Operating Manual - Schneider Electric

Operating Manual - Schneider Electric
Operating Manual
(Translation of the original German Operating Manual)
Lexium ILM62
EIO0000001351.02
08.2014
Imprint
The information provided in this documentation contains general descriptions and/or
technical characteristics of the performance of the products contained herein. This
documentation is not intended as a substitute for and is not to be used for determining
suitability or reliability of these products for specific user applications. It is the duty of
any such user or integrator to perform the appropriate and complete risk analysis,
evaluation and testing of the products with respect to the relevant specific application
or use thereof. Neither Schneider Electric nor any of its affiliated or subsidiary com‐
panies are responsible or liable for a misuse of the information contained herein. If you
have any suggestions for improvements or amendments or have found errors in this
publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic
or mechanical, including photocopying, without express written permission of Schneid‐
er Electric.
All pertinent state, regional, and local safety regulations must be observed when in‐
stalling and using this product. For reasons of safety and to help ensure compliance
with documented system data, only the manufacturer should perform repairs to com‐
ponents.
When devices are used for applications with technical safety requirements, the rele‐
vant instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware
products may result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2014 Schneider Electric. All rights reserved.
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Contents
Contents
1
About this manual
1.1
Introduction ............................................................................................................... 7
1.2
Symbols, designator and display format of safety messages .................................. 7
2
Safety information
2.1
Proper use ................................................................................................................ 9
2.2
Qualification of Personnel ...................................................................................... 10
2.3
2.3.1
2.3.2
2.3.3
2.3.4
2.3.5
2.3.6
Residual risks .........................................................................................................
Electrical parts ........................................................................................................
Assembly and handling ..........................................................................................
Hot surfaces ...........................................................................................................
Magnetic and electromagnetic fields ......................................................................
Hazardous movements ..........................................................................................
PELV circuits ..........................................................................................................
3
System overview
3.1
Logic Motion Controller .......................................................................................... 15
3.2
3.2.1
3.2.2
3.2.3
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.4
ILM62 system .........................................................................................................
ILM62DB Distribution Box ......................................................................................
ILM62 Servo Module ..............................................................................................
ILM62DC•000 Daisy Chain Connector Box ............................................................
Type code ...............................................................................................................
ILM62CM Connection Module ................................................................................
ILM62DB Distribution Box ......................................................................................
ILM62 Servo Module ..............................................................................................
ILM62 Daisy Chain Connector Box ........................................................................
ILM62 accessories .................................................................................................
Nameplate descriptions ..........................................................................................
4
Indicators and control elements
4.1
4.1.1
4.1.2
4.2
4.2.1
4.2.2
4.3
4.3.1
4.3.2
Displays at the Connection Module ILM62CM .......................................................
24Vdc LED .............................................................................................................
DC bus LED ...........................................................................................................
Displays at the Distribution Box ILM62DB ..............................................................
DC bus LED ...........................................................................................................
Hybrid connection LED ...........................................................................................
Displays at the ILM62 Servo Module ......................................................................
State LED ...............................................................................................................
Port LED .................................................................................................................
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Contents
4.3.3
S3 LED ................................................................................................................... 31
5
Planning
5.1
Electromagnetic Compatibility, EMC ...................................................................... 32
5.2
5.2.1
5.2.2
5.2.3
5.3
5.3.1
5.3.2
5.3.3
5.3.4
5.3.5
5.3.6
5.3.7
5.3.8
5.3.9
5.4
5.4.1
5.4.2
5.4.3
5.4.4
5.4.5
5.4.6
5.4.7
5.4.8
5.4.9
5.5
5.5.1
Control cabinet planning .........................................................................................
Degree of protection ...............................................................................................
Mechanical and climatic environmental conditions in the control cabinet ..............
Using Cooling Units ................................................................................................
Wiring notes ...........................................................................................................
Cable characteristics ..............................................................................................
ESD protection measures ......................................................................................
Conditions for UL compliant use ............................................................................
Fusing the mains connection ..................................................................................
Mains contactor ......................................................................................................
Mains filter ..............................................................................................................
Mains chokes .........................................................................................................
Leakage current .....................................................................................................
Residual current operated protective device ..........................................................
Functional safety ....................................................................................................
Process minimizing risks associated with the machine ..........................................
Inverter Enable function .........................................................................................
Setup, installation, and mounting ...........................................................................
Application proposals .............................................................................................
Commissioning .......................................................................................................
Best Practices and Prevention of Misuse ...............................................................
Maintenance ...........................................................................................................
Physical environment .............................................................................................
Safety standards ....................................................................................................
Special Conditions ..................................................................................................
Low air pressure .....................................................................................................
6
Installation and maintenance
6.1
6.1.1
6.1.2
6.1.3
6.1.4
6.1.5
6.1.6
6.1.7
6.2
6.2.1
6.2.2
6.2.3
6.3
Commissioning .......................................................................................................
Preparing commissioning .......................................................................................
Grinding the holding brake .....................................................................................
Preparing the control cabinet .................................................................................
Mechanical mounting .............................................................................................
Wiring Power Supply Module LXM62P and Connection Module ILM62CM ...........
Wiring as of Connection Module ILM62CM in line structure or tree structure ........
Wiring as of Connection Module ILM62CM in daisy chain structure ......................
Maintenance, repair, cleaning ................................................................................
Fuse replacement Connection Module ILM62CM ..................................................
Repair .....................................................................................................................
Cleaning .................................................................................................................
Spare part inventory ...............................................................................................
59
60
61
61
64
66
68
72
75
76
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79
6.4
6.4.1
6.4.2
6.4.3
Device-, parts- or cable exchange ..........................................................................
Replacement of devices and cables of Connection Module ILM62CM ..................
Replacement of devices and cables of Distribution Box ILM62DB ........................
Replacement of devices and cables of ILM62 Servo Module ................................
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Contents
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Technical data
7.1
Definition of technical data ..................................................................................... 88
7.2
Ambient conditions ................................................................................................. 89
7.3
Standards and regulations ..................................................................................... 93
7.4
Motor options .......................................................................................................... 94
7.5
7.5.1
7.5.2
7.5.3
7.5.4
7.5.5
7.5.6
7.5.7
7.5.8
7.5.9
7.5.10
7.6
Mechanical and electrical data ............................................................................... 94
Connection Module ILM62CM ................................................................................ 94
Distribution Box ILM62DB ...................................................................................... 95
Daisy Chain Connector Box ................................................................................... 96
ILM motor controller .............................................................................................. 97
ILM070 Servo Motor ............................................................................................... 98
ILM100 Servo Motor ............................................................................................... 99
ILM140 Servo Motor ............................................................................................. 100
Encoder ................................................................................................................ 101
Motor shaft and bearings ...................................................................................... 102
Holding brake (optional) ....................................................................................... 103
Mounting arrangement and degree of protection ................................................. 105
7.7
Torque/speed characteristic curves ..................................................................... 105
7.8
7.8.1
7.8.2
7.8.3
7.8.4
7.9
7.9.1
7.9.2
7.9.3
7.9.4
Electrical connections ...........................................................................................
Connection Module ILM62CM ..............................................................................
Distribution Box ILM62DB ....................................................................................
ILM62 Servo Module ............................................................................................
ILM62DC•000 Daisy Chain Connector Box ..........................................................
Dimensions ...........................................................................................................
Connection Module ILM62CM ..............................................................................
Distribution Box ILM62DB ....................................................................................
ILM62DC•000 Daisy Chain Connector Box ..........................................................
ILM62 Servo Module ............................................................................................
8
Optional module ILM62-DIO8
8.1
Technical data ...................................................................................................... 131
8.2
Installation ............................................................................................................ 132
8.3
Electrical connections ........................................................................................... 134
8.4
Dimensions ........................................................................................................... 136
8.5
Wiring ................................................................................................................... 137
9
Appendix
9.1
Contact addresses ............................................................................................... 138
9.2
Product training courses ....................................................................................... 138
9.3
Disposal ................................................................................................................ 138
9.4
EC declaration of conformity ................................................................................ 139
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9.5
9.5.1
9.5.2
9.5.3
9.5.4
9.5.5
9.5.6
9.5.7
9.5.8
9.5.9
6
Units and conversion tables .................................................................................
Length ..................................................................................................................
Mass .....................................................................................................................
Force ....................................................................................................................
Power ...................................................................................................................
Rotation ................................................................................................................
Torque ..................................................................................................................
Moment of inertia ..................................................................................................
Temperature .........................................................................................................
Conductor cross-section .......................................................................................
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1.1 Introduction
1
About this manual
1.1
Introduction
Read and understand the material contained in this manual before you work on the
ILM62 component for the first time. Take particular note of the safety information (see
2.3 Residual risks). As described in section 2.2, only those persons who meet
the "Selection and qualification of employees" are allowed to work on the ILM62 com‐
ponents.
A copy of this manual must be available for personnel who work on the ILM62 com‐
ponents.
This manual is supposed to help you use the capabilities of the ILM62 component
safely and properly.
Follow the instructions within this manual to:
•
•
•
•
1.2
avoid risks
reduce repair costs and downtime of the ILM62 components
increase the service life of the ILM62 components,
increase reliability of the ILM62 components.
Symbols, designator and display format of safety messages
Important Information
NOTE Read these instructions carefully, and look at the equipment to become familiar with
the device before trying to install, operate, or maintain it. The following special mes‐
sages may appear throughout this documentation or on the equipment to warn of po‐
tential hazards or to call attention to information that clarifies or simplifies a procedure.
The addition of this symbol to a Danger or Warning safety label indicates that an electrical
hazard exists, which will result in personal injury if the instructions are not followed.
This is the safety alert symbol. It is used to warn the user of potential personal injury
hazards. Obey all safety messages that follow this symbol to avoid possible injury or
death.
DANGER
DANGER indicates an imminently hazardous situation which, if not avoided, will result in death
or serious injury.
WARNING
WARNING indicates a potentially hazardous situation which, if not avoided, can result in death
or serious injury.
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1 About this manual
CAUTION
CAUTION indicates a potentially hazardous situation which, if not avoided, can result in minor
or moderate injury.
NOTICE
NOTICE is used to address practices not related to physical injury.
The following symbols and designators are used in this document:
Symbol/Character
Meaning
Information Symbol: After this symbol, you will find important information
and useful tips on using the components.
Marker: After this symbol, you will find references for further information.
Prerequisite symbol: This symbol indicates a prerequisite you have to
fulfill before you start to implement an instruction.
Problem symbol: This symbol is followed by a description of the problem
and an instruction how to solve the problem.
►
Activity symbol: After this symbol, you will find an instruction. Follow the
instructions in sequence from top to bottom.
ü
Result symbol: The text after this symbol contains the result of an action.
(1), (2), (3)
Image numbers in the text always refer to the image numbers in the
referenced figure.
Orientation aid: Information serving as an orientation aid regarding the
section's contents follows this symbol.
bold
lBuffSelect
8
If the descriptive text contains keywords, such as parameters, they are
highlighted in bold.
Program code is written using a different font.
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2.1 Proper use
2
Safety information
This section contains information regarding working with of the ILM62 component.
Qualified personnel working on the ILM62 component must read and observe this
information. The ILM62 system is conform to recognized technical safety regulations.
2.1
Proper use
The Power Supply Module LXM62P and the Connection Module ILM62CM must only
be installed in a closed electrical equipment (for example, control cabinet). The closed
electrical equipment must be lockable by using a key or tool. The ILM62 Servo Module
and the Distribution Box ILM62DB are intended for installation in a machine.
Provide for Before installing the device, provide for appropriate protective devices in compliance
protective with local and national standards. Do not commission components without suitable
measures protective devices. After installation, commissioning, or repair, test the protective de‐
vices used.
Perform a risk evaluation concerning the specific use before operating the product and
take appropriate security measures.
If circumstances occur that affect the safety or cause changes to the operating be‐
havior of the ILM62 components, then immediately shut down the ILM62 component
and contact your Schneider Electric contact person.
Use original- Use only the accessories and mounting parts specified in the documentation and no
equipment third-party devices or components that have not been expressly approved by Schneid‐
only er Electric. Do not change the ILM62 component inappropriately.
The components must not be used in the following environments:
Forbidden
environments
•
•
•
•
•
In hazardous (explosive) atmospheres
In mobile, movable or floating systems
In life support systems
In domestic appliances
underground
Installation Only use the components in accordance with the installation and operating conditions
and operating described in this documentation. The operating conditions at the installation location
conditions must be inspected and maintained in accordance with the required technical data
(performance data and ambient conditions). Commissioning is prohibited until the
usable machine or system in which the ILM62 components is installed meets all re‐
quirements of EC guidelines 2006/42/EC (machinery directive).
In addition, the following standards, directives and regulations are to be observed:
•
•
•
•
•
•
EN ISO 13849-1:2008 Safety of machinery - Safety-related parts of control systems
- Part 1: General principles for design
EN 60204-1 Safety of machinery - Electrical equipment of machines - Part 1: Gen‐
eral requirements
EN ISO 12100-1 - Safety of machines - Basic terms, general principles for design
- Part 1: Basic terminology, methodology
EN ISO 12100-2 - Safety of machines - Basic terms, general principles of design
- Part 2: Technical guidelines
EN 50178 - Electronic equipment for use in power installations
EN 61800-3 Adjustable speed electrical power drive systems - Part 3: EMC re‐
quirements and specific test methods
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2 Safety information
•
EN 61800-5-1 Adjustable speed electrical power drive systems - Part 5-1: Safety
requirements - Electrical, thermal and energy
•
The generally applicable local and national safety and accident prevention regu‐
lations.
The rules and regulations on accident prevention and environmental protection that
apply in the country where the product is used.
•
2.2
Qualification of Personnel
Target audi‐ Electrical equipment must be installed, operated, serviced, and maintained only by
ence qualified personnel. No responsibility is assumed by Schneider Electric for any con‐
for this manual sequences arising out of the use of this material.
Qualified per‐ A qualified person is one who has skills and knowledge related to the construction and
son operation of electrical equipment and the installation, and has received safety training
to recognize and avoid the hazards involved.
The qualified personnel must be able to detect possible hazards that may arise from
parameterization, changing parameter values and generally from mechanical, electri‐
cal or electronic equipment. The qualified personnel must be familiar with the stand‐
ards, provisions and regulations for the prevention of industrial accidents, which they
must observe when working on the drive system.
Designated Qualified personnel that work with designated safety functions must be trained ac‐
safety func‐ cording to the complexity of the machines and the requirements of the EN ISO
tions 13849-1:2008. The training has to include the production process and the relation
between the designated safety function and the machine.
Qualification guidelines are available in the following publication: Safety, Competency
and Commitment: Competency Guidelines for Safety-Related System Practitioners.
IEEE Publications, ISBN 0 85296 787 X, 1999.
2.3
Residual risks
Health risks arising from of the ILM62 component have been reduced. However a
residual risk remains, since the ILM62 components work with electrical voltage and
electrical currents.
If activities involve residual risks, a safety message is made at the appropriate points.
This includes potential hazard(s) that may arise, their possible consequences, and
describes preventive measures to avoid the hazard(s). The following types of warnings
concerning residual risks which cannot be assigned to a specific handling. The struc‐
ture of a warning instruction is identical to that of a safety label.
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2.3 Residual risks
2.3.1
Electrical parts
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
•
•
•
•
•
•
•
Operate electrical components only with a connected protective conductor.
After the installation, verify the fixed connection of the protective conductor to all
electrical devices to ensure that connection complies with the connection dia‐
gram.
Before enabling the device, safely cover the live components to prevent contact.
Do not touch the electrical connection points of the components when the unit is
switched on.
Provide protection against indirect contact (EN 50178).
Disconnect/plug in Plug-in type connectors of the cables, plug-in terminals on the
device and Bus Bar Module only when the system is disconnected from the power
supply.
Insulate the unused conductors on both ends of the motor cable because AC
voltages in the motor cable can couple to unused conductors.
Failure to follow these instructions will result in death or serious injury.
DANGER
ELECTRIC SHOCK CAUSED BY HIGH TOUCH VOLTAGE
•
•
Attach the shock protector covers on the outside of the Bus Bar Module combi‐
nation.
Apply power to the device only if the shock protector covers have been attached
on the outside of the Bus Bar Module combination.
Failure to follow these instructions will result in death or serious injury.
DANGER
ELECTRIC SHOCK CAUSED BY HIGH TOUCH VOLTAGE
•
•
•
Before working on the device, make sure that it is de-energized.
After unplugging it, do not touch connector CN6 at the power supply, since it still
carries hazardous voltages for one second.
When connecting an N conductor and operating IT networks, only operate the
LXM62 in a control cabinet that cannot be opened without the help of tools. As
an alternative, prevent that the mains plug can be pulled, since this may expose
the pins of the sleeve. If this is also not possible, use an alarm device that indi‐
cates hazardous voltages between the phase and the protective earth ground
(> 60 V) and therefore, hazardous voltages at the mains plug.
Failure to follow these instructions will result in death or serious injury.
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2 Safety information
2.3.2
Assembly and handling
DANGER
HAZARD OF ELECTRIC SHOCK CAUSED BY HIGH TOUCH VOLTAGE DUE TO
DEVICE LEAKAGE CURRENT HIGHER THAN 3.5 MA AC
•
•
Connect the device via a fixed connection with the power supply network.
Additionally one of the following measures should be applied:
- Use a cross-section of the protective conductor of at least 10 mm2 (AWG 8)
copper or 16 mm2 (AWG 6) aluminum.
- Provide an automatic disconnection of the power supply in case of a disconti‐
nuity of the protective conductor.
- Provide an additional terminal for a second protective conductor of the same
cross-sectional area as the original protective conductor.
Failure to follow these instructions will result in death or serious injury.
WARNING
CRUSHING, SHEARING, CUTTING AND HITTING DURING HANDLING
•
•
•
•
•
Observe the general construction and safety regulations for handling and as‐
sembly.
Use suitable mounting and transport equipment correctly and use special tools
if necessary.
Prevent clamping and crushing by taking appropriate precautions.
Cover edges and angles to protect against cutting damage.
Wear suitable protective clothing (e.g. safety goggles, safety boots, protective
gloves) if necessary.
Failure to follow these instructions can result in death or serious injury.
2.3.3
Hot surfaces
CAUTION
HOT SURFACES
•
•
•
Wait until the surface temperature has cooled to allow safe contact.
Wear protective gloves.
Attach protective cover or touch guard
Failure to follow these instructions can result in injury.
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2.3 Residual risks
2.3.4
Magnetic and electromagnetic fields
Personnel with pacemakers must not be allowed to work within the vicinity of this type
of equipment.
WARNING
MAGNETIC AND ELECTROMAGNETIC FIELDS
Do not work within the vicinity of live conductors and motor permanent magnets if you
have a pacemaker or other similar sensitive medical implants.
Failure to follow these instructions can result in death or serious injury.
2.3.5
Hazardous movements
There can be different causes of hazardous movements:
•
•
•
•
•
Missing or incorrect homing of the drive
Wiring or cabling errors
Errors in the application program
Potential component errors
Potential error in the measured value and signal transmitter
Provide for personal safety by primary equipment monitoring or measures. Do not rely
only on the internal monitoring of the drive components. Adapt the monitoring or other
arrangements and measures to the specific conditions of the installation in accordance
with a risk and error analysis carried out by the system manufacturer.
DANGER
MISSING OR INADEQUATE PROTECTION DEVICE(S)
•
•
•
•
•
•
•
•
•
•
Prevent entry to a zone of operation with, for example, protective fencing, mesh
guards, protective coverings, or light barriers.
Dimension the protective devices properly and do not remove them.
Do not make any modifications that can degrade, incapacitate or in any way in‐
validate protection devices.
Before accessing the drives or entering the zone of operation, bring the drives to
a stop.
Protect existing work stations and operating terminals against unauthorized op‐
eration.
Position EMERGENCY STOP switches so that they are easily accessible and
can be reached quickly.
Validate the functionality of EMERGENCY STOP equipment before start-up and
during maintenance periods.
Prevent unintentional start-up by disconnecting the power connection of the drive
using the EMERGENCY STOP circuit or using an appropriate lock-out tag-out
sequence.
Validate the system and installation before the initial start-up.
Avoid operating high-frequency, remote control, and radio devices close to the
system electronics and their feed lines and perform, if necessary, an EMC vali‐
dation of the system.
Failure to follow these instructions will result in death or serious injury.
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2 Safety information
2.3.6
PELV circuits
The signal voltage and the control voltage of the devices are < 30 Vdc and have to
be designed as PELV circuits. In this range the specification as PELV system, ac‐
cording to EN 61800-5-1 contains a protective measure against direct and indirect
contact with dangerous voltage through a implemented safe separation in the system/
machine of the primary and the secondary side. We recommend to design the system/
machine with a safe separation (PELV Protective-Extra-Low-Voltage).
DANGER
HAZARD OF ELECTRIC SHOCK BY INADEQUATE PROTECTIVE SEPARATION
Only connect devices, electrical components or lines to the signal voltage connectors
of these components that feature a sufficient, protective separation from the con‐
nected circuits in accordance with the standards (IEC 61800-5-1: Adjustable speed
electrical power drive systems - safety requirements).
Failure to follow these instructions will result in death or serious injury.
▶
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Achieve a safe separation in the entire process of the electric circuit.
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3.1 Logic Motion Controller
3
System overview
The control system consists of several single components, depending on its applica‐
tion.
