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operating instructions ec motor controller (ecmr) ba

1. 22 1 0 1 1 0 Start motion task An ascending flank starts the motion task which is stored in the ECMR and which is preselected with the inputs Motion task bit 0 4 A start signal without a motion task preselection triggers the reference run Caution The motion task does not stop when the start signal is removed The motion task can be stopped with an ascending flank on the Stop Motion Task input Stop motion task An ascending flank stops the current motion task The drive is brought to a standstill with the configured brake ramp of the current motion task 24 Enable Clear Error Reset Release brake Start next motion task Jog left right MONAECH Operating Instructions EC Motor Controller ECMR The enable input is for enabling the ECMR A signal on this input enables the final stage If no signal is present the final stage is disabled Removing the enable signal during a motion task triggers the emergency brake ramp An ascending flank on this input triggers errors in the minor error category Section 5 10 2 3 A signal on this input triggers a software reset of the ECMR Current values in the working memory e g reference point and errors are deleted and the data stored in the EEPROM is loaded into working memory The ECMR is in the normal state after a reset Errors in the serious error category must be acknowledged with a reset Section 5 10 2 3 A reset can be performe
2. 5 10 2 1 5 10 2 2 5 10 2 3 5 10 3 5 10 4 5 11 5 12 6 6 1 6 2 6 3 6 4 6 5 6 5 1 6 5 2 6 5 3 6 5 4 6 5 5 6 5 6 6 6 6 6 1 6 6 2 6 6 8 6 9 6 9 1 6 9 2 6 9 2 1 6 9 3 6 10 6 11 Motion tasks I O configuration Errors Parameters Status line Teach In Threshold values Torque control Overview Technical data On and Off switching behavior Emergency off function Wiring Voltage supply Components Digital inputs Digital outputs Communication Conductor cross section Digital inputs outputs Functions of the digital inputs Functions of the digital outputs Status display Potentiometers ECMR commissioning software Communication Configuration I O configuration Parameters Status line Threshold values Accessories Parts lists for ECMR General information Environmental compatibility and disposal 30 37 41 44 46 47 48 50 50 51 52 52 53 54 54 99 55 56 56 56 57 57 58 58 59 60 60 62 62 63 63 64 65 67 67 MONAECH Operating Instructions EC Motor Controller ECMR 1 Important information 1 1 Introduction These Operating Instructions cover among other things the functional scope technical data load limits installation and spare parts of the EC Motor Controller These Operating Instructions are part of the overall documentation of the electrical components The overall documentation consists of the following documents Operating Instructions Device
3. 45 MON ECH Operating Instructions EC Motor Controller ECMR Following error This parameter defines the maximum permitted deviation between the target and actual position values If this deviation is exceeded the ECMR generates an error message and brakes the drive with the emergency brake ramp The motor is de energized Vr mn task mee task motion task 3 velocity Wa Following error InPos window Following error BNW PA 5 reached InPos signal high v reached 5 10 4 Status line Disable No reference Current 120m Actual position 0 pm No error Operated for 13 hours The status line is updated every 2 seconds Status Indicates whether the final stage of the ECMR is enabled or not Possible displays are enable or disable Reference Indicates whether the reference point is set or not Current Indicates the current that is presently flowing through the motor Position Shows the actual position of the connected device Actual error Indicates the current error If there are no errors no error is displayed Run time Indicates the current status of the operation hours counter 46 MON ECH Operating Instructions EC Motor Controller ECMR 5 11 Teach In The Teach In function copies the current actual position for a parameter This function is available for the programmable outputs for the Position 1 and
4. Close This button closes the Errors window Serious errors Cod Error e 1 No encoder 5 Peak current 6 Nominal current 7 t Explanation No encoder connected Peak current exceeded Nominal current exceeded I t limite exceeded 41 MON ECH Operating Instructions EC Motor Controller ECMR Minor errors Code Error Invalid motion task No reference point Reference not found SW limit switch 1 SW limit switch 2 0 Following error O O Aa W N Causes and remedies Explanation An invalid motion task was started When a motion task was started no reference had been set The reference point cannot be found Software limit switch 1 exceeded Software limit switch 2 exceeded The configured following error window exceeded Error 1 No encoder 2 Invalid motion task 3 No reference point 4 Reference not found 42 Possible cause Results Disablement Error message Encoder not connected Encoder incorrectly connected Encoder defective Encoder cable defective Acc dec or v of a Error message started motion task is 0 A relative motion task was started that would exceed the SW limit switch The reference run was Error message not performed prior to starting the first motion task Reference point was lost due to power failure Reference run was not correctly completed Disablement Error message Reference proximity switch is no
5. Speed bit 1 the settings are selectable via bit code If no speed is selected bit combination 0 0 via the digital inputs the setting of the speed potentiometer is in effect 62 6 10 Status line MONAECH Operating Instructions EC Motor Controller ECMR Disable Current 120m The status line is updated every 2 seconds Operated For 13 hours Status Indicates whether the final stage of the ECMR is enabled or not Possible displays are enable or disable Current Indicates the current that is presently flowing through the motor Run time Indicates the current status of the operation hours counter 6 11 Threshold values Current 1 2 3 Device GPE GWE Speed 1 2 3 Device GPE GWE Min value 2 2 Min value 10 10 Max value 100 100 Max value 100 100 63 D MONAECH Operating Instructions EC Motor Controller ECMR 7 Accessories Connecting cable Serial cable PC controller 3m 64 Ref No 506157 ECH Operating Instructions EC Motor Controller ECMR MON 8 Parts lists for ECMR Exploded view 65 MON ECH Operating Instructions EC Motor Controller ECMR Pos 10 20 30 40 50 60 70 80 90 100 110 120 130 140 900 Sym G ee Fe es ee Oe Oe eee Re OE ee CE CU Designation ECMR Base plate Controller circuit board House cover Hex M3x4 spacer Cylinder screw l kt M3x4 Cylinder screw l6kt
6. Voltage supply for 24 V devices The following devices require 24 V power DAE electric rotary drive KUSE compact universal electric wagon Likewise KUSEs may be operated only with 24 V power supply This however reduces maximum speed Section 3 1 Terminal Designation X1 1 24 V Bridge on X1 2 H X1 2 Motor windings Bridge on X1 1 X1 3 48 V n C X1 4 48 V n C X1 5 GND n C Terminal Designation X2 4 24 V 24 V power supply X2 5 GND GND power supply n c Not connected Voltage supply for 48 V devices If the full speed range is to be utilized the following devices require a 48 V power supply in addition to the 24 V power supply Section 3 1 KUSE compact universal electric wagon Terminal Designation X1 1 24 V n c X1 2 Motor windings Bridge on X1 3 H X1 3 48 V Bridge on X1 2 X1 4 48 V 48 V power supply X1 5 GND GND power supply Terminal Designation X2 4 24 V 24 V power supply X2 5 GND GND power supply 20 5 7 2 Components DAE KUSE Motor Controller Terminal X2 1 X2 2 X2 3 Pos 70 see Section 5 7 Controller Terminal X3 1 X3 2 X3 3 X3 4 X3 5 Encoder Controller Terminal X4 1 X4 2 X4 3 X4 4 X4 5 X4 6 X4 7 X4 8 n c Not connected Designation Motor winding 1 Motor winding 2 Motor winding 3 Cable screening Designation U hall sensors GND hall sensors Hall sensor 1 Hall sensor 2 Hall sensor 3 Designation Vcc GND encoder A
7. 3 V j without 4 5S i 5 ABS 0 0 0 0 without Description of the buttons and fields Export motion tasks This button is used to export the motion task table The entire motion task table including the next motion task settings can be exported to a Montech motion task file mmt The storage location and name of the file can be freely selected The current device designation is added to the file name Speichern unter Speichern in KUSE v amp 4 E kuse 10 160 mmt Zuletzt verwendete D Arbeitsplatz Netzwerkumgeb ung Dateiname kuse 1 0 160 mmt bi Dateityp motion task file mrmt v Abbrechen 31 MON ECH Operating Instructions EC Motor Controller ECMR Import motion tasks Actual position Teach In Motion task Start Stop 32 With this button you can import exported motion task tables in mmt format Selecting the exported file and clicking the Open button imports the motion task table To be able to load the Montech motion task file the name of the file must match the currently configured device type drop down menu of the ECMR Name of the mmt files Currently configured device type KUSE 8 60 gt KUSE 8 60 horizontal v Offnen Suchen in KUSE v e f ex EJ kuse 8 60 mmt OQ E kuse 10 160 mmt Zuletzt verwendete D Desktop Arbeitsplatz Netzwerkumgeb ung Dateiname kuse 8
