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1. DGND X4 9 OSD02 E L DGND ae PE mu E c DGND complex RC link non linear impedance GNDyP Polyswitch i EN OSD03 Motor brake 1 X13 2 GND X4 12 r mm Sa RSH ZON g GNDuP XAI23 rp m OSD04 X4 24 GNDuP Fig 3 7 Electrical isolation concept ServoOne Operation Manual 17 LT ServoOne Operation Manual 18 LUST 3 6 Connection Of supply voltages NOTE A applies only for BG1 to BG5 Apart from the control section the 3 external voltage source also supplies the output for the motor holding brake l 2 A max When this output is active the current for the motor holding brake 4 A flows through terminal X9 plus the required current for the digital inputs and outputs The starting current for the supply voltage of BG1 to BG5 can be 2 3 times The power supply for the ServoOne is separated into the supplies for control and power sections The supply for the control must always be connected first so that triggering of the ServoOne can first be checked or the device can be parameterized for the intended lication SP EE the operating current 3 6 1 Connection Control supply 24 V DC ATTENTION Suitable measures must generally be applied to provide ad equate line protection Device 1 Device 2 Cover Cover Three phase network max 10 A gG 24 V DC 20 Ld ext voltage sourc
2. 47 5 1 Device states indicated by D1 D2 7 segment display sssse 47 5 1 1 Example for flashing sequence ssssssssssssssRR RH 48 5 2 Excerpt from fault list eee eect mmn nennen nnns 48 c Belus di NOUIS 49 Safe Torque Off STO 51 6 1 Danger analysis and risk assesstTIBE TL sus siet bevx a diea ta ad EF Rue a oni UE Ra Gard dues 51 SPEM ines TING estes cecal sts ta saan cation o o ETT 51 56 2 J D scnpuon OF TUNIC OM mcascucxdaragincs bet tenes det deut ui Rcx UA nade a Rus Ra Cu 53 ServoOne Operation Manual 6 6 2 2 Notes on safety RRNT 54 6 2 3 Overview of STO connections oo cece cc ccccccccececeeeeeceeeeeeeeeeeeeeeeeeeueaes 54 6 2 4 Wiring and cormimilssiQPbliiT IAssssescvensuseskexe bk x EVE Lana ta ast te pRbYl rmt mi tma etos papa inae 55 6 2 5 Checking the STO TUICHOT iecit nib enne aa Rr baee adn 56 6 3 Stopping acc to stop category 1 SS1 sssssssssssssRRR II 56 6 3 1 Notes n Safety iia aae una aso dati raa sinnar aaide DR dann 56 6 3 2 Information on System e5tQpi u seeing otn omma nmn Re ten 57 POS NCI ONERE TOT 59 A 1 Permissible current load of servo controllers sssssssssseeeeeel 59 A 2 Technical data ServoOne ssssssssssssssssseeneeee eee HHeeeeenennn nain rrr nnne senes 61 AZI SO84 004 16 SOSA TO cosi ane suindn aic A D OU edad hin 61 A 2 2 S084020 10 5094 2 erreseina eA gd sua RUM
3. Fle View Edt Extras Windows Help O d 9 428 ERR 9 Error 2 1 Qa Foward up Undo Qinepeat s080 000 BRP save inside J a B Prom file dil Power stage E motor Standardisation units w Cockpit Digital inputs Digital outputs Drive status E Cause Parameter initalisation Failed Fig 4 24 Drive status Open window Remedy Switch offfon device Please contact pour service pe et A Du acus CuG aene Drive status 5080 000 I X J ee Target reached p Fig 4 26 Device error duit error Cancel eS eee ee D a M M l M Standstill Movement right Movement left HomingJog mode active Homing attained Lett limit switch Right limit switch HALT state Motor brake closed Warning Fig 4 25 Drive status Window 5 Diagnose 5 1 Device States indicated by D1 D2 7 segment display Display Meaning Parameter System states BB Device in reset state I Automatic initializing during start up of device Start B Si Not ready to switch on no ZK voltage NotReadyToSwitchOn Se Starting lockout ZK OK power stage not ready SwitchOnDisabled oF Ready to switch on power stage ready ReadyToSwitchOn E Switched on drive energized SwitchedOn Drive ready IN energized and ready for setpoint OperationEnabled specification EN Quick stop QuickStop B Fault reaction active FaultReactionActiv Table 5 1 Device states LTi
4. Start of control S080 000 H save lj 3ro file S J From file Ie Reset lj lj 24 MPRO OUTPUT FS OSD02 128 MPRO OUTPUT FS RELOUT 1 127 MPRO OUTPU Value Unit Introduction MPRO_INPUT_F K MPRO_INPUT_F sizim QA aE a KLL aO PARA 1 Writeto parameter no 407 OFF 0 No function START 1 Start motor control INV 2 Invert setpoint STOP 3 Force quickstop HALT 4 Disable feed LC 5 Limit switch clockwise Function of analog input ISAQ0 Fig 4 13 Setting the analog inputs In addition select the following setting in the sub subject area analog inputs gt ISAO0 to REFV Specify setpoint as voltage PARAMETER 109 ServoOne Operation Manual 33 LTi LUST Motion profile In this subject area you will find the sub subject areas Basic settings Stop ramps Setpoint table Analog channel ISAOO etc For initial commissioning the following parameter settings must be made in the subject area basic settings gt SET PARAMETER 159 MPRO CTRL SEL to TERM Control via terminals gt SET PARAMETER 165 MPRO REF SEL to ANAO Analog setpoint specifica tion l 5080 000 Y eke file S je File lj i E lj Speed controller GUI Digital inputs y Motion profile Sub id Name Introduction Standardisation units Standardisation and setting of units y e dece Setting of control and setpoint channel 144 0 MPRO DRVCOM AU EDGE scaling of motion profile DriveCom Auto start of sy
5. current of the servo controller 3 Power choke mandatory Table 3 4 Connected load and mains fuse choke 4 u power choke 1 x max 10 3 X tax 10 3 X max 16 Table 3 4 Connected load and mains fuse 3 7 Control connections 3 71 Specification of control connection Terminal Specification P isolation Comment Analogue inputs U 10V DC ISAO X4 3 Definition 12 bit R approx 101 kQ ISAO X4 4 Terminal scan cycle in IP mode 125 us ISA1 XA 5 otherwise 1 ms ISAT X4 6 Tolerance U 1 of the measuring range end value Check whether a complete device setting is already available i e whether the drive has already been projected If this is the case a special control terminal assignment applies Please contact your project engineer to obtain Digital inputs the terminal assignment ISDOO X4 15 ISDO1 XA 16 e Frequency range lt 500 Hz ISDO2 X4 17 e Terminal scanning cycle 1 ms I5D03 X4 18 e Switching level low high lt 4 8 V 2 18 V ISDOA X4 19 e for 24 V typically 3 mA ISDO5 X4 20 Choose a terminal assignment Initial commissioning Earth the cable shields over a wide area at both ends Conductor sizes fixed 0 2 to 1 5 mm Conductor sizes flexible with fer rule 0 2 to 1 5 mm2 isosH gt BA veo Frequency range 500 kHz IE gt BIBI oso Switching level low high lt 4 8 V 2 18 V soos gt B IB gt ospo Wire the control terminals with shielded cables
6. x additional encoder 19 I5D04 Front e g for second Sin Cos encoder or EnDat 2 19 20 ISDo5 Option 2 interface high definition encoder interface X7 Sin Cos encoder EnDat 2 19 encoder Hiperface encoder Motor temperature monitoring can be routed through the X6 Resolver connection resolver lead X6 5 and 9 Relais Relay 24 OSD04 PTC following DIN 44082 Linear temperature sensor KTY84 130 Automatic cutout Klixon Digitalo 7 lospoo Digital 9 lospot Digital2 3 lospo2 l O GND Connection of motor temperature monitoring y anaoa 2 14 24V U D C link l Deire i m hee Ccaniee homie maii Power output with open circuit overload detection to the Braking i relay Attention resistor dur brake T Observe the freewheeling suppressor circuit Communication tm field busses 2 Option 1 Power terminal Motor brake resistance and connection of the d c link Bottom Table 3 1 Legend to terminal diagram BG1 BG4 Fig 3 2 Connection overview BG1 to BG4 3 2 Overview of connections BG5 to BG6a The following shows the position plan with the corresponding positions of plugs and ter minals For better orientation we have identified the designations of plugs and terminals with an abbreviation X bP9 x20 Connection motor brake 24 V Supply for control x x electronics Option 2 additional AC Mains X encoder port connection pra d X Port
7. 5I LTi DRIVES ServoOne Operation Manual Servo controller 4 Ato 170A LTi LUST ServoOne Operation Manual Id No 1100 00B 3 01 Status 01 2009 Valid from firmware status V1 1 ServoOne Operation Manual ServoOne Drives with Ambition The modular design of ServoOne ensures optimal integration into the machine proc ess Whether through a high speed field bus communication with the central multi axes machine control or through decentralized programmable Motion Control Intelligence in the drive controller ServoOne will master both tasks brilliantly Subject to technical modifications The contents of our documentation have been compiled with greatest care and in com pliance with our present status of information Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products Information and specifications may be changed at any time For information on the lat est version please refer to www lt i com Guide through this document Dear user We are happy that you have made a decision in favour of a product from LTi DRIVES In order to be able to start operation of your new ServoOne quickly and without problems we ask you kindly to read this operation manual thoroughly beforehand Step Action Comment This Operation Manual will enable you to install and commission ServoOne drive system very quickly and easily Gui
8. G C 7 Ll JuUedsupes TOP yourse eese e isin ti M Mr aab Damus AG tec RR AVU stadt 7 LII Read the Operation Manual FUSE susscxsuevesxut air bites pasto dried bats cv Rt read 7 DU ED eei MENU RET m 7 ke IMENE GG RES mE 8 k3 Responsibly mm 8 Mechanical INSTANAWON NETT 9 2 1 Notes for lt 1 100 8 III II III IImInnnnnnn nnnm nnns nnn nn nnns sss iria siiis 9 22 Wall MOUNTING TE aian iaei nier 9 Lal DIMEN ON m 10 PTV SAIN e E E E AEE SEE AA EEE 11 3 1 Overview of connections BG1 tO BG4 sssssssssssseII I e enn nnne nnns 11 3 1 1 Connection overview BG1 to BG4 ssssssssssssee nens 12 3 2 Overview of connections BGS to Bd entre aiae eniai sabe dud 13 3 21 Connection overview BGS 10 BGO ccs tenter ts bs vaa e EDIT uada caclaaaanes 14 33 EMC coMmplantinstalatig esere ere n ENEE ESEE 15 3 3 1 Interference immunity of drive controllers esssssessssss 15 3 3 2 Assignment of drive controller with internal line filter 15 3 3 3 Assignment of drive controller with external line filter sssusssse 15 3 3 4 Notes for projecting and installation sessirnir eia 16 ST PETIN NND Em 16 B32 ENO CHIC Al ISCIATION CONE RR T 17 ILT 3 6 Su 3 8 3 9 3 10 3 11 SwlZ 313 3 14 215 Connection OF supply voltages aam neni nist Net de v aN VRR au ERE SIP SEP nies pease 18 36 1 Connection Corel suppl 4M DCO sisisi in Piet 18 3 0 2 Connection OF TEINS S
9. LUST Display Meaning Parameter Fault see below Fault In case of a fault the following information will alternately be dis played See example on next page table 5 2 Display for faults or faults that cannot be reset Display changes after approx 1 s Error number decimal Example 05 Overcurrent l Display changes after approx 1 s Error location decimal Example 01 2 Software monitoring f After approx 1 s the display jumps to ER 1 S flashes when the function STO Safe Torque Off is active display goes out when the function is inactive it is not a safe indication as specified in EN 61800 5 2 2 This point flashes when the power stage is active Table 5 1 Device states ServoOne Operation Manual a LTi LUST 5 1 1 Example for flashing sequence ER gt 02 gt 05 ER gt 02 gt 05 Display Meaning Explanation ER Fault nl Fault name nr Fault description Table 5 2 Error example 02 Fault in parameter list 05 Function to check the current parameter list P Note The faults can be acknowledged in accordance with their program med reaction ER or reset via a 24 V reset X9 10 ER Attention Faults marked with a dot can only be reset after the cause of the fault has been eliminated ServoOne Operation Manual 5 2 Excerpt trom fault list DIET EW ER gt no fault Runtime error Error in parameter list Unde
10. Standard setting Standard mode Control mode l FLUN 3 Position control mode Selection of control mode he 9 Motion profile P O setpoint effects ta profile generato 1000 rew min s 1000 revs mins Selecting the profile type Accelerator Acceleration ramp Brake ramp Positioning speed Deceleratiars Speed 1733 rev min Mode absolute CO relative to speed controlled Positioning mode Reference Setpoint specification Fig 4 20 Window Standard mode ServoOne Operation Manual 44 Referencing Homing mode The usual referencing types are available for positioning in manual mode All of these types can be chosen from the catalogue field Standard mode Homing mode Jog mode Reverse made Homing method Fig 4 21 Choosing the referencing travel Jog mode Jog mode enables endless positioning You can choose trom two speeds and both directions of rotation Jog mode is started with the buttons Jog or Jog When releasing the control button the drive will stop along a parameterized braking ramp Standard mode Homing mode Jog made Reverse mode Slow jog Quick jog Fig 4 22 Jog mode Reversing the sense of rotation Reverse mode A 3 Diagnose In Reverse mode you can change the sense of rotation once a defined position or speed is reached At a position of e g 360 the drive rotates 360 in positive and subse quently 360 in neg
11. as res ftor your safety eee eee Ome eae nee cen nee ee nee ee ear 7 MMC Slot Spezification eenas cee eeeeeeeeeeeeseeceseeeaneeeeeeaeeeeeeans 23 Motor cables prefabricated essre naei raa EE EEEa 28 Motor CONCH OI esc a RESER 27 O E T MERERI 2 Option d conina aN erena TRE 24 Opiom additional BeOS sete e E 24 Ordering dz eserse E E rR 37 Overview of STO connections sssseee mmn 54 ServoOne Operation Manual E Parameterization and EEN METRE OO 37 Permissible current load of servo regulators eeesssesseeess 59 ise RIETI EE E 16 PEOL 4 PONOR SE VC y NE 63 Po OOM OT 11 Ose 08 orc No Gio NR eet aime eet tna nent eter ete Cee ne ener 13 Position pan TS cece etter scat RR 13 Positive opening operation of a contact element 53 2 058 epee cere hc cede keeps ees shee seers ice 24 Project planning and TS Cea AO IN csse cere E E 16 Protective Extra Low Voltage PELV sssssssssse 17 Q E a SI g eee rns we en me E ee ee Oe eT ISE 3 R Rated eurem BOT tO BOA resmen teaa E eite ieee 59 Rated current BG5 BG6 and BG6a 2 2 cc cecccecccccececcucceccecseeceeeseeess 60 BVO SIA RR ERR RR 44 FO ONAN ON oedip eE EE ET E EEE EEO 8 REDON IOU ea RR 45 PROV CN CNOC PE 45 S eye i 95ie 51 Safety 7 Sareb a E cep tede EEE 53 Safety Extra Low Voltage SED osea adsis eo pest aro Oe EROR ER 17 Safety no
12. the system has been deenergized LTi LUST ATTENTION The external brake resistor must be monitored by the control The temperature of the braking resistor is monitored by a temperature watch dog Klixon In case of excessive temperatures the servo controller must be disconnected from the mains supply Available braking resistors excerpt Continu Degree Resist Peak brakin ous braking 9 of pro Illustration ance power power tection Ordering designation BR 090 01 54 UR 35 W 6250 W BR 090 02 54 UR 150 W 6250 W BR 090 03 54 UR 300 W 6250 W BR 090 10 650 UR 1000 W 6250 W BR 026 01 54 UR 35 W 21600 W BR 026 02 54 UR 150 W 21600 W Example BR 026 03 54 UR 300 W BR 090 01 540 UR 21600 W BR 02610 630 UR 1000 W 21600 W 1 Tolerance 10 2 the maximum possible braking power in dependence on ON time and cycle time Fig 3 15 Technical data braking resistors NOTE Exact specifications especially with respect to surface temperature the required cable cross sections the max connection voltage and high volt age strength can be found in the ServoOne ordering catalogue Please consult your projecting engineer for more detailed information on the design of braking resistors ServoOne Operation Manual 51 LT ServoOne Operation Manual 32 LUST 3 16 7 segment display D1 and D2 3 17 Function of buttons T1 and T2 The buttons T1 and T2 are used to set the device to bootstrap mod
