Electrical Rotary Module SCHUNK Torque Motor Type STM 560V
Contents
1. Perform maintenance modifications and additions outside the danger zone gt For all work secure the module against accidental operation Risk of injury due to moving parts if these are controlled incorrectly Possible causes for control errors e Incorrect cabling or wiring e Removal of safety devices e Software errors e Sensor and signal transmitter errors e Entry of incorrect parameters prior to start up e Defective module 04 STM 560V en 2010 12 10 SW 13 Basic safety notes 14 SCHUNK e Risk of burns due to contact with hot surfaces During operation the surface temperature of the STM may exceed 85 C 185 F Allow the module to cool down to at least 40 C 104 F before working on the module gt Measure the surface temperature before touching the module gt Wear protective gloves if necessary Risk of electric shock due to contact with live parts gt Before conducting work on the machine and the auxiliary equipment disconnect them from the power supply and make sure they cannot be accidentally switched back on again Wait until the intermediate circuit voltage of the converter has discharged completely see the manufacturer s manual pertaining to the converter 04 STM 560V en 2010 12 10 SW SCHUNK e Warranty A Warranty The warranty is valid for 24 months from the delivery date to the production facility under the following conditions e Intended use in 1 sh2. Hilfe 3 Select the power unit 6SL3210 1SE14 1Uxx 04 STM 560V en 2010 12 10 SW 47 Start up 48 SCHUNK e Konfiguration SINAMICS 120 CU310_DP Leistungsteil v M Figure 36 A ntriebseigenschaften Regelungsstruktur Motor Motorhaltebremse _ Geber Ma system Mechanik Antriebsfunktionen Prozessdatenaustausc Zusammenfassung Antrieb Antrieb_1 DDS 0 Konfigurieren Sie die Leistungsteil Komponente Komponenten Name Leistungsteil Anschlussspannung EECH Entw rmungsart interne Luftkiihlung si Bauart Fr Auswahl Leistungsteil Bestell Nr Bemessu Bemessu Ausf hru 6 L3210 15E11 3Uxx 6 L3210 15E11 Uxx 6 L3210 1SE12 2Uxx 6 L3210 15E13 1Uxx 6 L3210 15E14 1Uxx AC AC 65L3210 15E16 0Axx AC AC 6 L3210 1SE16 0Uxx AC AC 6SL3210 15E1 7Axx AC AC 6 L3210 1SE17 Uxx AC AC 6 L3210 1SE21 04xx AC AC 6 L3210 15E21 0Uxx AC AC lt Zur ck Abbrechen Hilfe 4 Select the drive CU310DP Konfiguration SINAMICS 120 CU310_DP Leistungsteil Zusatzdaten Antriebseigenschaften Regelungsstruktur Leistungsteil Motor Motorhaltebremse Geber MaBsystem Mechanik Antriebsfunktionen Prozessdatenaustausc Zusammentass ung Antrieb Antrieb_1 DDS 0 Leistungsteil Bestell Nr 6S L3210 1SE14 1Uxx 5204 Auswahl der auf das Leistungsteil aufgesetzten Komponente CU310 DP v Figure 37 lt Zur ck Abbrechen His 5
3. Expertenmodus Prozessdatenaustausch PROFIBUS Antrieb PROFIBUS FZD Telegramm Freie Telegrammprojektierung mit BICO 999 Text in Zwischenablage kopieren Figure 42 10 Using the mouse right click on the drive and select the experts list Projekt Bearbeiten Zielsystem Ansicht Extras Fenster Hilfe Dell SM Jl 88 ei SaaS 5 E amp Inebtriebnahme Einzelantriebsger t einf gen E fl SINAMICS_5120_CU310_DP gt Ubersicht gt Konfiguration gt Topologie H E Control_Unit Ein Ausgabe Komponenten Antrieb einf gen EI Artrieh 1 Neues Objekt einf gen Ausschneiden Kopieren Einf gen L schen Umbenennen Expertenliste Drive Navigator Skript Ordner einf gen Konfiguration Steuerlogik Technologie Im Projekt speichern und Objekt exportieren Figure 43 11 Important Set parameter P340 to no calculation 12 Select Open user defined value list it einf gen CU310_DP Komponenten jen Makro Antriebsobjekt Drehzahlsollwert gegl CO Drehzahlistwert c Drehzahlistwert 1 min Figure 44 13 Load the parameter file e g STM135 from the relevant drive 04 STM 560V en 2010 12 10 SW 51 Start up 52 SCHUNK e Figure 45 14 Adopt the values and then close the window Ergebnis STM135 xml Antrieb_1 Antrieb Betriebsanzeige 12 Betrieb HLG eingefroren HL 1 2 Betrieb HLG ei
4. H E Ein Ausgabe Komponenten Be STM135 Si DCC Plan einf gen AE Drive Navigator gt Konfiguration gt Steuerlogik zi 5 Technologie zi 5 Steuerung Regelung zi 5 Funktionen zi 5 Meldungen und berwachungen E Inbetriebnahme gt Funktionsgenerator 3 Messfunktion i gt Automatische Reglereinstellung gt st Messung fl SINAMICS_S120_CU310_DP STM135 Ei AL A m Ausgangsfrequenz gegl ttet D CO Ausgangsspannung gegl ttet D Figure 51 4 Accept the safety note Steuerungshoheik holen Figure 52 54 04 STM 560V en 2010 12 10 SW SCHUNK e Start up 5 Enable the drive STM Select the checkbox next to Enable 6 The speed movement n reference setting can be carried out FAR STARTER STMXXX Projekt Steuertafel Bearbeiten Zielsystem Ansicht Extras Fenster Hilfe Cait al 21 ziel ee BY fe ete sil Ms i ee x r SINAMICS_5120_CU310_DP H Automatische Konfiguration gt bersicht gt Konfiguration gt Topologie Fe Control_Unit 9 Ein Ausgabe Komponenten GEI STM135 gt DCC Plan einf gen SE Drive Navigator 3 Konfiguration gt Steuerlogik gt Technologie gt Steuerung Regelung gt Funktionen gt Meldungen und Uberwachungen gt Inbetriebnahme gt Steuertafel gt Trace gt Funktionsgenerator gt Messfunktion gt Automatische Reglereinstellung Ol EC ERC gt stehende drehende Me
5. gt check the evenness of the mounting smoothly surfaces see chapter 7 1 page 26 or bearings defective gt Consult your SCHUNK contact and send the STM to SCHUNK along with a repair order Table 26 Clean the STM dry at regular intervals to remove all dirt If the housing is soiled please only rub it dry e g with a cloth Do not immerse or spray When all maintenance work has been completed gt Refit the safety devices provided such as covers and safety switches 04 STM 560V en 2010 12 10 SW SCHUNK e Transport storage and disposal 12 Transport storage and disposal 12 1 Transport e The packaging must protect the drive from all external effects such as mechanical shocks and humidity e Protect the module from shocks e Package the module in such a way that the electrical supply lines do not obstruct transport and are not damaged themselves e Comply with climatic category 2K3 in accordance with EN50178 e Transport temperature 5 C 23 F to 60 C 140 F with maximum fluctuations of 20 K hour e Transport air humidity relative humidity of 5 95 non condensing e During transport and handling make sure that none of the components are bent or insulation space is changed e The STM contains components that are sensitive to electrostatic charge Avoid any electrostatic charging of the STM 12 2 Packaging e Cardboard packaging with paper foaming e The maximum stacking height is
6. 2 2 Environmental and operating conditions u2202200240200 Bene nne nennen 9 2 CONMONEE DP FOCUCTION een 10 2 31 PROCE CUVEE SOUND ICI ee 10 2 3 2 Constructional changes attachments or modifications 10 2 3 3 After sales service 10 2 4 Obligations of the manufacturer operator nennen 11 2 4 1 Choice of personnel and personnel qualifications 11 2 4 2 Organizational measures EOE 11 ZED E RI ee ET 11 2 9 Personnel qualification nen nnnennnnenennnnnnennn nennen 12 2 9 1 Safety CONSCIOUS working nenn nano nnnennnnennn 12 2 0 2 Safety measures during Iransport 12 2 5 3 Safety measures during operaton 12 2 5 4 Behaviour in the event of faults or emergencies 12 2 5 5 Notes on particular risks aa aaa 13 WA Ee 15 SCOPE OF delivery E 15 5 Description of the MOAUE eege ee ee Nee EE EE 16 5 1 SH reene Ol nee ses 16 5 1 1 Design and description of UeGlM eens 16 9 1 2 Mechanical Mtela CES cisien E 17 5 1 3 Electrical interface ccccccccccccceccceeeeeeseeeceeseeeeeesseseeeseeeseees 17 5 1 4 Type key and nameplate cccccccecceeceeeceeceeeceeseeeeuesensaeesaes 18 4 04 STM 560V en 2010 12 10 SW SCHUNK e Table of contents TECNICA ID AC eea 19 6 1 Technical Data GCS S E 19 6 11 Technical Data STM135 EE 19 8 12 WechniGall Datars VIM KR EE 20 6 1 3 Technical Data STM210 ee 22 6 2 Requirements for the power
7. 421 00 Fax 46 8 554 421 01 info se schunk com www se schunk com SCHUNK e SWITZERLAND LIECHTENSTEIN SCHUNK Intec AG Im Hang 12 8307 Effretikon Tel 41 523543131 Fax 41 523543130 info ch schunk com www ch schunk com C TURKEY SCHUNK Intec Baglama Sistemleri ve Otomasyon San ve Tic Ltd Sti K c kyali Is Merkezi Girne Mahallesi Irmak Sodak A Blok No 9 34852 Maltepe Istanbul Tel 90 216 366 2111 Fax 90 216 366 2277 info tr schunk com www tr schunk com USA SCHUNK Intec Inc 211 Kitty Hawk Drive Morrisville NC 27560 Tel 1 919 572 2705 Fax 1 919 572 2818 info us schunk com www us schunk com 04 STM 560V en 2010 12 10 SW
8. Sanno Ohta Ku Tokyo 143 0023 Tel 81 33 7743731 Fax 81 33 7766500 s takano tbk hand co jp www tbk hand co jp MEXICO VENEZUELA SCHUNK Intec S A de C V Calle Pirineos 513 Nave 6 Zona Industrial Benito Juarez Santiago de Quer taro Qro 76120 Tel 52 442 211 7800 Fax 52 442 211 7829 info mx schunk com www mx schunk com NETHERLANDS SCHUNK Intec B V Speldenmakerstraat 3d 5232 BH s Hertogenbosch Tel 31 73 6441779 Fax 31 73 6448025 info nl schunk com www nl schunk com 72 POLAND SCHUNK Intec Sp z 0 0 ul Stoneczna 116 A Stara Iwiczna 05 500 Piaseczno Tel 48 22 7262500 Fax 48 22 7262525 info pl schunk com www pl schunk com RUSSIA OOO SCHUNK Intec ul Samojlovoj 5 lit C St Petersburg 192102 Tel 7 812 326 78 35 Fax 7 812 326 78 38 info ru schunk com www ru schunk com SLOVAKIA SCHUNK Intec s r o Mostn 62 949 01 Nitra Tel 421 37 3260610 Fax 421 37 6421906 info sk schunk com www sk schunk com SOUTH KOREA SCHUNK Intec Korea Ltd 907 Joongang Induspia 2 Bldg 144 5 Sangdaewon dong Jungwon gu Seongnam si Kyunggi do 462 722 Tel 82 31 7376141 Fax 82 31 7376142 info kr schunk com www kr schunk com SPAIN PORTUGAL SCHUNK Intec S L U Foneria 27 08304 Matar Barcelona Tel 34 937 556 020 Fax 34 937 908 692 info es schunk com www es schunk com SWEDEN SCHUNK Intec AB Morabergsv gen 28 152 42 S dert lje Tel 46 8 554
