User Manual ECOMPACT® 23E/60E
Contents
1. Connector Connector Din Dout Din Dout kw ul Control 24 V vik j 4 yk j 5 OUT1 s our 24V 24V 4 yk I yK 5 6 JOUT2 e OUT2 i i O 3 ENABLE1 3lENABLE1 S2 1 S2 1 Ll Y aa yey GND GND Galvanic Galvanic isolation isolation Power connector GND 24 V GND 24 V m i 11 24 V external 1 24 V 2 GND f Power supply 2 GND 8 GND 24 Voc 8 GND O O i 24 V 24V ENABLE2 ENABLE2 MEY 4 DIN1 gt ey 4 DIN1 xac 24V A 24 V 7 24V i 7 24V ECOMPACT ECOMPACT Fig 6 7 Connector Din Dout Circuit of the digital outputs and Enable inputs left side Operation with external control right side Operation without external control Version xxExx 0xx xxx BA Cx xxx xxx Table 6 11 Pin assignment of the digital outputs and ENABLE inputs M12 connectors Pin Signal 1 24V_EXT 2 GND EXT 5 ENABLE 1 4 ENABLE 2 5 OUT1 6 OUT2 7 24V_EXT 8 GND_EXT Description 5 External reference potential 24V Reference potential GND Enable 1 Enable 2 7 3 Status output ENABLE 2 Mle lo max 0 2 A isolated 1 2 Om Digital output 2 loma 0 2 A isolated Om Reference potential 24V Enable 2 Reference potential GND In the version xxExx 0xx xxx BA Cx xxx xxx the ECOMPACT provides two hardware enable inputs which both have to be activated in order to switch the ECOMPACT operational cf chapter 6 2 5 1 r2. Symb Unit 23E21 23E31 23E41 60E32 M Peak torque ED Nm 1 15 40 2 15 40 3 20 40 1 00 15 M Stall torque ED 100 Nm 0 77 1 20 2 20 0 50 M Rated torque ED 100 Nm 0 40 0 67 0 98 0 43 n Rated speed min 1000 1000 1000 3500 J Motor inertia kgm x10 0 026 0 046 0 069 0 01 E Max axial load N 80 110 p Max radial load N 100 220 ae Max axial load during assembly N 150 400 preliminary values M Nm M Nm M Nm re 1 w i oe d aya Zu 0 6 E 60V 0 4 xa 0 2 0 0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000 Intermittent Continuous n min Intermittent Continuous n min Continuous Intermittent n min Fig 4 1 Characteristics 23E21 Fig 4 2 Characteristics 23E31 Fig 4 3 Characteristics 23E41 M Nm 1 5 f c e Ta 0 5 0 i iti 0 2000 4000 6000 4 5 Ambient conditions Aussetzbetrieb Dauerbetrieb n min Table 4 8 General technical data ambient conditions Ambient conditions Fig 4 4 Characteristics 60E32 ECOMPACT is designed for ambient conditions of class 3K3 following EN 50178 Symb Condition Unit T Ambient temperature during C 5 40 operation with nominal load Storage temperature AG 10 70 Degree of humidity not rel F 5 95 RH 2 nach IEC 61 131 2 condensing Cooling via motor flange and convection h Installation altitude m up to 1000 without restriction of power Installation position any Protection clas
3. ECOMPACT ECOMPACT Fig 6 12 Connector Din Dout Circuit of the digital outputs and Enable inputs left side Operation with external control right side Operation without external control Version xxExx 0xx xxx BA Px xxx xxx Table 6 17 Pin assignment ofthe digital outputs and ENABLE inputs M8 connector Pin Signal Description 1 GND EXT Reference potential GND 2 24V_EXT External reference potential 24V 3 ENABLE 1 Enable 1 4 ENABLE2 Enable 2 5 STATUS 1 Status output ENABLE 2 lo max 0 2 A isolated 6 OUT2 Digital output 2 loma 0 2 A isolated In the version xxExx 0xx xxx BA Px xxx xxx the ECOMPACT provides two hardware enable inputs which both have to be activated in order to switch the ECOMPACT operational cf chapter 6 2 5 1 restart lockout Enable input 1 and Enable input 2 are activated by supplying a voltage of 24 V HIGH he status of enable input 2 is directly switched through to the status output STATUS 1 Subject to change without notice 297 User Manual ECOMPACT 6 5 2 2 Ref Home Digital input for reference switch Table 6 18 Pin assignment of the sensor input ECOMPACT M8 female connector Connector Pin Ref Home 1 3 4 Signal 24V GND HOME DIN5 Description Reference potential 24V Reference potential GND Reference switch Ref Home Reference A 24 V Fig 6 13 Connector Ref Home Circuit of the digital input for reference switch 6
4. If the error reoccurs send in device to manufacturer Repeat action if the error reoccurs send in device to manufac turer Repeat action if the error reoccurs send in device to manufac turer If the error reoccurs send in the device to manufacturer Communication and or application parameters have not yet been stored This behaviour is normal with new devices and has been implemented for signalling this to the user Send in device to manufacturer If the error reoccurs send in the device to manufacturer Contact service hotline of Jenaer Antriebstechnik GmbH Check bus connection and device function check supply volta ge of the CAN bus Enter parameters again check node ID and Baud rate Check function of the restart lock Check ENABLE signal Switch off unit and let it cool down Make sure that no heat accu mulation can occur in the mounting space Reset if an error message is raised Reset if an error message is raised Check motor and supply cables Check parameters and operating conditions Check if axis is freely movable 43 User Manual ECOMPACT 44 Error D20 External 24 V supply at XS5 XS6 has fallen be low 17 V D21 DC link voltage too high D22 DC link voltage too low D24 Exceeding charging time of DC link D30 Following error too high D31 Commutation not found D32 Internal software reset D33 Error controller watchdog Group E Encoder errors E00 Correction error of the encoder E01 Ca
5. logic supply 24 V XS7 Enable 2 or digital input 1 XS8 Digital input CWI Positive limit position XS9 Digital input CCWI Negative limit position XS10 Digital input HOME Reference switch DIP switch for setting the device address z CAN ID DIP switch for internal deactivation of the 22 restart lock Enable inputs XS2 Enable 1 Digital outputs XS3 CAN bus 1 XS7 Enable 2 or Digital input 1 XS8 Digital input Positive limit position S2 Bridge Enablei 2 v XS9 Digital input Negative limit position S1 Device address XSA e Voltage supply 2 CAN bus 2 Power logic XS10 XS5 Digital input Ref itch Voltage supply 1 Reference switch Power logic Fig 6 1 Order of the PCB plug connectors of the ECOMPACT with connector housing cover opened c Set the device address at DIP switch S1 and if required Enable bridges at DIP switch S2 before connecting the cables because S1 and S2 might be accessible difficultly afterwards When setting the DIP switches be careful that no surrounding components or cables are damaged by supporting tools such as small screwdrivers Subject to change without notice 21 User Manual ECOMPACT Jonas Antriebstechnik AM GmbH 6 2 2 Cable pre assembling and cable feed through cable sleeves Pre assembled cables are available for ECOMPACT Optionally the cables can be pre assembled by the customer For this
6. CAN bus Power supply max 60 V Logic supply 24 V Digital input CWI positive limit position Digital input CCWI negative limit position Digital input HOME reference switch Appropriate cables incl mating connector Cable type incl mating connector e g Phoenix Contact SAC 8P 3 0 PUR M12FS e g Phoenix Contact SAC 5P M 8MS 2 0 920 M 8FS e g Phoenix Contact SAC 4P FSS 1 5 PUR PE SH SCO e g Phoenix Contact SAC 3P M 8MS 2 0 PUR M 8FS e g Phoenix Contact SAC 3P M 8MS 2 0 PUR M 8FS e g Phoenix Contact SAC 3P M 8MS 2 0 PUR M 8FS Description Sensor actor cable 30V 2A M8 Bu free wire ends 8 pole cable length 3m Bus system cable CANopen shielded M8 male to female 5 pole cable length 2 m Sensor actor cable 60V 4A M12 female free wire ends 4 pole cable length 3m Sensor actor cable M8 male to female 3 pole cable length 2 m Sensor actor cable M8 male to female 3 pole cable length 2 m Sensor actor cable M8 male to female 3 pole cable length 2 m Termination resistor for CAN bus Phoenix Contact SAC 5P M 8MS DN TR M8 male 5 pole Subject to change without notice 25 User Manual ECOMPACT Jonas Antriebstechnik N GmbH 6 5 Version with M8 M12 connectors with EtherCAT interface The version of the ECOMPACT with EtherCAT interface is only available with M8 and M12 connectors 6 5 1 Overview of all connectors Table 6 16 Connectors of the Eth
7. Jenaer Antriebstechnik GmbH EtherCAT CANopeR User Manual ECOMPACT 23E 60E Published editions Edition Feb 2009 April 2009 Nov 2009 March 2011 June 2011 Dec 2012 April 2013 Jan 2014 March 2014 Nov 2014 Comment Preliminary English edition prototype deliveries Pre series Series ECOMPACT 60E32 option IP54 Correction of assignment XS7 M8 M12 connector option modified dimensions EtherCAT interface option added Modified ordering key Note on the operation of the DIP switches added Correction of wire colours of XS7 designation DIN1 All rights reserved Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena User Manual ECOMPACT No parts of this documentation may be translated reprinted or reproducted on microfilm or in other ways without written permission by Jenaer Antriebstechnik GmbH The content of this document has been worked out and checked carefully Nevertheless differences from the real state of the hard and software can never be fully excluded Necessary corrections will be carried out in the next edition ECOMPACT ECOVARIO and ECOSTEP are registered trademarks of Jenaer Antriebstechnik GmbH Jena EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Windows is a registered trademark of Microsoft Corporation in the United States and other countries Subject to change without notice User Manual ECOMP
