User Manual ECOMPACT® 23E/60E
Contents
1. Continuous 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 operation with nominal load Storage temperature AG Degree of humidity not rel F condensing Cooling h Installation altitude m Installation position Protection class Table 4 9 General technical data applicable standards Noise immunity Noise emission CE safety Subject to change without notice 5 40 10 70 5 95 RH 2 nach IEC 61 131 2 via motor flange and convection up to 1000 without restriction of power any IP40 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 i O 56 2 ECOMPACT Series 23E O 47 14 e g 38 1 0 05 23E21 23E31 D 8 323E41 D 10 2 i QA 1 L sa i 9 1 695 20 6 t s 84 5 _ n L 23E21 without braking module L 142 5 All lengt2. 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 0xx xxx BC 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 0 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 4green_ Enable 1 ENABLE 2 XS7 2white Enable2 24V_EXT XS7 1 brown 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 S2 1 is assigned to enable input 1 S2 2 is 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 26 Jonaor Antriebstechnik d GmbH 6 2 3 2 XS8 XS9 X
3. CAN Master CAN _H O21 204 O2 1 204 0211 20 1 R TE oe DER CAN_L 931 30 5 0311 3 03 30 4 CAN V O O14 10 O11 10 OTa 4 CAN_GNDO O4 40 gt r04 40 r04 4O CAN Bus XS4 XS3 XS4 XS3 XS4 XS3 Master Axis 1 Axis 2 Axis n Fig 6 5 Size terminating resistors R according to line impedance normal R 120 Q 28 Subject to change without notice Jonaor Antriebstechnik A GmbH 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 GND DC GND Pin 1 2 3 24V_Supply 4 PE Wire colour Description brown Reference ground orange DC link power supply black Reference ground red Logic supply green yellow Protective earth connected to the housing cf chapter 5 1 3 Fig 5 2 User Manual ECOMPACT The connector XS5 is used for direct DC supply Furthermore the logic circuit 24V which is separate from the power circuit is supplied here The connectors XS5 and XS6 are looped through thus the supply voltages can be fed to another ECOMPACT via 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
4. Jenaer Antriebstechnik GmbH User Manual ECOMPACT 23E 60E Jonaor Antriebstechnik d GmbH Published editions Edition Feb 2009 April 2009 Nov 2009 March 2011 June 2011 Dec 2012 Comment Preliminary English edition prototype deliveries Pre series Series ECOMPACT 60E32 option IP54 Correction of assignment XS7 M8 M12 connector option modified dimensions 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 ECOMPACT Subject to change without notice Jonaor Antriebstechnik d GmbH User Manual ECOMPACT Inhalt 1 ADOL j a ANGE AN WRAN MAE N NN N N NNN yx 7 2 Salety metric Ni J R MD rrr
5. 20 Subject to change without notice Jonas Antriebstechnik AA GmbH 6 2 1 Overview of all connectors Table 6 1 Assignment of the PCB plug connectors Con Assignment nector XS2 Digital outputs OUT1 OUT2 Enable Digital input 1 XS3 CAN bus interface 1 XS4 CAN bus interface 2 Power supply max 60 V User Manual ECOMPACT 1 XS9 3 4 XS104 Xe logic supply 24V XS6 Power supply max 60 V logic supply 24V XS7 Enable Digital input 2 XS8 Digital input CWI Positive limit position XS9 Digital input CCWI Negative limit position XS10 Digital input HOME Reference switch gt CAN ID DIP switch for setting the device address DIP switch for internal deactivation of the restart lock Enable inputs 52 XS2 Enable Digital input 1 Digital outputs XS3 CAN bus 1 XS7 Enable Digital input 2 XS8 Digital input Positive limit position XS9 Digital input Negative limit position XS4 CAN bus 2 XS7 XS8 i A XX XS5 Voltage supply 1 Power logic S2 Bridge Enable 1 2 S1 Device address XS6 Voltage supply 2 Power logic XS10 Digital input Reference switch Fig 6 1 Order of the PCB plug connectors of the ECOMPACT with connector housing cover opened Set the device address at DIP switch S1 and if required Enable bridges at DIP switch S2 before con necting the cables because S1 and S2 might be accessibl