9. and sensor Cables ccccceeeeeeeeeeeeeeeeees 23 6 3 Biel 24 6 3 1 Technical data for brake valve MV15 cccccceccceceeeeeeeeteeeee eens 24 6 3 2 Connection to Bosch IndraDrive nennen 25 6 3 3 Connection to Siemens Safe Brake Relay c cccceceseeeeeees 25 6 3 4 FONO Drake e AE 25 T ASSEMDI EE 26 7 1 Ve wuer Connection er 26 7 2 Electrical ConneclloNn aea see a I 29 8 lee Te EE 32 8 1 Start up of the Bosch IndraDrive Caseira ea TOE 33 8 2 Start up of the SIEMENS Sinamics IZ 43 9 GCOntrolBParamelers 2er 56 9 1 Bosch IndraDrive C HCSO2 series 0 ccc ceccecceeeceeeeeeeceeseeaeeeseeeaees 56 9 2 Siemens Sinamics S120 eeneg 57 10 Troubleshoofllng nunena ea en 60 15 1 SCHUNK TOQUE Motor STM aan E a EASE 60 TOA SEMIS MOC E a ee EE 60 10 1 2 STM overspeed ccceccecceecceeeeeeseeceeeeeceeeeeeeseeeeeeuetaeeeeeeeesaeenaes 61 VON WK Bee UE 61 1014 Bearing E 61 10 1 5 Error message for the winding temperature 0 62 11 Maintenance and care E 63 11 1 Maintenance and lubrication intervals cccccccccecceeeeeeseeeeeeeeeseeeeeaees 63 11 2 Disassembly of the module ce cccecceecceeeceeeceeeeeeseeeseeeceeeseeeaeesaees 63 11 3 IWIOGUIC Servicing EE 64 12 Transport storage and disposal 2 20200200000n0nnunnunnunnunnunnun nun nun nun 65 121 Tas e In EE 65 04 STM 560V en 2010 12 10
10. out more often We recommend that maintenance and seal replacement is done by SCHUNK because the rotor must be aligned and assembled with an assembly device Bearing lubrication Interval h 20 000 Visual inspection h 2 500 Table 25 This information refers to the use of the STM under normal operating and ambient conditions e Clean workshop atmosphere e No splashing water e Small amounts of abrasive and process dust Disassembly of the module The module may only be disassembled and repaired by SCHUNK Non compliance will invalidate the warranty 04 STM 560V en 2010 12 10 SW 63 Maintenance and care 11 3 Visual inspection Acoustic bearing inspection Cleaning 64 SCHUNK e Module Servicing For maintenance work or repairs send the complete module along with a repair order to SCHUNK The regular visual inspection of all supply lines is the prerequisite for the perfect operation of the STM gt If supply lines are defective put the machine out of operation immediately gt Replace damaged connection cables Check the STM every 2500 operating hours or once a year for bearing noise Smooth noise typical Everything okay STM can continue to be bearing noise operated Uneven grinding noise The motor is not set up correctly gt check the evenness of the mounting surfaces see chapter 7 1 page 26 Loud and uneven noise The motor is not set up correctly motor not running
11. sensor in the STM and replace the electrical connection if necessary Temperature sensor defective Check the resistance of the temperature sensor If the resistance exceeds 630 Ohms at room temperature the STM must be sent to SCHUNK with a repair order Thermal motor overload Reduce the load Mount the motor on heat conducting materials to dissipate excess motor heat Check the mechanical components Rotor is blocked mechanically Check the evenness at the mounting surface see chapter 7 1 page 26 Encoder signals are faulty Check the encoder s power supply encoder line shielding is not corrected Check the encoder signals and the shielding of the encoder cable Motor overload Check the dimensioning overvoltage or undervoltage Reduce the load Check the converter settings Check the output power supply Table 24 62 04 STM 560V en 2010 12 10 SW SCHUNK e 11 11 1 Maintenance intervals 11 2 Maintenance and care Maintenance and care Maintenance and lubrication intervals Risk of fatal injuries due to electric shock If the electrical connections are released from the live module arcing may be the result gt Switch off the energy supply Only have work on the module performed by appropriately trained specialist personnel NOTICE If the operating temperature in the motor s winding exceeds 60 C the lubricants will harden faster Lubrication and maintenance works have to be carried
12. three modules 04 STM 560V en 2010 12 10 SW 65 Transport storage and disposal 66 12 3 12 4 SCHUNK e Storage e Protect the drive STM against the effects of humidity e The storage temperature should be between 5 C 41 F and 60 C 140 F e The storage location must be clean dry and well ventilated e No outdoor storage permitted e No condensation permitted e Comply with climatic category 1K4 in accordance with EN50178 e Observe the maximum stacking height of three packaged modules Disposal e Observe the locally valid legal disposal regulations e Environmentally sound disposal via the corresponding recycling or workshop centers e SCHUNK GmbH amp Co KG accepts no liability for the consequences of incorrect disposal by the customer 04 STM 560V en 2010 12 10 SW SCHUNK Drawing 13 Drawing 13 1 STM 135 s _ 135 0 2 _ 38 _ 15 1 0 2_ gt 63 H 074 Figure 63 Dimensions of the STM torque motor 04 STM 560V en 2010 12 10 SW 67 Drawing SCHUNK e 13 2 STM 170 A LE L ee Deeg SEI 57 5 16 25 Figure 64 Dimensions of the STM torque motor 68 04 STM 560V en 2010 12 10 SW SCHUNK e 13 3 STM 210 Figure 65 Dimensions of the STM torque motor 04 STM 560V en 201
13. 0 12 10 SW Drawing 69 SCHUNK e Translation of the EC declaration of conformity 14 Translation of the EC declaration of conformity In terms of the EC Low Voltage Directive 2006 95 EC annex III B Manufacturer SCHUNK GmbH amp Co KG distributor Spann und Greiftechnik Bahnhofstr 106 134 D 74348 Lauffen Neckar Germany We hereby declare that the following product Product designation Electrical Rotary Module Type STM 560V Type designation STM 135 STM 170 STM 210 Serial numbers 0306830 0306838 0306840 0306848 0306850 0306858 In its supplied condition complies with the following relevant provisions EC Low Voltage Directive 2006 95 EC annex EC Directive on Electromagnetic Compatibility 2004 108 EC in this version 89 336 EEC Applied harmonized standards especially EN ISO 12100 1 Safety of machinery Basic concepts general principles for design Part 1 Basic terminology methodology ISO 12100 1 2003 EN ISO 12100 2 Safety of machinery Basic concepts general principles for design Part 2 Technical principles ISO 12100 2 2003 EN 60204 1 2006 Safety of machinery Electrical equipment of machines Part 1 General requirements IEC 61000 6 2 2005 modified EN 61000 6 2 2005 Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity for industrial environments IEC 61000 6 2 2005 EN 61000 6 4 2007 Electromagnetic compatibility EMC Part 6 4 Generic sta
14. 100 x500 x200 Figure 25 2 Connect the PC to the converter via a Profibus adapter 3 Switch on the converter and power unit 4 Initiate the Siemens Starter software Cp Microsoft Excel 97 AS Microsoft Word 97 Dia Precise Automation Rexroth S Zubeh r Figure 26 5 Search for available participants 04 STM 560V en 2010 12 10 SW 43 SCHUNK e Start up EPEN Sn ta e aa 5 Figure 27 6 Select the checkbox see black arrow and adopt the settings by clicking on Accept Creating a new 1 Start a new project using the wizard project FF STARTER Projekt Fielsystem Ansicht Extras Fenster Hilfe Strgo h Neu mit Assistent ffnen Strg O SchlieGen Figure 28 2 Assemble the drive control unit offline 44 04 STM 560V en 2010 12 10 SW SCHUNK e Start up Starter Projektassistent ffnen offline Assistent beim Start anzeigen Abbrechen Figure 29 3 Assign the project aname e g Start up Starter Projektassistent 1 d 3 4 Einfuhrung Neues Projekt Pa PL Antriebs Zusammen erstellen Schnittstelle ger te fassung einstellen einfugen leben Ste bitte die Projektdaten em Projektname Inebtriebnahme Autor Speicherort D 1Siemens SF ksi pro EJ kommentar uruck Welter gt Abbrechen Figure 30 4 The PG PC interface has already been set to the Profibus adapter 04 STM 560V en 2010 12 10 SW 45 SCHUNK e S
15. 7 2 page 29 b see manual pertaining to the converter Target value line or communication between master and controller is Check the target value line and communication interrupted Check the mechanical components Rotor is blocked mechanically gt Check the evenness at the mounting surface see chapter 7 1 page 26 Check shaft encoder and its connection If a defect is Shaft encoder defective detected the STM must be sent to SCHUNK with a repair order gt Check the difference of the winding resistance values Do Se not exceed the difference Short circuit between turns in the gt If the difference between the individual motor phases motor exceeds 0 1 Ohm the STM must be sent to SCHUNK with a repair order gt Check the protective conductor gt Check the electrical connection and connectors for ground Short circuit to ground due to moisture leakage short circuit to ground due to electrical defect Ifthe STM has a ground leak while the power cable is disconnected the STM must be sent to SCHUNK with a repair order Check the electrical connections Incorrect phase connections see chapter 7 2 page 29 gt Check the parameters and setting values Incorrect controller settings ge see operating manual for the controller 60 04 STM 560V en 2010 12 10 SW SCHUNK e Troubleshooting Possible cause Corrective action Check the electrical connections Motor phases or enco
