Home

Installation and Operating Instructions ECOVARIO®114 D

1. 59 Tex OF standards and directives esos erstes me duin vas ade xpo tes ratas nu rR bera b eai Edeka ed onu N RS iaia 61 Subject to change without notice Jonas Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 1 About These original instructions describe the servo amplifier range ECOVARIO 114 D They concern to all per sons who project install and commission ECOVARIO 114 D drives Further information Software commissioning ECO Studio Operation Manual ECOVARIO ECOSTEP ECOMPACT Programming manual Object Dictionary ECOVARIO and ECOSTEP software tool ECO Studio Application Notes ECOVARIO and ECOSTEP Motor data Product catalogue ECOSTEP ECOVARIO ECOLIN Drives 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 Knowledge of machine safety legislation is compulsory 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
2. Encoder cable for motors with incremental or SINCOS encoder Encoder cable for motors with BiSS encoder Motor cable extension for motors 23S without brake Motor brake cable extension for motors 23S with brake Subject to change without notice Jonas Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 9 1 Supplementary parts 9 1 1 Shield set The shield set DDZ10 consists of lshield plate 2 4shield clamps 8 mm 2 5cable ties Because of EMC reasons mounting the lower shield plate is generally required For mounting a shield plate proceed as follows 1 On the respective side of the servo amplifier loosen the screws Pos 1 and screw them approx 2 mm 2 en the shield plate with the cutout Pos 2 under the screw heads Pos 1 and into the studs on the side of the servo amplifer Pos 3 3 Tighten the screws Pos 1 again The fixing of the cables can be achieved by cable ties and shield clamps Fig 9 1 Mounting of the shield plate example lower shield plate Subject to change without notice 97 Installation and Operating Instructions ECOVARIO 114 D Jonaor Antriebstechnik A GmbH 9 1 2 Mating connector set ECOVARIO 114 D A mating connetor set for all interfaces of the ECOVARO is available All mating connectors are clearly labelled and designed in a way that there is no danger of mixing them up Table 9 2 Composition of ECOVARIO 11
3. GmbH Tc PI IRI f IEI EL FtnerCA t B lU IS CANopea Jenaer Antriebstechnik SA i A CAUTION ite E a Lt ACHTUNG sr EE Rear une et ee ee ECOVARIO umm Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D Published editions Edition Comment April 2011 First English edition Nov 2011 Modifications STO interface assignment key operation Node ID assignment June 2012 Revised version EtherCAT interface and marking connection of 2 encoders per axis January 2013 Revised version remarks of UL file review April 2013 Modification Option 9 pole encoder interfaces All rights reserved Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena No parts of this original instructions 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 ECOSTEP ECOVARIO und ECOLIN are registered trademarks of Jenaer Antriebstechnik GmbH Jena BISS is a registered trademark of iC Haus GmbH Bodenheim CANopen is a registered community trademark of CAN in Automation e V Nuremberg EnDat is a registere
4. RESET1 4 Reset Digital input axis 1 Head ENABLE1 5 Enable Digital input axis 1 GND24V 6 24V ground 24V 7 24V supply logic voltage GND24V 8 24V ground 24 V Control j X1A 4 IT mH TA 1 OUT 1 24 V a I Load i L ZR a 2 OUT2 QO 24 V J 4 T n 1 3 READY 1 4 RESET1 Jm 5 ENABLE 1 Ex O e ENABLE A 1 24 V GND 24 V 7 24 V E External 9 GND Power Supply 8 GND 24 Voc 5 0 ECOVARIO 114 D Fig 6 3 Connector X1A Circuit of the digital inputs and outputs axis 1 2 22 Subject to change without notice Jenae Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D Axis 2 Table 6 3 Pin assignment connector X1B 4 1 Signal Pin Description READY2 1 Ready Digital output axis 2 lomax 0 9 A RESET2 2 JReset Digital input axis 2 ENABLE2 3 Enable Digital input axis 2 24 VIO 4 24VIO voltage Fig 6 4 Mating connector X1B FMC 1 5 4 ST 3 81 CN3BD2 BSO 17 03 06 5 Phoenix X1B ECOVARIO 114 D Control 24 V iii V 4 24V IO 0 O rH 1 READY2 at e 2 RESET2 3 ENABLE2 O ENABLE A 2 Fig 6 5 Connector X1B Circuit of the digital inputs and outputs axis 2 Subject to change without notice 23 Installation and Operating Instructions ECOVARIO 114 D Jonaor Antriebstechnik A GmbH 6 2 2 X2 Digital Inputs Table 6 4 Pin assignment connector X2A 4 1 Signal Pin Description 24V10 1
5. 8 RxD TxD PB Data 9 n C The bus interface of the ECOVARIO is electrically seperated from the rest of the device But the reference potentials are interconnected via 1 MQ and 100 nE The interface is supplied by the unit an external supply in not necessary The shroud of the Sub D connector is connected to chassis earth GND X22 twisted pair 3 RxD TxD e EN RxD TxD 5 i mE 4 CNTR 5V App 6 PB_5V U U Pa GND 5 PB GND F i Profibus Galvanic aa master isolation ECOVARIO Fig 6 34 Circuit X22 on design with PROFIBUS DP VO All units are connected in a bus structure line In one segment up to 32 participants master or slaves can be connected Each segment has an active bus terminating module at the beginning and at the end cf Fig 6 35 To obtain faultless operation it has to be made sure that both bus terminating modules are continuously supplied The bus terminating module is commonly realized in the bus connectors to be switched in If there are more than 32 participants or for enlarging the network repeaters have to be used to connect the bus segments to each other Use only cable with a mesh shield If the unit is mounted it is an advantage if the cable is stripped without interruption and laid on the shield or PE conductor This measure increases the reliability in ambients with strong interferences 42 Subject to change without notice tec nik AA ambn Installation and Operating Instr
6. In case of externally po wered encoders check supply voltage Check configuration enter appropriate encoder type Error occurs upon initial commissioning of a new encoder because no user data has been stored yet in the encoder EEPROM Writing to the object 0x607C home offset removes the error cause User data is only stored in JAT motors with multiturn absolute value encoders Error cause is a contamination or a defect of the revolution counter of the multiturn absolute value encoder Check encoder and supply cables for wire breakage If no encoder is configured select encoder Check whether the correct encoder port has been selected In case of externally powered encoders check sup ply voltage 53 Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik MA GmbH 7 3 3 Key operation In ECOVARIO 114 D communication settings of the device ID and the CAN baud rate can be made with the keys on the front of the device Furthermore Ethernet IP or EtherCAT addresses can be retrieved Functions of the keys Key S1 P select menu navigation count up display values Key S2 V enter select menu option accept values Menu 1 Display and set up of the device ID axis 1 Change will only be active after restart ra kad iv 3 digit ID error na 1x 1 pj JAHA s TT TT Xl n n b 1x 1 81 0 1 81 0 9 1 0 9 set set set 2 Display and set up of the device ID axis 2 Change will only
7. Repeater Restart lock AS RMS Sequencer programming Short circuit STO function Token passing Token system Watchdog 60 Universal interface for electric actuators by SICK STEGMANN GmbH Do naueschingen Computer in a multi computer system that controls the whole system Identification number of a special device in a bus structure Part of the software that can be stored to the flash memory of the servo ampli fier Device connection in a bus structure Form of relays and contactors that prevents single contacts from switching in case of errors Equipment for reinforcing and regenerating of signals in a network Technical measure that prevents actuators safely by mechanical elements posi tively driven contacts from restarting indeliberately Root Mean Square Programming a work schedule in which a sequence of events is defined de pending on external states input data internal states actual values or time states Here electrically conductive connection between two power systems or motor phases Safe Torque Off safety function defined in EN DIN 61800 5 2 The motor is not supplied with energy and cannot generate a rotation The STO function is used for the implementation of the restart lock Hybrid access method for multimaster systems token passing uses a token or series of bits to grant a master permission to transmit over the network while the transmission between master and slave is carried o
8. or the brake control resp Following error too high Commutation not found Internal software reset Error controller watchdog Error supervision of external position measu ring system Gantry system only Error of an axis in the gantry interconnection Installation and Operating Instructions ECOVARIO 114 D Countermeasure Check 24 V power supply Are there disturbances on the supply line Check output power specification of power supply whether it is di mensioned sufficiently Check DC link and ballast circuit Is the ballast resistor connected cor rectly Check supply voltage might be too high Check power supply and connections Check output power specifica tion of power supply whether it is dimensioned sufficiently Check dimensioning of ballast resistor Is the ballast resistor connec ted correctly Error cause might be a defective ballast resistor high resistance Check the digital outputs and brake output 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 whether the second position measuring system still counts correctly Check if axis is freely movable Check whether the motor phases are connected correctly whether the encoder counts and whether the commutation settings are correctly If error reoccurs send in device to manufacturer If error reoccurs send in device to manufacturer
9. 24 V IO voltage CWIT1 2 Positive limit switch axis 1 CCWIT1 3 Negative limit switch axis 1 HOME1 4 Homing switch axis 1 Fig 6 6 Mating connector X2A X2B FMC 1 5 4 ST 3 81 2CNBD2 X2SO Table 6 5 Pin assignment connector X2B 17 03 06 6 Phoenix Signal Pin Description 24V IO 1 24 V IO voltage CWI2 2 Positive limit switch axis 2 CCWI2 3 Negative limit switch axis 2 HOME2 4 Homing switch axis 2 ECOVARIO 114D 2A Control Axis 1 oe 4 24V 10 24V 2 CWIl1 Jl 6 Positive limit switch axis 1 3 CCWI1 Il gt G Negative limit switch axis 1 4 Home1 Ar o Homing axis 1 ECOVARIO 414 p X B Axis 2 d 24v10 Q 2 CWI2 4a d 5 90 Positive limit switch axis 2 3 CCWI2 Je 90 e Negative limit switch axis 2 4 Home2 P tly G Fig 6 7 Connector X2A X2B Circuit of the digital inputs 24 Subject to change without notice jec nik AA GmbH Installation and Operating Instructions ECOVARIO 114 D 6 3 Power interfaces 6 3 1 X4IN X4OUT DC link voltage and ballast resistor The connector X4IN is used for direct DC supply Via the connector X4OUT the supply voltage can be forwarded to other devices When the device is used in an UL environment Suitable for use on a circuit capable of delivering not more than 5 kA s symmetrical amperes 70 V c maximum when protected by DIVQ 7 listed circuit break
