User Manual ECOMiniDual - Jenaer Antriebstechnik GmbH
Contents
1. Check 24 V power supply Are there disturbances on the supply line Check output power specification of power supply whether it is dimensioned sufficiently Check supply voltage might be too high Subject to change without notice Jonaor Antriebstechnik A GmbH Error D22 D24 D25 D30 D31 D32 D33 DC link voltage too low Exceeding charging time of DC link Short circuit or overload of the digital outputs or of the brake control Following error too high Commutation not found Internal software reset Error controller watchdog Group E Encoder errors EOO E01 E03 E14 E16 1 Antivalence error of incremental encoder 2 No encoder has been selected Capture error incremental encoder Too high speed of encoder or cannot be read Selected encoder type is wrong or not suppor ted Error during reading user data Subject to change without notice User Manual ECOMiniDual Measure Check power supply and connections Check output power spe cification of power supply whether it is dimensioned sufficient ly Check voltage Check digital outputs and brake Check whether the shield wire of the motor cable is connected correctly 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 de2. Jenaer Antriebstechni User Manual ECOMiniDual Jonas Antriebstechnik EN GmbH User Manual ECOMiniDual Published editions Edition Comment July 2009 Preliminary English edition prototype deliveries March 2010 Series availability option protective housing May 2012 Modification of default cable set August 2012 Modfication concerning loop through of supply voltage XP1 XP2 LED flashing codes August 2013 Option EMC housing output current dependent losses value added cables for ECOSTEP 34S All rights reserved Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena 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 ECOVARIO is a registered trademark of Jenaer Antriebstechnik GmbH Jena CANopen is a registered community trademark of CAN in Automation e V Nuremberg Windows is a registered trademark of Microsoft Corporation in the United States and other countries Subject to change without notice 3 User Manual ECOMiniDual Subject to change without notice Jonaor Antriebstechnik A GmbH User Manual ECOMiniDual Contents 1 About this documentation ina 7 2 Salety m
3. arrange resistor vertically 9 4 Protective housing ECOMiniDual is as an option order designation ECOMiniDual 007DG BN xxx xxx equipped with a housing for mechanical protection of the PCB and the components Mounting brackets for horizontal or vertical mounting of the ECOMiniDual VAZ20 with housing option are available as accessories A shield set VAZ10 is provided as well E Fig 9 1 Horizontal mounting of the ECOMiniDual with protective housing and mounting bracket 34 Subject to change without notice User Manual ECOMiniDual 156 5 Fig 9 2 Vertical mounting of the ECOMiniDual with protective housing and mounting bracket Shield set i 2 x cylindric head screws 3 mm 15014580 SPZ A2 M3x5 pele Uae yw L Fig 9 3 Shield set VAZ10 mounted The shield set has a strain relief function Therefore the cables are secured to the lugs of the shield set by means of cable ties Subject to change without notice 35 User Manual ECOMiniDual Jonas Antriebstechnik EN GmbH 9 5 EMC protective housing As an option ECOMiniDual is available with a housing which provides a mechanical protection and an additional protection against electromagnetic influence ordering designation ECOMiniDual 007DC BN XXx xxx By means of the housing the requirements concerning the electromagnetic compatibility accor ding to EN 61800 3 are met 50 146 136 Fi
4. 1 valid for axis 1 the node ID for axis 2 is always Node ID axis 1 1 Table 6 6 Pin assignment connector XC1 XC2 Note The node ID 0 is not allo Pin Wirecolour Signal Description wed alt ei of the device is not possible in this case 1 white CAN_VP not used CAN interface is supplied internally 2 green CAN_H CAN data H 3 yellow CAN_L CAN data L 4 brown GND GND The connectors XC1 and XC2 Molex MicroFit 2x2P can be used equivalently The signals are looped through thus the CAN bus can be connected to another device The ECOMiniDual CAN interface is based on the communication profile CiA DS 301 and on the device profile CiA DSP 402 drives and motion control Terminating resistors are not built in the ECOMiniDual A CAN bus has to be terminated with a 120 Q resistor at the beginning and at the end If the ECOMiniDu al 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 XC1 or XC2 depends on which one is free between the pins 2 and 3 cf Fig 6 5 The device address Node ID is set via the binary coding of the DIL switch S1 see diagram above Further more the node ID offset and the Baud rate can be set via software e g ECO Studio 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