6. 9 User Manual ECOMPACT Jonas Antriebstechnik A GmbH 3 2 Liability The 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 60204 1 VDE 0113 1 Safety of machinery Electrical equipment of 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
7. 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 Subject 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 XS sour e jQUT2 4 ENABLE1 DIN1 Galvanic isolation Galvanic isolation X55 or X55 External power supply 24 Vo d 24V_Supply JGND ECOMPACT ECOMPACT Fig 6 2 Connector X82 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 XS2 5 Status output ENABLE 2 yellow loma 0 2 A isolated 24V_EXT XS2 1 External reference potential white 24V OUT2 XS2 6 Digital output 2 grey I 0 2 A isolated GND XS2 2 3 Reference potential GND brown ENABLE 1 XS2 4green_ Enable 1 ENABLE 2 XS7 2white Enable 2 24V_EXT XS7 1brown Reference pot 24V Enable 2 In the version xxExx 0xx xx
8. o ovwo r rYaaasasar r obabp r wW waWa a a Xte aarbWW 7 QV SV TIM ONG e E E E tgnacotedsaeeqrigsctesaviecsiqteisenstevemeontetnree traces 7 222 GCS ately SUC ONS sy 3 44545145545510 2 A a setae ne reece een k wi ana 8 Zr ANG e bgggg __ gg_wo__g_o ggggggggmgg mmwmpnoQ 8 H WNC E N E E T E rrr eee 8 ZS TAINO E ar AE E EEE EA I E E A 9 DA PE DO TE a E A A A ES 9 3 Tee A AAS EE AEE AAE AA AE E E E EEA ANE N 9 LL ENG el Y D a kn w eye cane snes ta ca siran E deal eyle ke eas cases kk e ea e kese A Ne c Hes hek eae 9 BP DD E E E E E tecvetadursevueessarats eases r nd 10 Be UAE ES IN UG CUI yg rrr rr 10 eB A ECO anl e rrr rge rrr 10 4 PECTIN CAN AU esne l_lr _lrl ll ewe Wwooem mw_oa__ r 12 AL STN O N DD r r r a A a tan E e a eas 12 MAH DS esena E EENE apo a EEEE REE 13 no Tet Cab eee E ee ne E eee ee e dava i 14 ti Mema a ldai A EEE EEEE EE EEEE 14 A5 Ambient conditions ui sci ani nal lal abala Welal NiE aaa n k d aa WAVE be b kek deda w k ku daa a vue AWA dawa dv 15 5 nez AG OI RAN Deere cc l r rr E 16 Corel dale BN nl Dl 6 Dax xrDp92rprrr rrr 16 Skl TPO a OES a A eJ J o o gt __ggm mmmgggmggogm n 16 eM PO a A EE E cans EOE E E E E E E ER 16 OUD E eLO ndi a T NA E E T EAE A E N m n 17 WIR ENO CA E e a a E E E N E E A E E tasientiecaontcee lt ehecdecmoneadestite 18 al O E a E E E E E E ked dak kd 18 O22 EMCcomplant installati a HP N Mew j mm mmmmmm
9. 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 Jonaor Antriebstechnik A GmbH Jenaer ntriebstechnik GmbH Buchaer Stra e 1 07745 Jena Germany Tel 49 0 3641 6 33 7655 Fax 49 0 3641 6 33 76 26 Declaration of Conformity We the company declare the conformity of the product Designation Type with the following directives EC Directive 2004 108 EC Applied harmonized standards EC Directive 2006 95 EC Applied harmonized standards Issued by Place date Legally binding signature This declaration does not guarantee specific features ji Subject to change without notice Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena Germany Compact Servo Drive ECOMPACT 23E21XX ECOMPACT 23E31XX ECOMPACT 23E41XX ECOMPACT 60E32XX EMC Directive EN 61800 3 EMI Disturbance EN 61800 3 EMI Immunity Low Voltage Directive EN 61800 5 1 EN 60204 Jenaer Antriebstechnik GmbH Dipl Ing FH St
10. of unit kg 14 Jonaor Antriebstechnik q GmbH 23E21 23E31 23E41 60 24 60 3 3 3 4 1 8 5 6 44 3 7 20 20 20 23E21 23E31 23E41 0 16 0 19 0 54 8 4 9 9 28 3 B 130 C 24 10 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 519 4 25 20 60E32 0 11 6 5 60E32 2 20 Subject to change without notice Jonaor Antriebstechnik d GmbH Table 4 7 Mechanical data rated values User Manual ECOMPACT 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 0 777 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 Max axial load N 80 110 a Max radial load N 100 220 Eas Max axial load during assembly N 150 400 preliminary values M Nm M Nm 60v 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 1 y 60V 0 5 0 i iti 0 2000 4000 6000 4 5 Ambient conditions Intermittent