16. Ende des Reterenziervorgangs ES Motorgeber in Fleferenz Stop a Anlagenreferenz Auf Referenzpunkt positionieren Co Motorgeber Optionaler Geber Offset 0 0000 Grad C System in Referenz Lagestatus loschen Antnebsgetuhres Referenzieren Figure 21 Velocity movement 1 Select the Reference value box under the Optimization Start up folder Achse 2 Default eS F hrungskommunik ation 0 LC Motor Bremse Messsysteme E l Wichtung Mechanik pn LC Grenzwerte He Antriebsregelung E Betriebsarten Antrieb Halt 0 LC Fehlerreaktion H E Antriebsintegrierte Sicherheitstechnik bk Messtaster 3 Optimierung Inbetriebnahme E ay Startup Modus Sollwertbox Antnebsintegnerter Sollwertgener Automatische Einstellung der Ack Frequenzganganalyse DO Lokale Figure 22 2 Select the velocity movement type under Operating mode To start the movement click on Start 04 STM 560V en 2010 12 10 SW 41 Start up Sollwertbox Achse 2 Defaut SCHUNK e Achse 2 Default Diagnose 44003 Einrichtbetrieb aktiv Betriebsmodus Reversieren Geschwindigkeitsgeregelt Reversieren Lagegeregelt Schrittbetrieb Lagegeregelt Reversieren Geschwindigkeitsgeregelt Schrittbetrieb Geschwindigkeitsgeregelt Aufnahme Rastmomententabelle 1 000 s Verweilzeit Verfahrweg Grad 360 0000 Figure 23 Positioning 1 movement Operating mode Geschwindigkeits Istwert Aktiv
17. Enterthe motor name e g STM135 and select the DRIVE CLiQ interface 04 STM 560V en 2010 12 10 SW SCHUNK e Start up Konfiguration SINAMICS 120 _CU310_DP Motor Antriebseigenschaften Antrieb Antrieb_1 DDS 0 MDS 0 Regelungsstruktur Leistungsteil Konfigurieren Sie den Motor Leistungsteil Zusatzdat are STM135 Motorhaltebremse Motor mit DRIYE CLiQ Schnittstelle _ Geber E Mo Ma system Standardmotor aus Liste ausw hlen JMechanil Antrebsfunktionen Motordaten eingeben Prozessdatenaustausc Zusammenfass ung lt Zur ck Abbrechen Hilfe Figure 38 6 Do not set up a motor holding brake Konfiguration SINAMICS_ 120 _CU310_DP Motorhaltebremse Antriebseigenschatten Antrieb Antrieb_1 DDS 0 Regelungsstruktur Leistungsteil Haltebremse Konfiguration Leistungsteil Zusatzdat Motor Keine Motorhaltebremse vorhanden 0 r Geber Ma system Typ des Bremsmoduls Mechanik Prozessdatenaustausc Zusammenfassung lt Zur ck Abbrechen Hilfe Figure 39 04 STM 560V en 2010 12 10 SW 49 Start up 50 SCHUNK e 7 Encoder 1 is preset Konfiguration SINAMICS_S120_CU310_DP Geber Antriebseigenschaften Antrieb Antrieb_1 DDS 0 MDS 0 Regelungsstruktur Leistungsteil welche Geber m chten Sie verwenden Leistungsteil Zusatzdat M otor V Mot
18. SCHUNK e Electrical Rotary Module SCHUNK Torque Motor Type STM 560V Assembly and Operating manual 04 S TM 560V en 2010 12 10 SW Document last updated 2010 12 03 SCHUNK e 04 STM 560V en 2010 12 10 SW SCHUNK e Dear Customer Congratulations on choosing a SCHUNK product By choosing SCHUNK you have opted for the highest precision top quality and best service You are going to increase the process reliability of your production and achieve best machining results to the customer s complete satisfaction SCHUNK products are inspiring Our detailed assembly and operation manual will Support you Do you have further questions You may contact us at any time even after purchase You can reach us directly at the mentioned addresses in the last chapter of these instructions Kindest Regards Your SCHUNK GmbH amp Co KG Precision Workholding Systems Bahnhofstr 106 134 D 74348 Lauffen Neckar Germany Tel 49 7133 103 2503 Fax 49 7133 103 2189 automation de schunk com www schunk com P a EN ISO A e SS Ka LG Net S 2 xe eph Z pm LEP 2 P Mitt EA EMENT S Peg No 349907 Reg No DE 3496 01 04 STM 560V en 2010 12 10 SW 3 Table of contents SCHUNK e Table of contents 1 ADOUE THIS Manual 7 1 1 P FDOSEIVANA Verstehen 7 1 2 WARGO elei e EE T 1 3 ADDIIGCADIS eeler En ETC 1 4 SYMDOIS In NIS MANU enee 8 1 9 En e INIS In EE 8 2 ee H 2 1 INIENdEq WEE 9
19. SW 5 Table of contents 13 14 15 SCHUNK e 122 ee el e KE 65 129 ORGAO E 66 IZA DISPOSAL RE 66 PAW MN D 67 A OTM e EE 67 132 SIM TO DEE 68 Me 2 1 17 18725 EE 69 Translation of the EC declaration of Conformity 2u222002n0n2nunnnnnnn 70 CONTACT EEN 71 04 STM 560V en 2010 12 10 SW SCHUNK e 1 1 1 2 Target group Manufacturer operator About this manual About this manual Purpose validity This manual is part of the module and describes the safe and proper use during all phases of operation This manual is valid only for the module specified on the front page Target groups gt Keep this manual available for the personnel at all times Require personnel to read and observe this manual and the applicable documents especially the safety notes and warnings Skilled personnel fitter Read observe and follow this manual and the applicable documents especially the safety notes and warnings Table 1 1 3 Applicable documents Document 7 S Catalog User manual pertaining to the utilized converter Technical data or application parameters of the module and information on accessories The last version is always valid see www schunk com Contains further information on the converter firmware This information is required for the control and parameterization of the STM torque motor Consult the homepage of the respective manufacturer General term
20. UNG Gefahrbringende Bewegungen Lebensgefahr schwere K rperverletzung oder Sachschaden Yor Inbetriebnahme Not Stop Schalter leicht zug nglich in unmittelbarer N he anordnen Die Funktion der Not Aus Einrichtung pr fen Mit OK best tige ich dass ich die unten stehenden Sicherheitshinweise sorgf ltig gelesen habe und gebe Reglerfreigabe f r die ausgew hlte Achse Mabnabumnern Not Stop Schalter leicht zug nglich in unmittelbarer N he anordnen Die Funktion der Not Aus Einrichtung vor der Inbetriebnahme pr fen Vor dem Zugriff oder Zutritt in den Gefahrenbereich die Antriebe sicher zum Stillstand bringen und gegen unbeabsichtigten Anlauf sichern zum Beispiel durch Freischalten des Note In the case of the Bosch IndraDrive C converter it can occur that the commutation current is too low or too high following enablement If one of these errors occurs simply delete it Then go to the following location Drive control gt Motor control gt Commutation settings 38 04 STM 560V en 2010 12 10 SW SCHUNK e Start up GA Ache 2 Default F hrungskommunik ation Motor Bremse Messsysteme Ey wichtung 7 Mechanik 3 Grenzwerte Ee ntriebsregelung Antiebsregelung bersicht ee Achsregelung Ee Motorregelung Motoregelung bersicht Feldregelung Strombegrenzung Stromregelung d b b b b b E Kammutierungseinstellung P Statusmeldungen Rompensationstunktionen d Kore IS Betriebs
21. able 17 Connection pin assignment of the white signal cable for Bosch Indramat Function 1 Signal Pin allocation Siemens circular plug Table 18 Connection assignment of the power cable for Sinamics connection to converter 30 04 STM 560V en 2010 12 10 SW SCHUNK e Assembly LE B Jg BR Be Seen Table 19 Connection assignment of the encoder cable for Siemens SME120 04 STM 560V en 2010 12 10 SW 31 Start up Starting up the STM with an arbitrary converter 32 SCHUNK e Start up NOTICE Malfunction in the event of an overload gt Avoid impact loads Do not exceed the bearing load limits NOTICE Malfunction in the event of overheating Observe the motor s technical data see chapter 6 1 page 19 Risk of injury and material damage when the machine system moves unexpectedly gt Only allow configuration work to be carried out by authorized specialist personnel gt Observe the information in the operating manual for the controller A WARNING Collisions in setup mode when the machine system moves unexpectedly gt Keep the motor s moving range 360 free gt Connect the electrical connections power cable signal cable to the converter Check that the rotor can be turned freely In doing so pay attention to any grinding noise Check that all required contact protection measures were taken for moving and live parts 1 Switch on the convert
22. al measures Make sure that at least one copy of this manual is kept in the direct vicinity of the machine system where the module is installed and that it is accessible for the relevant persons Ensure that personnel have read and understood this manual especially chapter 2 Basic safety notes gt Provide instructions about and observe the safety and accident prevention regulations that apply at the site of use Provide instructions about and observe the environmental protection regulations that apply at the site of use gt Provide protective equipment gt Check the personnel s conduct regarding the awareness of safety and hazards from time to time 2 4 3 Disposal gt Send components of the module for recycling or properly dispose of them according to the local regulations 04 STM 560V en 2010 12 10 SW 11 Basic safety notes 12 2 9 2 5 1 2 5 2 2 5 3 2 5 4 SCHUNK e Personnel qualification Safety conscious working gt Avoid any manner of working that may interfere with the function and operational safety of the module gt Observe the safety and accident prevention regulations valid at the usage site gt Wear protective equipment Safety measures during transport When transporting and handling very heavy modules take the corresponding safety precautions Make sure the cables have strain relief Safety measures during operation Only operate the module when all pr
23. arten d Antrieb Halt 5 Fehlerreaktion ID Antriebsintegrierte Sicherheitstechnik bk Messtaster o gt Optimierung Inbetriebnahme zo LC Lokale 1 0 Figure 17 13 Establish the new commutation offset Kommutierungseinstellung Achse 2 Defaut Achse 2 Default si r r E ei gesperrt Erweiterte Einstellungen Manuelle Abstandsmessung C automatisches R ckfahren abschalten Co S ttigungsverfahren O Sinusverfahren Kommuterumg Erforderlicher Oberwellenanteil 40 _ Erstkormmutierung Dieser Parameter sollte nur in Ausnahmef llen angepasst Der aktuell wirksame Kommutierungs werden Siehe Parameterbeschreibung zu P 0 051 7 Offset wird sofort in den nicht fluchtigen Speicher Ubemomment Einstellungen Testsignal estsigna wirksamer Offset Amplitude Offset Frequenz DUU Hz Offset Geberspeicher Durch den Startwert 0 fur Amplitude z erden die motorspezifischen Werte filr Kommutierungsoffset_ ermitteln A Amplitude und Frequenz automatisch ermittelt Kommutierungsoffset nachoptimieren Figure 18 Note When the drive is enabled a field appears in the foreground of the screen that can be used to switch off the drive STM in an emergency HCS0 1 2 Default Antrieb AUS Figure 19 04 STM 560V en 2010 12 10 SW 39 SCHUNK e Start up 14 It is now possible to choose between the various options Referencing Velocity movement Positio