8. 0 2 A isolated GND XS2 23 Reference potential GND brown ENABLE 1 XS2 A4green Enable 1 ENABLE 2 XS7 2brown Enable 2 24V_EXT XS7 1 white Reference pot 24V Enable 2 In the version xxExx 0xx xxx BA Cx xxx xxx the ECOMPACT provides two hardware enable inputs which both have to be activated in order to switch the ECOMPACT operational cf chapter 6 2 5 1 restart lockout Enable input 1 is activated by supplying a voltage of 24 V HIGH Enable input 2 is ac tivated by jumpering the both pins at XS7 By means of the DIP switch S2 the enable can be forced ON position e g for testing purposes or if no hardware enable signal should be used S2 1 is assigned to enable input 1 2 2 is assigned to enable input 2 The status of enable input 2 is directly switched through to the status output OUTI 24 Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT Version xxExx Oxx xxx DB Cx xxx xxx Table 6 4b Pin assignment of the digital outputs and ENABLE inputs wire colours of standard cables Signal Conn Pin Description OUT1 XS2 5 Digital output 1 yellow 9 2 A isolated 24V_EXT XS2 1 External reference potential white 24V OUT2 XS2 6 Digital output 2 grey 0 2 A isolated GND XS2 2 3 Reference potential GND brown ENABLE 1 XS2 A4green Enable 1 DIN 1 XS7 2brown Digital input 24V EXT XS7 1 white Reference pot 24V DIN1 In the ECOMPACT version xxExx 0xx
9. 30 O3 30 i O3 30 si 4 IZ ME on Er CANL O 105 1 50 1051 50 105 1 50 CAN_V Oc p 025 20 4 2021 20 02120 CAN GNDO hoz di O4 40 04 40 Master im CANin CANout CANin CANout CANin CANout CAN Bus Achse 1 Achse 2 Achse n Fig 6 10 Size terminating resistors R according to line impedance normal R 120 Q 34 Subject to change without notice 6 4 3 Power connection 6 4 3 1 Power connector DC link voltage logic supply Table 6 14 Pin assignment Power M12 connector Pin 1 Signal Description DEE DC link power supply 24 GND Reference ground 24V Supply Logic supply 24 V BE Protective earth i j Na 60V mm User Manual ECOMPACT The Power connector is used for direct DC supply Furthermore the logic circuit 24V which is separate from the power circuit is supplied here In case of direct DC supply of the DC link circuit the inrush current is not limited by the servo drive There fore special limitation measures have to be taken in the external power supply unit If energy is regenerated the power unit must be equipped with a ballast circuit in case the regenerated energy is higher than the energy consumed by all consumers connected to the DC bus 6 4 4 Table 6 15 Appropriate cables incl mating connector Connector Din Dout CANin CANout Power CWI CCWI Ref Home Interface Digital outputs OUT1 OUT2 Enable 1 2
10. 5 2 3 EtherCAT interface As an option ECOMPACT can be equipped with an EtherCAT interface which can be used for setpoint setting and parameterization The interface supports the protocol of the EtherCAT Technology Group and allows for Fast Ethernet according to IEEE 802 3u 100Base TX fullduplex 100Mbps Physically the in terface is designed as two M12 sockets at the front side of the ECOMPACT LED green QO _ N 38 Table 6 19 Pin assignment connector IN OUT on design with EtherCAT interface Pin 1 A W N Signal TX Description Transmit signal Reveive signal Transmit signal Receive signal Run LED green off flashes flashes on Clock Description EtherCAT state Init SHZ EtherCAT state Pre Operational 200 mson EtherCAT state Safe 1s off Operational EtherCAT state Opera tional LED yellow O Link Activity IN or OUT LED orange off on flickering Description No link Link not sensed or no power Link sensed no traffic detected Link sensed traffic detected Subject to change without notice Jenae Antriebstechnik A GmbH User Manual ECOMPACT Ihe EtherCAT IN port is used for the connection to the PC or a server end of a star shaped connection The EtherCAT OUT port is intended for the connection to further servo amplifiers via a line shaped connection uplink cf examples below Cabling is done via twisted pair c
11. XS6 In case of direct DC supply of the DC link circuit the inrush current is not limited by the servo drive There fore special limitation measures have to be taken in the external power supply unit If energy is regenerated the power unit must be equipped with a ballast circuit in case the regenerated energy is higher than the 28 Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT 6 2 5 Safety functions 6 2 5 1 Restart lock The ECOMPACT provides a redundant restart lock which can be implemented by two independent input contacts ENABLE 1 connector XS2 and ENABLE 2 connector XS7 Optionally the restart lock can also be configured via only one ENABLE input the other is then free for other purposes In case of an error the drive is switched off i e the power stage is switched off and the holding brake if any is activated The error is signalled and an emergency telegram is sent via the CAN bus The device can be switched on again only if the error condition is cleared and if the hardware enable inputs are activated Relevant aspects of safety See also the prescribed use of the compact servo drive ECOMPACT described in Chap 2 3 and the opera ting conditions mentioned there If the restart lock is active the inputs ENABLE 1 and ENABLE 2 set all driver transistors into high resistance state This is a hardware function for both inputs The control of the feedback contact is a software functio
12. assigned to enable input 2 OUT1 and OUT2 can be used as free programmable digital outputs Subject to change without notice 25 User Manual ECOMPACT Jonas Antriebstechnik EM GmbH 6 2 3 2 XS8 XS9 XS10 Digital inputs for limit switches and reference switch Table 6 5 Pin assignment of the digital inputs wire colours of standard cables 3x Signal Conn Pin Wirecolour Description 24V XS8 1 white Reference potential 24V CWI XS8 2 green Positive limit position DIN3 GND XS8 3 brown Reference potential GND 24V XS9 1 white Reference potential 24V CCWI XS9 2 green Negative limit position DIN4 GND XS9 B brown Reference potential GND 24V XS10 1 white Reference potential 24V HOME XS10 2 green Reference switch DIN5 GND MSO j5 brown Reference potential GND ECOMPACT Sensors XS8 Positive limit 1 24V 24 V O 2 CWI DIN3 3 GND XS9 Negative limit 1 24V 24 V 2 QO 2 CCWI DIN4 0 G 3 GND XS10 Reference 4 24V A 24 V Q Home DIN5 cr 2 momen 3 SND Fig 6 3 Connector XS8 XS9 XS10 Circuit of the digital inputs for limit switches and reference switch 26 Subject to change without notice Jenae Antriebstechnik MA GmbH User Manual ECOMPACT 6 2 3 3 XS3 XS4 CAN interface Table 6 6 Pin assignment connector XS3 XS4 pin assignment of Sub D connector default cable used w cabl
13. e g Phoenix Contact n MEAE ON EA a Logic supply 24 V SAC 4P FSS 1 5 PUR PE SH SCO i 4 pole cable length 3m Sensor actor cable M8 male to female 3 pole cable length 2 m e g Phoenix Contact Ref Home Digital input HOME reference switch SAC 3P M 8MS 2 0 PUR M 8FS 40 Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT 7 Commissioning 7 1 Notes before commissioning Only qualified personnel with a broad knowlege of the fields of electrical engineering au tomation and drives are allowed to commission the compact servo drive ECOMPACT If required Jenaer Antriebstechnik GmbH offers trainings The manufacturer of the machine must generate a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property Check the wiring for completeness short circuit and ground fault All live parts must be protected safely against touching Never pull the connectors while they are live If there are several axes in one machine commission one axis after the other The axes already commisioned should be switched off During operation the temperature of the heat sink and the housing may rise up to over 70 C Before touching these parts after switching off the unit wait until the temperature has fallen down to 40 C Subject to change without notice A User Manual ECOMPACT Jonas Antriebstechnik AM