5. do not meet the demands please get in touch with the technical service of Jenaer Antriebstechnik ECOMiniDual CAN_H 021 20 021 20 O21 20 R es 3 Ho AR CAN_L 0 031130 0330 03130 i CAN V O ae Ore See O O OIT TO 1 GND oF 04 404 r 04 i 40m 041 40 CAN bus CAN _V not used XC1 XC2 XC1 XC2 XC1 XC2 Master only looped through Device 1 Device 2 Device n Fig 6 5 Size terminating resistors R according to line impedance normal R 120 Q 22 Subject to change without notice Jonaor Antriebstechnik QA GmbH 6 3 4 XS1 RS232 interface Table 6 7 Pin assignment connector XS 1 wire colours of mating conn Signal Pin Wire Description TxD 1 wh RS232 TxD to Pin 2 of the Sub D socket RxD 2 br RS232 RxD to Pin 3 of the Sub D socket GND 3 gn Reference ground to Pin 5 of the Sub D socket User Manual ECOMiniDual Via the RS232 interface a PC can be connected to the ECOMiniDual for set ting the parameters For RS232 communication with ECOMiniDual a 3 core connection to the host is needed On PC side the cable is equipped with a 9 pole Sub D socket COM port pin assignment Transmitter and receiver of the ECOMiniDual meet the specifications of E A 232E and CCITT V 28 and are EMC protected according to IEC 61000 4 2 The communication protocol allows network operation of up to 126 ECOMi niDual units as
6. ECO Studio Operation Manual ECOVARIO ECOSTEP ECOMPACT Programming Object Dictionary Manual ECOVARIO ECOSTEP ECOMPACT Application Notes ECOVARIO 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 AN lead to burns to the skin Subject to change without notice H User Manual ECOMiniDual 2 2 2 3 2 4 2 5 Jonaor Antriebstechnik A GmbH General safety instructions Tabelle 2 2 General safety instructions A The servo amplifiers are components which are built into machines and can only be used as integral components of such equipment Setting the servo amplifier into operation is forbid den until it has been established that the machine or plant fulfils the requirements of the EC Machinery Directive 2006 42
7. Logic supply 24 V Motor connector axis 1 Motor connector axis 2 Power supply max 60 V Logic supply 24 V Motor connectors RS232 interface CAN bus interface Digital inputs and outputs holding brake control Encoder connector axis 1 Encoder connector axis 2 for all socket housings Molex Micro Fit 3 0 Terminating resistor for CAN bus 31 User Manual ECOMiniDual Jonas Antriebstechnik EN GmbH 9 2 Cables The following table lists the standard cables available for connection of the ECOMiniDual The cables are further available in the lengths 5 m and 10 m All cables are equipped with the appropriate mating connec tors for the respective PCB plug connectors of the ECOMiniDual interfaces The insulated schield 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 Table 9 3 ECOMiniDual accessories cable set for ECOSTEP motor series 17H 23S Cable type Use mm Wires Length min Customer m bending r connector MOT 43 826 721 003 000 Motor cable without brake G 64mm 5 lead l 3m r 35mm RSV 1 66 pole n n a by s au f mary OU Mn __ _ ENC 47 845 495 003 000 Encoder cable 6 2mm 8 lead l 3m r 35mm Sub D 9 pole female 6 1mm 4 lead l 3m 1r 46mm Sub D 9 pole male 6 1mm 4 lead l 3m r 46mm connector DAT30 8
8. 20 Mounting bracket with mounting material for ECOMiniDual 007DG BN xxx xxx Software tools CD with ECO software tools e g ECO Studio and documentation Power supplies SV24 SV24 60 SV60 Cables cf Tab 9 3 9 1 1 phase power supply 24 V 1 phase power supply 24 Vc DC 1 phase power supply 60 V_ Mating connector set ECOMiniDual 60 V A mating connector set for all interfaces of the ECOMiniDual is available All mating connectors are clearly labelled and designed in a way that there is no danger of mixing them up As an option the mating connec tor set is available with pre assembled 10 cm single wires The assignment of the wire colours can be found in the interface description tables in chapter 6 Table 9 2 Composition of mating connector set VAK10 for ECOMiniDual Quantity Part 2 4 pole socket housing Molex Mini Fit Jr 2 6 pole socket housing Molex Mini Fit Jr 20 Crimp socket AWG 24 18 Molex Mini Fit Jr 1 3 pole socket housing Molex Micro Fit 3 0 2 4 pole socket housing Molex Micro Fit 3 0 3 8 pole socket housing Molex Micro Fit 3 0 2 10 pole socket housing Molex Micro Fit 3 0 55 Crimp socket AWG 20 24 Molex Micro Fit 3 0 1 Resistor 120 Q wired Subject to change without notice Mating connector for XP1 XP2 XM1 XM2 XP 1 XP2 XM1 XM2 XS1 XC1 XC2 X11 X12 XO1 XE1 XE2 XS1 XC1 XC2 X11 X12 XO1 XE1 XE2 Function Power supply max 60 V
