Rexroth`s NYCe 4000 Motion Control System

Add to my manuals
28 Pages

advertisement

Rexroth`s NYCe 4000 Motion Control System | Manualzz

Electric Drives and Controls Hydraulics

Linear Motion and

Assembly Technologies Pneumatics Service

Rexroth NYCe 4000

Excellence in motion control

Modular, compact and cost saving

Contents

NYCe 4000: Excellence in motion control

Bosch Rexroth is the worldwide leader in all relevant drive, control and motion technologies – with industry-specific automation systems and innovative control components.

Industry applications

Product architecture

Software tools

Product overview

Further information: www.boschrexroth.com/nyce

14

04

18

05

4

01

8

02

10

03

4 01 NYCe 4000: Excellence in motion control

Rexroth NYCe 4000 – short time to market

Rexroth has extended its range of motion control systems with the NYCe 4000 – a rugged, functional-rich, yet compact multi-axis industrial motion control system with integrated drive technology.

NYCe 4000 controls complex equipment and is offered in a single unit that significantly reduces space requirements and cabling, and cuts system and integration costs. It also extends machine availability and greatly improves serviceability.

Market introduction is always critical. The timely introduction of new products to market has con sequences on reaching target markets with the desired value. It is very important that, during the development and production of new equipment, your motion control system enables you to reach your business goals.

Bosch Rexroth and the NYCe 4000 motion control system help you reduce your time to market:

Design support

Our mechatronic experts can assist during the design phase of your new machine. With our expertise in mechatronics we can help you perfect your prototype machine in an early development stage. This saves valuable time and results in optimal machine performance.

Implementation support

During the implementation phase our application engineers are available for support. With their in-depth knowledge of the NYCe

4000 control system, they will optimize the performance of your specific application.

Head start and future proof

Motion control is often regarded as essential competence for machine builders. NYCe 4000 provides the technology with functionality and flexibility as if it was your own design. Using NYCe 4000 will save you valuable effort, time and money. Not only do you streamline development of your machine through expert motion control, but you also enhance your ability to keep pace with new developments throughout its life-cycle.

Training

Bosch Rexroth provides standard training courses for the complete

NYCe 4000 product line. Training can be held in our Competence

Centre, or at customer site, the most effective way of becoming familiar with all features of the

NYCe 4000 system.

Simulation

NYCe 4000 includes a simulation environment. This is a valuable tool for your application software developers to test their applications without having a control system or machine connected. They can simply test the application on a PC at a very early stage, even before the new machine is available.

5

Optimize cost of ownership

In a highly competitive market it is important to optimize the efficiency and yield of your machine. The

NYCe 4000 products with their optimized performance focused system architecture introduce a structural method of integrating and maintaining motion control in your machine, enabling efficiency of operation without sacrificing machine functionality.

Modular machines

Imagine you are building a compact machine composed of several functional sub-modules and options, and you also need to deliver quickly to your customer.

This will result in foreseeable pressure on your machine assembly resources, as every machine is different and must be built and tested in a very short time.

Now imagine that you are able to define full-functioning modules, each with their own compact control. These modules are fully tested, and can be put on assembly stock.

As soon as you receive a customer order you can assemble your machine quickly since all modules are fully pre-tested including the control. The time it takes to assemble and test will be reduced significantly.

The NYCe 4000 is a very compact motion control platform, well suited to fit into small function modules of your machine, enabling modular machine concepts.

sensors, relays, switches) are usually connected to the control platform.

In most control systems external drives as well as an I/O distribution board are needed. The dis tribution board is required because connectors are always specific and can never be plugged directly onto the control system or on the drive.

Additionally, industrial cabling between the control system and the drive, as well as cabling between the control system and the distribution board is usually required.

The new, streamlined solution is the NYCe 4000 with integrated drives, which offers an integrated customer or machine specific distribution board.

Integrated connectivity panel

Connectivity and cabling in a machine are factors that often include significant hidden costs.

Cabling from all devices in a machine (motors, encoders,

The NYCe 4000 saves costs, takes up less space and improves machine uptime by removing part of the vulnerable cabling.

5

01

6 01 NYCe 4000: Excellence in motion control

Increase machine performance

Faster machines require improved control algorithms to compensate for mechanical shortcomings. The

NYCe 4000 motion control system contains extremely fast control loops with position loops as fast as 32 kHz (31.25 µs). State of the art control algorithms with feed forward control, filters and notches can all be set by the user, even when the machine is moving. User friendly tuning software, specific control algorithms and the possibility to include your own control algorithms, assure that even the most demanding applications can rely on optimal control algorithms.

