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JetMove 108

1. Baud rate Max cable Max tap line Max overall tap length length line length 1 MBaud 30m 0 3m 3m 500 kBaud 100 m 1m 39 m 250 kBaud 200 m 3m 78 m 125 kBaud 200 m System Bus Cable of Cable Confection 0530 Shield Shi Shi BUS OUT Connect shield with the greatest possible surface area Use metallized housing only Pin Signal Pin CMODEO CL GND CMODE1 TERM Unassigned CH Unassigned OO OI NI OO PP OJN OO OI NI oO OJN Do not connect Jetter AG 83 7 Description of Connections 84 Jetter AG JetMove 108 8 Status Monitoring The output stage LEDs indicate the operating status of the digital servo amplifier AA Y Jetter AG Jetter xx go 4 O Q w2 Type J M 1 08 Rev Part No 10000749 BALLAST Input Ratings Power Supply 1 24 48VDC 5 gt PE Current to 16A L Vmot Output Ratings Voltage 3 17 34VAC 0 400Hz a Vlog Motor Cu 3 8A 7 Enclosui IP20 C ax gt Ambient Temperature
2. N O Fig 5 Physical Dimensions JetMove 108 For more information on installation please also refer to Fig 3 on Page 21 Jetter AG 33 4 Physical Dimensions 34 Jetter AG JetMove 108 Jetter AG 5 1 Electrical Specification 5 Technical Specifications 5 1 Electrical Specification Electrical Specification Rated voltage supply e 24 48V DC 12 48 V DC Imax 27 5 A The voltage output has to comply with the power supply unit of the SELV or PELV type Inrush current limitation The JM 108 is equipped with an internal 200 uF capacitors for buffering The inrush current is not limited See Recommendations on the power supply circuit breaker Vmot on page 44 Supply cable Cable size 1 0 mm min Material Copper Temperature class gt 60 C Max output voltage of the motor 60 V Motor output current at an ambient temperature of 40 C Nominal current leg 8 A Peak current lo 16 A t lt 10s at T lt 40 C See Note 1 on page 37 Continuous output 384 W Short circuit protection motor side Designed for phase to phase e phase to 0 V or ground Motor overload protection See Motor Protection on page 38 Motor inductivity 125 uH min between any two motor lines Motor cable Cable size Material Capacity Temperature class Maximum length 4 0 75 mm min AWG 18 Copper lt 150 pF m gt 6
3. zZ im fi LE SE x62 x18 x19 lt U IN OUT BUS IN BUS OUT y AA 136 137 7 gt Fig 4 Mounting holes in the enclosure 22 Jetter AG JetMove 108 2 3 Jetter AG 2 3 Electrical Installation Electrical Installation Check the assignments of servo amplifier and motor Compare rated voltage and continuous rated current of servo amplifier and motor The motor must be isolated against voltages of DC 100 V min also refer to Compatible Synchronous Servo Motors on page 37 Connect the JetMove 108 according to the wiring diagram shown in chapter 10 Wiring Diagrams page 91 Especially check the mains lines for appropriate protection see Page 92 Protecting the motor cables is not advisable Select the cables according to standards Check whether the ground cable is connected To connect resolvers or power units you can use prefabricated cables available from Jetter or opt for self made cables Please refer to chapter 7 Description of Connections page 43 To ensure that installation is carried out in conformance with EMC regulations the following items have to be observed especially Please ground the 0 V line as closely to the motor power supply unit as possible If possible do not run the controller cable together with the power supply and motor cable Connect the position transducer Use shielded terminals or EMC compatible connectors Connect holding brake if avai
4. 0 40 C 32 104 F Made in Germany a E E W bt Q 28 a Ww I cc cc st x62 X18 X19 N 2 IN OUT BUS IN BUS OUT G N A LEDs 5 a OC ce 00 2006 Oo Cc D erer DAD ee o o O Leo o oj I CI H C l UNIK VUUUVUVUUU N7 VV UUUUUUUUU TT TT UUU UUU UY N Fig 25 Status monitoring LEDs at the JetMove 108 JetMove 108 LEDs LED Color State Description OS is Active AXARR Green Is lit Axis is standing still RPM 0 ERR Red Is lit An error has occurred The control unit of the servo amplifier is locked error can be acknowledged Boot Phase AXARR Green Off ERR Red Is litfor1s The OS is being checked OS Update AXARR Green Flashing The OS is being programmed ERR Red Is lit OS update is active Jetter AG 85 8 Status Monitoring _ Note N a A The ERR display of the output stage indicates the operating and fault conditions of the digital servo amplifier JetMove 108 The different fault conditions are displayed in Motion Setup in JetSym 86 Jetter AG JetMove 108 9 9 1 Diagnostics Error Messages 9 1 Error Messages _ Note N a The ERR display of the output stage indicates the operating and fault conditions of the digital servo amplifier JetMove 108 The different fault conditions are displayed in Motion Setup Error Message Table JetMove 108 Error Type of error Description Response to Troubleshooting number faults F 00 Ha
5. JK6 with brake Note The motor cable with the SC mating connector matching the Jetter motor series JH can be obtained from Jetter AG It is confectioned with the matching motor mating connector and can be ordered by the following order reference Without Brake KAY_0626_xxxx With Brake KAY_0624_xxxx Mating connector of the motor solder side solder side Fig 15 View on the SC series mating connector of the motor internal thread M23 Jetter AG JetMove 108 7 3 Servo Motor Cable Specification of the Motor Power Cable with Mating Connector SC for JetMove 108 For connection without motor holding brake Motor Power Cable KAY_0626_xxxx Terminals of the Shield Mating JetMove 108 connector of the motor female solder side 4 x 1 0 mm Shielded highly flexible 4 wire The wires Ale cable with PE cable solder side equipped with wire I end ferrules housing mating connector t wrap nui T seal and pull relief element shield case 360 round pe connection of the shield mesh Cai aaraa solder side A yoo 7 Connect both sides of the shield with the greatest possible surface area Use metallized housing only Pin Wire Number Signal Pin X1 U2 1 Phase 1 1 X1 V2 2 Phase 2 5 X1 W2 3 Phase 3 2 X1 PE Yellow gre
6. of the PLC or automatically at enable of the motor current 24 V DC Vigg 0 5 V Imax 0 5 A Contact Semiconductor switch NOC with integrated free wheeling diode and short circuit monitoring Connect this pin only to devices that are related to the same potential as the power supply of the controller logic Encoder supply X61 1 and 6 Encoder supply voltage 5 V DC 5 max 350 mA e Encoder supply voltage 24 V DC Vlog 0 5 V max 300 mA Resolver inputs e Resolver excitation 8 Vpp e Frequency 8 kHz Input impedance 30 KQ SinCos encoder inputs e 1 Vpp differential signals max frequency analog 450 kHz digital 5 MHz Input impedance 30 KQ 36 Jetter AG JetMove 108 Jetter AG 5 1 Electrical Specification Electrical Specification Incremental encoder inputs e 5V differential signals RS 422 or 5 V single ended max frequency 8 MHz min pulse duration 50 ns e Input impedance 15 KQ Analog input e 1 differential channel e 12 bit resolution e Voltage range 0 10 V e Value range 0 32767 in steps of 8 e Sampling interval 2ms Input impedance 20 KQ Power loss P Amplifier at rated output typically 24 W 36 W max e Logic circuit 6 W max Weight mating connectors 500g included Note 1 Cooling The overtemperature protection trips at 85 C The overtemperature alarm is activated at 80 C Compa
7. quick stop position Operating point capture or referencing lt 4V low without stop gt 14 V high is connected to the ground of the control system Jetter AG 81 7 Description of Connections 82 7 11 Jetter System Bus The JetMove 108 is interlinked with the controller additional JetMove amplifiers or Jetter peripheral modules by means of the Jetter system bus The system bus input BUS IN is a 9 pin male Sub D connector and the bus output BUS OUT is a 9 pin female Sub D connector 7 11 1 JETTER System Bus Cable Specification Specification of Connectors On the BUS OUT X19 side 9 pin male SUB D connector e Metallized enclosure On the BUS IN X18 side e 9 pin female SUB D connector e Metallized enclosure System Bus Cable Specification The following minimum requirements apply to the manufacture of the system bus cable System Bus Cable Technical Data Description Description Querschnitt Wire cross 1 MBaud 0 25 0 34 mm section 500 kBaud 0 34 0 50 mm 250 kBaud 0 34 0 60 mm 125 kBaud 0 50 0 60 mm Cable capacitance maximum 60 pF m Resistivity 1 MBaud maximum 70 Q km 500 kBaud maximum 60 Q km 250 kBaud maximum 60 Q km 125 kBaud maximum 60 Q km Number of cores 5 Shield Complete shielding no paired shielding Twisting Core pair CL and CH twisted Jetter AG 7 11 Jetter System Bus Allowed cable lengths
8. 3 Analog input Analog signal 0 10 V to pin 4 4 Analog input Reference of the analog not connected with signal 0 V of the motion system Jetter AG JetMove 108 7 10 Digital and Analog Inputs and Outputs 5 6 OV Ground 7 9 Reserved Do not use 10 OV Ground 11 Hardware At this input a high e DC 20 30 V enable for the signal is necessary for e Input resistance 3 power supply of power supply of the KOhm the motor motor This signal e Operating point input must have been lt 4 V low applied before carrying gt 14 V high out the software enable A low signal de energizes the motor immediately 12 Reference Depending on the e DC 20 30 V switch parameter setting this e Input resistance 3 input input is used for KOhm reference run Operating point lt 4V low gt 14 V high NC or NO contact 13 Positive limit Depending on the e DC20 30V switch input parameter setting this Input resistance 3 input is used as a KOhm positive limit switch e Operating point lt 4V low gt 14 V high NC or NO contact 14 Negative limit Depending on the e DC 20 30V switch input parameter setting this Input resistance 3 input is used as a KOhm negative limit switch e Operating point lt 4V low gt 14 V high NC or NO contact 15 Digital input Depending on the e DC 20 30 V parameter setting this Input resistance 3 input can be used for KOhm
9. PE VMOT VLOG 24 48V DC 24VDC ov Fig 10 X1 Supply Voltage 7 2 Power Supply JetMove 108 X1 Voltage Supply and Motor Connections x1 3 Phase Inverter v v Information on Current Connected with Enclosure Q 5 5 13 a l DSP Controller 51 7 Description of Connections 7 3 Servo Motor Specification of Terminal X1 Specification of the Motor Cable 8 pin screw clamping terminal type MC 1 5 8 ST 3 5 Diameter of the cable apt for connecting 0 14 1 5 mm 2 with bootlace ferrules and plastic sleeve 0 25 1 mm Bladed screw driver 0 4 x 2 5 mm Stud torque for the screw clamping terminal 0 22 Nm Cable size 4 1 00 mm Material Copper Temperature class 60 C Stripping length of cores 6 mm Cable shielding Braided copper shield of 80 coverage min Maximum cable length 25 m Motor connection Terminals X1 on the Signal Specification amplifier side U2 Motor phase 1 Motor cable V2 Motor phase 2 Motor cable W2 Motor phase 3 Motor cable BALLAST Ballast resistor An optional ballast resistor can be connected between this terminal and ground PE PE conductor The PE conductor is connected to the enclosure 52 Jetter AG JetMove 108 Jetter AG 7 3 Servo Motor JetMove 108 X1 Voltage Supply and Motor Connections x1 3 Phase Inverter v v Information on Current Ballast a ie ee Ret op
