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Motion System JetMove 105, User Manual, Edition 2.10.1

Contents

1. 60 Jetter AG JetMove 105 7 4 Brush Equipped DC Motor 7 4 Brush Equipped DC Motor Specification of Terminal X1 8 pin screw clamping terminal type MC 1 5 8 ST 3 5 Diameter of the cable apt for connecting 0 14 1 5 mm with bootlace ferrules in a plastic sleeve 0 25 1 mm Bladed screw driver 0 4 x 2 5 mm Stud torque for the screw clamping terminal 0 22 Nm 2 Specification of the Motor Cable Cable cross section up to 2 1 mm Material Copper Temperature class 60 C Stripping length of cores 6 mm Cable shielding Braided copper shield of 80 coverage min Maximum cable length 50 m Motor Connection Terminals X1 on the Signal Specification Amplifier Side U2 Motor phase Motor cable V2 Motor phase Motor cable BALLAST Ballast resistor An optional ballast resistor can be connected between this terminal and ground PE PE conductor The PE conductor is connected to the enclosure Jetter AG 61 7 Description of Connections JetWeb E 62 JetMove 105 X1 Voltage Supply and DC Motor Connections 3 Phase Inverter Y v Information on Current Ballast PE m Connected with Enclosure 24 48VDC 24V DC DSP Controller Fig 16 X1 DC motor connection Important Alternative measures to avoid malfunctions of the control system and the motor m The brake has to be oper
2. Sine square and linear acceleration deceleration ramp Setpoint output cycle position feedback controller interpolation can be parameterized individually 2ms Position sensing Resolver Resolution Scan time Sine cosine sensor Resolution of absolute position Resolution of feedrate control Scan time 12 bits per revolution 62 5 us 15 Bit per encoder period 20 Bit per encoder period 62 5 us Jetter AG JetMove 105 7 1 Demands the Power Supply Unit for Motor Operation Voltage 7 Description of Connections 7 1 Demands on the Power Supply Unit for Motor Operation Voltage We recommend a power supply unit configuration consisting of transformer rectifier and charging capacitor electrolytic capacitor o DC Link Voltage DC 48 Transformer Rectifier Electrolytic Bridge Capacitor Fig 7 Configuration of the power supply unit for the motor operation voltage The power supply unit can be configured with a 1 or 3 phase wiring The output of the power supply unit is rated at the output required by the motor M n 9 55 PLosses Output power P in Watt W Torque M in Nm Speed in 1 min Power dissipation Ppissipation in Watt W gt gt The power supply voltage is rated at the required speed and torque U U Uy with K n Uy N 1000 Counter EMF U in Volt V Back EMF constant Kg in V min 1000 Speed n i
3. Standard Specification s Referred to Burst fast transients Test voltage 2 kV Repetition rate 5 kHz Capacitive interference Acceptance criterion B second set of surroundings setting category C3 DIN EN 61800 3 DIN EN 61000 4 4 Impulse Voltages tr th 1 2 50 us 8 20 us 1 kV Launching phase conductor against ground potential Acceptance criterion B second set of surroundings setting category C3 DIN EN 61800 3 DIN EN 61000 4 5 Guided radio disturbances Frequency 0 15 80 MHz Test voltage 3 V AM 80 96 with 1 kHz Acceptance criterion A second set of surroundings setting category C3 DIN EN 61800 3 DIN EN 61000 4 6 32 Jetter AG JetMove 105 4 Physical Dimensions 4 2x 64 2 E TL x DS 2 I L3 UUUUUUUUUU NV UUUUUUUUU NU NIU UUUUUUUUUJ UTI 1 7 26 5 gt e 58 8 b gt 90 9 Di gt 136 gt A AAA A QJJ Gratrcrasse 2 c u2 D 71642 Ludwigsburg vo T Lo we i Type JM 105 rev Part No 10000633 x BALLAST d Input Ratings Power Supply 1 24 48VDC gt PE Current 10 a Vmot Output Ratings Voltage 3 17 34VAC 0 400Hz
4. 10000633 Input Ratings Ratings Power Supply 1 24 48 0 Cument 10 Voltage 3 17 34VAC 0 400Hz Motor Current 3 5A Enclosure Rating Ambient Temperature 0 40 C 32 104 F tc 8 2 ul Fig 24 Status monitoring at the JetMove 105 Jetter AG 81 8 Status Monitoring JetWeb LEDs at the JetMove 105 LED Color Status Meaning Operating System is Active AXARR Green Is lit Axis is standing still speed 0 ERR Red Is lit An error has occurred The drive controller is locked error can be acknowledged Boot Phase AXARR Green Off ERR Red Islitfor 1s The operating system is being checked Operating System Update AXARR Green Flashing The operating system is being programmed ERR Red Is lit The operating system update is active Ni Note M Pali Pal M The ERR display of the amplifier indicates the error status of the digital servo amplifiers JetMove 105 The range of error statuses is displayed in the motion setup section 82 Jetter AG JetMove 105 9 9 1 Diagnostics Error Messages 9 1 Error Messages _ Note M oa Pel The ERR display of the amplifier indicates the error status of the digital servo amplifiers JetMove 105 The range of error statuses is displayed in the motion bd setup section Error Message Table JetMove 105 Error Error type Description Response to Troubleshooting
5. JetWeb 1 2 2 Information signs and labels gt Writings information signs and labels always have to be observed and i kept readable gt gt gt Damaged or unreadable information signs and labels have to be exchanged 1 2 3 Earthing procedure gt Screw the enclosure of the digital servo amplifier JetMove 105 onto a highly conducting plane and earthed panel gt Connect earth X1 PE with an earthing position of good quality Use a short line of a great cross section 1 3 Residual Dangers 1 3 1 Hazards during operation DANGER of hot surfaces During operation the surfaces respectively the heat sinks of the servo amplifier JetMove 105 can heat up The left sidewall and the rear can reach temperatures of up to 85 C gt Please do by no means touch the left sidewall or the rear of the servo amplifier JetMove 105 during operation and after switching off while the device is still cooling down gt Please make sure that no temperature sensitive parts have been connected or fastened to the servo amplifier JetMove 105 Jetter AG JetMove 105 Warning Caution Warning Jetter AG 1 4 Instructions on EMI DANGER in potentially explosive atmosphere gt Do not operate the digital servo amplifier JetMove 105 in a potentially explosive atmosphere DANGER of injuries caused by mechanic force The digital servo amplifier JetMove 105 drives a motor This motor moves mechanic parts or s
6. gt The packaging material and the storage place are to be chosen in a way that the values given in the above table Operating Parameters Mechanical Parameters on page 28 are kept to Jetter AG JetMove 105 Jetter AG Operating Parameters Electrical Safety Parameters Value s Standard Specification s Referred to Protection Class DIN EN 61800 5 1 Dielectric Strength Protective network conductor and DIN EN 61800 5 1 network logics 380 V DC 5s Insulation Protective network conductor and DIN EN 61800 5 1 network logics gt 1 MQ at 500 V Protective lt 60 V 25 0 1 Q DIN EN 61800 5 1 Connection Overvoltage DIN EN 61800 5 1 Category DIN EN 50178 DIN VDE 0110 1 UL 508C Operating Parameters EMI Immunity to Interference Parameters Value s Standard Specification s Referred to Enclosure Frequency band DIN EN 61800 3 30 230 MHz limit 50 dB V m 10m Frequency band 230 1000 MHz limit 60 dB pu V m in 10 m second set of surroundings setting category C3 Signal and control line connections DC voltage supply inputs and outputs Frequency bands 0 15 to 0 5 MHZ limit 100 dB uv e 0 5 to 5 MHz limit 86 dB uV 5 to 30 MHz limit 90 dB uV decrease by the logarithm of the frequency up to 70 dB pu V measured by a quasi peak detector second set of surroundings setting category C3 DIN EN 61800
7. JetMove 105 Jetter AG Operating Parameters EMI Immunity to Interference Power Connections Guided radio disturbances Frequency 0 15 80 MHz Test voltage 10 V AM 80 96 with 1 kHz Acceptance criterion A second set of surroundings setting category C3 DIN EN 61800 3 DIN EN 61000 4 6 Operating Parameters EMI Immunity to Interference Power Interfaces Parameters Value s Standard Specification s Referred to Burst fast transients Test voltage 2 kV Repetition rate 5 kHz Capacitive interference Acceptance criterion B second set of surroundings setting category C3 DIN EN 61800 3 DIN EN 61000 4 4 Operating Parameters EMI Immunity to Interference Signal Interfaces Parameters Value s Standard Specification s Referred to Burst fast transients Test voltage 1 kV Repetition rate 5 kHz Capacitive interference Acceptance criterion B second set of surroundings setting category C3 DIN EN 61800 3 DIN EN 61000 4 4 Guided radio disturbances Frequency 0 15 80 MHz Test voltage 10 V AM 80 96 with 1 kHz Acceptance criterion A second set of surroundings setting category C3 DIN EN 61800 3 DIN EN 61000 4 6 31 3 Operating Conditions JetWeb Operating Parameters EMI Immunity to Interference Measuring and Control Circuits in Process Environments Parameters Value s
8. related to the controller potential 8mA input current per input Referto chapter 7 9 Digital and Analog Inputs and Outputs page 77 Braking circuit X62 2 Can be switched via controller program or automatically at release of the motor current supply 24 V DC Viog 0 5 V Imax 0 5 Type of contact Semiconductor switch NOC with integrated free wheeling diode The pin may only be connected to devices that are related to the same potential as the power supply of the controller logic Encoder supply X61 1 and 6 Encoder supply voltage 5 V DC 5 96 350 mA max Encoder supply voltage 24 V DC Vl g 0 5V 300 mA max Resolver inputs Resolver excitation 8 Vpp Frequency 8 KHz e Input impedance 30 K SinCos encoder inputs 1 Vpp differential signals max frequency analog 450 KHz digital 5 MHz e Input impedance 30 K Incremental encoder inputs e 5V differential signals RS422 or 5 V single ended max frequency 8 MHz min pulse 50 ns Input impedance 15 KQ Analog input 1 differential channel Resolution 12 Bit e Voltage range 0 10 V Value range 0 32767 in steps of 8 e Sampling interval 2ms e Input impedance 20 KQ Jetter AG JetMove 105 Jetter AG 5 1 Electrical Specification Electrical Specification Power dissipation P Output stage at a rated output of 24 W typically 36 W max Logic c
9. 11 12 13 14 15 16 17 18 20 22 24 25 30 50 The order number xxxx designates the length in cm Example A motor cable of 5 meters length has got the designation KAY 0626 0500 Connecting cables for Jetter motors with brake The motor cables for motors with brake of the designation KAY 0624 xxxx can be ordered in the following standard lengths in meters 1 12 15 2 25 3 3 5 4 45 5 55 6 6 5 7 75 8 9 10 11 12 13 14 15 16 17 18 20 22 24 25 30 50 The order number xxxx designates the length in cm Example A motor cable of 5 meters length has got the designation KAY 0624 0500 Jetter AG JetMove 105 Jetter AG 11 4 Resolver Cable 11 4 Resolver Cable The resolver cable of the designation KAY 0623 xxxx can be ordered in the following standard lengths in meters 1 12 1 5 2 25 3 3 5 4 45 5 55 6 6 5 7 7 5 8 9 10 11 12 13 14 15 16 17 18 20 22 24 25 30 50 The order number xxxx designates the length in cm Example A motor cable of 5 meters length has got the designation KAY 0623 0500 11 5 System Bus Cables Connection cables for the Jetter system bus Length 0 2 m CABLE CONF NO 0530 0 2m Art no 10309001 Length 0 5 m CABLE CONF NO 0530 0 5m Art no 10309002 Length 1 0 m CABLE CONF NO 0530 1 0m Art no 10309003 Length 1 5 m CABLE CONF NO 0530 1 5m Art no 10309004 Length 2 0 m CABLE CONF NO 0530 2 0m Art no 10309006 Length 2 5 m CABLE CONF NO 0530 2 5m Art no 10309016 Length 3 0 m CABLE CONF NO 0530 3 0m Art no