As machines become faster, the motion aspect needs to be faster and more accurate, as does the interaction between motion and

I/O in the machine. Therefore

NYCe 4000 integrates functions that directly link motion and I/O action, such as latches, markers and event handling.

Quickly responsive and programmable applications can be integrated in the NYCe 4000 system.

Using the sequencer, running on the motion control unit, C-applications can be downloaded and run in real-time directly on the

NYCe 4000.

7

Improve machine availability

A machine is expected to run continuously, without getting into an error state. In case this still happens, it is of utmost importance that the machine is up and running as soon as possible. The

NYCe 4000 series contains several key features designed to improve your machine availability.

Monitoring

In order to optimize performance and prevent a machine from going into an error state, machine data needs to be monitored continuously. The NYCe 4000 series supports several levels of monitoring.

The standard method is based on software triggering reacting to a signal that is generated by your machine. This signal can be a digital input or an analog input value that reached a predefined limit or a temperature in the system. The system automatically generates events on motion related exceptions, i.e. large position errors, reaching end-switches etc. All exceptional situations can be connected to a user-configurable control system response.

Another monitoring feature is based on the sample-synchronized logging of data. With the use of standard software tooling you can look in detail to the performance of your motion system at any moment in time with dependable values. You can, for example, log several axes positions and when small deviations from the expected value are detected you might decide to do preventive maintenance or replace machine parts preventively. Using these features, the user can avoid machine stops by responding fast to exceptional situations.

Diagnostics

When an error occurs several diagnostics tools will assist you in identifying the location of the error. In case the error occurs outside the NYCe 4000 control system (i.e. low servo power voltage, encoder cable break etc.) an error will be generated in the application. Whenever an error occurs inside the control system, the LED on the front of the control system module indicates the erroneous module. When an error occurs on the NYCe 4000 system, the defective module can be exchanged by a spare one. This can be done without removing any cabling and without setting jumpers or switches. Once the new module has been inserted, the

NYCe 4000 automatically reconfigures the module and will run the original software, thus allowing fast module exchange at minimal risk.

7

01

8 02 Industry applications

NYCe 4000 for your industry

The Rexroth NYCe 4000 Motion

Control System targets applications where low-power servo axes and stepper axes are driven and where high demands are placed on motion control. It fills a need in a wide range of applications in industries like semiconductor, medical, solar and flat panel display, where speed and accuracy combined with efficiency, performance and fast time to market are essential.

The NYCe 4000 was developed in tight cooperation with semiconductor metrology and die bonder partners as well as medical equipment providers to ensure highest performance, flexibility and serviceability.

Typical applications

• front-end semiconductor manufacturing

• back-end semiconductor assembly

• electronics assembly/pick-andplace

• semiconductor test and inspection

• MEMS/micro systems technology

• solar cell manufacturing

• flat panel display manufacturing

• special machine tools

• special robotics and manipulators

• surface treatment

• patient tables

• diagnostic equipment and more…

Source: OTB Solar

Linear Transport System

Solar cell production

In solar cell manufacturing machines, carriers have to be moved independently from one process station to the other in a vacuum environment. Using the principle of inverted linear motors,

Rexroth has developed the Linear

Motion System (LMS) in which the

NYCe 4000 plays an essential role.

It drives the separate carriers and processes the incoming position data of hall sensors, enabling high speed and high precision movements of the carriers in vacuum.

Features

• controlling non-contact magnetic carriers over several coils

• positioning in vacuum with high speed and high accuracy

• realizing inline production processes

• specific control algorithms offer next to the control of single carriers also the possibility to create a train of carriers

Benefits

• accurate positioning system

• cable free carrier movement

• low maintenance motion system

• proven concept that shortens the time to market

9

Test and inspection

Microscopy

Controlling a positioning stage in vacuum, for example inside an electron microscope requires very precise positioning in combination with fast movements, as well as constant ultra low-speed movements. Specific control algorithms have been implemented on the

NYCe 4000 to control piezo motors.

Features

• piezo motors and specific control algorithms

• avoid unwanted heat generation

• pulse function for ultra low speed

• non-linear compensation

• point-to-point movements

Benefits

• fast and accurate movements

• ultra low speed, very high positioning accuracy

• high repeatability

• also in vacuum

• easily linearized control

Source: FEI COMPANY

Front-end semiconductor manufacturing

Die bonding and bumping

Die attach and die bumping applications require very high positioning precision in the horizontal plane.

Due to the fragile materials placed, movement in the vertical direction needs very sensitive force control.