14. found in the ECO Studio help system Error messages If an error is detected it is displayed by ECO Studio in the Device Errors list Table 7 1 Error messages Error GroupA General errors A00 A01 A02 A03 A04 A10 A11 A20 A21 A23 Incorrect checksum of a bootloader section or overall checksum Error during deleting a flash section Error during activating the flash memory Error during programming the flash memory Error during addressing the flash memory Error during reading writing the EEPROM Incorrect checksum of an EEPROM section Incorrect calibration data Watchdog error of standard loadware Loadware does not support this unit GroupB Buserrors BOO B01 Group D DOO DO1 D03 D04 D06 D07 D11 D12 D13 CAN Nodeguarding error No messages are sent Synchronisation window in interpolated mode exceeded CAN bus parameters not available incorrect sa ving of parameters No messages are sent Device and axis errors Restart lock blocks switch on No external enable Device temperature gt 80 C Temperature error motor Negative limit position reached Positive limit positon reached Overcurrent in the motor phases Exceeding i xt limitation of device Exceeding i xt limitation of motor Subject to change without notice Measure Repeat action if the error reoccurs send in device to manufac turer Repeat action if the error reoccurs send in device to manufac turer
15. see Table 4 6 and Fig 4 4 Subject to change without notice 13 User Manual ECOMPACT 4 3 Electrical Data Table 4 2 Electrical data power supply Symb Unit DC supply U Rated supply voltage at DC input XS5 or Vee XS6 j Rated current per phase ED 100 w E Stall current per phase ED 10096 ce m Rated losses Table 4 3 Electrical data motor characteristics Symb Unit k Torque constant Nm A K Voltage constant Du Isolation class Table 4 4 Electrical data control signals Qty Control signal Unit 1 24 V supply current consumption without V outputs A 5 Digital control signal inputs V 2 inputs isolated mA 3 Digital control signal outputs 2 outputs isolated Table 4 5 Electrical data external fuses DC supply 5 A time lag 24 V supply 3 A time lag 4 4 Mechanical data Table 4 6 Mechanical data dimensions and weight Dimensions and weight Unit Dimensions W x HxT mm Weight of unit kg 14 23E21 23E31 23E41 60 24 60 33 3 4 1 8 5 6 44 37 20 20 20 23E21 23E31 23E41 0 16 0 19 0 54 8 4 9 9 28 3 B 130 C 24 10 96 0 8 LOW 0 7 HIGH 12 36 10 at 24 V 24 0 2 23E21 23E31 23E41 1 55 cf drawings in Fig 5 1 1 75 2 50 60B32 5 2 4 25 20 60E32 0 11 6 5 60E32 2 20 Subject to change without notice Table 4 7 Mechanical data rated values User Manual ECOMPACT
16. through the pre assembled cables proceed as follows L 10 11 12 13 14 Specify the direction the cables are intended to be fed through the ECOMPACT housing Prefered direction of the power supply cable is to the front The control signal cables should be fed to the side Remove the respective cable sleeve accomodation by pulling it upwards The following figure shows the removed cable sleeve accomodation Zugentlastung Schraube TX10 Kabeltulle Kabeltullenaufnahme Befestigungslasche Dichtungsring Remove the sealing ring at the outer edge Loosen the two Torx screws TX10 and retrieve the cable sleeve including the mounting lug Loosen the screw at the strain relief Open the cable sleeve outlet s to be used Feed the cable through the slot at the side of the cable sleeve into the respective outlet Pull the cable back to the strain relief Observe that the cable shield is well connected to the strain relief Tighten up the screw at the strain relief Re insert the cable sleeve into the cable sleeve accomodation and screw on the mounting lug using the two Torx screws TX10 Re insert the sealing ring into the cable sleeve accomodation Connect the protective earth line PE of the power supply cable to the connector housing cf Chap 5 1 3 Fig 5 2 Plug the cable connectors to the respective PCB plug connectors Re insert the cable sleeve accomodation into the housing of the ECOMPACT Sub
17. xxx BB Cx xxx xxx only Enable 1 is available XS7 can be used as free programmable digital input DIN1 OUT1 can be used as free programmable digital output By means of the DIP switch S2 1 the enable can be forced ON position e g for testing purposes or if no hardware enable signal should be used DIP switch S2 2 has to be in the OFF position in order to switch through the signals at digital input XS7 Version xxExx Oxx xxx D C Cx xxx xxx Table 6 4a Pin assignment of the digital outputs and ENABLE inputs wire colours of standard cables Signal Conn Pin Description OUT1 XS2 5 Digital output 1 yellow I 0 2 A isolated 24V EXT XS2 1 External reference potential white 24V OUT2 XS2 6 Digital output 2 grey Ion 0 2 A isolated GND X52 2 3 Reference potential GND brown ENABLE 1 XS2 4green Enable 1 ENABLE 2 XS7 2brown Enable2 24V EXT XS7 1 white Reference pot 24V Enable 2 In the version xxExx 0xx xxx BC Cx xxx xxx the ECOMPACT provides two hardware enable inputs which both have to be activated in order to switch the ECOMPACT operational cf chapter 6 2 5 1 restart lockout Enable input 1 is activated by supplying a voltage of 24 V HIGH Enable input 2 is activated by jumpering the both pins at XS7 By means of the DIP switch S2 the enable can be forced ON position e g for testing purposes or if no hardware enable signal should be used 2 1 is assigned to enable input 1 S2 2 is
18. 1 DC DC link fff CMS gw power supply 24 60 V FL aS Z7 an V 11 AN 2 GND Reference ground VAI 7 f Fi WS Ea thf 3 24V_Supply Logic supply 24 V Skea Er 4 PE Protective earth I The Power connector is used for direct DC supply Furthermore the logic circuit 24V which is separate from the power circuit is supplied here In case of direct DC supply of the DC link circuit the inrush current is not limited by the servo drive There fore special limitation measures have to be taken in the external power supply unit If energy is regenerated the power unit must be equipped with a ballast circuit in case the regenerated energy is higher than the energy consumed by all consumers connected to the DC bus 6 5 4 Appropriate cables incl mating connector Table 6 21 Appropriate cables incl mating connector Connector Interface Cable type incl mating Description connector Sensor actor cable 30V 2A M12 Bu A coded free wire ends 6 pole cable length 3m Din Dout Digital outputs OUT1 OUT2 e g Phoenix Contact Enable 1 2 SAC 6P 3 0 PUR M 8FS SH EtherCAT cable twisted pair e g Phoenix Contact M12 male to RJ45 4 pole cable EtherCAT EtherCAT Master connection VS M12MS IP20 93E LI 2 0 IN length 2 m EtherCAT OUT Looping through EtherCAT from ECOM e g Phoenix Contact NS M male to M12 male 4 pole cable PACT to ECOMPACT SAC M12MSD 18 0 93E M12MSD length 18 m DOW Power supply max 60 V
19. 3E21XX ECOMPACT 23E31XX ECOMPACT 23E41XX ECOMPACT 60E32XX with the following directives EC Directive 2004 108 EC EMC Directive Applied harmonized standards EN 61800 3 EMI Disturbance EN 61800 3 EMI Immunity EC Directive 2006 95 EC Low Voltage Directive Applied harmonized standards ENT gi amp EN 602044 Buchner Str 1 07745 Jer Tel 03641 63376 0 Fax 63376 93 Issued by Jenaer Antriebstechnik GmbH Dipl Ing FH Stephan Preu General Manager Place date Jena 14 09 2010 Legally binding signature This declaration does not guarantee specific features Subject to change without notice 11 User Manual ECOMPACT Jonas Antriebstechnik AM GmbH 4 Technical Data 4 1 Equipment Motor The ECOMPACT is available with two different motor types with encoder commutated multi pole synchronous motor gt ECOMPACT series 23E with low pole AC servo motor gt ECOMPACT series 60E The ECOMPACT 23E is equipped with a high dynamic 2 phase encoder commutated synchronous motor with 56 2 mm flange NEMA23 The ECOMPACT 23E is available in three versions as 23E21 with a peak torque of 1 15 Nm as 23E31 with a peak torque of 2 15 Nm and as 23E41 with a peak torque of 3 2 Nm ECOMPACT series 23E drives are well suited as direct drives In this case a gear unit normally is not necessary the drive is space saving more precise and cost effective The ECOMPACT 60E is suitable for higher speeds rated speed 3
20. 4 Pin Signal Description 1 Shield 1 3 2 CAN VE E F24V cod ve max 50 MA 3 CAN_H CAN Data H 5 4 CAN_GND Reference potential CAN_V CANin CANGUE 5 CAN L CAN Data L male female The connectors CANin and CANout can be used equivalently The signals are looped through thus the CAN bus can be connected to another ECOMPACT For reasons of clearness CANin should be used for the incoming CAN bus from the CAN master and CANout should be used for the transfer to other devices The ECOMPACT CAN interface is based on the communication profile CiA DS 301 and on the device profile CiA DSP 402 drives and motion control It must be supplied with external voltage Terminating resistors are not built in the ECOMPACT A CAN bus has to be terminated with a 120 Q resistor at the beginning and at the end If the ECOMPACT is operated as first or last participant at a CAN bus a 120 O terminating resistor male connector type Phoenix Contact SAC 5P M 8MS DN TR is used cf Fig 6 9 The Baud rate and the node ID can be set directly via the appropriate CAN objects The following Baud rates are supported 1 000 kBit s 500 kBit s 250 kBit s 125 kBit s 100 kBit s 50 kBit s If point of sampling and scan rate 86 7 96 3 times sampling at all Baud rates do not meet the demands please get in touch with the technical service of Jenaer Antriebstechnik CANin CANout CAN_H CY Ji ICAN_V CAN H i O31