Magelis
HMI
SoMachine
Motion
Ethernet, TCP/IP, OPC, FTP, HTTP, SMS, SMTP
LMC 100C, 101C, 106C, 201C, 212C, 216C, 300C, 400C, 600C
Logic Motion Controllers
Safety PLC SLCx00*
IT/COM
Logic Motion
sercos + Integrated Safety*
Other field busses:
• Profibus DP
• CAN
• Ethernet/IP
• Profinet
Stand-alone
ServoDrives
LXM 52
Multiaxes Servo Drives LXM 62
+ Connection Module ILM62CM
+ Power Supply Module LXM62P•••
TM5 I/O
Distribution
Box
TeSys
ATV 312
SD328
ILx
TM7
Remote I/O
TM7
Remote I/O
SH3
SH3
Torque
Motor
Linear
Motor
ILM 62
ATV 32
= InverterEnable 2-channel (red small square on the device)
BRS3
Figure 3-1: PacDrive 3 System overview
*Safety PLC according to IEC 61508:2010 and EN ISO 13849:2008
3.1
Logic Motion Controller
The LMC (Logic Motion Controller), with a VxWorks real-time operating system, cen‐
trally implements the PLC (Programmable Logic Controller) and motion functions. A
LMC synchronizes, coordinates and creates the motion functions of a machine for a
maximum of:
•
•
•
•
•
•
•
•
•
0 Sercos servo drives (LMC 100C)
4 Sercos servo drives (LMC 101C)
6 Sercos servo drives (LMC 106C)
8 Sercos servo drives (LMC 201C)
12 Sercos servo drives (LMC 212C)
16 Sercos servo drives (LMC 216C)
8 Sercos servo drives (LMC 300C)
16 Sercos servo drives (LMC 400C)
99 Sercos servo drives (LMC 600C)
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3 System overview
3.2
ILM62 system
The modular servo drive system ILM62 is designed for the operation of servo drives
in a multi-axes system.
The power electronic components of the ILM62 are fitted inside the control cabinet.
Using a common DC bus, the central power supply unit Power Supply Module
LXM62P••• supplies the connected servo converters with the power required.
The Connection Module ILM62CM supplies the ILM62 Servo Modules with DC voltage
from the DC bus via a hybrid cable or via a power cable (Daisy Chain wiring). Addi‐
tionally, the Connection Module ILM62CM provides the Inverter Enable and Sercos
interface.
The ILM62 simplifies the wiring of the devices in relation to the initial start-up and in
service cases. This also applies to the cable connection of the enclosed devices to the
field. All the connectors that can be connected from the outside (power input, DC bus,
24 Vdc supply, Sercos, Ready and Inverter Enable) are designed such, that a fast
and simple configuration without tools can be realized on the device.
3.2.1
ILM62DB Distribution Box
The Distribution Box ILM62DB is the link between Connection Module ILM62CM and
ILM62 Servo Module. Depending on the number of drives, 1 to 4 ILM62 Servo Modules
or daisy chain lines can be connected. When operating more than 4 drives, simply
expand the system using one or more Distribution Box ILM62DB.
The highlights
•
•
•
16
1...4 connections for ILM62 Servo Modules or daisy chain lines or further Distribu‐
tion Box ILM62DB
easy wiring using pre-assembled hybrid cables or power cables (Daisy Chain wir‐
ing)
easy to expand
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Schneider
Electric 08/2014
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3.2 ILM62 system
3.2.2
ILM62 Servo Module
The innovative ILM62 Servo Module combines motor, power stage and digital servo
controller for an axis in a space-saving housing. Due to its compact construction with
the integrated controller, it is perfectly suitable for peripheral set-up. It is available with
individual or multi-turn encoders and configures itself with the aid of the electronic
nameplate in the ILM62 Servo Module.
The ILM62 Servo Modules are available in three different flange sizes:
•
•
•
ILM070
ILM100
ILM140
The highlights:
•
•
•
•
•
•
Compact type of construction
3.5 times peak torque
Integrated Sercos interface
High-resolution single or multi-turn encoder
Degree of protection IP65
Simple wiring
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3 System overview
3.2.3
ILM62DCA000
1
ILM62DCB000
TM
ILM62DCC000
ILM62DC•000 Daisy Chain Connector Box
The ILM62DC•000 Daisy Chain Connector Box is mounted on a standard ILM62 Servo
Module in order to enable a daisy chain wiring. The ILM62 Servo Modules can be either
directly connected (see 6.1.7 Wiring as of Connection Module ILM62CM in daisy chain
structure) to the Distribution Box ILM62DB or via a Connection Module ILM62CM.
When connecting via a Distribution Box ILM62DB, a larger number of drives can be
connected. At this first Distribution Box ILM62DB another Distribution Box ILM62DB
can be connected.
Power (DC bus voltage/24V/Inverter Enable signals) and Sercos signals are distrib‐
uted via separate cables. Each ILM62 Servo Module must be extended (see 6.1.4
Mechanical mounting) by a Daisy Chain Connector Box. If only one Distribution Box
ILM62DB is used, then up to 4 daisy chain lines can be connected to it. If several
Distribution Box ILM62DB are used, then on the first, up to the second to last Distri‐
bution Box ILM62DB respectively up to 3 daisy chain lines can be connected and on
the last Distribution Box ILM62DB up to 4 daisy chain lines. A daisy chain line can
consist of up to 9 ILM62 Servo Modules.
The connection between the ILM62 Servo Modules is established as follows (see 6.1.7
Wiring as of Connection Module ILM62CM in daisy chain structure):
•
•
Power cable for power distribution (DC bus voltage/24V/Inverter Enable signals)
with an M23 connector
Sercos cable for distribution of the Sercos signals via M12 connector
The following ILM62 Servo Modules can be equipped with the Daisy Chain Connector
Box in order to implement a daisy chain wiring:
•
•
•
ILM070••
ILM100••
ILM140••
The Daisy Chain Connector Box is available in the following variants:
•
•
•
18
ILM62DCA000 (suitable for ILM070••, ILM100•• and ILM140••)
ILM62DCB000 (suitable for ILM070•• only)
ILM62DCC000 (suitable for ILM100•• only)
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Electric 08/2014
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3.3 Type code
3.3
Type code
3.3.1
ILM62CM Connection Module
3.3.2
ILM62DB Distribution Box
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3 System overview
3.3.3
20
ILM62 Servo Module
Lexium ILM62
Schneider
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3.3 Type code
Customer
Internal
Type
Size
Product Type
ILM62 Daisy Chain Connector Box
Family
3.3.4
1
root
2
3
1
2
3
4
5
6
7
8
I
L
M
6
2
D
C
A
0
0
0
Family:
ILM = Integrated Lexium Motor
Size:
62 = Integrated Lexium 62
Product Type:
DC = Daisy Chain Connector Box
Type
A = Power at back, Sercos at bottom (ILM070, ILM100, ILM140)
B = Power at bottom, Sercos at left and right (ILM070)
C = Power at bottom, Sercos at left and right (ILM100)
Z = Protection cap for the last M23 connector
Internal
0
Customer:
00 = None
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3 System overview
Length
Drawing
reference
Family
Res. Body
Fix separator
ILM62 accessories
Accessories
3.3.5
1
root
2
3
1
2
3
4
5
6
7
8
9
V
W
3
E
1
1
4
1
R
0
5
0
Family:
ILM = Integrated Lexium Motor
Type
E = PacDrive 3
Family
1 = Motor / hybrid / power cables
3 = Sercos cables
Drawing reference
064 = Sercos cable between ILM62 Servo Module and ILM62 Servo Module, connector M12/M12 angled
065 = Sercos cable between ILM62CM and ILM62 Servo Module, connector RJ45/M12 angled
141 = Motor / hybrid cable between ILM62CM and ILM62DB4 or ILM62 Servo Module, cable outlet left (Standard)
142 = Motor / hybrid cable between ILM62DB4 and ILM62DB4 or ILM62 Servo Module, cable outlet left on both sides (Standard)
146= Motor / hybrid cable between ILM62CM and ILM62DB4 or ILM62 Servo Module, cable outlet right
147 = Motor / hybrid cable between ILM62CM and ILM62DB4 or ILM62 Servo Module, cable outlet straight
148 = Motor / hybrid cable between ILM62DB4 and ILM62DB4 or ILM62 Servo Module, cable outlet left and right
149 = Motor / hybrid cable between ILM62DB4 and ILM62DB4 or ILM62 Servo Module, cable outlet left and straight
150 = Motor / hybrid cable between ILM62DB4 and ILM62DB4 or ILM62 Servo Module, cable outlet right and straight
151 = Motor / hybrid cable between ILM62DB4 and ILM62DB4 or ILM62 Servo Module, cable outlet straight on both sides
152 = Motor / hybrid cable between ILM62DB4 and ILM62DB4 or ILM62 Servo Module, cable outlet right on both sides
155 = Power cable between ILM62 Servo Module and ILM62 Servo Module, connector M23/M23
156 = Power cable between ILM62DB4 and ILM62 Servo Module, connector D1/M23
157 = Power cable between ILM62CM and ILM62 Servo Module, connector CM/M23
Fixed separator R
Length
xxx = lenght in 0.1 m - refer to catalogue "Motion centric machine automation with PacDrive 3" for available cable lengths
Upon request, additional cable variants are available from your Schneider Electric
contact person.
22
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3.4 Nameplate descriptions
3.4
Nameplate descriptions
Technical nameplate Connection Module ILM62CM
The technical nameplate is located laterally on housing.
ILM62CMD20Axxx
Output
Input d.c.
Voltage
max. 700 V
Current Voltage
20 A
max. 700 V
Current
20 A
Control Voltage
24 Vdc
20 A
24 Vdc
20 A
40 Vac
2A
Inverter Enable
24 Vdc
1,5 A
Multiple rated equipment,
see instruction manual.
IP 20
Made in Germany
Figure 3-2: Nameplate Connection Module ILM62CM
Meaning
Label
ILM62CMxxxxxxx
Device type and Unicode
Input d.c.
Input voltage and -current (rated- and peak value per input)
Output d.c.
Output voltage and -current (rated- and peak value per output)
IP 20
Degree of protection
*)
This field displays the symbols of declarations and certifications
Table 3-1: Explanation of the nameplate Connection Module ILM62CM
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3 System overview
Logistic nameplate Connection Module ILM62CM
The logistic nameplate of the Connection Module ILM62CM is located on the top of
the housing.
Label
Meaning
ILM62xxxxxxxxxx
Device type and Unicode
907156.0010
Serial number
RS:01
Hardware revision status
DOM
Date of manufacture
Table 3-2: Explanation of the logistic nameplate Connection Module ILM62CM
Technical nameplate Distribution Box ILM62DB
ILM62DB4Axxx
Output
Input d.c.
Voltage
max. 700 V
Current Voltage
20 A
max. 700 V
Current
20 A
Control Voltage
24 Vdc
20 A
24 Vdc
20 A
40 Vac
2A
Inverter Enable
40 Vac
2A
Multiple rated equipment,
see instruction manual.
IP 65
enclosed type 1 rating
Made in Germany
Figure 3-3: Technical nameplate Distribution Box ILM62DB
Label
Meaning
ILM62DBxxxxx
Device type, see type code
Input d.c.
Rated voltage and rated current of the power supply
Output d.c.
Rated voltage and rated current of the power supply
IP 65
Degree of protection
*)
This field displays the symbols of declarations and certifications
Table 3-3: Explanation of the technical nameplate Distribution Box ILM62DB
24
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3.4 Nameplate descriptions
Technical nameplate ILM62 Servo Module
Figure 3-4: Nameplate ILM62 Servo Module
Label
Meaning
ILM100xxxxxxxxx
Device type, see type code
SN
Serial number
Input 1
Rated voltage and rated current of the power supply
Input 2
Rated voltage and rated current of the electronics
Type rating
Degree of protection of the housing in accordance with Nema 250
and UL 50
HW
Hardware version
SW
Software version
IP
Degree of protection
Th-Cl
Insulation material class of the motor
M0
Standstill torque
Mmax
Peak torque
nN
Nominal speed of rotation
DOM
Date of manufacture
Table 3-4: Explanation of the nameplate ILM62 Servo Module
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4 Indicators and control elements
4
Indicators and control elements
4.1
Displays at the Connection Module ILM62CM
The display of the Connection Module ILM62CM consists of two LEDs that indicate
the state of the DC voltage supply or the 24V voltage supply via the Bus Bar Module.
H1
H2
TM
Figure 4-1: Diagnostic LEDs of the Connection Module ILM62CM
26
H1
DC bus power supply
H2
24V power supply
Lexium ILM62
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4.2 Displays at the Distribution Box ILM62DB
4.1.1
24Vdc LED
Color
State
Meaning
Notes
OFF
24Vdc logic supply inactive
24Vdc voltage < 3V
ON
(green)
24Vdc logic supply active
24Vdc voltage ≥ 3V
Table 4-1: 24Vdc LED
4.1.2
DC bus LED
Color
State
OFF
Meaning
DC bus supply inactive
ON (red) DC bus supply active
Notes
DC bus voltage < 42 Vdc
DC bus voltage ≥ 42 Vdc
Table 4-2: DC bus LED
The DC bus LED is no clear display for a non-existing DC bus voltage.
4.2
Displays at the Distribution Box ILM62DB
1
2
TM
3
Figure 4-2: Display and operating elements of the Distribution Box ILM62DB
1
Hybrid Connection LED
2
DC bus LED
3
Protective ground conductor
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4 Indicators and control elements
4.2.1
DC bus LED
The LED indicates the status of the DC bus voltage.
Color
State
Meaning
Notes
OFF
DC bus supply inactive
DC bus voltage < 42 Vdc
ON (red)
DC bus supply active
DC bus voltage ≥ 42 Vdc
Table 4-3: DC bus LED
The DC bus LED is no clear sign for a non-existing DC bus voltage.
4.2.2
Hybrid connection LED
Color
State
Meaning
Notes
OFF
Hybrid connection open
ON
Hybrid plug connector connected
Applies for hybrid cable or power cable (daisy
chain wiring).
Table 4-4: Hybrid connection LED
28
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4.3 Displays at the ILM62 Servo Module
4.3
Displays at the ILM62 Servo Module
The display at the ILM62 Servo Module consists of four color LEDs that are used to
display the status information.
H3
H1
H2
H4
Figure 4-3: Diagnostic LEDs of the ILM62 Servo Module
H1
State LED
H2
Port 1 LED
H3
S3 LED
H4
Port 2 LED
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4 Indicators and control elements
4.3.1
Color
State LED
State
Meaning
Instructions/information for the user
Prio
(5 ... 0)
OFF
Device is not working.
▶
If the 24V LED is off, replace the device.
0
Flashing
slowly
(2 Hz,
250 ms)
(green)
Initialization of the device (firmware
boot process, compatibility check of the
hardware, updating the firmware)
▶
Waiting until initialization is complete.
4
Flashing
slowly
(2 Hz,
40 ms)
(green)
Identification of the device
▶
If necessary, identify the device via the PLC
configuration.
1
ON
(green)
Device has been initialized and waits
for the PLC configuration.
▶
▶
▶
5
ON
(red)
A potential non repairable error has
been detected:
▶
▶
Configure device as active.
Configure device as inactive.
Configure device for the execution of mo‐
tions.
Power OFF/ON (Power Reset)
If this condition persists, exchange the de‐
vice.
2
The PLC configuration shows the detected
potential error
Error detected in the Logic Builder menu
[Online] - [Reset diagnostic messages of
3
•
•
•
•
Flashing
slowly
(2 Hz,
250 ms)
(red)
Watchdog
Firmware
Checksum
Internal error detected
A potential general error has been de‐
tected.
▶
▶
controller].
Otherwise restart device.
▶
Table 4-5: State LED
4.3.2
Color
Port LED
State
OFF
Meaning
no cable connected
ON
Connection, no Sercos communication
(orange)
ON
(green)
Connection, active Sercos communication
Table 4-6: Port LED
30
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4.3 Displays at the ILM62 Servo Module
4.3.3
S3 LED
Color
State
Meaning
Instructions/information for the user
Prio
(0 - 3)
off
The device is switched off or there is no Sercos boot-up or hot plug
communication due to an interrupted or
separated connection.
On
(green)
Active Sercos connection without an er‐ ror detected in the CP4.
Flashing
(2 Hz,
250 ms)
(green)
The device is in Loopback mode.
Workaround:
Loopback describes the situation in
▶ Close ring.
which the Sercos telegrams have to be Reset condition:
sent back on the same port on which ▶
Acknowledge error detected in the Logic
they were received.
Builder menu [Online] - [Reset diagnostic
Possible causes:
message of controller].
Switch from CP0 to CP1 alternatively.
▶
• Line topology or
Note:
• Sercos loop break
If during phase CP1 a line topology or ring break
was detected (device in loopback mode), the LED
condition does not change.
2
On
(red)
Sercos diagnostic class 1 (DK1) poten‐ Reset condition:
tial error has been detected on port 1 ▶
Acknowledge error detected in the Logic
and/or 2. There is no Sercos communi‐
Builder menu [Online] - [Reset diagnostic
cation possible anymore on the ports.
message of controller].
1
Flashing
(2 Hz,
250 ms)
(red)
Communication error at port 1 and/or
port 2 has been detected.
possible causes:
On
(orange)
Flashing
(4 Hz,
125 ms)
(orange)
•
•
Improper functioning of the tele‐
gram
CRC error detected
0.1
Reset condition:
▶ The PLC configuration shows the detected
potential error
▶ Acknowledge error detected in the Logic
Builder menu [Online] - [Reset diagnostic
0.3
message of controller].
The device is in a communications
phase CP0 up to and including CP3 or
HP0 up to and including HP2. Sercos
telegrams are received.
Device identification
0
-
0.2
3
Table 4-7: S3 LED
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5 Planning
5
Planning
5.1
Electromagnetic Compatibility, EMC
WARNING
ELECTROMAGNETIC DISTURBANCES OF SIGNALS AND DEVICES
Use proper EMC shielding techniques to help prevent unintended device operation.
Failure to follow these instructions can result in death or serious injury.
This product meets the EMC requirements in accordance with the standard EN
61800-3, provided that the EMC measures described in this manual are complied with
during the installation.
The conformity in accordance with EN 61800-3 was proven for the following reference
applications:
Reference application for wiring in line structure and/or tree structure
•
•
•
•
•
•
•
1 x Power Supply Module LXM62PD84 with mains choke
1 x Connection Module ILM62CM
3 x Distribution Box ILM62DB
3 x ILM070, 4 x ILM100, 3 x ILM140
Hybrid cable 1 x 8 m between Connection Module ILM62CM and first Distribution
Box ILM62DB
Hybrid cable 2 x 1 m between Distribution Box ILM62DB and Distribution Box
ILM62DB
Hybrid cables 3 x 1 m, 4 x 1,5 m, 3 x 2 m between Distribution Box ILM62DB and
ILM62 Servo Module
Reference application for wiring in Daisy Chain structure
•
•
•
•
•
1 x Power Supply Module LXM62PD84 with mains choke
1 x Connection Module ILM62CM
3 x ILM070, 3 x ILM100
Power cable 1 x 10 m between Connection Module ILM62CM and first ILM62
Servo Module
Power cable 5 x 0,7 m between the ILM62 Servo Modules (from the first to the
sixth ILM62 Servo Module)
For further information on this (see 7.5 Mechanical and electrical data).
32
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5.1 Electromagnetic Compatibility, EMC
Enclosure The prerequisite for compliance with the specified limit values is an EMC compatible
layout layout. Comply with the following specifications:
EMC measures
Target
Use galvanized or chromium-plated sub plates, bond metallic parts
across large surface areas, remove paint layer from contact surfaces.
Good conductivity by surface
area contact
Ground enclosure, door and sub plates by using grounding strips or
grounding cables with a cross-section of 10 mm2 (AWG 6).
Reduce emission.
Supplement switch devices such as contactors, relays or magnetic
Reduces mutual interference
valves with interference suppression combinations or spark suppressor
elements (e.g. diodes, varistors, RC elements).
Fit power and control components separately.
Shielded
cables
EMC measures
Place cable shields on the surface, use cable clamps and grounding
strips.
Reduces mutual interference
Target
Reduce emission.
At the control cabinet outfeed, connect the shield of all shielded cables Reduce emission.
via cable clamps to the sub plate across large surface areas.
Ground shields of digital signal cables on both sides across large surface Reduce interference action on
areas or through conducting connector housings.
signal cables, reduce emis‐
sions.
Ground shield of analog signal cables directly on the device (signal in‐
put), insulate the shield at the other cable end or ground the same
through a capacitor, such as 10 nF.
Reduce grounding loops by
low frequency interferences.
Use only shielded motor supply cables with a copper braid and at least Specifically discharge interfer‐
85% cover, ground shield on both sides across a large surface area.
ence currents, reduce emis‐
sions.
Cable
routing
EMC measures
Target
Do not route fieldbus cables and signal cables together with cabling for Reduces mutual interference
direct and alternating voltages above 60 V in the same cable duct (field‐
bus cables can be routed together with signal cables and analog cables
in the same duct). Recommendation: Routing in separated cable cuts
with a distance of at least 20 cm (7.84 in.).
Keep the cables as short as possible. Do not install any unnecessary
cable loops, short cable routing from a central grounding point in the
control cabinet to the external grounding connection.
Reduce capacitive and induc‐
tive interference couplings.
Insert a potential equalization for:
Reduce current on cable
shield, reduce emissions.
•
•
•
large surface installation
different voltage infeeds
networking across buildings
Use fine wire potential equalization conductor.
Discharging of high frequency
interference currents.
If motor and machine are not connected in a conducting fashion, e.g. due Reduce emissions, increase
to an insulated flange or a connection not across a full surface, the motor interference resistance.
must be grounded via a grounding cable > 10 mm2 (AWG 6) or a ground‐
ing strip.
Use twisted pair for 24 Vdc signals.
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Reduce interference action on
signal cables, reduce emis‐
sions.
33
5 Planning
Voltage
supply
EMC measures
Target
Operate product on mains with a grounded neutral.
Enable the effect of the inte‐
grated mains filter.
Protection circuit if there is a risk of overvoltage.
Reduce risk of damage due to
overvoltages.
Motor and From an EMC perspective, motor supply cables and encoder cables are particularly
encoder cables critical. Only use pre-configured cables, or cables with the prescribed properties, and
comply with the following EMC measures.
EMC measures
Do not install switching elements in motor cables or encoder cables.
Target
Reduces interference.
Route motor cable with a distance of at least 20 cm (7.84 in.) to the
Reduces mutual interference
signal cables or insert shield plates between the motor supply cable and
the signal cable.
For long cabling, use potential equalization cables.
Reduce current on cable
shield.
Route motor supply cables and encoder cables without any separation Reduces emission.
point. 1)
If a cable must be cut through for installation purposes, the cables must be connected at the point of
separation by means of screen connections and metal housing.