13. to EN 60204 1 SS1 Safe Stop 1 stopping acc to stop category 1 In case of controlled stopping with reliably monitored delay time the drive is braked by the drive controller Once the delay time which is monitored by an external safety cir cuit has expired the power supply for the drive is interrupted no metallic isolation The safety function STO is active The SS1 function corresponds with stop category 1 acc to EN60204 1 Stop category according to EN 60204 1 Stop System behaviour requirement category 0 Uncontrolled stopping By direct interruption of power supply to the machine drive elements Controlled stopping Power supply to machine drive elements is maintained to achieve stop ping The power supply will only be interrupted when standstill is reached Controlled stopping By which the power supply to the machine drive elements is maintained also at standstill Table 6 1 Stop category ServoOne Operation Manual gt 1 LTi LUST Stop category acc to EN 60204 Part 1 Stop category Stop category Stop category 0 1 2 Quick St Quick St Position EOD EO related Stop SBH Position regulation at standstill Only in case of fault STO acc to category 3 Drive free of torque fig 6 1 Structure of stop categories Emergency stop In compliance with the national and European foreword to EN 60204 1 electrical operating means may also be used for emergency stop facilities if these e g fulfi
14. 0 This can be achieved by providing the control sequence of your machine with appropriate satety periods for the switching of the motor contactor However despite these measures it cannot be ruled out that the servo controller will malfunction when switching in the motor line LTi LUST 3 15 Braking resistor RB In regenerative operation e g when braking the drive the motor feeds energy back to the drive controller This increases the voltage in the DC link If the voltage exceeds a threshold value the internal braking transistor is activated and the regenerated power is converted into heat by means of a braking resistor 3 15 1 Protection in case of brake chopper fault ATTENTION If the internal brake chopper transistor is permanently switched on because it is alloyed through by overload 0 Q there is a protective function to protect the device against overheating You activate this function by assigning 56 BC FAIL 56 to any digital output expert field I O configuration gt digital output gt OSDOO to OSDO2 In case of a fault the selected output will switch from 24 V to O V This signal ensures that the servo controller is safely disconnected from the mains supply Detailed information on parameterization can be found in the ServoOne user manual 3 15 2 Design with integrated braking resistor The catalogue only specifies the peak braking power for the servo controller with inte grated braking resistor des
15. 160A 200A 24 0A 32 0A TEE 4 kHz M 460V 4 00A OA OA 120A 160A 20 0A 24 0A 2 A 1 Permissible current load of servo controllers 45 c AI Sa cs cc easi Goa 480V 40A 60A 80A 120A 160A 20 0A 24 0A 32 0A Maximum permissible servo controller output current and peak current depend on the ANG ALOE ue exo wes Due QO 220 e 52240 f mains voltage the motor cable length the power stage switching frequency and the red A60V 40A 60A 72A OSA 139A 174A 210A 280A ambient temperature With changing application related conditions the maximum per AGN ER INTER a RISE EUSC ISN loan DISTR missible ampacity of the servo controllers will also change 400V 3 7A 55A 67 7A 100A 11 0A 13 8A 15 8A 21 0A Mains voltage 082 004 ance 460V 29A 44A 53A 80A 8 8A 110A 124A 165A 4 kHz 45 C 480V 27A 40A 49A 74A 80A 100A 11 3A 150A 8 kHz 40 C 400V 2 7A 40A 50A 76A 80A 100A 11 3A 15 0A 12 kHz 40 C phi 460V 16A ZAA 37A 56A 59A 74A 92A 122A 16 kHz 7 402C 480V 13A 19A 33A 50A 52A 65A 84A 112A f power stage switching frequency T max ambient temperature f power stage switching frequency T max ambient temperature double overload capability for 10 s Data apply for a motor cable length of 10 m table A 1 Rated current BG1 1 x 230 V table A 2 Rated current BG1 to BG4 3 x 230 400 460 480 V Double overload capability for 10
16. 2 D C link Braking ss resistor Three phase network o Li uet e SS 24V DC supply for gt control electronics U 24V DC supply for brake l 2 0 A Control of motor brake 1 add encoder Brake Brake No Designation D1 D2 7 segment display Tie T2 Button Slot for MMC X1 exchangeable data carrier X2 USB 1 1 interface x3 Ethernet interface x4 Control terminals Option 1 Communication X11 AC mains connection eA PE conductor con nection Control supply con X10 X9 nection U X8 additional encoder Option 2 interface high definition X7 encoder interface X6 Resolver connection Connection of X5 motor temperature monitoring Motor brake connec X20 tion only BG5 BG6 BG6a X12 Power terminal ServoOne Operation Manual Function Equipment status display Changes to the bootstrap mode Enables e g firmware download without PC Service interface Plug amp Play connection to PC Service interface fast TCP IP port RJA5 Relay output diagnose STO 8 digital inputs 2 analog inputs 3 digital outputs 1 additional relay output Factory installed module for field busses e g SERCOS PROFIBUS DP EtherCAT or CANopen Mains supply Connection diagram see chapter 3 4 Supply voltage for control electronics of servo control ler e g for second Sin Cos encoder or EnDat 2 19 Sin Cos encoder EnDat 2 19 encoder
17. 3 10 Anschluss Netzversorgung 1x 230 V precharging technology in these devices you must make sure that the power 1 ATTENTION applies only for Bg5 BG6 and BG6a Due to the different choke is installed between servo controller and line filter see Fig 3 9 J NOTE Before commissioning the value of the connected mains voltage must 3 be set in the servo controller factory setting 2 3 x 400 V AC More detailed information see chapter 4 Commissioning LTi LUST Please proceed as follows Step Action Comment Line cross section acc to local 1 Determine the wire cross section depending E regulations and conditions on maximum current and ambient tempera ture This step does not apply for BG1 to BG5 this series has an integrated Wire the drive controller with the line filter max cable length 0 3 m with non shielded cable line filter Reduces the voltage distortions THD in the net and prolongs the lifetime of the servo controller Wire the power choke see appendix A 5 Install a K1 circuit breaker power circuit i breaker contactor etc Do not switch on the power Use mains fuses duty class gG which will isolate all poles of the drive controller from the mains supply For compliance with the equipment safety act acc to EN61800 5 1 tions while these are live Always disconnect the power before working on the device Dangerously high voltages 250 V may still be present 10 minutes
18. A 2 1 SO84 004 to 5084 016 JT St Co co N Co e e e S S i e oe N ST ST St St St 0 0 08 08 oe 00 oe 9 9 e WY WY Un WY Un W Technical data Output motor side Voltage Sox 8A 12A 16A AB gt e Rated current effective l 4A Peak current see table A 1 1 Rotating field frequency 0 400 Hz Power stage switching frequency alg 12 Sz Input mains supply side Mains voltage do emu X230 VI 3x 400 V 3 x 460 V 3 x 480 V 10 Weide ated L6kVA 2 8kVA 42kVA 59kVA Oo RA Current with power choke 9 5 A ADA 64A ex ue PART Bs IS Asymmetry of the mains voltage 3 96 max Frequency 50 60 Hz 10 E SEMEL ssw 96w 122W 175W 240w 330W 8 kHz 400 V 1 All data related to 400 V output voltage and a switching frequency of 8 kHz 2 Data related to 400 V mains voltage Connection of an external braking resistor not permitted for devices with internal braking resistor version SO8X XXXx XXXX 1xxx 4 without power choke 5 Data referred to 3 x 480 V mains voltage BR switch on threshold 765 V DC table A 4 Technical data SO82 004 to SO84 016 LTi LUST SORZANO S084 004 S084 006 SO84 008 SO84 012 SO84 016 Technical data Brake chopper power electronics Peak braking power with internal braking resistor version S084 4 7 kW at 90 Q PTC 4 7 kW at 90 Q XXX XXXX 1xxx Minimum ohmic resistance
19. D2 a E Not ready for starting UZ OFF Device is initialized Starting lockout power NOTE The firmware of a SO8000 must be compatible with the version of E not ready HON SOROR takes piace instep s J the DaiveMANAGER 5 x Should the communication setup fail you must check the compatibility Tabelle 4 8 Switch on status of the ServoOne after connection of the 24 V control supply Prerequisite e DRIVEMANAGER 5 x is installed e Electrical connection via USB cable type in the example CC USB 003 on terminal X2 or via TCP IP Ethernet cable type CC ECL 003 on terminal X3 to PC available e LI i ServoOne Operation Manual 39 LUST LTi LUST Create a project with the DRIVEMANAGER 1 View Edit Extras Windows Help START DRIVEMANAGER ee Project Qi Repeat DM Open gt Open new project amp i Close project Menu bar kd Save New project Strg S File gt new Project Save as gt Save all scan Network 3 Print Preview Recent projects Recent files Close Fig 4 1 New program 2 File View Edit Extras Windows Help The directory tree now ocal administrate shows the USB COM4 interface used and a node for the corre sponding subscriber is New project displayed For initial communica Network connections tion the parameters must first be read in Available network connections This request must be US Econ confirmed with yes This process may take a few sec
20. Specification of MMC Slot For a MMCplus Card with 128 MB memory capacity and 3 3 V supply voltage 3 9 Specification of USB 1 1 interface e For USB 1 1 Standard with Full speed device Intended for communication with a PC USB cable required see ServoOne ordering catalogue chapter 4 Accessories e Only designed as service interface 3 10 Specification Ethernet interface e Transfer rate 10 100 MBits s BASE T ine protocol IEEE802 3 compliant e Crosslink cable required see ServoOne ordering catalogue chapter 4 Accesso ries ServoOne Operation Manual 23 LTi LUST 3 11 Option 1 Depending on the ServoOne design variant option 1 can be designed as follows e for field bus SERCOSII e For field bus PROFIBUS e for field bus EtherCAT e for field bus CANopen NOTE More detailed information can be found in the ServoOne ordering 3 catalogue chapter 3 and in the user manual for the corresponding field bus 3 12 Option 2 Option 2 is an additional encoder interface Example e Evaluation of optical sine cosine encoders with zero pulse evaluation e EnDat 2 1 connection via X8 15 pin D SUB plug NOTE More detailed information can be found in the ServoOne 3 ordering catalogue chapter 3 ServoOne Operation Manual 24 3 13 Encoder connection All encoder connections are located on the cover of the unit 3 13 1 Encoder connection for LSH T motors Please use the prefabricated motor and encoder line
21. are not taken into consid eration for initial commissioning see chapter 6 ILT LUST 4 1 1 System prerequisites e a connected servo controller see chapter 3 Details on initial commissioning can be found in the following chapter 4 1 2 Wiring of components e a PC with installed operating software DrivEMANAGER 5 x e an USB interface cable e g USB cable A to B type CC USB 03 see ServoOne ordering catalogue a servo motor type LSH or LST with resolver see ordering catalogue LSH LST servo motors connected to the servo controller as described in chapter 3 LSH and LST motor datasets can be downloaded from the product CD ROM ATTENTION During commissioning strictly comply with the safety regula tions specified in chapter 1 ATTENTION Never wire or disconnect electrical connections while they are live Disconnect the unit from the mains supply 230 400 460 480 V before working on it Work on the device must only be carried out after the d c link voltage has dropped below a residual voltage of 50 V on BG1 BG4 to be measured on terminals X12 L and L or on BG5 BG6a on terminals X12 ZK and X12 ZK ServoOne Operation Manual 33 LUST LTi ServoOne Operation Manual 34 4 1 2 Wiring of components Connection Terminal Designation Cable type For complete wiring all power supply encoder communication and service connections must be connected to the appropriate terminals using the Connection of motor b
22. be carried out by authorised repair workshops Unauthorised opening and incorrect intervention could lead to physical injury or material damage The warranty granted by LTi DRIVES will become void J NOTE The use of drive controllers in mobile equipment is assumed an excep 3 tional environmental condition and is only permitted after a special agree ment ServoOne Operation Manual 8 1 3 Responsibility Electronic devices are never fail sate The company setting up and or operating the machine or plant is itself responsible for ensuring that the drive is rendered safe if the device fails EN 60204 1 DIN VDE 0113 Safety of machines in the section on Electrical equipment of machines stipulates safety requirements for electrical controls They are intended to protect personnel and machinery and to maintain the functional capability of the machine or plant concerned and must be observed The function of an emergency stop system does not necessarily cut the power supply to the drive To protect against danger it may be more beneficial to keep individual drives running or to initiate specific safety sequences Execution of the emergency stop measure is assessed by means of a risk analysis of the machine or plant including the electrical equipment in accordance with EN ISO 14121 previously DIN EN 1050 and is determined by selecting the circuit category in accordance with EN ISO 13849 1 previ ously DIN EN 954 1 Safety of machines
23. in connection with an interlocking mechanism The interlocked separating protective device with tumbler is described in EN 1088 paragraph 3 3 Tumbler lock A tumbler lock EN 1088 paragraph 3 4 is a device with the function of holding a sepa rating protective device closed until the risk of injuring has been eliminated ILT LUST 6 2 1 Description of function The servo controller SO8000 supports the safety function STO Safe Torque Off acc to the requirements of EN 954 1 Category 3 EN ISO 13849 1 PL d and EN 61508 EN 62061 SIL2 The safety function STO acc to EN954 1 describes a safety measure in form of an interlocking and control function Category 3 means that this safety function will remain in place in case a single fault occurs The safety relevant parts must be designed in a way that an isolated fault in any of these parts does not result in the loss of the safety func tion and e the isolated fault will be detected whenever reasonably possible For the STO function the servo controllers are equipped with additional logic circuits and a feedback contact The logic interrupts the power supply to the pulse amplifiers used to trigger the power output stage In combination with the controller release ENPO the system uses two channels to prevent the motor creating a torque In comparison with the solution with a motor contactor this variant offers the following advantages e Abandonment of t
24. re estab lishing the electric power supply in the illustrated exemplary circuitry unless an external circuitry is used If ENPO and ISDSH are High when reconnecting the electric power supply see truth table the axle may start when Autostart has been programmed The safety feature on the machine must assure that the ServoOne the SRP CS can reach and maintain the safe state of the machine LTi LUST P Note In case of a spatially isolated installation of switch and drive controller one must make sure that the leads from closed contact 1 to ENPO STO and from normally closed contact 2 to ISDSH STO are wired separately or that possible faults are ruled out by using e g a protective tube In order to remove the STO safety function and to deactivate the restart inhibit the sig nal ISDSH must be set to High before the signal ENPO or simultaneously with the signal ENPO Restart inhibit Controller state L L ON ON Output stage locked via two High channels H H OFF OFF Power stage at standby Low L gt H LH OFF OFF Power stage at standby Low H H L ON ON Output stage locked via two High channels HSL H OFF ON Output stage locked via one T channel D EPIS H OFF OFF Power stage at standby Low previous status 1 3x10 switching cycle at 200mA rest position normally open 2 In order to deactivate the restart inhibit the control signals must be simultaneously ENPO max 5 ms before ISDSH set t