8. mm s 24 VDC 3A DAE 60 500 s 3000 s 48 VDC 4A 24 VDC 1A AW vertical 500 s 3000 s 24 VDC 4A DAE 60 300 s 2500 s 48 VDC 4A 24 VDC 1A AW horizontal 300 s 2500 s 24 VDC 4A l GPE 24 VDC 1 5A GWE 24 VDC 1 5A 1 Standard values for operation with 24 VDC AW DAE 60 Abtriebs Welle drive shaft 3 2 Procedure Which device will be operated with the ECMR Configuration Wiring Commissioning Operation KUSE 8 60 KUSE 8 120 KUSE 10 80 KUSE 10 160 DAE 60 Position control Voltage supply Motor Encoder Optional restraining brake Digital I Os Connect ECMR to PC Launch software Read out configuration Select required device Set and write parameters Save motion task Enable Reference run Start motion task If errors occur remedy errors Exit software Actuate ECMR via digital I Os 5 7 1 572 572 5 7 2 5 7 3 5 7 4 57 5 5 10 5 10 1 5 10 2 510 3 5 10 2 1 5 10 2 39 5 10 2 5 6 5 8 1 5 10 2 3 5 10 5 8 MONA4ECH Operating Instructions EC Motor Controller ECMR GPE GWE Torque control Voltage supply Motor Digital I Os Connect ECMR to PC Launch software Read out configuration Select required device Set and write parameters Set torque Current and speed via potentiometers If necessary select torque Current and speed via digital I Os Enable Actuate direction via digital I O Exit
9. 1 Programmable output 1 X8 2 Programmable output 2 X8 3 Programmable output 3 X8 4 Programmable output 4 X8 5 n c n c Not connected 5 7 5 Communication D Sub connector Designation X9 RS 232 5 7 6 Conductor cross section The following core cross sections are permitted for the digital inputs and outputs Min cross section mm Max cross section mm Rigid 0 14 1 5 Flexible 0 14 1 5 Flexible with crimp connector without 0 25 1 5 plastic sleeve Flexible with crimp connector with 0 25 0 5 plastic sleeve 23 MON ECH Operating Instructions EC Motor Controller ECMR 5 8 Digital inputs outputs The digital inputs and outputs are operated by default in active high mode The logic of the digital inputs and outputs can be changed to active low using the software Section 5 10 2 2 This means Active high Logic 1 high or TRUE Logic 0 low or FALSE Digital inputs 22 8 28 8 VDC 0 5 7 VDC Digital outputs gt Supply voltage 0 2V 24 0 2 23 8 VDC Active Low Logic 1 high or TRUE Logic 0 low or FALSE Digital inputs 0 5 7 VDC 22 8 28 8 VDC Digital outputs gt Supply voltage 0 2V 24 0 2 23 8 VDC 5 8 1 Functions of the digital inputs Motion task bit 0 4 These inputs are for the bit coded preselection of a motion task Up to 31 motion tasks can be preselected with the 5 bits Motion task 0 is the reference run Example Bit 4 Bit 3 Bit 2 Bit 1 Bit O gt
10. 1000 um 1000 um 1000 um 1000 um 5000 1k Min value 10 mm s 10 mm s 10 mm s 10 mm s 5 s Min value 10 mm s 10 mm s 10 mm s 10 mm s 5 s Min value 400 mm s 400 mm s 400 mm s 400 mm s 500 s Min value 1000 um 1000 um 1000 um 1000 um 5000 1k Max value 59000 119000 79000 159000 3595000 Max value 61000 121000 81000 161000 3605000 Max value 40 40 40 40 50 Max value 20 20 20 20 20 Max value 2000 2000 2000 2000 1000 Max value 1000 1000 1000 1000 5000 um um um um 1k um um um um 1k mm s mm s mm s mm s s mm s mm s mm s mm s s mm s mm s mm s mm s s um um um um 1k MONAECH Operating Instructions EC Motor Controller ECMR InPos window Device Min value Max value KUSE 8 60 20 um 2500 um KUSE 8 120 20 um 2500 um KUSE 10 80 20 um 3000 um KUSE 10 160 20 um 3000 um DAE 60 20 1k 9000 1k Following error Device Min value Max value KUSE 8 60 20 um 2500 um KUSE 8 120 20 um 2500 um KUSE 10 80 20 um 3000 um KUSE 10 160 20 um 3000 um DAE 60 20 1k 9000 1k s Device Min value Max value KUSE 8 60 0 um 60000 um KUSE 8 120 0 um 120000 um KUSE 10 80 0 um 80000 um KUSE 10 160 0 um 160000 um DAE 60 0 1k 3600000 1k V Device Min value Max value KUSE 8 60 hor 0 mm s 400 mm s KUSE 8 60 vert 0 mm s 400 mm s KUSE 8 120 hor 0 mm s 400 mm s KUSE 8 120 vert 0 mm s 400 mm s
11. BA 100078 ECMR BA 100058 KUSE BA 100074 DAE BA 100069 GPE BA 100070 GWE This document must be read before commissioning Incorrect handling of the EC Motor Controller ECMR may lead to injury to persons material damage and loss of the right to warranty claims All technical data and specifications concerning connection conditions must be strictly observed Basic knowledge of the Windows operating system and operation of a personal computer are required Information about safety installation and commissioning must be strictly observed 1 2 EU declaration of conformity pursuant to MRL Appendix II A Directives and standards taken into account Machinery Directives 89 392 EEC 91 368 EEC Manufacturer Montech AG Gewerbestrasse 12 CH 4552 Derendingen Switzerland Tel 41 32 681 55 00 Fax 41 32 682 19 77 MON ECH Operating Instructions EC Motor Controller ECMR 1 3 Product description 1 3 1 ECMR controller The ECMR can be used for torque control or position control It depends on the connected device whether the ECMR works as a torque or position controller KUSE gt Position control DAE GPE gt Torque control GWE Position control The motion tasks stored in the EEPROM of the ECMR can be selected and started via the digital inputs A digital output reports the arrival at the target position All key functions of the position controller can be initiated by the control system of any manufacturer Torq
12. Instructions EC Motor Controller ECMR 35 MON ECH Operating Instructions EC Motor Controller ECMR 6 5 5 Communication D Sub connector Designation X9 RS 232 6 5 6 Conductor cross section The following core cross sections are permitted for the digital inputs and outputs Min cross section mm Max cross section mm Rigid 0 14 1 5 Flexible 0 14 1 5 Flexible with crimp connector without 0 25 1 5 plastic sleeve Flexible with crimp connector with 0 25 0 5 plastic sleeve 6 6 Digital inputs outputs The digital inputs and outputs are operated by default in active high mode The logic of the digital inputs and outputs can be changed to active low using the commissioning software This means Active high Logical 1 high or TRUE Logical O low or FALSE Digital inputs 22 8 28 8 VDC 0 5 7 VDC Digital outputs gt Voltage supply 0 2V 24 0 2 23 8 VDC Active Low Logical 1 high or TRUE Logical O low or FALSE Digital inputs 0 5 7 VDC 22 8 28 8 VDC Digital outputs gt Voltage supply 0 2V 24 0 2 23 8 VDC 56 MON ECH Operating Instructions EC Motor Controller ECMR 6 6 1 Functions of the digital inputs Current bit 0 1 Speed bit 0 1 Direction Enable These inputs are for selecting the saved currents for generating the motor torque Three different bit coded torques can be selected with the two inputs If there is no signal on either input
13. M3x6 Thread grooved cylinder screw M3x6 Encoder profile 5 pin connector 7 pin connector 8 pin connector Montech logo Label sticker front Label sticker top CE type plate e These are wearing parts and available ex stock Not available ex stock individually upon request o Price list articles deliverable ex stock 66 Ref No 57332 57718 57717 57720 520203 507545 520043 520271 520394 520395 520396 520397 50536 58108 58109 41620 Material Various Aluminum Various Stainless steel Steel Steel Steel Steel Various PBT various PBT various PBT various Various PVC PVC Polyester 9 General information 9 1 Environmental compatibility and disposal Materials used Aluminum Steel Polyvinyl chloride PVC Polybuteneterephthalate PBT Epoxy resin EP Surface finishing Anodized aluminum Shaping processes Aluminum and steel machining Aluminum and steel bending Disposal No longer usable ECMRs should not be disposed of as complete systems but rather should be disassembled into parts and recycled by type of material The type of material of each individual part is included in the replacement parts lists Non recyclable materials should be disposed of appropriately MONAECH Operating Instructions EC Motor Controller ECMR 67 MONAECH more than technology MONTECH AG Gewerbestrasse 12 CH 4552 Derendingen Fon 41 32 681 55 00 Fax 41 32 682 19