10. 90 sine and cosine The resolver itself does not contain any electronic components Safe Extra Low Voltage Voltage which under all operating conditions will not exceed a peak or DC voltage of 42 4 V This voltage is either measured between two conductors or between one conductor and earth The circuit in which this voltage occurs must be separated from the mains power supply by a safety isolating transformer or some equivalent A higher level controller enables an axis by means of a software instruction This way the motor is energized Hardware enable has to precede software enable restart inhibit Type name of a plug in connector time rise time hold rise time of a pulse total hold time of a pulse 97 Appendices 98 tty TN network TT network UL VDE DC link voltage ONAT Units mA dB Hz cm mm JetWeb time rise time normal rise time of a pulse total duration of a pulse rise time of a pulse total duration of a pulse Supply network which is solidly earthed in the neutral point and which is equipped with a protective earth conductor Supply network which is solidly earthed in the neutral point yet which is not equipped with a protective earth conductor Earthing is carried out by means of a local protective earth Underwriters Laboratories Inc Verband deutscher Elektrotechniker e V Association of German Electrical Engineers DC circuit within a servo drive o
11. Immediate Check motor and speed has controller encoder connections exceeded a value of disable Check speed controller 1 25 x maximum parameters If speed necessary modify parameters Acknowledge the error F 11 Current overrange A current Immediate Reduce ofthe temporarily too high controller current controller by 10 has been detected disable to 20 Acknowledge the error F 15 Hardware enableis The software enable Immediate Disable the drive by missing is given without a controller means of the software hardware enable disable Acknowledge the error F 17 Trip of software Actual position is Stop at max Check target position limit switch outside the range of current max Acknowledge the error software limits and torque Run axis back within software limit the software limits switches are active monitoring the software limit switches is activated automatically when the axis has returned to this range F 18 Hardware limit One hardware limit Stop at max Check target position Switch is active Switch is active current max Check reference torque position Acknowledge the error Run axis back within the hardware limits monitoring the hardware limit switches is active automatically when the axis leaves the switch F 20 Undervoltage in The DC link voltage Stop by Check the voltage of the DC link voltage is less than the emergency the power line m
12. Number Errors F 00 Hardware error Internal hardware Immediate Cut drive controller defect controller from power lines disable Return the amplifier for repair F 04 Overvoltage in the A DC link voltage Immediate Check input voltage DC link of 60 V has been controller supply detected disable Ifthe motor is used as generator reduce the regenerating power Acknowledge the error F 05 Current overload The output current Immediate Check cable and motor has been greater controller for a short circuit and than 2 5 x the rated disable ground fault current or ground Check current control fault during parameters If operation necessary correct parameters Acknowledge the error F 07 Overtemperature The amplifier has Immediate Letthe amplifier cool of the device reached the controller down maximum disable After cooling down temperature acknowledge failure Reduce power of drive system F 09 Encoder failure Encoder breakage Immediate For extended or initialisation error controller diagnostics purposes of the encoder disable use motion setup Check the encoder line and all plug in connections Acknowledge the error Jetter AG 83 9 Diagnostics JetWeb Error Message Table JetMove 105 default 60 V Error Error type Description Response to Troubleshooting Number Errors F 10 Overspeed The actual shaft
13. The PE conductor is connected to the enclosure 52 Jetter AG JetMove 105 G 8 Jetter AG 7 3 The Servo Motor JetMove 105 X1 Voltage Supply and Motor Connections 3 Phase Inverter wv Information on Current Ballast PE Connected with Enclosure 24 48V DC 24VDC DSP Controller Fig 11 X1 Servo motor connection Important Alternative measures to avoid malfunctions of the control system and the motor gt The brake has to be operated through a separately shielded brake line Important Measures to avoid oscillation and blocking of the motor gt Avoid mixing up of the motor phases resp be sure to connect the motor phase cables according to the pin assignment 53 7 Description of Connections JetWeb 54 There are two motor cabling options 7 3 1 Motor with male connector Fig 12 Motor with male connector For the power connections and for the feedback the motor has been equipped with screw clamping terminals With the help of prefabricated cables the connection to the JetMove 105 is established see Pre fabricated motor cable with SC mating connector on page 56 and Resolver cable with mating connector on page 68 Motor specification S S A S B or S X for JH2 motors 7 3 2 Motor with screw clamping terminals and cables with male connectors 2h Fig 13 Motor with cables and male connectors The motor is equ
14. are to be longer than 2 meters use twisted wires for the supply and earthing return line If wires of more than 20 meters are to be used apply a capacitor of at least 1 000 HF set for the maximum possible voltage close to the X1 terminal If the same power supply is used for multiple motion systems apply a star connection the electrical center of which consists of the supply outputs Connect each motion system to the general motor voltage supply using different wires for either positive or feedback phases gt Connect the grounding wire the shielding of the JetMove 105 with a fixed earthing position The JetMove 105 generates electro magnetic disturbances if its enclosure has not been earthed Apply a short connection of a large cross section between the PE of the motion system and the connection to ground Whenever this is possible mount the JetMove 105 on a metallized and earthed surface Jetter AG 45 7 Description of Connections JetWeb 7 1 3 Recommendations on preventing overvoltage at braking or lowering a vertical load At fast braking or reversing the axis the braking energy is fed back to the motor power supply This can cause the DC link voltage to increase If the voltage has reached a limit of 60 V the overvoltage error is recognized and the motor control deactivated There are two ways of preventing this behavior Possibility 1 gt Connecting an external capacitor The external capacitor must be able
15. be close to the servo amplifier Shield cables both ends gt If a motor power cable is used which includes cores for brake control the brake control cores have to be separately shielded The shielding braid must be placed on both ends of the applicable cables pum Follow the instructions given in Application Note 016 EMC Compatible Installation of the Electric Cabinet published by Jetter AG The following instructions are excerpts from Application Note 016 Screw the enclosure of the digital servo amplifier JetMove 105 onto a highly conducting plane earthed panel 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 pe Shielded cables must be used for the following lines Analog lines data lines motor cables coming from inverter drives servo output stage frequency converter lines between components and interference suppressor filter if the suppressor filter has not been placed at the component directly A Shield cables at both ends Unshielded wire ends of shielded cables should be as short as possible gt The entire shield must in its entire perimeter be drawn behind the isolation and then be clamped under an earthed strain relief with the greatest possible surface area When male connectors are used gt shield impedance s
16. in Germany FE Y lo E oc u 28 So gt X62 X18 19 x TA zu IN OUT BUS IN BUS OUT Q a y DIL Ju 136 e 137 7 Fig 4 Mounting holes in the enclosure 22 Jetter AG JetMove 105 2 3 Jetter AG 2 3 Electrical Installation Electrical Installation Please check the assignments of servo amplifier and motor Compare rated voltage and continuous rated current of servo amplifier and motor The motor must be isolated against voltages of DC 100 V min please also refer to Compatible Synchronous Servo Motors on page 37 Connect the JetMove 105 according to the connection wiring diagram shown in chapter 10 Wiring Diagrams page 87 Especially check the power lines for appropriate protection see page 88 Protecting the motor cables is not advisable Select the cables according to standards Please check whether the ground cable has been connected To connect resolvers or power units you can use prefabricated cables available from Jetter or opt for self made cables Please refer to chapter 7 Description of Connections page 43 To ensure that installation is carried out in conformance with EMC regulations the following items have to be observed especially Please ground the 0 V phase as closely to the motor power supply unit as possible If possible do not connect the controller cable together with the power supply and motor ca
17. must be higher than or at least equal to the DC link voltage supplied by the servo amplifier The digital servo amplifier JetMove 105 is used to control machinery such as conveyors production machines and handling machines 1 1 2 Non intended use The digital servo amplifier must not be used in technical systems which to a high degree have to be fail safe e g ropeways and aeroplanes Please do not use the integrated braking circuit in applications where in case of braking circuit failure safety hazards can occur If the digital servo amplifier JetMove 105 is to be run under operating conditions which differ from the conditions mentioned in chapter 3 Operating Conditions page 27 the manufacturer must be contacted beforehand 11 1 Safety Instructions JetWeb 1 1 3 Who is permitted to operate the servo amplifier JetMove 105 Only instructed trained and authorised persons are permitted to operate the servo amplifier JetMove 105 Transport Only by personnel with knowledge in handling electrostatically sensitive components Installation Only by specialists with training in electrical engineering Commissioning Only by specialists with extensive knowledge of and experience with electrical engineering drive technology 1 1 4 Modifications and alterations to the module Due to safety reasons neither opening the digital servo amplifier JetMove 105 nor carrying out any modifications or alterations to the de