The NYCe 4000 control system offers high accuracy alignment, high positioning accuracy and high force accuracy. It also supports a wide variety of motors used in this application such as stepper, piezo and servo motors.

Features

• position-force adjustment

• piezo motors control

• motion, vision and I/O in one network

• optical alignment

• open system

Benefits

• high accuracy alignment

• high positioning accuracy

• high force accuracy

• configuration choices

Source: S.E.T. (SUSS MicroTec)

9

02

10 03 Product architecture

NYCe 4000 architecture

The NYCe 4000 system architecture is designed to take complexity of requirement and simplicity of operation into account. The modular architecture allows fast and error free design-in. Using a standard PC and the motion control unit, a wide range of motors and encoders are supported. Programming the system is simple using standard building blocks. For specific applications you can build your own application supported by a wide range of tools.

IndraControl V

Brake unit

FireWire

MSM motors

IndraDrive Cs

IndraDyn S

11

Interfacing

In order to work with the NYCe

4000 you simply need a standard industrial PC. The PC should run on Windows XP and requires an

IEEE1394 interface (FireWire) for communication with the motion control system. The PC can be connected to one or more motion control systems.

On the PC the user interface is running as well as (part of) the application software controlling the machine.

All real-time motion control functionality as well as real-time parts of the application are implemented on the motion control systems.

The motion control systems have integrated digital and analog I/O as well as integrated drive units supporting various motor types.

Various standard motion control system configurations are available supporting different numbers of drive units.

Via a SERCOS III interface, the

NYCe 4000 can be connected to high power amplifiers, like the

Rexroth IndraDrive Cs.

Motion control system

In the NYCe 4000 motion control system (node) three basic elements can be distinguished:

• housing and connectivity panel

• motion control unit

• one or more drive units

The NYCe 4000 system is designed to offer maximum flexibility with minimum space usage. For example, a 2 axis system supports brushed and brushless servo motors, as well as stepper motors, requiring just

0.9 dm

3

!

Depending on the number of drives and the connectivity panel, different node configurations are available.

For OEMs the connector choice and backplane form factor can be customized for a perfect fit to the machine.

Changing drives on the NYCe 4000 is simple. Unplugging connectors is not necessary, the drives can simply be removed from the node and replaced without setting jumpers, updating software, or configuration settings. This is all handled automatically when the system is restarted.

11

03

12 03 Product architecture

Motor support

The NYCe 4000 series supports

6 different motor types using one single drive. All it takes is just setting a configuration parameter to the selected motor type.

Supported motor types are:

• brushed DC motors

• brushless DC servo motors

(trapezoidal control)

• brushless AC servo motors

(sinusoidal control)

• two-phase stepper motors

• piezo motors

• linear motors

The NYCe 4000 also fully supports external amplifiers like Rexroth

IndraDrive Cs, in case required for extra power or for the control of an additional motor type.

This support also includes power enable and error hand shaking.

Encoder support

In order to further optimize the flexibility of the NYCe 4000 a wide range of encoders is supported:

• incremental quadrature

5 V S0/S90 encoders

• analog 10 V absolute encoder

• EnDat 2.1

• EnDat 2.2

• Hiperface

®

• SinCos

• Yaskawa

• Panasonic

• Rexroth MSM

The range of encoders provides maximum flexibility in selecting the optimal motor/encoder combination for the best performance of the application.

Position-velocity controller

The NYCe 4000 motion control system has a position-velocity control loop and a current control loop. These control loops are configurable using the NYCe 4000 tuning toolset.

The control loop is a very extensive controller with various feed-forward parameters, lead/lag, low pass, and notch filters. The control loop is integrated in the NYCe 4000 drive module and can run at a speed of

32 kHz. This ensures maximum performance in speed and accuracy.

When the standard controller is not optimal for a specific application, because of mechanical constructional algorithms, or the usage of multiple (encoder) inputs that need to influence the behavior, a special controller can be built by the user.

Using MATLAB

®

Simulink

®

package, the controller can be defined.

Interfaces between the controller and the NYCe 4000 system are offered as Simulink terminators.

These interface blocks allow access to encoder and I/O values, error handling, and the communication between the user defined controller and the NYCe 4000 system.

Next to the NYCe 4000 specific library blocks, the standard Simulink library blocks can be used. This enables the user to quickly build and test specific controllers. After developing the controller, it can be downloaded to the Motion

Controller. Switching axis configuration parameters from “standard controller” to “user controller” simply activates the controller for a specific axis.

13

Programming the system

The NYCe 4000 application software has an open architecture which allows the user to access all integrated functionality for movements, I/O handling, exception handling and synchronization.