9. 42 100 003 000 CAN bus optional sleeves NET43 825 100 003 000 Power supply max 60 V 64mm 4 lead l 3m r 35mm connector Logic supply 24 V sleeves A SOREN L _ i l ff 60 mm Sehruspfachlauck A Baan Subject to change without notice Jonas Antriebstechnik EA GmbH User Manual ECOMiniDual Table 9 3 ECOMiniDual accessories cables for ECOSTEP motor series 34S Cable type Use mm Wires Length min Customer m bending r connector MOT 43 826 513 003 000 Motor cable without brake V 64mm 5 lead l 3m r 35mm M23 6 pole S E 60 mm 3 L imm _ ENC 47 845 503 003 000 Encoder cable 62mm 8 lead l 3m r 35mm M23 12 pole U1 et TE 60 mm L im m BRM 39 844 514 003 000 Brake cable 61mm 4lead l 3m r 46mm Angular con nector 423 f e J 60 mm L im m All cables are trailing cables The PUR sheath is temperature resistant up to 80 C Subject to change without notice 00 User Manual ECOMiniDual Jonas Antriebstechnik EN GmbH 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 XC1 XC2 4 pole Micro Fit 3 0 socket PE R1 120 Ohm V isolate resistor with a shrinkable tube q
10. D flashes three times Axis with device error switched off short period if both axes are affected the LED flashes six times If the device is in boot loader state loading process for new firmware version the LED shows the following flashing codes Flashing code Meaning LED on Device loads data into flash or EEPROM If this takes longer than 20s there is an error in hardware or software LED flashes quickly Device in standard bootloader 500ms period 26 Subject to change without notice Jonaor Antriebstechnik A GmbH User Manual ECOMiniDual 7 2 Work schedule commissioning 1 Check installation The servo amplifier is disconnected from the supply Check the wiring for completeness short circuits and ground faults according to the connection scheme in chapter 6 2 1 2 Enable deactivated For the required axis connect the signal input ENABLE at the connector XI1 or X12 respectively to 0 V 3 Switch on 24 V logic supply Apply the 24 V logic supply to the connector XP1 pins GND and 24 V 4 Start setup software Connect a PC to the RS232 interface XS1 of the ECOMiniDual or via CAN dongle to the CAN interface XC1 or XC2 and start the ECO Studio software Establish the connection to the required axis of the ECO MiniDual Note For each axis a separate ECO Studio session has to be started 5 Device configuration and mechanical configuration By means of the ECO Studio device configuration wizard and the mecha
11. 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 Electrical connection Table 2 3 Safety instructions electrical connection During operation The servo amplifiers are not intended for direct connection to the power supply system but have to be driven with extra low voltage ELV of an appropriate voltage supply Observe the maximum connection voltages according to the nameplate Connecting the motor directly to the power supply system leads to the destruction of the motor A protection against contact with live parts has to be foreseen on machine side Never plug or loosen power or logic supply connections if they are live Table 2 4 Safety instructions operation A Prescribed use The surfaces of the motors can get hotter than 85 C Therefore they have to be protected against touching No temperature sensitive parts may touch the surface or be fastened to them Uninte
12. H 12 36 10 bei 24 V 24 0 5 with EMC protective housing 146 x 134x 50 0 5 0 85 Subject to change without notice Jonas Antriebstechnik A GmbH User Manual ECOMiniDual 4 4 Ambient conditions Table 4 5 General technical data ambient conditions Ambient conditions Symb Condition Unit T Ambient temperature during C 5 40 operation with nominal load Storage temperature A 10 70 Degree of humidity rel F 5 95 not condensing p Air pressure mbar 860 1060 Cooling the closed cubicle has to be sufficiently ven tilated h Installation altitude m up to 1000 without restriction of power Installation position any Protection class IPOO IP20 with optional protective housing Table 4 6 General technical data applicable standards with EMC protective housing ECOMiniDual 007DN BN xxx xxx ECOMiniDual 007DC BN xxx xxx ECOMiniDual 007DG BN xxx xxx Noise immunity acc to EN61800 3 no self contained device thus IEC 61800 is Mela ellas to EN61800 3 oise emission acc toEN618 not applicable directly cf Chap 3 3 CE safety acc to EN61800 5 1 Subject to change without notice 13 User Manual ECOMiniDual Jonas Antriebstechnik EA GmbH 5 Installation 5 1 Mechanical Installation 5 1 1 Important notes Make sure that transport and storage did not damage the unit The ambient air must not be polluted by dust greases aggressive gas etc Eventually appropri ate countermeasures have to be taken installation o