14. a motion relative to the target position of the most recently executed motion task S This parameter defines the target position for absolute motion tasks The Teach In button copies the actual position into the active cell See Section 5 11 for the procedure This parameter defines the travel route for relative motion tasks 30 acc dec Next motion task Delete motion tasks MON4ECH Operating Instructions EC Motor Controller ECMR This parameter defines the travel speed This parameter defines the acceleration The acceleration ramp is sin shaped This parameter defines the brake delay The brake ramp is sin shaped This field defines a following motion task A drop down menu appears when the field is clicked If no following motion task is to be active the without entry must be selected Selecting a following motion task number opens the Next motion task window Section 5 10 2 1 Note Settings without InPos signal active Settings without InPos signal deactived see programmable outputs between two nmts Motion tasks can be deleted by clicking the motion task number No column and then pressing delete All values of the motion task are set to 0 Multiple motion tasks can be selected together and deleted Motion tasks A v mms acc mm s dec mms Next motion task a 1 ABS 50000 5O 200 2000 without E 2 i without
15. active low Inputa Outputs F i F Reference OK Motion task bit 2 Programmable output P Motion task bit 3 Bo k PM Error F R task bit 4 P Prograrnmable output 1 L Programmable output 2 F a PM Frogammable output 3 E FEV PM Programmable output 4 PM Release brake Es dda 7 PM Start nest motion task PF Jog left fi 0 Ms late mika Pos 1 lt u Pos 2 s lt Pos 1 ore Pos 2 7 Invert at start of nmt Jog right 4 between two nmt Stop Invert at the end of nmt 37 MON ECH Operating Instructions EC Motor Controller ECMR Programmable outputs The following functions are selectable for all four programmable outputs Inactive No function is assigned to the output x lt Pos 1 Reports undershooting position 1 Pos 1 lt x lt Pos 2 Message is output when the drive is between position 1 and position 2 x gt Pos 1 Reports exceeding position 1 x lt Pos 1 or x gt Pos 2 Message is output when the drive is outside position 1 and position 2 0 Pos 1 Pos 2 max position x gt Pos 1 x lt Pos 1 Pos 1 lt x lt Pos 2 x lt Pos 1 or x gt Pos 2 38 MONA4ECH Operating Instructions EC Motor Controller ECMR Intermediate messages can be generated for motion task sequences with the three following functions With this function when the first motion task of a motion task sequence is started the output is set low velocity Invert at start of nmt T
16. point The reference position does not physically change calculation with the offset as reference point is only within the position controller of the ECMR MONAECH Operating Instructions EC Motor Controller ECMR Software limit switches field Moving field The software limit switches belong to the monitoring functions of the position controller If one of the two software limit switches is exceeded or undershot the drive is stopped with the emergency brake ramp and de energized The reference point is not lost Software limit switches Software limit switch 1 Software limit switch 2 2000 TT 62000 pm Software limit switch 1 The actual position is monitored to ascertain whether it is less than the configured value The software limit switch is defined as absolute position relative to the reference point Software limit switch 2 The actual position is monitored to ascertain whether it is greater than the configured value The software limit switch is defined as absolute position relative to the reference point Moving InPos window Following error 100m 2o00 um InPos window This parameter defines the size of the In Position window The distance from the target position at which the message InPos is output can be defined The drive travels precisely to the target position Possibly occurring effects Value is too low Positioning time increases No InPos message Value is too high InPos is signaled too early
17. point unambiguous within one motor revolution Bit 0 Bit 3 Bit 4 i gt 10 ms start reference fun velicty Relerence OK InPos position Relerence proximity 17 Encoder Index MONAECH Operating Instructions EC Motor Controller ECMR 5 6 Motion task sequence The following shows the functionally correct signal sequence for starting a stored motion task The diagram shows an example with motion tasks 22 and 6 Caution To be able to perform a motion task the ECMR must be in the enable state i e no errors pending and the reference run performed i e reference point set Bit 3 velocity position InPos MON ECH Operating Instructions EC Motor Controller ECMR 5 7 Wiring The wiring described in this section refers to the connector designations in the figure below Operation LED Error LED Potentiometer Torque Current Potentiometer Speed Only qualified specialist personnel are allowed to perform work such as installation commissioning and maintenance The ECMR must always be in a de energized state no voltage supplied when wiring is performed Never disconnect electrical connections when the voltage is on In some cases electric arcs may occur which can injure persons and damage contacts 19 MON ECH Operating Instructions EC Motor Controller ECMR 5 7 1 Voltage supply The voltage supply of the ECMR depends on the connected device
18. the initiation of movements when using functions in the commissioning software Data records saved to a data medium are not safeguarded against unwanted changes by others Therefore after loading a data record it is necessary to thoroughly check all parameters before the ECMR is enabled The ECMR is built into electrical systems or machines as a component and may be commissioned only as an integrated component Prior to commissioning the ECMR all work must be performed according to the operating instructions of the ECMR and of the connected device Safety regulations must be observed Carry out mounting installation wiring and final inspection as described in the ECMR operating instructions Carry out mounting installation wiring and final inspection as described in the operating instructions of the connected device MON ECH Operating Instructions EC Motor Controller ECMR 1 5 Dangers and safety information The operating conditions and safety information described in the operating instructions of the controller must be strictly observed The specified load limits must be strictly adhered to These operating instructions must be read before commissioning Incorrect handling of the EC Motor Controller ECMR may lead to injury to persons material damage and loss of the right to warranty claims All technical data and specifications concerning connection conditions must be strictly observed Only qualifie
19. the setting of the torque Current potentiometer is in effect Section 6 8 These inputs are for selecting the saved maximum motor speeds Three different bit coded speeds can be selected with the two inputs If there is no signal on either input the setting of the speed potentiometer is in effect Section 6 8 The rotation direction of the drive can be selected with this input high gripper closed if logic is Active high low gripper open if logic is Active high The enable input is for enabling the ECMR A signal on this input enables the final stage If no signal is present the final stage is disabled Device travels to the end position Reset A signal on this input triggers a software reset of the ECMR Current values in the working memory are deleted and the data stored in the EEPROM is loaded into working memory The ECMR is in the normal state after a reset A reset is possible only if the ECMR is in the disabled state 6 6 2 Functions of the digital outputs Enable Hall sensors 1 3 rotor position Signal is output when the ECMR is enabled The enable signal must be on the X6 1 terminal for enablement The hall sensor signals can be tapped as 24 V signals on these three outputs g7 60 120 160 360 240 200 Hallsensor 1 Hallsensor 2 Hallsensor 3 57 MON ECH Operating Instructions EC Motor Controller ECMR 6 7 Status display The two LEDs o
20. 60 mmt Dateityp motion task file mmt Abbrechen Shows the actual position of the connected device The Teach In button copies the actual position into the selected cell of the s column See Section 5 11 for the procedure The motion task which is to be started with the Start button can be entered in this cell Clicking the motion task table copies the selected motion task into this cell This button starts the motion task with the number that was entered in the Motion task field If following motion tasks are defined the entire sequence is worked through The Stop button stops the current motion task The drive is brought to a standstill with the configured brake ramp of the current motion task Enable Disable Write Cancel OK Next motion task k Next motion task Motion task na Hest motion task no F Transition w MON ECH Operating Instructions EC Motor Controller ECMR If the ECMR is in the disabled state this button Enable enables the ECMR If the ECMR is in the enabled state this button Disable disables the ECMR This button sends the changes to the ECMR and saves them in the EEPROM The window remains open This button exits the window The changes are lost If you leave the window with this button the changes are sent to the ECMR and saved in the EEPROM Start next start next start next by K immedia
