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Operating instructions

1. Service functions and error messages WERNER Error message Meaning of the error message Measures 52 1 FSM STO inputs have different Please contact the Technical Support levels 2 FSM STO Failure of 5 V OS US supply during the PWM was still active 53 0 FSM 2 0 Please contact the Technical Support 59 60 0 Ethernet user specific 1 Please contact the Technical Support 61 0 Ethernet user specific 2 Please contact the Technical Support 62 0 EtherCAT General bus error No EtherCAT bus available Check the cabling 1 EtherCAT Initialization error Replace the technology module If necessary contact the Technical Support 2 EtherCAT Protocol error Wrong protocol no CAN over EtherCAT Check the EtherCAT wiring 3 EtherCAT Invalid RPDO length Check the protocol 4 EtherCAT Invalid TPDO length Check the RPDO configuration of the servo positioning controller and of the control system 5 EtherCAT Erroneous cyclic Check the EtherCAT wiring communication Check the configuration of the master system 63 0 EtherCAT Defective module Technology module defective Replace the technology module 1 EtherCAT Invalid data Check the protocol Check the EtherCAT wiring 2 EtherCAT Reduce the cycle time EtherCAT bus TPDO data has not been read 3 EtherCAT Check whether the master supports the No distributed clocks active distributed clocks
2. Main Sub index index 44 0 CAM table error Check whether the index has been assigned correctly Check whether there are cam plates present in the device 1 CAM drive not referenced Ensure that the drive has been homed prior to the activation of the cam plate Delete the homing necessary option Ensure that a cam plate cannot be started during a homing run 45 0 Supply voltage cannot be Please contact the Technical Support switched off 1 Supply voltage cannot be switched on 2 Supply voltage has been activated 3 Power stage release DIN 4 not plausible 47 0 Error set up mode timeout Check the processing of the request by the PLC expired Speed threshold too low or timeout too small 49 2 DCO file Data error Please contact the Technical Support 50 0 CAN Deactivate the PDOs or increase the SYNC Too many synchronous PDOs interval The maximum number of PDOs must not be greater than the factor tp between the position controller and IPO menu Parameters Controller parameters Cycle times 1 SDO error occurred Please contact the Technical Support 51 0 No or unknown FSM module Replace the FSM Module 1 FSM faulty driver supply Please contact the Technical Support 2 FSM different module type 3 FSM different module version 4 Fault SSIO communication 5 Fault FSM break control Page 144 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d
3. mnaanaannnnaaanaB NB ANNN ANAKAN ANAN EENEG 102 8 8 Connection Incremental encoder input IDO310 een 104 8 3 1 Device side X10 Ham ANT Aa BAN EENS EEN ENNER REENEN 104 8 8 2 Counterplug X10 saninin inneasan aaaea nana radaas 104 8 8 3 Pinassignment DAO naa sanaaa anaana anaana erana 104 8 8 4 Cable type and design X10 cccsseeececeeeeeeeeeeneeceeeee sees seaeeeseeeeeseesseaeeeeeeeeneees 105 8 8 5 Connection notes DD aaa aaanananana a anan AK ENA NANGANAK ANG NAKAKA LANNAN ANAN KANANAAANKNGNAAAKANANAAAKAN 105 8 9 Connection Incremental encoder output DO see REENEN EEN 106 8 9 1 Device side X11 isitin R AG GAAN NENA EEN ENNER REENEN 106 8 9 2 Counterplug KU nainii ABRA 106 8 9 3 Pin assignment X11 0a 106 8 9 4 Cable type and design X11 ccscesseecceceeeeeeeeeeneeeeeeeeseeseeaneeeeeeeeseesseaneeeeeeeneees 107 8 9 5 Connection notes DO REENEN EENEG 107 8 10 Connection CAN Bus X4 00 ccccesseeeee cece anan an BN AN ener KN NEEN 108 8 10 1Device side NA AI EN SRSEE EEN NENA BILANG REENEN 108 8 10 2Co nterpl g XA EE 108 8 10 3 Pin assignment KA ANRIA 108 8 10 4Cable type and design DNA see REENEN En 109 8 10 5Connection notes X4 iarrann eanna namina Eege eEkeNE kan 109 8 11 Connection RS232 COM X5 maaaaaaannannaa aa anan KNKNKN ANAN AN ANAN ANAKAN ANAN suaneeseseeeseeseeeneneeees 111 8 11 1 Device side PO aaa GNG AGARAN NAGA NAALAGAAN a 111 8 17 2Counterplug K5
4. Power stage clock frequency kHz Output curent Anus E SE Max output current Anus te e Max allowed time s Power stage clock frequency kHz Output curent Am CSS Max output curent Ar sl Max allowed time s Power stage clock frequency kHz Output curent Am o S Max output curent Anus gl Max allowed time s Power stage clock frequency kHz Output curent Am S R Max output curent Aw oa ose f o ws Table 17 servoTEC S2108 FS Rated current for blocked or slowly rotated servo motor f lt 2 Hz and for an ambient temperature of lt 40 C Operating instructions Page 47 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Technical data M d 2 M d Parameter Values Power stage clock frequency kHz Output curent Anus E E Max output current Anus te e Max allowed time s Power stage clock frequency kHz Output curent Anus CSS Max output curent Anus sl e fe Max allowed time s Power stage clock frequency kHz Output curent Anus pos Max output curent Anus gl Max allowed time s Power stage clock frequency kHz Output curent Am sa Max ouput curent Aw 104 ose os Table 18 servoTEC S2108 FS Rated current for rotated servo motor fa gt 3 Hz and for an ambient temperature of lt 40 C Page 48 of 163 Operating
5. S2 SIN S4 SIN S1 COS S3 COS AGND TEMP R1 carrier R2 carrier TEMP NG NG 5 Connector AG NAGA Cable shield housing optional Connector housing Male Figure 21 Pin assignment Resolver connection X2A m The outer shield is always connected to PE connector housing on the controller side m The three inner shields are connected on one side of the servo positioning controller servo TEC 52100 FS to PIN3 of X24 Operating instructions Page 97 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 Electrical installation Mm d WERN 8 7 Connection Encoder X2B 8 7 1 Device side X2B D SUB connector 15 pole female 8 7 2 Counterplug X2B D SUB connector 15 pole male Housing for 15 pole D SUB connector with bolting screws 4 40 UNC Operating instructions Page 98 of 163 servoTEC S2 1xx FS Mai 2015 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 M d Electrical installation 8 7 3 Pin assignment X2B 3 3 V Motor temperature sensor normally Ri 2 kQ closed contact PTC KTY 5V 12V Sensor cables for encoder supply DH KE 1 kO 5V 12V 10 Supply voltages for high resolution Imax 300 MA incremental encoder OV Reference potential encoder supply and motor temperature sensor R 0 2 Vs
6. 7 Vert 5 10 KHz Carrier signal for resolver la lt 150 mAgrt GND 0 V 3 3 V Ri 2 kQ Motor temperature sensor normally closed contact PTC KTY Table 37 Pin assignment X2A The outer cable shield of the angle encoder cable must additionally be applied to the mounting plate of the controller housing over a large contact area with the aid of the shield connection clamp SK14 Page 96 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d d 2 m d Electrical installation W E 8 6 4 Cable type and design X2A The mentioned cable denominations refer to cables by Lapp They have proven effective and are successfully used in many applications However similar cables from other manufacturers for example L tze or Helukabel may also be used m LAPP KABEL LFLEX SERVO 720 CY 3 x 2 x 0 14 DY 2 x 0 5 DY CY 8 5 mm with tinned total Cu shielding Error during angle detection up to approx 1 5 at 50 m cable length e 2x 0 5 DY use carriers for the resolver For highly flexible applications e LAPP KABEL OLFLEX SERVO FD 770 CP 3 x 2 x 0 14 D12Y 2 x 0 5 D12Y CP 8 3 mm with tinned total Cu shielding Error during angle detection up to approximately 1 5 at 50 m cable length e 2x 0 5 D12Y use carriers for the resolver 8 6 5 Connection notes X2A D SUB connector Resolver output at the at X2A motor
7. The numbers are successively indicated Warning message with Index xx and subindex y A warning is displayed at least twice on the seven segment display The numbers are successively indicated Option STO Safe Torque Off active for the servoTEC S2100 FS devices seven segment display H blinking with a frequency of 2 Hz Table 49 Operating mode and error display Operating instructions Page 129 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d WERN Service functions and error messages Mm d 11 2 2 Error messages If an error occurs the servo positioning controller servo TEC 82100 FS will cyclically show an error message in its seven segment display The error message is comprised of an E for Error a main index xx and a sub index y for example E 0 1 0 Warnings have the same code numbers as error messages As a distinguishing feature warnings have a centre bar before and after the number for example 17 0 The following Table 50 Error messages below summarizes the meaning of the messages and the corresponding measures The error messages with the main index 00 do not reflect run time errors They contain information and in general there are no measures required by the user They occur in the error buffer only but will not be shown on the 7 segment display Table 50 Error messages Error message Meaning of the error message
8. CAN in the basic unit PROFIBUS via Master sercos without DIP switch sercos with DIP switch EtherCAT The control of EtherCAT via the DIP switches is not planned By using the EtherCAT fieldbus technology module the bus will be switched on automatically Table 32 Table overview of the DIP switch functionality Page 70 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d d 2 m d Functional safety technology W E 6 1 2 Assignment of the DIP switch The firmware of the servoTEC 82100 FS servo positioning controllers distinguishes itself by the universal support of various types of fieldbuses Since every fieldbus requires a specific hardware the fieldbus is selected based on the fieldbus module that is plugged into one of the technology slots Depending on the identified technology module the individual switches have an influence on the activation and perhaps also on the configuration of this specific fieldbus If the system does not find any fieldbus technology module the switch settings affect the fieldous CAN whose interface is integrated into the basic device This means that if for example a PROFIBUS module is installed the switch positions cannot be used to activate the CAN communication The assignment of the individual switch positions to a specific function depends on the fieldbus that is used As far as this is possib
9. Not used Not used RxD TxD N A line transmission reception data RTS LWL Request to Send Not used RxD TxD P B line transmission reception data Reference potential GND 5V N Can be used for external bus termination or to supply the transmitter receiver of an external optical waveguide transmission 7 The signal is optional It is used to identify the direction of an external optical waveguide connection Table 58 Pin assignment PROFIBUS DP interface 12 2 3 2 Counterplug 9 pin DSUB connector for example Erbic MAX PROFIBUS IDC Switch made by ERNI 12 2 3 3 Cable type and configuration The cable names given refer to cables made by Lapp They have proven to be reliable and are successfully used in many applications However it is also possible to use comparable cables from other manufacturers for example Litze or Helukabel m LAPP KABEL UNITRONIC BUS L2 FIP FC 1 x 2 x 0 64 O 7 8 mm with tinned total CU shielding for quick connect applications with IDC connectors For highly flexible applications LAPP KABEL UNITRONIC BUS FD P L2 FIP 1 x 2 x 0 64 8 mm with tinned total CU shielding for highly flexible use in drag chains Operating instructions Page 155 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d Technology modules M d WERN 12 2 4 Termination and bus terminating resistors Every bus segment of a PROFIBUS network h
10. firmware download requested the error 29 0 is triggered after a restart reset This error stops all further performances This means that there is no communication possible via the serial interface RS232 or USB Page 116 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 M d Electrical installation W E 8 14 Notes on safe and EMC compliant installation 8 14 1 Definitions and terms Electromagnetic compatibility EMC or electromagnetic interference EMI includes the following requirements Sufficient immunity of an electrical installation or an electrical device against outside electrical magnetic or electromagnetic interferences via cables or the ambient p Sufficiently small unwanted emission of electrical magnetic or electromagnetic interference from an electrical installation or an electrical device to other devices in the vicinity via cables or the ambient 8 14 2 General information on EMC The interference emission and interference immunity of a device always depend on the entire drive concept consisting of the following components m Voltage supply Servo positioning controller m Motor m Electro mechanics m Execution and type of wiring Superimposed control In order to increase interference immunity and to decrease interference emissions the servo positioning controller servoTEC S2100 FS already comprises output chokes and mains filt
11. Motor connection X6 servoTEC 82102 FS servoTEC S2105 FS servoTEC S2108 FS 9200 0210 20 9200 0218 20 Table 2 Connector set of POWER connector Connector set DSUB connector This connector set includes the counterplugs for the following connections I O interface X1 Angle encoder connection X2A Angle encoder connection X2B CAN fieldbus interface X4 Incremental encoder input X10 Incremental encoder output X11 Type servoTEC S2102 FS servoTEC 82105 FS servoTEC S2108 FS IEF Werner order number 9200 0200 00 Table 3 Connector set DSUB connector Connector set Shield connector This connector set includes two shield terminals SK14 servoTEC 82102 FS servoTEC S2105 FS servoTEC S2108 FS Table 4 Connector set Shield connector Page 16 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc TE Safety notes for electrical drives and controllers WERNER 2 Safety notes for electrical drives and controllers Used symbols 2 1 f DN Caution Dangerous voltages The safety note indicates a possible perilous voltage DANGER Nonobservance may result in property damages and in personal injuries Caution Nonobservance may result in severe property damages Information il Important information and notes Operating instructions Page 17 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servo
12. Mai 2015 d 2 m d Safety notes for electrical drives and controllers W E 2 4 2 Safety notes for assembly and maintenance The appropriate DIN VDE EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system The plant engineer or the operator is responsible for compliance with these regulations A The servo positioning controller must only be operated maintained and or repaired by personnel trained and qualified for working on or with electrical devices Prevention of accidents injuries and or damages A Additionally secure vertical axes against falling down or lowering after the motor has been switched off for example by means of m Mechanical locking of the vertical axle a External braking catching or clamping devices or Sufficient balancing of the axle The motor holding brake supplied by default or an external motor holding brake driven by the drive controller alone is not suitable for personal protection Keep the electrical equipment voltage free using the main switch and protect it from being switched on again until the DC bus circuit is discharged in the case of BB p Maintenance and repair work m Cleaning m long machine shutdowns Prior to carrying out maintenance work make sure that the power supply has been turned off locked and the DC bus circuit is discharged The external or internal
13. N o servoTEC 2100FS Power Supply X9 Mains phase PE o r Bridge circuit External brake for internal brake resistor resistor alternative Mains neutral conductor Pos DC bus voltage Neg DC bus voltage Connection of internal brake resistor Brake chopper connection for internal external brake resistor F1 PE Connection ground conductor from mains 24V o DVo 24 V Supply 24V 24 V supply Permanent magnet synchronous maschine GND24V Reference ground for 24 V supply Ground conductor from motor Motor X6 Motor phase 1 Motor phase 2 Motor phase 3 T hoo i Ground connection from motor Motor temperature sensor normally closed contact PTC KTY Cable shield from holding brake and motor temperature sensor 24V 1A for the holding brake Holding brake motor signal level depentdent on switch status high side low side switch Motor feedback X24 X2B Resolver Encoder A EX M Motor feedback Figure 15 Connection to power supply and motor Page 80 of 163 Mai 2015 Operating instructions servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc M d Electrical installation WERN The operation of the servo po
14. feature If necessary contact the Technical Support 4 Missing SYNC message in IPO Check the cycle times of the servo positioning cycle controller and of the control system 64 0 DeviceNet Duplicate MAC ID Change the MAC ID Operating instructions Page 145 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Service functions and error messages M d 2 M d Error message Meaning of the error message Main Sub index index 1 DeviceNet Bus power lost Check the DeviceNet wiring 2 DeviceNet RX queue overrun Reduce the number of messages per time unit during the transmission 3 DeviceNet TX queue overrun Reduce the number of message per time unit that are to be transmitted 4 DeviceNet IO send error Please contact the Technical Support 5 DeviceNet Bus Off Check the DeviceNet wiring 6 DeviceNet Please contact the Technical Support CAN controller overrun 65 0 DeviceNet active but no Technology module defective module Replace the technology module 1 Timeout I O connection Please contact the Technical Support 80 0 IRQ Please contact the Technical Support Time overflow current control 1 IRQ Time overflow speed control 2 IRQ Time overflow position control 3 IRQ Time overflow interpolator 81 4 IRQ Please contact the Technical Support Time overflow low level 5 IRQ Time overflow MDC 82 0 Sequence contr
15. homing switch is connected Check the connection of a home switch Contact the Technical Support The maximum homing distance has been travelled but the reference point or the destination of the homing run have not been End of homing distance reached Check the configuration of the devices connected to the CAN bus Check the cabling compliance with the cable 12 CAN Two nodes with the same ID specification cable break maximum cable length exceeded correct terminating resistors cable CAN Communication error bus OFF shield grounded all signals applied Replace the device If the error could be eliminated by replacing the device please send the replaced device to our sales partner Check the cabling compliance with the cable specification cable break maximum cable length CAN Communication error on send Page 134 of 163 Mai 2015 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Operating instructions servoTEC S2 1xx FS Service functions and error messages Error message Meaning of the error message 3 CAN Communication error on receive d M d 2 M d Measures exceeded correct terminating resistors cable shield grounded all signals applied Check the start sequence of the application Replace the device If the error could be eliminated by replacing the device please send the replaced device to our sales partner 4 CAN Node Guardi
16. 87mm x 65mm x 19mm suitable for technology slot TECH 1 and or TECH 2 Weight approx 50g Table 51 Technical data EA88 interface Page 148 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc M d 2 M d Technology modules 12 1 2 2 Digital inputs 8 digital inputs 24V protected against inverse polarity and short circuit proof Parameter Input Nominal voltage Voltage range High detection at Low detection at Hysteresis Input impedance Inverse polarity protection Switching delay up to port pin low high transition Table 52 Digital inputs EA88 interface X21 Operating instructions Page 149 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d WERN Technology modules M d 12 1 2 3 Digital outputs 8 digital outputs 24V protected against inverse polarity and short circuit proof protection against thermal overload Parameter Switch type Nominal voltage Voltage range Output current nominal IL nominal 100 mA Voltage loss at I nominal lt 1V Residual current with switch in OFF lt 100 uA position Protection against short circuit gt 500mA approx value overcurrent Temperature protection Shut down if the temperature is too high Ty gt 150 Supply Protection in the c
17. ABAD AR ABRA 111 8 11 3Pin assignment X5 BAGA AAAAAA anadenia araia 111 8 11 4Cable type and design X5 21 maaaaananna aaa REENEN ENEE En 112 8 11 5Connection notes X5 00 0 mmnaa anas nnannaKNABABANNSKKAKAN ANAN ANABASAKAN ANAKAN BNNNNNAKKNKNNAAN 112 8 12 Connection USB PAY lisa BABAE AABANG 113 8 12 1Device side X19 Lakasan IBAAN NANA EEN ENNER REENEN 113 8 12 2Counterplug X19 RA GERA 113 8 12 3Pin assignment X19 aaa KA NAINA NADA 113 8 12 4Cable type and design X19 ceseesseecceceeeeeeeeeeneeceeeeeeeeeeaneeseeeeeseeeseaneeeeeeeneees 113 8 13 SD MMG GCard MT 114 8 13 1Supported card tvpes EENEG 114 8 13 2Supported TUNCLIONS L A kaka BAGAL NAL 114 8 13 3Supported file systems ccceceeeeeseeeceeeeeeeeeeeaneeeeeeeeseesseaeeeseeeseseeeseaeeeeeeneeeees 114 8 13 4File names ANAN BAGAN KEIA NAA 114 8 13 5Pin assignment SD MMC Card 11110aaaananaaaa na 115 8 13 6B00T PIP SWI Chua AA AKN BANANA AA AA NGA 116 8 14 Notes on safe and EMC compliant installation s cceeeeeeeeeeeeeeeceeeeeeeeeeeeeeeeeees 117 8 14 1Definitions and term csciccicsecdenteneesaensencdescnneesnanhenscnavnnnesannsnscdnocennesanvenascnancanttaanne 117 8 14 2General information on EM eekeeekNRRREEEEEEEEEERERER REENEN En 117 Page 8 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc 10 11 12 WERNER 8 14 3EMC areas first and second
18. The positioning process can be controlled via digital inputs Page 64 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 m d Function overview W E 5 3 2 Relative positioning In the case of relative positioning the target position is added to the current position Since no fixed zero is required referencing is not compulsory It does however make sense in many cases in order to bring the drive to a defined position Adding of relative positionings allows for example endless positioning in one direction for a trimming unit or a conveyor belt incremental dimension 5 3 3 Absolute positioning The target position is approached independent of the current position In order to execute an absolute positioning we recommend prior referencing of the drive In the case of absolute positioning the target position is a fixed absolute position referred to the zero or reference point 5 3 4 Driving profile generator Driving profiles are categorized in time optimal and jerk limited positioning In the case of time optimal positioning the maximum set acceleration is used for starting and braking The drive approaches the target in the shortest time possible the velocity profile is trapezoidal and the acceleration profile is block shaped In the case of jerk limited positioning the acceleration profile is trapezoidal and the velocity profile is therefore of third order Since
19. perform a homing run and save customer specific configuration to the angle encoder and then save to the basic device Motor replaced parameterise the basic device perform a homing run save to the angle encoder and then save to the basic device 7 Write protected EEPROM angle Please contact the Technical Support encoder 9 EEPROM angle encoder too small 10 0 Overspeed Encoder offset angle correct 11 0 Error at start of homing run No controller enabling MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Page 133 of 163 Mai 2015 Operating instructions servoTEC S2 1xx FS d M d 2 M d Meaning of the error message Error message Sub index Main index Error during homing run Service functions and error messages Homing has been interrupted for example by disabling the controller The required index pulse is missing Homing run No valid index pulse The maximum time parameterized for homing has been consummated before the homing run Homing run timeout has been completed Please check the time parameterisation The associated limit switch is not connected Limit switches mixed up Move the limit switch so that it is not located in Homing run Wrong or invalid limit switch the area of the index pulse Unsuitable parameterisation of acceleration ramps 5 Homing run 12t following error Homing run Invalid stop reached for example because no
20. with tinned total Cu shield for highly flexible use in drag chains Page 88 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d Electrical installation WERN 8 4 5 Connection notes X6 PHOENIX PHOENIX Motor connector MINI COMBICON COMBICON at the X6 at the X6 BR ECH T T E BR PE optional MT MT PE Motor Motor Phase W resp 3 Motor Phase V resp 2 266666666 ojo nN D oa AJ ooj N Motor Phase U resp 1 Connector housing Cable shield optional Motor housing Figure 18 Motor connection X6 TEC 2105 FS See PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK o TEC 2102 F i soul EC S210 Fa ang PHOENIX MINI COMBICON MC 1 5 9 ST 5 08 BK servoTEC S2108 FS Connect the inner shields to PIN 3 maximum length 40 mm m Length of unshielded cores maximum 35 mm Connect total shield on controller side flat to PE terminal maximum length 40 mm Connect total shield on motor side flat to connector or motor housing maximum length 40 mm Operating instructions Page 89 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 Electrical installation M d WERN Via termina
21. 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 Mechanical installation X1 1 0 YOO Cease OO SI X10 IN X11 OUT X9 7 LAS X0 Q EU W19 uojoauuoo pjalys jo Joyorsg Hulusise4 weg CU poseydo DI A z seyd 10 0w N aseyd J0 OW IM Joyonpuoo puno b Jjojow E ae pau out LX AUT JOSUas Jojow 1 UN 2 lt Mes lt J0suas Jojow IN Mana josuas dInjgladwa ayesq Buipjoy Dias 1 uu 104 UOIJO UUOD dd m ye q Buipjoy yg ye q Buipjoy ug UonOeuu0oc 1010 9x ES yndul Japodua e uawalay 01X nd no Japoous B UBW319y LX Figure 12 SerovTEC S2102 FS Top view E O o D Hi 4 J91 0S2 AY 10 UOI DBUUOD YZX oc OdAr2e GND A7ZONO x O0AFS Ayet S surew O oc W01 JO ONPUCD puno dd WW Jaddous eyeiq H9 HA a jeulau Joddoyo yesq LNI HA o 4 Japodua ay 104 UOND9UUOD gzx abe jon snq 9g Bou NZ Ul abejjon snq pq sod tYZ o J0 9Npu00 eJ nau sulew N S OVAOEZ aseyd surew 7 E Addne Jamog 6X MAN EN 1121146 LV serv