The application software provides access to all configuration and tuning parameters, and it offers functionality to download firmware or gateware for field upgrades.

There are two levels of motion programming for axes in a system:

• Programming at pilot level (PLT):

This programming method uses kinematical models rather than a set of single axes. The pilot software implements mechanisms for which the user has to supply the kinematical models. This allows the user to program all movements of the mechanism in cartesian space. The trajectory generators of the NYCe 4000 calculate the 3D trajectory and via kinematical transformations determine the movement of each axis in the mechanism. The pilot programming supports reference frames for relative position programming and calibration functionality at mechanism level.

• Single axes control (SAC):

This programming method looks at all axes as single axes, and programmed movement commands affect just one axis. To enable implementation of synchronized movements, functions for grouping axes are available.

It is also possible to program the system using application specific trajectory generators. For moving axes, functions like homing, pointto-point, jogging and spline are available. Furthermore the system includes functions for system configuration, parameters setting,

I/O handling and user specific exception handling.

The application software, written in C/C++, is normally run on the controlling PC. In order to enable real-time programming, or standalone usage, the application software can also run directly on the motion control node, called sequence programming. This is very similar to the application programming on the PC and is also done in the C-programming language.

13

03

14 04 Software tools

Fast and easy implementation with excellent software tools

The NYCe 4000 system is supported by an extensive toolset that simplifies configuring, tuning or testing the NYCe 4000 system in a machine environment.

All tools use the same interface to the NYCe 4000 programming system as the application environment. All tools run on the PC.

Simulation software NYCeConfigurator NYCeTuner

The simulation software enables the user to test the application and exceptional situations, without use of the actual machine.

The NYCeConfigurator guides the user smoothly through the configuration process. Many aspects can be configured, allowing maximum flexibility of the NYCe 4000 motion control system.

NYCeTuner facilitates the set up and tuning of axes. Movement profiles can be generated for very accurate tuning. This can be done in time- and frequency domain.

NYCeCommand NYCeScope Sequence programming

With NYCeCommand motion and

I/O commands can be executed using simple parameters, without the use of a C-programming environment.

Resembling a real oscilloscope,

NYCeScope captures a wide range of variables and displays them time synchronously.

In case a fast deterministic response is required, applications can be run on the motion control unit.

15

Simulation software

Application software needs to be tested extensively before it can be implemented in a machine. Even more importantly the response to a wide range of exceptional situations needs to be tested and verified. Testing consumes significant development time. This is mainly influenced by two factors:

Using the NYCe 4000 simulation environment, testing time can be significantly reduced.

Application testing on a machine can be reduced, so machine availability is no longer an issue.

• availability of a fully functional test machine

• complexity of generating exceptional situations on the machine.

Secondly, the simulation environment has a programming interface that allows the user to feed inputs, axes related data, and error situations into the simulation system.

This allows for testing of all application responses to exceptional situations without abusing or damaging a physical machine.

NYCeConfigurator

The NYCe 4000 system is a very flexible motion control system, and as a consequence the user can configure many aspects of the system.

The NYCe Configurator guides the user through this configuration process.

Some examples of configuration include:

• on node level: axis names, emergency and safety inputs

• on drive level: digital input/outputs, error inputs

• on axis level: motor type, encoder type, response to error conditions, safety parameters

The result of this process is a configuration that can be stored in the flash memory on the NYCe 4000 system, or on the hard disk of the

PC. This allows the user to build one configuration and reuse it on other systems when needed.

15

04

16 04 Software tools

NYCeTuner

The NYCeTuner is used to setup and tune axes in the NYCe 4000 system. Various parameters that influence the behavior of an axis can be set. These include:

• current control parameters

• PID (proportional, integral and derivative) and feed forward parameters

• control filters

• enhanced parameters

• stepper control parameters and many more

NYCeTuner supports two levels of tuning, the wizard and the expert level:

• The wizard level guides the user step-by-step in setting the right parameters in the right order.

User advice is offered for support.

• In expert level it is assumed that the user is familiar with the system, so direct access is available to all parameters in one screen to enable a quick overview and fast parameter access.

Furthermore the NYCeTuner can generate movement profiles to test the latest parameter sets. This enables the user to tune axes exactly the way these were intended to behave. Tuning can be done in time – as well as in frequency domain.

When the tuning process has ended, the new parameters can be stored in the controllers flash memory or on the hard disk of the PC.

NYCeCommand

The NYCeCommand is a dialog tool that enables the user to execute motion and I/O commands, without the use of a C-programming environment. The commands have the same names and input parameters as in

“C” and all C-commands are supported.