25. to res Control In the subject area Control you choose the control mode In this example we have chosen the Speed control mode The Speed controller can be adjusted in detail via an active block diagram More detailed information can be found in the ServoOne User Manual beat 8080 000 Ao Control Control mode Speed controller Li Save lj2a To file ED From file Ie Resel ON 2 Speed control mode Fig 4 11 Choosing the control Parameterizing inputs outputs I O configuration The subject area I O configuration is sub divided into digital inputs digital out puts analog inputs analog outputs and motor for motor brake Certain func tions can be assigned to each input output by means of programming LTi LUST a Digital inputs Digital standard inputs Ipsnn START I Start motor control Low active Ipsum DFF U No function C Low active Ipso DFF U Mo function C Low active ID503 OFF O Ma function C EE os C Low active IDS 4 OFF O Ma function IDSQ5 DFF U Mo function C Low active E B IDS5DE OFF O Ma function C E m Power stage Motor Encoder ENFO Control Enable power stage hardware START 1 Hardware enable powerstage amp start mot Fig 4 12 Setting the digital inputs For initial commissioning please select the following settings in the sub subject area digital inputs gt ISDOO to START 1
26. x 480 V 10 460 V 3 x 480 V 10 480 V 10 Device connected load 13 9 16 6 22 2 31 42 50 with power choke kVA kVA kVA kVA kVA kVA Current with power choke De Ye ek Be IN 45 A STA por Current with power choke 90 A 110 A 143 A 170 A Asymmetry of the mains voltage 3 max Asymmetry of the mains voltage 3 max Device connected load with power choke 62 kVA 76 kVA 99 kVA 118 kVA Frequency 50 60 Hz 10 96 Frequency 50 60 Hz 10 Power dissipation at l 400W 475W 515W 1610 W jr 1010 W Power dissipation at E 1300 W 1600 W 2100 W 2500 W Brake chopper power electronics Brake chopper power electronics Minimum ohmic resistance of an externally Peak braking power with internal braking Barca installed braking resistor resistor version SO84 xxx xxxx 1xxx 12 Q 10 QP 8 5 Q 6 5 O 1 All data related to an output voltage of 400 V and a switching frequency of 8 kHz 12 0 9 12 Q 9 118 0 1g Q 13 Q All data related to an output voltage of 400 V and a switching frequency of 4 kHz 4 Data related to 400 V mains voltage 5 Data referred to 3 x 480 V mains voltage corresponds with BR switch on threshold 745 V DC Minimum ohmic resistance of an exter T nally installed braking resistor 21 0 1 All data related to 400 V output voltage and a switching frequency of 8 kHz 2 Data related to 400 V mains voltage 3 Connection of an external braking resistor not permit
27. 0 mm copper or 2 conductors with the cross section of the mains supply lines Mains connection gt 10 mm copper Use a PE conductor cross sec tion complying with the mains lead cross section Cable routing Route the motor cable separated from signal and mains supply lines The minimum distance between motor cable and signal line mains line must be 20 cm if necessary us a separator Always route the motor cable without interruptions and the shortest way out of the control cabinet When using a motor contactor or a reactance coil the respective component should be directly mounted to the drive controller Do not bare the core ends of the motor cable too soon e Avoid unnecessary cable lengths The drive controllers must always be wired with screened motor cables and signal lines A cable type with double copper braiding with 60 70 coverage must be used for all screened connections Further hints for the Contactors relays solenoid valves switched inductivities must control cabinet design be wired with fuses The wiring must be directly connected to the respective coil Switched inductivities should be at least 20 cm away from the proc ess controlled assemblies Place larger consumers near the supply If possible enter signal lines only from one side Lines of the same electric circuit must be twisted Connect residual strands at both ends with the control cabinet ground earth Supplementary infor Supplementary info
28. 10m 25 m 10 m 084 0607 25 mM 10m 25m 10m 25 mM 10m 25 M 10m C3 Second environment industrial area C2 First environment living area 1 Please note that the motor shield connection is not on the shield plate but directly at the device terminals 2 For compliance with the standard power chokes u 4 to 32 A u 2 2 at 45 to 170 A must be used 3 Compliance with the standard is only possible when using an external filter no internal filter present table A 8 Permissible motor cable lengths in m ServoOne Operation Manual 64 4 kHz 8 kHz 12 kHz 16 kHz Power stage Power stage Power stage Power stage Drive con cycle frequency cycle frequency cycle frequency cycle frequency troller Category Ooo S INN S084 072 23m 10 m 254m 10m 25 m 10 m 25 m 10 m S 084 090 7 25m 10m P5 10m 25m 10m 25m 10m S0O84 110 2 25m 10m 25m 10m 25 m 10 m 25m 10m 5084 143 gt 25m 10m 2 5 pm 10 m 25 m 10 m 25 m 10 m S084 170 2 25m 10 m 2543 TO m 25 m 10 m 25m 10m C3 Second environment industrial area C2 First environment living area 1 Please note that the motor shield connection is not on the shield plate but directly at the device terminals 2 For compliance with the standard power chokes u 4 96 to 32 A u 2 at 45 to 170 A must be used 3 Compliance with the standard is only possible when using an external filter no internal filter present table A
29. 33A 124A 124A 140A tia at O Hz 16 KH 39A 39A 39A 67A 67A 85A ls 83A 111A 133A 167A 153A 199A baci HZ j40sc 460V 78A 78A 78A 80A 80A 90A 9 at O Hz ALA SAA PIN 81A 99A 129A l 78 A 78 A 78A 106A 106A 128A Las a BIZ 480V 81A 108A 130A 121A 121A 136A e cree Melt res 38 A 38 A 38 A Ble as 83A dE NEC CNE S E coq cA lux gt 9 Hz 480V 76A 76 76A 77A T7A 87A l at 0 Hz fr power stage switching frequency Ty max ambient temperature 76 A 76 76 A 104A 104A 124A Lx gt 5 Hz 1 not permitted mE 2 The peak current l x is permissible for 3 s at a preload of 70 and for 10 s E aes WAMO ISMN EY ott ea act COT DOING at a heat sink temperature of lt 45 C 4 kHz and s 40 C 8 kHz not permitte 3 The peak current I is permissible for 30 s 10 s for SO84 170 at a preload of 70 2 The peak current lay is e ds sata rey w and for 10 s All currents are specified as effective values In the frequency range from 0 Hz to 5 Hz the maximum current is linearly rising 3 ms vena od es DR 4 a load of 70 All data apply for a motor cable length of 10 m Max i All currents are specified as effective values In the frequency range from 0 Hz to 5 Hz the maximum current is linearly rising table A 3 Rated current BG5 BG6 and BG6a All data apply for a motor cable length of 10 m table A 3 Rated current BG5 BG6 and BG6a A 2 Technical data ServoOne
30. 54 or higher when using the safety function STO Sate Torque OFF ATTENTION The drive controllers must not be installed in areas where they would be permanently exposed to vibrations LTi LUST A 4 Using a power choke The use of power chokes is necessary e where the servo controller is used in applications with disturbance variables cor responding with environment class 3 as per EN 61000 2 4 and above hostile industrial environment e with a d c link between multiple servo controllers ServoOne Operation Manual 63 LTi LUST A 5 Line filter Details concerning the subject Electromagnetic Compatibility can be found in chapter 3 3 EMC compatible installation The following table shows the permissible motor cable lengths in accordance with the standard EN 61800 3 The list contains only devices with internal radio interference sup pression filter 4 kHz 8 kHz 12 kHz 16 kHz Power stage Power stage Power stage Power stage Drive con cycle frequency cycle frequency cycle frequency cycle frequency troller Category 084 004 40m 20m 40m 15m 40 m 10m 40m 084 006 40m 20m 40m 15m 40m 10m 40m 8m 084 008 40 m 20m 40 m 15m 40m 10m 40 m 10m S084 012 40m 20m 40m Loum 40m 10m 40m 10m S084 016 40 m 10m 40 m 10m 40 m 10m 40m 10m 084 020 40 m 10m 40 m 10m 40 m 10m 40 m 10m 084 024 40m 10m 40m 10m 40m 10m 40m 10m S084 032 40 m 10m 40 m 10m 40 m 10m 40 m 10m S084 045 25m 10m 25m 10m 25m
31. 7 EEC before the market launch of the machine He must perform an analysis of dangers arising from the machine and introduce appropriate measures to reduce eliminate such dangers With the danger analysis all prerequisites for establishing the required safety functions are fulfilled The ServoOne safety function Safe Torque Off STO has been approved by the ac credited certification body TUV Rheinland Parts of the standard EN954 1 category 3 EN ISO 13849 1 EN 62061 EN 61800 5 1 and EN 61508 were accounted for The acceptance applies for servo controller types acc to the tables in chapters A1 1 and A1 2 as well as for sizes BG1 BG4 from serial number 0729 0001 For size BG5 6 from serial no on request Qualification The operator of the safety related system is trained in ac cordance with his state of knowledge as is appropriate for the complexity and safety integrity level of the safety related system This training includes the study of essential features of the production process and knowledge of the relation between the safety related system and the equipment under control EUC LTi LUST 6 2 Definition of terms STO Safe Torque OFF With the safety function STO the power supply to the drive is reliably interrupted no metallic isolation The drive should not be able to generate a torque and thus no endan gering motion The rest position is not monitored The STO function corresponds with stop category O acc
32. 8 Permissible motor cable lengths in m Explanation to the table Limit values acc to EN61800 3 first environment C2 limited avail ability Living area Maximum permissible motor cable length at which the emitted inter ference 2 9 kHz is below the permitted limit values Limit values acc to EN 61800 3 second environment C3 limited availability Industrial area Maximum permissible motor cable length at which the emitted inter ference 2 9 kHz is below the permitted limit values A 6 ULapproval Tightening tor Tightening torque Devi f oo ques for control Mains fuse A 6 1 Measures to comply with the UL approbation gps pipe terminale XS X9 Class UL 508C BG1 to BG4 X10 X13 1 The devices must only be operated on networks of overvoltage category Ill 5082 004 0 56 0 79 Nm 0 56 0 9 Nm 1x20 A K5 2 The devices can be used in networks with a maximum possible current of 5 kA BG1 SO84 004 0 56 0 79 Nm 0 56 0 79 Nm 3 WOKS with phase symmetric current and a max voltage of 480 V with network fusing 5084 006 0 56 0 79 Nm 0 56 0 79 Nm 3x15 A K5 acc to table A 9 3 The devices are designed for installation in environments with pollution severity 2 5084 008 10 56 0 79 Nm 0 56 0 79 Nm 3 x 20A RK5 4 The integrated back up fuse does not serve as protective device for branch lines S084 012 0 56 0 79 Nm 0 56 0 79 Nm 3x25 A RK5 The protective device for branch lines must be designed a
33. C standard ATTENTION Compliance with the required EMC protection targets is nor mally achieved by observing the installation instructions in this manual and using the appropriate radio interference suppression filters Please note The earthing lead must be laid out in star configuration to conform to the EMC standards The backing plate must be well earthed he motor cable mains lead and control cable must be laid out separately from each other Avoid loops and lay cable over short distances The operational leakage current is 3 5 mA Control leads data lines motor cables and encoder lines must be shielded LTi LUST 3 3 1 Interference immunity of drive controllers In order to improve the interference immunity as specified in EN61800 3 the drive con trollers of BG1 to BG 4 have an aluminium housing driver controllers of BG5 to BG6a are equipped with a aluminized galvanized sheet steel housing 3 3 2 Assignment of drive controller with internal line filter Drive controllers BG1 to BG5 are equipped with integrated line filters With the measur ing method specified in the standard the drive controllers comply with the EMC protec tion targets acc to EN61800 3 for Environment 1 living area C2 and Environment 2 industrial area C3 ATTENTION This is a restricted availability product in accordance with IEC 7N 61800 3 This product may cause radio interference in domestic environ ments in such
34. EUR 62 A23 S084090 t0 50943 170 dagssdixoantoM S acainascd E Ua duis da densa aala eA tedabeacneieancisn 62 A3 Ambient COMGITIONS MR Sedeniniamimnnands 63 A 4 Using a power choke oon cece eeeececccccccceeeee cee ee ee eeeceeeeeeeeeseseeseeeeeeeeeeeeeeeeessasaeeeseseseeeeees 63 AS MINS TIMER suscrassanussuedcconeasaccanansduaicadnensadvendinedinesodlinasadicatmeaitsadhinsieanansaensiiunhinidacnoncances 64 AO MILF A DOV OV Ell MPH 65 A 6 1 Measures to comply with the UL approbation IE SOCC BGT TO BGG ES 65 A 6 2 Measures to comply with the UL approbation We SOSC Tor BG 5 6 and Ga iiniwcnsaiiisisnainsnsumestadieosqnednasaundnghiestammeiacunniniushdannesena 66 1 Safety 1 1 Measures for your safety In order to avoid physical injury and or material damage the following information must be read before initial start up The safety regulations must be strictly observed at any time 1 1 1 Read the Operation Manual first Read the Operation Manual first e Follow the safety instructions e Please observe the user information Electric drives are generally potential danger sources e Electric voltages of 230 V to 480 V Dangerously high voltages gt 50 V may still be present 10 minutes after the power is cut capacitor charge Therefore check for proper isolation from supply Rotating parts Hot surfaces Protection against magnetic and or electromagnetic fields during installation and operation e For persons with pacemak
35. From dea c es DS es t setting non volatile inside d X Online jy s Srbin MPRO_INPUT_FS_ISADO MPRO INPUT FS ISAD New project s TCPIP s 19 160 355 y sono oop cj Digital Scope R Signat amp 23 Channels Fig 4 5 Saving the new project Sh NOTE It is possible to open several subject areas at the same time Online mode black writing in tree structure Offline mode blue writing in tree structure 4 1 5 Parameterization and setting Setting the power stage Open the subject area Power stage and set the existing mains voltage and the desired 4 The following settings must be made to be able to check the general cycle frequency of the power stage factory setting 400 V and 8 kHz 7 function of the drive system Qi Back Forward fF Up Mundo QiRepeat s080 000 M H save fj aT file Power stage t3 Motor 1 0 CON CfgCon t3 Motion p v For parameterization it is recommended to open the required subject areas The direc tory Drive Settings contains all required subject areas yr Switching frequency 3kHz 3 8 kHz switching frequency RJ ep New project For commissioning the following subject areas are required pili Voltage supply mode 400v 2 3x 400 V mains default TE M S 192 168 39 5 Power stage Motor Encoder Control I O configuration Motion profile a s080 000 6 24 Digital Scope E Signals Channels Control C5 Time Project ECCE 5 yew ncm Fi
