SSD COMPANY LIMITED Computer Drive 637f User Manual

Servo drive

Product

Manual

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Additional Supporting Documentation

UL:07-09-04-02

UL:10-06-03

Product Manual Suppression Aids EH

Product Manual Serial Transfer Protocol

635 / 637 / 637+ / 637f EASY- Serial

UL: CD

EASYRIDER^®Windows - Software

Product Manual Software BIAS^®

UL:10-06-05

UL: 12-01

UL:12-02

UL:12-03

Product Manual Accessories - Plugs

Product Manual Accessories - Cable

Product Manual Ballast Resistors

©SSD Drives GmbH.

consent of the company.

Changes are subject to change without notice.

SSD Drives has registered in part trademark protection and legal protection of designs.

The handing over of the descriptions may not be construed as the transfer of any rights.

Made in Germany, 2005

________________________________________________________________________________________________________________________________________________________________________________________________________________________

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Table of Contents

Seite

The Most Important Thing First ........................................................................7

Safety Precation .................................................................................................8

1.1

General Information................................................................................1 0

System Description.......................................................................................................................1 0

1.1.1 Digital Communication..................................................................................................................1 1

1.1.2 Operation configurations...............................................................................................................1 1

1.1.3 Compatibility with 637 Servo Drives (Not required for new projects )...........................................1 2

1.1.4 Compatibility with 637+ Servo Drive s ..........................................................................................1 2

1.2

Type Code ...............................................................................Fehler! Textmarke nicht definiert.

1.2.1 Combination possibilities for the various communications / I/O - module s ..................................1 4

1.2.2 Layout module slot s ......................................................................................................................1 5

1.2.3 Layout of Power Board .................................................................................................................1 5

1.3

Range Data...................................................................................................................................1 6

1.3.1 Insulation Concep t ........................................................................................................................1 6

1.3.2 General Data.................................................................................................................................1 6

1.3.3 Compact Units 637f/K D6R...........................................................................................................1 7

1.3.4 Plug-In Modules 637f/D6R............................................................................................................1 8

1.3.5 Single- and Three-Phase Supply..................................................................................................1 9

1.3.6 Output Powe r ................................................................................................................................2 0

1.4

Dimensions ...................................................................................................................................2 1

1.4.1 Dimensions for Compact Device and Plug-In Module..................................................................2 1

1.4.2 EMC-Clip (optional) .....................................................................................................................2 2

2.1

Connector Assignments and Functions ..............................................2 3

General View of Connections for Compact Device 637f/ K D6R 02 – 10 ....................................2 3

2.1.1 637f/K D6R 02...10 Width 14 H P ..................................................................................................2 3

2.1.2 637f/K D6R 16...30 Width 20 H P ..................................................................................................2 4

2.2

2.2.1 Power Connections for Plug-In Module 637f/D6R........................................................................2 5

2.3 Signal Connections.......................................................................................................................2 6

2.3.1 Control Signal Plug X10 - SUB D25 Socket .................................................................................2 6

2.4 Feedback Sensor X30 ..................................................................................................................2 9

Connector Pin Assignments and Contact Function s ....................................................................2 5

2.4.1 Function module X300..................................................................................................................2 9

2.4.2 Feedback Sensor Connection X30 (SUB D 09 Socket )...............................................................3 0

2.5

Multi-function X4 0 .........................................................................................................................3 1

2.5.1 Incremental Output .......................................................................................................................3 2

2.5.2 Incremental-Inpu t ..........................................................................................................................3 2

2.5.3 Stepper Motor Inpu t ......................................................................................................................3 3

2.5.4 Stepper Motor Inpu t ......................................................................................................................3 3

2.5.5 SSI Encoder Interface...................................................................................................................3 4

2.6

Digital Interface s ...........................................................................................................................3 5

2.6.1 Service Interface - COM1 (RS232)...............................................................................................3 5

2.6.2 Fieldbus Interface - COM2............................................................................................................3 6

2.7

Option module RP SBT ................................................................................................................4 4

2.7.1 Safe Stop ......................................................................................................................................4 4

2.7.2 Brake control and PTC evaluation................................................................................................4 5

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Table of Contents

Seite

3.1

3.2

3.3

Operating modes ....................................................................................4 6

Operating modes and pin functions..............................................................................................4 7

Configurable pin-functions (depending on the operating mode) ..................................................4 8

Function diagrams from inputs and outputs .................................................................................4 9

4.1

4.2

4.3

Mechanical Installation ..........................................................................5 0

Mounting .......................................................................................................................................5 0

Control cabinet - mounting............................................................................................................5 0

Cooling..........................................................................................................................................5 0

Electrical Installation..............................................................................5 1

Safet y ............................................................................................................................................5 1

The danger of electric shocks.......................................................................................................5 1

Danger area s ................................................................................................................................5 1

Grounding, safety grounding ........................................................................................................5 1

5.4.1 Ground connections......................................................................................................................5 1

Short-circuit capability and discharge currents.............................................................................5 1

Fuses, contactors, filters...............................................................................................................5 2

Correction of supply current .........................................................................................................5 3

Brake resistor................................................................................................................................5 4

5.8.1 Selection of the brake resisto r ......................................................................................................5 4

5.8.2 Configuration of the brake resistor ...............................................................................................5 5

Wiring instruction s .................................................................................5 7

General Informatio n ......................................................................................................................5 7

Control cablin g ..............................................................................................................................5 7

Power cabling ...............................................................................................................................5 7

Installation of the rack...................................................................................................................5 7

Analog setpoin t .............................................................................................................................5 7

Safety rule s ...................................................................................................................................5 7

Electromagnetic compatibility (EMC)............................................................................................5 7

6.7.1 Hints for mounting.........................................................................................................................5 8

6.7.2 Example for mounting...................................................................................................................5 9

6.7.3 Achieveable specifications and condition s ...................................................................................5 9

7.1

7.2

Setting and programmin g ......................................................................6 0

Jumpe r ..........................................................................................................................................6 0

Digital communication see: Chapter 13........................................................................................6 0

8.1

8.2

Commissioning.......................................................................................6 1

Preparation ...................................................................................................................................6 1

Commissioning in steps................................................................................................................6 2

9.1

9.2

9.3

Diagnose und Fehlersuche....................................................................6 5

7-segment display.........................................................................................................................6 5

Reset of a regulator trouble ..........................................................................................................6 9

Trouble shootin g ...........................................................................................................................7 0

Block circuit diagram .............................................................................7 1

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Table of Contents

Seite

General Technical Dat a ..........................................................................7 2

Power circuit .................................................................................................................................7 2

Control circui t ................................................................................................................................7 2

Signal inputs and outputs, connection X10 ..................................................................................7 2

Signal inputs and outputs, connection X120B resp. 120 C ...........................................................7 3

Digital control ................................................................................................................................7 3

Digitale communication.................................................................................................................7 4

Resolver evaluation/transmitter principle......................................................................................7 4

Controllersyste m ...........................................................................................................................7 4

Analog-Outp s ................................................................................................................................7 5

11.10 Thermal data.................................................................................................................................7 5

11.11 Mechanical data............................................................................................................................7 5

13.1

13.2

Disposal...................................................................................................7 6

Software...................................................................................................7 7

EASYRIDER^®Windows - Software ..............................................................................................7 7

SSD Drives programming language BIAS....................................................................................7 8

Certificates ..............................................................................................8 1

Index ........................................................................................................8 6

Modification Record ...............................................................................8 8

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The Most Important Thing First

Thanks for your confidence choosing our product.

These operating instructions present themselves as an overview of the technical data and

features.

Please read the operating instructions before operating the product.

If you have any questions, please contact your nearest SSD Drives representative.

Improper application of the product in combination with dangerous voltage can lead to

injuries.

In addition, damage can also occur to motors or other products.

Therefore please observe our safety precautions strictly.

Safety precautions

We assume that, as an expert, you are familiar with the relevant safety regulations,

especially in accordance with VDE 0100, VDE 0113,VDE 0160, EN 50178, the accident

prevention regulations of the employers liability insurance company and the DIN

regulations and that you are able to use and apply them.

As well, relevant European Directives must be observed.

Depending on the kind of application, additional regulations e.g. UL, DIN are subject to be

observed.

If our products are operated in connection with components from other manufacturers,

their operating instructions are also subject to be observed strictly.

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Safety Precautions

Safety Precation

Digital servo drives, corresponding to EN 50178/VDE 0160, are power

electronic components utilized for the regulation of the flow of energy in

electrical power installations. They are exclusively designed and configured to

supply SSD Drives, or SSD Drives approved, servo motors. Handling,

installation, operation, and maintenance are only permitted under the conditions

of and in keeping with the effective and/or legal regulations, regulation

publications and this technical document.

Attention

The operator must make sure that these regulations are strictly followed.

The Concept of Galvanic Separation and Insulation:

Galvanic separation and insulation corresponding to EN 50178/VDE 0160,

provides for additional insulation protection.

In addition, all digital signal inputs and outputs are provided with a galvanic

separation utilizing either a relay or an optical coupler. In this way, an increased

level of protection against potential interference and a limitation of potential

damage due to incorrect connections are provided.

The voltage level must not exceed the designated low safety voltage of 60V

DC or 25V AC, respectively, in accordance with EN 50178/VDE 0160.

The operator must make sure that these regulations are strictly followed.

High Voltage!

Danger of Electrocution!

Life Threatening Danger!

Danger !

Caution !

Due to safety considerations and the product guarantee, the

operator is prohibited from opening the servo drive case. Service,

maintenance and repair of SSD Drives products should only be

carried out by specified representatives of the company. Expert

configuration and professional installation, as described by this

document, are the best way to insure for the problem-free operation

of the SSD Drives servo drive!

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Safety Precautions

Pay Special Attention to the Following:

Please

observe!

Permissible Protection Class: Protective Grounding - operation is only permitted

when the protective conductor is connected according to regulations.

The operation of servo drives is not allowed, under the sole use of a residual

current operated protective device as protection against indirect touching. The

servo drive may only be used in the rack or in its compact enclosure.

Furthermore the regulator is designed solely for control cabinet operation.

Work on or with the servo drive may only be carried out with insulated tools.

Installation work may only be done in a de-energized state. When working on

the drive, one should not only block the active – input, but also separate the

drive completely from the main power connection.

CAUTION - Risk of Electrical Shock:

Wait 3 minutes after switching the component off, to allow the capacitors to

discharge.

Screws sealed with varnish fulfill an important protection function and may not

be moved or removed.

It is prohibited to penetrate the inside of the unit with objects of any kind.

Protect the unit from falling parts, pieces of wire, metal parts, etc., during

installation or other work in the control cabinet. Metal parts can lead to

a short-circuit in the servo drive.

Before putting the unit into operation, remove additional covers so that the unit

does not overheat. With measurements at the servo drive it is absolutely

necessary to observe the potential separation

SSD Drives GmbH is not liable for damages which may occur when the

instructions and/or the applicable regulations are not explicitly observed!

Stop !

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General Information

1.1 System Description

The 5^thgeneration of the digital servo drive serves to regulate the current, speed and position of

AC servo motors, (standard: with resolver)

All control circuits and functions are realized digitally.

System variants

Rack - version: 637f/D6R....

Compact - version: 637f/K D6R....

637f / K D6R

Su pply volta ge:

1*oder 3*230VAC/50..60Hz

3*400...460VA C/50..60H z

Su pply volta ge:

1*oder 3*230VAC/50..60Hz

3*400...460VA C/50..60H z

Us 24VDC

Servodrives

Power supply unit

Rack, R6

R6 EMV

Servo-

dr ive

Power supply

p lug -in module

NE B

Fan

Explanations for the rack and power supply modules are documented in separate descriptions.

If required, the returned braking energy can be drawn off into additional external ballast resistors.

The AC-supply voltage is fed directly or via transformer to the associated power supply module.

The devices are designed to be operated on networks which are grounded at the

centre point (TN networks) !

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General Information

System Description

1.1.1 Digital Communication

Diagnostics / Setup

General:

by 7 segment display

Comfortable: via PC with EASYRIDER^®Windows – Software from version V8.xx

(serial interface RS232)

Communication

The serial-communication-protocol is open and fully documented.

(Explanation see separate documentation)

Every user has unrestricted access to all functions and parameters.

637f

COM1

EASYRIDER

ꢀ

ꢃ

⌧

ꢄ

RS232

COM2

RS232

RS422

RS485

CAN-BUS1

CAN-BUS2

SUCOnet K

Profibus DP

Inter bus S

DeviceNet

ꢂ

current-loop

speed-loop

customer-ma de software

ꢂ^ꢃ

ꢄ_⌧

ꢁ

position-loop

PLC Software

ꢆ

ꢅ

PLC

X10

PLC, binary selectionl,+/- 10V

ꢂ^ꢃ

instructions

programming

setup

ꢃ_diagnostics

⌧

ꢄ

ꢂ

1.1.2 Operation configurations

There are opportunities ranging from simple current and speed control to programmable position control

processes (PLC), supported by the 1500 BIAS command blocks.

"BIAS" User shell for intelligent drive controls

see:

chapter 3

Operating modes

chapter 13.2 BIAS commands

chapter 13.3 Extended BIAS commands

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General Information

System Description

1.1.3 Compatibility with 637 Servo Drives (Not required for new projects)

The 637f series servo drives are essentially pin- and functionally compatible with the servo drives 637.

However, when a servo drive 637 is replaced with a 637f drive, the existing application must be checked and

carefully tested to determine compliance under the corresponding safety precautions.