18. page 43 87 10 Wiring Diagrams JetWeb Key to the Wiring Diagram 1 Motor 2 Motor brake optional 3 If a motor brake is applied an external free wheeling diode has to be connected 4 Ballast resistor 5 Position encoder resolver or sin cos encoder L e N Schutz OV 24 V DC OV 48 VDC ES cA XA Vmot Vmot Vmot JetMove JetMove JetMove Vlog 105 Vlog 105 Vlog 105 ov ov ov OV Fig 26 The usage of short circuit breakers when several JetMove 105 are connected The short circuit breakers have to be designed according to the cable cross section 88 Jetter AG JetMove 105 11 1 Document Survey 11 Ordering Information 11 1 Document Survey The documents listed below have been supplied on the website of Jetter AG at http www jetter de Service Center for download Programming jm2xx_at_jetcontrol_bi_xxxx_user_information pdf E Register description and parametering example Article no 60868237 11 2 Device Designation Description Article JM 105 Digital Servo Amplifier 10000633 89 Jetter AG 11 Ordering Information JetWeb 90 11 3 Motor Power Cables With Mating Connector SC Connecting cables for Jetter motors without brake The motor cables for motors without brake of the designation KAY 0626 xxxx can be ordered in the following standard lengths in meters 1 12 15 2 25 3 3 5 4 45 5 55 6 6 5 7 75 8 9 10
19. resistance 3 input input is used for KOhm reference run Operating point 4 V low gt 14 V high NC or NO contact 13 Positive limit Depending on the DC20 30V Switch input parameter setting this Input resistance input is used as a KOhm positive limit switch Operating point 4 V low gt 14 V high NC or NO contact 14 Negative limit Depending on the DC20 30V Switch input parameter setting this Input resistance 3 input is used as a KOhm negative limit switch Operating point 4 V low gt 14 V high NC or NO contact 15 Digital input Depending on the e DC20 30V parameter setting this Input resistance 3 input can be used for KOhm quick stop position Operating point capture or referencing 4 V low without stop gt 14 V high 78 Jetter AG JetMove 105 Jetter AG 7 10 Jetter System Bus 7 10 Jetter System Bus The JetMove 105 is interlinked with the controller additional JetMove amplifiers or Jetter peripheral modules by means of the Jetter system bus The system bus input BUS IN is a 9 pin male SUB D connector and the bus output BUS OUT is a 9 pin female SUB D connector 7 10 1 Jetter system bus cable specification Specification of Connectors On the BUS OUT X19 side 9 pin male SUB D connector Metallised enclosure On the BUS IN X18 side 9 pin female SUB D connector Metallised enclosure System Bus Cable Specification The following min
20. switching for 2 phase stepper motors Addition of voltage in a synchronous machine Acceleration by linear ramp RC series mating connector of the resolver internal thread M23 Sin Cos encoder connection Incremental encoder connection Status monitoring at the JetMove 105 Wiring diagram of the JetMove 105 The usage of short circuit breakers when several JetMove 105 are connected 99 Appendices JetWeb Appendix D Index A N Accessories 19 Noise immunity 16 Alarms 86 Non intended use 11 C O Compatible servo motors 37 Operating parameters Confection 20 Electrical safety 28 Contact assignment EMG 9 Emitted interference 29 Power Supply 52 61 63 Voltage Suppl 50 Immunity to interference 30 9 PPly Environment 27 Mechanical parameters 28 D Power Rating 27 Description of symbols 5 Oscillating of the motor 45 53 Dimensions 33 Disposal 13 P Drive controller specification 42 Physical Dimensions 33 PWM frequency 42 E Earthing procedure 14 Q Electrical specification 35 Qualified staff 12 Error message table JetMove 2xx xxx 83 R Repairs 12 Residual dangers Information Signs 14 Hot surfaces 14 49 Installation Mech force 15 Electrical 23 Potentially explosive atmosphere 15 Mechanical 20 Resolver cable L S LEDs at the JetMove 1xx xxx 82 Scope of delivery 19 Servicing 12 M Sine consine sensor 42 r System bus cable Malfunctions 19 93 62 64 Cable confection 530 80 Modifications 12 Specification 79 Motor power cable Cab
21. 0 14mm EE 360 round ply solder side the shield mash Connect shield with the greatest possible surface area Use metallized enclosure only Pin Signal Core color Pin 4 S1 cosine brown 1 14 S3 cosine white 2 15 S4 sine yellow 3 5 S2 sine green 4 9 R1 exciter pink 5 winding 10 R2 exciter gray 6 winding unassigned 7 12 Mating Connector of the Resolver Solder Side Dimensions of the resolver mating connector are specified in millimeters Fig 21 RC series mating connector of the resolver internal thread M23 69 7 Description of Connections JetWeb 7 6 3 Resolver cable without mating connector The resolver cable is used for the variant Motor with screw clamping terminals and cables with male connectors on page 55 Resolver Cable at the Motor JetMove 105 Shielding Motor Resolver SUB D connector X61 1o o o o o 6000 o o10 110 o o o o15 Attaching screws must Connect shield with the have a metric thread greatest possible surface area Use metallized enclosure only Pin Signal Core color 4 51 cosine brown 14 S3 cosine white 5 S2 sine yellow 15 S4 sine green 9 R1 exciter winding pink 10 R2 exciter winding gray Thermoswitch red Thermoswitch blue 70 Jetter JetMove 105 7 7 Sin Cos Encoder Connection 7 7 Sin Cos Encoder Connection 7 7 1 Specification
22. 10309015 Length 4 0 m CABLE CONF NO 0530 4 0m Art no 10309007 Length 5 0 m CABLE CONF NO 0530 5 0m Art 10309008 Other lengths can be obtained on request 91 11 Ordering Information 92 JetWeb Jetter AG JetMove 105 Appendices Appendices Jetter AG 93 Appendices JetWeb 94 Jetter AG JetMove 105 Jetter AG Appendices Appendix A Recent Revisions Recent Revisions Made in Edition 2 10 1 Chapter Comment Revised Added Deleted Introduction System requirements Y 5 1 Motor peak current 10 A 7 1 Wire calculation 72 Voltage supply Y 7 3 The servo motor 7 4 Brush equipped DC motor 7 5 2 phase stepper motor Y 95 JetWeb Appendix B Glossary AC CE DC DIN DSP EU EC Low Voltage Directive Electro Magnetic Compatibility EMC EN ESD Hazard Analysis Hardware Enable HIPERFACE IEC IGBT Alternating Current Alternating Current Communaut s Europ ennes European Union Direct Current Direct current Deutsches Institut fur Normung e V German Industry Standard Digital SignalProcessor European Union To be considered when using electric devices of a rated voltage between 50 and 1 000 V AC and between 75 and 1 500 V DC Definition according to the EMC regulations EMC is the ability of a device to function in a satisfactory way in an electro magnetic environment without causing electromagnetic disturbances itsel
23. 2 Vlog Motor Current 3 5A ov Enclosure Rating IP20 C Ambient Temperature 0 40 32 104 F Made in Germany Ev D LO x ili CE SE X62 X18 x19 lt u IN OUT BUS IN BUS OUT y LI Y 136 137 7 gt 84 5 Fig 5 Physical dimensions of the JetMove 105 For installation please also refer to fig 3 on page 21 Jetter AG 33 4 Physical Dimensions JetWeb 34 Jetter AG JetMove 105 5 1 Electrical Specification 5 Technical Data 5 1 Electrical Specification Electrical Specification Motor voltage supply 24 48 V DC 12 48 V DC Imax 16 5 A The voltage output of the power supply unit must comply with the SELV or PELV type Inrush current limitation The JM 105 is equipped with an internal 200 capacitor for buffering The inrush current is not limited See Recommendations on the power supply On Off switch Vmot on page 44 Maximum output voltage of the motor 60 V Motor output current at an ambient temperature of 40 Nominal current leg 5 Peak current log 10 A t lt 10s at T lt 40 Motor inductivity 125 pH min between two motor lines Rated output 240W Overcurrent protection motor side Designed for phase to phase phase to 0 V respectively earth Motor ove
24. 3 29 3 Operating Conditions Important JetWeb This is a product of restricted availability according to IEC EN 61800 3 This module can cause radio interferences in residential areas In this case the user must take adequate measures to prevent this Operating Parameters EMI Immunity to Interference Enclosure Parameters Value s Standard Specification s Referred to ESD Discharge through air DIN EN 61800 3 Test peak voltage 8 kV DIN EN 61000 4 2 Contact discharge Test peak voltage 4 kV Acceptance criterion B second set of surroundings setting category C3 RF Field Frequency band 80 1000 MHz test DIN EN 61800 3 amplitude field strength 10 V m DIN EN 61000 4 3 modulated AM 80 96 with 1 kHz Acceptance criterion A second set of surroundings setting category C3 Operating Parameters EMI Immunity to Interference Power Connections Parameters Value s Standard Specification s Referred to Burst fast transients Test voltage 2 kV Repetition rate 5 kHz Acceptance criterion B second set of surroundings setting category C3 DIN EN 61800 3 DIN EN 61000 4 4 Impulse Voltages tr th 1 2 50 us 8 20 us 1 kV Launching phase conductor against phase conductor 2 kV Launching phase conductor against ground potential Acceptance criterion B second set of surroundings setting category C3 DIN EN 61800 3 DIN EN 61000 4 5 Jetter AG
25. 3 86 87 89 89 89 90 91 91 95 Jetter AG JetMove 105 Table of Contents Appendix B Glossary 96 Appendix C List of Illustrations 99 Appendix D Index 100 Jetter AG 9 Table of Contents JetWeb 10 Jetter AG JetMove 105 Jetter AG 1 1 Generally Valid Safety Instructions 1 Safety Instructions 1 1 Generally Valid Safety Instructions The digital servo amplifier JetMove 105 fulfils the accepted safety regulations and standards Special emphasis was given to the safety of the users Of course the user should adhere to the following regulations pertinent accident prevention regulations accepted safety rules EC guidelines and other country specific regulations 1 1 1 Usage to the intended purpose Usage to the intended purpose includes operation in accordance with these operating instructions The digital servo amplifier JetMove 105 may only be operated in the closed control cabinet and within the range of the set values see chapter 5 Technical Data page 35 Do not apply a voltage to the digital servo amplifier JetMove 105 that is higher than the prescribed operating voltage The operating voltage for the motor power supply of the digital servo amplifier JetMove 105 ranges between 12 V und 48 V DC Thus the digital servo amplifier does not come under the EC Low Voltage Directive The servo amplifier JetMove 105 is for driving electric motors of various designs The winding isolation of the motors