10. 9 pole Sub D connector view of the solder or crimp side T 5 Temperature sensor Dus 6 Encoder ground A 7 Track A B 8 Track B N 9 Track N Inkremental encoders rectangle or 1 V sine via software GNOdigital Q415V ske Temperature Sansor ECOVARIO 114D I eee dened Sted Motor Fig 6 29 Example for connection for 5 V incremental encoder with standard cable INK65 49 1 525 xxx Subject to change without notice 35 Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik A GmbH 6 6 Serial interfaces 6 6 1 X13 RS485 RS232 interface at ECOVARIO 114 D with 2 capture inputs The ECOVARIO 114 D is available with RS485 or RS232 interface with 2 capture inputs for fast position capturing ECOVARIO 114 D x A x xxx xxx design with RS485 interface ECOVARIO 114 D x F x xxx xxx design with RS485 interface ECOVARIO 114 D x B x xxx xxx design with RS232 interface ECOVARIO 114 D x G x xxx xxx design with RS232 interface Design with RS485 interface Table 6 16 Pin assignment connector X13 Pin X Signal Description 1 CAP1 Capture input1 RS422 level 2 Rx Receive RS485 Fig 6 25 Mating connector X13 3 Tx Transmit RS485 9 pole Sub D connector view of the solder or crimp side 4 CAP2 Capture input2 RS422 level 5 DGND Digital ground 6 CAP 1 Capture input1 RS422 level 7 Rx Receive RS485 8 Tx Transmit RS485 9 CAP2 Capture input2 RS422 l
11. C The ECOVARIO 114 D with STO function has to be mounted in a cabinet which conforms to protection class IP54 or in a comparable environment If the ECOVARIO 114D is mounted in a cabinet cable clamps and side metal sheets assure that the connec ting cables are laid EMC conform by connecting the cable shield extensively to chassis earth The shields with cable clamps shown in fig 5 3 are available as accessories see table 9 1 The lower shield is mandatory the upper shield normally is only necassary if a ballast circuit is connected to X4A and or X4B It is important that the air flow is not disturbed by components above or below the servo amplifiers he distance between the servo amplifers has to be at least 3 mm In order to achieve a good access to the connectors at the bottom of the device the distance can be increased Cable conduct ua Cable conduct O N X x LO LO v N CN a a a t t lt a N o o o O Zi 3 gt gt gt O O O O O O Lu T LI i P e O co co Cable conduct Fig 5 2 Mounting dimensions cabinet width mm 18 Subject to change without notice tec nik A ambit Installation and Operating Instructions ECOVARIO 114 D To calculate the minimal mounting depth fig 5 4 dim A the form of the connectors cable outlet direc tion and the minimum bending radii of the connecting cables at the sub D connectors have to be regarded Mou
12. Check adjustment of the machine If error reoccurs send in device to manufacturer Gruppe E Encoder errors The error code on the display is preceded by an axis code 1 or 2 E00 E01 E02 E03 E10 E14 E17 E21 E23 Antivalence error of 1st incremental encoder of the axis or No encoder has been selected however the power stage is switched on Capture error of 1st incremental encoder of the axis Interpolation error SINCOS encoder circle monitoring Too high speed of encoder or cannot be read Signal error absolute value encoder Selected encoder type is wrong or not sup ported Invalid user data or motor and servo amplifier do not fit Incorrect multiturn value Quadrant correction error of SINCOS encoder Subject to change without notice Check encoder and supply cables for wire breakage If no encoder is configurated select encoder Check whether the correct encoder port has been selected In case of externally powered encoders check sup ply voltage Check whether the monitoring is set correctly Error reasons might also be disturbances on the lines or a defective encoder Check encoder and supply cables Error reason might be strong electromagnetic interferences Check parameters limit speed of the motor Error reason might be contamination or damage of the measuring system Check encoder and supply cables for wire breakage Check whether the correct encoder port has been selected
13. D 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 servo amplifier ECOVARIO 114 D 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 For commissioning of the safety function STO observe chap 6 4 1 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 7 2 Control and display elements At the front side of the ECOVARIO 114 D one 7 segment LED display and two keys are located The display shows state and error messages If the state or error message has more than one digit the digits are shown one after another in intervals of 0 5 s For further information cf chapter 7 3 1 he following settings can be made with the keys 2 Unit
14. Subject to change without notice Jonaor Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 11 Parameter optimization further programming and if necessary adjusted to the specific application Incorrect parameter settings can cause damage or destruction of machine parts A detailed description of how to set the velocity controller and position controller parameters can be found in the ECO Studio help system The controller parameters are pre set by the manufacturer However they must be checked 7 3 1 State display No parameters available Display shows Uc If no communication or control parameters are available or if these are invalid the unit is in the state not configurated After setting or storing the unit must be restarted Operation Display shows L1 Inactive state power stage switched off at both axes display 0 dot flashes Display shows a Active state power stage switched on at axis 1 axis 2 switched off dot flashes Display shows Active state power stage switched on at axis 2 axis 1 switched off dot flashes Display shows Active state power stage switched on at both axes display 8 dot flashes Blocking Display shows 1 positive limit switch axis 1 reached Display shows negative limit switch axis 1 reached Display shows a both limit switches axis 1 reached Display shows positive limit switch axis 2 reached Display shows negative limit s
15. be active after restart H 3 digit ID error no eS foo EA wl E 1x51 3 Display and set up of the CAN baud rate oe will only be active after restart ln pers el ap I E 1x51 B E m H gt i 1 0 1 51 0 9 51 0 9 1 0 9 set set set sat 4 Option Display of the Ethernet IP Address ECOVARIO 114 Dx Lx xxx xxx only Ly sd Jede e ed e eo Yi Hee dodi 4 Option Display of the EtherCAT station address ECOVARIO 114 Dx Px xxx xxx or ECOVARIO 114 Dx Qx xxx xxx only gt 4x5 Eee JP Ti Mee edle lle 5 Reset all parameters except communication uu to default values sg iiim 3 mmm ues E En I3 4 x 1 if device is not equipped with Ethernet interface and EtherCAT interface 1x j x S2 Reset to default Exi I i 6xS1 or 5 x S1 if device is not equipped with Ethernet interface and EtherCAT interface Fig 7 1 Work schedule key operation 54 Subject to change without notice Jonaor Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 7 3 4 Bootloader mode The bootloader mode can be selected in three different ways press both keys during switching on the 24 V control voltage if after switching on the 24 V control voltage an error is recognized by starting the bootloader mode with the commissioning tool from the PC The b on the display indicates that the device is in the bootloader mode The point indicates that the boot loader is ready for opera
16. components according to directive 2006 42 EG als Sicherheitsbauteil definiert Es ist ausschlie lich f r 2006 42 EC They are exclusively intended for installation in machines den Einbau in eine Maschine bestimmt Die Inbetriebnahme ist so Operation is prohibited until it has been determined that the machines lange untersagt bis die Gesamtmaschine in die das Produkt in which these products are to be installed conform to the directive eingebaut werden soll den Bestimmungen der Richtlinie 2006 42 EC 2006 42 EG entspricht Die Sicherheitshinweise der Betriebsanleitung sind zu beachten The safety instructions of the manual are to be considered Ort Datum der Ausstellung Gesch ftsf hrer Dokumentationsverantwortlicher Place and date of issue General Manager Responsible for documentation Jena 17 01 2013 Dipl Ing FH Stephan Preu Dipl Ing Gerald Bobe Subject to change without notice 11 Installation and Operating Instructions ECOVARIO 114 D 4 Technical Data 4 1 Rated data of the power stage Table 4 2 Rated data of the power supply DC supply Symb Rated data MAC2 2 phase AC servo motor MAC3 3 phase AC servo motor DC supply Uo Rated supply voltage at DC input connector X4 x Rated installed load p Rated losses Losses if diverging from nominal load P P P p Basic losses Ds Current dependent losses per A U Rated output voltage lon Rated output current per axis onoc Rated output power with D
17. is oes ee CAR ues ae 20 5 Phoenix reduced after pulling the brake If the current consumption of the brake is higher the sta tic version is suitable for connecting a relay cf fig 6 16 X7 Chopper control Static control C C C m ECOVARIO Fig 6 15 Brake connection brake current lt 0 5 A X X7 sas ECOVARIO Fig 6 16 Brake connection brake current 0 5 A Subject to change without notice P Installation and Operating Instructions ECOVARIO 114 D 28 Jonaor Antriebstechnik amp GmbH 6 4 Safety functions 6 4 1 X8 Restart lock Safe torque off STO The versions ECOVARIO 114 DR xx xxx xxx of the servo amplifier ECOVARIO 114 D contain the safety function Safe Torque Off STO according to EN 61800 5 2 and EN ISO 13849 1 2006 The function also conforms to an uncontrolled stop according to category 0 of IEC 60204 1 The safety function is used to prevent the drive from starting indeliberately A The safety function Safe Torque Off STO is implemented together with the standard functionality of the ECOVARIO 114 D with only a few components related exclusively to the safety function The Safe Torque Off function does not switch off the power supply of the DC link voltage of the servo amplifier Thus maintenance of electrical parts of the motor or the servo amp lifier may only be carried out after the drive system has been disconnected from the power supply The S
18. outputs 24 V ee eeesssecesseeeseecessecesesceeeseeecseeeeaeseeacsceacseeecseeeeseseeaseeeesseeeeeeees 22 0 gee Sea oa tee Nae lS enereeeerteee ate eter rete crore tert recreate errr ret rhe arr et See rere ne er er tree rere 24 Po SPOWEDIDEGETI ee ee ee ae er ee ee ee ee 25 6 3 1 X4IN X4OUT DC link voltage and ballast resistor sese 25 OC MES S PL eae custe 26 JS Va ee tI SOCIETE S E 27 T MEE Cirad ENIRO ooo o Tm 28 6 4 1 X8 Restart lock Safe torque Off STO eee eee eese eee ee enne tntnntn etn tnttn tinens tnit tn sinn 28 MEME Doa RM ere 32 6 5 1 X11 Encoder Axis 1 X12 Encoder Axis 2 all types except ECOVARIO 114 Dx xL xxx xxx 33 6 5 2 X11 Encoder Axis 1 X12 Encoder Axis 2 ECOVARIO 114 Dx xL xxx XXX cccccrnmmHHeHHeen 35 Subject to change without notice 5 Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik A GmbH 6 6 6 6 1 6 7 6 8 6 8 2 6 8 3 6 8 4 7 1 7 2 7 3 7 3 1 ioe bo 7 3 4 9 1 9 1 2 92 10 10 1 10 2 SIAL GIG Cel Becr ptis ul n mbi orsa enitn E eer eres 36 X13 RS485 RS232 interface at ECOVARIO 114 D with 2 capture inputs eese 36 bere Wb gr T tre 40 ROTA UIC OS en cetus T E A tantae Faust A OUO EMO eA EADEM ENSE DR nes ERE LER UE UE ERR OE 41 X22 Desiens with PROFI
19. the restart lock channel I is signalled by the contact between STO OUT A and STO OUT B if the drive is blocked the contact is closed The signal can be fed to a higher level safety PLC and can e g be used for enabling a door lock Channel II If the 24 V voltage is not applied to the Enable input the power stage is switched off via a FPGA The STO function protects against a restart A restart is only possible if a 24 V voltage is applied again to the inputs STO IN A and to the Enable input software enable is set and the error status of the servo amplifier has been reset The safe status of the restart lockout channel II is signalled via the Ready output if the restart lockout is active the level at the Ready output is 0 V Channel I STO INA STO IN B 15VH axis 1 15VH axis 2 STO OUTA E max 200 mA Software Enable axis 4 Further blocks of the servo amplifier Software Enable axis 2 STO OUT B d Channel Il Ready 5V Power stage lt lt a Ready 15VH a Enable 24V gt Enable 24V En ZN gi m VBUS Sopiro logie Control signals mE Fig 6 19 Block diagram Impl
