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JetMove 215B-480

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2. if li T H x31 Et T Al O Ha BE 1 f 1 S I AF 7 E Fig 1 Double earthing Important Do not install an earth leakage current breaker in the mains power supply Do not install a leakage current protection switch in the supply line If in spite of this an earth leakage current breaker is installed it will switch off the digital servo amplifier JetMove 215B 480 although there is no fault If an earth leakage current breaker has to be integrated into the JetMove 215B 480 an isolating transformer has to be applied 15 1 Safety Instructions 1 3 Residual Dangers 1 3 1 Hazards during operation HAZARD caused by high operating voltage Extremely hazardous voltages of up to 850 V may occur These voltages lead to muscle cramps burns unconsciousness respiratory standstill and death Warning gt During operation all coverings and control cabinet doors have to be kept u closed gt Do not open the device gt Do by no means disconnect the electric connections of the digital servo u amplifier JetMove 215B 480 when it is live gt Do not touch the terminals X1 X62 and X63 while the servo amplifier o is running In
3. O O O ag ag ag Mm Mm Mm O O O ag Mm oO Mm m m D D D m m D J D Mm Mm D J I I m m J D I m m D D ag ag ag m m m G O Fig 17 Wiring of X63 for coupling DC links of up to three JetMove 215B 480 Coupling DC links guarantees equal distribution of load for all internal ballast resistors A special ballast circuit ensures that the braking energy which is not used by another amplifier is equally distributed among all ballast resistors Important Requirements on the coupling of DC link circuits Before connecting a coupled JetMove 215B 480 completely connect all wires of X63 Otherwise the device could be damaged Do not couple more than three JetMove 215B 480 67 7 Description of Connections aA Do not couple the JetMove 215B 480 with other amplifier types Do not enable the other JetMove 215B 480 devices if one of the coupled devices is not ready for operation The power supplies of coupled JetMove 215B 480 have to be activated i and deactivated simultaneously For this reason please connect the supply lines of the coupled JetMove 215B 480 with identical contactors and fuses as well as identical cable diameters and cable lengths difference lt 0 5 m D The minimum cable size for a DC link coupl
4. motor i Note gt wit EL Laa A free wheeling diode is needed in case it has not been integrated in the motor 24 V A In Jetter motors free wheeling OV er diodes have not been integrated Recommended diode type Strain relief 1N4002 Connect the shield with a at the h t EAL metallized connector or JetMove 2xx motor housing ats ER i Brake if H Q Brake yellow green PE a A Core 1 Phase 1 Motor a Core 2 Phase 2 a N Core 3 Phase 3 O Fig 9 Connection of motor lines Jetter AG 47 7 Description of Connections 48 Solder Side Fig 10 View on the SC series mating connector of the motor internal thread M23 7 2 3 Motor power cable with mating connector SC Note The suitable mating connector SC female connector can be ordered from Jetter AG by supplying the following particulars Article no 15100070 Motor mating connector for the Jetter motor types JH2 JH3 JH4 JH5 JL2 JL3 JL4 JK4 JK5 JK6 without brake Article no 15100105 Motor mating connector for the Jetter motor types JH2 JH3 JH4 JH5 JL2 JL3 JL4 JK4 JK5 JK6 with brake Note The motor power cable with mating connector SC for the Jetter motor types JL2 JL3 JL4 JK5 JK6 JH2 JH3 JH4 and JH5 can be purchased from Jetter AG It is equipped with the respective motor mating connector a
5. EEEE 321 6 lial wi 72 e Oo00000000 BaR 2B TS 00000 5 ve SAN Homm z i b I p 215a 277 F Fig 5 Physical dimensions of the JetMove 215B 480 in mm 33 4 Physical Dimensions 34 Jetter AG JetMove 215B 480 5 1 Electrical Specifications 5 Technical Data 5 1 Electrical Specifications Jetter AG Electrical Specifications Rated voltage supply Power supply tolerance e 3 phase Direct supply Vims 3x400 480 V Common mode of the voltage 2 max voltage dips at continuous output of 10 ms max e 48 62 Hz frequency change 2 s max 15 10 Inrush current limitation Overload protection lt 10 A limited to lt 500 ms during the switch on sequence For each phase an external overload protection is required for example Circuit breaker 32 AC Fuse 32 AM medium time lag Motor circuit breaker 32 A For systems with UL approval use overload protection devices that are UL listed acc to UL 508 NKJH self protected combination motor controller Specification 480 V 32 A The JetMove 215B 480 is suitable for use on a circuit capable of delivering not more th
6. Solder Side Connect shield with the greatest possible surface area Use metallized housing only Signal unassigned unassigned Core Color DATA RS 485 DATA RS 485 unassigned unassigned Clock RS 485 Clock RS 485 OV pink 5 V power supply 200 mA max unassigned black 11 unassigned g 12 Pin 9 and pin 12 are short circuited thermal sensor HIPERFACE The measurements of the EnDat mating connector are specified in millimeters Jetter AG 109 14 Counting Input Option 14 2 4 Power supply of the encoder The optional counter card supplies a voltage of 5 V 5 The EnDat encoders by Heidenhain have been specified to 3 6 through 5 25 V of 0 2 A max This results in a maximum voltage drop of AU 1 15 V on the EnDat cable The voltage drop can generally be calculated as follows DoT TERE Ke E AU y 161 m By means of AU Voltage drop in V the instructions L Current consumption by the measuring device in A A Cross section of the supply cable in mm l Cable length y Electric conductivity for copper 56 5 Qmm Example At a cable cross section of 0 34 mm there results a maximum cable length of 54 74 m or at a cable length of 80 m the following cross section is needed A 0 5 mm By a double wiring arrangement the cable length can be doubled 110 Jetter AG JetMove 215B 480 14 3 Syn
7. In order to prevent electric shocks ground the digital servo amplifier er JetMove 215B 480 by all means via two positions for this refer to chapter 1 2 3 Earthing procedure page 14 Danger Compatible Synchronous Servo Motors Motor types Jetter motor types JL JK and JH and Bautz motor types M and F Please refer to Jetter Motor Catalog or contact the sales department of Jetter AG Note _ In case you intend to use motors other than the types mentioned above please za contact Jetter AG 5 2 Motor Protection There are three ways of motor protection 5 2 1 Built in thermal sensor The JetMove 215B 480 servo amplifier is able to run by means of three different temperature sensors and to evaluate their data Sensor type KTY83 110 PTC Temperature switch Jetter AG Type of sensor signal evaluation The temperature is measured in C The warning level is adjustable Activation of an error message at maximum motor temperature Go no go decision Activation of an error message at maximum motor temperature Go no go decision Activation of an error message at maximum motor temperature 39 5 Technical Data 40 5 2 2 Pt calculation The digital servo amplifier JetMove 215B 480 calculates the model of motor power loss by an I t calculation The calculated value is a measure of the average power dissipation of the motor It is calculated in percent of the maximum motor power dissipation For
8. enclosure Mating Connector __ 52 wrap nut mr seal and 519 gt pull relief element 826 Attaching screws must und Solder have a metric thread Side Connect shield with the greatest possible surface area Use metallized housing only Pin Signal Core Color Pin 3 Cosine blue 1 2 5 R1R exciter winding 6 R2L exciter 6 winding 9 Th1 white 7 thermal sensor Th2 8 thermal sensor unassigned 9 12 Dimensions of the resolver mating connector are specified in millimeters 56 Jetter AG JetMove 215B 480 7 4 HIPERFACE Connection 7 4 HIPERFACE Connection 7 4 1 Specifications Specifications of the Mating Connector for X61 ENCODER e 9 pin male SUB D connector e Metallized enclosure Specification of HIPERFACE Cable e Cable size 4 2 0 14 mm 2 0 5 mm AWG 26 8 AWG 20 2 2 0 5 mm AWG 20 2 must be used for the power supply unit and for GND e Cores have to be twisted in pairs and have to be included in an overall shielding e The following signal lines have to be twisted in pairs Sine and reference sine Cosine and reference cosine DATA and DATA 0 V and power supply e The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area e Material Copper e Temperature class 60
9. 0 V and voltage supply e The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area e Material Copper e Temperature class 60 C e Maximum cable length 100 m 14 2 3 EnDat cable with mating connector J Note gt ai The resolver HIPERFACE respectively EnDat mating connector of the Jetter motor types JL JK and JH and can be ordered from Jetter AG by supplying the following particulars Article no 15100069 Resolver HIPERFACE The complete HIPERFACE EnDat cable between the servo amplifier series JetMove 2xx and the Jetter motor types JL JK and JH can be ordered from Jetter AG by supplying the following cable confection number KAY_0723 xxXxXx For the servo amplifier series JetMove 2xx HIPERFACE mating connector solder side Fig 31 View on RC series mating connector of the EnDat internal thread M23 108 Jetter AG JetMove 215B 480 14 2 EnDat 2 2 HIPERFACE EnDat Cable KAY_0723 xxxx JetMove 2xx Shielding Motor EnDat SUB D male female solder connector X72 side Solder Side enclosure Mating Connector wrap nut ee seal and pull relief element Attaching screws 5 2 0 25 mm must have a metric thread shield case 360 round connection of gt the shield mesh
10. 105 13 Safe Standstill Option 106 Jetter AG JetMove 215B 480 Jetter AG 14 1 Function 14 Counting Input Option 14 1 Function For the digital servo amplifier JetMove 215B 480 an optional integrated counter card can be ordered article designation of the device JM 215B 480 CNT It supplies a counting input equipped with the following interface e EnDat 2 2 by Heidenhain e Synchronous Serial Interface SSI e Incremental counter The received or counted value of an actual position can be read via a JetMove register by the controller program or processed by the firmware of the JetMove in the controllers 14 2 EnDat 2 2 14 2 1 Technical data Technical Data of the Input EnDat 2 2 Encoder types Absolute encoders single multiturn or linear Maximum cable length 100 m Type of signal 5 V differential signals Input impedance 22 kQ Bus termination 120 Q integrated resistance Electrical isolation 107 14 Counting Input Option 14 2 2 Description of connections Specification of Mating Connector for X72 e 9 pin male SUB D connector e Metallized enclosure EnDat Cable Specification e Cable size 4 2 0 14 mm 2 0 25 mm AWG 26 4 AWG 23 2 2 0 25 mm must be used for the power supply unit and for GND e The cables have to be twisted in pairs and included in an overall shielding e The following signal lines have to be twisted in pairs DATA and DATA Clock and Clock
11. 29 29 115 46 30 94 33 29 30 44 12 69 12 Electric shock High operating voltage Hot surfaces Mechanic force 18 27 28 39 Potentially explosive atmosphere 17 Resolver cable Cable confection no 23 S Safe Standstill option Scope of delivery Servicing Setting the IP address Seven segment display Mode 0 Normal operation Mode 1 Commissioning Sin cos encoder connection SSI cable System bus cable Cable confection no 530 Specification T Technical data Terminal box of the motor V Vibration resistance W Wiring diagram 56 95 23 12 92 75 76 60 112 73 12 35 54 30 83 Jetter AG JetMove 215B 480 Appendix Jetter AG 127 Jetter Jetter AG Graeterstrasse 2 71642 Ludwigsburg Germany Germany Phone 49 7141 2550 0 Phone Sales 49 7141 2550 433 Telefax Sales 49 7141 2550 484 Hotline 49 7141 2550 444 Internet http Awww jetter de E mail sales jetter de Jetter Subsidiaries Jetter Schweiz AG Jetter USA Inc Henauer Stra e 2 13075 US Highway 19 North CH 9524 Zuzwil Florida 33764 Clearwater Phone 41 71 91879 50 Phone 1 727 532 8510 Telefax 41 71 91879 59 Telefax 1 727 532 8507 E mail info jetterag ch E mail bschulze jetterus com Internet http www jetterag ch Internet http www jetter de 128 Jetter AG
12. AWG 20 2 must be used for the power supply unit and for GND e Cores have to be twisted in pairs and have to be included in an overall shielding e The following signal lines have to be twisted in pairs Sine and reference sine Cosine and reference cosine Index and reference index 0 V and voltage supply e The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area e Material Copper e Temperature class 60 C e Max cable length 100 m Jetter AG JetMove 215B 480 Jetter AG 7 5 Sin Cos Encoder Connection 7 3 3 Connection diagram JM 200 ENC ADAP Sin Cos Encoder JetMove DXX Motor Temp Sensor Fig 14 Sin cos encoder connection with adapter 61 7 Description of Connections 62 Sin Cos Encoder Cable JetMove 2xx Shielding SUB D connector X61 with Adapter JM 200 ENC ADAP Attaching screws must Connect shield with the greatest possible surface have a metric thread area Use metallized housing only Pin Signal 7 Sine 2 Reference sine 8 Cosine 3 Reference cosine 1 Index 6 Reference index 4 OV 5 Power supply 5 V 100 mA max 9 unassigned Jetter AG JetMove 215B 480 7 5 Sin Cos Encoder Connection CS Important To be considered before connecting sin cos encoders gt If a sin cos encoder is to be used commutation finding always has to _ be carried out after applying
13. Bus cable coming from previous bus member Bus cable leading to next bus member BUS IN BUS OUT 9 4 3 1 O O O O oO Cos R Co U L Term 5 8 X61 O O ie ie Sin R Si 2 refer to page 64 External ballast resistor and DC link for connection with further devices Lf BRint UB UB UB UB UB BRC BRc Dig inputs Logic power supply Digital outputs Load for digital outputs JetMove 215B 480 X62 X1 Motor 3 x AC 400 V W2 V2 W PE Ul VI WI PE l I l 1 I 2 Filter l I Eye 1 Contactor Fig 20 Connection diagram of JetMove 215B 480 with HIPERFACE encoder Jetter AG JetMove 215B 480 Jetter AG Key to the connection diagrams O a Q N Line filter optional refer to Line filter on page 36 Mains protection refer to Overload protection on page 35 Motor Motor holding brake optional Resolver or HIPERFACE encoder Motor overtemperature protection 85 86 Jetter AG JetMove 215B 480 Jetter AG 11 Analog Input Option 11 An
14. Connect shield with the greatest possible surface area Use metallized housing only Pin Signal Core Color Pin unassigned 1 unassigned 2 7 Sine white 3 2 Reference sine brown 4 8 Cosine green 5 3 Reference cosine yellow 6 6 DATA RS 485 gray 7 1 DATA RS 485 pink 8 4 OV blue 9 5 Power supply red 10 7 through 12 V 9 Thermal sensor black 11 Thermal sensor 12 Pin 9 and pin 12 are short circuited Dimensions of the HIPERFACE mating connector are specified in millimeters Jetter AG 59 7 Description of Connections 60 7 5 Sin Cos Encoder Connection 7 5 1 Adapter An adapter is needed for connecting a sin cos encoder This adapter can be obtained from Jetter AG by the following specification JM 200 ENC ADAP Article no 10000430 Another 9 pin SUB D connector of the encoder cable can be connected to this adapter Further this adapter allows for connecting an individual temperature sensor of the motor as normally these signals are not conducted via the encoder cable if a sin cos encoder is used 7 5 2 Specifications Specifications of the Mating Connector for X61 ENCODER e 9 pin male SUB D connector e Metallized enclosure Sin Cos Encoder Cable Specifications e Cable size 2 2 0 14 mm 2 0 5 mm AWG 26 4 AWG 20 2 if there is no index signal e Cable size 3 2 0 14 mm 2 0 5 mm AWG 26 6 AWG 20 2 if there is no index signal e 2 0 5 mm