22. 7 Checking operability 1 Make sure the controller enabling switch is turned off Switch on the power supply of all devices The READY ERROR LED on the front of the servo positioning controller should now be active green 2 If the READY LED does not light green but red there is a malfunction If the seven segment display indicates a number sequence it is displaying an error message You have to take care of the corresponding problem In this case please continue with chapter 11 2 2 Error messages page 130 If the device displays nothing follow these steps Switch off the power supply Wait 5 minutes so the DC bus can discharge Check all connection cables Check the functionality of the 24 V power supply N Oo AN A D Switch the power supply back on Operating instructions Page 125 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Service functions and error messages M d 2 Mm d 11 Service functions and error messages 11 1 Protection and service functions 11 1 1 Overview The servo positioning controller servoTEC S2100 FS has a powerful sensor analysis which monitors the proper functioning of the controller power output stage motor and communication with the outside world All occurring errors are stored in an internal error memory Most errors will cause the controller unit to shut down the servo positioning controller and the power output stage They can only be switche
23. ENVIFONMENE cceceecceeeeeeeeeeeeneeeeeeeeeneeeeeneeeeeeeees 118 8 14 4EMC compliant Cabling 1maaaaaaa nnmnnn na 119 8 14 50peration with long motor cables cceccceeseceeeeeeeeeeeeeeeeeeeseeeseeeseeeseeeseeneeeeeees 120 8 14 6ESD Prote Ctl OM sikna aaae ea ESAE EEN 121 Additional requirements for the servo drives concerning the UL approval 122 9 1 Circuit proteclloNn ia ANAN AYAN NANANA GITARA 122 9 2 Wiring and environment regards nnn 122 9 3 Motor temperature sensor nama nnan na anan NN AN KN KKNK EEN EEN EEN 122 Initial TE EE 123 10 1 General notes on connection kNSEEEEEKRREEEEEERREEEEEKRREEEEEERREEEEEERREEEEEERREEEEEEREEEEEEERNn 123 10 2 TOONS J E D EE 123 10 3 Connecting the Motor cccccscciivessectectsccsieessacdcnstecnateessecdenedeecateeeseadcnereeeateessscdcenreeetteenss 123 10 4 Connecting the servo positioning controller servoTEC 52100 FS to the power SUP UE 124 10 5 Connecting the PC serial interface ccccceeseneeeeeeeneeeeseeeeeeeseeneeeeseeneeenseeeeeenseeneeenss 124 10 6 Connecting the PC USB interface alternative 22mmm mananananawanananasanananananaanaa 124 10 7 Checking operability un BRA 125 Service functions and error messages 111111111 00000aaaaaaaaaaaaaaaasaaaaaaaaaaaaaaaaaaaan 126 11 1 Protection and service functions ee eeeeeeeeeeneeeeeeeeeeeneeeneeeeseeneeenseeneeensennenenss 126 DN fa
24. IEF Werner telegram it is also possible to access all device specific functions exceeding the functionality defined by PROFIDRIVE m The IEF Profibus profile of the previous servoTEC device family is no longer supported il with the series servoTEC S2000 FS 3 4 6 Technology module sercos Il The sercos II interface is a slave fieldbus module that enables the use of the servoTEC S2 FS servo positioning controllers in numerically controlled highly dynamic drive applications for example in machine tools The sercos II interface enables the position speed or torque control in accordance with the functionality of the compliance classes A and B The connected module is automatically identified Since the data exchange between the CNC system and the controller is realised via optical fibre cables mutual interference can be avoided The drive address is set and the bus is activated via the IEF Werner S2 Commander parameterisation tool The transmission rate can be set to a value between 2 and 16 Mbit s 3 4 7 Technology module EtherCAT The EtherCAT interface enables the connection of the servoTEC S2 FS servo positioning controller to the EtherCAT fieldbus system The communication via the EtherCAT interface IEEE 802 3u is realised with the aid of EtherCAT standard cabling It is possible between an servoTEC S2100 FS firmware version 4 0 0 1 1 or higher and the IEF Werner S2 Commander parameterisation software version 4 0 0 1
25. TECH 1 or TECH 2 of the servo positioning controller with a suitable Phillips screwdriver N Push the technology module into the open technology slot so that the lateral guides hold the board Push the technology module into the slot until it reaches the stop Screw the technology module onto the front side of the housing of the servo positioning controller with the Phillips screw a Ensure that the front plate of the technology module has conducting contact with the housing of the servo positioning controller PE Operating instructions Page 163 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015
26. WERN 4 2 Operating and display elements On the front the servo positioning controller servoTEC S2100 FS has two LEDs and one seven segment display to indicate the operating status Display of operating mode and a coded error number in the case Seven segment display of a malfunction LED 1 Operational state respectively fault two color LED green red LED 2 green Controller enable LED 3 yellow Status display CAN bus RESET Button Hardware reset for processor Table 9 Display elements and RESET button 4 3 Supply X9 Type servoTEC S2102 servoTEC S2105 servoTEC S2108 FS FS FS Supply voltage 1 x 100 230 VAC 10 50 60 Hz In continuous operation maximum of 10 Arms mains current 310 320 VDC Intermediate circuit voltage at an 310 320 VDC without PFC 360 380 VDC with active PFC operating voltage of 230 VAC Alternative DC supply 60 380 VDC 60 320 VDC 24 VDC 20 24 VDC 20 24 V supply 0 55 A 0 65 A plus current consumption of a possibly connected holding brake and I Os Table 10 Technical data Performance data X9 Page 42 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc WERNER Technical data Brake resistance Pulse power Continuous power Threshold limit without PFC with active PFC Over
27. active in position ON From this the decimal bus address 137 89h is derived Switch 1 2 gt 1 Switch 4 233 8 Switch 8 2 gt 128 Sum 1 8 128 137 Operating instructions Page 157 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 M Technology modules M d WERN 12 3 2 Technical data Storage temperature range 25 C to 75 C Operating temperature range 0C to 50 C deratings Atmospheric humidity 0 90 non condensing approx 92 x 65 x 19mm suitable for technology slot TECH 2 Altitude up to 2000 m above msi External dimensions LxWxH Weight approx 50g Table 59 Technical data of sercos II module to ambient conditions dimensions and weight The following elements can be found on the front plate of the sercos Il module see Figure 35 agreen LED to indicate that the bus is ready for operation a connection for the optical waveguide receiver type HFD 7000 402 metal connection 3 Connection directly underneath the 8 pole DIP switch a connection for the optical waveguide transmitter type HFD 7000 210 plastic connection 3 Connection directly above the LED m 8 pole DIP switch to set the fieldbus address RRRRRRRRR seeeeeerer TITELE Figure 35 Sercos II module of front view Page 158 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d ES 2
28. and contusions by means of suitable protective measures Use suitable tools only If specified use special tools Use lifting devices and tools appropriately If necessary use suitable protective equipment for example goggles protective footwear protective gloves Do not stand underneath hanging loads Remove leaking liquids on the floor immediately to prevent slipping BBBBBBBB Operating instructions Page 29 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 W Product description M EZ 2 Mm ES 3 Product description 3 1 General The servo positioning controller servoT EC S2100 FS series devices are intelligent AC servo inverters with substantial parameterisation possibilities and extension options They are flexible and can be easily adapted to a number of different applications These servo positioning controllers are designed for receiving so called FSM modules Functional Safety Modules Thanks to their integrated safety features external monitoring devices can be omitted for numerous applications The series includes types with single phase and three phase supply Type key Example using the servoTEC 52102 FS servoTEC S2 1 02 FS T Functional Safety RMS output current Power supply line 1 single phase 3 three phase 2 generation Type denomination Figure 1 Type key The single phase supply types are designed for connection to the 230 VAC mains and com
29. and saved via IEF Werner S2 Commander downward compatible Operating instructions Page 72 of 163 servoTEC S2 1xx FS Mai 2015 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc Functional safety technology WERN ER 6 2 Integrated safety technology schematic representation Filter Rectifier Intermediate circuit Power inverter Mains 1 Synchronus machine Lio L2 o L3 o Control signals Intermediate circuit Power switch voltage Communication Angle Field bus I Os Parameterization digital Diagnostic analog Motor speed Encoder Communication Figure 8 Schematic representation of the integrated safety technology MOV Page 73 of 163 Operating instructions servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc Mai 2015 M Functional safety technology M d WERN 6 3 Module variants 6 3 1 FBA module As a standard the basic device comes supplied with a so called FBA module Fieldbus Activation Module that has a DIP switch 8 poles on its front panel Under certain conditions substantial parts of the parameters of the fieldous communication can be configured with the aid of this DIP switch Depending on the fieldbus that is used it is possible for example to adjust the fieldbus node number or the baud rate and so on This means that a servo positioni
30. brake resistor carries dangerous DC bus voltages during operation of the servo positioning controller and up to 5 minutes thereafter Contact may result in death or serious personal injury Wait for this time prior to performing any work on the affected connections Measure the voltages for your own protection Contact with these high DC bus circuit voltages may result in death or serious personal injury Be careful during the assembly During the assembly and also later during operation of the drive make sure to prevent drill chips metal dust or assembly parts screws nuts cable sections from falling into the device Also make sure that the external power supply of the controller 24 V is switched off The DC bus circuit or the mains supply must always be switched off prior to switching off the 24 V controller supply gt Ss Operating instructions Page 23 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 Safety notes for electrical drives and controllers Carry out work in the machine area only if AC and or DC supplies are switched off Switched off output stages or controller enablings are no suitable means of locking In the case of a malfunction the drive may accidentally be put into action This does not apply to drives with the special Safe Stop feature in accordance with EN 954 1 CAT 3 or with the Safe Torque Off feature in accordance with EN 61800 5 2 This feature can be achiev
31. current without PFC with active PFC detection Table 11 Technical data Internal brake resistor X9 Type servoTEC servoTEC servoTEC 2102 FS 2105 FS 2108 FS Break resistance Continuous power Operating voltage Table 12 Technical data External brake resistor X9 For a nominal supply voltage of 230 VAC 10 Continuous power output Peak power output Table 13 Performance data of PFC stage Below the nominal supply voltage the power output of the PFC stage is reduced linearly These performance curves are shown in the following figure Figure 3 Performance curve of the PFC stage page 44 Page 43 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc W Technical data M E 2 Mm ES PFC power output KW gt gt PFC power output Peak power output 054 14 0 25 4 0 54 PFC power output Wa Cl g limited by It 50 N LO o o i i a A olg od i i i g 9 i ae Supply voltage E 3 100 200 255 Vera Figure 3 Performance curve of the PFC stage Page 44 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 Mm d Technical data 4 4 Motor connection X6 Type servoTEC servoTEC servoTEC 2102 FS 2105 FS 2108 FS Specifications for operation with 1x 230 VAC 10 50 Hz 1 0 kVA 1
32. cycle time However it can also be set as an integer multiple of the speed controller cycle time When the positioning controller is activated it receives its setpoints from the positioning or from the synchronisation controller The internal resolution is up to 32 bits per motor revolution depending on the used encoder 5 2 10 Synchronisation electronic gearing The servo positioning controller servoTEC S2100 FS allows master slave operation which in the following will be called synchronisation The controller can serve as master or slave If the servo positioning controller servo TEC 82100 FS is the master it can provide the slave with its current rotor position at the incremental encoder output X11 With this information the slave can determine the current position and or speed of the master via the incremental encoder input X10 Of course it is also possible to derive this information needed for the slave via an external encoder X2B The synchronisation can be activated or deactivated via communication interfaces or via digital inputs The speed feed forward can be calculated by the servo positioning controller servoTEC S2100 FS itself All inputs can be activated deactivated The internal encoder can optionally be shut off if another input is selected as actual value encoder This also applies to speed control mode The external inputs can be weighed with transmission factors The different inputs can be used individually or
33. device 3 4 Communication interfaces The servo positioning controller servoTEC S2100 FS has several communication interfaces The basic device itself is already equipped with many of these interfaces The following communication interfaces are included in the basic device m Serial interface X5 RS232 RS485 USB interface X19 USB m UDP interface X18 Ethernet m Fieldbus system X4 CANopen m WO interface X1 Digital and analog In and outputs The serial Ethernet and USB interface are particularly important for the connection of a PC and for the use of the IEF Werner S2 Commander parameterisation tool The fieldbus systems PROFIBUS DP sercos and EtherCAT are extension options that can be implemented in the form of plug in modules If required customer specific fieldbus protocols can also be realised In any case the servo positioning controller of this design always works as a slave to the fieldbus Page 36 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Product description WERN ER 3 4 1 Serial interface X5 The RS232 protocol is mainly intended to be a parameterisation interface but also allows the control of the servo positioning controller 3 4 2 USB interface X19 This interface too was mainly intended as a parameterisation interface but it can also be used for controlling the servoTEC S2100 FS servo positioning controller 3 4 3 UDP inte
34. i j l 3 r GND l l e D 11 i l I pa e i e 4 i i Mi pees cna a Ze 12 e4 i a DATA a IN NN XU e e 5 DATA PO EEE E E a Ze 13 em JA a SCLK 81 FT UILUX XX Xi Li SE 1 ee Wee HG 1 I Male 14 tl A e an 7 _ COS Zo T _ Ng OX X X 3 oi 7 me e Naa L m ee COS Z0 AG O K i 15 7 o 7 SIN Z0 Ng NG 8 LX XX _X_X SIN_ZO Connector EE WI Cable shield housing optional Connector housing F WERN M d Output of the incremental encoder with serial communication interface at the motor Figure 23 Pin assignment Incremental encoder with serial communication interface for example EnDat HIPERFACE optional X2B D SUB connector at X2B e e H e e e e e e e D Ze wf Connector housing Output of the digital incremental enco der at the motor TEMP TEMP SENSE SENSE VCC GND N N HALL_U HALL_V HALL_W A At B BH Cable shield optional Connector housing Figure 24 Pin assignment Digital incremental encoder optional X2B MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Operating instructions servoTEC S2 1xx FS Page 103 of 163 Mai 2015 d Electrical installation M d 2 M d W 8 8 Connection I
35. of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 m d Safety notes for electrical drives and controllers W E 2 4 5 Protection against dangerous movements Dangerous movements can be caused by faulty control of connected motors for different reasons p Improper or faulty wiring or cabling m Error in handling of components m Error in sensor or transducer m Defective or non EMC compliant components m Software error in superordinated control system These errors can occur directly after switching on the device or after an indeterminate time of operation The monitors in the drive components for the most part rule out malfunctions in the connected drives In view of personal protection particularly the danger of personal injury and or property damage this may not be relied on exclusively Until the built in monitors come into effect faulty drive movements must be taken into account their magnitude depends on the type of control and on the operating state DANGER Dangerous movements Danger to life risk of injury serious personal injuries or property damage For the reasons mentioned above personal protection must be ensured by means of monitoring or superordinated measures on the device These are installed in accordance with the specific data of the system and a danger and error analysis by the manufacturer The safety regulations applying to the system are al
36. of the sensor or the sensor characteristic curve Error also occurs if sensor is bypassed device defective Please send the servo positioning controller to our sales partner 2 Overtemperature motor analog Check cables of temperature sensor broken Wire break wire Check the parameterization of wire break monitoring threshold value 3 Overtemperature motor analog Check cables of temperature sensor short Short circuit circuit Check the parameterization of short circuit monitoring threshold value 04 0 Overtemperature of the power Plausible temperature display stage Check the installation conditions filter mats of irty 1 Overtemperature in the DC bus SE Device fan defective 05 0 Internal undervoltage supply1 Disconnect the device from the entire periphery and check whether the error persists after a 1 Internal undervoltage supply 2 reset 2 Driver voltage failure If the error persists please send the servo positioning controller to our sales partner 3 Undervoltage dig UO Check the outputs for short circuits or specific 4 Overcurrent dig VO load If necessary contact the Technical Support 5 Technology module supply Technology module defective voltage failure Replace the technology module If necessary contact the Technical Support MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Page 131 of 163 Mai 2015 Operating instructions servoTEC S2 1xx FS d M d M d Error message Meaning of the err
37. servo positioning controller servoTEC S2100 FS from the supply Based on an analog closed loop control the mains current is regulated to a sinusoidal waveform with a phase shift near to 0 The effective amplitude is adjusted according to the demanded input power A superimposed digital closed loop control adjusts the DC bus voltage to an average value close to 380 VDC To relieve the voltage control that is relatively sluggish during load changes acceleration deceleration of the drive the output input power delivered from the servo positioning controller servoTEC S2100 FS to the motor is measured and used for the pre control of the PFC stage F L D o 5 fN 3 phase 100V 230V AC gt gt S T8 c power 10 stage fi O U in Lin U Zk motor feedback y y PWM u IC for paa bahag LO correctio voltage j motion controller controller iq lag o q microcontroller Figure 2 Schematic setup of PFC stage m The control system includes the following values e digital control of the DC bus voltage to an average value of 380 VDC e analog control of the input mains current e Keeping of a sinusoidal mains current under stationary load conditions e cosp 5 0 97 at nominal operation at rated output power of the PFC stage By use of the parameterisation program IEF Werner S2 Commander the PFC stage Parameters
38. sink The heat sink temperature of the power output stage is measured with a linear temperature sensor The temperature limit varies from device to device Approx 5 C underneath the limit value a temperature warning is issued 11 1 5 Monitoring of the motor The servo positioning controller servoTEC S2100 FS has the following protective functions to monitor the motor and the connected encoder Monitoring of the encoder An error in the shaft encoder shuts down the power output stage In the case of resolvers for example the encoder signal is monitored In the case of incremental encoders the commutation signals are checked Other intelligent encoders provide further means of error detection Measurement and monitoring of the motor temperature The servo positioning controller servoTEC S2100 FS has a digital and an analog input for the detection and monitoring of the motor temperature The analog signal detection also supports non linear sensors The following temperature sensors can be selected m At X6 Digital input for PTCs normally closed contacts normally open contacts and analog sensors type KTY the current firmware version 4 0 0 1 9 does not support this feature at present m At X2A and X2B Normally closed contacts and analog sensors type KTY Other sensors NTC PTC may require a corresponding software adaptation 11 1 6 2t monitoring The servo positioning controller servoTEC S2100 FS comprises an lt mo
39. small 35 0 Speed protection of Linear The encoder signals are disturbed Check the motor installation for compliance with EMC recommendations 1 Timeout during quick stop Check the commutation angle 5 Error during the determination For this motor an improper method has been of the commutation position chosen Please contact the Technical Support 36 0 Parameter limited Check user parameter set 1 Parameter not accepted 37 0 sercos Check the sercos wiring for example clean the Excessive distortion optical fibre Check settings for the luminous power Check the baud rate 1 sercos Check the sercos wiring optical fibre for breaks Ring not closed Check the connections Page 140 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d M d 2 M d Service functions and error messages Error message Meaning of the error message 2 sercos Check the sercos wiring optical fibre MST missing twice Check the control system are all of the MSTs being transmitted 3 sercos Check the program in the sercos master Illegal phase requested by master 4 sercos Check the sercos wiring optical fibre MDT missing twice Check the control system are all of the MDTs being transmitted 5 sercos Check the settings for the operating modes in Unknown operation mode IDN S 0 0032 to S 0 0035 selected 6 sercos Increase the baud rate T3
40. the interference emission may possibly be required In applications involving long motor cables and or unsuitable motor cables with an inadvertently high cable capacity the filters may be thermally overloaded To avoid such problems we highly recommend the following procedure for applications that require long motor cables m With cable lengths of more than 25 m use only cables with a capacitance per unit length between the motor phase and the shield of less than 150 pF m Please contact the motor cable supplier if necessary For motor cable lengths of more than 25 m and up to 50 m the following derating applies regardless of the EMC qualification see also Table 7 Technical data of cable specifications Max motor cable length 40 m 35 m 30 m Page 120 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d M d 2 M d W Electrical installation 8 14 6 ESD protection Caution Unassigned D Sub connectors may cause damage to the device or other parts of the systems due to ESD electrostatic discharge O il To prevent such discharge protective caps are available for example Spoerle The servo positioning controller servoTEC S2100 FS has been designed to provide high interference immunity For that reason some individual functional blocks are electrically isolated Inside the device the signals are transmitted via optocouplers The fol
41. two sources of limitation for example for servo control values Operating instructions Page 61 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 WERN Function overview M d 5 2 7 Synchronization to the external clock signal The controllers work with sinusoidal constrained current operation The cycle time is always bound to the PWM frequency In order to synchronise the current control to the external clock signal for example sercos CANopen EtherCAT the device has a corresponding PLL Accordingly the cycle time varies within certain limits to allow synchronisation to the external clock signal For synchronisation to an external clock signal the user must enter the rated value of the synchronous cycle time 5 2 8 Load torque compensation for vertical axes For vertical axes applications it is possible to detect and store the holding torque during standstill It is then added to the torque control loop and improves the start up behaviour of the axes after releasing the holding brake 5 2 9 Positioning and position control In positioning mode a superordinated positioning controller is active in addition to the speed control which processes deviation of the actual position from the set position and converts it into the corresponding setpoints for the speed controller The position controller is a P controller By default the cycle time of the position control circuit is twice the speed controller
42. 00 0 Invalid error Information An invalid corrupted entry in the error buffer is marked by this error number No measures required 1 Invalid error detected and Information An invalid corrupted error entry corrected was detected and corrected The Debug information stores the initially found error number No measures required 2 Error cleared Information The active errors have been cleared No measures required 4 Serial number device type Information A flexible error buffer service changed memory module has been plugged into another change of modules device No measures required 01 0 Stack overflow Incorrect firmware If necessary reload the standard firmware again Contact the Technical Support 02 0 Undervoltage of DC bus Error reaction set too high Check power supply Check measure the intermediate circuit voltage Check threshold limit of the DC link Monitoring Page 130 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Service functions and error messages d M d 2 M d Error message Meaning of the error message Measures Main Sub index index 03 0 Overtemperature analogue Motor too hot Check the parameterization motor current controller current limitation 1 Overtemperature digital motor Suitable sensor Sensor defective Check the parameterization