The user is able to enter a single command in the command line, which is immediately executed when entered. It is also possible to create script files holding many commands which enable the user to build small test or demo applications.

Furthermore, NYCeCommand has an extensive online-help function describing all commands and the command parameters.

17

NYCeScope

The NYCeScope allows you to trace any variable of a node, axis or drive which is extremely useful for:

• current loop tuning

• position loop tuning

• performance monitoring

• I/O monitoring

• error monitoring

All captured and displayed signals are timed synchronously, even if they originate from different control systems within the same configuration. The NYCeScope also allows the user to capture a wide range of signals from the system such as motion related data as well as all variables in the system like I/O and axis state diagrams or drive temperature.

The NYCeScope software tool has been designed to resemble a real oscilloscope. Using the dialog screen, variables can be selected and presented on the screen, and triggers can be set. There are several ways to display the results; time domain pictures can be displayed showing all selected channels, a FFT (Fast Fourier

Transform) frequency plot or

Bode/Nyquist can be selected.

When further analysis of the captured data is required, this data can be stored in a file on the PC where it can be further processed by other software packages.

Sequence programming

When a fast deterministic response is required, NYCe 4000 offers the possibility to run (part of) the application on the motion control unit instead of on the PC. These applications are also programmed in the

C-language and supports I/O, SAC and PLT commands. The user can download many sequences to the motion control units flash memory.

The motion controller is able to support 8 active sequences at any moment.

Sequences can synchronize with sequences on other nodes and with applications running on the PC.

Next to the usage of sequences for fast real-time response, this functionality is also used to build standalone systems with application software without a PC. In this situation all application software is stored in flash in the motion control unit and starts automatically at power-up.

17

04

18 05 Product overview

NYCe 4000 housing units

NY4012

• motion control system for 2 axes

• vertical mounting

126.7

157.1

208 157.1

NY4042

• motion control system for 8 axes

• vertical mounting

NY4052

• motion control system for 10 axes

• vertical mounting

228 157.1

19

NY4072

• motion control system for LMS applications

• vertical mounting

174 157.1

Customized housing

Specific housing can be developed, optimized to your specific dimension or connectivity

19

05

20 05 Product overview

NYCe 4000 control units – plug-in modules

Technical data NY4110 – Motion control unit NY4111 – Motion control unit with CAT5

Board type

Position in housing

Interface

Input voltage

Power supply

Sample frequency

Axes control

I/O

Software control

MCU (Motion Control Unit) always in fi rst slot

3 * IEEE1394B (3 * STP)

24 V isolated for on board- and drive logic

1, 2, 4 or 8 kHz up to 10 axes

2, safety and emergency signals implements standard motion control functionality stores and runs the application

MCU (Motion Control Unit) always in fi rst slot

3 * IEEE1394B (1 * STP, 2 * CAT5)

24 V isolated for on board- and drive logic

1, 2, 4 or 8 kHz up to 10 axes

2, safety and emergency signals implements standard motion control functionality stores and runs the application

21

NYCe 4000 control units – add-on modules

Technical data NY4199 – SinCos option module

Board type

Board function

Position

Number of channels

Input frequency

Interpolation factor

Input voltage

Technical data plug-on option module dual SinCos input and interpolation module for support of 2 axes to be mounted on NY4120, NY4130, NY4140 or NY4170 drive modules

2 max. 400 kHz selectable between 4 and 4096 for a full signal period

1 V tt

, absolute value in 0 to 5 V range

NY4960 – LMS-MUX

Product description

Number of sensor inputs

Input voltage

Number of outputs

Number of PTC inputs

Number of PTC status outputs

Input voltage

Output voltage interface between the position sensors in a Linear Motion System (LMS) track and the NYCe 4000 LMS control system

5 SinCos sensors

1 V tt

or 10 V tt

2 multiplexed analogue outputs to the NY4120/10 or NY4140/10 drive modules

2 PTC temperature sensors

2 digital 24 V

24 VDC

+ 5 V, + 5 V / – 5 V or + 15 V / – 15 V for powering the sensors units

21

05

22 05 Product overview

Technical data

NYCe 4000 drive units – plug-in modules

NY4120 – PWM drive NY4130 – DC drive NY4140 – High voltage drive

Board type

Number of axes

Motor type

Input voltage

PWM frequency

Output voltage

Nominal current

I peak

Current control loop

Temperature protection

Over current detection

S0/S90 encoder cable break detection

PWM (Pulse Width Modulation) drive module

2 brushless DC/AC servo motors brushed DC motors two-phase stepper motor

15 to 75 V

16 to 96 kHz

15 to 75 V

7 A

20 A per axis, per drive standard standard standard standard

6 x RS422 encoder inputs for each axis

(2 x S0, S90 and Index)