11. r e mm 18 523 TOUT OI s main sinan lanin ane daban Nii nN AAEE Nean ean nabe ded boairanb nake dat gan kewan den n dinen 18 6 ai rO EAC SEN MN N DY NNN EII A EE rr 20 L ADDE ll eber kis n Ke Mekan n N n ken er Ob ne ked ek RO JR Ge Nej N e w G R n ge R Dl weg ed rere 0 N tert 20 DAD n ia an AE a gx m_moooo oo_oo EEE 20 6 21 Ovyerview of all COMMECIONS i szay w b n sik ke an kel n kada ke n n kk wl Ain ek n n ea ER ieii 21 6 2 2 Cable pre assembling and cable feed through cable sleeves eeeesseseseeseceeeeeseeeeseeceseseeeeeeeeeeeees 22 oo Mme OO 01 Da rrr _ mnNnano _og on 24 6 2 3 1 XS2 XS7 Digital outputs 24V Enable in DUtS uu rrr er keke kerek kk keke k e kek KK KAKA KRA TR 24 6 2 3 2 XS8 XS9 XS10 Digital inputs for limit switches and reference switch ueeee 26 NU IN C lC eyes ba ney ne E E e di kek A ey ser E bad n dib beka en NA eee ees WA bee et a 27 A TOWT ela Cl ala PPD r m _ g jjy oerrem__ i 29 6 2 4 1 XS5 XS6 DC link voltage logic SUPPLY eee eeessecesseceseeceseeeeseseeeesesceaeeceacsceassceeeseeeeseeeeaceceasseeesseeeeaeees 29 OS Oa On OL S sn ein Kere yan d y k ener 0r dakan ay kej a Ge d W sk W KA Vek N Ae eee eee ee eer Q ek rr terre 30 W A SED OC nnn ek ek a kel paa e Kana ded C eden wa ne gk eco D deke kan Ade N
12. the velocity controller and of the position controller can be found in the ECO Studio help system 38 Subject to change without notice Jonaor Antriebstechnik A GmbH 7 3 Error messages User Manual ECOMPACT If an error is detected it is displayed by ECO Studio in the Device Errors list Table 7 1 Error messages Error Group A 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 Group B Bus errors BOO B01 Group D DOO DO1 D03 D04 D06 D07 D11 D12 D13 D20 D21 D22 D24 D30 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 limitatio
13. 4 Table 9 3 ECOMPACT accessories cables Cable type Use mm Wires Length min Customer m bending r Connector DAT36 833 100 003 000 Digital outputs OUTT OUT2 55mm S5 lead 3m r 28mm connector Enable Digital input 1 sleeves _ D a gt Oconee P a _ j u Jan lt D ee i gt N __ T l 701 D DAT30 832 832 003 000 Bridging cable CAN bus 6 1mm 4 lead l 3m r 46mm terminating resistor DAT30 832 412 003 000 CAN bus 6 1mm 4 lead l 3m 1r 46mm Sub D 9 pol Bridging cable 6 4 mm 5 lead l 3m r 35mm NET43 820 820 003 000 Power supply max 60 V Logic supply 24 V Subject to change without notice 43 User Manual ECOMPACT Jonas Antriebstechnik VA GmbH NET43 820 100 003 000 Power supply max 60 V 64mm 5 lead l 3m r 35mm connector Logic supply 24 V sleeves DAT35 830 100 003 000 Enable Digital input 2 AT kend E SNS35 831 100 003 000 Digital input 1x limit position or 4 7mm 3 lead l 3m r 24mm connector 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 co
14. I l We eka ge xweki wee KONA 30 6 3 Version with protection class IP54 s uc in u i nah lin nin h kk kak kana R k nininini ha b K h k k w k k k k 30 TAT LIB Kl l le eke sect acest se ae kala bie kek Van E delva in sus o Ga eW keke ej we bee d Ken ex ee dw e Ked ake k 31 6 3 2 Power supply logic supply uunekeee nekr ereke ke keke kk k kek KAKA KA KAK HHHH KA KAK AHA KAKA KAK renee HARE 31 64 Option with M8 M 12 Cot COTS 5 sc s ninu nn kllinnnn i ninin nek n kan n kalana en kec di ewk nek k ne H ben kan det 32 641 Overview of all Cotlllo l0l sc m na oliy i Teor kak k a M r reverent b Kak Na a Saan n tester tr 32 Subject to change without notice 5 User Manual ECOMPACT Jonas Antriebstechnik d GmbH Ze Conr Ha r A rrr 33 6 4 2 1 Connector STO Din Dout Digital outputs 24V Enable inputs s ssssssesssssssssesessssssrsesrsssseseseseeses 33 6 4 2 2 CWI CCWI Ref Home Digital inputs for limit switches and reference switca 34 GAJI CAND NOU CAN IMETI CE ainsin H n d eyar edina niod oanade eiia tana niiden ioina 35 o E na cera E ee te oer E E E E T E ET 36 6 4 3 1 Power connector DC link voltage logic supply ue eet eeseeseseteeseseecesecesescescsceeeseeeeseeeeacseeasseteeseeeaeees 36 644 Appropriate cables incl mating Connector nessas ninsi a