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22. GPE PARAMETERS Enable 140 configuration E Reset device we 00 Factory settings Load configuration Save configuration Currents aper Current 1 00 100 Speed Disable Current 120mA Operated for 13 hours 59 MON ECH Operating Instructions EC Motor Controller ECMR 6 9 1 Communication In the Communication field you can configure the settings for the serial communication via the RS232 interface To enable communication with the ECMR the COM port to which the ECMR is connected has to be selected in the drop down menu Communication can be checked with the Read button After the successful reading process the current configuration of the ECMR and its firmware version are displayed The buttons that initiate communication are located in the top right corner of the PARAMETERS field Read Reads the current configuration and stored parameters Write Writes the selected configuration and parameters that have been set If the Read or Write button is actuated the transmission progress is shown in a separate window The transmission can be cancelled with the Stop button Caution Data can be sent to the ECMR only if it is in the disabled state 6 9 2 Configuration The data record for the device connected to the ECMR can be selected in the drop down menu The required parameters for the selected device are loaded in the parameters field Enable Disable If the ECMR is in t
23. Hard disk 5 MB available software can be run from the CD Memory At least 8 MB Interface Serial port RS232 COM port The interface cannot be used by other software e g drivers 1 4 Proper use 1 4 1 ECMR controller The ECMR controller is used for operating electrical automation components and belongs to the scope of delivery The ECMR EC Motor Controller is configured for the respective electrical automation components before delivery Commissioning the ECMR is performed via the serial interface of a personal computer PC using the Start up ECMR commissioning software which has been provided Installation in systems for the proper use of the ECMR is prohibited until it can be determined that the system conforms to EC Machinery Directive 89 392 EEC and the EC EMC Directive 89 336 EEC Adherence to EN 60204 and EN 292 is also required Concerning Low Voltage Directive 73 23 EEC the harmonized standards of the EN 50178 series in connection with EN 60439 1 EN 60146 and EN 60204 are applicable to the ECMR Adherence to system thresholds required by EMC legislation is the responsibility of the manufacturer of the system Information about the EMC compliant installation e g grounding handling sockets and laying lines is provided in this documentation The system manufacturer must submit a hazard analysis of the system and is responsible for the functional machinery related and personnel safety of the system The ECMR
24. KUSE 10 80 hor 0 mm s 380 mm s KUSE 10 80 vert 0 mm s 350 mm s KUSE 10 160 hor 0 mm s 380 mm s KUSE 10 160 vert 0 mm s 350 mm s DAE 60 vert 0 s 500 s DAE 60 hor 0 s 300 s acc dec Device Min value Max value KUSE 8 60 hor 0 mm s 4500 mm s KUSE 8 60 vert 0 mm s 4500 mm s KUSE 8 120 hor 0 mm s 4500 mm s KUSE 8 120 vert 0 mm s 4500 mm s KUSE 10 80 hor 0 mm s 4000 mm s KUSE 10 80 vert 0 mm s 3500 mm s KUSE 10 160 hor 0 mm s 4000 mm s KUSE 10 160 vert 0 mm s 3500 mm s DAE 60 vert 0 a 3000 a DAE 60 hor 0 e s 2500 s 49 MON ECH Operating Instructions EC Motor Controller ECMR 6 Torque control 6 1 Overview The desired torque Current and maximum travel speed can be defined by potentiometers Further it is possible to select from three stored torques and three maximum travel speeds via digital inputs Features Selectable direction 3 torques can be stored in the EEPROM 3 maximum travel speeds can be stored in the EEPROM Torque adjustable with potentiometers Maximum travel speed adjustable with potentiometers Output of hall sensor signals to digital outputs Commissioning software functions Select connected device Set torque Set maximum speed Import export configuration ECMR enable disable toggle Select logic of the digital I Os 50 6 2 Technical data 24 V voltage supply 1 Current co
25. MONAECH OPERATING INSTRUCTIONS EC MOTOR CONTROLLER ECMR Electrical and Software Documentation BA 100078 Starting from serial number 429991 English edition 02 2008 MONAECH Operating Instructions EC Motor Controller ECMR Contents 1 Important information 3 1 1 Introduction 3 1 2 EU declaration of conformity pursuant to MRL Appendix II A 3 1 3 Product description 4 1 3 1 ECMR controller 4 1 3 2 Start up ECMR commissioning software 4 1 4 Proper use 5 1 4 1 ECMR controller 5 1 4 2 Start up ECMR commissioning software 6 1 5 Dangers and safety information 7 1 6 Additional information 8 1 7 Validity of the operating instructions 8 2 Dimensional drawing 9 3 Overview quick start 10 3 1 Select appropriate voltage supply 10 3 2 Procedure 11 4 Installation 12 4 1 Mounting 12 5 Position control 13 5 1 Overview 13 5 2 Technical data 14 5 3 On and Off switching behavior 15 5 4 Emergency off function 16 5 5 Reference run sequence 17 5 6 Motion task sequence 18 5 7 Wiring 19 5 7 1 Voltage supply 20 5 7 2 Components DAE KUSE 21 5 7 3 Digital inputs 22 5 7 4 Digital outputs 23 5 7 5 Communication 23 5 7 6 Conductor cross section 23 5 8 Digital inputs outputs 24 5 8 1 Functions of the digital inputs 24 5 8 2 Functions of the digital outputs 26 59 Status display 26 5 10 ECMR commissioning software 27 5 10 1 Communication 28 5 10 2 Configuration 28 MON ECH Operating Instructions EC Motor Controller ECMR
26. Position 2 parameters 1 0 configuration window and for the s parameter in the motion task table Motion tasks window Caution Before the Teach In function can be used a reference point must be set by means of a reference run Procedure Put the device into the desired position The desired position of the device can be achieved in two ways Jogging mode The ECMR must be in the enabled state Manual The ECMR must be in the disabled state Select the cell for which the current position value is to be copied The Teach In button then copies the actual position value into the active cell Actual position pm Teach In Caution To be able to save the settings in the ECMR the controller must be in the disabled state Click OK 47 MON ECH Operating Instructions EC Motor Controller ECMR 5 12 Threshold values Software limit switch 1 Software limit switch 2 v_sensor v_index acc_ref Ref offset 48 Device KUSE 8 60 KUSE 8 120 KUSE 10 80 KUSE 10 160 DAE 60 Device KUSE 8 60 KUSE 8 120 KUSE 10 80 KUSE 10 160 DAE 60 Device KUSE 8 60 KUSE 8 120 KUSE 10 80 KUSE 10 160 DAE 60 Device KUSE 8 60 KUSE 8 120 KUSE 10 80 KUSE 10 160 DAE 60 Device KUSE 8 60 KUSE 8 120 KUSE 10 80 KUSE 10 160 DAE 60 Device KUSE 8 60 KUSE 8 120 KUSE 10 80 KUSE 10 160 DAE 60 Min value 1000 um 1000 um 1000 um 1000 um 5000 1k Min value
27. able window for InPos message Sin acceleration and braking ramps Peak current monitoring Rated current monitoring Commissioning software functions Select connected device Import export configuration ECMR enable disable toggle Edit parameters for the reference run Adjust reference offset Perform reference run Adjust software limit switch Adjust size of the InPos window Adjust size of the following error Define motion tasks Perform motion tasks Import export motion task tables Select function of the programmable outputs Select logic of the digital I Os Display the last 10 errors Acknowledge errors 13 MON ECH Operating Instructions EC Motor Controller ECMR 5 2 Technical data Voltage supply for 24 V operation 1 Voltage supply for 48 V operation 1 Current consumption without motor current Digital inputs Number of digital inputs 2 Digital outputs Number of digital outputs 2 Number of motion tasks can be stored 2 Control input connections Signal output connections PC interface Protection type Weight kg Temperature C Ambient Rel humidity Purity of the air Installation type of the controller Dimensions H x W x T without plug Warranty period 1 Minimum output currents see Section 3 1 Main voltage supply 24 VDC 9 20 regulated Voltage deviations Auxiliary voltage supply influence the speed of the motor 24 VDC 9 20 regulated voltage
28. acts 53 MON ECH Operating Instructions EC Motor Controller ECMR 6 5 1 Voltage supply If the ECMR is deployed as a torque controller only 24 V voltage supply is required The following devices can be operated with the ECMR as torque controller GPE electrical parallel gripper GWE electrical angular gripper Terminal Designation X1 1 24V Bridge on X1 2 X1 2 Motor windings Bridge on X1 1 X1 3 48 V n c X1 4 48 V n C X1 5 GND n c Terminal Designation X2 4 24V 24 V power supply X2 5 GND GND power supply n c Not connected 6 5 2 Components Motor Controller Connection cable component 10x0 25mm Terminal Designation Wire lead color X2 1 Motor winding 1 White X2 2 Motor winding 2 Brown X2 3 Motor winding 3 Green X3 1 U hall sensors Red X3 2 GND hall sensors Blue X3 3 Hall sensor 1 Yellow X3 4 Hall sensor 2 Gray X3 5 Hall sensor 3 Pink Black Violet 54 6 5 3 Digital inputs Terminal Designation X5 1 Current bit 0 X5 2 Current bit 1 X5 3 Speed bit 0 X5 4 Speed bit 1 X5 5 n c X5 6 Direction X5 7 n c Terminal Designation X6 1 Enable X6 2 n c X6 3 Reset X6 4 n c X6 5 n c X6 6 n c X6 7 n C 6 5 4 Digital outputs Terminal Designation X7 1 Enable X7 2 n c X7 3 n c X7 4 n c X7 5 n c Terminal Designation X8 1 Hall sensor 1 X8 2 Hall sensor 2 X8 3 Hall sensor 3 X8 4 n c X8 5 n c n c Not connected MON ECH Operating