15. F 18 Hardware limit One hardware Stop atmax Check target position switch has been limit switch has current max Check reference actuated tripped torque position Acknowledge failure Return the axis to a position within the machine travel limits monitoring of hardware limit switches is re enabled automatically at entering this range Jetter AG 19 Error Number F 24 combined with F 01 F 25 F 27 combined with F 01 JetMove 215B 480 Table of Motor Faults Type of Error Undervoltage in the DC link Overvoltage DC link voltage The drive has stalled Tracking error Error in 24 V supply voltage Internal power supply error Description The DC link voltage is less than the set minimum value The DC link voltage has exceeded the set maximum value The drive could not overcome the n 0 threshold within the time limit specified by the parameter blocking tripping time The tracking error has exceeded the limit defined in the parameter tracking error limit for the time specified in tracking error window time The external 24 V supply has actually been lower than 18 V One or more internal supply voltages have fallen below their limits Error Response Stop with emergency deceleration ramp Stop with emergency deceleration ramp Immediate controller disable Stop with emergency deceleration ramp Immediate controller dis
16. devices that are related to the same potential as the power supply of the controller logic Can be switched by the control program of PLC or by operating system of JetMove 215B 480 together with software enable 4 Transistor pnp type 24 V 20 30 V related to the ground potential of voltage supply of processor logics max 0 5 A output none Short circuit proof overload overvoltage overtemperature protection Yes Type V 1 5 V supply Output stage 250 W max Logic circuit 20 W max Jetter AG 3 5 Technical Data 38 Note 1 Active Cooling e The fan is activated at 60 C and deactivated at 40 C e The temperature limit for overtemperature protection is set dynamically depending on the overload limit A T 120 C o Cee tre E EEE BO A nee nee eee TC ee a nn a oo BE oe is 1 2 AM Overload Fig 6 Maximum heat sink temperature depending on the motor current Shutdown threshold for heat sink temperature monitoring uuununun Alarm threshold for heat sink temperature monitoring e The duration of operation by maximum motor current is evaluated by a starting temperature of 45 C at the heat sink Note 2 A line filter can supply several digital servo amplifiers as long as I line filter current is greater than the total current required by all connected servo amplifiers Jetter AG JetMove 215B 480 5 2 Motor Protection DANGER resulting from electric shock
17. 1 5 mm AWG 16 6 The wires are equipped with wire end ferrules Mating Connector Cable Strap Motor Cable Pin X62 U2 X62 V2 X62 W2 X62 PE X10 BRAKE2 X10 GND Highly flexible 6 wire cable with PE GND separately shielded brake lines and all over shielding cable enclosure my wrap nut a seal and pull relief element shield case 360 round gt connection of the shield mesh cores Connect both sides of the shield with the greatest possible surface area Use metallized housing only Wire Number U1 V2 W3 yellow green BR1 BR2 Signal Phase 1 Phase 2 Phase 3 PE conductor Brake Brake Mating Connector of the Motor female solder side Solder Side 65 Solder Side Pin Dimensions of the motor mating connector are specified in millimeters Jetter AG JetMove 215B 480 7 7 ll Jetter AG Solder Side 7 2 Motor Connection 7 2 4 Motor power cable with mating connector SM Note The suitable mating connector SM female connector can be ordered from Jetter AG by supplying the following particulars Article no 60860443 Motor mating connector forthe motortypes JL5 JL6 JL7 JL8 and JK7 Note The motor power cable with mating connector SM matchin
18. A fault has been recognized An adjustable error reaction may have been activated The drive controller is locked the error can be acknowledged Error number X X has occurred Warning has been activated Boot sector has been activated OS flash gets deleted Flashing E Flashing L Flashing P Flashing U OS flash gets deleted OS loader gets loaded OS is transferred to the flash memory The boot sector waits for OS update JetMove 215B 480 7 Segment Display Mode 1 Commissioning Meaning N As Is Value lt 0 5 n max M gt 0 n gt 0 gt quadrant M lt 0 n gt 0 gt quadrant II M lt 0 n lt 0 gt quadrant III Meaning Mode of operation Motor Mode of operation Generator Mode of operation Motor M gt 0 n lt 0 gt quadrant IV Mode of operation Generator Positive current limit has been reached Negative current limit has been reached Jetter AG JetMove 215B 480 9 9 1 Diagnostics Error Messages 9 1 Error Messages Note _ In the case of an error message the letter F and two successive numbers m appear on the segment display every second JetMove 215B 480 Table of Motor Faults Error Type of Error Description Error Rectification Number Response Hardware error Internal power supply error Internal hardware defect One or more power supply voltages are beyond their limits Immed
19. C e Max cable length 50 m 7 4 2 HIPERFACE cable with mating connector J Note r N The resolver respectively HIPERFACE mating connector of the Jetter motor types JL JK and JH and can be ordered from Jetter AG by supplying the following particulars Article no 15100069 Resolver HIPERFACE The complete HIPERFACE cable between the servo amplifier series JetMove 2xx and the Jetter motor types JL JK and JH can be ordered from Jetter AG It can be ordered by supplying the following cable designation and the respective cable length in cm KAY _0723 xXxxx for the digital servo amplifier series JetMove 2xx Jetter AG 57 58 7 Description of Connections HIPERFACE mating connector solder side Solder Side Fig 13 RC series HIPERFACE mating connector internal thread M23 Jetter AG JetMove 215B 480 7 4 HIPERFACE Connection HIPERFACE Cable KAY_0723 xxxx JetMove 2xx Shielding Motor SUB D connector HIPERFACE X61 female solder side Solder cable Side j A Shi Mating Se Connector as te seal and pull relief Ran 019 gt element lt 926 shield case A the shield mesh Po Solder Side cores Attaching screws must have a metric thread
20. Q PTC e Continuous output 210 Watt energy dissipation is dependent on the actual heat sink temperature e Maximum capacity 11 kW for 0 6 s e Overload protection internal warning and error In order to achieve greater brake power an external ballast resistor can be installed For this see Connection of External Ballast Resistor and DC Link Circuit of Another JM 215B 480 on page 64 Residual voltage To avoid hazard of electrical shock wait at least 7 minutes after switching off the digital servo amplifier before attempting to pull out the plug or remove this unit see Page 18 Leakage current gt 3 5 mA See Danger on page 39 Jetter AG JetMove 215B 480 5 1 Electrical Specifications Electrical Specifications Digital inputs Enable E Reference switch R Limit switch right L Limit switch left L Input Inp Braking relay Digital outputs Number of outputs Type of outputs Rated voltage Voltage range Load current Electrical isolation Protective circuit Protection against inductive loads Signal voltage ON Power loss P DC 20 V 30 V related to the ground potential of voltage supply of processor logics with an input current of 7 5 mA max each see Digital Inputs Logic Power Supply on page 69 Vmax DC 30 V Imax DC 2A Contact Type NO connected to BR1 and BR2 on X10 The lines may only be connected to
21. country apply to disposing of the digital servo JetMove 215B 480 amplifier on the operating company s premises You can disassemble the digital servo amplifier JetMove 215B 480 into its main components by unscrewing it aluminium heat sink and side plate steel casing cover electronic boards 1 2 Ensure Your Own Safety je Isolate the digital servo amplifier JetMove 215B 480 from the mains if maintenance works have to be carried out By doing so you will prevent accidents resulting from electric voltage and moving parts Please follow the information given in chapter 1 3 Residual Dangers page 16 D Safety and protective devices e g the barrier and cover of the terminal box must never be shunted or by passed pes Dismantled protective equipment such as the fuses and the thermal motor i L a C circuit breakers must be reattached prior to commissioning and checked for proper functioning Before commissioning the machine manufacturer must carry out a danger analysis of the respective machine and take adequate measures so that inadvertent motions will not lead to personal injury and to material damage 1 2 1 Malfunctions gt In the case of malfunctions or other faults please immediately i separate the digital servo amplifier JetMove 215B 480 from the mains Please follow the information given in chapter 1 3 Residual Dangers page 16 gt Malfunctions or other damages are to be reported to a responsible
22. of the article JM 215B 480 S1 13 1 Introduction The option Safe Standstill serves for safe de energising of the motor if personal or material damage caused by a moving or inadvertently started motor is to be safely prevented This safe switching off meets the stop class 0 to EN 60204 Additionally by this function a safe restart inhibit has been supplied as long as the inputs for enable are not being controlled any restart of the motion system is blocked Notes and descriptions on this can be found in this manual For controlling these functions there exist the terminals Enable1 COM and Enable2 In order to make dual channel switch off possible two independent enable inputs and ground reference are needed The ground reference of the enable inputs COM is potentially isolated from the ground reference of the servo amplifier see Common ground on page 70 The ground reference of enable inputs can differ by up to 100 V from the ground of the control system jae ENABLE 1 com COM me ENABLE 2 X13 Fig 21 Connection X73 for Safe Standstill Note Even if the device has been equipped with the option S1 the function of the ENABLE input at the terminal array X10 is still active This means that the motion system can only produce a certain torque if this input has been connected to 24 V against _L reference ground 95 13 Safe Standstill Option 13 2 Motion System JM 215B 480 S1 The following fig
23. servo amplifier to the input Enable1 and Enable2 individually There are alternating interruptions of 1 ms max with each signal which serve checking the signals for shorts between contacts short circuits or interference voltages OSSD signals This interruption of 1 ms max does not lead to deactivating the servo amplifier though At calling up the safety function the signals are omitted This blocks the servo controller from being activated In case of an error it is sufficient that at least one of those two signals is omitted in order to switch off the motor safely dual channel switch off Deactivating the inputs leads to immediate switching off the motor Stop Category 0 Possible errors such as short circuits shorts between contacts or a quadrature axis component of voltage can be recognized and safely controlled Following this example Safe Standstill according to EN 954 1 Category 3 with Stop Category 0 according to EN 60204 can be set up if all safety devices involved also meet the requirements of Category 3 102 Jetter AG JetMove 215B 480 13 Safe Standstill Option 13 5 5 Application 4 DC 24 V 23 K1 Contact 24 O for the K1 13 Ko i Brakes Safety 44 44 Device 24 JetMove D 2xx mot A1 A1 22 X73 X83 A2 A2 C OV Fig 28 Application 4 The safety device activates relay K1 which activates the digital servo amplifier via NOC 13 14 and the controller input INPUT via another NOC 23 24 This input h
24. such as muscle cramps burns unconsciousness respiratory standstill etc and possibly Danger death A high DC link voltage is applied to each of the eight terminals X63 Please do never establish a connection to these terminals while power is being supplied to the JetMove 215B 480 or up to 7 minutes after having separated the JetMove 215B 480 from the power supply gt Ballast System When a mechanic system is braked by the motor the energy will be given back to the servo amplifier This energy is led to the ballast resistor to convert it into heat The ballast resistor is switched into the DC link circuit by the ballast circuit The JetMove 215B 480 is supplied with an internal ballast resistor If the power that is supplied back is too high for the internal resistor an external ballast resistor can be added It is also possible to run the JetMove 215B 480 with an external ballast resistor only 64 Jetter AG JetMove 215B 480 7 6 External Ballast Resistor and DC Link Connection Use of internal ballast resistor delivered condition BRint UB UB UB UB t UB BRc BRc pi L Fig 15 Wiring of X63 for connecting the internal ballast resistor For the use of the internal ballast resistor the terminal BRint and one BRc terminal of X63 have to be connected T
25. switches to interrupt the power supply of the motor e Another safety precaution would be installing a guard Make sure that hazards to persons are precluded even when the drive is moving unintentionally A Do not remove any guards 7 Do not wear gloves lest they should get caught in the rotating shaft Never touch a rotating drive shaft 17 1 Safety Instructions 1 3 2 Hazards after POWER has been turned OFF DANGER resulting from electric shock Up to 7 minutes after switching off the operating voltages capacitors still carry hazardous residual voltages l 5 gt As a precaution measure the voltage in the DC link circuit amplifier Warning 5 terminal and wait until it has fallen below DC 40 V Always wait at least 7 minutes after switching off the device before separating it from the mains or loosening the connections D Always wait at least 10 minutes after switching off the device before taking i the following actions Touching the screws of the terminals X1 X62 and X63 Disconnecting the terminals and touching the contacts 18 Jetter AG JetMove 215B 480 Ss Jetter AG 1 4 Instructions on EMI 1 4 Instructions on EMI The digital servo amplifier JetMove 215B 480 is intended for use in industrial surroundings This module can cause radio interferences in residential areas This module is operated at the operator s own risk The noise immunity of a system depends on the weakest com
26. this calculation it is important that the following parameters are entered correctly Continuous rated current either continuous rated motor current or continuous rated amplifier current taking the lower value of the two Overload factor and time constant of the motor The I t calculation has to be activated by JetSym or by the PLC program It is possible to parameterize the warning level The error level error 30 is set to 100 The I t value is readable in a variable of JetMove 215B 480 through JetSym or the PLC The digital servo amplifier JetMove 215B 480 calculates the percentage of motor power loss according to the following formula 2 x t 100 x average motor current rated current x t displayed value of motor power loss in t Time since start of motor running it with the average current in seconds T Motor time constant in seconds The formula shows that the 100 value will never be reached as long as the average motor current is lower than the nominal current of the motor Further calculating always starts by O at t 0 the result of the equation is 0 After some time that is by far longer than the motor time constant the result does virtually not change any more The time till error stop x 100 is a result of the following formula 2 a nfi rated current 7 average motor curren After reset the values of the important parameters are Nominal current 15A Overload fa