43. 00 1300 m Multiturn absolute encoders EnDat 2 1 2 2 ROQ 400 EQI 1100 1300 EQN 100 400 1100 1300 m Absolute length measuring system EnDat 2 1 2 2 LC 100 400 4 5 2 5 Yaskawa encoders Digital incremental encoders with zero pulse sigma 1 Yaskawa OEM protocol made by Yaskawa are supported Page 52 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 M d Technical data 4 6 Communication interfaces 4 6 1 RS232 X5 Communication interface Values RS232 As per RS232 specification 9600 Baud to 115 2 kBaud Table 22 Technical data RS232 X5 4 6 2 USB X19 Communication interface Values Function USB 2 0 Slave Client 12 MBaud to 480 MBaud Connector type USB B no current consumption from the bus integrated power supply Communication protocol IEF Werner specific generic device Table 23 Technical data USB X19 4 6 3 Ethernet X18 Communication interface Values Function Ethernet 10 100 MBaud auto select Connector type RJ45 The current firmware version 4 0 0 1 9 does not support this feature at present Table 24 Technical data Ethernet X18 4 6 4 CAN bus X4 Communication interface Values CANopen controller ISO DIS 11898 full CAN controller max 1 Mbaud CANopen protocol as per DS301 and DS402 Table 25 Technical data CAN bus X4 Operating instructions Page
44. 02 1000Hz FS servoTEC 52105 FS servoTEC 52108 FS Please comply with chapter 9 Additional requirements for the servo drives concerning the UL approval on page 122 Table 35 Pin assignment X6 H A Il The cable shield of the motor cable must also be connected to the controller housing PE screw terminal Operating instructions Page 87 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d WERN M d Electrical installation 8 4 4 Cable type and design X6 The mentioned cable denominations refer to cables by Lapp They have proven effective and are successfully used in many applications However similar cables from other manufacturers for example L tze or Helukabel may also be used Caution Please comply with the prescribed minimum copper cross section for cables as per EN 60204 1 m servoTEC S2102 FS LAPP KABEL LFLEX SERVO 700 CY 4 G 1 5 2 x 2 x 0 75 12 7 mm with tinned total Cu shield m servoTEC S2105 FS and servoTEC S2108 FS LAPP KABEL LFLEX SERVO 700 CY 4 G 2 5 2 x 2 x 0 75 14 9 mm with tinned total Cu shield For highly flexible applications m servoTEC S2102 FS LAPP KABEL OLFLEX SERVO FD 755 P 4 G 1 5 2 x 2 x 0 75 CP 14 1 mm with tinned total Cu shield for highly flexible use in drag chains m servoTEC S2105 FS und servoTEC S2108 FS LAPP KABEL OLFLEX SERVO FD 755 P 4 G 2 5 2 x 2 x 0 75 CP 15 1 mm
45. 146_LV servoTEC_S2_1xx_FS_R1b doc M d 2 M d Operating instructions Copyrights 2014 IEF Werner GmbH All rights reserved The information and data in this document have been composed to the best of our knowledge However deviations between the document and the product cannot be excluded entirely For the devices and the corresponding software in the version handed out to the customer IEF Werner guarantees the contractual use in accordance with the user documentation In the case of serious deviations from the user documentation IEF Werner has the right and the obligation to repair unless it would involve an unreasonable effort A possible liability does not include deficiencies caused by deviations from the operating conditions intended for the device and described in the user documentation IEF Werner does not guarantee that the products meet the buyer s demands and purposes or that they work together with other products selected by the buyer IEF Werner does not assume any liability for damages resulting from the combined use of its products with other products or resulting from improper handling of machines or systems IEF Werner GmbH reserves the right to modify amend or improve the document or the product without prior notification This document may neither entirely nor in part be reproduced translated into any other natural or machine readable language nor transferred to electronic mechanical optical or any othe
46. 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 Safety notes for electrical drives and controllers Dx 2 Mm ES WE gd Without claiming completeness the following regulations and others apply Erection of power installations with nominal voltages up to 1000 V Safety of machinery Prevention of unexpected start up Safety of machinery Electrical equipment of machines VDE 0100 EN 1037 EN 60204 1 Part 1 General requirements EN 61800 3 Adjustable speed electrical power drive systems Part 3 EMC requirements and specific test methods EN 61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety requirements Electrical thermal and energy EN 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Functional EN ISO 12100 Safety of machinery General principles for design Risk assessment and risk reduction Safety of machinery Safety related parts of control systems EN ISO 13849 1 Part 1 General principles for design EN ISO 13849 2 Safety of machinery Safety related parts of control systems Part 2 Validation More standards to be respected by the user Safety of machinery Two hand control devices Safety of machinery Interlocking devices associated with guards i EN 574 EN 1088 EN ISO 13850 Safety of machinery Emergency stop Page 22 of 163 Operating instructions servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc
47. 2 or higher The support of other real time Ethernet protocols for example PROFINET IO is currently under preparation Page 38 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d 2 m d Product description W E 3 4 8 I O functions and device control Ten digital inputs provide the elementary control functions see chapter 4 6 6 I O interface X1 page 54 The servoTEC S2100 FS comprises a target table in which the positioning targets are stored and from which they can later be retrieved At least four digital inputs serve the purpose of target selection one input is used as a start input The limit switches serve the safety limitation of the motion space During a homing one of the two limit switches may serve as a reference point for the positioning control Two inputs are used for the power stage enabling on the hardware side as well as for the controller enabling on the software side High speed sample inputs are available for different time critical applications for example homing special applications The servo positioning controller servoTEC S2100 FS has three analog inputs for input levels in the range of 10V to 10V One input is designed as a differential input 16 bit to guarantee high interference immunity Two inputs 10 bit are single ended The analog signals are quantized and digitalized by an analog digital converter at a resolution of 16 bit o
48. 5 kVA Output power 0 5 kVA 2 0 kVA 3 0 kVA Max output power for 5s 1 0 kVA 5 Arms 8 Arms Output current 2 5 Arms 20 Arms 32 Arms fe 2 3 Hz Max output current 0 5s 10 Arms 12 kHz 10 kHz Current derating from Max output current for 5s 5 Arms 10 Arms 16 Arms Max clock frequency approx 20 kHz with smaller electrical rotational frequencies fe shorter permissible times are valid with servoTEC S2108 FS see the following tables Table 14 Technical data Motor connection X6 4 4 1 Current derating Differently from the indicated technical motor data the servo positioning controllers servoTEC S2100 FS have a current derating during nominal operation The rated current and the time of the maximum allowed peak current of the servo positioning controller depend on different factors These factors are Output current level the higher the output current the shorter the allowed time m Power stage clock frequency the higher the clock frequency the shorter the allowed time m Electrical rotational frequency of the motor speed multiplied by pole pair number the higher the rotational frequency the longer the allowed time The last point electrical rotational frequency only applies to the servoTEC S2108 FS For a better clarity we only distinguish between electrical rotational frequencies less than 2 Hz and those over 3 Hz For rotational frequencies lying in
49. 53 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 E WERN Technical data 4 6 5 SD MMC Card Communication interface Values Card type SD SDHC and MMC File system FAT12 FAT16 and FAT32 Table 26 Technical data SD MMC Card 4 6 6 O interface X1 Digital inputs outputs Signal level 24 V 8 V 30 V active high conforming with DIN EN 61131 2 Logic inputs general DIN O BitO lsb gt least significant bit DIN 1 Bit1 Target selection for positioning DIN 2 Bit2 16 targets selectable from target table DIN 3 Bit3 msb gt most significant bit DIN 4 Control input power stage enable at High DIN 5 Controller enable at high signal acknowledge error with falling edge DIN 6 Limit switch input 0 DIN 7 Limit switch input 1 DIN 8 Control signal Start positioning or Homing switch for homing or saving of positions Control signal Start positioning or Homing switch for homing or saving of positions Logic outputs general Galvanically separated 24 V 8 V 30 V active high DOUT 0 Operational state 24 V max DOUT 1 Freely configurable 24 V max DOUT 2 Freely configurable optional use as input 24V max DIN 10 DOUT 3 Freely configurable optional use as input 24V max DIN 11 DOUT 4 X6 Holding brake 24 V max Table 27 Technical data Digital inputs and outputs X1 Page 54 of 163 Operating
50. C S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 M d Technology modules 12 2 PROFIBUS DP interface 12 2 1 Product description The PROFIBUS DP interface provides an additional field bus connection All functions and parameters can be addressed directly for example from a Simatic S7 control system The interface is plugged into the technology slot TECH 2 of the servoTEC S2100 FS servo positioning controller z The PROFIBUS DP interface is supported solely in the TECH 2 technology slot iji In addition to the PROFIBUS DP interface the TECH 1 technology slot can also be used for the I O extension module EA88 Additional technology modules will not be supported if the PROFIBUS DP interface is used If your specific requirements are more complex please contact your sales partner in order to find a solution for your particular application As a special feature S7 function blocks have been developed for the servo positioning controllers Using these function blocks the servo positioning controllers can be controlled directly by the PLC program and the users can integrate their systems easily and clearly into the Simatic S7 environment 12 2 2 Technical data Storage temperature range 25 C to 475 C Operating temperature range 0 C to 50 C deratings Atmospheric humidity 0 90 non condensing approx 92 x 65 x 19mm suitable for the technology slot TECH 2 External
51. Device parameters PFC can be switched on and off With deactivated PFC the DC bus behaves like a normal DC bus with a rectifier bridge m Under stationary load conditions the DC bus voltage is regulated to a constant average value which is independent from the actual power transferred to the motor Page 34 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 m d W Product description 3 2 2 DC bus coupling DC supply 3 2 2 1 DC bus coupling m Itis possible to couple multiple servo positioning controllers of the servoTEC S2100 FS series when they have the same DC bus voltage For this purpose the PFC stage has to be deactivated m When they have the same DC bus voltage the servo positioning controllers servoTEC S2100 FS can be coupled with the servo positioning controllers of the previous servoTEC S2xxx series For this deactivation of the PFC stage is mandatory Caution DC bus coupling is not allowed while the PFC stage is active This can otherwise result in damages to the servo positioning controller 3 2 2 2 DC supply The direct DC supply is supported for a supply with voltages gt 60 VDC by the DC bus connection instead of the connection to the mains The digital motor temperature measurement system requires a DC link voltage of o 120 VDC minimum Below this voltage the system will always identify the digital motor tem
52. EtherCAT technology module is equipped with two LEDs for indicating the operating states Run green link activity EtherCAT port 1 red LED 1 Two colour LED green red EtherCAT active yellow LED 2 red Link activity EtherCAT port 2 Table 61 Display elements 12 4 5 EtherCAT interface 0 2 5 VDC Signal level Differential voltage 1 9 2 1 VDC Table 62 Signal level and differential voltage Operating instructions MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Page 162 of 163 servoTEC S2 1xx FS Mai 2015 I FF Technology modules WERNER 12 5 General installation notes for technology modules DANGER Non observance of the instructions that are stated in chapter 2 Safety notes for electrical drives and controllers page 17 may lead to property damage injuries electric shock or in extreme cases even death disconnected from any current carrying conductors After the operating voltage has been disconnected wait for 5 minutes so that the capacities in the servo positioning controller can be completely discharged Caution DANGER Prior to installing technology modules the servo positioning controller has to be Make sure that ESD protection measures are taken when handling technology modules To insert a technology module into the servoT EC 52100 FS servo positioning controller please proceed as follows 1 Remove the front plate of the technology slot
53. LV servoTEC S2 1xx FS Rib doc WERNER Table of Tables Table 1 Scope OF SUp ply E 16 Table 2 Connector set of POWER Conpechor nennen nnna 16 Table 3 Connector set DSUB connechor sssssssesssessiessiesissiettiettintttnttnuttnnttnuttnuttnnntnnntnn nntu nnn nnn nnn nana 16 Table 4 Connector set Shield connector ssssssssesssessressiessistiettisttinttiuttnnnttntttuttnnntnnntnnntnnnnn nennen nnna 16 Table 5 Technical data of ambient conditions and qualification ee eeseeeeeneeeeeenneeeeeenaeeeeeenaeeeeeenas 40 Table 6 Technical data of dimensions and weight sssssessssesssrnesssnnessnnnnnennneennnnnntennennnnnnnennnnnnnnnnneenne 40 Table 7 Technical data of cable specifications eee eeceeeeeeneeeeeeneeeeeeaaeeeeeeaaeeeeeeaaeeeseeaaeeeeeeaeeeeseaas 41 Table 8 Technical data of motor temperature monitoring 2 00 eee eee eeeeeeceenteeeceeaeeeeeeaaeeeseeaaeeeeeeaaeeeeeenas 41 Table 9 Display elements and RESET button 1111111111171 rnnt tnrnnttrrnnttnnnnten rnnt en nentrn nnne nanne ee 42 Table 10 Technical data Performance data Io 42 Table 11 Technical data Internal brake resistor A0 43 Table 12 Technical data External brake resistor L 43 Table 13 Performance data of PFC etage nenn nenn 43 Table 14 Technical data Motor connection Il 45 Table 15 servoTEC S2102 FS Rated current for an ambient temperature of lt 40 C 46 Table 16 servoTEC S2105 FS Rated current for an ambien
54. M W E Technology modules Optical waveguide specification More information concerning the type and setup of suitable optical waveguides can be found in the 12 3 3 standard sercos literature for example www Sercos EN Interests Group sercos interface e V Landhausstrasse 20 70190 Stuttgart Germany Page 159 of 163 Mai 2015 Operating instructions servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d Technology modules M d WERN 12 4 EtherCAT 12 4 1 Product description The EtherCAT technology module enables the connection of the servoTEC S2 FS servo positioning controller to the EtherCAT fieldbus system The communication via the EtherCAT interface IEEE 802 3u is realised with the aid of standard EtherCAT cabling In the case of the servoTEC S2 FS IEF Werner supports the CoE protocol CANopen over EtherCAT with the FPGA ESC20 made by Beckhoff The EtherCAT technology module is supported solely in the TECH 2 technology slot In addition to the EtherCAT technology module the TECH 1 technology slot can also be used for the UO extension module EA88 Additional technology modules will not be supported if the EtherCAT technology module is used If your specific requirements are more complex please contact your sales partner in order to find a solution for your particular application 0 o0 12 4 2 Characteristics of the EtherCAT technology module The EtherCAT technology mo
55. NI COMBICON MC1 5 9 G 5 08 BK servoTEC 2108 FS PHOENIX COMBICON MSTBA 2 5 9 G 5 08 BK 8 3 2 Counterplug X9 servoTEC 2102 FS und servoTEC 2105 FS PHOENIX MINI COMBICON MC1 5 9 ST 5 08 BK servoTEC 2108 FS PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK PHOENIX MINI COMBICON connector housing 12 servoTEC 2102 FS und servoTEC 2105 FS pole KGG MC1 5 12 BK PHOENIX COMBICON connector housing 12 pole servoTEC 2108 FS KGS MSTB 2 5 9 BK Coding to PIN 9 GND24V Operating instructions Page 83 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 Electrical installation Specification 100 230 VAC 10 96 Phase conductor 50 60 Hz Neutral conductor lt 440 VDC Pos DC bus voltage GND ZK Neg DC bus voltage lt 460 VDC Connection of internal brake resistor bridge to BR CH when using the internal resistor lt 460 VDC Brake chopper connection for internal brake resistor against BR INT and external brake resistor against ZK Connection ground conductor from mains 24 VDC Supply for control module 20 0 55 A servoTEC S2102 FS 0 65 A servoTEC S2105 FS and servoTEC 52108 FS GND24V GND 0 VDC Reference potential supply 9 Plus current consumption of a possibly connected holding brake and I Os Table 34 Pin assignment X9 8 3 4 Cable type and design X9 The mentioned cable denominations ref
56. Off cccceceeeeseeeeeeeeeeeeeeesseaeeeeeeeeeeeeesneneeeeeeeneees 74 6 3 3 FSM 2 0 MOV aaa GN AABANG NANANA AA SANNAR NA ANKKAA ANNARRA S SANAN KA ARA RRAAANRANA AA 74 7 Mechanical installation AA RANA 75 LA Important NOLES a NGA ANNANDER NAKAR GANA NBEN DAR assar aiaia kadans 75 C View of the deviepu aa a AA a ARKA DAA GD 77 HD MOU ING AA 79 8 Electrical installation cccceeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeseeeeeeeeeeeeaaeeeeeeeeeseeenaeeeeeeeeeees 80 8 1 Connector configuration ccceeseeceeeeeneeeeeeee seen seen seen eeeeeeeeseeeeeeseeeeeeaseeeeeeaseeneeeeeeeneeenss 80 8 2 servoTEC 52100 FS complete system cccccceeseneeeeeeeeeeeeeseeeeeeseeeeeeeseeeeeeesseneeensseneeenss 81 8 3 Connection Power supply DO een 83 8 3 1 Device Side KO am BA AI BG BANDANG MAGA KAAU BB 83 8 3 2 Counterplug XQ la KAANAK ANAN 83 8 3 3 Pin assignment X9 2s onasan naaraana eaaa annaia naaasar NAUNA 84 8 3 4 Cable type and design X9 manannananaaaa amannNKKNN ANAN ANAN ANNAAKAN ANAN ANANAANANKKK KANAN 84 8 3 5 Connection notes XO siccccciceenspcnstcnndesannncpncotearkessnandpeeancantesannsdhsundensnessnensnnnacrnntnasn 85 8 4 Connection Motor XG za BANANA AKING EN NANANG NA AA 86 8 4 1 Device side KO na BANA BAGA AGA BI BANGDI NGA RANA BN NAA DANG 86 8 4 2 Counterplug XG aa BANANA INANG 86 8 4 3 Pin assignment X6 011111 sa BARA NAN GRAN ANAN BARAN ADARNA 87 8 4 4 Cable type and de
57. Operating Instructions PA CONTROL servoTEC S2 1xx FS From version 4 0 Issue Mai 2015 Article No 1121146 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d M d IEF Werner GmbH Wendelhofstra e 6 78120 Furtwangen Germany Phone 49 7723 925 0 Fax 49 7723 925 100 www lEF Werner de Operating instructions Page 1 of 163 servoTEC S2 1xx FS Mai 2015 d M X gt M x Modification History Document code Date Modification August 2014 Release of this English document MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1a doc Exchange graphic for 4 core wire to MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc Mai 2015 2 core wire for CAN bus cable The use of trademarks and trade names does not affect their legal status These texts and examples were written with the utmost care Nonetheless errors cannot be ruled out IEF Werner comp is neither legally responsible nor liable in any way for missing or erroneous information and its consequences IEF Werner reserves the right to change or improve software or hardware or parts thereof including the printed matter supplied or parts thereof without prior notification All rights to copy to photomechanical reproduction even excerpts are expressly reserved by IEF Werner GmbH We are always grateful for suggestions for improvements and notices of errors Mai 2015 IEF Werner GmbH Page 2 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121
58. Pparts ccccsseeeesseeeeeeseeeseeeseeeeeeeseenseeeeees 28 2 4 7 Protection during handling and assembly nsaan 29 3 Product description sm 30 o by NR TE PAA AA AA 30 3 2 POWER SUPDIY si aNG RAANG NNEN AN NAKAKA NNAN anarai aaaea aeaiia aaia 33 3 2 1 Single phase AC supply with active PFC 1 1 0 077000mnammmsnaanannnunaaanasnasnassnnnan 33 3 2 2 DC bus coupling DC supply 7A AA 35 3 2 3 MAINS ET 35 3 3 Brake chopper AA E AKDANG 36 3 4 Communication interfaces nnmnnn na 36 3 44 Serial interface X5 111111177 37 3 4 2 USB interface PAY 0na ANAKAN aiaa ranap aaen EER aaa R aeaaea 37 3 4 3 UDP interface X18 nA annaa ANAN EES 37 3 4 4 CAN interface X4 anas ia aa ninnaa EEEENE NEESS SEENEN 37 3 4 5 Technology module PROFIBUS naa 38 3 4 6 Technology module sercos Il aaa 38 3 4 7 Technology module EtherCAT 111 maannanaana nnaman 38 3 4 8 I O functions and device Control ee EEN EENEG 39 4 Technical dala AA AA ANA aaa 40 4 1 General technical data BAN NAAANINAG NAN NBA AGANG 40 4 2 Operating and display elements 2 maa nanne 42 4 3 Supply RH 42 Operating instructions Page 5 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d WERNER 4 4 Motor connection X6 2a eer SEN NA LALALAN AS ARALA KALAN 45 4 4 1 Current Gerating on ici ccccecciccesccticcesccctecusccdscensectdeenscctdccusccesecusecdsde
59. TEC S2 1xx FS Mai 2015 Safety notes for electrical drives and controllers M d WERN 2 2 General notes In case of damage resulting from non compliance with the safety notes in this manual IEF Werner GmbH will not assume any liability Prior to the initial use you must read the Safety notes for electrical drives and controllers il starting on page 17 and chapter 0 Notes on safe and EMC compliant installation starting on page 117 If the documentation in the language at hand is not understood accurately please contact and inform your supplier Sound and safe operation of the servo positioning controller requires proper and professional transportation storage mechanical installation and project planning with a consideration of the risks as well as the protective and emergency measures plus the proper and professional electrical installation operation and maintenance of the devices Only trained and qualified personnel is authorised to handle electrical devices and systems Trained and qualified personnel in the sense of this product manual or the safety notes on the product itself are persons who are sufficiently familiar with the project the setup assembly commissioning and operation of the product as well as all warnings and precautions as per the instructions in this manual and who are sufficiently qualified in their field of expertise m Education and instruction concerning the s
60. TEC S2 1xx FS Rib doc d M d 2 m d Electrical installation W 8 5 Connection I O communication X1 The following Figure 20 below shows the principle function of the digital and analog inputs and outputs The servo positioning controller servoTEC 52100 FS is shown on the right hand side the control system connection on the left The cable design is also visible The servo positioning controller servoTEC S2100 FS features two potential ranges Analog inputs and outputs All analog inputs and outputs refer to AGND AGND is internally connected with GND the reference potential for the control module with uC and AD converters in the controller This potential range is galvanically separated from the 24 V range and from the DC bus 24 V inputs and outputs These signals refer to the 24 V supply voltage of the servo positioning controller servoTEC S2100 FS which is fed via X9 and separated from the reference potential of the control module by means of optocouplers Operating instructions Page 91 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 WERNER Electrical installation Control system servoTEC 2100FS AINO LI AIN O Se Pin No Ta feat
61. V Ra x66 Q Incremental encoder index pulse N Reference GND for encoder Shield for connection cable 5V 4 5 Auxiliary supply to be loaded with maximal 100 mA 100 mA but short circuit proof The value for Ra is the differential output resistance Table 42 Pin assignment Incremental encoder output X11 Page 106 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 m d Electrical installation W E 8 9 4 Cable type and design X11 We recommend encoder connection cables twisted in pairs and individually protected 8 9 5 Connection notes X11 Incremental encoder input e g servo positioning controller ARS 2000 FS X10 D SUB connector at X11 Incremental encoder output A A GND Male Connector Nah te ee EE et Nag Cable shield housing optional Connector housing Figure 26 Pin assignment Incremental encoder output X11 The output driver at the signal output provides differential signals 5 V as per interface standard RS422 Up to 32 other servo positioning controllers may be driven by one device Operating instructions Page 107 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Electrical installation Mm d WERN 8 10 Connection CAN Bus X4 8 10 1 Device side X4 D SUB conne
62. X1 J J 17 TIAN H ANO AGND AIN 1 AIN 2 H AIN 0 C gt ii 15 I Pa AIN 1 X i AIN 2 ii H IN AGND v It Il l VREF it 4 VREF O 15V 1 l AGND 1 l1 pi LI pi LI LI I pi LI AMON 0 1117 LI 1 A AMON 1 5 I I l l l k AGND t N44 ai 1 I 1 e l ae ii i ed ed pe a i L J40 v l AGND DO I1 Te UE a R 100 mA I o Nina Ng 24 VDC 1 118 ES la Do sg DIN O 19 l s DIN 9 i O i i DOUT 0 i T i T AN 100 mA S l max 4 DOUT 3 i 13 GND 24V Hi E g 1 GND 24 V N aan a ien PE 3 PE Connector housing Figure 20 Basic circuit diagram connector X1 Page 92 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d 2 m d Electrical installation W E The servo positioning controller servoTEC S2100 FS comprises one differential AIN 0 and two single ended analog inputs designed for input voltages within a range of 10V The inputs AIN 0 and AIN 0 are lead to the control via twisted cables twisted pair design If the control comprises single ended outputs the output is connected to AIN O and AIN 0 is put on the reference potential of the control If the control has differential outputs they are to be connected 1 1 to the differential inputs of the servo positioning controller servoTEC S2100 FS The reference potential AGND is connected to the reference potential of the control This is necessa
63. ai 2015 d M d 2 M d Error message Main Sub index index Service functions and error messages Meaning of the error message Invalid hall signals Check the connection Check the data sheet as to whether the encoder provides 3 Hall signals with 120 or 60 segments If necessary contact the Technical Support Identification not possible Check the DC bus circuit voltage Check the wiring of the motor encoder system Motor blocked for example holding brake not released Invalid number of pole pairs The number of pole pairs calculated is beyond the parameterisation range Check the motor data sheet If necessary contact the Technical Support 15 0 Division by zero Please contact the Technical Support Out of range error Mathematical underflow 16 0 Erroneous program execution Please contact the Technical Support Illegal interrupt Initialization error Unexpected state 17 0 Max following error exceeded Increase error window Acceleration parameterization too large Encoder difference control Check the connection of the encoders Check the parameterized gear Page 136 of 163 Mai 2015 Operating instructions servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 M d Ser