10. Wee pI Buyeos wuaundg e go _ b dn nl eudye Bi P uon93 3q Jual nd bi 18 044U0J P z lt le uL dy 0 43HPI YPN y NH ywan paads i 04U09 81d EIEI VHMWMd WMd 18 j011u09 bj Jsjjouog pasds J9 OUOD SOd uol99g 1 MOd H 1093A z THANMd HOW Md aoeds 10 e19U99 abeyjoN yJe D AU Yed Aul ul dy uw ul dy 1 Os Q O YN Joyb xew Pal joypaeds Sod p d pm4p ds p dl J0jeJ9US9 1ulodjss Controller Structure Ive Block Diagram of Dri Fig 6 41 Jetter AG 6 Drive Controller Structure Drive Controller Specification All servo amplifiers can be parameterized through the control program Description Remarks Motor control commutation Space vector modulation PWM frequency 16 kHz Current controller Cycle time 62 5 us Speed controller Cycle time 125 us Power supply adjustable Position feedback controller Cycle time 250 us Speed pre control adjustable Position setpoint generator Sine square and linear acceleration deceleration ramp Setpoint output cycle position feedback controller interpolation can be parameterized individually 2ms Position sensing Resolver Resolution Sampling interval Sine cosine encoder Resolution of absolute position Resolution of velocity
11. drives a motor This motor moves mechanic parts or sharp edges Therefore failure or malfunctioning of the digital servo amplifier JetMove 108 can be dangerous for persons or damage the Caution machinery This should be prevented by installing additional safety devices e One safety precaution is to install a second set of limit switches to interrupt the power supply of the motor Another safety precaution would be installing a guard Make sure that hazards to persons are precluded even when the drive is rotating unintentionally Do not remove any guards Do not wear gloves lest they could get caught in the rotating drive shaft Never touch a rotating drive shaft Warning N Do not touch the motor during or after operation si Temperatures can reach as high as 140 C 1 4 Instructions on EMC The digital servo amplifier JetMove 108 is intended for use in industrial environment It may cause radio interferences when used in residential areas It is operated at the operator s own risk The electromagnetic immunity of a system depends on the weakest component of the system For this reason correct wiring and shielding of cables is of paramount importance TS Important Measures for increasing EMC in electric plants Earth the device adequately according to chapter 1 2 3 Earthing procedure page 15 16 Jetter AG JetMove 108 D D 2 1 4 Instructions on EMC Connect the motor cable If applicable a
12. gt Between amplifier and power supply unit significant pulse like currents of short rise times are flowing In each supply cable there is an ohmic and an inductive component If the values are too high the efficiency of the power supply unit buffer is questionable Blocking capacitors will be thermally overloaded Peak voltages can lead to destruction of the controller board From this the following requirements to the supply cable result e Make sure the cross section is sufficient e decrease the inductance by twisting Install an external charging capacitor close to the JetMove 108 if the distance the between power supply unit and the JetMove 108 is greater than 20 m The charging capacitor must stand a high AC load Electrolytic capacitors meet this requirement For more information refer to Fig 9 gt In order to prevent EMI the O V potential that is close to the power supply unit for motor operation voltage should be connected to earth 7 1 1 Recommendations on the power supply circuit breaker Vmot If the Vmor power supply is energized abruptly the inrush current might reach a value high enough to destroy the servo amplifier We recommend to place the circuit breaker for the motor power supply at the INPUT of the power supply unit see Fig 8 and NOT at its output i e between power supply unit and servo amplifier This way the current limiting circuitry of the power supply is used to limit the inrush cur
13. on the speed a certain voltage is needed for reversing the polarity of the motor current This voltage is calculated as follows Where Continuous rated current in Ampere A Inductivity L per phase in Vs A Angular velocity in rad s The angular velocity of a stepper motor is min a 27 z REM 2nf 2n Zp Os P 369 V Where Pole pair number Zp 50 Speed n in RPM Angular velocity v in s 3 When the motor is rotating the influence of the EMF Electro Motive Force can be realized as well It is opposed to the operating voltage and decreases the effective voltage during power build up power build up which is speeded up by the EMF though Theoretically the motor can be driven to about the same speed which is needed for the vector sum U to just compensate the phase voltage Above this speed the motor cannot be driven any more Us Umer Fig 19 Addition of voltage in a synchronous machine 66 Jetter AG JetMove 108 Jetter AG 7 5 2 Phase Stepper Motor The maximum phase voltage is calculated out of the DC link voltage as follows V Us MOT 2 Thus the maximum speed depends on the operating voltage For this reason the operating voltage should in general amount to 48 V 7 5 2 Acceleration and deceleration If a stepper motor without actual position feedback is used exceeding the maximum possible torque of the motor must by all means be inhibited Therefore a
14. the ground potential of the Vioc power supply gt Accordingly do only connect encoders with the servo amplifier if they u have been sufficiently isolated from the connected mains and motor power supply Always carry out each commissioning even a short functional test with g correctly connected PE bus Jetter AG 25 2 Installing the JetMove 108 26 Jetter AG JetMove 108 Jetter AG Operating Conditions Operating Parameters Power Rating Parameter Value s Reference Standard Power rating Power section at X1 Vmot 24 48 V DC 12 48 V DC SELV or PELV Imax 27 5 A Logic section at X1 Vlog 24 V DC 12 40 V DC SELV or PELV Imax 200 mA at 24 V Fluctuations of Voltage dips power supply 3 ms max Operating Parameters Environment Parameter Value s Reference Standard Environmental Temperature DIN EN 50178 conditions 0 C to 40 C 40 C to 50 C Derating 2 5 K Air humidity 5 to 85 non condensing Make sure the control cabinet is being cooled sufficiently Storage conditions Temperature 25 C bis 55 C DIN EN 50178 units within maximum fluctuation 20 K h packing Air humidity 5 to 95 non condensing Maximum storage period lt 1 year without restrictions Transport Temperature 25 C to 70 C DIN EN 50178 conditions units Air humidity within packing 5 to 95 non condensing Polluti
15. 0 C maximum line length is 25 m for greater length please contact Jetter AG Ballast resistor An internal ballast resistor has not been installed If the DC link voltage increases too much at decelerating the motor install an external ballast resistor Residual voltage The DC link voltage is discharged within 10 seconds at switching off the device 35 5 Technical Specifications Electrical Specification Leakage current lt 0 1 mA at a cable length of 3 m The leakage current increases at increasing cable length The 0 V connection is connected to earth by a resistor of 400 kN and a capacitor of 75 nF Voltage supply of processor logics 24 VDC 12 40 V demands on power supply 250 mA at 24 V module Additonally 500 mA for digital output Additonally 300 mA for encoder supply at X61 e The voltage output has to comply with the power supply unit of the SELV or PELV type Inrush current limitation of the The JM 108 is equipped with an internal processor logics 200 uF capacitors for buffering The inrush current is not limited Enable1 2 e DC 24 V 14 32 V related to the reference switch REF controller potential positive limit switch Limit e Input current of 8 mA max each negative limit switch Limit e Refer to chapter 7 10 Digital and and Input Inp Analog Inputs and Outputs page 80 Brake circuit X62 2 Can be switched by the application program
16. 00 11 5 System Bus Cable Jetter system bus connecting cable Length 0 2m Cable confection 0530 0 2m Article 10309001 Length 0 5 m Cable confection 0530 0 5m Article 10309002 Length 1 0m Cable confection 0530 1 0m Article 10309003 Length 1 5m Cable confection 0530 1 5m Article 10309004 Length 2 0m Cable confection 0530 2 0m Article 10309006 Length 2 5m Cable confection 0530 2 5m Article 10309016 Length 3 0 m Cable confection 0530 3 0m Article 10309015 Length 4 0m Cable confection 0530 4 0m Article 10309007 Length 5 0 m Cable confection 0530 5 0m Article 10309008 Other lengths can be obtained on request 95 11 Ordering Information 96 Jetter AG JetMove 108 Appendix Appendix Jetter AG 97 Appendix 98 Jetter AG JetMove 108 Appendix Appendix A Recent revisions Original version Jetter AG 99 Appendix 100 Appendix B Glossary AC CE DC DIN DSP EU EC Low Voltage Directive Electro Magnetic Compatibility EMC EN ESD Hazard analysis Hardware enable HIPERFACE IEC IGBT Alternating Current Communaut s Europ enes European Union Direct Current Deutsches Institut fur Normung e V Digital Signal Processor European Union To be considered when using electric devices of a rated voltage between 50 and 1 000 V AC and between 75 and 1 500 V DC Definition according to the EMC regulations EMC is the ability of a device to funct
17. 1 e Motors e g synchronous servo motors of the Jetter motor series JL1 or JH2 DC power supply unit Ballast Resistor Note If you are not sure which mounting accessories you will need please contact Jetter AG 19 2 Installing the JetMove 108 2 2 Mechanical Installation gt Prior to installing the digital servo amplifier check it for possible i transport damages a Please check the shipment for completeness SS To ensure proper functioning of the JetMove 108 check whether the f mounting plate in the electric cabinet is unpainted gt The JetMove 108 has been designed for natural convection Mount the f JetMove in horizontal orientation label on top or vertical orientation motor line below In both cases make sure there is a clearance of 25 mm between the JetMove and adjacent devices see Fig 4 Page 22 Make sure there is a clearance of at least 25 mm under and above the f JetMove 108 unobstructed ventilation must be granted gt gt Mark on the panel two positions for the fastening screw threads of the JetMove 108 see Fig 4 Page 22 Drill the holes and cut the respective threads M4 into the panel Screw the lower fitting screws into the thread by approximately half of j their length By means of the oblong holes in the rear plate hang up the JetMove u 108 by the fitting screws then screw them down tightly Screw down the upper fitting screws 20 Jetter AG JetMove 10
18. 1 1 6 Disposal In case of obvious damage or erratic behaviour the servo amplifier must not be used any more When disposing of devices the local environmental regulations must be complied with You can disassemble the digital servo amplifier JetMove 108 into its main components by unscrewing it aluminum heat sink and side plate steel casing cover PCBs 13 1 Safety Instructions 1 2 Ensure Your Own Safety gt Isolate the digital servo amplifier JetMove 108 from the mains if i maintenance works have to be carried out By doing so you will prevent accidents resulting from electric voltage and moving parts Follow the information given in chapter 1 3 Residual Dangers page 15 gt Safety and protective devices e g guards must not in any case be Warning i shunted or by passed Prior to commissioning reattach dismantled protective equipment such as i guards and check them for proper functioning Prior to commissioning the machine manufacturer shall conduct a hazard l analysis for the machine and take appropriate measures to prevent personal injury and damage to property resulting from accidental movements 1 2 1 Malfunctions gt In the case of malfunctions or other faults immediately separate the f digital servo amplifier JetMove 108 from the mains Follow the information given in chapter 1 3 Residual Dangers page 15 S gt Immediately report any malfunctions or other damages to the responsible p