1)
Additional Depending on the respective application, the following measures may lead to an EMC
measures for compatible layout:
improving the
EMC
EMC measures
34
Target
Upstream connection of line chokes
Reduction of the harmonic
network oscillations, exten‐
sion of the service life of the
product.
Upstream connection of external integrated mains filters
Improvement of the EMC limit
values.
Special EMC-suitable layout, e.g. within an enclosed control cabinet
complete with 15 dB attenuation of the interferences emitted
Improvement of the EMC limit
values.
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5.2 Control cabinet planning
5.2
Control cabinet planning
5.2.1
Degree of protection
▶
Install components such that a degree of protection corresponding to the actual
operational environment is set up.
For more information on the degree of protection of the component (see 7.2 Ambient
conditions).
The following ambient conditions may damage the components:
•
•
•
•
•
5.2.2
Oil
Moisture
Electromagnetic interference
Ambient temperature
Metal dust deposits
Mechanical and climatic environmental conditions in the control cabinet
▶
Observe the climatic and mechanical ambient conditions.
For more information on the general climatic and mechanical environmental con‐
ditions according to EN 60721 (see 7.2 Ambient conditions).
▶
Check the technical data of the device as to whether the permitted deviations (e.g.
higher shock load or higher temperature) are specified.
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5 Planning
5.2.3
Using Cooling Units
How to proceed when installing a cooling unit:
NOTICE
WATER DAMAGE RESULTING FROM CONDENSATION
Ensure proper installation of cooling unit.
Failure to follow these instructions can result in equipment damage.
▶
▶
▶
▶
▶
▶
▶
▶
Position the cooling units so that no condensate drips out of the cooling unit onto
electronic components or is sprayed by the cooling air flow.
Provide specially designed control cabinets for cooling units on the top of the
control cabinet.
Design the control cabinet so that the cooling unit fan cannot spray any accumu‐
lated condensate onto the electronic components when it restarts after a pause.
When using cooling units, use only well-sealed control cabinets so that warm,
humid outside air, which causes condensation, does not enter the cabinet.
When operating control cabinets with open doors during commissioning or main‐
tenance, ensure that the electronic components are at no time cooler than the air
in the control cabinet after the doors are shut, in order to prevent any condensa‐
tion.
Continue to operate the cooling unit even when the system is switched off, so that
the temperature of the air in the control cabinet and the air in the electronic com‐
ponents remains the same.
Set cooling unit to a fixed temperature of 40 °C / 104 °F.
For cooling units with temperature monitoring, set the temperature limit to
40 °C / 104 °F so that the internal temperature of the control cabinet does not
fall below the external air temperature.
Figure 5-1: Installing a cooling unit
36
Lexium ILM62
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5.3 Wiring notes
5.3
Wiring notes
▶
▶
▶
Only use Schneider Electric devices or certified devices for your application.
For connecting of the ILM62 components, only use the cables included within the
scope of delivery.
If possible, only use pre-configured cables.
For further information (see 5.3.1 Cable characteristics).
▶
If required, order a suitable torque indicator from Schneider Electric.
For information on the tightening torques and cable cross-sections (see 7.8 Electrical
connections).
Observe the following critical points when wiring:
1. Observe the minimum cross-sections of the cables.
2. Comply with branch conditions.
3. Check shields.
4. Ensure proper ground.
5. Ensure connection of the motors to the machine ground.
6. Prevent any ground loops.
7. Do not pull plug-in terminals when under load.
8. Use a large shielding area.
9. Connect the hybrid or power cable connections and the Sercos cable connections
to the Connection Module ILM62CM according to the connection diagram of the
machine manufacturer.
For information on the different cable types (see 3.3.5 ILM62 accessories).
10. Do not interchange the EMERGENCY STOP circuits. This has to be observed
especially when two different safety circuits are used for axis A and axis B of the
DoubleDrive.
Example:
If, for example, two parallel conductors are shown as coming from one point, you may
not run just one conductor and then branch it off at a later point. If it is wired this way,
induction loops (interference senders and antennas) as well as interfering potential
shifts may occur.
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5.3.1
Cable characteristics
Property
Value
Permissible voltage hybrid cable
1000 V
Temperature range
-40 ... +80 °C / -40 ... +176 °F
Cable diameter
14,8 mm ± 0,3 mm
Minimum bending radius
5 x diameter (fixed routing)
10 x diameter (mobile, 5 million bending cycles)
Sheath
PUR, oil resistant, halogen-free
Table 5-1: Hybrid cable characteristics
Hybrid cable is suitable for use with drag chains.
Property
Value
Permissible voltage
1000 V
Temperature range
-40 ... +80 °C / -40 ... +176 °F (fixed routing)
-25 ... +80 °C / -13 ... +176 °F (mobile)
Cable diameter
11.7 mm ± 0.3 mm
Minimum bending radius
5 x diameter (fixed routing)
10 x diameter (mobile, 5 million bending cycles)
Sheath
PUR, oil resistant, halogen-free, flame-retardant
Table 5-2: Cable characteristics of the power cable (daisy chain wiring)
The power cable (daisy chain wiring) is suitable for use with drag chains.
Property
Value
Permissible voltage
300 V
Temperature range
-20 ... +60 °C / -4 ... +140 °F
Cable diameter
6.7 mm ± 0.2 mm
Minimum bending radius
5 x diameter (fixed routing)
10 x diameter (mobile, 5 million bending cycles)
Sheath
PUR, halogen-free, flame-retardant
Table 5-3: Cable characteristics of the Sercos cable (daisy chain wiring)
Observe the following points when using hybrid, power and Sercos cables:
▶ Do not exceed the maximum number of bending cycles of the cable.
▶ Observe the installing instructions and the maintenance cycles of this manual.
▶ Do not exceed the maximum permitted lifetime of the cables.
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5.3 Wiring notes
5.3.2
ESD protection measures
▶
Observe the following instructions for ESD protection in order to avoid any damage
due to electrostatic discharge:
NOTICE
ELECTROSTATIC DISCHARGE
•
•
•
Do not touch any of the electrical connector contacts.
Prevent electrostatic charges, e.g., by wearing appropriate clothing and using
anti-static devices.
Remove existing static charge by touching a grounded, metallic surface.
Failure to follow these instructions can result in equipment damage.
5.3.3
Conditions for UL compliant use
If you use the ILM62 system in accordance with UL508C, you must additionally meet
the following conditions:
▶ Connect device only in an environment with pollution degree 2 or a similar envi‐
ronment.
▶ Use devices only in connection with a Power Supply Module LXM62P•••.
▶ Check if the screws of the wiring bus have been tightened with 2.5 Nm
(22.13 lbf in).
▶ Only use Hybrid connection cable approved by Schneider Electric and comply
with the requirements of NFPA 79.
For further information on conform use, see the Lexium LXM62 operator manual.
5.3.4
Fusing the mains connection
For further information on the safeguard of the mains connection, see the Lexium LXM
62 operator manual.
5.3.5
Mains contactor
For further information on the use of a mains contactor, see the Lexium LXM62 oper‐
ator manual.
5.3.6
Mains filter
This product meets the EMC requirements in accordance with the standard EN
61800-3, provided that the EMC measures described in this manual are complied with
during the installation. The values are based on the reference application (see 5.1
Electromagnetic Compatibility, EMC) specified in the manual.
The connected cable length and the number of connected motors has no significant
influence on the grid-bound ermitted interference. Thus, usually no external integrated
mains filter is required also for larger applications.
In the case of combined systems (ILM62 and LXM62), the selection of the external
integrated mains filter depends on the devices installed in the control cabinet and the
motor supply cables (also see Lexium LXM62 operator manual). The hybrid cable or
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5 Planning
power cable (with daisy chain wiring) of the ILM62 is not to be considered as motor
supply cable.
You can install additional external integrated mains filters if the internal attenuation of
interferences is not sufficient. For questions on this, please contact your Schneider
Electric partner.
5.3.7
Mains chokes
For further information on the use of line chokes, see the Lexium LXM62 operator
manual.
5.3.8
Leakage current
Application
per Connection Module
per Distribution Box
typical (400 V, 50 Hz)
< 9 mA
< 18 mA
maximum (480 V + 10%, 60 Hz)
< 15 mA
< 30 mA
Table 5-4: Leakage currents per device
Use an isolating transformer, if the leakage current is too high for the respective ap‐
plication.
For specifications on the leakage current of the power supply LXM62 P, see the Lexium
LXM62 operator manual.
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5.3 Wiring notes
5.3.9
Residual current operated protective device
DANGER
HAZARD OF ELECTRIC SHOCK CAUSED BY HIGH TOUCH VOLTAGE DUE TO
DEVICE LEAKAGE CURRENT HIGHER THAN 3.5 MA AC
•
•
Connect the device via a fixed connection with the power supply network.
Additionally one of the following measures should be applied:
- Use a cross-section of the protective conductor of at least 10 mm2 (AWG 8)
copper or 16 mm2 (AWG 6) aluminum.
- Provide an automatic disconnection of the power supply in case of a disconti‐
nuity of the protective conductor.
- Provide an additional terminal for a second protective conductor of the same
cross-sectional area as the original protective conductor.
Failure to follow these instructions will result in death or serious injury.
For further information on fault current protection equipment, see the Lexium LXM62
operator manual.
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5.4
Functional safety
5.4.1
Process minimizing risks associated with the machine
The goal of designing machines safely is to protect people. The risk associated with
machines with electrically controlled drives comes chiefly from moving machine parts.
Hazard and risk analysis
On the basis of the system configuration and utilization, a hazard and risk analysis can
be carried out for the system (for example, according to EN ISO 14121 or EN ISO
13849-1:2008). The results of this analysis must be considered when using the “In‐
verter Enable” safety function. The circuit resulting from this analysis may deviate from
the application examples. For example, additional safety components may be re‐
quired. In principle, the results from the hazard and risk analysis have priority.
The EN ISO 13849-1:2008 Safety of machinery - Safety-related parts of control sys‐
tems - Part 1: General principles for design describes an iterative process for the se‐
lection and design of safety-related parts of controllers to reduce the risk to the ma‐
chine to a reasonable degree:
This is how you perform risk assessment and risk minimization according to EN ISO
14121:
1. Define the boundary of the machine.
2. Identifying risks associated with the machine.
3. Assessing risks.
4. Evaluating risks.
5. Minimizing risks by:
- intrinsically safe design
- protective devices
- user information (see EN ISO 12100-1)
6. Designing safety-related controller parts (SRP/CS, Safety-Related Parts of the
Control System) in an interactive process.
This is how you design the safety-related controller parts in an interactive process:
▶ Identifying necessary safety functions that are executed via SRP/CS (Safety-Re‐
lated Parts of the Control System).
▶ Determining required properties for each safety function.
▶ Determining the required performance level PLr.
▶ Identifying safety-related parts executing the safety function.
▶ Determining the performance level PL of the afore-mentioned safety-related parts.
▶ Verifying performance level PL for the safety function (PL ≥ PLr).
▶ Checking, if all requirements have been met (validation).
Additional information is available on www.schneider-electric.com.
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5.4 Functional safety
5.4.2
Inverter Enable function
Functional Description
With the Inverter Enable function (IE) you can bring drives to a safe stop. This Inverter
Enable function relates to the components
•
•
•
Connection Module ILM62CM
Distribution Box ILM62DB
ILM62 Servo Module
The Inverter Enable function requires further components, e.g. emergency stop, safety
switching unit (optional) and connections. The following chapter describes the correct
use of the Inverter Enable function.
The Inverter Enable function must be used correctly to enable proper operation. Nev‐
ertheless, the accidental loss of the Inverter Enable function cannot be ruled out. Such
losses are only restricted to the upper limit required by the relevant safety standards.
(see 5.4.9 Safety standards) This is expressed by the following characteristic values:
•
•
PFH and SFF according to EN 61508:2010
MTTF_d and DC_avg according to EN ISO 13849-1:2008
In the sense of the relevant standards, the requirements of the stop category 0 (Safe
Torque Off, STO) and stop category 1 (Safe Stop 1, SS1) can be met. Both categories
lead to a torque-free motor while SS1 takes this state after a predefined time. As a
result of the hazard and risk analysis, it may be necessary to choose an additional
brake as a safety option (e.g. for hanging loads).
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Scope of operation (designated safety function)
The Inverter Enable function relates to Connection Module ILM62CM, Distribution Box
ILM62DB and ILM62 Servo Module, hereinafter referred to as "ILM62 system".
The function is selected via a signal(pair) at the input of the Connection Module
ILM62CM (2), which is forwarded to all drives (7) of the Connection Module ILM62CM
network. The supply voltage (AC) needs not be interrupted (see figure below).
1
6
3
AC
7
2
IE
4
5
Figure 5-2: ILM62 system with emergency stop
1
control cabinet
2
Connection Module ILM62CM
3
Contactor
4
Emergency stop switch
5
Safety switching device (e.g. Preventa XPS AV)
6
Distribution Box ILM62DB
7
ILM62 Servo Module
Operating prin‐ The Inverter Enable function safely switches off the motor torque. It is sufficient to set
ciple a logical zero at the function input. There is no need to interrupt the power supply.
Standstill, however, is not monitored.
Safe InverterEnable is synonymous with "Safe Torque Off (STO)" according to EN
state 61800-5-2. This torque-free state is automatically entered when potential errors are
detected and is therefore the safe state of the drive.
Mode of opera‐ By setting a logical one for the Inverter Enable input at the Connection Module
tion ILM62CM, the power stage control of all Connection Module ILM62CM connected to
this ILM62 Servo Modules become possible (necessary condition). If, on the other
hand, this input is set to a logical zero, the power supply at the Inverter Enable input
is interrupted and no torque can be established in the connected . This Inverter Enable
input has a redundant design (DC voltage from which the generates AC voltage which
is fed to the hybrid cable or power cable (in case of daisy chain wiring)). The failure of
one of the two channels already results in the logical zero. When the power supply is
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5.4 Functional safety
cut off, the power stage becomes de-energized, and an diagnostic message is gen‐
erated. The motor can no longer generate torque and stops unbraked.
You can use the InverterEnable function to implement the control function "Stopping
in case of emergency" (EN 60204-1) for stop categories 0 and 1. Use a suitable ex‐
ternal safety circuit to prevent the unexpected restart of the drive after a stop, as re‐
quired in the machine directive.
Stop In stop category 0 (Safe Torque Off, STO) the drive stops in an uncontrolled manner.
category 0 If this means a hazard to your machine, you must take suitable measures (see hazard
and risk analysis).
Stop For stops of category 1 (Safe Stop 1, SS1) you can request a controlled stop via the
category 1 PacDrive Controller. The controlled stop by the PacDrive Controller is not safe, not
monitored and not guaranteed to work in case of power outage or a potential error.
The final switch off in the safe state is ensured by switching off the "Inverter Enable"
input. This has to be implemented by means of an external safety switching device
with safe delay (see application proposal).
Execute Proceed as follows to deactivate the InverterEnable function:
muting
WARNING
UNINTENDED AXIS MOVEMENT
•
•
Ensure that access to the zone of operation is restricted from personnel while
there remains a residual charge on the DC bus.
Wait 15 minutes after removing power (switching off) to allow the DC bus
capacitors to discharge.
Failure to follow these instructions can result in death or serious injury.
▶
▶
You can deactivate the Inverter Enable function by using the optional module
DIS1.
The safe state can only be achieved if the power supply is switched off.
To avoid misconfigurations, you now have to define the configuration that is to be
used with the parameter InverterEnableConfig of the ILM62 Servo Module
in the PLC configuration.
If the set mode does not match the real configuration of the ILM62 Servo Module, then
the diagnostic message 8978 "InverterEnableConfig invalid" with "Ext. diagnostic =
x(HW)!=y(Cfg)" is triggered. The drive does not switch to control mode as long as the
configuration is wrong. The error can only be acknowledged if the set InverterEnableConfig corresponds to the real configuration. This can be used to divide the
drives on a Connection Module ILM62CM in two groups if it is technically not possible
to use two Connection Module ILM62CM for the two groups in the existing machine.
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If only some of the drives attached to a Connection Module ILM62CM (1) are to be put
in the safe state, this can be achieved by the configuration of the drives. This can be
of interest e.g. for cleaning modes (6). If an optional module DIS1 (9) is set, then the
IE signal will be ignored. To implement the emergency stop, the supply voltage on the
Connection Module ILM62CM must be interrupted; see illustration below.
7
2
3
5
4
8
AC
IE
1
9
5
6
1
Connection Module ILM62CM
2
control cabinet
3
Emergency stop switch
4
Contactor
5
Safety switching device (e.g. Preventa XPS AV)
6
Switch: Operating mode (normal/cleaning)
7
Distribution Box ILM62DB
8
ILM62 Servo Module (without DIS1)
9
ILM62 Servo Module (with DIS1)
Table 5-5: Implementation of "Emergency stop" and "Cleaning mode iwith Inverter Enable" in
two protective circuits
ILM
46
Cleaning
Emergency stop
Parameter InverterEna‐
bleConfig
ILM62 Servo Module
without DIS1 (8)
Torque-free motor
Torque-free motor
Standard/1
ILM62 Servo Module
with DIS1 (9)
-
Torque-free motor
Off/0
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5.4 Functional safety
Validity of the safety case
The safety case for the Inverter Enable function of the ILM62 is identified and defined
by the standards listed in chapter "Safety standards". The safety case for the Inverter
Enable function of the ILM62 system applies to the following hardware codes:
Unicode
Hardware code:
ILM 070/xx
xxxxxxxxx1xx
ILM 100/xx
xxxxxxxxx1xx
ILM140/xx
xxxxxxxxx1xx
DIS1
1
ILM62CM
xxxxxx1xx
ILM62DB
xxxxxx1xx
For questions on this, please contact your Schneider Electric partner.
Interface and control
The Inverter Enable function is operated via the switching thresholds of the Inverter
Enable-input (IE_p1/IE_p2 at Pin1/Pin2, IE_n1/IE_n2 at Pin3/Pin4) of the Connection
Module ILM62CM.
•
•
•
•
Max. downtime: 500µs at UIE > 20V with dynamic control
Max. test pulse ratio: 1Hz
STO active: -3V ≤ UIE ≤ 5V
Power stage active: 18V ≤ UIE ≤ 30V
Technical data and information on the electrical connections of the ILM62 system or
the Connection Module ILM62CM can be found under of this operating instruction.
Response time
Response time The maximum response time until switch off with the Inverter Enable function is
with InverterEn‐ 5 ms. This is the time from the corresponding change of the Inverter Enable input at
able function the Connection Module ILM62CM to the torque-free motor (Safe Torque Off, STO).
Muting re‐ The Muting response time for switching off (i.e. without the Inverter Enable function)
sponse time depends on the load on the machine and has to be determined from the application.
The axes without Inverter Enable function become torque-free via the mains contactor
and come to a stop.
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5.4.3
Setup, installation, and mounting
Prevent possible functional disorder and avoid overvoltage
The following measures avoid overvoltages and prevent a possible functional disorder
through conductive pollution or parts falling into the device:
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
•
•
•
Install Connection Module ILM62CM in a control cabinet or housing of at least
IP 54.
Comply with the clearances and creepage distances according to EN 50178.
ILM62 must only be operated with power supplies certified according to EN
60950 or EN 50178 (so-called "safe voltage outputs").
Failure to follow this instruction will result in death or serious injury.
These power supply units do not deliver an overvoltage over 120 Vdc for more
than 120ms or no permanent overvoltage over 60 Vdc.
▶
Only operate the drive system with approved, specified cables, accessories- and
spare parts by Schneider Electric.
Avoid unintentional restart
DANGER
UNINTENTIONAL RESTART OF THE MOTOR
•
•
Ensure that a restart of the motor is not possible after a return of power or the
tripping of a functional safety device unless preceded by a deliberate enable sig‐
nal from the system.
Ensure that the enable signal meets the specified safety criteria (see 5.4.4 Ap‐
plication proposals).
Failure to follow these instructions will result in death or serious injury.
To avoid that the system is in a continuous "safe state", proceed as follows:
▶ Observe the specified maximum configuration (number of devices, network struc‐
ture and cable length), or else a power drop of the InverterEnable signal will occur
over the cable length and therefore the system will be in the safe state continu‐
ously.
▶ Connect per Connection Module ILM62CM a maximum of 45 ILM62 Servo Mod‐
ules.
For further information on the dimensions of the maximum system extension for
wiring in line structure or tree structure (see 6.1.6 Wiring as of Connection Module
ILM62CM in line structure or tree structure) or daisy chain structure (see 6.1.7
Wiring as of Connection Module ILM62CM in daisy chain structure):
Perform muting with the optional module DIS1
How to install the optional module DIS1:
▶ Open main switch.
▶ Prevent main switch from being switched back on.
▶ Remove the Transparent cover plate on the motor.
▶ Remove plugged in jumpers J1 and J2 (see figure).
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5.4 Functional safety
J5
J4
J3
J2
J1
▶
Plug optional module DIS1 onto contact pins, as shown in the following figure.
The module is plugged in.
▶
Plug the Transparent cover plate on the motor and tighten it.
How to disassemble the optional module DIS1:
▶ Open main switch.
▶ Prevent main switch from being switched back on.
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▶
▶
▶
Remove the Transparent cover plate on the motor.
Remove the optional module DIS1.
Plug in jumpers J1 and J2 (see figure).
J5
J4
J3
J2
J1
▶
50
Plug the Transparent cover plate on the motor and tighten it.
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5.4 Functional safety
5.4.4
Application proposals
There is one application proposal to implement the safe stop of category 1 (SS1):
•
EL-1122-05-xx: Inverter Enable circuit Connection Module ILM62CM/ILM62 Servo
Module using the PacDrive Controller LMC•00C with safety switch device for an
emergency stop circuit
Notes on application proposals
General
•
•
All application proposals provide for a protected Inverter Enable-wiring (control
cabinet IP54) from the safety switch device to the Connection Module ILM62CM,
as faults need to be ruled out.
Protection against automatic restart is ensured by the external safety switch device.
Notes on The mains contactor in this circuit suggestion is not necessary for functional safety
EL-1122 purposes. It is, however, used in the application proposal for the device protection of
the Power Supply Module LXM62P or the components connected to it.