26. 41 2550 484 sales jetter de hotline jetter de http www jetter de This Operator s Manual is an Integral Part of the JetMove 105 Type Serial Year of construction Order To be entered by the customer Inventory Place of operation Copyright 2007 by Jetter AG All rights reserved Introduction JetWeb Significance of this User Manual This user manual is an integral part of the digital servo amplifier JetMove 105 and must be kept in a way that it is always at hand until the the digital servo amplifier JetMove 105 will be disposed of Pass this manual on if the digital servo amplifier JetMove 105 is sold or loaned leased out In any case you encounter difficulties to clearly understand this user manual please contact the manufacturer We would appreciate any suggestions and contributions on your part and would ask you to contact us This will help us to produce manuals that are more user friendly and to address your wishes and requirements This manual contains important information on how to transport erect install operate maintain and repair the digital servo amplifier JetMove 105 Therefore the persons carrying out these jobs must carefully read understand and observe this manual and especially the safety instructions Missing or inadequate knowledge of the manual results in the loss of any claim of liability on part of Jetter AG Therefore the operating compa
27. 48 V DC 12 48 V DC Imax 16 5 A No inrush current limitation Power supply of 24 V DC 12 40 V DC the logic unit Imax 250 mA at 24 V No inrush current limitation OV Zero potential Ground reference for Vmor and for the power VLoG supply 50 Jetter AG JetMove 105 7 2 Voltage Supply JetMove 105 X1 Voltage Supply and Motor Connections 3 Phase Inverter Ballast PE Connected with Enclosure 24 48VDC 24VDC DSP Controller Fig 10 X1 Supply voltage Jetter AG 51 7 Description of Connections JetWeb 7 3 The Servo Motor Specification of Terminal X1 8 pin screw clamping terminal type MC 1 5 8 ST 3 5 Diameter of the cable apt for connecting 0 14 1 5 mm with bootlace ferrules in a plastic sleeve 0 25 1 mm Bladed screw driver 0 4 x 2 5 mm Stud torque for the screw clamping terminal 0 22 Nm 2 Specification of the Motor Cable Cable cross section up to 4 0 75 mm Material Copper Temperature class 60 C Stripping length of cores 6 mm Cable shielding Braided copper shield of 80 coverage min Maximum cable length 50 m Motor Connection Terminals X1 on the Signal Specification Amplifier Side U2 Motor phase 1 Motor cable V2 Motor phase 2 Motor cable W2 Motor phase 3 Motor cable BALLAST Ballast resistor An optional ballast resistor can be connected between this terminal and ground PE PE conductor
28. 7 1 2 General remarks 43 44 45 7 1 3 Recommendations on preventing overvoltage at braking or lowering a vertical load 7 2 Voltage Supply 46 50 Table of Contents 7 3 7 3 1 7 3 2 The Servo Motor Motor with male connector Motor with screw clamping terminals and cables with male connectors 7 3 3 Motor with screw clamping terminals and cables with male connectors 7 3 4 7 3 5 7 4 7 5 7 5 1 7 5 2 7 6 7 6 1 7 6 2 7 6 3 T T 7 7 1 7 8 7 8 1 7 9 7 10 7 10 1 8 9 9 1 9 2 10 11 11 1 11 2 11 3 11 4 11 5 Pre fabricated motor cable with SC mating connector Motor cable permanently fixed to the motor Brush Equipped DC Motor 2 Phase Stepper Motor Stepper motor control Acceleration and deceleration Connection of the Resolver Specification Resolver cable with mating connector Resolver cable without mating connector Sin Cos Encoder Connection Specification Connection of the Incremental Encoder Specification Digital and Analog Inputs and Outputs Jetter System Bus Jetter system bus cable specification Status Monitoring Diagnostics Error Messages Warnings Wiring Diagrams Ordering Information Document Survey Device Motor Power Cables With Mating Connector SC Resolver Cable System Bus Cables List of Appendices Appendix A Recent Revisions JetWeb 52 54 54 55 56 59 61 63 65 67 68 68 68 70 71 71 74 74 77 79 79 81 83 8
29. 7 6 2 Resolver cable with mating connector The pre fabricated resolver cable is used with the variants Motor with male connector on page 54 and Motor with screw clamping terminals and cables with male connectors on page 54 Ny Note M Pali d TEN The resolver respectively HIPERFACE mating connector of the synchronous E servo motor series JH JL and JK can be ordered from Jetter AG by supplying the following particulars Article 15100069 Resolver HIPERFACE The complete resolver cable connecting the servo amplifier JetMove 105 and the synchronous servo motor series JL1 and JH2 can be obtained from Jetter The resolver cable can be ordered by submitting the following cable specifications and the respective cable length in cm KAB ENC RS 0623 xxxx For the servo amplifier series JetMove 105 68 Jetter AG JetMove 105 Jetter AG 7 6 Connection of the Resolver Resolver Cable KAY 0623 xxxx JetMove 105 SUB D connector X61 Shielding Motor Resolver female solder side 05 o 010 110 o o o 015 cable Shield e solder side mating housing Z connector L S Attaching screws wrap nut must have a metric n gig thread pull relef 226 3 2
30. JetMove 105 Drive Lan lo we 4 NT o y j Jetter AG d r Graterstrasse 2 D 71642 Ludwigsburg Power Supply Current Voltage Motor Current Enclosure Rating Ambient Temperature Xe2 IN OUT zc P od qamar 1 24 48VDC 104 3 17 34 0 400Hz 3 5A IP20 0 40 C 32 104 F Made in Germany SUPPLY amp MOTOR X18 X19 nee 9 BUS IN BUS OUT es A TRON AA 4 5 U gt gt March 2008 Printed in Germany Article no 608 728 38 Edition 2 10 1 Introduction JetWeb Revision 2 10 1 Jetter AG reserves the right to make alterations to its products in the interest of technical progress These alterations need not be documented in every single case This manual and the information contained herein have been compiled with due diligence However Jetter AG assume no liability for printing or other errors or damages arising from such errors The brand names and product names used in this document are trademarks or registered trademarks of the respective title owner Jetter AG JetMove 105 Jetter AG Introduction How to Contact us Jetter AG Graterstrake 2 D 71642 Ludwigsburg Germany Phone Switchboard Phone Sales Phone Technical Hotline Telefax Sales E Mail Sales E Mail Technical Hotline Internet Address 49 7141 2550 0 49 7141 2550 433 49 7141 2550 444 49 71
31. Specification of the Connector for Terminal X61 ENCODER e 15 pin high density SUB D connector male Metallised enclosure Specification of the Sin Cos Encoder Cable Cable cross section 3 2 0 14 mm 2 0 25 mm min 2 0 25 mm has to be used for the power supply unit and for GND Twisted pair cables shielded with the all over shield must be used the signal lines must also be twisted in pairs Sine and reference sine Cosine and reference cosine Index and reference index 0 V and voltage supply The shield has to be connected to the connector enclosures on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Maximum cable length 50 m Jetter AG 71 7 Description of Connections 72 JetWeb Sin Cos Encoder Cable JetMove 105 SUB D Shielding Cable specification connector X71 X81 Maximum cable length 1000005 100 m 010 110 o15 Attaching screws must have a metric thread Connect shield with the greatest possible surface area Use metallized enclosure only Pin Signal 5 Sine 15 Reference sine 4 Cosine 14 Reference cosine 7 Index 8 Reference index 1 Voltage output Imax 350 mA 5 Volt 6 Voltage output Imax 300 mA 24 Volt 11 OV Note 1 1 Supply voltage 5 V at the JetMove 105 Due to conduction loss a lower voltage might be su
32. Technical Data JetWeb 40 Jetter AG JetMove 105 Drive Controller Structure 6 uone Sod J9posuy nesa jopoou3 paads i Wed e gt Wn o y E PI i Bujeos uano T am y bI q Al J9 01JU09 PI lt UL dy 7 0 49YPI YPN 99 peeds i 104j02 8Jd i man gro ama umn Bean b Jejoguoo peeds uonoes 10129A THANMA goede PAN d ul dy d La o Le p i HnINMd jeunn eudien JSN Jaypaads sod i Aut paads eBeyoA pm jpaeds PMI 1 troller structure Block diagram of drive con Fig 6 41 Jetter AG 6 Drive Controller Structure JetWeb Drive Controller Specification drive controllers can be parameterized through the control program Function Comment Motor control commutation Space vector modulation PWM frequency 16 kHz Current controller Cycle time 62 5 us Speed controller Cycle time 125 us Power supply adjustable Position feedback controller Cycle time 250 us Speed pre control adjustable Position setpoint generator
33. a separately shielded brake line 64 Jetter AG JetMove 105 Jetter AG 7 5 2 Phase Stepper Motor 7 5 1 Stepper motor control The stepper motor at the JetMove 105 is controlled by sine wave commutation maximum microstep mode Thus the noise typical for classic stepper motor controls cannot be heard not even at lowest speeds As any other motor types connected to JetMove amplifiers the stepper motor is also programmed in millimeters or degrees instead of steps related to load The motor speed can be calculated by the following formula 60s min 360 1 rev Speed n in rev min Speed v in s The JetMove 105 has been designed for bipolar usage i e it is possible to let the current flow through the motor winding in both directions For this purpose a bridge connection as shown in Fig 18 is fit best TITTI DC Link A AB B Voltage Ub Fig 18 Bipolar switching for 2 phase stepper motors This way it is possible to limit the number of connections between motor control and motor to two per phase plus PE with the help of series or parallel connection of the partial windings in or at the motor In order to achieve reliable positioning a defined constant moment must be mustered up to a speed value as high as possible This must be achieved by adequate controlling The procedure applied here is constant current operation with vector control Constant current operation has been made possible by the development
34. ated through a separately shielded brake line Jetter AG JetMove 105 7 5 2 Phase Stepper Motor 7 5 2 Phase Stepper Motor Specification of Terminal X1 8 pin screw clamping terminal type MC 1 5 8 ST 3 5 Diameter of the cable apt for connecting 0 14 1 5 mm with bootlace ferrules in a plastic sleeve 0 25 1 mm Bladed screw driver 0 4 x 2 5 mm Stud torque for the screw clamping terminal 0 22 Nm 2 Specification of the Motor Cable Cable cross section up to 4 1 mm Material Copper Temperature class 60 C Stripping length of cores 6 mm Cable shielding Braided copper shield of 80 coverage min Maximum cable length 50 m Motor Connection Terminals X1 on the Signal Specification Amplifier Side U2 Motor phase 1 Motor cable V2 Motor phase 1 Motor cable W2 Motor phase 2 Motor cable Ballast Motor phase 2 Motor cable PE PE conductor The PE conductor is connected to the enclosure Jetter AG 63 7 Description of Connections JetWeb JetMove 105 X1 Voltage Supply and Stepper Motor Connections 3 P hase Inverter A A B y Y Information on Current m Connected with Enclosure 24148 24V DC DSP Controller Fig 17 X1 Stepper motor connection IS Important Alternative measures to avoid malfunctions of the control system and the motor ali The brake has to be operated through