64. an angle encoder cable length up to 25 m and m aminimum cross section of 0 5 mm for an angle encoder cable length up to 50 m 8 7 5 Connection notes X2B D SUB connector Output of the analog incremental at X2B encoder interface at the motor a at hn pe ray or ee ee en ree es dee pen fee Ps ey ch a Aap A KA W TEMP xX ON XXII 1 a aaa E CC TEMP D GEN ea ee ee I 9 Ch a U_SENS SCHIER WK XA XK Ge Set EE Ve 1 7 3 GND e 11 H l EN AA E Sa 7y I R e een Ke x lt x Xx 7 o DE em e NG ee oe ee a K i e 12 COS Z1 Ze Is NN X i e e 5 LS Na NGI ve COS Z1 pa e ea ee a SIN_Z1 ba UN XXX 6 T ete Na Naa eee m T Tr SIN Z1 I eege K i I 14 COS Z0 Bil NN wi EE E Eeer NG I H EE 7 15 SIN 20 IN NS NS wu 1 SE ug Im Ng Connector NG Ni Cable shield housing AA optional Connector housing Figure 22 Pin assignment Analog incremental encoder optional X2B Page 102 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc Electrical installation D SUB connector at X2B IN inaalaala aaa a D pi Aa aaah ka GA Ty IS TEMP IED AE 1 Co ee ee ve ma TEMP eae ee I 9 mh ra U_SENS se EH gt Ge KA XI LI moe ee Ge
65. arameter set and commission the servo positioning controller If necessary reload parameter set If the error continues contact the Technical Support 27 0 Following error warning level Check the parameterisation of the following error Motor blocked Page 138 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Service functions and error messages d M d 2 M d Error message Meaning of the error message Measures Main Sub index index 28 0 Hours run meter missing Acknowledge the error 1 Hours run meter write error If the error occurs again contact the Technical Support 2 Hours run meter corrected 3 Hours run meter converted 29 0 SD Card not available Please contact the Technical Support 1 SD Card Initialization error 2 SD Card Data error 3 SD Card Write error 4 SD Card Firmware download error 30 0 Internal calculation error Please contact the Technical Support 31 0 l2t motor Motor blocked Check the power rating of the drive 1 It servo positioning controller Check the power rating of the drive package 2 I2t PFC Check the power rating of the drive package Select operation without PFC 3 l t Break resistor Braking resistor overloaded Use external braking resistor 4 I t real power overload Reduce the real power of the drive 32 0 Loading period DC bus Bridge
66. arget selection positioning Bit 0 POS Bit 2 Target selection positioning Bit 2 POS Bit 3 Target selection positioning Bit3 POS Bit 1 Target selection positioning Bit 1 Power stage enable Input controller enable Input end switch 0 locks n lt 0 Input end switch 1 locks n gt 0 Input for positioning start High speed input DOUT 0 BEREIT 24V 100 mA Output freely programmable 24 V 100 mA Output freely programmable 24 V 100 mA Output operational 24 V 100 mA Output freely programmable Table 36 Pin assignment I O communication X1 Page 94 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d 2 m d Electrical installation W E 8 5 4 Cable type and design X1 The mentioned cable denominations refer to cables by Lapp They have proven effective and are successfully used in many applications However similar cables from other manufacturers for example L tze or Helukabel may also be used m LAPP KABEL UNITRONIC LiYCY TP 25 x 0 25mm 10 7 mm Figure 20 shows the cable between the servo positioning controller servoTEC S2100 FS and the control The cable shown has two cable shields The outer cable shield is connected on both sides to PE Inside the servo positioning controller the connector housing of the D Sub connector is connected to PE When u
67. as to be equipped with bus terminating resistors to minimise line reflections and to adjust a defined rest potential on the line The bus termination has to be provided at the beginning and at the end of every bus segment Most PROFIBUS connectors come supplied with integrated terminating resistors For bus connections with connectors without integrated terminating resistors the PROFIBUS DP interface has its own terminating resistors They can be activated with the help of the two DIP switches on the module switch set to ON To ensure safe operation of the network only one bus termination may be used at a time The external connection can also be set up discretely see Figure 34 below The power supply of 5 V required for the externally connected terminating resistors is supplied at the PROFIBUS connector of the PROFIBUS DP interface see pin assignment in Table 58 Se B Line 390 Ohm m A Line 220 Ohm 390 Ohm BM Figure 34 PROFIBUS DP interface Connection with external terminating resistors Page 156 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 M d Technology modules 12 3 sercos Il module 12 3 1 Product description The sercos Il module is used to connect the servoTEC S2100 FS servo positioning controller to a sercos compatible CNC control The communication on the sercos II bus uses a ring shaped optical fibr
68. ase of inductive loads and voltage supply via the output also if the supply is turned off Loads R gt 220 Q L at random C lt 10nF Switching delay as of port pin lt 100 us Table 53 Digital outputs EA88 interface X22 12 1 3 Pin assignment and cable specifications 12 1 3 1 Power supply m The admissible input voltage range during operation is 15VDC 32VDC m The digital outputs of the EA88 technology module are supplied with voltage exclusively by an external 24VDC power supply The nominal input voltage for the I O supply is 24VDC m If digital inputs are used the reference potential GND24V of the 24VDC supply also has to be connected to the EA88 interface technology module Page 150 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d S M EZ 2 M EY Technology modules 12 1 3 2 Pin assignments The following elements can be found on the front plate of the EA88 interface Connector X21 for 8 digital inputs PHOENIX Contact MicroCombicon MC 0 5 9 G 2 5 9 pin type Table 54 EA88 Connector X21 for 8 digital inputs Connector X22 for 8 digital outputs PHOENIX Contact MicroCombicon MC 0 5 10 G 2 5 10 pin type Pin 3 l2 hbs ia bs es 7 e e Iw Signal GND Out1 Out2 Out3 Out4 Out5 Out6 Out7 Out8 24VDC 24V external Table 55 EA88 Connector X22 for 8 digital outputs Figure 32 below shows the posit
69. assignment Digital incremental encoder optional X2B neee 103 Pin assignment Input of the incremental encoder X10 00 eee eeeeseeeeeeeneeeeeeenaeeeeeenaeeeeeeaas 105 Pin assignment Incremental encoder output X11 eee cece eeeeeeeeeeeeeeaeeeeeeeaeeeeeeaeeeeneaas 107 Cabling example for CAN Bus ssssisssrsnsiicnrinininnneninnennneikiennainnnannanaa naidaan aiaiai idana 109 Integrated CAN terminating reslstor ee eee eee nananana cesses cae seaeseaeseaeeseeeseeeseeeeeneeeaes 110 Pin assignment RS232 null modem cable DN 112 Pin assignment USB interface X19 front view ceecceeeeeeeeeeeeeeeeeseeeeeseaeeetaaeeeeneeeeaees 113 Pin assignment of GC MM Card 115 Operating instructions Page 11 of 163 121146_LV servoTEC_S2_1xx_FS_Rib doc servoTEC S2 1xx FS Mai 2015 d WERNER Figure 32 E88 Position of the pin and socket connectors X21 and X22 at the front plate 151 Figure 33 PROFIBUS DP interface front VIEW ul eee cece anan cree anas cee eeaeeeeeeeeeeseeeseeeseaeesaeeseeenaeeaee 154 Figure 34 PROFIBUS DP interface Connection with external terminating resistors 156 Figure 35 Sercos II module of front view Laan anna eee eeeeceaeeeaeeeaeeeaeeeeeeeeeeseneseeeseaeesaeesaaeenaeenaee 158 Figure 36 EtherCAT module front view anan an aNaG GN NANG AN ANNG NAAN GG KNANG ANNAKGGnnan0NaGannnnnannnn0n 161 Page 12 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146
70. axis positioning The implementation of the clock synchronisation allows simultaneous movements for multi axis applications in conjunction with interpolated positioning mode All servo positioning controllers of the servoTEC S2100 FS family that is the entire controller cascade will be synchronized to the external clock signal Pending positioning values in the case of multiple axes are then taken over and executed simultaneously without jitter The sync message of a CAN bus system or the EtherCAT DC Distributed Clock can for example be used as a clock signal That way it is for example possible to send several axes with different path lengths and velocities to the destination at the same time Page 68 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d d 2 m d Functional safety technology W E 6 Functional safety technology 6 1 General With an increasing degree of automation the protection of persons against dangerous movements becomes increasingly important The so called functional safety describes the necessary measures in the form of electrical or electronic devices in order to reduce or eliminate the hazards that are caused by malfunctions Under normal operating conditions protective devices prevent human access to dangerous areas In certain operating modes however for example during the set up persons are required to be present in these dangerous areas In the
71. between these two values interpolation is required Therefore in the following you will find two tables for the servoTEC S2108 FS the first one applies to blocked or slowly rotated motors electrical rotational frequency lt 2 Hz the second one applies to faster rotated motors electrical rotational frequency 2 3 Hz Operating instructions Page 45 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d Technical data M d 2 M d Parameter Values Power stage clock frequency kHz Output curent Anus E Max output current Anus sh a re Max allowed time s Power stage clock frequency kHz Output curent An UU Max output current Anus ol ss jt Max allowed time s Power stage clock frequency kHz Table 15 servoTEC S2102 FS Rated current for an ambient temperature of lt 40 C Parameter Values Power stage clock frequency kHz Output current An CSS Max output current Anus oh e Max allowed time s Power stage clock frequency kHz Output curert An Cay Max output current Ama Ls dj so to Max allowed time s Power stage clock frequency kHz Table 16 servoTEC S2105 FS Rated current for an ambient temperature of lt 40 C Page 46 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 M d Technical data Parameter Values
72. cable for the USB interface 4 cores shielded and twisted In order to set up a USB connection it is mandatory to use a twisted and shielded 4 core cable since otherwise the transmission may be subject to interferences In addition it must be ensured that the cable has a wave impedance of 90 Q Operating instructions Page 113 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Mm d WERN 8 13 SD MMC Card 8 13 1 Supported card types m SD SDHC a MMC 8 13 2 Supported functions Load a parameter set DCO file m Save the current parameter set DCO file Load a firmware file 8 13 3 Supported file systems m FAT12 m FAT16 m FAT32 8 13 4 File names Electrical installation Only file and directory names according to the 8 3 standard are supported O 8 3 file and directory names have at most eight characters letters or numbers followed by a period and a filename extension of at most three characters File and directory names may only consist of upper case characters and numbers Page 114 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rtib doc Electrical installation WERNER 8 13 5 Pin assignment SD MMC Card DATA3 CS Data Line 3 Bit 3 Chip Select Host to Card Commands and Data CMD DI Command Response Supply Voltage Ground Vss1 Supply Voltage Ground Vcc Suppl
73. ctor 9 pole female 8 10 2 Counterplug X4 D SUB connector 9 pole male Housing for 9 pole D SUB connector with bolting screws 4 40 UNC 8 10 3 Pin assignment X4 1 Not occupied CAN GND galvanically connected to GND in controller CAN Low signal line CAN High signal line See Pin no 6 Not occupied Not occupied Not occupied Shield Connection for cable shield External terminating resistor 120 Q required on both ends of the bus If the bus ends are not formed by servoTEC S2100 FS servo positioning controllers with integrated terminating resistors we recommend using metal film resistors with a 1 tolerance of type 0207 for example made by BCC order no 232215621201 Table 43 Pin assignment CAN Bus X4 Page 108 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 Mm d Electrical installation W E 8 10 4 Cable type and design X4 The mentioned cable denominations refer to cables by Lapp They have proven effective and are successfully used in many applications However similar cables from other manufacturers for example L tze or Helukabel may also be used jl Technical data CAN bus cable 2 pairs of 2 twisted cores d gt 0 22 mm shielded loop resistance lt 0 2 Q m characteristic impedance 100 120 Q LAPP KABEL UNITRONIC BUS CAN 2 x 2 x 0 22 7 6
74. current protection switch RCD AC DC sensitive 300mA if this is required by an application p Automatic circuit breaker m Servo positioning controller servoTEC S2100 FS m Motor with motor cable Mains cable The parameterisation requires a PC with serial or USB connection A slow blow B16 single phase automatic circuit breaker of 16 A has to be installed in the mains supply line Operating instructions Page 81 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 M u sil RCD Residual Current Device a Electrical installation Power connection 230 V AC Main switch ID Automatic circuit breaker D E Power supply 24 V DC Externa brake resisitor if required We OI Motor with the motor feedback PC with the S2 Commander Figure 16 Complete setup of the servoTEC 52100 FS with motor and PC MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Operating instructions servoTEC S2 1xx FS Page 82 of 163 Mai 2015 M d 2 m d Electrical installation W 8 3 Connection Power supply X9 The servo positioning controller servoTEC S2100 FS receives its 24 VDC power supply for the control electronics via connector X9 The mains voltage supply is single phase As an alternative to AC feed or for the purpose of DC bus coupling a direct DC supply for the DC bus is possible 8 3 1 Device side X9 servoTEC 2102FS and servoTEC 2105 FS PHOENIX MI
75. d 2 Mm d Function overview 5 Function overview 5 1 Motors 5 1 1 Synchronous servo motors Typically permanently excited synchronous motors with sinusoidal EMF are used The servo positioning controller servo TEC S2100 FS is a universal servo positioning controller which can be operated with standard servo motors The motor specifications are determined and parameterized by means of an automatic motor identification 5 1 2 Linear motors Besides rotary applications the servo positioning controllers servoTEC S2100 FS are also suitable for linear drives Here also permanently excited synchronous linear motors are supported Due to the high signal processing quality the servoTEC S2 FS series is particularly suitable for driving air core and iron core synchronous motors with low motor inductances 2 4 mH Operating instructions Page 57 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 ES Function overview M d 2 Mm d 5 2 Functions of the servo positioning controller servoTEC S2100 FS 5 2 1 Compatibility For compatibility reasons from the user s point of view the control structure of the servoTEC S2100 FS has mostly the same characteristics interfaces and parameters as the previous servoTEC S2xxx family Set point management Analogue inputs Fixed values Synchronization Ramp generator Positioning control and Interpolation Trajectorie
76. d on again after the error memory has been deleted by acknowledging the error and after the error has been eliminated or no longer exists A powerful sensor analysis and monitoring function provides operational safety m Measuring of motor temperature m Measuring of power module temperature m Detection of ground faults PE m Detection of connections between two motor phases Detection of overvoltage in the DC bus Detection of errors with the internal voltage supply m Failure of the supply voltage If the 24 V DC supply voltage fails approx 20 ms remain to save parameters and shut down the controller properly for example 11 1 2 Overcurrent and short circuit monitoring The overcurrent and short circuit monitoring detects short circuits between two motor phases as well as short circuits at the motor output terminals against the positive and negative reference potential of the DC bus and against PE If the error monitoring detects an overcurrent the power output stage will shut down immediately to guarantee the ability to withstand short circuits 11 1 3 Overvoltage monitoring for the DC bus This monitor responds if the DC bus voltage exceeds the operating voltage range The power output stage will be shut down Page 126 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 m d Service functions and error messages W E 11 1 4 Temperature monitoring of the heat
77. dbus display units Contact the Technical Support Operating instructions Page 137 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d M d 2 M d Service functions and error messages Error message Meaning of the error message Measures Main Sub index index 25 0 Invalid device type Please send the servo positioning controller to our sales partner 1 Device type not supported 2 HW revision not supported Check the firmware version If necessary request an update from the Technical Support 3 Device function restricted Please send the servo positioning controller to our sales partner 4 Invalid power stage type Check the firmware version If necessary request an update from the Technical Support 26 0 No user parameter set Load the default parameter set 1 Checksum error If the error continues to occur contact the Technical Support 2 Flash Please send the servo positioning controller to Error during write operation our sales partner 3 Flash Error during erase operation 4 Flash Error in internal flash Re load the firmware 5 No calibration data If the error continues to occur contact the Technical Support 6 Missing user position data sets Simply perform save 8 reset Load the default parameter set If the error continues to occur contact the Technical Support 7 Faulty data tables CAM Load the default p
78. de using the parameterisation software IEF Werner S2 Commander In order to minimize switching losses the clock of the pulse width modulation can be cut in half as compared to the frequency in the current controller circuit The servo positioning controller servoTEC S2100 FS also features a sine modulation or alternatively a sine modulation with third harmonic This increases the effective converter output voltage The type of modulation can be selected via the IEF Werner S2 Commander The default setting is sine modulation Output voltage converter Output voltage at the motor terminals Ua sin ULL motor approx 210 Nous Ua sin sin3x ULt motor approx 235 Vous Table 31 Output voltage at the motor terminals at Uz 360 V Operating instructions Page 59 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Function overview Mm d WERN 5 2 3 Setpoint management For speed controlled and torque controlled modes of operation the setpoint can be set via a setpoint management Possible setpoint sources are m 3 analog inputs e AINO AIN 1 and AIN 2 m 3 fixed values e 1 value setting depending on controller enabling logic fixed value 1 or RS232 interface or CANopen bus interface or PROFIBUS DP interface or sercos interface e 277 and 3 value setting of fixed values 2 and 3 m Process controller m SYNC input a Additional incremental encode
79. dimensions LxWxH Altitude Up to 2000 m above msi Weight approx 50g Table 56 Technical data of PROFIBUS DP interface to ambient conditions dimensions and weight Operating instructions Page 153 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d Technology modules M d 2 Mm d Communication interface PROFIBUS module Controller PROFIBUS controller VPC3 12 Mbaud max PROFIBUS DP 32 byte telegrams with operating mode depending configuration Protocol Floating D SUB 9 pin integrated bus terminating resistors Interface can be activated by DIP switches Special functions Support of diagnosis data RTS signal led out fail safe mode sync freeze Table 57 Technical data PROFIBUS DP interface Interfaces and communication The following elements can be found on the front plate of the PROFIBUS DP interface see Figure 33 below m a green LED to indicate readiness for operation a9 pin female DSUB connector m two DIP switches for activating the terminating resistors Figure 33 PROFIBUS DP interface front view Page 154 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 Mm d Technology modules 12 2 3 Pin assignments and cable specifications 12 2 3 1 Pin assignment m 9 pin DSUB connector female Cable shield 5V output floating
80. dule has the following characteristics m It can be fully mechanically integrated in the IEF Werner servo positioning controllers of the servoTEC S2 FS series m EtherCAT corresponding to IEEE 802 3u 100Base TX with 100 Mbps full duplex m Star and line topology m Connector RJ45 Electrically isolated EtherCAT interface Communication cycle 1ms m 127 slaves max pn EtherCAT slave implementation based on FPGA ESC20 by Beckhoff Support of the Distributed Clocks feature for synchronised set value transfer m LED display for indicating readiness and link detect Page 160 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 Mm d Technology modules eg P E EE E EE ECH CO dE EE EE d Figure 36 EtherCAT module front view 12 4 3 Technical data Storage temperature range 25 C to 75 C Operating temperature range OC to 50 C Atmospheric humidity 0 90 non condensing External dimensions LxWxH approx 92 x 65 x 19 mm approx 55 g Altitude up to 2000 m above msi Weight Slot Technology slot TECH 2 Table 60 Technical data of EtherCAT module to ambient conditions dimensions and weight Operating instructions Page 161 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d Technology modules Mm d WERN 12 4 4 Display elements The front panel of the
81. e configuration of the CAN hardware that is integrated in the basic device The control of operating parameters for the RS485 communication that is also supported in the basic device is not possible in favour of the parameterisation of the CAN interface Operating instructions Page 71 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 Functional safety technology Slave address respectively address offset D 127 valid range 3 125 Baudrate 11 16 MBaud 10 8 MBaud 01 4 MBaud 00 2 MBaud No function Drive address respectively address offset respectively address offset 1 31 1 31 Table 33 Fieldbus specific assignment of the DIP switches The activation of a fieldbus via the DIP switch takes precedence over the activation of the fieldbus based on the parameter data set In order to be nonetheless able to change settings and test different configurations during the operation the fieldbus menu of the IEF Werner S2 Commander can be used After a reset however the setting of the DIP switches will be checked and used Example DIP switch position lt gt 0 and DIP8 ON fieldbus always activated can be changed via IEF Werner S2 Commander pn DIP switch position lt gt 0 and DIP8 OFF fieldbus always off can be changed via IEF Werner S2 Commander m DIP switch position 0 e fieldbus configuration based on the parameter set Can be changed
82. e link with transmission rates of up to 16 Mbaud If six servo positioning controllers are connected to one bus setpoints and actual values position speed and torque values can be exchanged with the CNC control every 500 us z The sercos Il module is supported solely in the TECH 2 technology slot 1 In addition to the sercos Il module the TECH 1 technology slot can also be used for the UO extension module EA88 Additional technology modules will not be supported if the sercos Il module is used If your specific requirements are more complex please contact your sales partner in order to find a solution for your particular application A special feature of the sercos II bus is the synchronisation of all the devices connected to the bus If several servoTEC S2 FS servo positioning controllers are connected the internal controllers and output stages of the servo positioning controllers operate in a phase locked manner Via the 8 pole DIP switch the sercos II bus address can optionally be set When restarted the servo positioning controller checks whether there has been set a bus address via these switches all switches in position OFF gt no bus address set If no bus address has been set via the 8 pole DIP switches the servo positioning controller uses the bus address set via the IEF Werner S2 Commander menu Parameters Field bus sercos Example for setting the bus address via the 8 pole DIP switch Switches 1 4 and 8 are
83. echnology MOV ceeseseeeeeeees 73 Figure 9 FBA module front VIEW soisissa ana EE aN EA AEE 74 Figure 10 Servo positioning controller servoTEC S2100 FS installation space 76 Figure 11 SerovTEC 82102 FS front view ssssesseesiessiseriesrissrissrissrisstntttntttnntnutttunttnttnntunnn nenn nnnn 77 Figure 12 SerovTEC 52102 FS Top view 78 Figure 13 SerovTEC S2102 FS Bottom view 78 Figure 14 Servo positioning controller servoTEC 82100 FS mounting plaie eseese eeen eeen nee nee 79 Figure 15 Connection to power supply and Motor umm aamnannwwwanawawanaawanaaanasawanasannannananananasannansannnananas 80 Figure 16 Complete setup of the servoTEC 52100 FS with motor and PDC 82 Figure 117 Supply KO ANG ANGIN ANAKAN hak AG 85 Figure 18 Motor connection IR 89 Figure 19 Connecting a holding brake with high current draw gt 1A to the device sssesseeeseeseess 90 Figure 20 Basic circuit diagram connector ITT 92 Figure 21 Pin assignment Resolver connection INZ2A mn nananwwannnnwwaaannnawananananaaanasansnanasansnasasanna 97 Figure 22 Pin assignment Analog incremental encoder optional Ia2p 102 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 MAN EN 1 Pin assignment Incremental encoder with serial communication interface for example EnDat HIPERFACE optional X2B 1m nwaananwwanaawanaaananaawaanannnnanasananasanwansananan 103 Pin