29. ating Instructions EC Motor Controller ECMR Rectify error Reset Enable Perform reference run Start motion tasks Rectify error Reset Enable Perform reference run Start motion tasks Rectify error Clear error Enable Start motion tasks Rectify error Clear error Enable Start motion tasks Rectify error Clear error Enable Start motion tasks 43 MON ECH Operating Instructions EC Motor Controller ECMR 5 10 3 Parameters Basic required settings for the selected device can be configured in the Parameters field The Factory Settings button loads the basic settings defined by Montech Reference field The reference run is an absolute motion task and serves to set the drive to zero for the following positioning task After the reference run the ECMR sets the InPos and Reference OK outputs Reference 7 Y enor v Index acc ret Her Offset 41 mms 20 mm 2563 mms E um Caution The position controller cannot be operated without first having carried out a reference run The reference run can be defined with the following parameters To be able to save the parameters on the ECMR the controller must be in the disabled state 44 v_sensor Defines the speed for the reference proximity switch search v_index Defines the speed for the encoder index search acc _ref Defines the acceleration of the reference run Ref offset An absolute position value that differs from 0 can be assigned to the reference
30. d only if the ECMR is in the disabled state If the ECMR is in the disabled state the stop brake can be released with this input so that the connected device can be moved manually The brake remains released as long as a signal is present The pending motion task in the current motion task sequence is started on this input with an ascending flank Requirements The pending next motion task must have the required settings start I O or I O or time that it can start via this input Section 5 10 2 1 The target position of the current motion task has to be reached before the next motion task can be started The connected device can be moved in both directions with these inputs The movement is carried out as long as a signal is present on the concerned input and the SW limit switches are not reached Travel speed is v_sensor of the reference run 25 MON ECH Operating Instructions EC Motor Controller ECMR 5 8 2 Functions of the digital outputs Enable Signal is output when the ECMR is enabled The enable signal must be on terminal X6 1 for the enable and no error may occur Section 5 10 2 3 which could lead to automatic disabling of the ECMR Reference OK Signal is output if the reference point has been set by a reference run and no errors that could lead to loss of the reference point have occurred InPos If the drive is within the specified InPos window a signal is output Section 5 10 3 Error As soon as a
31. d specialist personnel are allowed to perform work such as installation commissioning and maintenance Qualified personnel are persons who are familiar the installation mounting commissioning and operation of the product and have relevant qualifications for the work in question Qualified personnel must know and observe the relevant standards and directives Electronic devices are not always failsafe Machines and systems must therefore be equipped with independent monitoring and safety devices It must be ensured that after device failure incorrect operation of the device failure of regulation and control units an open circuit etc the drive and or overall system is are put into a safe operating state The connected operating voltage must not exceed the specified limits see the technical data Voltages that are too high or mix ups can destroy the ECMR The ECMR must not be opened All covers protection devices and switch cabinet doors must remain closed during operation The ECMR contains components that can be damaged by electrostatic charges if handled improperly To prevent ESD damage sensitive components must be handled packaged and stored in specially protected surroundings Never disconnect electrical connections when the voltage is on In some cases electric arcs may occur which can injure persons and damage contacts During operation the ECMR indicates voltage energized parts Control and power conn
32. e window The transmission can be cancelled with the Stop button Caution Data can be sent to the ECMR only if it is in the disabled state 5 10 2 Configuration The data record for the device connected to the ECMR can be selected in the drop down menu The required parameters for the selected device are loaded in the parameters field Enable Disable If the ECMR is in the disabled state this button Enable enables the ECMR If the ECMR is in the enabled state this button Disable disables the ECMR Reset Device This button triggers a software reset of the ECMR Current values in the working memory e g reference point and errors are deleted and the data stored in the EEPROM is loaded into working memory The ECMR is in the normal state after the reset Errors in the serious error category must be acknowledged with a reset Section 5 10 2 3 A reset can be performed only if the ECMR is in the disabled state Start ref run This button triggers the reference run Stop ref run This button stops the reference run 28 MONAECH Operating Instructions EC Motor Controller ECMR Motion tasks Opens the Motion tasks window USection 5 10 2 1 Errors Opens the Errors window Section 5 10 2 3 I O configuration Opens the I O configuration window Section 5 10 2 2 Load configuration The Load configuration button loads the configurations stored in a Montech configuration file mcf To
33. ections may be energized even if the connected device does not move Repairs may be performed only by the manufacturer Montech AG Improperly performed repairs may be hazardous to the user MON ECH Operating Instructions EC Motor Controller ECMR 1 6 Additional information The aim of the present User Manual is to enable users to employ EC Motor Controller ECMR correctly and safely Should further information be required in relation to your particular application please contact the manufacturer When reordering User Manuals it is essential to quote the reference number the product name and serial number This document can be obtained from our homepage www montech com Description of the type plate EC Motor Controller ECMR M H CH 4552 DERENDINGEN GERWERBESTRASSE 12 Produkt Ce Reference number Product name Serial number Montech AG Management an U D Wagner C Wullschleger 1 7 Validity of the operating instructions Our products are continually updated to reflect the latest state of the art and practical experience In line with product developments our operating instructions are continually updated All operating instructions have an article number e g BA 100078 and an edition number e g 02 2008 The article number and edition number are displayed on the title page Validity Full name Short name Reference number EC Motor Controller ECMR 57332 MONAECH Operating Instr
34. g the enable signal during the procedure results in emergency braking The drive brakes with the configured emergency brake ramp and remains at a standstill without torque When the calculated target standstill position of the brake ramp is reached the stop brake is activated after the brake delay time and then the final stage of the ECMR is disabled Putting into operation again The enable signal enables the final stage of the ECMR and the stop brake is deactivated If an error message is pending the source of the error must be rectified and the error acknowledged before a new motion task can be started See Section 5 10 2 3 ENABLE start mation task N emergency ramp 4 tbrH tbrl velocity setpoini lt acceleration ramp velodty brake delay time brake output g brake force n 16 MONAECH Operating Instructions EC Motor Controller ECMR 5 5 Reference run sequence The reference run is an absolute motion task and serves to set the drive to zero for the following positioning task After the reference run the ECMR sets the InPos and Reference OK outputs Caution To be able to perform the reference run the ECMR must be in the enable state no errors may be pending The reference run is set to the first zero crossing of the encoder index after recognizing the reference proximity switch flank The encoder shows an index per revolution This makes positioning to the zero