20. the unit its range is 1 10 s Also this value cannot be increased but lowered to protect the motor These two parameters define indirectly the allowed time of the peak current Subject to change without notice 4D 13 Installation and Operating Instructions ECOVARIO 114 D 4 3 Order key Table 4 7 Order key ECOVARIO 114 D ECOVARIO X XX Voltage rating DC Bus 1 max 100V Name of the unit X 14 max 14 A X Supply X XXX XXX No of parameter set three digits No of firmware three digits Approvals A CE standard design B CE special design J CE UL standard design K M Z CE UL special design L CE UL encoder interface with 9 pole D Sub connectors Type of field bus A CAN RS485 F CAN RS485 PROFIBUS DP VO K CAN Ethernet RS485 B CAN RS232 G CAN RS232 PROFIBUS DP VO L CAN Ethernet RS232 P CAN EtherCAT RS485 Q CAN EtherCAT RS232 R Safety function Safe Torque Off STO D 2 axes DC supply Example ECOVARIO 114 DR AA 000 000 Servo amplfier with 000000 14 max 100 V e DC link voltage max 14 A output current 2 axes DC supply Safety function STO CAN interface RS485 interface CE approval standard design Current rating rms for 5s Typenbezeichnung Type Leistungsversorgung Input Rating Logikversorgung Logic Supply Ausgangsstrom Output Current Schutzar UProtection Class Umgeb
21. 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 Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik A GmbH 2 2 2 3 2 4 2 5 General notes Only properly qualified personnel are permitted to perform activities such as transport in stallation setup and maintenance Properly qualified persons are those who are familiar with the transport assembly installation setup and operation of the product and who have the appropriate qualifications of their job For commissioning operation and maintenance of the servo amplifier this original instruc tions and a translation into the language of the country of use has to be delivered Responsible for the translation is the importer of the product In case of modifications or retrofits with components of manufacturers other than Jenaer An triebstechnik please contact us to clarify that those components are suitable to be assembled with our devices Emergency off equipment must be workable in all operation modes especially during setup and maintenance Dangerous voltages Never open the units during operation Covers and cabinet doors have to be kept closed du ring operation The protective earth conductor has to be properly applied before applying a voltage During operation logic and power conductors are live Never undo
22. wire gauge of the device 1 at the supply connector X4A the other at the stud at the bottom of the housing 20 Subject to change without notice Jonas Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 6 Interfaces 6 1 Overview X4B DC link voltage out X4A DC link voltage in Options EtherCAT X22 Profibus DP oder Ethernet CAN X21 B A a H ii PAEPAE Restart lock STO function X8 No Digital I O axis 2 X1B MANS RS485 RS232 Capture X13 MXMMM Digital I O axis 1 X1A Q X12 Qu Encoder axis 2 X11 Encoder axis 1 X2A Limit switches Homing axis 1 X2B Limit switches Homing axis 2 Motor connector axis 1 X7A Motor brake axis 1 X5B Motor connector axis 2 X7B Motor brake axis 2 Fig 6 1 Order of the interfaces of ECOVARIO 114 D The available interfaces for all ECOVARIO D types are shown in an overview table below Subsequently detailed descriptions of each interface with pin assignment and block diagram are provided For the interfaces X1A to X8 a mating connector set is available see table 9 1 Original accessories ECOVARIO To simplify the handling all mating connectors are labelled Table 6 1 Overview of interfaces ECOVARIO 114 D c 5 5 un oO o 2 g 2 Ei pne ee eee S E e p o c fe SN 2 m of 05 lt o 5 go gt Zm Ba 8
23. 4 D mating connector set DDK10 Connector Function X1A X1B X2A X2B X4IN X40UT X5A X5B X7A X7B X8 9 2 24 V digital inputs and outputs axis 1 Digital inputs and outputs axis 2 Digital inputs DC link in DC link out Motor connection Motor brake Restart lock STO function Cables Mating connector designation Phoenix ID No FMC 1 5 8 ST 3 81 2CNBD2 ASO No 17 03 06 4 FMC 1 5 4 ST 3 81 CN3BD2 BSO No 17 03 065 FMC 1 5 4 ST 3 81 2CNBD2 X2SO No 17 03 06 6 FKC 2 5 HC 3 ST 5 O8BDS PE No 17 03 06 8 FKIC 2 5 HC 3 ST 5 O8BDS PE L No 17 03 07 0 ZEC1 5 5 ST 5 0 C2 5 R1 5 5BDNZ5 No 17 55 389 ZEC1 0 3 ST 3 5 C1 3R1 3 No 19 98 205 FMC 1 5 4 ST 3 81 CN2BD2 X8SO No 17 03 06 7 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 cables available for connection of the motors of Jenaer Antriebstechnik GmbH If other cables are used functional errors of the drive and EMC problems might occur If you intend to use other cables please doub le check with our application department whether your cables are appropriate Table 9 3 ECOVARIO 114 D accessories cables Cable type Use Encoder cables INK65 491 525 xxx ABS65 300 525 xxx or SINCOS encoders ders Y Encoder cable option Motor cables MOT43 132 721 xxx MOT34 132 722 xxx serie
24. A Track A sin 3 Track B cos Cosine Cosine 0 8 1 2V B Track B cos 4 Z Track N Z Index track Data Data channel Data Data 5 lne Emp sensor Eae emp sensor al Temp sensor 1 emp sensor 6 D Ground Deo Ground Dig Ground D Ground 7 A Track A sin Sine RefSin Reference sine A Track A sin 8 B Track B COS Cosine RefCos Referencecosine B Track B cos 9 Z Track N Z Index track Data Datachannel Data Data 10 3 les Temp sensor Ware lemp sensor Tose lemp sensor Tense Temp sensor 11 JB Track B B Track B Z Track N 12 ud Sensor U Wiame Sensor U Wau ensor U Woe Seo UE 13 TrackB B Track B Z Track N 14 A TrackA A Track A CLK CLK 15 A Track A A Track A CLK CLK the same supply voltage for both encoders Connection of a second incremental or JAT SinCos encoder via Y cable If required a further incremental or SinCos encoder can be connected to the encoder interface via a Y ca ble If you want to use this option please double check with our applications department The assignment depends on the encoder type used as first encoder cf table above Setting the supply voltage The voltage U is set via the voltage applied to pin 12 v Tabelle 6 17 Setting the encoder supply voltage Vestis U 5V open 5V OV 11V ENCSENSE of the respective encoder interface The standard cable ABS 65 300 525 xx for BISS encoders already contains the settings for the voltage U the maximum lengt
25. AT operation For this version no CAN bus wiring is required cf Fig 6 39 Ihe communication is handled exclusively via EtherCAT All CANopen messages and services PDO Emergency NMT etc are managed EtherCAT Master EtherCAT Switch Hub ECOVARIO with ECOVARIO with ECOVARIO with Other EtherCAT devices EtherCAT interface EtherCAT interface EtherCAT interface Fig 6 39 EtherCAT operation of ECOVARIO without using the CAN bus Parallel operation In principle CAN and EtherCAT can be operated in parallel cf Fig 6 40 where the CAN bus is used for parame terization while EtherCAT is used for the synchronous interpolated operation As soon as the ECOVARIO has been configurated successfully by the EtherCAT master and has been set to preoperational state via EtherCAT the NMT telegrams via CAN are ignored PDOs assigned to the EtherCAT bus are no longer sent nor received via CAN Interpolated operation via CAN is not possible in this case Emergency telegrams are sent via both bus svstems SDO traffic is functional without limitations via all interfaces EtherCAT Master EtherCAT CAN Bus ECOVARIO with ECOVARIO with ECOVARIO with Other CAN compatible device EtherCAT interface EtherCAT interface EtherCAT interface Fig 6 40 Parallel operation EtherCAT CAN with ECOVARIO 48 Subject to change without notice Jonaor Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114
26. BUS DP VO TIBteF GCO ssec its tem resi ieee aaisa 42 222 Designs with Ethernet interlace sy ccrsszansscsnevesssnesthacnnetvasearatatypesaneesnnnestdacanetessisenazatnesdeauestanwetenacteasenes 44 2 22 Desisns with Ether CA T Eri E rospi EN vu vet te one E aae aR 47 Sorti e 49 Notes befote cormis5IOHBHlg cciseeacresnsete stans tevenkn eenah e abis usen a vu a UUXNU eR Le VH ORUM ER xS EMEN TUR 49 Control and display elements eee esee eseeeee eee tetn eterne ettet tntn eterne nes 49 Work schedule COMMISSIONING scrani e on ev Narke sa ntn Ivana Na RR AREENA a 50 SEI Ie E E n 51 EO p d D 52 FO SU secede C ade 54 BOOtlO ACS Mole 55 Parameter iiri 55 User interlace ECO STUdi T 55 ACCESSORIES M A 56 Ue NA S o E E NE E E T EEE A O EE A E 57 Ea EU SU E A A O E A N E E A AAS A A Y 57 Mating connector set ECOVARIO IAD urosrsradinstisrdasisaideea apia ieas 58 er ares 58 Wd 59 clc
27. C motor per axis onac Rated output power with AC motor per axis D Peak output current per axis UR Rated DC link voltage Ue max DC link voltage U Overvoltage trip C DC link capacity T Regenerable capacity For an explanation of the footnotes see next page 4 2 General technical data Table 4 3 General technical data control signals No Control signal 24 V supply current draw without outputs 10 Digital control signal inputs 4 Digital control signal outputs 12 Unit MAC2 Me 70 24 80 W 960 W t b d W t b d W A t b d Moe 60 Vac 45 Asc 10 A us 7 1 W 650 W 477 Asc 20 A 14 Voc 60 Vee 70 V 90 uF 660 Ws 0 5 Unit V 24 10 96 A 0 8 V LOW 0 7 HIGH 12 36 mA 10 at 24 V V 24 A 0 5 Jonas Antriebstechnik A GmbH Subject to change without notice ECOVARIO 114 D x x x xxx xxx MAC3 545 Jonaor Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 1 1 Table 4 4 General technical data external fuses 70 V DC supply max 16 A slow Note When the device is used in an UL environment the overcurrent protection equipment has to comply to UL Class RK5 or UL489 24 V DC supply max 10 A fast External ballast resistance not accessory resistors DPRxx xxx 10 A fast Table 4 5 General technical data ambient conditions Ambient conditions ECOVARIO is designed for ambient conditions of class 3K3 following EN 50178 Symb Condition Unit Us Ambient temperature during
28. H Installation and Operating Instructions ECOVARIO 114 D Master in A21 X21 A21 X21 CAN Bus Axis 1 Axis 2 Axis 3 Axis n Fig 6 32 size terminating resistors R acc to line impedance normal R 120 Q 6 8 Optional interfaces ECOVARIO 114 D is available with the following options ECOVARIO 114 Dx F x xxx xxx CAN RS485 PROFIBUS DP VO ECOVARIO 114 Dx G x xxx xxx CAN RS232 PROFIBUS DP V0 ECOVARIO 114 Dx L x xxx xxx CAN RS232 Ethernet interface ECOVARIO 114 Dx P x xxx xxx CAN RS485 EtherCAT interface ECOVARIO 114 Dx Q x xxx xxx CAN RS232 EtherCAT interface Subject to change without notice A Installation and Operating Instructions ECOVARIO 114 D Ja amp naor Ant lebstochnik AL GmbH 6 8 2 X22 Designs with PROFIBUS DP VO interface he pin assignment of the design with PROFIBUS DP VO is according to the requirements of the directive EN 50170 Table 6 19 Pin assignment connector X22 on design with PROFIBUS DP VO0 interface Pin Signal Description s n C Fig 6 33 Mating connector X22 2 3 n c 9 pole Sub D socket view of the solder or crimp side 3 RxD TxD PB data 4 CNTR P PB control Additionally to the signals RxD TxD RxD TxD PB_GND and PB_GND PB ground PB_5V the optional signal CNTR RTS control of the forward direc 6 PB_5V PB5V tion of the data is supported This signal can be used for controlling 7 m a repeater or an fibre optic link converter OLP Optical Link Plug