27. wheeling diode is needed if it has not been integrated in the motor In Jetter motors free wheeling diodes have not been integrated Recommended diode type 1N4002 Jetter AG 10 Connection Diagrams refer to page 72 refer to page 64 Bus cable coming from External ballast resistor and DC links previous bus member for connection with further devices UB UB UB BRc BRc BRint UB UB Bus cable leading to next bus member m 5 32 9 80x 3 z Nr E 5 x a 18159 Hr 1 89 X 0 ge a JetMove 215B 480 Dig inputs Logic power supply X1 Motor 3 x AC 400 V 1 1 1 1 f ul V1 WI PE outputs IE EEE I Load for digital Gnd Lt L2 L3 PE Contactor uy zZ a oO a gi Fig 19 Connection diagram of JetMove 215B 480 with resolver 83 84 Please Note A free wheeling diode is needed if it has not been integrated in the motor In Jetter motors free wheeling diodes have not been integrated Recommended diode type 1N4002 refer to page 72
28. 1 100 Jetter AG JetMove 215B 480 13 Safe Standstill Option 13 5 3 Application 2 DC 24 V Contact Contact for the for the JetMove D 2xx Safety Safety Device Device X73 X83 E ale iC OV Fig 26 Application 2 The safety device s transmit s a 24 V signal for activating the digital servo amplifier to the input Enable1 and Enable2 individually At calling up the safety function both contacts open and thus block the enabling signal In case of an error it is sufficient that at least one of those two contacts opens in order to switch off the motor safely dual channel switch off Deactivating the inputs leads to immediate switching off the motor Stop Category 0 By means of the wiring technology a short both between the contacts of the emergency stop device and between the two lines can be precluded As this application is not self testing proper function must be tested regularly These tests are to prove freedom from faults of the entire system Following this example Safe Standstill according to EN 954 1 Category 2 with Stop Category 0 according to EN 60204 can be set up if all safety devices involved also meet the requirements of Category 2 Jetter AG 101 13 Safe Standstill Option 13 5 4 Application 3 DC 24 V Safety Safety Device Device JetMove D 2xx UT UU X73 X83 late ale OV Fig 27 Application 3 The safety device s transmit s a 24 V signal for activating the digital
29. 32 through 10145 are modified Finally the changes to the configuration memory have to be saved by entering an arbitrary value into register 10100 Value Used in the Example 10100 Saving coniguaton vos Registers 10136 Subnet mask MSB 255 10137 Subnet mask 3SB 255 93 12 Ethernet Interface Option i Value Used in Registers the Example 10138 Subnet mask 2SB 10139 Subnet mask LSB 0 10140 Default gateway MSB 10141 Default gateway 3SB 10142 Default gateway 258 10143 Default gateway LSB 10144 Port number of JetIP server 50000 10145 IP address of DNS server 0OxC076D2D1 192 118 210 209 10159 Password 2002149714 0x7 7566152 ie Do not change the version number contained in register 10131 Important 12 4 3 IP address taken from the switch position In all other switch positions the IP address is taken out of the configuration memory the lowest order byte fourth octet is substituted by the position of DIP switches 1 through 8 To make up the IP address the position of DIP switches 1 through 8 is read in once during the start up procedure The actual settings of DIP switches 1 through 8 can be read out of register 10180 94 Jetter AG JetMove 215B 480 Jetter AG 13 Safe Standstill Option 13 Safe Standstill Option For the digital servo amplifier JetMove 215B 480 an optional integrated card for the Safe Standstill and Safe Restart Inhibit function can be ordered designation
30. 480 Introduction Description of Symbols This sign is to indicate a possible impending danger of serious physical damage or death Danger This sign is to indicate a possible impending danger of light physical damage l This sign is also to warn you of material damage Attention This sign indicates hazard of life due to electric shock caused by a high operating voltage This sign is to indicate hazard of serious physical damage or death due to accidentally touching dangerous parts of the device You have to wear goggles Failure to comply may lead to bodily injuries OU This sign is to warn you of material damage due to applying hard blows or shocks to the motor flange and shaft This sign is to indicate a possible impending situation which might bring damage to the product or to its surroundings It also identifies requirements necessary to ensure faultless operation Important Jetter AG 5 Introduction You will be informed of various possible applications and will receive further useful suggestions It also gives you words of advice on how to efficiently use hardware and software in order to avoid unnecessary efforts Enumerations are marked by full stops strokes or scores Operating instructions are marked by this arrow Automatically running processes or results to be achieved are marked by this arrow Reference to PC keyboard and HMI keys This symbol informs you of additional re
31. 5 Connection assignment of terminal box 54 1 3 Resolver Connection 55 7 3 1 Specifications 55 7 3 2 Resolver cable with mating connector 55 1 4 HIPERFACE Connection 57 7 4 1 Specifications 57 7 4 2 HIPERFACE cable with mating connector 57 7 5 Sin Cos Encoder Connection 60 7 5 1 Adapter 60 7 5 2 Specifications 60 7 5 3 Connection diagram 61 7 6 External Ballast Resistor and DC Link Connection 64 1 7 Digital Inputs Logic Power Supply 69 1 8 Connection Details for Digital Outputs 71 7 9 Jetter System Bus 72 7 9 1 Specifications of the Jetter system bus cable 72 8 Status Monitoring 75 9 Diagnostics 77 9 1 Error Messages T 9 2 Alarms 82 10 Connection Diagrams 83 11 Analog Input Option 87 11 1 Function 87 11 2 Technical Data 87 11 3 Description of Connections 88 12 Ethernet Interface Option 89 12 1 Function 89 12 2 Description of Connections 89 12 2 1 Connection between the JetMove 215B 480 OEM and a PC or JetControl 90 12 2 2 Connection between the JetMove 215 480 OEM and a PC or JetControl through a switch 90 12 3 Logic Circuit LEDs Switches 91 Jetter AG JetMove 215B 480 Jetter AG Table of Contents 12 3 1 LEDs 91 12 3 2 The DIP switches 92 12 4 Setting the IP Address 92 12 4 1 Default IP address 92 12 4 2 IP address from the configuration memory 92 12 4 3 IP address taken from the switch position 94 13 Safe Standstill Option 95 13 1 Introduction 95 13 2 Motion System JM 215B 480 S1 96 13 3 Safety Instructions
32. 97 13 4 Performance test 97 13 5 Demands on the safety system 97 13 5 1 Control variants for Safe Standstill 98 13 5 2 Application 1 100 13 5 3 Application 2 101 13 5 4 Application 3 102 13 5 5 Application 4 103 13 6 Block Diagram of the JM 215B 480 with the Safe Standstill Function 104 14 Counting Input Option 107 14 1 Function 107 14 2 EnDat 2 2 107 14 2 1 Technical data 107 14 2 2 Description of connections 108 14 2 3 EnDat cable with mating connector 108 14 2 4 Power supply of the encoder 110 14 3 Synchronous Serial Interface SSI 111 14 3 1 Technical data 111 14 3 2 Description of connections 111 14 3 3 SSI cable 112 14 4 Incremental Encoder 113 14 4 1 Technical data 113 14 4 2 Description of connections 113 14 4 3 Incremental encoder cable 114 15 Ordering Information 115 15 1 List of Documentation 115 15 2 Options 115 Appendix Table of Contents Appendix A Recent Revisions 119 Appendix B Differences between JetMove 215 480 and JetMove 215B 480 120 Appendix C Glossary 121 Appendix D List of Abbreviations 123 Appendix E Index of Illustrations 124 Appendix F Index 125 10 Jetter AG JetMove 215B 480 Jetter AG 1 1 General Information 1 Safety Instructions 1 1 General Information The digital servo amplifier JetMove 215B 480 fulfills the accepted safety regulations and standards Special emphasis was given to the safety of the users The following additional regulations apply to the user e pertine
33. DATA do not use OV Power supply 5 V 200 mA max Clock DATA do not use oO 1 do not use 112 Jetter AG JetMove 215B 480 Jetter AG 14 4 Incremental Encoder 14 4 Incremental Encoder 14 4 1 Technical data Technical Data of the Incremental Encoder Input Scanning 62 5 us Maximum counting rate 20 MHz Maximum cable length 100 m Type of signal 5 V differential signals Input impedance 22 kQ Bus termination 120 Q integrated resistance 14 4 2 Description of connections Specification of Mating Connector for X72 e 9 pin male SUB D connector e Metallized enclosure Specification of the Incremental Encoder Cable e Cable size 3 2 0 14 mm 2 0 25 mm AWG 26 6 AWG 23 2 2 0 25 mm must be used for the power supply unit and for GND e The cables have to be twisted in pairs and included in an overall shielding e The following signal lines have to be twisted in pairs KO and KO K1 and K1 K2 and K2 0 V and power supply e The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area e Material Copper e Temperature class 60 C e Maximum cable length 100 m 113 14 Counting Input Option 14 4 3 Incremental encoder cable Incremental Encoder Cable JetMove 2xx Shielding Specification SUB D Male Connector of the Cable Encoder signal Shi 5 V differential signal Maximu
34. JetMove 215B 480 Digital Servo Amplifier User Manual Jetter 60874944 Introduction ltem 60874944 Rev 2 01 October 2012 Printed in Germany Jetter AG reserve the right to make alterations to its products in the interest of technical progress These alterations will not necessarily be documented in every single case This user manual and the information contained herein have been compiled with due diligence Jetter AG shall not be liable for printing or general errors contained herein or for incidental or consequential damage in connection with the furnishing performance or use of this material The brand names and product names used in this document are trademarks or registered trademarks of the respective title owner Jetter AG JetMove 215B 480 Jetter AG Introduction How to Contact us Jetter AG Graeterstrasse 2 71642 Ludwigsburg Germany Phone Switchboard Phone Sales Phone Technical Hotline Fax E Mail Sales E Mail Technical Hotline Internet Address 49 7141 2550 0 49 7141 2550 433 49 7141 2550 444 49 7141 2550 484 sales jetter de hotline jetter de http www jetter de This User Manual is an Integral Part of the JetMove 215B 480 Model Serial Year of Manufacture Order To be entered by the customer Inventory Place of Operation Introduction Significance of this User Manual This user manual is an integral part o
35. Jetter AG JetMove 215B 480 13 Safe Standstill Option The following signal waveforms are accepted by the OSSD signals without triggering an error Message 24V lt 1 3 ms gt 7 0 ms OV Fig 23 Example OSSD signal waveform single pulse 24V lt 0 8 ms OV 0 5 ms lt 0 8 ms gt 7 0 ms Fig 24 Example OSSD signal waveform dual pulse Jetter AG 99 13 Safe Standstill Option The following figures show the basic illustrations of the respective applications 13 5 2 Application 1 DC 24 V Contact for Safety Device JetMove D 2xx X73 X83 jmd jmd OV Fig 25 Application 1 The safety device transmits a 24 V signal for activating the servo controller to the two parallel inputs Enable1 and Enable 2 At calling up the safety function the contact opens and thus blocks the enabling signal The digital servo amplifier safely switches off the motor power supply By opening the contact the safety function can be tested Deactivating the input leads to immediate switching off the motor Stop Category 0 Give heed that the external safety devices e g emergency stop device are of the set safety category Following this example Safe Standstill according to EN 954 1 Category 1 with Stop Category 0 according to EN 60204 can be set up if all safety devices involved also meet the requirements of Category
36. Light Emitting Diode Speed Protective Earth Protective Extra Low Voltage Power Factor Control Power loss Pulse Width Modulation RS Recommended Standard an accepted industry standard for serial data transmission RS 485 is used for transmission distances over 15 m two lines for differential mode evaluation transmitting and sending on the same line Safe Extra Low Voltage Voltage up to 60 V galvanically separated from the network Type name of a plug in connector Temperature Symbol for voltage electric potential difference 123 Appendices 124 Appendix E Index of Illustrations Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig u zen Q 1 Double earthing 15 Shielding of SUB D connectors in conformity with EMC standards 20 EMC compatible connection of motor cables 21 Rear and front view of the JetMove 215B 480 enclosure with mounting holes 25 Physical dimensions of the JetMove 215B 480 in mm 33 Maximum heat sink temperature depending on the motor current 38 Block diagram of drive controller structure 43 Power supply connection 45 Connection of motor lines 47 View on the SC series mating connector of the motor internal thread M23 48 View on the SM series mating connector of the motor internal thread M40 51 View on the RC series mating connector of the re
37. able Immediate controller disable Rectification Check the supply voltage Check parameter Uzx min trip Acknowledge failure Check the supply voltage In generator operation reduce braking power Acknowledge failure Eliminate the cause of stalling Acknowledge failure Check the drive mechanism Check steepness of acceleration deceleration ramps and amplifier parameters in relation to the parameters tracking error limit and tracking error window time Acknowledge failure Check external power supply Acknowledge failure Note the fault number Return the amplifier for repair Error in power charging circuit The input current limitation circuit is defective Immediate controller disable Note the fault number Return the amplifier for repair 80 Mains power too high The average mains power of the 400 480 V supply has been too high Immediate controller disable Acknowledge failure Reduce the average load of the motor Jetter AG JetMove 215B 480 9 1 Error Messages JetMove 215B 480 Table of Motor Faults Error Number Jetter AG Type of Error F 30 I7t error F 31 Motor overload protection to UL Asymmetric encoder signal Error at commutation finding Malfunctioning of encoder 2 only for the option CNT Description The average power loss of the motor has been greater than the max value configured by nominal moto
38. alog Input Option 11 1 Function For the digital servo amplifier JetMove 215B 480 an optional integrated analog input card can be ordered article designation of the device JM 215B 480 IA1 This card supplies an analog input of a 12 bit resolution The converted value of the measured voltage can be read by a register of the JetMove in the PLC program or processed by the firmware of the JetMove in an additional controller This way it is possible for example to realize a pressure control loop in which the motor controlled by the JetMove generates the pressure In this case a pressure sensor in the machine connected to the analog input of the JetMove would deliver the actual pressure value to the control loop 11 2 Technical Data Technical Data for the Analog Input Type of connection SUB D connector male at the device 0 32767 resolution in steps of 8 Accuracy Zero error max 5 LSB 40 values correspond to 12 2 mV Gain error max 10 LSB 80 values correspond to 24 4 mV 87 11 Analog Input Option 88 11 3 Description of Connections Specification of Mating Connector for X72 e 9 pin female SUB D connector e Metallized enclosure Specification of the Cable leading to the Analog Input e Cable size 2 0 14 mm min AWG 26 2 e Cores have to be twisted and entirely shielded e The shield must be connected to the connector housings on both ends of the cable with the greatest possible s