84. ed In the case of relative positioning a parameterized route is run The positioning space of 232 full revolutions allows any number of relative positioning in one direction The positioning control is parameterized via a target table The target table includes entries for the parameterisation of a target via a communication interface and also target positions which can be retrieved via the digital inputs For each entry it is possible to set the positioning method the driving profile the acceleration and the deceleration times as well as the maximum speed All targets can be pre parameterized The only thing to do for positioning is then to select an entry and start the action It is also possible to change the target parameters online via the communication interface The servo positioning controller servoTEC S2100 FS provides 256 configurable positioning sets The following settings are possible for all positioning sets m Target position m Driving speed m Final speed Acceleration m Deceleration m Torque feed forward m Remaining distance trigger m Additional flags e Relative relative to last target absolute e Wait for end interrupt ignore start e Synchronized e Rotary axis e Option automatic deceleration in case of missing following positioning e Different options on the setup of path programs The positioning sets can be activated via all bus systems or via the parameterisation software IEF Werner 52 Commander
85. ed with the servoTEC S2100 FS by integrating the module FSM 2 0 STO for example Initial operation must be carried out with idle motors to prevent mechanical damages for example due to the wrong direction of rotation Electronic devices are never fail safe It is the user s responsibility in the case an electrical device fails to make sure the system is transferred into a secure state The servo positioning controller and in particular the brake resistor externally or internally can assume high temperatures which may cause serious burns MAN EN 1121146 LV servoTEC S2 1xx FS Rtib doc Operating instructions servoTEC S2 1xx FS Page 24 of 163 Mai 2015 d d 2 m d Safety notes for electrical drives and controllers W E 2 4 3 Protection against contact with electrical parts This section only concerns devices and drive components carrying voltages exceeding 50 V Contact with parts carrying voltages of more than 50 V can be dangerous for people and may cause electrical shock During operation of electrical devices some parts of these devices will inevitably carry dangerous voltages DANGER High electrical voltage Danger to life danger due to electrical shock or serious personal injury The appropriate DIN VDE EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system The plant engineer or the operator i
86. er must not open the servo positioning controller for safety and warranty reasons Professional control process design is a prerequisite for sound functioning of the servo lo o positioning controller DANGER Inappropriate handling of the servo positioning controller and non compliance with the warnings as well as inappropriate intervention in the safety features may result in property damage personal injuries electric shock or in extreme cases even death Operating instructions Page 19 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 i Safety notes for electrical drives and controllers M d 2 Mm d 3 Danger resulting from misuse N Page 20 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d M d 2 Mm d Safety notes for electrical drives and controllers 2 4 Safety notes 2 4 1 General safety notes The servo positioning controller corresponds to IP20 degree of protection as well as pollution degree 2 Make sure that the environment corresponds to this degree of protection and pollution degree Only use replacement parts and accessories approved by the manufacturer The devices must be connected to the mains supply as per EN regulations so that they can be cut off the mains supply by means of corresponding separation devices for example main switch contactor power switch The servo po
87. er to cables by Lapp They have proven effective and are successfully used in many applications However similar cables from other manufacturers for example Lutze or Helukabel may also be used For the 230 VAC supply es LAPP KABEL OLFLEX CLASSIC 110 3 x 1 5 mm Page 84 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Electrical installation 8 3 5 Connection notes X9 PHOENIX PHOENIX MINI COMBICON COMBICON Power connector at the X9 at the X9 L 1 O N 2 O ZK 3 N ZK aaa ee ri ee 4 O BR INT Ca alternative Paco 5 O BR CH 7T external T E 6 L ec ew CECR p O PE 7 O 24V 8 O GND24V 9 O Figure 17 Supply X9 U TEC 2102 FS and i Kag E E e PHOENIX MINI COMBIGON MG 1 5 9 ST 5 08 BK serv a EE PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK The servo positioning controller servoTEC S2100 FS has an internal brake chopper with brake resistor For more brake power it is possible to connect an external brake resistor to the connector X9 O If no external brake resistor is used a bridge must be connected between PIN 5 and PIN 6 so that the DC bus precharge when the mains power supply is ON and the DC bus rapid discharge can func
88. ers so that it can be operated without additional shielding and filtering devices in most applications The servo positioning controllers servoTEC S2100 FS are certified as per the product standard EN 61800 3 for electrical drive systems In most cases no external filtering is required see below The conformity certificate for EMC directive 2004 108 EC is available from the manufacturer Caution This product can cause high frequency interference in residential areas which could require measures for radio interference suppression Operating instructions Page 117 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Electrical installation M d WERN 8 14 3 EMC areas first and second environment Proper installation and wiring of all connecting cables provided the servoTEC 82100 FS servo positioning controllers fulfil the requirements of product standard EN 61800 3 This standard no longer refers to classes but to so called environments The first environment includes mains supply networks supplying residential buildings The second environment includes mains supply networks exclusively supplying industrial buildings The following applies to servo TEC 52100 FS servo positioning controllers without external filter measures EMC type Environment Compliance with EMC requirements Interference First environment domestic Motor cable length up to 25 m emission environme
89. for the internal brake resistor installed exceeded Check the connection of the external brake resistor If necessary contact the Technical Support 1 Undervoltage for active PFC Check whether the power supply complies with the nominal data 5 Braking chopper overload Check the ON OFF cycles Intermediate circuit couldn t be discharged 6 Discharge period DC bus Bridge for the internal brake resistor installed exceeded Check the connection of the external brake resistor If necessary contact the Technical Support MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Page 139 of 163 Mai 2015 Operating instructions servoTEC S2 1xx FS d Service functions and error messages WERNER Error message Meaning of the error message Main Sub index index 7 Failure of power supply for No intermediate circuit voltage controller enable Check the power supply If necessary contact the Technical Support 8 Supply power breakdown at Check the power supply controller enable 9 Phase failure 33 0 Following error encoder Check the settings of the incremental encoder emulation emulation number of lines If necessary contact the Technical Support 34 0 No synchronisation via field bus Failure of synchronization messages from master 1 Field bus synchronisation error Failure of synchronization messages from master Parameterization of synchronization interval too
90. he DC bus as per EN 60204 1 In certain device constellations however mostly in the case of parallel connection of several servo positioning controllers in the DC bus or in the case of an unconnected brake resistor this rapid discharge may be rendered ineffective The servo positioning controllers can carry voltage until up to 5 minutes after being switched off residual BB BBB capacitor charge Operating instructions Page 25 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 d WERNER Safety notes for electrical drives and controllers 2 4 4 Protection against electrical shock by means of protective extra low voltage PELV All connections and terminals with voltages of up to 50 Volts at the servo positioning controller are protective extra low voltage which are designed safe from contact in correspondence with the following standards m International IEC 60364 4 41 m European countries within the EU EN 61800 5 1 DANGER High electrical voltages due to wrong connections Danger to life risk of injury due to electrical shock Only devices and electrical components and wires with a protective extra low voltage PELV may be connected to connectors and terminals with voltages between O to 50 Volts Only connect voltages and circuits with protection against dangerous voltages Such protection may be achieved by means of isolation transformers safe optocouplers or battery operation Page 26
91. ignment 0 84 Table 35 Pin assigniment L aaa aa e ea ANE LAAN 87 Table 36 Pin assignment I O communication INTE 94 Table 37 Pin assignment X2A 2 4a AABANGAN NAAN 96 Table 38 Pin assignment of analog incremental encoder optional TIa2pPl 99 Table 39 Pin assignment Incremental encoder with serial interface for example EnDat HIPERFACE optional DOP 100 Table 40 Pin assignment Digital incremental encoder optional X2B 0 00 0 ec ceeeeeeeeeeeeeeeeeeeeteeeeees 101 Table 41 Pin assignment Incremental encoder input 10 104 Table 42 Pin assignment Incremental encoder output X11 7 7 7 0 nanaawwaannnawananunawananasansnanasanna 106 Table 43 Pin assignment CAN Bus DNA 108 Table 44 Pin assignment RS232 interface IN 111 Table 45 Pin assignment USB interface INi19 ese nssn nssr nssnnssnnssrnssrnssrnssrnssrnssrnsnns 113 Table 46 Pin assignment SD Card wanna aa wann GN AKNG NANG GG NAAN ANNAKG KANG KNNAAGK0NNAG AN AKGGAAKKKKKAKKnnKKK0KNN 115 Table 47 Pin assignment MM Card 115 Table 48 EMC requirements First and second environment 118 Table 49 Operating mode and error deplay scenes ceaeeesaaeeeeneeseaeeesaeeeeaeseeeeeeaas 129 Table 50 s Error Messages NANA NANA DAN ANA 130 Table 51 Technical data EA88 interface u s annin naan 148 Table 52 Digital inputs EA88 interface 121 149 Table 53 Digital outputs EA88 interface X22 mmaaaanaananawwwannnnwwaaananawanananasananasanana
92. in assignments and cable specifications ssssssssssnsnseunnnrnnnnnnnnnnnnnnnnnnnnnnnnnn 155 12 2 4Termination and bus terminating resistors ana 156 12 3 E ENT UU 157 12 3 1 Product deseriplloh XX IA KANA omanaan aranan aaien naiai 157 12 3 2 Technical data Lana AGAIN 158 12 3 3 Optical waveguide specification 2 ccccceceesseenceeeeeeeeeeeeneeeeeeeeeeeeeeseeeeeeeeeeneees 159 12 4 de ed E 160 124 1Product TEE le EE 160 12 4 2Characteristics of the EtherCAT technology module ccccsseetecsseereeeeeeeees 160 E e a COUCHE E WE 161 12 4 4Display elements 11 aa NANANA NANANGNAKAGN BANA eeceacereeessceeeeenacciie 162 12 4 5EtherCAT interface aa AA AA AG ANA GA ANALLD mGa 162 12 5 General installation notes for technology modules 1 11022 nnnnmanannnaanananunanannnaa 163 Page 10 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc WERNER Table of Figures Figure TY DOK OY EE 30 Figure 2 Schematic setup of PFC stage 34 Figure 3 Performance curve of the PFO stage 44 Figure 4 Control scheme of the serv0oTEC 82100 E 58 Figure 5 Driving profiles of servo positioning controller ServoTEC S2100 FS Llana nn nwwannwawnnnawan 65 Figure Hl tee LE BEE 67 Figure 7 Linear interpolation between two data values aman nana wwwaannwawaaannnawananasansnanasansnasasaona 68 Figure 8 Schematic representation of the integrated safety t
93. instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d 2 m d Technical data W E 4 5 Motor feedback connection X2A and X2B Different feedback systems can be connected to the servo positioning controller servo TEC S2100 FS via the universal encoder interface m Resolver interface X2A m Encoder interface X2B e Incremental encoders with analog and digital track signals SinCos encoder single turn multi turn with HIPERFACE e Multiturn absolute encoder with EnDat The encoder type is determined in the IEF Werner S2 Commander parameterisation software The feedback signal is available via the incremental encoder output X11 for master slave applications It is possible to evaluate two shaft encoder systems in parallel Typically the resolver for the current control is connected to X2A and for example an absolute encoder is connected to X2B as a feedback system for the positioning control Operating instructions Page 49 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Technical data Mm d WERN 4 5 1 Resolver connection X2A The 9 pin D SUB connection X2A is used to evaluate standard resolvers Single and multi pole resolvers are supported The user can state the number of pairs of poles of the servo motor in the Motor Data menu of the IEF Werner S2 Commander parameterization program so that the servoTEC S2100 FS determi
94. instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Technical data d M d 2 M d Analog inputs outputs 10 V input range 16 Bit differentially High resolution analog input AIN 0 lt 250 us delay time Analog input AIN 1 Analog input AIN 2 Optionally this input can also be parameterized as digital input DIN AIN 1 with a switching threshold at 8 V Optionally this input can also be parameterized as digital input DIN AIN 2 with a switching threshold at 8 V 10 V 10 Bit single ended lt 250 us delay time 10 V 10 Bit single ended lt 250 us delay time Analog outputs AOUT 0 and AOUT 1 10 V output range 10 mA 9 bit resolution flimi gt 1 KHz Table 28 Technical data Analog inputs and outputs X1 4 6 7 Incremental encoder input X10 The input supports all common incremental encoders For example encoders corresponding to the industry standard ROD426 by Heidenhain or encoders with single ended TTL outputs as well as open collector outputs Alternatively the A and B encoder signals are interpreted by the device as pulse direction signals so that the controller can also be driven by stepping motor control boards Values 1 2 lines revolution Parameter Parameterisable line count Trace signals A A B B N N In accordance with RS422 specification Max input frequency 1000 kHz Pul
95. invalid Shift the point of time T3 manually 38 0 sercos Technology module defective SERCON Status event Replace the technology module If necessary contact the Technical Support 1 sercos No module Technology module plugged in correctly Technology module defective Replace the technology module If necessary contact the Technical Support 2 sercos Defective module Replace the technology module If necessary contact the Technical Support 3 sercos Check the configuration cyclic data for MDT and S 0 0127 Invalid data in S 0 AT 0021 Time slot calculation by the master 4 sercos Check the configuration cyclic data transfer S 0 0127 Illegal IDNs in AT or MDT 5 sercos Check the weighting settings S 0 0128 invalid data in S 0 Check the operating mode settings SS Check the internal external angle encoder settings Operating instructions Page 141 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 Service functions and error messages WERNER Error message Meaning of the error message Main Sub index index 6 sercos Check the weighting settings S 0 0128 Invalid scaling 7 sercos Check the configuration of the signal status and Invalid IDN in S 0 0026 S 0 signal control word S 0 0026 S 0 0027 0027 8 sercos Check the weighting settings Error at conversion If necessary contact the Technical Support 9 sercos Technology module defective SERCON 410b m
96. ion Dimensions including the 261 mm 54 6 mm 205 mm mounting plate H W D Dimensions H W D 200 mm 54 mm 200 mm Weight approx 2 0 kg approx 2 1 kg approx 1 8 kg Table 6 Technical data of dimensions and weight Page 40 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Technical data WERNER Range servoTEC servoTEC servoTEC 2102 FS 2105 FS 2108 FS Maximum motor cable length for interference emission as per EN 61800 3 for fpwm lt 10 kHz x25 m Category C2 Switch cabinet assembly see chapter 0 Notes on safe and EMC compliant installation Category C3 industrial area Cable capacity of a phase against shield or C lt 200 pF m between two lines Derating of the cable length see also chapter 8 14 5 Operation with long motor cables I x21m fpwm 12 kHz fpwm 16 kHz 1 lt 15m fpwm 20 kHz x12m Table 7 Technical data of cable specifications Motor temperature Values monitoring Digital Sensor Normally closed Reo lt 500 Q Rho gt 100 KQ contact Silicon temperature sensor for example KTY81 82 or similar Ros 2000 Q R100 3400 Q Analog Sensor Table 8 Technical data of motor temperature monitoring Operating instructions Page 41 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d Technical data Mm d
97. ivated accordingly on the software side Page 122 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d Initial operation WERNER 10 Initial operation 10 1 General notes on connection Since the laying of the connection cables is very important in terms of EMC make sure Il to comply with the previous chapter 8 14 4 EMC compliant cabling page 119 DANGER Noncompliance with chapter 2 Safety notes for electrical drives and controllers page 17 may result in property damage person injury electric shock or in extreme cases in death 10 2 Tools material m Screwdriver for slotted head screws size 1 m Serial interface cable m Angle encoder cable m Motor cable Power supply cable m Controller enabling cable 10 3 Connecting the motor Plug the connector of the motor cable into the corresponding socket of the motor and screw tight Plug PHOENIX connector into socket X6 of the servo positioning controller Connect the PE line of the motor to the PE socket m Plug the connector of the encoder cable into the encoder output socket of the motor and screw tight m Plug the D Sub connector into the socket X2A Resolver or X2B Encoder of the servo positioning controller and fasten the bolting screws m Apply the shield of the motor or angle encoder cable over a large contact area with the aid of the shield connection clamp SK14 m Check all connection
98. ke TEE 126 11 1 2Overcurrent and short circuit monitoring 126 11 1 3Overvoltage monitoring for the DC bus 126 11 1 4Temperature monitoring of the heat sink 11 mannnnaanan na awanan nnman 127 11 1 5Monitoring of the motor mmma naaa 127 TVA GEE ION IOI G NANANA AN NAKAKAKABA NADALI NAAN 127 11 1 7 Power monitoring for the brake chopper 1 7777 00mmmmemesssnnssaunananasssanassaanan 127 11 1 8PFt monitoring for the PFC stage mmmmsan nananana na amwna aa amwnannnamaKKKKnnA AKA 127 11 1 9Initial operation status REENEN EENEG 128 11 1 10 Operating hours meter nnn 128 11 2 Display of operating mode and error messages 111 0na naananananananananananunananananan 129 11 2 1 Operating mode and error display 129 11 2 2Error e LE 130 Technology MO E 148 12 1 EA88 interface terminal extension 2770274 aassananasaaaaa na 148 12 1 1 Product description ANAL GA na aaaea aaa Erann a da NAGA 148 12 1 2 Technical data WE 148 12 1 3Pin assignment and cable specifications ceececceseeeeeeeeeeseeeeeeeeeeeeeneeneeeenes 150 Operating instructions Page 9 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d WERNER 12 2 PROFIBUS DP interface EE 153 12 24 Product description Xa AABANGAN 153 12 2 2Technical dalan KAN GARA KR ean aaa Eaa nina eaaa Rasa ENa 153 12 2 3P
99. l as pulse direction signals as generated by control boards for stepper motors The input amplifier at the signal input is designed for the processing of differential signals as per interface standard RS422 Processing of other signals and levels for example 5V single ended or 24Vym from a PLC may be possible Please contact your sales representative D SUB connector Incremental encoder at X10 Incremental encoder input 7 eg BODES LA IX A CLK A CLK B DIR B DIR N N GND Male VCC Cable shield Connector oo Aye housing optional Connector housing Figure 25 Pin assignment Input of the incremental encoder X10 Operating instructions Page 105 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d Electrical installation M d 2 M d W 8 9 Connection Incremental encoder output X11 8 9 1 Device side X11 D SUB connector 9 pole female 8 9 2 Counterplug X11 D SUB connector 9 pole male Housing for 9 pole D SUB connector with bolting screws 4 40 UNC 8 9 3 Pin assignment X11 5 V Ra 66Q Incremental encoder signal A 5 V Ra 66Q Incremental encoder signal A 5V Ra x 6602 H Incremental encoder signal B 5V Ra x 660 Il Incremental encoder signal B 5 V Ra x66 Q Incremental encoder index pulse N 5
100. l methods as per the CANopen manual and following DSP 402 are implemented for the homing Most methods first search for a switch at search velocity The further movement depends on the method of communication H a homing is activated via the fieldbus there is generally no following positioning to zero This is done optionally during the start via the controller enabling or RS232 A following positioning is always an option The default setting is no following positioning Ramps and velocities are parameterisable for the homing The homing can also be time optimal and jerk limited Page 66 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 m d Function overview W E 5 3 6 Positioning sequences Positioning sequences consist of a series of positioning sets These are run consecutively A positioning set can be made part of a path program by means of its path program options thus generating a linked list of positions Figure 6 Path program Via the start position of the path program the user determines which position series to run In principle linear or cyclic series are possible The start position of a path program can be determined m via fieldbus m Via digital inputs The number of positions in the corresponding positioning sequence is only limited by the number of totally available positions Every user defined positioning set 0 to 255 can be used in the
101. le the function of a switch is the same for all of the fieldbuses such as for example switch 8 for activating deactivating the communication The functions are listed in page 71 The following general rules apply to the communication parameterisation of the technology modules that are listed in page 71 m Switch position 0 Activation of the communication The baud rate and the fieldbus address will be taken from the parameter data set or depending on the parameterisation optionally also by an addition of digital inputs m Switch position lt gt 0 The configuration of the communication parameters via the DIP switch takes precedence over the corresponding settings in the parameter data set e Activation of the communication via DIP switch e Selection of the baud rate if it can be adjusted via DIP switch e Setting of the fieldbus address via DIP switch addition to the basic node number taken from the parameter data set m If the communication is deactivated via the DIP switch it is optionally possible to reactivate or deactivate it via the IEF Werner S2 Commander parameterisation software m The fieldbus address that is set via the DIP switch is checked internally for validity and if necessary it is limited Fieldbus specific functions for example CAN check for double node numbers are configured via the settings in the parameter data set m If no fieldbus technology module is connected the DIP switch is used for th
102. lowing isolated areas are distinguished Power module with DC bus and mains input m Control electronics with processing of analog signals m 24V supply and digital inputs and outputs Operating instructions Page 121 of 163 Mai 2015 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS d Additional requirements for the servo drives concerning the UL approval M d 2 M d 9 Additional requirements for the servo drives concerning the UL approval This chapter gives further information concerning the UL approval of the servoTEC S2102 FS servoTEC 92105 FS and servoTEC 52108 FS 9 1 Circuit protection In case of a required UL certification the following data for the main fuse are to be O Il considered Listed Circuit Breaker according to UL 489 rated 277 Vac 16 A SCR 10 kA 9 2 Wiring and environment regards Use 60 75 or 75 C copper CU wire only m The terminal tightening torque is 0 22 0 25 Nm m To be used in a Pollution Degree 2 environment only 9 3 Motor temperature sensor m Il Motor overtemperature sensing is not provided by the drive according to UL 508C When a UL certification is required then in order to prevent motor overtemperatures the servo drive may only be operated in connection with motors that are provided with an integrated motor temperature sensor The sensor has to be connected to the servo drive and the temperature monitoring has to be act
103. lows dynamic conversion in both directions between motor and generator operation without dead times No parameterisation by user necessary 3 2 1 1 Behaviour when turning on Assoon as the servo positioning controller servoTEC S2100 FS is supplied with the input voltage the DC bus is charged lt 1 s using the brake resistor as a precharging resistor the DC link relay deactivated During this the PFC remains inactive m After precharging of the DC bus the relay is energized and the DC bus is coupled hard to the mains power without the precharging resistor Subsequently the PFC stage is activated and the DC bus is boosted to the full DC bus voltage m Ifthe DC bus voltage after precharging is too small because the input mains voltage is below the PFC operation input voltage range the PFC stage remains inactive and an error message on the seven segment display is shown m If the servo positioning controller servoTEC S2100 FS is supplied with less than the nominal voltage of 230 VAC the actual DC bus voltage after the precharge is used to compute a power derating for the PFC stage see chapter 4 3 Supply X9 page 42 and Figure 3 page 44 Operating instructions Page 33 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 WwW d Product description Mm d ERN 3 2 1 2 Behaviour during normal operation and control characteristics During operation the PFC stage controls the power input of the
104. ls ZK and ZK the DC buses of several servo positioning controllers servoTEC 82100 FS can be interconnected The coupling of the DC bus is interesting for applications with high brake energies or if movements have to be carried out even in the case of power failure For further information please refer to Application Note 67 A holding brake can be connected to the terminals BR and BR of the motor The holding brake is fed by the servo positioning controller s power supply Note the maximum output current provided by the servo positioning controller servoTEC 52100 FS A relay may have to be placed between the device and the holding brake as shown in Figure 19 below gt Q Q 5 gt n ae o2 J gt 5 SER Fao o o 1 Ly BR Cem em 2 BR Cem o ServoTEC 2100FS Resistor and capacitor for spark extinguishing Free wheeling diode dl Motor with 2 holding brake A 5 se 52 o gt ET 29 a DZ IO Figure 19 Connecting a holding brake with high current draw gt 1A to the device The switching of inductive direct current via relay produces strong currents and sparking il For interference suppression we recommend integrated RC suppressor elements for example by Evox RIFA denomination PMR205AC6470M022 RC element with 22 Q in series with 0 47 uF Page 90 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servo