29. ID Node ID in a CAN USB RS232 RS485 or PROFIBUS network Baud rate for the CAN network Display of the Ethernet IP Address or of the EtherCAT station address Restarting the bootloader and the loadware For detailed instructions on the use of the keys refer to chapter 7 3 3 Subject to change without notice 49 Installation and Operating Instructions ECOVARIO 114 D Jonaor Antriebstechnik A GmbH 7 3 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 connection diagram in Fig 6 2 1 2 Zero enable Connect the ENABLE input of the respective axis to 0 V connector X1A axis 1 or X1B axis 2 3 Switch on 24 V logic supply Apply the 24 V control voltage at the connector X1A between the pins GND and 24 V after an initializing phase of about 3 s the LED display shows the operation mode of the servo amplifier 4 Rectify eventual errors If the display shows an error the error has to be rectified before commissioning cf chapter 7 3 2 5 Start setup software Connect a PC to the PC interface X13 of the ECOVARIO 114 D or via CAN dongle to the interface X21 and start the commissioning and operation program ECO Studio Here establish the logic connection bet ween PC and ECOVARIO 114 D Note For each axis a separate ECO Studio session has to be started 6 Device configuration and mech
30. IN EN 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Func tional safety DIN EN 61800 3 Adjustable speed electrical power drive systems Part 3 EMC requirements and specific test methods DIN EN 60204 Safety of machinery electrical equipment of machines Part 1 General requirements 3 3 1 UL CSA conformity If ECOVARIO servo amplifiers are to be used in countries where UL Underwriters Laboratories Inc or cUL conformity resp is required the appropriate type has to be selected cf chapter 4 3 Order key For further information see UL file number E244038 at www ul com The UL cUL certification UL 840 and UL 508C in this case is related exclusively to the mechanical and electrical design of the device UL cUL certified servo amplifiers are in accordance with the respective american and canadian fire regulations he installation and safety precautions in this documentaion have to be observed 10 Subject to change without notice Jonaor Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 3 3 2 CE conformity ECOVARIO servo amplifiers are components that are intended to be built into electrical plant and machi nes for industrial use The manufacturer of the machine is responsible that the machine or plant fulfills the requirements of the EMC directive The servo amplifiers have been tested by an authorized testing laboratory in a defined configur
31. TO function meets the requirements to SIL2 or PLd respectively according to EN 61800 5 2 or EN ISO 13849 1 The function is established by means of the circuitry shown in Fig 6 18 The signals are lead to the connector X8 Further the signals Enable and Ready of connector X1A axis 1 or X1B axis 2 respectively are used 4 1 uF Axis 1 X8 1 STO IN A P 24V demand value Ctrl voltage 0 X8 3 STO IN B 24V Power stages offi 1 Activate STO axis 2 Axis 2 X8 2 STO OUTA Disconnect y demand value bl scade Output contact STO FFF Ctrl voltage 0 gt IP Plt x8 41 STO OUT B axie e Power stages off GND GND Fig 6 17 Q Mating connector X8 L FMC 1 5 4 ST 3 81 CN2BD2 jJrEXTAS Enable 24V X8SO 170306 7 Phoenix Fig 6 18 Connector X8 circuit of the STO function Table 6 11 Pin assignment connector X8 X1A 3 Ready 1 Enable axis 1 X1B 3 Enable2 Q 24V ECOVARIO 114 D X1B 1 Ready2 Enable axis 2 Load Controller Table 6 11a Signals used for STO on connector X1A X1B Signal Pin Description Signal Conn Pin Description STO INA 1 STO function axis 1 input Enab
32. a o D v E 8 B A Z Uu Un 852 LX L En EN FGF oc 2 2 5 Ss a ele cos SS 29 2 So Se Sa Sa x 5 ED a Ww V e cx cx FSB 26 ggo 9x Ox YS VS Order designation O du iu a amp g ugnu AO B ZB ERG IEIR AnNANV ECOVARIO 114DR AJ 000 000 X21 X13 x8 XII X2 X5A X5B X7A X7B X4IN X4OUT ECOVARIO 114DR BJ 000 000 X21 X13 X8 X11 X12 X5A X5B X7A X7B XA4IN X4OUT ECOVARIO 114DR FJ 000 000 X21 X22 X13 sap xi xI X5A X5B X7A X7B X4IN X4OUT ECOVARIO 114DR GJ 000 000 X21 X22 vale x8 XII X2 a X54 X5B X7A X7B X4IN X4OUT ECOVARIO 114DR KJ 000 000 X21 x22 X13 X83 Xili X12 e X5A X5B X7A X7B X4IN X4OUT ECOVARIO 114DR LJ 000 000 X21 X22 Xie x8 XII X2 X5A X5B X7A X7B X4IN X4OUT ECOVARIO 114DR PJ 000 000 X21 X22 X13 epu ae X5A X5B X7A X7B X4IN X4OUT ECOVARIO 114DR QJ 000 000 X21 X22 X13 5x93 xd ae X5A X5B X7A X7B X4IN X4OUT Subject to change without notice 24 Installation and Operating Instructions ECOVARIO 114 D Jonaor Antriebstechnik A GmbH 6 2 Control signals The control signals are programmable by means of ECO Studio or on object level 6 2 1 X1A Digital inputs and outputs 24V Table 6 2 Pin assignment connector X1A 8 1 Signal Pin Description OUT1 1 Digital output axis1 Onn lomax 9 9 A max 1 A OUT2 2 Digital output axis 2 lma 0 9 A READY1 3 Ready Digital output axis 1 fore Fig 6 2 Mating connector X1A
33. al functional checks are necessary A check concerning the proper operation of the STO function according to table 6 12 has to be carried out During commissioning of the machine after changing components after restructuring of the wiring after a download of a new Firmware after modifications of the parameters periodically at least once a year the required intervals depend on the application 000000 he following error messages are related to the STO function list of all errors in Chap 7 3 2 DOO Restart lock blocks switch on Measure Check STO function D01 No external Enable Measure Check Enable signal Technical Data Table 6 13 Technical data with respect to the safety standards EN 61800 5 2 EN ISO 13849 1 SIL 2 PL d MTTFd 2051 72 years DC By evaluation of the status signal up to 9996 are possible t b d 10 6 5 Encoders The servo amplifier ECOVARIO 114 D has one encoder input for each axis X11 for axis 1 and X12 for axis 2 ECOVARIO Otherwise damages to the encoder can occur Never plug and pull encoder cables while they are live Always switch off the logic supply of the Encoder inputs X11 X12 Apart from incremental standard encoders also absolute value encoders system HIPERFACE and BISS can be connected to the 15 pole High Density Sub D socket all types except ECOVARIO 114 Dx xL xxx xxx Via a so called Y encoder cable it is possible to use an additional incremental encoder per axis If yo
34. anical configuration Incorrect parameter settings can cause damage or destruction of machine parts Device configuration and mechanical configuration must be adjusted to each specific case With the help of the ECO Studio device configuration wizard and of the mechanical configuration wizard carry out the basic settings for the operation of ECOVARIO A detailed description of software commis sioning can be found in the ECO Studio Operation Manual ECOVARIO ECOSTEP and ECOMPACT and in the ECO Studio help system Before switching on the power supply the following items 7 to 10 have to be observed 7 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 8 Zero demand values Before switching on the power supply the analog and digital demand values for position and speed should be zeroed 9 Switch on power supply The power supply should only be switched on with the on off switches of a contactor circuit 10 ENABLE 0 5 s after switching on the power supply the enable signal of the respective axis can be changed to high 24 V level at input X1A Enablel or X1B Enable2 If the motor vibrates or hums the value of the p gain should be reduced ECO Studio in the navigation area select the Controller entry and then the Velocity Controller tab 50
35. ation 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 requirements are fulfilled For servo amplifiers with integrated safety function the conformity assessment is carried out according to the EC machine directive 2006 42 EC Jenaer Antriebstechnik GmbH Jenaer Antriebstechnik GmbH e Buchaer Stra e 1 e 07745 Jena Tel 49 0 3641 63376 0 e Fax 49 0 3641 63376 99 Internet www jat gmbh de e E mail info jat gmbh de EG Konformitatserklarung EC Declaration of Conformity Hiermit erkl ren wir Herewith we Jenaer Antriebstechnik GmbH Buchaer Str 1 07745 Jena Deutschland in alleiniger Verantwortung dass das gelieferte Modell declare under our own responsibility that the supplied model of Servoverstirker mit Sicherheitsfunktion ECOVARIO 114 xR xx xxx xxx Servo amplifier with safety function den Anforderungen der complies with EG Maschinenrichtlinie 2006 42 EC EC Machinery Directive 2006 42 EC entspricht Hierf r wurden die folgenden harmonisierten Normen angewendet For this the following harmonized standards were applied EN 60204 1 2006 EN ISO 13849 1 2008 EN 61800 5 2 2007 EN 61800 5 1 VDE160 EN 61800 3 2004 Das Produkt ist nach Artikel 2 Buchstabe c der Richtlinie The products are defined as safety
36. bject to change without notice 37 Installation and Operating Instructions ECOVARIO 114 D Design with RS232 interface Apart from the serial interface the connector X13 of the ECOVARIO 114 D provides two capture inputs with RS422 signal transmission for rapid event capture Alternatively to the USB interface via the RS232 interface a PC can be Fig 6 27 Mating connector X13 connected for setting the parameter of the ECOVARIO 114 D How MAH s DU EV to set the parameters of the RS232 interface is described in the manual Object Dictionary ECOVARIO ECOSTEP ECOMPACT ECO MiniDual For RS232 commumiES ON with sis 6 2 Pin assignment a X13 in RS232 design ECOVARIO 114 D a 3 core connection to EET Bescon the host is needed The connector X13 of the 1 CAP1 Capture input 1 RS422 level ECOVARIO 114 D is designed in a way 2 TxD RS232 TxD that a 1 1 standard cable for communication 3 RxD RS232 RxD with a COM port 9 pole Sub D connector 4 CAP2 Capture input 2 RS422 level can be used Transmitter and receiver of the EE ECOVARIO 114 D meet the specifications of EIA 232E and CCITT V 28 and are EMC imei EEA Coptuns Op lesz eve protected according to IEC 61000 4 2 z i free The communication protocol allows net 8 i free work operation of up to 126 ECOVARIO 9 CAP2 Capture input 2 RS422 level units as slaves in a mono master network For this option a ring structure of the RS232 network according to the schem
37. bus operation The three ways are described in the following Gateway operation In the most common application an ECOVARIO with Ethernet interface serves as a bus coupler between Ethernet and an existent CAN bus system Fig 6 36 shows the resulting topology In any case the CANopen protocol is used which is tunneled in UDP packages for the transport via Ethernet The original CAN data is extracted from these packages and is lead to the CAN bus All bus nodes also the ECOVARIO with Ethernet interface can receive them In the other direction all CAN messages received via the bus are pa cked into UDP packages and sent via the Ethernet PC IPC Ethernet CAN Bus ECOVARIO with Servo amplifier with further CAN compatible Ethernet interface CAN interface devices Fig 6 36 Gateway operation of the ECOVARIO The Ethernet function supports full SDO transfer with one or more client applications on PC IPC side The refore the SDO answers received on the CAN bus are switched through to the respective service automatic assignment of IP address and port All other received messages as PDOs and emergencies etc are sent to an address which has to be defined in the configuration object For example this could be the IP address of the PC IPC or the IP broadcast address 255 255 255 255 The port is freely selectable however should be adjusted to a respective application on the PC e g for logging Subject to change without no
38. cseeeaceceaseeeaeseseeeeees 12 A2 General TECHMICAl Wate ccscaceenescescuncaveanasecvusastansvnaneacesencativyeswesstdeuncawneannerevbeecinayenenstadsteastreenncsnareaemavimenntaaties 12 La EE P 14 AA Suitable types Of MOTOTS srasni i Sicut N ts Ug SEEEN cum USES EINER aeeie ER 15 OMS PEE DINO CCP T 15 2 MN OS Ista OS c c rs ee Tee 15 44 5 Direct linear DHOLO S sentosane iaai iaaea E UE NE SED VENUE NUN RS 16 22s XM Orla xD T eee er 16 5 Installation c S 16 o9 Eo di 16 SW ME 8 026 e Ido RE E E o o 0 QU UEM 16 SN MI P 17 SX ME oL T eeetaee 18 52 TENSE IBI Fel CLO ERE o ARENAER Eni i anaa aeeai aaaeaii 19 ed POr a O A E tI Umm 19 522 EMC complamt10stallatiOTEseescecdnsenilrestaeu iatints rhon taticontanitespanesuctanaetasyavesscesedesstastejncotctaiochenguneiateeniersiass 19 9 2 9 CCOBBECUIDB GE 128 G21 0 0 s e eter ene rere any one es ter et an E Boe heh mete Per ee etary ree er ee ere ree are ard eee ERE 20 6 ligari e 21 OUNMEMEG cuu eeRet 21 MEME 0 018 0 Iud ks ener ne ern eer creer ara rere ne ee reer 22 6 2 1 XIA Digital inputs and