The following points should be checked in any case and eventually be adjusted before the function test:

1. Motor direction parameter and limit switch setting (see release note V6.12)

2. Position setpoints and comparison values have to be quadrupled, resp. sixteenfold

(low encoder resolution at 637)

3. Coupling factors in synchronous applications have to be quadrupled, resp. sixteenfold

(low encoder resolution at 637)

4. Execution of BIAS- and PLC programs is 2.25 times quicker than with the 637. This can cause timing

problems with improper programming (e.g. wait times with NOPs)

1.1.4 Compatibility with 637+ Servo Drives

(Not required for new projects)

Der Servoregler 637f ist voll funktionskompatibel zu 637+

Funktion

PC-Operating-Software

637

637+

637f

EASYRIDER^®DOS Version

or Windows Version

EASYRIDER^®

Windows Version

Windows Version V8.xx

PC-Connection-Cable

see: chapter 2.6.2.3

PC - SUBD-9 to

4-pin module connector (COM1)

PC - SUBD-9 to

LEMO connector (COM1)

Power Part, Power Data and

Power Connectors

equal

Control Singals, Connector X10

see: chapter 2.3.2

equal pinning and function

Analog Set Point X10.5/18,

Resolution

12 bits

14 bits

Resolver Signals, Connector X30

see: chapter 2.4.2

pin–compatible

12/14 Bit Resolution

extended functionality

16 Bit Resolution

Feedback – Interface - Module

X300

see: chapter 2.4.1

Multifunction, Connector X40

see: chapter 2.5

Interface, Connector COM2

see: chapter 2.6.2 – 2.6.2.9

Options Module

see: chapter 2.6.2 – 2.6.2.10

Operating Modes, BIAS –

Functions

see: chapter 3 and 13.2

PROG-Key

HIPERFACE

SIN / COS

extended functionality

compatible

equal

extended functionality

CAN BUS 2, RP_2Cx

extended functionality

RP_SBT

equal

command set compatible

position value

12/14 bits ≈ 1revolution

present

future extensions possible

position value 16 bit ≈ 1 revolution

not available

Analog-Output - Test Signals

MP1/MP2:

X 10.6 / X 10.17

> connector X 10

> Front Test Sockets

Technical Data

Analog Out

yes

MP1 / X10.17

MP2 / X10.6

7 bits , Rout = 10 kOhm

8 bits , Rout = 1.8 kOhm

10 bits , Rout = 1.8 kOhm

Control Loops

see: chapter 11.5

performance boost

compared to 637:

cycle time twice as fast

performance boost as

compared to 637f:

cycle time for speed twice as

fast,

position eight times as fast

Control Loop Parameters

Generally compatible,

possible optimization required

Jumper

JP2.2, JP2.3, JP2.7, JP2.8

see: chapter 7.1

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General Information

1.2 Modle code

standard

optional

g1 g2

-XXX -XXX -XXx

special

marking

D6R

.S5

-X

-XXX

type:

637f/

marking

description

XXXX/

637f ≅ SSD Drives-fast-design

1-axis-compact digital-servo drive system

design plug-in device

D6R

Digital 6U drive

Rated current:

2 amps

4 amps

6 amps

10 amps

16 amps

22 amps

30 amps

.S5

Digital servo drive 5^thgeneration

Intermediate circuit rated voltage:

-3

-7

325V (230V AC) 16..30A only as rack system possible

650V (460V AC)

-E

-0

With EMC-Clip unit

Without EMC-Clip unit

additional option modules on the drive for communication via COM2

-000

-232

-422

-485

-CAN

None option

RS 232 interface

RS 422 interface

RS 485 interface

CAN – Bus

≅ slot A (B)

-2CA

-2C8

-DEV

-SUC

-PDP

-IBS

2 x CAN (without I/O’s)

2 x CAN + 4 outputs and 4 inputs

CAN - Bus / DeviceNet

SUCOnet K

≅ slot B (A) / [C*]

≅ slot B (A)

Profibus DP

Interbus S

(Attention: changed front plate)

≅ slot B (A)

-EA5

I/O interface (5 inputs, 2 outputs)

≅ slot B (A)

additional option modules on the drive via X200 (Attention: changed front plate)

-000

-EAE

-SBT

No Options

I/O interface (14 inputs, 10 outputs)

Safety – Board Module

≅ slot C

X300 – Function module

-RD2

-HF2

-SC2

Standard X30 Resolver module 2^ndversion

HIPERFACE module 2^ndversion

Sinus / Cosinus - module 2^ndversion

≅ slot D

Entry only at use

-Sxx

-X7x

-BSx

-B7x

-923

Special - resistance - setting

Broad-band contact X10.7 - X10.8

Protection moisture condensation

Protection moisture condensation + Broad-band contact X10.7 - X10.8

Jumper 209 / 2 - 3 open , by SBT - Option Thermo - Contact X30 (PTC / NTC)

at assignment [C] Interface you can used 1 x CAN *

Typical Example

A typical example of an order of a 1-axis compact device in SSD Drives design:

.S5

-3

-0

-RD2

Type:

637f/

KD6R

-2CA -EAE

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General Information

Modle Code

1.2.1 Combination possibilities for the various communications / I/O - modules

Slots

ꢇ

Option modules ꢇ

232 422 485 CAN 2CA 2C8 DEV SUC PDP IBS EA5 EAE SBT *2CA *2C8

Type Codel ꢈ

ꢉ

637f/xD6Rxx.S5-x-x-232-000-xxx

637f/xD6Rxx.S5-x-x-232-EAE-xxx

637f/xD6Rxx.S5-x-x-232-SBT-xxx

637f/xD6Rxx.S5-x-x-232-2CA-xxx

637f/xD6Rxx.S5-x-x-232-2C8-xxx

637f/xD6Rxx.S5-x-x-422-000-xxx

637f/xD6Rxx.S5-x-x-422-EAE-xxx

637f/xD6Rxx.S5-x-x-422-SBT-xxx

637f/xD6Rxx.S5-x-x-422-2CA-xxx

637f/xD6Rxx.S5-x-x-422-2C8-xxx

637f/xD6Rxx.S5-x-x-485-000-xxx

637f/xD6Rxx.S5-x-x-485-EAE-xxx

637f/xD6Rxx.S5-x-x-485-SBT-xxx

637f/xD6Rxx.S5-x-x-485-2CA-xxx

637f/xD6Rxx.S5-x-x-485-2C8-xxx

637f/xD6Rxx.S5-x-x-CAN-000-xxx

ꢉ

637f/xD6Rxx.S5-x-x-CAN-EAE-

xxx

- ꢉ

ꢉ

637f/xD6Rxx.S5-x-x-CAN-SBT-xxx

ꢉ

637f/xD6Rxx.S5-x-x-2CA-000-xxx

637f/xD6Rxx.S5-x-x-2CA-EAE-xxx

637f/xD6Rxx.S5-x-x-2CA-SBT-xxx

637f/xD6Rxx.S5-x-x-2C8-000-xxx

637f/xD6Rxx.S5-x-x-2C8-EAE-xxx

637f/xD6Rxx.S5-x-x-2C8-SBT-xxx

637f/xD6Rxx.S5-x-x-DEV-000-xxx

637f/xD6Rxx.S5-x-x-DEV-EAE-xxx

637f/xD6Rxx.S5-x-x-DEV-SBT-xxx

637f/xD6Rxx.S5-x-x-SUC-000-xxx

637f/xD6Rxx.S5-x-x-SUC-EAE-xxx

637f/xD6Rxx.S5-x-x-SUC-SBT-xxx

637f/xD6Rxx.S5-x-x-PDP-000-xxx

637f/xD6Rxx.S5-x-x-PDP-EAE-xxx

637f/xD6Rxx.S5-x-x-PDP-SBT-xxx

637f/xD6Rxx.S5-x-x-PDP-2CA-xxx

637f/xD6Rxx.S5-x-x-PDP-2C8-xxx

637f/xD6Rxx.S5-x-x-IBS-000-xxx

637f/xD6Rxx.S5-x-x-IBS-EAE-xxx

637f/xD6Rxx.S5-x-x-IBS-SBT-xxx

637f/xD6Rxx.S5-x-x-EA5-000-xxx

637f/xD6Rxx.S5-x-x-EA5-EAE-xxx

637f/xD6Rxx.S5-x-x-EA5-SBT-xxx

ꢉ

- ꢉ

637f/xD6Rxx.S5-x-x-000-EAE-xxx

637f/xD6Rxx.S5-x-x-000-SBT-xxx

-000 = none option

- ꢉ

ꢉpossible combination

at assignment [C] Interface you can used 1 x CAN *

Example:

637f/xD6Rxx.S5-x-x-232-EAE-RD2

…

-232

-EAE

= on slot A

= on slot C

= on slot D (Motor - Feedbacksystem)

-RD2

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General Information

Modle Code

1.2.2 Layout module slots

Module slots:

-232

-422

-485

-CAN

-2CA

-2C8

-DEV

-SUC

-PDP

-IBS

-EA5

-EAE

-SBT

*-2CA

*-2C8

Motor - Feedbacksysteme:

-RD2: Standard resolver

-HF2: Option HIPERFACE^®

-SC2: Option rotor position transmitter

* kann nur 1 mal CAN verwendet werden

Note: The option modules of the slots A / B / C can only be reached after removing the cooling plate.

1.2.3 Layout of Power Board

View solder side (solder jumper)

JP2.8

JP2.3

JP2.7

JP2.2

JP101. 1/ 2/ 3

JP102 1/ 3/ 2

JP100 2/ 3/ 1

JP1 1/ 3/ 2

JP2 2/ 3/ 1

JP3 1/ 3/ 2

JP4 2/ 3/ 1

JP209. 1/ 2/ 3

Solder jumper function

see: Chapter 7.1

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General Information

1.3 Range Data

1.3.1 Insulation Concept

COM1

COM2

power - terminals

customer part

dep. Optionsmodule

L1, L2, L3

DC-bus

Remote IN

M1, M2, M3

X10

analog

brak - cirquit

X10

digital

X30

X40

power supply

DC 24 V

GND

Us DC 24 V

double insulation VDE 0160

Insulation of control voltage supply

Take Care ! The insulation of control (Com1..X40) depends on the insulation of control voltage supply

Required for safe separation (PELV): double insulation

Additional insulation via opto-coupler or relay (without Safety-Functions)

see additional hints, chapter 2.4.2

1.3.2 General Data

Enclosure Rating -

for Mounting in a Cubicle

Operating Temperature Range

Storage Temperature Range

Air Pressure

Humidity

Operating Temp

Reduced Operation

De-rating of the Output Current

Altitude h

IP20

EN 50178 / VDE 0160, class 3K3

-25°...+55° C

86 kPa - 106 kPa

5% - 85%, 40°C

0...40°C

>40°...< 50°C

2% /°C

h ≤ 1000m

Reduced Operation

De-rating of the Output Current

h > 1000...≤ 4000m

1% / 100m

Safety Over Voltage - Category of Power Circuit

Pollution Degree - for Mounting in a Cubicle

Vibration Test in Accordance with

DIN IEC 68-2-6, Test FC

Condition for Testing

EN 50178 / VDE 0160, UL, cUL III,

VDE / UL: 2

Frequency Range

Amplitude

10...57Hz 57...150Hz

0,075 mm

Acceleration

Test Time per Axis

Frequency Sweep Speed

10 sweep cycle

1 octave/min

¹⁾Use only fan-cooled devices. For reduced operating

conditions, no UL approval is available.

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General Information

Range Data

1.3.3 Compact Units 637f/K D6R

Compact Units

637f / K D6R 02 K D6R 04 K D6R 06 K D6R 10 K D6R 16 K D6R 22 K D6R 30

.S5

-3

.S5

-3

.S5

-7

.S5

-7

.S5

-7

-3

-7

-3

-7

Input

Supply Voltage

50..60 Hz

min.

max.

[V]

toleranc

230 460 230 460 230 460 230 460

+ 10%

460

Phases

1;3

Supply Peparation

Power-On Current

Limit

Control Voltage

Control Current

incl. Fan

Fuses, contacts, filters see chapter 5.6

model

NTC 4 Ohm

NTC 2 Ohm

[V]

[A]

21,5....24....29, attention: insulation-concept chapter 1.3.1

Continuous: max. 1,2A Power-On-Peak:

nom. 3A; max.. 6A / 0,8 mS, 2,5A / 25 mS

Continuous: max 1,5A Power-

On-Peak: nom. 3A;

max. 6A / 0,8 mS, 3A / 25 mS

Output

Sine-Wave Voltage

at Un

Unr

[Veff] 220 447 220 447 220 447 220 447

447

447 ³⁾

De-rating of Unr

depending upon load and single or 3-phase supply. (see chapter 1.3.5)

Rated Current RMS

Max. Current RMS

Time for Imax

Inr

Imaxr

min.

[A]

Sec

30 ³⁾

Min. Motor

Inductance

Lph/ph

[mH]

6,0 12,0 3,0 6,0 2,0 4,0 1,2 2,4

2,0

1,1

0,8

(terminal / terminal)

Brake Circuit

Setpoint DC

[V]

375 730 375 730 375 730 375 730

730

Max. Power

Pbmax

[kW]

4,5 8,7 4,5 8,7 6,7 13,0 11,2 21,

29,0

34,8

Continuous Power

Internal Resistor

Pbnenn

Rbint

[W]

≤ 560

100 300 100 300 100 300 100 300

[Ω]

[W]

[kW]

------

30 30

Pmax

1,4 1,7 1,4 1,7 1,4 1,7 1,4 1,7

Min. External

Resistor

Rbextmi

15 27

29 29

[Ω]

General

Power Loss

Fan, Electronic

PE loss

[W]

[V]

Fan Models

24V DC

2 Piece L 024 / (12TE * 25)

1 Piece L 024 / (12TE * 15)

2 Piece L 024 / (16TE x 25)

1 2 Piece L 024 /

(16TE x 20)

Power Stage per A

[W/A]

[kg]

5,0

8,8

Weight

Additional Data

see: chapter 11

1) Suggested: transformer-based supply

2) Use only SSD Drives-released types

3) Max. continuous performance reduced to 80%, see chapter 1.3.6

4) References chapter 1.3.6

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General Information

Range Data

1.3.4 Plug-In Modules 637f/D6R

Plug-In Modules

637f/ D6R 02

.S5

D6R 04

.S5

D6R 06

.S5

D6R 10

.S5

D6R 16

.S5

D6R 22

.S5

D6R 30

.S5

-3

-7

-3

-7

-3

-7

-3

-7

-3 -7

-3

-7

-3

-7

Input

DC-BUS Rated

min.