35. ble Connect the position transducer Use shielded terminals or EMC compatible connectors Connect holding brake if available and connect shields on both sides of the cables Connect the motor leads according to Fig 2 page 17 Please further note chapter 1 4 Instructions on EMI page 15 23 2 Installation of the JetMove 105 24 2 4 JetWeb Checking the Installation Check motor and servo amplifier wiring and connections by means of the connection diagrams used Check the holding brake if existing for proper functioning Check to see whether all necessary protection measures against accidental contact with live or moving parts have been taken Carry out any other checks specific to or required for your system Jetter AG JetMove 105 Jetter AG 2 5 2 5 Notes on Safety as regards Commissioning Notes on Safety as regards Commissioning Have commissioning jobs carried out by qualified personnel only see chapter 1 1 3 Who is permitted to operate the servo amplifier JetMove 105 page 12 What to do prior to commissioning a Reattach dismantled protective equipment and check it for proper functioning This way protection from moving parts of the machine will be achieved Secure the servo amplifier JetMove 105 against accidental contact with conductive parts and components Only connect devices or electrical components to the signal lines of the digital servo amplifier JetM
36. er to chapter 7 10 Jetter System Bus page 79 Motor cable please refer to chapter 7 3 The Servo Motor page 52 ff Encoder cable please refer to chapter 7 6 Connection of the Resolver page 68 ff Motors e g synchronous servo motors of the motor series JL1 or JH2 made by Jetter AG DC voltage power supply Ballast resistor Note If you are not sure which mounting accessories you require please contact Jetter AG 19 2 Installation of the JetMove 105 20 2 2 JetWeb 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 105 check whether the mounting plate in the electric cabinet is unpainted The JetMove 105 has been developed for natural convection The mounting direction is horizontal label on top or vertical motor line below In both cases a clearance of 25 mm between the JetMove 105 the surrounding devices or servo amplifiers has to be kept see Fig 4 page 22 Please make sure there is a clearance of at least 25 mm under and above the JetMove 105 unobstructed ventilation must be granted Please mark on the panel two positions for the fastening screw threads of the JetMove 105 see Fig 4 page 22 Drill the holes and the M4 threads into the panel Screw the lower fitting bolt into the thread by approximately half of its leng
37. erload constant factor and motor Reduce the average time constant load of the motor Refer to 21 calculation on page 38 F38 Asymmetric The analog sine Immediate Check wiring or encoder signal cosine signals have controller encoder signals not got the same disable Acknowledge the error amplitude F39 Error at Measuring the Immediate Check parametering commutation commutation offset controller Check wiring or finding could not be disable encoder signal completed with Acknowledge the error results being guaranteed F40 Overload of motor The internal Stop by Check wiring or motor brake semiconductor emergency brake Switch signals stop ramp Acknowledge the error overload current gt gt 0 5 A Jetter AG 85 9 Diagnostics 86 JetWeb 9 2 Warnings If the ERR LED is flashing one or several warnings have been recognized In the motion setup or through querying by means of motion instructions in the controller programs the warnings can be checked Jetter AG JetMove 105 Jetter AG 10 Bus cable co from the preq station Bus cable le to the next station Wiring Diagrams 1NO NI CX JetMove 105 NI SNA 8LX 6LX o EJo Esso ino sna X61 Encoder 1 Supply amp Motor Vs 000008 5 14 S3 S1 S2 S4 R1 R2 4 15 9 6 Fig 25 Wiring diagram of the JetMove 105 Also refer to chapter 7 Description of Connections
38. estrictions Transport Temperature 25 C to 70 C DIN EN 50178 Conditions Units Air humidity Within Packing 5 to 95 non condensing Pollution Degree 2 DIN EN 50178 Corrosion Immunity Chemical Resistance No special protection against corrosion Ambient air must be free from higher concentrations of acids alcaline solutions corrosive agents salts metal vapours or other corrosive or electroconductive contaminants 27 3 Operating Conditions JetWeb Operating Parameters Environment Atmospheric Up to 1 000 m above sea level DIN EN 50178 Pressure From 1 000 m to 2 500 m above sea level with power reduction of 1 5 96 per 100 m increase in height Operating Parameters Mechanical Parameters Parameters Value s Standard Specification s Referred to Free Falls Within original packing the device DIN EN 50178 Withstanding Test withstands dropping over all of its DIN EN 60068 2 31 edges Vibration 10Hz 57 Hz 0 075 mm DIN EN 50178 Resistance amplitude DIN EN 60068 2 6 e 57 Hz 150 Hz 1 g acceleration 1 octave per minute 10 frequency sweeps sinusoidal all three spatial axes Degree of IP 20 DIN EN 60529 Protection Mounting Position Vertical and horizontal Please make sure there is a clearance of at least 25 mm under and above the JetMove 206B 230 sufficient ventilation must be granted Important Measures to avoid damages in transit and storage
39. f which would be unbearable for other devices in this environment Europaische Norm that is European Standard Electro Static Discharge Extract from the Machinery Directive 98 37 EC The manufacturer is under an obligation to assess the hazards in order to identify all of those which apply to his machine he must then design and construct it taking account of his assessment Hardware or software enable has to be applied before the axis can be activated by software enable This means that to the enable input or at several enable inputs a high signal 24 V has to be connected restart inhibit High Performance Interface HIPERFACE designates a sensor transducer system by Sick Stegmann The SinCos motor feedback system with the standardised HIPERFACE interface is often used in digital drive technology Unlike the resolver the SinCos motor feedback system with HIPERFACE interface contains electronic components Over several motor rotations a HIPERFACE will report the absolute position values this cannot be performed by a resolver A HIPERFACE is far more precise than a resolver but also more expensive International Electrotechnical Commission Insulated Gate Bipolar Transistor International Protection Jetter AG JetMove 105 Jetter AG JetMove Jetter System Bus JetWeb Motor circuit breaker NN PE Resolver SELV Software Enable SUB D Appendices JetMove is the product designation of a d
40. g input is used 5000001 10000006 Connect shield with the greatest possible surface area Use metallized enclosure only 150 000011 Attaching screws must have a metric thread Pin Signal Function Specification 1 OV Contacts for the motor The internal brake semiconductor switch 2 Brake connects the V The brake output can be with the output pin operated either by the control program or by the Imax DC 0 5 operating system of the JetMove 105 at release of Contact N O the motor current These connections are The JetMove 105 is only for devices having equipped with an internal gotthe same reference freewheeling diode to ground as the power supply of the logic 3 Analog input Analog signal 0 10 V to pin 4 4 Analog input Reference of the analog not connected with signal 0 V of the motion system 5 6 OV Ground TI 7 Description of Connections JetWeb 7 9 Reserved Keep unoccupied 10 OV Ground 11 Hardware At this input a high e DC 20 30V enable for the signal is necessary for Input resistance 3 power supply of power supply of the KOhm the motor motor This signal Operating point input must have been 4 V low applied before carrying gt 14 V high out the software enable A low signal de energizes the motor immediately 12 Reference Depending on the DC20 30V Switch parameter setting this Input
41. green PE conductor O X62 2 5 Brake 6 X62 1 4 Brake 4 Dimensions of the motor mating connector are specified in millimeters Jetter AG JetMove 105 Jetter AG 7 3 The Servo Motor 7 3 5 Motor cable permanently fixed to the motor The motor cable is used for the variant Motor with screw clamping terminals and cables with male connectors on page 55 Specification of the Motor Power Cable without Mating Connector For connection without motor holding brake Motor Power Cable Fixed to the Motor Terminals of the JetMove 105 Shielding Motor 7 x0 75 mm The wires are equipped with wire end ferrules Shielded highly flexible 6 wire cable with PE Connect shield with the greatest possible surface area Pin Wire number Signal X1 U2 1 Phase 1 X1 V2 2 Phase 2 X1 W2 3 Phase 3 X1 PE yellow green PE conductor 59 7 Description of Connections JetWeb For connection with motor holding brake Motor Power Cable Fixed to the Motor Terminals of the Shielding Motor JetMove 105 7 x 0 75 mm Shielded highly flexible 6 wire cable with PE The wires are equipped with wire end ferrules Connect shield with the greatest possible surface area Pin Wire number Signal X1 U2 1 Phase 1 X1 V2 2 Phase 2 X1 W2 3 Phase 3 X1 PE yellow green PE conductor X62 2 4 Brake X62 1 5 Brake
42. harp edges Therefore failure or malfunctioning of the digital servo amplifier JetMove 105 can be dangerous for persons 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 switches to interrupt the power supply of the motor Another safety precaution would be installing a guard gt Make sure that hazards to persons are precluded even when the drive is rotating unintentionally Do not remove any guards Do not wear gloves lest they should get caught in the rotating drive shaft Never touch a rotating drive shaft gt Do not touch the motor during or after operation There can be temperatures of up to 140 C m glich 1 4 Instructions on EMI The digital servo amplifier JetMove 105 is intended for use in industrial surroundings It may cause radio interferences when used in residential areas It is operated at the operator s own risk The noise immunity of a system corresponds to the weakest component of the system For this reason correct wiring and shielding of cables is a precondition of noise immunity 15 1 Safety Instructions JetWeb IS Important Measures for increasing immunity to interference ps Earth the device adequately according to chapter 1 2 3 Earthing procedure page 14 Me Connect the motor cable An optional PE rail must
43. her be attained by a longer delay time or by a larger C gxt external capacitor at the power supply Note 2 2 Par tq Ur If dm either the braking power has to be decreased or else the INom B cycle time of the delays has to be increased DANGER of hot surfaces The surface of the braking resistor can heat up during operation During operation or during the cooling off period after the power has been turned off do by no means touch the braking resistor gt Please make sure that no temperature sensitive parts have been connected or fastened to the braking resistor Note Options 1 and 2 can also be combined 49 7 Description of Connections JetWeb 7 2 Voltage Supply Specification of Terminal X1 8 pin screw clamping terminal type MC 1 5 8 ST 3 5 Diameter of the cable apt for connecting 0 14 1 5 mm with bootlace ferrules in a plastic sleeve 0 25 1 mm Bladed screw driver 0 4 x 2 5 mm Stud torque for the screw clamping terminal 0 22 Nm 2 Connecting Cable Specifications Cable cross section 2 1 mm for the motor power supply Cable cross section 1 0 5 mm for the logic power supply Material Copper Temperature class 60 C Stripping length of cores 6 mm Cable shielding Not required Voltage Supply Terminals X1 on the Signal Specification Amplifier Side PE PE conductor The PE conductor is connected to the enclosure VmoT DC link supply 24
