Modular Synchronous and Asynchronous Servo
Contents
1. Design codes The design codes are separated by a comma and can be written one after the other in any order MC7408 MOTION D2 for evaluation of optical encoders application package MOTION 1 The version number indicates the technical version of the application package If the number is not quoted in the order we will deliver the current version Issue Januarv 1999 CHAPTER 2 POSSIBLE VERSIONS OF MC7000 Motion Type of interface location Encoder interface 1 Bus Interface Brake chopper version Supply of control unit Control of holding brake Application hardware 2 Version code Standard D2 Standard C11 Standard or MC7402 o MC7416 Standard for MC7432 o MC7464 BR3 or MC7402 o MC7416 Standard SN2 Standard HB1 Standard AH7 t MOTION Brief description Encoder interface for analvsis of resolvers Encoder interface for analvzing the latest model of optical encoders with incremental sin cos outputs and additional absolute position information as a single turn or multi turn variant Without bus interface CAN bus interface CAN with connection system Sub D 25 pole for 2 x 9 pole connections use terminal module EKL300 see chapter 5 Accessories The CAN bus interface is also to be used as a connection for the PROFIBUS DP via the PROFIBUS DP gateway CP DP1 see section 5 Accessori2. ASF xx lid S ns _ PSF xx Pe 8 Screw depth t22 D Thread d23 d BEE O 3 E Flange foot Ba a with forced cooling anal a a ASV xx PSV xx Si ie e gt a JE o Screw depth t22 D Thread d23 E O a Trot o wi l a q Flyout L39 Exception For the motor types PSM Nx is the clearance of dimension d1jg DIN ISO standard 3 14 Issue March 1997 CHAPTER 3 DIMENSIONS FOR MOTORS WITH SELF COOLING AND FORCED COOLING lt P See Page 3 13 for more dimensions ie Motor Self Cooling Forced Cooling L39 for Type PS Type Size L38 for Type AS L38 for Type PS L39 for Type AS Length No Br With Br No Br With Br No Br With Br No Br With Dr No Br With Br GX GX RX GX RX GX RX GX GX RX RX RX 1 M M2 M3 M4 N4 N5 NG No Br RX With Br GX No Br With Br GX All dimensions in mm Abbreviations AS Asynchronous Servomotor Series PS Synchronous Servomotor Series Br Permanently excited single disk holding brake GX Incremental encoder sin cos variants G1 G3 G5 RX Resolver variants R1 R2 R8 K1 K2 K8 Issue January 1999 3 15 CHAPTER 3 MOUNTING FLANGE POWER AND ENCODER Mounting flange For motors PSx Mx and PSx Nx fixing with screws For motors ASx und PSx 0x bis 4x fixing with clamps Power connection using terminal box Power connector
3. MC7412 MC7416 MC7432 MC7464 Legend Green LED display Connection for application hardware 2 e g AH7 with 2 analog outputs or for bus interface Yellow LED fault indication Connection for mains input i ep DC link and braking resistor Connection for application hardware or e g AH6 for I O extension Connection for motor and PTC and also for CAN bus Socket for KevPan Center point for earthing lead connection Control terminals Cable clamps for correct EMC screening and cable stress reduction Serial interface RS485 KevPAD plug Encoder interface 2 encoder simulation and pulse input Control unit KevPap KP100 Encoder interface 1 for connecting the _5 Data memory of SMARTCARD encoder built into the motor Depending on the version of the device being used 2 2 Issue January 1999 CHAPTER 2 TECHNICAL DATA MC7000 Mains filter integrated limit value curve A industrial area SSS MC7402 MC7404 MC7408 MC7412 MC7416 MC7432 MC7464 Output motor end Rated power 400V mains 5 S 8 3 Rated power 460V mains 1 i l i 9 5 Voltage RMS 3 x 400 460 Contin current RMS 400V 460V 1 5 12 12 Contin current RMS 400V 460V 2 5 1 7 5 6 Pulse current for 10s 2 1 N Switching frequency of the power stage 4 8 16 factory setting 8 kHz Motor system asynchr
4. incremental encoder sin cos MOUNTING FLANGE POWER AND ENCODER CONNECTIONS resolver 90 e resolver straight Bn ow 90 turnable resolver 90 Terminal box Mains power connector 1 From 1996 7 As supplied cable bushings point towards motor shaft Issue November 1995 3 17 CHAPTER 3 PERMISSIBLE AXIAL AND RADIAL LOADS The following tables show the maximum permissible radial loads Fgm at the point 1 2 and maximum permissible axial loads F 4m assuming a service life of 20000 hours A radial load which is not in the middle of the shaft end can simply be re calculated to take account of the different leverage effect Radial load Fo INI Axial load E INI at speed n min at speed n min l 7 2000 3000 6000 2000 3000 6000 B5 B35 V1 T L 4 Fa Fam A Fe Fam mu up Radial Load Fpm INI Axial Load E INI v3 at Speed n min at Speed n min 3000 4000 6000 3000 4000 6000 In vertical installations the permissible axial loads F am apply for the upward load direction In the case of downward load they are reduced by Fc afp a a E U j N OO OO JO Ga 3 18 Issue March 1997 SSES TECHNICAL SPECIFICATIONS SHAPE AND SHAFT
5. EEI KT 0792 00B 0 0792 20B 0 German English Operation manual Operation manual 0792 04B 2 German English Version description AH4 12 Bit analog output 0792 02B 0 0808 02B 2 0808 22B 0 German English German English Retro fitting of accessory Operation manual BAsIC MOTION Operation manual BAsIC MOTION 0808 00B 1 0808 21B 0 German English Operation manual for MC7402 MC7404 up to software revision 1 65 Operation manual for MC7402 MC7404 up to software revision 1 65 0808 03B 2 German English Version description AH7 12 Bit analog output 0808 07B 0 27 German English Operation manual PosMop 0808 08B 0 28 German English Reference manual PosMop Issue January 1999 0808 09B 0 29 German English Programming manual PosMop CHAPTER 5 Accessory Non product specific information sources USER INFORMATION Series Order No Language Description KEYPAD KP100 A021 02B 0 German A021 21B 0 0842 01B 2 English German English DRIVEMANAGER Order No Language for Series Operation manual KEYPAD Operation manual KEYPAD User manual for PC software package DRIVEMANAGER Description MC6000 7000 German MC6000 7000 MC6000 7000 MC6000 7000 MC6000 MC6000 MC6000 7000 A040 02B 0 A040 22B 0 A047 02B 0 A047 22B 0 0718 50B 0 0718 51B 0 0792 50B 0 English German English
6. Issue January 1999 5 5 leben ACCESSORIES FOR PROFIBUS DP PROFIBUS DP Gateway Order designation CP DP1 Accessories supplied Gateway cable Technical data 5 6 Suitable for servocontroller MC7000 MC7000 Basic C11 MC7000 Motion C11 MC7000 PosMonp C11 Hardware protokoll DIN 19245 part 1 part 3 or EN 50170 volume 2 Transfer rate 9 6 KB to 12 MB adjustable Transmission range 12000 m to 100 m depending on transfer rate Stations per gateway Max 10 stations Gateway cable Lust system cable MC7000 Motion Supplied with gateway Lust system cable II MC7000 Basic Floppy disk with GSD and ASCII files Supplied with gateway Bus termination plug Supplied with gateway PPO Parameter Process data Objects PPO types 1 and 3 are supported Power supply 24VDC 20 Current consumption 1 2ADC 10 Mounting type Dimensions 35 mm standard profile rail 22 5 x 99 x 119 mm WxHxD Ambient temperature Issue January 1999 0 50 C non condensing biede WIRING ACCESSORIES Wiring example MC7000 Basic C11 Required components 1 Servocontroller MC7000 Motion C11 2 PROFIBUS DP Gateway CP DP1 3 Lust system cable II Wiring example MC
7. CHAPTER 2 Servocontroller MAsTERCONTROL MC7000 2 64 A Technical Data of MC7000 Application package MC7000 Basic Order details for servocontroller MC7000 Bas c Possible versions of MC7000 Basic Application package MC7000 Motion Order details for servocontroller MC7000 Motion Possible versions of MC7000 Motion Accessories for servocontroller MC7000 CHAPTER 3 Synchronous and asynchronous servomotors 0 32 143 Nm Order details for the servomotors ASx and PSx Versions of the servomotors Basic equipment for the servomotors Preferred types of servomotor Selected system components for the preferred types Typical M n characteristic curve of the servomotors Technical data of the asynchronous servomotors ASx xx Technical data of the synchronous servomotors PSx xx Simplified diagrams of the servomotors Table of dimensions for shaft flange and base Simplified diagrams of the servomotors repetition Table of dimensions for a motor with a self cooling and external cooling system Built on flange power and encoder connection Permissible axial and lateral force Technical data of model and shaft packing IP65 Technical data of self cooling and external cooling system CHAPTER 4 PC user software DRIVEMANAGER Order details for PC user software DRIvEMANAGER Accessories for DRIVEMANAGER 1 4 Issue January 1999 i 2 1 2 3 2 6 2 12 2 13 2 14 2 18 2 19 2 20 3 1 3 3 3 5 3 7 3 8 3 9 3 10 3 12 3 13 3 14 3