[V]

325 650 325 650 325 650 325 650 325 650 325 650 325 650

+ 10%

max.

Typ

tolerance

[V]

[A]

Control Voltage

Control Current

24V DC +20% -10%, attention: insulation-concept chapter 1.3.1

Continuous: max 0,8A Power-On-Peak: nom. 2A; max 5A / 0,8 mS, 2A / 25mS

Fan

L220

---

L220K

L220G

Output

Sine-Wave Voltage

at Un

Unr

[Veff] 220 447 220 447 220 447 220 447 220 447 220 447 220 447 ³⁾

De-rating of Unr

Rated Current RMS

Max. Current RMS

Time for Imax

Min. Motor

depending on load and single or 3-phase supply (see chapter 1.3.5)

Inr

Imaxr

[A]

min.

30 ³⁾

5 Sec

Lph/ph

[mH] 6,0 12,0 3,0 6,0 2,0 4,0 1,2 2,4 1,0 2,0 0,55 1,1 0,4 0,8

Inductance

(terminal / terminal)

Brake-Circuit

Setpoint DC

[V]

375 730 375 730 375 730 375 730 375 730 375 730 375 730

Max. Power

Pbmax [kW] 4,5 8,7 4,5 8,7 6,7 13,0 11,2 21,7 15,0 29,0 18,0 34,8 18,0 34,8

Continuous Rating

Pbnenn [W]

≤ 560

Rbextmin

Min. External

Resistor

8,2

[Ω]

General

Power Loss

Electronic

Output Stage per A

PE loss

[W]

[W/A]

Weight

[kg]

1,5

4,0

Additional Data

see chapter 11

1) Suggested: transformer-based supply

2) Use only SSD Drives-released types

3) Max. continuous performance reduced to 80%, see chapter 1.3.6

4) References chapter 1.3.6

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General Information

Range Data

1.3.5 Single- and Three-Phase Supply

Due to the line-ripple of the DC-Bus, the rate of usable output voltage is reduced as follows.

This reduction affects the maximum attainable speed of the applied motor.

Three-phase supply:

The unloaded output voltage will be reduced to approx. 90%, maximally 85

Single-phase supply: 50 – 60 Hz

only servo drive 637f / ..02 up to 06

see the following diagram:

Derating of servo drive output voltage in case of single-phase operationen

Output current [A_RMS

]

100 [%]

Output voltage in % of unloaded condition

Hint for parameterization:

To avoid unexpected tripping of the under voltage threshold, the parameter setting should be left on

default values (EASYRIDER^®Windows – Software).

Required motor-terminal-voltage for specified speed.

Approximation: (up to 3000RPM)

Ukl = 1,2 * (EMF * n / 1000) + I * (Rph + RL) [V]

Ukl

Required motor voltage [V _RMS]

EMF Back-EMF of motor [V _RMS] / 1000 RPM

Rph Resistance of motor (between terminals) [Ω]

Line resistance of motor cable [Ω]

Motor-current [A _RMS

]

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General Information

Range Data

1.3.6 Output Power

In case of continuous operation in the full-load range, the limits as shown in the following diagram

need to be respected.

Typical servo applications are not affected by this restriction. (S3 operation: Start/Stop).

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General Information

1.4 Dimensions

1.4.1 Dimensions for Compact Device and Plug-In Module

Ø 5,2

front side

detail

Ø 10

243

220

400

262

386

plug -in modu le

304

233

space for fan

Ø 5,2

1,6

280

detail

5,2

637f/K D6R 02...10

width

637f/K D6R 16...30

width

65,0 mm

60,0 mm

30,0 mm

14,5 mm

40,2 mm

14 HP

104,6 mm

100,0 mm

71,0 mm

14,5 mm

80,4 mm

20 HP

1 HP ≈ 5,08mm

8 HP

16 HP

Important Note:

You will need additional space on the front side, of approx. 70 mm, for the signal mating plugs!

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General Information

Dimensions

1.4.2 EMC-Clip (optional)

1.4.2.1 For 8 HP Drive

side view

front view

1.4.2.2 For 16 HP Drive

side view

front view

EMC - Clip for

Feedback cable

(e.g. Resolver)

Mains cable

Motor cable

Meaning:

1,2,3 = cage clamp terminals

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Connector Assignments and Functions

2.1 General View of Connections for Compact Device 637f/ K D6R 02 – 10

2.1.1 637f/K D6R 02...10 Width 14 HP

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Connector Assignments and Functions

General View of Connections for Compact Device 637f/ K D6R 02 – 10

2.1.2 637f/K D6R 16...30 Width 20 HP

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Connector Assignments and Functions

2.2 Connector Pin Assignments and Contact Functions

2.2.1 Power Connections for Plug-In Module 637f/D6R

(at the rear of the rack)

(H15 multiple pin strip according to DIN 41612)

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Connector Assignments and Functions

2.3 Signal Connections

2.3.1 Control Signal Plug X10 - SUB D25 Socket

Complete Representation X10

Reference to pin 22 & pin 23: With controllers with option module SBT, kindly note the extended

functions of these signals (see documentation 07-02-10-02-E-Vxxxx).

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Connector Assignments and Functions

Signal Connections

Control Signal Plug X10 - SUB D25 Socket

Connection Example

(without option SBT)

drive side

control signal plug X10

model: SUB D 25

spread out

PLC

+/- 10V

output ready

0V reference point, I/O-supply

input active

24V

spread out

+24V, I/O-supply

PELV-

isolation

mecanical

limit switches

+24V (br)

0V (br)

Supply may be used for mutliple brakes

option: brake

Eurotherm

AC-Servomotor

3 ~

Brake-Connection Type A :

when Isolation-Type of Break - Installation is

Basic (not PELV).The PELC - Isolation of

Control - Cirquits is uneffected.

V1: Varistor e.g.. Siemens Q69X3431, 38V DC

K1: Couple-relais min. 2A,/60VDC PELV Isolation

X10.23

X10.9

option: brake

Brake-Connection Type B :

when isolation-type of break - installation is

P ELV.

AC-Servomotor

3 ~

1) Security- and supervising logic, to be programmed by user !

2) IMPORTANT:

The power-supply for the motor-brake has to be adapted to the type of brake.

Voltage-Drops caused by long cables also may effect malfunctions of the brake.

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Connector Assignments and Functions

Signal Connections

Control Signal Plug X10 - SUB D25 Socket

Inputs / Outputs

Control Signal Plug X10

function

X10

type

description

shield connector

shield

configurable (chapter 3)

stabilized auxiliary voltage

-12VDC; max. 80 mA

OPTO input

output auxiliary voltage

configurable (chapter 3)

OPTO input

analog input

reference point to X10.18

0...+-10V

Ri = 10 kOhm

MP2 analog output,

0…+-10V

Current monitor can be scaled

in the speed controller menu

via JP100 (solder jumper)

can be assigned as free and

loopable potential of the

READY contact

ON: regulator without fault

OUT: regulator fault or

supply voltage off

Optional

Relay Output

fixed: ready

Reference point for digital

inputs

Reference potential for

analog signals

Reference point for digital inputs

Ground

11 configurable (chapter 3)

12 configurable (chapter 3)

OPTO Input

OPTO Output

configurable (chapter 3)

OPTO Input

15 configurable (chapter 3)

stabilized auxiliary voltage

+12V DC; max 80 mA

output auxiliary voltage

actual speed value monitor,

scalable

MP1 analog output,

0…+-10V

nominal speed value;

18 scalable differential

referenced to X10.5

Analog input

0...+-10V / Ri = 10 kOhm

Setting of the current limit

19 can be activated and scaled

analog input

0..+10V

(0..+10V for 0.. I

Ri = 10 kOhm

max)

20 configurable (chapter 3)

21 Nominal: 24V DC

OPTO Output

Supply for outputs

OPTO input

fixed: active

Relay output

H = output stage is active

L = output stage inactive

23 configurable (chapter 3)

24 configurable (chapter 3)

25 configurable (chapter 3)

OPTO input

Data of the digital inputs and outputs see chapter 11 General technical data

Reference to Pin 22 & Pin 23: With controllers with option module SBT, kindly note the extended

functions of these signals (see documentation 07-02-10-02-E-Vxxxx).

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Connector Assignments and Functions

2.4 Feedback Sensor X30

The Feedback system generates a digital value, representing the rotor position

Derivated from this value:

ꢊ

commutation according to pole pair number

actual speed value

position value for position control

2.4.1 Function module X300

The connector X30 is directly related to the function module X300. This plug-in module

(see chapter 1.4.3.1) determines the type of usable Feedback system.

Thus the 637f drive system gets flexibility and is adaptable to future requirements.

Types X300

Description

X300_RD2

X300_HF2

X300_SC2

Standard Resolver

Option HIPERFACE^®

Option Sinus/Cosinus

Further types on reques

Plug and Play

The 637f identifies the type of the module X300.

The EASYRIDER^®Windows – Software loads the correct function code.

You follow the instructions in the EASYRIDER^®Windows – Software.

At function module RD2 the function code is already installed (factory default).

Note:

With application of the function module X300_HF2 (HIPERFACE^®) please observe

documentation 07-02-09-02-E-Vxxxx.

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Connector Assignments and Functions

Feedback Sensor X30

2.4.2 Feedback Sensor Connection X30 (SUB D 09 Socket)

Pinning of Motor - Feedback - Socket X30 with:

Resolver Module X300_RD2 (Standard Module)

Module: X300_RD2

Function

X30

shield

PTC optional

cos +

sin +

carrier +

PTC optional

cos -

sin -

carrier -

HIPERFACE^®- Module X300_HF2

Module: X300_HF2

Function

X30

GND

10 VDC

cos +

sin +

data -

ref cos

ref sin

data +

Sinus / Cosinus - Module X300_SC2

Module: X300_SC2

Function

X30

GND

5,5 V

cos +

sin +

zero pulse +

ref cos

ref sin

zero pulse -

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Connector Assignments and Functions

2.5 Multi-function X40

Description of the X40:

Via a programmable I/O processor, the X40 connection can be configured differently.

EASYRIDER^®Windows - Software

Standard functions:

- Incremental output

- Incremental input

- Stepper motor - pulse inputs

- SSI interface

The unobstructed configurability provides ideal conditions for synchronous applications.

General data

X40

plug type:

maximum input or output frequency:

SUB D 09 male plug

200 kHz

maximum cable length connected to galvanical 25 m; for extended distances please contact our

insulated terminals

engineer

(Encoder, controls)

maximum cable length connected to ground-

related terminals (other drives, controls)

maximum number of signal inputs to one as

incremental-output configured device

output signals:

2 m, take care for good common grounding !

driver model MAX483 or compatible, RS422

differential logic level:

L ≤ 0,5V

H ≥ 2,5V

nominal range:

0,0 ... 5,0V

150mA max.

input signals:

receiver model MAX483 or compatible, RS422

differential input level:

nominal signal difference:

current consumption:

diff min = 0,2V

1,0V

1...4 mA (depending on frequency)

Notice:

Master / Slave operation

1 Master, maximum 8 Slaves

Condition: Devices directly side by side !

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Connector Assignments and Functions

Multi-function X40

2.5.1 Incremental Output

EASYRIDER^®Windows - Software X40 Mode = 0

Incremental encoder simulation for processing in positioning modules

Standard: 1024 increments

pulse duty cycle

further selectable pulse numbers: 2048, 512, 256, 128, 64, 4096

Inr. I/O X40

Function

Designation

X40

Channel B

Channel B inverted

Shield connector

Channel A

Shield

Channel A inverted

Reference *

GND

Channel Z inverted zero impulse

Channel Z, zero impulse

Supply voltage output max. 150 mA

+ 5 VDC

Design Rule:

The input frequency range of the connected control must meet at least the value

of pulse output frequency on X40.

1,2*(n * x)

Formula:

f =

=[Hz]

n = max. speed (rpm)

x = increments e.g. 1024

f = output frequency at X40.1,2,4,5

Example: n = 4000 1/min

1,2*(4000 *1024)

f =

= 81920 Hz

2.5.2 Incremental-Input

EASYRIDER® Windows - Software X40 Mode = 1

Parameter range of the input signals: 10...1000000 increments

Figure:

Note:

The operation of incremental encoders via long cables may cause a voltage drop of the encoder power

supply. We recommend the use of a separate voltage supply if necessary.

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Connector Assignments and Functions

Multi-function X40

2.5.3 Stepper Motor Input

pulse / direction

EASYRIDER^®Windows - Software X40 Mode = 2

Inr. I/O X40

Function

Designation

X40

Output: Drive active inverted

Output: Drive active

Shield connector

/READY

READY

Schield

Pulse inverted

Pulse

Reference potential (generally to connect)

GND

Direction inverted

Direction

Supply voltage output max. 150 mA

+5 VDC

2.5.4 Stepper Motor Input

pulse positive / negative

EASYRIDER^®Windows - Software X40 Mode = 3

Figure: Puls / Richtung

Figure: Puls positiv / negativ

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Connector Assignments and Functions

Multi-function X40

2.5.5 SSI Encoder Interface

EASYRIDER^®Windows - Software X40 Mode = SSI_13 bit Singleturn

EASYRIDER^®Windows - Software X40 Mode = SSI _14 bit Singleturn

EASYRIDER^®Windows - Software X40 Mode = SSI_25 bit Multiturn

(13 bit Single- / 12 bit Multiturn)

EASYRIDER^®Windows - Software X40 Mode = SSI_26 bit Multiturn

(14 bit Single- / 12 bit Multiturn)

Inr. I/O X40

Function

Designation

X40

Serial data from SSI encoder,

GRAY code up to 26 bit inverted

Serial data from SSI encoder,

GRAY code up to 26 bit

Shield connector

/DATA

DATA

Schirm

/TAKT

Clock output, inverted

Standard frequenzy: 179 kHz

Clock output

Standard frequenzy: 179 kHz

Reference potential

TAKT

GND

do not connect

Supply voltage output max. 150 mA

If other data required:

a) Use of X300 module

b) External supply

+5 VDC

TAKT and /TAKT twisted pair

DATA and /DATA twisted pair

Cable screened, screen grounded at both sides,

max. cable length: 200m

Note:

For further information about SSI (Synchronous Serial Interface),

please refer to the documentations of appropriate suppliers.