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PE
0
F Datum Name
E
D
C
B
PE
N
L3
1
PE
4
Änderung
PE bar
-F3
+
2
24V
230V
Erst.
SE
+24V
0V
1
Gepr. APP
Freig. WR
Vert.
2
-
1
-G 1
-F2
3
5
2
4
6
L2
1
2
3
4
28.07.11
28.07.11
22.07.11
2
5
6
I >I >I >
Machine frame
-K1
-L1
-Q2
2
1
-Q1
4
3
L1
6
5
A
3
3
CN1
LMC WD
CN1 24V
0V
WD
&
rdy
+24V
0V
5
CN5
CN6
rdy1 CN4
rdy2
0V
24V
4
Inverter Enable Application
for PacDrive 3 ILM62
5
CN7
IE_p1 CN6
IE_p2
IE_n1
IE_n2
0V_int1
0V_int2
0V
24V
DC+
DC+
CN8
7
Z. Art.
EL-1122-05-01
Hybrid Cable
Z. Art.
Safe Stop 1 (SS1) with E-Stop
6
7
ILM62CM
CN1
PE
-A3
DC-
LXM62P
6
PE
DC-
CN1
PE
-A2
Not part of functional safety
WD2
WD1
LMC
-A1
4
L1
L2
L3
PE
2
24V
0V
Cabinet
1
DC+
PE
DC-
52
IE_sig
IE_ref
24V_out
0V_out
0
8
=
+
to ILM62DB
8
9
1
Blatt
von 2 Bl.
9
F
E
D
C
B
A
5 Planning
Figure 5-3: EL-1122-05-xx Sheet 1
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0V
0
F Datum Name
E
D
C
B
A
+24V
2 4
S21 S31
12 22
1 3
11 21
S32 S22
PE
A2 Y39
-K3
SE
1
Vert.
Gepr. APP
Freig. WR
K2
K1
S14
28.07.11
28.07.11
22.07.11
14
13
2
S33 S34
START
-S3
S11 S12
Erst.
Y40
PREVENTA XPS-AV 11113Z002
A1 S13
OFF
-S2
E-STOP
-S1
Änderung
-F1
2
-K1
0V 24V
3
A2
A1
LMC
CN8
IE_sig
IE_ref
5
4
5
6
7
IE_ref
IE_sig
-A4
6
Z. Art.
Safe Stop 1 (SS1) with E-Stop
ILM62DB
7
Z. Art.
IE_ref
IE_sig
-A8
IE_ref
IE_sig
-A7
IE_ref
IE_sig
-A6
IE_ref
IE_sig
-A5
P ower Stage
D r i ver
Supply
vcc_ie
ILM62
P ower Stage
D r i ver
Supply
vcc_ie
ILM62
P ower Stage
D r i ver
Supply
vcc_ie
ILM62
P ower Stage
D r i ver
Supply
vcc_ie
ILM62
Part of functional safety
Not part of functional safety
O_MainsContactor
0V
+24V
AC
0V_INT
DC
ILM62CM
CN6
IE_p1
IE_p2
IE_n1
IE_n2
0V_int1
0V_int2
-A3
I_MainsWatch
I_InvEnableActive
I_EmergencyStop
-A1
+24V
Y+ Y64 Y74 Y84
Inverter-Enable Application
for PacDrive 3 ILM62
38 48 58
37 47 57
-K2
22
21
+24V
04 14 24
K4
K3
03 13 23
4
Part of functional safety
3
Error
1
K1/K2
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K3/K4
0
WD
LMC
8
-K1
-K2
rdy
LXM62P
8
A2
A1
14
13
=
+
WD
&
rdy
9
Blatt
2
von 2 Bl.
9
F
E
D
C
B
A
5.4 Functional safety
Figure 5-4: EL-1122-05-xx Sheet 2
53
5 Planning
5.4.5
Commissioning
▶
▶
▶
▶
5.4.6
Carry out a functional test of the STO function for all drives that need the safety
function.
Especially check the correct application of the axes without Inverter Enable func‐
tion.
Complete installation in accordance with the EMC regulations and further speci‐
fications in the device operating manuals.
Afterwards commission the drive systems.
Best Practices and Prevention of Misuse
At machine start-up, the connected drives are normally outside the range of vision of
the machine personnel and cannot be monitored directly.
WARNING
UNSUPERVISED MACHINE START-UP
Only start the machine if there are no persons within the working area of moving
machine components and when the machine can be operated safely.
Failure to follow these instructions can result in death or serious injury.
Checkplug
connections
▶
▶
▶
▶
▶
▶
Check all terminals, connectors and other connections on all system components
for correct and firm fit.
Only use robust connectors and secure fixings.
Check the protective earth ground 24Vdc PELV supply.
Check the wiring of the safety function to the axes to avoid an interchange of the
IE_sig and IE_ref inputs as well as the 24V supply.
Use coded connectors and perform a commissioning test (see 6.1 Commission‐
ing).
Use only suitable transport packaging to forward or return individual devices.
Acting of The safe state of the motor is the torque-free output shaft. If external forces act upon
external the output shaft, it will not necessarily maintain its position. Take additional precautions
forces if this is one of the safety targets of the hazard and risk analysis.
Hanging &
pulling
loads
WARNING
UNINTENDED MOVEMENT OF THE AXIS.
•
•
Do not use the internal holding brake as a safety function.
Only use specified external brakes as safety function.
Failure to follow these instructions can result in death or serious injury.
▶
If the safe suspension of hanging / pulling loads (safe brake control) is a safety
objective for the machine, then you can only achieve this objective by using an
appropriate external brake as a safety function.
The device does not provide its own safe output to connect an external safety brake.
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5.4 Functional safety
5.4.7
Maintenance
As the Inverter Enable function has been designed for a defined lifetime (see 5.4.9
Safety standards), no routine checks are necessary to maintain or verify functional
safety. After this lifetime has elapsed a statement about the Inverter Enable function
cannot be made due to the aging of the component. If you want to ensure the func‐
tionality in terms of safety standards and product liability after this period, you need to
replace the device that includes the safety function.
Subject the device to a complete function test after replacement.
Keep a logbook for tracing the maintenance history of the machine and note the re‐
placed components (as per EN 62061:2005).
See the "Installation and Maintenance" of this operating instruction chapter for infor‐
mation about initial start-up and maintenance.
5.4.8
Physical environment
The system is not protected against physical or chemical sources of danger by any
design features. Possible sources of danger include:
•
•
•
•
•
toxic,
explosive,
corrosive,
highly reactive, or
inflammable types.
WARNING
LOSS OF THE INVERTER ENABLE FUNCTION
•
•
•
Observe and conform to the ambient, storage and transport temperatures of the
individual components indicated in the operating manuals of the components.
Prevent the formation of moisture during the operation, storage and transport of
individual components.
Conform to the vibration and shock requirements specified in the operating man‐
uals for the components when operating, storing and transporting system com‐
ponents.
Failure to follow these instructions can result in death or serious injury.
In principle, all plugs and plug-in connectors which include InverterEnable must be
designed according to IP54 or higher. Control cabinet devices, such as, a Connection
Module ILM62CM, do not possess this high protection class and are therefore only
intended for use in environments according to IP54 or higher (e.g. control cabinets).
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5 Planning
5.4.9
Safety standards
The InverterEnable function was developed and tested according to the following
standards for the functional safety:
•
•
•
•
IEC 61508: 2010
IEC 61800-5-2: 2007
EN ISO 13849-1:2008
IEC 62061:2005
An independent assessment was performed by TÜV NORD.
The components that include the InverterEnable function are generally tested accord‐
ing to
•
•
CE
UL
According to the above listed standards, the figures for the devices are as follows:
Standard characteristics
Connection Module ILM62CM
ILM62 Servo Module
SFF (IEC 61508)
Safe Failure Fraction
99%
99.9%
HFT (IEC 61508)
Hardware Fault Tolerance
1
1
Type (IEC 61508)
A
A
SIL (IEC 61508)
Safety Integrity Level
SILCL (IEC 62061)
Safety Integrity Level claim limit
3
3
PFH (IEC 61508)
Probability of Dangerous Failures per
Hour
1.3*10-9/h
0.08*10-9/h
PL (cat) (EN ISO 13849-1)
Performance Level (Category)
e (3)
e (3)
MTTFd (EN ISO 13849-1)
Mean Time to Dangerous Failure
881 years
14487 years
DC (EN ISO 13849-1)
Diagnostic Coverage
99%
99%
Lifetime
15 years
15 years
Distribution Box ILM62DB: in proportion to Connection Module ILM62CM and ILM62 Servo Module in‐
cluded
Note:
The values specified are rounded individually and are therefore not a result of a conversion by e.g. PFH
in MTTFd or the comparative tables from EN ISO 13849-1:2008.
Table 5-6: Standard characteristics
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5.5 Special Conditions
5.5
Special Conditions
5.5.1
Low air pressure
If the installation altitude exceeds the specified rated installation altitude, the perform‐
ance of the entire system is reduced.
Power Supply Module LXM62P•••
Derating of Mains Input Current vs. Installation altitude
110
100
I_mains[%] / I_cont[%]
90
80
70
60
50
40
30
20
10
0
500
1000
1500
2000
2500
3000
Installation altitude[m]
Figure 5-5: Power reduction at increased installation altitude (Power Supply Module LXM62P)
Connection Module ILM62CM
Derating of DC-Link Current vs. Installation altitude
110
100
I_DC[%] / I_DC_cont[%]
90
80
70
60
50
40
30
20
10
0
500
1000
1500
2000
2500
3000
Installation altitude[m]
Figure 5-6: Power reduction at increased installation altitude (Connection Module ILM62CM)
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ILM62 Servo Module
Derating of Phase Output Current vs. Installation altitude
110
I_ph_out / I_ph_out_cont [%]
100
90
80
70
60
50
40
30
20
10
0
500
1000
1500
2000
2500
3000
Installation altitude[m]
Figure 5-7: Power reduction at increased installation height (ILM62 Servo Module at
8 kHz clock frequency of power stage)
Multiply the values with the permanent current at 40°C / 104°F in order to receive the
final permanent current value, depending on the required installation altitude.
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6.1 Commissioning
6
Installation and maintenance
Proceed with care during the following steps and take all precautions described in
order to help to avoid the following points:
•
•
•
•
6.1
Injuries and material damage
Incorrect installation and programming of components
the incorrect operation of components
The use of non-authorized cables or modified components
Commissioning
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
•
•
•
•
•
•
•
Operate electrical components only with a connected protective conductor.
After the installation, verify the fixed connection of the protective conductor to all
electrical devices to ensure that connection complies with the connection dia‐
gram.
Before enabling the device, safely cover the live components to prevent contact.
Do not touch the electrical connection points of the components when the unit is
switched on.
Provide protection against indirect contact (EN 50178).
Disconnect/plug in Plug-in type connectors of the cables, plug-in terminals on the
device and Bus Bar Module only when the system is disconnected from the power
supply.
Insulate the unused conductors on both ends of the motor cable because AC
voltages in the motor cable can couple to unused conductors.
Failure to follow these instructions will result in death or serious injury.
▶
Pay attention to the ESD protection measures, to avoid damages caused by elec‐
trostatic discharge.
NOTICE
ELECTROSTATIC DISCHARGE
•
•
•
•
•
Do not touch any of the electrical connections or components.
Prevent electrostatic charges; e.g., by wearing appropriate clothing.
If necessary at all, touch circuit boards only on the edges.
Move the circuit boards as little as possible, to avoid the formation of electrostatic
charge caused by clothing, carpet, or furnishings.
Remove existing static charge by touching a grounded, metallic surface, like for
example, a grounded housing.
Failure to follow these instructions can result in equipment damage.
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6 Installation and maintenance
6.1.1
Preparing commissioning
ESD protection
▶
Observe the following instructions for ESD protection in order to avoid any damage
due to electrostatic discharge:
NOTICE
ELECTROSTATIC DISCHARGE
•
•
•
•
•
Do not touch any of the electrical connections or components.
Prevent electrostatic charges; e.g., by wearing appropriate clothing.
If necessary at all, touch circuit boards only on the edges.
Move the circuit boards as little as possible, to avoid the formation of electrostatic
charge caused by clothing, carpet, or furnishings.
Remove existing static charge by touching a grounded, metallic surface, like for
example, a grounded housing.
Failure to follow these instructions can result in equipment damage.
Unpacking How to unpack the device:
▶
▶
Remove packaging.
Dispose of the packaging material in accordance with the relevant local regula‐
tions.
Verifying How to check the device:
▶
▶
Verify that the delivery is complete on the basis of the delivery slip.
Verify if the device is in working condition.
WARNING
UNINTENTED EQUIPMENT OPERATION
•
•
•
Do not mount or commission damaged drive systems.
Do not modify the drive systems.
Send back inoperative devices.
Failure to follow these instructions can result in death or serious injury.
▶
▶
▶
▶
▶
60
Check the data with the help of the nameplates.
Observe requirements for the installation location.
Observe requirements for the degree of protection and the EMC rules.
In addition to the following instructions, also note the information in the chapter
"Planning".
Then install ILM62 component.
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6.1 Commissioning
6.1.2
Grinding the holding brake
Regrind the holding brake if a motor was stored for over 2 years before mounting.
How to disassemble the motor:
▶ Observe the general (see 6.4 Device-, parts- or cable exchange) and special (see
6.4.3 Replacement of devices and cables of ILM62 Servo Module) measures for
device replacement.
▶ Put main switch in "OFF" position to free system of voltage.
▶ Prevent main switch from being switched back on.
▶ Disconnect all connection cables on the motor.
▶ Loosen the screwed connections on the motor.
The motor is removed from the machine and disconnected from all electrical sup‐
ply lines.
How to regrind the holding brake:
▪
The motor must not be installed in machine and the holding brake must be en‐
gaged.
WARNING
UNINTENDED AXIS MOVEMENTS
Grind holding brake only when the removed motor is disconnected from all elec‐
trical supply lines.
Failure to follow these instructions can result in death or serious injury.
▶
▶
▶
▶
6.1.3
Check the holding torque of the holding brake using a torque wrench.
Compare the value to the specified holding torque of the holding brake upon de‐
livery (see 7.5.10 Holding brake (optional)).
If the holding torque of the holding brake considerably differs from the specified
values, manually rotate the motor shaft by 25 rotations in both directions.
Repeat the process.
Contact your sales office if you cannot restore the original holding torque by re‐
peating the process 3 times.
Preparing the control cabinet
DANGER
ELECTRIC SHOCK DUE TO INADEQUATE OR MISSING GROUNDING
At the installation points, remove paint across a large surface before installing the
devices (bare metal connection).
Failure to follow these instructions will result in death or serious injury.
WARNING
COMBUSTION OF FLAMMABLE MATERIALS
Do not install the device on any flammable materials.
Failure to follow these instructions can result in death or serious injury.
▶
▶
If necessary, install additional fan.
Do not block the fan air inlet.
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6 Installation and maintenance
▶
▶
Drill mounting holes in the control cabinet in the 45mm mounting-grid pattern
( 1.77in.) (± 0.2mm / ± 0.01in.).
Observe tolerances as well as distances to the cable channels and adjacent con‐
trol cabinet series.

ƒ
ƒ
ƒ
ƒ
„
…
…
…
…
„
…
…
…
…
‚
Figure 6-1: Required distances in the control cabinet for the controller, power supply, Connec‐
tion Module
▶
62
-
mm
in.
thread
(1)
X (± 0.2)
X (± 0.01)
M6
(2)
296 (+ 0.5 ; -0)
11.65 (± 0.01)
M6
(3)
35 (± 0.2)
1.38 (± 0.01)
M6
(4)
90 (±0.2)
3.54 (± 0.01)
M6
(5)
45 (±0.2)
1.77 (± 0.01)
M6
Keep a distance of at least 100mm ( 3.94in.) above and below the devices.
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> 100
6.1 Commissioning
Connection Module ILM62CM
Power Supply Module LXM62P
> 100
> 10
Figure 6-2: Required distances in the control cabinet
▶
Do not lay any cables or cable channels over the servo amplifiers or braking re‐
sistor modules.
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6 Installation and maintenance
6.1.4
Mechanical mounting
Power Supply Module and Connection Module ILM62CM
▶ Remove the shock protector covers on the module sides (power supply and Con‐
nection Module ILM62CM) on which the modules are connected with each other.
▶ For this purpose, press the screwdriver in the opening (1) (blade width
5.5 - 8mm / 0.22 - 0.31in. ) on the top side of the module to loosen the shock
protector cover.
▶ Subsequently, remove the shock protector covers toward the outside.
1
Figure 6-3: Remove the shock protector covers.
▶
▶
▶
▶
Afterwards, screw the pan-head screws M6 (socket head cap screws) into the
prepared mounting holes.
Keep a distance of 10mm (0.39in. ) between the screw head and the mounting
plate.
Hook in device and check the vertical mounting arrangement.
Arrange power supply and Connection Module ILM62CM in the following order
from inside to outside due to the current carrying capacity:
1st power supply
2nd Connection Module ILM62CM
By doing this, the load on the DC bus- and 24V-supply at the wiring bus is reduced.
▶
64
Tighten the mounting screws (torque: 4.6Nm /41lbf in ).
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6.1 Commissioning
Daisy Chain Connector Box and ILM62 Servo Module
1
2
3
4
5
6
Figure 6-4: Installation of the Daisy Chain Connector Box on the ILM62 Servo Module
NOTICE
BROKEN TABS ON THE LOCKING LATCH
Only close the locking latch (1) when the hybrid plug connector (4) is fully seated into
the hybrid socket connector (2) and the Daisy Chain Connector Box lies flush on the
rear side of the ILM62 Servo Module (3).
Failure to follow these instructions can result in equipment damage.
▶
▶
▶
Place the Daisy Chain Connector Box flush onto the rear side of the ILM62 Servo
Module so that the two guide lugs (5) are inserted in the two guide slots (6).
The Daisy Chain Connector Box lies completely flush on the rear side of the
ILM62 Servo Module (3).
While the Daisy Chain Connector Box is lying flush on the rear side of the ILM62
Servo Module (3), push it upward as far as it will go.
The hybrid plug connector (4) is inserted as far as it will go into the hybrid
socket connector (2) of the ILM62 Servo Module.
Close the locking latch (1).
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6 Installation and maintenance
6.1.5
Wiring Power Supply Module LXM62P and Connection Module ILM62CM
This is how you wire the modules:
▶ Check if the slide on the Bus Bar Module can be easily moved.
▶ Connect devices via the slide of the Bus Bar Module.
▶ Tighten the screws of the Bus Bar Module (torque: 2.5 Nm / 22 lbf in).
DANGER
ELECTRIC SHOCK CAUSED BY HIGH TOUCH VOLTAGE
•
•
Attach the shock protector covers on the outside of the Bus Bar Module
combination.
Apply power only if the shock protector covers have been attached on the
outside of the Bus Bar Module combination.
Failure to follow these instructions will result in death or serious injury.
▶
Mount the shock protector covers LEFT TOP (1) and RIGHT TOP (2) on the out‐
side of the Bus Bar Module combination.
1
2
Figure 6-5: Shock protector covers
1
2
Figure 6-6: Shock protector covers on the outside of the Bus Bar Module combination
▶
▶
66
Connect the additional protective conductor with the ring cable lug and the M5
screw to the heat sink of the power supply (tightening torque: 3.5 Nm /
31 lbf in).
Follow the assembly based on the heat sink: lock washer, ring cable lug, lock
washer, washer and screw.
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6.1 Commissioning
DANGER
HAZARD OF ELECTRIC SHOCK CAUSED BY HIGH TOUCH VOLTAGE DUE TO
DEVICE LEAKAGE CURRENT HIGHER THAN 3.5 MA AC
•
•
Connect the device via a fixed connection with the power supply network.
Additionally one of the following measures should be applied:
- Use a cross-section of the protective conductor of at least 10 mm2 (AWG 8)
copper or 16 mm2 (AWG 6) aluminum.
- Provide an automatic disconnection of the power supply in case of a disconti‐
nuity of the protective conductor.
- Provide an additional terminal for a second protective conductor of the same
cross-sectional area as the original protective conductor.
Failure to follow these instructions will result in death or serious injury.
▶
▶
▶
▶
▶
Check that terminals are secure and check necessary cable cross sectional areas
for correctness.
Check that the shielding works flawlessly, eliminate short circuits and interrup‐
tions.
Connect ground cable to the motor flange (1) and tighten it with a 2.8 Nm
(24.76 lbf in) torque.
The motor is now grounded with the machine bed.
Do not choose a connection cross-section of the earthing cable that is smaller
than the cross-section of the main connection.
Or, connect the motor to the grounded machine bed immediately above the motor
flange.
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6 Installation and maintenance
6.1.6
Wiring as of Connection Module ILM62CM in line structure or tree struc‐
ture
The wiring of Connection Module ILM62CM, Distribution Box ILM62DB and ILM62
Servo Module in line structure or tree structure occurs with hybrid cables.
The hybrid cable variants suitable for line or tree structures are listed in the type code
figure "ILM 62 Accessories" (see 3.3.5 ILM62 accessories).
The hybrid plug connector variants presented in the following are suitable for wiring in
line or tree structures.
D2
D0
D1
D0
D1
D2
Figure 6-7: Plug connector designs of hybrid cables
D0
straight connection
D1
Connection at the bottom (Distribution Box ILM62DB) or on the left (ILM62 Servo Module)
D2
Connection on the top (Distribution Box ILM62DB) or on the right (ILM62 Servo Module)
This is how you wire the modules:
▪
For an overview of the different connections, refer to the chapter Electrical Con‐
nections (see 7.8 Electrical connections).
Depending on the selected identification mode in the Automation Toolkit SoMa‐
chine Motion Logic Builder, an interchanged connection of the connections Sercos
1/Sercos 2 can lead to a mechanical breakdown.
NOTICE
INTERCHANGED CONNECTION OF THE SERCOS CABLES
Ensure that the Sercos cables are connected to the Sercos connections CN4/
CN5 of the Connection Module ILM62CM according to the connection diagram
of the machine manufacturer.
Failure to follow these instructions can result in equipment damage.
▶
68
Connect connections CN4, CN5, CN7 and CN8 (Sercos, DC bus voltage, 24V,
Inverter Enable) at the Connection Module ILM62CM with the Distribution Box
ILM62DB by means of the pre-assembled hybrid cable.