36. Hiperface encoder Motor temperature monitoring can be routed through the resolver lead X6 5 and 9 PTC following DIN 44082 Linear temperature sensor KTY84 130 Automatic cutout Klixon Power output with open circuit overload detection to the relay Attention Observe the freewheeling suppressor circuit Motor brake resistance and connection of the d c link Table 3 2 Legend to terminal diagram BG5 to BG6a 14 Page see p 32 see p 32 see p 23 see p 23 see p 23 see p 21 see p 24 see p 19 see p 16 see p 18 see p 24 see p 26 see p 26 see p 26 see p 23 see p 27 3 3 EMC compliant installation Servo controllers are components intended for installation into industrially and com mercially used equipment and machines They must only be installed into IPAx compliant control cabinets or higher ATTENTION According to EN ISO 13849 2 the control cabinet must have degree of protection IP54 or higher when using the safety function STO Safe Torque OFF Commissioning i e starting intended operation is only permitted when strictly comply ing with EMC product standard EN 61800 3 NOTE The new EMC product standard for electrical drives with variable Speed is EN61800 3 2004 The transition period for the old EN61800 3 1996 ends on 1st of October 2007 The installer operator of a machine and or equipment must provide evidence of the compliance with the protection targets stipulated in the EM
37. LUST LTi DRIVES LTi DRIVES GmbH LUST GewerbestraBe 5 9 35633 Lahnau Germany Fon 49 0 6441 96 6 0 FAX 49 0 6441 96 6 137 Heinrich Hertz StraBe 18 59423 Unna Germany Fon 49 0 2303 77 9 0 FAX 49 0 2303 77 9 397 WWW lt i com infoQlt i com Technical alterations reserved The contents of our documentation have been compiled with greatest care and in compliance with our present status of information Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products Information and specifications may be changed at any time For information on the latest version please refer to www lIt i com Id No 1100 00B 3 01 e 01 2009
38. Length 20 m Cable length G13 Sin Cos multiturn encoder with SSI EnDat interface KGS2 KSxxx e g LSH LST H074 2 30 320 T1 G13 Variant B G12 Sin Cos single turn encoder with SSI EnDat interface KGS2 KSxxx e g LSH LST H074 2 30 320 T1 G12 Encoder line KRY2 KS 005 Ordering key G6 Sin Cos single turn encoder with Hiperface interface KGH3 KSxxx e g LSH EST H074 2 30 320 T1 G6 Technical data Variant C KRY2 KSxxx KGS2 KSxxx KGH3 KSXXX Chain trailing capability yes G6M Sin Cos multiturn encoder with Hiperface interface KGH3 KSxxx e g LSH LST H074 2 30 320 T1 G6M Minimum bending for stationary routing Table 3 8 Variants of motors encoder type and encoder line seu LTi LUST for flexible applications for stationary routing Temperature range o for flexible applications Cable diameter approx Material of oversheath Resistance Certifications Table 3 9 Technical data encoder cable ServoOne Operation Manual 90 mm 40 85 C 40 85 C 8 8 mm PUR against oil hydrolysis and microbial activity VDE0472 UL Style 20233 80 C 300 V CSA C22 2N 210 M90 75 C 300 V ET 25 LTi LUST 3 13 4 Resolver connection A resolver is connected to board slot X6 9 pin D Sub socket Function Sin S2 analog differential input track A Refsin 4 analog differential input track A Cos S1 analog differential input track B
39. Operating errors may cause damage to or malfunction of the drive This may result in physical injury or damage to material Danger high voltage Improper behaviour may cause fatal ac cident Danger to life or severe physical injury Danger from rotating parts The drive may automatically start to run Danger to life or severe physical injury Table 1 2 Explanation of warning symbols ServoOne Operation Manual 7 LTi LUST 1 2 Intended use ServoOne drive controllers are components for installation into stationary electric sys tems or machines When installed in machines the commissioning of the drive controller i e start up of intended operation is prohibited unless it has been ascertained that the machine fully complies with the regulations of the EC directive 98 37 EC Machine Directive compli ance with EN60204 is mandatory Commissioning i e starting intended operation is only permitted when strictly comply ing with EMC directive 2004 108 EEC C C ServoOne complies with the low voltage directive 2006 95 EEC The drive controller fulfils the demands of the harmonized product standard EN 61800 5 1 2003 If the drive controller is used for special applications e g in explosion endangered environments the required standards and regulations e g for explosion endangered environments EN 50014 General provisions and EN 50018 Pressure proof housing must always be observed Repairs may only
40. Safety related parts of controls 2 Mechanical installation 2 1 Notes for operation ZX Please note Please strictly avoid that e any moisture enters into the device e aggressive or conductive substances are in the immediate vicinity e drill chippings screws or foreign bodies drop into the device e the ventilation openings are covered as otherwise the device may be damaged e Cooling air must be able to flow through the device without restriction e For mounting in switch cabinets with convection heat loss is discharged to the outside via the cabinet walls always fit an internal air circulation fan e The backing plate must be well earthed The device is solely intended for installation in a control cabinet e The control cabinet must at least meet the requirements of degree of protection IPAx ATTENTION According to EN ISO 13849 2 the control cabinet must have degree of protection IP54 or higher when using the safety function STO Safe Torque OFF To attain the best result for effective EMC installation use a chromatized or galva nised backing plate If backing plates are varnished remove the coating from the contact area The devices themselves have an aluminium back panel BG1 to BG4 or a back panel made of aluminized and galvanized sheet steel BG5 BG6 BG6a e Max pollution severity 2 Further information on environmental conditions can be found in the appendix LTi LUST 2 2 Wall mount
41. Supply voltage internally already connected with X7 3 PTC KTY Klixon i o O 0 o a Ref analog excitation at 16 kHz and 8 to 11 V AC Ref analog excitation ground reference point to pin 6 Refcos S3 analog differential input track B O 0 N Q Ui FP W WN PTC KTY Klixon Table 3 10 Pin assignment X6 with reinforced insulation acc to EN61800 5 1 against the motor winding i 1 ATTENTION The motor PTC also KTY and Klixon must be designed ServoOne Operation Manual 26 3 13 5 Connection for high resolution encoders Encoder interface X7 enables the evaluation of the following encoder types Function Sine Cosine encoder with zero pulse e e g Heidenhain ERN1381 ROD486 e U 5V45 1 150 mA Heidenhain Sine Cosine encoder with EnDat2 1 interface e e g 13 bit singleturn encoder ECN1313 EnDat01 and 25 bit multiturn en coder EQN1325 EnDat01 e U 5V 5 1 150 mA ma Sine Cosine encoder with SSI interface e e g 13 bit singleturn and 25 bit multiturn encoders ECN413 SSI EQN425 SSI e U 5V45 o o P Q o o o c Lu 150 mA ma Sick Stegmann Sine Cosine encoder with HIPERFACE interface e Singleturn and multiturn encoders e g SRS50 SRM50 exu 7 1olZ ype CE E ord E ORA ma Table 3 11 Suitable encoder types on X7 J NOTE Encoders with a power supply of 5 V 5 96 must have a separate 2 encoder line connection The encoder line serves t
42. TT gie d cR ERES 10 DriveManager 5 creating a DrOIBCL ussuscosose itin correr or esed Een a Rao t tua te 36 E Electrical isolation COGO serans see eee tete e pha bhsee E R 17 Electrical specification of the interface X7 ssssssssssemme 26 VE ACOs AOE Ws AO NNMERO ER 15 Fe OOTY SO E 52 Encoder cables prefabricated scc erentetesk a tee EP a Sete bre sque am ape RESPEDE 24 EG OC SF OIC CONE cesses eset pee ese asses Sancec Donc dses DN ENP hn TNR S SUM Moss 38 EI IS FSA NENNEN DN 24 Fe T E 48 FEOF WSs 2 E ene A AE E E E TE 24 zip CAT e S E ca smsesscaranteeeee 23 EUC equipment under control uasa cara aate to e take tite tenore teria 52 F z 00 0 o E aes 41 H TTI ONCE errn EE E E EE 49 PONO O aa E A 44 How tO etnis manual aser AE E E e EDE NE 3 ServoOne Operation Manual 67 LTi LUST aR osa RIPE NL MEERTTP 2 Illustration of dimensions essss mmm rennes 10 Haal Cornin 6 ei alo E EE E t RR 33 Intended USC ccc cecceccecccccceccecceccuceceeceseeeaueceececeaeeaeeeeeteteuseaeeaeetereeteneeaes 20 Interlocked separating protective devices esssesee 53 J WO TN ere E EEA A E 44 K SCENE NU 32 L PTF RM E A A cen eae sees ate teseeacsinnes 64 L ading saving a Motor dataset NER 38 M Mains supply 230 V 400 V 460 VASO V ees tse ce tette rettet eet tots 19 Me
43. The following is strictly required STO request X4 22 ENPO X4 10 and a start signal on control via terminal XA 21 Laax at 24 V 10 mA R approx 3 kQ ISD04 S osv internal signal delay time 2 us suitable as ISD03 ME ISA1 trigger input for quick saving of actual posi ISD02 Bgt ISA1 n soo B IM isao Request input STO sooo gt R8 S isao Deactivation of the restarting lock STO and on MEO o release of power stage high level veno RS oeno Frequency range lt 500 Hz Reaction time approx 10ms Switching level low high lt 4 8 V 18V for 24 V typ 3 mA Keep all contacts open inputs inactive Continue with commissioning in section 4 Check all connections once again Digital outputs Please note hort circui f Always wire the control terminals with shielded cables OSDOO X4 7 E ee Imax 50 mA PLC compatible Lay the control cables separately from the mains lead and motor cable D Terminal scan cycle 1ms X4 9 e A cable type with double copper braiding with 60 70 coverage must be used High side driver for all shielded connections Table 3 5 Specification of control connections X4 SILT j l ServoOne Operation Manual 21 LTi LUST Des Terminal P isolation STO Safe Torque Off Specification e Request input STO ISDSH e Frequency range lt 500 Hz X4 22 ME STO e Switching level low high 4 8 V gt 18 V e for 24 V typ 3 mA Diagnose STO both
44. UD DIY acsccecoqatkecquastustintack t ii E ERRet Ent S 19 i quje ONNE e ROO a 21 2 41 Spedticaton of control COMME CUOM satus xsuchktGur a Siena 21 3 72 Standard terminal assignment saaien sii aniei enaa aaia 22 S95 4880 0110 1 RESTER 23 Specification OF MM CSO 11i tortas semina arr E wkvhe eek e kw aano b va wv aevi ga 23 Specification of USB 1 1 interface 23 Specification Ethernet interface sssssssssssssssseseeee ee eee rns 23 aurca e T 24 Sor c 1MAT EEN 24 Encoder COG OMT MNT RET RENTRER 24 3 13 1 Encoder connection for LSH T motors essssssssseseeees 24 3 13 2 Assignment motor encoder cable for servo controller 24 3 13 3 Prefabricated encoder cables sssssssssessseeeee 25 SN T Resolver COMM 0119 LR 26 3 13 5 Connection for high resolution encoders ssssssssesseeeeeeeeeeeeel 26 viue gue p Hio NOE TN A A 2 3 14 1 Motor connection of LSH ESTSmoOtOIS uius cnr rrr rh a repa rh enam dR Ga paan 28 3 14 2 Prefabricated motor cable ssssssssssssseeen e enn 28 3 14 3 Schalten in der Motorleitung ssssssssee ee 29 Braking resistor RB oniinn aa a ie See poU Pil O SUSPEN HERE 29 3 15 1 Protection in case of brake chopper fault sssssseeee 29 3 15 2 Design with integrated braking resistor cccccccccccccceeseeeeeeeeeeeeeeeeeeeeeeaaaeees 29 3 15 3 C
45. Xxxx XX2X XXXX EtherCAT Option 1 SO84 XXX XX3X XXXX Connection Terminal Designation Cable type CANopen Option 1 SO84 XXXDOUbX XXXX Connection of motor monitor ing if no resolver is used 8 and v Standard shielded Tabelle 4 7 Bus communication to master control optional Tabelle 4 3 Motor PTC 4 1 3 Switching on control voltage 4 1 4 Communication with the DriveMANAGERD In order to initialize and parameterize the SO8000 only the 24V DC con The operating software DriveMANnAGER must be installed on a PC The 2 trol voltage supply must first be connected to X10 Ensure correct polarity 3 PC can be linked with the servo controller via USB 1 1 or Ethernet TCP IP Use DriveManacer to create a Project In a project you can set and save the data sets of several connected servo controllers A parameter After successful switching on you will be able to read two conditions in the 7 segment editor is available for the display and setting of parameters A DigitalS display The meaning of other messages is described in the chapter Diagnose cope with plot file is additionally included A detailed description of the DriveMAnacer 5 x can be found in the DniveMANAGER 5 x manual ATTENTION The connection must only be made after the SO8000 has Action Reaction Explanation Switching on the exter T nal 24 V control voltage Initialization OK completed its initialization connection via USB 1 1 D1
46. after the power is cut capacitor charge You should therefore always check that the system has been deenergized ATTENTION Should local regulations require the installation of a residual cur rent operated protective device the following applies In case of a fault the drive controller is able to generate d c leak currents without zero crossing Drive controllers therefore must only be operated with residual current operated protective devices RCDs type B for a c fault currents pulsating or smooth d c fault currents which are suitable for servo controller operation see IEC 60755 Residual current monitoring devices RCMs can additionally be used for monitoring purposes 2 3 4 5 JAN ATTENTION Risk of fatal injury Never wire or disconnect electrical connec ZN 1 residual current protective device 2 residual current monitor ServoOne Operation Manual 19 m LT ServoOne Operation Manual 20 3 ll i D Please note Drive Device connected load kVA Max line cross Specified mains iGan2 e Switching the mains power controller section of fuse duty class term mm gG A n case of too frequent switching the unit protects itself by high resistance iso lation trom the system After a rest phase of a few minutes the device is ready to start once again e TN network and TT network permitted without restriction IT network insulated centre point not permitted n case of an grou
47. al external braking resistor must be connected to 3 15 3 Connection of an external brake resistor ATTENTION e Strictly follow the assembly instructions for the braking resistor e The temperature sensor bimetal switch on the braking resistor must be wired in such a way that the power stage is deactivated and the connected servo controller is disconnected from the mains supply if the braking resis tor overheats e The minimum permissible connection resistance of the servo controller must not be fallen short of technical data see chapter A Appendix e The braking resistor must be connected with a shielded cable Size BG1 to BG4 Size BG5 to BG6a 2 DC con nection gt Braking resistor Brake Brake nection Braking resistor Brake Brake Bottom Fig 3 14 Connection of braking resistor ATTENTION No additional external braking resistor must be connected to the drive controller SO84 008 to SO84 032 with integrated braking resistor ATTENTION Risk of fatal injury Terminal L BG1 to BG4 or BR BG5 to BG6a is fixed connected to d c link gt 300 V DC The connection is not fuse protected inside the device Never wire or disconnect electrical connections while these are live Always disconnect the power before working on the device Dangerously high voltages 250 V may still be present 10 minutes after the power is cut capacitor charge You should therefore always check that
48. ative direction Standard made Motion profile PARAMETERS 31 ErrorStack and 33 ActualError contain additional information on an PG O setpoint effects to profile generator actual error or a warning This information can be retrieved through the Device state monitor in DRivEMANAGER 5 x gt Double 7 segment display see chapter 5 4 3 1 Faults and warnings in the DaiveMANAGER 5 x Acceleration O00 rev min s D eceleration rev min s Jj NOTE More detailed information can be found in the ServoOne User Speed 793 reve nin 2 Manual Position 36000 Degree Reverse event O Position Speed jo sd ms hold after target reached Stop Position Speed Choosing the value to trigger the reversal of the sense of rotation Hold after target reached Deceleration time to reverse the sense of rotation Fig 4 23 Reverse mode control The Scope function enables the recording of step responses The P NOTE Manual mode is particularly suitable for the optimization of the 9 Mex l procedure for optimizing the controller is described in the user manual e LI i ServoOne Operation Manual 45 LUST LTi ServoOne Operation Manual 46 LUST 4 3 2 Status display of the device Device status If an error occurs a Pop up window with further information about the error is auto matically opened Double clicking on the button Drive status in the header opens the status window Device error occured