(e.g.: Comp. Sick or Hengstler)

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Connector Assignments and Functions

2.6 Digital Interfaces

2.6.1 Service Interface - COM1 (RS232)

Standard

Functions:

ꢊ

Supporting all diagnosis and setup tasks

Connection to your PC is made with the

SSD Drives communication cable KnPC/D

Communication is made via the SSD Drives operating program

(EASYRIDER^®Windows - Software)

ꢊ

Com 1 RS232

Function drive side

RS232 PC side

4-pin modular jack

RXD

TXD

Receive serial data

TXD

RXD

Transmit serial data

do not connect

GND

Type Code

Länge

Beschreibung

Kn PC 637f / 631-03.0 3 m

Kn PC 637f / 631-05.0 5 m

PC-side, Sub D 09-plug

Drive side, 4-pin RJ 10-plug

Note:

The service interface RS232 is not galvanically isolated and should not be planned for this reason as an

operating interface ("hard-wiring")!

The mains connection of the PC must be made closed to the drive, to achieve a common ground.

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Connector Assignments and Functions

Digital Interfaces

2.6.2 Fieldbus Interface - COM2

Option modules SUB D09 socket

Many different functions can be implemented by optional using of the option modules.

Funktionen realisiert werden. Layout - see chapter 1.2.3

Overview:

module designation

interface

galvanic isolation

design

slot

RP 232

RS 232

RP 422

RP 485

RP CAN

RP PDP

RP SUC

RP IBS

RP DEV

RP 2CA

RP 2C8

RS 422/485

CAN

Profibus DP

SUCOnet K

Interbus S

DeviceNet

CAN1/CAN2

B or C

¹⁾full - duplex (4-wire)

²⁾additional plug Interbus Rem. IN (SUB D)

³⁾additional plug COM 3 (B)

2.6.2.1 additional In-/Outputs

module designation

inputs

outputs

connection via

design

slot

RP EA5

COM2

RP EAE

RP 2C8

X200

X120 B/C

B or C

⁴⁾no Fieldbus possibility (interface)

Caution!

The connections COM2 or COM3 B/C and X30 are implemented via SUB D09 socket.

It is to be guaranteed by the customer that an interchanging is not possible!

The solder ring jumpers JP2.8, 2.3, 2.7, 2.2 must be switched dependent on the option module.

See chapter 7.1 (factory-adjusted)

2.6.2.2 Additional CAN-BUS2 Interface

(Use in combination with other Fieldbus)

modul designation

interface

galvanic isolation

design

slot

RP 2CA

CAN2

RP 2C8

CAN2

³⁾additional plug COM 3 (B)

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Connector Assignments and Functions

Digital Interfaces

2.6.2.3 Module Designs

Design A

Design B

Design C

2.6.2.4 Pin assignment for RS232

with option module RP 232

assignment as RS232

RXD

TXD

GND

2.6.2.5 Pin assignment for RS422/485

with option module RP 422, without galvanic isolation

with option module RP 485, with galvanic isolation

assignment as RS422/485

Data In

GND

Data In invertierted

Data Out invertierted

Data Out

Parallel wiring up to 16 devices

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Connector Assignments and Functions

Digital Interfaces

2.6.2.6 Pin Assignment for CAN/DeviceNet

with option module RP CAN / RP DEV / RP 2CA / RP 2C8, with galvanic isolation

description

designation

CAN_L bus line

(dominant low)

CAN_L

Ground

Optional ground

CAN_H bus line

GND

CAN_H

(dominant high)

2.6.2.7 Pin assignment for Profibus DP

with option module RP PDP, with galvanic isolation

description

designation

Line B

Request to send

RTS

Ground

GND

Potential +5V

+5V

Line A

2.6.2.8 Pin assignment for SUCOnet K

with option module RP SUC, with galvanic isolation

description

designation

Data line +

TA/RA

Signal ground

SGND

Data line -

TB/RB

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Connector Assignments and Functions

Digital Interfaces

2.6.2.9 Pin assignment for Interbus S

with option module RP IBS, with galvanic isolation

Remote OUT (COM2)

Remote OUT (SUB D09 socket)

Com 2

description

designation

Data line OUT forward

(error voltage A)

DO2

DI2

Data line IN backward

(error voltage A)

Reference potential

GND I

VCCI

+5V

/DO2

Data line OUT forward

(error voltage B)

Data line IN backward

(error voltage B)

/DI2

Reporting input *

RBST

* to forward Interbus-S interface

Remote IN (COM3 B)

Remote IN (SUB D09 plug)

≅ additional plug

Remote description

designation

Data line IN forward

(error voltage A)

DO1

DI1

Data line OUT backward

(error voltage A)

Reference potential

GND I

Data line IN forward

(error voltage B)

/DO1

Data line OUT backward

(error voltage B)

/DI1

Attention: specific front panel is required !

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Connector Assignments and Functions

Digital Interfaces

2.6.2.10

Pin assignment for I/O interface

with option module RP EA5, with galvanic isolation

Digitale I/O Option

COM2 SUB D09 socket

Com 2

designation

comment

status

BIAS input 101

BIAS input 102

BIAS input 107

BIAS input 108

0VSPS

standard

input

standard

ground reference

0VSPS

BIAS input 106

BIAS output 109

BIAS output 110

+24VSPS

standard

input

output

standard

ext. +24V feed-in

Notice !!

The inputs with the internal number 107 and 108 must be connected to the pins with number 3 and 4.

The outputs with the internal number 109 and 110 must be connected to the pins with number 7 and 8

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Connector Assignments and Functions

Digital Interfaces

2.6.2.11 Pin assignment for I/O interface

with option module RP EAE, with galvanic isolation

Digitale I/O Option

X200 SUB D26 High Density socket

X200

designation

comment

status

Bias input 201

Bias input 202

Bias input 203

Bias input 204

Bias input 205

Bias input 206

Bias input 207

Bias input 208

Bias output 209

Bias output 210

Bias input 211

Bias input 212

Bias input 213

Bias input 214

Bias input 215

Bias input 216

Bias output 217

Bias output 218

Bias output 219

Bias output 220

Bias output 221

Bias output 222

Bias output 223

Bias output 224

+24 V SPS

standard

input

output

input

output

standard

output

standard

output

standard

output

Ext. +24 V feed-in

Ground reference 0 V SPS

0 V SPS

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Connector Assignments and Functions

Digital Interfaces

2.6.2.12 Pin assignment for I/O interface

with option module RP 2C8, with galvanic isolation

Digitale I/O Option

X120B orr X120C Cage – Clamp terminal 10pole..

(min./max. cable cross-section: 0,08mm² / 1,5mm²)

designation

comment

status

X120

Function 0 Function 1

Input 121

Input 122

Input 123

Input 124

Output 125

Output 126

Output 127

Output 128

+24 V SPS

0 V SPS

BIAS

Reset drive fault

Input

Limit switch +

Limit switch -

Reference switch

Cam 1

BIAS

Input

Output

Cam 2

Cam 3

Cam 4

Ext. +24 V feed-in

Ground reference 0 V SPS

Signal statuses of the I/O are indicated in each case by a 2mm LED

at the front plate.

Connector COM3 B – see chapter 2.6.2.6

LED lighten I/O = high

LED off I/O = low

X120

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Connector Assignments and Functions

Digital Interfaces

2.6.2.12.1 DIL – switch position for module RP2CA and RP 2C8,

with galvanic separation

DIL – switch position CAN

Default = all off

2⁰-------------------------------2⁶

2⁰---------2²

baud rate

2²2¹2⁰

0 0 0

0 0 I

0 I 0

0 I I

20 kBaud

50 kBaud

100 kBaud

125 kBaud

250 kBaud

500 kBaud

800 kBaud

1000 kBaud (1MBaud)

note number

0 - 127

I 0 0

I 0 I

I I 0

I I I

Example: node number 5; 1MBaud

DIL – switch position bus termination

COM2

COM3

Default

COM2/COM3

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Connector Assignments and Functions

2.7 Option module RP SBT

2.7.1 Safe Stop

Connector assignment X290:

designation

X290

comment

status

Input

Input Active

OPTO

Reference point

Input

Input Active

Starting lockout

deactivated

Relais

Reference point

Starting lockout

Checkback contact

Free contact

Break contact

Hinweis:

With employment the option module RP SBT changes the function “AKTIV” from the connecting

plug X10.22 after X290.1! The input X10.22 can be used then as free programmable input

(BIAS).

Use of the function Safe Stop

The option RP_SBT of the drive controller 637fxx-x.S5 supports the safety function “Safe Stop”, protection

against unexpected starting, according to the requirements of the EN954-1 “Category 3” and EN1037.

The stop of the machine must be caused and guaranteed before by the external machine control.

This applies in particular to vertical axes without selflocking mechanics or counterweight.

If an error arises in the drive system during the active brake phase, the axis can coast down uncontrolled

or even accelerate actively.

In order to use the Starting lockout function intended, it is to be looped into the net contactor circle or

emergency stop circle with the obligation-led reporting contact X290.5/6. With not plausible functioning of

the Starting lockout relay, related to the operating mode of the machine, a galvanic separation of the drive

concerned from the net must take place. The Starting lockout and the associated mode may be used again

only after error correction.

Due to a danger analysis / view of risk (to be accomplished according to machine guideline 89/392/EWG

and/or EN 292; EN 954 and EN 1050) the machine manufacturer must project the safety circuit of its

machine types for the entire machine including all integrated components (also the electric drives).

Block diagram:

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Connector Assignments and Functions

Option module RP SBT

2.7.2 Brake control and PTC evaluation

Connector assignment X280

designation

X280

status

Input

Supply for brake output and PTC evaluation

Reference point for supply

Reference point for Brake control

Brake control Active ok.

PTC

Input

Output

Relais output

Input

PTC

Input

Use of the Brake control

The relay output X290.3 serves for the control of holding brakes. This output is functionally identical to the

output X10.23.

The output at X290.3 has the following advantages over X10.23:

The isolation relay contact ꢋcontrol electronics corresponds to the basis isolation. I.e. also brake

installations (which correspond to the basis isolation) without interface relays, while maintaining the

PELV isolation (double) of the drive controller are operated (see X10 connection example chapter 2.3.2)

The brake control possesses an active clamping of over voltages between the two brake connections.

Stronger dimensioning of the brake contact.

Use of the PTC evaluation

The PTC connection serves for the monitoring of the engine temperature. In its function mode it is

identical to the port X30.2/6. The following advantage exists over X30.2/6 :

The isolation evaluation circle ꢋcontrol electronics corresponds to the basis isolation. I.e. also

PTC thermistors (which correspond to the basis isolation) can be evaluated, without waiving the

safe separation to the control electronics.

Block diagram / Connector assignment

Circuit diagram

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Operating Mode

Operating modes

The preselection of the device functions are carried out by choosing the operating modes 0...5 according to

the following table, see chapter 3.1, (EASYRIDER^®Windows - Software).

Each operating mode allows the assignment of different in- and output functions (F0..F6).

Operating Reference-source

mode

Hints for selecting the operating

analog (X10.5/18)

switchable the operating modes 1 and 2 by input X10.24

speed control analog

torque controller analog

analog (X10.5/18) /

digital

simple applications with requirement of switching between

position and speed control position controller (input X10.24)

handling like operating mode 4

digital or analog in acc.

to parameter set

general position-controlled systems. Up to 10 positions can be

stored under identifier-numbers and activated like shown.

digital or analog in acc. simple to complex systems using instructions BIAS

to programming or via (up to 1500 command blocks)

digital communication PLC - functions

(e.g. fieldbus)

for further information:

see chapter 13.1 and 13.2

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Operating Mode

3.1 Operating modes and pin functions

operating modes

torque / speed-

control

speed

control

torque

control

position /

speed-control

position

control

Available

pins

position control

+ BIAS

number

functions

F0, F1

F0, F1, F2,

F3,F6

input

X10.14

F0, F1, F2,F6

F0, F1, F2,

F3,F6

input

X10.15

F0, F1, F2,F6

input

X10.4

---

F2,F6

F0, F2, F3,F6

input

X10.25

input

X10.11

---

F1,F2,F6

F1, F2,F6

F0, F1, F2, F3,F6

input

F1, F2, F3,F6

X10.24

L = torque-

H = speed

control

L = torque-

H = speed

control

input

X10.2

---

F2, F3

output

X10.12

F0, F2, F5

F0, F2, F5 F0, F2, F5 F0, F1,F3, F5 F0, F1,F3,

F0, F1, F2, F3,

F4, F5

output

X10.13

F0, F2, F5 F0, F2, F5 F0, F1,F3, F5 F0, F1,F3,

F0, F1, F2, F3,

F4, F5

output

X10.20

F0, F2, F5 F0, F2, F5 F0, F1,F3, F5 F0, F1,F3,

F0, F1, F2, F3,

F4, F5

output

X10.23

F0, F2, F5 F0, F2, F5 F0, F1,F3, F5 F0, F1,F3,

F0, F1, F2, F3,

F4, F5

The assignment of the functions F0..F5 is listed in the following table

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Operating Mode

3.2 Configurable pin-functions (depending on the operating mode)

Input functions (depending on the operating modes)

input

Nr.

function

function function function

F6²⁾

CAN

1) move manually

input

X10.14

set selection

Node no.

limit switch +

⌧

⌧ ⌧

data 2

CAN

1) move manually

input

X10.15

set selection

Node no.

limit switch -

⌧

latch input 1

data 2

CAN

extended

latch

input

X10.4

set selection

Node no.