2 analog inputs (12 bit)

I/O

2 analog outputs (16 bit)

8 digital inputs

4 digital outputs

2 fast digital inputs

2 fast digital outputs

6 x 5 V digital inputs, to be used as Hall input, S0/

S90 counter input or general purpose digital input

Standard encoder interfaces (on board) digital S0/S90 with index pulse absolute or incremental (Rexroth MSM motors)

EnDat 2.2

Optional encoder interfaces

EnDat 2.1

(using the SinCos option Hiperface module NY4199) SinCos low power DC drive module

2

– brushed DC motors

PWM high voltage drive module

1 brushless DC/AC servo motors brushed DC motors

– min. + 15 V / – 15 V, max. + 30 V / – 30 V

0 to 48 V

48 to 150 V

16 to 32 kHz

48 to 150 V

1 A for + 30 V / – 30 V, 2 A for + 15 V / – 15 V per drive 7 A

4 A max.

20 A

– standard standard

– standard standard standard standard

6 x RS422 encoder inputs for each axis

(2 x S0, S90 and Index)

2 analog inputs (16 bit)

2 analog outputs (16 bit)

10 digital inputs

4 digital outputs

2 stop-alarm inputs

2 fast digital inputs

2 fast digital outputs

6 x 5 V digital inputs, to be used as counter input or general purpose digital input digital S0/S90 with index pulse absolute or incremental (Rexroth MSM motors)

EnDat 2.2

EnDat 2.1

Hiperface

SinCos

3 x RS422 encoder inputs for each axis

(S0, S90 and Index)

1 analog input (12 bit)

2 analog outputs (16 bit)

8 digital inputs

2 digital outputs

2 fast digital inputs

2 fast digital outputs

3 x 5 V digital inputs, to be used as Hall input, S0/

S90 counter input or general purpose digital input digital S0/S90 with index pulse absolute or incremental (Rexroth MSM motors)

EnDat 2.2

EnDat 2.1

Hiperface

SinCos

23

Technical data NY4170 – High voltage piezo drive NY4171 – High voltage piezo supply NY4150 – SERCOS III drive link

Board type

Number of axes

Motor type

Input voltage

PWM frequency

Output voltage

Nominal current

I peak

Current control loop

Temperature protection

Over current detection

S0/S90 encoder cable break detection high voltage piezo drive

2 (1 piezo stack, 1 external drive) high voltage stack piezo actuators

- 15 V and + 150 V

- 15 V to + 150 V

100 mA

200 mA

– standard standard standard

6 x RS422 encoder inputs for each axis

(2 x S0, S90 and Index)

2 analog inputs (16 bit)

2 analog outputs (16 bit)

I/O

10 digital inputs

4 digital outputs

2 stop-alarm inputs

2 fast digital inputs

2 fast digital outputs

6 x 5 V digital inputs, to be used as counter input or general purpose digital input digital S0/S90 with index pulse

Standard enc woder interfaces (on board) absolute or incremental (Rexroth MSM motors)

EnDat 2.2

Optional encoder interfaces

(using the SinCos option

EnDat 2.1

Hiperface module NY4199) SinCos high voltage piezo supply

24 V ± 5 %

- 15 V and + 150 V

200 mA

SERCOS III drive link

Support for up to 8 Rexroth IndraDrive C or IndraDrive Cs units. Please note that for the IndraDrive C a control unit that supports

SERCOS III is necessary. Motor and encoder support is determined by selecting the applicable control unit in the IndraDrive.

23

05

24 05 Product overview

NYCe 4000 – auxiliary components for a perfect match

NY4901

Network cable strain relief

Designed to remove any strain on the network cables. It can be mounted on the motion controller card NY4110.

NY4915

FireWire-B PCI interface module

Plug-in card for the PC to create a FireWire connection.

NY4950

FireWire B cable

Available in various lengths and with several connectors.

NY4950/99

Chokes

To minimize electromagnetic interference use of chokes is recommended.

NY4920 and NY4920/10

4920 motor connectors for 1 drive position

2 x plug component with 8 positions.

4920/10 connectors for system connection

1 x 24 V power plug connector with 3 positions.

1 x safety plug connector with 4 positions.

25

NY4921

Capacitor kit

For optimal functionality at high currents.

NY4922

Fan unit

For active cooling, Rexroth offers fan units.