19. 108 Bus cable co from the pred station to the next station Lino sng 6LX X61 Encoder x1 Supply amp Motor REE SS oui 2 F Fig 26 Wiring diagram JetMove 108 See also chapter 7 Description of Connections page 43 91 10 Wiring Diagrams Key to the Wiring Diagram Motor Motor holding brake option If a motor holding brake is used an external free wheeling diode must be installed Ballast resistor Position encoder resolver or Sin Cos encoder N a o N a L N Contactor OV 24 V DC OV 48 V DC a A Vmot Vmot Vmot JetMove JetMove JetMove Vlog 108 Vlog 108 Vlog 108 OV OV OV OV Fig 27 Usage of short circuit breakers when several JetMove 108 are connected The short circuit breakers must be rated at the cross section of the installed cables 92 Jetter AG JetMove 108 Jetter AG 11 1 List of Documentation 11 Ordering Information 11 1 List of Documentation The documents listed below have been supplied on the website of Jetter AG at http www jetter de Support for download Programming jetmove_2xx_at_jetcontrol_bi_xxxx_user_information pdf Register description and parametering example Item 60866114 11 2 Device Designation Description Item JM 108 Digital Servo Amplifier 10000749 Replacementformotor 8 pin ma
20. 7 8 1 7 9 7 9 1 7 10 7 11 7 11 1 8 9 9 1 9 2 10 11 11 1 11 2 11 3 11 4 11 5 Pre fabricated motor cable with SC mating connector Motor Cable Permanently Fixed to the Motor Brush Type DC Motor 2 Phase Stepper Motor Stepper motor control Acceleration and deceleration LinMot Connection of the Resolver Specification Resolver Cable With Mating Connector Resolver Cable Without Mating Connector Sin Cos Encoder Connection Specification Connection of the Incremental Encoder Specification Digital and Analog Inputs and Outputs Jetter System Bus JETTER System Bus Cable Specification Status Monitoring Diagnostics Error Messages Alarms Wiring Diagrams Ordering Information List of Documentation Device Motor power cable with mating connector SC Resolver Cable System Bus Cable List of Appendices JetWeb 52 54 54 55 56 59 61 63 65 67 68 71 71 71 73 74 74 77 TT 80 82 82 85 87 87 90 91 93 93 93 94 95 95 Jetter AG JetMove 108 Jetter AG Appendix A Recent revisions Appendix B Glossary Appendix C List of Illustrations Appendix D Index Table of Contents 99 100 103 104 Table of Contents JetWeb 10 Jetter AG JetMove 108 Jetter AG 1 1 General Safety Instructions 1 Safety Instructions 1 1 General Safety Instructions The digital servo amplifier JetMove 108 meets the applicable safety regulations and standards Special emphas
21. 8 2 2 Mechanical Installation min 25 mm a np 1 L nnannnannn INA AAANAAAAAA AAAAAAAAA nnnnannann Ah mnnn ANA ihe A AA A ST LJ Fig 3 Recommended mounting Jetter AG 21 2 Installing the JetMove 108 Vv bey Q D Pa 2 KO Gr fe e o o a OVS Ko a CE eeo es 900 ai N ite CI UWA uu 128 136 A A A J ette ra i u2 D 71642 Ludwigsburg O v2 Te Q w2 ae x Type J M 1 08 Rev Part No 10000749 x BALLAST zt Input Ratings Power Supply 1 24 48VDC gt PE Current 16A a 4Vmot Output Ratings Voltage 3 17 34VAC 0 400Hz a Vlog Motor Current 3 8A n ov Enclosure Rating IP20 C y A Ambient Temperature O 40 C 32 104 F Made in Germany Yy lo 2 nr cc Ry i TI FA x N 23
22. AG JetMove 108 4 Physical Dimensions 4 vr N Av Pi m A o o o o 00 o o o o A ib lt 7 ee ee off WY Le o 0 Oe J S7 DI Wn nN N DOOODOOOU NV NW TTN ENTA 1 7 26 5 gt i a E al 58 8 gt 90 9 a gt 136 4 gt A AAA N Jetter 2 U2 D 71642 Ludwigsburg Q v2 te Q w2 a x Type J M 1 08 Rev Part No 10000749 BALLAST x x KS Input Ratings Power Supply 1 24 48VDC gt PE Current 16A 2 Vmot Output Ratings Voltage 3 17 34VAC 0 400Hz Vlog Motor Current 3 8A n ov Enclosure Rating 1P20 C y B Ambient Temperature 0 40 C 32 104 F Made in Germany Vv lo Oo ZE KY 5 Vy m wo D 58 x Ww XO 2 Z 2 ms x T _ SE x62 X18 X19 ES zu IN OUT BUS IN BUS OUT OS O eT YY t 136 gt 137 7 gt 7 O ese 386 228 E37 oO lt oO ER en lanl Val E Lan en of AA
23. AG JetMove 108 Jetter AG 7 8 Sin Cos Encoder Connection Sin Cos Encoder Cable JetMove 108 Shield Cable specification male SUB D connector X61 Maximum cable length 10000 o5 100 m 60 o o o 010 110 o o o 015 Attaching screws must have a metric thread Connect shield with the greatest possible surface area Use metallized housing only Pin Signal 5 Sine 15 Reference sine 4 Cosine 14 Reference cosine 7 Index 8 Reference index 1 Voltage output Imax 350 mA 5 volts 6 Voltage output Imax 300 mA 24 volts 11 OV Note 1 Supply voltage 5 V at the JetMove 108 Due to conduction loss a lower voltage might be supplied to the encoder 75 7 Description of Connections 76 JetMove 105 X61 15 pin SUB D connector Cost Index Sn Cos Index Fig 23 Sin Cos encoder connection Sn Cos Encoder 5V ov Sn Cost Index Sn Cos Index Jetter AG JetMove 108 7 9 Connection of the Incremental Encoder 7 9 Connection of the Incremental Encoder 7 9 1 Specification Specification of the Connector for Terminal X61 ENCODER e 15 pin high density SUB D connector male e Metallized enclosure Specification of the Incremental Encoder Cable e Cable cross sectional area of at least 3 2 0 14 mm 2 0 25 mm min 2 0 25 mm must be used for the power supply unit and for GND e Twisted pair ca
24. JetMove 108 Digital Servo Amplifier Jetter 2 Wiii v JM 1 08 Rev 02A Part No 10000749 User Manual Jetter 60875640 Introduction Item 60875640 Revision 2 12 2 October 2012 Printed in Germany Jetter AG reserve the right to make alterations to its products in the interest of technical progress These alterations will not necessarily be documented in every single case This manual and the information contained herein have been compiled with due diligence However Jetter AG assume no liability for printing or other errors or damages arising from such errors The brand names and product names mentioned in this manual are trade marks or registered trade marks of the respective title owner Jetter AG JetMove 108 Jetter AG Introduction How to Contact us Jetter AG Graeterstrasse 2 D 71642 Ludwigsburg Germany Phone Switchboard Phone Sales Phone Technical Hotline Telefax Sales E Mail Sales E Mail Technical Hotline Internet Address 49 7141 2550 0 49 7141 2550 433 49 7141 2550 444 49 7141 2550 484 sales jetter de hotline jetter de http www jetter de This User Manual is an Integral Part of the JetMove 108 Type Serial Year of manufacture Order To be entered by the customer Inventory Place of operation Introduction Significance of this User Manual This operator s ma
25. Shield The PE conductor is connected to the enclosure 68 Jetter AG JetMove 108 Jetter AG 7 6 LinMot JetMove 108 X1 Power supply and LinMot connection 4 phase inverter MEA Y V Information on current connected with enclosure 24 48VDC 24VDC DSP Controller Fig 21 X1 LinMot connection Specification of the Encoder Cable Cable cross sectional area of at least 3 0 14 mm with separate shielding Material Copper Temperature class 60 C Maximum cable length 25 m 69 7 Description of Connections 7 a Il 70 LinMot Encoder Cable JetMove 108 male SUB D connector X61 Shield Cable specification Maximum cable length 1000005 Shield 25m 6 o o o 010 110 o o o 015 Attaching screws must have a metric thread Connect shield with the greatest possible surface area Use metallized housing only Pin Signal Core Color 5 Sine amber 4 Cosine green 1 Voltage output white 5 volts 11 OV inner shield Shield Shielding outer shield Note 1 Supply voltage 5 V at the JetMove 108 Due to conduction loss a lower voltage might be supplied to the encoder Note 2 The LinMotor motor cable features double shielding Do not connect both shields with each other The inner shield is used as 0 V line Connect it to 0 V signals only The outer shield m
26. as controller Acknowledge failure been greater than disable Check the configuration the max value of nominal motor configured by current overload factor nominal motor and motor time current overload constant factor and motor Reduce the average time constant load of the motor Refer I t Calculation on page 38 F 38 Asymmetric The amplitudes of Immediate Check wiring or encoder signal the analog sine controller encoder signals cosine signals are disable Acknowledge failure not identical Jetter AG 89 9 Diagnostics Error Message Table JetMove 108 switch signals overload current gt gt 0 5 A deceleration ramp Error Type of error Description Response to Troubleshooting number faults F 39 Error at Measuring the Immediate Check parametering commutation commutation offset controller Check wiring or finding could not be disable encoder signal completed with Acknowledge failure results being guaranteed F40 Overload of motor The internal Stop with Check wiring or motor holding brake semiconductor emergency holding brake Acknowledge failure 90 9 2 Alarms If the ERR LED is flashing one or several alarms have been detected To find the root cause check the alarms in the Motion Setup or through querying by means of motion instructions in the application program Jetter AG JetMove 108 Jetter AG 10 Wiring Diagrams JetMove
27. bles shielded with the all over shield must be used the signal lines must also be twisted in pairs KO and KO K1 and K1 K2 and K2 0 V and voltage supply e The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C e Maximum cable length 50 m Jetter AG 77 7 Description of Connections 78 Incremental encoder cable JetMove 108 male SUB D connector X61 Shield Specification of the cable 10000 05 60 o o o 010 110 0 015 Attaching screws must have a metric thread Encoder signal 5 V differential signal or 5 V single ended Maximum cable length 100 m Connect shield with the greatest possible surface areal Use metallized housing only Pin Signal 2 K1 12 K1 3 K2 13 K2 7 KO 8 KO 1 Voltage output Imax 350 mA 5 volts 6 Voltage output Imax 300 mA 24 volts 11 OV Note 1 Supply voltage 5 V at the JetMove 108 Due to conduction loss a lower voltage might be supplied to the encoder Jetter AG JetMove 108 7 9 Connection of the Incremental Encoder _ Note 2 N Pa Bus Terminating Resistor In case of differential connection a bus terminating resistor of 120 ohms each x must be installed at a cable length of 10 m or more between KO and KO K1 and K1 as well as K2 a
28. can be calculated by the following formula 60s min 360 RPM Speed nin RPM Speed vin s The JetMove 108 has been designed for bipolar operation i e it is possible to let the current flow through the motor winding in both directions For this purpose a bridge connection as shown in Fig 18 is fit best TO IT Ty DC Link A AB B Voltage Ub Fig 18 Bipolar circuit for 2 phase stepper motors This way it is possible to limit the number of connections between motor control and motor to two per phase plus PE with the help of series or parallel connection of the partial windings in or at the motor In order to achieve reliable positioning a defined constant moment must be mustered up to a speed value as high as possible This must be achieved by adequate controlling The procedure applied here is constant current operation with vector control Constant current operation has been made possible by the development of switching controller technology and by making efficient and fast transistors available Vector control is made use of within the JetMove 2xx series for servo motor control 65 7 Description of Connections The following entirety of vectors limit constant current operation 1 Independent of the speed a certain voltage is needed for having the set current overcome the resistance of the phase U R I Where Continuous rated current in Ampere A Resistance R per phase in Ohm Q 2 Dependent