39. amplifier JetMove 215B 480 is not a safety relevant device according to the machinery directive 2006 42 EG Therefore using this servo amplifier for safety relevant applications as regards safety of persons is neither adequate nor permitted 11 1 Safety Instructions 12 1 1 3 Qualified personnel Depending on individual phases of the product life cycle there are different demands on the personnel being involved These demands have to be met in order to grant safety in handling the JetMove 2215B 480 at each phase of the product life cycle Phase of the Product Minimum Demands on the Personnel Life Cycle Transport Storage Only properly trained and instructed personnel with knowledge of correctly handling electrostatically sensitive components Mounting Trained personnel specified in electrical engineering Installation such as industrial electronics engineers Commissioning Trained and instructed specialist personnel having got Programming broad knowledge and experience in electrical engineering motion systems such as industrial electronics engineers of automation engineering Operation Only trained instructed and authorized personnel with knowledge of correctly handling electrostatically sensitive devices Decommissioning Trained personnel specified in electrical automotive engineering such as industrial electronics engineers 1 1 4 Modifications and alterations to the module Due to safety reasons no modi
40. an 50 000 rms symmetrical Ampere Supply cable Cable size 4 2 5 mm min AWG 14 Material Copper Temperature class gt 60 C Max output voltage of the motor 850 V Motor output current at an ambient temperature of 45 C Continuous output Nominal current lng 15 A Peak current for a max period of 5 minutes lims 30 A The duration depends on the temperature of the heat sink See Note 1 on page 38 5 5 kW 7 49 hp 35 5 Technical Data 36 Electrical Specifications Short circuit protection motor side Motor overload protection Motor cable Cable size Material Capacitance Temperature class Max length of the motor cable Line filter Voltage supply of processor logics demands on power supply module Internal ballast resistor External ballast resistor Designed for e Phase to phase e Phase to earth Refer to Motor Protection on page 39 4 2 5 mm min AWG 14 Copper lt 150 pF m gt 60 C max 50 m for greater lengths please contact Jetter AG Line filter ensuring EMC in a residential environment to DIN EN 61800 3 The following filters can be applied with input circuits FMAC 932 1610 with I 16 A FMAC 932 2510 with I 25 A FMAC 934 3610 with I 36 A See Note 2 on page 38 e DC24V 20 30V e lt 0 6A e The voltage output of the power supply unit must comply with the SELV or PELV type e Resistor 60
41. as to be configured either by the controller program or via the motion setup in a way that at O V the emergency stop function of the servo amplifier is activated At the same time as relay K1 a dropout delayed safety relay K2 is activated Its NOC is series connected to a contact monitoring the motor speed The contact of the speed monitoring is closed while the motor is running it opens at zero speed When the Safety function is called up relays K1 and K2 are deactivated By opening the NOC 23 24 of K1 triggers a controlled braking process The servo amplifier still remains active until relay K2 also drops out due to the drop out delay or until the motor has come to a standstill due to the braking process that has been triggered Deactivating the Enable1 and Enable2 inputs leads to switching off the motor immediately after a pre defined delay time respectively after the motor has come to a standstill Stop Category 1 In case switching off or braking fails the time relay K2 limits the maximum runtime in order to always grant safe switching off the power supply when the set time value has been reached The option of stopping via the emergency stop function as shown in the example circuit Application 4 need not necessarily be provided The motion system can also be ramped down by a control instruction or by a mechanical brake Please make sure that the timing element time relay grants safe switching off Following this example Safe Sta
42. chronous Serial Interface SSI 14 3 Synchronous Serial Interface SSI 14 3 1 Technical data Maximum cable length 50 100 m Type of signal 5 V differential signals Input impedance 22 kQ Bus termination 120 Q integrated resistance 14 3 2 Description of connections Specification of Mating Connector for X72 e 9 pin male SUB D connector e Metallized enclosure Specification of SSI Cable e Cable size 4 2 0 14 mm 2 0 25 mm AWG 26 4 AWG 23 2 2 0 25 mm must be used for the power supply unit and for GND e The cables have to be twisted in pairs and included in an overall shielding e The following signal lines have to be twisted in pairs Clock and Clock DATA and DATA 0 V and voltage supply e The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area e Material Copper e Temperature class 60 C e Maximum cable length 100 m Dependent on the encoder type the transmission frequency has to be reduced due to the signal runtimes in long cables Jetter AG 111 14 Counting Input Option 14 3 3 SSI cable JetMove 2xx SUB D Male Connector Attaching screws must have a metric thread SSI Cable Shielding Specifications of the Cable Encoder signal Shi 5 V differential signal Maximum cable length 100 m Connect shield with the greatest possible surface area Use metallized housing only Signal Clock
43. ction on page 35 Protecting the motor cables is not advisable Select the cables according to standards Check whether all ground cables are connected double earthing see chapter 1 2 3 Earthing procedure page 14 gt To connect resolvers or power units you can use prefabricated cables u available from Jetter or opt for self made cables For details see chapter 7 Description of Connections page 45 p To ensure that installation is carried out in conformance with EMC J regulations the following items have to be observed especially If possible run control cables and power cables separately Connect the encoder resolver or HIPERFACE encoder Use shielded terminals or EMC compatible connectors Connect holding brake if available and connect shields on both sides of the cables Connect the motor lines according to fig 3 page 21 Please further note the chapter 1 4 Instructions on EMI page 19 26 Jetter AG JetMove 215B 480 2 4 Checking the Installation 2 4 Checking the Installation p Check motor and servo amplifier wiring and connections by means of the connection diagrams Check the holding brake if existing for proper functioning Check to see whether all necessary protection measures against f accidental contact with live or moving parts have been taken P Carry out any other checks specific to or required for your system 2 5 Notes on Safety as regards the Insta
44. ctor 2 Motor time constant 1 800 s 30 min Jetter AG JetMove 215B 480 5 2 Motor Protection With these parameters the 100 error level will be reached if for example the motor is run by a current of 30 A for about 8 minutes and 30 seconds Because of the fact that after reset the lt calculation always starts with zero the motor overload calculation is wrong if the motor is already hot when the digital ie servo amplifier JetMove 215B 480 is switched on i e at the time of parameters of I t calculation are written after switching on 24 V logic power supply Important 5 2 3 Motor overload protection according to UL The UL standard prescribes a motor overload detection for a servo amplifier according to the following criteria The trip current is defined to be 1 15 times the user set continuous rated current e Ifthe average motor current corresponds to the trip current the overload protection has to switch off the motor after a limited time e Ifthe average motor current is 2 times higher than the trip current the overload protection has to switch off the motor after at least 8 minutes e Ifthe average motor current is 6 times higher than the trip current the overload protection must switch of the motor after at least 20 seconds This protection error message 31 is activated can be parameterized only through the rated current value The motor overload protection is always active and cannot be deactivated Because o
45. delivery Please obtain an individual offer from the Jetter headquarters the Jetter subsidiaries or the distributors Jetter AG system bus cable of cable confection no 530 x x m length 0 2 m through 5 0 m see chapter 7 9 Jetter System Bus page 72 Motor power cable see chapter 7 2 Motor Connection page 46 Resolver cable refer to chapter 7 3 Resolver Connection page 55 HIPERFACE cable see chapter 7 4 HIPERFACE Connection page 57 Synchronous servo motors e g the Jetter motor types JL JK or JH Motor circuit breaker refer to chapter 5 Technical Data page 35 Circuit breaker see chapter 5 Technical Data page 35 Thermostatic motor circuit breaker refer to chapter 7 Description of Connections page 45 Mounting screws 2 pcs refer to fig 5 page 33 Note lf you are not sure which accessories you will need please contact Jetter AG 23 2 Installation of the JetMove 215B 480 24 2 2 y 7 x A N ae X 7 f Mechanical Installation Prior to installing the digital servo amplifier check it for possible transport damages Please check the shipment for completeness To ensure proper functioning of the JetMove 215B 480 check whether the mounting plate in the electric cabinet is unpainted The only possible mounting position is vertical see Rear and front view of the JetMove 215B 480 enclosure with mounting holes on page 25 Please make sur
46. e there is a clearance of at least 100 mm under and above the JetMove 215B 480 unobstructed ventilation has to be ensured Please mark on the panel two positions for the fastening screw threads of the JetMove 215B 480 see fig 4 page 25 Drill the holes and cut the respective threads into the panel Screw the corresponding fitting bolts into the thread by approximately half of their length By means of the oblong holes in the rear plate hang up the JetMove 215B 480 by the fitting bolts then screw them tightly Jetter AG JetMove 215B 480 Jetter AG 2 2 Mechanical Installation 321 6 348 5 naili HPA STE IS m OD ooo s Doooooonoo k aya Fig 4 Rear and front view of the JetMove 215B 480 enclosure with mounting holes 25 2 Installation of the JetMove 215B 480 2 3 Electrical Installation gt Check for correct motor and servo amplifier assignment Compare rated voltage and continuous rated current of servo amplifier f and motor The motor must be isolated against voltages of DC 850 V min please also refer to Compatible Synchronous Servo Motors on page 39 Connect the JetMove 215B 480 according to the connection wiring 2 diagram shown in chapter 10 Connection Diagrams page 83 Especially check the power lines for appropriate protection see Overload prote
47. ed with the Ethernet 12 2 1 Connection between the JetMove 215B 480 OEM and a PC or JetControl Direct connection between a PC or JetControl and a JetMove 215B 480 OEM is established by means of a crossover cable 12 2 2 Connection between the JetMove 215 480 OEM and a PC or JetControl through a switch If connection between PC and JetControl and a JetMove 215B 480 OEM is to be established through a switch straight through cables have to be used Terminals have to be interconnected by means of crossover cables e PC to PC e JetControl to PC e JetControl to JetMove OEM e etc Terminals with infrastructure components e g switch have to be interconnected via straight through cables e PC to switch e JetControl to switch e JetMove OEM to switch e etc Jetter AG JetMove 215B 480 12 Ethernet Interface Option If the proper cable is not available the uplink port of a switch hub can be used The pin assignment of an uplink port allows connection of terminals or can be a A switched over lt nm Some devices are provided with an automatic crossover function which ensures automatic adjustment to the cable and distant station Note 12 3 Logic Circuit LEDs Switches 12 3 1 LEDs Logic LEDs ERR red Flashes shortly at initializing It remains lit in case of an initialization error at the Ethernet interface RUN green Flashes regularly at correct functioning of the Ethernet i
48. ediate controller disable Immediate controller disable Immediate controller disable Immediate controller disable Rectification Check motor cable for short circuit between lines or lines to earth Check current control parameters If necessary correct parameters Acknowledge failure Let the amplifier cool down When the motor has cooled down acknowledge failure Reduce regeneration power Let the amplifier cool down When the motor has cooled down acknowledge failure Reduce power of the motion system Let the motor cool down When the motor has cooled down acknowledge failure Reduce the average load of the motor For extended diagnostics purposes use Motion Setup Check the encoder line and all plug in connections Acknowledge failure F 10 Overspeed The actual shaft Immediate Check motor and speed has controller encoder connections exceeded a value disable Control the speed of 1 25 x parameters Change maximum speed parameters if necessary Acknowledge failure F 11 Current overrange A current Immediate Reduce Kp of the temporarily too controller current controller by 10 high has been disable to 20 detected Acknowledge failure 78 Jetter AG JetMove 215B 480 9 1 Error Messages JetMove 215B 480 Table of Motor Faults Error Number F 13 combined with F 00 F 14 combined with F 00 Type of Error F 12 Earth fault Internal checksum
49. endix A Recent Revisions Style and spelling have been revised Jetter AG 119 Appendices iy Important 120 Appendix B Differences between JetMove 215 480 and JetMove 215B 480 The JetMove 215 480 servo amplifier has been developed further to become the servo amplifier JetMove 215B 480 The objectives of this further development have been the following e To save components in order to achieve greater dependability e To decrease the amount of various models In the development process special attention was paid to further grant interchangeability Automatic Encoder Recognition The JetMove 215B 480 is not equipped with two varieties for different position transducers any more Earlier the customer had to decide whether to order the JetMove 215 480 RE servo amplifier for the resolver input circuit or the servo amplifier JetMove 215 480 HI for the HIPERFACE input circuit The JetMove 215B 480 servo amplifier can automatically recognize which encoder has been connected to it and configure its input circuit respectively Consequences for the user e Even with both encoder types being applied double stock keeping can be avoided e Irrespective of the encoder type used the order number is the same Safe Standstill option The JetMove 215B 480 can optionally be ordered with Safe Standstill S1 The function Safe Standstill can be applied up to SIL3 to IEC61508 inclusively and considering the application re