⌧ ⌧ ⌧

data 2

ꢌ

CAN

latch input 2

input

X10.25

set selection

Node no.

⌧

data 2

ꢌ

start (slope 0--

CAN

input

set selection

Node no.

X10.11 >1) for BIAS -

regulator

trouble reset

data 2

move commands

CAN

input

X10.24 selection

(0) – 1or 2

operating mode

set selection

Node no.

reference

sensor

max

data 2

⌧ ⌧ ⌧

(3) – 1or 4

start (slope 0-->1)

with position set

selection in

strobe

(slope 0-->1)

input

X10.2

⌧ ⌧ ⌧ ⌧ ⌧

for BIAS-set

selection

position control (4)

synchron-

format

non

position

reached

reference

output

tracking

window

exceded

output

X10.12

drive trouble

⌧

trigger

start offset

trigger

non

temperature

monitoring

reference

output

tracking

window

exceded

output

X10.13

regulator

trouble

non

warning

reference

output

tracking

window

exceded

output

X10.20

drive trouble

⌧ ⌧

non

active ok

(motor brake)

reference

output

tracking

window

exceded

output

X10.23

drive trouble

⌧ ⌧

⌧

ꢌ

BIAS-function, free programmable.(in operating mode 5) resp. no function in operating mode 0 at 4.

fast input for optimal timing

1) With every row (from the top to the bottom) in which the function F2 is assigned to an input, the binary

value (2 ) increases by 1. (see example)

Operating mode 4: only permissible set number 0 - 9 !

2) only possible with module RP-CAN.

3) Is the Option RP 2C8 (chapter. 2.6.2.12) insertion, are the contact function as the same definition on X10-

plug invalid (the inputs can freely programmable and use in BIAS program)

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Operating Mode

3.3 Function diagrams from inputs and outputs

Protection mode switching off

Protection mode limiting

Fault signal /

protection function

acc. with EASYRIDER config. menue

in acc. with EASYRIDER config.- menue

regulator protection

outp ut Warning(F0) X10.20

/8/

/3/

Warnin g time ap p rox. 3 sec.

I-LIMIT

outp ut Ready X10.8

/3/

/4/

/5/

max. cu rrent

Warnin g disp lay

rated current of regulator

fault signal d isp lay

motor protection

outp ut Warning(F0) X10.20

outp ut Ready X10.8

Warnin g disp lay

Warnin g time ap p rox. 3 sec.

I-LIMIT

/4/

max. cu rrent

rated current of motor

fault signal d isp lay

NTC-output stage protection

95 °C

outp ut Warning(F0) X10.20

outp ut Ready X10.8

Warnin g disp lay

Warnin g time ap p rox. 6 sec.

I-LIMIT

/5/

90 °C

100 °C

fault signal d isp lay

Temp.

assume motor temp erature

curve

R_NTC2

R_NTC1

R_PTC

R_NTC1

R_PTC

NTC-motor protection

decrease as of R_NTC1

switch off with R_ NTC2

outp ut Temp .(F0) X10.13

outp ut Ready X10.8

/h/

Warnin g disp lay

/9/

current lim itin g

I-LIMIT

fault signal d isp lay

PTC-motor protection

switch off with R_ PTC after warning time

outp ut Temp .(F0) X10.13

outp ut Ready X10.8

no lim itin g function with PTC

Warnin g time ap p rox. 6 sec.

/h/

Warnin g disp lay

/9/

fault signal d isp lay

Function Passive -Delay (recommanded by use of motor brake)

inp ut ACTIVE X10.22

Nsetp oint

Nsoll

setp oint internally to zero

outp ut stage Active

reaction time for brake

outp ut AKTIVE -OK(F0) X10.23 (holdin g brake)

Hint: With the assembly of the option module SBT you kindly note the extended functions of the signals

(see documentation 07-02-10-02-E..)

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Mechanische Installation

Mechanical Installation

4.1 Mounting

SSD Drives digital servo drives may be installed only in a vertical position to guarantee the best air

circulation for the cooling ribs of the heat sink. Vertical installation above other drive racks or above other

heat producing devices can lead to overheating. In addition the drives are to be operated exclusively in

SSD Drives racks or the compact enclosure respectively.

4.2 Control cabinet - mounting

Installation should be carried out only in a control cabinet in which the inside must be free from dust,

corrosive fumes, gases and all liquids.

Make absolutely sure that the condensing of evaporating liquids including atmospheric moisture is

avoided. Should the digital servo drive be installed in a place where condensation is likely, a suitable

anticondensation heater must be installed. The heater must be SWITCHED OFF during normal operation.

Automatic switch off is recommended

SSD Drives-digital servo drives should not be installed in are as which have been classified as

dangerous, if they have not been installed in an approved enclosure an accordance with regulations and

checked.

Make sure, there is enough cooling and space ! (see sketch)

ꢊ

only horizontal !

on the side

no distance is required

General rule:

It is better to place heat-producing devices low in an enclosure to support internal convection and to

spread the heat. If placing such devices up high is unavoidable, enlarging the upper dimensions at the

expense of height or installing fans should be considered.

4.3 Cooling

The digital servo drives are protected against damages caused by overheating.

There is a thermal sensor installed on the heat sink. When the temperature rises to >95°C,

the drive is automatically switched off. This setting cannot be changed.

Make sure a cabinet of proper size is selected for adequate air circulation

If the device becomes operated in a not ventilated device, the case volume of the specified control

cabinet must be calculated in accordance with the following table !

Units

637f/0D6R02...D6R10

637f/0D6R16...D6R30

Volume of cabinet

0,12 m³

0,25 m³

For more exact information, please, address to the control-cabinet manufacture

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Electrical Installation

5.1 Safety

The voltages carried by power supply cables, motor cables, connectors, and certain parts of the drive can

cause serious electric shocks and even death

5.2 The danger of electric shocks

Caution !

Risk of electrical shock, wait 3 minutes after switching off, for discharging the capacitors.

Disconnect SSD Drives plug-in units from mains before working on them. A period of three minutes must

pass after switching off so that the internal capacitors can discharge completely. Until the discharge time is

over, there can be dangerous voltages in the module !

Persons, which monitoring or carrying out electrical installation and maintenance must be adequately

qualified and schooled in these activities.

5.3 Danger areas

The use of variable speed drives of all kinds can invalidate the certification for dangerous areas (apparatus

group and/or temperature class) of explosion-protected motors. Inspection and certification for the

complete installation of servo motors and electronic components must be obtained.

5.4 Grounding, safety grounding

The grounding impedance must meet the requirements of local industrial safety regulations and should be

inspected and checked at appropriate and regular intervals

5.4.1 Ground connections

It is recommended to attach a ground bus of high conductivity copper as near as possible to the servo-rack

or regulator modules in order to minimize the length of the cable connections.

The recommended dimensions are:

Thickness: d = 5 to 6 mm

Length

(m)

< 0,5

0,5 < 1,0

1,0 < 1,5

Width

(mm)

grounding bus-bar

Ways of raised discharge currents > DC 10mA resp. > AC 3,5mA the PE-Bolt of the drive has to be

connected to PE using copper-cable minimum 10mm² !

5.5 Short-circuit capability and discharge currents

Due to the working-principle of servo drives there may discharge currents to

PE exceeding DC 10mA resp. AC 3,5mA.

Suitable for use on a circuit capable of delivery not more than 5000 RMS symmetrical

amperes 505V maximum. (Note according to UL508C)

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Electrical Installation

5.6 Fuses, contactors, filters

Compact units

637f/ KD6R 02 KD6R 04 KD6R 06 KD6R 10 KD6R 16 KD6R 22 KD6R 30

.S5

-3

-7

-3

-7

-3

-7

-3

-7

Fuses, Contactors

RCD-switch

not recommended. Required setpoint: 300 mA, no protection against life danger

mains input currents

mains protection

protector-switch

mains fuse

[A]

1) Type

3,5

T10A

7,5

T10A

T20A

T25A

T10A

(T32A) 35A (T32A) 35A

2) Type PKZM0-16 PKZM0-16 PKZM0-16 PKZM0-16 PKZM0-25 PKZ2/ZM32 PKZ2/ZM32

2) Type DIL 00M

DIL 00M

DIL 0M

Line filters

general

only for use in earth referenced supplies(TN). Current drain to PE !

single-phase

industrial env.

max. motor cable 50m

(EN55011 A)

Type

LNF E 1*230/012

up to AC 230V !!

not possible !

ferrite core

residential env.

max. motor cable 20m

(EN55011 B)

LNF E 1*230/012

up to AC 230V !!

not possible !

ferrite core

3-phasig

industrial env.

max. motor cable 50m

(EN55011 A)

residential env.

max motor cable 20m

(EN55011 B)

Type

LNF B 3*480/008

ferrite core FR 3

LNF B 3*480/008

LNF B 3*480/018

ferrite core FR 6

LNF B 3*480/018

LNF B 3*480/033

ferrite core FR 6

LNF B 3*480/033

ferrite core FR 3

3-phasen, max. 3 Units, supplied by a common filter

LNF B 3*480/018; LNF B *480/033 + ferrite core FR

other types upon request

industrial env.

max. motor cable 20m

(EN55011 A)

residential env.

max motor cable 20m 3)

(EN55011 B)

Type

(according to ref.measurements with 3 units, supplied by common line)

LNF B 3*480/018; LNF B 3*480/033 + ferrite core FR

other types upon request

(according to ref.measurements with 3 units, supplied by common line)

Plug-in modules

637f / D6R 02 D6R 04 D6R 06 D6R 10 D6R 16 D6R 22

.S5 .S5 .S5 .S5 .S5 .S5

-3 -7 -3 -7 -3 -7 -3 -7 -3 -7 -3

D6R 30

.S5

-7

-3

-7

Fuses, contactors,

filters

Orientation: Table for compact units and the addition of rated currents of used

units on the DC-Bus. Depending on the application, energy sharing effects by

DC-link may reduce the required supply current considerable.

general

fuses

Rule of the thumb: single-phase operation: 2...3 times of added rated currents

Rule of the thumb: 3-phase operation: 1,5...2 times of added rated currents

peak making currents

filters

Depending on power-supply unit, limiting equipment is requiered (delay contactor)

only for use in earth referenced supplies(TN). Current drain to PE !

filter types

Orientation: Table of compact units. Further types: see separate manual

1) recommended for UL-requirements: Bussmann Type FRS-R, 600V, use only UL-approved fuse-holders !

2) recommended, Klöckner Moeller for instance

3) Measurement of conducted emissions only

4) for applications with continuous load: see notes in chapter 5.7

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Electrical Installation

5.7 Correction of supply current

Attention in case of continous load:

Due to the capacitive input impedance of

DC-Bus, the input current is deformated.

This guides to RMS -values higher than the sinus-based calculated values. Fuses,

contactors and line filters have to be selected in respect to this effect.

In typical servo application with Stop/Go-operation (S3-Operation), the

rating to nominal data will be sufficient.

In other cases, the value has to be corrected using the following diagram.

Example:

Drive type 637f/KD6R16.S5-7 is supplied by AC 230V 3-ph.

Output-power: Pout = 200V x 16A x 1,73 = 5,54 kW

This output-power must be generated by:

calculated supply-current Iac sinus = 5,54kW / (230V x 1,73) = 13,9 A

Correction-Factor from diagram: 1,6

RMS. Supply-Current Ieff = Iac sinus x 1,6 = 22,3 A

Result:

All supply-equipment has to be selected in respect to the enhanced current.

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Electrical Installation

5.8 Brake resistor

5.8.1 Selection of the brake resistor

The energy of a moving system flows back to the Drive. The DC-Bus capacitors are able to take a small

value. The rest has to be converted to heat by a resistor.

Switching of this brake resistor depends on the DC-Bus voltage.

The load of the resistor is simulated and supervised electronically

(EASYRIDER^®Windows - Software). Peak power (Pmax) and continuous power (Pd) ratings have to be

sufficient to meet the requirements of the application.

Movement

RPM

Definition of Data

Values for Example

Speed at Brake-Start n1 = 3000 RPM

tb1 = 0,1 sec.

T = 2,0 sec.

Braking Time

Cycle-Time

tb1

Total Inertia

J = 0,0005 kgm²

Ib = 3,2 A

Rph = 3,6 Ohm

RL = 0,3 Ohm

t [sec]

I [A]

Braking-Current

Motor-Resistance

Cable-Resistance

Braking-Current

Calculation

Step 1

example

Calculation of brake-power

(Approximation. Capacitor-load, friction-and drive-

losses neglected)

Power of motion:

Pkin = 0,0055 * 0,0005 * 3000²/0,1

Pkin = 247 W

Pkin = 0,0055 * J * n1² / tb1 [W]

Motor-losses:

Pvmot = 3,2² * (3,6 + 0,3)

Pvmot = 40 W

Pvmot = Ib² * (Ri + RL) [W]

Pd = 0,9 * (247 - 40) * 0,1 / 2

Pd = 9,3 W

Cont. Power:

Pd = 0,9 * (Pkin-Pvmot) * tb1 / T

[W]

Pmax = (1,8 * 247) - 40

Pmax = 405 W

Peak-Power:

Pmax = (1,8 * Pkin) - Pvmot [W]

used units:

total inertia [kgm²]

n1 speed at Brake-Start [RPM]

tb1 braking time [Sec]

cykle time [Sec]

Ib brake-current [A]

Rph resistance of motor (between terminals) [Ω]

RL line resistance of motor cable [Ω]

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Electrical Installation

Brake resistor

selection of the brake resistor

Step 2

Example-Drive type

637f/K D6R04-7

Internal / external Brake-resistor required ?

see data in chapter 1.3.3 / 1.3.4

In case of unsufficient capability or not included

internal Brake-Resistor, a type may be selected from

the following list

acc. to data in 1.3.3:

internal resistor:

Cont. Power Pd = 30W

Peak Power Pmax = 1700W

Required:

Pd = 9,3W Pmax = 405W

Result: The internal capability is sufficient

External and internal Brake-Resistors will be switched

in parallel. The internal and external performance-Data

may be added in this case.