15. OMPACT 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 d 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 AR n class IP54 Here the CAN bus interface incoming and outgoing power supply 24 60 V and logic supply 24 V c are provided via cable glands ai 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 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 Danger of injury when unplugging the PCB plug connectors Observe that the connectors have to be unlocked before removing A 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 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
16. S10 Digital inputs for limit switches and reference switch Table 6 5 Pin assignment of the digital inputs wire colours of standard cables 3x Signal 24V CWI DIN3 GND 24V CCWI DIN4 GND 24V HOME DIN5 GND Conn XS8 XS8 XS8 XS9 XS9 XS9 XS10 XS10 XS10 Pin Wire colour 1 white 2 green 3 brown 1 white 2 green 3 brown 1 white 2 green 3 brown ECOMPACT XS8 Reference potential 24V Positive limit position Reference potential GND Reference potential 24V Negative limit position Reference potential GND Reference potential 24V Reference switch Reference potential GND Sensors Positive limit l 24v gt O 2 CWI DIN3 r V 3 GND al Negative limit 24 V 2J Home DIN5 DO Reference A 24 V 3 GND Fig 6 3 Connector XS8 XS9 XS10 Circuit of the digital inputs for limit switches and reference switch Subject to change without notice Jonaor Antriebstechnik A 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 cable sleeves Signal Pin Pin Sub D Description CAN_V 1 9 white 24 Vc 8 30 Vio max 50 mA CAN_H 2 7 green CAN data H CAN_L 3 2 yellow CAN data L CAN_GND 4 3 brown Reference p
17. WI 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 CWI 1 24V Reference potential 24V 3 GND Reference potential GND 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 a O i r V ECOMPACT Sensors CWI Positive limit 1 24V O 4 CWI DIN3 3 _GND L Negative limit A 24 V 11 24V 4 Home DIN5 Reference A 24 V y gt O 3 _ GND Fig 6 8 Connectors CWI CCWI Ref Home Circuit of the digital inputs for limit switches and reference switch 34 Subject to change without notice i hnik 4 GmbH User Manual ECOMPACT 6 4 2 3 CANin CANout CAN interface Table 6 13 Pin assignment CANin CANout M8 connectors 2 4 Pin Signal Description 1 Shield 1 3 2 CAN_V 24V 8 30 Vc max 50 mA 3 CAN_H CAN Data H 5 4 CAN_GND_ Reference potential CAN_V CANin CANout 5 CAN_L CAN DataL 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
18. ana aedade 36 7 COMMISSION ng si 4554543545555 E an ne E ke baska kd A T E ek a b d n a e R 37 r Notes Delore COMMISSIONING sostenerse a HH Kr Ke eee J DM iWNnDM M 37 7 2 Work schedule commissioning u rrr ereke eee renk k eke keke ke kK KAK AK AHA KA KAKA KHK A KAKA KHK KAKA KH KHK HAK 38 T A a kol DX VD ee eee E rl _lr eror oa aR a ar rrr 39 8 Par mel ST SO L y ss a ie a k nn y kanek r dea Mukerem Ne E a u N MOK V KENA A E Ay WA WAN C A 41 8 1 PC user interface ECO S lO s n ylc lya laini daka k nek kanisani la bda ka sa kaka dana ba dka q k a kk qad aA t k aku he da dikand 41 9 IRECOSS E xuri keren eki senan i kany kaka n na k San d ia ab ah navo b ben VAR k SA E D VENE VR b n keka kl Ve d kund H WEK Ak kK R 42 9 1 Mating connector set ECOMPACT basic version Molex PCB connectOrS EE 42 9 2 Cables for basic version Molex PCB COnnectors cccccccccsssscessscsssscesssscsssscssssscssscessscessssesssscessssesssseeees 43 9 3 Establishing the Crimp COMME CUIONG c i54 4 41 4ikslay san ez aa c t in ahen ka kan c an an nc a au ANA un cw di k zl e s AA 44 10 APPO E PAN Dr rrrm r r rwr r earararvrWw zz 45 ME dS E E E E E A T AA N A E E JJJ ogw 45 6 Subject to change without notice Jonas Antriebstechnik A GmbH User Manual ECOMPACT 1 Abou