29. cceleration and deceleration should be carried out by linear ramps A linear ramp results in constant acceleration of motor and load For this purpose a constant motor torque is required The degree of a possible acceleration depends on the available torque Start Stop t Fig 20 Acceleration via linear ramp 67 7 Description of Connections 7 6 LinMot LinMot motor models by NTI AG are typically designed for power supply and encoder feedback in one cable These cables feature a double shielding with encoder signal lines running within the inner shield The motor lines and the inner shield are protected by the outer shield Specification of Terminal X1 e 8 pin screw clamping terminal type MC 1 5 8 ST 3 5 e Diameter of the cable apt for connecting 0 14 1 5 mm with bootlace ferrules and plastic sleeve 0 25 1 mm Bladed screw driver 0 4 x 2 5 mm Stud torque for the screw clamping terminal 0 22 Nm 2 Specification of the Motor Cable e Cable size 4 1 0 mm e Material Copper Temperature class 60 C e Stripping length of cores 6 mm e Cable shielding Braided copper shield of 80 coverage min e Maximum cable length 25 m Motor Connection Terminals X1 on the Signal Core Color Specification amplifier side U2 Motor phase 1 red Motor cable V2 Motor phase 1 pink Motor cable W2 Motor phase 2 blue Motor cable Ballast Motor phase 2 gray Motor cable PE PE conductor
30. ction cables See Pre fabricated motor cable with SC mating connector on page 56 und Resolver Cable With Mating Connector on page 71 Motor specification S4 xxx x for JH2 and JL1 motors Jetter AG JetMove 108 7 3 Servo Motor 7 3 3 Motor with screw clamping terminals and cables with male connectors ig Fig 14 Motor with cable and without a male connector The motor is equipped with screw clamping terminals with cables for power and feedback cables In the type designation xxx x the cable length is specified in meters The cable ends are not equipped with connectors This way the motor cable can be connected with the JetMove 108 directly The feedback cable has to be connected with a SUB D male connector Motor specification S3 xxx x for JH2 and JL1 motors Jetter AG 55 7 Description of Connections 56 7 3 4 Pre fabricated motor cable with SC mating connector The pre fabricated motor cable is used with the variants Motor with male connector on page 54 and Motor with screw clamping terminals and cables with male connectors on page 54 Note The suitable mating connector SC female connector can be ordered from Jetter AG by supplying the following particulars Article 15100070 Motor connector for the Jetter motor series JH2 JH3 JH4 JH5 JL2 JL3 JL4 JK4 JK5 JK6 without brake Article 15100105 Motor connector for the Jetter motor series JH2 JH3 JH4 JH5 JL2 JL3 JL4 JK4 JK5
31. e coil and a stator with two coils The stator windings are displaced by 90 sine and cosine The resolver itself does not contain any electronic components Safe Extra Low Voltage Voltage which under all operating conditions will not exceed a peak or DC voltage of 42 4 V This voltage is either measured between two conductors or between one conductor and earth The circuit in which this voltage occurs must be separated from the mains power supply by a safety isolating transformer or some equivalent A superordinated controller issues a software command to enable an axis which causes the motor to be energized Hardware enable restart lockage has to be there before giving the software enable Type name of a plug in connector time rise time hold rise time of a pulse total hold time of a pulse 101 Appendix 102 ttn TN network TT network UL VDE DC link voltage SNAT Units mA dB Hz time rise time normal rise time of a pulse total duration of a pulse Supply network which is solidly earthed in the neutral point and which is equipped with a protective earth conductor Supply network which is solidly earthed in the neutral point yet which is not equipped with a protective earth conductor Earthing is carried out by means of a local protective earth Underwriters Laboratories Inc Verband deutscher Elektrotechniker e V Association of German Electrical Engineers DC circ
32. ectors on page 55 Specification of the Motor Power Cable without Mating Connector For connection without motor holding brake Motor Power Cable Fixed to the Motor Terminals of the JetMove 108 Shield Motor 7 x 1 0 mm The wires are equipped with wire end ferrules Shielded highly flexible 6 wire cable with PE Connect shield with the greatest possible surface area Pin Wire Number Signal X1 02 1 Phase 1 X1 V2 2 Phase 2 X1 W2 3 Phase 3 X1 PE Yellow green PE conductor 59 7 Description of Connections For connection with motor holding brake Motor Power Cable Fixed to the Motor Terminals of the Shield Motor JetMove 108 7 x 1 0 mm Shielded highly flexible 6 wire cable with PE The wires are equipped with wire end ferrules Connect shield with the greatest possible surface area Pin Wire Number Signal X1 U2 1 Phase 1 X1 V2 2 Phase 2 X1 W2 3 Phase 3 X1 PE Yellow green PE conductor X62 2 4 Brake X62 1 5 Brake 60 Jetter AG JetMove 108 7 4 Brush Type DC Motor 7 4 Brush Type DC Motor Specification of Terminal X1 e 8 pin screw clamping terminal type MC 1 5 8 ST 3 5 e Diameter of the cable apt for connecting 0 14 1 5 mm with bootlace ferrules and plastic sleeve 0 25 1 mm e Bladed screw driver 0 4 x 2 5 mm e Stud torque for the screw clamping termi
33. en PE conductor T Dimensions of the motor mating connector are specified in millimeters Jetter AG 57 7 Description of Connections For connection with motor holding brake Motor Power Cable KAY_0624_xxxx Terminals of the JetMove 108 Shield Mating connector of the motor female solder side 7 x 1 0 mm The wires are equipped with wire end ferrules Shielded highly flexible 6 wire cable with PE cable housing wrap nut seal and pull relief element shield case 360 round le connection of ll the shield mesh Connect both sides of the shield with the greatest possible surface area Use metallized housing only solder side my j mating connector 65 solder side Pin Wire Number Signal Pin X1 U2 1 Phase 1 1 X1 V2 2 Phase 2 5 X1 W2 3 Phase 3 2 X1 PE Yellow green PE conductor X62 2 5 Brake 6 X62 1 4 Brake 4 Dimensions of the motor mating connector are specified in millimeters Jetter AG JetMove 108 Jetter AG 7 3 Servo Motor 7 3 5 Motor Cable Permanently Fixed to the Motor The motor cable is used for the variant Motor with screw clamping terminals and cables with male conn
34. eral Safety Instructions 11 1 1 1 Intended Conditions of Use 11 1 1 2 Usage Other Than Intended 11 1 1 3 Personnel Qualification 12 1 1 4 Modifications and Alterations to the Module 12 1 1 5 Repair and Maintenance 13 1 1 6 Disposal 13 1 2 Ensure Your Own Safety 14 1 2 1 Malfunctions 14 1 2 2 Information Signs and Labels 14 1 2 3 Earthing procedure 15 1 3 Residual Dangers 15 1 3 1 Hazards during Operation 15 1 4 Instructions on EMC 16 2 Installing the JetMove 108 19 2 1 Scope of delivery 19 2 2 Mechanical Installation 20 2 3 Electrical Installation 23 2 4 Checking the Installation 24 2 5 Notes on Safety as regards Commissioning 25 3 Operating Conditions 27 4 Physical Dimensions 33 5 Technical Specifications 35 5 1 Electrical Specification 35 5 2 Motor Protection 38 5 2 1 Pt Calculation 38 6 Drive Controller Structure 41 7 Description of Connections 43 7 1 Demands on the Power Supply Unit for Motor Operating Voltage 43 7 1 1 Recommendations on the power supply circuit breaker Vmot 44 7 1 2 General remarks 45 7 1 3 Recommendations on preventing overvoltage at braking or lowering a vertical load 46 7 2 Power Supply 50 7 Table of Contents 7 3 7 3 1 7 3 2 Servo Motor Motor with male connector Motor with screw clamping terminals and cables with male connectors 7 3 3 Motor with screw clamping terminals and cables with male connectors 7 3 4 7 3 5 7 4 7 5 7 5 1 7 5 2 7 6 T T 7 7 1 7 1 2 7 1 3 7 8
35. erference Acceptance criterion B 2nd environment cat 3 installation DIN EN 61800 3 DIN EN 61000 4 4 Operating Parameters Signal interfaces EMC Immunity to Interference Parameter Value s Reference Standard Burst fast transients Test voltage 1 kV Repetition rate 5 kHz Capacitive interference Acceptance criterion B 209 environment cat 3 installation DIN EN 61800 3 DIN EN 61000 4 4 Guided radio disturbances Frequency 0 15 80 MHz Test voltage 10 V AM 80 with 1 kHz Acceptance criterion A 209 environment cat 3 installation DIN EN 61800 3 DIN EN 61000 4 6 Operating Parameters Environments EMC Immunity to Interference Measuring and Control Lines in Process Parameter Value s Reference Standard Burst fast transients Test voltage 2 kV Repetition rate 5 kHz Capacitive interference Acceptance criterion B and environment cat 3 installation DIN EN 61800 3 DIN EN 61000 4 4 Impulse voltages tr th 1 2 50 us 8 20 us 1 kV phase to ground Acceptance criterion B and environment cat 3 installation DIN EN 61800 3 DIN EN 61000 4 5 Guided radio disturbances Frequency 0 15 80 MHz Test voltage 3 V AM 80 with 1 kHz Acceptance criterion A 209 environment cat 3 installation DIN EN 61800 3 DIN EN 61000 4 6 Jetter AG 31 3 Operating Conditions 32 Jetter
36. erson D Secure the servo amplifier JetMove 108 against misuse or accidental use 1 2 2 Information Signs and Labels Follow the instructions given on markings information signs and labels Keep markings signs and labels readable gt Replace damaged or unreadable information signs and labels 14 Jetter AG JetMove 108 1 3 Residual Dangers 1 2 3 Earthing procedure gt Screw the enclosure of the digital servo amplifier JetMove 108 down to a highly conducting plane and earthed panel gt Connect the earthing terminal X1 PE to an earth point Use a short line of a great cross section 1 3 Residual Dangers 1 3 1 Hazards during Operation WARNING Hot Surfaces During operation the surfaces respectively the heat sinks of the servo amplifier JetMove 108 can heat up The left sidewall and the rear panel can reach temperatures of up to 85 C Warning gt Do not touch the left sidewall or rear panel of the servo amplifier JetMove 108 during operation and after switching off while the device is still cooling down gt Make sure that no temperature sensitive parts have been connected or fastened to the servo amplifier JetMove 108 DANGER in a potentially explosive atmosphere A Do not operate the digital servo amplifier JetMove 108 in a potentially explosive atmosphere Warning Jetter AG 15 1 Safety Instructions DANGER of injuries caused by mechanic force The digital servo amplifier JetMove 108
37. h in cm KAY _0623_xxxx For the servo amplifier series JetMove 108 Jetter AG 71 7 Description of Connections 72 Resolver Cable of KAY_0623_xxxx Attaching screws must have a metric wrap nut seal and JetMove 108 Shield Motor Resolver male SUB D female solder connector X61 side io o oro o5 e solder side 6000 010 St leo 015 housing Fr mating connector 5 a mead ee aot 3 2 0 14 mm I a a connection of HIT the shield mesh solder side Connect shield with the greatest possible surface area Use metallized housing only Pin Signal Core Color Pin 4 Cosine brown 1 14 Cosine White 2 15 Sine amber 3 5 Sine green 4 9 R1 exciter pink 5 winding 10 R2 exciter gray 6 winding Unassigned 7 12 Dimensions of the resolver mating connector are specified in millimeters Mating connector of the resolver solder side Fig 22 RC series mating connector of the resolver internal thread M23 Jetter AG JetMove 108 7 7 Connection of the Resolver 7 7 3 Resolver Cable Without Mating Connector The resolver cable is used for the variant Motor with screw clamping terminals and cab