49. av 216016 cl E e MERE en noone een One eee ee even ere eee ey Assignment motor encoder Cable ccccccccccccecccccceeesteeeeeeeeseeeeeeeeeeenees B BO T Braking resistor Integrated eene erret ttt tee te ertt eh died neseeupes C Calculation of continuous braking COWEN essiens ss Miete reno Ue raritate iio eee Communication with the DriveManager 5 sssssm Connected load and mains fuse sssssssse eee Conmneclon BOTTO Ule oae eee nons Fait desee oi ets EEA A EEEE te seen niu Connection BOS I9 BOO9 us terme t trimester Piet utis euee tedio e ross Connection Tor high resolution encoders eter ees Connection of cortrol SUDDIV sesser atro heo itr te Rete iia bestes C nnecion o mans SUPPI CR ROT Connection overview BGT to BGA is i s ese terret HER Po keen aess Connections on control terminal X4 STO sssse HR Control connections csssssese emm ee nn rene rre nnne nis Control terminals standard assignment sssesseee Control WIDOOW MaSK ecserin zie patio hintere eto etel d beca uai LT LUST D Danger analysis and risk d5585sr TOT ccscensseses ceseveacarsosseatheeusentereadt 51 Device connected Oa MENTI 61 62 DEVI S T CT n 47 Bp m 47 Diagnose DriveManager D oesesscumecosuDoI Meet eque Unde EUR bos bu dM EIS 45 E
50. c Category 3 especially if fault exclusions specified by you require special maintenance work Stop category 0 Actor Category 3 STO J Note For the determination of safety categories STO SS1 we have consid ered the following following fault exclusion Stop Entire system Category 3 category 1 e Fault exclusion Bridging within the interconnection in the control cabinet i With this system solution one achieves a solution SS1 Safe Stop Stop Category 1 with monitored time e Reason Protected installation in control cabinet proven technology SO8000 Table 6 4 Comparison of safety standards aae jf ii I n 24 V DC Network SO8000 m MM EN Channel 1 A2 E i f f f IYI I En12 23 E373 I START 1 In rest position the contact RSH is a normally open contact In relation to the signals in the switching diagram the contact is closed 2 The exemplary circuitry the input ISDOO is set to START 1 see page 39 fig 6 3 Exemplary circuitry Stopping acc to stop category 1 SS1 e LT I ServoOne Operation Manual of LUST LTi ServoOne Operation Manual LUST A A open dix ZO RJ en ns en ean ee m e CN CN Mm z z o o co co co co co 00 co co oO oO oO oO oO oO oO oO Un Un Un Un Un Un WY WY 400V 40A 60A 80A 120A
51. cases the operator may need to take appropriate counter measures for exact data see chapter A 5 Line filter page 64 3 3 3 Assignment of drive controller with external line filter External radio interference suppression filters EMCxxx are available for the drive con trollers for BG6 and BG6a With the prescribed measuring method and the external line filter these drive controllers also comply with the EMC product standard IEC61800 3 for Environment 1 living area C2 and Environment 2 industrial area C3 In order to reach the use of longer motor cables and compliance with the EMC product Standard IEC61800 3 for the general availability living area C1 additional external line filters are available for the devices with internal line filters BG1 to BGS for more detailed information see chapter A 5 Line filter page 64 ServoOne Operation Manual 1 LTi LUST 3 3 4 Notes for projecting and installation Subject Projecting and installation regulations PE terminal Use a bright backing plate Use cables and or ground straps with cross Equipotential bonding sections as large as possible Route PE conductors of components in a star shaped pattern To create a low resistance HF connection both grounding PE and shield connection must have large area contact to the PE bar on the backing plate PE mains connection in accordance with DIN VDE 0100 part 540 e Mains connection lt 10 mm PE conductor cross section min 1
52. ccording to the instruc SogATe laa Ne DEG FEN tions of the manufacturer the NEC regulations National Electrical Code and other BG3 locally valid standards 084 020 1 7Nm 0 56 0 79 Nm 3x40 A RK5 5 Only UL qualified device connecting cables mains motor and control cables must SO84 024 17Nm 0 56 0 79 Nm Selsey ai ids be used BG4 5084 032 1 7 Nm 0 56 0 79 Nm 3x60A K5 Use copper cables with a temperature resistance of min 75 C e l table A 9 Tightening torques and mains fuse BG1 to BG4 The specified tightening torques for terminals see table A 9 6 Maximum temperature of ambient air surrounding temperature see tables A 7 e LI i ServoOne Operation Manual 65 LUST LTi ServoOne Operation Manual 66 LUST A 6 2 Measures to comply with the UL approbation Tightening torques cable cross sections and mains fuses UL 508C for BG 5 6 and 6a Tightening torque for Cable cross section Mains fuse 1 The devices must only be operated on networks of overvoltage category III MS Device PE conductors and mains for motor and mains elass RK 1 2 The devices can be used in networks with a maximum possible current of 10 kA SS pili with phase symmetric current and a max voltage of 480 V 5084 024 2 5 Nm 22 Ib in AWG 10 3x50A 3 The devices are designed for installation in environments with pollution severity 2 SO84 032 2 5 Nm 22 Ib in AWG 8 30A 4 The integrated back up fuse does not serve as prot
53. coder H B X Resolver port ia x y x x 4 X Connection motor PTC Option 1 Communication for field bus modules x2 x13 Position plan BG1 to BG4 ServoOne Operation Manual 11 LT ServoOne Operation Manual 12 LUST 3 1 1 Connection overview BG1 to BG4 Designation Function 7 segment display Equipment status display Single phase network Button Changes to the bootstrap mode X1 So Meet Enables e g firmware download without PC changeable data carrier X2 USB 1 1 interface Service interface Plug amp Play connection to PC D D2 Al TUTS 9 C Slot MMC Service 2 QqUSB11 X2 interface X Service i m Ethernet 3 interface e Service interface fast TCP IP port RJ45 X3 Ethernet interface 24V DC supply for control electronics U Relay output diagnose STO 8 digital inputs 2 analog A Seng des Ue inputs 3 digital outputs 1 additional relay output Factory installed module for field busses e g SERCOS Option 1 Communication PROFIBUS EtherCAT or CANopen Control AC mains connection Mains supply Analog setpoint 1 S PE terminal Connection diagram see chapter 3 4 pss ibn 6 ISAO1 So d oH tH agains Sis I O GND is ispoo RR Zunnanuuzuzkcacaasamhbaaaa l o X10 X9 Control supply connec 24 V supply voltage for control electronics of servo 16 5DO Sis tion U controller 17 JISDO2 SIS 18 ISD03 Xb p xg
54. cos o 1 soo2 gt ME lt sar e 30V 200 mA DC cos o 1 isoot gt M sa sooo gt B IB lt isao 24v lt gt BN eoa DGND lt gt fg il pep Auxiliary supply Auxiliary supply to feed the digital control inputs U 24 V DC no delay in case of short circuit 24 V GND however short term shut down of device possible 50 mA per pin with automatically max resetting circuit breaker polyswitch Digital ground X4 1 Reference ground for 24 V with automatically DAND XA 13 resetting circuit breaker polyswitch Table 6 2 Terminal assignment X4 Digital ground and auxiliary voltage are outputs The feed for the 24 V auxiliary voltage is accomplished through terminal X9 and X10 6 2 4 Wiring and commissioning For the STO function the servo controllers are equipped with additional logic circuits and a feedback contact The logic interrupts the power supply to the pulse amplifiers used to trigger the power output stage In combination with the controller release ENPO the system uses two channels to prevent the motor creating a torque Network o fig 6 2 STO selection of function via switch with two normally closed contacts positively driven 6 2 STO selection of function via switch with two normally closed contacts positively driven Channel 1 Channel 1 3t 22 Channel 2 2 2 24 V4 J Note There is no protection against unexpected restarting after
55. ction if linear or rotatory motor data are valid Determination of default motor control settings Cu PS motor Synchronous motor PS linearmotor Synchronous linear motor Cu AS motor Asynchronous motor Cu Protection 2t and temperature sensor protection Fig 4 9 Loading saving a motor dataset Encoder setting This subject area enables the parameterization of the connected encoder system In this example we have chosen a resolver encoder lead for resolver KRY2 KS xxx see ServoOne ordering catalogue 2d i d AT AE x A ga PE I 5080 000 x Save lj 3 S Peon file ll Resel lj b lj Fy Powerstage 5 Motor cy Encoder 3 Speed controller GUI Ge Digital inputs Motion profile ld Subid Name ose Introduction 50 0 521 522 523 Encoder Channel Select for Speed Control Encoder Channel Select for Position Control ENC_RefCon Encoder Channel Select for Master In CON FM MCon ffset comutation offset of resp encoder SinCos X channel 1 high resolution encoder input x7 Resolver X5 channel Resolver input x6 ENC CH2 Sel Encoder Channel 2 Select ENC CH2 Num Encoder Channel 2 Gear Nominator ENC CH2 Denom Encoder Channel 2 Gear Denominator ENC CH2 Lines Encoder Channel 2 Number of Pole Pairs Rest Signal correction XB Encoder option X8 ch 0 0 0 0 optinal encoder interface x8 Fig 4 10 Selecting and setting the encoder system gt SET PARAMETER 506 ENC CH2 Sel from off
56. de to quick starting Simply follow the step by step tables in the chapters And away you go NOTE The transportation packaging has been designed and tested acc to j EN61800 LTi n 3 M 1 Safety Mechanical installation N 3 Installation Commissioning D is I 5 Diagnose 6 Safe Torque Off i A Appendix i Glossary ServoOne Operation Manual In LT ServoOne Operation Manual 4 3 Ordering key Pictograms The order designation informs about the corresponding design variant of the servo Pictograms as described in the following table are used in this operation manual for bet controller delivered to you Details concerning the ordering key can be found in the ter orientation The meaning of the corresponding is always correct even if it is placed ServoOne ordering catalogue e g opposite a terminal diagram without any accompanying text s084 OUL OO O OO COL ATTENTION Operating errors may result in damage to or malfunc tion of the drive Rated current DANGER HIGH VOLTAGE Improper behaviour may cause fatal accident Power supply AC DC Functional safety DANGER FROM ROTATING PARTS The drive may automatically start Option 1 communication Option 2 additional encoder NOTE Useful information Housing cooling concept Software variant Optional design protection Table of contents 1 LUST i
57. e You therefore need a separate control supply compliant with the requirements of a SELV PELV The opposite overview shows the potential supplies for the individual terminals in detail With this concept higher operation safety and reliability of the servo controller is ad ditionally achieved SELV Safety Extra Low Voltage PELV Protective Extra Low Voltage LTi LUST USB1 1 ISDOO a qpe ISD01 lt U m lt Ethernet X3 9 Resolver E X6 e i ISDO2 ISD03 e x Encoder SSI ISDOA o zs zs m GNDuP Is ISD05 e DGND XAI21 Vip ISD06 DI YK GNDuP EE a X5 M DGND GNDpP j Motor PTC N B X410 ENPO EH D4 YK ms AUN iSA00 EE A D X4 4 DGND E iSA00 Ze gee X4 22 lun GNDyP XA4 5 e i LA 1SA01 A D X4 6 E EN SA01 X4 14 m t DGND al GNDuP U x4 2 X4 13 C4 DGND X4 1 s X4 7 OSD00 T RK DGND X483 OSDO01 Bi lo X13 1
58. e Loop through only possible with BG1 to BG4 device does not emit any visual or audible signals indications e g with mains voltage applied to terminal X11 and missing control voltage 424 V on X9 X10 i NOTE B BG6 and BG6a represent a special case Due to an internally avail Tiree phase NEAN ATTENTION Dangerous voltage may be applied to the device even if the able high threshold switched mode power supply an external 24 V power supply is not permanently required The starting current for a 24 V supply is approx 12 A over a period of 200 ms and then drops to 5 A Once the high threshold switched mode power supply has started there will be no further next servo controller external current consumption Fig 3 8 Connection of control supply Control supply specification U 24 V DC 20 stabilized and filtered 2 0 A BG1 to BG4 2 5 A BG5 5 0 A BG6 BG6a Internal polarity reversal protection the power supply unit used must have a safe and reliable isola tion towards the mains network as per EN50178 or EN61800 5 1 Permissible current load terminals 10 A max 1 see note A 2 see note B Table 3 3 Specification of control supply 3 6 2 Connection of mains supply L3 L2 L1 L3 L2 L1 BG1 to BG4 BG5 to BG6a Three phase network Three phase network Choke Filter Cover Cover Filter Choke K1 Single phase network K1 Filter Choke Fig
59. e This mode is 3 16 1 Meaning of display used to transfer equipment firmware from a PC to the servo controller or to transmit a firmware update For this process the program Bootloader must be additionally installed on the PC The ServoOne User Manual contains a detailed description of the firmware transfer D1 and D2 serve the display of SO8000 system states The display also provides informa tion on equipment faults with error number and location of fault Further information can be found in chapter 5 l Fig 3 17 Position of buttons T1 and T2 Fig 3 16 7 segment display 4 Commissioning 4 1 Initial commissioning triggering via terminals Initial commissioning is subdivided into the following five steps Speed controlled opera tion by use of a resolver was chosen for parameterization Triggering is to be executed via terminals X4 Step Action 1 m Wiring or components Switching on control voltage External 24 V supply voltage 3 DRIVEMANAGER 5 m Operating software Communication installation Parameter setting 5 Drive under control test run Q Comment see chapter 3 Installa won see chapter 3 Installa tion Information concerning installation can be found in the Operation Manual DRIVEMANAGER 5 X more details see de scription of parameters ServoOne Mains voltage on STO function deactivated start contact specify setpoint B J NOTE Details concerning STO Safe Torque Off
60. e commissioning of the motor The standstill holding brake installation optional is only designed for a limited number of emergency braking operations Use as working brake is strictly prohibited LTi LUST Procedure Switch on the 24 V control supply and the 400 V mains supply Action Reaction Explanation Switching on the external 24 V control voltage Initialization OK Not ready for starting UZK OFF Starting lockout power UZK ON control OFF Stage not ready Device is initialized Tabelle 4 9 Display D1 D2 during the switching on sequence The drive is started with the following switch on sequence Deactivate safety function STO ISDSH STO see chapter 6 Digital input ISDOO ENPO STO START OF CONTROL Specify the analog speed setpoint ISAO0 Check the drive behaviour Fig 4 17 Switching on sequence Action Reaction Explanation Enable STO and power stage ENPO Ready for switching on Power stage ready Start enabled Switched on Drive energized Tabelle 4 10 Display D1 D2 during the switching on sequence If the drive reacts correctly to a setpoint change disable the start contact again The mo tor will rotate until it comes to a halt This concludes the test run Drive optimization see ServoOne application manual ServoOne Operation Manual H LUST LTi 42 The control window Manual mode In Manual mode control window the controll