21. 500 rpm Encoder The ECOMPACT is equipped with an integrated high resolution incremental encoder 128 000 increments per revolution As an option an absolute value encoder is available Servo amplifier he integrated servo amplifier provides the digital torque force speed and positioning control The supply voltage of the power stage is max 60 V o Ihe drive can be controlled and parameterized via the CAN open interface As an option a version with EtherCAT interface can be provided For control purposes furthermore 5 digital 24 V inputs and 2 digital outputs are available 2 inputs and 2 outputs are isolated Holding brake As an option the ECOMPACT 23E can be equipped with a braking module The activation of the holding brake is done automatically 12 Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT 4 2 Ordering key Table 4 1 Ordering key ECOMPACT 23E 235x BRX Wax xX ES x E xXx XXX No of parameter set three digits No of firmware three digits Approvals A CE standard design B I CE special design Type of field bus C CAN P EtherCAT Options A 2 x restart lock redundant standard 1 x free usable digital output B 1 x restart lock 1 x free usable digital input 2 x free usable digital output Option C 2 x restart lock redundant 2 x free usable digital outputs Supply B DC power supply 24 60 V logic supply 24 V Specialties mountings
22. ACT Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT Inhalt 1 About his TAU pp 7 2 Salety nstru LOS een 7 0 n xon 7 2a2 General Sqte Bigeye ge 8 a CLONE 8 la lela r a een ea E ee 8 JUR bl oe na ee r _ e__e r ereeeehhhkamnmnoommmki mnn m 9 CSC 0S ctw cer cet ce pees J gZ_C RM DIEI DE E DES 9 3 DSS AN NOE CS I 9 S OR ee ee rd yz e 9 oO ae b eee eee ee ee ee ener 10 23 Sandra Nee enter ehren 10 DL ECE O e een 10 4 Technical Daien E E 12 al deu yen EA E So mee 12 2 apo nulo T M 13 P Ele OL l lay T seers 14 44 Mechanical di u 14 A ALIN US DL CINE ee ee Lip Uu rem EUN EUST III UN HEURE UNUS NNI M EUIS 15 5 Installation si sc kak K k k 16 S Mechanical nn lS r g9a r grmqoqd 16 SEMEN dece TREE ee ale au Eee eier gene IS cU UU T Mm 16 SM BST NT D Om 16 curs Mo nei e 17 9 Electereal l J l sedan bd Geostns at E nen das inde yer adir a sn alle e eke N k ck Me b kew N k xl ne nda ik n 18 DL AUN anal Hole uasa stadio depuis _ccc_c mn wxe i 18 2 22 ENIG compliant lan Ll NP N N rx Aa 2mnmg o
23. GmbH 7 2 Work schedule commissioning 1 Check installation The compact servo drive is disconnected from the supply Check the wiring for completeness short circuits and ground faults 2 Enable deactivated Basic version Connect signal input ENABLE 1 at connector XS2 to 0 V and open the bridge between pins 1 and 2 of connector XS7 ENABLE2 Version with M8 M12 connectors Connect the signal inputs ENABLE 1 and ENABLE 2 to 0 V Note In the version with protection class IP54 ENABLE is permanently switched on and cannot be deacti vated Proceed with step 3 3 Switch on 24 V logic supply Apply the 24 V logic supply to the connector XS5 basic version or Power version with M8 M12 connec tors pins GND and 24 V 4 Start setup software Via a CAN dongle connect a PC to the CAN interface of the ECOMPACT and start the ECO Studio soft ware If the ECOMPACT is equipped with an EtherCAT interface Option connect it via a network cable to a PC equipped with a network card Establish the connection to the ECOMPACT Note If the PC is equipped with more than one network card assignment problems might occur 5 Device configuration and mechanical configuration By means of the ECO Studio device configuration wizard and the mechanical configuration wizard carry out the basic settings for the operation of the ECOMPACT For a detailed description of software commissio ning please refer to the ECO Studio help system 6 Check safety
24. ables UTP Cat 5e with D coded M12 connector The second connector can be RJ45 appropriate cable type e g Phoenix Contact VS M12MS IP20 93E LI 2 0 or M12 respec tively for interconnection between two ECOMPACT appropriate cable type e g Phoenix Contact SAC M12MSD 18 0 93E M12MSD Tree and line topologies are supported Star topologies are possible as well The cable length between two devices is limited to 100 m For process control and visualization of EtherCAT devices the operation with the PC software I winCAT manufacturer Beckhoff GmbH is proposed For configuration instructions and an application example please refer to Application Note 26 The objects which are required for the configuration of the EtherCAT communication are described in the manual Object Dictionary ECOVARIO ECOSTEP ECOMPACT chapter 5 2 29 In the ECOMPACT with EtherCAT option the connectors XS3 and XS4 cannot be used as external CAN interface EtherCAT Master EtherCAT g g g Switch Hub ECOMPACT with ECOMPACT with ECOMPACT with EtherCAT interface EtherCAT interface EtherCAT interface Fig 6 14 Operation of ECOMPACT in an EtherCAT network Subject to change without notice 39 User Manual ECOMPACT Jonas Antriebstechnik AM GmbH 6 5 3 Power connection 6 5 3 1 Power connector DC link voltage logic supply Table 6 20 Pin assignment Power M12 connector Pin Signal Description nn FE y m M
25. ant to pay attention to the exact orientation of the shaft A too big misalignment leads to vibrations reduction of torque and lessens the working life of the bearings Always avoid a mechanically overdefined bearing of the shaft On mounting drive elements onto the free shaft end watch the safe radial and axial stress of the shaft Never use a hammer or a similar tool for mounting Protect the drive elements from loosening When using a belt drive watch the safe radial stress of the motor shaft Make sure the compact servo drive is properly ventilated If ambient temperatures higher than 40 C occur contact the manufacturer 2 4 Electrical connection Table 2 4 Safety instructions electrical connection The compact servo drives are not intended for direct connection to the power supply sys tem but have to be driven with an electronic converter Connecting the motor directly to the power supply system leads to destruction of the motor All work may only be carried out by qualified personnel The machine or plant has to be switched off and protected against restart Before applying a voltage it is vital to make sure that the protective earth conductor is con nected properly Observe the data on the name plate During operation control and power connections lead dangerous voltages Never loosen connections if they are live After disconnecting the device wait at least 3 minutes before touching the contacts Capaci tors can still ha
26. ase get in touch with the technical service of Jenaer Antriebstechnik In the ECOMPACT with EtherCAT option chapter 6 5 the connectors XS3 and XS4 cannot be used as external CAN interface Subject to change without notice 2 7 User Manual ECOMPACT XS3 XS4 CAN L CAN V4 Potenzial trennung CAN_GND ECOMPACT TM VE Fig 6 4 Circuit XS3 XS4 CAN interface CANH O 1 02 11 204 1 02 11 20 02 20 1 JR AE NE w1 GR CANL O 1031 30 103 11 30 103 1 30 4 CAN V O 1 04 11 10 041 10 917 10 CAN_GNDO 04 40 04 1 40 i 045n40 Master im XS4 XS3 XS4 XS3 XS4 XS3 CAN Bus Achse 1 Achse 2 Achse n Fig 6 5 Size terminating resistors R according to line impedance normal R 120 Q 6 2 4 Power connection 6 2 4 1 XS5 XS6 DC link voltage logic supply Table 6 7 Pin assignment connector XS5 XS6 wire colours of standard cables Signal Pin Wirecolour Description GND 1 brown Reference ground DC 2 orange DC link power supply GND 3 black Reference ground 24V Supply 4 red Logic supply BEZ green yellow Protective earth connected to the housing cf chapter 5 1 3 Fig 5 2 The connector XS5 is used for direct DC supply Furthermore the logic circuit 24V which is separate from the power circuit is supplied here Ihe connectors XS5 and XS6 are looped through thus the supply voltages can be fed to another ECOMPACT via
27. ating resistor as part of the mating connector set cf Chap 9 is used at XS3 between the pins 2 and 3 cf Fig 6 5 Table 6 8 Wire assignment CAN interface Signal Colour Description CAN V white 24 Vac t8 30 V c Max 50 mA CAN_Hin green CAN Data H incoming CAN_Lin yellow CAN Data L incoming CAN_Hout grey CAN Data H outgoing CAN Lout pink CAN Data L outgoing CAN GND brown Reference potential for CAN_V The Baud rate and the node ID can be set directly via the appropriate CAN objects The following Baud rates are supported 1000 kBit s 500 kBit s 250 kBit s 125 kBit s 100 kBit s 50 kBit s If point of sampling and scan rate 86 7 96 3 times sampling at all Baud rates do not meet the demands please get in touch with the technical service of Jenaer Antriebstechnik 6 3 2 Power supply logic supply The power cable is used for direct DC supply Furthermore the logic circuit 24V which is separate from the power circuit is supplied here Table 6 9 Wire assignment power supply logic supply Signal Wire colour Description GND brown Reference ground DC orange DC link power supply GND black Reference ground 24V Supply red Logic supply PE green yellow Protective earth In case of direct DC supply of the DC link circuit the inrush current is not limited by the servo drive There fore special limitation measures have to be taken in the external power supply unit If energy is regenerated the power uni