19. ays 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 with external logic supply 24 V po and power supply 60 V e In this example power supply module SV 24 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 consumption of 480 W with an 8 A fuse medium time lag 18 Subject to change without notice Jonaor Antriebstechnik d GmbH User Manual ECOMPACT ECOMPACT XS3 XS5 CAN ff li Ho DC XS4 Az e 24V_Suppl to another ECOMPACT lt Bi D EEL CAN L N GND Control XS6 XS8 AV aMo9 CWI lt 7 Positive limit pos BIM TI 24V oc e f 24V_Supply XS9 3 eee Leal e CCWI f lt Negative limit pos Ld GND XS10 HOME f lt Reference switch PE XS7 N lt lb Se n XS2 u la a lt gt l gt e FE Zala Z22 22 w O LLI O O L1 Enable 2 N Digital output 1 PE gt Digital output 2 lt Enable 1 GND 24V Optionally XS7 can be implemented as a free configurable digital input EC
20. ballast circuit in case the regenerated energy is higher than the energy consumed by all consumers connected to the DC bus Subject to change without notice 29 User Manual ECOMPACT Jonas Antriebstechnik d GmbH 6 5 Safety functions 6 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 function 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 prote
21. 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 The ECOMPACT version with M8 M12 connectors provides the PE pin on the Power connector 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 shield 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 7 User Manual ECOMPACT Jonas Antriebstechnik A 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 c 10 at the connector XS5 or XS6 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 w
22. cond State of the servo amplifier in which a new loadware can be transmitted into the servo amplifiers 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 into 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 45
23. ction 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 c 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 E 4x D5 93 9 For connecting the ECOMPACT version with protection class IP54 it is not necessary to open the housing 30 Subject to change without notice Jonaor Antriebstechnik d GmbH User Manual ECOMPACT 6 3 1 CAN interface 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 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 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 Table 6 8 Wire assignment CAN interface Signal Colour Description CAN_V white 24 Vc 8 30 V c max 50 mA CAN_Hin green CAN Data H incoming CAN_L in yel
24. e difficultly afterwards Subject to change without notice 2 User Manual ECOMPACT Jonaor Antriebstechnik q 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 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 xy lectern Molex Micro Fit 3 0 DAT36 833 100 003 000 AorB Enable Digital input 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 XS5 POVA SURE Max Oo Molex Mini Fit Jr NET43 820 820 003 000 A logic supply 24 V bridge XS6 AA c WW dl Molex Mini Fit Jr NET43 820 100 003 000 A logic supply 24V XS7 Enable Digital input 2 Molex Micro Fit 3 0 DAT35 830 100 003 000 B XS8 Digital input CWI Positive limit pos
25. ee 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 compact servo drive with Incremental encoder max resolution 128 000 Inc rev DC supply Two Enable inputs CAN interface CE approval standard design ECOMPACT 60E is available in the configuration ECOMPACT 60E32 08X 000 BA CA 000 000 Subject to change without notice Incremental encoder max resolution 128 000 Inc rev DC supply Two Enable inputs CAN interface CE approval standard design User Manual ECOMPACT 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 re l Stall current per phase ED 100 Rated losses Table 4 3 Electrical datq motor characteristics Symb Unit k Torque constant Nm A k Voltage constant MMO ati 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
26. ephan Preu General Manager Jena 14 09 2010 Jers er RET 7 GmbH ATY a Bucher Sir 1 07745 Ji Tal 0641 63975 0 Fax 03375 03 P T Tn User Manual ECOMPACT 11 User Manual ECOMPACT Jonaor Antriebstechnik q 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 3500 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 The integrated servo amplifier provides the digital torque force speed and positioning control The supply voltage of the power stage is max 60 V o The drive can be controlled and parameterized via the CAN open interface Furt
