three-phase autotransformers into rating groups
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DST / DLT transformers
9-3
DST autotransformer with secondary or output voltage AC (380 to 460) V
Standing version for mounting with base: DST..,../S
B
A
HÆ
E
F
G
C
Rating plate (example)
GmbH
Block diagram
U2
Type DST 20/S/580 - 480
Prim. 480 580 V
Sec. 380 460 V
S 20 kVA
Type
designation
DST...
Conn.
output
in KVA
Bj.
30 25
YNa0
T
1993
V2
W2
U1
N
D 97816 Lohr a. M.
V1
a
W1
1)
b
A
Transmission
ratio
1)Temperature switch max. load:
DC 24V/1A; AC 230V/1A
f 50/60 Hz
40/B
Dimensions in mm
Power
max.
loss conn. dia. Weight
in kg
in W
in mm 2
A
C
B
F
E
G
H∅
240
335
360
480
580
150
175
190
195
265
260
365
395
500
540
170
230
250
356
400
110
160
170
----270
120
145
160
158
215
11
11
11
13
18
120
225
310
500
750
10
10
10
35
70
24.5
55
70
135
195
180
205
240
300
335
105
130
140
155
175
190
210
260
325
365
125
145
170
210
230
80
95
110
140
160
75
95
110
125
145
7
7
11
11
11
160
260
440
750
1050
4
4
10
16
35
8.5
13
22
36
53
240
240
300
360
420
130
140
155
190
215
260
260
325
395
450
170
170
210
250
280
110
110
140
170
190
100
110
125
160
155
11
11
11
11
14
140
260
375
625
1000
4
4
10
10
35
18
22
37
72
95
240
300
335
420
480
140
155
175
205
222
260
325
365
450
500
170
210
230
280
356
110
140
160
190
-----
110
125
145
145
185
11
11
11
14
13
140
225
375
500
750
10
10
10
16
35
22
37
57
88
178
Input voltage: AC (200...240) V ±10%
4/S/240-460
7,5/S/240-460
12,5/S/240-460
25/S/240-460
50/S/240-460
4
7.5
12.5
25
50
0.52
Input voltage: AC (480...500) V ±10%
4/S/500-460
7,5/S/500-460
12,5/S/500-460
25/S/500-460
50/S/500-460
4
7.5
12.5
25
50
1.08
Input voltage: AC (480...580) V ±10%
4/S/580-460
7,5/S/580-460
12,5/S/580-460
25/S/580-460
50/S/580-460
4
7.5
12.5
25
50
1.26
Input voltage: AC (570...690) V ±10%
4/S/690-460
7,5/S/690-460
12,5/S/690-460
25/S/690-460
50/S/690-460
4
7.5
12.5
25
50
1.5
MB0207.fh5
Fig. 9-2:
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
DST autotransformers for the DKC**.1-40-7-FW to match the line voltage
9-4 DST / DLT transformers
9.3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Autotransformers for DKC**.*-030-3-FW
DST autotransformers with a secondary or output voltage of AC 220...230V
Lying version for wall mounting type DST.../L
Standing version for foot mounting type: DST.../S
A
A
B1
G1
B
C1
HÆ
E
F
D
HÆ
E
F
D
G
C
Rating plate (example)
Connection diagram
Type:
DST 2,5/S/380/415/440-220
Prim.:
380-400/415/440 V
440V
415V
380V 400V
U4
U3
U2
V4
V3
V2
W4
W3
W2
Sec.:
220-230V
220V 230V
U1
V1
W1
Bj.
1993
a
1)
b
N
S
2,5 kV A
YNa0
T
40/B
f
50/60 Hz
1) Max. loading of temperature switch:
DC 24V/1A; AC 230V/1A
Type designation
DST
Dimensions in mm
A
150
0,5/ · /380/415/440-220
150
0,5/ · /380/460/500-220
180
1,0/ · /380/415/440-220
180
1,0/ · /380/460/500-220
180
1,5/ · /380/415/440-220
205
1,5/ · /380/460/500-220
205
2,0/ · /380/415/440-220
240
2,0/ · /380/460/500-220
240
2,5/ · /380/415/440-220
240
2,5/ · /380/460/500-220
240
3,5/ · /380/415/440-220
240
3,5/ · /380/460/500-220
240
4,0/ · /380/415/440-220
240
4,0/ · /380/460/500-220
240
5,0/ · /380/415/440-220
300
5,0/ · /380/460/500-220
300
7,5/ · /380/415/440-220
300
7,5/ · /380/460/500-220
300
10/ · /380/415/440-220
300
10/ · /380/460/500-220
300
12,5/ · /380/415-220
335
12,5/ · /440/460-220
335
12,5/ · /500/525-220
335
15/ · /380/415-220
360
15/ · /440/460-220
360
15/ · /500/525-220
360
18/ · /380/415-220
360
18/ · /440/460-220
360
18/ · /500/525-220
360
20/ · /380/415-220
360
20/ · /440/460-220
420
20/ · /500/525-220
· = L, lying version
· = S, standing version
Power
B
B1
C
C1
D
E
F
165
165
190
190
190
210
210
260
260
260
260
260
260
260
260
325
325
325
325
325
325
365
365
365
395
395
395
395
395
395
395
450
170
170
205
205
205
235
235
270
270
270
270
270
270
270
270
340
340
340
340
340
340
380
380
380
400
400
400
400
400
400
400
460
75
90
105
115
115
120
120
120
120
140
140
150
150
155
155
140
155
165
180
195
195
195
195
195
190
190
190
205
205
190
205
215
80
95
100
100
110
110
110
135
135
155
155
165
165
170
170
165
180
195
205
220
220
225
225
225
215
215
215
230
230
215
230
210
125
125
125
150
150
150
170
200
200
200
200
200
200
200
200
250
250
250
250
250
250
280
280
280
300
300
300
300
300
300
300
350
70
70
80
80
80
95
95
110
110
110
110
110
110
110
110
140
140
140
140
140
140
160
160
160
170
170
170
170
170
170
170
190
100
100
125
125
125
145
145
170
170
170
170
170
170
170
170
210
210
210
210
210
210
230
230
230
250
250
250
250
250
250
250
280
G1 H Æ
154
154
185
185
185
209
209
240
240
240
240
240
240
240
240
310
310
310
310
310
310
350
350
350
370
370
370
370
370
370
370
420
6
6
7
7
7
7
7
11
11
11
11
11
11
11
11
11
11
11
11
11
11
11
11
11
11
11
11
11
11
11
11
14
Max. connec.
in cross sect. Wght.
G dissipation
in W
55
70
75
85
85
85
85
90
90
110
110
120
120
125
125
110
125
135
150
165
165
160
160
160
160
160
160
175
175
160
175
165
in mm
in kg
30
40
45
55
55
75
80
90
95
110
125
130
140
150
160
180
200
230
245
250
260
270
285
290
305
310
330
350
375
380
395
430
4
4
4
4
4
4
4
4
4
4
10
10
10
10
10
10
10
10
10
10
10
10
10
16
16
16
16
16
16
16
16
16
4
6
8,5
10
10
11,5
11,5
18
18
21
21
24,5
24,5
26
26
30,5
36
42
50
53
53
65
65
65
68
68
68
80
80
70
80
92
MB0208.fh5
Fig. 9-3:
Three-phase autotransformers for the DKC01.1-030-3-FW for connecting to power supply lines & gt; 230 V
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DST / DLT transformers
9-5
DST autotransformers with a secondary or output voltage of AC 220...230V
Lying version for wall mounting type DST.../L
Standing version for foot mounting type: DST.../S
A
C1
B1
G1
B
A
Hø
E
F
D
G
C
Hø
E
F
D
Rating plate (example)
Connection diagram
Type:
DL T 2,5/S/380/415/440-220
Prim.:
380-400/415/440 V
Sec.:
220-230V
S
2,5 kV A
Bj.
1993
1U1
1U2
1U3
V 1V1
V 1V2
1V3
1W1
1W2
1W3
1U1, 1V1, 1W1 440 V
1U2, 1V2, 1W2 415 V
1U3, 1V3, 1W3 380 V.
2U1, 2V1, 2W1 220 V.
Yyn0
T
40/B
f
50/60 Hz
2U1
a
2V1
1)
2W1
b
2N1
1) Max. loading of temperature switch:
DC 24V/1A; AC 230V/1A
Dimensions in mm
Type designation
DLT
A
0,5/ · /380/415/440-220 180
0,5/ · /380/460/500-220 180
1,0/ · /380/415/440-220 205
1,0/ · /380/460/500-220 205
1,5/ · /380/415/440-220 240
1,5/ · /380/460/500-220 240
2,0/ · /380/415/440-220 240
2,0/ · /380/460/500-220 240
2,5/ · /380/415/440-220 300
2,5/ · /380/460/500-220 300
4,0/ · /380/415/440-220 300
4,0/ · /380/460/500-220 300
5,0/ · /380/415/440-220 335
5,0/ · /380/460/500-220 335
7,5/ · /380/415/440-220 360
7,5/ · /380/460/500-220 360
360
10/ · /380/415/440-220
360
10/ · /380/460/500-220
420
15/ · /380-220
420
20/ · /380-220
· = L, lying version
· = S, standing version
Power
B
B1
C
C1
D
E
F
G
190
190
210
210
260
260
260
260
325
325
325
325
365
365
395
395
395
395
450
450
205
205
235
235
270
270
270
270
340
340
340
340
380
380
400
400
400
400
105
105
130
130
140
140
150
150
140
140
165
165
175
175
190
190
205
205
245
275
100
100
120
120
155
155
165
165
165
165
195
195
210
210
215
215
230
230
150
150
170
170
200
200
200
200
250
250
250
250
280
280
300
300
300
300
350
400
80
80
95
95
110
110
110
110
140
140
140
140
160
160
170
170
170
170
190
190
125
125
145
145
170
170
170
170
210
210
210
210
230
230
250
250
250
250
280
280
75
75
95
95
110
110
120
120
110
110
135
135
145
145
160
160
175
175
195
225
in W
185
185
209
209
240
240
240
240
310
310
310
310
350
350
370
370
370
370
7
7
7
7
11
11
11
11
11
11
11
11
11
11
11
11
11
11
16
16
in mm
65
70
120
140
155
165
180
195
220
235
240
265
300
350
375
395
500
510
600
800
4
4
4
4
4
4
4
4
4
4
10
10
10
10
10
10
10
10
16
35
8,5
8,5
13
13
21
21
24,5
24,5
30,5
30,5
42
42
55
55
70
70
85
85
122
152
MB0209.fh5
Fig. 9-4:
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Max. connec.
Wght. .
G1 Hø dissipation in cross sect. in kg
2
Three-phase isolating transformer documentation for the DKC01.1030-3-FW for connecting to power supply lines & gt; 230 V (ungrounded
power supply lines)
9-6 DST / DLT transformers
Electrical connection of the DKC via transformer
PE
3 x AC L1
50...60 Hz L2
L3
Mains filter
E'
L1'
L2'
L3'
PE
L1
L2
L3
K1
Q1
NFD
L3
X8
3
L1
1)
2
3 x AC 380...480 V bei DKC 01.1-040-7-FW
3 x AC 380...480 V bei DKC 11.1-040-7-FW
3 x AC 230 V bei DKC 01.1-030-3-FW
L2
DKC
Power connection on X8:
1
9.4
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Power
connection
for further
DKCs
DST
1) Protective conductor connection ≥ 10mm2 (EN 50178)
AP0234.fh5
Fig. 9-5: Power connection via a three-phase autotran sformer
DKC01.1-030-3
Power connection on X8:
1 x AC 230 V bei DKC 01.1-030-3-FW
1 x AC
50...60 Hz
PE
L1
1)
X8
1
Mains filter
PE
L1'
N
L1 L2 L3
2
3
PE
L1
N'
N
Q1
K1
Power
connection
for further
DKCs
NFE
AP0235.fh5
1) Protective conductor connection ≥ 10mm2 (EN 50178)
Fig. 9-6: Direct power connection via single-phase via autotransformer
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
9.5
DST / DLT transformers
9-7
Type code
Type code fields:
DST 20,00/S/380,415-220-YYNO
Example:
Product group
DST
Three-phase autotransformer
Three-phase isolating autotransformer DLT
Rated power in kVA
20 kVA
Mounting style
horizontal mounting
vertical mounting
20,00
L
S
Rated output voltage (phase to phase)
AC 380 V; AC 415 V
380,415
Rated output voltage (phase to phase)
220
AC 230 V
Connection symbol
YYNO
Fig. 9-7: Type code for transformers
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
YYNO
TL0201.fh5
9-8 DST / DLT transformers
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Planning the control cabinet 10-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
10
Planning the control cabinet
10.1 Notes on installing the control cabinet
All ECODRIVE drive components -- with the exception of the motors -are designed to be installed into a control cabinet. When planning the
control cabinet, it is necessary to take the technical data of the drive components into account.
Power dissipation
Power dissipation is determined by the current load and the continuous
regenerative power. The actual power dissipation is dependent on the respective cycle load. The servomotor implemented has been laid out for
this load cycle.
On the average, the continuous current at standstill IdN will flow through
the drive controller as a maximum value.
Determining power dissipation
⇒ See the respective document " ECODRIVE Servomotors MKD " - Project Planning - for the continuous current at standstill IdN.
⇒ Using the IdN value of the motor selected, find the value in the diagram
in Fig. 10-1 for the current-dependent power dissipation PV, DKC.
⇒ Convert the continuous regenerative power found in Tab. Fig. 3-2 with
the factor 0.8. as bleeder-dependent power dissipation PV, Bleeder in the
DKC.
⇒ Add both dissipation values (PV,DKC and PV,Bleeder). Use the total (PV,ges)
for planning the control cabinet.
Power loss P V in W
200
180
160
140
120
100
80
60
40
20
0
4
8
Continuous current with motor at standstill
12
16
IdN in A
DG0201.fh5
Fig. 10-1: Determining the power dissipated in the control cabinet
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
10-2 Planning the control cabinet
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
10.2 Using heat-exchange units in the control cabinets
Improperly installed and operated heat-exchange units are a risk to the
drive components installed in the control cabinet due to the condensation
and condensed water which these may cause!
Risk of condensation
Humid air enters the cabinet and, as it cools, condenses onto the installed
drive components.
Risk of condensation
If the heat-exchange unit is not properly installed in the control cabinet,
accumulating condensed water can drip into the installed drive components or be sprayed into them by the cold air current.
Avoiding condensation
Proper use of the heat-exchange units:
• When using heat heat-exchange units, the cabinets must be well
sealed so that moisture cannot form caused by humid outside air entering the cabinets!
• In the event that the control cabinets are operated with open doors
(startup operation, servicing, etc.), ensure that the drive components
are never cooler than the air in the control cabinets after the doors
have been closed. Otherwise, condensation may occur. For this reason, it is important that the heat-exchange unit continues to operate
when the system has been shut down to ensure that temperature
within the control cabinet does not deviate from that of the drive components.
• Set the heat-exchange unit to a permanent temperature of 40 °C. Not
lower!
• Heat-exchangers with follow-up temperature must be set so that the
temperature inside the cabinet is never lower than the outside temperature. Set the temperature limit to 40 °C!
Avoiding dripping and sprayed
water
The heat-exchange units must be arranged in such a way that condensed
water that may accumulate cannot drip into the installed drive components. Units on top of the cabinet require a special design!
Make sure that the control cabinet is constructed in such a way that the
blower of the cooling unit cannot spray condensed water which may have
collected, onto the drive components!
Summary
• Ensure that no condensed water can drip into the installed drive components!
• Make sure that the temperature of the heat-exchange unit has been
properly set!
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Planning the control cabinet 10-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
correct
incorrect
Cooling system
warm
Cooling system
cold
warm
cold
Air duct
electronic
equipment
electronic
equipment
Cabinet
Cabinet
EB0200.fh5
Fig. 10-2: Arranging the heat-exchange unit on the top of the control cabinet
correct
incorrect
Cabinet
Cabinet
Air inlet
Air inlet
Air outlet
Air
duct
Cooling
system
Cooling
system
electronic
equipment
electronic
equipment
EB0201.fh5
Fig. 10-3: Arranging the heat-exchange unit at the front of the control cabinet
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
10-4 Planning the control cabinet
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
11
Power connection
11-1
Power connection
11.1 Direct power connection
DKC01.1-040-7-FW
DKC11.1-040-7-FW
It is possible to connect these drives directly to grounded three-phase current lines with AC 380...480 V, +10 %. Only a fuse protector Q1, a mains
contactor K1, and normally a line filter are required in the power input line.
If the line voltage exceeds the permitted input voltage range, then the
voltage must be matched by means of an autotransformer which, in turn,
has also been laid out for a specific voltage range (see Chapter 9-1).
DKC01.1-030-3-FW
It is possible to connect these drives directly to grounded three-phase current lines with 3 x AC 230 V, +10 %. A single-phase power connection 1 x
AC 230V is possible for small amounts of power.
Only a fuse protector Q1, a line contactor K1, and normally a line filter are
required in the power input line.
If the line voltage deviates from the permitted input voltage, the voltage is
usually matched using an autotransformer or for special line conditions,
using an isolating transformer (see Chapter 9-1).
3 x AC
50...60 Hz
L1
L2
L3
1
NFD
Mains filter
L3
L2
3
X8
1)
2
L1
DKC01.1-030-3
DKC01.1-040-7
DKC11.1-040-7
L1
L2
L3
L1'
L2'
L3'
Q1
E'
K1
PE
PE
Power
connection
for further
DKCs
2
1) Protective conductor connection ≥ 10mm
AP0232.fh5
Fig. 11-1: Direct three-phase power connection
L1
1 x AC
50...60 Hz
N
L1
N
N'
PE'
L3
L1
L1'
PE
3
1
NFE
Mains filter
L2
X8
2
1)
L1
DKC01.1-030-3
Q1
K1
PE
N
PE
Power
connection
for further
DKCs
1) Protective conductor connection ≥ 10mm2
AP0233.FH5
Fig. 11-2: Direct single-phase power connection
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
11-2 Power connection
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
11.2 Line contactor/fuse protector
A selection table (see Fig. 11-6) is available to facilitate the selection of a
suitable line contactor and fuse protector device for the power connection.
Calculating the phase current at the power connection
To be able to select a suitable line contactor and suitable power connection fuse protector, the phase current IN at the power connection must
first be calculated.
The apparent power S is used to determine the phase current IN at the
power connection.
Locate the apparent power in the selection table of the drive components,
or calculate it according to formula Fig. 11-4. For several drive controllers,
add the individual apparent power values.
PDC =
PDC:
MEFF:
nMITTEL:
k:
M EFF ⋅ nMITTEL ⋅ 2π
⋅k
60
DC bus power in W
Effective torque in Nm
Average speed in min-1
Factor for motor and controller efficiency = 1.25
Fig. 11-3: Calculating the DC bus power
S AN = PDC ⋅ F
F:
F:
F:
Factor for the connected load
2.6 for PDC = 500 W
1.95 for PDC = 2000 W
Fig. 11-4: Calculating the power connection ou tput
Single-phase connection:
IN =
S AN
UN
Three-phase connection:
IN =
S AN
UN ⋅ 3
IN:
SAN:
UN:
Phase current at the power connection in A
Power connection output in VA
Voltage between the phases of the power supply lines in V
Fig. 11-5: Calculating the phase current at the power connection
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Power connection
11-3
Selecting fuse protector Q1 and line contactor K1
The fuse protector must be rated 1.5 times higher than the actual current
at the power connection IN.
Fuse protector Q1
Fuse protection can be implemented using:
• an automatic circuit breaker (power circuit breaker) or
• a power circuit breaker or
• safety fuses.
Select the line contactor according to the phase current at the power connection and the rated line voltage.
Line contactor K1
The rated current of the line contactor must be 1.5 times higher than the
actual phase current at the power connection.
For a rated line voltage of 3 x 400 V, 50 Hz, , the line contactors listed in
the selection table are recommended depending on the phase current IN.
The types specified in the selection table are from the Siemens company
and serve as examples. Similar products from other manufacturers can
also be used.
Selection table
Recommended fuse protection
Phase
current
Automatic
circuit
breaker
(1)
IN
in A
Line
cross
section
2
Safety fuse
(for UN = 3 x 400 V, 50
Hz)
(tripping characteristic C)
mm
Power circuit breaker
Recommended line
contactor
(class gl)
Current
in A
N
(3)
Siemens
type
Setting
value in
A
N
(3)
Current
in A
N
(3)
Siemens
type
Nominal
operating
current
N
(3)
up to
8.7
1,0
10
5
3VU1300
- .ML00
10
12
10
4
3TF40
12
7
up to
11
1,5
16
7
3VU1300
- .MM00
16
19
16
6
3TF41
16
10
up to
15
2,5
20
9
3VU1300
- .MP00
20
24
20
9
3TF42
22
13
up to
21
4,0
32
15
3VU1300
- .MP00
25
30
32
14
3TF43
32
19
(1) Values apply to PVC insulated multi-wire cables in protective pipes and installation ducts with an ambient te mperature of 45 °C (compliant to EN 60204-1/1992)
(2) The current was fixed based on operating mode AC 3 for a line voltage of AC 400 V, 50 Hz.
(3) N = maximum number of connectable drives taking the starting current into consideration. If more drives are
connected than indicated, a fuse protector or line contactor with a higher current rating must be selected.
Fig. 11-6: Selection table for fuse protector Q1 and line contactor K1
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
11-4 Power connection
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
11.3 Control circuit to the power connection
The control circuit recommended by INDRAMAT indicates the function
principle.
The choice of the control and its efficiency depends on the range of functions and the efficiency of the entire plant or machine. Therefore, it is the
manufacturer’s responsibility to make this choice.
Stand-by signal contact
The stand-by message is output over a relay contact (make contact). If
the stand-by contact closes, the drive is then ready for input power. It is
thus used as a condition for switching in the line contactor (see Fig. 11-7).
Note:
The contactor coil can cause excess voltages when switched
off. The excess voltage can lead to premature failure of the
stand-by contact. To attenuate the excess voltage, use an
overvoltage limiter with diode combination.
The use of varistors as a suppressor circuit is not permitted. Varistors decay and increase their blocking-state currents This can result in premature failure if the connected components and devices.
Switching states
The stand-by contact opens when:
• there is no control voltage for the DKC,
• if there are errors in the drive.
ext. control voltage +DC 24 V
Safety limit switch
drive enable
control
Emergency off
K1
Control error
messagef
Power off
3)
Power on
K1
X4/2
drive enable at DKC
X4/5
Bb 2)
X4/6
1)
Power protection
K1
4)
1)
Integrating the Bb-Kontakte of additional DKCs and BZM in series connection
Switching capacity of Bb-Contacts DC 24V/1A
Drive enable for additional DKCs and BZM in series connection
4)
Use overvoltage limiter with diode combinations
2)
3)
AP0237.fh5
Fig. 11-7: Principal control switch to the DKC
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Power connection
11-5
11.4 Protection against indirect contact
As a result of the high capacitive leakage currents via the cable insulation,
it is not possible to install a GFCB device in the power input line
(compliant to DIN VDE 0160, section 6.5).
Thus, protection against indirect contact must be achieved by other
means.
The drive system components have a protective grounded housing. This
makes protection against indirect contact possible by grounding.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
11-6 Power connection
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
12
Preparing for Startup 12-1
Preparing for Startup
Required equipment
The following equipment is necessary when starting operation of an
ECODRIVE drive system:
• measuring devices
• a personal computer (PC)
• connecting cables (PC-DKC)
• setpoint generator
Measuring devices
The following measuring devices are required so that torque, current and
speed can be measured as analog signals at the analog outputs:
• a multimeter for measuring voltage (suffices for series startups) and
• an oscilloscope or recorder (only needed for recording the signal sequences during startup operation for prototypes).
Personal computer (PC)
The PC is needed for programming, parameterization and diagnostics
during startup operation and service procedures.
Hardware requirements:
• IBM compatibility
• 80386-SX microprocessor (80486 recommended)
• at least 4 MB RAM memory (8 MB recommended)
• harddisk with at least 2.5 MB of free storage space
• 3.5 " floppy disk drive with a capacity of 1.44 MB
• one free serial RS-232 interface in the PC (COM 1 or COM 2)
• an EGA monitor or monitor with higher resolution
• a mouse or compatible pointing device
Software requirements:
• The operating system DOS 5.0 or higher
• Windows 3.1 or higher
• DriveTop startup program (floppy disk is included with ECODRIVE)
Connecting cables (PC-DKC)
To connect a PC with a 9-pin D-subminiature connector, use cable type
IKS101.
To connect a PC with a 25-pin D-subminiature connector, use cable type
IKS102.
Pin assignment of the cable Fig. 4-19.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
12-2 Preparing for Startup
To position the drive, a setpoint value must be input via the proper interface (positioning, analog or stepper interface).
For test purposes a speed setpoint must be input via the analog interface using a setpoint generator.
To do so, the EOCDRIVE must be switched to the main operating mode
" Speed control with an analog setpoint value! " when operating via the positioning or stepper interface.
The following figure illustrates a circuit proposal for a setpoint generator.
command value encoder
DKC
directional switch
command value
+15 V
X3
1
E1
2
E2
3
IRED1
4
IRED2
1
24V
drive enable
2
RF
drive stop/start
3
AH/Start
4
0VM
13k
10k
Setpoint generator
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
-15 V
V
DC (-10...+10)V
analog
command
value
input
X4
AP0242.fh5
Fig. 12-1: Circuit proposal setpoint generator for connecting an analog interface
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
13
Condition of the drive components on delivery
13-1
Condition of the drive components on delivery
Packaging
Packaging units
The packaging differs depending on the order.
Each drive component is packaged individually, or several drive components are placed together in a single package.
Accessories are fastened to the unit.
Packaging materials
INDRAMAT will take packaging materials back free of charge. The customer is liable for return transport costs.
Packaging labels
The bar-code label on the packaging identifies the components inside and
the order number.
Type of firmware
Type of machine
Consigment
number
Customer
name
Part number
No. of items
Customer
Order no.
Machine serial no.
BP0200.fh5
Fig. 13-1: Structure of the bar-code label on the packa ging
Accompanying documents
An envelope containing a delivery notice in duplicate is attached to one of
delivered packages. These are the only shipping documents provided
unless special arrangements were made when the order was placed.
Either the delivery notice or the freight papers will list the total number of
packages or transport containers included in the shipment.
Identification of the components
Each drive component is identified by a type designation.
There is a rating plate on all pieces of equipment, including the motor.
A label (cable tag) is wrapped around the ready-made cable. The type
designation and the cable length is indicated on the tag. (The actual cable
designation -- without connector-- can be found imprinted on the cable
sheath).
The accessories packed in bags are identified either by a printed label on
the bags or by an additional enclosed slip.
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
13-2 Condition of the drive components on delivery ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Index 14-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
14
R
Index
Ready signal contact
11-4
Regenerative energy
A
5-1
Risk of condensation
10-2
Rotary energy
Accompanying documents
13-1
Actual position value, incremental
4-28
Actual value position, absolute
6-1
4-30
ANALOG interface
RS-232 interface
4-15
RS-485 interface
4-16
4-12, 4-26
Analog setpoint value
4-26
S
Ansteuerung einkanalig
4-25
serial bus
4-16
Setpoint generator
12-2
Single-phase line filter connection
C
8-4
Status reports
Stepper interface
Continuous regenerative power
5-1, 5-2, 5-3, 5-4
Control switch
11-4
4-21
4-23
stepping interface
4-14
Storable energy
6-1
Supply terminals
4-9
D
DC bus connection
DC-bus capacity
4-31
6-1
Diagnostics outputs
4-27
Differential signals
4-24
Dimensional data and installation dimensions
6-3
T
Three-phase line filter connection
8-4
Tipp-Betrieb
4-20
Torque reduction
4-27
Transformers
Travel range limit
9-1
4-20
F
Fuse protector Q1
11-2, 11-3
Fu se protector Q2
7-1
G
Grounded power supply lines
9-1
H
Homing
4-19
L
Line contactor
11-3
M
Measuring devices
12-1
P
Packaging
13-1
Packaging labels
13-1
Peak regenerative power
5-1
Positioning signals
POSITIONING-interface
4-11
Power connection
11-1
Power dissipation
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
4-22
10-1
U
Ungrounded power supply lines
9-1
14-2 Index
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Directory of customer service locations
Directory of customer service locations
Germany
Sales Region Central
Sales Region East
Sales Region West
Sales Region North
INDRAMAT GmbH
D-97816 Lohr am Main
Bgm.-Dr.-Nebel-Str. 2
INDRAMAT GmbH
D-09120 Chemnitz
Beckerstraße 31
INDRAMAT GmbH
D-40849 Ratingen
Hansastraße 25
INDRAMAT GmbH
D-22085 Hamburg
Fährhausstraße 11
Telephone: 09352/40-0
Telefax: 09352/40-4885
Telephone: 0371/3555-0
Telefax: 0371/3555-230
Telephone: 02102/4318-0
Telefax: 02102/41315
Telephone: 040/227126-16
Telefax: 040/227126-15
Sales Region South
Sales Region Southwest
INDRAMAT Service Hotline
INDRAMAT GmbH
D-80339 München
Ridlerstraße 75
INDRAMAT GmbH
D-71229 Leonberg
Böblinger Straße 25
INDRAMAT GmbH
Telephone: D-0172/660 040 6
Telephone: 089/540138-30
Telefax: 089/540138-10
Telephone: 07152/972-6
Telefax: 07152/972-727
-oderTelephone: D-0171/333 882 6
Customer service locations in Germany
Europe
Austria
Austria
Belgium
Denmark
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
A-1140 Wien
Hägelingasse 3
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
A-4061 Pasching
Randlstraße 14
Mannesmann Rexroth N.V.-S.A.
Geschäftsbereich INDRAMAT
B-1740 Ternat
Industrielaan 8
BEC Elektronik AS
DK-8900 Randers
Zinkvej 6
Telephone: 1/9852540-400
Telefax:1/9852540-93
Telephone: 07229/64401-36
Telefax: 07229/64401-80
Telephone: 02/5823180
Telefax: 02/5824310
Telephone: 086/447866
Telefax: 086/447160
England
Finnland
France
France
Mannesmann Rexroth Ltd.
INDRAMAT Division
Cirencester, Glos GL7 1YG
4 Esland Place, Love Lane
Rexroth Mecman OY
SF-01720 Vantaa
Riihimiehentie 3
Rexroth - Sigma S.A.
Division INDRAMAT
F-92632 Gennevilliers Cedex
Parc des Barbanniers 4,
Place du Village
Rexroth - Sigma S.A.
Division INDRAMAT
F-69634 Venissieux - Cx
91, Bd 1 Joliot Curie
Telephone: 01285/658671
Telefax: 01285/654991
Telephone: 0/848511
Telefax: 0/846387
Telephone: 1/41475430
Telefax: 1/47946941
Telephone: 78785256
Telefax: 78785231
France
Italy
Italy
Netherlands
Rexroth - Sigma S.A.
Division INDRAMAT
F-31100 Toulouse
270, Avenue de lardenne
Rexroth S.p.A.
Divisione INDRAMAT
I-20063 Cernusco S/N.MI
Via G. Di Vittoria, 1
Rexroth S.p.A. Divisione
INDRAMAT
Via Borgomanero, 11
I-10145 Torino
Hydraudyne Hydrauliek B.V.
Kruisbroeksestraat 1a
P.O. Box 32
NL-5280 AA Boxtel
Telephone: 61499519
Telefax: 61310041
Telephone: 02/92365-270
Telefax: 02/92108069
Telephone: 011/7712230
Telefax: 011/7710190
Telephone: 04116/51951
Telefax: 04116/51483
Spain
Spain
Sweden
Switzerland
Rexroth S.A.
Centro Industrial Santiago
Obradors s/n
E-08130 Santa Perpetua de
Mogoda (Barcelona)
Goimendi S.A.
División Indramat
Jolastokieta (Herrera)
Apartado 11 37
San Sebastion, 20017
AB Rexroth Mecman
INDRAMAT Division
Varuvägen 7
S-125 81 Stockholm
Rexroth SA
Département INDRAMAT
Chemin de l`Ecole 6
CH-1036 Sullens
Telephone: 03/718 68 51
Telex: 591 81
Telefax: 03/718 98 62
Telephone: 043/40 01 63
Telex: 361 72
Telefax: 043/39 93 95
Telephone: 08/727 92 00
Telefax: 08/64 73 277
Telephone: 021/731 43 77
Telefax: 021/731 46 78
Switzerland
Russia
Rexroth AG
Geeschäftsbereich INDRAMAT
Gewerbestraße 3
CH-8500 Frauenfeld
Tschudnenko E.B.
Arsenia 22
153000 Ivanovo
Rußland
Telephone: 052/720 21 00
Telefax: 052/720 21 11
Telephone: 093/22 39 633
Other European customer service locations
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Directory of customer service locations
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Other international locations
Argentina
Argentina
Australia
Brazil
Mannesmann Rexroth S.A.I.C.
Division INDRAMAT
Acassusso 48 41/7
1605 Munro (Buenos Aires)
Argentina
Nakase
Asesoramiento Tecnico
Diaz Velez 2929
1636 Olivos
(Provincia de Buenos Aires)
Argentina
Argentina
Australian Industrial Machenery
Services Pty. Ltd.
Unit 3/45 Horne ST
Campbellfield VIC 2061
Australia
Mannesmann Rexroth Automação
Ltda.
Divisão INDRAMAT
Rua Georg Rexroth, 609
Vila Padre Anchieta
BR-09.951-250 Diadema-SP
Caixa Postal 377
BR-09.901-970 Diadema-SP
Telephone: 01/756 01 40
01/756 02 40
Telex: 262 66 rexro ar
Telefax: 01/756 01 36
Telephone: 03/93 59 0228
Telefax: 03/93 59 02886
Telephone 01/790 52 30
Telephone: 011/745 90 65
011/745 90 70
Telefax: 011/745 90 50
Canada
China
China
China
Basic Technologies Corporation
Burlington Division
3426 Mainway Drive
Burlington, Ontario
Canada L7M 1A8
Rexroth (China) Ldt.
Shanghai Office
Room 206
Shanghai Intern. Trade Centre
2200 Yanan Xi Lu
Shanghai 200335
P.R. China
Rexroth (China) Ldt.
Shanghai Parts & Service Centre
199 Wu Cao Road, Hua Cao
Minhang District
Shanghai 201 103
P.R. China
Rexroth (China) Ldt.
1430 China World Trade Centre
1, Jianguomenwai Avenue
Beijing 100004
P.R. China
Telephone: 905/335-55 11
Telefax: 905/335-41 84
Telephone: 021/627 55 333
Telefax: 021/627 55 666
Telephone: 021/622 00 058
Telefax: 021/622 00 068
Telephone: 010/50 50 380
Telefax: 010/50 50 379
China
Honkong
India
Japan
Rexroth (China) Ldt.
A-5F., 123 Lian Shan Street
Sha He Kou District
Dalian 116 023
P.R. China
Rexroth (China) Ldt.
19 Cheung Shun Street
1st Floor, Cheung Sha Wan,
Kowloon, Honkong
Mannesmann Rexroth (India) Ltd.
INDRAMAT Division
Plot. 96, Phase III
Peenya Industrial Area
Bangalore - 560058
Rexroth Co., Ltd.
INDRAMAT Division
I.R. Building
Nakamachidai 4-26-44
Tsuzuki-ku, Yokohama 226
Japan
Telephone: 0411/46 78 930
Telefax: 0411/46 78 932
Telephone: 741 13 51/-54 und
741 14 30
Telex: 3346 17 GL REX HX
Telefax: 786 40 19
786 07 33
Telephone: 80/839 21 01
80/839 73 74
Telex: 845 5028 RexB
Telefax: 80/839 43 45
Telephone: 045/942-72 10
Telefax: 045/942-03 41
Korea
Korea
Mexico
Rexroth-Seki Co Ltd.
1500-12 Da-Dae-Dong
Saha-Gu, Pusan, 604-050
Seo Chang Corporation Ltd.
Room 903, Jeail Building
44-35 Yoido-Dong
Youngdeungpo-Ku
Seoul, Korea
Motorización y
Diseño de Controles, S.A. de C.V.
Av. Dr. Gustavo Baz No. 288
Col. Parque Industrial la Ioma
Apartado Postal No. 318
54060 Tlalnepantla
Estado de Mexico
Telephone: 051/264 90 01
Telefax: 051/264 90 10
Telephone: 02/780-82 07 ~9
Telefax: 02/784-54 08
Telephone: 5/397 86 44
Telefax: 5/398 98 88
USA
USA
Rexroth Corporation
INDRAMAT Division
5150 Prairie Stone Parkway
Hoffman Estates, Illinois 60192
Rexroth Corporation
INDRAMAT Division
2110 Austin Avenue
Rochester Hills, Michigan 48309
Telephone: 847/645-36 00
Telefax: 857/645-62 01
Telephone: 810/853-82 90
Telefax: 810/853-82 90
Other international customer service locations
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-DKC01/11.1*-PRJ3-EN-P
Directory of customer service locations
Indramat
engineering
mannesmann
Rexroth
ECODRIVE
DKC01.1/DKC11.1 Drive Controllers
Functional Description: ASE 02VRS
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P
271634
Indramat
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Title
Type of Documentation
Document Type Description
Internal Filing Notation
ECODRIVE DKC01 .1/ DKC11.1 Drive Controllers
Functional Description
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P
• Mappe 56-02V-EN Register 3
• 209 0073-4302-00
What is the purpose of this
documentation?
The following document describes the functions of the fimware FWAECODRV-ASE-02VRS-MS.
The document serves:
• to describe all of the functional characteristics.
• for parameterization of the drive controller.
• for data security of the drive parameter
• for error diagnosis and error removal
Copyright Mark
Document identification of previous Release
and current releases
Date
Remarks
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P
Change Notice
First Release
07.96
© INDRAMAT GmbH, 1996
Distibution as well as reproduction of this documentation, commercial use
or communication of its contents will not be permitted without expressed
written permission. Violation of these stipulations will require
compensation. All rights reserved for the issuance of the patent or
registered design. (DIN 34-1)
Publisher
INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Telephone 09352/40-0 • Tx 689421 • Fax 09352/40-4885
Abt. END (HP)
Service Hotline: Tel. 0172 - 660 040 6 or 0171 - 333 882 6
Liability
Changes in the content of this document and the availability of the
products are reserved.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Contents
1 System Overview
1-1
1.1 Ecodrive - the Economical Control Drive for Automation..................................................................... 1-1
1.2 Ecodrive - a Family of Control Drives................................................................................................... 1-1
1.3 Overview of DKC01.1/DKC11.1 Functions ......................................................................................... 1-2
DKC01.1 - Modes of Operation..................................................................................................... 1-2
DKC01.1/DKC11.1 General Characteristics ................................................................................. 1-5
Functional Differences between DKC01.1 and DKC11.1.............................................................. 1-6
2 Safety Instructions for Electrical Drive Controller
2-1
2.1 General Information ............................................................................................................................. 2-1
2.2 Protection against Contact with Electrical Components ...................................................................... 2-2
2.3 Protection from the Safe and Seperated Low Voltages ....................................................................... 2-3
2.4 Protection from Dangerous Movements .............................................................................................. 2-3
2.5 Protection during Assembly and Handling ........................................................................................... 2-5
3 Preparation for Startup Procedure
3-1
3.1 General Instruction for Startup Procedure ........................................................................................... 3-1
3.2 Drive Top Startup Procedure and Diagnostics..................................................................................... 3-1
3.3 DriveTop-System Requirements.......................................................................................................... 3-1
3.4 Installation of DriveTop ........................................................................................................................ 3-2
Starting the Installation Program ................................................................................................... 3-2
3.5 Connection of the PCs with the Drive Controller.................................................................................. 3-3
3.6 Minimal Installation for Operation of a DKC with DriveTop.................................................................. 3-4
3.7 DriveTop Start Up ................................................................................................................................ 3-5
Scanning for Connected Drives .................................................................................................... 3-5
Online and Offline Operation......................................................................................................... 3-6
Diagnostic Window........................................................................................................................ 3-7
3.8 DriveTop Menu Structure ..................................................................................................................... 3-8
Files............................................................................................................................................... 3-8
Parameter ..................................................................................................................................... 3-8
Startup Procedure ......................................................................................................................... 3-9
Drive .............................................................................................................................................. 3-9
Options ........................................................................................................................................ 3-10
Help ............................................................................................................................................. 3-10
3.9 Printing of the Parameter Data .......................................................................................................... 3-10
4 Motor and Drive Controller Selection
4-1
4.1 General Information on Selecting a Motor and Drive Controller ......................................................... 4-1
4.2 Motor Selection .................................................................................................................................... 4-1
4.3 Drive Controller Selection .................................................................................................................... 4-3
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Contents
I
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Selecting the Drive Controller........................................................................................................ 4-3
Selecting the Overload Factor....................................................................................................... 4-4
Selecting the PWM-Frequency ..................................................................................................... 4-4
5 DKC01.1 Drive Controller with Integrated Positioning Control
5-1
5.1 Fundemental Method of Operation for Position Control....................................................................... 5-1
5.2 Setting the Operation Mode: Position Control with Position Interface.................................................. 5-1
Position Control with Following Error ............................................................................................ 5-2
Position Control without Following Error ....................................................................................... 5-2
Selecting the Appropriate Position Control Mode.......................................................................... 5-2
5.3 Positioning Operation........................................................................................................................... 5-3
Absolute Positioning...................................................................................................................... 5-3
Relative Positioning....................................................................................................................... 5-4
Continuas Movement in Positive/Negative Direction..................................................................... 5-9
5.4 Positioning Command Input............................................................................................................... 5-10
Command Number...................................................................................................................... 5-10
Positioning Command Data ........................................................................................................ 5-10
5.5 Choosing, Starting and Selection of a Positioning Command ........................................................... 5-13
Choosing a Positioning Command.............................................................................................. 5-13
Starting of Positioning Commands.............................................................................................. 5-13
Use of the Command Selection Inputs........................................................................................ 5-13
Interruption of Positioning Commands ........................................................................................ 5-14
5.6 Desired Positioning Manipulation through Modulus Scaling .............................................................. 5-15
5.7 Connection Illustration of the Positioning Interface ............................................................................ 5-17
6 DKC01.1 Drive Controller with Stepping Motor Interface
6-1
6.1 General Information for Operation with Stepping Motor Interface ....................................................... 6-1
6.2 Setting the Operation Mode: Position Control with Stepping Motor Interface ...................................... 6-1
Position Control with Following Error ............................................................................................ 6-2
Position Control Without Following Error ...................................................................................... 6-2
Selecting the Appropriate Position Control Mode.......................................................................... 6-2
6.3 Stepping Motor Signal Processing ....................................................................................................... 6-3
6.4 Stepping Motor Interface...................................................................................................................... 6-4
Interface Mode .............................................................................................................................. 6-4
Stepping Motor Interface ............................................................................................................... 6-4
6.5 Types of Stepping Motor Signal Connections ...................................................................................... 6-5
7 DKC01.1 / DKC11.1 Drive Controller with Analog Speed Interface
7-1
7.1 General Notes for Operating with an Analog Speed Interface............................................................. 7-1
7.2 Setting the Operating Mode: Speed Regulation with Analog Interface ................................................ 7-1
7.3 Analog Speed Command Value Processing........................................................................................ 7-2
Command Value Scaling............................................................................................................... 7-2
Offset Setting of the Analog Velocity Command Value................................................................. 7-3
Command Value Smoothing ......................................................................................................... 7-3
Analog Interface ............................................................................................................................ 7-3
8 DKC01.1/DKC11.1 Drive Controller with Analog Torque Interface
8-1
8.1 General Instructions for Operation with Torque Interface .................................................................... 8-1
II
Contents
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
8.2 Setting the Operating Mode: Torque Regulation with an Analog Command Value ............................. 8-2
8.3 Analog Torque Command Value Processing....................................................................................... 8-3
Scaling the Analog Torque Command Value ................................................................................ 8-3
Adjusting the Offset of the Analog Torque Input ........................................................................... 8-3
Analog Interface ............................................................................................................................ 8-4
8.4 Velocity Supervision in Torque Regulation........................................................................................... 8-4
9 General Drive Functions
9-1
9.1 Scaling and Mechanical System Data.................................................................................................. 9-1
Linear Scaling................................................................................................................................ 9-1
ROTARY SCALING....................................................................................................................... 9-4
Processing Position Data .............................................................................................................. 9-5
9.2 Drive limits............................................................................................................................................ 9-6
Transverse range limits................................................................................................................. 9-7
Limiting the Velocity ...................................................................................................................... 9-9
Torque Limits ................................................................................................................................ 9-9
9.3 Error Handling .................................................................................................................................... 9-11
9.4 Selecting the Control Loop Settings................................................................................................... 9-13
General Information for Selecting the Control Loop Settings...................................................... 9-13
Loading Default Parameters ....................................................................................................... 9-13
Executing the Basic Load Function After Changing the Motor or Drive Controller ..................... 9-14
Executing the Basic Load Feature as a Command in the " Regulator Loop Setting " Dialog ....... 9-14
Setting the Current Regulator...................................................................................................... 9-15
Setting the Velocity Loop............................................................................................................. 9-16
9.5 Loop Monitoring ................................................................................................................................. 9-21
Velocity Loop Monitoring ............................................................................................................. 9-22
Position Loop Monitoring............................................................................................................. 9-23
9.6 Status Message ................................................................................................................................. 9-24
Ready for Work (bb).................................................................................................................... 9-24
In Position (INPOS) ..................................................................................................................... 9-25
In Motion (INBWG)...................................................................................................................... 9-26
In Reference (INREF) ................................................................................................................. 9-26
Position Switch Point (WSP) ....................................................................................................... 9-27
Illustration of Status Output Connections.................................................................................... 9-28
9.7 Actual Position Output........................................................................................................................ 9-29
Incremental Encoder Emulation .................................................................................................. 9-29
Absolute Encoder Emulation (SSI).............................................................................................. 9-31
9.8 Drive controlled Homing Procedure ................................................................................................... 9-33
Homing When Using a Motor With Resolver Feedback (Standard) ........................................... 9-33
Homing When Using a Motor With Integrated Absolute Encoder Function (Optional) ............... 9-41
9.9 Jogging............................................................................................................................................... 9-45
9.10 Feedrate Override Function ............................................................................................................. 9-46
9.11 Analog Output .................................................................................................................................. 9-47
9.12 Motor Brake...................................................................................................................................... 9-49
9.13 Activating the Drive .......................................................................................................................... 9-51
Controller Enable......................................................................................................................... 9-51
Drive Stop / Start ......................................................................................................................... 9-51
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Contents
III
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
10 Serial Communication
10-1
10.1 General Information for Serial Communication................................................................................ 10-1
10.2 Communication over the RS232Interface ........................................................................................ 10-1
10.3 Communication over the RS485 Interface ....................................................................................... 10-2
Operation of Multiple Drives with DRIVETOP ............................................................................. 10-2
Parameterization and Diagnostics via a SPS (PLC) .................................................................. 10-3
Parameterization and Diagnostics for Drive Group through the Operator Interface ................. 10-4
10.4 Communication Procedures............................................................................................................. 10-5
Communication Parameters ....................................................................................................... 10-5
Setting of the Drive Address........................................................................................................ 10-6
Original State after Establishing the Control Voltage .................................................................. 10-7
Communication with a Specific Unit on the Bus.......................................................................... 10-7
Parameter Structure.................................................................................................................... 10-7
Writing To a Parameter............................................................................................................... 10-8
Reading of a Parameter ............................................................................................................. 10-8
Writing to a List Type Parameter................................................................................................ 10-8
Reading a List Type Parameter................................................................................................... 10-9
Executing Parameter Commands ............................................................................................... 10-9
Requesting the Statusof Commands .......................................................................................... 10-9
Ending a Parameter Command................................................................................................ 10-10
Error Message........................................................................................................................... 10-11
10.5 Operation Example ........................................................................................................................ 10-12
Changing of the Positioning Command Data ............................................................................ 10-12
10.6 Connection Technique ................................................................................................................... 10-13
RS485 Connection .................................................................................................................... 10-13
RS 232 Connection ................................................................................................................... 10-14
11 Index
11-1
Supplement A: Parameter description
Supplement B: Diagnostic message description
Directory of Customer Service Locations
IV
Contents
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
1
System Overview
1.1
Ecodrive - the Economical Control Drive for Automation
ECODRIVE is a digital intelligent automation system which provides a
cost effective way to control single and multiple axis control tasks.