28. customer versions Consecutive numbers 0 2 no further option standard device without mechanical modifications B drilling G gear detailed implementation at the end of the ordering key e g PLE60 5 K short motor shaft lt 20 6 mm L long motor shaft gt 20 6 mm P feather key acc to DIN 6885 S special feather key W other shaft machining special diameter surface internal thread etc 0 cable feed through standard device without modifications A cable gland C connector version M8 M12 K 2 customer version replaces the nomenclature for options Encoder type 8X Incremental encoder max resolution 128 000 Inc rev DS Absolute value encoder resolution 17 bit singleturn 7W Absolute value encoder resolution 17 bit singleturn 12 bit multiturn Brake 0 without brake B braking module 1 5 Nm mounted Motor type 23E21 Characteristics see Table 4 6 and Fig 4 1 23E31 Characteristics see Table 4 6 and Fig 4 2 23E41 Characteristics see Table 4 6 and Fig 4 3 Example ECOMPACT 23E31 08X 000 BA CA 000 000 ECOMPACT 60E is available in the configuration ECOMPACT compact servo drive with ECOMPACT 60E32 08X 000 BA CA 000 000 Incremental encoder Incremental encoder max resolution 128 000 Inc rev max resolution 128 000 Inc rev DC supply DC supply Two Enable inputs Two Enable inputs CAN interface CAN interface CE approval standard design 2 CE approval standard design Characteristics
29. e Oder 45 9 PLC CESS OL LOS f 46 9 1 Mating connector set ECOMPACT basic version Molex PCB connectOrS EiEr 46 9 2 Cables for basic version Molex PCB COnnectors ccccccccccsssccsssscsssscesssscsssscssssscsssscsssscessssesssscessssesssseees 47 9 9 Establishing the Crimp connection nenne nennen einen 48 10 P Org PS Dr rrr e yer a2 49 101 CA TT Ya cc_cZce a ar r arA aXer r gg 49 6 Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT 1 About this manual This installation manual describes the compact servo drive ECOMPACT It concerns all persons who pro ject install and commission ECOMPACT drives Further information Software commissioning ECO Studio Operation Manual ECOVARIO ECOSTEP ECOMPACT 2 Parameterization ECO Studio Operation Manual ECOVARIO ECOSTEP ECOMPACT Application Notes ECOMPACT This manual makes the following demands on qualified personnel Transport Personnel trained in handling electrostatic sensitive devices Installation Electrotechnically qualified personnel who know the security directives of electrical enginee ring and automation Setup Commissioning Qualified personnel with a broad knowlege of the fields of electrical engineering automation and drives 2 Safety instructions 2 1 Symbols Table 2 1 Symbols Pictogram Warning Consequences Gen
30. e sleeves Signal Pin PinSub D Description CAN V4 1 9 white GM oO MES max 50 mA CAN H 2 7 green CAN data H CAN L 5 2 yellow CAN data L CAN_GND 4 3 brown Reference potential for CAN_V The connectors XS3 and XS4 can be used equivalently The signals are looped through thus the CAN bus can be connected to another ECOMPACT For reasons of clearness XS4 should be used for the incoming CAN bus from the CAN master and XS3 should be used for the transfer to other devices The ECOMPACT CAN interface is based on the communication profile CiA DS 301 and on the device profile CiA DSP 402 drives and motion control It must be supplied with external voltage Terminating resistors are not built in the ECOMPACT A CAN bus has to be terminated with a 120 Q resistor at the beginning and at the end If the ECOMPACT is operated as first or last participant at a CAN bus a 120 O terminating resistor as part of the mating connector set cf Chap 9 is used at XS3 between the pins 2 and 3 cf Fig 6 5 The device address is set via the binary coding of the DIL switch S1 If all switches are in the 0 position the node ID is Ox7F The Baud rate and the node ID can be set directly via the appropriate CAN objects The following Baud rates are supported 1000 kBit s 500 kBit s 250 kBit s 125 kBit s 100 kBit s 50 kBit s If point of sampling and scan rate 86 7 96 3 times sampling at all Baud rates do not meet the demands ple
31. ecifications with incremental encoder Fig 5 1 Dimensions of the ECOMPACT 16 Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT 5 1 3 Mounting ECOMPACT is intended for the following mounting positions 2 drive shaft horizontal 2 drive shaft vertical shaft end downwards drive shaft vertical shaft end upwards A sufficient heat dissipation has to be observed The surface temperature of the motor must not exceed 70 C If the drive is operated at its limit a sufficient heat dissipation via the motor flange has to be ensured he motor flange has to be mounted on a plain surface A good thermal and electrical connection has to be observed Varnished surfaces should be avoided The motor is mounted by means of 4 M5 screws For rea sons of the electromagnetic compatibility EMC proper grounding of the ECOMPACT is required In the basic version of the ECOMPACT this is achieved by connecting the protective earth PE conductor of the voltage supply to the earthing lug in the cable connection area cf Fig 5 2 and the conductive mounting of the motor flange Ihe ECOMPACT version with M8 M12 connectors provides the PE pin on the Power connector E e JB Fig 5 2 Earthing lug in the cable connection area of the ECOMPACT When mounting the ECOMPACT into a machine make sure that the CAN bus cables and the Enable cables are laid EMC conform by connecting the cable sh
32. equipment Before switching on the voltage it is vital to check if all safety equipment that protects from A touching live parts and from the consequences of indeliberate movements functions proper ly 7 Zero demand values Before switching on the power supply the demand values for position and speed should be zeroed 8 Switch on power supply The power supply should only be switched on with the on off switches of a contactor circuit 9 ENABLE 0 5 s after switching on the power supply the ENABLE signal can be switched to HIGH Basic version 24V level at input XS2 ENABLEI and bridge between pins 1 and 2 at connector XS7 ENABLE 2 according to the connection scheme in Chap 6 2 2 1 Version with M8 M12 connectors 24V level at inputs ENABLEI and ENABLE 2 In the version with protection class IP54 ENABLE is permanently switched on If the motor vibrates or hums first the p gain of the velocity controller should be reduced ECO Studio in the navigation area under Controller Velocity Controller tab 42 Subject to change without notice 10 Optimization 7 3 User Manual ECOMPACT The controller parameters are set to default values by the manufacturer However these values have to be checked and adapted to the respective application if required Wrong parameter settings can lead to damages of machine parts A detailed description of the parameterization of the velocity controller and of the position controller can be
33. erCAT version Connector Description Prene AT e Incoming EtherCAT interface IN female EtherCAT M12 OUT UE Outgoing EtherCAT interface M12 Power supply max 60 V bowel male logic supply 24 V Din Dout M8 Digital outputs OUT1 OUT2 male Enable 1 2 BS is Digital input HOME Reference switch Home female EtherCAT OUT EtherCAT IN Ref Home Din Dout Fig 6 11 Layout of the ECOMPACT connectors option with EtherCAT interface Information concerning the appropriate cables can be found in chapter 6 5 4 36 Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT 6 5 2 Control signals 6 5 2 1 Connector Din Dout Digital outputs 24V Enable inputs Connector Connector Din Dout Din Dout kw ul Control 24 V vik j 4 yk j 5 STATUS1 5 STATUS1 24V 24V 4 yk I yK 5 6 JOUT2 e OUT2 i i O 3 ENABLE1 3 ENABLE1 S2 1 S2 1 Ll Y EN px GND GND Galvanic Galvanic isolation isolation Power connector GND 24V GND 24V T 2 2 24V s external ME 21 24 V 4 GND Power supply 4 GND 24 Vac 24 V 24V ENABLE2 ENABLE2 i MEY 4 DIN1 gt ey 4 DIN1 SEA A