Various versions are available, depending on the number of drives.

NY4930

Brake unit

A cost effective solution to safely process superfluous energy. It can flexibly be mounted anywhere in the machine and is available in the ranges 15 V - 24 V - 36 V , 48 V - 60 V - 72 V and 96 V - 120 V - 150 V.

NY4900

Cover plate for non-used slots

If slots in your NYCe 4000 remain unused, they can be closed with this cover plate.

25

05

26 05 Product overview

NYCe 4000 – motors

The NYCe 4000 supports a wide range of motors. The following

Rexroth MSM motors have been optimized for the NYCe 4000 specifically. Some motors are available in a reduced voltage version. This enables the usage of these motors with NYCe 4000 still reaching high speeds.

A whole range of other Rexroth motors are also compatible with the NYCe 4000, e.g. IndraDyn L and IndraDyn S (MSK) motors.

For details, see the product catalog

“Drive system Rexroth IndraDrive”.

Dimensions

45°

45°

Ø D

Ø E

Ø F

H

Ø G

C B A

MSM motors for NYCe 4000

MSM019A-0300-NN-M0-CH1

MSM019B-R300-NN-M0-CH1

MSM031B-R300-NN-M0-CH1

MSM031C-R300-NN-M0-CH1

MSM041B-0300-NN-M0-CH1

50

100

200

400

750

Continuous

Power

P

N

[W]

Continuous torque at standstill

M

O

[Nm]

Maximum speed

48 V DC drive power rpm

Maximum speed

72 V DC drive power rpm

0.16

0.32

0.64

1.3

2.4

2,900

2,200

1,700

1,500

700

4,500

3,500

2,500

2,200

1,000

Dimensions

A

[mm]

38

B without/ with brake

[mm]

72/102

C

[mm]

25

Ø

D

[mm]

8

Ø

E

[mm]

Ø F

[mm]

Ø

G

[mm]

H

[mm]

30 45 3.4

51

38 92/122 25 8 30 45 3.4

51

60 79/115,5 30 11 50 70 4.5

73

60 98.5/135 30 14 50 70 4.5

73

80 112/149 35 19 70 90 6 93

Protection category

IP54

(shaft IP40)

27

Product overview and order codes

Type name

Standard housing units

NY4010

NY4011

NY4040

NY4050

NY4012

NY4042

NY4052

NY4072

Plug-in modules

NY4110

NY4111

NY4120

NY4120/10

NY4130

NY4140

NY4140/10

NY4150

NY4170

NY4171

NY4171/10

Add-on modules

NY4199

NY4960/00

NY4960/10

NY4960/20

NY4930/00

NY4930/10

NY4930/20

Accessories

NY4900

NY4901

NY4915

NY4916

NY4950

NY4950/10

NY4950/20

NY4950/30

NY4950/99

NY4920

NY4920/10

NY4921/00

NY4921/10

NY4922/00

NY4922/10

NY4922/20

NY4922/30

NY4922/40

Software

NYCe 4000 SR-BTS

NYCe 4000 SR-BTS

NYCe 4000 SR-BTS

NYCe 4000 SR-LMS

NYCe 4000 SR-BTS

NYCe 4000 CCS

NYCe 4000 CCS

Demo System

NY4705

Description

NYCe 4000 system for 1 drive module including system and I/O backplane

NYCe 4000 machine mount system for 2 axes

NYCe 4000 system for 4 drive modules including system and I/O backplane

NYCe 4000 system for 5 drive modules including system and I/O backplane

NYCe 4000 system for 1 drive module including system and I/O backplane

NYCe 4000 system for 4 drive modules including system and I/O backplane

NYCe 4000 system for 5 drive modules including system and I/O backplane

NYCe 4000 LMS system for 2 drive modules

MCU module

MCU module with FW-CAT5

2 axes servo and stepper PWM drive module

2 axes servo and stepper PWM for LMS

2 axes low power DC drive module

1 axis high voltage servo drive module

1 axis high voltage servo drive module for LMS

SERCOS III Master module

1 axis high voltage Piezo drive

High voltage Piezo supply

High voltage Piezo supply with 5/15 Volt option

SinCos option module

LMS-MUX for 2 axes, 1 V sensors, + 5 V powersupply

LMS-MUX for 2 axes, 10 V sensors, + / - 5 V powersupply

LMS-MUX for 2 axes, 10 V sensors, +/- 15 V powersupply

Brake unit 15-24-36 Volt

Brake unit 48-60-72 Volt

Brake unit 96-120-150 Volt

Cover plate for non-used slots

5 pcs Network cable strain relief for NY4110

FireWire-B PCI interface module

1394b 3 port (POF, FW, CAT5)