39. d trademark of Dr Johannes Heidenhain GmbH Traunreut EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany HIPERFACE is a registered trademark of SICK STEGMANN GmbH Donaueschingen Windows is a registered trademark of Microsoft Corporation in the United States and other countries Subject to change without notice 3 Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik A GmbH 4 Subject to change without notice Jonas Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D Inhalt 1 X Me 7 2 Saleb aste UOTIS egeo tede eiie a DENIM E EEE 7 QV VUNG E 7 EECLI cU c err ere 8 PE MEE AIMCO ae TETTE T LO OO OUO 8 240 Danger Dy SA and ai cats erate a CU Om cease eee ee eee 8 2 5 Danger by unintentional mechanical movements eese tete 8 2 07 PfesctiDeu UB custos er nT Ore eer MEE NIMM EE 9 3 DET AU NOS PER 9 a enmooft qe iei oit aet TU MER UNITE MOERORE 9 MEN rA aoe 10 nov UAE AS and irec yE eunnart 10 SL OF E O O a E E EEE E E 10 25 2 COE SOBIOEIIT T e a EA A RO NUEVE 11 4 Te mii CAN Dalai innr A ESE E E NE 12 4 Rated data of the power stage oo eessssesssecesesessesesssseeeseecesceeescseeaesceeeseeeeseseeaceceasseee
40. e in fig 6 29 is necessary X13 twisted pair Pe CAPI c rn A n eli CAP1 N pet x rem TTL 7 re jum 9 CAP2 mu E 7 e a TxD a D p 97 0 zs ECOVARIO 1 14 D 5e Md Fig 6 28 Example for connection of an RS232 interface 38 Subject to change without notice Jonas Antriebstechnik AA GmbH Installation and Operating Instructions ECOVARIO 114 D RxD L eee Lanmocnccccmmaai GND F TxD DCUM Host Computer 352 352 X13 oes X13 ID 1 ID n ECOVARIO ECOVARIO ECOVARIO Fig 6 29 RS232 network in ring structure X13 PC 9 pole Sub D socket 9 pole Sub D socket X13 PC 9 pole Sub D socket 25 pole Sub D socket Fig 6 30 RS232 cable ECOVARIO PC view of the solder or crimp side of the plug connectors at the cable Subject to change without notice 39 Installation and Operating Instructions ECOVARIO 114 D Jenaor Antr 6 7 X21 CAN interface The CAN interface of the ECOVARIO is based on the communication profile CiA DS 301 and the device profile CiA DSP 402 drives and motion control It must be supplied with external voltage Terminating resistors for busses are not built in the ECOVARIO A CAN bus has to be terminated with a 120 Q resistor at the beginning and at the end If the ECOVARIO is operated as first or last participant at a CAN bus it is useful to solder the terminating resistor in the mating connector of X21 between the pins 2 and 7 obstechnik AAA G
41. ed against overvoltage Supply cables and motor cables must be laid in a proper distance of control cables Subject to change without notice 19 Installation and Operating Instructions ECOVARIO 114 D 5 2 3 Connection diagram L1 PE ECOVARIO 114 D to other SV24 60 3 60V 24V oc DC supply ECOVARIO 114 D X13 RS485 altern RS232 Capture X21 CAN 22 EtherCAT or Ethernet or Profibus DP Enable1 ASOut2 X1B Ready2 Reset2 Enable2 Bild 5 4 Connection diagram ECOVARIO 114 D Jonaor Antriebstechnik A GmbH PC Parametrizing interfaces EtherCAT Ethernet Profibus DP Control Peripherals Digital input 1 Digital input 2 Reday axis 1 Reset axis 1 Enable axis 1 Positive limit switch Negative limit switch Homing STO function axis 1 input STO function axis 1 output STO function axis 2 input STO function axis 2 output Ready axis 2 Reset axis 2 Enable axis 2 Positive limit switch Negative limit switch Homing Note The protective earth connection PE of the ECOVARIO can be implemented in two different ways and thus complies to EN 60204 1 Chap 8 2 8 via the stud at the bottom of the housing with a wire gauge of min 10mm via two PE wires independent of each other with the power connection
42. electrical connections while they are live After disconnecting the device wait at least six minutes before touching contacts Capacitors can still have dangerous voltages present up to six minutes after switching off the supply vol tage To be sure measure the DC link circuit and wait till it has fallen below 40 V Danger by hot surfaces Hot surfaces may cause burns to the skin As the housing of the ECOVARIO 114 D serves also as heat sink during operation the surface temperature may rise to more than 70 C Danger by unintentional mechanical movements Unintentional movements of motors tools or axes may lead to death or serious injuries ECOVARIO 114 D drives can produce strong mecanical powers and high accelerations Avoid staying in the danger zone of the machine Never switch off safety equipment Malfunc tions should be repaired by qualified personnel immediately Subject to change without notice Jonaor Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 2 6 Prescribed use The servo amplifiers ECOVARIO 114 D are components which are built into electrical equipment or ma chines and can only be used as integral components of such equipment The leakage current of ECOVARIO 114 D is higher than 3 5 mA 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 i
43. ementation of the safety function STO Subject to change without notice 29 Installation and Operating Instructions ECOVARIO 114 D Jonaor Antriebstechnik amp GmbH if the motor is no longer rotating and the servo amplifer has been switched to inactive 24 V are not applied to Enable input Drives with a suspended load must have an additio nal safe mechanical blocking Via the safety PLC the monitoring contact ASOut bridges the safety equipment of the machine e g safety position switches at safety doors The safety area is now protected from indeliberate restart of the device 1 The STO function may only be activated by an automatic control or by manual activation Relevant aspects of safety See also the prescribed use of the servo amplifier ECOVARIO 114 D described in chap 2 6 and the opera ting conditions mentioned there As Fig 6 19 shows the STO function is implemented by two channels If a single error occurs the function still remains operative via the other channel If the restart lock is active all driver transistors are in high resistance state If a current in the motor is pro duced by damaged driver transistors the high pole servo motors as well as the 2 phase servo motors cannot start because the necessary rotating field is not created In the worst case however a short hitch can occur at the motor shaft movement of max 1 2 pole pair of the motor If the internal semiconductor switch is damaged or a cable
44. er max 10 A 70 V c maximum when protected by JDDZ 7 listed fuse max 10 A In case of direct DC supply of the DC link the inrush current is not limited by the servo amplifier Therefore special limitation measures have to be taken in the external power 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 consu med by all consumers connected to the DC bus Table 6 6 Pin assignment connector X4IN Signal Pin Description AMM JL 1 DC link L 2 DClink 24 70 V ee PE 3 PE conductor i Fig 6 8 Mating connector X4IN FKC 2 5 HC 3 ST 5 O8BDS PE 17 03 06 8 Phoenix Table 6 7 Pin assignment connector XAOUT Signal Pin Description VW Ron PE 1 PE conductor PE L 4 L 2 DClink 24 70V i 1i 1 I f AT WELL L 3 DClink ADDA Fig 6 9 Mating connector X4OUT FKC 2 5 HC 3 ST 5 08BDS PE L 17 03 07 0 Phoenix A4IN DC link voltage DC power supply gt to other devices ECOVARIOS 414 D X4OUT Fig 6 10 XAIN XAOUT DC link circuit Subject to change without notice 25 Installation and Operating Instructions ECOVARIO 114 D 6 3 2 X5A X5B Motor Keying PE AU AN B W B Top view Fig 6 11 Mating connector X5A X5B ZEC 1 5 5 ST 5 0 C2 5 R1 5 5BDNZ5 17 55 38 9 Phoenix Using long cables gt 25 m the losses Table 6 8 Pin assignment connector X5A X5B rise st
45. evel Apart from the serial interface the connector X13 provides at ECOVARIO 114 D additionally two capture inputs with RS422 signal transmission for rapid capture of process events The capture inputs are not galva nically separated and can also be configured as digital inputs The RS485 interface of the ECOVARIO may as well serve for a 4 conductor full duplex as also a 2 con ductor half duplex connector Transmitter and receiver of the ECOVARIO meet the specifications of EIA RS485 up to 250 kBaud and are EMC protected according to IEC 61 000 4 4 The communication protocol allows network operation with a master host and up to 126 ECOVARIO units as slaves in an RS485 network At most 32 participants may take part in one network The network must have a bus structure The adress ID of an ECOVARIO is set by the front keys Each ID may only be allocated once ID 0 is reserved and may not be allocated 36 Subject to change without notice Jonas Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D twisted pair Ife CAPI o ff aji uu 2 H d VH d E i 2k Tx 1 ed A i Master ECOVARIO 114 D ipei Fig 6 25 Example for connection RS485 point to point connection in half duplex mode X13 twisted pair Zica O 7 Master sea ECOVARIO 114 D RS485 bus Fig 6 26 Example for connection RS485 point to point connection in full duplex mode Su
46. exceeded B01 CAN bus parameters not available incorrect Enter parameters again check node ID and Baud rate saving of parameters No messages are sent GroupD Device and axis errors The error code on the display is preceded by an axis code 1 or 2 DOO Restart lock blocks switch on Check function of the restart lock D01 No external enable Check ENABLE signal DO2 Heat sink temperature gt 85 C Switch off unit and let it cool down Check whether the device is D03 Device temperature 60 So A D04 Temperature error motor Let motor cool down Check temperature sensor connectors DO6 Negative limit reached Reset if an error message is raised DO7 Positive limit reached Reset if an error message is raised D10 Short circuit of motor phases or ground fault Check motor and supply cables Check whether the shield wires are of the power stage resp connected correctly D11 Overvoltage in the supply cables D12 Exceeding i xt limitation of device Check parameters and operating conditions Check if axis is freely mo D13 Exceeding i xt limitation of motor vaoa 52 Subject to change without notice Jonaor Antriebstechnik A c GmbH Code D20 D21 D22 D23 D25 D30 D31 D32 D33 D34 D35 Error External 24 V supply at X1 has fallen below 17V DC link voltage too high short circuit of bal last circuit DC link voltage too low Overload ballast circuit Short circuit or overload of the digital outputs
47. gth between two devices is limited to 100 m For process control and visualization of EtherCAT devices the operation with the PC software I winCAT manufacturer Beckhoff GmbH is proposed For configuration instructions and an application example please refer to Application Note 26 The objects which are required for the configuration of the EtherCAT communication are described in the manual Object Dictionary ECOVARIO ECOSTEP ECOMPACT chapter 5 2 29 he interfaces X22A and X22B are each equipped with the following display elements green LED displays Link Activity orange LED displays Iransmission in fullduplex mode The green RUN LED is located in the housing of the ECOVARIO and can be seen through the air slots on the upper side of the housing The LED has the following functions RUN LED 2 LED oft EtherCAT State Init 2 LED flashes 5 Hz EtherCAT State Pre Operational f LED flashes 200ms on 1s off EtherCAT State Safe Operational 2 LED on EtherCAT State Operational Subject to change without notice 47 Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik A GmbH There are two ways to implement the operation with EtherCAT interface asa pure EtherCAT application where all ECOVARIOs are connected to each other by EtherCAT interfaces 2 asa version with parallel bus operation EtherCAT CAN The two ways are described in the following Pure EtherC