38. ion Description of Symbols This sign is to indicate a possible impending danger of serious physical damage or death This sign is to indicate a possible impending danger of light physical damage This sign is also to warn you of material damage This sign indicates hazard of life due to electric shock caused by a high operating voltage This sign is to indicate hazard of serious physical damage or death due to accidentally touching dangerous parts of the device This sign is to indicate a possible impending situation which might bring damage to the product or to its surroundings It also identifies requirements necessary to ensure faultless operation You will be informed of various possible applications and will receive further useful suggestions It also gives you words of advice on how to efficiently use hardware and software in order to avoid unnecessary efforts Enumerations are marked by full stops strokes or scores Operating instructions are marked by this arrow Automatically running processes or results to be achieved are marked by this arrow Introduction Reference to PC keyboard and HMI keys This symbol informs you of additional references data sheets literature etc associated with the given subject product etc Further this text provides helpful hints for your guidance through the manual 6 Jetter AG JetMove 108 Jetter AG Table of Contents Contents 1 Safety Instructions 11 1 1 Gen
39. ion in a satisfactory way in an electro magnetic environment without causing electromagnetic disturbances itself which would be unbearable for other devices in this environment Europaische Norm that is European Standard Electrostatic Discharge Excerpt from the Machinery Directive The manufacturer is under an obligation to assess the hazards in order to identify all of those which apply to his machine he must then design and construct it taking account of his assessment Before the axis can be started up by software enable hardware or pulse enable has to be active This means that a high signal 24 V has to be connected to the enable input or inputs restart lockout High Performance Interface HIPERFACE designates a sensor transducer system by Sick Stegmann The SinCos motor feedback system with the standardised HIPERFACE interface is often used in digital drive technology Unlike the resolver the SinCos motor feedback system with HIPERFACE interface contains electronic components Over several motor rotations a HIPERFACE will report the absolute position values this cannot be performed by a resolver AHIPERFACE is far more precise than a resolver but also more expensive International Eectrotechnical Commission Insulated Gate Bipolar Transistor International Protection Jetter AG JetMove 108 Jetter AG JetMove Jetter system bus JetWeb Motor circuit breaker NN PE Resolver SELV Software E
40. is was given to the safety of the users Further the user should adhere to the following regulations e pertinent accident prevention regulations e accepted safety rules e EC guidelines and other country specific regulations 1 1 1 Intended Conditions of Use Usage according to the intended conditions of use includes operation in accordance with these operating instructions The digital servo amplifier JetMove 108 may only be operated in the closed control cabinet and within the range of the set values see chapter 5 Technical Specifications page 35 Do not apply a voltage to the digital servo amplifier JetMove 108 that is higher than the specified operating voltage The operating voltage for motor supply by the digital servo amplifier JetMove 108 ranges between 12 V and 48 V DC Thus the digital servo amplifier is not subject to the EG Low Voltage Directive The servo amplifier JetMove 108 is for driving electric motors of various designs The winding insulation of the motors must be higher than or at least equal to the DC link voltage supplied by the servo amplifier The digital servo amplifier JetMove 108 is used to drive machinery such as conveyors production machines and handling machines 1 1 2 Usage Other Than Intended This digital servo amplifier must not be used in technical systems which to a high degree have to be fail safe e g ropeways and aeroplanes Do not use the integrated braking circuit in applicatio
41. itialization error controller diagnostics purposes disable use Motion Setup Check the encoder line and all plug in connections Acknowledge failure F 10 Overspeed The actual shaft Immediate Check motor and speed has controller encoder connections exceeded a value of disable Check speed controller 1 25 x maximum parameters If speed necessary modify parameters Acknowledge failure F 11 Current overrange A current Immediate Reduce K of the temporarily too high controller current controller by 10 has been detected disable 20 Acknowledge failure F 15 The hardware The software enable Immediate Disable the drive by enable is missing is given without a controller means of the software hardware enable disable Acknowledge failure F 17 Software limit Actual position is Stop at max Check target position switch has been outside the current max Acknowledge failure actuated programmed range torque Return the axis toa and a software limit position within the switch has tripped software travel limits monitoring of software limit switches is re enabled automatically at entering this range F 18 Hardware limit One hardware limit Stop atmax Check target position switch has been switch has tripped current max Check reference actuated torque position Acknowledge failure Return the axis toa position within the machine travel limits monitoring of ha
42. lable and connect shields on both sides of the cables Connect the motor leads according to Fig 2 page 18 Please further note the chapter 1 4 Instructions on EMC page 16 23 2 Installing the JetMove 108 24 2 4 Checking the Installation Check motor and servo amplifier wiring and connections by means of the connection diagrams used Check the holding brake if existing for proper functioning Check to see whether all necessary protection measures against accidental contact with live or moving parts have been taken Carry out any other checks specific to or required for your system Jetter AG JetMove 108 2 5 Notes on Safety as regards Commissioning 2 5 Notes on Safety as regards Commissioning gt Have commissioning jobs carried out by qualified personnel only see i chapter 1 1 3 Personnel Qualification page 12 Prior to commissioning please do the following gt Reattach dismantled protective equipment and check it for proper u functioning This way protection from moving parts of the machine will be achieved gt Secure the servo amplifier JetMove 108 against accidental contact with conductive parts and components gt Only connect devices or electrical components to the signal lines of the j digital servo amplifier JetMove 108 Enable Limit REF BRAKE that have been sufficiently isolated from the mains circuit These signal lines may only be connected with units that have got
43. le connector 3 5 mm pitch 60872945 connector threaded Phoenix ordering information MC 1 5 8 STF 3 5 1847181 93 11 Ordering Information 94 11 3 Motor power cable with mating connector SC Connecting cables for Jetter motors without brake The power cable for motors without brake of the designation KAY_0626_xxxx can be ordered in the following standard lengths in meters 1 12 15 2 2 5 3 3 5 4 45 5 55 6 6 5 7 7 5 8 9 10 11 12 13 14 15 16 17 18 20 22 24 25 30 50 The order reference xxxx designates the length in cm For example A resolver cable of 5 meters length has got the designation KAY_0626_0500 Connecting cables for Jetter motors with brake The power cable for motors with brake of the designation KAY_0626_xxxx can be ordered in the following standard lengths in meters 1 12 15 2 25 3 3 5 4 45 5 55 6 6 5 7 75 8 9 10 11 12 13 14 15 16 17 18 20 22 24 25 30 50 The order reference xxxx designates the length in cm For example A resolver cable of 5 meters length has got the designation KAY_0624 0500 Jetter AG JetMove 108 Jetter AG 11 4 Resolver Cable 11 4 Resolver Cable The resolver cable of the designation KAY_0623_xxxx can be ordered in the following standard lengths in meters 1 12 15 2 2 5 3 3 5 4 45 5 55 6 6 5 7 75 8 9 10 11 12 13 14 15 16 17 18 20 22 24 25 30 50 The order reference xxxx designates the length in cm A resolver cable of 5 meters length has got the designation KAY_0623_05
44. le motion systems apply a star connection the electrical center of which consists of the supply outputs Connect each motion system to the general motor voltage supply using different wires for either positive or feedback phases gt Connect the grounding wire the shielding of the JetMove 108 with a u fixed earthing position The JetMove 108 generates electro magnetic disturbances if its enclosure has not been earthed Apply a short connection of a large cross section between the PE ofthe servo amplifier and the connection to ground Whenever this is possible mount the JetMove 108 on a metallized and earthed surface Jetter AG 45 7 Description of Connections 7 1 3 Recommendations on preventing overvoltage at braking or lowering a vertical load At fast braking or reversing the axis motion the braking energy is fed back to the motor power supply This can cause the DC link voltage to increase If the voltage has reached a limit of 60 V the overvoltage error is recognized and the motor control deactivated There are two ways of preventing overvoltage Possibility 1 gr Connecting an external capacitor The external capacitor must be able to take up the back fed energy The capacitor must be designed for a voltage of at least 100 V gt Designing an external capacitor 2E CS Cint Umax Nem Where Umax 60 V Cint 200 UF Unom 48 V Ey back fed energy J gt Calculating the braking energy in case
45. les with male connectors on page 55 Resolver Cable at the Motor JetMove 108 Shield Motor Resolver male SUB D connector X61 19000005 60 00 010 110 000 015 Attaching screws must Connect shield with the have a metric thread greatest possible surface area Use metallized housing only Pin Signal Core Color 4 Cosine brown 14 Cosine White 5 Sine amber 15 Sine green 9 R1 exciter winding pink 10 R2 exciter winding gray Thermal circuit red breaker Thermal circuit blue breaker Jetter AG 73 7 Description of Connections 74 7 8 Sin Cos Encoder Connection 7 8 1 Specification Specification of the Connector for Terminal X61 ENCODER e 15 pin high density SUB D connector male e Metallized enclosure Sin Cos Encoder Cable Specifications e Cable cross sectional area of at least 3 2 0 14 mm 2 0 25 mm min 2 0 25 mm must be used for the power supply unit and for GND e Twisted pair cables shielded with the all over shield must be used the signal lines must also be twisted in pairs Sine and reference sine Cosine and reference cosine Index and reference index 0 V and voltage supply The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area e Material Copper Temperature class 60 C e Maximum cable length 50 m Jetter