61. e integrated braking resistor design SO amp x xxx xxxx 1xxx If the drive is not permanently operated at its power limit the reduced power dissipation of the drive can be used as braking power J Q9 NOTE Further calculation assumes that the drive controller is used at max permissible ambient temperature This means that any additional energy input from the internal braking resistor caused by low ambient temperature will be neglected ServoOne Operation Manual 30 To calculate the continuous braking power please proceed as follows e Calculation of the effective drive controller utilization during a cycle T e Determination of the permissible continu ous braking power on basis of unutilized drive power Boundary conditions e A single braking process must not exceed the maximum pulse energy of the braking resistor e The continuous braking power calculated for the device must be greater than the ef fective braking power of a device cycle This results in the minimum permissible cycle time T with calculated continuous braking power The maximum total switch on time of the braking resistor over a specified cycle time T with calculated continuous braking power results from I P 1 x Kl Nose 2 P isi X pm Pop 2 P 7 T x dts DBr 0 p p PBr xT BrSum P DBr the drive controller SO84 008 to SO84 032 with integrated braking resistor 1 ATTENTION No addition
62. e the devices according to their power e g viewed from the left BG4 BG3 BG2 BG1 This minimizes the thermal influence among each other When butt mounting ServoOne controllers together with other devices you must make sure that these device do not affect one another thermally ServoOne Operation Manual Uo qu do BE A E EN e il Fig 2 1 all mounting dimensions in mm Fig 2 2 Assembly spacing 10 3 Installation ATTENTION Installation must only be carried out by qualified electricians who have undergone instruction in the necessary accident prevention meas ures 3 1 Overview of connections BG1 to BG4 The following shows the position plan with the corresponding positions of plugs and ter minals For better orientation we have identified the designations of plugs and terminals with an abbreviation X bP9 P NOTE The overview for connections BG5 BG6 and BG6a starts on page 13 LTi ui m AC Mains connection 24 V Supply for control electronics Dual 7 segment display Buttons Slot MMC Memory card USB port Ethernet port Control terminals Connection Motor Braking resistor D C link Connection Motor brake Fig 3 1 x11 8 X Option 2 additional x9 x10 P z encoder interface d z ea A X Port for high eS ee resolution en
63. ective device for branch lines The protective device for branch lines must be designed according to the instruc tions of the manufacturer the NEC regulations National Electrical Code and other 5084 060 2 5 Nm 22 Ib in AWG 6 3x80A locally valid standards BG5 5084 045 2 5 Nm 22 lb in AWG 6 3x50A SO0O84 072 2 5 Nm 22 lb in AWG 4 3x80 A 5 Only UL approved circuit breakers and fuses of class RK1 may be used For details 4 f PP i bi y SO84 090 62 8 Nm se bm AWG 2 S105 4 on the tuse rating see table A 10 BG6 6 The overload protection inside the device must permit twice the rated device cur 5084 10 16 8 Nm 53 71 Ib in AWG 1 3x 160A rent for min 3 seconds SO84 143 6 8 Nm 53 bs AWG 1 0 22004 ali BG6a 7 Only UL qualified device connecting cables SO84 170 15 20 Nm 133 177 Ib in AWG 2 0 3x224A mains motor and control cables must be used Use copper cables with a temperature resistance of 60 to 75 C Pear c dod Table A 10 shows the suitable tightening torques for the terminals table A 10 Tightening torques cable cross sections and mains fuse BG5 BG6 BG6a 8 If the device is to be operated with an enclosed external braking resistor this resis tor must be separately protected against excessive temperatures 9 Maximum temperature of ambient air surrounding temperature see tables A 7 Glossary Symbole PSO IM CS a I Tm A AMDE COMO OIG ERN RR PROP ETE
64. er can be controlled manually in vari ous control modes This type of control is totally independent from the existence of any master control The hardware must be released before the control is operated STO ENPO It is recom mended to record the motion process of the drive with the oscilloscope in parallel This enables a meaningful assessment of the controlling performance ZX ATTENTION The controller must first be started as specified in the operat ing instructions before the function is started When the control window is opened the parameter settings in the connect ed device are automatically changed according to the settings in the control window The previous settings are restored accordingly when the window is closed However you should avoid interrupting the communication e g voltage drop disconnection of the power supply cable while the control window is open However should this occur you must reset the parameters P 0159 MPRO_CTRL_SEL and P 0165 MPRO_RCF_SEL manually to the old values during a new communication ServoOne Operation Manual 42 ATTENTION Controlling the system in Manual mode triggers movements of the axis The connected control is not activated and has no influence on the controller In events of emergency the controller can be stopped via the hardware release ENPO Safe Torque Off With lifting applications one must make sure that a mechanical brake is available A If a drive cann
65. ers metal containing implants and hearing aids etc access to the following areas is prohibited Areas in which drive systems are installed repaired and operated Areas in which motors are assembled repaired and operated Mo tors with permanent magnets are sources of special dangers DANGER If there is a necessity to access such areas a decision from a physician is required Table 1 1 Notes on safety LTi LUST Your qualification e n order to prevent personal injury or damage to property only person o9 nel with electrical engineering qualifications may work on the device m e The qualified person must become familiar with the Operation Manual refer to IEC364 DIN VDEO100 e Knowledge of the national accident prevention regulations e g BGV A3 previously VBG 4 in Germany During installation follow these instructions e Always comply with the connection conditions and technical specifica tions e Comply with the standards for electrical installations such as wire cross section PE conductor and ground connections e Do not touch electronic components and contacts electrostatic dis charge may destroy components Table 1 1 Notes on safety 1 1 2 Pictograms used The notes on safety describe the following danger classes The danger class describes the risk which may arise when not complying with the note on safety DEIRE M ve Warning symbols General explanation ANSI Z 535 Attention
66. for high resolution S S encoder 7 segment display Buttons X Resolver port Slot X MMC Memory card JSB port Ethernet port 0 f nals Control t X Connection Motor PTC i Option 1 Communication YW orfield bus modules Connection Motor Braking resistor y1 9 D C link Fig 3 3 Position plan BG5 LTi LUST X connection motor brake 24 V Supply for X9 X control electronics 5 Option 2 additional encoder interface connection i ee LL X Port for high resolution quc b encoder 7 segment display Buttons Slot 4 Resolver port MMC Memory card X USB port X i Ethernet port Control terminals X Connection motor PTC Option 1 Communication for field bus modules nnection Motor Braking resistor 49 D C link Fig 3 4 Position plan BG6 6a ServoOne Operation Manual 13 LTi LUST 3 2 1 Connection overview BG5 to BG6a D D Aa TLT MMC Slot X1 Service gt USB 1 1 yo I interface X Service m gt Ethernet ya 1 interface X Control Analog setpoint 1 Analog setpoint 2 24V against DGND Diagnose STO Relay Digital Digital1 Digital2 O GND Communication field busses Fig 3 5 Terminal diagram BG5 to BG6a Cover Ta PS EA S A S EA S X11 1 X10 E j X9 m elelelelelele Pd W Oo ttom
67. from LTi DRIVES GmbH to connect the LSH T synchronous motors 3 13 2 Assignment motor encoder cable for servo controller Compare the type plates on the components Make absolutely sure to use the correct components according to a variant A B or C KGH3 KS xxx Variant C 7 d X KGS2 KS xxx tents l Fy Variant B a x6 high resolution encoder KRY2 KS xxx h Variant Hiperface Multiturn LSH074 2 30 320 T1 G6M Q Hiperface Singleturm L H074 2 30 320 T1 G6 gt high resolution encoder Sin Cos Multitum LSH074 2 30 320 T1 G13 KM3 KSoovx G Q Sin Cos Singletum LSH074 2 30 320 T1 G12 Resolver Q O e g L5H074 2 30 320 T1 without further options Fig 3 12 Assignment motor encoder cable terminals in the control cabinet The knurled screws on the D Sub plug hous Jj NOTE Do not split the encoder cable for example to route the signals via 3 13 3 Prefabricated encoder cables ing are tightly locked The specifications can only be assured when using the LTi system cables Encoder cable Prefabricated cable Resolver cable RY2 Encoder cable SSI EnDat GS2 Encoder cable Hiperface GH3 Connection Motor with encoder installed Encoder cable of servo controller with resolver Variant A e g LSH LST H074 2 30 320 T1 KRY 2 KSxXxx X6 without further options Encoder system Chain trailing ability Design Length 2 m Length 3 m Length 5 m Length 8 m Length 10 m Length 15 m
68. g 4 7 Setting the mains frequency and the power stage switching frequency iz e 192 168 39 5 e fJ so80 000 ATTENTION If the clock frequency needs to be higher than the default set F gi omnc ting ex factory the technical data will change a Channels Control C Time P Trigger PLC o Drive Settings 9 Power stage lt aE Motor lt e Encoder lt aE Control lt aE 0 configuration lt aE Limits thresholds aE Fieldbus a Motion profile lt x Pji Alarm amp warnings a Drive description ri e Passwords Actual values ea Others Fig 4 6 Overview of subject areas LUST e LI i ServoOne Operation Manual 37 LTi LUST Setting the motor Settings in this subject area become necessary if you have no motor dataset available for the connected motor Details on how to create a motor dataset can be found in the ServoOne User Manual If you intend to use a LSH or LST motor the following motor datasets are available x Repeat 5080 000 Save eke File S je file eset v E lj Fy Power stage if Motor Encoder Speed controller GUI Digital inputs Motion profile Sub id Name Unit Introduction MOT Type l motor type 0 MOT_IsLinMot Selection if linear or rotatory motor data are valid 0 SCD SetMotorControl Determination of default motor control settings PS motor Synchronous motor MOT Name name of motor parameter
69. he detection of the actual supply voltage on the encoder whereby a compensation of the voltage drop on the line is achieved Only the use of the encoder line assures that the encoder is supplied with the correct voltage The encoder line must always be connected Electrical specification of the interface X7 Select the cable type specified by the motor or encoder manufacturer Thereby please observe the following boundary conditions e Always used shielded cables The shielding must be placed on both sides of the cable e Connect the differential track signals A B R or CLK DATA to each other via twisted wires Encoder SSI Table 3 12 LUST e Do not separate the encoder cable for example to route the signals via terminals in the switch cabinet Absolute encoder HI PERFACE REFCOS COS 7 to 12 V typi cally 11 8 V 100 mA Absolute encoder SSI EnDat 2 1 Function n Sine Cosine 5V 5 at 150 mA control led monitoring via sensor line Data Data B REFSIN U Switch SIN Sense ues Switch Sense After connecting pin 7 and pin 12 a voltage of 11 8 V will be ap plied to X3 7 Pin assignment of plug connection X7 P NOTE The encoder supply on X7 3 is short circuit proof in both 5 V and 11 8 V operation The controller remains in operation enabling the generation of a corresponding error message when evaluating the encoder signals Q ILT 3 14 Motor con
70. he external motor contactor e Resulting in less wiring work e Space saving e Better EMC compatibility due to the continuous shielding of the motor lead e Shorter reaction time ServoOne Operation Manual 23 LTi LUST 6 2 2 Notes on safety Always formulate a validation plan The plan specifies which tests and analyses were used by you to determine compliance of the solution with the requirements of the ap plication Danger JAN e f the servo controller is in STO state all motor and mains lines brake resistors and d c circuit voltage lines conduct dangerous voltages against PE conductors e With the function STO no shut down of voltage in case of emergency is possible without additional measures There is no metallic isolation between motor and servo controller There is therefore a risk of electric shock or other risks of electric origin Danger e f an external effect of forces can be expected in safety function STO e g with suspended load this motion must be reliably prevented by ad ditional measures e g by a mechanical brakes safety bolts or clamping device with brake By two short circuits each in two offset branches of the power circuit a short term movement of the axis can be triggered dependent on the number of poles of the motor Example synchronous motor With a 6 pole synchronous motor the movement may be max 30 With a direct driven ball screw e g 20 mm per revolution this correspo
71. ign SO8x xxx xxxx 1xxx The permissible permanent braking power must be calculated It depends on the effective loading of the controller in the corresponding application In general the servo controller is thermally designed in such a way that no energy input by the internal braking resistor is permitted during continuous operation with rated cur rent and under max ambient temperature Thus the controller design with integrated braking resistor only makes sense if the effec tive drive controller load is 80 96 or the braking resistor has been planned for one time emergency stopping In case of an emergency stop the heat capacity of the braking resistance can only be utilized for a single braking operation The permissible energy W p can be taken from the following table ServoOne Operation Manual 23 LUST DIAE 5082 004 S5084 004 S5084 006 LTi Technology Rated resist Peak braking Pulse energy Wis S084 008 5084 012 5084 016 5084 020 5084 024 5084 032 Drahtwider stand 6000 Ws 1 Data referred to 1 x 230 V mains voltage BR switch on threshold 390 V 2 Data referred to 3 x 230 V mains voltage BR switch on threshold 390 V 3 Data referred to 3 x 400 V mains voltage BR switch on threshold 650 V 4 Data referred to 3 x 460 V mains voltage BR switch on threshold 745 V 5 Data referred to 3 x 480 V mains voltage BR switch on threshold 765 V Table 3 14 Data of th
72. ill be changed After finished operation originally adjustement will be restored While operation active saving of device adjustment is disabled Matar is energized on demand Matar will be setin motion connected and adjusted break will be activated respectively opened Ensure that device and motor dont make hazard bewor you continue operation Iv have read and understood information on safty above een a e When opening the control window various parameters of the drive will be changed When exiting the window the original parameter setting will be restored e Software limit switches are not active e Parameters cannot be saved as long as the control window remains open e The motor is energized e The motor generates its rotating field and is able to perform movements e A connected and parameterized motor brake may be activated checking the brake status e Before the activation make sure that there are no dangers for persons and the mechanical system of the plant Fig 4 19 Notes on safety 43 ServoOne Operation Manual LTi LUST 4 2 1 Basicsetting Standard mode Here you compile the basic settings to use the control in Manual mode ATTENTION When choosing Motion profile IP 1 as profile type the SN setpoint is directly passed on to the controller No ramps are active The drive tries to reach its end position with maximum dynamics There is a risk of causing damage to the mechanical system