ECODRIVE can be used to accomplish all kinds of control tasks in
different fields. It is typically used in applications such as:
• Handling systems
• Packaging machinery
• Assembly systems
1.2
Ecodrive - a Family of Control Drives
An ECODRIVE consists of a drive controller and an MKD-servomotor.
There are presently four drive controllers available, each with different
control interfaces.
• DKC01.1 with Analog, Stepper Motor, and
Positioning interfaces
• DKC11.1 with Analog interface
• DKC02.1 with SERCOS interface
• DKC03.1 with PROFIBUS-DP interface
The instructions for the DKC01.1 and the DKC11.1 are described in the
following section. The DKC02.1 and DKC03.1 have their own
documentation.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
System Overview 1-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
1.3
Overview of DKC01.1/DKC11.1 Functions
DKC01.1 - Modes of Operation
Servo Drive with Integrated Positioning Control
SPS Control
MS-DOS® - PC
Control drive DKC01.1
with position interface
AC servo motor
MKD
Parameter
Diagnostics
Operating data
RS 232
RS 485
Control drive processor
I/O Card
Control inputs
Saved
position
settings
Control outputs
Selection
of
position
settings
2° Position 1
21 Position 2
22 .
.
24 Position 32
Position
actual value
Fine interpolation
M
3~
Position control
Speed control
~
~
Field oriented
stator voltage
regulator
High resolution
position interface
FS0200d1.drw
Figure 1-1: Servo drive with integrated positioning control
• Up to 32 position settings can be stored in the DKC01.1 and DKC11.1.
These settings can be selected via parallel inputs. The DKC01.1
executes position settings independently.
• The drive controller can conform to mechanical transmission elements
such as gear ratios or feed constants.
• All position, speed, and acceleration data can be weighted rotary or
linear depending on the the axial kinetics.
• An internal homing procedure can help create a reference position.
• The axis can be controlled via the jog function for set-up operation.
• The positioning speed can be influenced with the Feedrate Override.
• Limit switch inputs and parametrical position limits are available to set
travel range limits.
• The drive controller status can be determined via status outputs.
1-2
System Overview
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Servo Drive with Analog Velocity Interface and Integrated
Actual Position Value Register
Control drive DKC01.1 or
DKC11.1 with analog interface
Control
with position regulator
AC servo motor
MKD
MS-DOS® - PC
Parameter
Diagnosis
Operating data
Parameter
Diagnosis
Operating data
RS 232
Control drive
processor
Position
command
value
+W
Kv
-X
RS 485
D
Speed
command
value
A analog
+/- 10V
Position
interface
Position
actual
value
A
D
Speed control
Field oriented
stator voltage
regulator
M
3~
~
~
High resolution
position interface
Linearmaßstab
FS0201d1.drw
Figure 1-2: Servo drive with analog velocity interface and integrated actual
position value register
• The scaling factor of the analog velocity command value can be set in
the DKC.
• The output of the actual position value can be either incremental or
absolute.
• Regardless of the command value the drive controller can be brought
to a standstill via a logic input and kept drift free under active control.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
System Overview 1-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Servo Drive with Stepping Motor Interface
Control
with stepping impulse generator
Control drive DKC01.1
with stepping motor interface
AC servo motor
MKD
MS-DOS® - PC
Interpolation
Parameter
Diagnosis
Operating data
RS 232
RS 485
Control drive processor
Stepping impulse
generator
Stepping
motor
interface
Forwards
Backwards
Fine interpolation
M
3~
Position control
Speed control
Field oriented
stator voltage
regulator
Position
actual value
~
~
High resolution
position interface
FS0202d1.drw
Figure 1-3: Servo drive with stepping motor interface
• The number of steps per rotor revolution is freely adjustable between
16 and 65536.
• The maximum stepping frequency is independant of the load. Because
the position of operation is monitored, it is technically impossible for
steps to be " left out " .
• The Stepper Motor interface can be set to three standard signal
definitions to enable trading signals between control and drive
controller systems.
− Quadrature signals
− Forward/backward signals
− Step and direction signals
• An internal homing procedure can help create a reference position.
• The axis can be controlled via the jog function for set-up operation.
• The homing and jogging speeds can be influenced via the Feedrate
Override.
• Limit switch inputs and parametrical position limits are available to set
travel range limits.
• The drive controller status can be determined via status outputs.
1-4
System Overview
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
DKC01.1/DKC11.1 General Characteristics
Direct Power Supply Connection
The drive controller can be connected directly to single and three phase
230V power supplies or three phase power supplies ranging from 380V to
480V without transformers. A power rectifier, intermediate circuit
capacitor, and bleeder are included as standard equipment.
Integrated Brake Activation
The optional brake in MKD motors is activated directly via the drive
controller.
Actual Position Value Measurement
ECODRIVE measures the actual position value via the motor feedback
system
• Incremental position measurement (standard)
The actual position value will be set at a random value when the power
supply is first turned on. To give the actual position value a fixed
reference point, the reference point must be set with a defined homing
procedure.
• Absolute position measurement (optional)
After the power supply has been turned on, the absolute actual
position value in relation to a fixed reference point is immediately
available. Thus, completing the homing procedure is unnecessary.
Actual Position Value Output
The DKCO1.1 has an actual position value output for transmission of the
actual position value to an NC control. Actual position values can be
transmitted in either incremental or absolute format.
• Incremental Actual Position Value Output
5V-TTL incremental encoder signals with an adjustable counter are
given as an output. Incremental actual position value output is
possible with both actual position value and absolute actual position
value acquisition.
• Absolute Actual Position Value Output
The absolute actual position value is transmitted in the standard SSIformat for position encoders. The output of the absolute actual
position value is only possible when using a motor with an absolute
encoder (optional).
Integrated Diagnostic Display
All internal condition and error analysis is displayed via a dual position
seven segment display.
Easy Installation
The installation and diagnostic program DRIVETOP helps with a userfriendly installation via the serial RS-232 interface on a PC running
TM
Windows 3.1.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
System Overview 1-5
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Functional Differences between DKC01.1 and DKC11.1
The DKC11.1 is a DKC01.1 with reduced operating features. The
essential differences are shown in the following tables.
Type of Operation
DKC01.1
Position control with position interface
X
Position control with stepping motor interface
X
Velocity control with analog interface
DKC11.1
X
X
Torque control with analog interface
X
X
Figure 1-4: Overview:Types of operation available with DKC01.1 / DKC11.1
Function
DKC01.1
Transversing range limits via limit switch
X
Position regulator loop monitoring
X
Status messages (INPOS, INBWG, INREF)
X
Positional forward break-over point function
X
Control drive guided homing
X
Jogging
X
Override function for jogging, positioning, and
homing
X
Actual position output
(Incremental or absolute)
DKC11.1
X
X
Built-in error reaction
X
X
Velocity regulator loop monitoring
X
X
Analog diagnostic outputs
X
X
Built-in control of the motor brake
X
X
Drift-free standstill of the drive via the stop-driveX
function
Figure 1-5: Overview:Functions available with the DKC01.1 / DKC11.1
1-6
System Overview
X
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
2
Safety Instructions for Electrical Drive Controller
2.1
General Information
• The safety information in this user's manual must be fundementally
followed.
• Improper use of this device and disregard of the given warnings can
lead to damaging the device, injury, or death (in the extreme case).
• In case of damage due to neglecting the warnings in this user's
manual, INDRAMAT GmbH does not assume any liability.
• If the documentation in the following manual can not be understood,
one can request documentation in another language before
proceeding with the startup procedure.
• The accurate and safe operation of this device requires proper
transport, storage, assembly and installation as well as careful
sevicing and maintenance.
• Use replacement parts only from the manufacturer.
• Follow the saftey instructions and specifications for the operations
stated.
• The devices are installed in machines that will be used for industrial
applications.
• Initial operation is prohibited until it is shown that the machine in which
the device is installed complies with EG Standard 89/ 392/ EWG
(machine standard).
• Operation is allowed only through observance of the national EMV
instructions for the following applications. In the EU, the EMV standard
89/ 336/ EWG is required.
• The technical data, connection requirements and the installation
requirements are found within the user's manual and must be
followed.
Qualified Personnel:
• Only qualified personnel should work on this device or work within the
area of this device.
• A person is qualified if they are sufficiently experienced with assembly,
installation and operation of the product as well as all the warnings and
precautions according to the user's manual.
• Furthermore, it is explained how to turn on and off, ground and
designate the service circuit and devices in accordance with safety
techniques. The drive controller contains safety functions that are
triggered at the time of fault conditions.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Safety Instructions for Electrical Drive Controller 2-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
2.2
Protection against Contact with Electrical Components
Explanation:
The voltage across some electrical parts will be larger than 50 volts which
can be dangerous. During operation of electrical devices, there are
guided motion parts which have dangerous voltage across them.
High voltage !
Life threatening or bodily harm
Danger
2-2
Safety Instructions for Electrical Drive Controller
⇒ The general assembly and safety instructions must
be followed when working in high voltage area.
⇒ After the installation of the drive controller to all the
electrical devices, one should re-check the
connection schematic.
⇒ An operation is only allowed with a insulated wire
connected
to
predescribed
points
of
a
component(also for test measurements).
⇒ Before servicing electrical components with a voltage
higher than 50 volts, disconnect the device from the
power source. Also protect against the device being
turned back on prematurely.
⇒ Wait for 5 minutes after the device has been turned
off to handle the device so that the capacitors can
completely discharge.
⇒ Do not touch the electrical connector plugs of the
components while the device is on.
⇒ Cover the parts of the device which have a voltage
across them before the device is turned on in order to
avoid them being touched.
⇒ An FI circuit breaker(earth leakage circuit breaker)
can not be inserted using an AC input.The protection
against indirect touching must be produced through
other ways, for example through an overload circuit
breaker (according to EN 501787/ 1994 Section
5.3.2.3).
⇒ For flush mounting instruments, the protection
against indirect contact of an electrical part can be
made through an outer case, for example a switch
gear cabinet(according to EN 501787/ 1994).
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
High Leakage Current
Possible Results
Life threatening or bodily harm
Danger
2.3
⇒ Before turning on the device, all components and the
motor must be grounded or connected to ground points
by insulated wires.
⇒ The leakage current is larger than 3,5 mA.It is required,
therefore, that the device has a fastened connection on
the main power supply.(EN 50178/ 1994 Section
5.12.11.1).
⇒ Before initial operation or testing operations, connect
the drive system to ground.The outer case can have a
voltage across it if not grounded.
Protection from the Safe and Seperated Low Voltages
Explanation:
The voltages on the power components which are found on the
connections and the interface for signal voltages are in the voltage range
of 5 to 30 volts and are within securely seperated circuits.
Warning
2.4
High voltage through false connection
Possible Results
Life threatening or bodily harm
⇒ The signal voltage connection and interface of this
device may only be connected to apparatuses,
electrical components or wires which exhibit a
sufficient safe seperation from the active circuit
according to standard IEC 364-4-41, 413.5 or
according to DIN EN 50178, 12.94, Secion 5.2.18.
Protection from Dangerous Movements
Explanation:
Dangerous movements can be produced through mistakes in the control
of the connected motors.
The causes can be different types:
• Errors in the software
• Production errors in the components
• Wiring errors
• Errors in the test result and signal transmitter
• Errors in the servicing of the components
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Safety Instructions for Electrical Drive Controller 2-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
These errors can apprear directly after the device is turned on or after
unknown time length.
Dangerous Activity
Warning
Possible Results
Life threatening, bodily harm or device damage!
⇒ The drive components monitoring units make maloperation in the connected drives impossible. In view
of operator safety, this fact cannot be relied on alone.
An incorrect work movement the size of which
depends on the kind of malfunction and the operating
status is in any case to be expected before the built-in
monitoring units become active. Operator safety is
therefore to be ensured by means of monitoring units
or measures which are superordinated on the plant
side. These are provided according to the specific
conditions of the plant after a danger and error
analysis by the plant constructor.
The safety
requirements which apply to the plant are included
here.
⇒ The personal safety is ensured through the above
mentioned fundementals of control or preventitive
measures which must be placed above all else. This
will be planned according to specific conditions of the
construction after a danger and error analysis from the
manufacturer. Those of which pass the accepted
safety requirements will be included.
Pay close attention to:
⇒ Keep clear of the machine movement range. Possible
measures to prevent people unintentionally accessing
the machine are protective fences, protective railings,
protective coverings and/or light curtains.
⇒ Sufficient strength of the fencing and covering against
the maximum possible motion energy.
⇒ Mount Emergency Stop switch(es) in the immediate
vicinity of the operator so it can be easily reached.
Check that the Emergency Stop works before start-up.
⇒ Isolate the drive controller power connection via an
Emergency Stop circuit or use a safe starting lockout
to protect against unintentional start-up.
⇒ Before handling or moving into the dangerous voltage
area, bring the control device to a safe standstill.
Electrical equipment above the main switch should be
kept voltage free and ensured that no power could be
turned on again.
• Maintenance Work and Repair
• Cleaning
• before long periods of non-use
⇒ Avoid the operation of high frequency, remote control
and audio equipment in the area of the device or its
wiring.If the usage of the device is unavoidable before
the initial operation of the system and the fail safes of
the system can be tested. In these cases of necessity,
the EMV Test of construction is necessary.
2-4
Safety Instructions for Electrical Drive Controller
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
2.5
Protection during Assembly and Handling
Explanation
Improper handling and assembly of certain power components or use
under without following the requirements can lead to injury.
Possible bodily harm through improper handling!
Injury through pinching, sheering, cutting, trimming
Careful
⇒ The general installation and safety instruction must
be following during handling and assembly.
⇒ Use
suitable
assembly
and
transportation
arrangements
⇒ Prevent pinching and squeezing through proper
precautions.
⇒ Use only the proper tools.In addition, use only the
described special tools.
⇒ Lifting devices and tools should be inserted properly.
⇒ If necessary use appropriate protective equipment
(for example protective eyewear, safety shoes, safety
gloves).
⇒ Do not stand under hanging freight.
⇒ Clean up all liquids on the floor due to slipping
danger.
´
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Safety Instructions for Electrical Drive Controller 2-5
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Notes
2-6
Safety Instructions for Electrical Drive Controller
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
3
Preparation for Startup Procedure
3.1
General Instruction for Startup Procedure
In this chapter the initial operation and diagnostic system DriveTop will be
introduced. In general it is necessary to install DriveTop on the PC for the
commissioning of the DKC to run. Drive Top follows this handbook to
run concurrently offline. In the following chapters the document will refer
often to this program.
Note:
3.2
If you would like to see a short summary of the functioning
qualities of the ECODRIVE, you can jump to chapter 9.
Drive Top Startup Procedure and Diagnostics
DriveTop is a WINDOWS based application program used in the initial
operation and diagnosis of ECODRIVE drive controller.
DriveTop has a user friendly start up guide. The intitial operator will be led
through a series of functional dialogue for the input of all operational
settings. For each of these dialogues there are help instructions that can
be activated with the push of a key.
The start up parameterization process is set up so that the user is only
confronted with parameter settings that are only relevant to the chosen
operating configuration.
3.3
DriveTop-System Requirements
DriveTop is a Windows based application program. The minimum PC
requirements are:
• IBM compatable 80386 / 40MHz (80486 recommended)
• 4MB RAM (8MB recommended)
• 5MB free hard drive space for Drive Top and an additional 15 MB for
the ECODRIVE help system
• A free serial port
• VGA graphics
• Mouse or compatable pointing instrument
• Windows 3.1
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Preparation for Startup Procedure
3-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
3.4
Installation of DriveTop
DriveTop will be on two (2) 3.5 " disks (Dos format;1,44MB)
Note:
Please make a backup copy of the Drive Top installation
diskettes. Install the software from these copies. Store the
original diskettes in a safe place! For installation on your
computer, you must use the installation programs on the
diskettes. It will not work if you simply copy the diskettes.
Starting the Installation Program
For installation of DriveTop do the following steps:
• Turn on the PC and start Windows
• Place “Diskette 1” in the disk drive
• Activate the Windows Program Manager
• At the menu, click on “FILE“ and choose from the drop down menu
“LOAD“.
• At the command prompt type " A:\INSTALL” (if the DriveTop diskette is
in drive A:)
• The order of the installation program is as follows:
After successful completion of the installation you will find the new
program group icon INDRAMAT on your PC. Within this group you will
find the DriveTop icon and an icon for the ECODRIVE help system.
Figure 3-1: INDRAMAT program group with the DriveTop and ECODRIVE Help
icons
3-2
Preparation for Startup Procedure
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
3.5
Connection of the PCs with the Drive Controller
A serial communication cable is used for the data transfer between the
PC and the drive controller. This cable can be purchased from
INDRAMAT and can be either a 9 pin or 25 pin D-SUB connector. The pin
diagram of the cable is shown in the following figure.
Figure 3-2: Connection of a PC via the RS232-interface on the DKC
Note:
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Please pay close attention so that the connection of the
relative potential (OV/GND) is made to the internal cable
shields!
Preparation for Startup Procedure
3-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
3.6
Minimal Installation for Operation of a DKC with DriveTop
Command for the first parameter setup for a DKC is shown in the
following minimal installation.
MS-Dos® - PC
X1
X4
X5
X6
1
4
+24 V
0V
=
~
~
1 x AC 230V
50...60 Hz
X7
IKS 374
IKL...
MKD
FP0021d1.drw
Figure 3-3: Minimal installation for simple parameter setup
With this installation the parameter setup can be easily accomplished. To
activate the drive and to carry out motion there are more installations
required.
Note:
3-4
Preparation for Startup Procedure
Detailed installation instructions are found in the Project
Planning Manual
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
3.7
DriveTop Start Up
DriveTop can be started by double clicking on the DriveTop icon.
Scanning for Connected Drives
After DriveTop starts running, it searches for connected drives. Thereby
every drive address between 1 and 99 will be tested.
Figure 3-4: Scanning of the drive addresses
If one or more drive controllers are found, the parameter settings from the
drive will be classified.
Note:
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Multiple drives may be found when the PC is connected by an
RS232/RS485-interface converter to more drives which are
interfaced with an RS485.
Preparation for Startup Procedure
3-5
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
If no drive is found then the following dialogue appears:
Figure 3-5: Dialogue appearing after failed scan
Reasons for this error can be:
• The +24Vdc control voltage for the DKC is not turned on or not
connected.
• Problem in the connection between PC and the drive controller.
Establishing a connection can be retried, the program can be cancelled or
you can go in the offline mode.
Online and Offline Operation
Parameter Setup through Online Operation Startup Procedure
Online operation is when a drive controller is in direct communication with
the PC via the serial communication link. That means that in online
operation, all the parameters that are in the current dialog screen of the
start up sequence are written directly to the drive controller and become
immediately operative. The user can also immediately test the results of
his installation.
Parameter Setup through Offline Operation Startup Procedure
Offline operation means that there is no connection to the drive controller
from the PC. The offline operation allows the initial operator a comfortable
preparation of the parameter setting which then can be sent completely
through a connection to the desired drive controller. There remains only a
small amount of work left over for the intial operator which can not be
worked through offline because of the dependence of the machine.
3-6
Preparation for Startup Procedure
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Diagnostic Window
After a successful drive controller parameter scan, the following
diagnostic window will appear on the PC screen.
Figure 3-6: Diagnostic Window
The diagnostic window displays the following:
• Drive controller status and error messages
• Command value and actual value
• Power on status and status signals
• Model descriptions of installed components
Instruction:The diagnostic window appears only in online operation. In
offline operation, a graphic with the ECODRIVE components
is shown instead of the diagnostic window.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Preparation for Startup Procedure
3-7
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
3.8
DriveTop Menu Structure
Files
Load File
You can choose from a list of available parameter files. The data within
these parameter files can be loaded into the drive controller.
Note:
In offline operation the content of the parameter files can be
viewed and changed.
Save File
The actual parameters of a connected drive controller are stored in a
parameter file on the PC.
Note:
Exit (Alt+F4)
" DEFAULT.PAR " . With the help of this parameter file, you can
restore the state of the parameters of the drive controller at
any time. For your own parameter data, you should use other
file names.
Under the Menu item " End " you can leave the DriveTop program.
Parameter
Scan
As DriveTop is started, all the parameter information is read from the
connected drive controller. Due to speed reasons, the specific parameter
values are only read from the contents of the parameters.
Often one would like to move from one drive controller to another without
restarting the DriveTop program. In order to refresh the parameter
window, one must perform a new parameter scan after plugging in the
interface cable into the another drive controller.
List of All Parameters
In this menu one can examine and change a list of all of the parameters
of the drive controller. Therefore a “Low-Level " possibility is required for
parameter examination that needs to be used in certain exceptional
cases. Normally all the drive parameters regarding the start up procedure
parameterization were implemented.
List of the Invalid Parameters
By switching from the parameter mode into the drive mode, the actual
parameters will be checked for validity. All of the incorrect parameters
and those that will lead to boundary value problems are placed in an
invalid parameter list and can be corrected within the list.
Mode
The drive controller recognizes parameter mode and drive mode. Under
this menu one can switch between the modes.
Motor Type
3-8
Preparation for Startup Procedure
Under this menu, the connected motor data can be read and displayed.
With offline operation, this activity must be performed manually.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Control Device Type
Under this menu, drive controller information can be read. From this
information, the value of the overload factors and the PWM frequency,
within which the drive should run, are read. With offline operation all of
these activities must be done manually by the user.
Type of Operation
The installation of the desired type of operation.
Additional Parameter Displays
Additional parameter windows appear in the parameter menu. They are
independent of the selected type of operation. The mentioned parameter
windows are self-explanatory and will not be discussed further.
Startup Procedure
Hardware Connection
Under this menu one will find the help system where the connection to the
drive controller is shown.
Parameter Settings
The parameters regarding the set up procedure leads the user through a
series of dialogue procedures. At the end, all of the necessary installation
requirements are set.
Drive
Scan
DriveTop can be physically connected to more that one drive controller at
the same time with the use of an RS232/RS485 interface converter.
Under the menu “Scanning " , DriveTop looks for connected drives.
Select
If DriveTop is connected to more than one drive with the RS485
interface.Drive controller selection of
which device is being
communicated to is done from this menu.
Offline
DriveTop can be operated online as well as offline
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Preparation for Startup Procedure
3-9
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Options
Language
The language in which DriveTop functions and the language of the
parameters and diagnostics of the drive controller can be selected or
changed from this menu.
Contents
This menu accesses the online documentation. The online documentation
contains a large scope of information regarding the functioning qualities of
the drive system, parameter descriptions, and diagnostic descriptions.
Using Help
There are on-screen general instructions to navigate through the help
system.
Help
Information over...
3.9
Information regarding the software version of DriveTop.
Printing of the Parameter Data
DriveTop does not offer a direct possibility of printing the parameter files.
Parameter files are stored as ASCII files and can be viewed with almost
any editor and printed. Should parameter files be printed, it is suggested
that the Microsoft editor " Notepad " be used. Notepad is a part of Windows
3.1 and therefore available within Windows 3.1. To print a parameter file
the following instructions are required:
An example of a parameter file " X_Axis.par”:
• Under the Program Manager menu choose " Run - File... "
• At the command prompt type " Notepad X_Axis.par " and click the " OK
icon. "
• Click on menu item “File” then click on “Print”(The printing process will
begin.)
3-10
Preparation for Startup Procedure
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
4
Motor and Drive Controller Selection
4.1
General Information on Selecting a Motor and
Drive Controller
An ECODRIVE system consists of a drive controller (DKC) and a servo
motor (MKD). Selection documents (selection lists) can help in selecting
the drive controller and motor for a specific application. These
documents can be obtained from INDRAMAT.
Certain information about the motor and drive controller is used at start up
to answer questions to install parameters. During online operation this
information is read from the connected motor and drive controller and
does not have to be entered by the user. During offline operation the drive
controller and motor are not connected, necessitating the user to enter
this information directly.
4.2
Motor Selection
Specific application information about the motor is needed for offline
operation. DriveTop needs this motor-specific data to determine specific
parameter settings. (Motor current, velocity, standard control parameters,
feedback type, etc.)
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Motor and Drive Controller Selection
4-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Figure 4-1: Motor selection
Note:
If false motor data is entered here, the diagnostic " UL "
appears on the drive controller display after the parameter
settings have been loaded. This means that the type of motor
in the parameters is not identical with the type of motor that is
actually connected. If this happens, do the following:
• Acknowledge the error by pushing the S1-button on the drive
controller. If the drive controller does not discover any additional
errors, " bb " is displayed.
• Reset the installation parameters and recalculate the parameters of
the drive controller limits.
4-2
Motor and Drive Controller Selection
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
4.3
Drive Controller Selection
Figure 4-2:Drive Controller
Selecting the Drive Controller
For offline operation, select the type of drive controller. There are three
which can be selected:
• DKC01.1-040-3-FW
• DKC01.1-040-7-FW
• DKC11.1-040-7-FW
The type of drive controller selected determines the availability of modes
of operation and functions. This adjustment happens automatically during
online operation by reading the " Controller Type " parameter of the
connected drive controller.
Note:
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
The DKC11.1 limits the available functions only during online
operation.
Motor and Drive Controller Selection
4-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Selecting the Overload Factor
The short term operating torque of the drive controller is defined via the
overload factor. The velocities and torques available with the different
combinations of drive controller, motors and power supply input voltages
are provided in the DKC/MKD selection lists. The overload factor needed
to obtain the drive controller data can be read off of the last column in
each line of the selection list.
Note:
The projected selection data is necessary for the correct
adjust-ment.
Selecting the PWM-Frequency
The clock frequency of the power output (PWM-frequency) of the drive
controller can be set to either 4kHz or 8kHz. The PWM-frequency
determines the noise level of the motor, the permanent current carrying
capacity of the drive controller, and also the available short term operating
torque of the control drive. The following rules apply to the settings:
• The 4 kHz PWM-frequency should be used in standard applications to
maintain the high short term operating torque of the drive controller.
• The 8kHz setting should be used in applications where the
environment requires a low noise level. It is important to note that
when using the 8kHz PWM-frequency, the drive controller has a lower
permanent current carrying capacity as well as reduced short term
torque. All permanent current and permanent torque data will be
reduced by a factor of approximately 0.9.
4-4
Motor and Drive Controller Selection
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
5
DKC01.1 Drive Controller with Integrated
Positioning Control
5.1
Fundemental Method of Operation for Position Control
The DKC01.1 can store up to 32 different position commands. Five
selectable binary inputs (POS1...POS5) choose one of these position
commands. A start signal initiates the position command. The following
are allowable motion changes to the position commands:
• Desired Position
• Positioning velocity
• Positioning acceleration
• Positioning jerk
• Positioning mode
Note: The positioning speed can be changed by the Velocity Override
Function (see 9.10).
5.2
Setting the Operation Mode: Position Control with
Position Interface
The operational mode of " Position Control with Positioning Interface " is
standardized through the operational mode window.
Figure 5-1: Position Control with Positioning Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Integrated Positioning Control
5-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Position Control with Following Error
When positioning in this mode, a speed dependent difference between
the command position and the actual position is created (Following
Error). The time relation between positioning depends on the fixed Kv
factor and may cause a " creeping " into the desired position, especially
with a small Kv factor.
Position Control without Following Error
An anticipitory speed control will position the drive controller without
following error, thereby causing the command position and the actual
position to be the same. Therefore, positioning is not dependent on a
speed difference between the command and actual position.
Selecting the Appropriate Position Control Mode
In general, the position control without following error is advantageous
because in this mode the drive reaches the desired position the
quickest.(No Kv-factor-dependent creeping)
Through a less rigid mechanical system, undesireable acceleration knee
points as well as the mechanical vibrations are loosened. If the
application allows the disadvantages of the following error, then it is
suggested that in this instance one uses the position control with
following order.
Vibration will then be dampened through the reduction in the Kv factor. A
compromise is thereby created between the positioning and the load
rigidity.
5-2
DKC01.1 Drive Controller with Integrated Positioning Control
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
5.3
Positioning Operation
Absolute Positioning
Absolute positioning commands store the desired position as a firm
(absolute) position in the machine coordinate system.
Example: Absolute positioning with a desired position = 700
Speed
profile
v
STANDSTILL WINDOW
200
700
x
POS1...POS5
POSQ1...POSQ5
T
AH/STAR
INPOS
INBWG
Regulator release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an inverted condition.
SV0001D1.drw
Figure 5-2: Absolute Positioning Command
Requirements for the Operation of an Absolute Positioning
Command:
• The drive must be homed.
• The working area can be restricted to the position limit. Absolute
positioning commands will only be completed when the desired
position lies within the admissible working area.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Integrated Positioning Control
5-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Relative Positioning
In a relative positioning command, the desired position is referred to as a
relative distance from the actual position.
Through a string of relative positioning commands, a string of distances
can be positioned.
Note:
If the relative positioning is used in order to start a string of
position commands , it is important to consider that under the
following requirements the string will be lost:
• Removing and reapplying of the
drive controller enable signal
• Jogging between positioning commands
• Unending movement in the positive/negative direction between
positioning commands
• Through the activation of a relative positioning command after
an interrupted absolute positioning command
• Homing
• Setting an absolute distance
In this case, the relative positioning is set in respect to the
actual position.
If the acceptance of a positioning command is rejected, the
drive acts as if it had never been started.
If a string of relative positioning commands would be positioning
continuously forwards or backwards (transport belt), then the scaling of
the position data must be fixed in module format. (Module value =
Transport belt length).
5-4
DKC01.1 Drive Controller with Integrated Positioning Control
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Example: Relative positioning with a desired position = 700 (actual
position = 200)
Relative positioning commands will also be executed if the drive had not
been homed.
Speed
profile
v
STANDSTILL WINDOW
200
900
x
POS1...POS5
POSQ1...POSQ5
AH/START
INPOS
INBWG
Regulator release
t
& lt; 14 ms
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs do not show that after valid record acceptance the
position inputs are in an inverted condition.
SV0002_d1.drw
Figure 5-3: Relative Positioning Command
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Integrated Positioning Control
5-5
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Interruption of Relative Positioning Commands
Example: Interruption of relative positioning command with a selected
position = 600
Speed
profile
v
STANDSTILL WINDOW
700
100
POS1...POS5
POSQ1...POSQ5
x
01
~01
03
01
03
AH/START
INPOS
INBWG
Regulator release
t
& lt; 14 ms
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs show after valid record acceptance the number of
the active position records.
SV0036d1.drw
Figure 5-4: Interruption of Relative Positioning Commands
Note: After the interruption of a relative positioning command, another
relative positioning command will be started with its relative position
taken from the actual position. The relation of the string of
distances is lost.
5-6
DKC01.1 Drive Controller with Integrated Positioning Control
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Relative Positioning Command after the Jogging Operation.
Example: Interruption of the relative positioning command after the
jogging operation with selected position = 600
Speed
profile
v
STANDSTILL WINDOW
750
150
POS1...POS5
x
01
POSQ1...POSQ5
02
03
AH/START
INPOS
INBWG
Regulator release
t
Jog+
& lt; 14 ms
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs show after valid record acceptance the number
of the active position records.
SV0037d1.drw
Figure 5-5: Relative Positioning Command after the Jogging Operation
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Integrated Positioning Control
5-7
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Relative Positioning Command after Activation of the Drive
Controller Enable
Example: Interruption of relative method command after activation of the
RF with desired position = 600
Speed
profiles
v
STANDSTILL WINDOW
800
200
POS1...POS5
POSQ1...POSQ5
x
01
02
03
AH/START
INPOS
INBWG
Regulator release
t1
Positioning inputs valid
t
t1 & gt; 10ms
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs show after valid record acceptance the number
of the active position records.
SV0038d1.drw
Figure 5-6: Relative Positioning Command after Activation of Drive Controller
Enable
5-8
DKC01.1 Drive Controller with Integrated Positioning Control
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Continuas Movement in Positive/Negative Direction
Should a motor with a defined speed, acceleration and jerk move without
a specific desired position, then the method command mode must be
specified as: " Movement in the positive direction " or " Movement in the
negative direction " . The drive controller moves continuously in the given
direction until the start signal is removed(i.e. one of the position limits or
limit switchs is reached).
The desired position is meaningless in this positioning mode.
Speed
profile
v
STANDSTILL WINDOW
x
& gt; 10 ms
POS1...POS5
POSQ1...POSQ5
01
XX
~01
01
AH/START
INPOS
INBWG
Regulator release
t
& lt; 14 ms
Positioning inputs valid, ex. Position record No. 1
XX
Condition of the positive inputs not relevant
Positioning acknowledgment outputs show the negated status of the positioning inputs,
ex. position record No. 01 negated
Positioning acknowledgment outputs do not show that after valid record acceptance
the position inputs are in an inverted condition, ex. Position record No. 1
SV0003D1.drw
Figure 5-7: Unending Movement in Positive/Negative Direction
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Integrated Positioning Control
5-9
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
5.4
Positioning Command Input
Positioning command data will be established over the positioning
command input window.
Figure 5-8: Positioning Command Input
Command Number
The command number indicates the address of the positioning
commands where these commands can be pulled up under the
command choice directory.
Positioning Command Data
Desired Position
The position where the drive controller should be positioned is supplied
from the input array of desired positions. The desired position,
independent of the positioning mode, can be relative or absolute.
5-10
DKC01.1 Drive Controller with Integrated Positioning Control
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Positioning Velocity
The positioning velocity, with which the desired position will be reached,
can be established here. With the Feedrate override function, the speed
during the positioning can be dynamically changed.
Positioning Acceleration
The positioning acceleration, with which the drive accelerates and
decelerates, can be defined for every positioning command. The jerk of
the acceleration happens under allowance of the following points of
consideration:
• Maximum torque of the motor in response of the motor and drive
controller combination
• Inertial torque and frictional torque of the connected mechanical
system
Positioning Jerk
A " jerk " will represent the acceleration change of a movement.
ECODRIVE presents the opportunity to limit the jerk of a movement. The
jerk limit will advantageously be set in order to avoid vibration through
which the acceleration or deceleration will generate. This specific effect
can be caused especially with a moveable stiff mechanical system.
Instruction for Installation of the
Positioning Jerk
In most cases the jerk limit is not required and should be turned of during
the startup procedure. The jerk limit will be deactivated if set to a value
of zero.
If there appears to be an unacceptable vibration in the acceleration and
deceleration phase of the positioning procedure, one can minimize the
vibrational inducement of the mechanical system through the gradual
change of the positioning jerk.
Thereby the maximum value of the jerk should begin and be reduced
until an acceptable positioning movement arises.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Integrated Positioning Control
5-11
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
A rough approximation validating the jerk limit:
Jerk [
mm
] & gt; 2⋅
s3
mm
s
] ⋅ 60 [
]
2
min
s
mm
Speed [
]
min
Acceleration [
Formula 5-1: Jerk Limit through Linear Scaling
rad 2
s
] ) ⋅ 60 [
]
2
rad
min
s
Jerk [ 3 ] & gt; 2 ⋅
Umdr
rad
s
Speed [
]⋅ 2⋅π [
]
min
Umdr
(Acceleration [
Formula 5-2: Jerk Limit through Rotary Scaling
Positioning Mode
The positioning mode establishes if the drive controller acts in a relative,
absolute or positioning command with a desired position.
Data Receiving
The given positioning command data is not intially active. Upon sending
of the positioning command, the data is first written into the drive
controller. During the setup it is helpful if the data can be directly tested.
For this case all the given positioning commands can be loaded into the
drive controller through the " Data Transmission " key without the window
having to leave the screen.
5-12
DKC01.1 Drive Controller with Integrated Positioning Control
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
5.5
Choosing, Starting and Selection of a Positioning
Command
Choosing a Positioning Command
There are five binary position command selection inputs in the DKC1,
POS1...POS5. The command number of the desired positioning
command is selected as binary signal types in the command.
Starting of Positioning Commands
Positioning commands will be activated fundementally by a low to high
signal transition at the AH/Start input.
Use of the Command Selection Inputs
The correct transfer and operation of positioning commands can be
monitored through the command selection acknowledgements,
POSQ1...POSQ5, of the connected drive controller.
There are five corresponding command selection acknowledgements for
the five command selection inputs.
The command acknowledgements serve the following purposes:
• Cable Failure Monitoring
• Acknowledgement of assumption of active commands
Speed
profile
v
STANDSTILL WINDOW
x
& gt; 10 ms
POS1...POS5
POSQ1...POSQ5
01
XX
~01
01
AH/START
INPOS
INBWG
Regulator release
t
& lt; 14 ms
Positioning inputs valid, ex. Position record No. 1
XX
Condition of the positive inputs not relevant
Positioning acknowledgment outputs show the negated status of the positioning inputs,
ex. position record No. 01 negated
Positioning acknowledgment outputs do not show that after valid record acceptance
the position inputs are in an inverted condition, ex. Position record No. 1
SV0003D1.drw
Figure 5-9: Use of the Command Selection Acknowledgments
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Integrated Positioning Control
5-13
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Note:
After activation of the AH/Start-Signals, the transfer of the new
positioning commands will be acknowledged after about 14 ms
by means of the command selection acknowledgement
outputs.
At the same time the drive controller will set the " In Position
Output " = logic 0 if the new desired position is not reached.
See also Status Messages.
Interruption of Positioning Commands
Positioning commands can be interrupted during the command operation
through removal of the start-signal (AH/START = logic 0).
5-14
DKC01.1 Drive Controller with Integrated Positioning Control
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
5.6
Desired Positioning Manipulation through Modulus
Scaling
Because the scaling of the position data is in modulus format, the desired
position can only be in the range of zero to the given modulus value.
The operation distance of a positioning command can also have the
maximum amount of the modulus value.
Example 1:
0°
270°
90°
180°
SB0001D1.ds4
Figure 5-10: Positioning through Modulus-Scaling(positive direction)
The modulus value in this example is set at 360°. The drive controller is
positioned at 90°. Through activation of an absolute positioning command
of desired position = 180° or through activation of a relative positioning
command 90°, the drive moves from 90° to 180°.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Integrated Positioning Control
5-15
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Example 2:
0°
270°
90°
180°
SB0001d1.drw
Figure 5-11: Positioning through Modulus-Scaling(negative direction)
Through activation of a absolute positioning command with desired
position of 0° or through activation of a relative positioning command with
desired position of 270°, the drive moves 90° backwards.
Note: A specific rotation can be selected if the " Command Value Mode
for Modulo Format " is installed (only negative or always positive.
See parameter description).
With modulo format, there are no installable negative desired
positions. In spite of the actual backward desired position, one
must follow the given instructions in order for the desired position to
move.
T arg etPosition tobe entered = Modulo value − path which shouldbe followed
Formula 5-3: Calculation of a relative desired position through movement in the
negative direction
5-16
DKC01.1 Drive Controller with Integrated Positioning Control
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
5.7
Connection Illustration of the Positioning Interface
max. 20 m
X2
1
2
3
SPS
dig.
I/O
4
5
6
7
8
9
10
11
0 Vext
0.5 mm2
POS1
POS2
POS3
POS4
POS5
POS Q1
POS Q2
POS Q3
POS Q4
POS Q5
0V
12
Inputs:
min.
HIGH
LOW
max.
16 V
-0.5 V
Input voltage
30 V
8V
approx. 5 kOhm
Input resistance
POS1
POS2
POS3
POS4
+5 V
200
5V1
4k7
10k
2k
POS5
10n
6k3
10k
2k
10n
Outputs:
Output voltage
min.
HIGH
LOW
max.
16 V
0V
Uext.
1V
Output current Iout
80 mA
Leading time, fall time
Overload protection
approx. 5 µs
at Iout & gt; 300 mA the
outputs switch to LOW
24 V
(Uext.)
10k
1n
AP0217d1.drw
Figure 5-12: Positioning interface
POS1........POS5:
Positioning command - selection inputs (binary
coded)
POSQ1.....POSQ5:
Positioning command - selection
acknowledgements (binary coded)
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Integrated Positioning Control
5-17
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Notes
5-18
DKC01.1 Drive Controller with Integrated Positioning Control
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
6
DKC01.1 Drive Controller with Stepping Motor
Interface
6.1
General Information for Operation with Stepping Motor
Interface
The ECODRIVE acts as a conventional stepping motor drive controller in
the stepping motor interface operating mode. This enables conventional
stepping motor controls to be attached to the ECODRIVE.
Note:
6.2
Because the ECODRIVE digitally replicates a stepping motor
drive, its use is not recommended for applications where
precision is required. INDRAMAT has a line of excellent drive
systems with SERCOS interfaces for applications such as this.
Setting the Operation Mode: Position Control with
Stepping Motor Interface
The operating mode with stepping motor interface is set via the operating
mode dialog.
Figure 6-1: Position Control with Stepping Motor Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Stepping Motor Interface
6-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Position Control with Following Error
When positioning in this mode, a speed dependent difference between
the command position and the actual position will be created (Following
Error). This synchronized action when positioning is dependent on the
Kv-factor setting and causes a " crawling " towards the desired position,
especially with small Kv-factors.
Position Control Without Following Error
In the position control with following error mode, a speed control
ensures that the command position and actual position are always the
same. There is no speed dependent difference between command
position and actual position.
Selecting the Appropriate Position Control Mode
Because the drive controller simulates the behavior of an actual stepping
motor in the position control without following error mode, this mode
should be given preference.
In less rigid mechanical systems, the acceleration knee points created by
this mode cause undesireable mechanical vibrations. The position
control with following error mode should nevertheless be used if the
application allows this disadvantage.
Vibration will then be dampened by reducing the Kv factor. Doing this
creates a compromise between the positioning action and the load
rigidity.
6-2
DKC01.1 Drive Controller with Stepping Motor Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
6.3
Stepping Motor Signal Processing
In the operating mode " Position Control with Stepping Motor Interface " ,
the DKC converts impulses from external inputs into defined position
changes. The following modes can be selected:
• Quadrature signals
• Forward/backward signals
• Step and direction signals
The steps per revolution executed by the drive controller can be adjusted.
Figure 6-2: Stepping Motor Signal Processing
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Stepping Motor Interface
6-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
6.4
Stepping Motor Interface
Interface Mode
1: Quadrature signal
SM 1
SM 2
Counter-clockwise
t1
Clockwise
t1
t1 ≥ 1.4 µs
2: Forward/backwards signal
SM 1
SM 2
Counter-clockwise
Clockwise
t2
t2 ≥ 5.6 µs
3: Step and direction signals
SM 1
SM 2
Counter-clockwise
tL
tL ≥ 2.8 µs
t3
Clockwise
t3 ≥ 5.6 µs
SV0200d4.drw
Figure 6-3: Stepping Motor Interface Mode
Stepping Motor Interface
+5 V
+15 V
22p
200R
50k
2k
2k
SM+
+
-
SM2k
2k
4k
200R
+15 V
+5 V
Max. allowable input voltage:
Max. switching frequency:
30 V
175 kHz
AP0005d1.drw
Figure 6-4: Stepping Motor Interface
6-4
DKC01.1 Drive Controller with Stepping Motor Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
6.5
Types of Stepping Motor Signal Connections
Signals can be exchanged with the stepping motor control in two ways:
• Differential signals
• Open-collector signals
max. 20 m
Control
X2
Channel +
1
2
3
Channel -
4
SM1+
SM1SM2+
SM2-
5
Channel +
6
7
8
Channel -
9
0 Vext
10
11
0V
12
Inputs:
Input voltage
min.
max.
0V
30 V
max. 175 kHz
Clock frequency
+5 V
200
+15 V
22p
SM+
+
50k
2k
2k
SM-
-
2k
2k
200
4k
+15 V
+5 V
AP0219d1.drw
Figure 6-5: Stepping Motor Transmission with Differential Signals
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 Drive Controller with Stepping Motor Interface
6-5
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
2k4
2k4
Control
2k4
Uext
X2
1
SM1+
SM1SM2+
SM2-
2
3
4
5
6
7
8
9
10
0V
11
0V
12
Inputs:
min.
max.
0V
Input voltage
30 V
max. 175 kHz
Clock frequency
+5 V
200
+15 V
22p
SM+
+
2k
2k
50k
2k
2k
SM-
-
4k
200
+5 V
+15 V
AP0218d1.ds4
Figure 6-6: Stepping Motor Signal Transmission with Open-Collector Signals
Note:
6-6
Transmitting the stepping motor signals as differential signals
is recommended because the differential signals have a higher
interference resistance.
DKC01.1 Drive Controller with Stepping Motor Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
7
DKC01.1 / DKC11.1 Drive Controller with
Analog Speed Interface
7.1
General Notes for Operating with an Analog Speed
Interface
In the " Speed Regulation with Analog Interface " operating mode, the
ECODRIVE acts like a conventional analog servo drive. This makes it
very easy to operate with normal NC control systems.
Note:
7.2
The digital signal processing in ECODRIVE might lead to
interferences.
It is therefore not recommended that
ECODRIVE be used in precision applications. INDRAMAT
has a line of excellent drive systems with SERCOS interfaces
for applications of that type.
Setting the Operating Mode: Speed Regulation with
Analog Interface
The " Speed Regulation with Analog Command Value " operating mode
can be set through the Operating mode selection dialog box.
Figure 7-1: Speed Regulation with Analog Command Value
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 / DKC11.1 Drive Controller with Analog Speed Interface
7-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
7.3
Analog Speed Command Value Processing
The analog interface must be adapted to the connected NC control
system. The command value scaling, the input offset, and the command
value smoothing must be set to do this.
Figure 7-2: Analog Speed Command Value Processing
Command Value Scaling
In order to scale the analog velocity command value, the maximum
command voltage value must be entered in the parameter " Command
Value for Required Speed " at which a specific speed is to be achieved.
The maximum speed is entered in the parameter " Speed with Required
Command Value " .
The command and speed parameter values always refer to the motor
shaft independent of the attached gears and the scaling setting.
7-2
DKC01.1 / DKC11.1 Drive Controller with Analog Speed Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Offset Setting of the Analog Velocity Command Value
When the speed command value voltage is at 0V, the drive should be at a
standstill. The " Analog Velocity Target Value Offset " parameter can be
used to compensate for offsets in the analog signal processing.