8. 3 12 Issue March 1997 CHAPTER A DIMENSIONS OF SHAFT FLANGE AND FOOT See Page 3 15 for more dimensions gt Size bi b20 c1 d20 d21 d22 d23 d25 L20 t22 a a b ele lif lm ls kul Length 9 10 2 N5 N6 01 02 03 04 11 12 13 6 19 21 5 40 32 M6 14 15 21 22 23 8 24 27 50 32 M 24 25 i 2 110 32 35 58 50 M12 3 4 1 2 3 3 3 3 4 43 All dimensions in mm Abbreviations AS Asynchronous Servomotor Series PS Synchronous Servomotor Series Br Permanently excited single disk holding brake GX Incremental encoder sin cos variants G1 G3 G5 RX Resolver variants R1 R2 R8 K1 K2 K8 Issue January 1999 3 13 Repetition identical CHAPTER 3 DIMENSIONS OF SERVOMOTORS tips Sl Connection with Connection with D connector straight connector at 90 L e PSM xx Screw depth t22 Thread d23 d22 L38 Thread x Flange with self cooling Q s q ASM xx bes al Flange foot Gps A Pog a with self cooling Las S D ASH xx EH PSH xx o 5 L3 S Screw depth t22 D Thread d23 E S Lo y L n o wi L a A Li L38 Flange with forced cooling Ba
9. 3 16 CONNECTIONS For installation of a second encoder eg Heidenhain ROD426 or Stegmann DG60 for models K1 K2 K8 The coupling is not included as standard see CHAPTER 5 Accessories 3 04 5 120 Mounting flange Unscrew for M3x12 4x BEER Mounting hole for coupling M8 x 10 Mounting flange H mounting the encoder Fixing screw for encoder M4 x 22 3x Mounting hole Socket For matching plugs and ready made cables see CHAPTER 5 Accessoires Issue March 1997 Contact No for coupling iti D M10 x 12 a o 2 8 Ir ee als H Fa g 3x M for fixing clamps Rear lid 4 5 15 5 16 5 gt Eyebolt size Holding brake Size Power connection PTC and Brake option PTC Gone thermal protection not allocated J Allocation 1 2 3 4 A B C D e e Power connection via terminal box Power connector output straight or 90 Dimensions Motor JI Power connector Encoder connector c d e f incremental encoder sin cos f a Ga ES Dy resolver straight CH ES gt
10. German English German MC6000 7000 0792 51B 0 English LusTBus data transmission protocol LusTBus data transmission protocol CAN Bus data transmission protocol CAN Bus data transmission protocol INTERBUus S data transmission protocol INTERBUus S data transmission protocol Installation manual for net working with LusTBus and CAN Bus Installation manual for net working with LusTBus and CAN Bus MC6000 7000 0792 06B 0 Description of parameters Issue January 1999 5 13 Subject to technical changes 0808 42B 0 00 EN 04 99 Lust Antriebstechnik GmbH Gewerbestr 5 9 D 35633 Lahnau Telefon 0 64 41 9 66 0 Telefax 0 64 41 9 66 137 Internet http www lust tec de e mail lust lust tec de
11. PSM N5 2xxx4 PSM N5 2xxx6 PSM N6 2xxx4 PSM N6 2xxx6 PSM 01 2xxx3 PSM 01 2xxx4 PSM 01 2xxx6 PSM 02 2xxx3 PSM 02 2xxx4 PSM 02 2xxx6 PSM 03 2xxx3 PSM 03 2xxx4 PSM 03 2xxx6 PSM 04 2xxx3 PSM 04 2xxx4 PSM 04 2xxx6 PSM H 11 2xxx3 PSM H 11 2xxx4 PSM H 11 2xxx6 PSM H 12 2xxx3 PSM H 12 2xxx4 PSM H 12 2xxx6 PSM H 13 2xxx3 PSM H 13 2xxx4 PSM H 13 2xxx6 PSM H 14 2xxx3 PSM H 14 2xxx4 PSM H 21 2xxx2 PSM H 21 2xxx3 PSM H 21 2xxx4 PSM H 22 2xxx2 PSM H 22 2xxx3 PSM H 22 2xxx4 PSM H 23 2xxx2 PSM H 23 2xxx3 PSM H 23 2xxx4 PSM H 24 2xxx2 PSM H 24 2xxx3 In the sizes highlighted in gray there are preferred types see page 3 7 3 10 Issue January 1999 Ee TECHNICAL SPECIFICATIONS OF PSx xx SYNCHRONOUS SERVOMOTORS Ges EES pita is ti a in wl min PSF V 11 2xxx3 PSF V 11 2xxx4 PSF V 11 2xxx6 PSF V 12 2xxx3 PSF V 12 2xxx4 PSF V 12 2xxx6 PSF V 13 2xxx3 PSF V 13 2xxx4 PSF V 13 2xxx6 PSF V 14 2xxx3 PSF V 14 2xxx4 PSF V 21 2xxx2 PSF V 21 2xxx3 PSF V 21 2xxx4 PSF V 22 2xxx2 PSF V 22 2xxx3 PSF V 22 2xxx4 PSF V 23 2xxx2 PSF V 23 2xxx3 PSF V 23 2xxx4 PSF V 24 2xxx2 PSF V 24 2xxx3 Abbreviations M Static torque JL Rotor moment of inertia without holding brake My Ratedtorque m Mass weight excluding holding brake Py Rated power lo S
12. lt My Maximum pulse torque Typically 2 to 5 times rated torque depending on controller allocation 3 to 5 times the rated torque is only permissible for 0 2 s maximum only Bearing life The average life is 20 000 hours under rated conditions Mmax lt Mn Connection Connections for motor thermistor Threaded bolts in terminal box and holding brake connectors to order Encoder system connection Signal Connector no mating connector 1 For the motor types PSM Nx is the clearance j6 Issue March 1997 3 5 CHAPTER A PREFERRED TYPES OF SERVOMOTORS From the wide range of design options for synchronous and asynchronous motors we have selected the most common here and specified them as preferred types Use of Benefits preferred motors gt High availability based on module stocking gt Fixed delivery period of maximum 3 weeks for batch sizes up to 10 motors with custom design options 6 to 8 weeks Design and properties Resolver type encoder system e Flange with self cooling e Without holding brake e Plug in power supply for synchronous servomotors e Asynchronous motor with terminal box e Large speed setting range on asynchronous machines e Low moments of rotor inertia producing optimum dynamics Technical data of the preferred types PSM M4 20R86 4 PSM N4 20R84 4 PSM N6 20R84 4 PSM 03 20R83 4 PSM 04 20R83 4 PSM 13 20R83 4 PSM 23 20R83 0 ASM 12 20R23 0 ASM 22 20R23 0
13. ASM 25 20R22 0 l 2000 8000 ASM 32 20R21 0 A 1500 8000 ASM 34 20R21 0 d 1500 8000 ASM 43 20R21 0 1500 8000 3 6 Issue January 1999 bebes SELECTED SYSTEM COMPONENTS FOR THE PREFERRED TYPES Drive con troller Servomotor e 4 PSM M4 20R86 4 MC7402 internal KM1 KS005 internal MC7404 LI 70 je PSM N4 20R84 4 f MC7402 i internal KM1 KS005 internal PSM N6 20R84 4 MC7402 internal KM1 KS005 internal MC7404 internal internal C 92 s PSM 03 20R83 4 MC7402 k internal KM1 N005 internal MC7404 internal internal PSM 04 20R83 4 f MC7404 internal KM1 NOO5 internal MC7408 NFD 10 3 internal 110 ASM 12 20R23 0 MC7402 i internal KM1 N005 internal OI C MC7404 internal internal PSM 13 20R83 4 MC7404 internal KM1 NO005 internal MC7408 NFD 10 3 internal ASM 22 20R23 0 MC7404 internal Terminal box internal MC7408 NFD10 3 internal PSM 23 20R83 0 MC7408 NFD 10 3 Terminal box RHK 90 MC7412 NFD 25 1 RHK 42 MC7416 NFD 25 1 RHK 42 ASM 25 20R22 0 MC7408 NFD 10 3 Terminal RHK 90 MC7412 NFD 25 1 RHK 42 ASM 32 20R21 0 MC7408 NFD 10 3 Terminal RHK 90 MC7412 NFD 25 1 RHK 42 MC7416 NFD 25 1 RHK 42 ASM 34 20R21 0 MC7412 NFD 25 1 Terminal RHK 42 MC7416 d NFD 25 1 RHK 42 MC7432 NFD 50 1 RHK 15 ASM 43 20R21 0 MC7432 NFD 50 1 Terminal box RHK 15 MC7464 NF
14. PC user software can be ordered in two versions The versions differ in the installed software licenses DRIVEMANAGER TEST TI Contains the full scope of functions and is intended for test and demo purposes The runtime is limited to 180 days from installation DRIVEMANAGER ______________ Contains the full scope of functions The runtime is unlimited The software license permits simultaneous use on any number of workstations The following are included in the scope of supply e 5disks for installing the user software DRIvEMANAGER e User Manual DRIvEMANAGER e 2 floppy disks with motor data sets The following hardware and software is required for using the DRIVEMANAGER e aPCwith an 80486 or more powerful processor e Microsoft Windows 95 or Windows NT in preparation e main memory RAM with at least 8 MB 16 MB is recommended e abuffered serial interface Note The interface converter cable LBSKK200 KPRS232 for VF 1000 must be used to connect the servocontroller to the PC The order information is given on the next page Issue January 1999 4 3 CHAPTER 4 Interface converter cable LB SKK200 T coupler LB TK100 Order designation Accessories for DRIVEMANAGER For the operation of a single servocontroller LB SKK200 The cable converts the signals of the fail safe RS485 interface of the servocontroller to the RS232 level of the PC For the operation of several networked
15. and 804 A microbes designations of wires Issue January 1999 U black V blue W brown See MOTOR ACCESSORIES Motor connector Connector for motors with power connector straight or 90 angled Order type designation SM LPNA 08B NNNN 170 L Manufacturers Interconnectron Munich With accessories 4 power and 4 signal contacts for soldering only suitable for fixed cabling cable clamping 2 12 mm installation plan Please note Only crimped contacts are permissible for flexible installation eg festoonable cables as repeated movement fractures the cable at the soldered joint Resolver connector Connector for motors with Resolver Order type designation SG SPNA 12B NNNN 169 L Manufacturers Interconnectron Munich With accessories 12 signal contacts for soldering oniv suitable for fixed cabling cable clamping 12 mn installation plan Please note Only crimped contacts are permissible for flexible installation eg festoonable cables as repeated movement fractures the cable at the soldered joint Coupling for motors with mounting flange design code K1 K2 K8 Order type designation FK BSK 33 02 33 Manufacturers Bauerle St Georgen Germany Coupling Dimensions D1 D2 L 9 52 3 8 6 22 mm Issue March 1997 5 11 CHAPTER 5 Servocontroller 5 12 USER INFORMATION