24. asy Startup Modus Achse 2 Default Datei Ansicht Projekt Diagnose Extras Fenster Hilfe Hoss 2B BO a ege e PM oe Projektexplorer Startbild Easy Startup Modus Achse 2 Defaut S EH IndraworksProject_001 a Be Indradrive 2 Default Achse 2 Default Ap E Q gt Leistungsversorgung amp Achse 2 Default Achsstatus 40009 Automatische Baudratenerkennung bei SERCOS interface E E Wichtung Mechanik serielle Schnittstelle Antriebsfreigabe O Grenzwerte O digitale Eing nge positive Drehrichtung Antrieb l en Sl ads a C Automatische 1 0 Konfiguration negative Drehrichtung B Feblerreaktion Status Start Easy Startup Modus 7 an Sicherheitstechnik C Easy Startup Modus aktiv Optimierung Inbetriebnahme Geschwindigkeits Istwert 0 0000 U min gt Easy Startup Modus Aktiver Lageistwert 0 4095 Grad oO gt Sollwertbox gt Antriebsintegrierter Sollwertgenerator Tippen Sollwertvorgabe Motorpotentiometer gt Automatische Einstellung der Achsregelu a Se Frequenzganganalyse Aktiver Sollwert 0 0000 U min okale Tippgeschwindigkeit 230 0000 U min Tippgeschwindigkeit 30 0000 U min RR RR i E ES DI Figure 15 04 STM 560V en 2010 12 10 SW 37 SCHUNK e Start up 11 Enable the drive STM this is only possible when the power unit is switched on PA IndraWorks Engineering Easy Startup Modus Achse 2 Default Datei A
25. cable first then conductors Only have the electrical connection established by the corresponding specialist personnel Note Cables are electrical components which can receive and transfer interfering signals due to high frequency interference or electromagnetic fields gt Check that the cable is correctly connected and installed gt There must be a sufficient distance between sources of interference and their supply cable Preconditions for installing the connection cables V The cables are without tensile and torsion loads Use cable guide chains v The minimum bending radius 7 5 times the cable diameter is complied with see chapter 6 1 page 19 The motor s range of rotation and functions are not impaired Note More information on the parameters of the controller can be found in the separate operating manual for the controller The STM is supplied with prefabricated cables red power cable white encoder cable which need to be connected via the corresponding plug in connections The STM must be connected to a controller The STM must be connected to a controller 04 STM 560V en 2010 12 10 SW 29 SCHUNK e Assembly The cable colors and designations in the following tables apply to the SCHUNK connection cable gt Observe the cable assignment Table 16 Connection pin assignment of the red power cable for Bosch Function __ Signal Pin assignment 15 pin D Sub connector Encoder P Ins T
26. ch flying parts or to switch the drive into a safe mode should the module or part of the module fail The protective equipment must comply with the requirements of the EC Machinery Directive and IEC EN 60204 1 The STM housing must be grounded via the converter by means of the protective conductor in the power cable Constructional changes attachments or modifications Additional drill holes threads or attachments that are not offered as accessories by SCHUNK may be attached only with permission of SCHUNK Non authorized modifications results in the exclusion from product liability After sales service SCHUNKk s after sales service is available for technical information and questions concerning SCHUNK products gt Call the contact see chapter 15 page 71 gt State the ID of the module see chapter 6 1 page 19 04 STM 560V en 2010 12 10 SW SCHUNK e Basic safety notes 2 4 Obligations of the manufacturer operator 2 4 1 Choice of personnel and personnel qualifications Work on the module may be carried out by authorized personnel only The legal minimum age must be observed The assembly commissioning and repair of the module may be performed only by trained specialist personnel who have been instructed how to perform the said work activities The manufacturer operator must ensure that the personnel are adequately and appropriately trained to perform work on the module assigned to them 2 4 2 Organization
27. der signals see chapter 7 2 page 29 confused gt Check the encoder signals and the shielding of the encoder cable Table 20 10 1 2 STM overspeed Possible cause 03 Possible cause 03 Corrective action Controller settings not ideal gt Check the controller settings direction of rotation of motor and encoder direction of counting Insufficient power supply for the gt Check the stability of the supply voltage Use transformers controller s power component instead of a switching power supply component Table 21 10 1 3 STM oscillates Possible cause Corrective action Motor overload gt Check the dimensioning gt Reduce the load gt Check the converter settings Converter settings not ideal gt Check the converter settings Table 22 10 1 4 Bearing noise Possible cause o Possible cause 083 Corrective action action Incorrect assembly GE Check the evenness at the mounting surface see chapter 7 1 page 26 Configuration incorrect gt Check the parameters and setting values see manual pertaining to the converter Bearing defective due to overload gt Send the module to SCHUNK with a repair order Table 23 04 STM 560V en 2010 12 10 SW 61 SCHUNK e Troubleshooting 10 1 5 Error message for the winding temperature Possible cause Corrective action The electrical connection to the gt Check resistance between the converter and the temperature sensor is faulty temperature
28. drive Configure the drive unit double click on Configure drive unit RANIA amp Inebtriebnahme gt Einzelantriebsger t einf gen Ba SINAMICS_5120_CU310_DP gt Antriebsgerat konfigurieren gt bersicht gt Konfiguration gt Topologie FR Control_Unit Konfiguration SINAMICS_S120_CU310_DP Antriebseigenschaften Konfigurieren Sie das Antriebsobjekt Antrieb Regelungsstruktur Leistungsteil Antriebsobjekt Name Antriebseinstellung Motor Motorhaltebremse Allgemeines Geber 4ntriebsfunktionen Proz atenaustausc Antriebsobjekt Typ Servo DI Wichtige Parameter Zusammentassung Autor Kommentar Version Abbrechen Hilfe Figure 34 2 Select the control mode simple positioner and speed control with encoder Konfiguration SINAMICS_ 120 CU310_DP Regelungsstruktur Antrieb Antrieb_1 DDS 0 Antriebseigenschaften Leistungsteil Motor Motorhaltebremse Geber Antriebsfunktionen Zusammentas sung Figure 35 Prozessdatenaustausc Funktionsmodule Erweiterter Sollwertkanal Technologieregler Erweiterte Meldungen Uberwachungen Regelung Sollwert b O n M Regelung Regelungsart Drehzahlregelung mit Geber 21 Drehzahlistwertaufbereitung wird berechnet lt Zur ck Abbrechen
29. e Projekte Figure 9 Search devices 5 Select the interface on the converter Nach Ger ten suchen Auswahl der Ger te In Klammern steht die Art und Weise wie das Ger t gesucht wird Installiert Suche nach EcoDrive Cs Seriell AS232 ki IndraDrive Seriell RS232 HNC100 3 ANC Seriell A5232 IndraDrive Ethernet 4 IndraDrive Profibus IndraDrive Seriell R5485 Sercans Seriell A5232 Sercans PCI Sercans II Seriell A5232 Sercans III PCI Sercans Ill Seriell AS232 Figure 10 Selecting the interface 6 Select the interface on the computer 04 STM 560V en 2010 12 10 SW 35 SCHUNK e Start up Nach Gerdten suchen Ger t IndraDrive seriell R5232 COM Port Baudrate und Parity ausw hlen COM Ports Yerfugbar Suchen ary COM r COM Baudraten Parity Abgleich Baudrate None 3600 Even 19200 Odd GE 115200 Standardeinstellung Figure 11 7 When the desired device has been found click on Finish Nach Ger ten suchen Liste aller gefundenen Ger te Ger te ausw hlen die in das Projekt bernommen werden sollen Indradrwe IndraD me COM Fort COM Baudrate 13200 Parity Mone o Adresse 2 ljeratesuche stoppen Figure 12 8 Anew project is created automatically in the project explorer 36 04 STM 560V en 2010 12 10 SW SCHUNK e Start up Pl IndraWorks Engineering Startbild Datei Bearbeiten Ansicht Projekt Defau
30. ect the free ends of the power cable to terminal X3 04 STM 560V en 2010 12 10 SW 33 SCHUNK e Start up Li N iph Li L2 L3 ph Trafo necessary if the mains voltage gt 240 V T Figure 7 connection des STM an IndraDrive C Setting up the Connect the RS232 interface of the computer to the serial converter interface X2 of the converter using the serial cable 2 Switch on the converter and power unit 3 Start IndraWorks on the PC Microsoft Excel p Microsoft Word 8 E mmm o Uses ma are V1 31 flash STM170_48V_2_Al GC Programmzugriff und standards SIMATIC S rs ZE fan Lotus Anwendungen M OpenOffice org 2 4 fe Dokumente M PDFCreator e IM PL 2303 USB Serial Driver fe Einstellungen b T PowerCube Suchen MM Tools an Zubeh r H STARTER mul A KE CT Ausf hren exroth E idraWorks 8 6 172 0 fl Engineering g Abdocken 4 Greiferpr fstand o Herunterfahren 1 Hilfe und Support Ca m Eu d O _ A a x m Ki E Figure 8 Starting IndraWorks 34 04 STM 560V en 2010 12 10 SW SCHUNK e Start up 4 Search for a new device H IndraWorks Engineering Startbild Datei Ansicht Projekt Diagnose Extras Fenster Hilfe Gl ei A Ba o co e aa ar en Projektexplorer Rx Startbild ffnen Sie ein vorhandenes Projekt od Neues Projekt eu Leeres Projekt erzeugen Ger te suchen Zuletzt ge ffnet