105. mm with total Cu shielding For highly flexible applications m LAPP KABEL UNITRONIC BUS CAN FD P 2 x 2 x 0 25 8 4 mm with total Cu shielding 8 10 5 Connection notes X4 Caution When cabling the connector via the CAN bus make sure to observe the following information and notes to ensure a stable and interference free system Improper cabling may cause the CAN bus to malfunction which in turn can cause the controller to shut down with an error for safety reasons The CAN bus provides a simple and fail safe way of connecting all components of a system assuming however compliance with the following notes on cabling ZEREA CAN SHIELD EE ETE EE CAN SHIELD CAN SHIELD Heer E Figure 27 Cabling example for CAN Bus Operating instructions Page 109 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 WwW ERN d Electrical installation M d The individual nodes of a network are always connected in line so that the CAN cable is looped through from controller to controller see Figure 27 On both ends of the CAN bus cable must be exactly one terminating resistor of 120 Q 5 The servoTEC 52100 FS servo positioning controller is equipped with an integrated terminating resistor that can be activated deactivated with the aid of the DIP switch CAN TERM that is located on the front panel see Figure 11 and Figure 28 Shielded cables with exactly two twisted pai
106. n additional offset angle for the hall sensor signals It is determined during motor identification or can be set via the parameterisation software IEF Werner S2 Commander In general the hall sensor offset angle is zero Operating instructions Page 51 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d WERN Technical data M d 4 5 2 3 Sick Stegmann encoders Single turn and multi turn shaft encoders with HIPERFACE made by Sick Stegmann are supported The following series of encoders can be connected m Singleturn SinCos encoders SCS 60 70 SKS 36 SRS 50 60 64 SEK 37 52 Multiturn SinCos encoders SCM 60 70 SKM 36 SRM 50 60 64 SEL 37 52 m Singleturn SinCos Hollow shaft encoders SCS Kit 101 SHS 170 SCK 25 35 40 45 50 53 a Multiturn SinCos Hollow shaft encoders SCM Kit 101 SCL 25 35 40 45 50 53 In addition the following Sick Stegmann encoder systems can be connected and evaluated m Absolute non contact length measuring system L230 and TTK70 HIPERFACE m Digital incremental encoder CDD 50 O il SinCoder encoders like SNS 50 or SNS 60 are no longer supported 4 5 2 4 Heidenhain encoders Incremental and absolute encoders by Heidenhain are evaluated The following series of encoders can be connected pn Analog incremental encoders ROD 400 ERO 1200 1300 1400 ERN 100 400 1100 1300 m Singleturn absolute encoders EnDat 2 1 2 2 ROC 400 ECI 1100 1300 ECN 100 400 11
107. nchronization to the external clock signal ccseseeeeseseeeeeseeneeeeseeeeeenseeneees 62 5 2 8 Load torque compensation for vertical axes ssssssssnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 62 5 2 9 Positioning and position control X 62 5 2 10Synchronisation electronic gearing 62 5 2 11 Brake management ennnen nnn 63 5 3 Positohingi control a AA AA AARAL 64 5 3 1 OVENVIEW aaa ENEE edd PEKING ED GTA ANAND 64 5 3 2 Relative POSItiOMING EE 65 5 3 3 Absolute positioning AA A GAGA 65 5 3 4 Driving profile generator annene 65 5 3 5 HOMING LAKAN AN RENA NANA ENGANASAEANUDANTERKNDAN RAANG 66 5 3 6 Positioning sequences a 67 5 3 7 Optionalistop ALT ET 67 5 3 8 Contouring control with linear interpolation a 68 5 3 9 Time synchronized multi axis positioning 68 6 Functional safety technology ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeeeaeeeeeneneeeeeees 69 Ba CN ET 69 Page 6 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc WERNER 6 11 iDIPSWitchi na aaa 70 6 1 2 Assignment of the DIP switch 71 6 2 Integrated safety technology schematic representation mananannn nanana 73 6 3 Module vananisi GANAN aae Anaea eaaa ANAKAN AA 74 6 3 1 FBA Module TTT 74 6 3 2 FSM 2 0 STO Safe Torque
108. ncoder OV Reference potential encoder supply and motor temperature sensor Reset pulse trace signal RS422 differential from digital incremental encoder Phase U hall sensor for commutation Phase V hall sensor for commutation Phase W hall sensor for commutation A trace signal RS422 differential from digital incremental encoder B trace signal RS422 differential from digital incremental encoder Please comply with chapter 9 Additional requirements for the servo drives concerning the UL approval on page 122 Table 40 Pin assignment Digital incremental encoder optional X2B The outer cable shield of the angle encoder cable must additionally be applied to the mounting plate of the controller housing over a large contact area with the aid of the shield connection clamp SK14 Operating instructions Page 101 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d WERN Electrical installation M d 8 7 4 Cable type and design X2B We recommend using the encoder connection cables released for their product by the corresponding manufacturer Heidenhain Stegmann and so on If the manufacturer does not recommend a particular cable we recommend the assembly of the encoder connection cables as described below For the angle encoder supply US and GND we recommend il m aminimum cross section of 0 25 mm for
109. ncoder Reference potential encoder supply and Imax 300 MA OV motor temperature sensor Bidirectional RS485 data line differential EnDat HIPERFACE DATA 5 Vss His 1200 DATA 13 SCLK 5 Vss Clock output RS485 differential Dis 120 Q SCLK EnDat 14 COS Z0 1 Vss 4 10 Yo COSINE trace signal differential from high Dis 120 Q j COS Z0 l resolution incremental encoder SIN Z0 1Vsg 10 SINE trace signal differential from high Ry x 120 Q j SIN Z0 resolution incremental encoder Please comply with chapter 9 Additional requirements for the servo drives concerning the UL approval on page 122 Heidenhain encoder A SIN Z0 B COS Z0 Table 39 Pin assignment Incremental encoder with serial interface for example EnDat HIPERFACE optional X2B The outer cable shield of the angle encoder cable must additionally be applied to the mounting plate of the controller housing over a large contact area with the aid of the shield connection clamp SK14 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Operating instructions servoTEC S2 1xx FS Page 100 of 163 Mai 2015 d M d 2 M d Electrical installation 1 3 3 V Ri 2 kQ Motor temperature sensor normally closed contact PTC KTY DV 12V Sensor cables for encoder supply H x1 kQ 5V 12V 10 Supply voltages for high resolution Imax 300 MA incremental e
110. ncremental encoder input X10 8 8 1 Device side X10 D SUB connector 9 pole female 8 8 2 Counterplug X10 D SUB connector 9 pole male Housing for 9 pole D SUB connector with bolting screws 4 40 UNC 8 8 3 Pin assignment X10 5V Riz120Q Incremental encoder signal A Stepper motor signal CLK pos polarity as per RS422 Incremental encoder signal A Stepper motor signal CLK neg polarity as per RS422 A CLK 5V R x 1200 Incremental encoder signal B Stepper motor signal DIR pos polarity as per RS422 5V R s1200 Stepper motor signal DIR neg polarity as per RS422 Incremental encoder index pulse N pos polarity as per RS422 5V R 1200 Incremental encoder index pulse N neg polarity as per RS422 5V R x12090 B DIR 5V Riz120Q Incremental encoder signal B Reference GND for encoder Shield for the connection cable 5V 45 Auxiliary supply short circuit proof load with 100 mA 100 mA maximum Table 41 Pin assignment Incremental encoder input X10 Page 104 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 m d Electrical installation W E 8 8 4 Cable type and design X10 We recommend encoder connection cables twisted in pairs and individually protected 8 8 5 Connection notes X10 Input X10 can be used to process incremental encoder signals as wel
111. nes the speed correctly However the number of pairs of poles can also be identified automatically The number of pairs of poles of the motor Powotor is always an integer multiple of the number of pairs of poles of the resolver Poresoiver Wrong combinations such as for example Poresoiver 2 and Pomotor 5 lead to an error message during motor identification The resolver offset angle which is determined automatically during the identification is readable and writeable for service purposes Parameter Values Transformation ratio Carrier frequency 5 to 10 kHz Excitation voltage 7 Mous short circuit proof Impedance excitation at 10kHz gt 20 j20 Q Impedance stator lt 500 j1000 Q Table 19 Technical data Resolver X2A Parameter Values Resolution 16 Bit Delay time signal detection lt 200 us Speed resolution approximately 4 min Absolute accuracy of angle lt 5 detection Max rotational speed 16 000 min Table 20 Technical data Resolver interface X2A Page 50 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d d 2 M d Technical data W E 4 5 2 Encoder connection X2B At the 15 pole D Sub connection X2B motors with encoder can be fed back The possible incremental encoders for the encoder connection are divided into several groups If you want to use other types
112. ng Equalize the cycle time of the remote frames with the PLC resp failure of the PLC Signals interfered 5 CAN RPDO too short Check the configuration 9 CAN Protocol error Check the command syntax of the control record the data traffic Please contact the Technical Support 13 0 Timeout CAN Bus Check CAN parameterisation 14 0 Insufficient supply for Check the power supply identification Check the motor resistor 1 Identification current controller The automatic parameter identification process Measurement cycle insufficient delivers a time constant beyond the parameterisation value range The parameters must be optimized manually 2 Power stage could not be The power stage has not been enabled enabled check the connection of DIN 4 3 Power stage prematurely The power stage has been disabled while the disabled identification process was running for example via DIN 4 4 Identification does not support The identification cannot be performed with the selected resolver present angle encoder settings Check the configuration of the angle encoder If necessary contact the Technical Support 5 No index pulse detected The index pulse could not be found after the maximum number of electrical rotations Check the index pulse signal Check the angle encoder settings MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Operating instructions servoTEC S2 1xx FS Page 135 of 163 M
113. ng controller that is supplied in its original state that is without a parameterisation or fieldbus data settings can be installed and commissioned in a system In addition the FBA module is required for enabling the driver power supply for the power stage 5 6 7 80N 2 3 4 Fieldbus Parameter 1 BEBE eee e 2 Figure 9 FBA module front view 6 3 2 FSM 2 0 STO Safe Torque Off Please refer to the Original instructions FSM 2 0 STO for further information 6 3 3 FSM 2 0 MOV Module for the safety functions SLS SOS SBC etc In preparation Page 74 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 Mm d Mechanical installation 7 Mechanical installation 7 1 Important notes m Only use the servo positioning controller servoTEC S2100 FS as a built in device for switch cabinets Mounting position vertical with supply lines X9 on top Mount to control cabinet plate using a fastening strap m Installation spaces Keep a minimum distance of 100 mm to other components each above and underneath the device to ensure sufficient venting m The servo positioning controller servoTEC S2100 FS may be installed adjacently in one switch cabinet without a gap proper usage and installation on a heat dissipating rear panel provided Please note that excessive heat may cause premature aging and or damaging of the device In case the
114. nitoring to limit the average power loss in the power output stage and in the motor Since the occurring power loss in the power electronics and in the motor in the worst case increases square with the current the squared current value is assumed as the measure for the power loss 11 1 7 Power monitoring for the brake chopper Power monitoring for the internal brake resistor is implemented in the operating software When the power monitoring It brake chopper reaches 100 the power of the internal brake resistor is switched back to the rated output power 11 1 8 2t monitoring for the PFC stage l2t monitoring for the PFC is implemented in the operating software except the servoTEC S2108 FS Operating instructions Page 127 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d Service functions and error messages Mm d WERN 11 1 9 Initial operation status Servo positioning controllers which are sent to IEF Werner for service will be equipped with a different firmware and other parameters for testing purposes Before the next initial operation at the customer the servo positioning controller servoTEC 52100 FS must be parameterized again The parameterisation software IEF Werner S2 Commander queries the initial operation status and asks the user to parameterize the servo positioning controller At the same time the device shows an A on the seven segment display to indicate that it is ready but n
115. nsncedecuscetdeensccstecenced 45 4 5 Motor feedback connection X2A and DO seen 49 4 5 1 Resolver connection DA REENEN EEN 50 4 5 2 Encoder connection X2B cccccessesseeeceeeeeeeeeeeeneeeeeeeeseeeseaneeeeseeeseeseeaneeeeaees 51 4 6 Communication interfaces manaanaa anna aa NAAN KN seen cesses seeeeeseeeseeseaaneeeeeeeeseeeenaneeeeses 53 4 61 RS232 XS EE 53 4 62 USB P9 aaa a AA ANA AA AA 53 4 6 3 Ethernet X18 aa ama NANAIG NA INEAAA NAKARAAN 53 4 6 4 CAN bus X4 mamana aa ANAKAN ANAENAN NANANA TANAKA 53 46 5 SD MMC Card EE 54 4 6 6 VO imterfac KA AA ANA GA AGANG 54 4 6 7 Incremental encoder input X10 ceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeaneeeeeeeeseeseeeneeeeeees 55 4 6 8 Incremental encoder output DI seen 56 5 Function TE 57 5A MOONS scien AA AA AA 57 5 1 1 Synchronous servo motors u s 57 5 1 2 Linear OTTEN 57 5 2 Functions of the servo positioning controller servoTEC 52100 FS ssassn 58 5 2 1 Compatibilty E 58 5 2 2 Pulse width modulation PWM ccesseecsesseeceseeeeeeeseeeeesnseeneesesesneeseseeeesnneeneees 59 5 2 3 Setpoint management a 60 5 2 4 Torque controlled mode 2 3ang samaan enanada maanani aeiaai aamen 61 5 2 5 Speed controlled rode cccccssccpinsncccnencchactinatcandtedshastnesncasncducedsbinessenneasahasennenseenkees 61 5 2 6 Torque limited speed control ceceseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeseeeeeseeesneneeeeeeeeeees 61 5 2 7 Sy
116. nt C2 Second environment industrial Motor cable length up to 25 m environment C3 Interference First environment domestic Independent of motor cable length immunity environment C2 Second environment industrial environment C3 Table 48 EMC requirements First and second environment Page 118 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 M d Electrical installation W E 8 14 4 EMC compliant cabling The following must be considered for an EMC compliant setup of the drive system see also chapter 8 Electrical installation page 80 m In order to keep the leakage currents and the losses in the motor connection cable as small as possible the servo positioning controller servoTEC S2100 FS should be located as close to the motor as possible see also the following chapter 8 74 5 Operation with long motor cables page 120 Motor cable and angle encoder cable must be shielded m The shield of the motor cable is connected to the housing of the servo positioning controller servoTEC 52100 FS shield connection terminal The cable shield also has to be connected to the associated servo positioning controller so that the leakage currents can flow back into the controller causing the leakage The mains end PE connection is connected to the PE connection point of the supply connection X9 The inner PE conductor of the motor cable is c
117. oTEC S2 1xx FS Rtib doc Figure 13 SerovTEC 52102 FS Bottom view Operating instructions servoTEC S2 1xx FS Page 78 of 163 Mai 2015 M d 2 m d Mechanical installation W 7 3 Mounting The servo positioning controller servoTEC S2100 FS has attachment lugs on the top and the bottom of the device These lugs are used to mount the servo positioning controller vertically to a control cabinet plate The lugs are part of the cooling body profile This is why the best possible heat transfer to the control cabinet plate has to be ensured Recommended tightening torque for an M5 screw of property class 5 6 2 8 Nm m Please use M5 screws for mounting of the servo positioning controllers Il servoTEC S2102 FS servoTEC S2105 FS and servoTEC S2108 FS _R2 5_ i M4 flush head stud R5 P2 Na et A 1 R2 5 Rs fl T FT LH Figure 14 Servo positioning controller servoTEC S2100 FS mounting plate Operating instructions Page 79 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d M d 2 Mm d 8 8 1 Connector configuration Electrical installation Electrical installation The servo positioning controller servoTEC S2100 FS is connected to the supply voltage the motor the brake resistor and the holding brakes as shown in Figure 15 below 100 VAC 230 VAC 10 main fuse Be
118. ode activated Replace the technology module 39 0 sercos Please contact the Technical Support List S 0 0370 Invalid configuration MDT Data container sercos List S 0 0371 Invalid configuration AT Data container Cyclic channel fault MDT Cyclic channel fault AT Cyclic data container fault MDT Cyclic data container fault AT Check the negative range limit 2 sercos 3 sercos 4 sercos 5 sercos 40 0 reached Negative SW limit switch Check the positive range limit Positive SW limit switch The start of a positioning run was suppressed as the target lies beyond the respective software reached Target position behind the 2 negative SW limit switch Page 142 of 163 Operating instructions servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Mai 2015 Service functions and error messages d M d 2 M d Error message Meaning of the error message Measures 3 Target position behind the limit switch positive SW limit switch Check the target data Check the positioning range 41 0 Course program Check the parameterization Synchronization error If necessary contact the Technical Support 8 Course program unknown command 9 Course program abnormal jump destination 42 0 Positioning The positioning target cannot be reached with Missing following position Stop the cur
119. of encoders please contact your sales representative Parameter Values Parameterisable number of encoder 1 2 8 lines revolution lines Angular resolution Interpolation 10 Bit period Encoder signals A B 1 Vpp differential 2 5 V offset Encoder signal N 0 2 to 1 Vpp differential 2 5 V offset Commutation track A1 B1 optional Input impedance encoder signals Differential input 120 Q fLimit gt 300 KHz high resolution signal Limit frequency D mit approximately 10 kHz commutation track 1 Vpp differential 2 5 V offset Additional communication interface EnDat Heidenhain and HIPERFACE Sick Stegmann 5 V or 12 V max 300 mA current limited control via sensor lines Setpoint programmable via SW Output supply Table 21 Technical data Encoder evaluation X2B 4 5 2 1 Standard incremental encoders without commutation signals This type of encoder is used with low cost linear motor applications to save the costs for the provision of the commutation signals hall sensor With this type of encoder the servo positioning controller servoTEC S2100 FS must carry out an automatic pole position determination after power on 4 5 2 2 Standard incremental encoders with commutation signals These are standard incremental encoders with three binary hall sensor signals The number of lines of the encoder can be freely parameterized 1 a lines rotation There is a
120. ol General Normally just information No measures required 1 Multiple started CO write Please contact the Technical Support access 83 0 Invalid technology module Load the correct firmware or Please check the slot Technology module If necessary contact the Technical Support slot combination Page 146 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 M d Service functions and error messages Error message Meaning of the error message Technology module not Incorrect firmware supported Load the correct firmware Technology module If necessary contact the Technical Support HW revision not supported Service memory module write Please contact the Technical Support error Technology module MC2000 watchdog Missing hardware component Please contact the Technical Support SRAM Missing hardware component FLASH Error during booting of FPGA Error during start of SD ADUs Synchronisation error SD ADU after start SD ADU not in synchronism IRQ O current controller Trigger error CAN controller not available Checksum Error in Device Parameters DEBUG Firmware loaded Internal initialisation error Please contact the Technical Support Memory error Reading of the controller power stage type failed Internal software initialization error Error during firm
121. on of the connectors and their numbering Figure 32 E88 Position of the pin and socket connectors X21 and X22 at the front plate Operating instructions Page 151 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 Technology modules M d WERN 13133 Counterplug Connector X21 for 8 digital inputs PHOENIX Contact MicroCombicon FK MC 0 5 9 ST 2 5 pn Connector X22 for 8 digital outputs PHOENIX Contact MicroCombicon FK MC 0 5 10 ST 2 5 12 1 3 4 Connection notes The MicroCombicon counterplugs made by PHOENIX Contact regarding X21 FK MC 0 5 9 ST 2 5 and X22 FK MC 0 5 10 ST 2 5 are supplied together with the EA88 interface technology module The cables are connected in the form of crimp connections To do so first strip the cable at a length of about 8 mm Then insert it into the desired opening by pressing down the orange crimp lock using a suitable screwdriver the tip of a ball pen or something similar Release the lock to fix the cable in place The maximum admissible wire cross section wire gauge is 0 5 mm or AWG20 If the EA88 interface is also used to control digital outputs an additional external 24V supply voltage has to be connected to X22 pin 10 As the lines GND24V and 24Vext have to transfer the entire current of all outputs connected their cross section has to be sized accordingly recommended AWG 20 Page 152 of 163 Operating instructions Mai 2015 servoTE
122. onnected to the PE connection point of the motor connection X6 m The signal lines must be as far away from the power cables as possible They should not be placed parallel If intersections cannot be avoided they should be perpendicular that is at a 90 angle if possible m Unshielded signal and control lines should not be used If their use is inevitable they should at least be twisted m Even shielded cables will inevitably have short unshielded ends unless shielded connector housings are used In general the following applies e Connect the inner shields to the corresponding pins of the connectors Maximum length 40 mm e Length of the unshielded cores 35 mm maximum e Connect the total shield on the controller side plane to the PE terminal Maximum length 40 mm e Connect the total shield on the motor side plane to the connector housing or motor housing Maximum length 40 mm DANGER For safety reasons all PE ground conductors must be connected prior to initial operation The EN 61800 5 1 regulations for protective earthing must be complied with during installation Operating instructions Page 119 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d Electrical installation Mm d WERN 8 14 5 Operation with long motor cables Compliance with the EMC standard EN 61800 3 is only guaranteed for motor cable lengths of up to 25 m For cable lengths beyond this a new measurement of
123. or message Service functions and error messages Main Sub index index 6 X10 X11 and RS232 supply Check the pin assignment of the connected voltage failure peripheral equipment Check the connected peripheral equipment for short circuits 7 Safety module internal voltage Safety module defective failure Replace the safety module If the error persists please send the servo positioning controller to our sales partner 8 Internal undervoltage supply 3 Please send the servo positioning controller to 15V our sales partner 9 Encoder supply failure 06 0 Short circuit in the power stage Motor defective Short circuit in cable Power stage defective 1 Overcurrent brake chopper Check the external brake resistor Short circuit or resistance value too low Check braking chopper output of the device 07 0 Overvoltage in the DC bus Check connection to braking resistor internal external External braking resistor overloaded Check rating 08 0 Angle encoder error resolver See measures 08 2 08 8 1 Sense of rotation of the serial A and B track are mixed up and incremental position Correct check the connection of the tracks evaluation is not identical 2 Error of track signals ZO Angle encoder connected Incremental encoder Angle encoder cable defective 3 Error of track signals Z1 Angle encoder defective Incremental encoder Check the configuration of the angle encoder 4 Err
124. or of track signals of digital interface incremental encoder The encoder signals are disturbed check the installation for compliance with EMC 5 Error of Hall signals incremental recommendations encoder 6 Communication error encoder Page 132 of 163 Mai 2015 Operating instructions servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Service functions and error messages Error message Meaning of the error message 7 Signal amplitude incremental track erroneous d M d 2 M d Measures 8 Internal encoder error Internal monitoring of the angle encoder at X2B has identified an error Communication error Check the encoder type contact the Technical Support if necessary 9 Encoder at X2B not supported Please contact the Technical Support 09 0 Old encoder parameter set type servoTEC S2 Save data into the encoder EEPROM new format motor overspeed protection Overspeed protection limit too small 1 Encoder parameter set cannot Encoder defect be decoded Check encoder interface configuration The encoder signals are disturbed Check the installation for compliance with EMC recommendations 2 Unknown encoder parameter Save the data into the encoder again set version 3 Corrupted data structure in If necessary determine the data once more and encoder parameter set save it into the encoder again 4 EEPROM data Erroneous Motor repaired