50. error Internal communication error The hardware enable is missing Power input overcurrent Description One or several phases of the motor cable or inside the motor have been short circuited to earth An internal checksum error has occurred An internal communication error has occurred The software enable is given without a hardware enable The current at the power input is too high Error Response Immediate controller disable Immediate controller disable Immediate controller disable Immediate controller disable Immediate controller disable Rectification Check the motor cable and the motor Acknowledge failure Switch the 24 V supply off and on again If the error occurs repeatedly return the amplifier for repair Switch the 24 V supply off and on again If the error occurs repeatedly return the amplifier for repair Disable the drive by means of the software Acknowledge failure Check input voltage Reduce mechanical power of the motor Acknowledge failure F 17 Software limit Actual position is Stop atmax Check target position switch has been outside the current max Acknowledge failure actuated programmed torque Return the axis toa range anda position within the software limit software travel limits switch has tripped monitoring of software limit switches is re enabled automatically at entering this range
51. etMove 215B 480 Jetter AG 7 3 Resolver Connection 7 3 Resolver Connection 7 3 1 Specifications Specifications of the Mating Connector for X61 ENCODER e 9 pin male SUB D connector e Metallized enclosure Specification of Resolver Cable e Cable size 4 2 0 14 mm AWG 26 8 e Cores have to be shielded and twisted in pairs and have to be included in an overall shielding e The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area e Material Copper e Temperature class 60 C e Max cable length 50 m 7 3 2 Resolver cable with mating connector Note The resolver respectively HIPERFACE mating connector of the Jetter motor types JL JK and JH and can be ordered from Jetter AG by supplying the following particulars Article no 15100069 Resolver HIPERFACE The complete resolver cable between the servo amplifier series JetMove 2xx and the Jetter motor types JL JK and JH can be ordered from Jetter AG by supplying the following cable confection number Cable confection no 23 for the servo amplifier series JetMove 2xx Mating connector of the resolver solder side Solder Side Fig 12 View on the RC series mating connector of the resolver internal thread M23 55 7 Description of Connections Resolver Cable Cable Confection No 23 JetMove 2xx Shielding Motor SUB D connector Resolver female solder side Solder Side
52. f the digital servo amplifier JetMove 215B 480 e Therefore it must be kept in a way that it is always at hand until the digital servo amplifier JetMove 215B 480 will be disposed of e Pass this manual on if the JetMove 215B 480 is sold or loaned leased out In any case you encounter difficulties to clearly understand this user manual please contact the manufacturer We would appreciate any suggestions and contributions on your part and would ask you to contact us This will help us to produce manuals that are more user friendly and to address your wishes and requirements From the servo amplifier JetMove 215B 480 module may result unavoidable residual risks to persons and property For this reason any person who has to deal with the transport installation operation maintenance and repair of the digital servo amplifier JetMove 215B 480 must have been familiarised with it and must be aware of these dangers Therefore this person must carefully read understand and observe this manual and especially the safety instructions Missing or inadequate knowledge of the manual results in the loss of any claim of liability on part of Jetter AG Therefore the operating company is recommended to have the instruction of the persons concerned confirmed in writing History Revision Meaning Original issue of this manual Modifications see Appendix A of user manual rev 2 00 Style and spelling have been revised Jetter AG JetMove 215B
53. f the fact that after reset the motor overload calculation always starts with zero the result is wrong if the motor is already hot when the digital servo E amplifier JetMove 215B 480 is switched on i e at the time of connecting the 24 V logic power supply Important Jetter AG 41 5 Technical Data 42 Jetter AG JetMove 215B 480 Drive Controller Structure 6 uone LOS JEMOd uonoe eq uan APN JHMNMd wma mN H 1099A VHANMd goedg FEN VHNNMdi PANN Syleld AU eydjen Yled AUI psads pI bj 191 0 4U09 P ul dy u Sr 0 HPI O4 ywan p d O1 U0D 21d AWA J81l04U09 bj ul dy a ul dy yoybn jean yoyb oo Joul joypeeds JoJelsusg abeyoN Ja OJUOD psads Sod J9 OJUOD SOd AM File SOd J949S0d psads JoJeJsuss pm4psads JuIod 9S pmol Block diagram of drive controller structure Fig 7 43 Jetter AG 44 Drive controller specification Motor control commutation All drive controllers can be parameterized through the control program Meaning Space vector Position setpoint generator Sine square and linear acceleration deceleration ramps Setpoint output cycle position feedback controller interpolation Position sensing Resolver Resolution Sampling interval T Sine cosine sensor multi and single turn Interface Resolution of absolute position Resolutio
54. ferences data sheets literature etc associated with the given subject product etc It also helps you to find your way around this manual Jetter AG JetMove 215B 480 Jetter AG Contents 1 Safety Instructions 1 1 General Information 1 1 1 Intended conditions of use 1 1 2 Non intended use 1 1 3 Qualified personnel 1 1 4 Modifications and alterations to the module 1 1 5 Servicing and repairs 1 1 6 Disposal 1 2 Ensure Your Own Safety 1 2 1 Malfunctions 1 2 2 Information signs and labels 1 2 3 Earthing procedure 1 3 Residual Dangers 1 3 1 Hazards during operation 1 3 2 Hazards after POWER has been turned OFF 1 4 Instructions on EMI 2 Installation of the JetMove 215B 480 2 1 scope of Delivery 2 2 Mechanical Installation 2 3 Electrical Installation 2 4 Checking the Installation 2 5 Notes on Safety as regards the Installation 2 6 Notes on Safety as regards Commissioning 3 Operating Conditions 4 Physical Dimensions 5 Technical Data 5 1 Electrical Specifications 5 2 Motor Protection 5 2 1 Built in thermal sensor 9 2 2 It calculation 5 2 3 Motor overload protection according to UL 6 Drive Controller Structure 7 Description of Connections 7 1 Power Supply Connection 7 2 Motor Connection Table of Contents Table of Contents 7 2 1 General remarks 46 7 2 2 Assignment and specifications 47 7 2 3 Motor power cable with mating connector SC 48 7 2 4 Motor power cable with mating connector SM 51 7 2
55. fications and alterations to the digital servo amplifier JetMove 215B 480 and its functions are allowed Any modifications to the servo amplifier JetMove 215B 480 not expressly authorised by the manufacturer will result in a loss of any liability claims to Jetter AG The original parts are specifically designed for the servo amplifier JetMove 215B 480 Parts and equipment from other manufacturers are not tested on our part and are therefore not released by Jetter AG The installation of such parts may impair the safety and the proper functioning of the digital servo amplifier JetMove 215B 480 Any liability on the part of Jetter AG for any damages resulting from the use of non Original parts and equipment is excluded 1 1 5 Servicing and repairs Repairs at the digital servo amplifier JetMove 215B 480 must not be carried out by the operator The digital servo amplifier JetMove 215B 480 does not contain any parts to be repaired by the operator For being repaired the servo amplifier JetMove 215B 480 must be sent to Jetter AG Jetter AG JetMove 215B 480 Danger Jetter AG 1 2 Ensure Your Own Safety The digital servo amplifier JetMove 215B 480 is maintenance free Therefore absolutely no inspection or maintenance works are required for the operation of the module 1 1 6 Disposal In case of obvious damage or erratic behavior the servo amplifier must not be used any more The environmental regulations for the respective
56. g the JL5 to JL8 and JK7 Jetter motor types can be obtained from Jetter AG It is equipped with the respective motor mating connector and can be ordered by supplying the following cable confection numbers KABEL KONF Nr Without brake Cable confection no 201 With brake Cable confection no 202 Mating connector of the motor solder side Fig 11 View on the SM series mating connector of the motor internal thread M40 51 7 Description of Connections Specification of the motor power cable with mating connector SM for JetMove 215B 480 For connection without motor holding brake Motor Power Cable Cable Confection No 201 Field Wiring Shielding Mating Terminals of the Connector of the JetMove 215B 480 Motor female solder side 4x4 mm Shielded highly AWG 12 4 flexible 4 wire Solder cable with PE Side The wires are GND r equipped with wire end enclosure ferrules Mating T push sesi an Connector Mating Connecto Solder Cable Strap Side Connect both sides of the shield with the greatest possible surface area Use metallized housing only Pin Wire Number Signal Pin X62 U2 1 Phase 1 X62 V2 2 Phase 2 V X62 W2 3 Phase 3 X62 PE GND yellow green PE GND conductor O Dimensions of the motor mating connector are specified in millimeters 52 Jetter AG JetMove 215B 480 7 2 M
57. gnize this at the status outputs This causes the motor to come to Safe Standstill In a fault condition it is sufficient to only deactivate only one path as a phase sequence is not generated any more if only the upper or only the lower IGBTs have been switched off For decoupling the control signals of the DSP especially for excluding a faulty supply of the driver levels opto isolator by the control signals of the DSP all signals have been equipped with resistors of apt design and values at their interface The broken line marks the border between the safety relevant components Note In spite of these safety precautions the motor can jerk due to defective IGBTs The possible rotation angle depends on the pole pair number of the motion system in use Pole Pair Number of the Motor Possible Rotation Angle Fig 30 Possible rotation angle in case of defective IGBTs In the risk analysis this behavior has to be taken into consideration If this can lead to a hazard the function is not apt for use in this case Yet the possibility that this occurs is very low If the unit for the failure rate of an IGBT is 100 fit 10E 7 per hour the possibility of two IGBTs failing at the same time is 10E 14 per hour several million years Out of these only 6 out of 15 cases lead to jerking This means that practically there is no possibility of this to happen Moreover the IGBTs are continually being checked at each commutation
58. gory DINEN nn 5 1 DIN VDE 0110 1 Ey Important Measures to avoid damages in transit and storage a The packaging material and the storage place are to be chosen in a way that the values given in the above table Operating Parameters on page 29 are kept to 30 Jetter AG JetMove 215B 480 3 Operating Conditions Emitted Interference Housing e Frequency range DIN EN 61800 3 30 230 MHz limit 30 dB uV m at 30 m Frequency range 230 1 000 MHz limit 37 dB uV m at 30 m class B Line AC Frequency range DIN EN 61800 3 0 15 0 5 MHz limit 79 dB uV Frequency range 0 5 30 MHz limit 73 dB uV ou Important This product comes under category C2 to DIN EN 61800 3 This module can cause radio interferences in residential areas in this case the user has to take adequate measures to prevent this Additional line filters can be helpful here See Line filter on page 36 EMC Interference Immunity Enclosure Parameter Value Reference RF field amplitude Frequency range 80 DIN EN 61000 4 3 modulated 1 000 MHz DIN EN 61800 3 Test field strength 10 V m AM 80 at 1 kHz Criterion A Contact discharge DIN EN 61800 3 Test peak voltage 6 kV DIN EN 61000 4 2 Criterion B Jetter AG 31 3 Operating Conditions EMC Interference Immunity Power Connections and Power Interfaces Parameter Value Reference Conducted radio Frequency 0 15 80 MHz DIN EN 61800 3 disturbances Test v
59. gulations of the respective user manual up to Cat 4 to EN 954 1 respectively PL e to EN ISO 13849 1 Combining Internal and External Braking Resistor The servo amplifier JetMove 215B 480 has been equipped with an intrinsically safe braking resistor This means that combining an internal and external braking resistor does not make sense any more see External Ballast Resistor and DC Link Connection on page 64 The servo amplifier JM 215B 480 can only be operated with firmware versions 2 11 0 0 upwards When older versions are used the servo amplifier will issue an error message Jetter AG JetMove 215B 480 Jetter AG Analog Autotransformer Ballast resistor Circuit breaker DC link voltage Digital Electromagnetic Compatibility EMC Encoder HIPERFACE Interference JetMove 215B 480 Leakage current protection switch Line filter Motor circuit breaker Primary circuit Process Appendix Appendix C Glossary A parameter e g voltage which is steplessly adjustable Contrasted with digital Transformer without electrical isolation between primary and secondary circuit Resistor converting into heat the energy fed back to the drive during rheostatic braking or braking operation A circuit breaker without monitoring function Also known as automatic circuit breaker DC circuit within a servo drive on the basis of which the motor currents are generated Presentation of a parame
60. gy the following minimum values have to be set for the resistor Value of the resistor 32 min Q Continuous output 250 W min Maximum capacity 21 kW min for 0 6 s Type low inductivity Please mind that in this case overload calculation in the servo amplifier will not be able to function properly any more For this reason error detection in this fault condition F 06 has to be deactivated Instead overload monitoring has to be carried out externally at the braking resistor e g by means of the thermal sensor Jetter AG JetMove 215B 480 ZS Jetter AG 7 6 External Ballast Resistor and DC Link Connection Coupling DC Link Circuits of Two or Three JetMove 215B 480 Another way uf utilizing the braking energy of the motor is to couple the DC links of several JetMove 215B 480 In most cases not all axes of a machine have to decelerate at the same time This way other axes can use the feedback energy for acceleration The coupling both reduces the heat inside the amplifier emitted by the ballast resistor and leads to higher dynamic performance provided that not all axes accelerate at the same time
61. his is the standard wiring of the JetMove 215B 480 in delivered condition by Jetter AG JetMove 215B 480 is measuring the load of the ballast resistor and sets a warning bit if the ballast load reaches a specific value If the resistor is overloaded an error occurs error F06 In this case an external ballast resistor has to be used Use of an external ballast resistor instead of the internal ballast resistor BRint UB UB UB UB UB BRc BRc Q QO Fig 16 Wiring of X63 for connecting the external ballast resistor Mount the external ballast resistor between a terminal UB and a terminal BR Remove the bridge between BR int and BR Jetter AG 65 7 Description of Connections 66 ix Important Parameters of the external ballast resistor Value of the resistor 50 Q Continuous output 500 W or greater Maximum capacity 15 kW min for 0 6 s Type low inductivity This configuration causes the energy dissipation to be approximately twice as high as it would be if configured with an internal resistor only In this resistor internal overload monitoring is working the same way as if the internal ballast resistor were being used If a still smaller external resistor is required for dissipating peaks of braking ener