31. eed controller smoothing time constant to 0 and reduce the Kp until the vibrations cease Select the value that is half of the exact limit for Kp Select a high Tn value gt depending on the load Reduce the Tn until the motor begins to vibrate Select the value that is double the exact limit for Tn Increase the Kp until the desired positioning time is achieved gt Be aware of overshooting Increase the Kp until the current curve is as smooth as desired Make the current curve visible using the oscilloscope function gt Be aware of noise emissions or vibrations 04 STM 560V en 2010 12 10 SW SCHUNK e Control parameters 9 2 Siemens Sinamics 120 series Siemens provides the Automatic controller settings function for the purpose of establishing the control parameters f Dr STARTER Temperaturtests_STM Trace Projekt Messfunktion Bearbeiten Zielsystem Ansi ell EEA ES E Ol a Cl Si Si Ep Temperaturtests_ STM Einzelantriebsger t einf gen J la SINAMICS_5120_CU310_DP 8 Automatische Konfiguration gt bersicht gt Konfiguration gt Topologie cu Control Unit Ein 4usgabe Komponenten fi STMZ10 3 OCC Plan einf gen ie Drive Navigator gt Konfiguration gt Steuerlagik 3 Technologie Steuerung Regelung Funktionen Meldungen und Uberwachungen Inbetriebnahme gt Steuerkafel gt Trace gt Funktionsgenerator gt Messfunktion gt gt stehende drehende M
32. efer to the indicated heat conducting surface Type STM170 560V 03068xx Heat conducting surface mm 49302 Mechanical operating data dimension x L mm 170 x 66 center bore Immi ambient temperature C F min 5 41 max 55 131 20 04 STM 560V en 2010 12 10 SW SCHUNK e Technical Data mass moment of inertia of rotating parts kg m 0 003859 max mass moment of inertia kg m 0 14 rotation range gt 360 turning endlessly 1 Distribution of the end positions of 100 successive motions When approaching from the same direction IP rating 40 permissible operating mode S1 continuous operation Applies only if the preconditions in chapter 7 1 page 26 are fulfilled Otherwise S6 continuous mode with intermittent load is the permitted operating mode Electrical connection required cable cross sections and number of wire strands max permissible operating temperature FOCI eg output shaft power P kw 0 74 intermediate circuit voltage Uz V rated torque M Nm rated current I A O peak current Imax A 5 65 i 560 5 0 torque constant K Nm A 3 1 rated speed n rpm 500 max speed Nmax rpm 1618 winding resistance phase phase Roop Ohm 17 1 winding inductivity phase phase Lop MH 24 9 electrical time constant T ms 1 46 numbers of pole pairings N Specifications for the integrated measuring system in 1V Sin Cos Signal analog magne
33. er Lageistwert Antriebsfreigabe d O Antriebe AUS Easy Startup Modus y Antriebsoptimierung o O Select a position controlled positioning movement under Sollwertbox Achse 2 Def Achse 2 Default r F Diagnose 44003 Einrichtbetneb aktiv Betiebsmadus Reversieren Lagegeregelt k Aeversieren Lagegeregelt Schrittbetrieb Lagegeregelt Reversieren Geschwindigkeitsgeregelt Schrittbetneb Geschwindigkeitzgeregelt Aufnahme Rastmomententabelle Beschleunigung 100 000 rad s Verweilzeit 1 000 Position 1 180 0000 Grad Position 2 0 0000 Grad Figure 24 Note Geschwindigkeits Istwert 10 9863 U min Aktiver Lageistwert 0 1267 Grad Antriebsfreigabe amp A O Antriebe AUS Easy Startup Modus Antrebsoptimierung O Gi With respect to the use of other functions gt Refer to the manual pertaining to the IndraDrive C or contact the Bosch support team 42 04 STM 560V en 2010 12 10 SW SCHUNK e Start up 8 2 Start up of the Siemens Sinamics 120 This description is valid for the firmware version MPH 05V12 D5 and the Drive ES Starter version V4 1 2 0 Note With the Siemens Sinamics it is possible to change the voltage supply on the encoder interface from 5V to 24V using a parameter Ensure that the voltage supply on the encoder interface is set to 5V Establishing the 1 Connect the motor with the converter connection CU310DP SME120 x
34. er and start the commissioning software 04 STM 560V en 2010 12 10 SW SCHUNK e Start up 2 Select the communication interface establish communication with the module and configure the converter 3 Check the encoder signal and the signal of the temperature sensor 4 Control the STM and optimize the parameters 5 Check the bearing noise at regular intervals see chapter 11 3 page 64 Note If the unit is referenced via the encoder s zero pulse free motion must be ensured within the range of 360 If the STM is used in a multiple axis system it is recommended to put the axes into operation individually To avoid collisions prior to the first movement check the alignment of the STM the set direction of counting of the measuring system and the motor s direction of rotation Note This brief instruction is solely relevant for the simple start up of the STM with either the Bosch IndraDrive C or Siemens Sinamics Please read the manuals for both converters thoroughly before putting the motor into operation 8 1 Start up of the Bosch IndraDrive C This description is valid for the firmware version MPH 05V12 D5 and the IndraWorks Version 8 6 172 0 Connection of the 1 Connect the converter to the three phrase power network via converter terminal X1 to the STM 2 Connect the red power cable and the white sensor cable to the STM 3 Connect the 15 pin D Sub plug of the sensor cable to terminal X4 4 Conn
35. er s specifications regarding commissioning assembly operation and ambient conditions Any other use or use exceeding that specified is an infringement of use for intended purpose The manufacturer bears no liability for damage resulting from such use Environmental and operating conditions The module may be used only in the context of its defined application parameters see chapter 5 page 16 and catalog Make sure that the module s range of application is outside the explosive area gt Make sure that the environment is clean and the ambient temperature corresponds to the specifications per the catalog Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust Excepted are modules that are designed specially for contaminated environments Basic safety notes 10 2 3 2 3 1 2 3 2 2 3 3 SCHUNK e Controlled production The module represents the state of the art and the recognized safety rules at the time of delivery However it can present risks if for example e The module is not used in accordance with its intended purpose e The module is not installed or maintained properly e The EC Machinery Directive the VDE directives the safety and accident prevention regulations valid at the usage site or the safety and installation notes are not observed Protective equipment When the module is in use protective equipment must be used to cat
36. essung Kommunikation Diagnose Figure 54 Select this function by clicking on the icon shown below Steuerhoheit holen 7 Figure 55 and accept the safety note WW Steuerungshoheit holen Lebenszeichenuberwachung IV aktiv berwachungszeit 1000 ms Diese Funktion darf nur unter Beachtung A der entsprechenden Sicherheitshinweise eingesetzt werden Bei Nichtbeachtung k nnen Personen und Sachsch den die Folge sein Sicherheitshinweise Akzeptieren Abbrechen Hilfe Figure 56 04 STM 560V en 2010 12 10 SW 57 SCHUNK e Control parameters Enable the drive ____Steverhoheitabgeben M MIST 2 Figure 57 The individual steps required for determining the parameters can now be carried out Parameter determination Figure 58 1 Ensure that no one is positioned in the danger zone and that there is no potential for material damage 2 Acknowledge the warning Automatische Reglereinstellung A Vorsicht beim Benutzen der Messfunktion Beim Durchf hren der Messung f hrt der ntrieb entsprechend der Parametrierung der Messfunktion 2 B Offset Amplitude Messzeit eine Bewegung aus Bitte stellen Sie sicher dass sich keine Personen im Gefahrenbereich aufhalten und durch diese Bewegung keine Besch digung der Anlage oder Maschine z B durch mechanische Endlage auftreten kann wollen Sie fortfahren Figure 59 The control parameters are now deter
37. ic measuring type system with reference track power supply V 5 10 mean current input mA 65 Number of poles 200 Table 8 6 2 Requirements for the power and sensor cables cable type e power sensor max cable diameterimm Im eege Im In Table 9 04 STM 560V en 2010 12 10 SW 23 SCHUNK e Technical Data 6 3 Brake NOTICE This is not a service brake Its use as a safety component is not permitted The brake merely serves to support the standstill torque Contact surface between brake pad and rotor Pre loaded brake piston with brake pad Table 10 Legend to Figure 4 6 3 1 Technical data for brake valve MV15 Figure 4 Valve assembly Reference value Values o l Filtered compressed air oiled or dry Permissible medium l l Compressed air purity classes ISO 8573 1744 Nominal flow rate at 6 bar 45 NI min P 1 1 Voltage 24V 10 5 Operating pressure range bar Table 11 Technical data for brake valve MV15 24 04 STM 560V en 2010 12 10 SW SCHUNK e 6 3 2 6 3 3 6 3 4 Technical Data gt The additional technical data presented in the data sheet for valve MV15 must also be observed Note If there is a low level signal from the controller pending on the valve the electrooneumatic brake valve is closed In this state the brake is active lf there is a high level signal from the controller pending on the valve the electropneumatic brake valve is opened In thi