125. or technology far superior to conventional market standards and better than average computer resources Complete integration of all of the components for the controller and power module including USB 1 Ethernet and RS232 for the PC communication plus CANopen for the integration into automation systems m SD card support of FW downloads initialisation via boot switches and uploads and downloads of parameter sets m Integrated universal encoder evaluation for the following encoders e Resolver e Incremental encoder with without commutation signals e High resolution Stegmann incremental encoders absolute encoders with HIPERFACE e High resolution Heidenhain incremental encoders absolute encoders with EnDat Compliance with current European regulations and associated standards without any additional external measures m Device design as per UL standards UL certified Completely closed EMC optimized metal housing for mounting to conventional control cabinet plates All devices comply with the IP20 degree of protection m Integration of all filters to fulfil the EMC regulations industrial inside the device for example line filter motor output filter filter for 24 V supply as well as inputs and outputs m Integrated brake resistor External resistors can be connected for higher braking energies m Automatic identification of externally connected brake resistors Complete galvanic separation of controller and power output
126. ot yet parameterized 11 1 10 Operating hours meter An operating hours meter is implemented which has been designed for at least 200 000 operating hours The operating hours meter is displayed in the parameterisation software IEF Werner S2 Commander Page 128 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 M d Service functions and error messages W E 11 2 Display of operating mode and error messages 11 2 1 Operating mode and error display The system supports a seven segment display The following table describes the display and the meaning of the symbols shown In the operation mode speed control the outer bars rotate depending on the actual speed resp the actual position of the rotor If the drive is enabled the center bar of the seven segment display is on too The servo positioning controller servoTEC S2 FS still has to be parameterised seven segment display AT Operating mode torque control the two bars on the left hand of the display are on seven segment display I Positioning xxx stands for the position number The numbers are successively indicated Homing x stands for the currently active phase of the homing run 0 Search phase 1 Crawling phase 2 Positioning to zero position The numbers are successively indicated Error message with index xx and subindex y
127. path program For further information please refer to the software manual Servo Positioning Controller servoTEC S2 FS 5 3 7 Optional stop input The optional stop input can interrupt the ongoing positioning by setting the selected digital input Resetting the digital input will resume positioning to the original target position Operating instructions Page 67 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Function overview M d WERN 5 3 8 Contouring control with linear interpolation The implementation of the Interpolated Position Mode allows setting position values in a multi axis application of the controller For that purpose set position values are provided by a superordinated control at a fixed time pattern synchronisation interval If this interval exceeds a position control cycle the controller autonomously interpolates the data values between two set position values as shown in the following illustration The servo positioning controller also calculated a corresponding speed feed forward y t _ synchronisation interval sync t Interpolation data O Setposition intern interpolated L Cycle time position control positioning Interpolated characteristic of the position reference value Driven characteristic of the position actual value Figure 7 Linear interpolation between two data values 5 3 9 Time synchronized multi
128. perature sensor as open 3 2 3 Mains fuse A slow blow B16 single phase automatic circuit breaker of 16 A has to be installed in the mains supply line Operating instructions Page 35 of 163 servoTEC S2 1xx FS Mai 2015 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc WERN Product description M d 3 3 Brake chopper A brake chopper with a brake resistor is integrated into the power output stage If during the generator operation the permissible charging capacity of the DC bus is exceeded the braking energy can be converted into heat by the internal brake resistor The brake chopper is software driven The internal brake resistor is overload protected by means of software and hardware If in a special application the power of the internal resistors should be insufficient they can be cut off by removing the bridge between the pin BR CH and BR INT of the X9 plug Instead an external brake resistor is inserted between the pins BR CH and ZK This brake resistor must fulfil certain minimum specifications see Table 12 page 43 The output is protected against short circuiting in the brake resistor or its cable m Pin BR CH lies on positive DC bus potential and is thus not protected against ground fault or short circuits against mains voltage or negative DC bus voltages Simultaneous use of the internal and external brake resistors is not possible The external resistors are not automatically overload protected by the
129. prise an active PFC stage Power Factor Control with the servoTEC S2108 FS being an exception The PFC stage is an active mains current converter required to fulfil the corresponding standards on the limitation of the mains harmonics for category C2 residential areas The PFC stage also serves the active control of the DC bus voltage The PFC stage works according to the boost operation principle and provides a nominal DC bus voltage of 380 VDC This voltage is available regardless of the quality of the mains voltage and therefore also in the case of fluctuating main voltages or undervoltage This is an important advantage regarding the selection of the servo motor because as compared to devices with a passive mains supply higher rotational speeds can be achieved and or higher torque constants can be selected Furthermore due to the active PFC stage the device is also suitable for varying voltage operation down to 100 VAC mains supply However the limitation of the active power input due to the allowed maximum current of the PFC stage must be taken into consideration in this case Page 30 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d d 2 m d Product description W E All servo positioning controller servoTEC S2 FS series devices have the following features m Space saving compact design directly cascadable m High quality of control due to extremely high quality sens
130. r 10 bit The analog signals provide the setpoints speed or torque for the control In common applications the existing digital inputs are already used for basic functions For the use of further functions such as teach in mode separate start homing input or stop input the analog inputs AIN 1 AIN 2 as well as the digital outputs DOUT 2 and DOUT 3 which are also usable as digital inputs can optionally also be used Alternatively the I O extension module EA88 can be inserted Operating instructions Page 39 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 d Technical data M d 2 M d 4 Technical data 4 1 General technical data Admissible temperature Storage temperature 25 C to 70 C EES Operating 0 C to 40 C temperature 40 C to 50 C at reduced power 2 5 K Admissible installation Mounting height maximum 2000 m above msl above 1000 m height above msl with power reduction 1 per 100 m Humidity Relative humidity up to 90 not bedewing Protection degree IP20 Protection class I Pollution degree 2 CE conformity Low voltage directive 2006 95 EC verified by application of the harmonised standard EN 61800 5 1 EMC directive 2004 108 EC verified by application of the harmonised standard EN 61800 3 UL certification Listed according to UL 508C E219816 Table 5 Technical data of ambient conditions and qualificat
131. r input X10 O il If no setpoint source is activated the setpoint is zero The setpoint management has a ramp generator with a preceding adder Any of the above mentioned setpoint sources can be selected via the corresponding selectors and run through the ramp generator Additional sources can be selected as setpoints using two more selectors These however cannot be run through the ramp generator The total setpoint is then a summation of all values The acceleration and deceleration times of the ramp are directionally parameterisable Page 60 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 m d Function overview W E 5 2 4 Torque controlled mode In torque control mode a certain setpoint torque is set which the servo positioning controller generates in the motor In this case only the current controller is activated since the torque is proportional to the motor current 5 2 5 Speed controlled mode This mode of operation is used if the motor speed is to be kept constant regardless of the acting load The motor speed exactly follows the speed set by the setpoint management The cycle time of the speed control loop for the servo positioning controller servoTEC S2100 FS is twice the PWM period duration thus typically 208 4 us However it can also be set as an integer multiple of the current controller cycle time The speed controller is a PI controlle
132. r kind of data media without expressive authorisation by the author Trademarks Any product names in this document may be registered trademarks The sole purpose of any trademarks in this document is the identification of the corresponding products S2 Commander is a registered trademark of IEF Werner GmbH Operating instructions Page 3 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 M M E 2 M X Page 4 of 163 Mai 2015 Operating instructions servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc WERNER Contents 1 General GAGANA AKALA 15 1 1 Documentation aa EREECHEN aai 15 1 2 Scope of SUPPLY LG NBA KAANAK NDN NAA 16 2 Safety notes for electrical drives and Controllers ccceeeeeeeeeeeeeeeeeeeeeeeeeeees 17 214 Used RE UE 17 22 General NOS a AG BADA ANA 18 2 3 Danger resulting from misuse eeeeeeeeeeeeeeeeeeseeeeeenseeeeeenseeeeeeeseseeeenseeneeeneenneees 20 24 Safety E 21 2 44 General safety notes mamaannnnwanan naaa 21 2 4 2 Safety notes for assembly and maintenance cceccceesenceeseeeeeeseeeseeeeeeneeeeeees 23 2 4 3 Protection against contact with electrical parts 2 7 2 anumanananamananunanas 25 2 4 4 Protection against electrical shock by means of protective extra low voltage PELV E 26 2 4 5 Protection against dangerous movements maana 27 2 4 6 Protection against contact with hot
133. r with an internal resolution of 12 bits per rpm In order to eliminate wind up effects the integrator function is stopped upon reaching subsidiary limitations In speed control mode only the current controller and the speed controller are active In the case of setting via analog setpoint inputs it is optionally possible to define a safe zero If the analog setpoint is within this range the setpoint is then set to zero dead zone This can suppress interferences or offset drifts The function of a dead zone can be activated and deactivated and the width can be set The setpoints of the speed as well as the actual position are generally determined from the encoder system inside the motor which is also used for commutation For the actual value feedback to the speed control any encoder interface may be selected for example reference encoder or corresponding system at external incremental encoder input The actual speed value for the speed controller is then fed back for example via the external incremental encoder input The setpoint for the speed can also be set internally or can be derived from the data of an external encoder system speed synchronisation via X10 for speed controller 5 2 6 Torque limited speed control The servo positioning controllers servoTEC S2100 FS support torque limited speed controlled operation with the following features m Fast updating of the limit value for example in 200 us cycle m Addition of
134. rent positioning options or the current boundary conditions 1 Positioning Reversing the direction not allowed Stop Check the positioning parameters 2 Positioning Reversing the direction after stop not allowed 3 Start positioning rejected wrong The change of the mode of operation could not mode of operation be performed by the position set 4 Start positioning discarded Reset the optional parameterisation homing homing required required Perform a new homing run 5 Rotary axis direction of rotation According to the selected mode of the rotary axis is not allowed the calculated direction of rotation is not allowed Check the selected mode 9 Error at positioning start Check speed parameters and acceleration 43 0 Limit switch The drive has left the intended motion range Negative setpoint inhibited Technical defect in the system 1 Limit switch Check the limit switches Positive setpoint inhibited 2 Limit switch Positioning suppressed 9 Limit switch both limit switches are concurrently active Operating instructions Page 143 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Service functions and error messages M d 2 M d Error message Meaning of the error message Measures
135. rface X18 The UDP communication enables the connection of the servoTEC S2100 FS servo positioning controller to the Ethernet fieldbus system The communication via the UDP interface X18 is realised with the aid of a standard cabling The current firmware version 4 0 0 1 9 however does not support this feature at present 3 4 4 CAN interface X4 The CANopen protocol as per DS301 with application profile DSP402 is implemented m The special IEF CAN protocol of the previous device family servoTEC S2 is no longer Il supported with the series servoTEC S2100 FS The servo positioning controller servoTEC S2100 FS supports the CANopen protocol according to DS301 with application profile DSP402 Operating instructions Page 37 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Product description Mm d WERN 3 4 5 Technology module PROFIBUS Support of PROFIBUS communication as per DP VO For drive technology applications the functions as per PROFIDRIVE Version 3 0 are available The features include functions as per Application Class 1 speed and torque control as well as per Application Class 3 point to point positioning It is also possible to include the device into control systems via an I O mapping via PROFIBUS From a control point of view this option offers the same functionality as a conventional PLC coupling via parallel wiring with the device s digital I Os Via a special
136. rol voltages of 24 V Due to the high signal level a higher interference immunity of these inputs is already guaranteed The servo positioning controller servoTEC S2100 FS provides a 24 V auxiliary voltage which may be loaded with a maximum of 100 mA This way the inputs can be activated directly via switches Activation via the 24 V outputs of a PLC is of course also possible The digital outputs are designed as so called high side switches That means that the 24 V of the servo positioning controller servoTEC S2100 FS are actively switched through to the output Loads such as lamps relays and so on are thus switched from the output to GND24 The four outputs DOUT 0 to DOUT 3 can be loaded with a maximum of 100mA each The outputs can also be lead directly to 24 V inputs of a PLC Operating instructions Page 95 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d W Electrical installation M d 2 M d 8 6 Connection Resolver X2A 8 6 1 Device side X2A m 1 D SUB connector 9 pole female 8 6 2 Counterplug X2A D SUB connector 9 pole male Housing for 9 pole D SUB connector with bolting screws 4 40 UNC 8 6 3 Pin assignment X2A 3 5 Ver 5 10 kHz SINE trace signal differential Ri gt 5 kQ 3 5 Ve 5 10 kHz COSINE trace signal differential R gt 5kQ OV Shield for signal pairs inner shield GND 0 V Reference potential temperature sensor
137. rs must be used for cabling Use a twisted pair for the connection of CAN H and CAN L The cores of the other pair are used jointly for CAN GND The shield of the cable is led to the CAN shield connections for all nodes For suitable and IEF Werner recommended cables please refer to chapter 8 10 4 Cable type and design X4 page 109 We advise against the use of plug adaptors for CAN bus cabling Should this be necessary nonetheless make sure to use metal connector housings to connect the cable shield In order to keep interferences as low as possible make sure that e Motor cables are not installed parallel to signal lines e Motor cables comply with IEF Werner specifications e Motor cables are properly shielded and grounded For further information on interference free CAN bus cabling please refer to the Controller Area Network protocol specification Version 2 0 by Robert Bosch GmbH 1991 X4 Pin 7 CAN H integrated terminating resistor 120 Q DIP switch CAN TERM X4 Pin 2 CAN L Figure 28 Integrated CAN terminating resistor Page 110 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 M d Electrical installation 8 11 Connection RS232 COM X5 8 11 1 Device side X5 D SUB connector 9 pole male 8 11 2 Counterplug X5 D SUB connector 9 pole female Housing for 9 pole D SUB connector with bolting screws 4 40 UNC 8 11 3 Pin as
138. ry in order to prevent the differential input of the servo positioning controller servoTEC 52100 FS from being overridden by high common mode interference There are two analog monitor outputs with output voltages in the range of 10 V and an output for a reference voltage of 10 V These outputs can be led to the superimposed control the reference potential AGND must be carried along If the control has differential inputs the input of the control is connected to the output of the servo positioning controller servoTEC S2100 FS and input of the control with AGND 8 5 1 Device side X1 D SUB connector 25 pole female 8 5 2 Counterplug X1 D SUB connector 25 pole male pn Housing for 25 pole D SUB connector with bolting screws 4 40 UNC Operating instructions Page 93 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d Electrical installation M d 2 M d 8 5 3 Pin assignment X1 Shield for analog signals AGND OV Reference potential for analog signals U 10V Setpoint input 0 differential max 30 V input R gt 30 kQ voltage Uin 10V Setpoint inputs 1 and 2 single ended max R 30 kO 30 V input voltage Reference output for setpoint potentiometer Analog monitor output 0 Analog monitor output 1 24V 100 mA 24 V supply out Reference GND Reference potential for digital I Os POS Bit 0 T
139. s 0 8 Vss Reset pulse trace signal differential from Rj 120 Q high resolution incremental encoder R COS Z1 1 Vss 4 10 Yo COSINE commutation signal differential Ri 120 Q from high resolution incremental encoder COS Z1 SIN Z1 1Vsg 10 SINE commutation signal differential from Rj 120 Q high resolution incremental encoder SIN Z1 COS Z0 1 Vss 4 10 Yo COSINE trace signal differential from high COS 70 Ry 1200 resolution incremental encoder SIN Z0 1 Vss 10 SINE trace signal differential from high Rj 120 Q resolution incremental encoder SIN Z0 TI Please comply with chapter 9 Additional requirements for the servo drives concerning the UL approval on page 122 Heidenhain encoder A SIN Z0 B COS Z0 G SIN Z1 D COS Z1 Table 38 Pin assignment of analog incremental encoder optional X2B m The outer cable shield of the angle encoder cable must additionally be applied to the mounting plate of the controller housing over a large contact area with the aid of the shield connection clamp SK14 Operating instructions Page 99 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 Electrical installation WERNER 3 3V Ri 2 KQ Motor temperature sensor normally closed contact PTC KTY DV 12V Sensor cables for encoder supply H x1 kQ Supply voltages for high resolution 5V 12V 10 incremental e
140. s again Operating instructions Page 123 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 Initial operation M d 2 Mm d 10 4 Connecting the servo positioning controller servoTEC 52100 FS to the power supply Make sure that the power supply has been switched off Plug the PHOENIX connector into socket X9 of the servo positioning controller Connect the PE line of the mains to the PE socket Connect the 24 V connections to a suitable power supply unit m Make mains supply connections m Check all connections again 10 5 Connecting the PC serial interface m Plug the D Sub connector of the serial interface cable into the socket for the serial interface of the PC and fasten the bolting screws Plug the D Sub connector of the serial interface cable into the socket X5 RS232 COM of the servo positioning controller servoTEC S2100 FS and fasten the bolting screws m Check all connections again 10 6 Connecting the PC USB interface alternative m Plug the plug A of the USB interface cable into the socket for the USB interface of the PC m Plug the plug A of the USB interface cable into the socket X19 USB of the servoTEC S2100 FS servo positioning controller m Check all of the plug and socket connections once more Page 124 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 M d Initial operation 10
141. s calculation Reference position Motorspeed precontrol Motorcurrent precontrol Power Angle encoder Motor tand2 Current controller Speed controller Positioning controller Actual value management Figure 4 Control scheme of the servoTEC 52100 FS Figure 4 shows the basic control structure of the servoTEC S2100 FS Current controller speed controller and positioning controller are arranged in a cascade Due to the rotor oriented control principle the current can be set separated in active current iq and reactive current id Therefore there are two current controllers both of them PI controllers To provide a better overview however the id controller does not appear in Figure 4 The planned basic modes of operation are torque control speed control and positioning Functions such as synchronisation flying saw and so on are variants of these basic modes of operation Furthermore individual functions of these modes of operation can be combined with each other for example torque control with speed limitation Page 58 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d d 2 m d Function overview W E 5 2 2 Pulse width modulation PWM The servo positioning controller servoTEC S2100 FS is able to vary the clock frequency in the current controller circuit In most cases the settings can be ma
142. s responsible for compliance with these regulations Before switching on the device install the appropriate covers and protections against accidental contact Rack mounted devices must be protected against accidental contact by means of a housing for example a switch cabinet The national regulations for safety accident prevention must be complied with gt Always connect the ground conductor of the electrical equipment and devices securely to the mains supply Due to the integrated line filter the leakage current exceeds 3 5 mA Comply with the minimum copper cross section for the ground conductor over its entire length see for example EN 60800 5 1 Prior to the initial operation even for short measuring or testing purposes always connect the ground conductor of all electrical devices as per the terminal diagram or connect it to the ground wire Otherwise the housing may carry high voltages which can Pee cause electrical shock Do not touch electrical connections of the components when switched on Prior to accessing electrical parts carrying voltages exceeding 50 Volts disconnect the device from the mains or power supply Protect it from being switched on again For the installation the amount of DC bus voltage must be considered particularly regarding insulation and protective measures Ensure proper grounding wire dimensioning and corresponding short circuit protection The device comprises a rapid discharge circuit for t
143. sasanssasasansnasassona 150 Table 54 EA88 Connector X21 for 8 digital inputs c ce ceeeeeece cence cee eeseaeeeeeeeseaeeeseaeeeeaaeseeeeeeaas 151 Table 55 EA88 Connector X22 for 8 digital outputs ssseesseesseessnessnnsenresnnesnnesrnsrnnsrnssrnssrnnsrnsnnns 151 Table 56 Technical data of PROFIBUS DP interface to ambient conditions dimensions and weight153 Table 57 Technical data PROFIBUS DP interface Interfaces and communication s 154 Table 58 Pin assignment PROFIBUS DP Interface 155 Table 59 Technical data of sercos II module to ambient conditions dimensions and weight 158 Table 60 Technical data of EtherCAT module to ambient conditions dimensions and weight 161 Table CN ATTEN EC 162 Table 62 Signal level and differential voltage ccccceeeceeeeeeeceeeeeeeeeeeeeeeceaeeesaaeseeneeseaeeesaeeesaaeseeeeeeaas 162 Page 14 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc M d 2 Mm d General 1 General 1 1 Documentation This product manual serves for the purpose of a safe use of the servoTEC S2100 FS series servo positioning controllers It contains safety notes which must be complied with Further information can be found in the following manuals of the servoTEC S2 FS product range Product Manual Servo Positioning Controller servoTEC 52302 FS servoTEC S2310 FS H Description of the technical da
144. se direction interface CLK CLK DIR DIR RESET RESET In accordance with RS422 specification Supply output 5 V 100 mA max Table 29 Technical data Incremental encoder input X10 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Operating instructions servoTEC S2 1xx FS Page 55 of 163 Mai 2015 d Technical data M d WERN 4 6 8 Incremental encoder output X11 The output provides incremental encoder signals for processing in superimposed controls The signals are generated from the encoder s angle of rotation with a freely programmable number of lines Besides the encoder signals A and B the emulation also provides a reset pulse which goes to high once per rotation for the programmed number of lines for the duration of a 14 signal period as long as the encoder signals A and B are high Parameter Values Number of lines Programmable 1 2 3 and 2 lines revolution Connection level Differential RS422 specification Encoder signals A B N As per RS422 specification speciality N Trace disconnectable Output impedance Raitt 66 Q Limit frequency D nn gt 1 8 MHz lines s Edge sequence Can be limited by parameters Output supply 5 V max 100 mA Table 30 Technical data Incremental encoder output X11 Page 56 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M