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6.1 Commissioning
0V_out
24V_out
IE_ref
IE_sig
DCPE
DC+
Sercos 2
Sercos 1
▶
▶
Remove protective cover from hybrid cables.
Connect up to four ILM62 Servo Modules at the Distribution Box ILM62DB using
hybrid cables. Engage the respective mounting bracket at both connection sides.
▶
Provide unused hybrid connection sockets with strapping plugs.
The strapping plugs are not included in the scope of delivery of ILM62 Servo
Module and must be ordered separately (order number: VW3E6023).
Strapping plugs close the Sercos loop, serve as protection against hazardous
voltage and ensure the IP65 degree of protection.
DC bus cable
Connection Connection Mod‐
ule ILM62CM
Topological address Distribution Box
ILM62DB
CN2
CN3
CN4
CN5
Sercos 1 (black)
Sercos 2 (red)
CN4
CN5
4
3
2
1
Sercos 1 (black)
Sercos 2 (red)
CN5
CN4
1
2
3
4
Table 6-1: The topological address for CN2, CN3, CN4 and CN5 (Distribution Box ILM62DB)
depends of the assignment of Sercos 1/Sercos 2 to CN4/CN5 (Connection Module ILM62CM)
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6 Installation and maintenance
The following boundary conditions must be observed for the system layout:
•
•
•
•
•
•
Maximum cable length of 20 m (65.2 ft) from Connection Module ILM62CM to
Distribution Box ILM62DB.
Maximum cable length of 10 m (32.8 ft) from Distribution Box ILM62DB to Distri‐
bution Box ILM62DB.
Maximum cable length of 10 m (32.8 ft) from Distribution Box ILM62DB to ILM62
Servo Module.
Sum of all cable lengths max. 200 m (656 ft).
Maximum distance of 50 m (164 ft) between 2 active Sercos slaves e.g. way back
in the Sercos loop from ILM62 Servo Module to Power Supply Module LXM62P•••
Connection Module ILM62CM and Distribution Box ILM62DB are no active Sercos
slaves.
Please contact your Schneider Electric contact person in order to create a detailed
system layout for the respective available net topology.
The following two examples illustrate the longest path between 2 active Sercos slaves
for which a maximum length of 50 m (164 ft) is permissible. This critical distance is
respectively marked in blue.
In the following example of a net topology in line structure the longest path is between
the Power Supply Module LXM62P••• and the last ILM62 Servo Module.
20 m (65.6 ft)
10 m (32.8 ft)
max.: 40 m (131.2 ft)
10 m
(32.8 ft)
10 m
(32.8 ft)
Figure 6-8: Example longest path for net topology in line structur
In the following example of a net topology in tree-structure the longest path is between
two ILM62 Servo Modules and not between the Power Supply Module LXM62P••• and
the last ILM62 Servo Module.
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P
IW
PIW
PIW
PD[PIW
P
IW
P
IW
P
IW
Figure 6-9: Example longest path for net topology in tree structure
2
1
TM
Figure 6-10: Connection overview ILM62 Servo Module
1
Ground connection
2
Hybrid connector
According to DIN EN 60204-1, the correct grounding of the motor has to be checked
respectively proven on the completely installed machine at the installation location at
all times.
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6 Installation and maintenance
6.1.7
Wiring as of Connection Module ILM62CM in daisy chain structure
Wiring of Connection Module ILM62CM, Distribution Box ILM62DB, ILM62 Servo
Module in daisy chain structure occurs with a Daisy Chain Connector Box per ILM62
Servo Module as well as power cables and Sercos cables.
The power and Sercos cable variants suitable for daisy chain structures are listed in
the type code figure "ILM62 Accessories" (see 3.3.5 ILM62 accessories).
The hybrid plug connector variants presented in the following are suitable for a daisy
chain wiring:
D1
Figure 6-11: Plug connector designs of power cables
D1
Connection at the bottom (Distribution Box ILM62DB)
With daisy chain structure the Power (DC bus voltage/24V/Inverter Enable signals)
and Sercos signals are distributed via separate cables.
1
2
3
Figure 6-12: Example of a net topology in a daisy chain structure with 4 daisy chain lines for
applications with slip ring (without a slip ring the Connection Module ILM62CM and Distribution
Box ILM62DB can be connected directly with a power cable)
1
Power cable (green)
2
Slip ring
The slip ring is only displayed exemplary and is not provided by Schneider Electric.
3
Sercos cable (red)
Each ILM62 Servo Module must be extended for daisy chain wiring by a Daisy Chain
Connector Box. For this purpose, the Daisy Chain Connector Box is mounted (see
6.1.4 Mechanical mounting) onto the ILM62 Servo Module and the wiring of the ILM62
Servo Modules is carried out via the plug and socket connectors of the Daisy Chain
Connector Box.
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1
1
2
5
TM
4
3
Figure 6-13: Example for a daisy chain wiring with 1 daisy chain line (connected directly to the
Connection Module ILM62CM)
1
Power cable (green)
2
ILM62 Servo Module
3
By the last ILM62 Servo Module of the daisy chain line the open power socket connector M23
(CN2/CN3) of the Daisy Chain Connector Box has to be tightly closed with a protection cap
ILM62DCZ000.
4
Sercos cable (red)
5
Connection Module ILM62CM
This is how you wire the modules:
▪
For an overview of the different connections, refer to the chapter Electrical Con‐
nections (see 7.8 Electrical connections).
Depending on the selected identification mode in the Automation Toolkit SoMa‐
chine Motion Logic Builder, an interchanged connection of the Sercos cables can
lead to a mechanical breakdown.
NOTICE
INTERCHANGED CONNECTION OF THE SERCOS CABLES
•
•
Ensure that the Sercos cables are connected to the Sercos connections
CN4/CN5 of the Connection Module ILM62CM according to the connection
diagram of the machine manufacturer.
Ensure that the Sercos cables are connected to the Sercos socket connec‐
tors of the Daisy Chain Connector Box according to the connection diagram
of the machine manufacturer.
Failure to follow these instructions can result in equipment damage.
▶
By using one (several) Distribution Box ILM62DB:
Connect the connections CN7, CN8 (power cable: DC bus voltage, 24V, Inverter
Enable) at the Connection Module ILM62CM with the (first) Distribution Box
ILM62DB by means of the pre-assembled power cable.
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6 Installation and maintenance
▶
▶
▶
▶
▶
Without Distribution Box ILM62DB:
Connect the connections CN7, CN8 (power cable: DC bus voltage, 24V, Inverter
Enable) at the Connection Module ILM62CM with the first ILM62 Servo Module of
the daisy chain line by means of the pre-assembled power cable.
Connect up to 9 ILM62 Servo Modules per daisy chain line by means of power
cables. Connect up to 4 daisy chain lines with a maximum of 9 ILM62 Servo Mod‐
ules to a Distribution Box ILM62DB by means of power cables. Engage the
mounting bracket to the Distribution Box ILM62DB connection side.
Connect the connections CN4, CN5 of the Connection Module ILM62CM with the
Sercos socket connectors of the Daisy Chain Connector Box to the ILM62 Servo
Module by means of a pre-assembled Sercos cable.
Connect the ILM62 Servo Modules to the Sercos socket connectors of the Daisy
Chain Connector Box by means of a pre-assembled Sercos cable.
Tightly close the open power socket M23 (CN2/CN3) of the ILM62 Servo Module
with a protection cap ILM62DCZ000 on every daisy chain line on the last Daisy
Chain Connector Box.
The following boundary conditions must be observed for the system layout:
•
•
•
•
•
•
•
Maximum cable length of 20 m (65.2 ft) from Connection Module ILM62CM to
Distribution Box ILM62DB.
Maximum cable length of 10 m (32.8 ft) from Distribution Box ILM62DB to Distri‐
bution Box ILM62DB.
Maximum cable length of 10 m (32.8 ft) from Distribution Box ILM62DB or Con‐
nection Module ILM62CM to the first ILM62 Servo Module of the daisy chain line.
A maximum of 9 ILM62 Servo Modules can be connected per daisy chain line and
a maximum cable length of 10 m (32.8 ft) between the first and the last ILM62
Servo Module of the daisy chain line.
Sum of all cable lengths max. 200 m (656 ft).
Maximum distance of 50 m (164 ft) between 2 active Sercos slaves.
Connection Module ILM62CM and Distribution Box ILM62DB are no active Sercos
slaves.
Please contact your Schneider Electric contact person in order to create a detailed
system layout for the respective available net topology.
NOTICE
INADMISSIBLE VOLTAGE / CURRENT
Only use net topologies approved by Schneider Electric.
Failure to follow these instructions can result in equipment damage.
NOTICE
INSUFFICIENT SEAL
Ensure that the protection cap ILM62DCZ000 is firmly secured to the open power
socket connector M23 (CN2/CN3) of the Daisy Chain Connector Box on the last
ILM62 Servo Module.
Failure to follow these instructions can result in equipment damage.
According to DIN EN 60204-1, the correct grounding of the motor has to be checked
respectively proven on the completely installed machine at the installation location at
all times.
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6.2 Maintenance, repair, cleaning
6.2
Maintenance, repair, cleaning
▶
Observe the following instructions before carrying out maintenance on Device:
How to de-energize the system:
▶ Set main switch to "OFF Position".
▶ Prevent main switch from being switched back on.
▶ Wait 15 minutes after removing power (switching off) to allow the DC bus capac‐
itors to discharge.
▶ Check whether the DC-BUS LED has turned off on all components located in the
axis group.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
Before working on the device, check the DC bus with a measuring instrument to make
sure that it is de-energized (< 42.4 Vdc).
Failure to follow these instructions will result in death or serious injury.
▶
Check DC+ to PE and DC- to PE with a suitable measuring instrument to make
sure it is de-energized before working on the device.
Help in case of an unforeseen issue:
▶
▶
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DC bus does not discharge completely.
Do not repair or operate component.
Contact the Schneider Electric contact partner.
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6 Installation and maintenance
6.2.1
Fuse replacement Connection Module ILM62CM
How to replace the fuses:
▪
There was a loss of power of the Connection Module ILM62CM:
- DC bus LED at the Power Supply Module LXM62P••• flashes
- DC bus LED at the Connection Module ILM62CM is off
DANGER
FIRE AND ELECTRICAL SHOCK DUE TO IMPROPER FUSE REPLACEMENT
•
•
Replace fuse only by a fuse of identical type as specified in the product doc‐
umentation.
Be sure the fuse cover is securely closed before operating the device.
Failure to follow these instructions will result in death or serious injury.
▶
▶
76
Dismount (see 6.4 Device-, parts- or cable exchange) Connection Module
ILM62CM.
Open maintenance flap.
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6.2 Maintenance, repair, cleaning
▶
On the back side of the housing remove both fuses from the holding device using
a screwdriver and replace them by new fuses (order number VW3E6024) of the
same type.
▶
Close maintenance flap and mount (see 6.1.4 Mechanical mounting) the Con‐
nection Module ILM62CM.
ILM62 Restart (see 6.1.5 Wiring Power Supply Module LXM62P and Connection
Module ILM62CM) the system.
▶
If after the fuse replacement the Connection Module ILM62CM still is not ready
for operation or fails again after recommissioning, contact your Schneider Electric
representative.
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6 Installation and maintenance
6.2.2
Repair
In case of repair proceed as follows:
▶ Contact the Schneider Electric Customer Service (see 9.1 Contact addresses).
▶ Observe the following instructions for ESD protection in order to avoid any damage
due to electrostatic discharge:
NOTICE
ELECTROSTATIC DISCHARGE
•
•
•
Do not touch any of the electrical connector contacts.
Prevent electrostatic charges, e.g., by wearing appropriate clothing and using
anti-static devices.
Remove existing static charge by touching a grounded, metallic surface.
Failure to follow these instructions can result in equipment damage.
6.2.3
Cleaning
How to clean the ILM62 component:
▶ De-energize ILM62 components.
▶ Remove ILM62 components.
▶ Use cleaning processes appropriate to the degree of protection of the ILM62
components.
It is not possible to test in advance, all materials of the Schneider Electric product range
that are used presently and in the future on the compatibility with the cleaning agents
available on the market. Care must be taken because some agents may have dele‐
terious effects on plastics and stainless steel welds.
NOTICE
CORROSION CAUSED BY CLEANING AGENTS
•
•
•
•
Before using a cleaning agent, carry out a compatibility test in relation to the
cleaning agent and the component affected.
Do not use alkaline detergent.
Do not use any chlorid-containing cleaning agents.
Do not use any sulphuric acid containing detergent.
Failure to follow these instructions can result in equipment damage.
For more information on the material properties of your component (see 7.5 Mechan‐
ical and electrical data).
▶ Then blow out ILM62 components with dry pressurized air (max. 1bar /
14.5PSI).
The standard cooling method of the motor is by natural convection. Therefore, keep
the motor surfaces free from dirt.
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6.3 Spare part inventory
6.3
Spare part inventory
▶
Keep a stock of the most important components to make certain the equipment is
functioning and ready for operation at all times.
NOTICE
INCREASED PULSE ENERGY ABSORPTION CAPACITY OF THE POWER
SUPPLY MODULE LXM62P•••
Only exchange Power Supply Module LXM62P••• with the same or greater revi‐
sion status.
Failure to follow these instructions can result in equipment damage.
▶
▶
Only exchange devices with the same hardware configuration to ensure the com‐
patibility.
Indicate the following information on the spare part order:
Item name:
Hardware code:
Software version:
for example, ILM0701P01A0000
for example, RS02
e.g. SW: 00.24.21
This information can be found on the nameplate.
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6 Installation and maintenance
6.4
Device-, parts- or cable exchange
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
•
•
•
•
•
•
•
Operate electrical components only with a connected protective conductor.
After the installation, verify the fixed connection of the protective conductor to all
electrical devices to ensure that connection complies with the connection dia‐
gram.
Before enabling the device, safely cover the live components to prevent contact.
Do not touch the electrical connection points of the components when the unit is
switched on.
Provide protection against indirect contact (EN 50178).
Disconnect/plug in Plug-in type connectors of the cables, plug-in terminals on the
device and Bus Bar Module only when the system is disconnected from the power
supply.
Insulate the unused conductors on both ends of the motor cable because AC
voltages in the motor cable can couple to unused conductors.
Failure to follow these instructions will result in death or serious injury.
NOTICE
IMPROPER REPLACEMENT OR OPENING OF THE DEVICE HOUSING
•
•
•
Do not open the housing of the device for commissioning, replacement or any
other reason whatsoever.
Observe and respect the instructions and specifications of the machine manu‐
facturer when replacing the device.
Replace defective devices as a whole.
Failure to follow these instructions can result in equipment damage.
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6.4 Device-, parts- or cable exchange
▶
Pay attention to the ESD protection measures, to avoid damages caused by elec‐
trostatic discharge.
NOTICE
ELECTROSTATIC DISCHARGE
•
•
•
•
•
Do not touch any of the electrical connections or components.
Prevent electrostatic charges; e.g., by wearing appropriate clothing.
If necessary at all, touch circuit boards only on the edges.
Move the circuit boards as little as possible, to avoid the formation of electrostatic
charge caused by clothing, carpet, or furnishings.
Remove existing static charge by touching a grounded, metallic surface, like for
example, a grounded housing.
Failure to follow these instructions can result in equipment damage.
How to de-energize the system:
▶ Set main switch to "OFF Position".
▶ Prevent main switch from being switched back on.
▶ Wait 15 minutes after removing power (switching off) to allow the DC bus capac‐
itors to discharge.
▶ Check whether the DC-BUS LED has turned off on all components located in the
axis group.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
Before working on the device, check the DC bus with a measuring instrument to make
sure that it is de-energized (< 42.4 Vdc).
Failure to follow these instructions will result in death or serious injury.
▶
Check DC+ to PE and DC- to PE with a suitable measuring instrument to make
sure it is de-energized before working on the device.
Help in case of an unforeseen issue:
▶
▶
DC bus does not discharge completely.
Do not repair or operate component.
Contact the Schneider Electric contact partner.
For more information on the DC bus LED (see 4.1.2 DC bus LED).
NOTICE
INSUFFICIENT SHIELDING/GROUNDING
Operate the drive only with fixed cover and cable gland.
Failure to follow these instructions can result in equipment damage.
Keep a logbook for tracing the maintenance history of the machine and note the re‐
placed components (as per EN 62061:2005).
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6 Installation and maintenance
6.4.1
Replacement of devices and cables of Connection Module ILM62CM
How to replace the ILM62 component:
▶ Disconnect all connection cables on the device that shall be replaced.
▶ Loosen the screwed connections on the wiring bus (CN1) of the component that
shall be replaced.
▶ If present, loosen the screwed connections of the adjacent device on the right
hand side.
▶ Push both slides (CN1) to the center of the device.
CAUTION
FALLING HEAVY LOAD
Do not fully remove the screw connections of the device mounting suspension or
the device could fall out/down.
Failure to follow these instructions can result in injury or equipment damage.
▶
▶
▶
Loosen the screwed connections of the device mounting suspension on the top
and bottom side.
Remove the ILM62 component and exchange the complete unit.
Install the new ILM62 component and tighten the screwed connections on the top
and bottom side.
DANGER
ELECTRIC SHOCK CAUSED BY HIGH TOUCH VOLTAGE
•
•
Attach the shock protector covers on the outside of the Bus Bar Module
combination.
Switch on the device only if the shock protector covers have been attached
on the outside of the Bus Bar Module combination.
Failure to follow these instructions will result in death or serious injury.
▶
▶
Check if a shock protector cover is attached to the wiring bus (CN1) at the end of
an axis combination.
Connect the ILM62 component according to the circuit diagram of the machine.
DANGER
INCORRECT ASSIGNMENT OF NEW CABLES
If you are not using prefabricated cables, make sure that the assignment of the
new cables complies with the connection diagram of the machine manufacturer.
Failure to follow this instruction will result in death or serious injury.
Depending on the selected identification mode in the Automation Toolkit SoMachine
Motion Logic Builder, an interchanged connection of the connection Sercos 1/Sercos
2 or the Sercos cables can lead to a mechanical breakdown.
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6.4 Device-, parts- or cable exchange
NOTICE
INTERCHANGED CONNECTION OF SERCOS CABLES
Ensure that the Sercos cables are connected to the Sercos connections CN4/CN5 of
the Connection Module ILM62CM according to the connection diagram of the ma‐
chine manufacturer.
Failure to follow these instructions can result in equipment damage.
▶
After replacing a ILM62 component, proceed as by the first commissioning.
For further information on this (see 6.1 Commissioning).
Keep a logbook for tracing the maintenance history of the machine and note the re‐
placed components (as per EN 62061:2005).
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6 Installation and maintenance
6.4.2
Replacement of devices and cables of Distribution Box ILM62DB
How to replace the Distribution Box ILM62DB:
▶ Pay attention to the ESD protection measures, to avoid damages caused by elec‐
trostatic discharge.
NOTICE
ELECTROSTATIC DISCHARGE
•
•
•
•
•
Do not touch any of the electrical connections or components.
Prevent electrostatic charges; e.g., by wearing appropriate clothing.
If necessary at all, touch circuit boards only on the edges.
Move the circuit boards as little as possible, to avoid the formation of electrostatic
charge caused by clothing, carpet, or furnishings.
Remove existing static charge by touching a grounded, metallic surface, like for
example, a grounded housing.
Failure to follow these instructions can result in equipment damage.
CN5
CN4
CN3
CN2
CN1
TM
▶
▶
▶
▶
▶
▶
▶
84
Unplug plug connector of the hybrid connector (cable connection to the Connec‐
tion Module) at CN1. Before this, loosen the mounting brackets.
Loosen plug connectors of the hybrid connectors of all connected motors (CN2 to
CN5).
Dismount earthing cable of shielding of the Distribution Box ILM62DB.
Replace Distribution Box ILM62DB as a whole.
Attach connectors of the hybrid connectors of all motors to be connected (CN2 to
CN5). Safeguard using mounting brackets.
Attach plug connector of the hybrid connector (cable connection of Connection
Module) at CN1 and lock mounting brackets.
Mount earthing cable at shielding of the Distribution Box ILM62DB.
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6.4 Device-, parts- or cable exchange
How to replace the cables:
Cable installation
▶ Wire earthing cable between Connection Module ILM62CM and Distribution Box
ILM62DB.
▶ If available, pull off the strapping plug from contacts CN1 - CN5. Before this, loosen
the mounting brackets.
▶ Remove protective cover at the hybrid connector.
▶ Wire pre-assembled hybrid connector for the connection between Connection
Module ILM62CM and Distribution Box ILM62DB. Attach plug connector at X1
connection of the Distribution Box ILM62DB. Perform connections CN4-5, CN6,
CN7 and CN8 at the Connection Module ILM62CM according to the connection
overview in Chapter (see 7.8.1 Connection Module ILM62CM).
▶ Attach hybrid connector at ILM62 Servo Module and connect to one of connec‐
tions CN2-CN5. Lock both connections using mounting brackets.
Cable removal
▶ Dismount earthing cable between Connection Module ILM62CM and Distribution
Box ILM62DB.
▶ Loosen the mounting bracket (ILM62 Servo Module and Distribution Box
ILM62DB), pull off the hybrid connector or power cable (daisy chain wiring) at the
ILM62 Servo Module and loosen the plug connector of connections CN2-CN5.
▶ Close free connections of the Distribution Box ILM62DB with strapping plugs.
▶ Equip the loosened hybrid cable with protective covers.
Keep a logbook for tracing the maintenance history of the machine and note the re‐
placed components (as per EN 62061:2005).
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6 Installation and maintenance
6.4.3
Replacement of devices and cables of ILM62 Servo Module
How to replace the ILM62 Servo Module:
CAUTION
ELECTROSTATIC DISCHARGE
•
•
Use the original or similar packaging to send back components.
Components must be packaged in ESD packaging/film.
Failure to follow these instructions can result in damage to components and loss of warranty
claim.
NOTICE
IMPROPER REPLACEMENT OR OPENING OF THE ILM62 COMPONENTS
•
•
Do not open the ILM62 component to put it into operation or replace it.