16. are required e Short scanning periods of the control circuits torque control 62 5 us and speed control 250 us This means that a very high quality of control is achieved as a result max 20 m gt a eee eae UP og ge a TY i i Tt Tt K I i Ji L Ty Ty IM IMMA Lt 1 1 i LES 5 a G2OL Lato NC R 24V EE E 1 oto E L a EE 24V 10 3A GND Se o 10V 10V ISAQ ISA0 ISA1 GND_ISA1 NI 24V 24V IS00 IS01 ENPO OS00 OS01 DGND ine N E m x 3 GND_EXT GND_EXT OS03 OS02 3 af oaf oa 7 ia a7 ao ao fafa oJ o nti oy aj RI wo nt 20 oso2 4 7 Auxiliary supply for reference generation Input fully programmable analog digital Input fully programmable analog digital Auxiliary supply for digital inputs and outputs Input Start control Input fully programmable digital Release power stage Output fully programmable digital Output fully programmable digital Digital ground Connections for control voltage only for version SN2 Not assigned Relay output programmable Earth all screens at both ends to the casing over a large surface area using cable clamps Only use the control voltage connection for version SN2 external supply of the control unit Issue September 1997 CHAPTER 2 APPLICATION PACKAGE Basic Operation mode speed control wi
17. for version SN2 external supply of the control unit The internal 24 V of the servocontroller is used to supply inputs and outputs at X5 max loading capacity 200 mA in total Issue January 1999 2 17 CHAPTER 2 General Order or type designation Standard version Design codes for deviations from the standard Example 2 18 ORDER DETAILS FOR SERVOCONTROLLER MC7000 Motion The functionality of the servocontroller is characterized by the order designation Other versions differing from the standard package are indicated by appendices of design codes in the order designation In the versions shown only one version can be ordered per terminal location e g encoder interface bus interface etc MC7 41 x x I MOTION x x L version number application package Basic MOTION continuous current RMS see Technical Data of MC7000 mains voltage see Technical Data of MC7000 Series MASTERCONTROL MC7000 Standard version encoder interface for analysis of resolvers encoder simulation 12 digital inputs and 6 digital outputs limit switch analysis for MC7402 and MC 7404 with built in mains filter for complying with the limit value curve of class A industrial area instruction Manual Note The KeyPad KP100 control unit should be ordered as a separate item For further information see section 5 Accessories MIC 7 4 xx MOTION XX
18. loads a preset data set in the servocontroller You can adapt the inputs outputs and other settings as required The controller is tuned by changing two parameters fH LUST Drive Manager File Communication View wi Ta xja Ee Free operation mode f id H Q IK Speed control with external position control refere pe ee Save device settings to Lage eee Electronic gearing Load motor data Point to paint positioning Active device Control Positioning with interface conmeana Monitor Positioning and sequence control eegene operation mode Commission Tne cantraller Carry out diagnosis Transmission rate 19200 bits s Number of stations Ready for start e A mee Device state Fleadh for get LUSTBUS 19200 LUST DN Setting Speed control with reference via 10 Control Motor Application Analog inputs ISAQ Reference speed 4 10V 10 scaled to 3000 1 min ISA1 No function d Digital inputs 1500 Star control z 1501 No function z Digital outputs 0s00 Ready MI oso Control in operation fs 0502 Holding brake d Gave Exit Print Parameter editor Help Issue September 1997 CHAPTER 4 Languages Order notes Order type designation Scope of supply Hardware and software requirements ORDER DETAILS FOR PC USER SOFTWARE DRIVEMANAGER Vou can choose between German or English when vou install the user software The
19. servocontrollers e o mir e o o a e l l l n un n 3 13 2 J J J 5 Dm mr l J A LBTK100 01 RS232 RS485 B LBTK100 00 RS485 RS485 required only for VF1000S or line lengths gt 1000 m C Standard cable RS232 9 pole m f Order des Brief explanation LB SKK200 Interface converter cable for converting from RS485 to RS232 LB TK100 01 T coupler with isolation RS232 RS485 LB TK100 00 T coupler with isolation RS485 RS485 Issue January 1997 CHAPTER 5 ACCESSORIES FOR MASTERDRIVE SERVODRIVES Overview Accessories for mounting externally CP100 operator terminal DRIVEMANAGER EL S E fn LID PAZ SEI LF Sy 4 Interface converter cable LBSKK200 Mains power connection Line choke control unit 4 KEVPAD KP100 LUST e t PROFIBUS DP Gateway CP DP1 connecting cable KSS252 CAN bus Ah interface SEQ LUST Zeg Mains filter Issue January 1999 A 000001000 oc00 oovoopooj Go oopcooool poopoo Terminal modul EKL 300 chipcard data storage device SMARTCARD Pre assembled encoder cables Pre assembled motor cables Mo
20. with short circuit and cable fracture monitoring Caution Not possible for MC7432 and MC7464 Without application hardware 2 With 2 additional analog outputs outpoint signal 10 V resolution 12 bit with connection system Sub D 9 pole Caution Version AH7 excludes use of version C15 There may be only one version at each assignment point Issue January 1999 2 13 CHAPTER 2 Operation mode stepper motor operation 2 14 APPLICATION PACKAGE Motion The application package Motion contains the operation modes e stepper motor operation e electronic gearing e point to point positioning These operation modes have an integrated position controller with a scanning period of 250 us This has the following advantages compared with an external position controller e no need for encoder analysis in the control system e reduced amount of cabling required e minimum down times in the position control circuit resulting in a high quality of control The application package Motion can only be operated with the operating software DRIVEMANAGER see chapter 4 MASTERDRIVE stepper Position motor reference 1 LI LI LI LI 1 LI 1 i control l 1 LI LI 1 LI 1 LI 1 Li In the operation mode stepper motor operation the MC7000 can be directiv driven bv a stepper motor control svstem and has the following properties e no steps are omitted or left out e good rotation even at low rotational spee
21. 00 x 300 x 20 If the motor is installed thermally insulated from its mounting the permissible rated torque must be reduced by 5 15 Altitude and coolant 1 1 Prax maximum permissible average temperature continuous power load S1 1 05 Mmax Maximum permissible continuous torque load S1 1 Py rated power x Mn rated torque g 0 95 k correction factor see ni graph on left 0 9 0 85 0 8 20 25 30 35 40 45 50 55 60 Coolant temperature in C 0 to 1000 m asl or 0 1000 2250 3500 Height above sea level in m at 40 C Pmax k Pn Mmax ke Mn 3 20 Issue November 1995 SES TECHNICAL SPECIFICATIONS SELF COOLING AND FORCED COOLING Voltage Mains Frequency Rated Current Protection IVI Hz A ASF V Forced cooling 1x 230 6 10 1x 230 6 10 3x400 6 10 3x 400 6 10 6 10 6 I 10 Air is drawn into the B side by axial fans and ejected througth the A side The mating connector for the fan connection is supplied Connection arrangement Fan connector view of socket Connection for ASF V 1x to ASF V 2x contacts and PSF V 1x to PSF V 2x Connection for ASF V 3x and ASV 4x Issue November 1995 3 21 CHAPTER 3 Technical specifications Protection circuit Mc7000 HB1 3 22 TECHNICAL SPECIFICATIONS HOLDING BRAKE The zero backlash permanently excited single disk holding brake works on a fail safe basis which in practica
22. 15 3 16 3 18 3 19 3 20 4 1 4 3 4 4 CHAPTER 5 Technical data of holding brake 3 22 Accessories for MasterDrive servodrives 5 1 Interference prevention filter 5 2 Line chokes 5 3 Control unit KevPap KP100 5 4 Operator terminal CP100 5 5 Accessories for PROFIBUS DP 5 6 Wiring accessories 5 7 External accessories for the servocontroller 5 8 Prepared encoder cables 5 9 Prepared motor cables 5 10 Motor accessories 5 11 User information 5 12 Issue January 1999 1 5 CHAPTER 2 SERVOCONTROLLER SERIES Assembly and layout plan MC7402 MC7408 Legend Directives and Standards MASTERCONTROL MC 7000 IILILILILILILILILILILILILI OOOOO OOOO ele feles ea no Center point for all earthing lead connections for bus interface Control terminals X5 2 digital inputs 2 analog inputs 1 hardware release 2 digital outputs 1 relay output standard version Socket contact for control unit KP100 Connection for application hardware 1 or also for CAN bus Encoder interface 2 encoder simulation and pulse input Encoder interface 1 for connecting the encoder built into the motor Connection for motor and PTC Plug of the control unit KevPap KP100 Connection for mains input DC link and braking resistor Control unit KEYPAD KP100 can be su