If the DKC together with the NC control system are being operated in the
position control, the offset setting can be used to adjust the static position
deviation to zero. The axis in position monitoring should be used to do
this. The offset parameter should be adjusted while the axis is at a
standstill until the following error display for the NC control system
displays the value zero.
Command Value Smoothing
Position loop in NC control systems work with a specific cycle time. Very
often this cycle time is in the range from 5ms to 20ms. The velocity
command values produced by the NC affect the drive controller like
springs and cause vibrations and noises in the machine mechanics.
In order to reduce the vibrations, the command values can be filtered
through the command value smoothing.
The rule of thumb is:
filter time constant = 0.3 ... 0,5 ⋅ command value smoothing
Formula 7-1: Specification of the Filter Time Constant for the Command Value
Smoothing
Analog Interface
max. 20 m
CNC
X3
1)
0.5 mm2
0.5 mm2
1
2
3
0 Vext
4
5
6
7
E1
E2
IRED 1
IRED 2
AK1
0V
AK2
8
Inputs:
min.
± 10 V
± 10 V
Input voltage
between E1-E2
between E1-0VM; E2-0VM
max.
± 15 V
± 15 V
0.5 mA
Input current: E1; E2
Input resistance
approx. 20 kOhm
Input drift
18 µV/°C
AD converter
12 Bit
Resolution per bit
4.8 mV
20k
20k
+
ADC 12 Bit
20k
20k
AP0213d1.drw
Figure 7-3: Connection Diagram of the Analog Speed Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1 / DKC11.1 Drive Controller with Analog Speed Interface
7-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Notes
7-4
DKC01.1 / DKC11.1 Drive Controller with Analog Speed Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
8
DKC01.1/DKC11.1 Drive Controller with Analog
Torque Interface
8.1
General Instructions for Operation with Torque Interface
ECODRIVE can also be operated in the Torque regulation operating
mode. The drive may have to generate a defined torque in special
applications. Examples of this type of applications are:
• Clamping of work pieces
• Master-slave operation for multiple axes
Note:
INDRAMAT must be notified before ECODRIVE is used in this
operating mode.
Danger of accidents
movements
WARNING
caused
by uncontrolled
axis
If ECODRIVE is to be used as a torque regulated control
drive, the protection mechanisms must be used to prevent
people or machines from being damaged!
⇒ Be aware: without external supervision the motor
velocity during torque regulation can clime up to the
maximum velocity as a result of very small command
value settings, if there is no opposing torque in effect.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1/DKC11.1 Drive Controller with Analog Torque Interface
8-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
8.2
Setting the Operating Mode: Torque Regulation with an
Analog Command Value
The " Torque Regulation with an Analog Command Value " operating mode
can be set through the Operating Mode Selection dialog box.
Figure 8-1: Torque Regulation with an Analog Command Value
8-2
DKC01.1/DKC11.1 Drive Controller with Analog Torque Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
8.3
Analog Torque Command Value Processing
Scaling the Analog Torque Command Value
The following stipulation is always in force for analog voltage at the
command value input in Torque regulation:
The maximum effective peak torque is emitted when the input voltage is
at 10V.
The maximum effective peak torque is dependent upon the motor-drive
controller combination and the current torque limit value.
Adjusting the Offset of the Analog Torque Input
In order to adapt the offset voltages to the analog command value
transmission, an offset can be set in the drive controller.
Figure 8-2: Input Offset Adjustment in Torque Regulation
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DKC01.1/DKC11.1 Drive Controller with Analog Torque Interface
8-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Analog Interface
max. 20 m
CNC
X3
1)
0.5 mm2
0.5 mm2
1
2
3
0 Vext
4
5
6
7
E1
E2
IRED 1
IRED 2
AK1
0V
AK2
8
Inputs:
min.
± 10 V
± 10 V
Input voltage
between E1-E2
between E1-0VM; E2-0VM
max.
± 15 V
± 15 V
0.5 mA
Input current: E1; E2
Input resistance
approx. 20 kOhm
Input drift
18 µV/°C
AD converter
12 Bit
Resolution per bit
4.8 mV
20k
20k
+
ADC 12 Bit
20k
20k
AP0213d1.drw
Figure 8-3: Connection Plan for the Analog Torque Interface
8.4
Velocity Supervision in Torque Regulation
When ECODRIVE is used in torque regulation, it supervises the velocity
of the motor. If the current actual motor velocity exceeds the velocity limit
value by more than 12.5% or a maximum of 100rpms, the drive controller
disengages the torque and displays the diagnostic F879 Velocity Limit
Value Exceeded.
This feature can be used to prevent an undefined accelaration up to the
motor's maximum velocity.
Note:
8-4
The internal velocity supervision in the Torque regulation
operating mode does not offer protection for people. External
supervision devices and, if necessary, constructive
precautions must be taken before personal protection/safety
can be guaranteed.
DKC01.1/DKC11.1 Drive Controller with Analog Torque Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9
General Drive Functions
9.1
Scaling and Mechanical System Data
With ECODRIVE it is possible to process position, velocity, and
acceleration data with respect to machine kinematics and mechanical
transmission elements.
The Scaling/Mechanical System dialog in DriveTop provides all the
settings which are necessary to allow machine mechanical systems to
work with the drive controller.
Note:
Entering the data is only necessary in the " Position control with
positioning interface " operating mode. Entering the scaling and
mechanical system data is not mandatory in the torque control,
velocity control, and position control with step pulse interface
operating modes because the adjustments prescribed by
these parameters take place in the superordinate machine
control. However, entering this data in the operating mode can
be advantageous because the DRIVE-TOP diagnostic window
will show the position and speed output variables scaled in
units appropriate for the application.
Linear Scaling
Figure 9-1: Scaling/Mechanical system
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
In applications where a linear carriage is to be moved, all output variables
of the shaft should be entered in linear units and recorded. Linear scaling
should be selected and the mechanical data of the shaft entered. (Feed
constant, transmission input revolutions, and transmission output
revolutions)
A standard arrangement of a mechanical system with a circular rotation
shaft is pictured in the diagram. Other similiar mechanical combinations
can be derived from this standard configuration.
The feed constant for rack and pinion mechanism can be calculated as
follows:
Feed advance cons tan t = effective diameter ⋅ π
Formula 9-1: Calculation of the feed constant with a rack and pinion mechanism
n1
Z1
n2
Dm
Z2
Optional transmission
Dm: Actual pinion diameter
AP0004d1.drw
Figure 9-2: Drive system with rack and pinion
The unit of the feed constant to be entered depends on the unit of
measure which has been selected for the position data.
9-2
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Data References
When using linear scaling all output variables such as position, velocity,
and acceleration are interpreted in reference to the load.
Units of Measure
When using linear scaling the unit of measure in which position data,
velocity data, and acceleration data will be displayed is selectable to be
either inch or mm.
The feed constant should be entered in the unit per revolution that has
previously been selected.
Example:
Unit of Measure:
mm
Unit for feed constant:
mm/revolution
Negating Position, Velocity, and Torque Data
Position, velocity, and torque data can be negated in order to adapt the
output variables to the logical direction of motion of an axis.
Negating this data has absolutely no effect in the control logic sense.
Positive feedback in the velocity or position control loops cannot be
caused by changing these polarities.
Note:
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
To reverse the direction of motion in the torque control and
velocity control modes, exchange the analog input signals (E1E2).
General Drive Functions
9-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
ROTARY SCALING
Figure 9-3: Rotary Scaling
In applications where a rotary table or rotating shaft is to be driven, all
output variables of the shaft should be entered in rotary units. To do this,
select rotary scaling and enter the mechanical transmission data of the
axis. (Coupling ratio input turns n1 and output turns n2) A standard
arrangement for a typical mechanical system is shown in the figure. Other
mechanical combinations (such as those with multi-leveled transmissions)
can be derived from this standard arrangement. For example, a toothed
gear or wheel transmission system can be configured by counting the
input wheel teeth Z1 and entering that value in the output turns n2
parameter, and counting the output wheel teeth Z2 and entering that
value in the input turns n1 parameter.
Mechanical transmission ratio = n1/n2 = Z2/Z1
Data References
The position, velocity, and acceleration data which is displayed can be
referenced to either the load side or the motor side in the rotary scaling
mode. The load side is normally selected.
9-4
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Processing Position Data
Position data can be processed in absolute or modulo format.
Absolute Format
Motion in one direction will show a continually ascending or a continually
descending position value when processing in absolute format. In other
words the position data is displayed as an absolute position over many
revolutions of the motor or the load. It overflows at the end of the position
data presentation range.
Maximum Presentation Range with Absolute Position Data
Processing
The maximum presentation range with absolute position data processing
is from - 5461 to + 5461 motor revolutions.
Modulo Format
Position data for shafts or rotary tables which move endlessly in one
direction is normally processed in modulo format. This means that the
position data overflows at a defined location (at the modulo value).
If modulo processing selected, a " modulo value " must be entered. The
position data will then lie within this modulo range. The modulo value of a
simple rotary table is normally set at 360°. This means that after one
revolution of the round table the position counter will begin again at 0°.
Different modes of modulo processing can be selected:
• Shortest Path
The given target position is always approached via the shortest path. If
the distance in a given direction between the actual position and the
target position is larger than half of the modulo value, the drive will
arrive at the target position from the opposite direction.
• Positive Direction
The given target position is always approached in a positive direction.
• Negative Direction
The given target position is always approached in a negative direction.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-5
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Boundary Conditions for Modulo Processing
Several boundary conditions, which are checked in the general parameter
test which occurs when switching from parameter mode into operating
mode, must be met for proper modulo processing. If necessary, violations
of these requirements are displayed with the diagnosis:C227 Modulo
Field Error.
• The contents of the S-0-0103 Modulo Value parameter may not be
larger than half of the maximum travel range. The maximum travel
range refers to the 4096 motor shaft revolutions.
• The product of S-0-0103 Modulo Value * 4 and S-0-0121 Input
revolutions of load gear must be smaller than 2^63 with rotary
scaling and position data referenced at the load.
9.2
Drive limits
Figure 9-4: Drive limits
9-6
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Transverse range limits
ECODRIVE provides two internal methods to monitor the travel range of
an axis:
• Travel limit switches
• Position limits
A travel region is exceeded when a directional travel limit switch is
activated or when a position feedback value referenced to the machine
zero point exceeds one of the position limit values.
Activation and Parameters for Position Limit Monitoring
The drive must be homed before the position limit can be monitored.
The position limit monitor can be either activated or deactivated. In
particular, the position limit monitor must be deactivated in applications
with continually rotating shafts.
The positive and negative position limit values can be independently
entered. To assist with setup, the current position feedback value is
displayed.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-7
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Activation and Parameterization of Travel Limit Switches
Travel limit switches are available to limit the travel range. These limit
switches can be activated and deactivated. The logic of the of the limit
switch operation can be selected when actively using the limit switches.
(Limit switch inputs may be configured to be either active high or active
low.)
Connecting the Travel Limit Switch
max. 20 m
Positive
limit switch
HIGH
X2
13
14
0.5 mm2
15
16
0.5 mm2
17
Negative
limit switch
18
19
20
21
22
23
0 Vext
24
6k3
Inputs:
Input voltage
Input resistance:
NF
NS
LIMIT+
LIMIT JOG+
JOGWSP
INREF
INBWG
INPOS
0V
min.
max.
HIGH: 16 V
30 V
LOW -0.5 V
:
8V
approx. 8 Ω
k
10k
2k
10n
AP0221d1.drw
Figure 9-5: Connecting the travel limit switches
Reaction to Traverse Range Violations
The drive has several responses to going beyond the traverse range. The
following responses can be selected:
Traverse Range Violations as a
Warning Response
The drive reacts to going beyond the traverse range by switching the
velocity command value to zero without turning off the control enable and
without opening the bb-contact. The warning is automatically recalled
when command values are given which lead to the proper traversing
range.
Traversing Range Violations as
an Error Response
The drive reacts to going beyond the traverse range by switching the
velocity command value to zero, automatically turning off the controller
enable, and opening the bb-contact. To resume operation, clear the error,
turn on the mains power supply, and enable the controller again. As long
as the traverse range is exceeded, only command values which lead back
into the proper tradverse range will be accepted. Command values
outside of this range result in another error.
9-8
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Limiting the Velocity
The maximum velocity to be reached by the drive can be set via the
bipolar velocity limit value parameter. If the requested velocity is greater
than this limit, the drive will automatically contain the velocity at the limit
value.
Limiting Velocity in Torque Regulation Mode
In the torque regulation mode the velocity is monitored at 1.125 times the
value of the given limit. If this value is exceeded, the drive switches to a
torque free state. If the motor has a brake it will be applied. The following
error message will be given:
• F879 Velocity Limit Value Exceeded in Torque Regulation Mode
Torque Limits
In order to protect the components of the machine, it may be necessary to
reduce the maximum torque of the drive. There are two ways to do this:
• Permanently limiting torque via parameters
• Variable limits via an analog torque reduction input
Limiting Torque via Parameter
The maximum torque to be produced by the control drive can be set via
the bipolar torque limit value parameter. This value is to be entered
proportionally. One hundred percent corresponds to the torque produced
by the motor in the use at a standstill.
Limiting Torque Via Analog Input
The effective peak torque can be continuously reduced via the analog
torque reduction input.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-9
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Meffective
[Nm]
Mmax
2
1
10
5
Mmax:
Meffective:
Ured:
Ured
[V]
Bipolar torque limit value
Torque, to which is to be reduced
Voltage between IRED1 and IRED2
Determining M effective (in % of Mmax) at the given Ured
2 Determining Ured at the given M effective (in % of Mmax)
DG0001d1.drw
Figure 9-6:Diagram for determining torque reduction
max. 20 m
X3
1
2
+10V
0,5 mm2
0,5 mm2
3
4
5
0VM
0 Vext
6
7
E1
E2
IRED 1
IRED 2
AK1
0V
AK2
8
Inputs:
Inputs voltage
min.
± 10 V
± 10 V
between IRED1-IRED2
between IRED1-0V; IRED2-0V
max.
± 15 V
± 15 V
0,5 mA
Input current: E1; E2
Input resistance
approx. 20 kOhm
Input drift
18 µV/°C
AD-converter
12 Bit
Resolution per bit
4,8 mV
20k
20k
+
ADC 12 Bit
20k
20k
AP0214d1.drw
Figure 9-7:Connecting the analog torque reduction
9-10
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.3
Error Handling
Many functions are monitored in connection with operating modes and
parameter settings of the drive. If a condition is recognized which will not
allow proper functioning of the drive, an error message is generated and
the drive will automatically respond to the error.
Figure 9-8: Error handling
Error Classes
Errors are divided into different classes:
Error Class
7-Segment Display
Message
Fatal
F8 / xx
Switch to torque free state
Traverserange
F6 / xx
Velocity command value
set to zero
Interface
F4 / xx
may be selected
Non-fatal
F2 / xx
may be selected
Drive Response
Figure 9-9: Error Classes
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-11
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Drive Response
If the drive is in controlled mode and an error is detected, an error
response is automatically carried out. An alternating indicator is visible on
the H1 display (Fx / xx).
If the error allows for a variable response, either switching to a torque
free state or setting the velocity control value to zero can be selected
as the error response. After the drive has responded to the error it will
automatically switch to a torque free state and open theinternal Bb readyto-operate relay.
UB
Drive error
bb
t
tbb
t
b1
~
tb1 ~ 5s, if no initializing error exists
t & lt; 10ms, if a fatal drive error occurs
bb ~
t ~ 500ms, if a non-fatal drive error occurs
bb
SV0028d1.drw
Figure 9-10: bb-Timing when switching on the supply voltage
9-12
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.4
Selecting the Control Loop Settings
General Information for Selecting the Control Loop Settings
The control loop settings in a digital drive controller are important for the
performance characteristics of the servo axis. Determining the control
loop settings requires expert knowledge.
" Optimizing " the control
settings is usually not
necessary!
For this reason, all INDRAMAT digital drive controllers have application
specific control parameters.
For some exceptions, however, it may be necessary to adjust the control
loop settings for a specific application. The following section gives a few
simple, but important, rules for setting the control loop parameters in
cases such as these.
In each situation the prescribed methods should only be viewed as
guidelines which lead to a robust control setting. Specific aspects of some
applications may require settings which deviate from these guidelines.
Loading Default Parameters
The Load Default Parameter function can activate defined control
parameters. The parameters are determined for a matched moment of
inertia relationship of Jmotor = Jload. These parameters will work with
standard applications.
Default values exist for the following parameters:
• S-0-0106, Current Loop Proportional Gain
• S-0-0107, Current Loop Integral Action Time
• S-0-0100, Velocity Loop Proportional Gain
• S-0-0101, Velocity Loop Integral Action Time
• P-0-0004, Smoothing Time Constant
• S-0-0104, Position Loop KV-Factor
• P-0-1003, Velocity Feedback Value Filter Time Constant
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-13
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Executing the Basic Load Function After Changing the Motor or Drive
Controller
The drive controller will recognize if it is operating with a changed motor
type for the first time. The drive will read " UL " on the 7-segment display.
Pressing the S1 key on the drive controller or the reset button in the
DRIVETOP diagnostic display will activate the standard control
parameters in the drive.
Executing the Basic Load Feature as a Command in the " Regulator
Loop Setting " Dialog
The standard control loop parameters can be activated in the " Regulator
loop setting " dialog. This can create a stable default condition if the basic
tuning valueshas been lost while changing the control settings.
Figure 9-11:Setting standard control parameters
9-14
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Setting the Current Regulator
Figure 9-12: Regulator loop settings: current loop
The parameters for the current control loop are set by INDRAMAT and
cannot be adjusted for specific applications. The predefined parameter
values are set during the basic load command (Set default values).
The parameters for the current regulator are set via the parameters
• S-0-0106, Proportional Gain 1 Current Regulator
• S-0-0107, Current Regulator 1 Integral Action Time
Note:
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Any change from the INDRAMAT defined values is
unacceptable and can lead to damage to the motor and drive
controller.
General Drive Functions
9-15
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Setting the Velocity Loop
Figure 9-13: Regulator loop settings: velocity loop
The velocity loop is set via the parameters
• S-0-0100, Velocity Loop Proportional Gain
• S-0-0101, Velocity Loop Integral Action Time
• P-0-0004, Velocity Loop Smoothing Time Constant
• P-0-1003, Velocity Actual Value Smoothing Time Constant
These can be set by either executing the basic load function once or by
completing the following procedure.
9-16
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Preparations for Setting the Velocity Loop
A number of preparations must be made in order to be able to set the
velocity loop:
• The mechanical system must be set up in its final form in order to
have true relationships while setting the parameters.
• The drive must be properly connected as described in the user
manual.
• The safety limit switches must be checked for proper functioning (if
applicable)
• The velocity regulation operating mode must be selected in the
drive.
Begin the adjustment procedure by setting the following parameters to the
indicated values:
S-0-0100, Velocity Loop Proportional Gain = Default value of the
connected motor.
S-0-0101, Velocity Loop Integral Action Time = 6500 ms
P-0-0004, Velocity Loop Smoothing Time Constant = Minimum value
(500µs)
P-0-1003, Velocity Feedback Value Filter Time Constant = 500µs
Determining the Critical Proportional Gain and P-0-0004,
Smoothing Time Constant
• After turning on the controller enable let the drive move at a low speed.
( 10...20 Rpm )
• Raise the S-0-0100, Velocity loop proportional gain until unstable
operating behavior (continuous limit cycle oscillations) begins.
• Determine the frequency of the oscillation by measuring the actual
velocity with an oscilloscope. When the frequency of the oscillation is
substantially higher than 500Hz, raise the P-0-0004, Smoothing Time
Constant until the oscillation goes away. After this, raise the S-00100, Velocity Loop Proportional Gain until it becomes unstable
again.
• Reduce the S-0-0100, Velocity loop proportional gain until the
oscillation goes away on its own.
The value found using this process is called the " Critical Velocity Loop
Proportional Gain. "
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-17
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Determining the Critical Integral Action Time
• Set S-0-0100, Velocity Loop Proportional Gain = 0.5 x critical
proportional gain. Set S-0-0101 to its default value.
• Lower S-0-0101, Velocity Loop Integral Action Time until unstable
operating behavior results.
• Raise S-0-0101, Velocity Loop Integral Action Time until continuous
oscillation stops
The value found using this process is called the " Critical Integral Action
Time. "
Determining the Velocity Regulator Loop Setting
The critical value which is determined can be used to derive a control
setting which possesses the following characteristics:
• Independent from changes to the axis since there is a large enough
safety margin to the stability limits.
• Safe reproduction of the characteristics in production machines.
The following table shows many of the most frequently used application
types and the corresponding regulator loop settings.
Application Type:
Feed axison
standard
machines tools
Feed axis on
perforating machines
or punch machines
Feed drive on
cut off
device
Velocity
Loop
Proportional
Gain:
Velocity
Loop
Integral Action
Time:
Remarks:
Kp = 0.5 x Kpcrit
Tn = 2 x Tncrit
Good load rigidity and good
drive characteristics
Kp = 0.8 x Kpcrit
Tn = 6500
High proportional gain; no I-gain
to achieve short transient periods.
Kp = 0.5 x Kpcrit
Tn = 6500
relatively undynamic control setting
without I-gain to avoid bracing the
materialto be separated with the separation
device.
Figure 9-14: Application specific velocity regulator loop settings
9-18
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Figure 9-15: Regulator loop setting: Position loop
Setting the position loop is done with the parameter
• S-0-0104, Position Loop KV-Factor
This can be set by either executing the basic load function once or by
following the process which follows.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-19
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Preparations for Setting the Position Control Loop
A number of preparations must be made in order to be able to set the
position regulator:
• The mechanical system must be set up in its final form in order to
have true relationships while setting the parameters.
• The drive must be properly connected as described in the user
manual.
• The safety limit switches must be checked for proper functioning (if
applicable)
• The Position Regulation operating mode must be selected in the
drive controller.
• The underlying velocity controller must be properly adjusted. The
beginning value selected for the Kv-factor should be relatively small.
(Kv = 1)
Determining the Critical Position Loop Gain
• Run the drive in a mode in which the position regulation loop is closed
in the drive.
• Run the shaft at a low speed (10...20 Rpm) via the jog-function of the
connected NC-control, for example.
• Raise the Kv-factor until operation begins to be unstable.
• Reduce the Kv-factor until the continuous oscillation disappears by
itself.
The Kv-factor determined through this process is the " Critical Position
Regulator Loop Gain "
Determining the Position Regulator Setting
In most applications an appropriate position regulator setting will lie
between 50% and 80% of the critical position regulator loop gain.
This means:
S-0-0104, Position Loop KV-Factor = 0.5 ... 0.8 x Kvcrit
9-20
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.5
Loop Monitoring
The following loop monitors are provided to ensure that the control drive
functions properly:
• Velocity loop monitoring
• Position loop monitoring
Figure 9-16: Loop Monitoring
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-21
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Velocity Loop Monitoring
The velocity loop monitor can be activated in the following operating
modes:
• Velocity control with analog command value
• Position control with step motor interface
• Position control with positioning interface
Primary Mode of Operation for the Velocity Loop Monitor
The velocity loop monitor functions according to the following principle:
As soon as the peak current limit (peak torque limit) is active, the
difference between the velocity command value and the velocity actual
value is checked to see if it is larger than 10% of the maximum motor
velocity. If this is the case, the velocity loop monitor checks to see if the
control drive is accelerating in the given direction. The velocity loop
monitor will react , over a time period of 20ms, an acceleration in the
opposite direction is not detected.
Possible reasons for triggering the velocity loop monitor:
• Faulty wiring in the motor power cables
• Defect in the power supply of the control drive
• Defect in the feedback system
• Insufficient gain in the velocity regulator parameters
Deactivating the Velocity Loop Monitor
Control drive errors or faulty wiring can lead to
uncontrollable shaft movements.
DANGER
⇒ The velocity loop monitor should be activated under
normal circumstances and should only be deactivated
in certain exceptions.
The velocity loop monitor can be deactivated for specific applications in
which the control drive is specifically operated at its power limit. (An
example: Moving to a positive stop and similar situations)
9-22
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Position Loop Monitoring
The position loop monitor helps to diagnose errors in the position control
loop.
Primary Mode of Operation for the Position Loop Monitor
An estimated position feedback value is generated from the position
command value. If the difference between the measured and the
estimated position feedback value is larger than the value entered in the
monitoring window, the control drive will execute its error handling routine
according to the parameters which have been set. (see also Error
Handling)
Possible Reasons for triggering the position loop monitor:
• Exceeding the torque or acceleration capability of the drive.
• Blocking of the axis mechanical system
• Disruptions in the position feedback
• Exceeding the maximum velocity of the motor by entering too large of
a traversing velocity or giving too large of a position command value
difference.
Requirements for Setting the Position Loop Monitor Correctly
• Be sure that the velocity and position regulator loops are set properly.
• The axis in question should be checked in regards to its mechanical
aspects and should be in its final condition.
Setting the Position Loop Monitor
A typical processing or load cycle should be entered into the connected
control system. In so doing the maximum intended velocity and
acceleration should be reached.
In the " Maximum position variance " parameter the maximum variance
between measured and estimated position feedback values is continually
displayed.(Note: The contents of this parameter are not saved on-line;
this means that when the power supply is turned on its contents equal
zero)
The value determined for the maximum position variance acts as a help
for setting the monitoring window. The contents of the " maximum position
variance " parameter multiplied by a safety factor are to be set in the
" Monitoring window " parameter. A safety factor between 1.5 and 2.0 is
recommended.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-23
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.6
Status Message
The current status of the drive can be determined by a superordinate
control through different status messages and evaluated for technical
control purposes. Four status messages are available in addition to the
potential free operating condition contact (Bb) which indicates readiness
for use in closed position.
Ready for Work (bb)
The control drive indicates that no internal error is present through the
operating condition contact " Bb " . After the supply voltage is switched on
the control drive initializes itself. If the initialization is successful, the Bbcontact will close after several seconds. After this the mains power supply
can be switched on and the control drive can be put into operation.
When an internal error occurs the Bb-contact opens. The time delay
between the occurrence of the error and the opening of the Bb-contact
depends on the type of error. For fatal errors the contact is opened
immediately, while for non-fatal errors the internal error handling routine is
executed first.
UB
Drive error
bb
t
tbb
t
b1
~
tb1 ~ 5s, if no initializing error exists
t & lt; 10ms, if a fatal drive error occurs
bb ~
t ~ 500ms, if a non-fatal drive error occurs
bb
SV0028d1.drw
Figure 9-17: bb-Timing when switching on the supply voltage
9-24
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
In Position (INPOS)
The message " INPOS " applies for positioning operation and drive
controlled homing procedures.
The message " INPOS " is given by the drive if the following requirement
has been satisfied:
• The difference between the target position and the actual position is
less than the value set in the position window parameter.
This message can help a superordinate control system determine the
correct completion of a positioning command.
Note:
The INPOS message defaults to being inactive during jogging
and when the controller enable is switched off.
Desired position 2
Desired position 1
v
Speed
profile
x
Positioning
window
POS1...POS5
POSQ1...POSQ5
01
~01
02
~01
~02
AH/START
INPOS
INBWG
Regulator release
t
Positioning inputs valid
Positioning acknowledgment outputs show the negated status of the positioning inputs
Positioning acknowledgment outputs show after valid record acceptance the number of the
active position records.
SV0039d1.drw
Figure 9-18: INPOS message response during positioning procedures
Note:
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
After a positioning command is started, the INPOS message is
set to zero at the same time as the output of the command
selection acceptance POSQ, as long as the target position has
not yet been reached.
General Drive Functions
9-25
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
In Motion (INBWG)
The INBWG message is given if the drive is moving at a velocity which is
larger than the value set in the standstill window parameter.
Note:
If an extremely small value is selected for the standstill
window, the drive may display INBWG even though it is not in
motion. This can be explained by the gradual dissipation of the
actual velocity. Entering larger values will solve this problem.
(Standstill window = 20 Rpm)
In Reference (INREF)
INREF messages show that the internal position feedback value refers to
the machine zero point. The INREF message has the following properties:
• In applications with motors with resolver feedback, the INREF
message is only given after successful execution of the drive internally
controlled homing procedure.
• In applications with motors with resolver feedback and absolute
encoder option, the INREF message is given after the supply voltage
is switched on. This requires that the Set Absolute Measurement
command has previously been given.
9-26
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Position Switch Point (WSP)
The DKC has a function for actualizing a position switch point. A switching
signal is given at a position set by parameter which can be sent to a PLC
for further processing. This enables position-dependent switching
functions to be activated. The logic of the position switch point is as
follows:
Actual position & gt;
Position switch point function : Path switch point output = 1
Actual position & lt;
Position switch point function : Path switch point output = 0
The path switch point signal can be negated to adapt to a superordinate
control.
Note:
The position switch point function is only active in control
drives which have been homed, because the absolute
relationship to the machine's zero point can only be known in a
control drive in which the homing procedure has been carried
out.
Position Switch Point When Using Motors With ResolverFeedback (Standard)
Before using the position switch point function the drive controlled homing
procedure must be executed.
Position Switch Point When Using Motors with ResolverFeedback and Absolute Encoder (Optional)
If a switch signal is needed within the travel region of an axis, it is usually
realized with a cam actuated switch attached to the machine mechanical
system.
By using a motor with absolute encoder (optional) ECODRIVE saves the
unnecessary expenditure for a mechanical cam switch. When using a
motor with absolute encoder the homing procedure is available as soon
as the supply voltage is turned on. Consequently, the position switch point
signal is also valid and can be used as a replacement for a mechanical
cam switch.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-27
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Illustration of Status Output Connections
max. 20 m
X2
13
14
15
16
17
HIGH
18
0.5 mm2
Position switch point
In reference
In motion
In position
19
20
21
22
23
0 Vext
NF
NS
LIMIT+
LIMIT
JOG+
JOGWSP
INREF
INBWG
INPOS
0V
24
Outputs:
min.
max.
16 V
0V
Output voltage
HIGH
LOW
Uext.
1V
80 mA
Output current 1 out
Rise time, fall time
approx. µ5 s
at 1 out & gt; 300 mA the
outputs switch to LOW
Overload protection
24 V
(Uext.)
10k
1n
AP0220d1drw
Figure 9-19: Status outputs
9-28
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.7
Actual Position Output
The DKC has an actual position value output to transmit the actual
position value to a NC-control. Actual position values can be transmitted
in either incremental or absolute form.
Incremental Encoder Emulation
Selecting incremental encoder emulation as the actual position output
gives out 5V-TTL incremental encoder signals with an adjustable line
count value. Incremental actual position value output is possible with both
relative position actual value representation as well as with absolute
actual position value representation.
Figure 9-20:Actual position output
Line Count of the Incremental Encoder Emulation
The line count value of the incremental encoder to be emulated
determines the number of cycles to be emitted per rotor revolution. This
number is equivalent to the graticule line count value which the code plate
of a conventional incremental encoder would exhibit.
All graticule line count value can be set between 1 and 65536 lines per
revolution.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-29
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Homing Marker Pulse Offset
The relative position of the homing marker impulse of the incremental
encoder to be emulated can be extended with the homing marker pulse
offset parameter. Shifting the homing marker pulseis necessary when the
position of the home switch switching flank and the homing marker pulsee
do not permit a well-defined homing procedure. Controlling the relative
position of the homing marker pulse makes the manual adjustment of the
home switch cam unnecessary.
The homing marker pulse offset applies to the motor shaft and can be
entered in the range from 0 ... 359.9°. A positive offset value shifts the
relative position of the homing marker pulse clockwise with respect to the
motor shaft keyway.
Illustration of the Incremental Actual Position Value Output
Connections
max. 40 m
0.14 mm2
CNC
X3
9
10
11
Incremental
generator
input
12
13
14
15
16
0 Vext
UA0
UA0
UA1
UA1
UA2
UA2
0V
Difference outputs:
Output voltage
HIGH
LOW
min.
max.
2.5 V
0V
5V
0.5 V
Output current 1out
max. |20| mA
Output frequency
max. 504 kHz
Overload protection
Outputs may not be short circuited!
Danger of damage!
AP0216d1.drw
Figure 9-21: Incremental actual position value output
9-30
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Absolute Encoder Emulation (SSI)
When absolute encoder emulation is selected, the absolute position value
is emitted in the standard SSI-format for absolute position encoders. The
absolute actual position value output is only of use when using a motor
with absolute encoder (optional).
Absolute position output offers the advantage of making the absolute
position of the axis, in reference to a machine home point, available
immediately to the connected control after the control voltage has been
switched on.
The position which is given out is always in reference to the motor shaft
(and cannot be given in reference to the load through mechanical
transmission elements).
Figure 9-22: Actual position output
Requirements for Using Absolute Encoder Emulation
The NC-control system which is connected must have a SSI input and be
able to process SSI data in 25-bit format.
The MKD motor used must be equiped with a multiturn absolute encoder.
(Ordering option)
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-31
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Calibrating the Absolute Encoder Emulation
Setting up the absolute encoder emulation requires a one-time calibration.
This calibration procedure is made up of the following steps:
• The polarity of the position information which is transmitted should first
be checked for accuracy to prevent positive feedback in the position
regulator loop. Additionally, the position display of the connected
control system should be watched while moving the shaft at the same
time. (The movement can be controlled manually, with the battery box
or with the jogging function.) If the position does not change in
requisite manner, the output polarity 09 must be reversed with the
" Absolute encoder-counting direction " parameter.
• The shaft should be moved to a position known in reference to the
machine coordinate system.
• The desired output position should be entered in the " Home position "
parameter.
• If the drive is in the desired position, the " Set absolute encoder
emulation " command should be selected. Doing this sets the current
transmitted position equal to the value given as the home position.
Illustration of Absolute Actual Position Value Output
Connections
max. 20 m
X3
9
0.5 mm2
CNC
10
11
Absolute value
generator
input
12
13
14
15
16
0 Vext
Data+
DataCLK+
CLK0V
Difference outputs:
Output voltage
HIGH
LOW
min.
max.
2.5 V
0V
5V
0.5 V
max. |20| mA
Output current 1out
Overload protection
Outputs may not be short circuited!
Danger of damage!
Difference inputs:
Input voltage
min.
HIGH
LOW
max.
2V
0V
5V
0.8 V
Input resistance
12 kOhm
Clock frequency
(100-1000) kHz
AP0215d1.drw
Figure 9-23: Absolute actual position value output
9-32
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.8
Drive controlled Homing Procedure
In the " Position Control with Positioning Interface " and " Position Control
with Step Motor Interface " operating modes the internal homing procedure
can establish the measurement relationship to the machine's zero point.
Note:
In operating modes with the analog interface the measurement
relationship to the machine zero point should be set via the
connected control system. Consequently, the " Drive Controlled
Homing Procedure " function is not available in these
applications.
Homing When Using a Motor With Resolver Feedback (Standard)
Absolute positioning sets and position limit value monitoring can only be
used after the drive controlled homing procedure is successfully
executed.
The homing procedure should be used in the following situations when
using a motor with resolver feedback:
• After turning on the control voltage
• Whenever there is a transition from operating
parameterization mode and back to operating mode.
mode
to
The status message INREF signals to a connected control system that
the drive has established a measurement relationship, or, in other words,
that the homing procedure was successfully executed. This message
must be processed immediately for applications which require a
measurement relationship.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-33
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Figure 9-24: Drive controlled homing procedure for motors with resolver
feedback
Determining the Direction of Motion During the Homing
Procedure
The user must determine the direction of motion for the drive controlled
homing procedure in conjunction with the machine mechanical system,
the adjustment of the home switch and/or the determination of the home
point. This determination always occurs in relation to the motor shaft
without regard to the axis mechanical system.
9-34
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Homing with Evaluation of the Home Switch
The drive is in motion at the specified acceleration and velocity in the
home direction until it receives the home switch signal. This point is the
home point (or reference point). The control drive will then brake, reverse
direction, and move back to the home point.
If the axisis located at the home switch cam at the start of the drive
controlled homing procedure, it will move away from the cam until the
home switch signal is removed, reverses direction, and head back
towards the home switch cam until the edge of the home point switching
signal is received.
v
x
Reference point
switch signal
Starting point
Reference point
SV0031d1.drw
Figure 9-25: Homing with Evaluation of the Home Switch
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-35
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Homing with Evaluation of the Position Encoder Homing
Mark
The drive moves at the specified acceleration and velocity in the home
direction and positions itself on the next homing Mark of the motor
encoder. This point is the home point.
Figure 9-26: Homing with evaluation of the position transmitter homing mark
Note:
Multiple homing marker pulses per motor revolution will
appear with MKD motors:
• MKD025 / MKD041:
• MKD071 / MKD090 / MKD112:
9-36
General Drive Functions
3 homing marks
4 homing marks
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Homing With Evaluation of the Home Switch and the Home
Mark
The drive moves in the home direction until it receives the home switch
signal. The control drive then positions itself on the next motor encoder
homing mark which appears. This point is the home point.
If the axis is on the home switch cam at the start of the drive controlled
homing procedure, it will first move away from the cam until the home
switch signal is removed, reverse direction, and head back again in the
direction of the home switch cam to find the home point.
v
x
Reference point
Reference marks
Reference point
switch signal
Starting point
Reference mark
SV0033d1.drw
Figure 9-27: Homing with evaluation of the home switch and the home mark
Note:
The homing velocity may not be greater than 1000 Rpm (in
reference to the motor shaft); if it is greater the position of the
home switch signal and the home reference of the motor
transmitter will not be able to be unambiguously calculated.
Homing to the Current Actual Value
The control drive is not in motion. The actual position value is set equal to
the value of the " Reference Distance 1 " parameter immediately after the
homing procedure is activated.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-37
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Homing Parameters
Reference Distance 1
When the internal homing procedure is finished the control drive positions
itself on the home point and enters the value of the " Reference Distance
1 " parameter in the current actual position value.
Reference Offset 1
The home point can be offset in relation to the home reference of the
motor encoder via this parameter.
When the motor is attached to a specific mechanical system the home
mark of the motor encoder is in an arbitrary position with respect to the
desired home point. Zero should initially be entered in the reference offset
parameter when setting up. After the first homing attempt, calculate the
difference between the desired home point and the position where the
control drive stops at the end of the first homing procedure.
This value should be entered in the Reference Offset 1 parameter, while
paying attention to its sign. After another homing procedure the control
drive will be in the desired home position.
Homing velocity,
Homing acceleration and
Positioning Jerk
These parameters determine the motion profile of the control drive while
executing the drive controlled homing procedure. These parameters must
be set for each specific application.
Positioning Window
The drive must be positioned on the home point at the end of the homing
process. If the control drive moves around the home point within the
positioning window, the control drive will recognize the successful
completion of the homing procedure and will display the INREF (In
Reference) message.
Note:
The " Positioning Window " parameter is also used in
connection with the positioning sets.
Override Feature with the Drive Control Homing Procedure
The velocity at which the control drive moves during the homing
procedure can be controlled with the feedrate override feature. The value
in the " Feedrate override " parameter determines at what proportional
velocity, in relation to the programmed homing velocity, the drive should
move. In other words, at 100% the control drive will move at 100% of the
homing velocity value.
A continual reduction of the velocity can be made via the analog
command value input. To do this the " Feedrate-Override Variable via
Analog Input " field must be activated.
Detailed information on this can be found in the chapter " Feedrate
Override Function. "
9-38
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Home Switch Configuration
The home switch cam should be configured as shown the figure shown
below to ensure that the homing procedure can be started from any
position in the transversing range.
Figure 9-28: Configuration of the home switch cam
Connecting the Home Command and Home Switch Inputs
max. 20 m
Call to reset
0.5 mm2
HIGH
X2
13
14
15
Reference point switch
HIGH
0.5 mm2
16
17
18
19
20
21
22
0 Vext
23
NF
NS
LIMIT+
LIMIT
JOG+
JOGWSP
INREF
INBWG
INPOS
0V
24
Inputs:
min.
HIGH
LOW
Input resistance
max.
16 V
-0.5 V
Input voltage
30 V
8V
approx. 8 kOhm
6k3
10k
2k
10n
AP0223d1.drw
Figure 9-29: Connecting the home command and switch inputs
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-39
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Ending the Drive Controlled Homing Procedure
The homing procedure can be interrupted by the following series of
signals:
The homing procedure is selected at the NF signal input. Activating the
START-signal begins the homing procedure. After successful complete of
the procedure the message INREF (In Reference) is given. Deactivating
the NFsignal and the AH/STARTsignal can terminate the homing
procedure.
Regulator
release RF
Control drive
guided homing NF
Start
In reference INREF
t1
t1 & gt; 2ms
SV0034d1.drw
Figure 9-30: Drive controlled homing procedure
9-40
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Homing When Using a Motor With Integrated Absolute Encoder
Function (Optional)
When using a motor with an integrated absolute encoder function
(optional) the measurement relationship is available immediately after
turning on the supply voltage, assuming that the " Set Absolute Measure "
was executed during the initial installation.
This enables execution of absolute process blocks without a homing
procedure immediately after the supply voltage is switched on.
The status message INREF (In Reference) signals to the connected
control system that the drive has a measurement relationship to the
machine zero point.
Figure 9-31: Drive controlled homing procedure with a motor with integrated
absolute encoderfunction
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-41
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Setting the Absolute Position
The relationship to the machine mechanical system (the machine zero
point) must be established when a axis is initially installed with a motor
with an absolute value encoder (optional). This is done by following these
steps:
• Move the motor to a position known in relation to the machine zero
point either via the jogging function or manually.
• Enter the value in the " Reference Distance 1 " parameter which should
be given as the actual position value of this known position.
• Enter 0 in the " Reference Offset 1 " parameter.
• Press the " Set Absolute Measure " button.
After the " Set Absolute Measure " command is executed, the current
actual position value is set equal to the value which is entered in the
" Reference Distance 1 " parameter, as long as the controller enable is
currently deactivated. If the controller enable is active the calculation for
accepting the homing position is made. The actual acceptance of the
homing value in the actual position value occur only after the control
enable is deactivated.
9-42
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Moving Towards the Home Position
In the " Position Control with Step Motor Interface " operating mode it may
be helpful to activate drive motion towards the home position via an
external switching signal. Doing this makes executing a homing
procedure for the stepping motor control unnecessary.
The velocity, acceleration, and jerk with which motion to the home
position should be carried out can be entered via the appropriate homing
motion parameters.
The drivedrive moves to the home position when the " NF " signal is set
and the start signal is given. This requires that the control drive has been
homed, or, in other words, that the " Set Absolute Measure " command has
been successfully executed.
Regulator
release RF
t
Control drive
guided homing NF
t
Start
t
v
t1 & gt; 2ms
t
t1
Reference position
Meaningless signal condition (don´t care)
SV0035d1.drw
Figure 9-32: Moving towards the home position
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-43
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Absolute EncoderMonitoring
To ensure the safety of the absolute encoder function, the DKC has a
monitoring system which can recognize errors in determining the absolute
actual position value. The current actual position is saved when the DKC
supply voltage is turned off. When it is turned on again the actual position
which was saved is compared to the current motor position as read from
the motor encoder. If the difference between the two position values is
greater than the value entered in the " Absolute Transmitter Monitoring
Window " parameter, the error message F276 Absolute Transmitter
Error is given.
Different circumstances can trigger that absolute encoder monitor:
• The shaft was moved while the control drive was turned off.
• The motor encoder is showinga function error.
Setting the Absolute Encoder Monitoring Window
The value for the absolute encoder monitoring window must be
determined specifically for each application. It should be selected such
that possible movements of the shaft while the power is turned off are
taken into account so that the monitor is not unnecessarily activated.
9-44
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.9
Jogging
The axis can be moved with the jog function in the " Position Control with
Step Motor Interface " and " Position Control with Positioning Interface "
operating modes. The parameters relevant to the jog function can be
entered in the " Jog " dialog.
Figure 9-33: Entering the jogging parameters
Override Feature While Jogging
Note:
The speed at which the control drive moves while jogging can
be controlled with the feedrate override feature.
Detailed information on this can be found in the chapter " Feedrate
Override Function. "
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-45
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.10 Feedrate Override Function
The velocity of the positioning sets, the homing velocity, and the jogging
velocity are controlled by the feedrate override function. The " Feedrate
override " parameter determines at what velocity, in proportional relation to
the programmed velocity, the drive should move. In other words, at 100%
the drive will move at precisely the programmed velocity.
A continuous reduction of the positioning velocity can be made via the
analog command value input. To do this the " Feedrate-Override Variable
via Analog Input " field must be activated. To convert the voltage at the
analog input use:
0Volt: Velocity = 0
10Volt: Velocity = Velocity determined proportionally via the override
factor
Connection of the Analog Override Signal
max. 20 m
X3
1
2
+10V
0,5 mm2
0,5 mm2
3
4
5
0VM
0 Vext
6
7
E1
E2
IRED 1
IRED 2
AK1
0V
AK2
8
Inputs:
Inputs voltage
min.
± 10 V
± 10 V
between IRED1-IRED2
between IRED1-0V; IRED2-0V
max.
± 15 V
± 15 V
0,5 mA
Input current: E1; E2
Input resistance
approx. 20 kOhm
Input drift
18 µV/°C
AD-converter
12 Bit
Resolution per bit
4,8 mV
20k
20k
+
ADC 12 Bit
20k
20k
AP0214d1.drw
Figure 9-34: Connection of the analog override signal
9-46
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.11 Analog Output
DKC drives operate digitally. This means that all output variables are
available as digital information from the DKC. The DKC has two analog
diagnostic outputs to make velocity values, speed values, current values,
etc. visible via an oscilloscope.
The selection of the output signals include the following values:
Figure 9-35: Analog output
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-47
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Signal
selection
Scaling
Notes
Current
command value
10V = Unit
type
current
DKC01.1-040-7:Type current = 40A
Velocity actual
value
Scaleable
Velocity
command value
Scaleable
Actual position
value
Scaleable
Motor feedback
sine signal
fixed
helps monitor motor feedback errors
(optimal range = 15...18Vpp)
Motor feedback
cosine signal
fixed
helps monitor motor feedback errors
(optimal range = 15...18Vpp)
Current actual
value
10V = Unit
type
current
DKC01.1-030-3:Type current = 30A
Bleeder
load
10V = 100%
Continuous bleeder load
Bleeder
load
Figure 9-36: Analog output: Signal selection
Note:
Velocity and position data always refer to the motor shaft! The
scaleable output signals can reach overload if the scale is
selected such that the current signal value exceeds the +/-10V
limit. The exceeded value is emulated in the displayable (+/10V) range and makes it possible to examine signals with a
higher resolution.
Oscilloscope, for example
X3
CH1
CH2
5
6
7
8
AK1
0V
AK2
Outputs:
Output voltage
AK1-0V; AK2-0V
min.
max.
- 10 V
+ 10 V
DA-converter
8 Bit
Resolution per bit
78 mV
AP0212d1.drw
Figure 9-37: Illustration of the diagnostic output connection
9-48
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.12 Motor Brake
Servo axes must be secured against unwanted movement when the
power is off if movement could cause damage.
INDRAMAT motors are available with optional integrated brakes.
ECODRIVE DKC drive controllers have an integrated brake control.
Note:
INDRAMAT motors have optional holding brakes, which are
not designed to be operating brakes. Under closed use brakes
become worn out after approx. 20000 motor revolutions. It is
therefore important to pay attention to the proper function of a
brake when installing a control drive with an integrated brake.
Proper operation of the brake can be checked by a " clacknoise " when activating the control enable.