5.8.2 Configuration of the brake resistor

Possible ballast circuit configurations at digital devices

a) Compact design

The plug-in modules of servo-control series 635/637/637+/637f are provided with an on board ballast

electronics. It is intended for application as compact unit KDER resp. KD6R.

These compact units contain the necessary ballast resistor incl. fuse for the ballast circuit.

Except KD6R 16..30-7 (external resistor only).

b) Rack design

While the plug-in modules are used in a rack, the NEB power supply module takes dissipation

of the braking energy (adjustment of ballast monitoring: please see NEB manual).

In this case the ballast electronics of the plug-in module will be deactivated with the

configuration parameter "Ballast activate = N". All further ballast parameters are no longer

relevant then.

r.g. a) Adjustment of ballast circuit for compact units:

1. Ballast electronics activated:

In this case the ballast electronics of the plug-in module will be activated. "Ballast activate = J".

2. Operating point:

The operating point has to be adjusted dependent on the voltage variant.

"Ucc Ballast on = 375 V"

"Ucc Ballast on = 720 V"

3. Resistance value:

for 230 V AC supply

for 400..460 V AC supply

As resistance value, the parallel resistance from internal and external resistance has to be adjusted.

4. Rated power:

As ballast power (braking energy), the sum total of internal and external resistor power

has to be adjusted.

Precondition for correct monitoring of shunted ballast resistors is the nearly same ratio of P - cont.

power to P - pulse power. This is guarantied with the SSD Drives standard combinations.

..KD6R 16..30-7 units do not contain an internal ballast resistor.

At these versions the values of the external resistor can be feed directly.

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Electrical Installation

Brake resistor

selection of the brake resistor

Example:

EASYRIDER

Evaluation resistance value in use of internal and external resistances.

Internal “Ballast resistances = 300 Ohm“ for ..KD6R10..-7

External “Ballast resistances = 100 Ohm“ for ..KD6R10..-7

formula :

Rtotal. R int. Rext.

⇒ Rtotal. = 75Ω

Rtotal. 300Ω 100Ω

Set up resistance value = 75 Ohm

Evaluation Ballst power in use of internal and external Ballast power.

Internal “Ballast power = 30 Watt“

External “Ballast power = 100 Watt“

for ..KD6R10..-7

formula : Ptotal. = Pint. + Pext.

Ptotal. = 30W +100W ⇒ Pges. = 130W

Set up rated power = 130 Watt

Caution !

Placing of external brake resistors

Brake-resistor are dissipating heat !

Make sure, that there will be no fire-danger in case of operating the resistor

in nominal- or fail-conditions

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Wiring Instructions

Wiring instructions

6.1 General Information

Digital servo drives are designed for operation in metallic grounded enclosures.

For perfect operation as well as for observance of all regulations the front board must be connected

with the enclosure electrically and fixed.

6.2 Control cabling

Recommended cross section 0,25 mm².The control signal lines must be laid seperate from the power

signal lines.(see chapter 6.7.1)

The resolver cable must contain three shielded pairs and must be shielded as a whole. The shielding

should be connected to the ground spread out on the regulator side. We recommend using SSD Drives

resolver cable KIR. Cable for transmitting data are always to be laid shielded !

6.3 Power cabling

Recommended section according to rated current. Use only 75° Cu-cables.

6.4 Installation of the rack

When the rack is secured not in a hinged bay but on a mounting plate, it is recommended to do the wiring

of the connections for the power connector X50 on the rear of the rack before installing. With hinged-bay

installation, the customer must ensure that the parts sensitive to voltage such as the Ucc bus, mains

supply lines, etc., are protected against electric shock.

6.5 Analog setpoint

The setpoint input is a differential input. Therefore the poling can be done depending on the requirements.

Important: the setpoint voltage must be galvanically connected to the reference potential of the control

connections (plug X10). It is possible to connect one pole directly to GND.

6.6 Safety rules

Caution !

Plug / unplug all modules only when

Ucc (DC-BUS) is off, that is, the green LED on the power supply module is off and the discharge

time > 3 minutes has elapsed.

The user must ensure protection against accidental touching.

6.7 Electromagnetic compatibility (EMC)

Confirmity in accordance with the EEC Directive 89/336/EEC has been evaluated using a reference-

system, consisting of a compact type drive and a line-filter on mounting-plate,

connected to an AC-syncronous motor.

Mainly responsible for EMC-emissions is the motor cable. So this has to be installed exeptional carefully.

The layout of grounding is very important. Grounding has to be low-impedant for high frequences. That

means, all ground-connecting parts have to use area.

The measurements made are valid under the use of SSD Drives - cables, suppression aids and line filters

and by application of the following wiring instructions:

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Wiring Instructions

Electromagnetic compatibility (EMC)

6.7.1 Hints for mounting

All components are mounted inside of

a steel control cubicle on a mounting plate

(thickness min. 3mm).

3mm

Recommended: Galvanizing

The connection between drive housing filter-

housing and mountig-plate must be blank and

not reduced by varnish. All screws must be well

fixed !

Use only SSD Drives-filters and cables for motor

and resolver

Place all wires and cables as close as possible

to any grounded metal parts

Separate power- and control cables. Minimum

distance: 0,3m

90°

crosspoints: 90°

0,3 m

Avoid cable-loops. Especially the line between

line-filter and drive has to be as close and short

as possible (drilled)

Maintain screen as close as possible to the

cable-end (max distance 8 cm)

8 cm max

Connect screen-connections according to

general view of connetions, see chapter 2.1.

Ground screens on both sides, shortest way.

For long cables: Connect additional screen-area

along the way

Connect screens area-contacted to good

grounded points

Connect unused wires in cables to ground

Install control cables directly close to grounded

metal-parts or screend when leaving the control-

cubicle

Take care for good grounding of control-

transformer (DC 24V). Use transformer with

metal-socket and take care for conductive

contact to mounting-plate

Take care for good general grounding of the

complete system. Interconnect several

mounting-plates with copper-rails or

copperband. Take care for ground connection

between control-cubicle and machine !

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Wiring Instructions

Electromagnetic compatibility (EMC)

6.7.2 Example for mounting

6.7.3 Achieveable specifications and conditions

conditions

Motor-cable

additional conditions

Area

Class

Standard

length

Area Class

Standard

Industrial

EN50081-2/

EN55011Klasse A chapter 5.6

see

LNF S/E

LNF B

closed

cabinet with

≥ 15 dB

toroidal

ferrite

cores

see

Emissions:

transmitted by

cable or by air

attenuation

Residential

Industrial

EN50081-1/

EN55011 Klasse

see

chapter 5.6

LNF S/E

LNF B

chapter

5.6

Interference

immunity:

EN50082-2

(≅ radiation)

transmitted by

cable or by air

Residential

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Setting and Programming

Setting and programming

7.1 Jumper

All jumpers are set to a standard position in production !

Layout of the Jumpers see: Chapter 1.2.3

JP100,

bridged pad...

2 and 3

(standard)

READY contact with reference to

common output supply voltage on

X10.21

1 and 3

READY contact can be wired freely

JP101,

bridged pad...

2 and 3

(standard)

1 and 3

Analog input X10.19 without internal

Pull-up.

Analog input X10.19 with internal Pull-

up to +12 V (FRR compatible)

JP102,

bridged pad...

2 and 3

X10.23 = active ok. output

(standard)

1 and 3

X10.23 = GND internal

(FRR compatible)

JP1, JP2

bridged pad...

2 and 3

(standard)

1 and 3

adjust identically !

X10.15 = high-active

X10.15 = low-active

JP3, JP4

bridged pad...

2 and 3

(standard)

1 and 3

adjust identically !

X10.14 = high-active

X10.14 = low-active

JP2.8, JP2.3

JP2.7, JP2.2

open

Default, RP CAN, RP DEV, RP PDP

RP 2CA, RP 2C8

RP 232, RP 422, RP 485,

RP IBS, RP EA5, RP SUC

JP209 2-3

JP209 1-3

Default RP SBT

Further connecting configuration see:

Product Manualo 07-02-10-02-E-Vxxxx RP_SBT

7.2

Digital communication

see: Chapter 13

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Commissioning

Caution !

Wiring errors or incompatible operation may cause unpredictable motions.

Avoid danger for man and machine !

8.1 Preparation

ꢉ

For PC-link use the SSD Drives communication software

EASYRIDER^®Windows - Software. For the start,

we suggest exercises in simulation mode to get familiar with EASYRIDER.This chapter

presumes the knowledge how to handle EASYRIDER. Suggestions: Use test equipment to

train yourself. EASYRIDER^®Windows - Software contains interactive HELP - functions.

ꢉ

For security-reasons the access to several functions is blocked by password. Commissioning

has to be executed by trained stuff only.

Users may have their application-adapted commissioning methods when familiar with

the product, on their own responsibility.

The system must be in accordance with all valid safety specifications. The function of all

safety equipment (limit-switches for example) have to be checked.

To activate the power-stage of the drive, the "ACTIVE"-signal (X10.22 against X10.9)

has to be exited.

Hint: With the assembly of the option module SBT you kindly note the extended functions of the

signals

(see documentation 07-02-10-02-E..)

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Commissioning

8.2 Commissioning in steps

Step

Action

Remark

Before switching on

Check the wiring, especially:

Filter polarity, supply

Motor wiring, motor polarity

Resvolver wiring,

polarity (or other feedback systems)

With critical mechanical part: remove motor shaft from

application

avoid danger

Connect PC by RS232 link to the drive service port COM1

and start EASYRIDER ^®

7-segment-

dispay

Set up state

NOT ACTIVE

635/ 637/ 637+/ 637f ¹⁾

X10.22 against X10.9

Power on

631

X10.7 against X10.4

Switch on control voltage

635/ 637/ 637+/ 637f

Us = 24V DC

7-segment-

dispay

631

Us = 230V AC

EASYRIDER ^®communicates (see diagnosis F9)

Are parameters already evaluated?

Yes: load parameter-file

xxx.WDD.

No: continue with 7

Store parameters in the

drive. If existent: load BIAS-

file xxx.WBD and store in

drive.

Proceed with 10 or 15

(experts)

Menu Commissioning:

Select the used motor from the EASYRIDER ^®- Library

Adjust max. current to nominal motor current or smaller

reduced torque

When leaving that menu:

Tuning-parameters for current loop will be calculated and

offered to the user.

Confirm acceptance of offered

parameters

Normally, these values give dynamic servo motion.

Store data power-fail-save in the drive

Menu: Tuning speed loop

¹⁾Hint: With the assembly of the option module SBT you kindly note the extended functions of the

signals (see documentation 07-02-10-02-E..)

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Commissioning

Commissioning in steps

Step

Action

Remark

“ACTIVE” switched

7-segment-

dispay

Adjust test generator as required.

Activate test generator with “START F8”.

Activate graph to display motor current or speed.

Can be optimize manually

(P- and I- gain)

Is the result ok?

Yes: continue with 14

No: continue with U1

Preparation to the position controller

The commissioning of the position controller is first

recommended without linked mechanics. In the case of

secure function, the mechanics can then be linked up.

Power OFF.

Connect motor-shaft to application

Move application to a free area between mechanical

limits.

Power ON.

Menu: Tuning position loop

Adjust test generator. Select Pos. 1 and Pos. 2 to

uncritical value.

Select slow speed and low acceleration first, rise up later

mind: reaction-time- to

Emergency stop

“ACTIVE” – switched. Every activation of “START F8”

excites a motion form Pos. 1 to Pos 2 and with next

activation, form Pos. 2 to Pos. 1

Observe the behaviour of application and graph.

Optimize tuning-parameters (P-, I- and V gain)

Is the result ok?

Yes: continue with 20

No: continue with 9

Basic power-up is done now.

Further functions (Interfaces, fieldbus functions,

synchronizing and so on may be done adapted to

selected equipments

data save

Select the menu “File” store parameters” and store the

data in the regulator, protect against lost, with F7-key

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Commissioning

Commissioning in steps

Step

U1.1

Action

Remark

Menu: Tuning Speed Loop

Stabile parameters are calculate bases on the

system data; and can be called up with “Default

value”.

Sometimes it is recommended to make further

manual tuning.

Rated value can be soured either digital by the

internal generator or analogue by

P- gain too high or I-time constant too

small

Motor noise

635/ 637/ 637+/ 637f

+/- 10V at X10.5/18

631

+/- 10V at X10.1/2

ATTENTION!

Too hard tuning will cause current-ripple and high

power dissipation.

Too weak adjustment cause slow loops reactions

that may cause problems for the tuning of position

loops.

U1.2

P- gain too small or I-time constant too

high

It the result ok?

Yes: continue with 9

Menu: Tuning Current Loop

U1.3

U2.1

No: continue with U2.1

Stable parameters are calculated bases on the

system data and can be called up with “default value”

Manual tuning may be useful.

Rated value can be soured either digital by the

internal generator or analogue by

635/ 637/ 637+/ 637f

+/- 10V at X10.5/18

631

+/- 10V at X10.1/2

ATTENTION!

Tuning of current loops should be only done after

consultation of SSD Drives experts.

continue with 9

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Diagnosis and Trouble-Shooting

Diagnose und Fehlersuche

9.1 7-segment display

Many sources of faults can be narrowed down with the diagnosis display.

Output

display

servo drive

explanation

comment

no display

631 635/637 637+

637f

ready

warning²⁾

off

ꢍ ꢍ ꢍ ꢍ

any control voltage? external fuses ok?

system ready for operate

drive ready, not active

off

drive ready for operate!

DC link voltage within the limits,

power stage active, fault-free

internal STOP with serial deactivating

off

activate drive via serial interface

regulator of serial interface (bus interface)

deactivated !

only if bus interface is integrated

deactivated with delay time for the brake

deactivated via input.

off

deactivated via serial command.