73. ing 1 2 3 4 Action Mark the position of the tapped holes on the backing plate Cut a tap for each fixing screw in the backing plate Mount the servo controller vertically on the backing plate Mount the additional components such as the line filter power choke etc on the back ing plate Continue with the electrical installation in section 3 Table 2 3 Mechanical installation ServoOne Operation Manual Comment Dimensioned drawings hole dis tances see Fig 2 1 The tapping area will provide you with good full area contact Observe the mounting clearances The contact area must be metallic bright The cable between line filter and servo controller must not be longer than max 30 cm LTi LUST 2 2 4 Dimensions ServoOne ic so84 008 sO84 016 SO84 024 epe secus esed cosa goe 5084012 SO84 020 5084032 55 57 084 10 SOB4 170 Weight kg B Width 96 5 H Height D Depth A C Gl D 4 8 3 4 4 9 S5 eS is 25 32 E for direct butt mounting see note F2 100 150 G 270 Screws 2xM4 4x M4 H1 209 H2 38 5 all measurements in mm 1 without terminals plugs 2 The bending radius of the connecting leads must be accounted for Table 2 4 ServoOne dimensions see Fig 2 1 P Note The minimum distance specified in the table for sizes 1 4 applies for devices of the same power When butt mounting devices with different drive power you should arrang
74. l the standards EN 954 1 and or IEC 61508 The STO function can therefore be used for emergency stop functions Action in Case of Emergency The term Emergency Stop was replaced by Stopping in Case of Emergency Emergency Stop see paragraph 9 2 5 4 2 in EN60204 1 P Note The term Emergency Stop Facility was replaced by the new term 9 EN 954 1 1996 EN ISO 13849 1 1999 Safety of machines safety related parts of controls The standard EN ISO 13849 emerged from EN954 1 supplemented by the aspects of quality management and reliability Note EN954 1 1996 is still valid until the end of october 2009 or will then be replaced by EN ISO 13849 1 1999 ServoOne Operation Manual 52 IEC 62061 2006 Standard on safety sectors for the field of machines emerged from IEC 61508 IEC 61508 1998 2000 International basic safety standard describing the status of safety technology in all its aspects EN 61800 5 1 2003 Electrical drives with variable speed Part 5 1 Requirements concerning electrical ther mal and function safety EUC equipment under control EUC Operating equipment A system that responds to the input signals from the process and or a user and gener ates output signals which enable the EUC to work as desired EUC Equipment Equipment machine apparatus or plant used for the manufacture production and processing transportation medical or other activities EUC risk Risk res
75. nd fault the electrical stress is approx twice as high Clear ances and leakage paths acc to EN 61800 5 1 are no longer maintained e Connection of the servo controller via a power choke is mandatory Device connected load kVA where the servo controller is used in applications with disturbance variables Drive Mx ipe but Here quere section of fuse duty class corresponding to environment class 3 as per EN 61000 2 4 and higher hostile controller with power Without tae GIA industrial environment choke 2 u power choke xd 3 for compliance with EN61800 3 or IEC 1800 3 see appendix SO84 045 31 412 25 3 x max 63 e For further information on permissible current loads technical data and environ S084 060 25 zE 35 RUD mental conditions please refer to the appendix 5084 072 50 65 5 25 NOTE Please note that the ServoOne has not been designed for environ SUAE ment class 3 Further measures are mandatory in order to achieve this envi 9084 090 62 82 3 50 3 x max 125 ronment class 5084 110 76 101 0 50 3x max 160 50G4 145 99 131 0 95 3 x max 200 5084 170 118 157 2 23 3x max 224 1 With 3 x 400 V mains voltage i VES 2 The minimum cross section of the power supply cable depends on the local regulations and conditions as well as on the rated Max line cross Specified mains p pply p g l section of fuse duty class With power Without term mm gG A
76. nds with a single linear move ment of 1 67 mm Example asynchronous motor Since the exciting field collapses when reverse biasing the inverter and has fully decayed after approx 1 second the short circuits in two offset branches of the power section have almost no effect in such a way that in case of a loss of electric supply the safe state of the machine can be reached or maintained P Note The safety circuitry connected to the ServoOne should be designed 9 ServoOne Operation Manual 54 6 2 3 Overview of STO connections ServoOne offers a separate input for the STO request a facility to deactivate the restart inhibit and a separate relay contact for feedback Specification P isolation Des Term Digital inputs Request input STO low level Deactivation of the restart inhibit and release of power stage high level Frequency range lt 500 Hz Reaction time approx 10 ms e Switching level low high 4 8 V gt 18 V e for 24 V typ 3 mA STO Safe Torque Off X4 REL M gt nsn REL NEG RSH sosh gt BA Enpo isoo gt BIB gt oso e Request input STO low level ISDSH e Frequency range lt 500 Hz STO e Switching level low high 4 8 V gt 18 V e for 24 V typically 3 mA Diagnose STO both tripping chan soos gt B B osoo nels active one normally open m BER oso contact with automatically resetting x4 12 circuit breaker polyswitch X411 soos gt f isa e 25V 200 mA AC
77. nection Action Comment Cable cross section acc to local and country specific regula tions and conditions Determine the cable cross section depending on maximum current and ambient temperature Shielding and suppression of noise radiation apply shielding on both ends Connect the shielded motor cable to the terminals X12 U V W and connect the motor to ground Wire the PTC temperature sensor if present to X5 using a separate shielded cable and activate the temperature evaluation via the DriveMa NAGER Shielding and suppression of noise radiation apply Shielding on both ends J NOTE The temperature sensor connection can also be routed through the resolver line to X6 5 and 9 However this requires a reinforced insulation acc to EN 61800 5 1 in the motor e g LSH LST motor ATTENTION For the connection X5 it must be assured that the tempera ture watchdog used is equipped with a basic isolation against the motor winding P NOTE In the event of a short circuit or earth fault in the motor cable the power stage is disabled and an error message is emitted ServoOne Operation Manual 27 LT ServoOne Operation Manual 28 LUST 3 14 1 Motor connection of LSH LST motors 3 14 2 Prefabricated motor cable J NOTE Please use the prefabricated motor cable KM3 KS 005 to connect Ordering key 5 f Servo motors of series LSH xxx and LST xxx Servo controllers size BG1 to BG4 can be used for these mo
78. o High H or ISDSH must be reliably set to High H before ENPO 3 This only applies when STO has been disabled by the process described in Table 6 3 Switching behaviour of the safety function J Note The plausibility between input signals ENPO ISDSH and feedback RSH must always be monitored ServoOne Operation Manual gt gt LTi LUST 6 2 5 Checking the STO function The applied control signals ISDSH and ENPO must always be checked by the opera tor or a superimposed control for plausibility to the feedback RSH The occurrence of an implausible status is a sign for a system fault installation or servo controller In this case the drive must be switched off and the fault rectified Attention The function STO Safe Torque Off must generally be checked for correct functionality after nitial commissioning e After any intervention in to the wiring of the system e After replacing one or several appliances in the system 6 3 Stopping acc to stop category 1 SS1 The following example of a circuit represents one of many possibilities which can be real ized with ServoOne and an external protective circuit For the realization of interlocked separated Protective features with without tumbler there are many manufacturers who offer a vast variety of protective circuits for various applications The following example of a circuit is intended to demonstrate how servo controllers are wired with a ty
79. of an externally installed braking T T2 COE BSE S ree PX OE resistor 1 All data related to 400 V output voltage and a switching frequency of 8 kHz 2 Data related to 400 V mains voltage Connection of an external braking resistor not permitted for devices with internal braking resistor version SO8x XXX XXXX 1xxx 4 without power choke 5 Data referred to 3 x 480 V mains voltage BR switch on threshold 765 V DC table A 4 Technical data SO82 004 to SO84 016 Note For further information on brake chopper switch on threshold pleas refer to chapter 3 15 2 ServoOne Operation Manual el LTi ServoOne Operation Manual 62 LUST A 2 2 S084 020 to 5084 072 A 2 3 SQ84 090 to 5084 1 0 SE IR s amp mE Designation S 5 O O o o o O sr 00 z 0 00 d z 0 co z Technical data e e o o O o Technical data Q Uu Y U Output motor side Output motor side Voltage So Voltage SE Um Rated current effective l 24A 32A 45A 60 A 72 A Rated current effective l 90 A 110 A 143 A 170 A Peak current see tables A1 1 and A1 2 Peak current see table A1 2 Rotating field frequency 0 400 Hz Rotating field frequency 0 400 Hz Power stage switching frequency ANS 12 16 kHz Power stage switching frequency 4 8 kHz factory setting 4 kHz 4 kHz Input mains supply side Input mains supply side Mains voltage 3 x 230 W 3 x 400 V 3x 3 x 400 V 3 x 460 V 3 x Mains voltage 3 x 400 V 3 x 460 V 3
80. onds E rs232 E TCP AP CoDeSys gateway Fig 4 2 USB interface 3 In case of success ful communication the directory tree is displayed down the left hand side of the screen n online mode the writing appears in black 4 Opening Drive settings gives you access to the relevant subject areas The individual subject areas can be opened by double clicking with the left mouse button E g open the subject area Power stage and set it to the exist ing mains voltage 5 If you have made any changes these must first be saved Saving a project in the device Menu bar File gt save new Project ServoOne Operation Manual 36 File View Edit Extras Windows Help E New project USB COM4 Be 0 f 5080 000 24 Digital Scope PLC amp E Drive Settings Fig 4 35 Online mode T Power stage Switching frequency Jk Iz J 0 kHz switching frequency a Voltage supply mode WINGET n mm E 1x230V 0 1 X 230 V mans f 5080 000 3x23UV 1 3 x 230 V mans w zl Digitel Scope amp Signals 3x48 V 3 3 x 460 V means a 23 Channels 3x480v 4 3 x 480 V mains F Control t5 Time F Trigger PLC E Orive Setings FF Power stage T9 Motor F Encoder s C Control amp amp VO configuration amp Q3 Limitshresholds ule Fig 4 4 Subject area Power Stage fie View Edit Ermas Windows Lieb 9898S 26 BET o Qua CA owed Up i undo e st a ie Qe
81. onnection of an external brake resistor sssssse 31 ServoOne Operation Manual LUST 4 ILT 3 16 7 segment display D1 and 2 etr terrm rtm rbi sr tttm race 32 3 16 1 Meaning of display usenecusscsixerixkiekmr rr ph t ban Pkt adn koennen 32 3 17 Function or buttons TI and TZ csse sinora inini inia b nts tite ASAE 32 EUNE SNE E E E utut Est v anion VeRO RAT RUtei S 33 4 1 Initial commissioning triggering via terminals esssseeeeeee 33 41 System Dre redulsltes sessios riures pembenu hack Rb ei UE pod rta pretia Raai Prage 23 4 1 2 Wiring OT comporielis a sesauevicek v meira eina ieai i Rada had aga ui 34 4 1 3 Switching on control voltage ssssssns 25 4 1 4 Communication with the DRIvEMANAGERB ssssss nnn 25 4 1 5 Parameterization and setting ccccccccccccccceceeesseeeeeeeeeeeeeeeeeessaasaeseeeeeeeeeeees 27 41 6 Save UNG SELUIDEfusssstecuseucia nett ab ReekpbU aaa n aai SURGE Sd EDU 40 417 Drive under control test FU usns secs adited edt aepcesirba eu pnt tebadedentendeadondtadarwsas 41 4 2 The control window Manual mode ssssssssssse ees 42 4 2 1 Basic setting Standard mode ssssssssssssssseen s 44 2 DIA INOS OH EE E H 45 4 3 1 Faults and warnings in the DRIVEMANAGER 5 X ssssssee s 45 4 3 2 Status display of the device Device status ssssssssem 46 PINS XY
82. ot be moved via the control window you should check the following gt The system status of the controller must be as follows E gt Parameter of the motor dataset gt Wiring of the motor phases Hardware switch ENPO SDSH The control window mask ET Selection of control achse mode The normal control modes are available Basic setting Standard mode Homing made Jag made B 4 2 The mask for basic set tings changes with the selected control type Starting and stopping 3 Acceleration 00 rev min s the control Deceleration 0 E rewvimin s A Activating the function Speed 1000 revimin SUES oP Mode absolute 5 Activating the function relative tn C mrtual Stop sneed enntralled refarenre Reference 360 Degree otart atop Matar control Juick stop alt Activating and deac e Start o Start Start 6 tivating the control window otop Stop Stop Activate manual o Hanual mode off Fig 4 18 The control window mask The control window is invoked with the button Activate manual The subsequently displayed warning must be accepted by tagging the corresponding field LTi LUST NOTE The control window will only be activated after this confirmation You thereby agree with the necessary safety notes nformation on safty Attention e Read following information on safety carefully Ferfarming this operation implicates that e g Device adjustment w
83. pical protective circuit Here it is the intention to realize controlled stop ping acc to stop category 1 SS1 ServoOne Operation Manual 56 6 3 1 Notes on safety Always formulate a validation plan The plan specifies which tests and analyses were used by you to determine compliance of the solution e g suggested circuitry with the requirements of the application You should in any case check whether all safety related output signals are correctly and logically generated by the input signals the behaviour in case of a fault corresponds with the specified circuit categories control and operating means are sufficiently dimensioned for all types of operation and environmental conditions After completion of analyses and tests create a validation report This report should at least contain e all objects to be tested e the reliable personnel for testing e testing facilities including details on calibration and simulation instruments e performed tests e problems found and solutions for these problems results Keep the documented results in an understandable form i Danger Strictly comply with the safety notes in chapters 6 2 2 and 6 2 4 6 3 2 Information on system design Configuration EN954 1 AE EN13849 1 EN60204 1 Inform the user about the correct use the capacity and the limits of safety related parts Sensor Category 3 Instruct the user about how he should maintain the capacity of safety related parts Logi
84. rake X13 Brake driver Standard shielded cables and leads provided for this purpose Sufficient shielding must be as Tabelle 4 4 Motor brake optional sured see chapter 3 EMC compatible installation Connection Socket Cable type chosen setting component EXE all USB x2 CC USB 03 TCP IP Ethernet X3 e CC_ECL 03 Connections Terminals Terminal designation Cable type CoDeSys Gateway Control supply 424 V DC X10 1 X10 2 Motor phases U V W Braking resistor L RB RB RB KM3 KSxxx D C link L L ZK ZK 3 phase L1 L2 L3 PE 230 400 460 480 V AC Mains supply X11 Standard Single phase L1 N PE 230V AC Motor connection Request STO XA 22 ISDSH STO Standard shielded Request STO Deactivation of nu D X4 10 ENPO STO Standard shielded ee chapter 3 1 Overview of connections Start input digital X415 ISDOO Standard shielded Tabelle 4 1 Voltage supply Setpoint assignment input analog X4 3 and 4 ISAO0 Standard shielded Encoder type Designation Cable type Tabelle 4 6 Communication via terminals see chapter 3 7 2 KGS2 KSxxx TTL SSI Encod X7 D Sub 15pole f ncoder ub 15pole female KGH2 KSxxx Field bus selection Module Device design Resolver motor PTC on X6 5 9 X6 D Sub 9pole female KRY2 KSxxx SERCOSII Option 1 SO84 Xxx XX1X XXXX Tabelle 4 2 Encoder PROFIBUS Option 1 SOB84