In addition to the following instructions, you must observe the machine manu‐
facturer's specifications when replacing of the ILM62 components.
Failure to follow these instructions can result in equipment damage.
▶
▶
▶
Take preliminary measures.
Put main switch in "OFF" position to free system of voltage.
Prevent main switch from being switched back on.
WARNING
UNINTENTIONAL AXIS MOVEMENTS DUE TO LOSS OF REFERENCES IN CASE
OF A MOTOR REPLACEMENT
For servo axes with indirect distance measuring systems, restore the reference to the
machine coordinate system via the motor encoder every time a motor is replaced.
Failure to follow these instructions can result in death or serious injury.
NOTICE
MECHANICAL FORCE TO THE ENCODER SYSTEM
•
•
•
Prevent impacts on the motor shaft when removing and attaching couplings to
the motor shaft, as this could damage the encoder.
Use appropriate tools, such as an extractor.
Avoid mechanical damage to the coating of the motor housing.
Failure to follow these instructions can result in equipment damage.
▶
▶
86
Replace the drive according to the machine manufacturer's specifications.
Connect the earthing cable and tighten it with a 2.8 Nm torque.
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6.4 Device-, parts- or cable exchange
2
1
TM
Figure 6-14: Connection overview ILM62 Servo Module
1
Ground connection
2
Hybrid connector
How to replace the cables for line structure and tree structure:
▶ Disconnect / attach the earthing cable and/or hybrid connector from/at the ILM62
Servo Module.
▶ Disconnect / attach the earthing cable and/or hybrid connector from/at the Distri‐
bution Box ILM62DB.
How to replace the cables for daisy chain structure:
▶ Disconnect / attach the earthing cable from/at ILM62 Servo Module and/or dis‐
connect / attach power cable as well as Sercos cables from/at Daisy Chain Con‐
nector Box which is installed on the ILM62 Servo Module.
▶ Disconnect / attach the earthing cable and/or power cable from/at Distribution Box
ILM62DB.
NOTICE
INSUFFICIENT SHIELDING/GROUNDING
Operate the drive only with fixed cover and cable gland.
Failure to follow these instructions can result in equipment damage.
Keep a logbook for tracing the maintenance history of the machine and note the re‐
placed components (as per EN 62061:2005).
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7 Technical data
7
Technical data
7.1
Definition of technical data
Abbre‐
viation
Unit
Explanation
I0
[Arms]
Standstill current
Effective value of the motor current at standstill torque M0
IN
[Arms]
Rated current
Effective value of the motor current at rated torque MN
Imax
[Arms]
Peak current
Effective value of the motor current at peak torque Mmax
JM
[kgcm2]
Rotor moment of inertia
The rotor inertia refers to a motor without brake.
kT
[Nm/Arms]
Torque constant
Quotient from the standstill torque M0 and standstill current I0 .
m
[kg]
Mass
Motor mass without brake and without fan
M0
[Nm]
Standstill torque; Continuous torque (100% ED) at 5 min-1 by an ambient temperature of 40 °C ..
MN
[Nm]
Rated torque; Continuous torque (100% ED) by nN due to the speed-dependent losses less than
M0, by an ambient temperature of 40 °C ..
Mmax
[Nm]
Peak torque
The maximum torque that the servo motor can briefly deliver to the output shaft.
nN
[min-1]
Rated motor speed
nmax
[min ]
Mechanical limit velocity
PN
[kW]
Mechanical rated power (power delivered to the shaft)
At the rated motor speed and load with the rated torque
-1
RU-V, 20 [Ω]
Winding resistance
Resistance between two phases at a winding temperature of 20 °C.
LU-V
[mH]
kE
[Vrms/kmin ]
Voltage constant; Induced voltage between two phases at 1000 min-1
V
[m/s2]
Maximum vibration (all directions)
S
[m/s ]
Maximum shock (all directions)
TTK
[°C]
Response limit temperature sensor
tth
[min]
Thermal time constant
p
Winding inductance between two phases
-1
2
Number of pole pairs
Table 7-1: Physical sizes with units and explanations
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7.2 Ambient conditions
7.2
Ambient conditions
Connection Module ILM62CM
Ambient condi‐
tions
Procedure
Operation
Parameter
Value
Class 3K3
Basis
IEC/EN 60721-3-3
Degree of protection housing
IP 20 with plugged-in connectors
Degree of protection installa‐
tion site
IP 54, if safety circuit with InverterEnable is used
Pollution degree
2
Ambient temperature
+5 °C...+55 °C / +41 °F...+131 °F
Condensation
No
Icing
No
other liquid
No
Relative humidity
5% ... 85%
Class 3M4
Transport
Vibration
10m/s2
Shock
100m/s2
Class 2K3
IEC/EN 60721-3-2
Ambient temperature
-25 °C...+70 °C / -13 °F...+158 °F
Condensation
No
Icing
No
other liquid
No
Relative humidity
5% ... 95%
Class 2M2
Long-term stor‐
age in
transport pack‐
aging
Vibration
15m/s2
Shock
300m/s2
Class 1K4
IEC/EN 60721-3-1
Ambient temperature
-25 °C...+55 °C / -13 °F...+131 °F
Condensation
No
Icing
No
other liquid
No
Relative humidity
5% ... 95%
Table 7-2: Ambient conditions Connection Module ILM62CM
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7 Technical data
Installation alti‐ The installation altitude is defined as height above sea level.
tude
Installation altitude without power reduction
<1000m (<3281ft. )
Installation altitude while complying with all of the following
conditions:
1000 ... 2000m (3281 ... 6562ft. )
•
•
55°C (131°F ) max. ambient temperature
Reduction of the continuous power by 1% per 100 m
(328 ft. ) above 1000 m (3281 ft. )
Installation altitude above sea level when complying with all of 2000 ... 3000m (6562 ... 9843ft. )
the following conditions:
•
•
•
40°C max. ambient temperature
Reduction of the continuous power by 1% per 100 m
(328 ft. ) above 1000 m (3281 ft. )
Overvoltages of the supplying grid limited to an overvolt‐
age category III according to IEC 60664-1/IEC61800-5-1
Installation lo‐ For operation, the Power Supply Module LXM62P••• and the Connection Module
cation and con‐ ILM62CM must be mounted in a closed control cabinet. The devices must only be
nection operated with fixed connections.
Pollution de‐
gree and de‐
gree of protec‐
tion
Pollution degree
according to
IEC61800-5-1
2
Degree of protection
according to
IEC61800-5-1
IP 20 (control cabinet), IP65 (field devi‐
ces)
Degree of pro‐ Ensure that no conductive pollution can deposit in the product (pollution degree 2).
tection when Conductive pollutions can cause the safety function to be ineffective.
using the safety
function
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7.2 Ambient conditions
Distribution Box ILM62DB
Parameter
Procedure
Operation
Value
Class 3K3
Basis
IEC/EN 60721-3-3
Degree of protection housing
IP 65 with plugged-in connectors
Pollution degree
2
Ambient temperature
+5 °C...+55 °C / +41 °F...+131 °F
Condensation
No
Icing
No
other liquid
No
Relative humidity
5% ... 85%
Class 3M7
Transport
Vibration
30m/s2
Shock
250m/s2
Class 2K3
IEC/EN 60721-3-2
Ambient temperature
-25 °C...+70 °C / -13 °F...+158 °F
Condensation
No
Icing
No
other liquid
No
Relative humidity
5% ... 95%
Class 2M2
Long-term stor‐
age in
transport pack‐
aging
Vibration
10m/s2
Shock
300m/s2
Class 1K4
IEC/EN 60721-3-1
Ambient temperature
-25 °C...+55 °C / -13 °F...+131 °F
Condensation
No
Icing
No
other liquid
No
Relative humidity
5% ... 85%
Table 7-3: Ambient conditions Distribution Box ILM62DB
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7 Technical data
Daisy Chain Connector Box
Parameter
Procedure
Operation
Value
Class 3K4
Basis
IEC/EN 60721-3-3
Degree of protection housing
IP 65 with plugged-in connectors
Pollution degree
2
Ambient temperature
-20 °C...+60 °C / -4 °F...+140 °F
Condensation
No
Icing
No
other liquid
No
Relative humidity
5% ... 95%
Class 3M7
Transport
Vibration
30 m/s2
Shock
250 m/s2
Class 2K2
IEC/EN 60721-3-2
Ambient temperature
-25 °C...+70 °C / -13 °F...+158 °F
Condensation
No
Icing
No
other liquid
No
Relative humidity
max. 75%
Class 2M2
Long-term stor‐
age in
transport pack‐
aging
Vibration
15 m/s2
Shock
300 m/s2
Class 1K2
IEC/EN 60721-3-1
Ambient temperature
-25 °C...+55 °C / -13 °F...+131 °F
Condensation
No
Icing
No
other liquid
No
Relative humidity
5% ... 85%
Table 7-4: Ambient conditions Daisy Chain Connector Box
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7.3 Standards and regulations
ILM62 Servo Module
Parameter
Procedure
Operation
Value
Class 3K3
Basis
IEC/EN 60721-3-3
Degree of protection housing
IP 65 with plugged-in connectors
Ambient temperature
+5°C...+40°C
Relative humidity
5% ... 85%
Class 3M7
Transport
Shock
250 m/s2
Vibration
30 m/s2 (all directions in space)
Class 2K3
IEC/EN 60721-3-2
Ambient temperature
-25°C...+70°C
Condensation
No
Icing
No
other liquid
No
Relative humidity
5% ... 95%
Class 2M1
Long-term stor‐
age in
transport pack‐
aging
Shock
100 m/s2
Vibration
15 m/s2
Class 1K4
IEC/EN 60721-3-1
Ambient temperature
-25°C...+55°C
Condensation
No
Icing
No
other liquid
No
Relative humidity
10% ... 100%
Table 7-5: Ambient conditions for ILM62 Servo Module
7.3
Standards and regulations
CE
EC Low Voltage Directive 2006/95/EC
•
EN 61800-5-1:2007
•
EN 61800-3:2004
EC EMC Directive 2004/108/EC
UL
CSA
UL 508C: Power Conversion Equipment
Industrial Control Equipment
•
CAN/CSA-C22.2 No. 14-10
Table 7-6: Declarations and certifications
Functional safety
EN ISO 13849-1:2008, PL e,
EN 62061:2005, SIL 3
EN 61508:2010, SIL 3
Table 7-7: Standards and regulations - Functional safety
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7 Technical data
7.4
Motor options
Designation
Description
Motor shaft
Standard shaft with round-ended feather key according to DIN 6885 T1
Brake
Electromagnetic/permanently magnetic holding brake
Cooling
Air cooling (fan cover)
Table 7-8: Technical data of the motor options
7.5
Mechanical and electrical data
7.5.1
Connection Module ILM62CM
Parameter
Category
Product configuration Item name
Electronics power
supply (CN1)
Value
ILM62CMD20
Control voltage
DC +24 V -20% / +25%
Input current
20 A
DC bus voltage
DC 250 ... 700 V
Input current
20 A rated current
Power supply (CN1) DC bus capacity
220 µF
Discharge time
5 min (max.)
Overvoltage
860 Vdc
DC bus voltage
DC 250 ... 700 V
Output DC bus (CN7) Output current
Peak current 1 s (ISC)
20 A rated current
Inverter Enable power Control voltage
supply (CN6)
Control current
DC +24 V -20% / +25%
IE voltage
Inverter Enable output
IE current
signal (CN8)
IE signal frequency
Interfaces
Sercos
40 A
1.5 A
AC 40 V (eff.)
2A
100 kHz
integrated
Cooling
Natural convection
Degree of protection
IP20
Isolation class
Pollution degree
2 (IEC 61800-5-1)
Overvoltage resist‐
ance
Class
1 (DIN VDE 0160)
Overvoltage category Class
III (EN 61800-5-1)
Radio interference
level
Class
A EN 55011 / EN 61800 - 3
Dimensions
Housing D x W x H
270 mm x 44.5 mm x 310 mm (10.63 in. x 1.75 in. x
12.20 in.)
Weight
Weight (with packaging)
3 kg (4 kg) / 6.6 lbs (8.8 lbs)
Table 7-9: Technical data Connection Module ILM62CM
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7.5 Mechanical and electrical data
7.5.2
Distribution Box ILM62DB
Category
Parameter
Value
Product configuration Item name
Distribution Box ILM62DB
DC power supply
(CN1 - CN5)
DC bus voltage
DC 250 V ... 700 V
Rated current
20 A
DC capacity
100 µF
Electronics power
supply
(CN1 - CN5)
Control voltage / -current
DC 24 V (-20%..+25%) / max 20 A
Control voltage capacity
1000 µF
Inverter Enable
(CN1 - CN5)
IE voltage
AC 42 V (eff.)
IE current
2 A (eff.)
IE signal frequency
100 kHz
Data rate
100 Mbit/s
Ethernet Sercos
(CN1 - CN5)
Cooling
Natural convection
Degree of protection
IP 65
Isolation class
Pollution degree
2 (IEC 61800-5-1:2007)
Overvoltage category Class
III (IEC 61800-5-1:2007), T2 (DIN VDE 0110)
Overvoltage resist‐
ance
Class
1 (DIN VDE 0160)
Radio interference
level
Class
A EN 55011 / EN 61800 - 3
Material
Dimensions
Polycarbonate [Lexan 940A]
Housing D x W x H
Weight
151.4 mm x 230 mm x 94 mm (5.96 in. x 9.05 in. x 3.70 in.)
0.85 kg (1.8 lbs)
Table 7-10: Technical data Distribution Box ILM62DB
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7 Technical data
7.5.3
Daisy Chain Connector Box
Category
Parameter
Value
Product configuration
Item name
Daisy Chain Connector Box
DC power supply
(CN1, CN2/CN3)
DC bus voltage
DC 250 V ... 700 V
Rated current
20 A
Electronics power sup‐
ply
(CN1, CN2/CN3)
Control voltage / -current
DC 24 V (-20%..+25%) / max 20 A
Inverter Enable
(CN1, CN2/CN3)
IE voltage
AC 42 V (eff.)
IE current
2 A (eff.)
IE signal frequency
100 kHz
Data rate
100 Mbit/s
Ethernet Sercos
(CN4/CN5)
Cooling
Natural convection
Degree of protection
IP 65
Isolation class
Pollution degree
2 (IEC 61800-5-1:2007)
Overvoltage category
Class
III (IEC 61800-5-1:2007), T2 (DIN VDE 0110)
Overvoltage resistance
Class
1 (DIN VDE 0160)
Radio interference level Class
A EN 55011 / EN 61800 - 3
Material
Polybutylene terephthalate with 30% fiberglass [Pocan B 4235]
Dimensions
ILM62DCA000 Type A
ILM62DCB000 Type B
ILM62DCC000 Type C
Weight
Housing D x W x H
74.6 mm x 73.3 mm x 93 mm (2.94 in. x 2.89 in. x 3.66 in.)
Housing D x W x H
56.5 mm x 106.8 mm x 113.2 mm (2.22 in. x 4.20 in. x 4.46 in.)
Housing D x W x H
56.5 mm x 106.8 mm x 140.2 mm (2.22 in. x 4.20 in. x 5.52 in.)
Weight with packaging
0.86 kg (1.90 lbs)
Table 7-11: Technical data Daisy Chain Connector Box
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7.5 Mechanical and electrical data
7.5.4
ILM motor controller
Category
Power Supply
Parameter
Supply voltage
250 ... 700 V DC
Connection capacity
700 nF
Control voltage
DC +24 V -20% / +25%
Electronics power Current consumption
supply (without brake) Voltage monitoring
Electronics power
supply (with brake)
Value
250 mA (max)
Undervoltage limit: 18.5 V
Overvoltage limit: 31 V
Control voltage
DC +24 V -20% / +25%
Current consumption ILM 070
Typically 550 mA
Current consumption ILM 100
Typically 750 mA
Current consumption ILM 140
typical 1,0 A
Voltage monitoring
Undervoltage limit: 18.5 V
Overvoltage limit: 31 V
Cooling
Natural convection
Overvoltage category Class
III (EN 61800-5-1), T2 (DIN VDE 0110)
Overvoltage resist‐
ance
Class
1 (DIN VDE 0160)
Radio interference
level
Class
A EN 55011 / EN 61800 - 3
Insulation material
class
F
Degree of protection Controller
Isolation class
IP65
Motor
For information on the degree of protection of the motor, see
Technical data ILM62 Servo Modules.
Pollution degree
2
Motor coating
Lubricant (according
to FDA standard for
servo motors)
2 component high solid epoxy resin coating
Klübersynth UH1 64-62 food safe gearbox grease
Table 7-12: Technical data ILM motor controller
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7 Technical data
7.5.5
ILM070 Servo Motor
Category
General data
Electrical data
Parameter
Abbreviation ILM070 1 P ILM070 2 P ILM070 3 P
[unit]
Standstill torque
M0 [Nm]
1.1
1.7
2.2
Peak torque
Mmax [Nm]
3.5
7.6
8.7
Rated motor speed
nN [min ]
6000
6000
6000
Rated torque
MN [Nm]
0.5
1.15
1.15
Rated power
PN [kW]
0.31
0.72
0.72
Number of pole pairs
p
3
3
3
-1
Motor winding switch
Y
Y
Y
Torque constant (120 °C)
kT [Nm/Arms]
0.71
0.76
0.76
Winding resistance Ph-Ph (20 C)
RU-V, 20 [Ω]
10.40
4.20
2.70
Winding resistance Ph-0 (120 °C)
R120 [Ω]
7.23
2.92
1.88
Winding inductance Ph-Ph
LU-V [mH]
38.8
19.0
13.0
Winding inductance Ph-0
L [mH]
19.4
9.5
6.5
Voltage constant Ph-Ph (20 °C)
kE [Vrms/
46
48
49
kmin ]
-1
Mechanical data
Standstill current
I0 [Arms]
1.55
2.5
3.0
Rated current
IN [Arms]
0.60
1.5
1.5
Peak current
Imax [Arms]
5.7
11.8
12.0
Moment of inertia of the rotor
JM [kgcm²]
0.25 (0.35)
0.41 (0.51)
0.58 (0.88)
m [kg]
2.7 (3.0)
3.4 (3.7)
4.2 (4.7)
Thermal time constant
Tth [min]
35
38
51
Response limit thermal contact
TTK [°C]
130
130
130
optional
optional
optional
Weight
Thermal data
Brake data
Holding brake
Table 7-13: Technical data ILM070 without (with) brake
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7.5 Mechanical and electrical data
7.5.6
ILM100 Servo Motor
Category
General data
Electrical data
Parameter
Abbreviation ILM100 1 P ILM100 2 P ILM100 3 P
[unit]
Standstill torque
M0 [Nm]
2.5
4.4
5.8
Peak torque
Mmax [Nm]
9.6
18.3
28.3
Rated motor speed
nN [min ]
3000
3000
3000
Rated torque
MN [Nm]
1.9
2.9
3.5
Rated power
PN [kW]
0.6
0.91
1.10
Number of pole pairs
p
4
4
4
-1
Motor winding switch
Y
Y
Y
Torque constant (120 °C)
kT [Nm/Arms]
1.39
1.52
1.61
Winding resistance Ph-Ph (20 C)
RU-V, 20 [Ω]
9.80
4.12
2.60
Winding resistance Ph-0 (120 °C)
R120 [Ω]
6.82
2.86
1.81
Winding inductance Ph-Ph
LU-V [mH]
45.70
21.80
15.60
Winding inductance Ph-0
L [mH]
22.85
10.90
7.80
Voltage constant Ph-Ph (20 °C)
kE [Vrms/
90
100
103
kmin ]
-1
Mechanical data
Standstill current
I0 [Arms]
1.80
2.90
3.60
Rated current
IN [Arms]
1.40
2.00
2.40
Peak current
Imax [Arms]
7.40
13.10
21.20
Moment of inertia of the rotor
JM [kgcm²]
1.40
(2.10)
2.31
(3.01)
3.22
(3.92)
m [kg]
4.9 (5.7)
6.4 (7.2)
8.1 (8.9)
Thermal time constant
Tth [min]
44
48
56
Response limit thermal contact
TTK [°C]
130
130
130
optional
optional
optional
Weight
Thermal data
Brake data
Holding brake
Table 7-14: Technical data ILM100 without (with) brake
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7 Technical data
7.5.7
ILM140 Servo Motor
Category
General data
Electrical data
Parameter
Abbreviation ILM140 1 P ILM140 1 M ILM140 2 P
[unit]
Standstill torque
M0 [Nm]
7.5
8.5
12.5
Peak torque
Mmax [Nm]
27.0
27.0
55.0
Rated motor speed
nN [min ]
3000
1500
2000
Rated torque
MN [Nm]
4.6
8.3
9.1
Rated power
PN [kW]
1.45
1.30
1.91
Number of pole pairs
p
5
5
5
-1
Motor winding switch
Y
Y
Y
Torque constant (120 °C)
kT [Nm/Arms]
1.60
2.65
2.60
Winding resistance Ph-Ph (20 C)
RU-V, 20 [Ω]
1.81
4.58
1.90
Winding resistance Ph-0 (120 °C)
R120 [Ω]
1.26
3.18
1.32
Winding inductance Ph-Ph
LU-V [mH]
19.10
50.0
22.0
Winding inductance Ph-0
L [mH]
9.55
25.0
11.0
Voltage constant Ph-Ph (20 °C)
kE [Vrms/
108
175
173
kmin ]
-1
Mechanical data
Standstill current
I0 [Arms]
4.70
3.20
4.8
Rated current
IN [Arms]
2.90
3.15
3.7
Peak current
Imax [Arms]
18.8
14.6
24.0
Moment of inertia of the rotor
JM [kgcm²]
7.41
7.41
12.68
m [kg]
12.5 (13.8)
12.5 (13.8)
17.2 (18.5)
Thermal time constant
Tth [min]
64
64
74
Response limit thermal contact
TTK [°C]
130
130
130
optional
optional
optional
Weight (with brake)
Thermal data
Brake data
Holding brake
Table 7-15: Technical data ILM140 without (with) brake
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7.5 Mechanical and electrical data
7.5.8
Encoder
SinCos® (SKS36) Singleturn
Parameter
Value
Unit
Number of revolutions
1
Number of sine/cosine periods
128
Per revolution
Absolute measuring range
1
Revolution
Error limits of the digital absolute value
+/-5.3
Angular minutes
Error limits when evaluating the 128 signals (integral nonlinearity)
+/-1.3
Angular minutes
Signal shape
Sinusoidal
Table 7-16: Technical data of the SinCos encoder (SKS-36)
SinCos® (SKM36) Multiturn
Parameter
Value
Unit
Number of revolutions
4096
Number of sine/cosine periods
128
Per revolution
Absolute measuring range
1
Revolution
Error limits of the digital absolute value
+/-5.3
Angular minutes
Error limits when evaluating the 128 signals (integral nonlinearity)
+/-1.3
Angular minutes
Signal shape
Sinusoidal
Table 7-17: Technical data of the SinCos® encoder (SKM-36)
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7 Technical data
7.5.9
Motor shaft and bearings
Design of the shaft end
Smooth With a non-positive connection, torque transmission must be achieved only by surface
shaft end pressure. That ensures safe power transmission without backlash.