Active input is activated with switching on

24 V control voltage

X10.7

X10.22 X10.22

X10.22

switch enable X10.xx switch on 0 V and

after that 24 V

Under voltage of control voltage

off

ꢎ ꢍ ꢍ ꢍ

ꢍ ꢍ ꢍ ꢍ

Power supply switched on? Power supply o.k ?

internal fuse o.k.? control voltage < 17 V

Under voltage in DC-bus < Ua low threshold

check power supply (power supply unit, wiring,

fuse), check under voltage parameter

feedback system error (e.g. resolver)

off

ꢍ ꢍ ꢍ ꢍ

wiring to encoder system ok?

encoder system supply ok?

I²t- overload of the drive

ꢍ ꢍ ꢍ ꢍ

does the control loop oscillate?

P-amplification too high mechanics stiff?

requirements too high? is warning /8/ evaluated?

Reaction to these errors chapter: Function diagrams from inputs and outputs

With configuration corresponding chapter : Operating modes and pin functions

Only warning respect. status indicator

The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus)

is switched off for safety reasons.

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Diagnosis and Trouble-Shooting

7-segment display

Output

warning²⁾

display

servo drive

explanation

631 635/637 637+

637f

ready

comment

overload of the motor I²t

ꢍ ꢍ ꢍ ꢍ

does the control loop oscillate?

P-amplification too high mechanics stiff?

requirements too high? is warning /8/ evaluated?

over temperature of the output stage (> 95°C)

adequate cooling of the regulator?

ambient temperature too high?

over voltage on DC bus

ballast module ok? adequate ballast module?

chassis shorting and short circuit due to hardware

off

motor cabling ok? digital-loops setup ok?

short circuit to chassis in the motor? braking

resistor: ohm- value too low? try to start fresh! send

in for repair

WARNING!

ꢍ ꢍ ꢍ ꢍ

Overload of the regulator I²t or motor I²t or temp.-

output stage too high. If no reaction within approx.

3sec.it switches off with signals /3/, /4/ or /5/.

Signal /8/ clears when there is no more danger or it

is switched off

mechanics stiff? defective bearings; cold grease?

reduce requirements and creep to next possible

STOP

over temperature motor(NTC/PTC)

ꢍ ꢍ ꢍ ꢍ

off

check overload of the motor / cooling etc.

motor temperature too high

check overload of the motor / cooling etc.

ballast active

Brake energy is removed

warning I²t ballast too high

ballast resistance usage >90%

switch off ballast

ballast resistance overloaded

Reaction to these errors chapter: Function diagrams from inputs and outputs

With configuration corresponding chapter : Operating modes and pin functions

Only warning respect. status indicator

The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus)

is switched off for safety reasons.

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Diagnosis and Trouble-Shooting

7-segment display

Output

warning²⁾

off

display

servo drive

explanation

comment

631 635/637 637+

637f

ready

X 300 – Module not inserted

or wrong inserted or defect

off

ꢎ ꢎ ꢍ ꢍ

X 300 testing

X 300 – setting wrong

ꢎ ꢎ ꢍ ꢍ

X 30 / X40 Counter-Configuration test in

the EASYRIDER® Windows – Software

tracking window exceeded

ꢍ ꢍ ꢍ ꢍ

only in operation mode position control, will be

deleted with the next run-command

tracking error with switch off

ꢍ ꢍ ꢍ ꢍ

only in operation mode "position control"

limit switch +

X10.8

X10.14

X10.14 X10.14

limit switch + X10.xx on 0 Volt,

from Firmware 6.16

limit switch -

ꢍ ꢍ ꢍ ꢍ

X10.9

X10.15

X10.15 X10.15

limit switch - X10.xx on 0 Volt,

from Firmware 6.16

limit switch + / limit switch -

ꢍ ꢍ ꢍ ꢍ

X10.8

X10.9

X10.14 X10.14

X10.15 X10.15

X10.14

X10.15

both limit switch X10.xx on 0 Volt,

from Firmware 6.16

memory-checksum-error

off

ꢍ ꢍ ꢍ ꢍ

ꢍ ꢎ ꢎ ꢎ

ꢍ ꢍ ꢍ ꢍ

try new start, store the value again

DC Bus Unterspannung < 100 V

1: internal software error, Watchdog

2: blinking: BIAS software error

1: Firmware version check

2: Bias program error fix

ꢎ ꢎ ꢎ

ꢍ

Reaction to these errors chapter: Function diagrams from inputs and outputs

With configuration corresponding chapter : Operating modes and pin functions

Only warning respect. status indicator

The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus)

is switched off for safety reasons.

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Diagnosis and Trouble-Shooting

7-segment display

Output

warning²⁾

display

servo drive

explanation

631

635/637 637+

637f

ready

comment

starting lockout RP SBT

ꢎ ꢎ ꢎ ꢍ

ꢍ ꢎ ꢎ ꢍ

terminal X290. 3/4 check

Max. speed overload

check speed limits resp. setpoint speed

CAN - Open 402 Sync Message error in

Interpolated positioning mode

6.19c

8.19d

Reaction to these errors chapter: Function diagrams from inputs and outputs

With configuration corresponding chapter : Operating modes and pin functions

Only warning respect. status indicator

The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus)

is switched off for safety reasons.

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Diagnosis and Trouble-Shooting

9.2 Reset of a regulator trouble

A general precondition for correct execution of the Reset is the elimination of the error cause.

The error signals

blinking

(BIAS)

of the drive can be reset via:

1. Control voltage OFF/ON,

2. the serial command “Drive Reset“ 0x02

The host login must be occurred.

The drive must be deactivated via the serial command “deactivate Drive“ 0x00.

3. the fieldbus-command “ Drive Reset“ 0x16 (22 decimal)

The host login must be occurred via the BUS command 0x01.The drive must be deactivated

via the BUS command “deactivate Drive“ 0x14.

The fieldbus command “Drive Reset“ with constant repetition of the fieldbus command 0x16 will be

works-off only once.

For further processing, it is necessary, meanwhile to send another control word

(e.g. 0 status order).

4. a 0 – 1 flank on input X10.11

Precondition:

The input X10.11 is with function 1“Reset drive fault“ configured

(EASYRIDER^®Windows – Software)

There is no host login.

The input Active,(X10.22) is inactive (0V) ¹⁾

The signal must be present min. 250 ms

Notice !!

After remove of the tracking error deactivation

the warning message

(tracking error) is active up to the next move command.

The error signal

(releasing before ready) can be reset by deactivation the drive.

Hint: With the assembly of the option module SBT you kindly note the extended functions of the

signals (see documentation 07-02-10-02-E..)

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Diagnosis and Trouble-Shooting

9.3 Trouble shooting

The following list refers to faults which can occur during operation.

Display:

Error

Explanation and remedy

no motor run despite current flow

motor mechanically blocked?

motor brake released?

motor runs unevently

check setpoint wiring

check grounding and shielding

too high P-amplification in the speed controller

reduce value

(with EASYRIDER^®setting/speed control)

too small I-time in the speed controller?

reduce value

(with EASYRIDER^®setting/speed control)

no reaction of setpoint progression, despite Limit switch functions

torque in standstill

effective (BIAS)

no current flow;

motor cables interrupted?

no torque despite activating the regulator

correctly

Is input "I extern" (X10.19) activated

(config. menu) and not notched up?

limit switch - input

activated and not notched up?

Interference symptoms with power

frequency

Ground loops in setpoint or actual value wiring?

Shieldings laid on both sides?

Signal cables near high voltage cables?

Motor takes up preferred positions after

activation

Position encoder or motor cables with reversed

poles?

Resolver or Feedback- encoder incorrectly

adjusted?

Number of motor poles wrong matching? (config.

menu)

Motor runs up immediately after activation

although there is no setpoint

Motor cables or feedback- cables reversed?

Encoder incorrectly adjusted?

(e.g. Resolver)

Motor reaches in idling cycle very different

speed when running to the right or to the left

Feedback-Encoder incorrectly adjusted

(e.g. Resolver)

1) Display

mostly short after activating; before warning

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Block Circuit Diagram

Block circuit diagram

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General Technical Data

11.1 Power circuit

galvanic separation from control circuit

specification in accordance with

short circuit and to frame proof for

overvoltage monitoring D6R..-3

overvoltage monitoring D6R..-7

undervoltage monitoring

in acc. with EN 50178 / VDE 0160

UL 508C and cUL

Min. 2000 releasings

Max. 400V DC ±5V DC

Max. 765V DC ±10V DC

min. 15V DC; configurable

95 ° C +/- 5%

overtemperature switch off at

clock frequency

4,75 kHz

frequency of current ripple

9,5 kHz

11.2 Control circuit

galvanic separation from power circuit

further information:

in acc. with EN 50178 / VDE 0160

see concept of insulation chapter 1.3.1

see data compact units chapter. 1.3.3

see data plug-in modules chapter 1.3.4

11.3 Signal inputs and outputs, connection X10

additional galvanic separation from power and

control circuit

nominal voltage of the in- and outputs

24 V DC

number of outputs

signal outputs via OPTO coupler

= 45V DC;

max

I = 0..60 mA; short circuit proof, resistive load

signal outputs via RELAY

= 45V DC;

max

I = 1uA...1,2A

contact protection with inductive load

internal varistor

number of inputs

signal outputs via OPTO coupler

L = 0...7 V DC or open

H = 15...30 V DC

24VDC: 8 mA

Shortest time of signal at all input to accept the

signal in an application:

> 1 ms

Damping of the transfer from

low to high (0-->24V):

fast input:

Damping of the transfer

from

low to high (0-->24V):

20µs (X10.4, X10.25)

Interrupt response time for fast input

10µs (X10.4, X10.25)

fast input:

Damping of the transfer from

high to low (24-->0V)

Damping of the transfer

from

high to low (24-->0V)

250µs (X10.4, X10.25)

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General Technical Data

11.4 Signal inputs and outputs, connection X120B resp. 120C

additional galvanic separation from power and

control circuit

nominal voltage of the in- and outputs

24 V DC +20% / -10%

number of outputs

signal outputs via OPTO coupler

resistive load Imax. = 2A

inductive loadmax. 1Henry

I_out

I_out.

0,33A

0,2A

0,33A

0,2A

0,33A

0,2A

short-circuit current limited by (5A)

over-temperature protection,

active overvoltage clamping (50V);

keyed

number of inputs

signal outputs via OPTO coupler

L = 0...7 V DC or open

H = 15...30 V DC

at 24VDC: 8 mA

Shortest time of signal at all input to accept the

signal in an application:

> 1 ms

Damping of the transfer from

low to high (0-->24V):

default input:

200µs

Damping of the transfer from

high to low (24-->0V)

default input:

1000µs

11.5 Digital control

current control

Loop-Cycle-Time

settings

105 µs

according to factory specifications or motor data

speed control -menue

current limits, Adjustment by:

Analog Input

0..10V = 0..100%; can be normed, 10Bit

speed control

Loop-Cycle-Time

105 µs

settings

speed control menue

differential setpoint input analog

resolution (including sign)

= 10 V, can be normed; R = 10k

soll

14 bit

digital setpoint input

via interfaces

position control

Loop-Cycle-Time

105 µs

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General Technical Data

11.6 Digitale communication

RS232 - service interface

COM1

19200 baud, 8 databits, 1 startbit, 1 stopbit,

parity: even

Optional

RS232 / RS422 / RS 485

on SUB D – socket

COM2

CAN1, Profibus DP, SUCOnet K

on SUB D – socket

Interbus S on SUB D – socket (OUT)

Interbus S (Remote IN)

CAN2

additional on SUB D – socket

11.7 Resolver evaluation/transmitter principle

General:

The specified data refer to the combination of the standard resolver interface with Function-Module

X300_RD2; operated with the SSD Drives resolver R 21-T05, R15-T05

carrier frequency

f = 4,75 kHz

ripple of the speed actual value signal

max. position resolution for one revolution

absolute position accuracy

65536 / 16 bit

+/- 0,7 °

relative position accuracy

+/- 0,08 °

¹⁾Data under check, Reality: Quality improved

11.8 Controllersystem

system run-up time after switching on

the control voltage

max. 6 sec.

data memory / organization

Flash Eprom 256 KB

RAM 64 KB;

EEPROM 96 kByte

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General Technical Data

11.9 Analog-Outps

measuring pin X10.17

signal range

-10V.....0.....+10V

magnifier function can be normed

resolution

10 bit, independend of norming

1,8 kOhm

internal resistance

measuring pin X10.6

signal range

-10V.....0.....+10V

magnifier function can be normed

resolution

8 bit, independend of norming

1,8 kOhm

internal resistance

11.10 Thermal data

thermal data

see chapter 1.3

11.11 Mechanical data

dimensions

weight

see chapter 1.4

see chapter 1.3

Further data you will find in chapter 1.3

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Disposal

The digital servo drive consists of different materials.

The following table shows, which materials can be recycled and which have to be disposed

of in a special way.

material

recycle

yes

disposal

Metal

plastics material

printed board assembly

yes

Dispose of the appropriate materials in accordance with the valid environmental control laws.

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Software

13.1 EASYRIDER^®Windows - Software

EASYRIDER^®Windows - Software is an comfortable tool to use all drive functions.

Detailed Online-Help-information’s and instruction are available.

EASYRIDER^®Instructions: (extract)

ꢏ

Autopilote-function as interactive tutorial

System identification

BIAS - instruction-set editor

Oszilloscope-function

start-up and comissioning-tools

Setting of parameters, Setting of configurations

Servo-diagnostics, Interface diagnostics, Fieldbus diagnostics

Motor library

save system data in file, load system data from file

send system data to servo drive, save system data in servo drive

load system data from servo drive

Important:

Edited data in EASYRIDER^®are transmitted to the RAM of the servo drive and active after use of the

instruction SEND. Only the instruction SAVE in EEPROM writes data into a not volatile memory. Data

are stored there power-fail save.

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Software

13.2 SSD Drives programming language BIAS

In Operating mode 5 – Position control with BIAS, three user-defined programs can be executed parallel.