FireWire B cable 0.5 meters

FireWire B cable 1.0 meters

FireWire B cable 2.0 meters

FireWire B cable 4.5 meters

Set of 10 chokes for 1394b cables

Connector set for 1 drive position

Connector set for 1 system power

Capacitor kit 100 V

Capacitor kit 200 V

Fan unit for 1 drive

Fan unit for 2 drives

Fan unit for 3 drives

Fan unit for 4 drives

Fan unit for 5 drives

NYCe 4000 standard software release V2.0

NYCe 4000 standard software release V2.1

NYCe 4000 standard software release V2.2

NYCe 4000 standard software LMS release V1.1

NYCe 4000 standard software LMS release V2.0

Code composer studio 3.1

Code composer studio 3.3

NYCe 4000 demo system with 3 motors and power supplies

Ordering code

NYS04.1-ST-01-NNNN

NYS04.1-ST-01-MAMO

NYS04.1-ST-04-NNNN

NYS04.1-ST-05-NNNN

NYS04.1-ST-01-ULNN

NYS04.1-ST-04-ULNN

NYS04.1-ST-05-ULNN

NYS04.1-ST-02-LMSN

NYM04.1-MCU-NNNN

NYM04.1-MCU-FCAT

NYM04.1-2PW-NNNN

NYM04.1-2PW-LMS

NYM04.1-2LD-NNNN

NYM04.1-1HV-NNNN

NYM04.1-1HV-LMS

NYM04.1-SE3-MAST

NYM04.1-1LD-PIST

NYM04.1-PSU-PIST

NYM04.1-PSU-PIAM

NYM04.1-ESC-NNNN

NYA04.1-LMS-MUX2-1Vtt-5V

NYA04.1-LMS-MUX2-10Vtt-5V

NYA04.1-LMS-MUX2-10Vtt-15V

NYA04.1-BRK-36V

NYA04.1-BRK-72V

NYA04.1-BRK-150V

NYA04.1-COVRPL-NO-USED

NYA04.1-STRAIN-RELIEF-5PCS-4110

NYA04.1-1394B-INT-MOD

NYA04.1-1394B-INT-CAT-POF

NYA04.1-1394B-CABLE-B-B-00.5M

NYA04.1-1394B-CABLE-B-B-01.0M

NYA04.1-1394B-CABLE-B-B-02.0M

NYA04.1-1394B-CABLE-B-B-04.5M

NYA04.1-CHOKES-10PCS-1394B

NYA04.1-CAP-CONSET-1DRIVE

NYA04.1-CAP-CONSET-SYSPW

NYA04.1-CAP-100V

NYA04.1-CAP-200V

NYA04.1-FAN-1UNIT

NYA04.1-FAN-2UNIT

NYA04.1-FAN-3UNIT

NYA04.1-FAN-4UNIT

NYA04.1-FAN-5UNIT

SWA-NY4000-STA-02V00-EN-CD650

SWA-NY4000-STA-02V01-EN-CD650

SWA-NY4000-STA-02V02-EN-CD650

SWA-NY4000-LMS-01V01-EN-CD650

SWA-NY4000-LMS-02V00-EN-CD650

SWA-NY4000-CCS-03V01-EN-CD650

SWA-NY4000-CCS-03V03-EN-CD650

NYS04.1-ST-04-DEMO

27

05

Bosch Rexroth AG

Electric Drives and Controls

P.O. Box 13 57

97803 Lohr, Germany

Bgm.-Dr.-Nebel-Str. 2

97816 Lohr, Germany

Phone +49 9352 40-0

Fax +49 9352 40-4885 www.boschrexroth.com

Bosch Rexroth Electric

Drives and Controls B.V.

Luchthavenweg 20

5657 EB Eindhoven

The Netherlands

Tel. +31 40 257 8888

Fax +31 40 257 8800

The data specified above only serve to describe the product.

As our products are constantly being further developed, no statements concerning a certain condition or suitability for a certain application can be derived from our information. The information given does not release the user from the obligation of own judgment and verification. It must be remembered that our products are subject to a natural process of wear and aging.

72 605 AE/2008-09 – A2 – SM

R911321840

© Bosch Rexroth AG 2008

Subject to revisions!

Printed in Germany

advertisement

Was this manual useful for you? Yes No
Thank you for your participation!

* Your assessment is very important for improving the workof artificial intelligence, which forms the content of this project

Related manuals

Download PDF

advertisement