13. MiniDual 6 3 6 3 1 Control signals XO1 Digital outputs 24V and digital inputs axis independent Jonaor Antriebstechnik A GmbH Table 6 4 Pin assignment of the digital inputs and outputs wire colours mating connector Signal 24V INO1 INO2 OUTO1 OUTO2 OUT03 OUTO4 GND Conn XO1 XO1 XO1 XO1 XO1 XO1 XO1 XO1 Pin Wire colour 1 red 2 white 3 brown 4 green 5 yellow 6 grey 7 pink 8 blue Description Reference potential 24V Digital input 01 Digital input 02 Digital output 01 STA O max Digital output 02 l 05A Omax Digital output 03 be OL AN O max Digital output 04 LL OSs O max Reference potential GND The digital inputs and outputs provided on PCB plug connector XO1 Mo lex MicroFit 2x4P are for free use and are not assigned to one axis 20 ECOMiniDual XO1 External circuit 24 V A 1 r24vV GO O 2 INO1 3 INO2 24 V J i 4 OUTO1 O 24 V 5 OUT02 24 V 6 OUTO3 24 V fe 7 OUTO4 8 GND Fig 6 2 Connector XO1 Circuit of the axis independent digital inputs and outputs Subject to change without notice Jonas Antriebstech
14. S A A e EEE 7 a DO E E 7 22 Generisano S asa 8 DF PP E E A 8 PAR DMA O a AE E A E A E E E 8 De PESE no oo A 8 3 TAGS AUT OOS ER e y lesan evs ie eons se E E 9 aL CTIA Or MNGi did 9 3 2 Liability AAA 9 A UAE IES IN UG CUI deus iia ito 9 E e o E A 9 4 Technical Datacenter iio 11 2 ees 0 E O 00 cs NOOO A PORO PO O rm Tt rn Tht nm Ten emery Orme ern rn mtn Teer Te Ty Cerri en eer emer rn 11 DOCU CA Data os 12 2 ci A A I A 12 LA Ambient conditons semanas ari roles 13 5 Instala MOD rin E E N 14 51 e AAA e e ENE EAEN ERREEN EAEAN 14 SLE T OCEAN NOUS O E EE EE EE R 14 Seka AE SI ONS a Pe SSA E EEEE 14 IS IV a BC a e CC OOOO RP O 15 A lia A A o eo ER ECO nn A 16 DZ MS WMO OCEANIC A O O 16 5 2 2 EMC compliant Sta llatiOM cccsicsccsntsdancsntiecactsavdoasacanecosueastontdesusensiesetontacacsensasauinengestauasteatiansocaiseseuentiensenalae 16 Po me 00 bere telares 16 6 FINE GEE ACES ataca dato 18 6 Avallable teraces sumi il eas E OEA 18 02 DESC e el cnet meena a A 18 621 VCE VIE W100 all connectors osas to proa seule eeann aan 19 Co Contorno 20 6 3 1 XO1 Digital outputs 24V and digital inputs axis independent 00 ee eeeseeeeteeeeeeeeeeeeeeeeeeeeeeees 20 6 3 2 XIL X12 Digital inputs holding brake control ee eesseseseeeeseeceeceeeseseeceseeeeseeeeaeeeeaseeeeeseeeeaeees 21 Be O LI 1 A e E OE ne 22 ol KLR o 1 cd ia 23 e o AE T ee ree 24 64 1 XP1 XP2 DC link voltage logic SupD Viguera 24 650 Motorand enc
15. a voltage of max 60 V e The drive can be commissioned and parameterized by means of a CANopen or RS232 interface Via CANopen an interpolated mode is possi ble ta 1 ms For control purposes there are furthermore 12 digital 24 V inputs and 6 digital outputs available All connections are established via PCB connectors Molex The evaluation of limit position switches and reference switches is possible as well as using homing methods with index pulse evaluation As an option the ECOMiniDual is available with a mechanical protective housing or an EMC protective housing Supported motor types and encoders The ECOMiniDual is suitable for driving 2 phase low power ECOSTEP motors e g series 17H and 23S As feedback systems incremental encoders can be used The encoders are monitored for counter error There is an intelligent control for two holding brakes with automatic current reduction implemented The technical data and precautions in this manual exclusively refer to the motor series mentioned above If you want to drive other motors with ECOMiniDual please contact our technical service see www jat gmbh de under Service and Support Applications In the first place the ECOMiniDual is designed for the 2 axes servo operation closed loop If a second measuring system should be connected or master slave operation is necessary the ECOMiniDual can be operated as 1 axis servo amplifier as well If required the ECOMiniDual can also