23. 432 at 4 kHz 2 0 l at 8 kHz 1 3 1 for MC7464 at 4 kHz 1 5 1 at 8 KHz 1 0 I Issue January 1999 2 3 CHAPTER 2 TECHNICAL DATA MC7000 Z jim MC7402 MC7404 MC7408 MC7412 MC7416 MC7432 MC7464 Ambient conditions Cooling air temperature 1000 m a s l Type of cooling forced cooling Relative humidity 15 85 non condensing VDE0160 Power reduction depending 5 per 1000 m above 1000 m a s l on the mounting height max 2000 m a s l Length of motor lead 0 10 m with power reduction 10 50 m Power reduction depending on the length of the motor lead at 4 8 kHz 85 50 at 16 kHz 65 70 Storage temperature 25 55 VDEO160 Transport temperature 25 70 VDE0160 Vibration 2 g IEC 68 2 6 Protection type IP20 VBG4 Mechanics Mounting type vertical wall mounting Mass 15 Dimensions Minimum mounting distance Note The control unit KEYPAD KP100 must be ordered as a separate item For further infor mation see chapter 5 Accessories 2 4 Issue September 1997 CHAPTER 2 APPLICATION PACKAGES FOR SERVOCONTROLLER MASTERCONTROL MC 7000 The application packages enable the MAsTERCoNTROL MC7000 to perform the motion tasks of the servodrive system even more quickly and simply LI n Lem MOTION All op
24. 7000 Motion C11 Required components Servocontroller MC7000 Motion C11 PROFIBUS DP Gateway CP DP1 Lust system cable Connecting cable KSS252 Terminal module EKL300 akwWwND Issue January 1999 5 7 CHAPTER 5 EXTERNAL MODULES FOR SERVOCONTROLLERS Accessories for Order Description Servocontroller external Designation installation EKL300 oe pees ege BSEBSEEES 0000 EE PESESS Seenen Es Terminal module for forced wiring of application hardware MC7000 C11 For MC74xx Servocontrollers with CAN Bus interface and also for bus connection using 2 x 9 pin Sub D connector Excluding KSS252 cable 3 wire technology signal 24v and ground for easy connection of initiators maximum load on outputs 50 mA AH1 and AH6 500 mA AH2 short circuit proof Z rail installation dimension w x hx d 113 x 78 x 72mm Note Please order the Cable to link Servocontroller and EKL300 terminal mod
25. ATION PACKAGE Motion Control connections for point to point positioning X5 10V 10V ISAO ISA0 ISA1 NC GND_ISA1 24V 24V IS00 A 10 IS01 y ENPO osoo oso1 DGND 24V_EXT GND_EXT GND_EXT OS03 OS02 3 OS02 4 24 V 10 5A Supply voltage analog output Neg HW limit switch Feed release e Manual automatic Pos HW limit switch Release power stage Ready Standstill Digital ground b Relav output of holding brake O25 il 4 to O Tr 4 0 22 OE03 Output No tracking error i l J O9 0E02 Output reference point defined lee ITS TG 21 OE01 Output axis in position EVU i lt O 8 OE00 Output axis in position 0 reference point a CH 20 24V OUT 24V supply for outputs OEOO 03 5 i 7 GND OUT Ground for outputs OEOO 03 24V KON GND O6 penp Pi O18 n c O5 GND IN Ground for inputs IEOO 07 HO 17 E07 Input p3 gt 04 IE06 Input p2 HBO 16 E05 Input pi 1 WTO3 IE04 Input pO l B O15 E03 Input jog BO 2 IE02 Input jog ee PO 14 E01 Input start release BO 1 JIEOO Input reference cam ee Earth all screens at both ends to the casing over a large surface area using cable clamps Only use the control voltage connection
26. Basic Operation mode torque control Control connections mode related torque reference NC 10V MASTERDRIVE The operation mode torque control is a suitable means of controlling the tensile force and has the following properties e limitation of the operating speed by internal speed limiting controller e resolution of the analog input 12 bit e 1 analog input 3 digital inputs 1 hardware release 2 digital outputs 1 relay output X5 a 10V D 2 10V D 3 ISAO N 4 ISA0 J ISA1 N o IS00 ryrityyvyy 4 f i G 1S01 Issue September 1997 GND_ISA1 J 24V N 24V S Auxiliary supplies for the reference generation Torque reference 10V Fully programmable Auxiliary supply for digital inputs and outputs Input start control Fully programmable i Release power stage Output ready for operation Output reference reached Digital ground Control voltage connection only for version SN2 Not assigned Relay output of holding brake programmable CHAPTER 2 General Standard version Order or type designation Design codes for deviations from the standard Example 2 12 ORDER DETAILS FOR SERVOCONTROLLER MC7000 Basic The functionality of the servocontroller is indicated by the order designation Other versions differing from the standard package are
27. D 80 0 RHK 15 1 Acceleration with peak torque no load from standstill to nominal speed 2 For further information see section 5 Accessories 3 Speed controlled applications Application package Basic see section 2 elektron Getriebe Schrittmotorinterface Application package Motion see section 2 Einachs Positioniersystem Application package PosMop see separate data specification Issue January 1999 3 7 CHAPTER A TYPICAL TORQUE SPEED GRAPH OF SERVOMOTORS M Mn 4 3 M L 2 Intermittent operation Mo depending on voltage reserve Continuous operation M n Graph for asynchronous motors max 0 2 s Pulse Operation Intermittent operation Continuous operation Silb Ka M n Graph for synchronous motors Explanation M Static torque Thermal limit torque of motor when stationary This torque can be provided by the motor for any length of time I Static current Effective value of motor winding current which is required to generate the rated torque M Rated torque Thermal torque limit of motor at rated speed ny I Rated current Effective value of motor winding current required to generate the rated torque P Rated power Continous power of motor at rated working point Mn nn at rated current lI and rated voltage Un max max l Limit curve Motors can be loaded maximum 5 times the rated current Field weake
28. MASTERDRIVE Modular Svnchronous and Asvnchronous Servo Drive Svstem Technical Specifications LUST ANTRIEBSTECHNIK THE MASTERDRIVE DRIVE SYSTEM CAN PROFIBUS DP Gateway CP DP1 Bus Interface e Analog outputs AH7 Terminal module Servocontroller EKL 300 MC7000 L I CP100 operator terminal Ed p UO expansion AH6 eann lt lt lt u PC user software V 4 SMARTCARD as data storage device l aj PVA Rs232 RS485 u J l EEE n Interface converter cable LBSKK200 d ht Keyra control unit CT Various connecting cables i rm Asynchronous Mains power servomotors ASx connection bet HL ri el n T leie Line choke Radio interference suppression filter Motor data sets for easy adaptation of servocontrollers to motors Synchronous servomotors PSx The Application packages for the MC7000 tailored to your drive tasks f MOTION e Speed control with Additionally e Freely programmable various reference inputs Stepper motor mode single ax
29. NAGER e convenient parameter editor with clear text display e status display for monitoring the operation related parameter values direct control of the servocontroller is possible e convenient Digital Scope for recording step responses e g rotational speed or torque curve for the easy tuning of the controller m Storage and transmission of data sets ms operation of networked drives via a serial interface LusTBus rActive device LUST tti List of active devices on bus BE x Type MC7404 Active bus system i LUSTBUS Address Symbolic name F eeder 1 Number of stations 1 mBus status Transmission rate 9200 bits s Fea i li Ready for start The DRIVEMANAGER can also be used for editing parameters and to control the SMARTDRIVE VF1000 frequency inverter Issue September 1997 CHAPTER 4 Simple commissioning Selecting the mode reference generation over 10V Step one Select the operation mode for a servodrive The function is assigned to the inputs and outputs by special mode dependent operating masks 4 2 PC USER SOFTWARE DrivEMANAGER Using the user software DriveManacer and the application packages Basic and Motion it is possible to commission the servocontroller MAsTERCONTROL MC7000 assisted by graphic displays Select the operation mode suitable for your application e g reference generation over 10 V and the DRIvEMANAGER automatically
30. PACKAGE Basic Operation mode speed control with 10V reference generation Control connections mode related 2 8 speed reference MASTERDRIVE The operation mode speed control with 10V reference generation is characterized bv the following properties e linear and sin shaped ramps to ensure that the movements do not wear out the mechanism e generation of analog references e resolution of analog input 12 bit e possibility of torque limitation by means of second analog input X5 i 10V gt lt 2 10V J gt 3 ISAO N 4 ISA0 J 5 ISA1 gt gt 6 GND Isai J 7 24V gt lt 8 24V J 9 1S00 gt 10 IS01 Issue September 1997 Auxiliary supplies for the reference generation Analog reference input 10 10 V Torque reduction Auxiliary supply for digital inputs and outputs Input start control Input fully programmable 1 1 1 1 1 1 1 1 1 2 1 2 3 4 5 6 7 8 9 0 ENPO OS00 ER OS02 4 1 analog input 3 digital inputs 1 hardware release 2 digital outputs 1 relav output Release power stage Output readv for operation Output reference reached Mass for terminals 7 to 13 Control voltage connection oniv for version SN2 Not assigned Relav output of holding brake