38. ift operation e Observation of the maintenance intervals see chapter 11 page 63 e Observation of the ambient conditions and operating conditions see chapter 2 2 page 9 Also observe our general terms of business The warranty does not cover the following e Damage occurring as a result of incorrect operation e Claims under warranty are excluded when repair or intervention is carried out by persons not authorized to do so e f accessories are used which are not designed for the module 4 Scope of delivery The scope of delivery includes e Electrical Rotary Module Type STM in the version ordered e an exemplar of the Assembly and Operating manual incl a translation of the EC declaration of conformity in accordance with the low voltage directive The following accessories are required for the module e Cable set power sensor cables The following accessories are available for the module e Converter Bosch IndraDrive C HSCO2 or Siemens Sinamics 120 CU310 DP gt Order accessories separately gt For additional accessories see catalog or www schunk com 04 STM 560V en 2010 12 10 SW 15 SCHUNK e Description of the module 5 Description of the module 5 1 STM torque motor 5 1 1 Design and description of the STM Basic carrier fixed 5 Plug connection Rotor moving 6 Plug sensor cable Bearing flange 7 Plug power cable Sealing flange Figure 1 Components Overview The STM is a c
39. ing endlessly positioning accuracy S 0 02 1 Distribution of the end positions of 100 successive motions When approaching from the same direction measuring system Incremental PP rating permissible operating mode S1 continuous operation Applies only if the preconditions in chapter7 1 page 26 are fulfilled Otherwise S6 continuous mode with intermittent load is the permitted operating mode Electrical connection required cable cross sections and number of wire strands power mm 3x1 grounding mm 1x1 shaft encoder mm 8x 0 25 temperature sensor mm 2x 0 25 specifications for the integrated motor 04 STM 560V en 2010 12 10 SW 19 SCHUNK e Technical Data temperature sensor type max permissible operating temperature C F insulation class output shaft power Pn kw intermediate circuit voltage Uz V rated torque M Nm rated current I A peak current Imax A torque constant K Nm A rated speed n rpm max speed Nmax rpm winding resistance phase phase Rz Ohm winding inductivity phase phase L gt MH electrical time constant T ms numbers of pole pairings N Specifications for the integrated measuring system 1V Sin Cos Signal analog magnetic measuring Type yP system with reference track power supply V mean current input mA Number of poles Table 6 6 1 2 Technical Data STM170 Note All the technical data shown in the chart r
40. lt Diagnose Extras Fenster Hilfe sl ai ASS oc ee ako a i ge Be EI om om Startbild 8 Projektexplorer 3 E IndraworksProject_001 za Bo Indradrive 2 Default gt Leistungsversorgung a e 4 Fiihrungskommunikation G Motor Bremse Messsysteme B Wichtung Mechanik i Leeres Projekt erzeugen O Grenzwerte G Antriebsregelung N G Betriebsarten Antrieb Halt G Fehlerreaktion Zuletzt ge ffnete Projekte G Antriebsintegrierte Sicherheitstechnik gt Messtaster O Optimierung Inbetriebnahme HE Lokale 1 0 ffnen Sie ein vorhandenes Projekt oder erzeugen Neues Projekt Ger te suchen RI RR RI RR RR CG Figure 13 9 Import the parameter file supplied on the SCHUNK DVD Pl IndraWorks Engineering Startbild Datei Bearbeiten Ansicht Projekt Indradrive Diagnose Extras Fenster Hilfe Gl ai A BD oo e 3 De elo om om m SR Projektexplorer i Xx 3 E IndraworksProject_001 S Be e Ki A Offline schalten ffnen Sie ein vorhandenes Proje eis S ge Ac A Offline Parametrierung starten Startbild Offline Parametrierung aktualisieren d i 9 Neues Projekt Funktionspakete ol Leeres Projekt erzeugen Firmware Verwaltung El Parametergruppe JX L schen Entf Exportieren KJ Umbenennen ir Importieren JE Eigenschaften MMC Einstellungen OH Loka Betriebsdaten f r MMC erstellen Figure 14 10 Open and start the Easy Start Up mode El IndraWorks Engineering E
41. mined automatically In the first two steps the mechanism is measured in the upper and lower frequency ranges 3 Acknowledge the subsequent warning Automatische Reglereinstellung A Vorsicht beim Benutzen der Messfunktion F r diese Messung wird der Antrieb stromgeregelt betrieben Beim Durchf hren der Messung f hrt der Antrieb entsprechend der Parametrierung der Messfunktion z B Offset Amplitude Messzeit bei nicht festgebremsten Achsen eine Bewegung aus Bitte stellen Sie sicher dass sich keine Personen im Gefahrenbereich aufhalten und durch diese Bewegung keine Besch digung der Anlage oder Maschine LG B durch mechanische Endlage auftreten kann Sorgen Sie daf r dass h ngende Achsen festgebremst sind Falls eine Motorhaltebremse am Antrieb angeschlossen ist wird diese automatisch angesteuert Ansonsten sorgen Sie bitte bei bei h ngenden Achsen durch zus tzliche Ma nahmen f r eine mechanische Blockierung Wollen Sie fortfahren L p gt Figure 60 58 04 STM 560V en 2010 12 10 SW SCHUNK e Control parameters 4 Click on Accept eS TIET Eas FIZ Ld i 1999 000 0 700 1999 000 0 700 eg Fiter Tiefpase PT2 1 1999 000 0 700 1999 000 0 700 PT2 1 Tiefpass PT2 1 E ptimierte Einstellungen 0 700 eb bernehmen 7 1999 000 0 700 bernahme Adapteri PROFIBUS Figure 61 5 Finally acknowledge this acceptance so that the new parameters can be transmitted to the co
42. ndards Emission standard for industrial environments IEC 61000 6 4 2006 EN ISO 9409 1 2004 Manipulating industrial robots Mechanical interfaces Part 1 Plates ISO 9409 1 2004 German version EN ISO 9409 1 2004 The following national or international standards or parts clauses contained therein and specifications were applied The last two digits of the year in which the CE marking was attached are 10 CZ Location date signature Lauffen October 2010 p p Title of the signatory Director for Development 70 04 STM 560V en 2010 12 10 SW SCHUNK e 15 D i om GERMANY HEAD OFFICE SCHUNK GmbH amp Co KG Spann und Greiftechnik Bahnhofstrasse 106 134 D Lauffen Neckar Tel 49 7133 103 0 Fax 49 7133 103 2399 info de schunk com www schunk com AUSTRIA SCHUNK Intec GmbH Holzbauernstr 20 4050 Traun Tel 43 7229 65770 0 Fax 43 7229 65770 14 info at schunk com www at schunk com i BELGIUM LUXEMBOURG SCHUNK Intec N V S A Bedrijvencentrum Regio Aalst Industrielaan 4 Zuid III 9320 Aalst Erembodegem Tel 32 53 853504 Fax 32 53 836022 info be schunk com www be schunk com Contact CANADA SCHUNK Intec Corp 190 Britannia Road East Units 23 24 Mississauga ON L4Z 1W6 Tel 1 905 712 2200 Fax 1 905 712 2210 info ca schunk com www ca schunk com CHINA SCHUNK Intec Precision Machinery Trading Shanghai Co Ltd Xinzhuang Industrial Park 479 Chundo
43. ng Road Minhang District Shanghai 201108 Tel 86 21 51760266 Fax 86 21 51 760267 info cn schunk com www cn schunk com CZECH REPUBLIC SCHUNK Intec s r o Drazni 7 627 00 Brno Tel 420 545 229 095 Fax 420 545 220 508 info cz schunk com www cz schunk com 04 STM 560V en 2010 12 10 SW DENMARK SCHUNK Intec A S Storhaven 7 7100 Vejle Tel 45 43601339 Fax 45 43601492 info dk schunk com www dk schunk com FRANCE SCHUNK Intec SARL Parc d Activites des Trois Noyers 15 Avenue James de Rothschild Ferrieres en Brie 77614 Marne la Vall e Cedex 3 Tel 33 1 64 66 38 24 Fax 33 1 64 66 38 23 info fr schunk com www fr schunk com GREAT BRITAIN IRELAND SCHUNK Intec Ltd Cromwell Business Centre 10 Howard Way Interchange Park Newport Pagnell MK16 9QS Tel 44 1908 611127 Fax 44 1908 615525 info gb schunk com www gb schunk com sl E AIS Contact HUNGARY SCHUNK Intec Kft Sz chenyi t 70 3530 Miskolc Tel 36 46 50900 7 Fax 36 46 50900 6 info hu schunk com www hu schunk com INDIA SCHUNK Intec India Private Ltd 80 B Yeswanthpur Industrial Suburbs Bangalore 560 022 Tel 91 80 40538999 Fax 91 80 41277363 info in schunk com www in schunk com ITALY SCHUNK Intec S r l Via Barozzo 22075 Lurate Caccivio CO Tel 39 031 4951311 Fax 39 031 4951301 info it schunk com www it schunk com 71 Contact JAPAN SCHUNK Intec K K 45 28 3 Chome
44. ngefroren HL TE BOP Betriebsanzeige Auswahl Pa 2 BOP Betriebsanzeige Modus pooos 4 ER PO005 4 Antrieb Inbetriebnahme Parameterfi Bereit mn Bereit 0 BOP Benutzerdefinierte Liste Makro Antriebsobjekt Drehzahisollwert gegl ttet 0 0 CO Drehzahlistwert gegl ttet 0 0 Drehzahlistwert 1 min gegl ttet 0 0 Ausgangsfrequenz geglattet 0 0 CO Ausgangsspannung gegl ttet 0 0 CO Zwischenkreisspannung gegl 0 0 CO Stromistwert Betrag gegl ttet om Aussteuergrad gegl ttet 00 Stromistwert feldbildend gegl ttet 0 00 Stromistwert momentenbildend geg 0 00 Drehmomentistwert gegl ttet 0 00 Co Wirkleistungsistwert gegl ttet 0 00 Momentenausnutzung gegl ttet 0 0 op CO Motortemperatur op 0 0 Leistungsteil berlast D 0 0 op i Leistungsteil Temperaturen Maxim 0 o Gl ttungszeitkonstante Anzeigewe 1 00 1 00 Lal COBO Fehlende Freigaben FE FIFFFH FE FIFFFH Status Identifikationen PollD Messung Stufe 2 6 Pot Messung Stufe 2 6 n ee ee v Werteliste in Skript konvertieren Schlie en Hilfe Figure 46 15 Double click on the drive and select Configure DDS Ei Projekt Bearbeiten Zielsystem Ansicht Extras Fenster Hilfe Deals el Jl 83 ei ES Inebtriebnahme Vv ea Antriebsdatensatz DDS 0 D Konfigurieren DDS Hir Einzelantriebsgerat einf gen e ffl SINAMICS_S120_CU310_DP en BES CDS Hir gt Ube