16. ation measures have to be taken in the external power supply unit If energy is regenerated the power unit must be equipped with a bal last circuit in case the regenerated energy is higher than the energy consumed by all consumers connected to the DC bus 24 Subject to change without notice Jonaor Antriebstechnik JA GmbH User Manual ECOMiniDual 6 5 Motor and encoder interfaces 6 5 1 Motor interfaces Table 6 9 Pin assignment connector XM 1 XM2 wire colours mating connector Signal Pin Wirecolour 2 phase motor M1_A 1 black Phase A M2_A M1_A 2 orange Phase A M2_A M1_B 3 red Phase B Axis1 Axis 2 M2_B M1_B 4 brown Phase B M2_B GND 5 Ground shield GND 6 The motor connectors are implemented as PCB plug connectors XM1 and XM2 Molex MiniFit 2x3P and are assigned to one axis each ECOMiniDual supports the operation of 2 phase ECOSTEP motors up to series 23S 6 5 2 Encoder interfaces Each encoder interface provided on the PCB plug connectors XE1 and XE2 Molex MicroFit 2x5P is assig ned to one axis The interfaces support incremental standard encoders with rectangular signals Table 6 9 Pin assignment connectors XE1 XE2 Signal Pin Wirecolour Description an ae 1 red 5V A 2 white track A 3 green track B N 4 grey track N GND 5 GND GND 6 blue GND Axis 1 Axis 2 A 7 brown track A B 8 yellow track B N 9 pink track N GND 10 GND Subject to change without notice 25 User Manual ECOMi
17. be used as 2 axes stepper motor amplifier open loop also in master slave operation The ECOMiniDual is also suitable for the control of voice coil actuators with linear measuring systems Subject to change without notice 11 User Manual ECOMiniDual with protective housing 155 x 104 x 35 5 4 2 Electrical Data Table 4 1 Electrical data power supply Symb Unit DC supply Uor Rated supply voltage at DC input XP1 or Y XP2 PA Rated supply power W ae Rated losses W Losses if diverging from nominal load P P o P ae Basic losses W Pe Output current dependent losses per A W A Power stage IR Rated output current Ams Pa Rated output power W lop Peak output current ere U Rated DC link voltage Moe Ue Max DC link voltage Vx U Overvoltage trip Voc G DC link capacity UF Es Regenerated capacity Ws Table 4 2 Electrical data control signals Qty Control signal Unit 1 24 V supply current consumption without V outputs A V 12 Digital control signal inputs mA V 6 Digital control signal outputs Table 4 3 Electrical data external fuses DC supply 8 A time lag 24 V supply 2 A time lag 4 3 Mechanical data Table 4 4 Mechanical data dimensions and weight Dimensions and weight Unit PCB Dimensions W x H x D mm approx 120 x 100 x 30 Weight of unit kg 0 105 12 Jonaor Antriebstechnik A GmbH Value 48 24 60 260 20 2 4 2x 2 5 2x 120 7 5 5s 48 60 75 220 0 2 24 18 30 0 3 LOW0 7 HIG
18. e regulatory requirements are fulfilled Subject to change without notice 9 User Manual ECOMiniDual JenaerAntriebstechnik GmbH Buchaer Stra e 1 07745 Jena Germany Tel 49 0 3641 6 337655 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 10 Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena Germany 2 Axis Servo Amplifier ECOMiniDual 007DC BN XXX XXX 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 Stephan Preu General Manager Jnae Antriebstechnik GmbH Jena 06 08 2013 Buchaer Str 1 07745 Jen Tel 03641 63378 0 Fax 53376 95 o e Subject to change without notice Jonaor Antriebstechnik A GmbH User Manual ECOMiniDual 4 Technical Data 4 1 Equipment The 2 axis servo amplifier ECOMiniDual is implemented as a PCB solution for integration on customer side It provides the digital torque force velocity and position control for two axes independent from each other The two power stages are supplied by
19. e without notice 2I User Manual ECOMiniDual 28 7 3 Error messages Jonaor Antriebstechnik A GmbH If a device error is detected it is displayed by ECO Studio in the Device Errors list The error messages of groups D and E are related to the axis which is connected to the individual ECO Studio session 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 DO7 D10 D11 D12 D13 D20 D21 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 85 C Temperature error motor Negative limit position reached Positive limit positon reached Short circuit of motor phases or ground fault of the power stage resp Overcurrent in t
20. erial 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 amplifiers memory Counter Clockwise Inhibit Negative limit position Switch that cuts the power if an error current limit is exceeded Clockwise Inhibit Positive limit position 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 Tech