(standard)
Shaft end with
round-ended
feather key ac‐
cording to DIN
6885
Shaft connections with feather keys are positive. The feather key seating can deflect
under continuous strain with changing torques and prolonged reverse operation, caus‐
ing backlash. As a result, rotational quality is reduced due to backlash. Increasing
deformation can lead to the feather key breaking and damage to the shaft. This type
of shaft hub connection is only suitable for low requirements. Therefore, we recom‐
mend using smooth shaft ends.
Bearing
The back side bearing is designed as a fixed bearing and the bearing on shaft output
side as a floating bearing.
Permissible shaft load
In case of technical correct use, the life of drives is limited by the bearing life. The
customer may not replace the bearing, as the measuring systems integrated in the
drive must then be reinitialized.
Figure 7-1: Definition of shaft load
Motor
1000 min-1
2000 min-1
3000 min-1
4000 min-1
5000 min-1
6000 min-1
ILM070 1 P
660
520
460
410
380
360
ILM070 2 P
710
560
490
450
410
390
ILM070 3 P
730
580
510
460
430
400
ILM100 1 P
900
720
630
-
-
-
ILM100 2 P
990
790
690
-
-
-
ILM100 3 P
1050
830
730
-
-
-
ILM140 1 M
2210
1760
-
-
-
-
ILM140 1 P
2210
1760
1530
-
-
-
ILM140 2 P
2430
1930
-
-
-
-
Table 7-18: Permissible radial force Fradial [N]
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7.5 Mechanical and electrical data
Basis for calculation:
The permissible axial force Faxial [N] is calculated according to:
Faxial = 0.2 x Fradial
•
•
•
•
7.5.10
Nominal bearing life L10h = 20,000 h for a shaft without feather key nut (for operating
hours at a 10% failure probability)
Ambient temperature = 40 °C (approx. 100 °C storage temperature)
Peak torque = 10 % ED
Nominal torque = 100 % ED
Holding brake (optional)
To hold the axes without play during standstill or when the system is deactivated, you
can order the servo motors with a holding brake. The permanent magnetic brake is a
continuous surface unit with which the force of the permanent magnetic field is used
for generating the braking effect (system opens electromagnetically).
Operating prin‐ The permanent magnetic field is compensated by an electromagnetic field for cancel‐
ciple of the ling the braking effect. Reliable release without detent torque that is independent of
holding brake the mounting position is ensured by a steel spring. In addition to frictionless axial ar‐
mature movement, it also offers the transmission of braking torque without backlash.
The motors are provided with a varistor for reducing overvoltage when the brake is
engaged.
CAUTION
PREMATURE WEAR OF THE HOLDING BRAKE
Use the holding brake only when the axis is at a standstill or in emergency stop sit‐
uations.
Failure to follow these instructions can result in injury or equipment damage.
The times mentioned in the following apply when switching in the direct current circuit,
when the motor is warm, and at the rated voltage. The disconnection time is the period
from switching on the current to the dying out of the torque to 10% of the rated torque
of the brake. The coupling time counts as the period from when the current is switched
off to the attainment of the rated torque.
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7 Technical data
The holding brake is designed differently for each series:
Technical data of the holding brake of the ILM070
ILM070 1 P
Parameter
ILM070 2 P
ILM070 3 P
Unit
Static holding torque at 120 °C 3.0
3.0
3.0
[Nm]
Coupling time
10
10
10
[ms]
Disconnection time
80
80
80
[ms]
Mass
0.28
0.28
0.28
[kg]
Moment of inertia
0.11
0.11
0.11
[kgcm2]
Rated power
7
7
7
[W]
Rated Voltage
24
24
24
[Vdc]
Table 7-19: Technical data of the holding brake of the ILM070
Technical data of the holding brake of the ILM100
Parameter
ILM100 1 P
ILM100 2 P
ILM100 3 P
Unit
Static holding torque at 120 °C 5.5
5.5
9.0
[Nm]
Coupling time
30
30
25
[ms]
Disconnection time
70
70
90
[ms]
Mass
0.46
0.46
0.65
[kg]
Moment of inertia
0.49
0.49
0.78
[kgcm2]
Rated power
12
12
14
[W]
Rated Voltage
24
24
24
[Vdc]
Table 7-20: Technical data of the holding brake of the ILM100
Technical data of the holding brake of the ILM140
Parameter
ILM140 1 P
ILM140 1 M
ILM140 2 P
Unit
Static holding torque at 120 °C 18.0
18.0
23.0
[Nm]
Coupling time
50
50
40
[ms]
Disconnection time
100
100
100
[ms]
Mass
1.06
1.06
1.29
[kg]
Moment of inertia
1.5
1.5
2.55
[kgcm2]
Rated power
18
18
19
[W]
Rated Voltage
24
24
24
[Vdc]
Table 7-21: Technical data of the holding brake of the ILM140
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7.6 Mounting arrangement and degree of protection
7.6
Mounting arrangement and degree of protection
The drive degree of protection depends on the mounting arrangement. The mounting
flange for all drive types is designed in such a way that the installation type is possible
according to the types of construction IM B5, IM V1 and IM V3 (mounting flange with
through hole). By the DIN IEC 34-7 the drives can be mounted to the machine ac‐
cording to the following listing types.:
Figure 7-2: Drive installations
NOTICE
IMPERMISSIBLE MOUNTING POSITION AND PENETRATING LIQUIDS
Prevent liquids from remaining on the motor shaft over an extended period of time
when mounting the motor in the mounting position IM V3.
Failure to follow these instructions can result in equipment damage.
It also cannot be ruled out that liquids penetrate the motor housing along the motor
shaft even if a shaft sealing ring has been installed.
Motor part
Shaft
Surface/connections
Degree of protection (ac‐ Mounting position (conforming to DIN 42 950)
cording to EN 60529)
IP 50
IM V3
IP 54
IM B5, IM V1
IP 65
IM V3 (shaft sealing ring)
IP 65
IM B5, IM V1, IM V3
Table 7-22: Degree of protection of the ILM servo motor
7.7
Torque/speed characteristic curves
The torque-speed characteristic curve represents the following characteristics:
•
•
The permissible permanent torque (operating type S 1)
The peak torque with mains voltage = 3 x 230 Vac
•
The peak torque with mains voltage = 3 x 400 VacVac
•
The peak torque with mains voltage = 3 x 480 Vac *
(* for ILM140•• only)
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7 Technical data
60,0
50,0
Mmax 230V 3AC
Mmax 400V 3AC
Mmax 480V 3AC*
40,0
M [Nm]
30,0
20,0
Md
10,0
0,0
0
250
500
750
1000
1250
1500
1750
2000
n [min-1]
Figure 7-3: Example of a torque-speed characteristic curve (* for ILM140•• only)
The characteristic curves refer to an ambient temperature of 40°C and a maximum
winding temperature of 120°C.
Figure 7-4: Torque-speed characteristic curve ILM 070 1 P
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7.7 Torque/speed characteristic curves
Figure 7-5: Torque-speed characteristic curve ILM 070 2 P
Figure 7-6: Torque-speed characteristic curve ILM 070 3 P
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7 Technical data
Figure 7-7: Torque-speed characteristic curve ILM 100 1 P
Figure 7-8: Torque-speed characteristic curve ILM 100 2 P
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7.7 Torque/speed characteristic curves
Figure 7-9: Torque-speed characteristic curve ILM 100 3 P
30,0
25,0
M [Nm]
20,0
15,0
10,0
5,0
0,0
0
250
500
750
1000
1250
1500
n [min-1]
Figure 7-10: Torque-speed characteristic curve ILM 140 1 M
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7 Technical data
30,0
25,0
M [Nm]
20,0
15,0
10,0
5,0
0,0
0
500
1000
1500
2000
2500
3000
n [min-1]
Figure 7-11: Torque-speed characteristic curve ILM 140 1 P
60,0
50,0
40,0
M [Nm]
30,0
20,0
10,0
0,0
0
250
500
750
1000
1250
1500
1750
2000
n [min-1]
Figure 7-12: Torque-speed characteristic curve ILM 140 2 P
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7.8 Electrical connections
7.8
Electrical connections
7.8.1
Connection Module ILM62CM
CN1
CN3
CN2
TM
CN5
CN4
CN6
CN7
CN8
Figure 7-13: Connection overview Connection Module ILM62CM
Meaning
Connection cross-section [mm2]/ [AWG]
Tightening torque [Nm] / [lbf in]
Bus Bar Module
-/-
2.5 / 22.14
CN2/CN3
Sercos communication
-/-
-/-
CN4
Sercos communication
-/-
-/-
CN5
Sercos communication
-/-
-/-
CN6
Inverter Enable 24 V
0.5 … 16 / 20 ... 6
-/-
CN7
DC bus output
0.2 ... 6 / 24 ... 10
-/-
CN8
Inverter Enable signal output /
24 V output
0.2 ... 6 / 24 ... 10
-/-
Protective conductor
10 (cable lug) / 6
3.5 / 30.98
Connection
CN1
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7 Technical data
CN1 - Bus Bar Module
The DC bus voltage and the 24Vdc control voltage will be distributed and the protective
conductor connected via the Bus Bar Module. A separate cabling is not required.
Pin
Designation
1
Meaning
Protective ground conductor
2
DC-
- DC bus voltage
3
DC +
Dc bus voltage +
4
24V
Supply voltage +
5
0V
Supply voltage -
Table 7-23: Electrical connection - Bus Bar Module
CN2/CN3 - Sercos
The Sercos connection is used for communication between the LMC controller, the
power supply and the Connection Module or modules.
Pin
Designation
Meaning
1.1
Eth0_Tx+
Positive transmission signal
1.2
Eth0_Tx-
Negative transmission signal
1.3
Eth0_Rx+
Positive receiver signal
1.4
n.c.
-
1.5
n.c.
-
1.6
Eth0_Rx-
Negative receiver signal
1.7
n.c.
-
1.8
n.c.
-
2.1
Eth1_Tx+
Positive transmission signal
2.2
Eth1_Tx-
Negative transmission signal
2.3
Eth1_Rx+
Positive receiver signal
2.4
n.c.
-
2.5
n.c.
-
2.6
Eth1_Rx-
Negative receiver signal
2.7
n.c.
-
2.8
n.c.
-
Table 7-24: Electrical connection - Sercos
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7.8 Electrical connections
CN4 - Sercos
The Sercos connection is used for communication between Connection Module
ILM62CM and ILM62 Servo Module.
Pin
Designation
Meaning
1
Eth0_Tx+
Positive transmission signal
2
Eth0_Tx-
Negative transmission signal
3
Eth0_Rx+
Positive receiver signal
4
n.c.
-
5
n.c.
-
6
Eth0_Rx-
Negative receiver signal
7
n.c.
-
8
n.c.
-
Table 7-25: Electrical connection - Sercos
CN5 - Sercos
The Sercos connection is used for communication between Connection Module
ILM62CM and ILM62 Servo Module.
Pin
Designation
Meaning
1
Eth0_Tx+
Positive transmission signal
2
Eth0_Tx-
Negative transmission signal
3
Eth0_Rx+
Positive receiver signal
4
n.c.
-
5
n.c.
-
6
Eth0_Rx-
Negative receiver signal
7
n.c.
-
8
n.c.
-
Table 7-26: Electrical connection - Sercos
CN6 - Inverter Enable power supply 24V
The Inverter Enable voltage connection supplies the Inverter Enable output.
Pin
Designation
Meaning
1
IE_p1
Supply voltage 24V for IE
2
IE_p2
Supply voltage 24V for IE
3
IE_n1
Supply voltage 0V for IE
4
IE_n2
Supply voltage 0V for IE
5
0V_int1
Control voltage 0V
6
0V_int2
Control voltage 0V
Table 7-27: Inverter Enable supply voltage 24V
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CN7 - DC bus output
Via the hybrid cable or power cable (daisy chain wiring) the DC bus output is connected
to the Distribution Box ILM62DB or directly connected to an ILM62 Servo Module and
supplies the ILM62 Servo Module with the required power.
Pin
Designation
Meaning
Color of cable core
1
DC +
Dc bus voltage +
red
2
PE
Protective ground conductor
green/yellow
3
DC-
- DC bus voltage
black
Table 7-28: Electrical connection - DC bus output
The insulation-stripped length of the wires of the DC bus connector is 15 mm
(0.59 in.).
CN8 - Inverter Enable output
The Inverter Enable signal safely switches off the motor torque.
Pin
Designation
Meaning
Color of cable core
1
IE_sig
IE signal 1
white (core)
2
IE_ref
IE signal 2
white (shield)
3
24V_out
Control voltage 24V
green
4
0V_out
Control voltage 0V
gray
Table 7-29: Inverter Enable output
The insulation-stripped length of the wires of the 24V input connector is 15mm
(0.59in. ).
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7.8 Electrical connections
7.8.2
Distribution Box ILM62DB
CN5
CN4
CN3
CN2
CN1
TM
Connection
Meaning
Connection cross-section [mm2]/
[AWG]
Tightening torque [Nm] / [lbf in]
CN1
Input (Connection Module ILM62CM
or Distribution Box ILM62DB)
-/-
-/-
CN2
Output (Distribution Box ILM62DB or
ILM62 Servo Module)
-/-
-/-
CN3
Output (Distribution Box ILM62DB or
ILM62 Servo Module)
-/-
-/-
CN4
Output (Distribution Box ILM62DB or
ILM62 Servo Module)
-/-
-/-
CN5
Output (Distribution Box ILM62DB or
ILM62 Servo Module)
-/-
-/-
2.5 / 13
3.5 / 30.98
Protective conductor
Table 7-30: Connection overview Distribution Box ILM62DB
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7 Technical data
Pin
1...5
6
7
8
9
11
10
12
13
View
mating side
Designation
Meaning
1
IE_sig
2
IE_ref
Inverter Enable
(differential signal)
3
Hybrid cable or power
cable detection
Hybrid cable or power cable detection (daisy chain wiring)
4
Hybrid cable or power
cable detection
Hybrid cable or power cable detection (daisy chain wiring)
5
n.c.
-
6
24V
Control voltage 24V
7
0V
Control voltage 0V
8.1
Rx+
Sercos port 1 - Input (not assigned for daisy chain wiring)
8.2
Tx-
Sercos port 1 - Output (not assigned in the case of daisy chain wir‐
ing)
8.3
Rx-
Sercos port 1 - Input (not assigned for daisy chain wiring)
8.4
Tx+
Sercos port 1 - Output (not assigned in the case of daisy chain wir‐
ing)
9.1
Rx+
Sercos port 2 - Input (not assigned for daisy chain wiring)
9.2
Tx-
Sercos port 2 - Output (not assigned in the case of daisy chain wir‐
ing)
9.3
Rx-
Sercos port 2 - Input (not assigned for daisy chain wiring)
9.4
Tx+
Sercos port 2 - Output (not assigned in the case of daisy chain wir‐
ing)
10
DC-
DC bus voltage -
11
Shield
Shielded connector
12
DC +
Dc bus voltage +
13
PE
Protective conductor
Table 7-31: Hybrid socket connector Distribution Box ILM62DB
▶ Provide unused hybrid connection sockets with strapping plugs.
The strapping plugs are not included in the scope of delivery of ILM62 Servo Module
and must be ordered separately (order number: VW3E6023).
Strapping plugs close the SERCOS loop, serve as protection against hazardous volt‐
age and ensure the IP65 degree of protection.
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7.8 Electrical connections
7.8.3
ILM62 Servo Module
2
1
TM
Figure 7-14: Connection overview ILM62 Servo Module
Meaning
Connection
1
Ground connection
2
Hybrid connector
Pin
Connection cross section [mm2]/ [AWG]
Tightening torque [Nm] / [lbf in]
2.5 / 13
1.8 / 15.9
-/-
-/-
Designation
Meaning
1
IE_sig
2
IE_ref
Inverter Enable
(differential signal)
3
Brake
Braking signal
4
n.c.
-
5
n.c.
-
6
24V
Control voltage 24V
7
0V
Control voltage 0V
8.1
Rx+
Sercos port 1 - Input (not assigned for daisy chain wiring)
8.2
Tx-
Sercos port 1 - Output (not assigned in the case of daisy chain wiring)
8.3
Rx-
Sercos port 1 - Input (not assigned for daisy chain wiring)
8.4
Tx+
Sercos port 1 - Output (not assigned in the case of daisy chain wiring)
9.1
Rx+
Sercos port 2 - Input (not assigned for daisy chain wiring)
9.2
Tx-
Sercos port 2 - Output (not assigned in the case of daisy chain wiring)
9.3
Rx-
Sercos port 2 - Input (not assigned for daisy chain wiring)
9.4
Tx+
Sercos port 2 - Output (not assigned in the case of daisy chain wiring)
10
DC-
DC bus voltage -
11
Shield
Shielded connector
12
DC +
Dc bus voltage +
13
PE
Protective conductor
Table 7-32: Connector ILM62 Servo Module
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7 Technical data
7.8.4
ILM62DC•000 Daisy Chain Connector Box
Usage of Daisy Chain Connector Box enables wiring of ILM62 Servo Modules in daisy
chain structure. This requires that each ILM62 Servo Module must be extended by a
Daisy Chain Connector Box. Per daisy chain line, up to 9 ILM62 Servo Modules can
be connected to one another via their respective Daisy Chain Connector Box. Power
(DC bus voltage/24V/Inverter Enable signals) and signals are distributed from one to
the next via separate cables (power or cable).
1
2
TM
3
Figure 7-15: Plug and socket connectors of the Daisy Chain Connector Box
118
1
Hybrid plug connector (CN1)
2
Sercos socket connectors M12 (CN4/CN5)
3
Power socket connectors M23 (CN2/CN3)
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7.8 Electrical connections
Pin
1...5
Designation
Meaning
1
IE_sig
2
IE_ref
Inverter Enable
(differential signal)
3
Brake
Braking signal
4
n.c.
-
13
5
n.c.
-
View
mating side
6
24V
Control voltage 24V
7
0V
Control voltage 0V
8.1
Rx+
Sercos port 1 – input
8.2
Tx-
Sercos port 1 – output
8.3
Rx-
Sercos port 1 – input
8.4
Tx+
Sercos port 1 – output
9.1
Rx+
Sercos port 2 – input
9.2
Tx-
Sercos port 2 – output
9.3
Rx-
Sercos port 2 – input
9.4
Tx+
Sercos port 2 – output
10
DC-
DC bus voltage -
11
n.c.
-
12
DC +
Dc bus voltage +
13
PE
Protective conductor
6
7
8
9
11
10
12
Table 7-33: Hybrid plug connector (CN1)
Pin
2
3
4
7
5
1
6
Designation
Meaning
1
DC +
Dc bus voltage +
2
PE
Protective conductor
3
DC-
Dc bus voltage +
4
24V
Control voltage 24V
5
0V
Control voltage 0V
6
IE_sig
Inverter Enable signal 1
7
IE_ref
Inverter Enable signal 2
Table 7-34: Power socket connector M23 (CN2/CN3) of Daisy Chain Connector Box
4
1
Pin
3
2
Designation
Meaning
1
Eth_Tx+
Positive transceiver signal
2
Eth_Rx+
Positive receiver signal
3
Eth_Tx-
Negative transceiver signal
4
Eth_Rx-
Negative receiver signal
Table 7-35: Sercos socket connector M12 (CN4/CN5) of Daisy Chain Connector Box
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7 Technical data
7.9
Dimensions
7.9.1
Connection Module ILM62CM
Figure 7-16: Dimensions Connection Module ILM62CM in mm (conversion table in the appendix)
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7.9 Dimensions
7.9.2
Distribution Box ILM62DB
Figure 7-17: Dimensions Distribution Box ILM62DB in mm (conversion table in the appendix)
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7 Technical data
ILM62DC•000 Daisy Chain Connector Box
74,6
43
48,3
77,9
87,8
93
2,6
(4,8)
7.9.3
31
(43,1)
73,3
74,6
(35,2)
35,2
31
Figure 7-18: Dimensions of the Daisy Chain Connector Box Type A in mm (conversion table in
the appendix)
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7.9 Dimensions
106,8
(21,3)
35,2
113,2
108,4
6,2°
8,3°
48,3
(4,8)
56,5
14
2,6
18,5
18,5
(35,2)
31
Figure 7-19: Dimensions of the Daisy Chain Connector Box Type B in mm (conversion table in
the appendix)
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7 Technical data
56,5
(21,3)
35,2
140,2
135,4
6,2°
8,3°
48,3
(4,8)
106,8
14
2,6
18,5
18,5
(35,2)
31
Figure 7-20: Dimensions of the Daisy Chain Connector Box Type C in mm (conversion table
in the appendix)
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7.9 Dimensions
7.9.4
ILM62 Servo Module
Dimensions ILM070
without Option-module
with Option-module
Figure 7-21: Dimensions ILM070 motor in mm (conversion table in the appendix)
Please note that the ILM series 070 uses different shaft diameters. The shaft diameter
for the ILM070 3 P is 14mm .