46. lized connector housing respectively of the EMC gland bushing its greatest possible surface area being clamped under the strain relief of the JetMove 108 Only use metallized connectors e g SUB D with metallized housing Make sure that the strain relief is directly connected with the housing here as well see Fig 1 17 1 Safety Instructions Fig 1 Shielding of SUB D connectors in conformity with EMC standards If the shield cannot be attached to the connector for example with a screw type terminal gt tis important that shield and strain relief are highly conductive and directly connected to a grounded surface with the greatest possible surface area When doing so grounding must be implemented in a way that the unshielded portion of the cable is as short as possible refer to Fig 2 Metal Rail Motor Cable Fig 2 Shielding of screw terminals to EMC standards 18 Jetter AG JetMove 108 Jetter AG 2 1 Scope of delivery 2 Installing the JetMove 108 2 1 Scope of delivery e Digital servo amplifier JetMove 108 e Mating connector plugged on e User Manual Accessories The accessories are not part of the scope of delivery e System bus cable of cable confection no 530 x x m length 0 2 m through 5 0 m See also chapter 7 11 Jetter System Bus page 82 Motor power cable see also chapter 7 3 Servo Motor page 52 Encoder cable see also chapter 7 7 Connection of the Resolver page 7
47. me constant in seconds The formula shows that the 100 value will never be reached as long as the average motor current is lower than the nominal current of the motor Further calculating always starts by 0 at t 0 the result of the equation is 0 After some time that is by far longer than the motor time constant the result does virtually not change any more The time till error trip x 100 is a result of the following formula i 2 t Tx in average motor curren 38 Jetter AG JetMove 108 5 2 Motor Protection After reset the values of the important parameters are Nominal current 8A Overload factor 2 Motor time constant 1 800 s 30 min With these parameters the 100 error level will be reached if for example the motor is run by a current of 16 A for about 8 minutes and 30 seconds Because of the fact that after reset the I t calculation always starts with zero the motor overload calculation is wrong if the motor is already hot when the digital Ey servo amplifier JetMove 108 is switched on i e at the time of parameters of l t calculation are written after switching on 24 V logic power supply Important For this reason please wait until the motor has cooled down before re enabling the axis Jetter AG 39 5 Technical Specifications 40 Jetter AG JetMove 108 Drive Controller Structure 6 Sod epoouy psads oud T Ted ed e I MAN ig aM 7 as
48. meters Electrical Safety Parameter Value s Reference Standard Protection Class DIN EN 61800 5 1 Dielectric strength Protective network conductor and network logics 380 V DC 5s DIN EN 61800 5 1 Isolation Protective network conductor and DIN EN 61800 5 1 network logics gt 1 MQ at 500 V Protective lt 60V 25A 0 1 QO DIN EN 61800 5 1 Connection Overvoltage DIN EN 61800 5 1 category DIN EN 50178 DIN VDE 0110 1 UL 508C 28 Jetter AG JetMove 108 Operating Parameters EMC Emitted Interference Parameter Value s Reference Standard Enclosure e Frequency range DIN EN 61800 3 30 230 MHz limit 50 dB V m at 10m e Frequency range 230 1000 MHz limit 60 dB uV m at 10 m 209 environment cat 3 installation Signal and control Frequency bands DIN EN 61800 3 line connections e 0 15 to 0 5 MHz limit 100 dB DC voltage supply uV inputs and outputs 0 5 to 5 MHz limit 86 dB uV e 5t0 30 MHz limit 90 dB uV decrease by the logarithm of the frequency up to 70 dB uV Measuring by means of the quasi peak detector and environment cat 3 installation TS Important gt gt This is a product of restricted availability according to IEC EN 61800 3 This module can cause radio interferences in residential areas In this case the user must take adequate measures to prevent this Jetter AG 29 3 Operating Conditio
49. munity to interference 30 Environment 27 Mechanical Parameters 28 Power Rating 27 Oscillating of the motor 53 P Personnel Qualification 12 Physical Dimensions 33 PWM frequency 42 R Repair 13 Residual Dangers Hot surfaces 49 Mech force 16 Potentially explosive atmosphere 15 Resolver Cable KAY_0623_xxxx 72 permanently connected with the motor 73 S Scope of delivery 19 Sine cosine encoder 42 Jetter AG JetMove 108 Appendix System Bus Cable Cable confection 530 83 Specification 82 Usage Other Than Intended 11 T W Technical Specifications 35 Wiring Diagram 91 Wiring diagrams 91 Jetter AG 105 Jetter Jetter AG Graeterstrasse 2 D 71642 Ludwigsburg Germany Phone 49 7141 2550 0 Phone Sales 49 7141 2550 433 Telefax Sales 49 7141 2550 484 Hotline 49 7141 2550 444 Internet http www jetter de E mail sales jetter de Jetter Subsidiaries Jetter Schweiz AG Jetter USA Inc Henauer Str 2 13075 US Highway 19 North CH 9524 Zuzwil Florida 33764 Clearwater Phone 41 71 91879 50 Phone 1 727 532 8510 Telefax 41 71 91879 59 Telefax 1 727 532 8507 E mail info jetterag ch E mail bschulze jetterus com Internet http www jetterag ch Internet http www jetter de 106 Jetter AG
50. n optional PE bus must be near the servo amplifier Shield cables on both ends If a motor power cable is used which includes cores for brake control the brake control cores must be separately shielded The shielding braid must be connected on both ends of the cables Follow the instructions given in Application Note 016 EMC Compatible Installation of the Electric Cabinet published by Jetter AG The following instructions are excerpts from Application Note 016 Screw the enclosure of the digital servo amplifier JetMove 108 down to a highly conducting plane and earthed panel Keep signal and power lines physically separated We recommend spacings greater than 20 cm Cables and lines should cross each other at an angle of 90 Shielded cables must be used for the following lines Analog lines data lines motor cables coming from inverter drives servo output stage frequency converter lines between components and interference suppressor filter if the suppressor filter has not been placed at the component directly Both ends of the cable must be shielded Unshielded wire ends of shielded cables should be as short as possible The entire shield must be drawn behind the isolation and then be clamped under an earthed strain relief with the greatest possible surface area When male connectors are used Jetter AG The shield impedance shielding must in its entire perimeter be drawn behind the shielding clamp of the metal
51. nable SUB D tth Appendix JetMove is the product designation of a digital servo amplifier series produced by Jetter AG e g JetMove D203 where D stands for Dual in the sense of controlling two motors 203 identifies a rated current of 3 A The Jetter system bus is a system bus system with a cable length of max 200 m and a data transmission rate of 1 Mbit s In addition to this the Jetter system bus is highly immune to interferences Therefore the Jetter system bus is suited to realise field bus applications in a limited space Control technology comprising control systems motion systems user interfaces visualization devices remote I Os and industrial PCs Programming by means of multitasking and a modern sequence oriented language Communication by means of Ethernet TCP IP and making use of the Web technologies A circuit breaker with monitoring functions of phases and temperature of a motor Normal Null that is above sea level Protective Earth resp Protective Earth Conductor Feedback unit at a servo motor for determining the absolute position within one revolution Other than a HIPERFACE the resolver will not provide any information on how many revolutions the motor has performed so far A resolver could be envisaged as a transformer the couplings of its secondary windings sine and cosine change in relation to the position of the motor shaft Basically a resolver consists of a rotor with on
52. nal 0 22 Nm 2 Specification of the Motor Cable e Cable cross sectional area of up to 2 1 0 mm e Material Copper Temperature class 60 C e Stripping length of cores 6 mm e Cable shielding Braided copper shield of 80 coverage min e Maximum cable length 25 m Motor connection Terminals X1 on the Signal Specification amplifier side U2 Motor phase Motor cable V2 Motor phase Motor cable BALLAST Ballast Resistor An optional ballast resistor can be connected between this terminal and ground PE PE conductor The PE conductor is connected to the enclosure Jetter AG 61 7 Description of Connections JetMove 108 X1 Voltage Supply and DC Motor Connections 3 Phase Inverter Ballast PE m 24 48VDC 24VDC DSP Controller Fig 16 X1 DC motor connection E Important Alternative measures to avoid malfunctions of the control system and the motor The brake has to be operated through a separately shielded brake line 62 Jetter AG JetMove 108 7 5 2 Phase Stepper Motor 7 5 2 Phase Stepper Motor Specification of Terminal X1 e 8 pin screw clamping terminal type MC 1 5 8 ST 3 5 e Diameter of the cable apt for connecting 0 14 1 5 mm with bootlace ferrules and plastic sleeve 0 25 1 mm Bladed screw driver 0 4 x 2 5 mm Stud torque for the screw clamping terminal 0 22 Nm 2 Specification of the Motor Cable e Cable cross sec
53. nd K2 7 Note 3 oa Po Single ended connection In case of single ended connection only signals KO K1 and K2 are used Signals KO K1 and K2 must not be connected Incremental encoder JetMove 105 5V X61 ov 15 pin Kit IBD connector K2 KO K1 K KO Fig 24 Incremental encoder connection Jetter AG 79 7 Description of Connections 80 15 pin high density SUB D connector female Metallized enclosure For using the analog inputs shielding is required 7 10 Digital and Analog Inputs and Outputs Specification of the Female Connector for Male Connector X62 IN OUT Input Output Cable JetMove 108 female Sub D connector X62 Shield Specification of the cable Attaching screws must have a metric thread If the analog input is used Connect shield with the greatest possible surface area Use metallized housing only Pin Signal Description Specification 1 OV 2 Brake Contacts for the motor The internal holding brake semiconductor switch connects the V oc The brake output can be with the output pin operated either by the control program or by the Imax DC 0 5 A operating system of the JetMove 108 at release of Contact N O the motor current These connections are The JetMove 108 is only for devices having equipped with an internal gotthe same reference freewheeling diode to ground as the power supply of the logic
54. nel with training in electrical engineering such as industrial electronics technician 1 1 4 Modifications and Alterations to the Module Due to safety reasons neither opening the digital servo amplifier JetMove 108 nor carrying out any modifications or alterations to the device and its functions is allowed Any modifications to the servo amplifier JetMove 108 not expressly authorized by the manufacturer will result in a loss of any liability claims to Jetter AG The original parts are specifically designed for the servo amplifier JetMove 108 Parts and equipment from other manufacturers are not tested on our part and are therefore not released by Jetter AG The installation of such parts may impair the safety and the proper functioning of the digital servo amplifier JetMove 108 Any liability on the part of Jetter AG for any damages resulting from the use of non original parts and equipment is excluded Jetter AG JetMove 108 Jetter AG 1 1 General Safety Instructions 1 1 5 Repair and Maintenance Repairs to the digital servo amplifier JetMove 108 must not be carried out by the operator The servo amplifier JetMove 108 does not contain any parts to be repaired by the operator For being repaired the servo amplifier JetMove 108 must be sent to Jetter AG The digital servo amplifier JetMove 108 is maintenance free Therefore absolutely no inspection or maintenance works are required for the operation of this device