35. ge is taken back and the monitoring of the In Position window is re activated only after the configured time The Cancel button voids the changed settings The window is closed The OK button saves the changed settings to the ECMR Caution To be able to save the settings the ECMR must be in the disabled state 40 5 10 2 3 Errors MON4ECH Operating Instructions EC Motor Controller ECMR Errors are indicated with the red error LED on the front panel The current error is visible in the status line of the software The error history can be called up with the Errors button The last 10 errors and when they occurred are displayed Egrors Number Shows the no of errors S Code Shows the error code 0 0 No enor 0 Error Shows the type of error 0 No error D hour Shows the value of the poets operation hours counter of DaN the ECMR when the error Mo error No error occured Mo error Mo error Ho error Mo error Reset device This button triggers a software reset of the ECMR Current values in the working memory e g reference point and errors are deleted and the data stored in the EEPROM is loaded into working memory The ECMR is in the normal state after the reset Errors in the serious error category must be acknowledged with a reset A reset can be performed only if the ECMR is in the disabled state Clear error This button acknowledges minor errors
36. he disabled state this button Enable enables the ECMR If the ECMR is in the enabled state this button Disable disables the ECMR Reset device This button triggers a software reset of the ECMR Current values in the working memory are deleted and the data stored in the EEPROM is loaded into working memory The ECMR is in the normal state after the reset A reset can be performed only if the ECMR is in the disabled state I O configuration Opens the I O configuration window Section 6 9 2 1 60 Load configuration Save configuration MON4ECH Operating Instructions EC Motor Controller ECMR The Load configuration button loads the configurations stored in a Montech configuration file mcf To load the Montech configuration file the name of the file must match the currently configured device type drop down menu of the ECMR Name of the mcf files Currently configured device type GWE gt GWE Offnen Suchen in B GWE v e m a HE gwe_1 mcf Zuletzt verwendete D Arbeitsplatz Netzwerkumgeb ung Abbrechen A Dateiname fowe_1 mcf Dateityp configuration file mef This button saves the current configuration in a Montech configuration file mcf The current device designation is added to the file name It can be saved anywhere Speichern unter Speichern in GWE v e Fae gwe_1 mcf Zuletzt verwendete D Desktop Arbeitsplatz Netzwe
37. he output is inverted when the next motion task nmt next motion task is started Invert at the end of nmt The output is inverted at the end of a motion task Between two nmts The output is switched high between two motion tasks motion task next motion task next motion task next motion task TT k Aab M L Invert at start of nmt ie ee ee Invert at fo the end of nmt a delay time or waiting for the input next motion task nmt next motion task 39 MON ECH Operating Instructions EC Motor Controller ECMR Position 1 Position 2 Output state Actual position Teach In I O polarities InPos delay Cancel OK This parameter defines an absolute position to the reference point at which the selected function reacts This parameter defines an absolute position to the reference point at which the selected function reacts Shows the status of the output signal high or low and the terminal of the output Shows the actual position of the connected device The Teach In button copies the actual position into the selected cell position 1 or position 2 of the s column See Section 5 11 for the procedure The logic of the individual input and output signals can be defined in this field Active high OV gt Low 24 V gt High Active low OV gt High 24V gt Low This parameter defines the minimum delay time between two InPos signals When a motion task starts the InPos messa
38. is built into electrical systems or machines as a component and may be commissioned only as an integrated component Prior to commissioning electrical automation components all work must be performed according to the operating instructions of the ECMR and of the concerned electrical automation components Safety regulations must be observed Mounting installation wiring and final inspection must be performed as described in the ECMR operating instructions Mounting installation wiring and final inspection must be performed as described in the operating instructions of the electrical automation components MON ECH Operating Instructions EC Motor Controller ECMR 1 4 2 Start up ECMR commissioning software The Start up ECMR commissioning software is for changing and saving the operating parameters of the ECMR controller When the connected ECMR is commissioned using the software the connected device can be controlled directly with the setup functions Without additional measures these functions may not be stable due to the specific characteristics of the PC The PC program can malfunction unexpectedly or stop working and in the event of faults the movements which have already been started may not be able to be stopped from the PC The system manufacturer must submit a hazard analysis of the system and is responsible for the functional machinery related and personnel safety of the system This applies particularly to
39. ith the 24 V voltage supply the final stage of the ECMR is enabled only after the start up routine is completed Caution Device travels to the end position 6 4 Emergency off function The emergency off function serves to bring the connected device to a standstill as quickly as possible in the event of danger The emergency off function must be able to be initiated by a single person The emergency off function must always be ready for operation and available The user should not have to think about how to use the device it should be easy to use Implementing the emergency off function Removing the enable signal during the procedure results in switching off the motor current immediately A result is that workpieces can no longer be solidly held 52 MONAECH Operating Instructions EC Motor Controller ECMR 6 5 Wiring The wiring described in this section refers to the connector designations in the figure below U 1 25 490 35 aono0o00 Li 23456735 Operation LED Error LED Potentiometer Torque Current Potentiometer Speed Only qualified specialist personnel are allowed to perform work such as installation commissioning and maintenance The ECMR must always be in a de energized state no voltage supplied when wiring is performed Never disconnect electrical connections when the voltage is on In some cases electric arcs may occur which can injure persons and damage cont
40. load the Montech configuration file the name of the file must match the currently configured device type drop down menu of the ECMR Name of mcf files Currently configured device typ KUSE 8 60 gt KUSE 8 60 horizontal Suchen in Zuletzt verwendete D Arbeitsplatz Netzwerkumgeb Dateiname z Dateityp configuration file mef z Abbrechen Save configuration This button saves the current configuration in a Montech configuration file mcf The current device designation is added to the file name It can be saved anywhere Speichern unter Speichern in IG KUSE v eR gH Zuletzt verwendete D Desktop Arbeitsplatz a Netzwerkumgeb Dateiname kuse 8 60 met Dateityp configuration file mcf v Abbrechen 29 MON ECH Operating Instructions EC Motor Controller ECMR 5 10 2 1 Motion tasks The Motion task button in the Configuration field opens the Motion task window Motion tasks 0 Teach In le ghee beer eal al ele alee elo en og le a m i 10 ADT on ut Import motion tasks Export motion tasks Write Cancel OF Description of the table No Motion task number Mode This selection defines whether the motion task is to be interpreted as a relative or absolute motion task Mode Description o oS ABS Defines motion for an absolute target position relative to the reference point Defines
41. n error occurs a signal is output Section 5 10 2 3 Prog outputs 1 4 Various functions can be assigned to the programmable outputs Section 5 10 2 2 5 9 Status display The two LEDs operation and error indicate the status of the controller Green LED The green LED is the operation LED As soon as the ECMR is connected to a 24 V voltage supply the LED becomes lit 48 V voltage supply has no influence on this LED Red LED The red LED is the error LED As soon as there is an error on the ECMR this LED becomes lit The type of error can be read out using the commissioning software via the RS232 interface 26 MONAECH Operating Instructions EC Motor Controller ECMR 5 10 ECMR commissioning software With the current version of the commissioning software ECMRs that do not have the current firmware can be configured If an ECMR with an older firmware version does not have the full range of functionality the absent functions are suppressed in the commissioning software When the Start up ECMR commissioning software is launched the main window appears It is divided into the following parts COMMUNICATION CONFIGURATION PARAMETERS Current software version Current firmware version Start up ECMF V0 64 COMMUNICATION PARAMETERS Exit Com Port Firmware Version unknown CONFIGURATION COMMUNICATION Exit Com Port Firmware Yersion unknown unknown