48. h of the cable is 50 m The connection of voltage dividing resistors for setting the encoder supply voltage is not pos sible at ECOVARIO 114 D All cables which are no JAT standard cables have to be assessed for their suitability before they are used together with ECOVARIO 114 D Subject to change without notice D Installation and Operating Instructions ECOVARIO 114 D A1T1 X12 2 TIA teint A A al TTL 7 T 120R 4 a max 5 mA 1 encoder Ske 5 paet l Temperature 10 T sensor ECOVARIO 114 D Fig 6 23 Example for connection for a 5 V incremental encoder SinCos encoder deviations in brackets X11 X12 gt 4 Qata blue RQ oloa lt J t20R j m Di 9 Data red of Dat BISS 15V i ioi encoder i ioi Mot fas 5 T purple CY p i bla uod 8i sensor DGND WE en e ECOVARIO 114 D Fig 6 24 Example for a BISS encoder via standard cable ABS65 300 525 xx 34 Subject to change without notice Jonas Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 6 5 2 X11 Encoder Axis 1 X12 Encoder Axis 2 ECOVARIO 114 Dx xL xxx xxx The supply voltage U of the encoder is 5 V The maximum cable length is 50 m The maximum signal frequency is 2 MHz that is a count rate of 8 MHz Table 6 19 Pin assignment connector X11 X12 Signal Pin Description Tac 1 5 V 0 2 A A 2 Track A ace Mating connector X11 X12 N 4 Track N
49. interface Ethernet interface Fig 6 38 Redundant operation Ethernet CAN with ECOVARIO 46 Subject to change without notice jec nik A GmbH Installation and Operating Instructions ECOVARIO 114 D 6 8 4 X22 Designs with EtherCAT interface As an option ECOVARIO can be equipped with an EtherCAT interface which can be used for setpoint setting and parameterization The interface supports the protocol of the EtherCAT Technology Group and allows for Fast Ethernet according to IEEE 802 3u 100Base TX fullduplex 100Mbps Physically the in terface is designed as two standardized RJA5 sockets at the front side of the ECOVARIO Pin assignment is the same as for the standard Ethernet interface c f Chap 6 8 3 Table 6 21 Pin assignment connector X22A B on design with EtherCAT interface OUT Pin Signal Description 1 RX Receive signal 2 RX Receive signal 3 TX Transmit signal 4 n C 1 5 n C 6 TX Transmit signal 7 n C 8 n C IN The interface X22B is the EtherCAT IN port and is used for the connection to the PC or a server end of a star shaped connection The interface X22A is the EtherCAT OUT port and is intended for the connection to further servo amp liters via a line shaped connection uplink cf examples below Cabling is done via twisted pair cables UTP Cat 5e Tree and line topologies are supported Star topologies are possible as well The cable len
50. is broken the safety equipment switches off the drive because in this case the bridging of the safety equipment is not effective If the restart lock is activated by an automatic control the control signal must be monitored to make sure that the restart lock cannot be activated if the motor is rotating Commissioning and checking the STO function During commissioning of the machine after changing components or restructuring the wiring the function of the safety equipment including the STO function must always be checked as described in table 6 12 This check is also necessary after modifications of the parameters of after a download of a new firmware If none of the mentoined cases applies the function of the safety equipment has to be checked at least once a year Per axis proceed as follows Table 6 12 Checking the functions of the safety equipment Step Measure Check 1 Make sure that during the check the dri ve can run and stop unrestrictedly 2 Stop drive controlled target velocity 0 3 Disable drive remove Enable signal Measure the signal level at the Ready si gnal has to be inactive 0 V 4 Activate the holding brake if any Remove the 24 V voltage at STO IN i e activate the STO function 6 Open safety equipment e g safety door Line contactor must stay on without interfering with the safety area 7 Pull off mating connector X8 from the Line contactor must drop respective servo amplifier 8 Plug in mating connec
51. le1 X1A 5 Enable axis 1 STOOUTA 2 STO function axis 1 2 outputcontact Readyl X1A 3 Ready for operation axis 1 STO IN B 3 STO function axis 2 input Enable2 X1B 3 Enable axis 2 STOOUTB 4 STO function axis 1 2 outputcontact Ready2 X1B 1 Ready for operation axis 2 Subject to change without notice Jonaor Antriebstechnik GmbH Installation and Operating Instructions ECOVARIO 114 D Using the STO function he internal control logic switches off the power stages of the servo amplifier and zeroes the demand values The inputs and outputs can be connected to an external safety PLC Advantage The DC link rests charged Only low voltages are switched the extend of wiring and components is reduced Implementation of the STO function A block diagram of the components which contribute to the STO function is shown in Fig 6 19 Atthe input side the function is implemented in the same way for both axes As an example the description is related to axis 1 Channel I If a voltage of 24 V is applied to the input STO IN A and to the Enable input channel II and software enable is set the servo amplifier operates normally If the voltage at the ASIn decreases the STO function becomes effective by switching off the 15V voltage of the power stage A restart is only possible if a 24 V voltage is applied again to the inputs STO IN A and Enable channel II software enable is set and the error status of the servo amplifier has been reset he safe status of
52. maller than the one of the cable shields Subject to change without notice 43 Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik A GmbH 6 8 3 X22 Designs with Ethernet interface As an option ECOVARIO can be equipped with an Ethernet interface which can be used for parameteri zation The interface supports Fast Ethernet according to IEEE 802 3u 100Base TX halfduplex 100Mbps Physically the interface is designed as two standardized RJ45 sockets at the front side of the ECOVARIO Table 6 20 Pin assignment connector f X22A B on design with Ethernet interface Pin Signal Description 1 RX Receive signal A4 i 2 RX Receive signal 3 TX Transmit signal P 4 n C 5 n C 6 TX Transmit signal el jE 7 n c 8 n C The interfaces X22A and X22B can each be used for the connection to the PC or a server end of a star shaped connection as well as for the connection to further servo amplifiers via a line shaped connection uplink cf examples below Cabling is done via twisted pair cables UTP Cat 5e Star and line topologies are supported Not more than 6 ECOVARIO servo amplifiers should be cabled in line The cable length between two devices is limited to 100 m For using the Ethernet interface the IP address the subnet mask the port and if necessary a gateway IP address have to be parameterized The gateway IP address is only necessary if a communication to exte
53. mbH Fig 6 31 Mating connector X21 9 pole Sub D socket view of the solder or crimp side The manual Object Dictionary ECOVARIO ECOSTEP Table 6 18 Pin assignment connector X21 ECOMPACT ECOMiniDual contains a detailed descrip Pin Signal Description tion of all available functions 1 ae 2 CANL CAN data L The Baud rate und the device ID can be set with the front keys of the device see chap 7 3 3 Key operation or di rectly via the appropriate CAN objects also by using ECO 3 CAN GND reference potential to CAN data Studio For each axis an own device ID is used Default set gma Es ix ting for axis 1 is the device ID 1 and for axis 2 the device ma iss ID 2 6 CAN GND reference potential to CAN V4 he following Baud rates are supported 1000 kBit s 7 CAN H CAN data H 500 kBit s 250 kBit s 125 kBit s 100 kBit s 50 kBit s The 8 n c se values accord to the register values of the common older 9 CANV 12V 4V 8 or 16 bit CAN controller ECOSTEP compatible and are max 50 mA transformed via table into ECOVARIO CAN controller values If point of sampling and scan rate 86 7 3 times sampling at all Baud rates do not meet the demands please contact the technical service of Jenaer Antriebstechnik N Galvanic isolation ECOVARIO a eds CAN Master Fig 6 32 Circuit X21 design with CAN interface 40 Subject to change without notice Jenae Antriebstechnik Gmb
54. methodology DIN EN ISO 12100 2 Safety of machinery Basic concepts general principles for design Part 2 Technical principles DIN EN ISO 13849 1 2006 Safety of machinery Safety related parts of control systems Part 1 General principles for design IEC 61000 4 2 Electromagnetic compatibility EMC Part 4 2 Testing and measurement techniques Electrostatic discharge immunity test IEC 61000 4 4 Electromagnetic compatibility EMC Part 4 2 Testing and measurement techniques Electrical fast transient burst immunity test 2006 42 EC Directive of the European Parliament and the Council on the approximation of the laws of the Member States relating to machinery 2006 95 EC Council Directive on the harmonization of laws of Member States relating to electrical equip ment designed for use within certain voltage limits 2004 108 EC Council Directive on the approximation of the laws of the Member States relating to Electro magnetic Compatibility Subject to change without notice 61
55. neralerrors Countermeasure AO0 Incorrect checksum of a bootloader section or Repeat action if the error reoccurs send in device to manufacturer overall checksum A01 Error during deleting a flash section Repeat action if the error reoccurs send in device to manufacturer A03 Error during programming the flash Repeat action if the error reoccurs send in device to manufacturer memory A04 Error during adressing the flash memory Repeat action if the error reoccurs send in device to manufacturer A10 Error during reading writing the EEPROM If the error reoccurs send in the device to manufacturer A11 Incorrect checksum of an EEPROM section Communication and or application parameters have not yet been stored This behaviour is normal with new devices and has been imp lemented for signalling this to the user A20 Incorrect calibration data Send in device to manufacturer A21 Watchdog error of standard loadware If the error reoccurs send in the device to manufacturer A24 Firmware Loadware does not fit to device Load appropriate firmware loadware First letter of the file name has foes E a E E to be D If in doubt contact service hotline of Jenaer Antriebstechnik GmbH A26 Device could not be started Contact service hotline of Jenaer Antriebstechnik GmbH Group B Bus errors BOO CAN Nodeguarding error No messages are Check bus connection and device function check supply voltage of sent Synchronisation window in interpolated the CAN bus mode
56. nt notes Oo O00 O O0 Make sure that transport and storage did no damage to the units The ambient air must not be polluted by dust greases aggressive gas etc Eventually appropri ate countermeasures have to be taken installation of filters frequent cleaning The ECOVARIO 114 D with STO function has to be mounted in a cabinet which conforms to protection class IP54 or in a comparable environment Depending on the power losses an appropriate ventilation should be provided Observe the mounting spaces Use 60 75 C copper wire only The accessory cables provided by Jenaer Antriebstechnik fulfill these requirements At installation locations with permanent vibrations or shocks damping measures should be taken into consideration Subject to change without notice Jenae Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 5 1 2 Dimensions 245 mm 165 mm 265 mm 248 mm 323 8 mm 1 0D 0D O0 DD f 00 00 00 00 00 mp Fig 5 1 Dimensions of ECOVARIO 114 mm upper shield optional Subject to change without notice Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik A GmbH 5 1 3 Assembly Basically ECOVARIO 114 D is intended for vertical mounting motor connector X5A X5B on the bot tom In this mounting position devices can be operated with natural convection at ambient temperatures of up to 40