85. rmation can be found in the corresponding connec mation tion description ServoOne Operation Manual 16 3 4 PE terminal PE mains connection Action acc to DIN VDE 0100 part 540 Mains connection lt 10 mm2 Erden Sie jeden Servoregler copper PE conductor cross section min Connect terminal 5 in star configuration 2 with the PE bar main earth in the control HD rds s cabinet a cross section of the mains supply lines Mains connection 2 Also connect the protective conductor termi 19 mm copper a nals of all other components such as power PE d choke filter etc in a star configuration to Use a PE conductor cross section the PE bar main earth in the control cabinet complying with the mains lead cross section 0mm m 7 V Nee por a O KLLLTOO eR N CEN Fig 3 6 Star configuration layout of the PE conductor 3 5 Electrical isolation concept The control electronics with its logics uP the encoder terminals and the in and out puts is metallically isolated from the power section power supply d c link All control terminals are designed as safety extra low voltage SELV PELV circuit and must only be operated with voltages ranging from 5 V to 50 V as per corresponding specification This provides reliable protection against electric shock on the control sid
86. rvoltage Overvoltage Overcurrent Motor overtem perature Servo drive heat sink overtemperature Servo drive interior overtemperature Motor protection I 2t Power stage protection I 2t external fault request gj oO D Ui W Error list Note More detailed information on fault management can be found in the ServoOne User Manual 5 3 Helpline Service If you have any technical questions concerning project planning or commissioning of the drive unit please feel free to contact our helpline e Helpline Please contact us Mo Thu 8 00 16 30 h Phone 49 0 64 41 966 180 Fr 8 00 16 30 h Phone 49 0 64 41 966 180 E Mail helpline lt i com Fax 49 0 64 41 966 137 If you need further assistance our specialists at the LTi Service Center will be happy to help e Service Please contact us Mo Thu 8 00 16 30 h Phone 49 0 64 41 966 171 Fr 8 00 16 30 h Phone 49 0 64 41 966 171 E Mail service lt i com Fax 49 0 64 41 966 211 LTi LUST ServoOne Operation Manual 49 LTi ServoOne Operation Manual LUST 6 Safe Torque Off STO 6 1 Danger analysis and risk assessment Users of the safety functions STO SS1 must strictly comply with the machine direc tive 98 37 EEC or the currently valid edition respectively The manufacturer or his representative is obliged to perform a danger analysis acc to machine directive 98 3
87. s Data apply for a motor cable length of 10 m eS LI I ServoOne Operation Manual 9 LUST LTi ServoOne Operation Manual 60 e ul AE GENE M E 818 8l8J 2 5315 s 83 8 8 83 8 8 9 8 8 8 8 8 8 Va Va Va Uu iva Uu va 45 A 60A 72 A 90A 110A 143A 170A 45 A 58 A 58 A 90A 90A 115A T 400V 90A 120A 144A 170A 170A 190A 1904 l at O Hz 400V 90A 116A 116A 107A 107A 121A l at O Hz 90A 120A 144A 180A 220A 286A 315A gt 5 Hz 90A 116A 116A 144A 144A 172A I BR A kHz 42 A 56A 67A 83A 102A 132A 157A l D kHz 42 A 54A 54A 83A 83A 106A 45 C 460V 8A 111A 133A 157A 157A 176A 176A at O Hz 40 C AGO ioe T107 A T107 A T00A CGA T2 A mae o tot 0 TF 83A 111A 133A 167A 204A 265A 291A J 5 Hz Cerca ewe A 1107A W227 Ter exero 1150A P tz 41 A 54A 65A 81A 99A 129A 153A l 41A 52 A 52 A 81A 81A 104A 480V 81A 108A 130A 153A 153A 171A 171A at O Hz 480V 81A 104A 104A 96A 96A 109A E P at O Hz 81A 108A 130A 162A 198A 257A 284A l gt 5 Hz 81A 104A 104A 130A 130A 155A gt 5 Hz 45 A 60A 72A 90A 110A 143A A 400V 90A 120A 144A 134A 134A 151A fla at O Hz n A A arp us f A h 90A 120A 144A 180A 165A 215A lax gt 5 Hz SENE SCEES AR CREER T ERE as a ey 42A 56A 67A 83A 102A 132A l i 4Apec 460V 83A 111A 1
88. set MOT FNom motor rated frequency MOT VNom motor rated voltage MOT CNom E motor rated current MOT SNom motor rated speed MOT PNom motor rated power MOT TNom motor rated torque MOT_J motor inertia MOT_PolePairs motor number of pole pairs Electrical data PS Electrical data PS MOT_FluxNom motor rated flux MOT Rstat motor stator resistance MOT_Lsig motor stray stator inductance MOT LsiaDiff stator inductance variation d q PS linearmotor Synchronous linear motor AS motor Asynchronous motor Prot ction 2t and temperature sensor protection ON_MotorT empMax max motor temperature switch off value MON_MotorPTC select motor temperature sensor MON_Motorl2t Motor 2t protection parameters 0 0 0 0 0 0 0 0 0 oo Oo Fig 4 8 Motor setting Selection of the PTC connection gt SET PARAMETER 732 MON_Motorptc to X6 PTC via resolver lead or X5 PTC via terminal X5 ServoOne Operation Manual 38 Loading saving a motor dataset Click on menu button From file to load a dataset With File Save New Project you can save a dataset in the servo controller Y Repeal 8080 000 H save lj 37e file S From file ll Reset ll Power staqe JO Motor tt 0 CON CfgCon amp Motion profile Control cy Analog inputs fa iw X Id Sub Name Value 450 O0 MOT_Type PSM 490 0 MOT IsLinMot ROT 1530 0 SCD SetMotorC READY Introduction motor type Sele
89. ssignment initial commissioning J NOTE When using the safety function Safe Torque Off STO via terminals 3 ENPO and ISDSH the explanations in chapter 6 must be strictly followed 3 7 3 Brake driver Plug X13 BG1 to BG4 is intended for the connection of a motor brake Brake driver X13 Connection OSDO3 X13 1 Short circuit proof GND X13 2 Voltage supply through control supply U to X9 X10 U U AU AU typically approx 1 4 V To trigger a motor holding brake of up to l 2 0 A max for brakes with higher current requirements a relay must be connected in series Overcurrent causes shut down Can also be used as configurable digital output interruptible cable breakage monitor ing 200 mA typically in condition 1 up to relay Table 3 6 Specification of terminal connections X13 Plug X20 BG5 to BG6a is intended for the connection of a motor brake Brake driver X20 Connection 4 24V X20 1 Short circuit proof 24V DC supply for OSDO3 X20 2 External voltage supply required brake I 2 1 A GND X20 3 24 V I 2 1 A required 24V To trigger a motor holding brake of OSD03 up to l 2 0 A max for brakes with higher current requirements a relay must be connected in series Overcurrent causes shut down interruptible cable breakage monitor ing lt 200 mA typically in condition 1 up to relay 24VDC Table 3 7 Specification of terminal connections X20 LTi LUST 3 8
90. stem 159 MPRO_CTRL_SEL TERM Motion control selection 165 MPRO_REF_SEL ANAO Motion profile selection 166 MPRO_REF_JTIME 0 MPRO_REF_OVR 100 Motion profile jerk time Profile speed override factor CON_REF_Mode RFG CON IpRefTS 0 125 Select reference mode RFG Mode IP Mode Sampling time for interpolation CON SCON DirLock OFF direction lock for speed reference value CON_IP Splinell Interpolation type control word Stop ramps Stop ramps quickstop halt fault etc and reactions Homing Settings for homing mode Setpoint table Setpoint table Analog channel 1S400 Configuration of analog channel 15400 Analog channel 1S401 Configuration of analog channe ISA01 Power stage a Encoder Fig 4 14 Setting the motion profile ServoOne Operation Manual 40 4 1 6 Save the setting Click on the Safe button to save the parameter settings in the device There is also the possibility to save the parameter dataset in form of a data file to the connected PC For this purpose click on button to File select the desired directory and confirm the saving process with OK ve fe To file EM fy Motion profile Liss minm ee ave setting non volatile i Sub Name t M otandardisatian units Basic settings MPRO DRVCOM AUTO STA ED MPRO CTRL SEL TE MPRO REF SEL ctandardisatian units Basic settings MPRO CTRL SEL MPRO REF SEL Fig 4 16 Save as dataset 4 1 7 Drive under control test run The drive is tested withou
91. t the coupled mechanics A test run Is still possible under certain conditions even if the motor has already been coupled to the system Please check all connections once again before Starting the test run Attention Test run with motor installed In this case it must be assured that the test will not cause any damage to the system Pay particular attention to the limitations of the travel range Please note that you yourself are responsible for safe operation LTi DRIVES GmbH will not assume liability for any occurring damage Danger to life from uncontrolled rotation Before starting motors with feather keys in the shaft end these must be reli ably secured against being ejected as far as this is not already prevented by drive elements such as belt pulleys couplings or similar Attention Destruction of motor e The motors are intended for operation on the servo controller Direct connection to the mains supply can destroy the motor ZX PA ZN e The motor surfaces may become extremely hot No temperature sensitive parts may touch or be mounted to these areas appropriate measures to prevent contact must be applied wherever necessary e n order to avoid overheating of the motor the temperature sensor installed in the winding must be connected to the terminals of the tem perature monitoring system for the servo controller X5 or X6 e The motor brake if installed should be checked for fault free function ing befor
92. ted for devices with internal braking resistor version SO amp x xx xxxx 1xxx table A 6 Technical data SO82 090 to SO84 170 4 BR switch on threshold for all mains voltages 745 V DC 5 Data referred to 3 x 480 V mains voltage corresponds with BR switch on threshold 765 V DC C TCC MIC Gar O22 U2 TU CADS UU Note For further information on brake chopper switch on threshold pleas refer to chapter 3 15 2 A 3 Ambient conditions Ambient conditions ServoOne E E 10 40 C at 8 16 kHz a 10 45 C at 4 kHz to 55 C with with reduced power Temperature Tange in storage 25 55 C E trans 25 470 C port Relative humidity during operation 15 85 96 dewing not permitted Device IP20 except the terminals Degree of protection Cooling concept Wall mounting IP20 TO i according to local regulations Accident prevention instructions lin Germany e g BGV A3 up to 1000 m above seal level higher than 1000 m Mounting height above sea level with reduced power 1 per 100 m max 2000 m above sea level Pollution severity 2 Built in device only for installation in control cabinet Type of installation with degree of protection min IP4x 1 Further information see ServoOne Project Planning Guide The terminals meet the requirements of degree of protection IPOO table A 7 Ambient conditions ServoOne ATTENTION According to EN ISO 13849 2 the control cabinet must have degree of protection IP
93. tes in DriveManager ssssssssse Ie 43 BN WINS SO GAC MONETE Tm 40 68 LTi LUST 52118654 24 STAG AO VON MEE a E E E 38 Setting the power SIaUQE8 uoce eterno t xa uin te ERe guckt nibh rea tad 37 S STEIN Qo ERN RI 41 Specification of control connections sessssssssssee 21 BS I UO TE 51 SAG MOUE aera aar O AS m 44 Standard terminal assignment esisiini ia 55 Status display on the device ssssssssssssse He 46 STO OSSCcHDIBLPOFTUPIOHOE esauacasa tds ctbortdocisdeaiec irem m Iaton iS Mab RUE 53 Stop categories acc to EN60204 1 sssesssem 51 UOC a OSS SUNN ue oaoerers teste ud aR ouis Rec uot n Ouen td be dac 52 Stopping acc to stop category 1 SS1 ssssssssssssssse 56 SIE sger aoreentiss cce 0189 MRTRRN PR RET J3 Subject to technical modifications sssssssssss 23 S S A 6 5 a eve 57 T e eE 1 RR TR 61 iesus m 63 Terminal diagram BG5 to BODS sseissisciisscn eorna ennie aiaiai 14 WSSU CIA E A E E 41 TNE AO ERR EAE EA OA EA 20 U CERE eE Ol E E EEN A E EET 23 V Variants of motors encoder type and encoder line 25 W WV aN lae E AG PREMIER m 9 Wiring or COMPONENTS srein i E E ANAE EESE 34 ServoOne Operation Manual 69 LTi ServoOne Operation Manual
94. tors Prefabricated motor cable Chain trailing ability Design Length 2 m Length 3 m Length 5 m Length 8 m 4 Length 10 m PERRET Length 15 m Length 20 m Control of motor brake Cable length Motor cable KM3 KS 005 Ordering key Technical data T KM3 KS xxx For motors with pluggable power connection upto 16 A I Minimum bending for stationary routing 60 mm radius for flexible applications 120 mm 7 for stationary routing 50 90 C Temperature range for flexible applications 50 90 C Cable diameter approx 12 mm Fig 3 13 Connection of motor Material of oversheath PUR Table 3 13 Technical data motor cable NOTE Strands 5 and 6 PTC are only required for motors with optical sensors G12 G13 G6 G6M On the LSH LST xxx motors with resolver PTC monitor ing is accomplished through the resolver line Q 3 14 3 Schalten in der Motorleitung ATTENTION Switching in the motor line must generally take place in de en ergized state and with deactivated power stage as otherwise problems such as burned off contactor contacts will occur In order to assure de energized Switching on you must make sure that the contacts of the motor contactor are closed before the servo controller power stage Is released In the mo ment the contactor switches off the contacts must remain closed until the servo controller power stage has been switched off and the motor current has dropped to
95. tripping chan nels active one normally open RSH XA 11 contact with automatically reset X4 12 RSH XA 12 ting circuit breaker polyswitch x4 14 XA e 25V 200 mA AC cos o 1 RE MA nsn e 309V 200 mA DC cos o 1 Re EE RSH sosh gt BLU Enpo isoo gt BIB oso soos gt B IBI osno isD04 gt MS ospoo i003 gt MaE isai s002 gt AB ion soo gt M sa sooo gt BS isao Auxiliary supply to feed the digital control 24 lt gt fill IBM lt gt a Inputs penn SLE ooo U U AU AU typically approx 1 2 V no destruction in case of short circuit 424 V gt GND however device may switch off for a short time 80 mA per pin with self resetting max circuit breaker polyswitch Relay outputs Relay 1 normally open e 25V 1 0 AAC coso 1 e 30V 1 0 ADC cos g 1 e Switching delay approx 10 ms e Cycle time 1 ms Auxiliary supply yes Digital ground XA 1 Reference ground for 24 V with automatically DE X4 13 resetting circuit breaker polyswitch Table 3 5 Specification of control connections X4 NOTE With high currents flowing through the ground terminals a high re sistance isolation from the device ground is required This may cause miscon duct of the drive avoid ring currents in the wiring ServoOne Operation Manual DD 3 7 2 Standard terminal assignment Diagnose STO Request STO a uest l START Da 4d Fig 3 11 Control terminals standard a
96. ulting from the EUC or its interaction with the EUC operating equipment Safety function Function performed by an E E PE safety related system a safety related system of other technology or external facilities for risk minimization with the goal of reach ing and maintaining a safe state for the EUC under due consideration of a particularly undesired result Validation Confirmation that the special requirements for a certain purpose of use are fulfilled by examination and the issuing of objective evidence Validation describes the activity to proof that the examined safety related system meets the specified safety requirements of the safety related system in every respect before or after the installation Positive opening operation of a contact element Symbol for positive opening operation acc to EN 60947 5 1 appendix K e In case of a positive opening operation of a contact element the contact separation is achieved as a direct result of a certain movement of the actuating element caused by non elastic links no spring Safety circuit A safety circuit is designed with two channels and has been approved by accredited testing bodies on the basis of the standards There is a large number of manufacturers offering a vast variety of safety circuits for various applications Interlocked separating protective devices An interlocked separating protective device EN 1088 paragraph 3 2 is a separating pro tective device working

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