34. eral warning about danger Disregarding this warning may lead to death or serious injuries Warning about dangerous electri Disregarding this warning may cal voltages lead to death or serious injuries Warning about hot surfaces Disregarding this warning may lead to burns to the skin Subject to change without notice J User Manual ECOMPACT 2 2 General safety instructions Table 2 2 General safety instructions 2 3 Installation The compact servo drives are components which are built into machines and can only be used as integral components of such equipment Setting the compact servo drive into ope ration is forbidden until it has been established that the machine or plant fulfils the require ments of the EC Machinery Directive 2006 42 EC Only properly qualified personnel are permitted to perform activities such as transport in stallation setup and maintenance of the product The qualified personnel must know and observe all relevant safety standards In case of modifications or retrofits with components of manufacturers other than Jenaer Antriebstechnik please contact us to clarify that those components are suitable to be as sembled with our devices The operating conditions have to accord to the data on the nameplate Emergency off equipment must be workable in all operation modes especially during setup and maintenance Table 2 3 Safety instructions installation On coupling the motor it is import
35. estart lockout Enable input 1 is activated by supplying a voltage of 24 V HIGH Enable input 2 is activated by jumpering the pins 7 and 4 The status of enable input 2 is directly switched through to the status output OUTI 32 Subject to change without notice User Manual ECOMPACT 6 4 2 2 CWI CCWI Ref Home Digital inputs for limit switches and reference switch Table 6 12 Pin assignment of the sensor inputs ECOMPACT M8 female connector Connector Pin Signal Description 4 CWI 1 24V Reference potential 24V 3 GND Reference potential GND 4 i 4 CWI DIN3 Positive limit position CCWI 1 24V Reference potential 24V 3 GND Reference potential GND 4 CCWI DIN4 Negative limit position Ref Home 1 24V Reference potential 24V 3 GND Reference potential GND 4 HOME DIN5 Reference switch ECOMPACT Sensors CWI Positive limit 1 24V A 24 V O 4 CWI DIN3 3 GND CCWI Negative limit 1 24V A 24 V gt O 4 CCWI DIN4 9 G 31 END Ref Home Reference 1 24V A 24 V Home DIN5 cr 4 Ho 3 GND Fig 6 8 Connectors CWI CCWI Ref Home Circuit of the digital inputs for limit switches and reference switch Subject to change without notice 33 User Manual ECOMPACT Jonas Antriebstechnik EM GmbH 6 4 2 3 CANin CANout CAN interface Table 6 13 Pin assignment CANin CANout M8 connectors 2
36. ield extensively via the screening clamps to chassis earth on both sides To calculate the minimal mounting space the minimum bending radii of the connecting cables cf Chap 9 2 have to be regarded Subject to change without notice 17 User Manual ECOMPACT Jonas Antriebstechnik AM GmbH 5 2 Electrical Installation 5 2 1 Important notes All installation work may only be carried out if the machine or plant is not live and protected against re start Never exceed the maximum rated voltage of 60 V 10 96 at the connector XS5 or X56 or as an option at the M12 connector Power Fusing of the DC supply and of the 24 V logic supply should be carried out by the user The compact servo drive has to be properly grounded The protective earth connector must have at least the same diameter as the supply cables 5 2 2 EMC compliant installation The supply connection of the machine should be equipped with an appropriate RFI suppression filter Al ways use shielded cables Metal parts in the cabinet have to be interconnected extensively and conductive regarding HF Used relays contactors solenoids etc have to be protected against overvoltage Supply cables and motor cables must be laid in a proper distance of control cables 5 2 3 Connection diagram The following diagram shows a connection example of the ECOMPACT basic version CAN with exter nal logic supply 24 V and power supply 60 V e In this example power suppl
37. ject to change without notice 23 User Manual ECOMPACT Jonas Antriebstechnik A GmbH 6 2 3 Control signals 6 2 3 1 XS2 XS7 Digital outputs 24V Enable inputs Control XS2 XS2 5 OUT1 5 our1 e OUT2 e OUT2 O 4 ENABLE1 4 ENABLE1 T 2 1 2 1 a Y dey GND GND Galvanic Galvanic isolation isolation 1 XS5 or XS6 GND 24 V GND 24 V T AV External 45 1 224V 2 GND power supply 2 GND 13IGND 24V 3 GND 5 0 XS7 XS7 24V 24V ENABLE2 ENABLE2 e EY 2 DIN1 gt ey DIN1 2 2 2 2 24 V i 24 V 1 1 24V 1 1 24V ECOMPACT ECOMPACT Fig 6 2 Connector XS2 XS7 Circuit of the digital outputs and Enable inputs left side Operation with external control right side Operation without external control Version xxExx 0xx xxx BA Cx xxx xxx Table 6 4a Pin assignment of the digital outputs and ENABLE inputs wire colours of standard cables Signal Conn Pin Description OUT1 X52 5 Status output ENABLE 2 yellow 0 2 A isolated 24V_EXT XS2 1 External reference potential white 24V OUT2 XS2 6 Digital output 2 grey Io
38. machines General re quirements DIN EN 61800 5 1 Adjustable Speed Electrical Power Drive Systems Part 5 1 Safety requirements Elec trical thermal and energy Directive 2004 108EC EMC directive Applied harmonized standards DIN EN 61 800 3 Adjustable speed electrical power drive systems EMC requirements and specific test methods 3 3 1 CE conformity Compact servo drives ECOMPACT are components that are intended to be built into electrical plant and machines for industrial use The manufacturer of the machine is responsible that the machine or plant ful fills the requirements of the EMC directive The compact servo drives ECOMPACT have been tested by an authorized testing laboratory in a defined configuration with the system components which are described in this documentation Any divergence from the configuration and installation described in this manual means that you will be responsible for carrying out new measurements to ensure that the regulatory require ments are fulfilled 10 Subject to change without notice Jonas Antriebstechnik IN GmbH User Manual ECOMPACT GmbH Buchaer Stra e 1 07745 Jena Germany Tel 49 0 3641 6 33 7655 Fax 49 0 3641 6 33 76 26 Jenaer Antriebstechnik Declaration of Conformity We the company Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena Germany declare the conformity of the product Designation Compact Servo Drive Type ECOMPACT 2
39. n Also in case of an error if a current in the motor is produced by damaged driver transistors the high pole servo motor cannot start because the necessary rotating field is not created 6 3 Version with protection class IP54 As an option a version of the ECOMPACT with protection class IP54 is available Here the CAN bus inter face incoming and outgoing power supply 24 60 V and logic supply 24 V are provided via cable glands The cables of 0 5 m length are equipped with connector sleeves Power cable 0 5 m CAN cable 0 5 m connector sleeves connector sleeves EMC Cable glands M16x1 5 4x Q5 u D 38 1 0 05 xi Ls 47 14 0 2 56 2 For connecting the ECOMPACT version with protection class IP54 it is not necessary to open the housing Subject to change without notice 29 User Manual ECOMPACT Jonas Antriebstechnik AM GmbH 6 3 1 CAN interface Ihe ECOMPACT CAN interface is based on the communication profile CiA DS 301 and on the device profile CiA DSP 402 drives and motion control The signals are looped through thus the CAN bus can be connected to another ECOMPACT The interface must be supplied with external voltage Terminating resistors are not built in the ECOMPACT A CAN bus has to be terminated with a 120 Q resistor at the beginning and at the end If the ECOMPACT is operated as first or last participant at a CAN bus a 120 O termin
40. ncoming and outgoing power supply 24 60 V and logic supply 24 V c are provided via cable glands ef chapter 6 3 A version with M8 M12 industry connectors located on a connection board The pin assign ment is described in chapter 6 4 A version with EtherCAT interface More information can be found in chapter 6 5 6 2 Standard version The interfaces of the ECOMPACT are by default designed as PCB plug connectors For connecting the ECOMPACT the connector housing cover has to be opened Fig 6 1 shows the view to the connectors after opening the cover Observe that the connectors have to be unlocked before removing Unlock by pressing the locking lever Grip the connectors only at their housing not at the cable Not observing these precautions can result in injuries or damages Danger of injury when unplugging the PCB plug connectors For the interfaces XS2 to XS10 a mating connector set is available cf table 9 1 Original accessories ECOM PACT To simplify the handling all mating connectors are labelled 20 Subject to change without notice Jenae Antriebstechnik MA GmbH User Manual ECOMPACT 6 2 1 Overview of all connectors Table 6 1 Assignment of the PCB plug connectors Con Assignment nector Digital outputs OUT1 OUT2 XS2 Enable 1 XS3 CAN bus interface 1 XSA CAN bus interface 2 Power supply max 60 V Bos logic supply 24 V XS6 Power supply max 60 V