Dimensions table
Dimensions
ILM070 1 P
ILM070 2 P
ILM070 3 P
A (with brake)
175 (182)
189 (215)
222 (256)
B
23
23
30
C
11 k6
11 k6
14 k6
K (with brake)
212 (219)
226 (252)
259 (293)
L (with brake)
25 (31)
38 (64)
71 (105)
Table 7-36: Dimensions of the ILM070 (dimension specifications in mm)
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7 Technical data
Dimensions ILM100
without Option-module
with Option-module
Figure 7-22: Dimensions ILM100 motor in mm (conversion table in the appendix)
Dimensions table
Dimensions
ILM100 1 P
ILM100 2 P
ILM100 3 P
A (with brake)
178 (207)
212 (243)
248 (279)
B
40
40
40
C
19 k6
19 k6
19 k6
K (with brake)
215 (243)
249 (280)
285 (315)
L (with brake)
27 (55)
61 (92)
97 (127)
Table 7-37: Dimensions of the ILM100 (dimension specifications in mm)
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7.9 Dimensions
Dimensions ILM140
without Option-module
with Option-module
Figure 7-23: Dimensions ILM140 motor in mm (conversion table in the appendix)
Dimensions table
Dimensions
ILM140 1 P
ILM140 1 M
ILM140 2 P
A (with brake)
218 (256)
218 (256)
273 (311)
B
50
50
50
C
24 k6
24 k6
24 k6
K (with brake)
254 (292)
254 (292)
309 (347)
L (with brake)
67 (105)
67 (105)
122 (160)
Table 7-38: Dimensions of the ILM140 (dimension specifications in mm)
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7 Technical data
Dimensions of the feather key
Figure 7-24: Dimension diagram of the feather key
Dimension tables
Dimensions
ILM070 1 P
ILM070 2 P
ILM070 3 P
B
23
23
30
C
11 k6
11 k6
14 k6
D
4 N9
4 N9
5 N9
E
2.5
2.5
3
F
18
18
20
G
2.5
2.5
5
H
DIN 332-D M4
DIN 332-D M4
DIN 332-D M5
Feather key (N9)
DIN 6885-A4x4x18
DIN 6885-A4x4x18
DIN 6885-A5x5x20
Table 7-39: Dimensions of the ILM070 feather key (dimension specifications in mm)
Dimensions
ILM100 1 P
ILM100 2 P
ILM100 3 P
B
40
40
40
C
19 k6
19 k6
19 k6
D
6 N9
6 N9
6 N9
E
3.5
3.5
3.5
F
30
30
30
G
5
5
5
H
DIN 332-D M6
DIN 332-D M6
DIN 332-D M6
Feather key (N9)
DIN 6885-A6x6x30
DIN 6885-A6x6x30
DIN 6885-A6x6x30
Table 7-40: Dimensions of the ILM100 feather key (dimension specifications in mm)
Dimensions
128
ILM140 1 P
ILM140 1 M
ILM140 2 P
B
50
50
50
C
24 k6
24 k6
24 k6
D
8 N9
8 N9
8 N9
E
4.5
4.5
4.5
F
40
40
40
G
5
5
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7.9 Dimensions
Dimensions
ILM140 1 P
ILM140 1 M
ILM140 2 P
H
DIN 332-D M8
DIN 332-D M8
DIN 332-D M8
Feather key (N9)
DIN 6885-A8x7x40
DIN 6885-A8x7x40
DIN 6885-A8x7x40
Table 7-41: Dimensions of the ILM140 feather key (dimension specifications in mm)
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8 Optional module ILM62-DIO8
8
Optional module ILM62-DIO8
Features:
•
•
•
•
•
•
•
8 bidirectional floating inputs/outputs (configurable in the PLC configuration)
Connection via two M12 connectors (8-pin), each with 4 inputs/outputs
Floating internal power supply of outputs up to 0.1 A total current for 8 inputs/
outputs
Maximum 2 A total output current via 8 outputs when using external supply voltage
0.5 A output current max. per output when using external supply
Short-circuit detection and open-circuit detection on outputs
Two inputs with special functions (touch probe, counter)
Figure 8-1: Connecting the ABE9 splitter box to the ILM62-DIO8 optional module
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8.1 Technical data
8.1
Technical data
Parameter
Value
Item name
VW3E702100000
ILM62-DIO8supply
- Control voltage / control current
DC 24 V (-15% / +20%)
when using internal I/O supply: max. 300mA
when using external I/O supply: max. 80mA
digital inputs
- Number
- Voltage in UIN 0 range
8 (IEC61131-2 Type I)
DC -3 ... 5 V
DC 15 ... 30 V
IIN = 2 mA at UIN = 15 V
- Voltage in UIN 1 range
- Input current
- Electrical isolation
- Protected against reverse polarity
- Input filter
500 V floating opposite PE
Yes
1 or 5 ms, configurable
Digital outputs
- Number
- Output voltage
- Rated current per output
- Overall module current across all 8 in-/outputs
- Inrush current
- Leakage current with 0 signal
- Transmission time
- Short-circuit-proof
- Supply output
- Galvanic isolation
8 (IEC61131-2)
(+UL-3 V) < UOUT < +UL
Ie = 500 mA
When using internal I/O supply: 0.1 A
When using external I/O supply: 2.0 A
Iemax > 2 A for 1 s
< 0.4 mA
100 µs
Yes
DC 24 V (-15% / +20%) / 2 A
500 V floating opposite PE
Weight
0,22 kg
Ambient conditions
- Degree of protection
- Ambient temp. during operation
- During storage and transport
- Overvoltage category
IP 65
+5...+40°C
-25...+70°C , Temperature fluctuation tmax = 30K/h
Class A EN55011 / EN61800-3
- Degree of radio interference
Approval
CE, cULus
Table 8-1: Technical data of ILM62-DIO8
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8 Optional module ILM62-DIO8
8.2
Installation
8
1
2
8
9
3
4
9
10
5
11
6
11
7
Figure 8-2: Mounting of the ILM62-DIO8 optional module on the ILM62 Servo Module
1
Torx M3x6 screw
2
Protective cover
3
O-ring (2.5 x 0.6)
4
Protective cover gasket
5
Optional module ILM62-DIO8
6
Sealing ring optional module ILM62-DIO8
7
ILM62 Servo Module
8
Hexagon socket screw key M4x50
9
Serrated lock washers M4
10
M12 connector
11
Hexagon socket screw key M4x28
How to install the optional module ILM62-DIO8:
required
tool
•
•
▶
132
Hexagon socket screwdriver 3.0
Torx TX10 screwdriver
Check delivery for completeness:
- Optional module ILM62-DIO8 with sealing ring
- 2 Torx screws M4x50
- 2 x serrated lock washers M4
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8.2 Installation
NOTICE
ELECTROSTATIC DISCHARGE
•
•
•
•
•
Touch circuit boards only on edges.
Do not touch any of the circuit points or components.
Before touching the circuit boards you should remove any static loads by first
touching a grounded metallic surface such as the housing.
Do not put the circuit boards on a metal surface.
Avoid the production of electrostatic charge by having suitable clothing, carpets
and furniture and by moving the boards as little as possible.
Failure to follow these instructions can result in equipment damage.
Prepare instal‐
lation
▶
▶
▶
▶
▶
Open main switch.
Prevent main switch from being switched back on.
Loosen the screw (1) with the screwdriver (Torx).
Remove screw (1) with insulating washer (3) and protective cap (2) and protective
cap gasket (4) from ILM62 Servo Module.
Loosen the screws (11) (M4x28) with the screwdriver (hexagon socket).
NOTICE
INSUFFICIENT SHIELDING/GROUNDING/TIGHTNESS
The serrated lock washers (9) must be removed when removing screws (11).
Failure to follow these instructions can result in equipment damage.
Assemble
▶
▶
Remove the screws (11) with serrated lock washers (9).
Insert the sealing ring (6) into the groove of the ILM62-DIO8.
NOTICE
INCORRECT INSTALLATION
•
•
Align ILM62-DIO8 with the three fixing pins.
Insert the sealing ring of ILM62-DIO8 completely into the groove.
Failure to follow these instructions can result in equipment damage.
▶
▶
▶
▶
▶
▶
▶
Attach ILM62-DIO8 on ILM62 Servo Module.
Plug screws (8) (M4x50) with serrated lock washers (9) through ILM62-DIO8 into
ILM62 Servo Module.
Gently turn the screw (8) inward with a screwdriver (hexagon socket).
Tighten the screws (8) temporary with 2 Nm (17.70 lbf in).
Tighten the screws (8) with 3 Nm (35.40 lbf in) definitively.
Fit protective cap (2) together with protective cover seal (4) onto ILM62-DIO8.
Screw the protective cap on tightly (to 1 Nm) with the screw (1) and the insulating
washer (3) by using a Torx screwdriver.
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8 Optional module ILM62-DIO8
8.3
Electrical connections
Optional module ILM62-DIO8
Pin
Designation
Meaning
1
IO.0
Input/output 0
2
IO.1
Input/output 1
3
IO.2
Input/output 2
4
IO.3
Input/output 3
5
24 V
Control voltage
6
24 V
Control voltage
7
0V
Control voltage
8
0V
Control voltage
Shield
PE
Shield
Table 8-2: Electrical connections ILM62-DIO8 outlet X4 - inputs/outputs
Pin
Designation
Meaning
1
IO.4
Input/output 4
2
IO.5
Input/output 5
3
IO.6
Input/output 6
4
IO.7
Input/output 7
5
24 V
Control voltage
6
24 V
Control voltage
7
0V
Control voltage
8
0V
Control voltage
Shield
PE
Shield
Table 8-3: Electrical connections ILM62-DIO8 outlet X5 - inputs/outputs
Block diagram ILM62-DIO8
X4
ILM62-DIO8
DC
2A max.
2A max.
24V
24V
X5
X4.5
X4.6
X5.5
X5.6
24V
DC
X4.7
X4.8
PowerSupply (intern)
X5.7
X5.8
0V
internal
adressing
in -/
output
IO.0
IO.1
IO.2
IO.3
IO.4
IO.5
IO.6
IO.7
X4.1
X4.2
X4.3
X4.4
X5.1
X5.2
X5.3
X5.4
Figure 8-3: Block diagram ILM62-DIO8
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8.3 Electrical connections
ABE9 Splitter Box
outlet 3
4 outlet
outlet 1
2 outlet
Figure 8-4: Connection scheme ABE9 splitter box
Pin
Designation
Meaning
1
24 V
Control voltage
2
free
Reserved
3
0V
Control voltage
4
IO.x
Input/output x (X4: 0 ... 3 or X5: 4 ... 7)
5
PE
Shield
Table 8-4: Electrical connections for ABE9 Splitter Box outlet 1 ... 4 - Inputs/Outputs
The control voltage when using external I/O supply can be supplied either via the X4,
X5 outlets or via the ABE9 Splitter Box.
NOTICE
NO POTENTIAL ISOLATION OF THE INPUTS/OUTPUTS
When using an external power supply, you must protect it with 2 A slow blow fuse.
Failure to follow these instructions can result in equipment damage.
shield
PE
blue red
-1
-2
grey pink
+1
+2
white
1
brown
green
yellow
2
3
4
*)
3
3
4
2
1
5
outlet 1
3
4
2
1
4
2
5
outlet 2
3
1
5
outlet 3
4
2
1
5
outlet 4
*) 2 variants available: with or without LED indicator
Figure 8-5: Block diagram ABE9 splitter box
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8 Optional module ILM62-DIO8
Dimensions
(31,3)
25
8.4
59,1
65,3
69
36
136,5
10
Figure 8-6: Dimensions ILM62-DIO8 in mm (conversion table in the appendix)
Figure 8-7: Dimensions of the ABE9 splitter box in mm (conversion table in the appendix)
136
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8.5 Wiring
8.5
Wiring
-1
blue
+1
gray
1
white
3
green
PE
Shield
4
yellow
2
brown
+2
pink
-2
red
KA99051 - xxx
Figure 8-8: Cable configuration VW3E4001Rxxx for connection of ABE9 splitter box
M12-8 pin
M12-5 pin
24 V DC
Figure 8-9: 2-4 inputs/ outputs with external supply
24 V DC
M12-8 pin
M12-5 pin
Figure 8-10: 5-7 inputs/ outputs with external supply
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9 Appendix
9
Appendix
9.1
Contact addresses
Schneider Electric Automation GmbH
Schneiderplatz 1
97828 Marktheidenfeld, Germany
Phone: +49 (0) 9391 / 606 - 0
Fax: +49 (0) 9391 / 606 - 4000
Email: [email protected]
Internet: www.schneider-electric.com
Machine Solution Service
Schneiderplatz 1
97828 Marktheidenfeld, Germany
Phone: +49 (0) 9391 / 606 - 3265
Fax: +49 (0) 9391 / 606 - 3340
Email: [email protected]
Internet: www.schneider-electric.com
See the homepage for additional contact addresses:
www.schneider-electric.com
9.2
Product training courses
Schneider Electric offers a number of product training courses.
Our training instructors will help you take advantage of the extensive possibilities of‐
fered by the system.
See the homepage (www.schneider-electric.com) for further information and our cur‐
rent seminar schedule.
9.3
Disposal
The components consist of different materials, which can be re-used and must be
disposed of separately. The packaging cannot be returned to the manufacturer.
▶
▶
▶
138
Dispose of the packaging in accordance with the relevant national regulations.
Dispose of the packaging at the disposal sites provided for this purpose.
Dispose of ILM62 components in accordance with the applicable national regu‐
lations.
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9.4 EC declaration of conformity
9.4
EC declaration of conformity
EC DECLARATION OF CONFORMITY
Document number / Month.Year: HRB7495500_01 / 09.2013
- Original We:
Schneider Electric Industries SA
35, rue Joseph Monier
92506 Rueil Malmaison
France
hereby declare that the product
Trademark:
Schneider Electric
Product, Type, Function: ILM integrated servomodule
Models:
ILM
Serial number:
YYZZXXXXXX (YY: Year, 22=2012, 23=2013; ZZ: Supplier Code;
XXXXXX:Continuous number)
with the references
Reference
Description
ILM0701zxxzxxxx
MOTOR ILM 70,1,1NM,6KRPM
ILM0702zxxzxxxx
MOTOR ILM 70,1,7NM,6KRPM
ILM0703zxxzxxxx
MOTOR ILM 70,2,2NM,6KRPM
ILM1001zxxzxxxx
MOTOR ILM 100,2,5NM,3KRPM
ILM1002zxxzxxxx
MOTOR ILM 100,4,4NM,3KRPM
ILM1003zxxzxxxx
MOTOR ILM 100,5,8NM,3KRPM
ILM1401zxxzxxxx
MOTOR ILM 140,7,5NM,2KRPM
ILM1401zxxzxxxx
MOTOR ILM 140,8,5NM,2KRPM
ILM1402zxxzxxxx
MOTOR ILM 140,12,5NM,1,5KRPM
z are letters, x are numbers for different variations
Are in conformity with the requirements of the following directives and conformity was checked in accordance with the
following standards:
Directive
Harmonized Standard
DIRECTIVE 2004/108/EC OF THE EUROPEAN
EN 61800-3:2004 + A1:2012
PARLIAMENT AND OF THE COUNCIL
Adjustable speed electrical power drive systems - Part
3: EMC requirements and specific test methods (IEC
of 15 December 2004 on the approximation of the
61800-3:2004 + A1:2011
laws of the Member States relating to electromagnetic
compatibility and repealing Directive 89/336/EEC
DIRECTIVE 2006/42/EC OF THE EUROPEAN
EN ISO 13849-1/2:2008
PARLIAMENT AND OF THE COUNCIL
Safety of machinery - Safety-related parts of control
systems
of 17 May 2006 on machinery, and amending
Directive 95/16/EC (recast)
EN 61800-5-2:2007
Adjustable speed electrical power drive
Applying article 12(3)a, third alternative
systems - Part 5-2: Safety
requirements – Functional
EN 62061:2005
Safety of machinery - Functional safety of safety-related
electrical, electronic and programmable electronic
control systems
and also the standard EN 61800-5-1:2007: Adjustable speed electrical power drive systems – Part 5-1: Safety
requirements - Electrical, thermal and energy.
It is important that the component is subject to correct installation, maintenance and use conforming to its intended
purpose, to the applicable regulations and standards, to the supplier’s instructions, user manual and to the accepted
rules of the art.
Person in charge of documentation:
Eric Barry, Schneider Electric Automation GmbH, Schneiderplatz 1, 97828 Marktheidenfeld, Germany
First year of affixing CE Marking: 2011
Issued at: Marktheidenfeld Germany, September 2013
i.A. Susanne Dormann
Machine Solution Certification Manager
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9 Appendix
9.5
Units and conversion tables
9.5.1
Length
in
ft
yd
m
cm
mm
in
-
/ 12
/ 36
* 0.0254
* 2.54
* 25.4
ft
* 12
-
/3
* 0.30479
* 30.479
* 304.79
yd
* 36
*3
-
* 0.9144
* 91.44
* 914.4
m
/ 0.0254
/ 0.30479
/ 0.9144
-
*100
* 1000
cm
/ 2.54
/ 30.479
/ 91.44
/ 100
-
* 10
mm
/ 25.4
/ 304.79
/ 914.4
/ 1000
/ 10
-
9.5.2
Mass
lb
oz
slug
0.22 kg
g
lb
-
* 16
* 0.03108095
* 0.4535924
* 453.5924
oz
/ 16
-
* 1.942559*10
* 0.02834952
* 28.34952
slug
/ 0.03108095
/ 1.942559*10-3
-
* 14.5939
* 14593.9
0.22 kg
/ 0.45359237
/ 0.02834952
/ 14.5939
-
* 1000
g
/ 453.59237
/ 28.34952
/ 14593.9
/ 1000
-
lb
oz
p
dyne
N
lb
-
* 16
* 453.55358
* 444822.2
* 4.448222
oz
/ 16
-
* 28.349524
* 27801
* 0.27801
p
/ 453.55358
/ 28.349524
-
* 980.7
* 9.807*10-3
dyne
/ 444822.2
/ 27801
/ 980.7
-
/ 100*103
N
/ 4.448222
/ 0.27801
/ 9.807*10-3
* 100*103
-
9.5.3
9.5.4
-3
Force
Power
HP
W
HP
-
* 746
W
/ 746
-
9.5.5
Rotation
min-1(rpm)
rad/s
deg./s
min (rpm)
-
* π / 30
*6
rad/s
* 30 / π
-
* 57.295
deg./s
/6
/ 57.295
-
-1
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9.5 Units and conversion tables
9.5.6
Torque
lb•in
lb•ft
oz•in
Nm
kp•m
kp•cm
dyne•cm
lb•in
-
/ 12
* 16
* 0.112985
* 0.011521
* 1.1521
* 1.129*106
lb•ft
* 12
-
* 192
* 1.355822
oz•in
/ 16
/ 192
-
* 7.0616*10
Nm
/ 0.112985
/ 1.355822
/ 7.0616*10-3
-
* 0.101972
* 10.1972
* 10*106
kp•m
/ 0.011521
/ 0.138255
/ 720.07*10
/ 0.101972
-
* 100
* 98.066*106
kp•cm
/ 1.1521
/ 13.8255
/ 72.007*10-3
/ 10.1972
/ 100
dyne•cm
/ 1.129*10
/ 70615.5
/ 10*10
/ 98.066*10
9.5.7
6
/ 13.558*10
6
-6
* 0.138255
-3
6
* 13.8255
* 720.07*10
-6
* 13.558*106
* 72.007*10
-3
6
* 70615.5
* 0.9806*106
/ 0.9806*10
-
6
Moment of inertia
lb•in2
lb•ft2
kg•m2
kg•cm2
kg•cm2•s2
oz•in2
lb•in2
-
/ 144
/ 3417.16
/ 0.341716
/ 335.109
* 16
lb•ft
* 144
-
/3
*0.30479
*30.479
*304.79
* 3417.16
/ 0.04214
-
*0.9144
*91.44
*914.4
2
kg•m2
kg•cm
* 0.341716
/ 421.4
/0.9144
-
*100
*1000
kg•cm2•s2
* 335.109
/ 0.429711
/91.44
/100
-
*10
oz•in
/ 16
/ 2304
/ 54674
/ 5.46
/ 5361.74
-
2
2
9.5.8
Temperature
°F
max
K
°F
-
(°F - 32) * 5/9
(°F - 32) * 5/9 + 273.15
max
°C * 9/5 + 32
-
°C + 273.15
K
(K - 273.15) * 9/5 + 32
K - 273.15
-
9.5.9
Conductor cross-section
AWG
1
2
3
4
5
6
7
8
9
10
11
12
13
mm
42.4
33.6
26.7
21.2
16.8
13.3
10.5
8.4
6.6
5.3
4.2
3.3
2.6
AWG
14
15
16
17
18
19
20
21
22
23
24
25
26
mm
2.1
1.7
1.3
1.0
0.82
0.65
0.52
0.41
0.33
0.26
0.20
0.16
0.13
2
2
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Index
Index
L
B
Bending cycles 38
Brake 103
C
Certifications 93
Cleaning 78
Cleaning agents 78
Climatic 35
Condensate 36
Contact addresses 138
Cooling units 36
D
Daisy Chain Connector Box 18
Daisy chain wiring 18
Definitions 88
Degree of protection 35
domestic appliances 9
life support systems 9
M
Machine grounding 37
Maximum configuration 48
Mechanical 35
Minimum bending radius 38
Minimum cross sections 37
Misuse 54
mobile systems 9
Motor shaft 102
Muting 45
P
Physical sizes 88
portable systems 9
Q
Qualification of Personnel 10
Qualified person 10
E
Emergency stop 45
R
Residual risks 10
F
Fan cover 94
floating systems 9
flying systems 9
Force ventilation 94
G
Grind holding brake 61
H
Hazard and risk analysis 42, 54
hazardous, explosive atmospheres 9
Hazards 10
Homepage 138
I
Installation 48
Inverter Enable input 47
InverterEnable input 44
142
S
Safe state 44
Safe stop 43
Safety function 44
Safety wiring 51
Seminars 138
Service addresses 138
Shaft 102
Standards 56
Stop category 0 43, 45
Stop category 1 43, 45
Surface ventilation 94
Symbols 8
T
Technical data 94, 95, 96, 97, 98, 99, 100
Temperature limit 36
Training 10
Training courses 138
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Index
U
underground 9
W
Wiring 37
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