31. R SERVOMOTOR DESIGN CODES Code Design Description Motor Type CHAPTER Code Rated Speed Rated speed 1500 min Please observe the technical specifications of Rated speed 2000 min the Servomotors Rated speed 3000 min Rated speed 4000 min Rated speed 6000 min Connections Power connection terminal box All from size 0x Resolver connector plug in outlet straight Encoder connector plug in outlet straight or 90 Power connection terminal box All from Size 0x Resolver connector plug in outlet 90 with resolver with encoder choose design code 0 Power connector plug in outlet straight PSx Mx PSx Nx PSx 0x Resolver connector plug in outlet straight PSx 1x and ASx 1x Encoder connector plug in outlet straight or 90 Power connector plug in outlet 90 PSx Mx PSx Nx PSx 0x Resolver connector plug in outlet 90 PSx 1x and ASx 1x Encoder connector plug in outlet straight or 90 Power connector plug in outlet 90 Resolver connector plug in outlet straight Encoder connector plug in outlet straight Notes e In all encoders G1 G3 and G5 the connector can be directed either straight or at 90 e For matching power connectors and for cable see CHAPTER 5 Accessories Options and customer Standard shaft end A side with feather key All specific versions ae Shaft end A side without feather key All With radial shaft seal IP65 All Observe maximum speed Design code 1 and 2 All Observe maxim
32. SEAL IP65 Shape Description Drawing Fixing or Mounting Arrangement Free Flange installation shaft Access from casing side end Free Flange installation at bottom shaft Access from casing side end at bottom Flange installation top Access form casing side Mounting on sub structure with additional flange Access from casing side Lubrication Maximum speed Maximum speed with oil lubrication mint with grease Lubrication min Shaft seal IP65 ASx 1x Option see ASx 2x Code CHAPTER k iSe ASx 4x PSx Mx PSx N1 N3 PSx N4 N6 PSx 0x PSx 1x PSx 2x Adequate lubrication is essential for reliability Excessive speed causes the destruction of seal lips Issue March 1997 3 19 Sek TECHNICAL SPECIFICATIONS SELF COOLING AND FORCED COOLING Cooling The motor specific power data and torque data refer to e operating temperature 5 C to 40 C e operating temperature coolant temperature 40 C related to none insulated installation and that part of the motor heat loss will be conducted through the fixing flange of the mounting location Mounting flange Location of Mounting flange mounting flange material Minimum size of 230 x 150 x 15 mounting flange 300 x 300 x 20 300 x 300 x 20 380 x 310 x 20 200 x 100 x 10 230 x 150 x 15 230 x 150 x 15 230 x 150 x 15 3
33. compliance with the EMC Directives Technical Data Controller Order Eff rated Current Power Loss Inductivity Weight Terminal Designation at 40 C A Ww mH kg mm MC7402 and MC7404 MC7408 MC7412 MC7416 MC7432 MC7464 Rated voltage 3 x 380 415 V other voltages on request Short circuit voltage U 490 Insulation class T40 B to VDE0550 0532 Dimensions AAT kr em d al l a e to Hirt m je Table of dimensions All dimensions in mm Issue Januarv 1999 5 3 CHAPTER 5 CONTROL UNIT KeyPap KP100 Control unit KEvPAD No Description Function KP100 LCD display 140 segments green red illumination Arrow button up Move back scroll within the menu structure Arrow button down Move forward scroll within the menu structure Stop Return button Stop Menu CTRL abort or leave selected menu Start Enter button Start Menu CTRL acknowledge or select menu SMARTCARD Data memorv chip card unit setting storage not included Connecting cable Max length 0 35 m Dimensions H x W x D 158 x 62 x 21 mm All device settings of the Servoconirollers can be saved on the SMARTCARD They can be easily transferred to other Servocon loo QIS trollers The SMARTCARD is also used for easv matching of the MASTERCON TROL Servocontrollers to the Se
34. ds e the maximum step frequency is only limited by the maximum motor speed e 16 to 1 048 576 steps per revolution e angle precision to below 0 1 e reference run with zero point correction e limit switch analysis e 12 digital inputs 1 hardware release 6 digital outputs 1 relay output Issue September 1997 CHAPTER 2 APPLICATION PACKAGE Motion Operation mode electronic gearing MC7000 BASIC as Master Lal MASTERDRIVE reference MASTERDRIVE In mechanical engineering electronic gears are increasingly taking over from mechanical gears and line shafts since in many cases they are more precise and cheaper allow a more flexibile design of machinery and shorten the standstill times when changing products The MC7000 has the following properties in the operation mode electronic gearing e control by signals of a square wave incremental transmitter encoder simulation of an MC6000 or MC7000 e transmission ratio adjustable online by 16 bit counter and 16 bit denominator e synchronization precision to below 0 1 e reference run with zero point correction e limit switch analysis e displacement of the synchronous position register control e 12 digital inputs 1 hardware release 6 digital outputs 1 relay output Issue September 1997 2 15 CHAPTER 2 APPLICATION PACKAGE Motion Operation mode point to point positioning Positioning and sequential program For entering t
35. e positioning e g via 10 V fixed e Electronic gearing system speeds or pulse input e Point to point positioning Torque control For the PosMod application package please contact us to obtain the MASTERDRIVE MC7000 PosMob SINGLE AXLE Positioning System data specification MASTERDRIVE Technical Specifications The following pages give you a summary of the contents of the MAsTERDRIvE Specification Booklet By referring to the Contents pages 1 4 you will be able to quickly access individual chapters and subchapters CHAPTER 1 Summary of the contents of the MAsTERDRIVE CHAPTER 2 Servocontroller MC7000 2 4 8 12 16 32 64 A Properties e extended scope of functions by using the Vecon chip set e minimum unit volume for 2 A 4 A and 8 A device Basic operation modes Page speed control with 2 7 external position control speed control with 2 8 10V reference generation speed control with 2 9 fixed speeds speed control via 2 10 pulse input e torque contro 2 11 Motion operation modes stepper motor operation 2 14 electronic gearing 2 15 point to point 2 16 positioning SMARTCARD e AH MC7000 Page 2 20 ki Ko d Blue with motor specific parameters Order details MC7000 BASIC Page 2 12 MC7000 MOTION Page 2 18 1 2 Issue January 1999 CHAPTER 4 Operation oe ga DrivEMANAGER KevPaon KP100 for application package BASIC for applicatio
36. eration modes of Basic plus the operation modes Page GAFA e stepper motor operation 2 14 209 c electronic gearing 2 15 t TN e point to point 2 16 positioning BASIC Operation modes Page speed control with 2 7 external position control e speed control with 2 8 10 V reference generation speed control with 2 9 fixed speeds s speed control via 2 10 pulse input e torque control 2 11 Tailored to With the application packages you can use the flexibility of the MC7000 to perform standard your drive requirements motion tasks very quickly using the operation modes Every application package is equipped with selected hardware and software which is tuned to specific operation modes You require the PC user software DRIvEMANAGER if you want to use the application packages for the servocontroller The functions and scope of the PC user software DRIVEMANAGER are described in chapter 4 Issue September 1997 2 5 CHAPTER 2 APPLICATION PACKAGE Basic Control connections 2 6 The application package Basic contains the operation modes speed control with external position control speed control with 10 V reference generation speed control with fixed speeds speed control via pulse input and torque control These operation modes have the following advantages e Only one encoder is required for controlling the torque and the speed and it can also be used for an external position control This means that no additional encoders and cabling
37. es CANopen with connection via two 9 pin Sub D connectors Caution Version C15 excludes use of version AH7 Brake chopper power electronics with braking resistor in the heat sink Brake chopper power electronics c d f 100 to the direct connection of an external braking resistor Brake chopper power electronics c d f 100 to the direct connection of an external braking resistor With own supply of the control unit without external 24 V supply External 24 V supply of the control unit With relay output for controlling a holding brake With additional output for controlling a holding brake 24 V max 2 A with short circuit and cable fracture monitoring Caution Not possible for MC7432 and MC7464 Without application hardware 2 With 2 additional analog outputs outpoint signal 10 V resolution 12 bit with connection system Sub D 9 pole Caution Version AH7 excludes use of version C15 There may be only one version at each assignment point Note Installation of the DRIVEMANAGER operating software chapter 4 is necessary for commissioning of the MoTION application package Issue January 1999 2 19 G ABRIER ACCESSORIES FOR THE MC7000 Accessories for Order description Brief description servo controller retrofit multifunctional control unit KeyPap for operation of the servo controller and frequencv inverter also refer to chapter 5 Accessories ZSC SMARTCARD without data content for storin