27. he 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 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 24V level at input XS2 ENABLE and bridge between pins 1 and 2 at connector XS7 ENABLE 2 according to the connec tion scheme in Chap 6 2 2 1 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 10 Optimization The controller parameters are set to default values by the manufacturer However these values A 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
28. heck 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 37 User Manual ECOMPACT Jonaor Antriebstechnik d 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 Connect signal input ENABLE 1 at connector XS2 to 0 V and open the bridge between pins 1 and 2 of con nector XS7 ENABLE2 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 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 Establish the connection to the ECOMPACT 5 Device configuration and mechanical configuration By means of the ECO Studio device configuration wizard and t
29. her field bus options are under preparation 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 Jonaor Antriebstechnik A GmbH 4 2 Ordering key Table 4 1 Ordering key ECOMPACT 23E 23Exx X XX XXX X X X X XXX XXX No of parameter set three digits No of firmware three digits Approvals A CE standard design B CE special design Type of field bus C CAN P EtherCAT under preparation 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 customer versions protection class IP54 M8 M12 connector op tion consecutive numbers 000 none further t b d 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 s
30. hs with incremental encoder 23E21 with braking module L 186 4 With absolute value encoder length 23E31 without braking module L 164 5 increases by 20 mm 23E31 with braking module L 208 4 23E41 without braking module L 189 5 23E41 with braking module L 233 4 Options Option M8 M12 connectors cf chapter 6 4 Option cable glands IP54 cf chapter 6 3 and absolute value encoder ECOMPACT Series 60E 5 14k6 25 0 2 191 LL __ g70 All length specifications with incremental encoder Fig 5 1 Dimensions of the ECOMPACT Subject to change without notice 16 Jonas Antriebstechnik AA GmbH User Manual ECOMPACT 5 1 3 Mounting ECOMPACT is intended for the following mounting positions gt drive shaft horizontal gt 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 The 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
31. 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 8 1 PC user interface ECO Studio How to work with the user interface ECO Studio is described in detail in the ECO Studio help system Subject to change without notice 41 User Manual ECOMPACT Jonaor Antriebstechnik d 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 Vc 60 Vac DC 1 phase power supply 60 Vc 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 42 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 XS5 XS6 Power supply max 60 V M
32. ion 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 Description CANin ja CAN bus interface in male M8 CANout CAN bus interface out female Power M12 Power supply max 60 V male logic supply 24 V STO Din M12 Digital outputs OUT1 OUT2 Dout male Enable digital input 1 2 CWI Digital input CWI Positive limit position CCWI M8 Digital input CCWI Negative limit position Ref female Digital input HOME Reference switch Home STO Din Dout CANin CANout Fig 6 6 Layout of the ECOMPACT connectors option M8 M 12 Information concerning the appropriate cables can be found in chapter 6 4 4 32 Subject to change without notice Jonaor Antriebstechnik d GmbH User Manual ECOMPACT 6 4 2 Control signals 6 4 2 1 Connector STO Din Dout Digital outputs 24V Enable inputs Connector Connector STO Din Dout STO Din Dout 24 V Control 24 V JKH Ji yk H 4 5 OUT1 5 OUT1 24V 24V sk H li JK H t 6 JOUT2 6 JOUT2 i i O 3 JENABLE1 3 ENABLE1 S2 1 S2 1 GND GND Galva