57. nting plate Cubicle door with conductive A surface Screw M5 DIN 912 Fig 5 4 Mounting dimensions cabinet depth mm 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 When the device is used in an UL environment Suitable for use on a circuit capable of delivering not more than 5 kA us symmetrical amperes 70 V c maximum when protected by DIVO 7 listed circuit breaker max 10 A 70 V c maximum when protected by JDDZ 7 listed fuse max 10 A Never exceed the maximum rated voltage of 70 V pc 10 96 at the X4 connector The guarding of the DC supply and the 24 V logic voltage should be carried out by the user Servo amplifier and motor have to be properly grounded The protective earth conductor must have at least the same diameter as the supply cables The servo amplifier should be mounted onto a conductive not var nished metal mounting plate 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 To connect the shield as effective as possible to earth use the original ECOVARIO shield set s table 9 1 Original accessories ECOVARIO Metal parts in the cabinet have to be interconnected extensively and and be conductive regarding HF Used relays contactors solenoids etc have to be protect
58. qc 5 40 operation with nominal load Degree of humidity not con rel F 5 85 densing p Air pressure mbar 860 1060 Cooling the closed cubicle has to be sufficiently ventila ted h Installation altitude m up to 1000 without restriction of power Installation position The technical data refer to a vertical position Protection class IP20 Table 4 6 General technical data dimensions and weight Abmessungen und Gewichte Einh ECOVARIO 114 D Dimensions w x h x d mm 42x279x167 Weight of unit kg 1 35 Weight with shield set kg 1 45 Footnotes to tables 4 1 to 4 6 1 The data refer only to the internal data of the servo amplifier Modifications of the input voltage due to line supply fluctuations are not taken into consideration That means that with 15 less input voltage the output data U Pj have to be reduced by 15 96 For motors with a low inductivity the motor design for the maximum velocity should be b tween 2596 and 5096 below the specified vol tages because otherwise the ripple current would be very high For motors with high inductivities a higher reduction could be necessary in order to achieve a sufficient dynamic performance i The maximum power for both axes together is given by the current carrying capacity of X4A The maximum total output power for an operating voltage of 60V is approx 900W 2 Ifthe heat sink temperature rises over 90 C or if the ambient temperature passes the upper limit 40 C the se
59. rnal network is intended to be set up The interfaces X22A and X22B are each equipped with the following display elements green LED displays Link Activity 2 orange LED displays Collision Detection An ECOVARIO which is operated with the Ethernet interface automatically selects the interface used for message transfer If a CAN bus connection is available all messages which the ECOVARIO intends to transmit e g PDOs emergencies or the boot up message are sent on the CAN bus If no CAN bus voltage can be detected it is assumed that a pure Ethernet application is set up and all messages are sent via Ethernet if no Ethernet cable is plugged the messages are lost CAN bus has the highest priority i e the messages are transmitted via CAN bus as soon as the CAN connector has been plugged Ethernet messages are not sent until 5s after power up because the hardware requires this time for configuration During this time up to 8 via DPM or up to 32 via CAN Bus received messages are stored temporarily 44 Subject to change without notice Jenae Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D here are three ways to implement the operation with Ethernet interface asa CAN Ethernet bridge where one ECOVARIO with Ethernet interface serves as a gate way asa pure Ethernet application where all ECOVARIOs are connected to each other by Ether net interfaces asa version with parallel
60. rongly due to the cable capacity Signal Keying Pin 2 phase 3 phase DC Motor Therefore with long cables the technical motor motor data of the drive are reduced further Phase A A U PhaseA ConnectionU Conn DC too high leakage currents can lead to motor U indeliberare activation of the circuit Phase A A V Phase A ConnectionV Conn DC breakers motor V For all available types of cable see chap Phase B B W PhaseB ConnectionW free 9 3 motor W Phase B free B Phase B free free PE PE PE conductor x5 2 phase motor 3 phase motor DC motor C ECOVARIO Fig 6 12 X5 Example for connection with standard cable e g MOT 43 132 721 xxx ECOVARIO 114 D with motor series 23S Connection of motor and brake with one cable The insulated meshes of the overall shield and of the shield of the brake cable must in any case be connected to the chasis earth or protective earth Due to impro per grounding or free mesh dangerous voltages may occur at the shield Fig 6 13 Example for connection with standard cable MOT34 132 722 xxx ECOVARIO 114 D mit 23S ECOVARIO 26 Subject to change without notice Jenae Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 6 3 3 X7A X7B Brake Table 6 9 Pin assignment connector X7A X7B neving Signal Zeichen Pin GND X 1 Brake B 2 TA Brake B 3 max cont 0 3 A Top view If the control mode is choppered the holding current
61. rvo amplifier is switched off 3 The DC link connection X4 has no inrush current limiting Therefore appropriate circuits have to be integrated in the central power supply The power Tey also has to be resistant against regenerated energy It must regulate the DC link voltage during dynamic operation under the limit U If the regenerating energy is higher than the energy consumed by all units connected to the DC bus the power supply must have a load circuit ballast resistor 4 The value for U represents the nominal DC link voltage The value for U represents the maximum voltage which can emerge in the DC link circuit This voltage is relevant for the dimensioning of the motor winding Also the dielectric stress at a rectangular voltage of 32 kHz and a du dt of maximum 12kV us has to be taken into account U is dependent on the applied voltage 5 Environmental conditions for the design of the cabinet The losses P refer to nominal operation with INC i S and the maximum output power P At deviations the rated loss can be estimated as described ONenn 6 Rated continuous current for dimensioning The effective value of the motor current must not exceed this value because otherwise some components will not reach their rated lifetime This maximum value is part of the firmware and cannot be changed Ixt limit If the motor has a lower rated current this value should be reduced The maximum time constant of the necessary filters depends on
62. s 23S motors series 23S Encoder cable for motors with BiSS enco Characteristic Encoder cable for motors with incremental shielded twisted in pairs 4x 2x0 14 2x0 5 9 5mm trailing capability from bending radius gt 120mm Motor cable extension for ECOSTEP motors shielded 5xAWG20 up to 6 A 300 V 6 5 mm trailing capability from bending radius 35 mm Motor brake cable extension for ECOSTEP shielded 7x7 5 up to 8A 300 500V 10 5 mm trailing capability All cables in table 9 3 are available up to 50 m All cables are trailing cables 58 Subject to change without notice Jonas Antriebstechnik A GmbH 10 Annex 10 1 Glossary Ballast circuit Baud rate BISS Bitrate Bootloader mode Brake chopper Capture input Circuit breaker DC link voltage Disable Encoder EMC Enable SD protection Field bus interface Firmware Ground fault Subject to change without notice Installation and Operating Instructions ECOVARIO 114 D 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
63. 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 Bidirectional sensor interface of iC Haus GmbH Bodenheim 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 The brake chopper circuit produces a high inrush current that initiates a quick pulling of the brake After pulling the brake the current is reduced to a lower holding current Control input for quick event capture of a machine or plant 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 servo amplifier 24 V e signal Protection against electrostatic discharge Here CAN or PROFIBUS DP V0 Part of the software that 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 59 Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik A GmbH HIPERFACE Host ID number Loadware Node Positively opening contacts
64. t is not explicitly allowed 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 ECOVARIO 114 D must not be connected to the mains power supply but must be driven by a power supply unit Connecting the servo amplifier directly to the mains will result in destruction If one or more servo amplifiers ECOVARIO are built into machines or plants the intended operation of the servo amplifier 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 Di rective 2004 108 EC Further EN 60204 and EN ISO 12100 parts 1 and 2 have to be observed Restart lock option Safety function Safe Torque Off STO Chapter 6 4 1 he restart lock must be integrated into a safety circuit that meets the demands of the safety standards of EN 60204 EN ISO 12100 1 and 2 and EN ISO 13849 1 It must only be activated when the motor is not longer rotating Drives with a suspended load must have an additional safe mechanical blocking 2 7 Foreseeable misuse of the safety function STO he restart lock must not be used if the drive is to be made inactive for the following re asons cleaning maintenance and repair operations long inoperative periods In such cases the entire system should be disconnected from the suppl
65. tice 45 Installation and Operating Instructions ECOVARIO 114 D Jonas Antriebstechnik A GmbH Ethernet operation For this version CAN bus wiring is not required at all cf Fig 6 37 The communication is handled exclusi vely via Ethernet All CANopen messages and services PDO Emergency NMT etc are managed Ethernet Ethernet Switch Hub q z IE ECOVARIO with ECOVARIQ with ECOVARIO with Other Ethernet devices Ethernet interface Ethernet interface Ethernet interface Fig 6 37 Ethernet operation of ECOVARIO without using the CAN bus Redundant operation The special feature of this version Fig 6 38 is that e g service data via SDO can be exchanged via Ethern et while process communication is done via the CAN bus The SDO transfer with the PC IPC does not reach the CAN bus which is not disturbed e g synchronous motion In order to change the operation mode the gateway mode has to be deactivated in each device object Ox2FB2 sub index 12 because otherwise the devices would send the messages to each other continuously Process data communication is decoupled completely from the Ethernet in this case All other CANopen messages and services PDO Emergency NMT etc are not switched through from the CAN bus to the Ethernet side and vice versa PC IPC Ethernet CAN Bus 1 a L ECOVARIO with ECOVARIO with ECOVARIO with Other CAN compatible devices Ethernet interface Ethernet