44. hielding must in its entire perimeter be drawn d behind the shielding clamp of the metallised connector housing respectively of the EMC gland bushing its greatest possible surface area being clamped under the strain relief close to the JetMove 105 m Only use metallized connectors e g SUB D with metallized housing Make sure that the strain relief is directly connected with the housing here as well see Fig 1 16 Jetter AG JetMove 105 1 4 Instructions on EMI Fig 1 Shielding of SUB D connectors in conformity with EMC standards If the shield cannot be attached to the connector for example with a screw type terminal gt Itis important that shield and strain relief are highly conductive and directly connected to a grounded surface with the greatest possible surface area Earthing must be done in a way that keeps the unshielded part of the signal lines as short as possible see Fig 2 Metal Rail N Motor Cable Fig 2 Shielding of screw terminals in conformity with the EMC standards Jetter AG 17 1 Safety Instructions JetWeb 18 Jetter AG JetMove 105 Jetter AG 2 1 Scope of Delivery 2 Installation of the JetMove 105 2 1 Scope of Delivery Digital servo amplifier JetMove 105 Plugged on mating connector User manual Accessories The accessories are not included in the scope of delivery System bus cable of cable confection 530 x x m length 0 2 m through 5 0 m Please ref
45. igital servo amplifier series produced by Jetter AG e g JetMove 105 with D it stands for Dual in the sense of controlling two motors 203 itidentifies a rated current of 3 A The Jetter system bus is a system bus system of a cable length of 200 m max and of fast data transmission rates of 1 Mbit s In addition to this the Jetter system bus is highly immune to interferences Therefore the Jetter system bus is suited to realise field bus applications in a limited space Control technology comprising control systems motion systems user interfaces visualization devices remote 1 Os and industrial PCs Programming by means of multitasking and a modern sequence oriented language Communication by means of Ethernet TCP IP and making use of the Web technologies A circuit breaker with monitoring functions of phases and temperature of a motor Normal Null Sea Level Protective Earth respectively Protective Earth Conductor Feedback unit at a servo motor for determining the absolute position within one revolution Other than a HIPERFACE the resolver will not provide any information on how many revolutions the motor has performed so far A resolver could be envisaged as a transformer the couplings of its secondary windings sine and cosine change in relation to the position of the motor shaft Basically a resolver consists of a rotor with one coil and a stator with two coils The stator windings are displaced by
46. imum requirements apply to the manufacture of the system bus cable System Bus Cable Technical Data Function Description Core cross sectional 1 MBaud 0 25 0 34 mm area 500 kBaud 0 34 0 50 mm 250 kBaud 0 34 0 60 mm 125 kBaud 0 50 0 60 mm Cable capacitance 60 pF m max Resistivity 1 MBaud 70 Q km max 500 kBaud 60 Q km max 250 kBaud 60 Q km max 125 kBaud 60 Q km max Number of cores 5 Shielding Complete shielding no paired shielding Twisting Core pair CL and CH twisted 79 7 Description of Connections 80 JetWeb Permitted Cable Lengths Baud Rate Max Cable Max Tap Line Max Overall Tap Length Length Line Length 1 MBaud 30 m 0 3m 3m 500 kBaud 100 m 1m 39m 250 kBaud 200 m 3m 78m 125 kBaud 200 m System Bus Cable Cable Conf 0530 Shielding Shi BUS OUT Connect shield with the greatest possible surface area Use metallized enclosure only BUS IN Pin Signal Pin CMODEO CL GND CMODE1 TERM Unassigned CH Unassigned OJN Do not connect o NI Oc Jetter JetMove 105 8 Status Monitoring The amplifier LEDs indicate the operating status of the digital servo amplifier Jetter AG Gr terstrasse 2 D 71642 Ludwigsburg JM 1 05 Rev Part No
47. inimum value stop ramp Check the parameter default 10 V Uzy min trip Acknowledge the error F 21 Overvoltage in the The DC link voltage Stop by Check the voltage of DC link voltage has exceeded the emergency the power line maximum value stop ramp In regenerative braking mode reduce braking power Acknowledge the error 84 Jetter AG JetMove 105 9 1 Error Messages Error Message Table JetMove 105 Error Error type Description Response to Troubleshooting Number Errors F 22 Drive has been The drive could not Immediate Eliminate the cause of stalled overcome the n 0 controller stalling threshold within the disable Acknowledge the error time limit specified by the parameter blocking tripping time F 23 Tracking error The tracking error Stop by Check the drive has exceeded the emergency mechanism limit defined in the stop ramp Check steepness of parameter tracking acceleration error limit for the deceleration ramps and time specified in amplifier parameters in tracking window relation to the time parameters tracking error limit and tracking window time Acknowledge the error F30 1 t error The average power Immediate Let the motor cool down loss of the motor controller Acknowledge the error was more than the disable Check the configuration max value of nominal motor configured by current overload factor nominal motor and motor time current ov
48. ipped with screw clamping terminals with cables for power and feedback cables In the type designation xxx x the cable length is specified in meters At the cable ends male connectors have been fixed that correspond to the pre fabricated JetMove 105 connection cables see Pre fabricated motor cable with SC mating connector on page 56 and Resolver cable with mating connector on page 68 Motor specification S4 xxx x for JH2 and JL1 motors Jetter AG JetMove 105 7 3 The Servo Motor 7 3 3 Motor with screw clamping terminals and cables with male connectors ea Fig 14 Motor with cable and without a male connector The motor is equipped with screw clamping terminals with cables for power and feedback cables In the type designation xxx x the cable length is specified in meters The cable ends have not got a male connector This way the motor cable can be connected with the JetMove directly The feedback cable has to be connected with a SUB D male connector Motor specification S3 xxx x for JH2 and JL1 motors Jetter AG 55 7 Description of Connections JetWeb 56 7 3 4 Pre fabricated motor cable with SC mating connector The pre fabricated motor cable is used with the variants Motor with male connector on page 54 and Motor with screw clamping terminals and cables with male connectors on page 54 Note The suitable mating connector SC female connector can be ordered from Jetter AG by supplying the following par
49. ircuit 6 W max Weight mating connectors included e JM 105 500 g Note 1 Cooling The overtemperature protection is activated at 85 The overtemperature alarm is activated at 80 C Compatible Synchronous Servo Motors Motor types Jetter motors of the JL1 and JH2 series Note Should you intend to use motors other than the types mentioned above please contact Jetter AG 37 5 Technical Data 38 JetWeb 5 2 Motor Protection 5 2 1 Pt calculation The digital servo amplifier JetMove 105 calculates the model of motor power loss by an t calculation The determined value is related to the average power loss of the motor It is specified in percent of the maximum power loss of the motor For this calculation it is important that the parameters are entered correctly Nominal current which is the minimum of nominal motor current and nominal servo amplifier current Overload factor and time constant of the motor The 12 calculation must 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 12 value is readable in a variable of JetMove 105 through JetSym or the PLC The digital servo amplifier JetMove 105 calculates the percentage of motor power loss according to the following formula t 2 PEA sos 100 x erage motor current 1 rated current x t d
50. isplayed value of the motor power loss in 96 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 0 at t 0 the result of the equation is 0 After some time that is by far longer than the motor time constant the result does virtually not change any more The time till error stop x 100 is a result of the following formula rated current a t T x In 1 average motor current Jetter AG JetMove 105 5 2 Motor Protection After reset the values of the important parameters are the following ones Nominal current 5A Overload factor 2 Motor time constant 1 800 s 30 min With these parameters the 100 error level will be reached if for example the motor is run by a current of 10 A for about 8 minutes and 30 seconds Because of the fact that after reset the l t calculation always starts with zero the motor overload calculation is wrong if the motor has already warmed up when the IS digital servo amplifier JetMove 105 is switched on 1 e at the time of parameters of t calculation are written after switching on 24V logic power supply Important For this reason please wait until the motor has cooled down before re enabling the axis Jetter AG 39 5
51. le confection 24 1 58 T Cable confection 26 1 57 59 60 Motor winding isolation 23 Technical Data 35 Mounting direction 20 100 Jetter AG JetMove 105 Appendices U W Usage to the Intended Purpose 11 Wiring diagram 87 Jetter AG 101 A Jetter Jetter AG GraterstraRe 2 D 71642 Ludwigsburg Germany Phone 49 7141 2550 0 Sales 49 7141 2550 433 Fax Sales 49 7141 2550 484 Hotline 49 7141 2550 444 Internet http Awww jetter de E mail sales jetter de Jetter Subsidiaries Jetter Asia Pte Ltd Jetter Schweiz AG Jetter USA Inc 32 Ang Mo Kio Industrial Park 2 Munchwilerstrake 19 165 Ken Mar Industrial Parkway 05 02 Sing Industrial Complex CH 9554 Tagerschen Broadview Heights Singapore 569510 OH 44147 2950 Phone 65 6483 8200 Phone 41 719 1879 50 Phone 1 440 8380860 Fax 65 6483 3881 Fax 41 719 1879 69 Fax 1 440 8380861 E mail sales jetter com sg E mail info jetterag ch E mail bschulze jetterus com Internet http www jetter com sg Internet http www jetterag ch Internet http www jetterus com 102 Jetter AG