38. g and transfer of device settings on other MC7000 servocontrollers 0808 ZSC xxx xx xxxx SmARTCARD for adapting the MC7000 servocontroller to motors in the ASx and PSx ranges upto software version 1 65 0808 ZDK xxx xx xxxx Diskettes for adapting the MC7000 servocontroller to motors in the ASx and PSx ranges from software version 1 65 Fasy adapting of the servo controllers to the motors Adapation of the MC7000 servocontroller to the ASx and PSx motor ranges descri d ses bed in this specification booklet is carried out via a SMARTCARD with models up to software 1 65 or via diskette with newer versions All motor parameters and com plete controller dimensioning are stored in these formats SMARTCARD or diskette for servomotors Iqro IG o B uuu m i ANTRIEBSTECHNIK S H bj LUST Presetting the SMARTCARD The maximum installation torque is limited to the motor s rated value in order to protect the installation Order designation 0180 8 ZSC ixixixl ixixi ixixixixix SMARTCARD TA E motor specifications SMARTCARD for MC7000 Example for servomotor Q808 ZSC PSM 11 2xR83 xxx PSM 11 20R83 012 a insignificant for ordering SMARTCARD Motor type used SMARTCARD for MC7000 1 x specification insi
39. gnificant places need not be given Note The SMARTCARD is write protected for security reasons Please order a seperate SMARTCARD ZSC not containing data for storing remaining device settings The DRIVEMANAGER from version 1 0 is necessary in order to read the information on the controller diskette The content of supply already contains the disk set with motor data sets for PSM motors with R8 and G5 encoders and also for ASM motors with R2 G1 or G5 encoders 2 20 Issue January 1999 CARERS Introduction Advantages SYNCHRONOUS AND ASYNCHRONOUS SERVOMOTOR SERIES The synchronous and asynchronous Servomotors are designed to a uniform pattern for best results especially for the MASTERCONTROL MC6000 and MC 7000 Servocontroller in mind From a design point of view the Servomotors differ basically in their rotor princple e squirrel cage rotor in ASx asvnchronous Servomotors e permanent magnet rotor in PSx svnchronous Servomotors One Servocontroller for Svnchronous and Asvnchronous Motors Ee O BAS ILU ITT rte Features of the asynchronous ASx Servomotors most cost effective solution for applications in which the larger physical size is acceptable Features of the synchronous PSX Servomotors compact design with no rotor losses large speed range with constant maximum power output low moment of inertia of rotor so excellent dynamic resp
40. he positioning sets with target position speed and acceleration 2 16 MASTERDRIVE control Pos B LI reference 1 reached 1 LI LI i ER In point to point positioning mode a controller or the DriveManager generates up to 15 positioning sets which are transferred offline to the MC7000 The controller selects the current positioning set by way of four binary coded inputs In the operation mode point to point positioning the MC7000 has the following properties amaximum of 15 positioning sets can be selected for absolute or relative positioning e linear and sin shaped speed ramps to ensure that the movements do not wear out the mechanism e reference run e limit switch analysis e 12digital inputs 1 hardware release 6 digital outputs 1 relay output If you find the functions of the operation mode point to point positioning are not enough to perform a certain drive task we are prepared to create a positioning and sequential program for your particular application Please let us know if you are interested in such an offer DN Point to point positioning settings Inputs Outputs Control Motor Positioning curve Tolerances Reference Table Acceleration It is not possible to enter the point to point positioning using the KevPAp Issue January 1999 Chapter 2 APPLIC
41. indicated by adding design codes to the order designation Only one of the possible versions shown may be ordered per type of interface e g encoder interface bus interface etc MiC 7 4 x xj BASIC x x T version number application package Daa continuous current RMS see Technical Data of MC7000 mains voltage see Technical Data of MC7000 MASTERCONTROL MC7000 series Standard version encoder interface for analysis of resolvers encoder simulation e for MC7402 and MC7404 with built in mains filter for complying with the limit value curve of class A industrial area e Instruction Manual Note The KeyPad KP100 control unit should be ordered as a separate item For further information see section 5 Accessories MIC 7 4 xix BASIC SEH design codes The design codes are separated by a comma and can be written one after the other in any order MC7408 BASIC AH7 L with two additional analog outputs 10 V application package Basic 1 The version number indicates the technical version of the application package If the number is not quoted in the order we will deliver the current version Issue January 1999 CHAPTER 2 POSSIBLE VERSIONS of MC7000 Basic Type of interface location Encoder interface 1 Bus Interface Brake chopper version Supply of control unit Cont
42. ing ASx 1x to 3x PSx 1x to 2x Flange foot with self cooling ASx 1x to 4x PSx 1x to 2x Flange foot with forced cooling ASx 1x to 4x PSx 1x to 2x Size Length Installation 55 4 units long PSM Mx Installation 72 3 units long PSM Nx Installation 92 4 units long PSM Ox Installation 110 5 units long ASx 1x PSx 1x Installation 140 5 units long ASx 2x PSx 2x Installation 190 4 units long ASx 3x Installation 260 3 units long ASx 4x Voltage Version op 2 Rated voltage of motors 330V All Holding Brake Without holding brake All With permanently excited holding brake All Observe max speed Encoder System Without encoder system All Resolver 2 pole All Resolver 4 pole preferred type for ASx All ASx Resolver 6 pole preferred type for PSx All PSx Incremental encoder with sin cos outputs All ASx Incremental encoder with sin cos outputs All ASx and PSx from as multi turn encodersixe 0x Incremental encoder with sin cos outputs All ASx and PSx from as single turn encoder 1 size Ox Resolver 2 pole with mounting flange 2 All ASM ASH PSM PSH Resolver 4 pole with mounting flange 2 All ASM ASH Resolver 6 pole with mounting flange 2 All PSM PSH 1 The new encoder type G5 replaces type G2 It is electrically and mechanically compatible however another SMARTCARD is necessary 2 For mounting a second encoder eg Heidenhain ROD426 or Stegmann DG60 The coupling is not included Issue March 1997 3 3 CHAPTE
43. ion 30 70 10 70 35 80 flexible use not permissible 10 70 10 80 Cable diameter approx 9 9 9 4 8 0 Outer sheath material PVC PUR PUR Resistance flame retardant flame retardant resistant to oil moisture resistant to and microbes moisture and VDE0472 Issue March 1997 5 9 CHAPTER 5 READY MADE MOTOR CABLES Order type designation Example Technical data 5 10 We recommend the ready made screened motor cables for compliance to the EMC directives Length xx BEIS Length in meters Standard 005 010 015 020 025 amp 030 m Maximum length 50 m longer cables to order Cable model NO Normal KS Festoonable Type 1 and 2 For connection of PTC and holding brake 4 x 1 5 mm 2 x 2 x 0 25 mm with complete screening and crimped contacts Motor Cable Cable length 5 m KIMI1 XIXI KM1 NO 005 L Normal Festoonable Motor cable Tvpe 1 Motor tvpes Motors up to 16 A rated current with mains connector Minimum bending radius fixed installation flexible use 30 60 100 120 Temperaturbereich fixed installation flexible use 80 50 90 50 90 50 90 50 90 Cable diameter approx 12 5 10 12 5 Outer sheath material PVC PUR PUR Resistance flame retardant flame retardant flame retardant resistant to VDE0472 moisture
44. l terms means that the brake works when no voltage is applied The holding brake is switched on and off normally only when the motor is stationary If the holding brake is to be used as an Emergency Stop brake the permitted service life must be observed Un Nmax V min D a Ws ae 24 10 24 10 24 10 24 10 24 10 24 10 24 10 24 10 24 10 Abbreviations My adhesion m mass weight IN exciter current W permissible service life switching cycles Nmax maximum speed unbraked Un DC voltage for fan Jg moment of inertia of the holding brake p Asa consequence of the inductivity of the holding brakes there is a voltage peak spike which occurs when the exciter current is swtiched off this peak can be over 1000 V To avoid this peak voltage a protection suppressor circuit with a varistor should be used recommended type Q69 X3022 Suggested circuit for brake protection Output for driving a 24V holding brake e short circuit proof e monitoring open circuits c 8 mA monitoring overcurrents gt 2 A e internal protection diode no varistor needed Issue March 1997 CHAPTER 4 General The device list shows all the devices connected at the bus PC USER SOFTWARE DrivEMANAGER has the following features The user software DRIVEMANAGER is used to simplify the commissioning control and operation of the servocontroller MAsTERCONTROL MC6000 MC7000 The DRIVEMA