66. tion In the bootloader mode only error messages of group A are displayed During saving data in the EEPROM the display shows a P Afterwards the prior value is displayed 8 Parameter setting By setting the parameter the ECOVARIO 114 D is adjusted to the application The parameters are set in the PC The user interface ECO Studio is menu driven and easy to handle There are several interfaces to connect the PC to the ECOVARIO 2 CAN interface RS232 interface optional Ethernet optional 8 1 User interface ECO Studio How to work with the user interface ECO Studio is described in the ECO Studio online documentation Further information on programming the ECOVARIO can be found in the manual Object Dictionary ECOVARIO and ECOSTEP Subject to change without notice 55 Installation and Operating Instructions ECOVARIO 114 D Jonaor Antriebstechnik A GmbH 9 Accessories Table 9 1 Overview of ECOVARIO 114 D original accessories 56 Order key Complementary parts DDZ10 DDK10 Description Shield set with 1 shield plate 5 cable ties and 4 shield clamps Mating connector set Software tools and documentation ECO2CD Power supplies SV24 SV24 60 SV60 Cables INK65 491 525 xxx ABS65 300 525 xxx MOT43 132 721 xxx MOT34 132 722 xxx CD with ECO software tools and documentation 1 phase power supply 24 V c 5A 1 phase power supply 24 V c 2A 60 V 5A 1 phase power supply 60 V lt 5A
67. tor X8 Switch on line contactor Provided that the checks are carried out regularly as described above the example circuit below meets the requirements of performance level d according to EN ISO 13849 1 30 Subject to change without notice Jonas Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D Example of application The example in fig 6 20 shows a plant with 2 drives with common power supply The group can be blocked against indeliberate starting via S1 24V E Disable drives Emergency Off G4 Axis 1 and2 Q STO INA X8 1 JT Axis 1 Protective d Disconnect device demand value STOINB X8 3 IT Ctrl voltage 0 10 010 110 310 410 5 11 1 11 2 12 1 12 2 Axle STO OUTA X8 2 Disconnect uh i M demand value Safety PLC TB xs4 E veal Ctrl voltage 0 II lower stages off 00 4 01 1 01 2 02 1 O22 Enable1 X1A 5 Ready FPGA CPU Enable2 AA Ready2 X1B 1 1 dL ECOVARIO 114 D GND Ki Lj i GND Line contactor Fig 6 20 Example for STO function Logic table for FPGA SW Enable STOIN Enable STOOUT Ready 0 H H 0 0 0 H L 0 0 0 L H 0 0 0 L L 1 0 1 H H 0 1 1 H L 0 0 1 L H 0 0 1 L L 0 0 Subject to change without notice 31 Installation and Operating Instructions ECOVARIO 114 D Jonaor Antriebstechnik amp GmbH Maintenance trouble shooting and diagnosis The STO function and the STO interface do not require any maintencance However periodic
68. u want to use this option please double check with our applications department As an option a version for use with sine encoder systems with 1 Vpp signal amplitude for high resolution encoder evaluation is available Via the 9 pole Sub D socket ECOVARIO 114 Dx xL xxx xxx incremental standard encoders can be connected Parametrization of the encoder interfaces For all encoders of the Jenaer Antriebstechnik GmbH complete data sets are available With the PC software ECO Studio the data set for the selected encoder can be chosen and transmitted to the ECOVARIO 32 Subject to change without notice Jonaor Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 6 5 1 X11 Encoder Axis 1 X12 Encoder Axis 2 all types except ECOVARIO 114 Dx xL xxx xxx Fig 6 21 Mating connector X1 1 X12 15 pole Sub D high density connector view of the solder or crimp side Table 6 15 Pin assignments connector X11 X12 Standard encoder JAT SinCos encoder HIPERFACE BISS Hengstler IC Haus incremental Optolab Stegmann SCS 2 encoder incremental or JAT optional 2 incremental enc optional 24 incremental enc SinCos encoder Pin Signal encoder 2 enc Signal encoder 2 enc Signal Description Signal BISS encoder 2 encoder 1 U 5 11 15 V can be set U 5 11 15 V can be set U 5 11 15 V U 5 11 15 V can be set 500 mA 500 mA can be set 500 mA 500 mA 2 A Track A sin Sine Sine 08 1 2 V
69. uctions ECOVARIO 114 D Twisted pair PB 5V IRXD TxD RxD Tx D Master in Profibus Fig 6 35 PROFIBUS connection of several ECOVARIO s For newly installed PROFIBUS DP V0 cablings we recommend standardized cable type A with the follow ing characteristics Wave resistance 135 165 Q Capacitance per unit length 30 pF m Loop resistance 110 O km Core diametre 0 64 mm Core cross section gt 0 34 mm The maximum cable length depends on the transmission rate E g with a transmission rate of 187 5 kBit s the maximum cable length is 1200 m at 12 MBit s the cable should not be longer than 100 m At transmission rates 21 5 MBit s spur lines must be avoided Common connectors provide the possibility to connect incoming and outgoing cables directly in the connector Thus spur lines are avoided and the bus connector can be plugged in and off the bus without interrupting the data transmission Use only bus connectors suitable for PROFIBUS DP VO and the respective baud rate The connectors at both ends should provide a termination to be switched in Additionally in each connector should be a longitudi nal inductance with 100 nH for each outgoing data conductor These connectors are available from Siemens for example The shield of the PROFIBUS DP V0 cable may not be used for potential compensation Machines that are grounded at various spots must have a separate PE conductor the impedance of which is at least 10 times s
70. ungstemperatur Ambient UL File ECOVARIO XXXXX XX XXX XXX XXXVIXXXA XXXVI XXXA Spare for additional XXX wponses C US PX LISTED IND CONTEQ 24403 8 C 13W Fig 4 1 Name plate ECOVARIO dimensions 70 x 20 mm Subject to change without notice Jona Antriebstechnik GmbH Installation and Operating Instructions ECOVARIO 114 D 4 4 Suitable types of motors With ECOVARO servo amplifiers various types of motors can be operated Rotative and linear 2 phase mo tors of the motor ranges ECOSTEP ECOLIN and ECOVARIO as well as 3 phase and DC motors can be driven The motors must be equipped with encoders for position and speed control Incremental encoders SINCOS encoders and absolute encoders can be evaluated It is not possible to drive motors with resolvers as measuring system he techical data in this manual refer exclusively to the encoder commutated synchronous motors men tioned in chap 4 4 1 to 4 4 3 If you want to drive DC motors with ECOVARIO please contact our technical service see www jat gmbh de distribution 4 4 1 ECOSPEED motors The motor ranges 60B and 80B contain rotative 2 phase encoder commutated low pole synchronous motors with flanges of 60 mm and 80 mm and holding torques between 0 6 and 3 Nm Ihe motor ranges 60C and 80C are 3 phase with holding torques between 0 93 and 3 5 Nm For technical data and accessories for the motors see our product catalogue ECOVARIO ECOMPACT ECOSTEP Dri
71. ut after the master slave principle In networking a token is a special series of bits that travels around a token ring network As the token circulates computers attached to the network can cap ture it The token acts like a ticket enabling its owner to send a message across the network There is only one token for each network so there is no possibility that two computers will attempt to transmit messages at the same time Supervisory software Subject to change without notice Jonaor Antriebstechnik A GmbH Installation and Operating Instructions ECOVARIO 114 D 10 2 Index of standards and directives DIN 912 replaced by DIN EN ISO 4762 DIN 6798 drawn back without replacement DIN EN 50170 General purpose field communication system DIN EN 50178 Electronic equipment for use in power installations DIN EN 60204 Safety of machinery electrical equipment of machines Part 1 General requirements DIN EN 61 800 3 Adjustable speed electrical power drive systems Part 3 EMC product standard including specific test methods DIN EN 61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety requirements Elec trical thermal and energy DIN EN 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Func tional safety DIN EN ISO 4762 Hexagon socket head cap screws DIN EN ISO 12100 1 Safety of machinery Basic concepts general principles for design Part 1 Basic terminology
72. ves or our web site www jat gmbh de Fig 4 2 Motor ranges 60B and 80B 4 4 2 ECOSTEP motors The motor ranges 17H and 23S contain rotative 2 phase encoder commutated high pole synchronous motors with flanges of 42 mm and 56 mm and holding torques between 0 2 and 3 8 Nm For technical data and accessories of the motors see the product catalogue ECOVARIO ECOMPACT ECOSTEP Antriebe or our web site www jat gmbh de Fig 4 3 Motor ranges 17H and 23S Subject to change without notice 15 Installation and Operating Instructions ECOVARIO 114 D 4 4 3 Jona Antriebstechnik A GmbH Direct linear motors Series SLM contains iron core 2 phase encoder commutated syn chronous linear motors from 220 N to 1650 N peak force Series SLME provides ironless direct linear motors from 150 N to 400 N peak force For technical data and accessories of the motors see our product cat alogue ECOVARIO ECOMPACT ECOSTEP Drives or our web site www jat gmbh de Fig 4 4 Direct linear motor range SLM 080 4 4 4 DC servo motors DC motors are not part of the delivery range of the Jenaer Antriebstechnik GmbH but can be operated with ECOVARIO amplifiers In this case we recommend strongly to contact our technical service The ECOVARIO supports DC motors with brushes as well as brushless DC servo motors in conjunction with RS422 compatible standard encoders 5 5 1 5 1 1 Installation Mounting Importa
73. witch axis 2 reached Display shows both limit switches axis 2 reached Blockings of both axes are displayed as a combination of the displays shown above Save parameters During saving parameters in the EEPROM the display shows a P Afterwards the prior value is displayed Error display If an error is detected this is displayed It is always the last error that is displayed If the error on the display is cleared if possible the next error on the list is displayed For the groups D and E the error code on the display is preceded by an axis code 1 or 2 Bootloader mode he b on the display indicates that the device is in the bootloader mode The point indicates that the bootloader is ready for operation Subject to change without notice 51 Installation and Operating Instructions ECOVARIO 114 D Jonaor Antriebstechnik A GmbH 7 3 2 X Error messages If the loadware recognizes an error it is displayed In bootloader mode the error display can be interrupted by pressing a key afterwards errors can be shown with the display of the error memory cf chap 7 3 3 Key operation It is always the last error that is displayed Note For the groups D and E the error code on the display is preceded by an axis code 1 or 2 In ECO Studio 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 Code Error GroupA Ge
74. y by the personnel and secured main switch in emergency stop situations In emergency stop situations the main contactor is switched off by the emergency stop button or the BTB contact in the safety circuit 3 Legal notes 3 1 Terms of delivery Our terms of delivery are based on the Ihe General Terms of Delivery for Products and Services of the Elec trical Industry German ALB ZVEI of the Central Association of the Electrical and Electronics Industry ZV EI e V in their current version Subject to change without notice 9 Installation and Operating Instructions ECOVARIO 114 D 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 ECOVARIO unauthorized modifications of drive motor or accessories operating or dimensioning faults Improper use of the ECOVARIO 114 D components 3 3 Standards and directives ECOVARIO are components intended to be built into machines or plants for industrial purpose he units meet the following standards DIN EN 61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety requirements Elec trical thermal and energy D

Installation and Operating Instructions ECOVARIO®114 D

Contents

Download Pdf Manuals

Related Search

Related Contents

Installation and Operating Instructions ECOVARIO&reg;114 D

Contents

Download Pdf Manuals

Related Search

Related Contents

Installation and Operating Instructions ECOVARIO®114 D