21. f filters frequent cleaning Depending on the power losses an appropriate ventilation should be provided Observe the mounting spaces At installation locations with permanent vibrations or shocks damping measures should be taken into consideration The protection against accidental contact and the required protection against dust and moisture has to be implemented by the machine manufacturer protection class of the ECO MiniDual IP00 with optional mechanical protective housing IP20 6 000 00 5 1 2 Dimensions gt a T Ip Jil Mores 3 5 mm ay ay a seer distance sin to edge 5 Fig 5 1 Dimensions ofthe ECOMiniDual Dimensions with optional mechanical protective housing or EMC protective housing cf chapter 4 3 14 Subject to change without notice Jonaor Antriebstechnik JA GmbH User Manual ECOMiniDual 5 1 3 Mounting The ECOMiniDual is implemented as a single PCB solution and can be mounted into a device in any moun ting position A sufficient heat dissipation has to be observed The surface temperature on the PCB must not exceed 85 C Preferential mounting position however is the vertical mounting position because here the best convection can be achieved The PCB is mounted by means of 4 screws M3 The arrangement of the holes can be seen from Fig 5 1 The manufacturer of the machine has to ensure that cabling of the ECOMiniDual is done in conformance with the EMC requirements To calcu
22. g 9 4 ECOMiniDual with EMC protective housing The shield set VAZ30 is part of the delivery of the ECOMiniDual 007DC BN xxx xxx and contains 12 cable sleeves 12 cable clamps 10 fillister head screws with hexagon socket M4x8 10 washers DIN 125 VZ 4 3 For cabling the housing of the ECOMiniDual 007DC BN xxx xxx has to be opened Loosen the 4 screws at the corners and take off the cover Cable management is done via cable clamps and cable sleeves as shown in Fig 9 4 Observe that the cables have to be laid EMC conform by connecting the cable shields extensively to chassis earth via the cable clamps The cable clamp diameter must fit to the cable diameter The cable sleeves delivered together with the device have to be pushed onto the cables where they are fed through the housing outlet If pre conditioned cables are used the cable sleeves have to be slotted in the longitudinal direction before After the cabling has been finished close the housing by screwing on the cover again 36 Subject to change without notice Jonaor Antriebstechnik A GmbH 10 Appendix 10 1 Glossary Baud rate Bit rate Bootloader mode CCWI Circuit breaker CWI 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 ECOMiniDual Unit of measure for the transmission rate of data in s
23. he motor phases Exceeding i xt limitation of device Exceeding i xt limitation of motor External 24 V supply at XP1 XP2 has fallen be low 17 V DC link voltage too high 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 CAN bus po wer supply 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 Let motor cool down Reset if an error message is raised Reset if an error message is raised Check motor and supply cables Check whether the shield wires are connected correctly Check parameters and operating conditions Check if axis is freely movable
24. late the minimal mounting space the minimum bending radii of the connecting cables cf Chap 9 2 have to be regarded For mounting of the ECOMiniDual with optional protective housing ECOMiniDual 007 DG BN xxx xxx please refer to Chap 9 4 For mounting of the ECOMiniDual with optional EMC protective housing ECOMiniDual 007DC BN XXX XXX please refer to Chap 9 5 Subject to change without notice 15 User Manual ECOMiniDual 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 restart Never exceed the maximum rated voltage of 60 V c 10 at the connector XP1 or XP2 Fusing of the DC supply and of the 24 V logic supply should be carried out by the user 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 HE 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 ECOMiniDual with external logic supply 24 V and power supply 60 V e In this example power supply module SV24 60 is used Dependent on the resulting p
25. niDual Jonaor Antriebstechnik QA GmbH 7 Commissioning Only qualified personnel with a broad knowlege of the fields of electrical engineering auto mation and drives are allowed to commission the servo amplifier ECOMiniDual 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 components on the PCB may rise up to over 85 C Before touching these parts after switching off the unit wait until the temperature has fallen down to 40 C 7 1 LED flashing codes The device is equipped with a green status LED The LED displays operational and error states of both axes alternating approx 1 s by means of the following flashing codes Flashing code Meaning LED flashes twice inalong Device in standard firmware both axes errorfree and un period approx 1 s powered LED flashes twice short Axis switched on and errorfree period if both axes are switched on the LED flashes four times LE
26. nical configuration wizard carry out the basic settings for the operation of the axes of the ECOMiniDual For a detailed description of software commissioning 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 Ay 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 24 V level at input XI1 ENABLE or XI2 ENABLE according to the connection scheme in chapter 6 2 1 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 DM 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 found in the ECO Studio help system Subject to chang