Connecting the Motor Brake
A regulated dc voltage is necessary for the brake's power supply. (24V /
+-10%)
DKC
control dive
MKD
servo motor
conf. Cable
IKG 006
X2
X6
Internal
brake
control
1
2
6
2
2
7
+
+
4
8
-
-
PTC
U
TM-
1
1
3
TM+
5
8
Brake
7
6
0V
5
24V
Voltage connection
for brake
DC 24 V ± 10 %
AP0209d1.drw
Figure 9-38: Connecting the motor brake
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-49
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Brake Reaction After Switching Off the Control Enable and in
Error Conditions
The brake is controlled via the drive controller. The diagrams below show
the chronological reaction of the brake control after the control enable is
turned off and in error conditions.
Figure 9-39: Brake: Reaction after removal of the control enable
Error
Velocity actual
value reset
Motor torque
1
0
1
0
1)
1
0
Brake activation
2)
1)
1
0
n & lt; 10 min -1
n & gt; 10 min -1
Time axis
3
0
100
200
300
400
500
4) t [ms]
1) The brake is activated when error reaction 1 is set.
2) Error reaction:
-1
The brake falls below a velocity of 10min and is activated.
The brake is activated after 400 ms, even if the motor
-1.
velocity & gt; 10min
3) Error reaction 3 is set, the brake is activated as in section 2 after
the 30 second error warning is completed.
4) After the cause of the error is eliminated, the brake will release when
the regulator is released.
sv0026d1.ds4
Figure 9-40: Brake: Reaction in error conditions
9-50
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
9.13 Activating the Drive
Controller Enable
The drive is activated via the controller enable signal.
Requirements for Activating the Drive
The drive must be ready for operation and the power supply must be
turned on for the drive to be activated. (Condition display: " Ab " )
If the controller enable is set while missing the power supply, the control
drive will register F226 Under voltage error.
Drive Stop / Start
Drive Stop / Start in Velocity and/or Torque Control With
Analog Command Value
If the drive stop signal is active (0V on X4/3) the drive will not follow the
analog command value and will instead remain in velocity control with
velocity command value = 0. If the drive is in motion when the drive stop
is activated, the controlled braking will be applied with maximum torque
until the drive reaches standstill.
If the drive stop signal is not active (24V on X4/3) then the drive will follow
the analog command value on X3/1...2.
Starting in Position Control With Step Motor Interface
If the drive stop signal is active (0V on X4/3) the drive will not follow the
stepping signal and will instead stay in position control at the current
position. If the drive is in motion when the drive stop is activated, then
drive controlled braking will be applied with maximum torque until the
control drive reaches standstill.
When the drive stop command has been given the drive can still be
moved via the jogging inputs. (X2/17...18).
If the drive stop signal is not active (24V on X4/3) then the drive will follow
the stepping signals on X2/1...4.
Drive Stop / Start During Positioning Operation
If the drive stop signal is active (0V on X4/3) then the drive will remain in
position control at the current position. If the control drive is in motion
when the drive stop is activated, then drive controlled braking will be
applied with maximum torque until the drive reaches standstill.
When the drive stop command has been given the drive can still be
moved via the jogging-inputs. (X2/17...18).
When the start signal is activated the previously selected positioning set
is started.
Drive Stop / Start During a Drive Controlled Homing
Procedure
If the drive controlled homing procedure signal is activated (24V on
X2/13) and the start signal is activated afterwards (24V on X4/3) then the
drive will execute its internal homing procedure.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Drive Functions
9-51
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Control Enable and Drive Stop Connections
X4
1
Control voltage connection DKC
for
Regulator release
Drive stop/start
+24V
RF
AH/Start
2
3
4
Control voltage zero point
0V
5
Ready
Bb
Bb
6
Inputs:
Input voltage
min.
max.
16 V
-0.5 V
HIGH
LOW
30 V
8V
approx. 8 kOhm
Input resistance
6k3
10k
2k
10n
AP0211d1.drw
Figure 9-41: RF and AH / Start connections
9-52
General Drive Functions
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
10
Serial Communication
10.1 General Information for Serial Communication
The DKC01.1/DKC11.1 contains one serial interface . Parameter and
diagnostic information can be exchanged through this interface. The
interface can be operated alternatively in either RS232 mode or in RS485
mode.
10.2 Communication over the RS232Interface
The RS232 interface is intended for connection port to a PC with the
DRIVETOP startup program . A maximun cable length of 15m is
possible.
RS232
PC with DriveTop
Parallel-I/O
SPS
DKC
DKC
DKC
DKC
FS0004d1.drw
Figure 10-1: Communication over the RS232 Interface
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Serial Communication 10-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
10.3 Communication over the RS485 Interface
Communication over the RS485 interface allows the realization of a serial
bus with the following specifications :
• Up to 32 drives can be connected with a bus master.
• Transmission rate: 9600 and 19200 baud
• Maximum cable length : 1000m
• Half duplex operation over 2 wire transmission line
Type of Data Exchange over RS485:
• Parameters
• Commands
• Diagnostics
Operation of Multiple Drives with DRIVETOP
Operational Advantages:
• Startup of multiple DKCs without reconnection of the interface
cable.(Central parameterization and diagnostic connection)
• Realization of a central PC supported visualization unit
RS232 RS232/RS485
RS485-Bus
Converter
PC with DriveTop
SPS
Parallel-I/O
DKC
DKC
DKC
DKC
FS0005d1.drw
Figure 10-2: Operation of Multiple Drive with DRIVETOP
10-2
Serial Communication
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Parameterization and Diagnostics via a SPS (PLC)
Operational Advantages:
• Changing of parameters is possible via a PLC . (for example the
adaptation of the positioning commands)
• Expanded diagnostic possibilities for the PLC through processing of
the error codes.
RS485-Bus
SPS
Profibus-DP
DKC
DKC
DKC
DKC
FS0016d1.drw
Figure 10-3: Parameterization and Diagnostics over a SPS
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Serial Communication 10-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Parameterization and Diagnostics for Drive Group through the
Operator Interface
Operational Advantages:
• Implementation of a central visual display unit
RS485-Bus
RS232
Console unit
SPS
Parallel-I/O
DKC
DKC
DKC
DKC
FS0007d1.drw
Figure 10-4: Parameterization and diagnosis of the drive group through a
control unit
10-4
Serial Communication
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
10.4 Communication Procedures
Communication Parameters
The data exchange over the serial interface is
parameters:
controlled with three
• Drive Address (P-0-4022)
• Baud rate (P-0-4021)
• Answer Delay (P-0-4050)
P-0-4022 Drive Address
If multiple drives are connected over the RS485 interface, then the data
exchange must be organized through the allocation of drive addresses to
the individual units on thebus .
The parameter P-0-4022 establishes the address where a drive can be
contacted. There are admissible addresses from 1 to 99.
With the use of the RS232 interface, an explicit setting of the drive
address is not required because in this case only one drive at a time can
be connected to the interface.
If multiple drives are connected via RS485,
⇒ the drive address must be established over the
RS232 interface before making the RS485
connection. This is done in order to ensure that only
one drive functions for each given address on the
serial bus.
P-0-4021 Baud Rate
The baud rate of the serial interface is set by parameter . The following
settings are possible:
0 : 9600 Baud
1 : 19200 Baud
⇒ All the devies on the bus must be set to the same
baud rate
The RS485 interface operates in half duplex mode. The direction of the
P-0-4050 Answer Delay data must be switched during the data exchange. The switch of the data
direction happens in less than half of one millisecond for the DKC units.
In order for the connected terminal devices (PC or SPS) to be given
enough time for the data direction switch to occur, the answer delay/PLC
time of the drive can be set in this parameter.
The entry is in ms. The maximum setting is 200ms.
The default value for the answer delay is set at 1ms at the manufacturer .
From past experience most PC’s will operate without any problems with
this setting.
If communication problems occur , for example a " TIMEOUT” message
in DriveTop, then the value for the answering delay can gradually be set
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Serial Communication 10-5
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
to a larger value until there are no more problems occurring . For a safe
margin , the limit value so determined should be multiplied with 1.5 and
then entered as the answering delay value.
Setting of the Drive Address
In the case where the communication occurs over the RS485 bus, then
each of the bus communication devices must be provided with a unique
bus address. In order to avoid access conflicts, each drive address must
be used only once.
Note:
10-6
Serial Communication
With the DKC 01.1, the setting of the drive address occurs
over the RS232 interface with help from DriveTop. The
communication parameter " P-0-4022 Drive Address "
establishes the active address of each of the units on the bus.
With DKC 02.1 and DKC 03.1, the RS485 address of the drive
is the same as the SERCOS or PROFIBUS address. With
these units , the address will be set with the address selection
switch on the device.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Original State after Establishing the Control Voltage
After turning on the control voltage, all drives conntected over the RS485
bus of the are in the " passive mode " .
With the passive mode, there is no possibility of communication. In order
to reach the active mode, a drive must be targeted and contacted through
a " change drive " command.
Communication with a Specific Unit on the Bus
In order to establish communication with a unit on the bus, a CHANGE
DRIVE command must be issued with the target to the specific drive
address on the bus . With each CD command, the contacted drive will be
activated and all other drives will be switched into the passive mode. The
contacted drive reports with its prompt. From this point the
communication continues with the activated drive until communication is
switched to another drive through a subsequent CHANGE DRIVE
command.
Example:
BCD:04 (CR)
4
Command for switching communication to Drive
A04: & gt;
Response of the contacted drive.
All other drives switched .
Parameter Structure
All parameters of the drive controller are stored in a stamdard parameter
structure. Each parameter consists of 7 elements. The table below
defines the individual elements and the access possibilities. The following
sections will reference the each diagrammed parameter structure.
ElementNo.Nr.
Data Block Element
Access Possibilities
1
ID number
Read
2
Name
Read
3
Attribute
Read
4
Unit
Read
5
Min. input value
Read
6
Max. input value
7
Operational datum
Figure 10-5: Parameter Structure
Read
Read / Write
Note: In the Appendix A there is a parameter description with detailed
specifications of the qualities of all the operational parameters.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Serial Communication 10-7
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Writing To a Parameter
Writing to a parameter is allowed generally in the following manner:
A01: & gt; ID number of the parameter, data block element number, w,
operational datum (Carriage Return)
After a completed writing operation, the unit responds again with its
prompt.
For example, in order to write to the datum value of the parameter P-00004, the following input is required:
A01: & gt; P-0-0004,7,w,500 (Carriage Return)
A01: & gt; The drive writes the value 500 to the operating data
(data block element 7).
Reading of a Parameter
The general form for reading a parameter is as follows:
A01: & gt; ID number of the parameter, data block element number, r
(carriage return)
The drive responds with the contents of the contacted data block element
again.
For example, in order to access the operating data of the parameter P-0004, the following input is required:
A01: & gt; P-0-0004,7,r (Carriage Return)
1000
The drive returns the value
element 7).
1000 as the operating data (data block
Writing to a List Type Parameter
There is a series of list type parameters in the drive. These lists are written
to in a modified manner.
A01: & gt; ID number of the parameter, data block element number, w & gt;
(carriage return)
?List element 1 (carriage return)
?List element 2 (carriage return)
...
?List element x (carriage return)
? & lt; (Carriage Return
It is important that the input is terminated with the & lt; symbol, only then
will the data be wrtten to the drive.
Note: When wrting to list-type parameter, all the list elements and the
element order must be maintained. If a list element is removed or not
included, then the location of subsequent list elements values will be
displaced by element number.
10-8
Serial Communication
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Reading a List Type Parameter
Reading a list parameter is done in the same manner as with a normal
parameter. The drive responds, however, with an answer of all the list
elements.
Executing Parameter Commands
With the DKC, a series of commands can be processed. The execution
of commands happens automatically within the controller. There are
commands for the following:
• Switching between operational and parameterization modes
S-0-0127
Switching
from
initializing
phase
2
to
3
S-0-0128
Switching
from
initializing
phase
3
to
4
P-0-4023 Switching from initializing phase 4 to 2
• Basic Load (S-0-0262)
• Clear Error (S-0-0099)
• Homing Procedure (S-0-0148)
• Setting Absolute Measurement (P-0-0012)
• Setting Absolute Measurement Emulation (P-0-4032)
A command can be started, interrupted or ended over the serial interface.
Over thisinterface the status of the command status can be set.
The general form for executing a command is as follows:
A01: & gt; ID number of the parameter, 7, w, 11 (carriage return)
Requesting the Statusof Commands
The actual status of a command can be requested. Using the request for
the command status is especially important when it is necessary to
establish that the driving side of the command process is completed
before the connected control (or the PC) ends a command.
The general form for requesting the status of a parameter command is as
follows:A01: & gt; ID number of the parameter, 1, w, 0 (carriage return)
The drive responds to the request to write to the ID number of the
command parameter by returning the actual command status.
11 For example: (meaning the command in the drive is set and enabled)
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Serial Communication 10-9
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Possible status messages:
• Command is set in the drive
• Command execution terminated in the drive
• Command is not yet completed
• Command execution is not possible(error)
• Command was successfully completed
• Command operation interrupted in the drive
• Command is not set in the drive.
The command status will be transmitted in the form of a bit list. The
meaning of each bit is displayed below.
reserved
reserved
Bit 0 :
0 : Command not set in the drive
1 : Command set in the drive
Bit 1 :
0 : Command execution interrupted
in the drive
1 : Command execution enabled
in the drive
Bit 2 :
0 : Command executed correctly
1 : Command not yet executed
Bit 3:
0 : No error
1 : Error: command execution not
possible
Bit 8 :
0 : Current operating data is valid
1 : Current operating data is not valid
Figure 10-6: Command reception (data status)
Ending a Parameter Command
The general form for ending a parameter command is as follows:
A01: & gt; ID number of the parameter, 7, w, 0 (carriage return)
10-10
Serial Communication
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
Error Message
If illegal parameter access is attempted or for example writing access to a
read only data block element is attempted an error message is issued by
the drive.
List of the possible error codes
Error code:
Error description:
#1001
ID number missing
#1009
Invalid access to element 1
#2001
Namemissing
#2002
Transmitted name is too short
#2003
Transmitted name is too long
#2004
Name cannot be written to
#2005
Name is currently not editable
#3002
Transmitted attribute is too short
#3003
Transmitted attribute is too long
#3004
Attribute is not changeable
#3005
Attribute is currently write protected
#4001
Unit missing
#4002
Transmitted unit is too short
#4003
Transmitted unit is too long
#4004
Unit is not changeable
#4005
Unit is currently not changeable
#5001
Min. value missing
#5002
Transmitted min. value is too short
#5003
Transmitted min. value is too long
#5004
Min. value is not changeable
#5005
Min. value is currently not changeable
#6001
Max. value missing
#6002
Transmitted max. value is too short
#6003
Transmitted max. value is too long
#6004
Max. value is not changeable
#6005
Max. value is currently write protected
#7002
Transmitted datum is too short
#7003
Transmitted datum is too long
#7004
Datum cannot be written to
#7005
Datum cannot currently be written to
#7006
Datum & lt; min. value
#7007
Datum & gt; max. value
#7008
Datum is not correct
#9001
Input is not identifiable
#9002
Parameter type error
#9003
Invalid data set number
#9004
Invalid data block number
#9005
Data element number is not defined
#9006
Error in read-write recognition (r/w)
#9007
Invalid character in the data
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Serial Communication 10-11
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
10.5 Operation Example
Changing of the Positioning Command Data
Assumption:
• Multiple drives are connected over a RS485 interface to a SPS/PLC.
The currently entacted has the address 1.
• The drive functions in positioning made It will use 4 positioning blocks.
• The target positions of the positioning block data should be changed
over the RS485 interface.
Initiating communication to the desired axis
BCD:01 (CR)
Command for Switching to Drive A01: & gt;
Response of the contacted drive.
All other drives function in passive mode.
Note: There is not a signal reflection, instead the drive transmitts the
complete input sequence back after reception of the CR.
The resident memory mode is deactived
Normally the parameter will be stored through writing in a EEPROM so
that the data remains after the supply voltage is turned off.
If the application would require to proceed with frequent changes of the
parameters during operation, for example the changing of the target
position of positioning data sets, there is a danger of eventually exceeding
the maximum allowable number of writing cycles of the EEPROM. In
order to avoid this possibility , the resident memory must be turned off.
Turning off of the resident memory mode must be done after each time
the power supply of the connected controller is turned on and is valid until
the next time the power supply is turned off. While non-resident mode is
active, all parameter data is written to Ram memory only.
Turning off the resident memory:
A01: & gt; S-0-0269,7,w,1 (CR)
Writing the List of the Target Positions in the Drive
The target positions of all the axes are stored in the form of a list in the
parameter P-0-4006. In order to change one or more of these values, all
of the relevant values of this list must be written. If four target positions
will be used, then all 4 positions must be written even if only one of the
positions should be changed.
A01: & gt; P-0-4006, 7,w, & gt; (CR)
?100.0 (CR)
?200.0 (CR)
?300.0 (CR)
?400.0 (CR)
? & lt; (CR) (CR)
Target
Target
Target
Target
position
position
position
position
command
command
command
command
0
1
2
3
Immediately after writing to the target positions, the new values in the
drive are active.
10-12
Serial Communication
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
10.6 Connection Technique
RS485 Connection
X1
PC or SPS
4 5 6
RS485 +
RS485 -
Termination resistance
120 Ohm/0.6W
5
4 5 6
5
4 5 6
5
4 5 6
X1
X1
X1
DKC
DKC
DKC
AP002d1.drw
Figure 10-7: RS485 Connection
In the graphic above change “SPS” label to “PLC” and “resistance” to
“resistor”
Note: There can be a maximum of 32 drives which are connected! The
maximum total cable length is 1000m! A terminating connector is
supplied with each unit. The termination resistors must be installed
at the end of the transmission line using wire ferrules..
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Serial Communication 10-13
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
RS 232 Connection
Figure 10-8: RS 232 Connection
Note: Only point to point connection with maximum cable length of 15mis
possible, the PC and drive controller unit must share a common
central ground.
10-14
Serial Communication
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
11
Index
A
Absolute Format 9-5
Absolute Transmitter Monitoring 9-44
Absolute Transmitter Monitoring Window 9-44
absolute value transmitter 9-42
acceleration kinks 5-2
Activation and Parameters of Limit Switches 9-8
active mode 10-7
Actual position value measurement 1-5
Actual Position Value Output 1-5, 9-31
adjustment of the home switch 9-34
applications 1-1
B
Basic Load 9-14, 9-15–9-16, 9-19, 10-9
Border Requirements for Modulo Processing 9-6
brake 1-5, 9-9
Brake Behavior After Switching Off the Control Enable and in Error Conditions 9-50
brake control 9-49–9-50
C
9-32
cam switch 9-27
command choice controls 5-13
command choice directory 5-10
Command Choice Reception 5-13
Connecting the Home Switches 9-39
Connecting the Limit Switch 9-8
Connecting the Motor Brake 9-49
Control Drive Response 9-11–9-12
Control Drive Stop / Start During a Drive Controlled Homing Procedure 9-51
Control Drive Stop / Start During Positioning Operation 9-51
Control Drive Stop / Start in Velocity and/or Torque Control With Analog Command Value
9-51
Control Enable and Control Drive Stop Connections 9-52
D
Data references 9-3–9-4
Deactivating the Velocity Loop Monitor 9-22
Desired Position 5-1–5-4
Determining the Critical Integral Action Time 9-18
Determining the Critical Position Loop Gain 9-20
Determining the Direction of Movement During the Homing Procedure 9-34
Determining the Position Regulator Setting 9-20
Determining the Velocity Regulator Loop Setting 9-18
diagnostic outputs 9-47–9-48
Direct power supply connection 1-5
drive mode 3-8
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Index 11-1
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
E
Easy Installation 1-5
Error Classes 9-11
F
Frictionless switching 9-11–9-12
G
Graticule Value of the Incremental Transmitter 9-29
H
home direction 9-35–9-37
home point 9-35–9-38
home point switching signal 9-35
Home Switch Configuration 9-39
home switch signal 9-37
Homing Impulse Offset 9-30
Homing Parameters 9-38
homing procedure 1-2, 9-26, 9-33, 9-37–9-39, 9-41, 9-43, 9-51
Homing to the Current Actual Value 9-37
Homing with Analysis of the Home Switch 9-35, 9-37
Homing With Analysis of the Home Switch and the Home Reference 9-37
Homing with Analysis of the Position Transmitter Home Reference 9-36
I
Illustration of Absolute Actual Position Value Output Connections 9-32
Illustration of the Incremental Actual Position Value Output Connections 9-30
INBWG message 9-26
initial installation 9-41
initial operation 2-4
INPOS message 9-25
INREF message 9-26
Integrated brake activation 1-5
Integrated Diagnostic Display 1-5
interference resistance 6-6
Interrupting the Drive Controlled Homing Procedure 9-40
Interruption of relative method commands 5-6
K
Kv factor 5-2
Kv-factor 6-2, 9-13, 9-19–9-20
L
Limit switch 1-2, 1-4
limit switches 9-7–9-8
limit switchs 5-9
Limiting Torque Via Analog Inputs 9-9
Limiting Torque via Parameters 9-9
Limiting Velocity in Torque Regulation Mode 9-9
load side 9-4
11-2
Index
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
M
Master-slave operation for multiple axes 8-1
Maximum Display Area with Absolute Position Data Processing 9-5
module format 5-4
Module value 5-4
modulo area 9-5
modulo format 5-16, 9-5
modulo processing 9-5–9-6
modulo value 9-5
modulus value 5-15
Moving Towards the Home Position 9-43
N
Negating Position, Speed, and Torque Data 9-3
O
offline mode 3-6
operating mode 9-6, 9-33
Override Feature While Jogging 9-45
Override Feature with the Drive Control Homing Procedure 9-38
P
parameter mode 3-8, 9-6
parameterization mode 9-33, 10-9
passive mode 10-7
position limit 5-3
position limits 1-2, 1-4, 5-9, 9-7
Position loop monitoring 9-21, 9-23
Positioning acceleration 5-1
Positioning jerk 5-1
Positioning mode 5-1
Positioning velocity 5-1
power supply 9-8, 9-24, 9-51
Preparations for Setting the Velocity Loop 9-17
Primary Mode of Operation for the Position Loop Monitor 9-23
Primary Mode of Operation for the Velocity Loop Monitor 9-22
R
9-2
9-8
ready-for-operation relay 9-12
reference point 1-5
referencing procedure 1-4–1-5
Relative positioning command after activation of the control opening 5-8
Relative positioning command after the jogging operation 5-7
Requirements for Activating the Control Drive 9-51
Requirements for Setting the Position Loop Monitor Correctly 9-23
Requirements for the operation of an absolute positioning command 5-3
Requirements for Using Absolute Transmitter Imitation 9-31
rotary scaling as applied to load 9-6
RS232 mode 10-1
RS485 mode 10-1
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Index 11-3
ECODRIVE DKC01.1 / DKC11.1 Drive Controllers
S
selection lists 4-1, 4-4
Set Absolute Measure 9-41–9-43
Set Absolute Unit of Measure 9-26
Setting Absolute Measurement 10-9
Setting the Absolute Position 9-42
Setting the Absolute Transmitter Monitoring Window 9-44
Setting the Position Loop Monitor 9-23
setting the velocity control value to zero 9-12
special applications 8-1
speed control 5-2
SSI-format 1-5, 9-31
startup procedure 5-11
Startup procedure parameters setup through online operation 3-6
Startup prodecure parameters setup through offline operation 3-6
stepping motor controls 6-1
T
Terminals from components 8-1
travel region is exceeded 9-7
U
unit of measure 9-2–9-3
V
Velocity loop monitoring 9-21–9-22
vibration 5-11
vibrational inducement 5-11
vibrations 5-2, 7-3
11-4
Index
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE
DCK01.1/DKC11.1
Drive Control Devices
Supplement A
Parameter description
ASE 02VRS
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Control Devices
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Control Devices
Contents
1 General Information
1-1
Structure of this Document........................................................................................................... 1-1
Definitions...................................................................................................................................... 1-2
2 Standard parameters
2-1
S-0-0014, Interface Status ............................................................................................................ 2-1
S-0-0017, IDN List of all operational Data..................................................................................... 2-2
S-0-0021, IDN List of Invalid Op. Data for Comm. Ph.2 ............................................................... 2-2
S-0-0022, IDN List of Invalid Op. Data for Comm. Ph.3 ............................................................... 2-3
S-0-0030, Manufacturer Version ................................................................................................... 2-4
S-0-0032, Primary Mode of Operation .......................................................................................... 2-4
S-0-0033 Secondary Operation Mode 1........................................................................................ 2-5
S-0-0036, Velocity Command Value ............................................................................................. 2-5
S-0-0037, Additive Velocity Command Value ............................................................................... 2-6
S-0-0040, Velocity Feedback Value .............................................................................................. 2-6
S-0-0041, Homing Velocity............................................................................................................ 2-7
S-0-0042, Homing Acceleration .................................................................................................... 2-7
S-0-0043, Velocity Polarity Parameter .......................................................................................... 2-8
S-0-0044, Velocity Data Scaling Type........................................................................................... 2-9
S-0-0045, Velocity Data Scaling Factor ...................................................................................... 2-10
S-0-0046, Velocity Data Scaling Exponent ................................................................................. 2-11
S-0-0047, Position Command Value........................................................................................... 2-11
S-0-0049, Positive position limit value......................................................................................... 2-12
S-0-0050, Negative position limit value ....................................................................................... 2-12
S-0-0051, Position Feedback Value 1 (Motor Feedback) ........................................................... 2-13
S-0-0052, Reference Distance 1................................................................................................. 2-13
S-0-0055, Position Polarity Parameter ........................................................................................ 2-14
S-0-0057, Position Window......................................................................................................... 2-15
S-0-0059, Position Switch Flag Parameter ................................................................................. 2-16
S-0-0060, Position Switch Point 1 ............................................................................................... 2-16
S-0-0076, Position Data Scaling Type ........................................................................................ 2-17
S-0-0077, Linear Position Data Scaling Factor ........................................................................... 2-18
S-0-0078, Linear Position Data Scaling Exponent ...................................................................... 2-19
S-0-0079, Rotational Position Resolution.................................................................................... 2-19
S-0-0080, Torque/Force Command Value.................................................................................. 2-19
S-0-0084, Torque/Force Feedback Value................................................................................... 2-20
S-0-0085 Torque Polarity Parameter .......................................................................................... 2-21
S-0-0086, Torque/Force Data Scaling Type ............................................................................... 2-22
S-0-0091, Bipolar Velocity Limit Value ........................................................................................ 2-22
S-0-0092, Bipolar Torque/Force Limit Value............................................................................... 2-23
S-0-0093, Torque/Force Data Scaling Factor ............................................................................. 2-23
S-0-0094, Torque/Force Data Scaling Exponent ........................................................................ 2-24
S-0-0095, Diagnostic Message ................................................................................................... 2-24
S-0-0097, Mask Class 2 Diagnostic ............................................................................................ 2-25
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Contents
I
ECODRIVE DKC01.1/DKC11.1 Drive Control Devices
S-0-0098, Mask Class 3 Diagnostic ............................................................................................ 2-25
S-0-0099, Reset Class 1 Diagnostic ........................................................................................... 2-26
S-0-0100, Velocity Loop Proportional Gain ................................................................................. 2-26
S-0-0101, Velocity Loop Integral Action Time ............................................................................. 2-27
S-0-0103, Modulo Value.............................................................................................................. 2-27
S-0-0104, Position Controller KV-Factor (closed-loop control) .................................................. 2-28
S-0-0106, Current Controller, Proportional Gain 1 ...................................................................... 2-28
S-0-0107, Current Controller
Integral Action Time 1................................................................ 2-29
S-0-0108, Feedrate Override ...................................................................................................... 2-30
S-0-0109, Motor Peak Current .................................................................................................... 2-30
S-0-0110, Amplifier Peak Current ............................................................................................... 2-31
S-0-0111, Motor Current at Standstill.......................................................................................... 2-31
S-0-0112, Amplifier Nominal Current .......................................................................................... 2-32
S-0-0113, Maximum Motor Speed (nmax).................................................................................. 2-32
S-0-0116, Resolution of Rotational Feedback 1 ......................................................................... 2-33
S-0-0121, Input Revolutions of Load Gear.................................................................................. 2-33
S-0-0122, Output Revolutions of Load Gear............................................................................... 2-34
S-0-0123, Feed Constant ............................................................................................................ 2-35
S-0-0124, Standstill window ........................................................................................................ 2-35
S-0-0127, C1 Communication Phase 3 Transition Check .......................................................... 2-36
S-0-0128, C2 Communication Phase 4 Transition Check .......................................................... 2-36
S-0-0135, Drive Status Word ...................................................................................................... 2-37
S-0-0138, Bipolar Acceleration Limit Value................................................................................. 2-38
S-0-0140, Controller Type ........................................................................................................... 2-38
S-0-0141, Motor Type ................................................................................................................. 2-39
S-0-0142, Application Type ......................................................................................................... 2-40
S-0-0147, Homing Parameter ..................................................................................................... 2-40
S-0-0148, C6 Drive Controlled Homing Procedure ..................................................................... 2-41
S-0-0150, Reference Offset 1 ..................................................................................................... 2-42
S-0-0159, Monitoring Window..................................................................................................... 2-42
S-0-0160, Acceleration Data Scaling Type ................................................................................. 2-43
S-0-0161, Acceleration Data Scaling Factor ............................................................................... 2-44
S-0-0162, Acceleration Data Scaling Exponent .......................................................................... 2-45
S-0-0182, Manufacturer Class 3 Diagnostics.............................................................................. 2-46
S-0-0192, IDN-List of Backup Operation Data ............................................................................ 2-47
S-0-0193, Positioning Jerk .......................................................................................................... 2-47
S-0-0258, Target Position ........................................................................................................... 2-48
S-0-0259, Positioning Velocity..................................................................................................... 2-48
S-0-0260, Positioning Acceleration ............................................................................................. 2-49
S-0-0262, Command Basic Load ................................................................................................ 2-49
S-0-0269, Parameter Buffer Mode .............................................................................................. 2-50
S-0-0277, Position Feedback 1 Type Parameter ........................................................................ 2-51
S-0-0331, Status Feedback = 0 .................................................................................................. 2-52
S-0-0400, Home Switch .............................................................................................................. 2-52
S-0-0403, Position Feedback Value Status ................................................................................ 2-53
3 Specific Product Parameters
3-1
P 0 0001 Diagnostic Message Number......................................................................................... 3-1
II Contents
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Control Devices
P-0-0004, Smoothing Time Constant............................................................................................ 3-1
P-0-0005, Language Selection...................................................................................................... 3-2
P-0-0006, Overload Factor............................................................................................................ 3-2
P-0-0009, Error Message Number ................................................................................................ 3-3
P-0-0012, Command 'Set Absolute Measurement'....................................................................... 3-3
P-0-0013, Command value mode for modulo format.................................................................... 3-4
P-0-0017, Parameters Group List ................................................................................................. 3-5
P-0-0018, Numbers of Motor Pole Pairs /Pole Pair Distance........................................................ 3-5
P-0-0019, Position Start Value ...................................................................................................... 3-6
P-0-0020, Reference Cam Shifting ............................................................................................... 3-6
P-0-0038, Signal Selection for Analog Output Channel 1 ............................................................. 3-7
P-0-0039, Signal Selection for Analog Output Channel 2 ............................................................. 3-8
P-0-0040, Scaling of Velocity Data on .Analog Output Channel 1 ................................................ 3-9
P-0-0041, Scaling of Velocity.Analog Output-Channel 2............................................................... 3-9
P-0-0042, Scaling for Position Data on Analog Output Channel 1................................................ 3-9
P-0-0043, Scaling for Position Data on Analog Output Channel 2............................................. 3-10
P-0-0051, Torque Constant......................................................................................................... 3-10
P-0-0090, Travel Limit Parameter ............................................................................................... 3-11
P-0-0097, AbsoluteEncoderMonitoring Window ......................................................................... 3-12
P-0-0098, Maximum Model Deviation ......................................................................................... 3-12
P-0-0119, Error Reaction Best Possible braking........................................................................ 3-13
P-0-0123, Absolute Encoder Buffer ............................................................................................ 3-14
P-0-0500, Velocity Command Voltage for Max. Motor Speed ................................................... 3-14
P-0-0501, Motor Speed for Maximum Velocity Command Voltage ............................................ 3-15
P-0-0502, Line Count for the Incremental Encoder..................................................................... 3-15
P-0-0503, Reference Pulse Offset .............................................................................................. 3-16
P-0-0504, Command Filter Smoothing Time Constant ............................................................... 3-16
P-0-0508, Commutation Offset .................................................................................................. 3-17
P-0-0509, Slot Angle ................................................................................................................... 3-17
P-0-0510, Moment of Inertia of the Rotor.................................................................................... 3-18
P-0-0511, Brake Current ............................................................................................................. 3-18
P-0-0512, Default Position Loop Kv-factor.................................................................................. 3-18
P-0-0513, Feedback Type........................................................................................................... 3-19
P-0-0514, Absolute Encoder Offset ............................................................................................ 3-19
P-0-0515, Home(Reference) Position ......................................................................................... 3-20
P-0-0516, Feedback Interface..................................................................................................... 3-20
P-0-0518, Amplifier Nominal Current-2 ....................................................................................... 3-21
P-0-0519, Amplifier Peak Current-2 ............................................................................................ 3-21
P-0-0520, Hardware Number ...................................................................................................... 3-22
P-0-0522, Absolute Encoder Count Direction ............................................................................. 3-22
P-0-1003, Velocity Feedback Value Filtertimebase .................................................................... 3-23
P-0-4000, Current Zero Trim Phase U ........................................................................................ 3-23
P-0-4001, Current Zero Trim Phase V ........................................................................................ 3-24
P-0-4002, Current Amplify Trim Phase U.................................................................................... 3-24
P-0-4003, Current Amplify Trim Phase V.................................................................................... 3-24
P-0-4004, Magnetization Current ................................................................................................ 3-25
P-0-4005 Back EMF Constant .................................................................................................... 3-25
P-0-4006, Process Block Target Position ................................................................................... 3-26
P-0-4007, Process Block Velocity ............................................................................................... 3-26
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Contents
III
ECODRIVE DKC01.1/DKC11.1 Drive Control Devices
P-0-4008, Process Block Acceleration........................................................................................ 3-27
P-0-4009, Process Block Jerk..................................................................................................... 3-27
P-0-4010, Load Inertia................................................................................................................. 3-28
P-0-4011, Switch Frequency ....................................................................................................... 3-28
P-0-4012, Slip Factor .................................................................................................................. 3-29
P-0-4013 Maximum Rotor Frequency ......................................................................................... 3-29
P-0-4014, Motor Type ................................................................................................................. 3-30
P-0-4015, Circle Voltage ............................................................................................................. 3-30
P-0-4016, Dynamic Compensation ............................................................................................. 3-31
P-0-4017, Offset of the Analog Torque Command ..................................................................... 3-31
P-0-4018, Offset of the Analog Velocity Command Input ........................................................... 3-31
P-0-4019, Process Block Mode................................................................................................... 3-32
P-0-4020, Encoder Emulation Type ............................................................................................ 3-33
P-0-4021, Baud - Rate (RS232/485) ........................................................................................... 3-33
P-0-4022, Drive Address ............................................................................................................. 3-34
P-0-4023, C4 Command: Switch to Parameter Mode................................................................. 3-34
P-0-4024, Test Status ................................................................................................................. 3-35
P-0-4025, Password.................................................................................................................... 3-35
P-0-4026, Process Block Selection............................................................................................. 3-36
P-0-4027, Function Parameter.................................................................................................... 3-36
P-0-4028, Impulse Wire Feedback Offset................................................................................... 3-37
P-0-4029, Impulse Wire Feedback PIC Counter Value .............................................................. 3-37
P-0-4030, Jog Velocity ................................................................................................................ 3-38
P-0-4031, Absolute Encoder Emulator Offset ............................................................................. 3-39
P-0-4032, C3 Command Set Emulation-Absolute Value ............................................................ 3-39
P-0-4033, Steps per Revolution .................................................................................................. 3-40
P-0-4034, Stepper Motor Interface Mode.................................................................................... 3-40
P-0-4035, Anbalanced Current.................................................................................................... 3-41
P-0-4036, Contacted Motor Type ................................................................................................ 3-41
P-0-4037, Default Velocity Loop Proportional Gain..................................................................... 3-42
P-0-4038, Default Velocity Loop Integral Action Time................................................................. 3-42
P-0-4039, Default Current Loop Proportional Gain ..................................................................... 3-43
P-0-4040, Digital Inputs............................................................................................................... 3-43
P-0-4041, Digital Outputs ............................................................................................................ 3-44
P-0-4042, Default Velocity Loop Delay Time .............................................................................. 3-45
P-0-4043, Bleed Overload Factor................................................................................................ 3-45
P-0-4044, Bleeder load ............................................................................................................... 3-46
P-0-4045, Active Continuous Current.......................................................................................... 3-46
P-0-4046, Active Peak Current ................................................................................................... 3-47
P-0-4047, Motor Inductance........................................................................................................ 3-48
P-0-4048, Stator Resistance ....................................................................................................... 3-48
P-0-4049, Default Current Loop Integral Action Time ................................................................. 3-49
P-0-4050, Delay Answer RS232/485 .......................................................................................... 3-49
P-0-4094, Command Parameter Default Set .............................................................................. 3-50
4 Index
IV Contents
4-1
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
1
General Information
Structure of this Document
All standard and product-specific parameters are listed in this chapter in
ascending numerical order.
It suppliments to the entries made in the Functional Description and
represents a complete description of all parameters used in the
ECODRIVE product.
Note:
The parameter description is especially significant when you
are using the serial interface (RS485/232) from the drive
controllerunit.
You do not require detailed knowledge of the significance of
each parameter if you are using the DriveTop to set
parameters during installation.
The description of the individual parameters is divided into two
subsections.
1) General description
The function of the parameter is given in this section.
2) Attributes
Description of the significance of the parameter and help for setting and
editing parameter values are in the attributes section.
This includes the list of charcteristics and characteristic values used to
classify the parameters. They are necessary for the complete description
of the parameter.
However, if you would like a quick overview of the significance of the
parameter, they are not relevant.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Information
1-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Definitions
The following abbreviations are used:
Data length:
2Byte - the data length for the operating data is 2 Bytes
4Byte - the data length for the operating data is 4 Bytes
1Byte variable - this is operating data of variable length (list), the length
of a single data element is 1 Byte
2Byte variable - this is operating data of variable length (list), the length
of a single data element is 2 Bytes
4Byte variable - this is operating data of variable length (list), the length
of a single data element is 4 Bytes
Format :
BIN - the display format for the operating data should be binary.
Note: Leading zeros of BIN Format data are not transmitted via ASCII
strings over the RS232/485 serial interface nor displayed in DriveTop.
For example, the datum value 0000, 0000, 0011, 1011 would be
transmitted and displayed as 11,1011.
HEX - the display format for the operating data should be hexadecimal
DEC_OV - the display format for the operating data should be decimal
without a sign
DEC_MV - the display format for the operating data should be decimal
with a sign
ASCII - the operating data is an ASCII string
IDN - the operating data is an ID number
Edit:
no - the operating data can not be edited
P2 - the operating data can only be edited in communication phase 2
P23 - the operating data can only be edited in communication phase 2
and 3
P234 - the operating data can be edited in any communication phase
P3 - the operating data can only be edited in communication phase 3
P4 - the operating data can only be edited in communication phase 4
Memory :
fixed - the operating data is programmed in the drive
no - the operating data is not buffered in the drive, the value after turning
on the drive controller is not defined.
Param.E²prom - the operating data is buffered in the parameter E²prom
(IC2 on the drive controller main circuit board).
Ampl.E²prom - the operating data is buffered in the E²prom from the
drive controller.
Feedb.E²prom - the operating data is buffered in the E²prom from the
motor feedback data memory. (only for MDD- and MKD motors)
1-2
General Information
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
The following paramter operating data are stored in the motor feedback:
• P-0-0018
• P-0-0508
• P-0-0509
• P-0-0510
• P-0-0511
• P-0-0512
• P-0-0513
• P-0-4014
• P-0-4005
• P-0-4037
• P-0-4038
• P-0-4039
• P-0-4042
• P-0-4047
• P-0-4048
• S-0-0109
• S-0-0111
• S-0-0113
• S-0-0116
Validity check:
no - the operating data will not be checked for validity
Phase2 - the operating data will be checked in the command
" Communication phase 3 transition check "
Phase3 - the operating data will be checked in the command
" Communication phase 4 transition check "
Extreme value check:
no - the operating data will not be checked for extreme values when it is
written to
yes - the operating data will be checked for extreme values when it is
written to
Combination check:
no - the operating data will not be checked (bitwise)for valid combination
with other paramter values when it is written to
yes - the operating data will be checked (bitwise) for valid combination
with other parameter values when it is written to
cyc. transmittable :
only in SERCOS devices
Default Value:
The default value indicates the value of the parameter loadedinto fixed
memory with the current version of firmware installed on the drive
following the PL program load command and prior to user edits or loading
saved parameter files.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
General Information
1-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
2
Standard parameters
S-0-0014, Interface Status
Description:
The current communication phase can be requested through the first
three bits ( 0, 1, 2 ).
2
The drive is in the parameter mode
4
The drive is in the operate mode
Structure of the parameter:
Bit 0 - 2: Communication phase
Bit 3 : reserved
Bit 4 : reserved
Bit 5 : reserved
Bit 6:
reserved
Bit 7:
Bit 8:
reserved
reserved
Bit 9 : reserved
Bit 10: reserved
Bit 11: reserved
Bit 12 : reserved
Bit 13 : reserved
Bit 14 : reserved
Bit 15 : reserved
Figure 2-1: S-0-0014, Interface Status
Note: This parameter is not available for DKC01.1/DKC11.1 firmware
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0014 - Attributes
Name in German:
Schnittstellen-Status
Name in English:
Interface Status
ID number:
S-0-0014
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2Byte
validity check:
no
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
S-0-0017, IDN List of all operational Data
Desrciption:
The identification numbers of all drive data are included in this list. The
parameters included in this IDN list are displayed by IDN number, name,
and value in DriveTop through the menu selection Parameter | List of all
Parameters.
S-0-0017 - Attributes
Name in German:
IDN-Liste Betriebsdaten
Name in English:
IDN List of All Operation Data
ID number:
S-0-0017
Editability:
no
Function:
Parameter
Memory:
fixed
Data length:
2Byte variable
validity check:
no
Format:
IDN
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
S-0-0021, IDN List of Invalid Op. Data for Comm. Ph.2
Description:
Before the drive executes the delayed phase switch from 2 to 3 that was
initiated with the command Communication phase 3 transition check,
S-0-0127 " , it will check to see if all communication parameters are
complete and correct. If the drive identifies one or more IDN's that are
invalid, it will write the operating data that is still needed or is invalid in this
ID No. list. This will be displayed to the drive through the command error
diagnostic message C101, Communication parameters incomplete.
S-0-0021 - Attributes
Name in German:
S-0-0021
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2Byte variable
validity check:
no
Format:
Standard parameters
IDN List of Invalid Op. Data for Comm. Ph.2
ID number:
2-2
IDN-Liste ungültige Betriebsdaten Phase 2
Name in English:
IDN
Extreme value check:
no
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
S-0-0022, IDN List of Invalid Op. Data for Comm. Ph.3
Description:
Before the drive executes the phase delayed switch from 3 to 4 that was
initiated with the command Communication phase 4 transition check,
S-0-0128 " , it will check the parameters for following items:
• Validity of the parameter
• Parameter value is found within the possible input range between the
min. and max. input value attributes.
• " Compatibility " with other parameters
If a parameter checks proves negative, this operating data will be written
in this ID No. list.
The drive then responds to the transition
communication error diagnostic message:
command with the
• C201 Parameter record incomplete or
• C202 Parameter limit value error or
• C203 Parameter conversion error
This IDN list of invalid parameters may be displayed and edited through
the DriveTop menu selection Parameter/List of all invalid parameters.
S-0-0022 - Attributes
Name in German:
IDN-Liste ungültige Betriebsdaten Phase3
Name in English:
IDN List of Invalid Op. Data for Comm. Ph.3
ID number:
S-0-0022
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2Byte variable
validity check:
no
Format:
IDN
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0030, Manufacturer Version
Description:
The drive firmware version can be read as text from this parameter.
Example:
DKC1.1-ASE-02V07
Release
Version
FirmwareType
Hardware Type
S-0-0030 - Attributes
Name in German:
Hersteller-Version
Name in English:
Manufacturer Version
ID number:
S-0-0030
Editability:
no
Function:
Parameter
Memory:
fixed
Data length:
1Byte variable
validity check:
no
Format:
ASCII
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
S-0-0032, Primary Mode of Operation
Description:
The mode of operation defined in this parameter will be activated in the
drive when:
• the control and power sections are ready for operation
• the controller enable RF is set
• and the AH/Start signal has been given
The selection of the operating mode is made by entering a bit list.
Bit list:
Meaning:
0000,0000,0000,0001
Torque regulation
0000,0000,0000,0010
Velocity regulation
0000,0000,0011,0011
Position regulation, positioning interface, with
following error
0000,0000,0011,1011
Position regulation, positioning interface, without
following error
1100,0000,0000,1011
Position regulation, step motor interface without
following error, rotational feedback
1100,0000,0000,0011
Position regulation, step motor interface with
following error, rotational feedback
Figure 2-2: Mode of Operation
2-4
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0032 - Attributes
Name in German:
Hauptbetriebsart
Name in English:
Primary Mode of Operation
ID number:
S-0-0032
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
yes
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
10b
Input value min / max: --/--
S-0-0033 Secondary Operation Mode 1
Description:
The first secondary operation mode is reserved for the jogging operation
for DKC.
The secondary operation mode is a fixed setting and cannot be changed.
S-0-0033 - Attributes
Name in German:
Nebenbetriebsart-1
Name in English:
Secondary Operation Mode 1
ID number:
S-0-0033
Editability:
no
Function:
Parameter
Memory:
Param. E²Prom
Data length:
2 byte
validity check:
yes
Format:
binary
Extreme value check:
no
Unit German/English:
-/-
combination check:
yes
Posit. after the dec.:
-
cyc. transmittable:
no
Input value min / max: -/-
Default value:
1100000000011011 b
S-0-0036, Velocity Command Value
Description:
This parameter is used to set the velocity command value. This together
with
S-0037 Additive, Velocity Command Value determine the
effective Velocity Command Value for the drive.
In the position control operating modes, this parameter displays the
output error signal of the position controller.
S-0-0036 - Attributes
Name in German:
Geschwindigkeits-Sollwert
Name in English:
Velocity Command Value
ID number:
S-0-0036
Editability:
P234
Function:
Parameter
Memory:
no
Data length:
4Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
yes
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Unit German/English:
S-0-0044/S-0-0044 combination check:
no
Posit. after the dec.:
S-0-0044
MDT
cyc. transmittable:
Input value min / max: S-0-0044/S-0-0044 Default value:
--
S-0-0037, Additive Velocity Command Value
Description:
The additive velocity command value is added to the
S-0-0036, Velocity command value in the drive.