45. ning movement Referencing 1 Go to the following location Motor gt Motor encoder gt Motor encoder dimensional reference Achse 2 Default F hrungskommunikation E Motor Bremse Mezssysteme P Motor P Motor Temperatur Bremse he Motorgeber Kb Einstellungen Motorgeber bk Ha bezug Motorgeber ey Optionaler Geber p Fositionsschaltpunkt I Wichtung d Mechanik 3 Grenzwerte 5 Antriebsregelung 3 Betriebsarten Antrieb Halt LC Fehlerreaktion 9 Antriebsintegrierte Sicherheitstechnik bk Messtaster LC Optimierung Inbetriebnahme p Easy Startup Modus Sollwertbox Kb Antiebsintegrerter Sollwertgenere P Automatische Einstellung der Ach p Frequenzganganalese 9 Lokale 1 0 Figure 20 2 Select the referencing type Select the Drive guided referencing field to start the reference movement 40 04 STM 560V en 2010 12 10 SW SCHUNK e Start up Ha bezug Motorgeber Achse 2 D efaut Achse 2 Default s E Anfahrmchtung Lage Rechtsdrehung f R Lageistwert 0 1169 Grad Linkedrehung SG S Referenzmal 0 0000 Grad Auswertung von Referenzfahren _ Referenzmarke Nullimpuls Geschwindigkeit 20 0000 U min Beschleunigung 50 000 rad s Endschalter als Nullechalter SEET E 100 00 E Referenzschalter Festanschlag als Mullschalter Fositionierferister 0 1000 Grad Hocken verschoben um mm Referenzschalter Offset omg Kuckgrenzwert bipolar 10000 000 Lade Am
46. nsicht Projekt Indradrive Diagnose Extras Fenster Hilfe Satan aan nn A PM om 2 1 Projektexplorer e H Ep IndraworksProject_001 e Be Indradrive 2 Default Achse 2 Default Asp gt Leistungsversorgung 2 Achse 2 Default Achsstatus A0012 Steuer und Leistungsteil betriebsbereit i Startbild Easy Startup Modus Achse 2 Defaut 1 fH Fuhrungskommunikation s S C o i A 140 831832 e Meer Bremse Messa Bedienung Easy Startup Modus ber 1 0 Konfiguration H Wichtung Mechanik serielle Schnittstelle Antriebsfreigabe HE Grenzwerte O digitale Eing nge positive Drehrichtung CQ Antriebsregelung C Automatische 1 0 Konfiguration HE Betriebsarten Antrieb Halt z Fehlerreaktion Status Stop Easy StartupModus H O Antriebsintegrierte Sicherheitstechnik ee Easy Startup Modus aktiv gt Messtaster Freigab amp Optimierung Inbetriebnahme Geschwindigkeits Istwert 0 0732 U min Easy Startup Modus Aktiver Lageistwert 0 0000 Grad gt Sollwertbox gt Antriebsintegrierter Sollwertgenerator Tippen Sollwertvorgabe Motorpotentiometer gt Automatische Einstellung der Achsregelur p Frequenzganganalyse Aktiver Sollwert 0 0000 U min HE Lokale 1 0 negative Drehrichtung Tippgeschwindigkeit 230 0000 U min Tippgeschwindigkeit 30 0000 U min Figure 16 12 Read the warning attentively and acknowledge it by clicking OK Gefahrbringende Bewegungen WARN
47. nverter Drehzahlreglereinstellungen in STM210 bernehmen ITRC 26801 A Sollen die ermittelten Reglereinstellungen in den Antrieb Ubernommen werden Die Reglereinstellungen wurden fur folgende Antriebskonfiguration ermittelt DDS 0OMDS DEDS 0 Bitte beachten Sie dass nach der Ubernahme die Einstellungen noch nicht ausfallsicher auf der CF Karte des ntriebsger tes oder im PG gespeichert sind Bei Bedarf f hren Sie dazu bitte noch folgende Aktionen durch 1 Steuerhoheit abgeben 2 RAM nach ROM kopieren 3 Laden in PG 4 Projekt speichern Nein Hilfe Figure 62 The motor can now be operated with the new parameters Note The Siemens auto tuning process selects a fairly hard converter setting which can result in high noise emissions To reduce the noise emission it is recommended that the gain KP of the speed controller to reduce by 30 50 04 STM 560V en 2010 12 10 SW 59 SCHUNK e Troubleshooting 10 Troubleshooting 10 1 SCHUNK torque motor STM 10 1 1 STM is not turning Possible cause Corrective action gt Check the supply lines for defects Interruption in the supply lines Check the electrical connections see chapter 7 2 page 29 Check the converter settings No motion release i see manual pertaining to the converter Check whether there is voltage at the converter s output If there is no voltage Converter is defective a Check the connection pin assignment see chapter
48. ompletely mounted permanently excited synchronous motor in a cylindrical housing with a center bore The STM has an integrated measuring system A temperature sensor is integrated in the motor winding Torque motor The STM belongs to the category of torque motors The typical characteristics of a torque motor are its high torque low speeds and a strong rigidity Area of application The STM is used typically for rotating and pivoting of large masses The center bore can be used as a media feed through Operating modes The STM must be operated using a controller The following operating modes can be set e Torque controlled e Speed controlled e Position controlled 16 04 STM 560V en 2010 12 10 SW SCHUNK e Description of the module 5 1 2 Mechanical interfaces Maintenance free The STM is mounted on a single Franke bearing This bearing is lubrication lubricated via one time grease lubrication Under normal operating conditions lubrication for 20 000 operating hours is sufficient see Maintenance in chapter 11 page 63 The mechanical interfaces are shown on the drawing in chapter 13 page 6 7 5 1 3 Electrical interface UVW PE Encoder Temp Supply Encoder voltage Encoder i l l system Encoder l STM plug connection STM basic carrier Temperature sensor KTY 84 Figure 2 STM schematic diagram An incremental encoder TTL signals is installed as position feedback unit In order to protect agains
49. orhaltebremse Geber 1 Ma system m Mechanik Geber Name STM135 Prozessdatenaustausc Cusammentassung Geberauswertung Integrierte Geberauswertung Gebertyp Codenummer Geber identifizieren 10000 a Details lt Zur ck Abbrechen Hilfe Figure 40 8 Adopt free telegram configuration with BICO Konfiguration SINAMICS_ 120_CU310_DP Prozessdatenaustausch PROFIBUS A Antriebseigenschaften Antrieb ntrieb_1 DDS 0 Regelungsstruktur Leistungsteil Wahlen Sie den PROFIdrive T elegrammtyp aus Leistungsteil Zusatzdat Moto A son ef geg daags PROF Idrive Telegramm Freie Telegrammprojektierung 7 MOLSTTISKEDIEINSE Geber Ma system Mechanik Zusammenfassung d Ausgangsdaten Sollwerte worte Hinweise 1 Die PROF drive Prozessdaten werden entsprechend dem gew hlten Telegrammtyp auf BiCo Parameter verschaltet Diese BiCo Parameter k nnen nicht nachtr glich ver ndert werden Diese Daten betreffen das Interface 1 gem den Einstellunken an der Regelungsbaugruppe lt Zur ck Abbrechen Hie Figure 41 04 STM 560V en 2010 12 10 SW SCHUNK e Start up 9 Finish Motorhaltebremse Motorhaltebremse nicht vorhanden Geber Name Geber 1 STM135 Bestell Nr Geber Gebertyp Geber 1 Geber identifizieren Ma system Gebersystem f r die Lageregelung STM135 Ma einheit LU
50. otective equipment has been fitted and is in full working order Check the module at least once per shift for externally visible damage and faults gt Report any changes including changes in operational behaviour to the responsible place persons immediately If necessary immediately shut down and lock out the machine system Behaviour in the event of faults or emergencies If faults on the module occur which could impair safety or if the operational performance indicates the occurrence of a fault Shut down the machine system immediately lock it and report the fault to the responsible place persons gt Faults may be eliminated by trained and authorized personnel only Only restart the machine system when the cause of the fault has been eliminated 04 STM 560V en 2010 12 10 SW SCHUNK e 2 5 5 Basic safety notes Notes on particular risks Risk of injury from objects falling and being ejected gt Provide protective equipment to prevent objects from falling or being ejected such as processed workpieces tools chips fragments rejects gt Adapt the operating conditions e g reduce the velocity Risk of injury when the machine system moves unexpectedly Do not move parts by hand when the energy supply is connected gt Do not reach into the open mechanism or the movement area of the module Remove the energy supplies before installation modification maintenance or adjustment work
51. re that the basic carrier is aligned correctly in the machine see Figure 5 page 27 gt Align the zero point markings of the rotor and the base body so that they are at right angles on top of each other 26 04 STM 560V en 2010 12 10 SW SCHUNK e Assembly gt Select the position of the STM in the machine so that the zero pulse is in the middle of the moving range Figure 5 Zero pulse alignment item Description 1 Zero point markings on rotor and base body 2 Maximum possible moving range Table 1 Assembly y The interfaces to the attachments are clean and not damaged The module is mounted to the machine via the corresponding interface Six fastening screws are required for each fastening side see Figure 6 page 28 Note All dimensions of the drawings can be taken from our internet site under CAD data service 04 STM 560V en 2010 12 10 SW 27 SCHUNK e Assembly 1 Fastening screws M10 3 Centering pin D5 H7 2 Centering pin D12 H7 4 Fastening screws M12 Figure 6 View of the assembly of the adapter plates on rotor and basic 28 04 STM 560V en 2010 12 10 SW SCHUNK e 7 2 Electrical connection STM Assembly Electrical connection Risk of fatal injuries due to electric shock Switch off power supply Disconnect the controller from the power supply The intermediate circuit capacitors must be discharged Observe the sequence when connecting the cables grounding
52. rsicht i hr Konfiguration Antriebsdatens tze Befehlsdatens tze Einheiten Bezugsgr en Einstellung Sperrliste Topologie H E Control_Unit Name ntrieb_1 Antriebsobjekte Typ Ein Ausgabe Komponenten Antriebsobjekt Nr gt Antrieb einf gen Antrieb_1 DCC Plan einf gen ME Drive Navigator a Antrieb_1 Leistungsteil Leistungsteil Antrieb_1 STM135 gt Technologie PR Komponentennummer 2 Komponentennum gt Steuerung Regelung Leistungsteiladapter 6SL3040 0L400 04 Geberauswertung gt Funktionen 4 u Bestell Nr 6SL3210 1SE14 1Uxx BestellNr gt Kommunikation e Leistungsteil Bemessungsstrom 4 50 Aeff l Diagnose Regelungsart PROFIdrive Telegramm F F Leistungsteil Typ Power Module T yp el FF Er Leistungsteil B emessungsleistung 1 50 kw Aktuelle Betriebswerte Leistungsteil Gebertyp Sree Bestell Nr Aufloesung Antrieb_1 5TM135 Motor Motordaten Geberdatensatz N Motortyp Synchronmotor rotatorisch permanenterregt 2 Fiir den Mater lienen keine istendaten war Figure 47 16 Perform the settings described in steps 2 and 3 again 17 At step 4 select Enter motor data Proceed by confirming each window without making any adjustments 04 STM 560V en 2010 12 10 SW SCHUNK e Connecting with the controller going online Start up Konfiguration SINAMICS_ 120_CU310_DP Motor Regelungsstruk