27. nical measure that prevents actuators safely by mechanical elements posi tively driven contacts from restarting indeliberately 37
28. nik A GmbH User Manual ECOMiniDual 6 3 2 XI XI2 Digital inputs holding brake control Table 6 5 Pin assignment of the digital inputs wire colours mating cn Signal Conn Pin Wire Description 24V X11 XI2 1 red Ref potential 24V RESET IN11 21 XI1 XI2 2 white Reset input ENABLE IN12 22 XIM XI2 3 brown Enable input CWI IN13 23 X11 XI2 4 green Positive limit pos CCWI IN 14 24 XI1 XI2 5 yellow Negative limit pos HOME IN15 25 XIM XI2 6 grey Reference switch BRAKE_OUT_11 X1M1 XI2 7 pink Holding brake ctrl BRAKE_OUT_21 output 24 V 0 5 A GND X11 XI2 8 blue Ref potential GND The input and output signals provided on PCB plug connectors XI1 and XI2 Molex MicroFit 2x4P are assigned to an individual axis each ECOMiniDual 411 X12 External circuit 24 V A 1 24 v 2 RESET IN11 21 ENABLE IN 12 22 Enable 4 CWI IN13 23 Positive limit position 5 CCWI DIN14 24 q O Negative ES limit pos 6 HOME DIN15 25 IH o d Reference switch 7 BRAKE_0UT_11 21 tt 8 GND Fig 6 3 Connector XI1 or X12 Circuit of the digital inputs holding brake control Subject to change without notice pili User Manual ECOMiniDual Jonas Antriebstechnik EN GmbH 6 3 3 XC1 XC2 CAN interface S1 Device address Node ID Default
29. ntional movements of motors tools or axes may lead to death or serious injuries ECOMiniDual 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 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 Subject to change without notice Jonaor Antriebstechnik A GmbH User Manual ECOMiniDual 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 ECOMiniDual 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 Elec
30. oder A n en ian Eaa e aei Ea Earainn oaia 25 Gaol Morine CES gia E E E E E 25 002 Encoder AC a E E ap E O A E E E codes 25 7 COMMISSIONI E ars spaebaranuasanie shancctens ccecieeu senesced i E a EE 26 TL AED Tig Fait CO 26 7 2 Wotkeschedule commissioning sass ecsycasetecctnsanseceetenaect toc arsiraswasqtadanndevsese nes thacarstessessazatneabavseiteenistocaasteasieres 27 P A O 28 Subject to change without notice 5 User Manual ECOMiniDual Jonaor Antriebstechnik A GmbH 8 PAP ATIC AAA lt P A aaia aaa ia 30 s1 PC Ser tiie ie ECONO tdt 30 9 PCCOSSOTICS sissiicniainiinn sarria ais rici iii cres 31 9 1 Mating connector set ECOMiniDual oo ees eeesseeeseeeesceeescseeeesceeeseeeeaeseeseseeeeseeeeseeeeaeeeeaseeeeeseeeeeeees 31 DF O gt E PU e e o oo A 32 9 3 Establishing the Crimp COmMeCtiONS 0 ec ceessssesessecesecessecescscesescecescecesesceaceceaeseeeeseeeeseeeaeseeaeseeeeseeeaeees 34 DA Brotectivo OG 111 dido 34 JS EMC protec noO eee nce eee re ce ee ee ee 36 10 y l b OREA E O PEA A E R E E A I AAE O E 37 OA A i E N EN o A A N O E A 37 6 Subject to change without notice Jonas Antriebstechnik EN GmbH User Manual ECOMiniDual 1 About this documentation This user manual describes the 2 axis servo amplifier ECOMiniDual It concerns all persons who project install and commission ECOMiniDual Further information Software commissioning ECO Studio Operation Manual ECOVARIO ECOSTEP ECOMPACT Parameterization
31. onnectors Fig 6 1 shows the view to the connectors 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 i Danger of injury when unplugging the PCB plug connectors For the PCB plug connectors a mating connector set is available cf table 9 1 Original accessories ECOMi niDual if required also pre assembled with 10 cm single wires The assignment of the wire colours can be found in the interface description tables To simplify the handling all mating connectors are labelled 18 Subject to change without notice Jonas Antriebstechnik EA GmbH User Manual ECOMiniDual 6 2 1 Overview of all connectors XM1 Motor connector axis 1 XP1 Voltage supply power logic XP2 Voltage supply power logic XM2 Motor connector axis 2 DIP switch for setting the device ID CAN ID 120 mm XE2 Encoder interface axis 2 XS1 RS232 interface XE1 Encoder interface axis 1 XI1 Digital inputs axis 1 Brake control axis 1 XO1 Digital inputs outputs axis independent XC1 CAN bus in xC2 CAN bus out XI2 Digital inputs axis 2 Brake control axis 2 Fig 6 1 Arrangement of the PCB plug connectors Subject to change without notice 19 User Manual ECO