S-0-0037 - Attributes
Name in German:
Geschwindigkeits-Sollwert additiv
Name in English:
Additive velocity command value
ID number:
S-0-0037
Editability:
P234
Function:
Parameter
Memory:
no
Data length:
4Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0044/S-0-0044 combination check:
no
Posit. after the dec.:
S-0-0044
AT
cyc. transmittable:
Input value min / max: S-0-0044/S-0-0044 Default value:
--
S-0-0040, Velocity Feedback Value
Description:
The velocity feedback value is updated by the drive controller every
500ms. (This can be transferred via the serial communication interface.)
S-0-0040 - Attributes
Name in German:
Geschwindigkeits-Istwert
Name in English:
Velocity Feedback Value
ID number:
S-0-0040
Editability:
no
Function:
Parameter
Memory:
no
Data length:
4Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
no
Unit German/English:
S-0-0044/S-0-0044 combination check:
no
Posit. after the dec.:
S-0-0044
AT
cyc. transmittable:
Input value min / max: S-0-0044/S-0-0044 Default value:
2-6
Standard parameters
--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0041, Homing Velocity
Description:
Determines the velocity for the S-0-0148, Drive controlled homing
procedure command in conjunction with the S-0-0108, Feedrate Override
parameter. In the case of a drive motor with an absolute encoder (K-type
feedback option), if the S-0-0148, Drive controlled homing procedure is
initiated, then the drive will proceed to the reference point (home position)
that was determined with the Set absolute measurement, P-0-0012
command with this velocity.
S-0-0041 - Attributes
Name in German:
Referenzfahr-Geschwindigkeit
Name in English:
Homing velocity
ID number:
S-0-0041
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0044/S-0-0044 combination check:
no
Posit. after the dec.:
S-0-0044
cyc. transmittable:
no
Default value:
+100.0000 Rpm
Input value min / max: 0/S-0-0044
S-0-0042, Homing Acceleration
Description:
The acceleration value for the ramp up to homing velocity with which the
S-0-0148, Drive controlled homing procedure command is performed
is set in this parameter.
S-0-0042 - Attributes
Name in German:
Referenzfahr-Beschleunigung
Name in English:
Homing acceleration
ID number:
S-0-0042
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0160/S-0-0160 combination check:
no
Posit. after the dec.:
S-0-0160
cyc. transmittable:
no
Default value:
+1000.000 rad/s2
Input value min / max: 0/S-0-0160
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-7
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0043, Velocity Polarity Parameter
Description:
The polarity of the velocity data that is applied to the application can be
switched in this parameter.
The polarity will be switched externally (at the command & feedback input;
and actual value output) and not within the control system velocity
regulator..
The following applies to rotary motors:
Clockwise rotation when facing the motor shaft is the rule for a positive
velocity command value difference and a positive velocity feedback value
polarity.
Structure of the parameter:
Bit 0 : Velocity command value
0: Positive polarity
1: Negative polarity
Bit 1 : Velocity command value, additive
0: Positive polarity
1: Negative polarity
Bit 2 : Velocity feedback value
0: Positive polarity
1: Negative polarity
Figure 2-3: S-0-0043, Velocity Polarity Parameter
S-0-0043 - Attributes
Name in German:
Geschwindigkeits-Polaritäten-Parameter
Name in English:
Velocity polarity parameter
ID number:
S-0-0043
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
0b
Input value min / max: 0/--
2-8
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0044, Velocity Data Scaling Type
Description:
Various scaling types can be defined for the velocity data in the drive.
Examples:
RPM
- & gt;
rotary
mm/min
- & gt;
linear
Structure of the parameter:
Bit 2 - 0: Scaling type
0 0 0: unscaled
0 0 1: linear scaling
0 1 0: rotary scaling
Bit 3 :
0 : preferred scaling
1 : parameter scaling
Bit 4 : Unit of measure for linear scaling
0 : meter [m]
1 : inch [in]
Unit of measure for rotary scaling
0 : revolution
1 : reserved
Bit 5 : Unit of time
0 : minute [min]
1 : second [sec]
Bit 6: Data reference
0 : to the motor shaft
1 : to the load
Bit 15 - 7: reserved
Figure 2-4: S-0-0044, Velocity Data Scaling Type
Notes:
1) For the case of load side linear scaling, changing the dimensional unit
between meters (metric) and inches (English) will not result in an accurate
conversion of data values to the new dimensional unit. The change of the
linear dimensional unit will result only in a decimal point shift (scaling
exponent change) to the left (change meter inches) or to the right (inches
meters). It is therefore recomended that the linear dimensional unit be
selected once and not changed. If the unit must be changed, then all
operational data values must be corrected and scaled to reflect the new
unit.
2) Preferred parameter scaling will automatically be selected if you use
the parameter/scaling & mechanical setup dialog in DriveTop.
Preferred scaling will result in the following resolution:
-6
-5
Resolution with linear scaling: 10
m/min, 10
in/min
-4
-6
Resolution with rotary scaling: 10
rpm, 10
rev/s
3) See also example under S-0-0045, Velocity Data Scaling Factor.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-9
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0044 - Attributes
Name in German:
Wichtungsart für Geschwindigkeitsdaten
Name in English:
Velocity data scaling type
ID number:
S-0-0044
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Check_P3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
yes
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
1010 b
Input value min / max: --/--
S-0-0045, Velocity Data Scaling Factor
Description:
The scaling factor for all velocity data in the drive will be determined in
this parameter.
If a preferred scaling is set with S-0-0044, Velocity data scaling type,
this parameter will be set to 1.
Example: Suppose that loadside linear scaling is desired with velocity
units in meters/min. The DriveTop application
parameter/scaling/mechanical program sets the preferred velocity scaling
values through the value dialog.
S-0-0045, velocity data scaling factor
1
S-0-0046, Velocity data scaling expanent
-6
S-0-0049, Velocity data scaling type
100 100 1 b
Bit 2 -0 = 001 linear scaling
Bit 3 = 1 (Preferred) Parameter
Bit 4 = 0 Dimensional unit is meters (m)
Bit 5 = 0 Time unit is minutes (min)
Bit 6 = 1 Data referenced al load
Now suppose that a value of +1234567 is stored in the relavent velocity
datum register. This datum value will be interpreted and displayed as:
-6
+1234567 X 1 X 10 m/minor
or
+1234467 X 10
-3
mm/min
or
As the value would be displayed in the IDN lists, +1234.567 mm/min with
respect to the load. Note that the least significant decimal value is
determined by the scaling exponent, in this example, as 10-6 m/min or
10-3 mm/min.
2-10
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0045 - Attributes
Name in German:
Wichtungs-Faktor für Geschwindigkeitsdaten
Name in English:
Velocity data scaling factor
ID number:
S-0-0045
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
MDT
Default value:
1
Input value min / max: 1/65535
S-0-0046, Velocity Data Scaling Exponent
Description:
The scaling exponent for all velocity data in the drive will be determined in
this parameter.
S-0-0046 - Attributes
Name in German:
Wichtungs-Exponent Geschwindigkeitsdaten
Name in English:
Velocity data scaling exponent
ID number:
S-0-0046
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
MDT
Default value:
-4
Input value min / max: 32/32
See also example under S-0-0045, Velocity Data Scaling Factor.
S-0-0047, Position Command Value
Description:
For the step motor interface, the position command value will be
determined through the evaluation of the step-pulse signals present at
this interface. The position command value that is determined is this
fashion can be read here.
For the positioning interface, the position command value will be
generated by the internal position command value interpolator. The active
position command value can be read here.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-11
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0047-Attributes
Name in German:
Lage-Sollwert
Name in English:
Position Command Value
ID number:
S-0-0047
Editability:
P234
Function:
Parameter
Memory:
no
Data length:
4 Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
MDT
cyc. transmittable:
Input value min / max: S-0-0076/S-0-0076 Default value:
--
S-0-0049, Positive position limit value
Description:
The " Positive position limit value " describes the maximum extent of travel
in a positive direction.
The position limit is only active if all position data is referenced to the
home point, i.e., the drive is homed. (Bit 0 in parameter S-0-0403,
Position feedback value status is set to 1). The position limit values
can be switched off through bit 4 in the S-0-0055, Position polarity
parameter .
If a target position on the other side of the position limit is set in the
drive, the warning E253, Target position beyond the travel range will
be generated.
S-0-0049 - Attributes
Name in German:
Lage-Grenzwert positiv
Name in English:
Positive position limit value
ID number:
S-0-0049
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
no
cyc. transmittable:
Input value min / max: S-0-0076/S-0-0076 Default value:
+10000.00 Deg
S-0-0050, Negative position limit value
Description:
The " Negative position limit value " describes the maximum extent
travel in a negative direction.
of
The position limit is only active if all position data is referenced to the
home point, i.e., the drive is homed. (Bit 0 in parameter S-0-0403,
Position feedback value status is set to 1). The position limit values
can be switched off through bit 4? in the S-0-0055, Position polarity
parameter .
If a target position on the other side of the position limit is set in the drive,
the warning E253, Target position beyond the travel range will be
generated.
2-12
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0050 - Attributes
Name in German:
Lage-Grenzwert negativ
Name in English:
Negative position limit value
ID number:
S-0-0050
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
no
cyc. transmittable:
Input value min / max: S-0-0076/S-0-0076 Default value:
-10000.00 Deg
S-0-0051, Position Feedback Value 1 (Motor Feedback)
Description:
The " Position feedback value 1 (Motor feedback) " represent the current
position of the rotational feedback. This value is updated each 500ms.
(This can be read over the serial interface).
S-0-0051 - Attributes
Name in German:
Lage-Istwert-1
Name in English:
Position Feedback Value 1 (Motor Feedback)
ID number:
S-0-0051
Editability:
no
Function:
Parameter
Memory:
no
Data length:
4 Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
no
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
cyc. transmittable:
AT
Default value:
--
Input value min / max: --/--
S-0-0052, Reference Distance 1
Description:
This parameter represents the distance between the machine zero point
and the home point for the motor measurement system (Position
feedback value 1).
After the command S-0-0148, C6 Drive controlled homing procedure
has been executed, the drive will set the Position Command Value, S-00047 and the Position feedback value “9.8 Drive Controlled Homing
Procedure” S-0-0051 to this value.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-13
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0052 - Attributes
Name in German:
Referenzmaß Lage-Istwert 1
Name in English:
Reference distance 1
ID number:
S-0-0052
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
no
cyc. transmittable:
Input value min / max: S-0-0076/S-0-0076 Default value:
+0.00 Deg
S-0-0055, Position Polarity Parameter
Description:
This parameter can be used to invert the polarities of the given position
data. These polarities will be switched outside of the control system
position regulator (i.e., at the command and feedback valueinput to and
actual value output from the control system).
Since the position data from the rotational feedback will be inverted, a
different numeric value will result.
The following applies to rotary motors:
" Motor-clockwise rotation " = the motor shaft turns in clockwise direction
(Facing the motor shaft) if the position command value difference and the
position feedback polarity are both positive.
Bit 4 is used to activate or deactivate product position limits.
Structure of the parameter:
Bit 0 : Position feedback value
0: positive polarity
1: negative polarity
Bit 1 : Position feedback value additive
0: positive polarity
1: negative polarity
Bit 2 : Position command value 1
0: positive polarity
1: negative polarity
Bit 3 : Position command value 2
0: positive polarity
1: negative polarity
Bit 4 : Position limits
0 : not active
1 : active
Figure 2-5: S-0-0055, Position Polarity Parameter
Note:
2-14
Standard parameters
Only the bits named here are supported by the product.
If bit 0 is altered by the control system, the drive will also set
the value for bits 1 - 3 to match the value of bit 0.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0055 - Attributes
Name in German:
Lage-Polaritäten-Parameter
Name in English:
Position Polarity Parameter
ID number:
S-0-0055
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
0b
Input value min / max: 0/31
S-0-0057, Position Window
Description:
The drive will set the ouput " In Position " when the amount of the
difference between
the position feedback value and the position
command value is less than the value of the position window.
During the command S-0-0148, C6 Drive controlled homing
procedure, this parameter is used to signal the end of the command
through the INPOS-output if the position feedback value enters into the
home region ± S-0-0057.
G-Types - In-Pos functions as described during S-0-0148 parameter
Command
K-Types - Old firmware S-0-0148 used to return to home. This command
can no longerbe executed with K-type Fb’s. Results in C6/04 diagnostic.
S-0-0057 - Attributes
Name in German:
Positionierfenster
Name in English:
Position window
ID number:
S-0-0057
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
cyc. transmittable:
no
Default value:
+10.00 Deg
Input value min / max: 0/S-0-0076
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-15
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0059, Position Switch Flag Parameter
Description:
The flag for the position switch point is dependent on the position
feedback value.
If S-0-0051 Position feedback value 1 is less than S-0-0060, Position
switch point, the corresponding flag is set to 0. If the position feedback
value is larger than or equal to the position switch point, the
corresponding flag will be set to 1. The status of the output " path switch
point " at pinx2/19 corresponds to this flag.
S-0-0059 - Attributes
Name in German:
Positionsschaltpunkt - Parameter
Name in English:
Position switch flag parameter
ID number:
S-0-0059
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
binary
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
S-0-0060, Position Switch Point 1
The position switches are made up of a position switch point and a
position switch point-flag. If the position feedback value is less than the
position switch point, the corresponding flag will be set to 0. If the position
feedback value is larger than or equal to the position switch point, the
corresponding flag will be set to 1.
S-0-0060 - Attributes
Name in German:
Positionsschaltpunkt 1
Name in English:
Position Switch point 1
ID number:
S-0-0060
Editability:
P2/P3/P4
Function:
Parameter
Memory:
Param E2prom
Data length:
4 Byte
validity check:
yes
Format:
S-0-0076
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
cyc. transmittable:
no
Default value:
+0.00 Deg
Input value min / max: --/--
2-16
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0076, Position Data Scaling Type
Description:
Various scaling types for the position data in the drive can be set as
described below.
This parameter determines the scaling of all
parameters with units of linear or rotary position or displacement.
Structure of the parameter:
Bit 2 - 0: Scaling type
0 0 0: unscaled
0 0 1: linear scaling
0 1 0: rotary scaling
Bit 3 :
0 : preferred scaling
1 : parameter scaling
Bit 4 : Unit of measure for linear scaling
0 : meter [m]
1 : inch [in]
Unit of measure for rotary scaling
0 : degree angles
1 : reserved
Bit 5 : reserved
Bit 6: Data reference
0 : to the motor shaft
1 : to the lead
Bit 7: Processing format
0 : absolut format
1 : modulo format
Bit 15 - 8: reserved
Figure 2-6: S-0-0076, Position Data Scaling Type
Note:
Only the bits named here are supported by the product.
Notes:
1) Same as S-0-0044 Note 1
2) Same as S-0-0044 Notes 2
3) See example”Parameter Scaling Position Data” under S-0-0077
S-0-0076 - Attributes
Name in German:
Wichtungsart für Lagedaten
Name in English:
Position Data Scaling Type
ID number:
S-0-0076
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
yes
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
1010b
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-17
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0077, Linear Position Data Scaling Factor
Description:
This ID number contains the scaling factor that is to be used to scale all
position data in the drive.
The parameter is set to 1 if linear preferred scaling has been setin Bit 3 of
S-0-0076, Position Data Scaling Type.
Example:
Suppose that loadside, linear scaling is desried with dimensional units in
meters. the parameter 1 Scaling /mechanical system dialog in DriveTop
will set the position data scaling options on the drive as follows:
Parameter
S-0-0076, Position Data Scaling Type
Value 01001001
Bit 2-0:
001, linear scaling
Bit 3:
1, (Preferred)Parameter Scaling
Bit 4:
0, Dimensional unit is meters (m)
Bit 6:
1, Data Referenced at the load
Bit 7:
0, Absolute processing format
S-0-0077, Linear Position Data Scation Factor
1
S-0-0078, Linear Position Data Scaling Exponent
-6
Now supposeth that the decimal value of +1234567 is stored in the
relavent position datta register. This datum value will be interpreted and
displayed as:
-3
+1234567X1X10 mm (Millimeters)
or
as the value would be displayed in the IDN lists, +1234.567 mm with
respect ot the laod. Note that the least significant decimal value is
-6
-3
determined by the scaling exponent, in this example, as 10 m or 10
mm.
S-0-0077 - Attributes
Name in German:
Wichtungs-Faktor transl. Lagedaten
Name in English:
Linear Position Data Scaling Factor
ID number:
S-0-0077
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
1
Input value min / max: 1/65535
2-18
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0078, Linear Position Data Scaling Exponent
Description:
This ID number contains the scaling exponent that is to be used to scale
all position data in the drive if linear scaling has been selected.
If linear preferred scaling is selected, this parameter will be set by the
drive.
S-0-0078 - Attributes
Name in German:
Wichtungs-Exponent transl. Lagedaten
Name in English:
Linear Position Data Scaling Exponent
ID number:
S-0-0078
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
-6
Input value min / max: 32/32
S-0-0079, Rotational Position Resolution
Description:
If rotary position scaling is selected, the LSB valence for all position data
will be set in this parameter.
The LSB bit can be specified in the following manner:
Example:
If you would like a resolution of 0.01 degrees for the LSB, a value of
36,000 must be parameterized.
If a preferred scaling was set in the parameter S-0-0076, Position Data
Scaling Type, the rotational position resolution will be set at 3,600,000.
That means that the resolution for the LSB will be 0.0001 degrees.
S-0-0079 - Attributes
Name in German:
Rotations-Lageauflösung
Name in English:
Rotational position resolution
ID number:
S-0-0079
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
36000
Input value min / max: 1/4294967295
S-0-0080, Torque/Force Command Value
Description:
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-19
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
This parameter shows the drive's current torque/force command value.
The evaluation is dependent upon the scaling of the torque and force data
(z.Z. = at present, only percentage scaling is supported).
100% = Motor continous stand still torque, Mdn
S-0-0080 - Attributes
Name in German:
Drehmoment/Kraft-Sollwert
Name in English:
Torque/Force Command Value
ID number:
S-0-0080
Editability:
P234
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0086/S-0-0086 combination check:
no
Posit. after the dec.:
S-0-0086
MDT
cyc. transmittable:
Input value min / max: S-0-0086/S-0-0086 Default value:
+0.0%
S-0-0084, Torque/Force Feedback Value
Description:
This parameter represents the motor's current torque feedback value.
The evaluation is dependent upon the scaling of the torque and force data
(z.Z = e.g., only percentage scaling is supported).
100% = Motor stand still torque
S-0-0084 - Attributes
Name in German:
Drehmoment/Kraft-Istwert
Name in English:
Torque/Force Feedback Value
ID number:
S-0-0084
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
no
Unit German/English:
S-0-0086/S-0-0086 combination check:
no
Posit. after the dec.:
S-0-0086
AT
cyc. transmittable:
Input value min / max: S-0-0086/S-0-0086 Default value:
2-20
Standard parameters
--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0085 Torque Polarity Parameter
Description:
The polarities for the given torque data that is related to the application
can be switched in this parameter.
The polarity will be switched externally (at the command & feedback value
input and actual value output) not inside the controlled system.
The following applies to rotary motors:
Clockwise rotation when facing the motor shaft is the rule for a positive
torque command value and a positive torque feedback value polarity.
Structure of the parameter:
Bit 0 : Torque command value
0: positive polarity
1: negative polarity
Bit 1 : Torque command value additive
0: positive polarity
1: negative polarity
Bit 2 : Torque feedback value
0: positive polarity
1: negative polarity
Figure 2-7: S-0-0085, Torque/Force Polarity Parameter
Note:
If bit 0 is altered, the drive will also set the value of bits 1 - 2 to
match the value of bit 0.
S-0-0085 - Attributes
Name in German:
Drehmoment-Polaritäten-Parameter
Name in English:
Torque polarity parameter
ID number:
S-0-0085
Editability:
P23
Function:
Parameter
Memory:
Param E²Prom
Data length:
2 Byte
validity check:
Phase 3
Format:
BIN
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
0b
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-21
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0086, Torque/Force Data Scaling Type
Description:
At the present time only the percentage scaling for the torque force data
is supported.
The following applies:
100 % = S-0-0111, Motor current at standstill
S-0-0086 - Attributes
Name in German:
Wichtungsart für Drehmoment-Kraftdaten
Name in English:
Torque/Force data scaling type
ID number:
S-0-0086
Editability:
23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
yes
Posit. after the dec.:
0
cyc. transmittable:
MDT
Default value:
0b
Input value min / max: --/--
S-0-0091, Bipolar Velocity Limit Value
Description:
The " bipolar velocity limit value " describes the maximum allowable
velocity that is symmetrical in both directions. The maximun input value is
restricted by S-0-0113, Motor-maximum speed.
S-0-0091 - Attributes
Name in German:
Geschwindigkeits-Grenzwert bipolar
Name in English:
Bipolar Velocity Limit Value
ID number:
S-0-0091
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
S-0-0044/S-0-0044 combination check:
no
Posit. after the dec.:
S-0-0044
MDT
cyc. transmittable:
Input value min / max: 0/S-0-0113
Default value:
2-22
Standard parameters
+3000, 0000 RPM
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0092, Bipolar Torque/Force Limit Value
Description:
This parameter describes the maximum allowable torque that is
symmetrical in both directions (accelerating, braking).
The evaluation refers to the percentage of the motor current at standstill.
100% = Motor current at standstill
Note: The maximum torque is also influenced by:
• P-0-0006, Overload factor
• P-0-4011, Switching Fregquency
S-0-0092 - Attributes
Name in German:
Drehmoment/Kraft-Grenzwert bipolar
Name in English:
Bipolar Torque/Force Limit Value
ID number:
S-0-0092
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0086/S-0-0086 combination check:
no
Posit. after the dec.:
S-0-0086
MDT
cyc. transmittable:
Input value min / max: 0/calculated peak torque
Default value:
+500.0%
S-0-0093, Torque/Force Data Scaling Factor
Description:
The scaling factor for all torque/force data in the drive are set in this
parameter.
The parameter has no meaning at the present time
percentage scaling can be set for torque and force data.
because only
S-0-0093 - Attributes
Name in German:
Wichtungs-Faktor für Drehmoment-Kraftdaten
Name in English:
Torque/Force data scaling factor
ID number:
S-0-0093
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
1
Input value min / max: 1/65535
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-23
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0094, Torque/Force Data Scaling Exponent
Description:
The scaling exponent for all torque/force data in the drive are set in this
parameter.
The parameter has no meaning at the present time
percentage scaling can be set for torque and force data.
because only
S-0-0094 - Attributes
Name in German:
Wichtungs-Exponent für Drehmoment-Kraftdaten
Name in English:
Torque/Force data scaling exponent
ID number:
S-0-0094
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
-1
Input value min / max: --/--
S-0-0095, Diagnostic Message
Description:
The operating status for the drive that is relevant at the moment can be
read in text form in this parameter.
The respective diagnostic message number from P-0-0001, Diagnostic
Message Nummer will appear in front of this parameter.
Example:
" A010 Drive Halt "
S-0-0095 - Attributes
Name in German:
Diagnostic
Name in English:
Diagnostic Message
ID number:
S-0-0095
Editability:
no
Function:
Parameter
Memory:
no
Data length:
1 byte variable, up to 40 characters
validity check:
no
Format:
ASCII
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
2-24
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0097, Mask Class 2 Diagnostic
Description:
This parameter is not used in DKC01/DKC11.
S-0-0097 - Attributes
Name in German:
Maske Zustandsklasse 2
Name in English:
Mask class 2 diagnostic
ID number:
S-0-0097
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
yes
Posit. after the dec.:
0
cyc. transmittable:
no
Input value min / max: --/-Default value:
1111 1111 1111 1111 b
S-0-0098, Mask Class 3 Diagnostic
Description:
This parameter is not used in DKC01/DKC11.
S-0-0098 - Attributes
Name in German:
Maske Zustandsklasse 3
Name in English:
Mask class 3 diagnostic
ID number:
S-0-0098
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Input value min / max: --/-Default value:
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
1111 1111 1111 1111 b
Standard parameters
2-25
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0099, Reset Class 1 Diagnostic
Description:
This command can be activated with the S1 key on the controller or
through the serial interface. All errors in the drive will be cleareddeleted
when this command is started through the serial interface. The drive will
switch to the " ready for operation " status if no further errors exist.
If the " Reset class 1 diagnostic " command is started with the S1 key, only
one error will be deleted at a time. If the drive has stored several errors
(up to 4 errors), a diagnostic message that corresponds to each error will
appear sequentially each time the S1 key is pressed.
see also Function description: " Initiating a command "
S-0-0099 - Attributes
Name in German:
Reset Zustandsklasse-1
Name in English:
Reset class 1 diagnostic
ID number:
S-0-0099
Editability:
P234
Function:
Command
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
BIN
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/11 b
Exception: Erro “F2/26 undervoltage in the power section” is cleared by
removing the drive enable, signal (Rf = 0) at pin X2-2.
S-0-0100, Velocity Loop Proportional Gain
Description:
This parameter contains the value for the velocity loop proportional gain.
The option is available to load motor-specific default values for the control
loop parameters with the " Basic load " command.
see also Function description: " Setting the velocity loop "
S-0-0100 - Attributes
Name in German:
Geschwindigkeitsregler-Proportionalverstärkung
Name in English:
Velocity Loop Proportional Gain
ID number:
S-0-0100
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
As/rad/As/rad
combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
.07 A/rad/s
Input value min / max: 0/312.9
2-26
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0101, Velocity Loop Integral Action Time
Description:
The velocity controller forms a current command value from the
difference between the velocity command value and the velocity feedback
value (= speed regulation deviation).
This current command value consists of a proportional component and an
integral component. The Velocity Loop Integral Action Time corresponds
to the time in which the integral component of the current command value
is growing on the value of the proportional component.
Definition of the Integral Action Time
icom
dω*kP = Integral component
dω*kP = Proportional component
TN = Integral
action time
TN = KP / KI
t
with:
TN : Velocity controller action time [ms]
KP : Velocity controller proportional ampl.
[A*sec/rad]
KI : Integral ampl. [A/rad]
icom : Current command value
dω : Velocity controller deviation
Figure 2-8: Integral Action Time
The value of the time axis for which the integral component is equal to the
proportional component is described as integral action time, ie t=TN when
icmd =2xdw*KP.
The integral gain component is disabled with the input value TN= 0sec.
see also Function description: " Setting the velocity loop "
S-0-0101 - Attributes
Name in German:
Geschwindigkeitsregler-Nachstellzeit
Name in English:
Velocity Loop Integral Action Time
ID number:
S-0-0101
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
ms/ms
combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
15.0 ms
Input value min / max: 2/3276.7
S-0-0103, Modulo Value
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-27
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Description:
When Modulo format that is set (Parameter S-0-0076, Position scaling
bit 7) the position data in the range from 0 to the module value, S-0-0103
can be represented. For monotonicly increasing position data, when the
position value equals the module vlaue, the position data is set to and
overflows fro zero. If the position data are represented in modulo format
the input range for all position data must be between zero and the
modulo value .
see also Function description: " Boundary conditions for modulo
processing "
S-0-0103 - Attributes
Name in German:
Modulowert
Name in English:
Modulo Value
ID number:
S-0-0103
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
cyc. transmittable:
no
Default value:
+360.00 Deg
Input value min / max: 0/S-0-0076
S-0-0104, Position Controller KV-Factor (closed-loop control)
Description:
This parameter contains the value for the proportional gain of the position
loop Controller.
The option is available to load a default value for this
parameter with the " Basic load " command.
control
loop
see also Function description: " Determining the position controller
setting "
S-0-0104 - Attributes
Name in German:
Lageregler KV-Faktor
Name in English:
Position Loop KV-Factor
ID number:
S-0-0104
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
1000/min/1000/min combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
1000/min
Input value min / max: 0,02/239
S-0-0106, Current Controller, Proportional Gain 1
Description:
2-28
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
This parameter represents the proportional gain of the current controller .
The current controller proportional gain is determined for each of the
motor-drive combinations. It depends on the type of motor and may not
be changed. It can be determined with the " Basic load " command or from
the motor data sheets.
see also Function description: " Setting the current controller "
S-0-0106 - Attributes
Name in German:
Stromregler-Proportionalverstaerkung 1
Name in English:
Current Controller Proportional Gain 1
ID number:
S-0-0106
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
V/A/V/A
combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
30.00 V/A
Input value min / max: 0/500
S-0-0107, Current Controller
Integral Action Time 1
Description:
The value of this parameter depends on the motor and can be found in
the motor data sheet.
2ms will be loaded for the current contorller integral action time 1 with
the command " Basic load " .
see also Function description: " Setting the current controller "
S-0-0107 - Attributes
Name in German:
Stromregler-Nachstellzeit-1
Name in English:
Current Controller Integral Action Time 1
ID number:
S-0-0107
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
ms/ms
combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
--
Input value min / max: 0.1/6553.5
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-29
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0108, Feedrate Override
Description:
The feedrate override only works for " drive controlled motion commands "
like:
• " Drive controlled homing procedure " command
• " Programmed positioning block " operating mode
• Jogging operation
In such instances , the drive calculates the velocity command value itself.
The feedrate override has a multiplying effect on the homing velocity, the
block velocity and the jog velocity.
S-0-0108 - Attributes
Name in German:
Feedrate-Override
Name in English:
Feedrate override
ID number:
S-0-0108
Editability:
P4
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
%/%
combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
100.00 %
Input value min / max: 0/655,35
Note: Feedrate override may be controlled either by this parameter or by
the analog E-E2 input depending on the value set in Bit 0 of the function
parameter, P-0-4027.
Bit 0: 0 = Feedrate override set in parameter S-0-0108
1 = Feedrate override via analog channel E1-E2
S-0-0109, Motor Peak Current
Description:
Describes the maximum current that can flow in the motor without
damaging the motor.
If the motor's peak current is less than the amplifier's peak current, the
maximum current that is available will be automatically limited to the
motor's peak current.
This value is stored in motor feedback for MDD and MKD motors and will
be uploaded to the controller ram when the controller is turned on.
2-30
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0109 - Attributes
Name in German:
Spitzenstrom Motor
Name in English:
Motor Peak Current
ID number:
S-0-0109
Editability:
no
Function:
Parameter
Memory:
Feedb.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/500
S-0-0110, Amplifier Peak Current
Description:
Peak current available from the drive controller . The value will be set by
the drive itself. This current is only available for short dusations .
S-0-0110 - Attributes
Name in German:
Spitzenstrom Verstärker
Name in English:
Amplifier Peak Current
ID number:
S-0-0110
Editability:
no
Function:
Parameter
Memory:
Fixed -E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
--
Input value min / max: 0.001/500
S-0-0111, Motor Current at Standstill
Description:
The " motor current at standstill " is the continous motor current capability
at standstill according to the motor data sheet.
This value is stored in motor feedback for MDD and MKD motors and will
be loaded into the controller ram when the controller is turned on.
All torque / force data refer to motor current at standstill = 100%
S-0-0111 - Attributes
Name in German:
Stillstandstrom Motor
Name in English:
Motor Current at Standstill
ID number:
S-0-0111
Editability:
no
Function:
Parameter
Memory:
Feedb.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/500
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-31
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0112, Amplifier Nominal Current
Description:
Allowable continious current output for the drive controller . The value will
be set by the drive itself.
S-0-0112 - Attributes
Name in German:
Nennstrom Verstärker
Name in English:
Amplifier Nominal Current
ID number:
S-0-0112
Editability:
no
Function:
Parameter
Memory:
Fixed-E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
--
Input value min / max: 0.001/500
S-0-0113, Maximum Motor Speed (nmax)
Description:
The maximum velocity for the motor cannot be exceeded. It also limits the
S-0-0091, Bipolar velocity limit value parameter.
This value is stored in motor feedback for MDD and MKD motors and will
be loaded into the controller ram when the controller is turned on.
In Torque regulation, if the maximum motor speed is exceeded by more
than 12.5%, the drive will be switched into a torque free state and the
error message F879, Velocity limit value exceeded will result.
S-0-0113 - Attributes
Name in German:
Maximalgeschwindigkeit des Motors
Name in English:
Maximum Motor Speed (nmax)
ID number:
S-0-0113
Editability:
P23
Function:
Parameter
Memory:
Feedb. E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
S-0-0044/S-0-0044 combination check:
no
Posit. after the dec.:
S-0-0044
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/S-0-0044
2-32
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0116, Resolution of Rotational Feedback 1
Description:
For motors with resolver feedback, the resolution of the rotational
feedback is equal to the number of motor pole pairs . That means that a
motor with 4 pole pairs has a resolver with 4 electrical cycles per motor
mechanical revolution.
This value is stored in feedback memory and cannot be changed.
S-0-0116 - Attributes
Name in German:
Rotationsgeber-1 Auflösung
Name in English:
Resolution of rotational feedback 1
ID number:
S-0-0116
Editability:
P23
Function:
Parameter
Memory:
Feedb.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
Zykl/Umdr bzw. mm ( von P-0-4014 abhängig )
/Cycl/Rev or inch ( depending on P-0-4014 )
combination check:
no
Posit. after the dec.:
--
Input value min / max: --/--
cyc. transmittable:
no
Default value:
--
S-0-0121, Input Revolutions of Load Gear
Description:
A mechanical gear will often be employed between the motor and the
load.
The gear ratio is defined by:
Output Revolutions of load Gear
Input Revolutions of load Gear
Figure 2-9: Gear Ratio
see also Function description: " Bondary
processing "
conditions for modulo
Example:
5 motor rotations result is 2 output gear rotations
S-0-0121 : 5
S-0-0122 : 2
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-33
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0121 - Attributes
Name in German:
Input revolutions of load gear
Name in English:
Input revolutions of load gear
ID number:
S-0-0121
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/Rev
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
1 Rev
Input value min / max: 1/4294967295
S-0-0122, Output Revolutions of Load Gear
Description:
A mechanical gear will often be employed between the motor and the
load.
The gear ratio is defined by:
Input Revolutions of load Gear (S-0-0121)
Output Revolutions of load Gear (S-0-0122)
Figure 2-10: Gear Ratio
Example:
5 motor rotations result is 2 output gear rotations
S-0-0121 : 5
S-0-0122 : 2
S-0-0122 - Attributes
Name in German:
Lastgetriebe-Ausgangsumdrehungen
Name in English:
Output revolutions of load gear
ID number:
S-0-0122
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/Rev
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
1 Rev
Input value min / max: 1/4294967295
2-34
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0123, Feed Constant
Description:
This parameter describes the conversion from rotary to linear motion . It is
defined as the linear displacement of the load measrued during one
rotation of the loadside gear drive shaft.
Ball screw spindle:
Rack and pinion:
Feed constant=pitch of screw
(typical value 10.00 mm)
Feed constant=
actual pitch diameter for the pinion *
Pi
Figure 2-11: Characteristic value for the feed constant
S-0-0123 - Attributes
Name in German:
Feed Constant
Name in English:
Feed constant
ID number:
S-0-0123
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
5
no
cyc. transmittable:
Input value min / max: --/-Default value:
10 000. 00 mm/rev
S-0-0124, Standstill window
Description:
The motor's standstill is defined by that condition that the value of the
Velocity Feedback Value, S-0-0040 remains below the threshold for
which can be set in this parameter (the " Standstill window " ).
In standstill the output signal " In motion " will be removed .
S-0-0124 - Attributes
Name in German:
Stillstandsfenster
Name in English:
Standstill window
ID number:
S-0-0124
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0044/S-0-0044 combination check:
no
Posit. after the dec.:
S-0-0044
cyc. transmittable:
no
Default value:
10.0000 Rpm
Input value min / max: 0/S-0-0044
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-35
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0127, C1 Communication Phase 3 Transition Check
Description:
The commands " S-0-0127, C1 Communication phase 3 transition check
and " S-0-0128, C2 Communication phase 4 transition check " are used
to switch form the parameteri mode to the operating mode.
When the " S-0-0127, C1 Communication phase 3 transition check "
command is used, the validity of all of the interface parameters will be
checked. If any of the parameters are found invalid, the drive ends the
command with an error message.
see also Function description: " Initiating a command "
S-0-0127 - Attributes
Name in German:
C1 Umschaltvorbereitung auf Komm.-Phase3
Name in English:
C1 Communication phase 3 transition check
ID number:
S-0-0127
Editability:
P2
Function:
Command
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
BIN
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/11 b
S-0-0128, C2 Communication Phase 4 Transition Check
Description:
The commands S-0-0127, C1 Communication phase 3 transition check
and S-0-0128, C2 Communication phase 4 transition check " are used to
switch form the parametermode to the operatemode.
When the S-0-0128, C2 Communication phase 4 transition check
command is executed , all parameters will be checked for validity and limit
value encroachments. If any invalid parameters or any limit values have
been encroached upon, the drive would end the command with an error
message.
see also Function description: " Initiating a command "
2-36
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0128 - Attributes
Name in German:
C2 Umschaltvorbereitung auf Komm.- Phase 4
Name in English:
C2 Communication phase 4 transition check
ID number:
S-0-0128
Editability:
P3
Function:
Command
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
BIN
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/11 b
S-0-0135, Drive Status Word
Description:
This parameter makes it possible to read the drive status word through
the serial interface.
It is structured as follows:
Drive status word
Bit 0-2: Control Information for device
channel
Bit 5 : Change bit command
Bit 6 & 7: Real time status bits 1 & 2
Bit 8 & 9:
Feedback operating mode
00 - Main operating mode active
01 1. Secondary operating mode, etc.
Bit 11 : Change bit class 3 diagnostics
Bit 12 : Change bit class 2 diagnostics
Bit 13 : Drive lock, error in class 1 diagnostics
Bit 14 & 15 :
00 01 10 11 -
Ready to operate
Drive not ready for power on since internal
checks are not positively connected
Ready for power on
Control and power components ready to
operate
In operation, with torque
Figure 2-12: Structure of the Drive Status Word
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-37
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0135 - Attributes
Name in German:
Antriebs - Status
Name in English:
Drive - status - word
ID number:
S-0-0135
Editability:
--
Function:
Parameter
Memory:
--
Data length:
2 Byte
validity check:
no
Format:
binary
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
S-0-0138, Bipolar Acceleration Limit Value
Description:
The " bipolar accelaration, " describes the maximum allowable
accelaration that is symmetrical in both directions (acceleration and
decelaration ).
When " Alt Drive halt " is used, the drive brakes with this decelaration
until the velocity = 0.
During the jogging operation, the drive accelerates and brakes at this
decelaration .
S-0-0138 - Attributes
Name in German:
Beschleunigung bipolar
Name in English:
Bipolar acceleration limit value
ID number:
S-0-0138
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0160/S-0-0160 combination check:
no
Posit. after the dec.:
S-0-0160
cyc. transmittable:
MDT
Default value:
+1000.000 rad/s2
Input value min / max: 0/S-0-0160
S-0-0140, Controller Type
Description:
The device type of the manufacturer can be found in text form in the
operating data for the controller type.
Example:
DKC01.1-040-7
2-38
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0140 - Attributes
Name in German:
Control Device Type
Name in English:
Controller Type
ID number:
S-0-0140
Editability:
no
Function:
Parameter
Memory:
Fixed -E²prom
Data length:
1Byte variable
validity check:
Phase3
Format:
ASCII
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
S-0-0141, Motor Type
Description:
The company name and the motor type of the connected motor can be
found in the operating data for the motor type in text form.
This value is stored for MDD and MKD motors in the motor feedback and
will be loaded from thereinto the controller Ram when the drive is started
for the first time.
Example:
MDD 065A-N040-N2L-095GB0
or
MKD 071B-061-KP1-BN
S-0-0141 - Attributes
Name in German:
Motortyp
Name in English:
Motor Type
ID number:
S-0-0141
Editability:
P23
Function:
Parameter
Memory:
Feedb.E²prom
Data length:
1Byte variable
validity check:
Phase3
Format:
ASCII
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-39
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0142, Application Type
Description:
A descriptive name for the drive can be stored in this parameter (e.g.,
swivel axis ). It has no functional significance.
S-0-0142 - Attributes
Name in German:
Anwendungsart
Name in English:
Application type
ID number:
S-0-0142
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
1Byte variable, max. 40 characters
validity check:
Phase3
Format:
ASCII
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
Default
Input value min / max: --/--
S-0-0147, Homing Parameter
Description:
The processes for the Drive controlled homing procedure, S-0-0148 in
relation to the machine layout , NC and drive installation will be set in this
parameter.
Structure of the parameter:
Bit 0 : Direction of movement
0: positive - Clockwise with view of motor
shaft
1: negative - Counter-clockwise with view
of motor shaft
Bit 5 : Home switch analysis
0: home switch is being analyzed
1: home switch is not being analyzed
Bit 6 : Home mark analysis
0: home mark is being analyzed
1: home mark is not being analyzed
Figure 2-13: S-0-0147, Homing Parameter
Note:
2-40
Standard parameters
Only the bits named here are supported by the product.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0147 - Attributes
Name in German:
Referenzfahr-Parameter
Name in English:
Homing Parameter
ID number:
S-0-0147
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
yes
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
100 b
Input value min / max: --/--
S-0-0148, C6 Drive Controlled Homing Procedure
Description:
When this command is set (NF,X2/13=1) and enabled (AH/Start,
XA/3=1), the drive automatically switches into position control and
accelerates
using
the
Homing
acceleration,
S-0-0041 to the Homing velocity, S-0-0042. Bit 0 in the Position
feedback value status, S-0-0403 will be reset to zero
The process for the homing procedure can be determined with the
Homing Parameter, S-0-0147. After the command ( drive is at stand still
and position feedback value is related to the homing position ) has been
properly executed, the drive sets bit 0=1 in the Position feedback value
status, S-0-0403 parameter.
The position feedback value status parameter corresponds to the output
" In reference " .
see also Function description: " Initiating a command "
S-0-0148 - Attributes
Name in German:
C6 Kommando Antriebsgeführtes Referenzieren
Name in English:
C6 Drive controlled homing procedure command
ID number:
S-0-0148
Editability:
P4
Function:
Command
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
BIN
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/11 b
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-41
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0150, Reference Offset 1
Description:
This parameter describes the distance between the Position feedback
reference mark 1 and the Reference distance 1, S-0-0052.
At the end of the coming drive controlled homing procedure, the drive will
position itself at the point equal to the Reference distance 1+ Reference
offset 1 .
S-0-0150 - Attributes
Name in German:
Referenzmaß Offset 1
Name in English:
Reference offset 1
ID number:
S-0-0150
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
no
cyc. transmittable:
Input value min / max: S-0-0076/S-0-0076 Default value:
+0.00 Deg
S-0-0159, Monitoring Window
Description:
The monitoring window makes it possible to set the maximum tolerable
deviation between the measured position and the calculated position
feedback value. If the position exceeds crosses into the monitoring
window, the drive will set the error F228, Excessive control deviation in
class 1 diagnostics.
The largest deviation that occurs will be stored in parameter
P-0-0098, Maximum model deviation.
S-0-0159 - Attributes
Name in German:
Überwachungsfenster
Name in English:
Monitoring Window
ID number:
S-0-0159
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
cyc. transmittable:
no
Default value:
+30.00 Deg.
Input value min / max: 0/S-0-0076
2-42
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0160, Acceleration Data Scaling Type
Description:
Various scaling types can be set as described be;pw for the acceleration
data in the drive as defined by the bit values of this parameter .
Structure of the parameter:
Bit 2 - 0: Scaling type
0 0 0: unscaled
0 0 1: linear scaling
0 1 0: rotary scaling
Bit 3 :
0 : preferred scaling
1 : parameter scaling
Bit 4 : Unit of measure for linear scaling
0 : meter [m]
1 : inch [in]
Unit of measure for rotary scaling
0 : degree angles
1 : reserved
Bit 5 : Unit of time
0 : seconds [s]
1 : reserved
Bit 6: Data reference
0 : to the motor shaft
1 : to the load
Bit 15 - 7: reserved
Figure 2-14: S-0-0160, Acceleration Data Scaling Type
Note:
Only the bits named here are supported by the product.
Notes:
1) Same as S-0-0044, Note 1
2) Same as S-0-0044, Note 2
3) Example: Acceleration data scaling
Suppose that loadside, linear scaling as desired with acceleration units in
M/s2. The Parameter 1 scaling/mechanical system dialog in DriveTop will
set the preferred acceleration data scaling options on the drive as follows:
Parameter
Value
S-0-0159, Acceleration data scaling type
1001001
Bit 2-0 001 linear scaling
Bit 3:
1 (Preferred) parameter scaling
Bit 4:
0 Dimensional unit in meters (m)
Bit 5:
0 Time unit in seconds (s)
Bit 6:
1 Data referenced at load
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-43
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0161, Acceleration data scaling factor
1
S-0-0162, Acceleration data scaling exponent
-6
Now suppose that the decimal value +1234567 is stored in the relavent
acceleration data register. The datum value will be interpreted and
displayed as:
-3
or +1234.567X10 mm/s
2
or
as the value would be displayed in the IDN lists, +1234.467 mm/s2 with
respect to the load. Note that the least significant decimal value is
-6
2
-3
determined by the scaling exponent, in this exaple, as 10 m/s or 10
2
mm/s
S-0-0160 - Attributes
Name in German:
Wichtungsart für Beschleunigungsdaten
Name in English:
Acceleration data scaling type
ID number:
S-0-0160
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
yes
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
1010 b
Input value min / max: --/--
S-0-0161, Acceleration Data Scaling Factor
Description:
If parameter scaling is set in S-0-0160, Acceleration data scaling type
the scaling factor for all acceleration data in the drive will be determined in
this parameter.
Structure of the parameter:
Bit 0 - 15: Factor
Figure 2-15: S-0-0161, Scaling Factor for Acceleration
2-44
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0161 - Attributes
Name in German:
Wichtungs-Faktor für Beschleunigungsdaten
Name in English:
Acceleration data scaling factor
ID number:
S-0-0161
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
1
Input value min / max: 1/65535
S-0-0162, Acceleration Data Scaling Exponent
Description:
If parameter scaling is set in S-0-0160, Acceleration data scaling type
the scaling exponent for all acceleration data in the drive will be
determined in this parameter.
Structure of the parameter:
Bit 0 - 14: Exponent
Bit 15 : Sign
0 : positive
1 : negative
Figure 2-16: Scaling Exponent for Acceleration Data
S-0-0162 - Attributes
Name in German:
Wichtungs-Exponent für Beschleunigungsdaten
Name in English:
Acceleration data scaling exponent
ID number:
S-0-0162
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
AT
Default value:
-3
Input value min / max: 32/32
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-45
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0182, Manufacturer Class 3 Diagnostics
Description:
Different messages regarding operating status will be stored here every
8ms. If the status of a message were to change, this would not be
signalled by an editing bit.
Structure of the parameter:
Bit 0 : 1=active
Bit 1 : | Feedback velocity | & lt; S-0-0124,
Standstill window
Bit 6 : IZP
| S-0-0258, Target pos. - Feedback pos. | & lt; S-0-0057, Posit. window
& &
| S-0-0189, Following error | & lt; S-0-0057, Positioning window
& &
| S-0-0040, Feedback velocity | & lt; S-0-0124, Stillstand window
Bit 11 : AHQ Drive stop & & | Feedback velocity | & lt; S-0-0124
Figure 2-17: S-0-0182, Manufacturer Class 3 Diagnostics
Note: Only the bits named here are supported by the product.