52. n 1 min Voltage Uy generating the required torque at maximum speed Jetter AG 43 7 Description of Connections JetWeb 44 the energy fed back into the JetMove 105 the voltage at the output of the power supply unit can be increased to 60 V see Recommendations on preventing overvoltage at braking or lowering a vertical load on page 46 Between amplifier and power supply unit significant pulse like currents of short rise times are flowing In each supply cable there is an ohmic and an inductive component If the values are too high the efficiency of the power supply unit buffer is questionable Blocking capacitors will be thermally overloaded Peak voltages can lead to destruction of the controller board From this the following requirements to the supply cable result Make sure the cross section is sufficient Decrease the inductivity by twisting m Install an external charging capacitor close to the JetMove 105 if the distance the between power supply unit and the JetMove 105 is greater than 20 m The charging capacitor must stand a high AC load Electrolytic capacitors meet this requirement See Fig 9 P gt In order to prevent EMI the 0 V potential that is close to the power supply unit for motor operation voltage should be connected to earth 7 1 1 Recommendations on the power supply On Off switch Vmot If the Vmot power supply is switched on abruptly the inrush current might reach a
53. n the basis of which the motor currents are generated Transition temperature at which the thermal sensor changes by several within a range of 5 Ampere Milliampere 1 mA 10 A Dezibel gram Hour Hertz Kelvin Meter Centimeter 1 cm 1022 Millimeter 1 mm 10 m Second Volt Microvolt 1 pv 10 v Watt Ohm Degrees centigrade temperature unit Degrees angular dimension Watt seconds Joule Jetter AG JetMove 105 Jetter AG Appendices Appendix C List of Illustrations Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig ONMNOARWN gt Shielding of SUB D connectors in conformity with EMC standards Shielding of screw terminals in conformity with the EMC standards Recommended mounting Mounting holes in the enclosure Physical dimensions of the JetMove 105 Block diagram of drive controller structure Configuration of the power supply unit for the motor operation voltage Terminal X1 Recommended input current limitation Terminal X1 Alternative input current limitation X1 Supply voltage X1 Servo motor connection Motor with male connector Motor with cables and male connectors Motor with cable and without a male connector View on the SC series mating connector of the motor internal thread M23 56 X1 DC motor connection X1 Stepper motor connection Bipolar
54. ning processes or results to be achieved are marked by this arrow Introduction JetWeb PC and user interface keys This symbol informs you of additional references data sheets literature etc associated with the given subject product etc It also helps you to find your way around this manual 6 Jetter AG JetMove 105 Jetter AG Table of Contents Table of Contents 1 Safety Instructions 1 1 Generally Valid Safety Instructions 1 1 1 Usage to the intended purpose 1 1 2 Non intended use 1 1 3 Who is permitted to operate the servo amplifier JetMove 105 1 1 4 Modifications and alterations to the module 1 1 5 Repairs and servicing of the JetMove 105 1 1 6 Decommissioning and disposing of the JetMove 105 1 2 Ensure Your Own Safety 1 2 1 Malfunctions 1 2 2 Information signs and labels 1 2 8 Earthing procedure 1 3 Residual Dangers 1 3 1 Hazards during operation 1 4 Instructions on EMI 2 Installation of the JetMove 105 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 Commissioning 3 Operating Conditions 4 Physical Dimensions 5 Technical Data 5 1 Electrical Specification 5 2 Motor Protection 5 2 1 Ptcalculation 6 Drive Controller Structure 7 Description of Connections T 1 Demands on the Power Supply Unit for Motor Operation Voltage 7 1 1 Recommendations on the power supply On Off switch
55. ny is recommended to have the instruction of the persons concerned confirmed in writing System Requirements This user manual is giving a description of the motion system JetMove 105 with operating system version 2 10 0 0 History Auflage Comment 2 09 1 Original issue 2 10 1 DC and stepper motor have been integrated Jetter AG JetMove 105 gt Warning Caution Important Jetter AG Introduction Description of Symbols This sign is to indicate a possible impending danger of serious physical damage or death This sign is to indicate a possible impending danger of light physical damage This sign is also to warn you of material damage This sign indicates hazard of life due to electric shock caused by a high operating voltage This sign is to indicate hazard of serious physical damage or death due to accidentally touching dangerous parts of the device This sign is to indicate a possible impending situation which might bring damage to the product or to its surroundings It also identifies requirements necessary to ensure faultless operation You will be informed of various possible applications and will receive further useful suggestions It also gives you words of advice on how to efficiently use hardware and software in order to avoid unnecessary efforts Enumerations are marked by full stops strokes or scores Operating instructions are marked by this arrow Automatically run
56. of switching controller technology and by making efficient and fast transistors available Vector control is made use of within the JetMove 2xx series for servo motor control 65 7 Description of Connections JetWeb The following entirety of vectors limit constant current operation 1 Independent of the speed a certain voltage is needed for having the set current overcome the resistance of the phase U R I Where Continuous rated current in Ampere A Resistance R per phase in Ohm 2 Dependent on the speed a certain voltage is needed for reversing the polarity of the motor current This voltage is calculated as follows U 0 L I Where Continuous rated current in Ampere A Inductivity L per phase in Vs A Angular velocity in rad s The angular velocity o of a stepper motor min rev O 2nf 27 Zp 7 el 2 Zp 3609 Where Pole pair number Z 50 Speed n in rev min Angular velocity v in s 3 When the motor is rotating the influence of the EMF Electro Motive Force can be realized as well It is opposed to the operating voltage and decreases the effective voltage during power build up power build up which is speeded up by the EMF though Theoretically the motor can be driven to about the same speed which is needed for the vector sum U to just compensate the phase voltage Above this speed the motor cannot be driven any more bo Us Fig 19 Addition of v
57. oltage in a synchronous machine 66 Jetter AG JetMove 105 Jetter AG 7 5 2 Phase Stepper Motor The maximum phase voltage is calculated out of the DC link voltage as follows V Us MOT 4 Thus the maximum speed depends on the operating voltage For this reason the operating voltage should in general amount to 48 V 7 5 2 Acceleration and deceleration If a stepper motor without actual position feedback is used exceeding the maximum possible torque of the motor must by all means be inhibited Therefore acceleration and deceleration should be carried out by linear ramps A linear ramp results in constant acceleration of motor and load For this purpose a constant motor torque is required The degree of a possible acceleration depends on the available torque Start Stop t Fig 20 Acceleration by linear ramp 67 7 Description of Connections JetWeb T 6 Connection of the Resolver 7 6 1 Specification Specification of the Connector for Terminal X61 ENCODER e 15 pin high density SUB D connector male Metallised enclosure Specification of the Resolver Cable Cable cross section 3 2 0 14 mm min Cores have to be shielded and twisted in pairs and must be included in an overall shielding e The shield has to be connected to the connector enclosures on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Maximum cable length 50 m
58. ove 105 Enable Limit REF BRAKE that have been sufficiently isolated against the connected mains These signal lines may only be connected with units that have got the ground potential of the V power supply Accordingly do only connect position transducers with the servo amplifier if they have been sufficiently isolated from the connected mains Always carry out each commissioning even a short functional test with correctly connected PE bus 25 2 Installation of the JetMove 105 JetWeb 26 Jetter AG Operating Conditions Operating Parameters Connected Load Parameters Value s Standard Specification s Referred to Power Rating Switching device at X1 Vmot 24 48 V DC 12 48 V DC SELV or PELV Imax 16 5 A Logic device at X1 Vlog 24 V DC 12 40V DC SELV or PELV 250 mA at 24 V Supply Fluctuations Voltage dips 3 ms max Operating Parameters Environment Parameters Value s Standard Specification s Referred to Operating Temperature DIN EN 50178 Conditions 0 C to 40 C 40 C to 50 C Derating 2 5 K Air humidity 5 96 to 85 non condensing Make sure the control cabinet is being cooled sufficiently Storage Conditions Temperature 25 C bis 55 DIN EN 50178 Units Within maximum fluctuation 20 K h Packing Air humidity 5 96 to 95 non condensing Maximum storage period lt 1 year without r
59. pplied to the encoder Jetter AG JetMove 105 Jetter AG JetMove 105 5V X61 OV 15 pin Sin SUB D connector Cos Index Sin Cos Index Fig 22 Sin Cos encoder connection 7 7 Sin Cos Encoder Connection Sin Cos Encoder 73 7 Description of Connections JetWeb 74 7 8 Connection of the Incremental Encoder 7 8 1 Specification Specification of the Connector for Terminal X61 ENCODER e 15 pin high density SUB D connector male Metallised enclosure Specification of the Incremental Encoder Cable Cable cross section 3 2 0 14 mm 2 0 25 mm min 2 0 25 mm has to be used for the power supply unit and for GND Twisted pair cables shielded with the all over shield must be used the signal lines must also be twisted in pairs KO and KO K1 and K1 K2 and K2 0 V and voltage supply e The shield has to be connected to the connector enclosures on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Maximum cable length 50 m Jetter AG JetMove 105 7 8 Connection of the Incremental Encoder Incremental Encoder Cable JetMove 105 SUB D Shielding Specification connector X61 of the cable Encoder signal 10000 05 5 V difference signal 010 Or 110 0 o o o15 5 V single ended Maximum cable length Attaching screws must ha
60. rload protection See Motor Protection on page 38 Cross sectional area of motor power supply 1 0 mm min Cross sectional area of motor supply cable 0 75 mm min max length 50 m for greater lengths please contact Jetter AG Ballast resistor An internal ballast resistor has not been installed If the DC link voltage increases too much at decelerating the motor an external ballast resistor has to be connected Residual voltage The DC link voltage is discharged within 10 seconds at switching off the device Leakage current 0 1 mA at a cable length of 3 m The leakage current increases at increasing cable length The zero voltage connection is connected to earth by a resistor of 400 and a capacitor of 75 nF 35 5 Technical Data 36 JetWeb Electrical Specification Voltage supply of processor logics demands on power supply module 24 V DC 12 40 V 250 mA at 24 V additionally 500 mA for the digital output additionally 300 mA for encoder supply at X61 The voltage output of the power supply unit must comply with the SELV or PELV type Inrush current limitation of the processor logics The JM 105 is equipped with an internal 200 uF capacitor for buffering The inrush current is not limited Enable1 2 Reference switch REF Positive limit switch Limit Negative limit switch Limit and input Inp e DC24V 14 32 V