45. n packages BASIC MOTION mode guided parameter editor PC surface CP100 operator terminal For Basic Motion application packages Display and input of custom variables Order details DRIVEMANAGER Page 4 3 KevPAp Page 5 4 OPERATOR TERMINAL Page 5 5 CHAPTER 3 Servomotors synchronous motor size built in window PSM Page 3 10 M 0 32 0 9 Nm M 0 55 2 0 Nm M 0 8 4 1 Nm M 3 2 8 6 Nm M 7 25 Nm 143NMm 4 Asynchronous motor ASM Page 3 9 Preferred types ASM and PSM See page 3 6 Order details Servomotors ASx and PSx Page 3 2 Issue January 1999 CHAPTER 5 Encoder cable Motor cable d KRX NOxxx KRX KSxxx for motors with plug in power terminals Di o 2 o on o D o 2 Q G O KG1 KSxxx KG2 3 KSxxx cable for optical encoder Motors with terminal boxes can be connected with a standard screened motor cable l San Mains E 3 filter ee Page 5 2 Line chokes j Page 5 3 Order details Mains filter Page 5 2 Line chokes Page 5 3 Accessories for PROFIBUS DP Page 5 6 Pre assembled cables Page 5 9 User information Page 5 12 1 3 CONTENTS CHAPTER 1 Summary of the contents of MasterDrive Overview of the chapters in the Specification booklet Contents
46. ning area The maximum peak torque output in the field weakening area depends on the voltage reserve Typical torque characteristics are proportional to the function 1 f or 1 n 3 8 Issue March 1997 CHAPTER A TECHNICAL SPECIFICATIONS OF ASx xx ASYNCHRONOUS SERVOMOTORS Self cooling ji ee ASM H 11 2xxx3 ASM H 12 2xxx3 ASM H 13 2xxx3 ASM H 14 2xxx3 ASM H 15 2xxx3 ASM H 21 2xxx3 ASM H 22 2xxx3 ASM H 23 2xxx3 ASM H 24 2xxx2 ASM H 25 2xxx2 ASM H 31 2xxx1 ASM H 32 2xxx1 ASM H 33 2xxx1 ASM H 34 2xxx1 ASH 41 2xxx1 ASH 42 2xxx1 ASH 43 2xxx1 ASF V 11 2xxx3 V ASF V 12 2xxx3 ASF V 13 2xxx3 ASF V 14 2xxx3 ASF V 15 2xxx3 ASF V 21 2xxx3 ASF V 22 2xxx3 ASF V 23 2xxx3 ASF V 24 2xxx2 ASF V 25 2xxx2 ASF V 31 2xxx1 ASF V 32 2xxx1 ASF V 33 2xxx1 ASF V 34 2xxx1 ASV 41 2xxx1 ASV 42 2xxx1 ASV 43 2xxx1 In the sizes highlighted in gray there are preferred types see page 3 7 Abbreviations My Static torque JL Rotor moment of inertia without holding brake My Rated torque m Mass weight excluding holding brake Pu Rated power lo Static current IN Rated current ny Rated speed Nmax Maximum speed Issue March 1997 3 9 CRARIERRS TECHNICAL SPECIFICATIONS OF PSx xx SYNCHRONOUS SERVOMOTORS Self Cooling na Kg PSM M1 2xxx2 PSM M1 2xxx6 PSM M2 2xxx6 PSM M3 2xxx2 PSM M3 2xxx6 PSM M4 2xxx2 PSM M4 2xxx6 PSM N4 2xxx4 PSM N4 2xxx6
47. onous or synchronous Protection against short circuit yes but not at terminals for braking resistor and earth fault Input mains side Mains voltage 3 x 400 460 10 Asymmetry of the mains voltage lt 3 Frequency Power factor of the fundamental mode Efficiency 1 9 Power loss 4 Brake chopper Peak braking power with internal braking resistor max duration Cyclical braking operation Minimum ohmic resistance of external braking resistors design code BR3 Peak braking power at external resistance Rmin Encoder simulation Pulses per revolution at encoder versions G1 G3 G5 sin cos encoder Standard pulses per revolution 1024 128 256 512 1024 2048 4096 for encoder versions resolver R1 R2 2048 256 512 1024 2048 4096 8192 R8 value range 3072 384 768 1536 3072 6144 12288 Zero pulses per revolution for 1 encoder versions G1 G3 G5 sin cos encoder Zero pulses for encoder versions R1 R2 R8 resolver 1 For factory setting 8 kHz switching frequency of the power stage 4 kHz for MC7432 and MC7464 All other data applies irrespective of the switching frequency of the power stage 2 At a switching frequency of 16 kHz 8 kHz for MC7432 and MC7464 3 Servocontroller MC7432 and MC7464 factory setting 4 kHz 4 For rated voltage and rated current 5 Operation on an IT network is not permitted 6 Pulse current MC7
48. onse maintenance friendly Issue March 1997 low maintenance brushless 3 1 CHAPTER 3 Introduction Order type designation Example Design code for options and customer specific version ORDERING ASx AND PSx SERVOMOTORS The specific Servomotor model is indicated by the order designation Each design code has a particular meaning refer to Servomotor design codes Design codes are also used for non listed Servomotors Only one design option can be ordered per code CHAPTER eg voltage encoder system etc AIS A B C DE F G H JAG W NY OAN ai ow KON AN ES ei Eat CN e Be e BEN E el we d af ff ef KOR S OC vgl zf ez N l oe The order designation must oo always be complete and in this go sequence ASM 23 20R23 3 T_____ Resolver connector 90 turned Rated speed 3000 min Resolver R2 4 pole Without holding brake Voltage 330V Size 2 length 3 Flange mounting self cooling Asynchronous Servomotor Il K L Code CHAPTERs K and L are oniv used where there is a deviation from the standard version See table Servomotor design codes Issue March 1997 CHAPTER SERVOMOTOR DESIGN CODES Code Design Description Motor Type CHAPTER Code B Type Cooling Flange with self cooling ASx 1x to 3x PSx Mx to 2x Flange with forced cool
49. pplied as an accessory see Chapter 5 Cable clamps for cable stress reduction and for correct EMC screening SMARTCARD for adapting the controller to the motors and storage medium for all controller parameters Connection for serial interface RS485 Conformity with the Machinery Directive 89 392 EEC all MC7000 devices MC7402 MC7464 UL recognized FILE E146022 Mark of conformity pending Conformity with the basic specifications EN50081 1 interference emmission residential area all MC7000 devices using appropriate mains when using a corresponding mains filter MC7402 and MC7404 with integral mains EN50082 2 interference immunity industrial area filter 1 Alternatively analog inputs can also be used as digital inputs 2 Further information in chapter 5 Accessories Issue Januarv 1999 2 1 CHAPTER 2 SERVOCONTROLLER SERIES MASTERCONTROL MC 7000 Assembly and layout plan MC7412 MC7464 Ba Ee KR RB RB JL1jL2jL3f1 See X1 JBBB P G DHA CG SING REES EEN djujVJWjJej JLiJL2JL3j4d o MC7464 WA bel MC7432 va
50. programmable CHAPTER 2 APPLICATION PACKAGE Basic Operation mode speed conirol with fixed speeds Control connections mode related MASTERDRIVE In the operation mode speed control with fixed speeds up to four fixed speeds can be filed in the MC7000 which are then selected in running operation by means of two binary coded inputs X5 Hi 10V gt Auxiliary supplies for the lt 2 10V J reference generation 3 ISAO N kabel Input nO Bi 4 ISA0 J S gt Change of e 6 GND ISA j rotation A ee Auxiliary supply for digital 8 424V J inputs and outputs gt 9 E Input start control 10 Ee Input n1 SO switch for rotational speed 0 e g stop S1 switch for rotational speed 1 e g high speed S2 switch for rotational speed 2 e g crawl speed Issue September 1997 1 1 1 1 1 1 1 1 1 2 1 2 3 4 5 6 d 8 9 0 ENPO OS00 OS01 DGND 24V EXT GND EXT OS03 OS02 3 OS02 4 GND EXT Release power stage Output readv for operation Output reference reached Digital ground Control voltage connection oniv for version SN2 Not assigned Relav output of holding brake programmable 2 9 CHAPTER 2 Operation mode speed conirol via pulse input Control connections mode related Encoder connection 2 10 APPLICATION PACKAGE Basic a EE NC MASTERDRIVE 4 i
51. rol of holding brake Application hardware 2 Version code Standard D2 Standard C11 Standard or MC7402 o MC7416 Standard for MC7432 o MC7464 BR3 or MC7402 o MC7416 Standard SN2 Standard HB1 Standard AH7 Brief description Encoder interface for analysis of resolvers Encoder interface for analyzing the latest model of optical encoders with incremental sin cos outputs and additional absolute position information as a single turn or multi turn variant Without bus interface CAN bus interface CAN with connection system Sub D 25 pole for 2 x 9 pole connections use terminal module EKL300 see chapter 5 Accessories The CAN bus interface is also to be used as a connection for the PROFIBUS DP via the PROFIBUS DP gateway CP DP1 see section 5 Accessories CANopen with connection via two 9 pin Sub D connectors Caution Version C15 excludes use of version AH7 Brake chopper power electronics with braking resistor in the heat sink Brake chopper power electronics c d f 100 to the direct connection of an external braking resistor Brake chopper power electronics c d f 100 to the direct connection of an external braking resistor With own supply of the control unit without external 24 V supply External 24 V supply of the control unit With relay output for controlling a holding brake With additional output for controlling a holding brake 24 V max 2 A