41. o How to work with the user interface ECO Studio is described in detail in the ECO Studio help system Subject to change without notice 45 User Manual ECOMPACT Jonas Antriebstechnik A GmbH 9 9 1 Accessories Table 9 1 Survey of ECOMPACT original accessories Order key Description Complementary parts DKK10 Mating connector set Molex for details cf Chap 9 1 Software tools CD with ECO software tools e g ECO Studio and docu mentation Power supplies SV24 SV24 60 SV60 Cables cf table 9 2 1 phase power supply 24 Vc 1 phase power supply 24 Ve 60 Vac DC 1 phase power supply 60 V c Cable sleeves DKH76 Cable sleeve 2 x 4 mm to 6 mm 2x 5 5 mm to 7 5 mm Mating connector set ECOMPACT basic version Molex PCB connectors A mating connetor set for all interfaces of the ECOMPACT is available All mating connectors are clearly labelled and designed in a way that there is no danger of mixing them up 46 Table 9 2 Composition of ECOMPACT mating connector set DKK10 standard version Quantity 2 25 Part Mating connector for Function 4 pole socket housing XS5 XS6 Power supply max 60 V Molex Mini Fit Jr Logic supply 24 V Crimp socket AWG 24 18 X55 X56 Power supply max 60 V Molex Mini Fit Jr Logic supply 24 V 2 pole socket housing XS7 CU Molex Micro Fit 3 0 Enable 2 Digital input 1 3 pole socket housing XS8 XS9 XS10 Digital inputs for limit posi
42. oDnDaxxxn xp gxxmqgq 18 5 29 Connection di ea URSI SUE IINE eS an b e dak eee 18 6 Interlaces y sinek M a 20 esl PV AURAL C D T ICES yn e ki seyan ane ooo nce ri u T O 20 bu SUD oT IER ORE 20 021 DINO all cone era 21 6 2 2 Cable pre assembling and cable feed through cable sleeves scs 22 52 9 XJODLEOL rrr NN DIUINO MEUM UMEN NIME 24 6 2 3 1 X82 X57 Digital outputs 24V Enable pulse 24 6 2 3 2 XS8 XS9 XS10 Digital inputs for limit switches and reference switch 26 ED De ODA S CAN ler nee er 27 Q2 B url ds ale Ss lela DD uini E A eM c ndr Uo eon S DUUM ya yy Dui Ce RUD 28 6 24 1 XS5 X56 DC l nk yoltage logic SUDD Y sti ER SUIU Ut SUID AU ONES qeh ken k d n k hed n k kad d kr Ak 28 5 2 5 Date un O e nlne yane N eee dnas dry ed ee ee 20 _ JJrJrJr _ _ coh ODDS 29 3 Version wilh proteccion I ccd ee Eraban kokeke DU BUD SH NUS ANN Aa i xaka SERI kan we ninan 29 Soa ERU D NIS TE s l renner ay b n k k 0 d Tm 30 0 32 POWeEBUDDDS logic s pply adesione eumd tended nayan ote dae teach send a k kasa PNEU NN 30 6 4 Version with M8 M12 connectors with CAN inteTrf Ce EE ereke kerx eke kek eene ke KAKA KAKA KARAR 31 Subject to change without notice 5 User Manual ECOMPACT Jonas Antrieb
43. pture error of the encoder E02 Interpolation error of the encoder E03 Too high speed of encoder or cannot be read Measure Check 24 V power supply Are there disturbances on the power line Check output power specification of power supply whether it is dimensioned sufficiently Check supply voltage might be too high Check power supply and connections Check output power spe cification of power supply whether it is dimensioned sufficiently Check voltage Check axis parameters and operating conditions Check whether the axis is freely movable Check if axis is freely movable Check whether the commutation settings are correctly If error reoccurs send in device to manufacturer If error reoccurs send in device to manufacturer If error reoccurs send in device to manufacturer If error reoccurs send in device to manufacturer Error reason might be strong electromagnetical interferences Check parameters overall soeed of the motor Error reason might be contamination or damage of the measuring system Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT 8 Parameter setting By setting the parameters the ECOMPACT is adjusted to the application The parameters are set in the PC The user interface ECO Studio is menu driven and easy to handle The connection PC ECOMPACT is established via the CAN interface or via the EtherCAT interface respectively 8 1 PC user interface ECO Studi
44. purpose a mating connector set is available For cable feed through cable sleeves are used by default As an option cable glands M16 x 1 5 are available as well cf chapter 6 3 Table 6 2 lists the appropriate mating connector type the pre assembled cable type and the appropriate cable sleeve diameter for all PCB plug connectors Make sure that only cable sleeve diameters A or B cf table are used which are appropriate for the respective cable diameter Otherwise protection class IP40 cannot be guaranteed Table 6 2 Cable and connector data Con Interface Mating connector Cable type Cable nector JAT designation JAT designation sleeve sone ORUE OTOU Molex Micro Fit 3 0 DAT36 833 100 003 000 AorB Enable 1 XS3 CAN bus bridge Molex Micro Fit 3 0 DAT30 832 832 003 000 XS4 CAN bus interface Molex Micro Fit 3 0 DAT30 832 412 003 000 Power supply max 60 V XS5 Elles tesoros Gang liste s Molex Mini Fit Jr NET43 820 820 003 000 A XS6 one Molex Mini Fit Jr NET43 820 100 003 000 A XS7 Enable or Digital input 1 Molex Micro Fit 3 0 DAT35 830 100 003 000 XS8 Digital input CWI Positive limit position Molex Micro Fit 3 0 NS35 831 100 003 000 XS9 Digital input CCWI Negative limit position Molex Micro Fit 3 0 SNS35 831 100 003 000 XS10 Digital input HOME Reference switch Molex Micro Fit 3 0 SNS35 831 100 003 000 22 Subject to change without notice Jonas Antriebstechnik HM GmbH User Manual ECOMPACT For feeding
45. r Connector DAT36 833 100 003 000 Digital outputs OUT1 OUT2 55mm S5 lead I 3m r 28mm connector Enable 1 sleeves Bridging cable CAN bus 6 1mm 4lead I 3m r 46mm DAT30 832 832 003 000 deu terminating resistor 7 0mm 3m O 7 0mm DAT30 832 412 003 000 CAN bus 6 1mm 4 ead I 3m r 46mm Sub D 9 pol Bridging cable 6 4 mm 5 lead I 3m 7r 235mm NET43 820 820 003 000 Power supply max 60 V Logic supply 24 V 70 mm 70 mm Subject to change without notice 47 User Manual ECOMPACT Jonas Antriebstechnik AM GmbH Power supply max 60 V 6 4 mm S5 lead I 3m r 35mm connector NET43 820 100 003 000 Logic supply 24 V sleeves 70 mm 4 mm 2 lead I 3m r 24mm connector DAT35 830 100 003 000 Enable 2 Digital input 1 sleeves Digital input 1x limit position or 4 7mm 3 ead I 3m r 24mm connector SNS35 831 100 003 000 reference switch sleeves All cables are trailing cables The PUR sheath is temperature resistant up to 80 C 9 3 Establishing the Crimp connections If cable assembly is done by the customer the following tool is required for establishing the crimp connec tions Crimping tool for MOLEX Mini Fit Jr 16 24 AWG Crimping tool for MOLEX Micro Fit 3 0 20 30 AWG Insertion of the 120 Q resistor into the mating connector of XS3 4 pole Micro Fit 3 0 socket isolate resistor with a shrinkable tube arrange resistor vertically Micro Fit 3 0 Buch
46. s IP40 Table 4 9 General technical data applicable standards Noise immunity Noise emission CE safety Subject to change without notice acc to EN61800 3 acc to EN61800 3 acc to EN61800 5 1 15 User Manual ECOMPACT 5 Installation 5 1 Mechanical Installation 5 1 1 Important notes Make sure that transport and storage did no damage to the units Depending on the power losses a sufficient convection is necessary The minimum bending radii of the connecting cables cf chapter 9 2 must be observed 5 1 2 Dimensions ECOMPACT Series 23E 23E21 23bE31 D 8 323E41 D 10 0 0 L 23E21 without braking module 23E21 with braking module 23E31 without braking module 23E31 with braking module 23E41 without braking module 23E41 with braking module Options ECOMPACT Series 60E 49 14k6 L 142 5 L 186 4 L 164 5 L 208 4 L 189 5 L 233 4 Option cable glands IP54 cf chapter 6 3 and absolute value encoder 47 14 02 38 1 005 5 OO OO All lengths with incremental encoder With option EtherCAT interface With absolute value encoder length Height increases to 115 5 mm increases by 20 mm 115 5 connectors cf chapter 6 4 cf chapter 6 5 25 0 2 191 70 All length sp
47. se 4pol R1l 120 ohm n i Ya Steckseitig 48 Subject to change without notice 10 1 Glossary Ballast circuit Baud rate Bit rate Bootloader mode Circuit breaker DC link voltage Disable Encoder EMC Enable ESD protection Fieldbus interface Firmware Ground fault ID number Loadware Node Restart lock Subject to change without notice User Manual ECOMPACT A ballast circuit transforms energy that is fed back into the DC link during braking of a motor into heat Thus it is made sure that the DC link voltage does not increase too much Unit of measure for the transmission rate of data in serial interfaces The baud rate indicates the number of possible changes of state of the transmitted signal per second 1 baud 1 state change s The baud rate can be lower than the bit rate one bit is coded in several signal states Baud rate in this document refers to signals in which one bit is defined with the two signal states HIGH and LOW In this case the bit rate equals the baud rate Transmission rate of information in bit second State of the servo amplifier in which a new loadware can be transmitted into the servo amplifier s memory Switch that cuts the power if an error current limit is exceeded Smoothed DC voltage Take back ENABLE signal for the servo amplifier ENABLE input 0 V Measuring system that transforms the angular position of a shaft or the positi on of a linear system in