61. servo amplifier on the operating company s premises You can disassemble the digital servo amplifier JetMove 105 into its main components by unscrewing it aluminium heat sink and side plate steel casing cover electronic boards 1 2 1 2 1 gt Ensure Your Own Safety Isolate the digital servo amplifier JetMove 105 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 14 Safety and protective devices e g the cover of the terminal box must not in any case be shunted or by passed Dismantled protective equipment such as the fuses must be reattached prior to commissioning and checked for proper functioning Before commissioning the machine manufacturer must carry out a hazard analysis of the respective machine and take adequate measures so that inadvertent motions will not lead to personal injury and to material damage Malfunctions In the case of malfunctions or other faults please immediately separate the digital servo amplifier JetMove 105 from the mains Please follow the information given in chapter 1 3 Residual Dangers page 14 Malfunctions or other damages are to be reported to an authorised person at once Secure the digital servo amplifier JetMove 105 against misuse or accidental use 13 1 Safety Instructions Caution 14
62. th By means of the oblong hole in the rear plate hang up the JetMove 105 by the fitting bolts then screw them tightly Fix the upper fitting bolt in the oblong hole Jetter AG JetMove 105 2 2 Mechanical Installation min 25 mm MINA annnannnan dle o o e 9 OO nut nnnnannnan nnnannnna nnnnnnnan AN ANNA mannannan KO O O O O O O O c y e oo MAR AA AAA A 55 OO O O amp 1 E Fig 3 Recommended mounting Jetter AG 21 2 Installation of the JetMove 105 JetWeb Y x 4 SS yv Q e La N To mu c 1 m WUWWWU NV NV WU NV NV TY LLLI 128 lt gt 136 gt A GN 1 KI V rdc u2 D 71642 Ludwigsburg O v2 we Type JM 105 re Part No 10000633 x BALLAST Input Ratings Power Supply 1 24 48VDC gt PE Current 10 a Vmot Output Ratings Voltage 3 17 34VAC 0 400Hz 2 Vlog Motor Current 3 5A 7 ov Ambient Temperature 0 40 32 104 F Made
63. ticulars Art no 15100070 Motor connector for the Jetter motor series JH2 JH3 JH4 JH5 JL2 JL3 JL4 JK4 JK5 JK6 without brake Art no 15100105 Motor connector for the Jetter motor series JH2 JH3 JH4 JH5 JL2 JL3 JL4 JK4 JK5 JK6 with brake Note The motor cable with the SC mating connector matching the Jetter motor series JH can be obtained from Jetter AG It is confectioned with the matching motor mating connector and can be ordered by the following cable confection numbers Without Brake KAB MOT 0626 xxxx With Brake KAB MOT B 0624 xxxx Mating Connector of the Motor Solder Side solder side Fig 15 View on the SC series mating connector of the motor internal thread M23 Jetter AG JetMove 105 Jetter AG 7 3 The Servo Motor Cable Specification of the Motor Power Cable with Mating Connector SC for JetMove 105 For connection without motor holding brake Motor Power Cable KAY 0626 xxxx Terminals of the Shielding Mating JetMove 105 connector of the motor female solder side 4 0 75 mm Shielded highly flexible 4 wire The wires are _ cable with PE equipped with wire em
64. to take up the back fed energy The capacitor must be designed for a voltage of at least 100 V gt Designing an external capacitor 2E c 2 2 Cint Umax Unt with Umax 60V Cint 200 UF 48 V back fed energy J po Calculating the braking energy in case of a rotatory motor 1 2 Eu 50 Jj 2 my g h ho Rppta MytaTtm T Kinetic energy Potential energy Switching Friction losses with Jm Inertia of the motor kgm Inertia load of the motor kgm ny Motor speed before deceleration 1 s m Mass of the load at non horizontal motion kg g 9 81 m s h4 Height before deceleration m Height after deceleration m Motor current during deceleration A Rpp Resistance of the motor o ty Delay time s M Friction torque of the motor Nm 46 Jetter AG JetMove 105 Jetter AG 7 1 Demands on the Power Supply Unit for Motor Operation Voltage Calculating the braking energy in case of a linear motor taX VM 2 T T 1 1 Kinetic energy Potential energy Switching Friction losses 1 2 My Mp my m g h hy Rpnta FL with mm Motor mass kg m Mass of the load kg Motor speed before deceleration m s g 9 81 m s h4 Height before deceleration m Height after deceleration m Im Motor current during deceleration A Rph Resistance of the motor o ty Dela
65. value high enough to destroy the motion system We recommend to place the switch for the motor power supply at the INPUT of the power supply see Fig 8 and NOT at its output between power supply and motion system This way the current limiting of the output voltage of the power supply is used for input current limitation of the JetMove 105 JetMove 105 lt Switch Ee Fig 8 Terminal X1 Recommended input current limitation If the solution just mentioned cannot be put into practice in case of power supplies that cannot be interrupted or in case of batteries accus for example an external capacitor of at least 470 pF 100 V between switch and motion system can be connected in order to limit the increase of the motor supply voltage Jetter AG JetMove 105 7 1 Demands on the Power Supply Unit for Motor Operation Voltage Uninterruptable JetMove 105 Power Supply Fig 9 Terminal X1 Alternative input current limitation T 1 2 General remarks IS Important Recommended wiring of the voltage supply Vmot gt Always make sure there is a possibility of switching off the power supply externally Always switch off the power supply before installing the motion system gt gt Always limit the inrush current of the motion system Otherwise the motion system can be destroyed ju Always use short wires of a large cross section to connect the voltage supply and the JetMove 105 If the lines
66. ve a metric thread 100 m Connect shield with the greatest possible surface area Use metallized enclosure only Pin Signal 2 K1 12 K1 3 K2 13 K2 7 KO 8 KO 1 Voltage output Imax 350 mA 5 Volt 6 Voltage output Imax 300 mA 24 Volt 11 OV _ Note 1 M Pali Pa Supply voltage 5 V at the JetMove 105 Due to conduction loss a lower voltage might be supplied to the encoder Jetter AG 75 7 Description of Connections JetWeb _ Note 2 M Pali A Bus terminating resistor In case of differential connection a bus terminating resistor of 120 each has to be set at a cable length of 10 m or more Q between KO and KO K1 and K1 as well as K2 and K2 _ Note 3 27 ra Single ended connection In case of single ended connection only signals KO K1 and K2 are used Signals K1 and K2 must not be connected Incremental encoder 5V JetMove 105 5V 5V X61 15 pin SUB D connector K2 KO Fig 23 Incremental encoder connection 76 Jetter AG JetMove 105 Jetter AG 7 9 Digital and Analog Inputs and Outputs 7 9 Digital and Analog Inputs and Outputs Specification of the Female Connector for Male Connector X62 IN OUT e 15 pin high density SUB D connector female Metallised enclosure e For using the analog inputs shielding is required Input Output Cable JetMove 105 SUB D Shielding Specification female connector X62 of the cable If the analo
67. vice and its functions is allowed Any modifications to the servo amplifier JetMove 105 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 105 Parts and equipment of other manufacturers are not tested on our part and are therefore not released by us The installation of such parts may impair the safety and the proper functioning of the digital servo amplifier JetMove 105 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 Repairs and servicing of the JetMove 105 Repairs at the digital servo amplifier JetMove 105 must not be carried out by the operator The servo amplifier JetMove 105 does not contain any parts to be repaired by the operator For being repaired the servo amplifier JetMove 105 must be sent to Jetter AG The digital servo amplifier JetMove 105 is maintenance free Therefore absolutely no inspection or maintenance works are required for the operation of the module 12 Jetter AG JetMove 105 Warning Jetter AG 1 2 Ensure Your Own Safety 1 1 6 Decommissioning and disposing of the JetMove 105 In case of obvious damage or erratic behaviour the servo amplifier must not be used any more The environmental regulations for the respective country apply to decommissioning and disposing of the digital
68. y caie end ferrules M nii housing wrap nut In wrap nut seal and I emen seal and pull relief shield case element 360 round A A shietd case ET cores connection of the shield mesh Connect both sides of the shield with the greatest possible surface area Use metallized enclosure only Pin Wire number Signal Pin X1 U2 1 Phase 1 1 X1 V2 2 Phase 2 5 X1 W2 3 Phase 3 2 X1 PE yellow green PE conductor i Dimensions of the motor mating connector are specified in millimeters 57 7 Description of Connections 58 JetWeb For connection with motor holding brake Motor Power Cable KAY 0624 xxxx Terminals of the Shielding Mating JetMove 105 connector of the motor female solder side 7x0 75 mm The wires are equipped with wire end ferrules Shielded highly flexible 6 wire cable with PE wrap nut seal and pull relief element shield case 360 connection of the shield mesh n cable enni housing round gt lum cores Connect both sides of the shield with the greatest possible surface area Use metallized enclosure only solder side mating connector solder side Pin Wire number Signal Pin X1 U2 1 Phase 1 1 X1 V2 2 Phase 2 5 X1 W2 3 Phase 3 2 X1 PE yellow
69. y time s FL Friction power of the motor N If the calculation described above cannot be carried out because of missing values a good starting value for the capacitor is 10 000 UF 100 V 47 7 Description of Connections 48 JetWeb Possibility 2 Connecting an external braking resistor The motion system leads the back fed energy to the braking resistance as soon as the threshold of 55 V has been reached The following conditions have to be met before selecting the braking resistance 1 Limiting the maximum current Ry gt Ds Peak with Umax 60 V Ipeak 16 5 2 Limiting by means of the maximum braking power 2 Rg lt gt Bl Po Calculating the braking power 1 2 2 Eu 5 Cwvax Up Pg ty with C Cg Cint and 200 pF Umax 60 V 55 V Braking energy see above ty Delay time s 3 Limiting by means of the average current value Pat BI la gt 2 cycie i Nom I with tcycle Time interval between two delays in case of recurring motions INom 5 4 Selection by means of average power and peak value P Pata Av 7 t Cycle 2 p Umax Peak T R Bl Jetter AG JetMove 105 _ _ va Il Caution Jetter AG 7 1 Demands on the Power Supply Unit for Motor Operation Voltage Note 1 2 Umax Upi If the braking power must be decremented Ipeak 2 This can eit

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