55. ns Operating Parameters EMC Immunity to Interference Enclosure Parameter Value s Reference Standard ESD Discharge through air DIN EN 61800 3 Test peak voltage 8 kV DIN EN 61000 4 2 Contact Discharge Test peak voltage 4 kV Acceptance criterion B 209 environment cat 3 installation RF Field Frequency band 80 1000 MHz DIN EN 61800 3 amplitude test field strength 10 V m DIN EN 61000 4 3 modulated AM 80 with 1 kHz Acceptance criterion A and environment cat 3 installation Operating Parameters EMC Immunity to Interference Power Connections Parameter Value s Reference Standard Burst fast Test voltage 2 kV DIN EN 61800 3 transients Repetition rate 5 kHz DIN EN 61000 4 4 Acceptance criterion B and environment cat 3 installation Impulse voltages tr th 1 2 50 us 8 20 us DIN EN 61800 3 1 kV phase to phase DIN EN 61000 4 5 2 kV phase to ground Acceptance criterion B and environment cat 3 installation Guided radio disturbances Frequency 0 15 80 MHz DIN EN 61800 3 Test voltage 10 V DIN EN 61000 4 6 AM 80 with 1 kHz Acceptance criterion A 209 environment cat 3 installation 30 Jetter AG JetMove 108 Operating Parameters Power interfaces EMC Immunity to Interference Parameter Value s Reference Standard Burst fast transients Test voltage 2 kV Repetition rate 5 kHz Capacitive int
56. ns where in case of braking circuit failure safety hazards can occur The servo amplifier JetMove 108 is not a safety relevant device according to the machinery directive 2006 42 EG Therefore using this servo amplifier for safety relevant applications as regards safety of persons is neither adequate nor permitted 11 1 Safety Instructions 12 If the digital servo amplifier JetMove 108 is to be run under operating conditions which differ from the conditions mentioned in chapter 3 Operating Conditions page 27 the manufacturer must be contacted beforehand 1 1 3 Personnel Qualification Depending on the life cycle of the product the persons involved must possess different qualifications These demands have to be met in order to grant safety in handling the JetMove 108 at each phase of the product life cycle Product Life Cycle Minimum Qualification Transport Storage Trained and instructed personnel with knowledge in handling electrostatic sensitive components Mounting Installation Specialized personnel with training in electrical engineering such as industrial electronics engineer Commissioning Trained and instructed experts with profound Programming knowledge of and experience with electrical drive engineering such as electronics engineer for automation technology Operation Trained instructed and assigned personnel with knowledge in operating electronic devices Decommissioning Specialized person
57. nual is an integral part of the digital servo amplifier JetMove 108 and e must be kept in a way that it is always at hand until the the digital servo amplifier JetMove 108 will be disposed of e Pass this manual on if the digital servo amplifier JetMove 108 is sold or loaned leased out In any case you encounter difficulties to clearly understand this user manual please contact the manufacturer We would appreciate any suggestions and contributions on your part and would ask you to contact us This will help us to produce manuals that are more user friendly and to address your wishes and requirements This manual contains important information on how to transport erect install operate maintain and repair the digital servo amplifier JetMove 108 Therefore the persons carrying out these jobs must carefully read understand and observe this manual and especially the safety instructions Missing or inadequate knowledge of the manual results in the loss of any claim of liability on part of Jetter AG Therefore the operating company is recommended to have the instruction of the persons concerned confirmed in writing System Requirements This user manual is giving a description of the servo amplifier JetMove 108 with operating system version 2 12 0 0 History Revision Remarks 2 12 2 Original version in English Jetter AG JetMove 108 gt Warning Caution Important Jetter AG Introduct
58. of a rotatory motor 1 2 Ey Om J 2mny m g h h 31 Rppta Mitatny T T T Kinetic energy Potential energgwitching losses Friction Where Jm Inertia of the motor kgm Ji Inertia load of the motor kgm Nm Motor speed before deceleration 1 s m Mass of the load at non horizontal motion kg g 9 81 m s h Height before deceleration m h2 Height after deceleration m Im Motor current during deceleration A Rp Resistance of the motor Q ty Delay time s M_ Friction torque of the motor Nm 46 Jetter AG JetMove 108 Jetter AG 7 1 Demands on the Power Supply Unit for Motor Operating Voltage Calculating the braking energy in case of a linear motor ty X YM 1 2 a Ey mu m Vy my m g h hy 31 Rprta FL T T T T Kinetic energy Potential energy Switching losses Friction Where my Motor mass kg m Mass of the load kg vu Motor speed before deceleration m s g 9 81 m s h4 Height before deceleration m h2 Height after deceleration m Im Motor current during deceleration A Rpp Resistance of the motor Q ty Delay time s F Friction power of the motor N If the calculation described above cannot be carried out because of missing values a good starting value for the capacitor is 10 000 UF 100 V 47 7 Description of Connections Possibility 2 _ Connecting an external braking ballast resistor The moti
59. on degree 2 DIN EN 50178 Corrosion No special protection against Immunity Chemical corrosion Ambient air must be free Resistance from higher concentrations of acids alkaline solutions corrosive agents salts metal vapors or other corrosive or electroconductive contaminants Max operating Up to 1 000 m above sea level DIN EN 50178 altitude From 1 000 to 2 500 m above sea level derating of 1 5 per 100 m increase in alitude 27 3 Operating Conditions Operating Parameters Mechanical Parameters Parameter Value s Reference Standard Free Falls Withstanding Test Within original packing the device withstands dropping over all of its edges DIN EN 50178 DIN EN 60068 2 31 Vibration resistance e 10 Hz 57 Hz 0 075 mm amplitude e 57 Hz 150 Hz 1g acceleration 1 octave per minute 10 frequency sweeps sinusoidal all three spatial axes DIN EN 50178 DIN EN 60068 2 6 Degree of IP20 DIN EN 60529 protection Mounting Vertical or horizontal Orientation Please make sure there is a clearance of at least 25 mm under and above the JetMove sufficient ventilation must be granted Important Measures to avoid damages in transit and storage The packaging material and the storage place are to be chosen in a a 2 way that the values given in the above table Operating Parameters Mechanical Parameters on page 28 are kept to Operating Para
60. on system leads the back fed energy to the braking resistor as soon as the threshold of 55 V has been reached The following conditions have to be met before selecting the braking resistor D gt 1 Limiting the maximum current U Re 3 Max Ipeak Where Umax 60 V Ipeak 27 5A yr 2 Limiting by means of the maximum braking power 2 Usi Rg lt Bl OP 3 Calculating the braking power 1 2 2 Eu 5 Umax Us Pp ty Where C Ceyt Cint and Cint 200 pF Umax 60 V Up 55V En Braking energy see above ty Delay time s D gt 3 Limiting by means of the average current value Py t Rel gt BL ld gt tcycle i INom Where tcycle Time interval between two delays in case of recurring motions INom 8A gt 4 Selection by means of average power and peak value P Phi ta Av 7 t Cycle 2 P U Max Peak 7 R Bl 48 Jetter AG JetMove 108 7 7 Il Caution Il Jetter AG 7 1 Demands on the Power Supply Unit for Motor Operating Voltage Note 1 Uy Ua If Mex BL the braking power must be decreased Ipeak 2 Bl This can either be attained by a longer delay time or by a larger Ce external capacitor at the power supply Note 2 2 Pai ta Ugi If either the braking power has to be decreased or else the toycle i INom m cycle time of the delays has to be increased WARNING Hot Surfaces The surface of the braking resist
61. or can heat up during operation During operation or during the cooling off period after the power has been turned off do touch the braking resistor m Please make sure that no temperature sensitive parts have been connected or fastened to the braking resistor Note Options 1 and 2 can also be combined 49 7 Description of Connections 7 2 Power Supply Specification of Terminal X1 8 pin screw clamping terminal type MC 1 5 8 ST 3 5 Diameter of the cable apt for connecting 0 14 1 5 mm with bootlace ferrules and plastic sleeve 0 25 1 mm Bladed screw driver 0 4 x 2 5 mm Stud torque for the screw clamping terminal 0 22 Nm 2 Specifications of Connecting Cable Cable size 2 1 0 mm for the motor power supply Cable size 1 0 5 mm for the logic power supply Material Copper Temperature class 60 C Stripping length of cores 6 mm Shielding not required Power Supply Terminals X1 on the Signal Specification amplifier side PE PE conductor The PE conductor is connected to the enclosure 50 VMOT DC link supply 24 48 V DC 12 48 V DC Imax 27 5 A No inrush current limitation VLoG Power supply of 24 V DC 12 30 V the logic unit Imax 250 mA at 24 V No inrush current limitation OV Zero potential Ground reference for Vmor and for the power VLoG supply Jetter AG JetMove 108 Jetter AG Ballast J SSS SS Ret optional on
62. per motor connection 64 Bipolar circuit for 2 phase stepper motors 65 Addition of voltage in a synchronous machine 66 Acceleration via linear ramp 67 X1 LinMot connection 69 RC series mating connector of the resolver internal thread M23 72 Sin Cos encoder connection 76 Incremental encoder connection 79 Status monitoring LEDs at the JetMove 108 85 Wiring diagram JetMove 108 91 Usage of short circuit breakers when several JetMove 108 are connected 92 103 Appendix 104 Appendix D Index A Accessories Alarms C Commissioning Safety Instructions Compatible servo motors Connection diagram Contact Assignment Motor 52 61 63 Power supply Convection D Description of Symbols Dimensions Disposal Drive Controller Specification E Earthing procedure Electrical Specification Error Message Table JetMove 108 Information Signs Installation Electrical Mechanical Installation checking Installation to EMC rules Instructions on EMI Intended Conditions of Use J JetMove 108 LEDs Maintenance 19 90 25 37 91 68 50 20 33 13 42 15 35 87 14 23 20 24 23 16 11 85 13 Malfunctions 14 53 62 64 Modifications 12 Motor Power Cable KAY_0624_xxXX 58 KAY_0626_xxxx 57 permanently connected with the motor 60 Motor winding isolation 23 Mounting Orientation 28 N Noise immunity 16 O Operating Parameters Electrical Safety 28 EMC Emitted interference 29 Im