62. iate controller disable Immediate controller disable Separate the drive controller from the power lines Return the amplifier for repair Separate the drive controller from the power lines Return the amplifier for repair Mains phase error Motor cable breakage Failure of one of the mains phases The motor cable is broken Be careful The motor cable is tested when the drive controller is enabled for the first time Immediate controller disable Immediate controller disable Check fuses and wiring Acknowledge failure Check the motor cable connections Acknowledge failure Jetter AG Overvoltage in the DC link A DC link voltage gt 850 V has been detected Immediate controller disable Check input power supply If the motor is used as generator reduce the regenerating power Acknowledge failure 71 Error Number JetMove 215B 480 Table of Motor Faults Type of Error Over current Ballast resistor overload Amplifier overtemperature Motor overtemperature Encoder failure Description Output current was greater than 2 5 x rated current The ballast resistor has been overloaded The amplifier has reached the maximum temperature The motor has reached the maximum temperature Also refer to Built in thermal sensor page 39 Encoder breakage or initialization error Error Response Immediate controller disable Imm
63. idity 5 85 DIN EN 50178 Non condensing Pollution degree DIN EN 50178 Corrosion immunity No special protection against DIN EN 50178 Chemical resistance corrosion Ambient air must be free from higher concentrations of acids alcaline solutions salts metal vapours or other corrosive or electroconductive contaminants Operating altitude up to 1 000 m above sea DIN EN 50178 level 1 000 to 2 500 m above sea level with derating of 1 5 per 100 m Jetter AG 29 3 Operating Conditions Operating Parameters Free falls withstanding Within original packing the DIN EN 50178 test device withstands dropping DIN EN 60068 2 31 over all of its edges Vibration resistance 10 Hz 57 Hz with an DIN EN 50178 amplitude of 0 075 mm DIN EN 60068 2 6 57 Hz 150 Hz 1 0g constant acceleration 1 octave per minute 10 frequency sweeps sinusoidal all three spatial axes Degree of protection IP20 DIN EN 60529 Mounting position Vertical refer to Fig 4 page 25 For sufficient air flow there has to be a clearance of 100 mm above and below the device Electrical Safety Conditions Class of protection fc DIN EN 61800 5 1 Dielectric strength Power to earth and DIN EN 61800 5 1 Power to logic DIN EN 60146 1 1 DIN EN 60204 2 65 kVdc 2 s Isolation Power to earth and Power to logic gt 1 MOhm at 500 V Protective connection connection 12 V 12V 10A 0 10hm A 0 1 Ohm DIN EN DIN EN 60204 cate
64. ifier JetMove 215B 480 LEDs 5V green Logic module voltage is OK yellow Axis is standing still speed 0 L1 L2 yellow A voltage of 24 V is applied to the input of the positive limit switch LIMIT u Q Q L3 yellow A voltage of 24 V is applied to the input of the negative limit switch LIMIT Note a The 7 segment display of the output stage indicates the operating and fault m conditions of the digital servo amplifier The various display modes are set by the Motion Setup Mode 0 default is used for normal operation and mode 1 for commissioning JetMove 215B 480 7 Segment Display Mode 0 Normal Operation State Meaning NOT READY TO BE Initialization of amplifier functions SWITCHED ON SWITCH ON INHIBIT Initialization completed Safe state achieved after initialization and acknowledgement of errors The drive controller can be switched on READY TO BE SWITCHED Drive controller has been disabled by ON software command The drive controller can be switched on SWITCHED ON DC link monitoring is activated OPERATION ENABLED The drive controller is enabled QUICK STOP ACTIVATED A quick stop has been activated The drive was decelerated to n 0 and then locked Jetter AG 15 76 F X X JetMove 215B 480 7 Segment Display Mode 0 Normal Operation ERROR REACTION ACTIVATED MALFUNCTION ERROR NUMBER Flashing dot Flashing ZERO Flashing C
65. ing is 4 mm AWG 12 The maximum cable length between two JetMove 215B 480 devices is 0 5 m It is also possible to combine coupled DC links with external ballast resistors In this case it is important to use identical resistors and cables for all coupled JetMove 215B 480 68 Jetter AG JetMove 215B 480 7 7 7 7 Digital Inputs Logic Power Supply Specification of terminal X10 e 10 pin spring tension terminal type ZEC 1 0 10 ST 3 5 e Diameter of the cable apt for connecting 0 2 1 mm AWG 24 AWG 16 with bootlace ferrules in a plastic sleeve 0 25 0 75 mm AWG 24 AWG 18 e Bladed screw driver 0 4 x 2 5 mm Digital Inputs Logic Power Supply Digital Inputs Logic Power Supply Wiring Terminal X10 at the Amplifier Function Specification ENABLE Hardware enable for the power supply of the motor input Reference switch input A high signal at this input is necessary for the motor to be supplied the power supply has to be connected before software enable A low signal de energizes the motor immediately Depending on the parameter setting this input is used for referencing e DC 24V e 7 5 MA max e Operating point lt 6 V low gt 15 V high e DC24V e 7 5 MA max e Operating point lt 6 V low gt 15 V high NC or NO contact LIMIT Positive limit Depending on the e DC24V switch input parameter setting this e 7 5 mA max input is u
66. ll be safely deactivated Yet this does not mean that there is a safe electric isolation If a safe electric isolation is necessary an additional isolating device for interrupting the power supply e g mains switch must be supplied according to EN 60204 96 Jetter AG JetMove 215B 480 13 Safe Standstill Option 13 3 Safety Instructions The Safe Standstill function has got the sole purpose to switch off a motion system or to secure it against restarting In order to gain personal safety the control of the safety circuit must meet the safety requirements to EN 60204 EN 92 and EN 954 1 13 4 Performance test At the first commissioning after each intervention into the safety chain of a system or after exchanging one or more than one components the Safe Standstill function must be checked 1 Disable all motion systems mechanically secure pendant loads 2 Lock the safety chain 3 Enable an axis ENABLE ENABLE1 ENABLE2 and software release Drive the axis in case the torque cannot be checked 4 Interrupt the circuit of the Enable1 circuit at encoder terminal X73 the axis must be de energised no torque respectively stop rotating immediately 5 Re activate the Enable1 input at terminal X73 clear errors within the servo amplifier 6 Re enable the same axis Drive the axis in case the torque cannot be checked 7 Interrupt the circuit of the Enable2 circuit at encoder terminal X73 the axis must be de energi
67. llation HAZARD caused by high operating voltage and electric shock Extremely hazardous voltages of up to 850 V may occur Please observe the following precautions in order to avoid muscle cramps burns Danger unconsciousness respiratory standstill etc and death Have installation and maintenance jobs carried out by qualified personnel f only see chapter 1 1 3 Qualified personnel page 12 D Switch off the operating voltage Please take into account the information on residual dangers given in f chapter 1 3 2 Hazards after POWER has been turned OFF page 18 gt Before carrying out installation and maintenance jobs separate the servo f amplifier JetMove 215B 480 and all connected devices from the mains pull out the mains plug Jetter AG 27 2 Installation of the JetMove 215B 480 2 6 Notes on Safety as regards Commissioning HAZARD caused by high operating voltage and electric shock Extremely hazardous voltages of up to 850 V may occur Please observe the following precautions in order to avoid injuries such as muscle cramps burns unconsciousness respiratory standstill etc and possibly death Danger Have commissioning jobs carried out by qualified personnel only see chapter 1 1 3 Qualified personnel page 12 Prior to commissioning please do the following gt Reattach dismantled protective equipment and check it for proper u functioning By doing so you will prevent accidents resu
68. ls 5 Diagnostics 7 Dielectric test voltage 30 Differences between JetMove 215 480 and JetMove 215B 480 120 DIP switch 92 Disposal 13 Drive controller specification 44 E Earthing procedure 14 Electrical specifications 35 EMC 31 EnDat cable specification KAY _0723 xxxx 109 Appendix Error messages TT Ethernet interface option 89 F Free wheeling diode 47 H HIPERFACE KAY _0723 xxxx 59 109 Technical data 44 Incremental encoder connection 114 Information signs 14 Installation Electrics 26 Mechanical parts 24 Installation checking 27 Installation to EMC rules 26 Instructions on EMI 19 Intended conditions of use 11 J JetMove 215B 480 LEDs 75 L LEDs of the Ethernet interface 91 Line filter 36 M Malfunctions 13 46 Mechanic force 17 Modifications 12 Motor braking circuit A free wheeling diode is required 47 70 83 84 Motor power cable Cable confection no 201 52 Cable confection no 202 53 Cable confection no 24 1 50 Cable confection no 26 1 49 Motor protection 39 125 Appendices 126 Motor winding isolation Mounting position N Noise immunity Non intended use O Operating altitude Operating conditions Ordering information Oscillating of the motor Overvoltage category P Password Configuration memory Physical dimensions Pollution degree Protection class PWM frequency Q Qualified personnel R Reference variables Repairs Residual dangers 26 24 30 19 11
69. lting from moving parts Secure the servo amplifier JetMove 215B 480 against accidental contact with conductive parts and components gt Only connect devices or electrical components to the signal lines of the l digital servo amplifier JetMove 215B 480 Enable Limit REF BRAKE 1 and BRAKE 2 that have been sufficiently isolated against the connected electric circuits These signal lines may only be connected with units that have got the ground potential of the DC 24 V power supply The digital servo amplifier JetMove 215B 480 has got a leakage current i greater than 3 5 mA In order to avoid electric shocks a second protective earth conductor is required For this the measures listed in chapter 1 2 3 Earthing procedure page 14 have to be taken gt Each commissioning even a short functional test always has to be carried i out with a PE GND bus correctly connected 28 Jetter AG JetMove 215B 480 3 Operating Conditions 3 Operating Conditions Operating Parameters Transport conditions Temperature DIN EN 50178 units within packing 25 C 70 C Air humidity 5 95 Non condensing Storage conditions Temperature DIN EN 50178 units within packing 25 C 4 55 GC Change max 20 K h Air humidity 5 95 Non condensing Max storage time 1 year Ambient temperature 0 45 C DIN EN 50178 45 C 55 C with derating of 2 5 K Please be careful of sufficient cooling Air hum
70. m cable length 100 m Attaching screws must Connect shield with the have a metric thread greatest possible surface area Use metallized housing only Signal KO K2 B amp B Ww NY Power supply 5 V 200 mA max KO K1 K2 oO 1 do not use 114 Jetter AG JetMove 215B 480 Jetter AG 15 Ordering Information 15 Ordering Information 15 1 List of Documentation The documents listed below have been supplied on the website of Jetter AG at http www jetter de Support for download Programming jetmove_2xx_at_jetcontrol_bi_xxxx_user_information pdf User information on configuration and operation of the E JetMove 2xx series at the JetControl 24x Article no 60874950 jetmove_2xx_at_the_nano_bi_xxxx_user_information pdf User information on configuration and operation of the JetMove 2xx series atthe NANO B C D Article no 60867325 15 2 Options Designation Ethernet Analog Counting Safe Interface Input Input Standstill Page 89 Page 87 Page 107 Page 95 maw f o BEE EEE wewa 7 zn a o masw masowo 7 7 9M 2158 480 0EM 51 4 EZ 9M 215B 48041A1 51 f MF 9M 215B 480 CNT S51 JM JM 215B 480 OEM IA1 S1 480 OEM IA1 S1 ee CHE BEA BE BEZ St 115 15 Ordering Information 116 Jetter AG JetMove 215B 480 Appendix Appendix Jetter AG 117 Appendices 118 Jetter AG JetMove 215B 480 Appendix App
71. n of velocity pickup Sampling interval T modulation PWM frequency 8 kHz Current controller Cycle time 62 5 us Speed controller Cycle time 125 us Current pre control adjustable Position feedback controller Cycle time 250 us Speed pre control adjustable can be parameterized individually 2ms 12 bits per revolution 62 5 us HIPERFACE 15 bits per revolution 20 bits per revolution 62 5 us Jetter AG JetMove 215B 480 Jetter AG 7 1 Power Supply Connection 7 Description of Connections 7 1 Power Supply Connection Specification of Terminal X1 e 4 pin male connector screw connection type Phoenix PC 6 4 ST 10 16 Allowed conductor size 0 5 6 mm AWG 20 7 e Torque 1 2 1 5 Nm 10 6 13 3 Ibf inch e Ambient temperature max 45 C e Field wiring Specifications of Connecting Cable e Cable size min 4 2 5 mm AWG 14 e Material Copper e Temperature class 60 C Shielding e Not required Power Supply Amplifier Field Power Lines Specification Wiring Terminal X1 e AC 400 480 V between the power lines PE GND conductor yellow green PE PE Core 3 E A Line Voltage 3 Core 2 Line Voltage 2 V1 Core 1 5 Line Voltage 3 Fig 8 Power supply connection 45 7 Description of Co
72. nd can be ordered by the following cable confection numbers KABEL KONF Nummern Without brake Cable confection no 26 1 With brake Cable confection no 24 1 Mating connector of the motor solder side Jetter AG JetMove 215B 480 Jetter AG 7 2 Motor Connection Cable specification of the motor power cable with mating connector SC for JetMove 215B 480 For connection without motor holding brake Motor Power Cable Cable Confection No 26 1 Field Wiring Terminals of the JetMove 215B 480 4x 1 5 mm AWG 16 4 The wires are equipped with wire end ferrules Shielding Shielded highly flexible 4 wire cable with PE GND Mating Connector of the Motor female solder side Solder Side cable enclosure Mating Connector wrap nut seal and Solder En sie 00 shield case 360 round Mating Connector A aR Cable Strap cores Motor Cable Connect both sides of the shield with the greatest possible surface area Use metallized housing only Pin Wire Number Signal Pin X62 U2 1 Phase 1 1 Phase 2 5 Phase 3 2 X62 PE GND yellow green PE GND grounding Dimensions of the motor mating connector are specified in millimeters 49 7 Description of Connections For connection with motor holding brake Motor Power Cable Cable Confection No 24 1 Shielding Field Wiring Terminals of the JetMove 215B 480 4x 1 5 mm 2 x
73. ndstill according to EN 954 1 Category 1 with Stop Category 1 according to EN 60204 can be set up if all safety devices involved also meet the requirements of Category 1 Yet the Safety Limited Acceleration SLA standard is not met Jetter AG 103 13 Safe Standstill Option 13 6 Block Diagram of the JM 215B 480 with the Safe Standstill Function In the following figure the most important components of the digital servo amplifier JetMove 215B 480 with the option S1 Safe Standstill are illustrated Switched mode power supply 24 V 3 3 Internal OV voltages 5 V 3 3 V Status q Monitoring functions Galvanically isolated OUT 1 Rectifier DSP Dy Voltage supply IN 1x230 V DC DC Converter 1 24V 5V V 5 Enable 2 om DC DC Converter 2 V Fig 29 Block diagram JetMove 215B 480 with the Safe Standstill function Description The electrical arrangement of the servo controller JetMove 215B 480 can be roughly categorised in three parts The area up left contains a DSP as a central component It processes data traffic with the higher level controller acquires input signals and possibly sets digital outputs Out of the information total it creates the pulse pattern for controlling the motor Signals are transmitted into the power circuit via opto isolator On top of this there is a switched mode powe