48. stechnik AM GmbH DI MS AN CO gece er ieiunii re nee 31 DTN OG a ee EN EEE EEE HHH NM a op 7 22 6 4 2 1 Connector Din Dout Digital outputs 24V Enable inputs trennen 32 6 4 2 2 CWI CCWI Ref Home Digital inputs for limit switches and reference switch 29 64 23 CANIN CANo t CAN THEGELACR eire tU ae na rete tsp tenui idus utn sire E ENER 34 0 2 3 E E a ee een vti etras ei rer eer idus uude 33 6 4 3 1 Power connector DC link voltage logic supply era 35 6 4 4 Appropriate cables incl mating connector niit 35 6 5 Version with M8 M12 connectors with EtherCAT interface esee 36 63l Oyerview ol al dol ee a eee a tenir tima epee 36 Co OT E ere EE ES 37 6 5 2 1 Connector Din Dout Digital outputs 24V Enable inputs eese 37 6 5 2 2 Ref Home Digital input for reference switch nannte een 38 covane ee 38 a PONE 610 61 6 vri ee eee eee ero O E ee Reel 40 6 5 3 1 Power connector DC link voltage logic Upper einen 40 6 5 4 Appropriate cables incl mating connector nennen 40 7 C omMmMISSIONIN csicsa aa a 41 r BR beiote cm One A nn yz TT u 2 41 72 Work schedule commissioning a e keske ennd yl kek n kelka ak k ey diye kake a k aw n beleka edu Wae 42 Za du HOL TE ee c y n en ete ul Kend sed hec M Se d n y ke danab 43 8 Parameter Z L NAN 45 BI PCS Sr e
49. t has been established that the machine or plant fulfills the requirements of the EC Machinery Directive 2006 42 EC and the EMC Directive 2004 108 EC Further EN 60204 and ENISO 12100 parts 1 and 2 have to be observed 3 Legal notes 3 1 Terms of delivery Our terms of delivery are based on the Ihe General Terms of Delivery for Products and Services of the Elec trical Industry German ALB ZVEI of the Central Association of the Electrical and Electronics Industry ZV EI e V in their current version Subject to change without notice 9 User Manual ECOMPACT Jonas Antriebstechnik EM GmbH 3 2 Liability he circuits and procedures in this manual are proposals Every user has to check the suitability for every special case Jenaer Antriebstechnik GmbH is not responsible for suitability Especially Jenaer Antriebstech nik is not responsible for the following damage causes disregarding the instructions of this manual or other documents concerning ECOMPACT unauthorized modifications of drive motor or accessories operating or dimensioning faults Improper use of the ECOMPACT components 3 3 Standards and directives ECOMPACT compact servo drives are components intended to be built into machines or plants for indus trial purpose The devices meet the following standards Directive 2006 95 EC Low Voltage Directive Applied harmonized standards DIN EN 60 204 1 VDE 0113 1 Safety of machinery Electrical equipment of
50. t must be equipped with a ballast circuit in case the regenerated energy is higher than the energy consumed by all consumers connected to the DC bus 30 Subject to change without notice Jonas Antriebstechnik HM GmbH User Manual ECOMPACT 6 4 Version with M8 M12 connectors with CAN interface As an option a version of the ECOMPACT with M8 and M12 connectors is available 6 4 1 Overview of all connectors Table 6 10 Connectors M8 M12 Connector CANin ius male CANout s female M12 Power male Din Dout Ma male CWI CCWI M8 Ref female Home Din Dout Description CAN bus interface in CAN bus interface out Power supply max 60 V logic supply 24 V Digital outputs OUT1 OUT2 Enable 1 2 Digital input CWI Positive limit position Digital input CCWI Negative limit position Digital input HOME Reference switch Ref Home CCWI CWI CANin CANout Fig 6 6 Layout of the ECOMPACT connectors option M8 M12 Information concerning the appropriate cables can be found in chapter 6 4 4 Subject to change without notice 31 User Manual ECOMPACT Jonas Antriebstechnik AM GmbH 6 4 2 Control signals 6 4 2 1 Connector Din Dout Digital outputs 24V Enable inputs
51. tions and Molex Micro Fit 3 0 reference switch 4 pole socket housing XS3 XS4 Molex Micro Fit 3 0 SN us Tees 6 pole socket housing XS2 Digital outputs OUT1 OUT2 Molex Micro Fit 3 0 Enable 1 Crimp socket AWG 20 24 XS2 XS3 XS4 XS7 Molex Micro Fit 3 0 XS8 XS9 XS10 for all socket housings Molex Micro Fit 3 0 Resistor 120 O wired Terminating resisitor for CAN bus Screw DIN7500 CTM3x6 A2K Protective Earth PE connection Serrated lock washer DIN6798 VZ A 3 2 Protective Earth PE connection Ring cable lug M3 red Protective Earth PE connection Subject to change without notice Jenae Antriebstechnik N GmbH User Manual ECOMPACT 9 2 Cables for basic version Molex PCB connectors The insulated shield mesh of the cables must be connected to the device potential or the PE conductor resp If the grounding is improper or the mesh lies freely dangerous voltages may occur The following table lists the standard cables available for connection of the ECOMPACT The cables are further available in the lengths 5 m and 10 m All cables are equipped with the appropriate mating connectors for the respective PCB plug connectors of the ECOMPACT interfaces Note Appropriate cables for the M8 M12 connector option are listed in chapter 6 4 4 Appropriate cables for the EtherCAT connector option are described in chapter 6 5 4 Table 9 3 ECOMPACT accessories cables Cable type Use mm Wires Length min Customer m bending
52. to coded data Electromagnetic compatibility enable signal for the compact servo drive 24 V pe signal Protection against electrostatic discharge here CAN Part of the software tha is stored to ROM read only memory the firmware contains the start up routines Here electrically conductive connection between a power system or motor phase and the PE conductor Identification number of a special device in a bus structure Part of the software that can be stored to the flash memory of the device Device connection in a bus structure Technical measure that prevents actuators safely by mechanical elements posi tively driven contacts from restarting indeliberately 49
53. ve dangerous voltages present up to 3 minutes after switching off the supply voltage To be sure measure the DC link voltage and wait until it has fallen below 40 V Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT 2 5 During operation Table 2 5 Safety instructions operation The surfaces of the motors can get hotter than 70 C Therefore they have to be protected against touching No temperature sensitive parts may touch the surface or be fastened to them Unintentional movements of motors tools or axes may lead to death or serious injuries A ECOMPACT drives can produce strong mechanical powers and high accelerations Avoid staying in the danger zone of the machine Never switch off safety equipment not even for test operation Malfunctions should be repaired by qualified personnel immediately 2 6 Prescribed use All notes about technical data and ambient conditions have to be observed Using the unit in hazardous locations and in ambients containing oil gas vapours dusts radiations etc is prohibited if it is not explicitly allowed due to special measures The manufacturer of the machine must generate a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property If one or more ECOMPACT are built into machines or plants the intended operation of the whole ma chine or plant is forbidden until i
54. y module SV24 60 is used Dependent on the resulting power consumption it is possible to supply several ECOMPACT by means of one power supply module A concatenation of compact servo drives is possible up to an overall power con sumption of 480 W with an 8 A fuse medium time lag 18 Subject to change without notice Jenae Antriebstechnik HM GmbH User Manual ECOMPACT ECOMPACT XS3 XS5 CAN ff B Fe DC XS4 e 24V Suppl zu weiterem ECOMPACT lt M DE CAN B ES GND B Steuerung XS6 XS8 UNES CWI a Endlage pos 60V BEEN d DC 24V ef 24V_Supply XS9 ccwl 3 EA kan lt Endlage neg L 1L GND XS10 HOME f a Referenz i y m Xer aala Se a XS2 z u u a lt gt Il gt e lt EE Zalla Z zZ 2 29 Hi O LLI O O el L4 Freigabe 2 N gt Digitalausgang 1 PE gt Digitalausgang 2 lt Freigabe 1 GND 24V Optional kann XS7 auch als frei verwendbarer Digitaleingang ausgef hrt sein ECOMPACT xxExx xxx xxx BB Bild 5 3 Connection diagram ECOMPACT basic version with SV24 60 Subject to change without notice 19 User Manual ECOMPACT Jonas Antriebstechnik AM GmbH 6 Interfaces 6 1 Available interfaces By default the ECOMPACT provides interfaces for 5 digital inputs 2 digital outputs a CAN bus interface power supply 24 60 V o logic supply 24 V pe As options are available A version with proteini class IP54 Here the CAN bus interface i
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