63. pickup Sampling interval 12 bits per revolution 62 5 us 15 Bit per encoder period 20 Bit per encoder period 62 5 us Jetter AG JetMove 108 Jetter AG 7 1 Demands on the Power Supply Unit for Motor Operating Voltage 7 Description of Connections 7 1 Demands on the Power Supply Unit for Motor Operating Voltage We recommend a power supply unit configuration consisting of transformer rectifier and charging capacitor electrolytic capacitor o DC Link Voltage DC 48 Transformer Rectifier Electrolytic Bridge Capacitor Fig 7 Configuration of the power supply unit for motor operating voltage The power supply unit can be configured with a 1 or 3 phase wiring The output of the power supply unit is rated at the output required by the motor M n P 9 55 P Dissipation Output power P in Watt W Torque M in Nm Revolutions n in 1 min Power dissipation Ppigsipation in Watt W The power supply voltage is rated at the required speed and torque U U Um Where Counter EMF U in Volt V Back EMF constant Kg in V min 1000 Revolutions n in 1 min Voltage Uy generating the required torque at maximum RPM 43 7 Description of Connections By the energy fed back into the JetMove 108 the voltage at the output of the power supply unit can be increased to 60 V See Recommendations on preventing overvoltage at braking or lowering a vertical load on page 46 D
64. rdwar error Internal hardware Immediate Separate the drive defect controller controller from the disable power lines Return the amplifier for repair F03 Motor cable The motor cable is Immediate Check the motor cable breakage broken amplifier connections disable Acknowledge failure Be careful The motor cable is tested when the servo controller is enabled for the first time F 04 Overvoltage in the ADC link voltage of Immediate Check input voltage DC link gt 60 V has been controller supply detected disable Ifthe motor is used as generator reduce the regenerating power Acknowledge failure F 05 Over current The output current Immediate Check cable and motor has been greater controller for a short circuit and than 2 5 x the rated disable ground fault current or ground Check current control fault during parameters If operation necessary correct parameters Acknowledge failure Jetter AG 87 9 Diagnostics Error Message Table JetMove 108 Error Type of error Description Response to Troubleshooting number faults F 07 Amplifier The amplifier has Immediate Let the amplifier cool overtemperature reached the controller down maximum disable After cooling down temperature acknowledge failure Reduce power of the motion system F 09 Encoder failure Encoder breakage Immediate For extended or in
65. rdware limit switches is re enabled automatically at entering this range 88 Jetter AG JetMove 108 9 1 Error Messages Error Message Table JetMove 108 Error Type of error Description Response to Troubleshooting number faults F 20 Undervoltage in The DC link voltage Stop with Check the supply the DC link is less than the set emergency voltage minimum value deceleration Check the parameter default 10 V ramp Uzx min trip Acknowledge failure F 21 Overvoltage DC The DC link voltage Stop with Check the supply link voltage has exceeded the emergency voltage set maximum value deceleration In generator operation default 60 V ramp reduce braking power Acknowledge failure F 22 Drive stalled The drive could not Immediate Eliminate the cause of overcome then 0 controller stalling threshold within the disable Acknowledge failure time limit specified by the parameter blocking triping time F 23 Tracking error The tracking error Stop with Check the drive has exceeded the emergency mechanism limit defined in the deceleration Check steepness of parameter tracking ramp acceleration error limit for the deceleration ramps and time specified in amplifier parameters in tracking window relation to the time parameters tracking error limit and tracking error window time Acknowledge failure F 30 It Error The average power Immediate Letthe motor cool down loss ofthe motor h
66. rent of the JetMove 108 Power supply unit JetMove 108 Circuit breaker os Fig 8 Terminal X1 Recommended inrush current limitation 44 Jetter AG JetMove 108 7 1 Demands on the Power Supply Unit for Motor Operating Voltage If the solution just mentioned cannot be put into practice in case of power supplies that cannot be interrupted or if batteries accus are used connect an external capacitor of at least 470 uF 100 V between circuit breaker and servo amplifier in order to limit the slew rate of the motor supply voltage Uninteruptable JetMove 108 Power Supply Fig 9 Terminal X1 Alternative inrush current limitation 7 1 2 General remarks TS Important Recommended wiring of the voltage supply Vmot Always make sure there is an external circuit breaker to switch off the power supply Always switch off the power supply before installing the motion system gt Always limit the inrush current of the motion system Otherwise the motion system can be destroyed Always use short wires of a large cross section to connect the voltage supply and the JetMove 108 If the lines are to be longer than 2 meters use twisted wires for the supply and earthing return line If wires of more than 20 meters are to be used apply a capacitor of at least 1 000 HF set for the maximum possible voltage close to the X1 terminal If the same power supply is used for multip
67. tible Synchronous Servo Motors Motor types Jetter motors of the JL1 and JH2 series Please refer to Jetter Motor Catalog or contact the sales department of Jetter AG Note In case you intend to use motors other than the above mentioned types please contact Jetter AG 37 5 Technical Specifications 5 2 Motor Protection 5 2 1 Pt Calculation The digital servo amplifierJetMove 108 calculates the model of motor power dissipation by an t calculation The calculated value is a measure of the average power dissipation of the motor It is calculated in percent of the maximum motor power dissipation For this calculation it is important that the parameters are entered correctly Nominal current which is the minimum of nominal motor current and nominal servo amplifier current Overload factor and time constant of the motor The I t calculation has to be activated by JetSym or by the PLC program It is possible to parameterize the warning level The error level error 30 is set to 100 The I t value is readable in a variable of JetMove 108 through JetSym or the PLC The digital servo amplifier JetMove 108 calculates the percentage of motor power loss according to the following formula t 2 _ ee 100 x Ferse motor current lg nominal current x t Displayed value of the motor power loss in t Time since start of motor running it with the average current in seconds T Motor ti
68. tional um PE Connected with Enclosure o VMOT u VLOG VLOG 3V 5 oO 24 48V DC 24VDC A 0V GND 7 a Fig 11 X1 Servo motor connection Important Alternative measures to avoid malfunctions of the control system and the motor a The brake has to be operated through a separately shielded brake line Important Measures to avoid oscillation and blocking of the motor Avoid mixing up of the motor phases resp be sure to connect the motor phase cables according to the pin assignment 53 7 Description of Connections 5A There are two motor cabling options 7 3 1 Motor with male connector Fig 12 Motor with male connector For the power connections and for the feedback the motor has been equipped with screw clamping terminals With the help of prefabricated cables the connection to the JetMove 108 is established See Pre fabricated motor cable with SC mating connector on page 56 and Resolver Cable With Mating Connector on page 71 Motor specification S S A S B or S X for JH2 motors 7 3 2 Motor with screw clamping terminals and cables with male connectors 2h Fig 13 Motor with cables and male connectors The motor is equipped with screw clamping terminals with cables for power and feedback cables In the type designation xxx x the cable length is specified in meters At the cable ends male connectors have been fixed that correspond to the pre fabricated JetMove 108 conne
69. tional area of up to 4 1 0 mm e Material Copper Temperature class 60 C e Stripping length of cores 6 mm e Cable shielding Braided copper shield of 80 coverage min e Maximum cable length 25 m Motor connection Terminals X1 on the Signal Specification amplifier side U2 Motor phase 1 Motor cable V2 Motor phase 1 Motor cable W2 Motor phase 2 Motor cable Ballast Motor phase 2 Motor cable PE PE conductor The PE conductor is connected to the enclosure Jetter AG 63 7 Description of Connections JetMove 108 X1 Voltage Supply and Stepper Motor Connections 3 Phase Inverter Information on Current Connected with Enclosure 24 48VDC 24VDC DSP Controller Fig 17 X1 Stepper motor connection E Important Alternative measures to avoid malfunctions of the control system and the motor Operate the brake through a separately shielded brake line 64 Jetter AG JetMove 108 Jetter AG 7 5 2 Phase Stepper Motor 7 5 1 Stepper motor control The stepper motor at the JetMove 108 is controlled by sine wave commutation maximum microstep mode Thus the noise typical for classic stepper motor controls cannot be heard not even at lowest speeds As any other motor types connected to JetMove amplifiers the stepper motor is also programmed in millimeters or degrees instead of steps related to load The motor speed
70. uit within a servo drive on the basis of which the motor currents are generated Transition temperature at which the thermal sensor changes by several K within a range of 5 KQ Ampere Milliampere 1 mA 10 A Dezibel gram Hour Hertz Kelvin Meter Centimeter 1 cm 102 m Millimeter 1 mm 10 m Second Volt Microvolt 1 uV 10 V Watt Ohm Degrees centigrade temperature unit Degrees angular dimension Watt seconds Joule Jetter AG JetMove 108 Jetter AG Appendix Appendix C List of Illustrations Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig ONMNOARWN gt Shielding of SUB D connectors in conformity with EMC standards 18 Shielding of screw terminals to EMC standards 18 Recommended mounting 21 Mounting holes in the enclosure 22 Physical Dimensions JetMove 108 33 Block Diagram of Drive Controller Structure 41 Configuration of the power supply unit for motor operating voltage 43 Terminal X1 Recommended inrush current limitation 44 Terminal X1 Alternative inrush current limitation 45 X1 Supply Voltage 51 X1 Servo motor connection 53 Motor with male connector 54 Motor with cables and male connectors 54 Motor with cable and without a male connector 55 View on the SC series mating connector of the motor internal thread M23 56 X1 DC motor connection 62 X1 Step
71. ust be connected to the shielding terminal of the Sub D connector Jetter AG JetMove 108 7 7 Connection of the Resolver 7 7 Connection of the Resolver 7 7 1 Specification Specification of the Connector for Terminal X61 ENCODER e 15 pin high density SUB D connector male e Metallized enclosure Specification of the Resolver Cable e Cable cross sectional area of at least 3 2 0 14 mm e Cores have to be shielded and twisted in pairs and have to be included in an overall shielding The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area e Material Copper Temperature class 60 C e Maximum cable length 50 m 7 7 2 Resolver Cable With Mating Connector The pre fabricated resolver cable is used with the variants Motor with male connector on page 54 and Motor with screw clamping terminals and cables with male connectors on page 54 7 Note N Pai we os The resolver respectively HIPERFACE mating connector of the synchronous servo motor series JH JL and JK can be ordered from Jetter AG by supplying the following particulars Article 15100069 Resolver HIPERFACE The complete resolver cable connecting the servo amplifier JetMove 108 and the synchronous servo motor series JL1 and JH2 can be obtained from Jetter AG The resolver cable can be ordered by submitting the following cable specifications and the respective cable lengt

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