53. s of business Including notes on the warranty see www schunk com Table 2 04 STM 560V en 2010 12 10 SW 7 SCHUNK e About this manual 1 4 Symbols in this manual To give you quick access to information the following symbols will be used in this guide Dangers for persons Nonobservance causes death or serious injuries Dangers for persons Nonobservance can cause death or serious injuries Prerequisite for a handling instruction Handling instruction also measures in a warning or note 1 Step by step handling instruction Observe the order Component spare part represented in a graphic Reference in the text or in a handling instruction to a part that is represented in a graphic Table 3 2 Op ge 1 5 Terms used in this manual Controller Frequency converter controller AC converter servo converter control system Table 4 8 04 STM 560V en 2010 12 10 SW SCHUNK e 2 1 2 2 04 STM 560V en 2010 12 10 SW Basic safety notes Basic safety notes Intended use The STM was designed to rotate loads workpieces and objects The STM may only be operated in combination with a controller The module is intended for installation in a machine The requirements of the applicable guidelines must be observed and complied with The module may be used only in the context of its defined application parameters To use this module as intended it is also essential to comply with the manufactur
54. s state the brake is inactive Connection to Bosch IndraDrive Terminal Cable color brake valve X6 3 24V red X6 4 OV black Table 12 IndraDrive C connection Connection to Siemens Safe Brake Relay Terminal Cable color brake valve BR 24V red ESO Table 13 Sinamics CU310DP connection Holding brake moment Motor type Holding brake moment Nm Table 14 Holding brake moment 04 STM 560V en 2010 12 10 SW 25 SCHUNK e Assembly 7 Assembly 7 1 Mechanical connection Risk of injury when the machine system moves unexpectedly gt Switch off power supply NOTICE Malfunctions due to mechanical stress in the housing possible gt Observe the requirements for the evenness of the mounting surface Check the The values relate to the entire bolting surface evenness of the diameter mm Permissible unevenness mm bolting surface Table 15 Requirements for levelness of the bolting surface Preconditions Depending on the load the STM develops a very large heat quantity that needs to be dissipated Mount the motor on heat conducting materials To achieve the IP protection class 40 gt Design the connection structure so that no chips cooling water or dirt can enter the STM s connection area from the working area Note If the unit has to be referenced via the measuring system s index track and if the moving range is limited when the STM is installed make su
55. ssung Kommunikation a gt gt Diagnose ns ollwertvorgabe D D D 1 ge smn 0 nal mx 200 imh Freigaben vorhanden 31 Einschaltbereit EIN AUS1 0 1 setzen p0840 Ausgangsfrequenz gegl ttet Diagnose Soll Ist Drehzahl oo 00 1min oe AUS Freigabe AUS2 Freigabe CO Ausgangsspannung gegl ttet E AUS3 Freigabe CO Ausgangsspannung gegl ttet he Betrieb freigeben 0 0 Verf Hochlaufgeber Freigabe Hochlaufgeber Start Sollwert Freigabe Dr cken Sie F1 um Hilfe zu erhalten Figure 53 Note With respect to the use of other functions gt Refer to the manual pertaining to the Siemens Sinamics 8120 series or contact the Siemens support team 04 STM 560V en 2010 12 10 SW 95 Control parameters 9 9 1 Basic setting Setting the velocity controller Setting the position controller Setting the current control 96 SCHUNK e Control parameters Bosch IndraDrive C HCSQ2 series Set position controller to gt Kp 0 5 Set velocity controller to gt Kp 1 Tn 0 Set current control to gt Kp 30 Tn 3 Set filter for soeed control circuit gt Speed controller smoothing time constant 0 In velocity mode run the motor at a constant velocity of 15 rpm Increase the Kp incrementally by 0 5 until the motor begins to vibrate Reduce the vibrations by increasing the speed controller smoothing time constant If this is not possible Set the sp
56. t impermissible operating conditions the temperature sensor can be used to control the temperature in the windings This data can be evaluated by the converter 04 STM 560V en 2010 12 10 SW 17 SCHUNK e Description of the module 5 1 4 Type key and nameplate Order designation STMxxx xxx S X xx Size STM210 d 210 mm STM170 d 170 mm STM135 d 135 mm voltage 560 560 V rated motor voltage cable version S with plug connection for power component and encoder cable brake N without brake B with brake IP protection class 40 IP40 protection class The nameplate is attached to one of the broad sides of the module Designation Specification manufacturer SCHUNK GmbH amp Co KG type model protection STM210 560 S N 40 class vm voltage Us ver Table 5 Data on the nameplate example STM210 18 04 STM 560V en 2010 12 10 SW SCHUNK e Technical Data D Technical Data 6 1 Technical Data des STM Further technical data can be found in our catalog The most recent version applies 6 1 1 Technical Data STM135 Note All the technical data shown in the chart refer to the indicated heat conducting surface wooo Co Heat conducting surface mm 2 7 135x 63 15 ambient temperature C F min 5 41 max 55 131 mass moment of inertia of rotating parts kg m 0 001431 max mass moment of inertia kg m7 0 05 rotation range gt 360 turn
57. tart up Starter Projektassistent IL 2 Si 4 Einf hrung Neues Projekt PG PC Antriebs Zusammen erstellen Schnittstelle ger te fassung einstellen einf gen Legen Sie die Online Verbindung zum Antriebsger t fest Eingestellte Schnittstelle PC Adapter PROFIBUS Ander und testen lt Zur ck were Abbrechen Figure 31 5 Select and integrate the drive unit The bus address is dependent on the converter Starter Projektassistent ile a 3 4 Einf hrung Neues Projekt PG PC Antriebs Zusammen erstellen Schnittstelle gerate fassung einstellen einf gen Geben Sie bitte die Antriebsgeratedaten ein Vorschau Antriebsger t Inebtriebnahme Ger t Sinamics D fla SINAMICS_5120_CU310_DFP Typ DEI CU310 DP D Version A Dn v Busadresse 125 v E Name SINAMICS_S1 20_CU310_ Sinamics Tutorial lt Zur ck Weiter gt Abbrechen Figure 32 6 Finish project Starter Projektassistent ile 2 al 4 Einf hrung Neues Projekt PG PC Antriebs Zusammen erstellen Schnittstelle ger te fassung einstellen einf gen Es wurden folgende Einstellungen gew hlt Projektname Inebtriebnahme Speicherort D Siemens S s proj Schnittstelle PC Adapter PROFIBUS Antriebsgerate SINAMICS_S120_CU310_DP SINAMICS_S120 CU31C gt lt Zur ck Fertigstellen Abbrechen Figure 33 46 04 STM 560V en 2010 12 10 SW SCHUNK e Start up Parameterizing the 1
58. tic measuring We system with reference track power supply V 5 10 mean current input mA 65 Number of poles 200 Table 7 on 04 STM 560V en 2010 12 10 SW 2 3 SCHUNK e Technical Data 6 1 3 Technical Data STM210 Note All the technical data shown in the chart refer to the indicated heat conducting surface CE cenere inm fm ambient temperature C F min 5 41 55 131 max mass moment of inertia of rotating parts kg m7 0 011278 max mass moment of inertia kg m7 0 39472 rotation range gt 360 turning endlessly positioning accuracy 0 02 Pan 9 Applies only if the preconditions in chapter 7 1 page 26 are fulfilled Otherwise S6 continuous mode with intermittent load is the permitted operating mode Electrical connection required cable cross sections and number of wire strands max permissible operating temperate FCCP 880185 output shaft power P kw 0 92 intermediate circuit voltage Uz V 560 22 04 STM 560V en 2010 12 10 SW SCHUNK e Technical Data rated torque M Nm rated current I A 10 1 8 x 6 00 Be D torque constant K Nm A Type STM210 560V 4 rated speed n rom winding resistance phase phase Rz Ohm winding inductivity phase phase L gt MH electrical time constant T ms numbers of pole pairings N Specifications for the integrated measuring system 1V Sin Cos Signal analog magnet
59. tur Antrieb ntrieb_1 DDS 0 MDS 0 Leistungsteil Leistungsteil Zusatzdat Konfigurieren Sie den Motor Motor Name STM135 Motorhaltebremse Geber C Motor mit DRIVE CLIQ Schnittstelle P M ec h anik C Standardmotor aus Liste ausw hlen Prozessdatenaustausc Aa system Zusammenfassung Motortyp Synchronmotor rotatorisch permanenterreat e lt Zur ck Abbrechen Hie Figure 48 1 Copy the data from the PC PG to the converter target device Online Offline Yergleich Die konfiguration von SINAMICS S120 CUS1O_DP DYCUSIODP online unterscheidet sich vom offline gespeicherten Projekt Folgende Unterschiede wurden erkannt Topologie online Topologie Projekt Po GER corr Uh IE IE Werden diese Unterschiede nicht abgeglichen so kann de Online Darstellung unvallstandig sein lt Laden ins Zielgerat Oberschreiben der Daten im Zielger t Laden ins PG gt berschreiben der Daten im Projekt Abgleich durch SINAMILS_ST20_CUSI0_DF Schlie en Hilfe Figure 49 2 Copy the data from RAM to ROM see arrows 04 STM 560V en 2010 12 10 SW 53 D SCHUNK e Laden ins Zielgerat WWB5 41702 Figure 50 3 Following the copy procedure select Control panel under Start up FR STARTER STMXXX S MXXX 9 Einzelantriebsger t einf gen 7 el SINAMICS_5120_CUS10_DP EI Automatische Konfiguration gt gt ber i fi ie EE Control_Unit
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