33. ition Molex Micro Fit 3 0 SNS35 831 100 003 000 B XS9 Digital input CCWI Negative limit position Molex Micro Fit 3 0 SNS35 831 100 003 000 B XS10 Digital input HOME Reference switch Molex Micro Fit 3 0 SNS35 831 100 003 000 B 22 Subject to change without notice i shnik 4 GmbH User Manual ECOMPACT For feeding through the pre assembled cables proceed as follows 1 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 Strain relief screw TX10 Cable sleeve Cable sleeve accomodation Mounting lug Sealing ring Torx screws TX10 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
34. low CAN Data L incoming CAN_H out 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 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 Powersupply 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 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 Subject to change without notice 31 User Manual ECOMPACT Jonas Antriebstechnik V N GmbH 6 4 Version with M8 M12 connectors As an opt
35. n of motor External 24 V supply at XS5 XS6 has fallen be low 17 V DC link voltage too high DC link voltage too low Exceeding charging time of DC link Following error too high 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 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 Check 24 V po
36. nic Galvanic isolation isolation Power connector GND 24 V GND 24 V a 1 24 V external A 1 24V 2 GND Power supply 2 GND 8 GND 7 24 Voc 8 GND O gt O 24 V 24V ENABLE2 ENABLE2 2 2 Pey io 2 2 Pey A 3 24V T l Pia 7 24V 7 24V ECOMPACT ECOMPACT Fig 6 7 Connector STO 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 Description 1 24V_EXT External reference potential 24V 2 GND_EXT Reference potential GND 3 ENABLE 1 Enable 1 4 ENABLE 2 Enable 2 5 OUT1 Status output ENABLE 2 lo max 0 2 A isolated 6 OUT2 Digital output 2 loma 0 2 A isolated Om 7 24V_EXT Reference potential 24V Enable 2 8 GND_EXT 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 restart 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 Subject to change without notice 33 User Manual ECOMPACT Jonaor Antriebstechnik d GmbH 6 4 2 2 C
37. nnec 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 Micro Fit 3 0 Tv Buchse 4pol 5 R1 120 Ohm S isolate resistor with a shrinkable tube arrange resistor vertically Steckseitic 44 Subject to change without notice Jonaor Antriebstechnik d GmbH 10 Appendix 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 se
38. olex Mini Fit Jr Logic supply 24 V 2 pole socket housing XS7 SAANI Molex Micro Fit 3 0 Enable Digital input 2 3 pole socket housing XS8 XS9 XS10 Digital inputs for limit positions and Molex Micro Fit 3 0 reference switch 4 pole socket housing XS3 XS4 Molex Micro Fit 3 0 ANa 6 pole socket housing XS2 Digital outputs OUT1 OUT2 Molex Micro Fit 3 0 Enable Digital input 1 Crimp socket AWG 20 24 XS2 XS3 XS4 XS7 2 Molex Micro Fit 3 0 XS8 XS9 XS10 for all socket housings Molex Micro Fit 3 0 Resistor 120 Q 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 Jenas Antriebstechnik A 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 kd Note Appropriate cables for the M8 M12 connector option are listed in chapter 6 4
39. ording to line impedance normal R 120 Q Subject to change without notice 35 User Manual ECOMPACT 6 4 3 Power connection Jonaor Antriebstechnik d GmbH 6 4 3 1 Power connector DC link voltage logic supply Table 6 14 Pin assignment Power M12 connector Pin 1 2 Signal Description GND Reference ground DC DC link power supply 24 60 Vo GND Reference ground 24V_Supply Logic supply 24 Vc PE Protective earth j 1 e eN r 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 STO Din Dout CANin CANout Power CWI CCWI Ref Home Interface Digital outputs OUT1 OUT2 Enable digital input 1 2 CAN bus Power supply max 60 V Logic supply 24V Digital input CWI positive limit position Digital input CCWI negative limit position Digital input HOME reference switch Appropriate cables incl mating connec