S-0-0182 - Attributes
Name in German:
Hersteller-Zustandsklasse-3
Name in English:
Manufacturer Class 3 Diagnostics
ID number:
S-0-0182
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
AT
Default value:
--
Input value min / max: --/--
2-46
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0192, IDN-List of Backup Operation Data
Description:
The ID numbers for all of the operating data that must be loaded in the
drive for proper operation are backed up in the IDN list. Customarily these
2
are the parameters that are buffered in the parameter E Prom.
The control and to a file Drive Top use this IDN list to create a backup
copy of the drive parameters.
S-0-0192 - Attributes
Name in German:
IDN-Liste der zu sichernden Betriebsdaten
Name in English:
IDN-List of backup operation data
ID number:
S-0-0192
Editability:
no
Function:
Parameter
Memory:
fixed
Data length:
2Byte variable
validity check:
no
Format:
IDN
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
S-0-0193, Positioning Jerk
Description:
The positioning jerk limits the acceleration change with respect to time in
the operating mode with " Drive internal interpolation " .
• Referencing
• Jogging
Note: At 0 value, the jerk filter is shut off.
S-0-0193 - Attributes
Name in German:
Positionier-Ruck
Name in English:
Positioning jerk
ID number:
S-0-0193
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
S-0-0160/S-0-0160 combination check:
no
Posit. after the dec.:
S-0-0160
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/S-0-0160
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-47
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0258, Target Position
Description:
The target position will be assigned to the drive as a command value by
the controller in the " Drive internal interpolation " operating mode. The
drive travels toward the " target position " with due regard to
S-0-0259, Positioning velocity, the S-0-0260, Positioning acceleration
and S-0-0193, Positioning jerk.
In the " Position control with positioning interface " operating mode, the
target position of the current Positioning Position block will be copied to
parameter S-0-0258, Positioning target position.
S-0-0258 - Attributes
Name in German:
Zielposition
Name in English:
Target Position
ID number:
S-0-0258
Editability:
P234
Function:
Parameter
Memory:
no
Data length:
4 Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
MDT
cyc. transmittable:
Input value min / max: S-0-0076/S-0-0076 Default value:
--
S-0-0259, Positioning Velocity
Description:
In the " Drive internal interpolation " operating mode, the S-0-0258, Target
position is approached with the positioning velocity. In the " Block
controlled " operating mode, the positioning velocity of the current
Positioning block is copied to the parameter " S-0-0259, Positioning
velocity " .
S-0-0259 - Attributes
Name in German:
Positionier-Geschwindigkeit
Name in English:
Positioning velocity
ID number:
S-0-0259
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_M?V
Extreme value check:
yes
Unit German/English:
S-0-0044/S-0-0044 combination check:
no
Posit. after the dec.:
S-0-0044
MDT
cyc. transmittable:
Input value min / max: S-0-0044/S-0-0044 Default value:
2-48
Standard parameters
+1.0000 Rpm
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0260, Positioning Acceleration
Description:
" Positioning acceleration " is used in the " Drive internal interpolation "
operating mode to accelerate up to the S-0-0259, Positioning velocity .
In the " Block controlled operation " operating mode, the positioning
acceleration of the current Positioning blocl is copied to the parameter S0-0260, Positioning acceleration.
S-0-0260 - Attributes
Name in German:
Positioning acceleration
Name in English:
Positioning acceleration
ID number:
S-0-0260
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_M?V
Extreme value check:
yes
Unit German/English:
S-0-0160/S-0-0160 combination check:
no
Posit. after the dec.:
S-0-0160
MDT
cyc. transmittable:
Input value min / max: S-0-0160/S-0-0160 Default value:
+1000.000rad/s²
S-0-0262, Command Basic Load
Description:
When this command is set and enabled the default parameters in the
motor for current, velocity and position control loop settings will be loaded
and activated. The default parameters are not optimized for all
applications. They establish a stable control loop status.
⇒ When this command is executed, parameters
that have already been optimized may be
overwritten.
see also Function description: " Initiating a command "
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-49
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0262 - Attributes
Name in German:
Kommando Urladen
Name in English:
Command Basic Load
ID number:
S-0-0262
Editability:
P234
Function:
Command
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
BIN
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/11 b
S-0-0269, Parameter Buffer Mode
Description:
The " Parameter buffer mode " is used to determine whether the data
transmitted through the serial interface will be stored temporarily (in RAM)
or permanently (in EEPROM).
1: Data will not be stored permanently.
0: Data will be stored permanently.
After the control voltage supply has been switched on, the drive will
initialize bit 0 to " 0 " . To activate temporary storage mode bit 0 must be
forced to “1”.
S-0-0269 - Attributes
Name in German:
Speicherungsmode
Name in English:
Parameter buffer mode
ID number:
S-0-0269
Editability:
P234
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
DEC_0V
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/1
For applications that wirte cylic or frequenct updates Note: to the drive
parameter data, tempory storage made should be activated by the
initialization procedure in the machine control. This mode insures that the
write cycle life of the Eeprom is not exceeded.
2-50
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0277, Position Feedback 1 Type Parameter
Description:
This parameter is used to determine the significant properties of the
motor feedback (Position feedback 1).
For DKC the parameter will be set automatically by the drive.
Structure of the parameter:
Bit 0 : Encoder type
0: rotary
1: linear
Bit 1 : Reserved
Bit 3 : Direction of movement
0: not inverted
1: inverted
Bit 6 : Encoder resolution
0: not absolute
1: absolute
Figure 2-18: S-0-0277, Position Feedback Parameter
Remark:
For absolute measurment systems with data memory, bit 6 will be set
automatically.
When MDD and MKD motors are used, bit 0, 1, and 3 will be set and write
protected by the drive.
Note: Only the bits named here are supported by the product
S-0-0277 - Attributes
Name in German:
Lagegeberart-Parameter 1
Name in English:
Position feedback 1 type parameter
ID number:
S-0-0277
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
yes
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
0b
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-51
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0331, Status Feedback = 0
Description:
This parameter sets an IDN for the " status feedback = 0 " which can be
used to allocate it to a real-time status bit (IDN 0-0305). The " status
feedback = 0 " is defined as a bit in class -3 diagnostics (IDN 0-0013) and
is set when the velocity feedback value is found within the standstill
window (IDN 00124).
Only bit 0 is defined in the operating data
The output " In motion " corresponds to this bit.
S-0-0331 - Attributes
Name in German:
Meldung
Name in English:
Status " feedback = 0 "
nist = 0
ID number:
S-0-0331
Editability:
no
Function:
Parameter
Memory:
--
Data length:
2 Byte
validity check:
--
Format:
binary
Extreme value check:
--
Unit German/English:
--/--
combination check:
--
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
S-0-0400, Home Switch
Description:
This IDN is assigned to the home switch status (external signal) with this
parameter.
Structure of the parameter
Bit 0 : Home switch
0: not activated
1: activated
Figure 2-19: S-0-0400, Home Switch
S-0-0400 - Attributes
Name in German:
Referenzpunktschalter
Name in English:
Home switch
ID number:
S-0-0400
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
2-52
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
S-0-0403, Position Feedback Value Status
Description:
Bit 0 for this parameter will be set by the drive if the position feedback
value, whose origin was selected in bit 3 from S-0-0147, Homing
Parameter , is firmly referenced to the machine zero point.
If the commands S-0-0148, Drive controlled homing procedure, or
P-0-0012, Set absolute distance are performed, the bit will be reset
when they are started and then set 1 again once the command has been
successfully completed.
The bit status position feedback value corresponds to the output " In
reference " .
Structure of the parameter:
Bit 0 : Position feedback value
0: are relative
1: applies to the machine zero point
Figure 2-20: S-0-0403, Position Feedback Value Status
S-0-0403 - Attributes
Name in German:
Status Lageistwerte
Name in English:
Position feedback value status
ID number:
S-0-0403
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Standard parameters
2-53
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
2-54
Standard parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
3
Specific Product Parameters
P 0 0001 Diagnostic Message Number
Description:
The diagnostic message number will be stored in parameter P-0-0001,
" Diagnostic message number " as well as the visual seven segment
display.The controls will make it possible so that specific diagnostics with
the aid of the diagnostic message number can be generated(for example
diagnostics in additional languages which are not stored in the drive).
The machine control may utilize the diagnostic number to generate its
own specfic set of diagnostic messages.
Example:
Diagnostic Message:
„F822 Motor Feedback error: " Signals
too small " in paramater S-0-0095
Seven Segment Display:
variable „F8 " & lt; = & gt; „22 "
Diagnostic message number:
„F822(hex) " in paramter P-0-0001
P-0-0001 - Attributes
Name in German:
Diagnose Nummer
Name in English:
Diagnostic Message Number
ID number:
P-0-0001
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2Byte
validity check:
no
Format:
HEX
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
P-0-0004, Smoothing Time Constant
Description:
This time contstant parameter functions to influence the output of the
velocity loop regulator in order to suppress quantization effects and limit
the bandwidth of the velocity loop.
see also Function description: " Setting the velocity loop "
P-0-0004 - Attributes
Name in German:
Glättungszeitkonstante
Name in English:
Smoothing Time Constant
ID number:
P-0-0004
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
us/us
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
500 ms
Input value min / max: 500/65535
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0005, Language Selection
Description:
Within the drive controller there are parameter names, units and
diagnostic/warning messages collectively stored in more than one
language. This parameter will establish in which language the text should
be given.
• 0 :German
• 1 :English
Additional languages are in preparation
P-0-0005 - Attributes
Name in German:
Sprachumschaltung
Name in English:
Language Selection
ID number:
P-0-0005
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/1
P-0-0006, Overload Factor
Description:
The " overload factor " parameter value influences and determines the
values for the torque releated drive parameters Mmax, MKB and the short
duration torque percent duty cycle, ED.
Increasing the overload factor corresponds to a reduction of the
parameter values for:
• The percent duty cycle ED
• the maximum peak torque Mmax
Increasing the overload factor corresponds to an increase in the short
duration torque Mkb.
ÜF ≈
üF
MKB
MdN
=
=
=
M KB
⋅100%
M dN
P-0-00061
Short period operational torque in Nm
Stand still torque in Nm
Figure 3-1: Overload factor
3-2
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0006 Attributes
Name in German:
überlastfaktor
Name in English:
Overload factor
ID number:
P-0-0006
Editability:
P234
Function:
Parameter
Memory:
Param.E2prom
Data length:
2Byte
validity check:
Phase 3
Format:
DEC_0V
Extreme value check:
yes
Unit German/English:
%/%
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
100 %
Input value min / max: 1/500
P-0-0009, Error Message Number
Description:
If an error ocurs during cyclic operation, then it will be diagnosed and
displayed on a seven segment display.
At the same time a bit will be set in the S-0-0011, status class and the
change bit for this status class in the drive status word S-0-0135. The
machine control can determine the queued eror condition passed to the
drives diagnostic display by reading this parameter, which contains only
the three least significant decimals of the diagnostics message number,
P-0-0001, (in range 201...899) and determine a specific error reaction or
custom diagnostic text message .
If there is not an error then the value of this parameter is 0.
Example:
Queued error:
F822, " Motor feedback error
signal amplitude error "
P-0-0009, error number
822
P-0-0009 - Attributes
Name in German:
Fehler Nummer
Name in English:
Error Message Number
ID number:
P-0-0009
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2Byte
validity check:
no
Format:
HEX
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
P-0-0012, Command 'Set Absolute Measurement'
Description:
With the startup of an absolute measuring system, the drive will indicate
a position feedback value that is arbitrary and not referenced to the
machine zero point .The value of the parameter S-0-0403, Position
feedback value status will be 0.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Through the command " Set absolute measurement " , the position
feedback of this measuring system will be set on the desired value. After
the end of the command " Set absolute measurement " , the position
feedback of the measurement
supplied encoder bares a defined
reference to the machine zero point.
Through the buffering of all the required data of the absolute measuring
system in the feedback data memory (eg parameter data memory), all
information is available after re-booting the system. The position feedback
permanently retains its reference to the machine zero point. All the
required data for the absolute measuring sytem is permanently either in
the feedback position data memory or in the drive parameter data
memory, and is available after rebooting the drive system.
The parameter P-0-012 operates for the execution of this function.
see also Function description: " Disengagement of a command "
P-0-0012 - Attributes
Name in German:
Kommando Absolutmaß setzen
Name in English:
Command 'Set Absolute Measurement'
ID number:
P-0-0012
Editability:
P4
Function:
Command
Memory:
no
Data length:
2Byte
validity check:
no
Format:
BIN
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/11 b
P-0-0013, Command value mode for modulo format
Description:
The interpretation of the position command values like S-0-0047,
Position command value andS-0-0258, Target position with a modulo
function actuve is dependent on the setting of the mode.
For the setting of the mode, the parameter P-0-0013 Command value
mode for modulo format exists.
This parameter is functional only when S-0-0076, scaling type Position
data had been activated for modulo format.
The folowing valued can be parameterized:
P-0-0013:
Meaning:
0:
shortest path
1
Positive direction
2
Negative direction
Figure 3-2: parameter P-0-0013
WARNING
3-4
Specific Product Parameters
⇒ With the step motor interface only
0 = " shortest path " can be set
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0013 - Attributes
Name in German:
Sollwertmodus im Moduloformat
Name in English:
Command value mode for modulo format
ID number:
P-0-0013
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/2
P-0-0017, Parameters Group List
Description:
The parameter no longer has any significance for the firmware to the
version DKC01.1-ASE-02VRS.
P-0-0017 - Attributes
Name in German:
Parameter Gruppierungsliste
Name in English:
Parameter group list
ID number:
P-0-001
Editability:
no
Function:
Parameter
Memory:
fixed
Data length:
1 byte variable
validity check:
no
Format:
HEX
Extreme value check:
no
Unit German/English:
-/-
combination check:
no
Posit. after the dec.:
-
cyc. transmittable:
no
Default value:
no
Input value min / max: -/-
P-0-0018, Numbers of Motor Pole Pairs /Pole Pair Distance
Description:
With rotating motors, the number of pole pairs per motor revolution will
be given .
This value is stored within the motor feedback data memory and must
not be changed .
P-0-0018 - Attributes
Name in German:
Polpaarzahl/Polpaarweite
Name in English:
Number of Motor Pole Paris distance
ID number:
P-0-0018
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
DEC-OV
Extreme value check:
no
Unit German/English:
Polpaare bzw. /Pair of poles or mm (dependent on P-0-4014,
Motor type)
combination check:
no
Posit. after the dec.:
0
Input value min / max: 1/4
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
cyc. transmittable:
no
Default value:
--
Specific Product Parameters
3-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0019, Position Start Value
Description:
The position start value serves the non-absolute measuring system
through the paramaterization of a defined initialization value for the
Position feedback value 1 S-0-0051.
The drive tests if the Position start value has been specified in
communication phases 2 or 3 during the initialization of the position
feedback. Only then will the position feedback value 1 be set to this
value.The intial position value will function only with a single-turnfeedback .
P-0-0019 - Attributes
Name in German:
Lageanfangswert
Name in English:
Position start value
ID number:
P-0-0019
Editability:
P23
Function:
Parameter
Memory:
no
Data length:
4Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
no
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
no
cyc. transmittable:
Input value min / max: S-0-0076/S-0-0076 Default value:
--
P-0-0020, Reference Cam Shifting
Description:
P-0-0020 is also referred to as “Displacement of the Home Switch”.
During drive controlled homing (S-0-0148), the home switch is evaluated
by the drive. An optimal location exists from the relative position where
the home switch signals to the marker pulse of the motor feedback. In
order to assist in the adjustment (positiioning the mechanical cam) during
the first start-up, the distance from the home switch cam to the optimal
switch position is given in this parameter.
The value displayed is dependent on the selectedset position data scaling
type (S-0-0076, position data scaling type) and is displayed in [units],
[degree ] or [inch].
P-0-0020 - Attributes
Name in German:
Verschiebung des Refernzknockens um..
Name in English:
Reference cam shifting
ID number:
P-0-0020
Editability:
no
Function:
Parameter
Memory:
no
Data length:
4Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
no
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
no
cyc. transmittable:
Input value min / max: S-0-0076/S-0-0076 Default value:
3-6
Specific Product Parameters
--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0038, Signal Selection for Analog Output Channel 1
Description:
Two outputs make it possible to read internal drive operational signals
and output variables as analog voltage signals. Through a oscilliscope
connection to the analog outputs, these signals can be investigated.The
maximum output voltage is + or - 10 volts with a definition of 8 bits. To
select a specific signal, a predefined channel number is available. For the
analog channel 1, the choice is indicated through the display of the
channel selection number in the parameter P-0-0038.
The following predefined signals are available:
Number:
Signal choice:
Scaling:
0
No analog output
1
Established torque power
10V = S-0-0110,
Amplifier peak current
2
Velocity feedback actual value
P-0-0040
3
Velocity command value
P-0-0040
5
Position value 1
P-0-0042
7
Following error
P-0-0042
8
Sine signal of motor feedback
1:1
9
Cosine signal of motor
feedback
1:1
23
Torque producing current
actual value
10V = S-0-0110,
Amplifier peak current
24
Magnetization current
10V = S-00110,Amplifier peak
current
40
Bleeder load
10V= Maximum
bleeder energy 100%
continuous bleeder
load
Figure 3-3: Possible analog outputs
The following scaling parameters should be considered:
• P-0-0040 Scaling for velocity data on analog channel 1
• P-0-0042 Scaling for position data on analog channel 1
P-0-0038 - Attributes
Name in German:
Signal-Auswahl Analogkanal 1
Name in English:
Signal Selection for Analog Output Channel 1
ID number:
P-0-0038
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4Byte
validity check:
Phase3
Format:
HEX
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
1
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-7
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0039, Signal Selection for Analog Output Channel 2
Description:
Two output channels make it is possible to read internal drive
operational signals and output variables as analog voltage signals.
Through an oscilliscope connection to the analog outputs, these signals
can be investigated. The maximum output voltage is + or - 10 volts with a
definition of 8 bits. To select a specific signal, a predefined channel
number is available. For the analog channel 2, the choice is indicated
through the display of the channel number in parameter P-0-0039.
The following predefined signals are available:
Number:
Signal choice:
Scaling:
0
No analog output
1
Torque producing current
command
10V = S-0-0110 amplifier
peak current
2
Velocity feedback actual
value
P-0-0040
3
Velocity Command value
P-0-0040
5
Position actual value 1
P-0-0042
7
Following error
P-0-0042
8
Sine signal of the motor
feedback
1:1
9
Cosine signal of the motor
l feedback
1:1
23
Tonrque producing current
actual value
10V = S-0-0110 Amplifier
peak current
24
Magnetization current
10V = S-0-0110 Amplifier
peak current
40
Bleeder load
10V= 100% continous
bleeder load
Figure 3-4: predefined signals
The following scaling parameters scaling should be considered:
• P-0-0041 Scaling for velocity data on analog channel 2
• P-0-0043 Scaling for position data on analog channel 2
P-0-0039 - Attributes
Name in German:
Signal-Auswahl Analogkanal 2
Name in English:
Signal Selection for Analog Output Channel 2
ID number:
P-0-0039
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4Byte
validity check:
no
Format:
HEX
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
2
Input value min / max: --/--
3-8
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0040, Scaling of Velocity Data on .Analog Output Channel 1
Description:
With the selection numbers 2 and 3 in the parameter P-0-0038, Signal
selection for analog output channel 1, the scaling of velocity data
evaluated will be established with the parameter P-0-0040.
The unit of Rpm/10V will always be in reference to the motor.
P-0-0040 - Attributes
Name in German:
Wichtg. von Geschwindigk. Analogausgabe Kanal 1
Name in English:
Scaling of velocity data analog output Channel 1
ID number:
P-0-0040
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
DEC-OV
Extreme value check:
yes
Unit German/English:
Upm/10V /Rpm/10V/Rpm/10V
combination check:
no
Posit. after the dec.:
0
Input value min / max: 1/65535
cyc. transmittable:
no
Default value:
3000 Rpm/10V
P-0-0041, Scaling of Velocity.Analog Output-Channel 2
Description:
With the selections in the parameter P-0-039, signal select analog
output channel 1, the scaling will be established with the parameter P-00041.
Thereby a unit of Upm/10V will always be established on the motor An
eventual existing operational translation will not be considered.
P-0-0041 - Attributes
Name in German:
Wichtg. von Geschwindigk. Analogausgabe Kanal2
Name in English:
Scaling factor for velocity data Channel 2
ID number:
P-0-0041
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
Upm/10V/Rpm/10V combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
3000
Input value min / max: 1/65535
P-0-0042, Scaling for Position Data on Analog Output Channel 1
Description:
With the selection numbers 5 and 7 in parameter P-0-0038, Signal
selection for analog output channel 1, the scaling of the position data
will be established in parameter P-0-0042.
The unit of Deg/10V is given in reference to the motor shaft.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-9
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0042 - Attributes
Name in German:
Wichtg. von Lagedaten Analogausgabe Kanal1
Name in English:
Scaling for position data on Analog output Channel 1
ID number:
P-0-0042
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
agrad/10V/Deg/10Vcombination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
360,0
Input value min / max: 0,1/6553,5
P-0-0043, Scaling for Position Data on Analog Output Channel 2
Description:
With the selection in parameter P-0-0039, Signal selection for analog
output channel 2, the scaling of the position data will be established in
parameter P-0-0043.
The unit of Deg/10V is given in reference to the motor shaft.
P-0-0043 - Attributes
Name in German:
Wichtg. von Lagedaten Analogausgabe Kanal2
Name in English:
Scaling for position data on analog output Channel 2
ID number:
P-0-0043
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
Grad/10V/Deg/10V combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
360.0
Input value min / max: 0,1/6553,5
P-0-0051, Torque Constant
Description:
The torque constant determines what driving torque of the motoris given
by a specified motor current.
With a synchronous motor, this value is exclusive of the motor
construction.
The value is stored in the motor feedback memory and cannot be
changed.
MA[ Nm; N ] = ( P − 0 − 0051) ⋅ ( P − 0 − 0080)
MA:
P-0-0051
S-0-0080
Drivel torque
Torque constanst [N/A]
Torque-power-command value [a
Formula 3-5: Drive torque
3-10
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0051 - Attributes
Name in German:
Drehmoment/Konstante
Name in English:
Torque-Constant
ID number:
P-0-0051
Editability:
P3
Function:
Parameter
Memory:
Feedb.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
Nm/A/Nm/A
combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/1000
P-0-0090, Travel Limit Parameter
Description:
The activation of the travel limit switches reaches in the parameter P-00090. In addition to this, one can invert the polarity of the signal input.
The drive response to a travel limit can be selected by testing it as either
an error or as a warning.
Structure of the parameter:
Bit 0 : negation
0: E2/3 not inverted,
24 V = & gt; travel range
exceeded
1: E2/3 inverted,
0 V = & gt; travel range
exceeded
Bit 1 : activation
0: travel range limit switch is
not active
1: travel range limit is active
Figure 3-6: P-0-0090, Travel Limit Parameter
P-0-0090 - Attributes
Name in German:
Fahrbereichgrenzschalter-Parameter
Name in English:
Travel limit parameter
ID number:
P-0-0090
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
BIN
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-11
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0097, AbsoluteEncoderMonitoring Window
Description:
With the use of a absolute encoder, the drive memory data and actual
feedback position value on the axis will be compared during the
command execution of window 3 - & gt; 4.
If the difference is larger than what is parameterized in parameter P-00097, the error message F276, Absolute encoder error will be given.
This error indicates that the absolute position of the axis has
changed since the last time it was taken out of operating mode.
As a default value, one can typically use 30 degrees with respect to the
motor shaft in the case that the axis contains a holding (ie it is selflocking) brake.
P-0-0097 - Attributes
Name in German:
Absolutgeber-Überwachungsfenster
Name in English:
AbsoluteEncoderMonitoring Window
ID number:
P-0-0097
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
4Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
cyc. transmittable:
no
Default value:
30,00 Deg
Input value min / max: 0/S-0-0076
P-0-0098, Maximum Model Deviation
Description:
Under the maximum model deviation, one can determine the maximum
deviation between the real position feedback and one from a drive
calculated position feedback module.
The parameter can be read from the Control window by the user as a
help for the parameterization of S-0-0159.
Two cases must be distinguished for understanding and utilizing the
position feedback module.
• position control allowing following error
In this operating mode, the controlled system with the help of a model will
be simulated.
The maximum deviation between the calculated position feedback
module and the real position feedack will be stored in parameter P-00098.
The model of the controll system in this case represents a first order
feedback system which is only dependent on the Kv-factor of the position
controller.
• position control without following error
In this operating type, the position command will be compared with the
position feedback.The maximum deviation which occurs will be stored in
P-0-0098.
A model for the controled system is not be necessary in this case.
3-12
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Note:The parameter is only descriptive so that one can, for example,
reset it back to 0.
P-0-0098 - Attributes
Name in German:
max.
Name in English:
Maximum Model Deviation
ID number:
P-0-0098
Editability:
P234
Function:
Parameter
Memory:
no
Data length:
4Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
yes
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/S-0-0076
P-0-0119, Error Reaction Best Possible braking
Description:
This parameter specificies the type of breaking to standstill of the drive
following :
• non-fatal error
• interface error
•
switching off of the controller enable signal
P-0-0119:
Reaction type:
0
Velocity command is set to zero value , that means the
motor will be braked under control of the bipolar torque
limit parameter value.
The braking time may amount to a maximum of 500ms.
100 milliseconds before the operation of the brake time,
the holding brake will be activated.
Should the velocity already have fallen below the value of
" S-0-0124 Stand still window " , the holding brake will be
immediately activated .
After 500ms, the motor is torque free .
1
Switch to torque free state
Figure 3-7: Reaction types
The controller enable can be closed again, at the earliest, after the
operation of the error reaction. The drive will ignor the controller enable
input until the error reaction operation of the drive is completed.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-13
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0119 - Attributes
Name in German:
Bestmögliche Stillsetzung
Name in English:
Error Reaction best possible braking
ID number:
P-0-0119
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/1
P-0-0123, Absolute Encoder Buffer
Description:
In this parameter all the data will be secured which is necessary for the
initializing of the position by the absolute encoder.
P-0-0123 - Attributes
Name in German:
Absolutgeber-Buffer
Name in English:
Absolute encoder buffer
ID number:
P-0-0123
Editability:
no
Function:
Parameter
Memory:
Param.E²prom
Data length:
2Byte variable
validity check:
no
Format:
HEX
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
P-0-0500, Velocity Command Voltage for Max. Motor Speed
Description:
Parameter for setting the scale factor of the analog velocity command
value. Along with the parameter P-0-501, the scaling for the velocity
command value is determined :
P-0-0501, Motor speed for maximum velocity command voltage
[Rpm] /
P-0-0500, Velocity command voltage for Max. motor speed [V]
validity of the analog velocity command value =
P − 0 − 0501
P − 0 − 0500
Figure 3-8:Scale factor of the analog velocity command value
3-14
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0500 - Attributes
Name in German:
Sollwert-Vorgabe für gewünschte Drehzahl
Name in English:
Velocity command voltage for max. motor speed
ID number:
P-0-0500
Editability:
P2
Function:
Parameter
Memory:
Param. E²Prom
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
V/V
combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
10,0 V
Input value min / max: 1/10,0
P-0-0501, Motor Speed for Maximum Velocity Command Voltage
Description:
Parameter for setting the scale factor of the analog velocity command
value. Along with the parameter P-0-501, the scaling for the velocity
command value is determined :
P-0-0501, motor speed for maximum velocity command voltage
[Rpm] /
P-0-0500, Velocity command voltage for Max. motor speed [V]
P-0-0501 - Attributes
Name in German:
Drehzahl bei gewählter Sollwert-Vorgabe
Name in English:
Motor speed for max. velocity command
ID number:
P-0-501
Editability:
no
Function:
Parameter
Memory:
parallel EEProm
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
Upm/rpm
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
3000
Input value min / max: 1/30000
P-0-0502, Line Count for the Incremental Encoder
Description:
If the actual position value output is selected for incremental encoder
emulation, then the line count of the incremental encoder must be set.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-15
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0-502 - Attributes
Name in German:
Strichzahl des Inkrementalgebers
Name in English:
Line count for the incremental encoder
ID number:
P-0-0502
Editability:
no
Function:
Parameter
Memory:
parallel EEProm
Data length:
4 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
1250
Input value min / max: 1/65536
P-0-0503, Reference Pulse Offset
Description:
With this parameter, the position of the reference pulse of the emulated
incremental encoder output can be shifted.
P-0-0503 - Attributes
Name in German:
Referenzimpuls-Offset
Name in English:
Reference pulse offset
ID number:
P-0-0503
Editability:
no
Function:
Parameter
Memory:
parallel EEProm
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
Grad/Degree
combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/359,9
P-0-0504, Command Filter Smoothing Time Constant
Description:
The analog velocity command value is filtered according to the recorded
time constant.
P-0-0504 - Attributes
Name in German:
Sollwertfilter-Glättungszeitkonstante
Name in English:
Command filter smoothing time constant
ID number:
P-0-0504
Editability:
no
Function:
Parameter
Memory:
Param. E²Prom
Data length:
4 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
ms/ms
combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
5,00
Input value min / max: 0,5/1000,00
3-16
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0508, Commutation Offset
Description:
This parameter, with synchronous motors, gives the offset between raw
value of the rotational feedback and the resulting absolute electrical angle
between the stator current vector and the rotor flux vector.
The commutator offset is stored in the motor feedback data memory and
does not need to be entered .
P-0-0508 - Attributes
Name in German:
Kommutierungs-Offset
Name in English:
Commutation -Offset
ID number:
P-0-0508
Function:
Parameter
Memory:
Param.E²prom, Feedb. E²Prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/10000
Editability:
no
P-0-0509, Slot Angle
Description:
The utilization of this parameter is not currently available.
P-0-0509 - Attributes
Name in German:
Paßfedernutwinkel
Name in English:
SlotAngle
ID number:
P-0-0509
Editability:
no
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_MV
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/3599
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-17
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0510, Moment of Inertia of the Rotor
Description:
This parameter gives the moment of inertia of the rotor without a load and
is stored in the feedback with motors with feedback memory.
P-0-0510 - Attributes
Name in German:
Rotorträgheitsmoment
Name in English:
Moment of inertia of the rotor
ID number:
P-0-0510
Function:
Parameter
Memory:
Param.E²prom, Feedb. E²Prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
kgm²/kgm²
combination check:
no
Posit. after the dec.:
5
cyc. transmittable:
no
Default value:
--
Editability:
Input value min / max: 0/1,00000
no
P-0-0511, Brake Current
Description:
The parameter is not operational with DKC01/DKC1.1.
P-0-0511 - Attributes
Name in German:
Haltebremsenstrom
Name in English:
Break Current
ID number:
P-0-0511
Editability:
no
Function:
Parameter
Memory:
Param.E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
0.000A
Input value min / max: 0/500,000
P-0-0512, Default Position Loop Kv-factor
Description:
Default value for the position loop proportional gain . This parameter is
determined during the manufacturing stage and cannot be changed. The
“Load default parameters” command will copy the value of this parameter
to the parameter S-0-0104, position loop Kv factor.
3-18
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0512 - Attributes
Name in German:
Defaultwert für Lageregler Kv-Faktor
Name in English:
Default position loop Kv-factor
ID number:
P-0-0512
Editability:
no
Function:
Parameter
Memory:
Feedb. E²prom
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
1000/min/1000/min combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
1.00 1000/min
Input value min / max: 0,01/327,67
P-0-0513, Feedback Type
Description:
This value is available with all measuring systems with feedback data
memory and diagramed next to the control analysis of important
properties of the measuring system.The coding of the parameter is set by
the drive dealer.
The parameter is not describeable and serves exclusively the information
of the connected feedback.
With motors with single turn resolver, the value is = 0.
With motors with multi turn resolver, the value is = 16.
P-0-0513 - Attributes
Name in German:
Feedbacktyp
Name in English:
Feedbacktype
ID number:
P-0-0513
Editability:
no
Function:
Parameter
Memory:
Feedb.-E²prom
Data length:
2 Byte
validity check:
no
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/100
P-0-0514, Absolute Encoder Offset
Description:
The parameter function for the initializing position of the absolute
encoder.
P-0-0514 cannot be edited.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-19
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0514 - Attributes
Name in German:
Absolutgeber-Offset
Name in English:
Absolut-Encoder-Offset
ID number:
P-0-0514
Editability:
no
Function:
Parameter
Memory:
Feedb.-E²prom
Data length:
4 Byte
validity check:
no
Format:
HEX
Extreme value check:
no
Unit German/English:
Inkr./Inkr.
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
P-0-0515, Home(Reference) Position
Description:
Reference position for the SSI emulation.
Here the position in degrees will be placed on the motor which should be
read after the „absolute measurement emulator setting " from the SSI
emulator.
P-0-0515 - Attributes
Name in German:
Referenz Position / Offset
Name in English:
Home (Reference) position
ID number:
P-0-0515
Function:
Parameter
Memory:
Parameter EEProm
Data length:
Format:
Editability:
P2
4 Byte
validity check:
yes
DEC_MV
Extreme value check:
yes
Unit German/English:
Grad/Degree
combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/1474559,99
P-0-0516, Feedback Interface
Description:
This parameter has no meaning with DKC
3-20
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0516 - Attributes
Name in German:
Feedback-Interface
Name in English:
Feedback interface
ID number:
P-0-0516
Editability:
--
Function:
Parameter
Memory:
fixed
Data length:
2 Byte
validity check:
yes
Format:
binary
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/100
P-0-0518, Amplifier Nominal Current-2
Description:
The parameter specifies the maximum nominal current of the amplifier
with reduced peak current.
It specifies within the parameters S-0-0110, amplifier peak current, S-00112, amplifier nominal current and P-0-0519, amplifier peak current2, the length of the peak current characteristics for the peak current limit
of the amplifier.
The value is not editable because it is permanently programmed within
the amplifier.
P-0-0518 - Attributes
Name in German:
Verstärker Nennstrom-2
Name in English:
Amplifier Nominal Current-2
ID number:
P-0-0518
Editability:
no
Function:
Parameter
Memory:
Verst.-E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
--
Input value min / max: 0,001/500
P-0-0519, Amplifier Peak Current-2
Description:
The drive offers the possibility of a changed length of peak current
characteristic with reduced amplifier peak current and is therefore defined
as a increased amplifier length current.
The parameter P-0-0519 specifies a amplifier peak current for this case.
It serves for the determination of the functioning points on the length of
the peak current characterisic.
The value of this parameter is not editable because it is permantently
programmed in the amplifier.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-21
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0519 - Attributes
Name in German:
Verstärker Spitzenstrom-2
Name in English:
Amplifier Peak Current-2
ID number:
P-0-0519
Editability:
no
Function:
Parameter
Memory:
Verst.-E²prom
Data length:
4 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
--
Input value min / max: 0,001/500
P-0-0520, Hardware Number
Description:
Parameter for identification of the hardware.
The parameter is determined during the manufacturing stage and cannot
be changed.
S-0-0520 - Attributes
Name in German:
Hardware-Kennung
Name in English:
Hardware-Number
ID number:
P-0-0520
Function:
Parameter
Memory:
Amplifier EEProm
Data length:
Format:
Editability:
not editable
2 Byte
validity check:
no
decimal
Extreme value check:
no
Unit German/English:
none/none
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
P-0-0522, Absolute Encoder Count Direction
Description:
WIth this parameter, the operational direction of the absolute encoder
emulation will be set.If the parameter =1 is set then the operation direction
will be inverted.That means the SSI interface recieves a given position
value for the rotation of the motor in clockwise/counterclockwise
direction.With the change of the operational direction, the new command
„absolute measurement emulator setting " must be processed through so
that the given position will be changed through the inversion.
3-22
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-0522 - Attributes
Name in German:
Absolutgeber Zählrichtung
Name in English:
Absolute encoder count direction
ID number:
P-0-0522
Editability:
P2/P3
Function:
Parameter
Memory:
parallel EEProm
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/1
P-0-1003, Velocity Feedback Value Filtertimebase
Description:
The velocity feedback value filter will be used as a VZ1 low pass filter.This
filter time constant is adjusted within this parameter.
With the input of 500usec, the filter is non-functionable.
see also Function description: " Setting the velocity loop "
P-0-1003 - Attributes
Name in German:
Geschwindigkeitsistwert Filterzeitkonstante
Name in English:
velocity feedback value filtertimebase
ID number:
P-0-1003
Editability:
P234
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
us/us
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
1500
Input value min / max: 500/65535
P-0-4000, Current Zero Trim Phase U
Description:
This parameter serves the display of the determined result of the zero
trim procedure of the current feedback sensor of the U phase.
P-0-4000 - Attributes
Name in German:
Strommeß-Nullabgleich Phase U
Name in English:
Current-Zero-Trim Phase U
ID number:
P-0-4000
Editability:
no
Function:
Parameter
Memory:
Verst..-E²prom
Data length:
2 Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
no
Unit German/English:
%/%
combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
--
Input value min / max: -100,00/100,00
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-23
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4001, Current Zero Trim Phase V
Description:
This parameter serves the display of the determined result of the zero
trim procedure of the current feedback sensor of the V phase.
P-0-4001 - Attributes
Name in German:
Strommeß-Nullabgleich Phase V
Name in English:
Current-Zero-Trim Phase V
ID number:
P-0-4001
Editability:
no
Function:
Parameter
Memory:
Verst..-E²prom
Data length:
2 Byte
validity check:
no
Format:
DEC_MV
Extreme value check:
no
Unit German/English:
%/%
combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
--
Input value min / max: -100,00/100,00
P-0-4002, Current Amplify Trim Phase U
Description:
For trimming of the current sensors regarding its amplifier error, this
parameter will specify testing areas with DKC devices.
P-0-4002 - Attributes
Name in German:
Strommeßverstärkungsabgleich
Name in English:
Current-Amplify-Trim Phase U
ID number:
P-0-4002
Editability:
no
Function:
Parameter
Memory:
Verst.-E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
4
cyc. transmittable:
no
Default value:
--
Input value min / max: 0,0001/2,0000
P-0-4003, Current Amplify Trim Phase V
Description:
For trimming of the current sensors regarding the amplifier error, this
parameter will specify the test field for DKC drives.
3-24
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4003 - Attributes
Name in German:
Strommeßverstärkungsabgleich Phase V
Name in English:
Current-Amplify-Trim Phase V
ID number:
P-0-4003
Editability:
no
Function:
Parameter
Memory:
Verst.-E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
4
cyc. transmittable:
no
Default value:
--
Input value min / max: 0,0001/2,0000
P-0-4004, Magnetization Current
Description:
In this parameter, someone from Indramat will install the set nominimal or
servo magnetization current for asynchronous motors.
With synchronous motors, this parameter will automatically be set to 0.
The DKC controller can be functioned with MKD or MDD motors.
P-0-4004 - Attributes
Name in German:
Magnetisierungsstrom
Name in English:
Magnetizing current
ID number:
P-0-4004
Editability:
P23
Function:
Parameter
Memory:
fixed
Data length:
4 Byte
validity check:
no
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
4
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/400000
P-0-4005 Back EMF Constant
Description:
This parameter has no meaning.
P-0-4005 - Attributes
Name in German:
EMK-Konstante
Name in English:
Back emf constant
ID number:
P-0-4005
Editability:
--
Function:
Parameter
Memory:
fixed
Data length:
4 Byte
validity check:
no
Format:
decimal
Extreme value check:
no
Unit German/English:
Vs/rad/ / Vs/rad
combination check:
no
Posit. after the dec.:
4
cyc. transmittable:
no
Input value min / max: 0,0001/ 429496,7295
Default value:
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
0
Specific Product Parameters
3-25
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4006, Process Block Target Position
Description:
List of the target positions for the command operated function (positioning
interface).It can be given a maximum of 32 position values whereby the
first elemet specifies the target position of the process block 0 and the
second position specifies the target position of the second process block
1...
The number of the target positions must always be larger or equal to the
number of the operational process block.If process block are selected of
which there are no target positions, then the warning „non-programmed
process block " will be given.
P-0-4006 - Attributes
Name in German:
Verfahrsatz Zielposition
Name in English:
Process block Target Position
ID number:
P-0-4006
Editability:
P2/P3/P4
Function:
Parameter
Memory:
parallel EEProm
Data length:
list with 32 elements each with 4 Byte,
128 Byte
validity check:
yes
Format:
S-0-0076
Unit German/English:
S-0-0076/S-0-0076 combination check:
no
Posit. after the dec.:
S-0-0076
no
Extreme value check:
cyc. transmittable:
Input value min / max: S-0-0076/S-0-0076 Default value:
yes
--
P-0-4007, Process Block Velocity
Description:
List of the process block velocity for command controled operation
(positioning interface).It can be given a maximum of 32 velocities whereby
the first element specifies the maximum velocity of the process block 0,
the second element specifies the maximum velocity of the process block
1...
The number of the process block velocities must always be larger or
equal to the number of operational process block.If process blocks is
selected of which there are no process block velocities, then the warning
" non-programmed process block " will be given.
P-0-4007 - Attributes
Name in German:
Verfahrsatz Geschwindigkeit
Name in English:
Process block Velocity
ID number:
P-0-4007
Editability:
P2/P3/P4
Function:
Parameter
Memory:
parallel EEProm
Data length:
list with 32 elements each with 4 Byte,
128 Byte
validity check:
yes
Format:
S-0-0044
Unit German/English:
S-0-0044/S-0-0044 combination check:
no
Posit. after the dec.:
S-0-0044
no
Extreme value check:
cyc. transmittable:
Input value min / max: S-0-0044/S-0-0044 Default value:
3-26
Specific Product Parameters
yes
100,0000
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4008, Process Block Acceleration
Description:
List of the acceleration for the command controled operation (positioning
interface).It can be given a maximum of 32 acceleration values whereby
the first element specifies the maximum acceleration of the process block
0, the second element specifies the maximum acceleration of the process
block 1....
The number of accelerations must always be larger or equal to the
number of operation process blocks.If process blocks are selected of
which there are no acceleration, then the warning „non-programmed
method operation " will be given.
P-0-4008 - Attributes
Name in German:
Verfahrsatz Beschleunigung
Name in English:
Process block Acceleration
ID number:
P-0-4008
Editability:
P2/P3/P4
Function:
Parameter
Memory:
parallel EEProm
Data length:
list with 32 elements each with 4 Byte,
128 Byte
validity check:
yes
Format:
decimal
Unit German/English:
S-0-0160/S-0-0160 combination check:
no
Posit. after the dec.:
S-0-0160
no
Extreme value check:
cyc. transmittable:
Input value min / max: S-0-0160/S-0-0160 Default value:
yes
1000,000
P-0-4009, Process Block Jerk
Description:
List of the jerk limit value for command controled operation (positioning
interface).It can be given a maximum of 32 jerk limit values whereby the
first element specifies the maximum jerk limit value of the process block
0, the second element specifies the maximum jerk value of the process
block 1....
The number of the jerk limit values must be larger or equal to the number
of operation process blocks.If process blocks are selected of which there
are no jerk limit values, then the warning „non-programmed process
block " will be given.
With an input of 0, the jerk limitation can be turned off.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-27
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4009 - Attributes
Name in German:
Verfahrsatz Ruck
Name in English:
Process block Jerk
ID number:
P-0-4009
Editability:
P2/P3/P4
Function:
Parameter
Memory:
yes
Data length:
list with 32 elements each with 4 Byte,
128 Byte
validity check:
yes
Format:
Parameter
Unit German/English:
S-0-0160/S-0-0160 combination check:
no
Posit. after the dec.:
S-0-0160
no
Extreme value check:
cyc. transmittable:
Input value min / max: S-0-0160/S-0-0160 Default value:
no
0
P-0-4010, Load Inertia
Description:
The determined load inertia is within this parameter independent of P-00510, moment of inertia of the rotor.The load inertia is used for the
optimizing of the meaning of the rotation velocity control, which will not be
used in the available versionThe load functions rotationally on the
referred motor.
P-0-4010 - Attributes
Name in German:
Lastträgheitsmoment
Name in English:
Load Inertia
ID number:
P-0-4010
Editability:
P234(always)
Function:
Parameter
Memory:
Param.-E²prom
Data length:
4 Byte
validity check:
Phase 3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
kg m²/kg m²
combination check:
no
Posit. after the dec.:
5
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/21474.83647
P-0-4011, Switch Frequency
Description:
With this parameter, the switch frequency of the pulse switching controler
can be set to the value of 4 and 16 kHz.
P-0-4011 - Attributes
Name in German:
Schaltfrequenz
Name in English:
Switch frequency
ID number:
P-0-4011
Editability:
P23
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
kHz/kHz
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
4
Input value min / max: 4/8
3-28
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4012, Slip Factor
Description:
The parameter has no meaning
P-0-4012 - Attributes
Name in German:
Schlupffaktor
Name in English:
Slip factor
ID number:
P-0-4012
Editability:
-
Function:
Parameter
Memory:
fixed
Data length:
2 Byte
validity check:
-
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
Hz/100A/Hz/100A combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
0
Input value min / max: -/-
P-0-4013 Maximum Rotor Frequency
Description:
The parameter has no meaning
P-0-4013 - Attributes
Name in German:
Maximale Rotorfrequenz
Name in English:
Maximum rotor frequency
ID number:
P-0-4013
Editability:
-
Function:
Parameter
Memory:
fixed
Data length:
2 Byte
validity check:
-
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
Hz/Hz
combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
0
Input value min / max: -/-
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-29
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4014, Motor Type
Description:
With this parameter, the motor type will be selected. The parameter is not
changeable because the operation of synchronous motors is only
possible.
• 1:Synchronous motor
P-0-4014 - Attributes
Name in German:
Motorart
Name in English:
Motor Type
ID number:
P-0-4014
Editability:
no
Function:
Parameter
Memory:
Param.E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 1/5
P-0-4015, Circle Voltage
Description:
The circle voltage is stored as a parameter in the amplifier.
The parameter is not editable and serves only the display as well as
internal calculations (PWM).
P-0-4015 - Attributes
Name in German:
Zwischenkreisspannung
Name in English:
Circle-Voltage
ID number:
P-0-4015
Editability:
no
Function:
Parameter
Memory:
Verst.-E²prom
Data length:
2 Byte
validity check:
Phase3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
V/V
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 1/1000
3-30
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4016, Dynamic Compensation
Description:
The parameter has no meaning
P-0-4016 - Attributes
Name in German:
Dynamischer Kommutierungsoffset
Name in English:
Dynamic compensation
ID number:
P-0-4016
Editability:
-
Function:
Parameter
Memory:
Amplifier E²Prom
Data length:
2 Byte
validity check:
yes
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
Grad/1000Upm/Grad/1000Upm
combination check:
no
Posit. after the dec.:
2
Input value min / max: 0,00/3,80
cyc. transmittable:
no
Default value:
0
P-0-4017, Offset of the Analog Torque Command
Description:
With this parameter, a offset of the analog torque command can be
set.An available offset which lies in the signal path of the analog signal
can be regulated.
P-0-4017 - Attributes
Name in German:
Offset des analogen Momenteneingangs
Name in English:
Offset of the analog torque command input
ID number:
P-0-4017
Editability:
P2/P3/P4
Function:
Parameter
Memory:
parallel EEProm
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
mV/mV
combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
0
Input value min / max: -10000/+10000
P-0-4018, Offset of the Analog Velocity Command Input
Description:
With this parameter, a offset of the analog rotational velocity input be set.