74. ng a system bus cable the following minimum requirements have to be considered System Bus Cable Technical Data Function Description Core cross sectional area 1 MBaud 0 25 to 0 34 mm AWG 24 to 22 500 kBaud 0 34 to 0 50 mm AWG 22 to 20 AWG 22 to 19 250 kBaud 0 34 to 0 60 mm 125 kBaud 0 50 to 0 60 mm AWG 20 to 19 Cable capacitance Maximum 60 pF m Resistivity 1 MBaud maximum 70 Q km 500 kBaud maximum 60 Q km 250 kBaud maximum 60 Q km 125 kBaud maximum 60 Q km Number of cores 5 Shielding Complete shielding no paired shielding Twisting Core pairs CL and CH must be twisted Material Copper Temperature class 60 C 72 Jetter AG JetMove 215B 480 7 9 Jetter System Bus Allowed Cable Lengths Baud Rate Max Cable Max Tap Line Max Overall Tap Length Length Line Length 1 MBaud 30m 0 3m 3m 500 kBaud 100 m 39 m 1m 250 kBaud 200 m 3m 78m 125 kBaud 200 m System Bus Cable Cable Confection No 530 Shi BUS OUT Connect shield with the greatest possible surface area Use metallized housing only Signal CMODEO CL CMODE1 TERM unassigned CH unassigned OO CO nN OD oO AT OIN Do not connect ee Jetter AG 13 7 Description of Connections 74 Jetter AG JetMove 215B 480 8 Status Monitoring The output stage LEDs indicate the operating status of the digital servo ampl
75. nnections 7 2 Motor Connection 7 2 1 General remarks CS Important Measures to avoid malfunctions of the control system and the motor gt Always connect brake lines to a separate power supply unit DC 24 V if A L C brake and motor lines are run together in one bunch of cables and are not separately shielded Important Measures to avoid oscillation and blocking of the motor Avoid mixing up of phase cables resp be sure to connect the phase 7 cables according to pin assignment 46 Jetter AG JetMove 215B 480 7 2 Motor Connection 7 2 2 Assignment and specifications Specification of Terminal X62 e 4 pin connector type Phoenix PC 6 4 ST 10 16 Allowed conductor size 0 5 6 mm AWG 20 7 e Torque 1 2 1 5 Nm 10 6 13 3 Ibf inch e Ambient temperature max 45 C e Field wiring Specifications of Connecting Cable e Cable size min 4 2 5 mm AWG 14 e Material Copper e Temperature class 60 C Shielding e Braided copper shield of 80 coverage Connection of the motor to the digital servo amplifier JetMove 215B 480 has to be done following the wiring diagram below Connection of the brake is optional In this case the wires for the brake have to be at least 300 mm longer than the wires of the
76. nt accident prevention regulations e accepted safety rules e EC guidelines and other country specific regulations 1 1 1 Intended conditions of use Usage as agreed upon includes operation in accordance with this user manual The digital servo amplifier JetMove 215B 480 may only be operated in the closed control cabinet and within the range of the set values Do not apply a voltage to the digital servo amplifier JetMove 215B 480 that is higher than the prescribed operating voltage Each of the three phases of the digital servo amplifier JetMove 215B 480 has got an operating voltage ranging between AC 340 V and AC 530 V Thus the digital servo amplifier JetMove 215B 480 comes under the EG Low Voltage Directive It is the explicit purpose of the digital servo controller JetMove 215B 480 to torque speed and or position control and to drive brushless synchronous servo motors The rated voltage of the motors must be higher than or at least equal to the DC link voltage supplied by the servo amplifier The digital servo amplifier JetMove 215B 480 is used to control machinery such as conveyors production machines and handling machines 1 1 2 Non intended use The digital servo amplifier JetMove 215B 480 must not be used in technical systems which to a high degree have to be fail save e g ropeways and aeroplanes Please do not use the integrated braking circuit in applications where safety hazards can occur The digital servo
77. nterface The as is state of the LED can be scanned in register 10182 LED Error Messages Following power up the red LED ERR The switch is in LOAD position and the green LED RUN are flashing Boot loader is running The OS of the Ethernet interface is neither checked nor launched Following power up the red LED The switch is in RUN or STOP position ERR flashes three times then both Boot loader is running LEDs red ERR green RUN are There is no valid operating system of flashing the Ethernet interface available The red LED ERR and the green LED Fatal operating system error of the RUN are flashing alternately during Ethernet interface runtime Jetter AG 91 12 Ethernet Interface Option 92 12 3 2 The DIP switches The switches are evaluated at switching on the JetMove 215B 480 OEM Switches 1 through 8 influence the IP address switches 9 through 10 influence starting the operating system Start Up Process Switches 9 and 10 9 OFF 10 OFF NORMAL Normal function of the Ethernet OPERATION interface 9 OFF 10 ON LOAD The boot process proceeds as far as to the initial program loader of the Ethernet interface After booting the switch has no influence to the interface functions The current position of the switch can be scanned in register 10181 12 4 Setting the IP Address There are 4 ways to assign an IP address to a JetMove 215B 480 OEM The actually used IP addres
78. oltage 10 V DIN EN 61000 4 6 AM 80 at 1 kHz Criterion A Burst fast transients Test voltage 2 kV DIN EN 61800 3 tr tn 5 50 ns DIN EN 61000 4 4 Repetition frequency 5 kHz Criterion B Impulse voltages tr th 1 2 50 us 8 20 us DIN EN 61800 3 1 kV phase to phase DIN EN 61000 4 5 2 kV phase to ground Criterion B Interference Immunity Process Measuring and Control Lines Parameter Value Reference Conducted radio Frequency 0 15 80 MHz DIN EN 61800 3 disturbances Test voltage 10 V DIN EN 61000 4 6 AM 80 at 1 kHz Criterion A Burst fast transients Test voltage 2 kV DIN EN 61800 3 tr tn 5 50 ns DIN EN 61000 4 4 Repetition frequency 5 kHz Criterion B Interference Immunity Signal Interfaces Parameter Value Reference Conducted radio Frequency 0 15 80 MHz DIN EN 61800 3 disturbances Test voltage 10 V DIN EN 61000 4 6 AM 80 at 1 kHz Criterion A Burst fast transients Test voltage 1 kV DIN EN 61800 3 tr tn 5 50 ns DIN EN 61000 4 4 Repetition frequency 5 kHz Criterion B 32 Jetter AG JetMove 215B 480 Jetter AG 4
79. otor Incoming circuit of a transformer A program or a part of it A related sequence of steps carried out by a program 121 Appendices Register A high speed memory for a group of bits placed in a microprocessor or in another electronic device where data can be buffered for a specific purpose On Jetter controllers usually these are 32 bit wide storage positions in a remanent RAM Resolver Expansion to an electric motor to specify the position of the rotor The resolver is a measuring system continually specifying the angle angular position of the rotor The resolver itself does not contain any electronic components Secondary circuit Output circuit of a transformer Sensor Electronic detector pick up 122 Jetter AG JetMove 215B 480 Jetter AG AC cf DC V e g EMC COI GND Ground HIPERFACE Hz IEC IP JX2 SBK1 LED n PE PELV PFC PWM RS 485 SELV SUB D Temp Appendix Appendix D List of Abbreviations Alternating Current cf see Direct Current Voltage e g Latin exempli gratia ElectroMagnetic Compatibility Earth leakage current breaker Earth leakage current breaker Ground High Performance Interface Interface definition by SICK AG Hertz International Electrotechnical Commissioninternational Electrotechnical Commission International ProtectionDegree of protection Jetter Extended Module 2 System buscable 1 The 2 stands for PROCESS PLC and JetControl 200
80. otor Connection For connection with motor holding brake Motor Power Cable Cable Confection No 202 Field Wiring Shielding Mating Terminals of the Connector of the JetMove 215B 480 Motor female solder side 4x 4mm Highly flexible 2 x 0 5 mm 6 wire cable esse AWG 12 4 with PE GND Em Side AWG 20 2 separately shielded brake The wires are lines and all equipped with wireend over shielding ferrules Mating Connector 93 Solder K Side Mating OT a Connect both sides of the shield with the greatest possible surface area Use metallized housing only Pin Wire number Signal Pin X62 U2 1 Phase 1 X62 V2 2 Phase 2 V Phase 3 yellow green PE GND conductor a X10 BRAKE2 Brake X10 GND 6 Brake Dimensions of the motor mating connector are specified in millimeters Jetter AG 53 7 Description of Connections 54 7 2 5 Connection assignment of terminal box Connection Assignment of Terminal Box for Jetter Motor Types Field Wiring Terminals of the Amplifier Motor Terminal Box Terminal Assignment X62 U2 Pin 1 Phase 1 X62 V2 Pin 2 Phase 2 X62 W2 Pin 3 Phase 3 X62 PE GND Pin 4 PE GND a conductor X10 BRAKE2 Pin 7 Brake X10 GND Pin 8 Brake alternative to motor connectors Jetter AG J
81. person f at once Secure the digital servo amplifier JetMove 215B 480 against misuse or accidental use 13 1 Safety Instructions 1 2 2 Information signs and labels gt Markings information signs and labels always have to be observed and f kept readable D Damaged or unreadable information signs and labels have to be replaced 1 2 3 Earthing procedure Screw the enclosure of the digital servo amplifier JetMove 215B 480 onto f a high conductance earthed panel gt Do only use the digital servo amplifier JetMove 215B 480 at the three f phase earthed industrial network TN network TT network with earthed neutral 5 000 A max symmetric rated current at 400 480 V 10 The digital servo amplifier must not be operated when connected to unearthed networks and to unsymmetrically earthed networks p The digital servo amplifier JetMove 215B 480 has got a leakage current greater than 3 5 mA In order to avoid electric shocks a second protective earth conductor is required For this the following measures have to be taken e The protective earth bus has to be connected to the PE GND bolt 1 located at the top side of the rack as well as to the PE GND terminal X1 2 please refer to Fig 1 The diameter of the two earthing conductors has to be equal to the diameter of the supply lines min 2 5 mm AWG 14 e A durable connection with the power supply of the digital servo amplifier JetMove 215B 480 has to be p
82. ponent of the system For this reason correct wiring and shielding of cables is of paramount importance Important Measures for increasing immunity to interference Earth the device adequately according to chapter 1 2 3 Earthing procedure page 14 SS Connect all grounding terminals of the JetMove 215B 480 A double E grounding terminal is required Connect the earth to the cover For this please refer to Fig 1 on Page 15 Connect protective earth PE GND at terminal X1 The distance between the optional line filters and the digital servo amplifier JetMove 215B 480 has to be as short as possible When of a motor cable with included brake lines is used these brake lines have to be shielded separately Follow the instructions given in Application Note 016 EMC Compatible Installation of the Electric Cabinet published by Jetter AG The following instructions are excerpts from Application Note 016 On principle physical separation should be maintained between signal and power lines We recommend spacings greater than 20 cm Cables and lines should cross each other at an angle of 90 Ss Shielded cables must be used for the following lines f Analog lines data lines motor cables coming from inverter drives servo output stage frequency converter lines between components and interference suppressor filter if the suppressor filter has not been placed at the component directly D Shield cables at bo
83. r current overload factor and motor time constant Refer to I t calculation page 40 Average motor power dissipation has been higher than defined according to UL See chapter 5 2 3 Motor overload protection according to UL page 41 The amplitudes of the analog sine cosine signals are not identical Measuring the commutation offset could not be completed with results being guaranteed Encoder breakage or initialization error Error Response Immediate controller disable Immediate controller disable Immediate controller disable Immediate controller disable Immediate controller disable Rectification Let the motor cool down When the motor has cooled down acknowledge failure Check the configuration of nominal motor current overload factor and motor time constant Reduce the average load of the motor Let the motor cool down Acknowledge failure Reduce the average load of the motor Check wiring or encoder signals Acknowledge failure Check parametering Check wiring or encoder signal Acknowledge failure Check the encoder line and all plug in connections Acknowledge failure 81 82 9 2 Alarms If the dot in the display is flashing one or several alarms have been recognized Please check in the Motion Setup or by issuing the motion instructions in the controller program which alarm is active Jetter AG JetMove 215B 480 Please Note A free
84. r supply unit for the control electrics On the right hand side there is the output range which by means of semiconductor switches IGBTs adapts the created pulse pattern to the motor that is to be driven 104 Jetter AG JetMove 215B 480 Jetter AG 13 Safe Standstill Option Bottom left the Safe Standstill function has been illustrated It consists of two mainly identical yet independent signal paths 1 and 2 Each path consists of a DC DC converter which creates an output voltage of 5 Volt out of the connected input voltage Further each converter is equipped with a status output the data of which are transmitted to the DSP Out of this the DSP recognizes immediately whether the corresponding input is active or deactivated and it activates respectively deactivates the pulse outputs The output voltage OUT1 leads to a driver level at which it takes up the pulse patterns for the upper IGBTs and transmits them to the opto isolators The same way the opto isolators themselves have been supplied with this voltage By analogy with opto isolators the output voltage OUT2 supplies the drivers of various levels and the opto isolators of the lower IGBTs This means that for driving the motor both inputs Enable1 and Enable2 have to be controlled At calling up Safe Standstill the inputs have to be de energized This way supplying the driver levels and opto isolators will not be necessary any more the same way the DSP will reco
85. rence to ground as the power supply of the logic For connection diagram please refer to Connection Diagrams page 83 70 Jetter AG JetMove 215B 480 7 8 Connection Details for Digital Outputs 7 8 Connection Details for Digital Outputs Terminals X31 onthe Amplifier Side Digital Outputs Signal Specification Power supply for the DC 20 30 V at outputs 2 A max 0 5 A max per output Digital output signals For more information refer to PNP outputs Digital outputs page 37 Common ground Ground is connected to the GND of the control system 24V 1 2 3 4 OV X31 Load Load e Load e Load e 24 V OV Fig 18 Connection details for digital outputs Jetter AG 71 7 Description of Connections 7 9 Jetter System Bus The Jetter system bus is used for connecting the JetMove 215B 480 to the PLC and to other JetMoves or Jetter PLC modules The system bus input BUS IN is a 9 pin SUB D male connector while the output BUS OUT is a 9 pin SUB D female connector 7 9 1 Specifications of the Jetter system bus cable Specification of Connectors BUS OUT side X19 e 9 pin male SUB D connector e Metallized enclosure BUS IN side X18 e 9 pin female SUB D connector e Metallized enclosure System bus cable specification For manufacturi