40. otential 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 0x7F 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 3 times sampling at all Baud rates do not meet the demands please get in touch with the technical service of Jenaer Antriebstechnik Subject to change without notice 27 User Manual ECOMPACT Galvanic isolation ECOMPACT Mtg ot
41. 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 O resistor at the beginning and at the end If the ECOMPACT is operated as first or last participant at a CAN bus a 120 0 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 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 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 i CAN_H _ CAN_L _ CAN_V __ CAN _GND ___ p ke CAN Master 031 30 4 031 30 031 30 i i i i a JR O5 5O O5 50 O5 50 4 O2 20 4 02 20 02 20 O4 40 Ok 40 rhO4 40 CAN bus CANin CANout CANin CANout CANin CANout master axis 1 axis 2 axis n Fig 6 10 Size terminating resistors R acc
42. s 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 Tabelle 2 3 Safety instructions installation On coupling the motor it is important 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 properl
43. s 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 it 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 EN ISO 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 ZVEI e V in their current version Subject to change without notice
44. t 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 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 General 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 H User Manual ECOMPACT Jonaor Antriebstechnik d GmbH 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 a
45. tor Cable type incl mating connector Phoenix Contact SAC 8P 3 0 PUR M12FS Phoenix Contact SAC 5P M 8MS 2 0 920 M 8FS Phoenix Contact SAC 5P 3 0 PUR M12FS SH Phoenix Contact SAC 3P M 8MS 2 0 PUR M 8FS Phoenix Contact SAC 3P M 8MS 2 0 PUR M 8FS Phoenix Contact SAC 3P M 8MS 2 0 PUR M 8FS Description Sensor actor cable 30V 2A M12 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 5 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 36 Subject to change without notice Jonaor Antriebstechnik d 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 A 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 C
46. wer 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 39 User Manual ECOMPACT 40 Error D31 Commutation not found D32 Internal software reset D33 Error controller watchdog Group E Encoder errors E00 Correction error of the encoder E01 Capture error of the encoder E02 Interpolation error of the encoder E03 Too high speed of encoder or cannot be read Jonaor Antriebstechnik 4 GmbH Measure 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 Jonaor Antriebstechnik A GmbH User Manual ECOMPACT 8 Parameter setting By setting the parameters the ECOMPACT is adjusted to the application The parameters are set
47. x 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 OUT1 24 Subject to change without notice Jonaor Antriebstechnik d GmbH User Manual ECOMPACT Version xxExx 0xx xxx BB 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 0 2 A isolated 24V_EXT XS2 1 External reference potential white 24V OUT2 XS2 6 Digital output 2 greys I 0 2 A isolated GND XS2 2 3 Reference potential GND brown ENABLE 1 XS2 4green_ Enable 1 DIN 2 XS7 2white Digital input 24V_EXT XS7 1 brown Reference pot 24V Enable 2 In the ECOMPACT version xxExx 0xx xxx BB Cx xxx xxx only Enable 1 is available XS7 can be used as free programmable digital input OUT1 can be used as free programmable digital output By means of the DIP switch S2 1 the enable can be forced
48. y 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 have 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 Jonaor Antriebstechnik d 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 tool
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