52. rvomotor series ASx and PSx featured in this Databook Choosing the motor specific SMARTCARD see section 2 SMARTCARD Data memorv chip card ANTRIEBSTECHNIK LUST Order designation Order Brief description designation KP100 KeyPap multifunction control unit to operate the servocontrollers and frequency inverters ZSC SmartCarb without data to save and transfer device settings to other servocontrollers 5 4 Issue January 1999 CHAPTER 5 OPERATOR TERMINAL CP 100 Operator control and monitoring with operator terminal mm LUST Properti operties Properties Explanation LCD display 2 x 16 characters Suitable for MC7000 Basic and Motion all modes Supply 18 V 30 V 150 mA external Interface RS485 simultaneous operation of DriveManacer and CP100 not possible Dimensions Hx WxD 72 x 144 x 70 mm The operator terminal is used to input parameters or custom variables as well as for status display The functions include e Servocontroller parameters e Transmission ratio electronic gearing mode e Speed speed and acceleration point to point positioning mode IOn the operator terminal up to 15 parameters can be displayed and edited The parameters are selected by way of an input screen within the DRIVEMANAGER user software Order designation Order Brief description designation CP100 Operator terminal to input parameters or custom variables Available from March 1999
53. ssir Gey ee ee ees ni n2 In the operation mode speed control via pulse input the MC7000 preciselv follows the rotational speed of a master axis Since no position controller is active vou must note that although the rotational speeds can be svnchronized bv the master and slave axis but not the angular positions The operation mode is characterized bv the following properties e driven at RS422 level 5 V by signals of a square wave incremental transmitter encoder simulation of an MC6000 or MC7000 or pulse direction signals virtual master axis e precise speed synchronism e speed ratio adjustable online by 16 bit counter and 16 bit denominator e 4digital inputs 1 hardware release 2 digital outputs 1 relay output X5 AI STE l Auxiliary supplies for the w Release power stage 421 ov reference generation 12 Output ready for operation 3 ISAO Connect to DGND 13 Output reference reached W 4 isao fully programmable 14 Digital ground 5 I Taqla bid Control voltage connection reduction ki i ki 6 GND ISAT 16 only for version SN2 III 24v Auxiliary supply for digital 17 il 4 8 24 V inputs and outputs 18 Not assigned gt 9 1500 Input start control 19 1 Relay output of holding brake B 710 WSA Fully programmable 20 J programmable max 20 m gt pulse track A B E S m Pl se track B N d A d EE asian o Issue September 1997 CHAPIERTZ APPLICATION PACKAGE
54. tatic current IN Rated current ny Rated speed Nmax Maximum speed Warning In the case of small motor sizes such as PSx motors sizes M N and 0 or motors of other manufacturers with MC6000 Servocontrollers thermal monitoring by the motor PTC is inadequate for dynamic operation with overload In such cases the overall design should be checked with LUST to avoid the motor being destroyed However the MC7000 Servocontrollers are designed for operating small motors The I x t protection switches off if the motor is overloaded Issue November 1995 3 11 CHAPTER 3 DIMENSIONS OF SERVOMOTORS Connection with connector straight Connection with connector at 90 Flange with self cooling ASM xx PSM xx Screw depth t22 Thread d23 d22 Flange foot with self cooling ASH xx PSH xx Screw depth t22 Thread d23 C d22 ASF xx PSF xx Flange with forced cooling Ba Ka c Screw depth t22 Thread d23 d22 Thread X Flange foot with forced cooling ASV xx PSV xx Screw depth t22 Thread d23 C d22 x B ES Exception For the motor types PSM Nx is the clearance of dimension die DIN ISO standard
55. th external position control Control connections mode related encoder simulation rotational speed reference MASTERDRIVE In the operation mode speed control with external position control the MC7000 can be directly operated using an NC which carries out the position control This operation mode is characterized by the following properties vettyyyy tf encoder simulation number of lines on the resolvers parameterizable resolution of analog input 12 bit possibility of torque limitation by means of second analog input 1 analog input 3 digital inputs 1 hardware release 2 digital outputs 1 relay output X5 1 10V 2 10V 3 ISAO 4 ISA0 5 ISA1 6 GND_ISA1 7 24V 8 24V 9 IS00 10 IS01 Auxiliary supplies for the J reference generation Analog reference input 10 10 V Torque reduction Auxiliary supply for digital inputs and outputs Input start control Input fully programmable Issue September 1997 1 1 1 1 1 1 1 1 1 2 1 2 3 4 5 6 i 8 9 0 ENPO OS00 ER OS02 4 Release power stage Output readv for operation Output reference reached Ground for terminals 7 to 13 Control voltage connection oniv for version SN2 Not assigned Relav output of holding brake programmable 2 7 CHAPTER 2 APPLICATION
56. tor connector 5 1 CHAPTER 3 MAINS FILTERS The RFI filters for limit curve A are only for industrial filters for limit curve B of the EMC Directives are also suited for domestic purpose The listed filters are suited for 10 m motor cable length Please ask us for filters for longer cables Technical Specifications Controller Orderdes Cable Limit Rated Leakage connections type length curve current current mm MC7402 NFD10 3 class B MC7404 NFD10 3 class B MC7408 NFD10 3 class A MC7408 NFD10 4 class B MC7412 NFD25 1 class A B MG7416 NFD25 1 class A class B MC7432 NFD50 1 class A class B MC7464 NFD80 0 class A class B reached through a further use of a mains choke type DNDxx Nominal voltage 3 x 480 V AC 10 The data applies to the switching frequency of 8 kHz Dimensions NFD10 3 NFD10 4 NFD16 2 NFD25 1 NFD50 1 NFD80 0 a a f gt Le gt Table of dimensions Gieres a o e a e of s 95 230 45 36 M5 NFD10 3 240 NFD16 2 255 M5 NFD25 1 255 M5 NFD35 0 255 M5 NFDSO 1 290 M5 NFD80 0 325 M8 All dimensions in mm 5 2 Issue January 1999 bebes LINE CHOKES Line chokes for reducing power supply disturbances such as harmonics and commutation notches Note Line chokes are not required for
57. ule as a separate position KSS252 Cable to link Servocontroller and EKL300 terminal module Cable length 1 8m SC KSG185 Connector with metallized housing For wiring the CAN Bus line MC7000 C11 at the 25 pin Sub D connector of the MC7000 With protection against bending and with cable stress reduction The cable connector can also be used to wire the PROFIBUS DP Manufacturer ERNI KSG185 series 25 pin male 5 8 Issue January 1999 CHAPTER 5 READY MADE ENCODER CABLES We recommend for compliance to the EMC directives Mains filter screened control and motor cable original encoder cable and effective grounding for high frequencies Order type designation K xa oe gee Length in meters Standard 005 010 015 020 025 amp 030 m Maximum length 50 m longer cables to order Cable model NO Normal KS Festoonable For motors with RX Resolver R1 R2 R8 K1 K2 K8 encoder system GI Encoder G1 G2 3 Encoder G3 and G5 Ready made encoder cable Example KRX NO 005 l ES Cable length 5 m Normal Ready made resolver cable Servocontroller type MC6000 D2 not for al code D2 MC 2000 D2 Motors with encoder system R1 R2 R8 K1 K2 K8 G1 G3 G5 Festoonable no yes yes Minimum bending radius fixed installation 60 60 40 flexible use not permissible 120 100 Temperature range fixed installat
58. um speed Options and customer Standard model All specific versions Vibration to ISO 2373 R All ASx Vibration to ISO 2373 S All PSx Radial and axial run out to DIN 42955 R All Design code 1 and 3 All ASx Design code 2 and 3 All PSx 3 4 Issue January 1999 CHAPTER A BASIC VERSION OF SERVOMOTORS ASx Asynchronous PSx Synchronous Servomotors Servomotors General Technical Motor type Asynchronous motor Permanently excited synchronous motor Specifications Magnet l Neodvmium iron boron Type DIN 42948 IM B35 IM B5 V1 V3 Protection DIN 40050 IP65 Shaft Seal IP64 Option IP65 Insulation Class Insulation Class F to VDE0530 Windings over temperature At 105 coolant temperature t 40 C Cooling Self cooling IC 0041 IP65 Forced cooling IC 0641 IP44 54 Finish RAL 9005 black Shaft end on the A D side Cylindrical shaft end DIN 748 feather key and feather key groove DIN 6885 clearance k6 Flange dimension DIN 42948 and IEC 72 Eccentricity concentricity Tolerance N normal and radial run out DIN 42955 R reduced to order Vibration level ISO 2373 Step N R available as option Step R S available as option Thermal monitoring of motor PTC Thermistor in Stator Windings Torque loading In order to eliminate the risk of themal overload of motors the effective torque load must not be greater than the rated torque of the Servomotor 2 M x t t ges Mert
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