86. rovided e Correct cabling of the PE GND bus according to the connection diagram cf chapter 10 Connection Diagrams page 83 has to be carried out 14 Jetter AG JetMove 215B 480 ix Jetter AG 1 2 Ensure Your Own Safety he ee men aller m a EN 5 Qu 2O Qs gt G o9 E A N A 7 f k j gt BUS IN O joo o i a N es S x18 A N gt AN BUS OUT dh l NI BES TA Re E3 4 gt A o T LJ ENCODE ZA C l n HT XI ENABLE T
87. s can be read from register 2931 12 4 1 Default IP address If at activating the controller DIP switches 1 through 8 are in OFF position the JetMove 215B 480 OEM has got IP address 192 168 10 15 In case of any uncertainties with regard to the IP address used you can use this loophole to set the JetControl to a defined state 12 4 2 IP address from the configuration memory If at activating the JetMove 215B 480 OEM the DIP switches 1 through 8 are in ON position the JetControl has got the IP address saved in the configuration memory The configuration memory can be accessed by means of the System cfgvar ini file or registers 10131 through 10145 Jetter AG JetMove 215B 480 ix Important Jetter AG 12 Ethernet Interface Option Configuration file In order to gain access to the configuration file System cfgvar ini the user having got the administrator rights must have been connected This file has the same structure as a Windows INI file CFGVAR Version 4 IP Address 192 128 10 97 255 255 255 0 192 128 10 1 50000 192 118 210 209 IP_SubNetMask IP DefGateway BasePort IP_DNS By no means ever change the version number Registers Alternative access to the configuration memory is possible via registers 10131 through 10145 In order to make a change via registers first password register 10159 with password value 2002149714 0x77566152 has to be loaded Then registers 101
88. sed as a e Operating point positive limit switch lt 6 V low gt 15 V high NC or NO contact NC contact recommended LIMIT Negative Depending on the e DC24V limit switch parameter setting this e 7 5mAma input input is used as a e Operating point negative limit switch lt 6 V low gt 15 V high NC or NO contact Jetter AG 69 7 Description of Connections INPUT Digital input Common ground Common ground e Depending on the parameter setting this input can be used for quick stop position capture or referencing without stop e DC 24V e 7 5 MA max e Operating point lt 6 V low gt 15 V high GND for all inputs and supply of the logic GND for all inputs and supply of the logic DC 24 V Power DC 20 30 V supply for the I lt 0 8 A controller logic BRAKE 1 Braking relay Relay contact for motor Vmax DC 30 V contact Br1 BRAKE 2 Braking relay contact Br2 holding brake The relay can be operated either by the control program or by the firmware of the JetMove 215B 480 at release of the motor current Important Note A free wheeling diode is necessary if not integrated in the motor already In Jetter motors free wheeling diodes have not been integrated Recommended diode type 1N4002 is connected to the GND of the control system l max DC 2 A Contact Type NO These connections are only for devices having got the same refe
89. solver internal thread M23 55 RC series HIPERFACE mating connector internal thread M23 58 Sin cos encoder connection with adapter 61 Wiring of X63 for connecting the internal ballast resistor 65 Wiring of X63 for connecting the external ballast resistor 65 Wiring of X63 for coupling DC links of up to three JetMove 215B 480 67 Connection details for digital outputs 71 Connection diagram of JetMove 215B 480 with resolver 83 Connection diagram of JetMove 215B 480 with HIPERFACE encoder 84 Connection X73 for Safe Standstill 95 Motion system using a servo JM D 2xx servo amplifier 96 Example OSSD signal waveform single pulse 99 Example OSSD signal waveform dual pulse 99 Application 1 100 Application 2 101 Application 3 102 Application 4 103 Block diagram JetMove 215B 480 with the Safe Standstill function 104 Possible rotation angle in case of defective IGBTs 105 View on RC series mating connector of the EnDat internal thread M23 108 Jetter AG JetMove 215B 480 Jetter AG Appendix F Index A Accessories 23 Air humidity 29 Alarms 82 Ambient temperature 29 Analog input option 87 B Blocking of the motor 46 C Commissioning Safety instructions 28 Compatible servo motors 39 Configuration memory 92 Connection diagram 83 Contact assignment Motor 46 47 Power supply of the motor 45 Convection 24 Corrosion 29 Counting input option 107 D Damages in transit and storage 30 Degree of protection 30 Description of symbo
90. tching off via time relay JM 2xx S1 Performance Level Classification to EN ISO 13849 1 Performance level e is based on the following data Structure Cat 3 MTTF 4 high gt 100 years DC medium DCayg 0 96 PFH 0 all failures will result in a safe condition CCF Portion Within the framework of this classification the CCF Common Cause Failure referred to in the standard mainly applies to the related application Here we proceed from the assumption that the measures taken by R amp D and application departments will ensure that the required score is achieved Basically the following measures make sure that servo amplifiers of the JetMove 2xx avoid Common Cause Failures e Electrical isolation optocoupler from power supply units e Compliance with clearances and creepage distances layout and wiring e Overrating of components and derating 13 5 1 Control variants for Safe Standstill e Controlling via safety relays e OSSD control OSSD Online Switched Silicon Device switched semiconductor Controlling the inputs Safe Standstill with test pulses for recognizing short circuits shorts between contacts or shunts of the control cable The test pulses have a length of 1 ms and a repetition frequency of 100 Hz At applying a control logic with OSSD signals errors e g short circuits or shorts between contacts can be recognized by the logic circuit itself and they will lead to switching off both signal ways
91. ter e g time in the form of characters or figures This parameter in digital representation can be changed in given steps only Contrasted with analog Definition according to the EMC regulations EMC is the ability of a device to function in a satisfactory way in an electro magnetic environment without causing electromagnetic disturbances itself which would be unbearable for other devices in this environment A feedback element that converts linear or rotary position absolute or incremental into a digital signal HIPERFACE designates a sensor transducer system by SICK AG The SinCos motor feedback system with the standardised HIPERFACE interface is often used in digital drive technology Unlike the resolver the SinCos motor feedback system with HIPERFACE interface contains electronic components lat interferre to carry in Superposition of waves JetMove 2xx identifies a product series of digital servo amplifiers by Jetter AG The extension represents the following features 215 identifies a rated current of 15 A 480 identifies an operating voltage of 480 V max A protection device that is monitoring whether the sum of all currents flowing into a circuit and out of it is zero If the limit is exceeded the circuit will be de energized A filter installed in the mains to suppress radio frequency interferences in the supply voltage A circuit breaker with monitoring functions of phases and temperature of a m
92. th ends Unshielded wire ends of shielded cables should be as short as possible 19 1 Safety Instructions The entire shield must be drawn behind the isolation and then be clamped under a flat earthed cable strap at the greatest possible surface area When male connectors are used Only use metallised connectors e g SUB D with metallized housing Make sure that the strain relief is directly connected with the housing here as well see Fig 2 Fig 2 Shielding of SUB D connectors in conformity with EMC standards 20 Jetter AG JetMove 215B 480 1 4 Instructions on EMI If the shield cannot be attached to the connector directly for example with a screw type terminal It is important that shield and strain relief are highly conductive and directly f connected to a grounded surface with the greatest possible surface area When doing so grounding must be implemented in a way that the unshielded portion of the cable is as short as possible Mating Connector Cable Strap Motor Cable Fig 3 EMC compatible connection of motor cables Jetter AG 21 1 Safety Instructions 22 Jetter AG JetMove 215B 480 2 2 1 Scope of Delivery Installation of the JetMove 215B 480 2 1 Scope of Delivery Digital servo amplifier JetMove 215B 480 Mating connector plugged on Cable strap serving as strain relief and motor cable shield User manual Installation accessories not included in the scope of
93. the given context the terminals have the following meaning X1 AC 400 480 V voltage supply X62 DC motor voltage up to 850 V Warning X63 DC link voltage up to 850 V CAUTION Hot surfaces During operation the surfaces respectively the heat sinks of the digital servo amplifier JetMove 215B 480 can heat up The internal heat sink can reach temperatures of up to 85 C Warning Do by no means touch the enclosure of the digital servo amplifier l JetMove 215B 480 near the internal heat sink during operation and during the cooling off period after switching off the device gt Ensure that no temperature sensitive parts are attached to the digital servo f amplifier JetMove 215B 480 16 Jetter AG JetMove 215B 480 Warning Caution Warning Jetter AG 1 3 Residual Dangers DANGER in a potentially explosive atmosphere D Do not operate the digital servo amplifier JetMove 215B 480 in a potentially explosive atmosphere DANGER of injuries caused by mechanic force The digital servo amplifier JetMove 215B 480 drives a servo motor This servo motor moves mechanic parts or sharp edges Therefore failure or malfunctioning of the digital servo amplifier JetMove 215B 480 can be dangerous for man or damage the manufacturing plant to an amount depending on the respective kind of plant This should be prevented by installing additional safety devices e One safety precaution is to install a second set of limit
94. the logic power supply and before giving the first enable If this is not considered the motor might move uncontrollably The counting direction of the position in the JetMove 2xx is reversed in the following cases Case 1 The signal sine is exchanged with the signal cosine and the signal reference sine is exchanged with the signal reference cosine Case 2 The signal sine is exchanged with the signal reference sine Case 3 The signal cosine is exchanged with the signal reference cosine Due to conduction loss a voltage smaller than 5 V might reach the f encoder If necessary the encoder supply cords have to have a greater diameter If a motor temperature sensor is not used the inputs have to be short circuited at the adapter so the JetMove 2xx will not give an error message Jetter AG 63 7 Description of Connections 7 6 External Ballast Resistor and DC Link Connection Connection of External Ballast Resistor and DC Link Circuit of Another JM 215B 480 Field Wiring Terminals X63 Connector Pin Assignment Up Negative pole of the DC link voltage Upt Positive pole of the DC link voltage BRint Connection with the internal ballast resistor for this purpose it must be connected with BR BR Reference potential for the ballasting circuit HAZARD caused by high operating voltage Extremely hazardous voltages of up to 850 V may occur Please observe the following precautions in order to avoid injuries
95. ure is to demonstrate the basic setting of a motion system using a digital servo amplifier JetMove 215B 480 S1 equipped with the Safe Standstill function gt O a gt 5 a a C 5 al 2o 9 0 O o gt o Q val Se O 5 0 O Oo 5 A gt Q S Input Safety Safe Standstill device in je Mech load ee _ lines to be Motor driven NEE signals J Control cabinet Fig 22 Motion system using a servo JM D 2xx servo amplifier The digital servo amplifier JM 215B 480 has been designed for being installed in a control cabinet The energy for driving a motor is supplied by a one phase mains system Further an extra low safety voltage of 24 V supplies the control electrics Via various inputs and outputs of a digital signal interface communication with higher level control elements is established these control elements issue the motion commands for the motor receive status reports and transmit them if necessary Usually the motor has been mounted at or within a machine outside the control cabinet It is connected via a cable to the JetMove 215B 480 For reporting the position it has got an actual position value encoder The mechanic load to be driven has been mounted to the motor shaft A safety relevant device accesses the electronic control system of the JetMove via controller inputs ENABLE1 and ENABLE2 If Safe Standstill has been required the motor is de energized in a way that the torque wi
96. urface area e Material Copper e Temperature class 60 C Pin Assignment of the Analog Input X72 Connect shield with the greatest possible surface area Use metallized housing only Analog signal 0 10 V to pin 6 p69 Analog GND connected to earth in the device Jetter AG JetMove 215B 480 Jetter AG 12 Ethernet Interface Option 12 Ethernet Interface Option 12 1 Function For the JetMove 215B 480 an optional integrated Ethernet interface can be ordered article designation of the device JM 215B 480 OEM This allows for the JetMove 215B 480 to be addressed by the controller via Ethernet instead of the Jetter system bus Functional Equipment 1 Ethernet interface 10 100 MBit s TX 10 pin DIP switch for the lower 8 bits of RUN STOP LOAD the IP address and of various operating modes LED for status indication RUN ERR 12 2 Description of Connections The digital servo amplifier JetMove 215B 480 OEM is connected with the Ethernet by a RJ45 socket X71 There are two types of interconnecting cables used for 10 100 MBit s twisted pair Ethernet e Straight through twisted pair cables e Crossover cables transmitting and receiving lines are crossed 89 12 Ethernet Interface Option 90 The LEDs of the JetMove 215B 480 OEM Ethernet Activity The JetMove 215B 480 OEM transmits or receives data via 4 the Ethernet LNK Linkage The JetMove 215B 480 OEM is link
97. zed no torque respectively stop rotating immediately 8 Re activate the Enable2 input at terminal X73 clear errors within the servo amplifier 13 5 Demands on the safety system This paragraph is to describe the safety requirements that can be met by the system They are based on the standards EN_ISO 13849 1 and IEC 61508 The following safety functions can be applied e Safe Standstill according to EN 954 1 category 3 and IEC 61508 SIL2 e Safe Standstill according to EN 954 1 category 4 and IEC 61508 SIL3 e Safe Standstill according to PL e to EN ISO 13849 1 e Restart inhibit according to EN 954 1 category 3 and IEC 61508 SIL2 e Restart inhibit according to EN 954 1 category 4 and IEC 61508 SIL3 e Restart inhibit according to PL e to EN ISO 13849 1 Jetter AG 97 13 Safe Standstill Option 98 Safe Standstill is to be realised according to Stop Category O or Stop Category 1 according to EN 60204 e Stop Category 0 After calling up the safety function the power supply of the motor is switched off absolutely and immediately According to IEC 61800 Part 5 2 Stop Category 0 is also called STO Save Torque Off e Stop Category 1 After calling up the safety function the motor is deactivated in a controlled manner while after a set delay time the power supply for the motor is switched off absolutely and immediately According to IEC 61800 Part 5 2 SLA Safety Limited Acceleration is not kept in case of swi

JetMove 215B-480

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