32. ower consumption it is possible to supply several ECOMiniDual by means of one power supply module A concatenation of devices is possible up to an overall power consumption of 480 W 16 Subject to change without notice Jonaor Antriebstechnik A GmbH User Manual ECOMiniDual ECOMiniDual SV24 60 PC e e 11 60Vo 3 Parameterization N 24V oe E RS232 o Ao interface E to another CAN participant to another j ECOMiniDual e Control lt Digital output 1 lt Digital output 2 gt Digital input 1 gt Digital input 2 gt Digital input 3 gt Digital input 4 Axis 1 ep Encoder 1 DIN11 Digital output DIN12 ENA Digital output Enable n DIN13 Digital output 7 DIN14 Digital output B DIN15 Digital output B Axis 2 b Encoder 2 DIN21 Digital output DIN22 ENA Digital output Enable R A DIN23 Digital output E z DIN24 Digital output cate bees DIN25 Digital output Fig 5 3 Connection diagram ECOMiniDual with SV24 60 Subject to change without notice 17 User Manual ECOMiniDual Jonas Antriebstechnik EN GmbH 6 Interfaces 6 1 Available interfaces By default the ECOMiniDual provides interfaces for 12 digital inputs 6 digital outputs a CAN bus inter face RS232 interface power supply 24 60 V logic supply 24 V pe DC 6 2 Design of the interfaces The interfaces of the ECOMiniDual are by default designed as PCB plug c
33. slaves in a mono master network For this option a ring struc ture of the RS232 network according to the scheme in fig 6 7 is necessary ECOMiniDual Fig 6 6 Circuit XS1 RS232 interface RX OCA GND a TxD TA T N A Hostcomputer 132 132 1 3 2 xS1 XS1 AA xS1 ID 1 ID 2 ID n ECOMiniDual ECOMiniDual ECOMiniDual Fig 6 7 RS232 network as a ring structure Subject to change without notice 23 User Manual ECOMiniDual Jonas Antriebstechnik EN GmbH 6 4 Power interfaces 6 4 1 XP1 XP2 DC link voltage logic supply Table 6 8 Pin assignment connector XP 1 XP2 wire colours of mating conn Signal Pin Wirecolour Beschreibung GND 1 brown Reference ground DC 2 orange DC link power supply GND 3 black Reference ground XP 1 XP2 24V_Supply 4 red Logic supply The connector XP1 implementation Molex MiniFit 2x2P is used for direct DC supply 24 V 60 V Furthermore the logic circuit 24V which is separate from the power circuit is supplied here At connector XP2 the supply voltages of XP1 can be looped to another ECOMiniDual Dependent on the resulting power con sumption it is possible to supply several ECOMiniDual by means of one power supply module A concatenation of devices is possib le up to an overall power consumption of 480 W In case of direct DC supply of the DC link circuit the inrush cur rent is not limited by the servo drive Therefore special limit
34. trical and Electronics Industry ZVEI e V in their current version 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 ECOMiniDual unauthorized modifications of drive motor or accessories operating or dimensioning faults Improper use of the ECOMiniDual components 3 3 Standards and directives ECOMiniDual servo amplifiers are components intended to be built into machines or plants for industrial purpose The manufacturer of the machine or plant has to make sure that the relevant standards and direc tives are met 3 3 1 CE conformity ECOMiniDual servo amplifiers are components that are intended to be built into electrical plant and ma chines for industrial use The manufacturer of the machine is responsible that the machine or plant fulfills the requirements of the EMC directive The ECOMiniDual 007DC BN xxx xxx has 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 th
35. vice to manufacturer Check encoder and supply cables for wire breakage if no encoder is configurated select encoder If error reoccurs send in device to manufacturer Check encoder and supply cables for wire breakage Check parameters overall soeed of the motor Error reason might be contamination or damage of the encoder disk or of the cog wheels of the revolution counter Check configuration enter appropriate encoder type Check encoder and supply cables and configuration if the error reoccurs send in encoder 29 User Manual ECOMiniDual Jonas Antriebstechnik A GmbH 8 Parameter setting By setting the parameters the ECOMiniDual 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 ECOMiniDual is established via the RS232 interface or vie the CAN interface with CAN dongle For each axis a separate ECO Studio session has to be started 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 30 Subject to change without notice Jonaor Antriebstechnik c GmbH 9 Accessories Table 9 1 Survey of the ECOMiniDual original accessories Order key Complementary parts VAK10 VAZ10 Description Shield set with mounting material User Manual ECOMiniDual Mating connector set for details cf Chap 9 1 for ECOMiniDual 007DG BN xxx xxx VAZ
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