42. not A B not B not MONA4ECH Operating Instructions EC Motor Controller ECMR Component connection cable 3x0 5 mm Wire lead color White Brown Green Screen Connection cable component 18x0 14mm2 Wire lead color White Brown Green Red Blue Yellow Gray Pink Connection cable component 18x0 14mm2 Wire lead color Gray pink Red blue White green Brown green White yellow Yellow brown White gray Gray brown 21 MON ECH Operating Instructions EC Motor Controller ECMR Proximity switches Controller Terminal Designation U proximity switch GND proximity switch X3 6 Output Stop brake optional Controller Terminal Designation GND X3 7 Release brake 24V 5 7 3 Digital inputs Terminal Designation X5 1 Motion task bit 0 X5 2 Motion task bit 1 X5 3 Motion task bit 2 X5 4 Motion task bit 3 X5 5 Motion task bit 4 X5 6 Start motion task X5 7 Stop motion task Terminal Designation X6 1 Enable X6 2 Clear error X6 3 Reset X6 4 Release brake X6 5 Start next motion task X6 6 Jog left X6 7 Jog right 22 Connection cable component 18x0 14mm2 Wire lead color Red Blue Black Connection cable component 18x0 14mm2 Wire lead color Blue Violet MON ECH Operating Instructions EC Motor Controller ECMR 5 7 4 Digital outputs Terminal Designation X7 1 Enable X7 2 Reference OK X7 3 InPos X7 4 Error X7 5 GND Terminal Designation X8
43. nsumption without motor current Digital inputs Number of digital inputs 2 Digital outputs Number of digital outputs 2 Control input connections Signal output connections PC interface Protection type Weight kg Temperature C Ambient Rel humidity Purity of the air Installation type of the controller Dimensions H x W x T without plug Warranty period 1 Minimum output currents see Section 3 1 MONA4ECH Operating Instructions EC Motor Controller ECMR 24 VDC 9 20 1 5 A Differences in voltage influence motor rpm 150 mA High 22 8 VDC 28 8 VDC Low 0 VDC 5 7 VDC transient protected 7 Open source 24 VDC max 1 A with 24 V short circuit proof 4 2 mini Combicons 7 pin 2 mini Combicons 5 pin RS 232 9 pin male D Sub IP20 0 6 10 50 5 85 without condensation Normal workshop atmosphere Vertical switch cabinet 130 x 40 x 190 mm 2 years commencing from the date of delivery 2 If the stored configuration is torque controlled Section 1 3 1 and 0 1 51 MON ECH Operating Instructions EC Motor Controller ECMR 6 3 On and Off switching behavior The diagram below shows the functionally correct sequence when the ECMR is switched On and Off Caution Before enabling ensure that the proper configuration is stored for the device Supply 24V gt 0 Enable Enable If the enable signal is applied simultaneously w
44. oller ECMR Start next In this drop down menu you can select how the next motion task is to be started The following functions are available Immediately The next motion task is started immediately after the current motion task reaches the target position lt motion task next motion task velocity I O The next motion task is started with a signal on the digital input Start following task The target position of the current motion task has to be reached before the next motion task can be started In the Start next by field the logic of the digital input is displayed next motion task motion task velocity time 24 V Input start next motion task Time The next motion task is started after a defined delay time after the target position is reached The delay time can be specified with the delay time parameter next motion task motion task time velocity delay time 35 MON ECH Operating Instructions EC Motor Controller ECMR Start next by Delay time Cancel OK 36 I O or time The next motion task is started with a signal on the digital input Start following task or after a defined delay time The next motion task is started by the event that occurs first Before the next motion task can be started via the digital input the target position of the current motion task must be reached The delay time begins when the target po
45. peration and error indicate the status of the controller Green LED The green LED is the operation LED As soon as the ECMR is connected to a 24 V voltage supply the LED becomes lit Red LED The red LED is not used in the torque controller 6 8 Potentiometers The torque current and speed potentiometers have an effect only for torque control GPE GWE For position control DAE KUSE the settings of these potentiometers are not taken into account Current The current with which the motor torque is to be generated can be set with this potentiometer The setting is found in the operating instructions of the relevant connected device Speed The maximum motor rpm is set with this potentiometer The setting is found in the operating instructions of the relevant connected device 58 MONAECH Operating Instructions EC Motor Controller ECMR 6 9 ECMR commissioning software When the software is launched the main window appears It is divided into the following parts COMMUNICATION CONFIGURATION PARAMETERS Current software version Current firmware version P Start up ECMR V0 64 COMMUNICATION PARAMETERS Exit Exit Com Port Com Port com1 v Firmware Version unknown COMMUNICATION CONFIGURATION unknown KUSE 10 160 horizontal KUSE 10 160 vertical Unknown No reference Current m Actual pokition Actual error Operated for hours CONFIGURATION
46. rkumgeb ung Abbrechen A Dateiname gwe_2 mef v Dateityp configuration file mcf 61 MON ECH Operating Instructions EC Motor Controller ECMR 6 9 2 1 1 O configuration The logic of the individual input and output signals can be defined in this window Active high OV gt Low 24 V gt High Active low OV gt High 24 V gt Low Cancel The Cancel button voids the changed settings The window is closed OK The OK button saves the changed settings to the ECMR Caution To be able to save the settings the ECMR must be in the disabled state 6 9 3 Parameters The basic required settings for the selected device can be configured in the Parameters field The Factory Settings button loads the basic settings defined by Montech Torques 7 Speeds 1 2 3 Torque i D i 1 D 1 O0 Speed 1 D z D z 1 o z yt pt Current 1 2 3 Three currents can be configured with which the motor torque is generated These are defined as a percentage of the maximum current Using the digital inputs Current bit 0 and Current bit 1 the settings are selectable via bit code If no torque is selected bit combination O 0 via the digital inputs the setting of the Current potentiometer is in effect Speed 1 2 3 Three speeds can be configured which define the max motor speed These are defined as a percentage of the maximum speed Using the digital inputs Speed bit 0 and
47. sition of the current motion task is reached In the Start next by field the logic of the digital input is displayed The delay time can be specified with the delay time parameter This field shows the logic of the digital input Start next motion task The logic of the digital input can be changed in the I O configuration window Section 5 10 2 2 High level A change of the signal from 0 to 24 V is interpreted as start signal Low level A signal change from 24 to 0 V is interpreted as a start signal After the current motion task has reached the target position the next motion task waits the entered delay time before starting The entry is in ms The Cancel button voids the changed settings The window is closed The OK button applies the changed settings and closes the window MON ECH Operating Instructions EC Motor Controller ECMR 5 10 2 2 I O configuration The functions for the programmable outputs and the logic for the digital inputs and outputs can be selected in the I O configuration window The values for positions 1 and 2 can be manually entered or copied with the teach in function Section 5 11 I Configuration Programmable outputs Progranimable output Position 1 pm Position 2 um Output state 1 inactive E i Low 8 1 2 inactive Low 8 2 3 finactive No Low 8 3 i inactive D Low 5 4 Actual position p m fo each ln l Polaritie x