The BIAS-program and the PLC-program

(sequence cascades, 1 command per position controller sampling = 844 µs) as well as the Mathematics

program (cyclic execution in remaining time of processor).

The BIAS-program is primary intended for administration of travel commands. If application permits, also

simple calculations can be performed and analog/digital I/O‘s can be serviced in this task.

The PLC-task is conceived to perform I/O logic, sequence control, monitoring and CAN-Bus

communication.

The Mathematics program is designed for complex calculations, e.g. computing of a cam, executed by the

BIAS-program afterwards. But it is also possible to store the same tasks here, as basically defined for PLC-

task, which can increase PLC performance of the 637+ controller approx. twenty times.

While the BIAS-program will be executed from the start block directly after activation of

operating mode 5, the PLC-program will be first started by BIAS-command "PLC-program" and the

Mathematics program by command "Mathematics program". At reaching the command "End of program"

(Mode = 0) the respective execution pointer re-jumps to his start label.

Within the command set the following command groups are provided:

Pogram flow control

- Fixing start/end of main- and sub-programs

- Conditional and unconditional jump commands

Travel relevant commands

-Positioning commands

-Parameter commands

-Technology functions

>Register positioning

>PID-control

>Synchronous applications

Logic commands

- Logic commands for coils and internal relays

Variable commands

-Writing and reading of parameters

-Fundamental operations of arithmetic with long integer

-Type-conversions long integer <=> double float (Math.task only)

-Fundamental operations of arithmetic with double float (Math.task only)

-SIN(x),COS(x),SQRT(x) with double float (Math.task only)

-Writing and reading of synchronous profile tables.

CAN-Bus commands

-Communication with other SSD Drives products

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Software

SSD Drives programming language BIAS

The user has the possibility to program his sequence himself from this set of commands.

Available program area

Set number

0000 -

...

| can be selected via

| data inputs X10.xx

| max. to block no. 63 and

| and Strobe X10.2

...

0063 -

...

1499 last block

The BIAS operation set is listed on the next page.

You can read the exact function of the individual commands in the help function of the EASYRIDER^®

Windows -Software in the BIAS editor or in the BIAS command description (10-06-05-E-Vxxxx).

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Software

13.3 BIAS – Commands

Position = const.

[Variable X] = position

BIAS-execution pointer

[Variable X] =flag Y

Profile value = [variable X]

Save table

PLC-program

This command is only permitted

in the BIAS- task

This command is only permitted This command is only permitted This command is only permitted This command is only permitted This command is only permitted

This command is only permitted in

the BIAS and MATH-Task

in the BIAS, PLC and MATH-

Task

in the PLC and MATH-Task

in the BIAS and PLC -Task

in the MATH-Task

[D_Variable X] = [D_Variable

Move position +

parameter

Position =

[variable X]

[Variable X] =

position

Table

[[variable X]] = const.

Move position

Position = const.

NOP

Flag X = const.

If input X ? const.

[Variable X] = const.

Mathematic program

Y]+

[D_Variable Z]

Move

incremental

position

Table

[[variable X]] =

[Y_Variable Z]

[D_Variable X] =

[D_Variable Y] -

[D_Variable Z]

incremental

position +

parameter

Speed =

[variable X]

[Variable X] =

If [variable X] ?

const.

Profile initialization =

const.

Speed = const.

End of program

If flag X ? const.

If output X ? const.

Output X = const.

speed

[D_Variable X] =

[D_Variable Y] *

[D_Variable Z]

Move datum +

parameter

Acceleration =

[Variable X]

[Variable X] =

acceleration

Flag X =

flag Y

[Variable X] =

[variable Y] + const.

Profile cycle length =

[variable X]

[X_Variable Y]= Table

[[variable Z]]

Move datum

Acceleration = const.

Deceleration = const.

Gear factor = const.

Sub- program

Move infinite

positive +

parameter

[D_Variable X] =

[D_Variable Y] /

[D_Variable Z]

Move infinite

positive

Deceleration =

[variable X]

[Variable X] =

deceleration

Flag X =

input Y

Output X =

flag Y

[Variable X] =

[variable Y] – const.

[Variable X] =

profile value

[ W_Variable X] =

[ Y_Variable Z]

End of Sub-program

Move infinite

negative +

parameter

Move infinite

negative

Gear factor =

[Variable X]

[Variable X] =

gear factor

Flag X =

output Y

[Variable X] =

[variable Y] * const.

Profile value = [variable

[ X_ Variable Y] =

const.

If [D_Variable X] ?

[D_Variable Y]

PLC-program

Jump const.

_____________

Move

synchron

Move synchron

+ parameter

"Position reached"

window = const.

“Position reached“

window =[variable X]

[Variable X] =

block number

Flag X =

flag Y & flag Z

[Variable X] =

[variable Y] / const.

[Variable [X]] =

const.

[D_Variable X] =

SIN {[D_Variable Y]}

_____________

Move analogue

value +

Move CAM

profile

Remaining position = Remaining position

[Variable X] =

actual position Y

Flag X =

flag Y | flag Z

[Variable X] =

flag Y

[Variable [X]] =

[variable Y]

[D_Variable X] =

COS {[D_Variable Y]}

Jump [variable X]

const.

= [variable X]

integrator

[Variable X] =

[variable Y].bit Z

number

Synchronous

settings 1

Move speed +

integrator

Ramp filter = const.,

[variable X]

Maximal current =

[variable X]

[Variable X] =

analogue input Y

BIAS-Execution

pointer = const.

Flag X =

flag Y ^ flag Z

[Variable [X]] =

[variable Y]

[D_Variable X] =

SQRT {[D_Variable Y]}

_____________

Save table

[Variable X] =

[variable Y] ?

[variable Z]

Synchronous

settings 2

Actual position X =

const.

Actual position X =

[variable Y]

[Variable X] =

latch position Y

Wait for

”position reached”

Flag X =

! flag Y

IBT- mask number =

const.

[Variable X] =

[variable Y]

_____________

______________

_____________

[Variable X] =

[variable Y] ?

const.

Move PID;

speed

If actual position X Analogue output X

[Variable X] =

actual speed Y

IBT- notification

number = const.

If [variable X] ?

[variable Y]

Wait time = const.

Flag X = status Y

If status X ? const.

Modus X = const.

? const.

= [variable Y]

[Variable X]=

[variable Y] + [variable

Move PID;

torque

Cycle length =

const.

If actual position X

? [variable Y]

[Variable X] =

latch status Y

Wait time =

[variable X]

CAN Command =

[variable X]

PID scaling

_____________

____________

_____________

Set point

[axis no.] =

const.

[Variable X] =

position Y;

axis no.

[Variable X]=

[variable Y] - [variable

Cycle length =

[variable X]

Sensor window =

const.

Sensor window =

[variable X]

BIAS-execution

pointer = [variable X]

IBT- data transfer

Set point

[axis no.] =

[variable X ]

Load parameter

set X =

[variable[Y]]

[Variable X]=

[variable Y] * [variable

Sensor position =

const.

Sensor position =

[Variable X]

[Variable X] =

value Y

Jump [Var.[X]]; length

= const.; from

Flag X =

[variable Y]

CAN2 Command =

[variable X]

Sensor

adjustment 1 =

const.

Sensor

adjustment 1 =

[variable X]

[Variable X] =

axis status,

axis no. Y

[Variable X]=

[variable Y] / [variable

[Variable X]. bit[Y] =

const.

Move relative _____________

Execute X commands

_____________

Sensor

adjustment 2 =

const.

Sensor

adjustment 2 =

[variable X]

If [Var. X]. bit Y ==

const. then jump

[Teachvariable X] =

[variable Y]

Start axis

_____________

Stop axis

parameter

Axis state, axis no. X,

bit Y = const., [flag Z]

[Variable X] =

[teachvariable Y]

Stop axis

Update parameter

PID parameter

Virtual program

Command group “Move commands“

Command group “Program control commands“

Command group “Mathematic commands“

Command group “Output commands“

Command group “CAN- Commands“

Command group “637f commands“

Command group “Parameter commands“

Command group “Variable commands“

Command group “Flag commands“

Command group “Conditional jump commands“

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Certificates

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Index

7-segment display.............................................65, 66, 67, 68

EASYRIDER Instructions..................................................77

EASYRIDER^®Windows - Software..................................77

election of the brake resistor ........................................55, 56

Electrical Installation .........................................................51

Electromagnetic compatibility (EMC) ...............................57

EMC Clip ...........................................................................22

Example for mounting........................................................59

example of an order.........................................................13

Achieveable specifications and conditions.........................59

Allgemein technische Daten...............................................72

Analog setpoint ..................................................................57

Analog-Outps .....................................................................75

Änderungsliste....................................................................88

Feedback Sensor Connection X30......................................30

Feedback-Sensor ................................................................29

Fieldbus interface COM2...................................................36

Function diagrams from inputs and outputs .......................49

Fuses, contactors, filters.....................................................52

BIAS – Commands ...........................................................80

BIAS commands ................................................................78

Block circuit diagram.........................................................71

Brake control and PTC evaluation .....................................45

Brake resistor .....................................................................54

General Data.......................................................................16

General Information ...........................................................10

General view of connections ........................................23, 24

Ground connections............................................................51

Grounding, safety grounding..............................................51

CAN-BUS2 interface .........................................................36

Certificates .................................................81, 82, 83, 84, 85

Combination possibilities for the various communications /

I/O - modules .................................................................14

Commissioning...................................................................61

Commissioning in steps......................................................62

Compact Units 637f/K D6R...............................................17

Compatibility with 637+ Servo Drives..............................12

Compatibility with 637 Servo Drives.................................12

Configurable pin-functions.................................................48

Configuration of the brake resistor.....................................55

Connector assignment X280...............................................45

Connector assignment X290...............................................44

Control cabinet - mounting.................................................50

Control cabling...................................................................57

Control circuit ....................................................................72

Control Signal Plug X10 ....................................................26

Control Signal Plug X10 ....................................................27

Control Signal Plug X10 ....................................................28

Controllersystem ................................................................74

Cooling...............................................................................50

Correction of supply current...............................................53

H15 multiple pin strip ........................................................25

Hints for mounting .............................................................58

HIPERFACE^®- Module X300_HF2...............................30

Incremental output..............................................................32

Incremental-Input...............................................................32

Installation of the rack........................................................57

Insulation concept ..............................................................16

interface COM1..................................................................35

Jumper................................................................................60

Danger areas.......................................................................51

Description X40 .................................................................31

Diagnose und Fehlersuche..................................................65

Digital Communication......................................................11

Digital control ....................................................................73

Digitale communication .....................................................74

DIL – switch position.........................................................43

DIL – switch position bus termination ...............................43

DIL – switch position for module RP2CA and RP 2C8 .....43

Dimensions for Compact Device and Plug-In Module.......21

Disposal..............................................................................76

Layout of Power Board ......................................................15

measuring pin X10.17 ........................................................75

measuring pin X10.6 ..........................................................75

Mechanical data .................................................................75

Mechanical Installation ......................................................50

Modle code.........................................................................13

Modul – Designs ................................................................37

module slots .......................................................................15

module X300......................................................................29

Mounting............................................................................50

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Index

Operating modes................................................................ 46

Operating modes and pin functions................................... 47

Operation configurations................................................... 11

Option module RP SBT..................................................... 44

Option module RP SBT..................................................... 45

Output power..................................................................... 20

Safe Stop ........................................................................... 44

Safety ................................................................................ 51

Safety Precautions............................................................... 9

Safety rules........................................................................ 57

Selection of the brake resistor ........................................... 54

Sicherheitshinweise......................................................... 4, 8

Signal inputs and outputs..............................................72, 73

Single- and Three-Phase Supply ....................................... 19

Single-phase supply........................................................... 19

Sinus / Cosinus - Module X300_SC2................................ 30

Software ............................................................................ 77

SSD Drives programming language BIAS ........................ 79

SSI-Encoder Interface ....................................................... 34

Stepper motor input........................................................... 33

System Description............................................................ 10

System variants ................................................................. 10

Pin Assignment for CAN/DeviceNet................................. 38

Pin assignment for I/O interface.............................40, 41, 42

Pin assignment for Interbus S............................................ 39

Pin assignment for Interbus S............................................ 88

Pin assignment for Profibus DP......................................... 38

Pin assignment for RS232 ................................................. 37

Pin assignment for RS422/485 .......................................... 37

Pin assignment for SUCOnet K......................................... 38

Plug-In Modules 637f/D6R ............................................... 18

Power cabling.................................................................... 57

Power circuit ..................................................................... 72

Preparation ........................................................................ 61

The Most Important Thing First.......................................... 7

Thermal data...................................................................... 75

Three-phase-supply ........................................................... 19

Trouble shooting ............................................................... 70

Range data......................................................................... 16

Remote IN (COM3 B)....................................................... 39

Remote OUT (COM2)....................................................... 39

Reset of a regulator trouble ............................................... 69

Resolver evaluation........................................................... 74

Resolver Module X300_RD2............................................ 30

RS232................................................................................ 35

Wiring instructions............................................................ 57

X120B ............................................................................... 42

X120C ............................................................................... 42

X200.................................................................................. 41

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Modification Record

Version

Modification

Chapter

Date

Name

Comment

V0103

V0204

02.06.03

N. Dreilich

new

text correction

new functions

connection X30

additional In-/Outputs

Pin assignment for

Interbus S

correction

safety module SBT

Text addition for SBT

1.2

2.1-2.1.1

2.4.2

2.6.2.1

2.6.2.9

photo

page 29-30

correction

text addition

“COM3 B“

page 36

page 46-47

page 12-13/25-27/

44-45/50-51/65-66

/72

2.5.5

2.7

7-segment display

new BIAS commands

SSD Drives

diverse correction

(text, design and photos)

Model code, extended

9.1-9.2

13.3

new options

16.03.04

19.10.2004 N.Dreilich

N. Dreilich

V03004

V0405

Logos

all

12.05.2005 N. Dreilich

18.05.2005 N. Dreilich

V0505

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3 1

1 7

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