145. se situations the machine operator must be protected by drive and control internal measures The integrated safety technology provides the control and drive specific conditions for the optimal realisation of protective functions Planning and installation become less labour intensive Compared to conventional safety technology the machine functionality and availability can be increased by the use of integrated safety technology In their delivery status the servo positioning controllers of the servoTEC S2 FS product range are not equipped with integrated features for the safety relevant monitoring and control of movements but they are equipped with an extension slot for a safety module As a standard the servoTEC S2 FS series servo positioning controllers come supplied with the module FSM 2 0 FBA Fieldbus Activation Module integrated in the extension slot for safety modules You can remove the FBA module and replace it with a Functional Safety Module If the safety modules of the FSM 2 0 series Functional Safety Module are used external monitoring devices are no longer required for numerous applications The wiring of the entire system is simplified and the number of components as well as the costs of the system solution can be reduced The design of the safety modules ensures that they can be simply plugged into the basic device from the outside As a result the servo positioning controllers can be quickly adapted to the specific safet
146. servo positioning controller servoTEC S2100 FS are subject to high thermal stress a space of 59 mm is recommended m The connections shown in the following illustrations for the serovTEC 82102 FS also apply to the servo positioning controller servo TEC S2105 FS and servo TEC S2108 FS Operating instructions Page 75 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 WERNER Mechanical installation Figure 10 Servo positioning controller servoTEC 52100 FS installation space Page 76 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d Mm ke 2 Mm d Mechanical installation 7 2 View of the device O servoTEC S2 A LED status READY ERROR A ENABLE CANON j J B RESET button C l C Status display D D X19 USB interface S E X18 Ethernet interface E E F X4 CANopen interface G CANopen Terminating resistor L H SD MMCard slot paa 00000 I Boot action J FBA Module fieldbus activation module with DIP Switches M K X5 RS232 RS485 interface L DIP Switches M Technology slots TECH1 and TECH2 SERCOS PROFIBUS DP EtherCAT EA88 N N Assembling mounting plate O Fastening bracket of shield connection terminal block SK14 Motor cable Angle encoder cable Figure 11 SerovTEC 52102 FS front view Operating instructions Page 77 of 163 MAN EN
147. sign X6 1 manannanananan am annNENNN ANAN AN EENEG 88 8 4 5 Connection notes KO aanak ENNA ANA AAP ADA 89 8 5 Connection UO communication X1 1 7 mannasaaanaa EENEG 91 8 5 1 Device Side PA na KANG BINGI AA BG AIDA NLA BANAAG 93 8 5 2 Counterplug Kila BARRAGE ANA 93 8 5 3 Pin assignment DU 2 TRA NANG KANNADA NANA AE Deeg 94 8 5 4 Cable type and design DO see EEN EENEG 95 8 5 5 Connection notes PK ANAN AA AA AAP 95 8 6 Connection Resolver X2A ee NEEN EENEG 96 8 6 1 Device side PAA Lana AG BI BANGDI NA RANA BABABA 96 BD Counterplug KA 0a ANNA AA 96 8 6 3 Pin assignment KZA o cicceeccasscsecsececeessdsecsnecscereeestsncniectseresastencnoectteressstonsciecnrereense 96 8 6 4 Cable type and design X2A ccseeseeeceeeeeeeeeeeaeeeeeeeeeseeseeaneeseeeeeeeeesneneeeeeeeneees 97 8 6 5 Connection notes X2A i isccicnesspcadzinndesannncpncatnarsedanandpenasiantedasenahsnatnatnsdsnensnmadsenntnaae 97 8 7 Connection Encoder X2B 0A ANAK GANA ANA AA ad 98 8 7 1 Device side PABABA BANDA Dapa 98 Operating instructions Page 7 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d WERNER 8 7 2 Counterplug X2B Uu anan AINA AA 98 8 7 3 Pin assignment X2B siiis KANAN TAU N ANAN BKA NANGANAK RANA 99 8 7 4 Cable type and design X2B 1 1 1 77070mmmmmmanmasnasananaaananasananananaaanasasanasananan 102 8 7 5 Connection notes X2B
148. signment X5 1 Not occupied Not occupied 10V R gt 2kQ Receive line RS232 specification Not occupied Not occupied reserved for optional RS485 use reserved for optional RS485 use 10V Ra lt 2kQ Transmitting line RS232 specification Interfaces GND galvanically connected to GND DGND Table 44 Pin assignment RS232 interface X5 Operating instructions Page 111 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d Electrical installation Mm d WERN 8 11 4 Cable type and design X5 Interface cable for serial interface null modem 3 core 8 11 5 Connection notes X5 PC D SUB connector at X5 6 Female Female I Connector housing Connector housing Figure 29 Pin assignment RS232 null modem cable X5 Page 112 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 Mm d Electrical installation 8 12 Connection USB X19 8 12 1 Device side X19 m USB female type B 8 12 2 Counterplug X19 m USB male type B 8 12 3 Pin assignment X19 1 VCC Table 45 Pin assignment USB interface X19 Figure 30 Pin assignment USB interface X19 front view 8 12 4 Cable type and design X19 Interface
149. simultaneously Page 62 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc d ES 2 M Function overview WE 5 2 11 Brake management The servo positioning controller servoTEC S2100 FS can directly actuate a holding brake The holding brake is operated with programmable delay times In positioning mode an additional automatic braking function can be activated which shuts down the power stage of the servoTEC S2100 FS after a parameterized idle time and which lets the brake fall in This mode of operation is compatible with the functions of the previous servoTEC S2xxx series of devices Operating instructions Page 63 of 163 Mai 2015 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS WERN Function overview M d 5 3 Positioning control 5 3 1 Overview In positioning mode a certain position is set which is to be approached by the motor The current position is derived from the information provided by the internal encoder evaluation The position deviation is processed in the position controller and is passed on to the speed controller The integrated positioning control allows jerk limited or time optimal positioning relative or absolute to a point of reference It provides the position controller and to improve the dynamics the speed controller also with the setpoints In the case of absolute positioning a set target position is directly approach
150. sing metal D Sub connector housings the cable shield is simply squeezed underneath the strain relief Often an unshielded cable is sufficient for the 24 V signals In heavily disturbed surroundings or in the case of long cables gt 2 m between the control and the servo positioning controller servoTEC S2100 FS IEF Werner recommends the use of shielded cables In spite of the differential design of the analog inputs of the servoTEC S2100 FS the cables should not be unshielded since interferences for example due to switching contactors or power stage interferences of the converters can reach high amplitudes They couple into the analog signals and cause common mode interference which may lead to deviation of the analog measured values In the case of limited cable lengths I lt 2 m wiring inside control cabinet the outer dual sided PE shield is enough to guarantee undisturbed operation For optimal interference suppression on the analog signals the cores for the analog signals are to be shielded together and separate from others This internal cable shield is connected to AGND Pin 1 or 14 on one side of the servoTEC S2100 FS It can be connected on both sides in order to establish a connection between the reference potentials of the control and the servo positioning controller servoTEC S2100 FS Pins 1 and 14 are directly connected to each other inside the controller 8 5 5 Connection notes X1 The digital inputs are designed for cont
151. sitioning controller may be protected using an AC DC sensitive 300 mA fault current protection switch type B RCD Residual Current protective Device Gold contacts or contacts with a high contact pressure should be used to switch the control contacts Preventive interference rejection measures should be taken for control panels such as connecting contactors and relays using RC elements or diodes The safety rules and regulations of the country in which the device will be operated must be complied with The environment conditions defined in the product documentation must be kept Safety critical applications are not allowed unless specifically approved by the manufacturer For notes on installation corresponding to EMC please refer to chapter 0 gt o gt Gu BB gt Notes on safe and EMC compliant installation page 117 The compliance with the limits required by national regulations is the responsibility of the manufacturer of the machine or system The technical data and the connection and installation conditions for the servo positioning controller are to be found in this product manual and must be met gt DANGER The general setup and safety regulations for work on power installations for example DIN VDE EN IEC or other national and international regulations must be complied with A Non compliance may result in death personal injury or serious property damages Operating instructions Page 21 of
152. sitioning controller servo TEC S2100 FS requires a 24V voltage supply source for the electronics supply which is connected to the terminals 24V and GND24V The comnection to the supply for the power output stage is either made to terminals L1 and N for AC supply or to ZK and ZK for DC supply The motor is connected to terminals U V and W The motor temperature switch analogue or digital is connected to terminals MT and MT if it is lead into one cable together with the motor phases If an analog temperature sensor is used in the motor for example KTY81 the connection is realized via the encoder cable to X2A or X2B The connection of the shaft encoder via the D Sub connector to X2A X2B is roughly shown in Figure 15 The servo positioning controller servoT EC 52100 FS must be connected to ground with its PE connection The servoTEC 52100 FS must be completely wired first Only then the operating voltages for the DC bus and the electronics may be switched on In the case of inversed wiring of the operating voltage connections excessive operating voltage or in the case of confusing the connections for operating voltage and motor the servo positioning controller will be damaged 8 2 servoTEC 52100 FS complete system The complete servo positioning controller servoTEC 52100 FS system is shown in Figure 16 The following components are required for using the servo positioning controller m Main switch mains supply Fault
153. so taken into consideration Random movements or other malfunctions may be caused by switching the safety installations off by bypassing them or by not activating them Operating instructions Page 27 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 Safety notes for electrical drives and controllers M d 2 Mm d 2 4 6 Protection against contact with hot parts DANGER Housing surfaces may be hot Risk of injury Risk of burning Do not touch housing surfaces in the vicinity of heat sources Danger of burning Before accessing devices let them cool down for 10 minutes after switching them off Touching hot parts of the equipment such as the housing which contain heat sinks and Poe resistors may cause burns Page 28 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d 2 m d Safety notes for electrical drives and controllers W E 2 4 7 Protection during handling and assembly Handling and assembly of certain parts and components in an unsuitable manner may under adverse conditions cause injuries DANGER Risk of injury due to improper handling A Personal injury due to pinching shearing cutting crushing The following general safety notes apply Comply with the general setup and safety regulations on handling and assembly Use suitable assembly and transportation devices Prevent incarcerations
154. stage as per EN 61800 5 1 Galvanic separation of the 24 V potential area with the digital inputs and outputs analog electronics and the controller electronics Operation as speed controller torque controller or positioning controller Integrated positioning control with wide range of functions as per CAN in Automation CiA DSP402 and numerous additional application specific functions m Jerk limit or time optimal positioning relative or absolute to a point of reference Point to point positioning with or without S ramps m Speed and angle synchronisation with electronic gear system via incremental encoder input or fieldbus 1 The current firmware version 4 0 0 1 9 however does not support this feature at present Operating instructions Page 31 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 W ERN Product description M d Extensive modes of operation for synchronisation Various methods for homing Jogging Teach in mode Short cycle times in current control circuit 50 us 20 kHz in speed control circuit 100 us 10 kHz Switchable clock frequency for the power output stage Freely programmable O s User friendly parameterisation with the IEF Werner S2 Commander software Menu driven first set up Automatic motor identification Easy coupling to host controller for example to a PLC via I O level or fieldbus High resolution 16 bit analog input Technology slots for extensions s
155. t temperature of lt 40 46 Table 17 servoTEC S2108 FS Rated current for blocked or slowly rotated servo motor az 2 Hz and for an ambient temperature Of lt 40 C oo eceeeceeeeeseeeeeeeeeeeeeeeaeeeeeeeseneeeeeeeesaeeeeaeeseeneess 47 Table 18 servoTEC S2108 FS Rated current for rotated servo motor fe gt 3 Hz and for an ambient temperature Of lt 40 CA 48 Table 19 Technical data Resolver IS2Al 50 Table 20 Technical data Resolver interface INO2AI 50 Table 21 Technical data Encoder evaluation 12 51 Table 22 Technical data R8232 DND 53 Table 23 Technical data USB X19 anas pama AGA 53 Table 24 Technical data Ethernet X8 aen 53 Table 25 Technical data CAN bus NA 53 Table 26 Technical data GID AMMC Card 54 Table 27 Technical data Digital inputs and outputs II 54 Table 28 Technical data Analog inputs and outputs IN 55 Table 29 Technical data Incremental encoder input NO 55 Table 30 Technical data Incremental encoder output Im 56 Table 31 Output voltage at the motor terminals at Uz 360 M A 59 Operating instructions Page 13 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d WERNER Table 32 Table overview of the DIP switch functionality 0 0 0 ee eeeeeeeeenneeeeeeneeeeeeaaeeeeeeaaeeeeeeaeeeeeeaas 70 Table 33 Fieldbus specific assignment of the DIP switches sssssssssssssssrsrnsnssesrrnnnnsnssrtnnnnnnnnssrrnnn nnn 72 Table 34 Pin ass
156. ta and the device functionality plus notes concerning the installation and operation of servoTEC S2302 FS servoTEC S2305 FS and servoTEC 52310 FS servo positioning controllers German version Product Manual MAN EN 1122537 LV servoTEC S2 1xx FS STO pdf Description of the technical data and device functionality plus notes on the installation and operation of the FSM 2 0 STO You can find all these documents on our homepage at the download area http www ief werner de The entire software functionality of the new servoTEC S2 FS product range will be implemented in the course of a step by step development process This version of the product manual contains the functions of the firmware version 4 0 0 1 9 Operating instructions Page 15 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 Mm 1 2 d General d 2 M d Scope of supply The scope of supply includes 1x Servo positioning controller servoTEC S2100 FS Type servoTEC S2102 FS servoTEC 82105 FS servoTEC S2108 FS IEF Werner order number 9200 2102 20 9200 2105 20 9200 2108 21 Table 1 Scope of supply Counterplugs for power controller or shaft encoder connections as well as for shield connection are not included in the standard scope of supply They can however be ordered as accessories Connector set POWER connector This plug set contains the counterplugs for the following connections Supply X9
157. tandards and accident prevention regulations for the application or authorisation to switch devices systems on and off and to ground them as per the standards of safety engineering and to efficiently label them as per the job demands Education and instruction as per the standards of safety engineering regarding the maintenance and use of adequate safety equipment m First aid training Page 18 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc Fz Safety notes for electrical drives and controllers WERN Mm d The following notes must be read prior to the initial operation of the system to prevent personal injuries and or property damages These safety notes must be complied with at all times Do not try to install or commission the servo positioning controller before carefully reading all safety notes for electrical drives and controllers contained in this document These safety instructions and all other user notes must be read prior to any work with the servo positioning controller lo o In case you do not have any user notes for the servo positioning controller please contact your sales representative Immediately demand these documents to be sent to the person responsible for the safe operation of the servo positioning controller o If you sell rent and or otherwise make this device available to others these safety notes Ao must also be included The us
158. the acceleration changes continuously the drive is extremely gentle on the mechanics at time optimal jerk limit jerk limit a t a t a t t t t v t v t v t t t t Figure 5 Driving profiles of servo positioning controller servoTEC 52100 FS Operating instructions Page 65 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 Function overview M d WERN 5 3 5 Homing Every positioning control requires a defined zero at start up which is determined by means of a homing The servo positioning controller servoTEC S2100 FS can do this homing on its own As reference signals it evaluates different inputs for example the end switch inputs A homing can be started by means of a command via the communication interface or automatically with the controller enabling Optionally a start via a digital input can be programmed using the parameterisation program IEF Werner S2 Commander to carry out a specific homing independent of the controller enabling The controller enabling acknowledges with falling edge for example error messages and can be switched off depending on the application without requiring another homing with a new enabling Since the existing digital inputs are used in standard applications the use of the analog inputs AIN 1 AIN 2 as digital inputs DIN AIN 1 and DIN AIN 2 as well as the digital outputs DOUT 2 and DOUT 3 as digital inputs DIN 10 and DIN 11 are optionally available Severa
159. tion properly Operating instructions Page 85 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 Electrical installation Mm d R N Connection Motor X6 8 4 1 Device side X6 servoTEC 2102 servoTEC 2102 FS and PHOENIX MINI COMBICON MC1 5 9 G 5 08 BK servoTEC 2105 FS PHOENIX COMBICON MSTBA 2 5 9 G 5 08 BK servoTEC 2108 FS 8 4 2 Counterplug X6 servoTEC 2102 FS and servoTEC 2105 FS PHOENIX MINI COMBICON MC1 5 9 ST 5 08 BK servoTEC 2108 FS PHOENIX COMBICON MSTB 2 5 9 ST 5 08 BK servoTEC 2102 FS and servoTEC 2105 FS PHOENIX MINI COMBICON Steckergehause 12 polig KGG MC1 5 12 BK PHOENIX COMBICON Steckergehause 12 polig servoTEC 2108 FS KGS MSTB 2 5 9 BK Coding to PIN 1 BR Page 86 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 M d Electrical installation 8 4 3 Pin assignment X6 0 V brake Holding brake motor signal level dependent on switch status high side low side switch 24 V brake PE Connection for inner shield holding brake temperature sensor GND Motor temperature sensor N C and N O contact PTC NTC 3 3V 5mA Motor ground conductor 270 Vams servoTEC S2102 Connection of the three motor FS and servoTEC phases 230 Vous S2105 FS servoTEC 52108 2 5 Armus FS 5 Arms 8 Arms servoTEC 521
160. uch as I O extension module or PROFIBUS interface Note Depending on the current consumption only one technology module with an additional fieldbus interface may be used Option STO Safe Torque Off corresponds to EN 60204 Stop 0 SIL 3 in accordance with ISO EN 61800 5 2 PL e in accordance with ISO EN 13849 1 Page 32 of 163 Operating instructions Mai 2015 servoTEC S2 1xx FS MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc d M d 2 Mm d Product description 3 2 Power supply 3 2 1 Single phase AC supply with active PFC The servo positioning controller servoTEC S2100 FS fulfils the following demands on a servo positioning controller with active PFC stage with the servoTEC 82108 FS being an exception m Fulfilment of current standards regarding mains harmonics EN 61000 3 2 cos gt 0 97 at nominal operation at rated output power of the PFC stage Sinusoidal mains current harmonic distortion lt 4 at rated output power of the PFC stage Controlled average value of DC bus voltage of 380 VDC m Insensitive in the case of weak mains and short mains interruptions In such cases the device maintains stable within the physical possibilities without malfunctions m Wide input voltage range rated voltage 230 VAC m Frequency range nominal 50 60 Hz 10 m Electrical impulse load capacity for possible combination of several servo positioning controllers The servo positioning controller servoTEC S2100 FS al
161. vice functions and error messages Error message Meaning of the error message Measures Main Sub index index 18 0 Warning level analogue motor Motor too hot Check the parameterization temperature current controller current limitation Suitable sensor Sensor defective Check the parameterisation of the sensor and sensor characteristic Error also occurs if sensor is bypassed device defective Please send the servo positioning controller to our sales partner 1 Warning level temperature Plausible temperature display power stage Check the installation conditions filter mats of fan dirty Device fan defective 19 0 Warning level I t Motor Motor blocked 21 0 Error 1 current measurement V Please contact the Technical Support 1 Error 2 current measurement U 2 Error 2 current measurement V 3 Error 1 current measurement V 22 0 PROFIBUS Technology module defective Wrong initialization Replace the technology module Contact the Technical Support 1 PROFIBUS reserved Please contact the Technical Support 2 PROFIBUS Check the slave address Communication error Check the bus terminators Check the cabling 3 PROFIBUS Incorrect slave address Please select another Invalid slave address slave address 4 PROFIBUS Mathematical error during the conversion of Range overflow physical units The value range of the data and of the physical units do not match fiel
162. ware download Incorrect firmware Load the correct firmware If necessary contact the Technical Support Operating instructions Page 147 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS Rib doc servoTEC S2 1xx FS Mai 2015 d WE Technology modules d 2 M d 12 Technology modules 12 1 EA88 interface terminal extension 12 1 1 Product description The EA88 interface can be used in technology slot TECH 1 or TECH 2 of the servoTEC S2100 FS servo positioning controller to extend the already existing digital IOs Up to two EA88 interfaces can be supported simultaneously This technology module can be used to actuate up to 8 digital 24V outputs independently In addition 8 digital 24V inputs are available The EA88 interface has the following characteristics m Digital 24V inputs m Digital 24V outputs which can be activated separately and loaded with 100 mA each MicroCombicon pin and socket connectors made by PHOENIX m Pin and socket connectors via male multipoint connector in accordance with EN 60603 1 m The inputs and outputs are floating due to the optocouplers m The inputs and outputs are protected against short circuits and overload 12 1 2 Technical data 12 1 2 1 General data Storage temperature range 25 C to 475 C Operating temperature range 0 C to 50 C deratings Atmospheric humidity 0 90 non condensing Altitude Up to 2000 m above msi External dimensions LxWxH
163. y requirements of the overall system Retrofitting of these modules or the later use of a different safety module thereby becomes possible The module is supplied with power via the power supply of the basic device Operating instructions Page 69 of 163 MAN_EN_1121146_LV servoTEC_S2_1xx_FS_R1b doc servoTEC S2 1xx FS Mai 2015 d WERN Functional safety technology M d 6 1 1 DIP switch The FBA module Fieldbus Activation Module and all of the integrated functional safety modules FSM 2 0 are equipped with a DIP switch 8 poles Under certain conditions substantial parts of the parameters of the fieldbus communication can be configured with the aid of this DIP switch Depending on the fieldbus that is used it is possible for example to adjust the fieldbus node number or the baud rate and so on This DIP switch does not have a safety relevant function The following applies in order to achieve downward compatibility with the previous servoTEC S2xxx devices m If all of the switches on the module are set to zero factory setting the fieldbus communication parameters of the parameter data set of the basic unit will be used m EEN The position of the DIP switch is read in only once after a reset Modifications of the il switch positions during the operation therefore do not affect the current operation Technology module type Functionality of the DIP switch Communication Baudrate Settings On Off station address
164. y Voltage Supply Voltage Supply Voltage Ground Vss2 Supply Voltage Ground Card to Host Data and Status DAT0 DO Data Line O Bit 0 reserved DAT1 Data Line 1 Bit 1 CLK DAT2 Data Line 2 Bit 2 reserved Table 46 Pin assignment SD Card RES CS Not connected or Always 1 Chip Select Host to Card Commands and Data CMD DI Command Response Supply Voltage Ground Vss1 Supply Voltage Ground CLK Vss2 Supply Voltage Ground Vcc Supply Voltage Supply Voltage Supply Voltage Ground DAT DO Data 0 Card to Host Data and Status Table 47 Pin assignment MMC Card SDC MMC 8 DAT1 7 7 DAT DO 6 6 Vss2 5 CLK 5 CLK 4 Vec 4 Vec 3 Vss1 3 Vss1 2 2 CMDIDI 1 1 RESICS 9 Figure 31 Pin assignment of SC MMC Card Operating instructions Page 115 of 163 MAN EN 1121146 LV servoTEC S2 1xx FS R1b doc servoTEC S2 1xx FS Mai 2015 Electrical installation M d WERN 8 13 6 BOOT DIP Switch During a restart reset the BOOT DIP Switch is used to determine whether to perform a firmware download from the SD MMC Card or not m BOOT DIP Switch in position ON gt firmware download requested BOOT DIP Switch in position OFF gt firmware download not requested When there is no SD MMC Card in the card slot of the servo positioning controller and the BOOT DIP Switch is in the position ON

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