48. software Actuate ECMR via digital I Os 6 5 1 6 5 2 6 5 3 6 5 4 6 5 5 6 9 6 9 1 6 9 2 6 9 3 6 8 6 6 1 6 9 2 6 6 1 6 6 1 6 9 6 6 11 MON ECH Operating Instructions EC Motor Controller ECMR 4 Installation 4 1 Mounting The ECMR is vertically mounted on a conductive grounded mounting plate in the switch cabinet To ensure that the ECMR is grounded serrated lock washers have to be used They breach the anodized coating on the base plate of the ECMR and establish a conductive connection to the mounting plate Mounting plate _ ECMR base plate k 2 Serrated lock washer _ Si 7 M4 screw __ B ot 1 12 MON ECH Operating Instructions EC Motor Controller ECMR 5 Position control 5 1 Overview The motion tasks stored in the EEPROM of the ECMR can be selected and started via the digital inputs A digital output reports the arrival at the target position All key functions of the position controller can be initiated by the control system of any manufacturer Features Motion tasks are executed via digital inputs Automatic actuation of the PM stop brake 31 motion tasks can be stored in the EEPROM Motion tasks can be linked to each other Absolute and relative runs Reference run Jogging mode Teach in of position values 4 programmable outputs with sequential InPos threshold and cam functions Software limit switch Customizable following fault window Customiz
49. supply for controller and digital I O 48 VDC regulated voltage deviations influence the speed of the motor 150 mA High 22 8 VDC 28 8 VDC Low 0 VDC 5 7 VDC transient protected 14 Open source 24 VDC max 1 A with 24 V short circuit proof 8 31 2 mini Combicons 7 pin 2 mini Combicons 5 pin RS 232 9 pin male D Sub IP20 0 6 10 50 5 85 without condensation Normal workshop atmosphere Vertical switch cabinet 130 x 40 x 190 mm 2 years commencing from the date of delivery 2 If the stored configuration is position controlled see Sections 3 2 and 1 3 1 en Operating Instructions 5 3 On and Off switching behavior The diagram below shows the functionally correct sequence when the ECMR is switched On and Off Caution Before enabling ensure that the proper configuration is stored for the device ZL vs hat pra vi 48 VE he ge ply o ha motor 8 VDC mus MON ECH Operating Instructions EC Motor Controller ECMR 5 4 Emergency off function The emergency off function serves to bring the connected device to a standstill as quickly as possible in the event of danger The emergency off function must be able to be initiated by a single person The emergency off function must always be ready for operation and available The user should not have to think about how to use the device it should be easy to use Implementing the emergency off function Removin
50. t connected Reference proximity switch is defective Reference proximity switch is not properly configured Cable of the reference Acknowledgement Rectify error Reset Enable Perform reference run Start motion tasks Enter motion task correctly Clear error Start motion tasks Clear error Perform reference run Start motion tasks Rectify error see the mechanical operating instructions Section Zero point adjustment Clear error Enable Perform reference run 5 Peak current 6 Nominal current 8 Software limit switch 1 9 Software limit switch 2 10 Following error proximity switch is defective Encoder index cannot be found Incorrectly connected or defective encoder Load too great due to the effects of force or torque weight jammed mechanism Collision with obstruction Acceleration too high Load too great due to the effects of force or torque weight jammed mechanism Software limit switch 1 was undershot Software limit switch 2 was exceeded Device overloaded load too great due to the effects of force or torque weight jammed mechanism Acceleration too high Following error window was set too small Disablement Error message Emergency brake ramp Disablement Error message Emergency brake ramp Disablement Error message Emergency brake ramp Disablement Error message Emergency brake ramp Disable Error message MONAECH Oper
51. te i immediately by 140 High Level Delay time by time by V O or time Motion task no Next motion task no Transition Transition from target to target R Motion task number Number of the next motion task The transition between the current motion task and the next motion task can be selected in this drop down menu 33 MON ECH Operating Instructions EC Motor Controller ECMR v 0 The drive brakes to standstill before the next motion task is started motion task next motion task velocity 5 reached From target The drive travels with v of the current motion task to the target position and accelerates brakes on the fly to v of the next motion task For acceleration as well as for braking the configured acceleration acc of the next motion task is used For opposite motion tasks the function v 0 must be selected motion task next motion task velocity time s reached To target The drive travels with v of the current motion task and accelerates brakes with the configured delay dec so that it reaches the speed of the next motion task at the target position For opposite motion tasks the function v 0 must be selected motion task next motion task velocity z reached 34 MONA4ECH Operating Instructions EC Motor Contr
52. uctions EC Motor Controller ECMR 2 Dimensional drawing ECMR dimensional drawing Reference number ECMR 57332 MON ECH Operating Instructions EC Motor Controller ECMR 3 Overview quick start The explanations in this section will facilitate rapid commissioning 3 1 Select appropriate voltage supply The voltage supply of the ECMR depends on the connected device The table below lists the type of voltage supply necessary for each device Also achievable travel data such as speed and acceleration are directly dependent on the voltage level of the voltage supply Gerat Achievable speed Acceleration delay Main voltage supply Auxiliary voltage supply KUSE 8 60 400 mm s 4500 mm s 48 VDC 4A 24 VDC 1A horizontal 240 mm s 2800 mm s 24 VDC 3A KUSE 8 60 400 mm s 4500 mm s 48 VDC 4A 24 VDC 1A vertical 210 mm s 2800 mm s 24 VDC 3A KUSE 8 120 400 mm s 4500 mm s 48 VDC 4A 24 VDC 1A horizontal 240 mm s 2800 mm s 24 VDC 3A KUSE 8 120 400 mm s 4500 mm s 48 VDC 4A 24 VDC 1A vertical 210 mm s 2800 mm s 24 VDC 3A KUSE 10 80 380 mm s 4000 mm s 48 VDC 4A 24 VDC 1A horizontal 220 mm s 2200 mm s 24 VDC 3A KUSE 10 80 350 mm s 3500 mm s 48 VDC 4A 24 VDC 1A vertical 190 mm s 2000 mm s 24 VDC 3A KUSE 10 160 380 mm s 4000 mm s 48 VDC 4A 24 VDC 1A horizontal 220 mm s 2200 mm s 24 VDC 3A KUSE 10 160 350 mm s 3500 mm s 48 VDC 4A 24 VDC 1A vertical 190 mm s 2000
53. ue control The movement direction is selected via a digital input The device then travels to the end position The desired Current torque and maximum travel Speed can be defined by potentiometers Further it is possible to select from three stored torques and three stored maximum travel speeds via digital inputs 1 3 2 Start up ECMR commissioning software The device connected to the ECMR must be adjusted to the conditions of the application Setting the parameters is not performed on the ECMR itself but rather on a personal computer PC using the Start up ECMR commissioning software The PC is connected to the ECMR with a null modem line serial The commissioning software establishes communication between PC and ECMR With a minimum of effort parameters can be changed sent to the ECMR and the changes applied in the connected device Actual values are periodically read out from the ECMR and displayed in the status line of the commissioning software Configurations and motion task tables can be saved archived to a storage medium and reloaded MON4ECH Operating Instructions EC Motor Controller ECMR The following minimum requirements must be met in order to commission the ECMR using the Start up ECMR software Processor Intel Pentium or higher Operating system WINDOWS Vista XP 2000 NT ME 98 95 Graphics card Windows compatible color Resolution At least 800 x 600 pixels Drives CD drive
54. v CONFIGURATION unknown KUSE 10 160 horizontal No reference Current mA Actual position Actual error CONFIGURATION KUSE 8 60 horizontal v Enable 170 configuration Reset device Errors Start ref run Motion tasks Stop ref run Load configuration Save configuration Software bent matcher Moving Iran wade ja an Disable No reference Current 120mA Actual position O pm Mo error Talha berdi swabch 1 a m Operated for hours weel Fel Oies v i 20 me 262 ma um Solhvwe berat geatch 2 ur pm Fokowang emer um Operated For 13 hours 27 MON ECH Operating Instructions EC Motor Controller ECMR 5 10 1 Communication In the Communication field you can configure the settings for the serial communication via the RS232 interface To enable communication with the ECMR the COM port to which the ECMR is connected has to be selected in the drop down menu Communication can be checked with the Read button Following successful reading the current configuration of the ECMR and its firmware version are displayed The buttons that initiate communication are located in the top right corner of the PARAMETERS field Read Reads the current configuration and stored parameters Write Writes the selected configuration and parameters that have been set If the Read or Write button is actuated the transmission progress is shown in a separat

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