An available offset which lies in the signal path of the analog signal can
be regulated.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-31
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4018 - Attributes
Name in German:
Offset des analogen Drehzahlsollwertes
Name in English:
Offset of the analog velocity command
input
ID number:
P-0-4018
Editability:
P2/P3/P4
Function:
Parameter
Memory:
parallel EEProm
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
mV/mV
combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
0
Input value min / max: -10000/+10000
P-0-4019, Process Block Mode
Description:
Setup of the process block mode („relative process block, " „absolute
process block, " „movement in positive direction " or „movement in negative
direction " ) for each seperate process block.The first element of this list
specifies the mode of the process block 0, the second specifies the mode
of the process block 1.
process mode
Setup value
Absolute process block
1h
relative process block
2h
Movement in positive direction
4h
Movement in negative direction
8h
Figure 3-9: adjustable process block modi
The number of process block modi must always be larger or equal to the
number of operation process blocks.If process blocks are selected of
which there are no process modes, then the warning „non-programmed
process block " will be given.
P-0-4019- Attributes
Name in German:
Verfahrsatz Modus
Name in English:
Process block Mode
ID number:
P-0-4019
Editability:
P2/P3/P4
Function:
Parameter
Memory:
parallel EEProm
Data length:
list with 32 elements each with 4 Byte, 64 Byte
validity check:
yes
Format:
HEX
Extreme value check:
no
Unit German/English:
--/--
combination check:
yes
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
1
Input value min / max: --/--
3-32
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4020, Encoder Emulation Type
Description:
Setup, if incremental or absolute feedback position output should be
reached.
Feedback positional output
Encoder Emulation Type P-0-4020
Incremental control emulation
1
Absolute control emulation (SSIemulation)
2
no output
Figure 3-10: control emulation types
0
P-0-4020-Attributes
Name in German:
Geberemulationsart
Name in English:
Encoder emulation type
ID number:
P-0-4020
Editability:
P2
Function:
Parameter
Memory:
parallel EEProm
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
-/-
combination check:
no
Posit. after the dec.:
-
cyc. transmittable:
no
Default value:
1
Input value min / max: 0/2
P-0-4021, Baud - Rate (RS232/485)
Description:
There can be different baud rates set for the communication over the
serial interface.
Baud rate [Baud]
Setting in parameter
P-0-4021
9600
0
19200
Figure 3-11: adjustable baud rates
1
Note:The baud rate is not adjustable in the list of all parameters in Drive
Top because locks itself out of other communication.
see also Function description: " Communication parameter "
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-33
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4021 Attributes
Name in German:
Baud - Rate (RS232/485)
Name in English:
Baud rate (RS232/485)
ID number:
P-0-4021
Editability:
P2/P3/P4
Function:
Parameter
Memory:
parallel EEProm
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
-/-
combination check:
no
Posit. after the dec.:
-
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/3
P-0-4022, Drive Address
Description:
The drive address will be set here.With communication over RS485interface with more than one drive, each drive must contain different
addresses so that at anytime only the addressed drive reacts.
There can be addresses set from 0 to 99.
The selection of the drive with the desired address is successful in a
terminal program through BCD: Drive Address.
see also Function description: " Communication parameter "
P-0-4022 Attributes
Name in German:
Antriebsadresse
Name in English:
Drive address
ID number:
P-0 4022
Editability:
P2
Function:
Parameter
Memory:
parallel EEProm
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
1
Input value min / max: 0/99
P-0-4023, C4 Command: Switch to Parameter Mode
Description:
Switching command from drive mode(ie out of phase 3 (P3)) into the
parameter mode(Phase 2(P2)).
The command can only be processed if the control opening in turned off.
see also Function description: " Communication parameter "
3-34
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4023-Attributes
Name in German:
C4 Umschalten auf Phase 2
Name in English:
C4 Command: Switch to parameter
mode
ID number:
P-0-4023
Editability:
P2/P3/P4
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
binary
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/11 b
P-0-4024, Test Status
Description:
Serves for information about the product advancement in operation.
P-0-4024-Attributes
Name in German:
Prüfstatus
Name in English:
Test status
ID number:
P-0-4024
Editability:
-
Function:
Parameter
Memory:
Amplifier E²Prom
Data length:
2 Byte
validity check:
yes
Format:
HEX
Extreme value check:
no
Unit German/English:
-/-
combination check:
no
Posit. after the dec.:
-
cyc. transmittable:
no
Default value:
no
Input value min / max: -/-
P-0-4025, Password
Description:
With version 02VRS there is a supervisor password in a fixed parameter
to edit during operation.
P-0-4025-Attributes
Name in German:
Passwort
Name in English:
Password
ID number:
P-0-4025
Editability:
P2/P3/P4
Function:
Parameter
Memory:
parallel EEProm
Data length:
0 byte-maximum 10 symbols
validity check:
yes
Format:
ASCII
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-35
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4026, Process Block Selection
Description:
With this parameter, it can be read from „drive stop " which of the input
signals P0 to P5 is the selected process block. If the device finds itself in
„device opening(AF) " , then the number of the positioning command,
which immediately will be worked on, can be read here.
P-0-4026-Attributes
Name in German:
Verfahrsatzauswahl
Name in English:
Process block selection
ID number:
P-0-4026
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
decimal
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/31
P-0-4027, Function Parameter
Description:
Bit list with different function in the company products (ie can be turned
of).
Structure of the parameter:
Bit 0 : 1=feedrate override from analogue
channel
0=feedrate override from parameter
S-0-0108
Bit 1 : 1=torque reduction from analogue
channel
0=torque reduction from parameter
S-0-0092
Bit 2 : 1=switch off speed monitor
0=speed monitor active
Bit 3 : free
Bit 4 : 1=invert position switch point
0=position switch point not inverted
Bit 5 -Bit 15:
free
Figure 3-12: P-0-4027, Function Parameter
3-36
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4027-Attributes
Name in German:
Funktionsparameter
Name in English:
Function parameter
ID number:
P-0-4027
Editability:
P2
Function:
rameter
Memory:
parallel EEProm
Data length:
2 Byte
validity check:
yes
Format:
HEX
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
0 x 0008
Input value min / max: --/--
P-0-4028, Impulse Wire Feedback Offset
Description:
With this parameter, the offset of the impulse feedback for resolve control
will be stored.
It will be available during construction and stored in the feedback
memory.
P-0-4028-Attributes
Name in German:
Impulsdrahtgeber-Offset
Name in English:
Impulse wire feedback - Offset
ID number:
P-0-4028
Editability:
no
Function:
Parameter
Memory:
Feedb.-E²prom
Data length:
4 Byte
validity check:
no
Format:
DEC
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
100,0000
Input value min / max: --/--
P-0-4029, Impulse Wire Feedback PIC Counter Value
Description:
This parameter contains the information of the absolute position of the
control.
The value will be actualized with each initializing position.It is not editable
from the user.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-37
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4029-Attributes
Name in German:
Impulsdrahtgeber-Zählerstand
Name in English:
impulse wire feedback - PIC counter
value
ID number:
P-0-4029
Editability:
no
Function:
Parameter
Memory:
Feedb.-E²prom
Data length:
4 Byte
validity check:
no
Format:
HEX
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
100,0000
Input value min / max: --/--
P-0-4030, Jog Velocity
Description:
Limit value for the movement velocity during movement over the jog
input.The value must be smaller than what is in the parameter S-00091„limit velocity value bipolar. "
The movement velocity will also be controled from " feed rate override " .
P-0-4030-Attributes
Name in German:
Tipp-Geschwindigkeit
Name in English:
Jog velocity
ID number:
P-0-4030
Editability:
P2/P3/P4
Function:
Parameter
Memory:
parallel EEProm
Data length:
4 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
S -0-0044/S -0-0044
combination check:
no
Posit. after the dec.:
S -0-0044
cyc. transmittable:
no
Input value min / max: S -0-0044/S -0-0044
Default value:
3-38
Specific Product Parameters
100,0000
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4031, Absolute Encoder Emulator Offset
Description:
The parameter serves for the initializing position of the absolute encoder
emulation (SSI-output).The parameter will be edited by the „absolute
measurement emulator setting " from the company product.
P-0-4031-Attributes
Name in German:
Absolutgeber-Emulator-Offset
Name in English:
Absolute encoder emulation offset
ID number:
P-0-4031
Editability:
no
Function:
Parameter
Memory:
parallel EEProm
Data length:
4 Byte
validity check:
only with SSI
Emulation
Format:
HEX
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
P-0-4032, C3 Command Set Emulation-Absolute Value
Description:
With this command, the position which is recorded in parameter P-0-0515
will be given in the absolute encoder interface.The command can only be
processed if the control opening in turned off.
see also Function description: " Disengagement of a command "
P-0-4032-Attributes
Name in German:
C3 Kommando Absolutmaß-Emulator
setzen
Name in English:
C3 Command set emulationabsolute value
ID number:
P-0-4032
Editability:
P4
Function:
Command
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
binary
Extreme value check:
no
Unit German/English:
--/--
combination check:
yes
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/11
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-39
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4033, Steps per Revolution
Description:
The number of revolutions which will be required in order for the
mechanical motor rotation movement with the motor interface.
P-0-4033-Attributes
Name in German:
Schritte pro Umdrehung
Name in English:
Steps per revolution
ID number:
P-0-4033
Editability:
P23
Function:
Parameter
Memory:
parallel EEProm
Data length:
4 Byte
validity check:
yes
Format:
binary
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
1250
Input value min / max: 16/65536
P-0-4034, Stepper Motor Interface Mode
Description:
Setup of the mode of stepper motor control signals.
Stepper motor signals
Setting
Quadrature signals
1
Forward/backward signals
2
Step and direction signals
Figure 3-13:Stepper motor modes
3
P-0-4034-Attributes
Name in German:
Modus Schrittmotorschnittstelle
Name in English:
Stepper motor interface mode
ID number:
P-0-4034
Editability:
P2
Function:
Parameter
Memory:
parallel EEProm
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
1
Input value min / max: 1/3
3-40
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4035, Anbalanced Current
Description:
In this parameter, the current value is stored which with the scaling of the
current measurement of the drive control is precisely compared.With
this, system errors in the current measurement will be eliminated.The
value has no meaning to the user and it is not changeable.
P-0-4035-Attributes
Name in German:
Abgleichstrom
Name in English:
Unbalanced Current
ID number:
P-0-4035
Editability:
no
Function:
Parameter
Memory:
Verst.-EEPROM
Data length:
4 Byte
validity check:
Phase 3
Format:
DEC_OV
Extreme value check:
yes
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/500
P-0-4036, Contacted Motor Type
Description:
In this parameter, the drive control marks itself as the type of the
contacted motor type in text format.
If this locked type during heavy switching in the drive mode deviates from
out of the read feedback S-0-0141, motortype, a new motor would be
contacted.The the server will be required to show the display „UL (basic
load) for initialization of the motor dependent parameter;see command S0-0262, basic load.Under this parameter, the „Contacted Motorype " will
be overwritten with the basic load.
P-0-4036-Attributes
Name in German:
Angeschlossener Motortyp
Name in English:
Contacted Motor Type
ID number:
P-0-4036
Function:
Parameter
Memory:
Parameter-EEPROM
Data length:
up to 40 symbols
validity check:
Phase 3
Format:
ASCII
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
empty
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Editability:
P234
Specific Product Parameters
3-41
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4037, Default Velocity Loop Proportional Gain
Description:
The default value for the velocity encodere-proportional amplifier. The
parameter will be determined during the manufacturing stage and cannot
be changed. With the „default parameter load " , the value of the parameter
will be copied into the parameter S-0-0100, velocity loop proportional
gain.
With the default values, a drive of the motor is possible; for optimal
adaptation on the machine connection, the parameter S-0-0100 must sill
be optimized.
P-0-4037-Attributes
Name in German:
Default Drehzahlregler-Proportionalverstärkung
Name in English:
Default velocity loop proportional gain Kp
ID number:
P-0-4037
Editability:
no
Function:
Parameter
Memory:
Feedback
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
As/rad/As/rad
combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/32767
P-0-4038, Default Velocity Loop Integral Action Time
Description:
The default value for the velocity loop integral action time. The parameter
will be determined during the manufacturing stage and cannot be
changed. With the „default parameter load " , the value of the parameter
will be copied into the parameter S-0-0101, velocity loop integral action
time.
With the default values, a drive of the motor is possible; for optimal
adaptation on the machine connection, the parameter S-0-0101 must sill
be optimized.
P-0-4038-Attributes
Name in German:
Defaultwert Drehzahlregler-Nachstellzeit
Name in English:
Default Velocity loop integral action time
ID number:
P-0-4038
Editability:
no
Function:
Parameter
Memory:
Feedback
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
ms/ms
combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
--
Input value min / max: 0,1/6553,5
3-42
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4039, Default Current Loop Proportional Gain
Description:
The defaul value for the current loop proportional gain. The parameter will
be determined during the manufacturing stage and cannot be changed.
With the „default parameter load " , the value of the parameter will be
copied into the parameter S-0-0106, proportional gain 1 current
regulator.
The current loop gain is already optimized and may not be changed.
P-0-4039-Attributes
Name in German:
Default Stromregler-Proportionalverstärkung
Name in English:
Default current loop proportional gain
ID number:
P-0-4039
Editability:
no
Function:
Parameter
Memory:
Feedback
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
V/A/V/A
combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/500
P-0-4040, Digital Inputs
Description:
Bit list for reading by the digital input signals of the DKC.
1 means:At the input there is a voltage of about 24V.
Bit 0 : X4/2 drive enable signal
Bit 1 : X4/3 AH/start
Bit 2 : X2/13 go to zero
Bit 3 : X2/14 zero switch
Bit 4 : X2/15 positive travel range limit switch
Bit 5 : X2/16 negative travel range limit switch
Bit 6:
Bit 7:
Bit 8:
X2/17 jogging imput - positive direction
X2/18 jogging imput - negative direction
X2/1 select block line 1 /step motor input SM1
Bit 9 : X2/2 select block line 2 /step motor input SM1
Bit 10: X2/3 select block line 1 /step motor input SM2
Bit 11: X2/4 select block line 2 /step motor input SM2
Bit 12 :X2/5 select block line 5
Bit 13 : free
Bit 14 : free
Bit 15 : free
Figure 3-14: P-0-4040 digital inputs
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-43
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4040-Attributes
Name in German:
Digitale Eingänge
Name in English:
Digital Inputs
ID number:
P-0-4040
Editability:
no
Function:
Parameter
Memory:
no
Data length:
Byte
validity check:
no
Format:
binary
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
P-0-4041, Digital Outputs
Description:
Bit list for reading by the digital output signals of the DKC.
1 means:At the output there is 24V.
Bit 0 : free
Bit 1 : ready relay control
Bit 2 : brake relay control
Bit 3 : position switch point X2/19
Bit 4 : software start relay control
Bit 5 : X2/20 in reference
Bit 6:
Bit 7:
Bit 8:
X2/21 in motion
X2/22 in position
free
Bit 9 : free
Bit 10: free
Bit 11: X2/6 select position 1 acknowledgement
Bit 12 : X2/7 select position 2 acknowledgement
Bit 13 : X2/8 select position 3 acknowledgement
Bit 14 : X2/9 select position 4 acknowledgement
Bit 15 : X2/10 select position 5 acknowledgement
Figure 3-15: P-0-4041 digital outputs
P-0-4041-Attributes
Name in German:
Digitale Ausgänge
Name in English:
Digital outputs
ID number:
P-0-4041
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
binary
Extreme value check:
no
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
3-44
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4042, Default Velocity Loop Delay Time
Description:
The defaul value for the velocity loop delay time. The parameter will be
determined during the manufacturing stage and cannot be changed. With
the „default parameter load " , the value of the parameter will be copied into
the parameter P-0-0004, velocity encoder smoothing time constant.
P-0-4042-Attributes
Name in German:
Defaultwert Drehzahlregler-Glättungszeitkonstante
Name in English:
Default Velocity loop delay time
ID number:
P-0-4042
Editability:
no
Function:
Parameter
Memory:
Feedback
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
us/us
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 500/65535
P-0-4043, Bleed Overload Factor
Description:
The parameter describes the short timed overloadablility of the installed
damping resistance.If the bleed overload factor = 60, then the peak
capacity of the damping resistance is 60 times larger than the time
capacity. The parameter will be determined during the manufacturing
stage and cannot be changed.
P-0-4043-Attributes
Name in German:
Bleederüberlastfaktor
Name in English:
Bleederoverloadfactor
ID number:
P-0-4043
Function:
Parameter
Memory:
Amplifier EEProm
Data length:
Editability:
no
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/100
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-45
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4044, Bleeder load
Description:
With this parameter, the average capacity will be read from which the
damping resistance will be changed.
That means that the dampening resistance with its time capacity will be
100 % acted upon.For a secure drive, the burden should be less than
80%The value is very strongly stabilized.
In order to tell if a processing cycle of the dampening resistance is not
overly loaded, the analog signal „bleeder load " must be considered.
P-0-4044 Attributes
Name in German:
Bleederauslastung
Name in English:
Bleeder Load
ID number:
P-0-4044
Editability:
no
Function:
Parameter
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
decimal
Extreme value check:
no
Unit German/English:
%/%
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/65536
P-0-4045, Active Continuous Current
Description:
This parameter shows how much current the drive can supply in the
actual combination in continual operation.Multiplied with the P-0-0051,
torque constant of the motor yields the continual operational torque.
This parameter will calculate during heavy switching in the drive mode
from the drive control and is not changeable.With the activation of this
limit, the following current and torque limitations and settings shrink.
ID
Number
Name
Unit
S-0-0111
Still stand active current motor 1)
A
S-0-0112
Amplifier active current 1
A
P-0-0518
Amplifier nominal current 2
A
S-0-0092
Torque limit bipolar 2)
%
P-0-0006
Overload factor 3)
Figure 3-16: Active durration current, Dependence
%
1) The standstill active current of the motor is that value of which the
procentage specifications pocess: it corresponds to 100%.
2) Shrinks if less than 100%
3) The dependence on the overload factor is not linear. It is
observeable in connection with the active current 1 and the nominal
current 2.
3-46
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4045-Attributes
Name in German:
Wirksamer Dauerstrom
Name in English:
Active continuous Current
ID number:
P-0-4045
Editability:
no
Function:
Parameter
Memory:
no
Data length:
4 Byte
validity check:
no
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
P-0-4046, Active Peak Current
Description:
This parameter show how much current the drive can supply in the actual
combination momentarily (0,4s) of operation.Multiplied with the P-00051, torque constant of the motor yields the momentary operation
torque(ie for acceleration operations).
This parameter will calculate during heavy switching in the drive mode
from the drive control and is not changeable. With the activation of this
limit, the following current and torque limitations and settings shrink.
ID
Number
Name
Unit
S-0-0109
Motor peak current
A
S-0-0110
Amplifier peak current 1
A
P-0-0519
Amplifier peak current 2
A
S-0-0092
Torque limit bipolar
%
P-0-0006
Overload factor 3)
Figure 3-17: Active peak current, dependence
%
The dependence on the overload factor is not linear. It can be seen in
connection with peak current 1 and peak current 2.
P-0-4046-Attributes
Name in German:
Wirksamer Spitzenstrom
Name in English:
Active peak Current
ID number:
P-0-4046
Editability:
no
Function:
Parameter
Memory:
no
Data length:
4 Byte
validity check:
no
Format:
DEC_OV
Extreme value check:
no
Unit German/English:
A/A
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
--
Input value min / max: --/--
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-47
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4047, Motor Inductance
Description:
Measured inductance of the motor between two clamped connections.
The parameter will be determined during the manufacturing stage and
cannot be changed.
P-0-4047-Attributes
Name in German:
Motorinduktivität
Name in English:
Motor inductance
ID number:
P-0-4047
Editability:
no
Function:
Parameter
Memory:
Feedback
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
no
Unit German/English:
mH/mH
combination check:
no
Posit. after the dec.:
2
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/65535
P-0-4048, Stator Resistance
Description:
Measured stator resistance of the motor between two connection clamps.
The parameter will be determined during the manufacturing stage and
cannot be changed.
P-0-4048-Attributes
Name in German:
Wicklungswiderstand
Name in English:
Stator resistance
ID number:
P-0-4048
Editability:
no
Function:
Parameter
Memory:
Feedback
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
no
Unit German/English:
Ohm/Ohm
combination check:
no
Posit. after the dec.:
3
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/65,535
3-48
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4049, Default Current Loop Integral Action Time
Description:
The default value for the current loop integral action time. The parameter
will be determined during the manufacturing stage and cannot be
changed. With the „default parameter load " , the value of the parameter
will be copied into the parameter S-0-0107, current regulator 1 integral
action timeve.
The current loop integral action time is already optimized and may not be
changed.
P-0-4049-Attributes
Name in German:
Defaultwert Stromregler-Nachstellzeit
Name in English:
Default Current loop integral action time
ID number:
P-0-4049
Editability:
no
Function:
Parameter
Memory:
Feedback
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
ms/ms
combination check:
no
Posit. after the dec.:
1
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/6553,5
P-0-4050, Delay Answer RS232/485
Description:
Defining the minimal time that must pass after the last symbol of a
telegram would be received over the serial interface and before the first
symbol of the reaction may be sent.This time span will be required with
the drive of an RS485 for the switch from send to recieve drive (ie
required switch).For the drive of a RS232, this parameter is not necessary
and inspite of this should be set at 1ms.
see also Function description: " Communication parameter "
P-0-4050-Attributes
Name in German:
Antwortverzögerung RS232/485
Name in English:
Delay answer RS232/485
ID number:
P-0-4050
Editability:
P2/P3/P4
Function:
Parameter
Memory:
yes
Data length:
2 Byte
validity check:
yes
Format:
decimal
Extreme value check:
yes
Unit German/English:
ms/ms
combination check:
no
Posit. after the dec.:
0
cyc. transmittable:
no
Default value:
0
Input value min / max: 0/200
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Specific Product Parameters
3-49
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
P-0-4094, Command Parameter Default Set
Description:
With the operation of this command, all parameters will be placed in the
parallel EEProm with the EEProm stored values.Invalid parameters will be
corrected.
After the trade of the company version, all parameter will be set as
invalid.THe drive calls then „PL " on the seven segment display (the serial
interface is still not active).By pressing the button S1, this command will
also be started so that all the parameters stay on the default value.
P-0-4094-Attributes
Name in German:
Kommando Parameter-Default-Setting
Name in English:
Command Parameter-Default-Set
ID number:
P-0-4094
Editability:
P2
Function:
Command
Memory:
no
Data length:
2 Byte
validity check:
no
Format:
binary
Extreme value check:
yes
Unit German/English:
--/--
combination check:
no
Posit. after the dec.:
--
cyc. transmittable:
no
Default value:
--
Input value min / max: 0/11 b
3-50
Specific Product Parameters
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
4
Index
A
Acceleration Data Scaling Exponent 2-45
Acceleration Data Scaling Factor 2-44
Acceleration Data Scaling Type 2-43
Additive Velocity Command Value 2-6
Amplifier Nominal Current 2-32
Amplifier Peak Current 2-31
Application Type 2-40
B
Bipolar Acceleration Limit Value 2-38
Bipolar Torque/Force Limit Value 2-23
Bipolar Velocity Limit Value 2-22
C
C1 Communication Phase 3 Transition Check 2-36
C2 Communication Phase 4 Transition Check 2-36
C6 Drive Controlled Homing Procedure 2-41
Command Basic Load 2-49
Controller Type 2-38
Current Regulator 1 Integral Action Time 2-29
D
Definitions 1-2
Diagnostic Message 2-24
Drive Status Word 2-37
F
Feed Constant 2-35
Feedrate Override 2-30
G
General Information 1-1
H
Home Switch 2-52
Homing Acceleration 2-7
Homing Parameter 2-40
Homing Velocity 2-7
I
IDN List of all operational Data 2-2
IDN List of Invalid Op. Data for Comm. Ph.2 2-2
IDN List of Invalid Op. Data for Comm. Ph.3 2-3
IDN-List of Backup Operation Data 2-47
Input Revolutions of Load Gear 2-33
Interface Status 2-1
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Index
4-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
L
Linear Position Data Scaling Exponent 2-19
Linear Position Data Scaling Factor 2-18
M
Manufacturer Class 3 Diagnostics 2-46
Manufacturer Version 2-4
Mask Class 2 Diagnostic 2-25
Mask Class 3 Diagnostic 2-25
Maximum Motor Speed 2-32
Modulo Value 2-27
Monitoring Window 2-42
Motor Current at Standstill 2-31
Motor Peak Current 2-30
Motor Type 2-39
N
Negative position limit value 2-12
O
Output Revolutions of Load Gear 2-34
P
Parameter Buffer Mode 2-50
Position Command Value 2-11
Position Data Scaling Type 2-17
Position Feedback 1 Type Parameter 2-51
Position Feedback Value 1 2-13
Position Feedback Value Status 2-53
Position Loop KV-Factor 2-28
Position Polarity Parameter 2-14
Position Switch Flag Parameter 2-16
Position Switch Point 1 2-16
Position Window 2-15
Positioning Acceleration 2-49
Positioning Jerk 2-47
Positioning Velocity 2-48
Positive position limit value 2-12
Primary Mode of Operation 2-4
Proportional Gain 1 Current Regulator 2-28
R
Reference Distance 1 2-13
Reference Offset 1 2-42
Reset Class 1 Diagnostic 2-26
Resolution of Rotational Feedback 2-33
Rotational Position Resolution 2-19
S
Secondary Operation Mode 1 2-5
Standard parameters 2-1
Standstill window 2-35
4-2
Index
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Structure of the Document 1-1
T
Target Position 2-48
Torque Polarity Parameter 2-21
Torque/Force Command 2-19
Torque/Force Data Scaling Exponent 2-24
Torque/Force Data Scaling Factor 2-23
Torque/Force Data Scaling Type 2-22
Torque/Force Feedback Value 2-20
V
Velocity Command Value 2-5
Velocity Data Scaling Exponent 2-11
Velocity Data Scaling Factor 2-10
Velocity Data Scaling Type 2-9
Velocity Feedback Value 2-6
Velocity Loop Integral Action Time 2-27
Velocity Loop Proportional Gain 2-26
Velocity Polarity Parameter 2-8
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Index
4-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
4-4
Index
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE
DKC01.1/DKC11.1
Drive Controllers
Supplement B
Diagnostic message description
ASE 02VRS
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Contents
1 DIAGNOSTIC MESSAGE DESCRIPTION
1-1
1.1 TIPS FOR ELIMINATING MALFUNCTIONS ....................................................................................... 1-1
Reset Button S1 ............................................................................................................................ 1-1
Condition Display H1 ..................................................................................................................... 1-2
1.2 Error Diagnostic Message.................................................................................................................... 1-3
UL Motor Type not Reported......................................................................................................... 1-3
PL Default Value of the Parameter Load ...................................................................................... 1-3
F207 Switching to an Uninitialized Operating Mode...................................................................... 1-4
F218 Heatsink Overtemperature Shutdown.................................................................................. 1-5
F219 Motor Overtemperature Shutdown....................................................................................... 1-5
F220 Bleeder Overtemperature Shutdown ................................................................................... 1-6
F226 Undervoltage Error............................................................................................................... 1-7
F228 Excessive Deviation ............................................................................................................. 1-7
F229 Motor Encoder Error: Quadrant Error .................................................................................. 1-8
F248 Low Battery Voltage ............................................................................................................. 1-9
F262 Status Outputs Short Circuited ............................................................................................ 1-9
F276 Absolute Encoder Error, Position Deviation & gt; P-0-0097 .................................................... 1-10
F630 Travel Limit Value Exceeded ............................................................................................ 1-10
F644 Travel Limit Switch Detected ............................................................................................. 1-11
F822 Motor Encoder Failure: Signal too Small............................................................................ 1-12
F860 Overcurrent: Short in Powerstage...................................................................................... 1-13
F870 +24 V Error......................................................................................................................... 1-13
F873 Power Supply Driver Stage Fault ....................................................................................... 1-14
F878 Velocity Loop Error............................................................................................................. 1-14
F879 Velocity Limit Value Exceeded (S-0-0092)......................................................................... 1-15
F895 4 kHz Signal Error .............................................................................................................. 1-15
1.3 Warning Diagnostic Messages .......................................................................................................... 1-17
E250 Heatsink Overtemperature Warning .................................................................................. 1-17
E251 Motor Overtemperature Warning....................................................................................... 1-18
E252 Bleeder Overtemperature Warning.................................................................................... 1-18
E253 Target Position Out of Range ............................................................................................ 1-19
E254 Drive not Referenced ......................................................................................................... 1-20
E255 Feedrate-Override(S-0-0108) = 0 ...................................................................................... 1-20
E256 Torque Limit Value = 0....................................................................................................... 1-21
E257 Continuous Current Limiting Active.................................................................................... 1-21
E258 Selected Process Block is not Programmed ..................................................................... 1-22
E259 Command Velocity Limit Active ......................................................................................... 1-22
E264 Target Position not Representable .................................................................................... 1-23
E825 Overvoltage Warning ......................................................................................................... 1-23
E830 Position Limit Value Exceeded .......................................................................................... 1-24
E831 Position Limit Value Reached During Jogging................................................................... 1-24
E844 Travel Limit Switch Activated ............................................................................................. 1-25
1.4 Command Diagnostic Message C... .................................................................................................. 1-25
C100 Communication Phase 3 Transition Check ....................................................................... 1-25
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Contents
I
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C101 Invalid Communication Parameters (S-0-0021) ................................................................ 1-25
C102 Limit Error Communication Parameter (S-0-0021)............................................................ 1-26
C200 Communication Phase 4 Transition Check ....................................................................... 1-26
C201 Invalid Parameter Block (- & gt; S-0-0022) .............................................................................. 1-27
C202 Limit Error Parameter (- & gt; S-0-0022).................................................................................. 1-27
C203 Parameter Calculation Error (- & gt; S-0-0022) ....................................................................... 1-28
C207 Loading Error LCA ............................................................................................................. 1-28
C208 Invalid SSI Parameter (- & gt; S-0-0022) ................................................................................. 1-28
C211 Invalid Feedback Data (- & gt; S-0-0022) ................................................................................ 1-29
C212 Invalid Amplifier Data (- & gt; S-0-0022) .................................................................................. 1-29
C213 Position Data Scaling Error................................................................................................ 1-30
C214 Velocity Data Scaling Error................................................................................................ 1-31
C215 Acceleration Data Scaling Error......................................................................................... 1-31
C216 Torque Data Scaling Error................................................................................................. 1-32
C217 Motor Feedback Data Reading Error................................................................................. 1-33
C220 Motor Feedback Initializing Error ....................................................................................... 1-33
C227 Modulo Range Error .......................................................................................................... 1-34
C300 Command: Set Emulation - Absolute Value ...................................................................... 1-34
C300 Set Absolute Measuring..................................................................................................... 1-35
C301 Setting Absolute Measuring not Allowed, Drive Enabled................................................... 1-35
C302 Absolute Measuring System not Installed.......................................................................... 1-35
C400 Switch from Operational to Parameter Mode .................................................................... 1-36
C401 Active Drive, Transition is not Permissable ....................................................................... 1-36
C500 Reset Class 1 Diagnostic .................................................................................................. 1-36
C600 Drive Controlled Homing Procedure................................................................................. 1-37
C601 Homing Procedure not Possible without Drive Enable ...................................................... 1-37
C602 Zero Switch to Home Reference Error .............................................................................. 1-38
C603 Homing Procedure not Possible in this Operating Mode................................................... 1-38
C604 Homing Procedure not Possible with Absolute Measurement Control ............................ 1-38
C700 Basic Load ......................................................................................................................... 1-39
C800 Load Basic Parameters ..................................................................................................... 1-40
1.5 State diagnostic message.................................................................................................................. 1-41
A002 Communication Phase 2.................................................................................................... 1-41
A003 Communication Phase 3.................................................................................................... 1-41
A010 Drive Halt ........................................................................................................................... 1-41
A012 Control and Power Sections Ready for Operation ............................................................. 1-42
A013 Ready for Power ................................................................................................................ 1-42
A100 Drive in Torque Mode ........................................................................................................ 1-42
A101 Drive in Velocity Mode ....................................................................................................... 1-43
A203 Position Control/Stepper Drive Interface............................................................................ 1-43
A204 Position Regulation without Lag/Stepper Drive Interface................................................... 1-43
A206 Position Regulation/Positioning Drive ................................................................................ 1-44
A207 Position Regulation without Lag/Positioning Interface ....................................................... 1-44
AF Drive Enable .......................................................................................................................... 1-44
JF Jogging in the Positive Direction ............................................................................................ 1-44
JB Jogging in the Negative Direction .......................................................................................... 1-44
2 Index
1-44
II Contents
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
1
DIAGNOSTIC MESSAGE DESCRIPTION
1.1
Tips for Eliminating Malfunctions
The following diagnostic descriptions explain the meaning of the H1
condition display on the DKC. The meaning, possible causes for the error,
and the means of prevention are described in this section.
If a malfunction cannot be eliminated with the help of the diagnostic
descriptions, please contact INDRAMAT customer service.
Reset Button S1
After the error has been eliminated the error message must be cleared by
pressing the clear error button S1. The drive controller has an error
memory which works on the " first-in, first-out " principle. If several errors
occur in a row, the first 4 will be saved. The error which occurred first is
displayed on H1. Each time the S1 key is pressed, the error which is
displayed will be cleared and the next error will appear in the display until
all of the saved errors have been cleared.
Clear error button S1
Condition display H1
FAECO
Figure 1-1: Condition diagnosis H1 and clear error button S1 on the DKC01
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Condition Display H1
The H1 condition display on the front side of the DKC gives information
about:
• Operating condition of the drive controller
• Drive controller or cable malfunctions
• Motor malfunctions
• Malfunctions caused by invalid parameter input
• Application errors
1-2
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
1.2
UL
Error Diagnostic Message
Motor Type not Reported
Description:
The settings for current regulation, velocity command, and position loop
are stored in the feedback of the motor. After powering up, the drive
compares the motr type stored in the parameters with the connected
motor type. If the two do not match, the drive remains at this state.
By pressing the S1 button, the drive overwrites its stored parameters with
the control loop parameters fron the motor feedback.
Cause:
Motor was exchanged.
The paramter “P-0-4036, contacted motor type” from which the motor
type is selected would be loaded.
Remedy:
Command ”C700 Basic Load” or press the S1 button.
F208 Attributes
SS Display :
UL
Diagnostic message :
F208 Motor Type not reported
F208 Motor Type not reported
Diagnostic message number :
Error class :
Non-fatal
Error number :
PL
F208
208
Default Value of the Parameter Load
Description:
After the exchange of the product (EPROMs), if the parameters have
been changed in regards to the old product, the drive displays “PL”. By
pressing the S1 button on the drive or through starting of the command
“load basic parameters”, all the parameters will be erased and restored
with the default values.
Cause:
Product was exchanged and the number of parameters of the new
product had changed in regards to the old.
Remedy:
Press S1 button on the drive controller and all the paramters will be
erased and restored with default values
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
WARNING
⇒ With this procedure all parameters and process
blocks will be overwritten.
F209 Attributes
SS Display :
PL
Diagnostic message :
PL Default Value of the Parameter Load
PL Default Value of the Parameter Load
Diagnostic message number :
F207
PL
Error class :
Non-fatal
Switching to an Uninitialized Operating Mode
Description:
A valid operating mode has not been defined.
In the DKC 01, this error cannot occur because the input of the operating
mode will be tested when entered.
Remedy:
Input correct operating mode
F207 attributes
SS Display :
F2/07
Diagnostic message :
F207 Switching to an uninitialized
operating mode
F207 Switching to an uninitialized
Operation Mode
Error number :
207
Diagnostic message number :
1-4
F207
Error class :
Non-fatal
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F218
Heatsink Overtemperature Shutdown
Description:
The temperature of the DKC heatsink will be monitored.
If the
temperature of the heatsink is too high, the drive will power down in order
to protect against damage.
Cause:
1.
Ambient temperature is too high. The specified
operational data is valid up to an ambient temperature
of 45°C.
2.
The DKC's heatsink is dirty.
3.
Air flow is prevented by other assembly parts or a
control cabinet panel assembly.
4.
Heatsink blower may be defective
Remedy:
For 1.
Reduce the ambient temperature; for example, through cooling
of the control cabinet
For 2.
Remove any obstruction or dirt from the heatsink.
For 3.
Install the device vertically and clear a large enough area for
proper heatsink ventilation.
For 4.
Exchange drive.
F218 attributes
SS Display :
F2/18
Diagnostic message :
F218 Heatsink overtemperature shutdown
F218 Heatsink overtemperature shutdown
Error number :
218
Diagnostic message number :
F219
F218
Error class :
Non-fatal
Motor Overtemperature Shutdown
Description:
The motor is too hot. The drive controller has issued the warning “E251
Motor Overtemperature Warning” for approx. 30 seconds. The drive
immediately shuts down.
Cause:
1.
2.
The motor was overloaded. The effective torque demanded
from the motor was above its allowable continuous torque level
for too long.
The motor thermal connection is shorted or grounded.
3.
Instability in the velocity loop.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-5
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Remedy:
For 1.
Check the installation of the motor. If the system
has been in operation for a long time, check to see if the
the operating conditions have changed. (in regards to
pollution, friction, moved components, etc.)
For 2.
Check wires and cables to the motor temperature monitor for
wire breaks and short circuits.
For 3.
Check velocity loop parameters.
F219 Attributes
SS Display :
F2/19
Diagnostic message :
F219 Motor Overtemperature Shutdown
F219 Motor Overtemperature Shutdown
Error number :
Diagnostic message number :
F219
Error class :
F220
219
Non-fatal
Bleeder Overtemperature Shutdown
Description:
The regenerated energy from the mechanism of the machine via the
motor has exceeded the power capability of the bleeder resistor. By
exceeding the maximum resistance energy, the drive will shutdown
according to the set error reaction. Thereby protecting the bleeder from
temperature damage.
Cause:
The reflected energy from the machine’s mechanism over the motor is
too large.
Remedy:
With too much power --- & gt; reduce the acceleration value
With too much energy --- & gt; reduce the velocity
Check the drive installation.
May require installation of an additional bleeder module.
F220 Attributes
SS Display :
F2/20
Diagnostic message :
F220 Bleeder overtemperature shutdown
F220 Bleeder overtemperature shutdown
Error number :
220
Diagnostic message number :
1-6
F220
Error class :
Non-fatal
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F226
Undervoltage Error
Description:
The level of the DC bus voltage will be monitored by the drive controller. If
the DC bus voltage falls below a minimal threshold, the drive
independently shuts down according to the set error reaction.
Cause:
1.
The power source has been interrupted without first switching off
the drive enable (RF).
2.
Disturbance in the power supply
Remedy:
For 1
Check the logic regarding the activation of the drive within
the connected control.
For 2
Check the power supply.
The error can be cleared by removing the control enable signal.
F226 Attributes
SS Display :
F2/26
Diagnostic message :
F226 Undervoltage Error
F226 Undervoltage Error
Error number :
F226
Error class :
F228
226
Diagnostic message number :
Non-fatal
Excessive Deviation
Description:
The drive could not process the given command value and reacted
according to the set error reaction.
Cause:
1.
The acceleration ability of the drive was exceeded.
2.
The motor shaft was blocked.
3.
Parameterization error in the drive parameters.
4.
" S-0-0159, Monitoring Window " was parameterized incorrectly
Remedy:
For 1.
Check the Bipolar Torque Limit, S-0-0092 parameter
and set it equal to the maximum allowable value for
the application.
For 2.
Check the mechanical system and eliminate any jamming of the
motor shaft
For 3.
Check the drive parameters
For 4.
Parameterize " S-0-0159, Monitoring Window "
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-7
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F228 Attributes
SS Display :
F2/28
Diagnostic message :
F228 Excessive Deviation
F228 Excessive Deviation
Error number :
Diagnostic message number :
F228
Error class :
F229
228
Non-fatal
Motor Encoder Error: Quadrant Error
Description:
An encoder signal error was found during the encoder evaluation.
Cause:
1.
Defective encoder cable
2.
Insulation disturbance on the encoder or the encoder cable
3.
Defective drive controller
Remedy:
For 1.
Check the encoder cable and change if necessary.
For 2.
Use only insulated motor cable and power cables
Separate encoder cable from power cables
For 3.
Exchange drive controller
F229 Attributes
SS Display :
F2/29
Diagnostic message :
F229 Motor Encoder Error: Quadrant
Error
F229 Motor Encoder Error: Quadrant
Error
Error number :
229
Diagnostic message number :
1-8
F229
Error class :
Non-fatal
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F248
Low Battery Voltage
Cause:
The connected motor has an absolute encoder. The absolute position
information is stored in the motor feedback. This memory has a battery
powered backup for the electronic circuit. The battery is designed for a
operating life of 10 years. If the battery voltage drops below 2.8 V, this
message appears. The absolute encoder function is preserved for about
2 weeks.
Instructions for Exchanging Batteries
Have the following tools and accessories ready:
• Torx screwdriver, size 10
• Needle nose pliers, torque wrench
• New packaged battery (Part No.: 257101)
If the control voltage of the installed battery is turned off, the absolute
position is lost.
The absolute position must be re-established through the process of the
command Set Absolute Measurement.
F248 Attributes
SS Display :
F2/48
Diagnostic message :
F248 Low Battery Voltage
F248 Low Battery Voltage
Error number :
Diagnostic message number :
F248
Error class :
F262
248
Non-fatal
Status Outputs Short Circuited
Description:
If the status outputs of the DKC are short circuited, the drive controller will
issue an error.
Cause:
Short circuited outputs (X2/6, X2/7, X2/8, X2/9, X2/10, X2/20, X2/21,
X2/22)
Remedy:
Eliminate short circuit
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-9
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F262 Attributes
SS Display :
F2/62
Diagnostic message :
F262 Status Outputs Short Circuited
F262 Status Outputs Short Circuited
Error number :
F262
Diagnostic message number :
F276
262
Error class :
Non-fatal
Absolute Encoder Error, Position Deviation & gt; P-0-0097
Description:
When turning off the drive controller with a absolute encoder (multiturn),
the actual feedback position will be stored. When powered up, the
absolute position given by the encoder is compared to the stored
position. If the deviation is larger than the paramaterized " Absolute
Encoder-Monitoring Window " , the error " F276, Absolute Encoder
Error " will appear and be given to the control system.
Cause:
1.
Turning on for the first time (invalid stored position).
2.
The motor was moved further than allowed by the parameter in
the absolute encoder monitoring window, P-0-0097, while it was
turned off.
3.
Incorrect position initialization
Remedy:
For 1.
Press S1 to reset the error and set the absolute position.
For 2.
The motor was moved while turned off and sits outside of its
permissible position. Check to see if the displayed position is
correct in relation to the machine zero point. Reset subsequent
errors.
For 3.
An accident may occur by accidental shaft movement.
Check absolute position informartion. A feedback defect is
present if the absolute position information is false. The motor
should be exchanged and sent to the INDRAMAT Customer
Service .
see also the " Absolute Encoder Monitoring " function description
F276 Attributes
SS Display :
F2/76
Diagnostic message :
F276 Absolute encoder error
F276 Absolute encoder error
Error number :
F276
Error class :
1-10
276
Diagnostic message number :
Non-fatal
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F630
Travel Limit Value Exceeded
Description:
The drive controller has been given a position command value which lies
outside of the allowable travel area. The drive controller has been
instructed to give an error when the travel range has been exceeded.
Exceeding the travel area as an error:
The drive controller brakes with maximum torque. After it has been
stopped the drive controller shifts to torque free operation. After the error
has been cleared, the drive can be once again activated and moved into
the allowable travel area.
Cause:
Position feedback value lies outside of the travel area.
Remedy:
1.
Input a command value in the direction of the travel area.
2.
Shift the position limits
3.
Turn off the position limit monitor
F630 Attributes
SS Display :
F6/30
Diagnostic message :
F630 Travel Limit Value exceeded
F630 Travel Limit Value exceeded
Error number :
Diagnostic message number :
F630
Error class :
F644
630
Travel range
Travel Limit Switch Detected
Description:
The motor was moved and tripped one of the two travel limit switches.
The control drive has been instructed to give an error when the travel
range has been exceeded.
Exceeding the travel area as an error:
The drive controller brakes with maximum torque. After it has been
stopped the drive controller shifts to torque free operation. After the error
has been cleared, the drive can be once again activated and moved into
the allowable travel area.
Cause:
One of the travel limit switches was tripped.
Remedy:
1.
Input a command value in the direction of the travel area.
2.
Move the travel limit switches, if necessary.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-11
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
3.
Turn off the position limit monitor (when displaying the position
data in modulo format).
F644 Attributes
SS Display :
F6/44
Diagnostic message :
F644 Travel Limit Switch detected
F644 Travel Limit Switch detected
Error number :
F644
Error class :
F822
644
Diagnostic message number :
Travel range
Motor Encoder Failure: Signal too Small
Description:
The motor encoder signals are monitored. If the signal amplitudes as
measured via AK1 and AK2 are outside of the allowable region between
Uss = 12.0V and Uss = 18.0 V, then the error message appears. The drive
becomes torque-free and an optional brake is immediately activated.
Cause:
1.
Defective feedback cable.
2.
Defective feedback.
Remedy:
For 1.
Check the feedback cable.
Lay the power cables separate from the feedback cable.
The cable shield must be connected to the drive controller.
(see project reference of the drive control).
For 2.
Exchange motor.
12 - 18 V
Figure 1-2: Methodically measured signal amplitude over AK: X31/1-2
1-12
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F822 Attributes
SS Display :
Diagnostic message :
F822 Motor Encoder Failure: Signal
too small
F822 Motor Encoder Failure: Signal
too small
Error number :
822
Diagnostic message number :
F822
Error class :
F860
F8/22
Fatal
Overcurrent: Short in Powerstage
Description:
The current in the power transistor bridge has exceeded twice the peak
current of the drive. As a result, the drive will be immediately turned off.
The drive has switched to a torque-free condition. An optional brake is
immediately activated.
Cause:
1.
Short circuit in the motor cable.
2.
Defective power section of the drive controller.
3.
The current regulator was incorrectly parameterized.
Remedy:
For 1.
Check the motor cable for a short.
For 2.
Exchange drive controller.
For 3.
The current regulator parameters should not deviate from the
default values of the feedback.
F860 Attributes
SS Display :
F8/60
Diagnostic message :
F860 Overcurrent : Short in Powerstage
F860 Overcurrent : Short in Powerstage
Error number :
Diagnostic message number :
F860
Error class :
F870
860
Fatal
+24 V Error
Description:
The DKC requires a 24V control voltage. If the maximum allowable
tolerance of +- 20% is exceeded, then the drive is immediately switched
to torque free operation. An optional brake is activated.
Cause:
Disturbance or overload of the 24 V supply voltage. Measure control
voltages.
Remedy:
Check wiring and/or replace power supply module.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-13
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F870 Attributes
SS Display :
F8/70
Diagnostic message :
F870 + 24 Volt Error
F870 + 24 Volt Error
Error number :
Diagnostic message number :
F870
Error class :
F873
870
Fatal
Power Supply Driver Stage Fault
Description:
The voltage supply of the driver stage is monitored and if the voltage is
too low then the drive is turned off.
Cause:
Voltage supply of the driver stage is too low
Remedy:
Exchange drive controller
F873 Attributes
SS Display :
F8/73
Diagnostic message :
F873 Power supply driver stage fault
F873 Power supply driver stage fault
Error number :
873
Diagnostic message number :
F878
F873
Error class :
Fatal
Velocity Loop Error
Description:
The velocity loop monitor will appear when the following conditions occur
simultaneously:
• The current command value is at the peak current limit
• The difference between the actual velocity and the command velocity
is larger than 10% of the maximum motor velocity.
• The velocity control deviation does not become smaller over a time
frame of 20ms.
Cause:
1.
Motor cable is connected incorrectly.
2.
Defective controller section of the drive.
3.
1-14
Defective feedback.
4.
Velocity loop paramaterized incorrectly.
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Remedy:
For 1.
Check motor cable connection.
For 2.
Exchange drive controller.
For 3.
Exchange motor.
For 4.
Check velocity controller to see if it is within operational
parameters.
F870 Attributes
SS Display :
F8/70
Diagnostic message :
F870 + 24 Volt Error
F870 + 24 Volt Error
Error number :
F870
Error class :
F879
870
Diagnostic message number :
Fatal
Velocity Limit Value Exceeded (S-0-0092)
Description:
The actual velocity is monitored in torque regulation mode. This error is
generated if the programmed velocity in the " S-0-0091, bipolar velocity
limit value " parameter is exceeded by 1.25 times or a maximum of 100
Rpm.
Cause:
The load torque was smaller or larger than the torque command value for
too long a time. This leads to an increase in the actual velocity up to the
maximum possible motor velocity.
Remedy:
Check the primary control loop.
see also in functional description " Velocity Supervision in Torque
Regulation "
F879 Attributes
SS Display :
F8/79
Diagnostic message :
F879 Velocity Limit Value Exceeded
F879 Velocity Limit Value Exceeded
Error number :
879
Diagnostic message number :
F879
Error class :
Fatal
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-15
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
F895
4 kHz Signal Error
Description:
The 4kHz signal is synchronized with the software processing for creation
of the resolver signal. This error message is created when
synchronization occurs improperly.
Cause:
1.
The synchronization of the resolver controller voltage is invalid
in regards to the software.
2.
The error can be produced through an electrical discharge.
Remedy:
For 1.
Exchange drive controller and return for testing.
For 2.
Power down and then on. If this in not successful; exchange
drive controller.
F895 Attributes
SS Display :
F8/95
Diagnostic message :
F895 4kHz Signal Error
F895 4kHz Signal Error
Error number :
895
Diagnostic message number :
1-16
F895
Error class :
Fatal
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
1.3
E250
Warning Diagnostic Messages
Heatsink Overtemperature Warning
Description:
The temperature of the heatsink in the drive controller has reached the
maximum allowable temperature. Within a time frame of 30 seconds, the
drive follows the command value input. Consequently, there exists the
possibility to shut down the motor with the control so that it remains true to
the process. (For example close the operation, leave the collision area,
etc.) After 30 seconds, the parameter " Best Possible Deceleration, P-00119 " set reaction appears during operation.
Cause:
1.
Deficiency of the drive's internal blower.
2.
Deficiency of the control cabinet’s climate control.
3.
Incorrect control cabinet dimensioning regarding the
head ventilation.
Remedy:
For 1.
If the blower fails exchange the drive controller.
For 2.
Install climitization feature to the cabinet.
For 3.
Check the dimensions of the control cabinet.
E250 Attributes
SS Display :
E2/50
Diagnostic message :
E250 Heatsink Overtemperature Warning
E250
Heatsink Overtemperature Warning
Diagnostic message number :
E250
Warning class :
Non-fatal
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-17
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E251
Motor Overtemperature Warning
Description:
The motor is too hot. Within in a time frame of 30 seconds, the drive
follows the command value input. Consequently, there exists the
possibility to shut down the motor with the control so that it remains true to
the process. (For example close operation, leave the collision area, etc.).
After 30 seconds, the parameter " Best Possible Deceleration, P-00119 " set reaction will appear during operation.
Cause:
The motor became overloaded. The effective torque required of the motor
was above the allowable standstill continuous torque for too long.
Remedy:
Check the installation of the motor. For systems which have been in use
for a long time, check to see if the drive conditions have changed (in
regards to pollution, friction, components which have been moved, etc).
E251 Attributes
SS Display :
E2/51
Diagnostic message :
E251 Motor Overtemperature Warning
E251 Motor Overtemperature Warning
Diagnostic message number :
Warning class :
E252
E251
Non-fatal
Bleeder Overtemperature Warning
Description:
(see cause)
Cause:
The dampening resistance in the DKC is balanced through the energy
that is reflected from the motor (about 90%). The bleeder
overtemperature warning shows that an overload of the bleeder is
expected with continued increasing feedback energy.
Remedy:
Reduce acceleration value or velocity. Check the drive installation.
1-18
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E252 Attributes
SS Display :
E2/52
Diagnostic message :
E252 Bleeder Overtemperature warning
E252 Bleeder Overtemperature warning
Diagnostic message number :
Warning class :
E253
E252
Non-fatal
Target Position Out of Range
Description:
If a position is entered which would exceed the target position, it will not
be accepted. With “command controlled operation " , the drive will not
move.
Cause:
1.
Position limit value monitor was activated
2.
In the " Drive Internal Interpolation " operating mode, the
" S-0-0258, Target Position " will be checked to determine if it’s
in the possible travel range of the drive.
3.
In the " Command Controlled Operation " operating mode, the
target position of the selected process block will be checked to
see if it lies within the travel range.
The possible travel range is defined through the two parameters " S-00049 Position Limit Positive, " and " S-0-0050, Position Limit Negative. "
The E253 message will be generated if the target position lies outside of
the travel range.
Remedy:
For 1.
Deactivate the position limit monitor
For 2.
Check the entered S-0-0258, target position and correct if
necessary.
For 3.
Check the target position of the process block. Add the relative
path of travel to the actual position.
Additionally, check the position limit value.
E253 Attributes
SS Display :
E2/53
Diagnostic message :
E253 Target position out of range
E253 Target position out of range
Diagnostic message number :
E253
Warning class :
Non-fatal
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-19
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E254
Drive not Referenced
Description:
If " Absolute Positioning Commands " are selected while in " Command
Controlled Operation " the control drive must be homed. If this is not the
case, an absolute position cannot be reached. The drive rejects this
positioning command and stops. The warning will be given.
Cause:
Absolute positioning command was selected without the drive being
referenced.
Remedy:
1.
Reference the drive
2.
Select " Relative Positioning Command "
E254 Attributes
SS Display :
E2/54
Diagnostic message :
E254 Drive not Referenced
E254 Drive not Referenced
Diagnostic message number :
Warning class :
E255
E254
Non-fatal
Feedrate-Override(S-0-0108) = 0
Description:
The transversing velocity can be changed while jogging, homing and
while in positioning operation with the " S-0-0108, Feedrate Override "
parameter. Since the drive controller cannot follow command values
which do not move, the warning will be given if the value of this parameter
is 0.
Cause:
1.
Feedrate override is set at zero.
2.
The " Feedrate Override Via Analog Output " field is activated
and the voltage there is 0V.
Remedy:
For 1.
For 2.
1-20
Set the S-0-0108 parameter to the correct value for the
application.
Deactivate the field or establish a voltage larger than 0V.
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E255 Attributes
SS Display :
E2/55
Diagnostic message :
E255 Feedrate-Override(S-0-0108) = 0
E255 Feedrate-Override(S-0-0108) = 0
Diagnostic message number :
Warning class :
E256
E255
Non-fatal
Torque Limit Value = 0
Cause:
1.
For protection against mechanical overload, the maximum
torque can be limited by the " S-0-0092, Bipolar Torque Limit
parameter. " If the actual value of this parameter is equal to 0,
the motor does not develop torque and does not follow the
command value which has been entered.
2.
Torque reduction is set through an analog channel and the
established current amounts to 10 V.
Remedy:
For 1.
Set the torque limit to a value larger than 0.
For 2.
Establish the analog voltage so that it is smaller than 10 V.
E256 Attributes
SS Display :
E2/56
Diagnostic message :
E256 Torque Limit Value = 0
E256 Torque Limit Value = 0
Diagnostic message number :
E257
E256
Warning class :
Non-fatal
Continuous Current Limiting Active
Description:
The drive controller sets the peak current available for 400ms. Thereafter,
the continuous current limit becomes active and dynamically limits the
peak current to the continuous current.
Cause:
More continuous torque was required than was available.
Remedy:
1.
Check the drive installation.
2.
Check the installation of the motor. For systems which have
been in use for a long time, check to see if the drive conditions
have changed (in regards to pollution, friction, components which
have been moved, etc).
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-21
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E257 Attributes
SS Display :
E2/57
Diagnostic message :
E257 Continuous current limiting active
E257 Continuous current limiting active
Diagnostic message number :
Warning class :
E258
E257
Non-fatal
Selected Process Block is not Programmed
Cause:
A positioning block was selected for which there is no set target position,
positioning velocity, etc.
Remedy:
Select another positioning block or enter the required data.
E258 Attributes
SS Display :
E2/58
Diagnostic message :
E258 Selected process block is not
programmed
E258 Selected process block is not
programmed
Diagnostic message number :
Warning class :
E259
E258
Non-fatal
Command Velocity Limit Active
Description:
The velocity command value is limited to the value set in the " S-0-0091,
Bipolar Velocity Limit " parameter when in the position and velocity
control operating modes. This warning is given if the value in the " S-00036, Velocity Command Value " parameter reaches this limit.
Cause:
" S-0-0091, Bipolar Velocity Limit " parameter was set too low.
Remedy:
In normal operation, set the " S-0-0091, Bipolar Velocity Limit "
parameter to a value 10% higher than the NC operation velocity.
1-22
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E259 Attributes
SS Display :
E2/59
Diagnostic message :
E259 Command velocity limit active
E259 Command velocity limit active
Diagnostic message number :
Warning class :
E264
E259
Non-fatal
Target Position not Representable
Cause:
When using the operating mode " command controlled operation, the
target position of the selected additive process block will be verified to see
if it lies within the represented range.
Remedy:
1.
Check the target position and correct if necessary.
2.
Select the position data display channel in modulo format.
E264 Attributes
SS Display :
E2/64
Diagnostic message :
E264 Target position not Representable
E264 Target position not Representable
Diagnostic message number :
Warning class :
E825
E264
Non-fatal
Overvoltage Warning
Cause:
1.
The mechanical system energy reflected via the motor was so
large for a moment that it could not be completely converted to
heat by the bleeder. As a result, the DC Bus voltage rose above
the maximum allowable value. The motor is then switched to
torque free operation. If the DC Bus voltage falls below the
maximum allowable value, the controller will be turned on again.
2.
DC Bus voltage is too high
Remedy:
For 1.
Reduce the acceleration value and check the drive controller
layout if necessary.
Install an auxiliary bleeder, if necessary.
For 2.
Check the supply voltage, if necessary.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-23
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E825 Attributes
SS Display :
E8/25
Diagnostic message :
E825 Overvoltage Warning
E825 Overvoltage Warning
Error number :
E825
Error class :
E830
825
Diagnostic message number :
Non-fatal
Position Limit Value Exceeded
Description:
A position command was given the drive which lies outside of the
allowable travel area. The reaction of the drive regarding the travel area
being exceeded would be selected as a warning.
Travel Area being exceeded as a warning:
The drive brakes with maximum torque until it is standing still and stays at
that brake point in the activated state. If command values are given that
lead into the allowable travel area, the drive will once again follow these
commands and the warning will be disappear.
E830 Attributes
SS Display :
E8/30
Diagnostic message :
E830 Position Limit Value exceeded
E830 Position Limit Value exceeded
Diagnostic message number :
E831
E830
Error class :
fatal
Position Limit Value Reached During Jogging
Description:
If the position limit value monitor is activated and the drive is “IN
REFERENCE " , then it will be positioned during movement in the jogging
operation on the position limit value. If the drive is positioned on the
position limit value or on the other side of the position limit value, then the
drive stays still and signals „ " position limit value reached during jogging. "
Remedy:
1.
Move the motor back within the allowable travel area with the jog
function.
2.
Turn off the position limit value monitor.
E831 Attributes
SS Display :
E8/31
Diagnostic message :
E831 Position Limit Value Reached
During Jogging
E831 Position Limit Value Reached
During Jogging
Diagnostic message number :
Warning class :
1-24
831
Fatal
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
E844
Travel Limit Switch Activated
Description:
The drive was moved to one of the two travel limit switches. The reaction
of the drive regarding the travel area being exceeded would be selected
as a warning.
Exceeding the Travel Area as a Warning:
The drive brakes with maximum torque until it reaches a standstill and
stays in an activated condition at this position. If command values are
entered which lead into the allowable travel area, the drive will once again
follow these commands and the warning will disappear.
E844 Attributes
SS Display :
E8/44
Diagnostic message :
E844 Travel Limit Switch activated
E844 Travel Limit Switch activated
Diagnostic message number :
Warning class :
1.4
C100
E844
Fatal
Command Diagnostic Message C...
Communication Phase 3 Transition Check
Description:
The command " S-0-0127, C1 Communication Phase 3 Transition
Check " is activated. The drive switches from parameter mode into
operating mode.
C100 Attributes
SS Display :
C1/00
Diagnostic message :
C100 Communication phase 3 transition check
C100 Communication phase 3 transition check
Diagnostic message number :
C101
C100
Invalid Communication Parameters (S-0-0021)
Cause:
Invalid parameters were found during the switch from parameter mode to
operating mode.
Remedy:
Connect the control drive to a PC and activate DriveTop. Select the
" Parameter List of Invalid Parameters " menu and set valid parameters.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-25
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C101 Attributes
SS Display :
C1/01
Diagnostic message :
C101 Invalid Communication
Parameter (S-0-0021)
C101 Invalid Communication
Parameter (S-0-0021)S-0-0021
Diagnostic message number :
C101
C102 Limit Error Communication Parameter (S-0-0021)
Cause:
Parameters which exceed their limits were found during the switch from
the parameter mode to operating mode.
Remedy:
Connect the control drive to a PC and activate DriveTop. Select the
" Parameter List of Invalid Parameters " menu and set valid parameters.
C102 Attributes
SS Display :
C1/02
Diagnostic message :
C102 Limit Error Communication
Parameter (S-0-0021)
C102 Limit Error Communication
Parameter (S-0-0021)
Diagnostic message number :
C102
C200 Communication Phase 4 Transition Check
Description:
The command C2 performs the last steps of the switch from parameter
mode to operational mode. Thereby, numerous parameter checks will be
conducted.
C200 Attributes
SS Display :
C2
Diagnostic message :
C200 Communication phase 4 transition check
C200 Communication phase 4 transition check
Diagnostic message number :
1-26
DIAGNOSTIC MESSAGE DESCRIPTION
C200
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C201
Invalid Parameter Block (- & gt; S-0-0022)
Cause:
Parameters which are necessary for the operation of the drive in
operating mode are invalid.
Remedy:
Connect the control drive to a PC and activate DriveTop. Select the
" Parameter List of Invalid Parameters " menu and set valid parameters.
C201 Attributes
SS Display :
C2/01
Diagnostic message :
C201 Invalid Parameter (- & gt; S-0-0022)
C201 Invalid Parameter (- & gt; S-0-0022)
Diagnostic message number :
C202
C201
Limit Error Parameter (- & gt; S-0-0022)
Cause:
Parameters which are necessary for the operation of the drive in
operating mode are outside of its minimum or maximum input values.
Remedy:
Connect the control drive to a PC and activate DriveTop. Select the
" Parameter List of Invalid Parameters " menu and set valid parameters.
C202 Attributes
SS Display :
C2/02
Diagnostic message :
C202 Limit Error Parameter (- & gt; S-0-0022)
C202 Limit Error Parameter (- & gt; S-0-0022)
Diagnostic message number :
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
C202
DIAGNOSTIC MESSAGE DESCRIPTION 1-27
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C203
Parameter Calculation Error (- & gt; S-0-0022)
Cause:
Parameters which are required for operation of the drive in the operation
mode, found errors in the conversion that do not permit an orderly
operation.
Remedy:
Connect the control drive to a PC and activate DriveTop. Select the
" Parameter List of Invalid Parameters " menu and set valid parameters.
C203 Attributes
SS Display :
C2/03
Diagnostic message :
C203 Parameter Calculation Error (- & gt; S-0-0022)
C203 Parameter Calculation Error (- & gt; S-0-0022)
Diagnostic message number :
C207
C203
Loading Error LCA
Cause:
Defective drive.
Remedy:
Power down and then on again. If this in not successfull, exchange drive.
C207 Attributes
SS Display :
C2/07
Diagnostic message :
C207 Loading Error LCA
C207 Loading Error LCA
Diagnostic message number :
C208
C207
Invalid SSI Parameter (- & gt; S-0-0022)
Description:
When the motors are first distributed, the parameter for absolute control
emulation is purposely invalid to ensure that the " Set Absolute
Measurement Emulator Command " will be executed after a motor is
exchanged.
Cause:
The SSI emulation was selected. The parameters required for emulation
are invalid.
1-28
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Remedy:
Connect the control drive to a PC and activate DriveTop.
" Actual Position Output " menu with controller emulation type " Absolute
Controller Emulation (SSI) " :
• Describe " Homing Position/Offset "
• Select " Absolute Control Directional Counter "
C208 Attributes
SS Display :
C2/08
Diagnostic message :
C208 Invalid SSI Parameter (S-0-0022)
C208 Invalid SSI Parameter (S-0-0022)
Diagnostic message number :
C211
C208
Invalid Feedback Data (- & gt; S-0-0022)
Description:
Invalid data was found while processing the parameters stored in the
motor feedback.
Causes:
1.
Defective motor feedback cable
2.
Defective motor feedback
Remedy:
For 1.
Check the motor feedback cable
For 2.
Exchange the motor
C211 Attributes
SS Display :
C2/11
Diagnostic message :
C211 Invalid feedback data (- & gt; S-0-0022)
C211 Invalid feedback data (- & gt; S-0-0022)
Diagnostic message number :
C212
C211
Invalid Amplifier Data (- & gt; S-0-0022)
Description:
During the installation of the drive, data from the drive controller will be
processed for drive identification. If invalid data is detected, this error
message will be displayed.
Cause:
Defective hardware in the drive controller
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-29
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Remedy:
Exchange drive controller.
C212 Attributes
SS Display :
C2/12
Diagnostic message :
C212 Invalid amplifier data (- & gt; S-0-0022)
C212 Invalid amplifier data (- & gt; S-0-0022)
Diagnostic message number :
C213
C212
Position Data Scaling Error
Cause:
The display format of the position data can be set with the help of the
scaling parameter. The internal drive format of the position data is
dependent on the applied feedback and the controller resolution. The
factor for the conversion of the position data from the internal drive format
into the display format or the reverse conversion is outside of the
workable area because either:
• Rotary motor and linear positional scaling are not representable or
• the average factor for conversion of the position data from the display
format into the internal format (or reverse process) is not
representable.
Remedy:
Connect the drive with a PC and start DriveTop. In the dialog box
„Scaling/Mechanical system " select a scaling setting.
Should another scaling installation other than one from DriveTop be used,
then the following parameters must be checked.
• S-0-0076, Position Data Scaling Type
• S-0-0077, Linear Position Data Scaling Factor
• S-0-0078, Linear Position Data Scaling Exponent
• S-0-0121, Input Revolutions of Load Gear
• S-0-0122, Output Revolutions of Load Gear
• S-0-0123, Feed Constant
C213 Attributes
SS Display :
C2/13
Diagnostic message :
C213 Position data scaling error
C213 Position data scaling error
Diagnostic message number :
1-30
DIAGNOSTIC MESSAGE DESCRIPTION
C213
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C214
Velocity Data Scaling Error
Cause:
The display format of the velocity data can be set with the help of the
scaling parameter. The internal drive format of the velocity data is
dependent on the applied feedback and the controller resolution. The
factor for the conversion of the velocity data from the internal drive format
into the display format (or the reverse process) is outside of the workable
area.
Remedy:
Connect the drive with a PC and start DriveTop. In the dialog box
„Scaling/Mechanical system " select a scaling setting.
Should another scaling installation other than one from DriveTop be used,
then the following parameters must be checked.
• S-0-0044, Velocity Data Scaling Type
• S-0-0045, Velocity Data Scaling Factor
• S-0-0046, Velocity Data Scaling Exponent
• S-0-0121, Input Revolutions of Load Gear
• S-0-0122, Output Revolutions of Load Gear
• S-0-0123, Feed Constant
C214 Attributes
SS Display :
C2/14
Diagnostic message :
C214 Velocity data scaling error
C214 Velocity data scaling error
Diagnostic message number :
C214
C215 Acceleration Data Scaling Error
Cause:
The display format of the acceleration data can be set with the help of the
scaling parameter. The internal drive format of the acceleration data is
dependent on the applied feedback and the controller resolution. The
factor for the conversion of the acceleration data from the internal drive
format into the display format (or the reverse process) is outside of the
workable area.
Remedy:
Connect the drive with a PC and start DriveTop. In the dialog box
„Scaling/Mechanical system " select a scaling setting.
Should another scaling installation other than one from DriveTop be used,
then the following parameters must be checked.
• S-0-0160, Acceleration Data Scaling Type
• S-0-0161, Acceleration Data Scaling Factor
• S-0-0162, Acceleration Data Scaling Exponent
• S-0-0121, Input Revolutions of Load Gear
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-31
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
• S-0-0122, Output Revolutions of Load Gear
• S-0-0123, Feed Constant
C215 Attributes
SS Display :
C2/15
Diagnostic message :
C215 Acceleration data scaling error
C215 Acceleration data scaling error
Diagnostic message number :
C216
C215
Torque Data Scaling Error
Cause:
The display format of the torque data can be set with the help of the
scaling parameter. The factor for the conversion of the torque data from
the internal drive format into the display format (or the reverse process) is
outside of the workable area.
Remedy:
Connect the drive with a PC and start DriveTop. Select a scaling setting in
the " Scaling/Mechanical system " dialog box.
Should a scaling installation other than one from DriveTop be used, then
the following parameters must be checked.
• S-0-0086, Torque/Force Data Scaling Type
• S-0-0093, Torque/Force Data Scaling Factor
• S-0-0094, Torque/Force Data Scaling Exponent
C216 Attributes
SS Display :
C2/16
Diagnostic message :
C216 Torque/Force data scaling error
C216 Torque/Force data scaling error
Diagnostic message number :
1-32
DIAGNOSTIC MESSAGE DESCRIPTION
C216
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C217
Motor Feedback Data Reading Error
Cause:
All MKD and MDD motors contain feedback data memory. From this, the
settings for the controller will be read. By processing these values, an
error is detected.
Remedy:
Check the feedback cable
Exchange the motor
C217 Attributes
SS Display :
C2/17
Diagnostic message :
C217 Motor feedback data reading error
C217 Motor feedback data reading error
Diagnostic message number :
C220
C217
Motor Feedback Initializing Error
Description:
A number of tests are performed when the motor feedback is initialized.
An error was detected while doing this. This error can be:
1.
Disturbance in the communication with the controller
2.
Invalid offset between the high and low dissipating path
3.
Error in the micro-controller of the measuring system
Cause:
1.
Defective motor feedback cable
2.
Defective motor feedback
3.
Defective measurement system interface
Remedy:
For 1.
Check the motor feedback cable
For 2.
Exchange the motor
For 3.
Exchange the measuring system interface (module)
C220 Attributes
SS Display :
C2/20
Diagnostic message :
C220 Mot.Feedback Initializing Error
C220 Mot.Feedback Initializing Error
Diagnostic message number :
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
C220
DIAGNOSTIC MESSAGE DESCRIPTION 1-33
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C227
Modulo Range Error
Cause:
The given modulo value is larger than half of the represented positioning
area of the drive. (Half of the represented positioning area for the DKC01
is 2048 rotations.)
Remedy:
Select a smaller modulo value.
see also functional description: " Border requirements for modulo
processing "
C227 Attributes
SS Display :
C2/27
Diagnostic message :
C227 Modulo range error
C227 Modulo range error
Diagnostic message number :
C300
C227
Command: Set Emulation - Absolute Value
Description:
The actual position of the motor can be given by means of an SSI
emulation. The zero point of a given position can be fixed with the " C3
Command set emulation-absolute value " command.
C300 Attributes
SS Display :
C3
Diagnostic message :
C300 Command set emulation-absolute value
C300 Command set emulation-absolute value
Diagnostic message number :
1-34
DIAGNOSTIC MESSAGE DESCRIPTION
C300
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C300
Set Absolute Measuring
Description:
The command " P-0-0012, Set Absolute Measurement was activated via
the control system.
C300 Attributes
SS Display :
C3
Diagnostic message :
C300 Set absolute measuring
C300 Set absolute measuring
Diagnostic message number :
C301
C300
Setting Absolute Measuring not Allowed, Drive Enabled
Cause:
The command " C300 Command Setting of Absolute Measurement
Emulator " was started with the given drive enable.
Remedy:
End the command and deactivate the control enable.
C301 Attributes
SS Display :
C3/01
Diagnostic message :
C301 Setting Absolute Measuring not
Allowed, Drive Enabled
C301 Setting Absolute Measuring not
Allowed, Drive Enabled
Diagnostic message number :
C302
C301
Absolute Measuring System not Installed
Description:
The command " P-0-0012, command set absolute measurement " would
be started without an existing absolute measurement system.
The command can not be processed because there is no existing
absolute measurement system.
Cause:
1.
The command was falsely activated.
2.
The connected motor does not contain an absolute encoder.
(Option)
Remedy:
For 1.
Stop the command process.
For 2.
Equip the motor or external measurement system with an
absolute encoder function.
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
DIAGNOSTIC MESSAGE DESCRIPTION 1-35
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C302 Attributes
SS Display :
C3/02
Diagnostic message :
C302
Absolute
Installed
Measuring
System
Not
C302
Absolute
Installed
Measuring
System
Not
Diagnostic message number :
C302
C400 Switch from Operational to Parameter Mode
Description:
The command for transition is in parameter mode. While editing the
parameters that can be edited only in parameter mode, this command
must be processed.
C400 Attributes
SS Display :
C4
Diagnostic message :
C400 Command: Switch to parameter mode
C400 Command: Switch to parameter mode
Diagnostic message number :
C401
C400
Active Drive, Transition is not Permissable
Cause:
The command C400 “switch from operational to parameter mode " would
be started without the control enable being activated.
Remedy:
End the command and turn off the drive enable, then the command can
be started from the beginning.
C401 Attributes
SS Display :
C4/01
Diagnostic message :
C401 Drive active, Transition is not Permissable
C401 Drive active, Transition is not Permissable
Diagnostic message number :
1-36
DIAGNOSTIC MESSAGE DESCRIPTION
C401
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C500
Reset Class 1 Diagnostic
Description:
The command for erasing errors, " S-0-0099, Reset Class 1
Diagnostics " was activated via the connected control system. All internal
drive errors are erased. However, the errors must have been previously
corrected.
C500 Attributes
SS Display :
C5
Diagnostic message :
C500 Reset class 1 diagnostic (error reset)
C500 Reset class 1 diagnostic (error reset)
Diagnostic message number :
C600
C500
Drive Controlled Homing Procedure
Description:
The command " S-0-0148, Drive Controlled Homing Procedure " was
activated via the connected control system. The control drive
automatically performs the internal drive homing procedure. Give the
drive a start command to do this. Prior to this the drive must be enabled
and in motion.
C600 Attributes
SS Display :
C6
Diagnostic message :
C600 Drive controlled homing procedure
C600 Drive controlled homing procedure
Diagnostic message number :
C601
C600
Homing Procedure not Possible without Drive Enable
Cause:
The command would be started without drive enable being turned on.
Remedy:
1.
Enable Drive
2.
Restart the command.
C601 Attributes
SS Display :
C6/01
Diagnostic message :
C601 Homing Procedure not Possible
without Drive Enable
C601 Homing Procedure not Possible
without Drive Enable
Diagnostic message number :
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
C601
DIAGNOSTIC MESSAGE DESCRIPTION 1-37
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C602
Zero Switch to Home Reference Error
Cause:
During the drive controlled homing procedure, an ambiguous position for
the home reference of the feedback and the switch flank of the home
switch was determined.
Remedy:
The cam of the home switch must be shifted in such a manner such that
an accurate homing procedure is possible.
• Read the contents of parameter " P-0-0020, Shifting of the Homing
Cam... "
• Mechanically shift the homing cam by the amount in the parameter.
• Re-perform the drive controlled homing procedure.
C602 Attributes
SS Display :
C6/02
Diagnostic message :
C602 Zero Switch to Home Reference Error
C602 Zero Switch to Home Reference Error
Diagnostic message number :
C603
C602
Homing Procedure not Possible in this Operating Mode
Cause:
During operation of the drive in torque control or velocity control, the
homing command can not be processed.
Remedy:
Clear the homing command.
Set another operating mode.
C603 Attributes
SS Display :
C6/03
Diagnostic message :
C603 Homing Procedure not Possible in
this Operating Mode
C603 Homing Procedure not Possible in
this Operating Mode
Diagnostic message number :
1-38
DIAGNOSTIC MESSAGE DESCRIPTION
C603
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C604
Homing Procedure not Possible with Absolute Measurement
Control
Cause:
If the homing command is called up by the absolute value encoder
without previously processing the command " P-0-0012, setting the
absolute measurement, " the reference command will be discontinued
with this error.
If the encoder was able to be homed through the " set absolute
measurement " , a position on the home value will be erased with the
homing command.
Remedy:
Home the absolute encoder with the command " Set Absolute
Measurement "
C604 Attributes
SS Display :
C6/04
Diagnostic message :
C604
Homing
Procedure
not
with Absolute Measurement Control
Possible
C604
Homing
Procedure
not
with Absolute Measurement Control
Possible
Diagnostic message number :
C700
C604
Basic Load
Description:
When using MDD and MKD motors, the technical control adaptation of
the mechanical system on the digital drive relates to the activation of the
stored velocity control parameter in the motor feedback. The drive
controller signals with the message C7 that the command C7 basic load
was activated with the command " S-0-0262, command basic load. "
C700 Attributes
SS Display :
C7/00
Diagnostic message :
C700 Basic load
C700 Basic load
Diagnostic message number :
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
C700
DIAGNOSTIC MESSAGE DESCRIPTION 1-39
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
C800
Load Basic Parameters
Description:
By pressing the S1 button on the controller with display PL or by starting
the " Load Basic Parameters Command, " all parameters will be erased
and set with the default value.
The process blocks are lost also.
C800 Attributes
SS Display :
C8/00
Diagnostic message :
C800 Load Basic Parameters
C800 Load Basic Parameters
Diagnostic message number :
1-40
DIAGNOSTIC MESSAGE DESCRIPTION
C800
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
1.5
A002
State diagnostic message
Communication Phase 2
Parameter Mode
A002 Attributes
Diagnostic message :
A002 Communication Phase 2
A002 Communication Phase 2
Diagnostic message number :
A003
A002
Communication Phase 3
Parameter Mode
A003 Attributes
Diagnostic message :
A003 Communication Phase 3
A003 Communication Phase 3
Diagnostic message number :
A010
A003
Drive Halt
Description:
With the set control, the function drive halt would be activated. The drivestop-function serves to stop the motor with a defined acceleration and
defined jerk.
The acceleration or the jerk limit of the inputted position block functions
during " linked block operation. "
The acceleration limit and bipolar jerk value function during jogging
operation and stepper motor interface.
The drive will be brought to stand still by the velocity command zero
switch during torque regulation and velocity regulation.
A010 Attributes
SS Display
AH
Diagnostic message :
A010 Drive Halt
A010 Drive Halt
Diagnostic message number :
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
A010
DIAGNOSTIC MESSAGE DESCRIPTION 1-41
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
A012
Control and Power Sections Ready for Operation
Description:
The drive is supplied with control voltage and the power is switched on.
The drive is ready for power delivery.
A012 Attributes
SS Display
Ab
Diagnostic message :
A012 Control and Power Sections
Ready for operation
A012 Control and Power Sections
Ready for Operation
Diagnostic message number :
A013
A012
Ready for Power
Description:
The drive is supplied with a control voltage; there are no errors in the
control drive. The drive is ready to be turned on.
A013 Attributes
SS Display
bb
Diagnostic message :
A013 Ready for Power
A013 Ready for Power
Diagnostic message number :
A100
A013
Drive in Torque Mode
Description:
The drive is functioning in torque mode. The drive follows the given torque
command value received over the analog channels E1 and E2.
A100 Attributes
SS Display :
AF
Diagnostic message :
A100 Drive in torque mode
A100 Drive in torque mode
Diagnostic message number :
1-42
DIAGNOSTIC MESSAGE DESCRIPTION
A100
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
A101
Drive in Velocity Mode
Description:
The drive is functioning in velocity mode. The drive follows the given
velocity command value received over the analog channels E1 and E2.
A101 Attributes
SS Display :
AF
Diagnostic message :
A101 Drive in velocity mode
A101 Drive in velocity mode
Diagnostic message number :
A101
A203 Position Control/Stepper Drive Interface
Description:
The drive is functioning in position control with Stepper interface. The
device follows the position command which will be developed out of the
stepper motor signals.
A203 Attributes
SS Display :
AF
Diagnostic message :
A203 Position Control/Stepper Drive Interface
A203 Position Control/Stepper Drive Interface
Diagnostic message number :
A204
A203
Position Regulation without Lag/Stepper Drive Interface
Description:
The drive is functioning in position regulation without lag/Stepper Drive
interface. The device follows the position command which will be
developed out of the stepper motor signals.
A204 Attributes
SS Display :
AF
Diagnostic message :
A204 Position Regulation without
Lag/Stepper Drive Interface
A204 Position Regulation without
Lag/Stepper Drive Interface
Diagnostic message number :
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
A204
DIAGNOSTIC MESSAGE DESCRIPTION 1-43
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
A206
Position Regulation/Positioning Drive
Description:
The drive is functioning in position regulation/Positioning drive. The drive
is positioned on the selected target position with the given acceleration,
velocity and jerk.
A206 Attributes
SS Display :
AF
Diagnostic message :
A206 Position Regulation/Positioning Drive
A206 Position Regulation/Positioning Drive
Diagnostic message number :
A207
A206
Position Regulation without Lag/Positioning Interface
Description:
The drive is functioning in position regulation without lag/Positioning
Interface. The drive is positioned on the selected target position with the
given acceleration, velocity and jerk.
A207 Attributes
SS Display :
AF
Diagnostic message :
A207 Position Mode /POSITION lagless
positioning
A207 Position Mode /POSITION lagless
positioning
Diagnostic message number :
A207
AF Drive Enable
The drive enable signal has been applied.
velocity command (normal operation)
The drive will follow the
JF Jogging in the Positive Direction
The drive moves with a jogging velocity in the positive direction. The
motor is turning clockwise, when viewing the motor shaft.
JB Jogging in the Negative Direction
The drive moves with a jogging velocity in the negative direction. The
motor is turning counter clockwise, when viewing the motor shaft.
1-44
DIAGNOSTIC MESSAGE DESCRIPTION
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
2
Index
4
4 kHz Fault 1-16
A
Absolute Encoder Error, Position Deviation 1-10
Absolute Measuring System Not Installed 1-38
Active Drive, Switch Not Allowed 1-39
AF Control Drive Enable 1-47
B
Basic Load 1-42
Bleeder Overtemperature Shutdown 1-6
Bleeder Overtemperature Warning 1-18
C
Command Base-parameter load 1-43
Command Diagnostic Message 1-26
Command Drive Controlled Homing Procedure 1-40
Command Velocity Limitation Active 1-23
Command: Set Emulation-Absolute Value 1-36
Communication Phase 2 1-44
Communication Phase 3 1-44
Communication Phase 3 Transition Check 1-26
Communication Phase 4 Transition Check 1-27
Condition Display H1 1-2
Continuous Current Limiting Active 1-21
Control and Power Sections Ready for Operation 1-45
Crossing Velocity Limit (S-0-0092) Value 1-16
D
DC 24 Volt - Voltage Disturbance 1-14
Default Value of the Load Parameter 1-3
DIAGNOSTIC MESSAGE DESCRIPTION 1-1
Distance Homing Switch Reference Mark Erroneous 1-41
Drive Halt 1-44
Drive in Torque Mode 1-45
Drive in Velocity Mode 1-46
E
Erroneous Scaling of the Acceleration Data 1-33
Erroneous Scaling of the Torque Data 1-34
Erroneous Scaling of the Velocity Data 1-33
Error Diagnostic Message 1-3
Error in Velocity Regulator Loop 1-15
Exceeding the Position Limit 1-24
Excessive Deviation 1-7
External Short at Status Outputs 1-9
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Index 2-1
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
H
Heatsink Overtemperature Alert 1-17
Heatsink Overtemperature Shutdown 1-5
Homing Not Permitted in this Operating Mode 1-41
Homing Not Permitted Without Drive Enable 1-40
Homing of Absolute Encoder Not Possible 1-42
I
Incomplete Communication Parameters (S-0-0021) 1-26
Invalid Amplifier Data (- & gt; S-0-0022) 1-31
Invalid Feedback Data (- & gt; S-0-0022) 1-31
Invalid Parameter (- & gt; S-0-0022) 1-28
Invalid SSI Parameter (- & gt; S-0-0022) 1-30
J
JB Jogging in a Negative Direction 1-48
JF Jogging in a Positive Direction 1-47
Jog Position Limit Value Exceeded 1-25
L
Limit Error Communication Parameter (S-0-0021) 1-27
Limit Error Parameter (- & gt; S-0-0022) 1-28
Load Error LCA 1-29
Low-Battery Voltage 1-9
M
Modulo Range Error 1-36
Motor Encoder Error: Quadrant Error 1-8
Motor Encoder Failure: Signals too Small 1-12
Motor Feedback Data Reading Error 1-35
Motor Feedback Initializing Error 1-35
Motor Overtemperature Shutdown 1-5
Motor Overtemperature Warning 1-18
Motor Type not Reported 1-3
N
Not Homed 1-20
O
Overcurrent: Short in Powerstage 1-13
Overvoltage in the Power Stage 1-24
P
Parameter Calculation Error (- & gt; S-0-0022) 1-29
Position Data Scaling Error 1-32
Position Mode / Lagless Positioning 1-46
Position Mode/POSITION lagless positioning 1-47
Position Step Mode 1-46
Power Supply Driver Stage Fault 1-14
2-2
Index
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
R
Ready for Power ON 1-45
Reset Button S1 1-1
Reset Class 1 Diagnostic 1-39
S
Selected Process Block is not Programmed 1-22
Set Absolute Measuring 1-37
Setting Absolute Measuring Not Allowed, Drive Enable 1-37
State diagnostic message 1-44
Switching to an Uninitialized Operating Mode 1-4
T
Target Position Out of Range 1-19, 1-23
TIPS FOR ELIMINATING MALFUNCTIONS 1-1
Torque Limit = 0 1-21
Transition Command Phase X - & gt; 2 1-38
Travel Limit Switch Detected 1-12
Travel Limit Value is Exceeded 1-11
Travel Zone Limit Switch Activated 1-25
U
Undervoltage Error 1-7
W
WARNING DIAGNOSTIC MESSAGES 1-17
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Index 2-3
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
2-4
Index
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Directory of Customer Service Locations
Germany
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Austria
Austria
Belgium
Denmark
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
A-1140 Wien
Hägelingasse 3
G.L.Rexroth Ges.m.b.H.
Geschäftsbereich INDRAMAT
A-4061 Pasching
Randlstraße 14
Mannesmann Rexroth N.V.-S.A.
Geschäftsbereich INDRAMAT
B-1740 Ternat
Industrielaan 8
BEC Elektronik AS
DK-8900 Randers
Zinkvej 6
Telefon: 1/9852540-400
Telefax:1/9852540-93
Telefon: 07229/4401-36
Telefax: 07229/4401-80
Telefon: 02/5823180
Telefax: 02/5824310
Telefon: 086/447866
Telefax: 086/447160
England
Finnland
France
France
Mannesmann Rexroth Ltd.
INDRAMAT Division
Cirencester, Glos GL7 1YG
4 Esland Place, Love Lane
Rexroth Mecman OY
SF-01720 Vantaa
Riihimiehentie 3
Rexroth - Sigma S.A.
Division INDRAMAT
F-92632 Gennevilliers Cedex
Parc des Barbanniers 4,
Place du Village
Rexroth - Sigma S.A.
Division INDRAMAT
F-69634 Venissieux - Cx
91, Bd 1 Joliot Curie
Telefon: 01285/658671
Telefax: 01285/654991
Telefon: 0/848511
Telefax: 0/846387
Telefon: 1/41475430
Telefax: 1/47946941
Telefon: 78785256
Telefax: 78785231
France
Italy
Italy
Netherlands
Rexroth - Sigma S.A.
Division INDRAMAT
F-31100 Toulouse
270, Avenue de lardenne
Rexroth S.p.A.
Divisione INDRAMAT
I-20063 Cernusco S/N.MI
Via G. Di Vittoria, 1
Rexroth S.p.A. Divisione
INDRAMAT
Via Borgomanero, 11
I-10145 Torino
Hydraudyne Hydrauliek B.V.
Kruisbroeksestraat 1a
P.O. Box 32
NL-5280 AA Boxtel
Telefon: 61499519
Telefax: 61310041
Telefon: 02/92365-270
Telefax: 02/92108069
Telefon: 011/7712230
Telefax: 011/7710190
Telefon: 04116/51951
Telefax: 04116/51483
Spain
Spain
Sweden
Switzerland
Rexroth S.A.
Centro Industrial Santiago
Obradors s/n
E-08130 Santa Perpetua de
Mogoda (Barcelona)
Goimendi S.A.
División Indramat
Jolastokieta (Herrera)
Apartado 11 37
San Sebastion, 20017
AB Rexroth Mecman
INDRAMAT Division
Varuvägen 7
S-125 81 Stockholm
Rexroth SA
Département INDRAMAT
Chemin de l`Ecole 6
CH-1036 Sullens
Telefon: 03/718 68 51
Telex: 591 81
Telefax: 03/718 98 62
Telefon: 043/40 01 63
Telex: 361 72
Telefax: 043/39 93 95
Telefon: 08/727 92 00
Telefax: 08/64 73 277
Telefon: 021/731 43 77
Telefax: 021/731 46 78
Switzerland
Russia
Rexroth AG
Geeschäftsbereich INDRAMAT
Gewerbestraße 3
CH-8500 Frauenfeld
Tschudnenko E.B.
Arsenia 22
153000 Ivanovo
Rußland
Telefon: 052/720 21 00
Telefax: 052/720 21 11
Telefon: 093/22 39 633
Directory of Customer Service Locations without Germany
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Directory of Customer Service Locations
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Outside of Europa
Argentina
Argentina
Australia
Brazil
Mannesmann Rexroth S.A.I.C.
Division INDRAMAT
Acassusso 48 41/7
1605 Munro (Buenos Aires)
Argentina
Nakase
Asesoramiento Tecnico
Diaz Velez 2929
1636 Olivos
(Provincia de Buenos Aires)
Argentina
Argentina
Australian Industrial Machenery
Services Pty. Ltd.
Unit 3/45 Horne ST
Campbellfield VIC 2061
Australia
Mannesmann Rexroth Automação
Ltda.
Divisão INDRAMAT
Rua Georg Rexroth, 609
Vila Padre Anchieta
BR-09.951-250 Diadema-SP
Caixa Postal 377
BR-09.901-970 Diadema-SP
Telefon: 01/756 01 40
01/756 02 40
Telex: 262 66 rexro ar
Telefax: 01/756 01 36
Telefon: 03/93 59 0228
Telefax: 03/93 59 02886
Telefon 01/790 52 30
Telefon: 011/745 90 65
011/745 90 70
Telefax: 011/745 90 50
Canada
China
China
China
Basic Technologies Corporation
Burlington Division
3426 Mainway Drive
Burlington, Ontario
Canada L7M 1A8
Rexroth (China) Ldt.
Shanghai Office
Room 206
Shanghai Intern. Trade Centre
2200 Yanan Xi Lu
Shanghai 200335
P.R. China
Rexroth (China) Ldt.
Shanghai Parts & Service Centre
199 Wu Cao Road, Hua Cao
Minhang District
Shanghai 201 103
P.R. China
Rexroth (China) Ldt.
1430 China World Trade Centre
1, Jianguomenwai Avenue
Beijing 100004
P.R. China
Telefon: 905/335-55 11
Telefax: 905/335-41 84
Telefon: 021/627 55 333
Telefax: 021/627 55 666
Telefon: 021/622 00 058
Telefax: 021/622 00 068
Telefon: 010/50 50 380
Telefax: 010/50 50 379
China
Honkong
India
Japan
Rexroth (China) Ldt.
A-5F., 123 Lian Shan Street
Sha He Kou District
Dalian 116 023
P.R. China
Rexroth (China) Ldt.
19 Cheung Shun Street
1st Floor, Cheung Sha Wan,
Kowloon, Honkong
Mannesmann Rexroth (India) Ltd.
INDRAMAT Division
Plot. 96, Phase III
Peenya Industrial Area
Bangalore - 560058
Rexroth Co., Ltd.
INDRAMAT Division
I.R. Building
Nakamachidai 4-26-44
Tsuzuki-ku, Yokohama 226
Japan
Telefon: 0411/46 78 930
Telefax: 0411/46 78 932
Telefon: 741 13 51/-54 und
741 14 30
Telex: 3346 17 GL REX HX
Telefax: 786 40 19
786 07 33
Telefon: 80/839 21 01
80/839 73 74
Telex: 845 5028 RexB
Telefax: 80/839 43 45
Korea
Korea
Mexico
Rexroth-Seki Co Ltd.
1500-12 Da-Dae-Dong
Saha-Gu, Pusan, 604-050
Seo Chang Corporation Ltd.
Room 903, Jeail Building
44-35 Yoido-Dong
Youngdeungpo-Ku
Seoul, Korea
Telefon: 045/942-72 10
Telefax: 045/942-03 41
Motorización y
Diseño de Controles, S.A. de C.V.
Av. Dr. Gustavo Baz No. 288
Col. Parque Industrial la Ioma
Apartado Postal No. 318
54060 Tlalnepantla
Estado de Mexico
Telefon: 051/264 90 01
Telefax: 051/264 90 10
Telefon: 02/780-82 07 ~9
Telefax: 02/784-54 08
Telefon: 5/397 86 44
Telefax: 5/398 98 88
USA
USA
Rexroth Corporation
INDRAMAT Division
5150 Prairie Stone Parkway
Hoffman Estates, Illinois 60192
Rexroth Corporation
INDRAMAT Division
2110 Austin Avenue
Rochester Hills, Michigan 48309
Telefon: 847/645-36 00
Telefax: 857/645-62 01
Telefon: 810/853-82 90
Telefax: 810/853-82 90
Directory of Customer Service Locations outside of Europa
Directory of Customer Service Locations
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
ECODRIVE DKC01.1/DKC11.1 Drive Controllers
Notes
DOK-ECODRV-ASE-02VRS**-FKB1-EN-P • 07.96
Directory of Customer Service Locations
Indramat