User Manual ECOMPACT® 23E/60E
User Manual ECOMPACT® 23E/60E
User Manual ECOMPACT®
Published editions:
Edition
Comment
Feb. 2009 Preliminary English edition (prototype deliveries)
April 2009 Pre-series
Nov. 2009 Series
March 2011 ECOMPACT 60E32, option IP54
June 2011 Correction of assignment XS7
Dec. 2012 M8/M12 connector option, modified dimensions
April 2013 EtherCAT® interface option added
Jan. 2014 Modified ordering key
March 2014 Note on the operation of the DIP switches added
Nov. 2014 Correction of wire colours of XS7, designation DIN1
All rights reserved:
Jenaer Antriebstechnik GmbH
Buchaer Straße 1
07745 Jena
No parts of this documentation may be translated, reprinted or reproducted on microfilm or in other ways
without written permission by Jenaer Antriebstechnik GmbH.
The content of this document has been worked out and checked carefully. Nevertheless differences from the
real state of the hard and software can never be fully excluded. Necessary corrections will be carried out in
the next edition.
ECOMPACT®, ECOVARIO® and ECOSTEP® are registered trademarks of Jenaer Antriebstechnik GmbH,
Jena.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Windows® is a registered trademark of Microsoft Corporation in the United States and other countries.
Subject to change without notice!
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User Manual ECOMPACT®
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User Manual ECOMPACT®
Inhalt
1
About this manual.......................................................................................................................... 7
2
Safety instructions.......................................................................................................................... 7
2.1Symbols.......................................................................................................................................................... 7
2.2 General safety instructions.......................................................................................................................... 8
2.3Installation..................................................................................................................................................... 8
2.4 Electrical connection.................................................................................................................................... 8
2.5 During operation.......................................................................................................................................... 9
2.6 Prescribed use................................................................................................................................................ 9
3
Legal notes..................................................................................................................................... 9
3.1 Terms of delivery........................................................................................................................................... 9
3.2Liability........................................................................................................................................................... 10
3.3 Standards and directives.............................................................................................................................. 10
3.3.1 CE conformity............................................................................................................................................... 10
4
Technical Data.............................................................................................................................. 12
4.1Equipment...................................................................................................................................................... 12
4.2 Ordering key.................................................................................................................................................. 13
4.3 Electrical Data............................................................................................................................................... 14
4.4 Mechanical data............................................................................................................................................. 14
4.5 Ambient conditions...................................................................................................................................... 15
5Installation.................................................................................................................................... 16
5.1 Mechanical Installation................................................................................................................................ 16
5.1.1 Important notes ............................................................................................................................................ 16
5.1.2Dimensions.................................................................................................................................................... 16
5.1.3Mounting........................................................................................................................................................ 17
5.2 Electrical Installation.................................................................................................................................... 18
5.2.1 Important notes............................................................................................................................................. 18
5.2.2 EMC compliant installation......................................................................................................................... 18
5.2.3 Connection diagram..................................................................................................................................... 18
6Interfaces....................................................................................................................................... 20
6.1 Available interfaces....................................................................................................................................... 20
6.2 Standard version............................................................................................................................................ 20
6.2.1 Overview of all connectors.......................................................................................................................... 21
6.2.2 Cable pre-assembling and cable feed-through (cable sleeves)................................................................ 22
6.2.3 Control signals............................................................................................................................................... 24
6.2.3.1XS2, XS7: Digital outputs (24V), Enable inputs........................................................................................ 24
6.2.3.2XS8, XS9, XS10: Digital inputs for limit switches and reference switch................................................ 26
6.2.3.3XS3, XS4: CAN interface.............................................................................................................................. 27
6.2.4 Power connection.......................................................................................................................................... 28
6.2.4.1XS5, XS6: DC link voltage, logic supply..................................................................................................... 28
6.2.5 Safety functions............................................................................................................................................. 29
6.2.5.1Restart lock.................................................................................................................................................... 29
6.3 Version with protection class IP54............................................................................................................. 29
6.3.1 CAN interface................................................................................................................................................ 30
6.3.2 Power supply, logic supply........................................................................................................................... 30
6.4 Version with M8/M12 connectors with CAN interface........................................................................... 31
Subject to change without notice!
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User Manual ECOMPACT®
6.4.1 Overview of all connectors.......................................................................................................................... 31
6.4.2 Control signals............................................................................................................................................... 32
6.4.2.1Connector Din/Dout: Digital outputs (24V), Enable inputs................................................................... 32
6.4.2.2CWI, CCWI, Ref/Home: Digital inputs for limit switches and reference switch................................. 33
6.4.2.3CANin, CANout: CAN interface................................................................................................................ 34
6.4.3 Power connection.......................................................................................................................................... 35
6.4.3.1Power connector: DC link voltage, logic supply....................................................................................... 35
6.4.4 Appropriate cables incl. mating connector................................................................................................ 35
6.5 Version with M8/M12 connectors with EtherCAT interface.................................................................. 36
6.5.1 Overview of all connectors.......................................................................................................................... 36
6.5.2 Control signals............................................................................................................................................... 37
6.5.2.1Connector Din/Dout: Digital outputs (24V), Enable inputs................................................................... 37
6.5.2.2Ref/Home: Digital input for reference switch........................................................................................... 38
6.5.2.3EtherCAT interface....................................................................................................................................... 38
6.5.3 Power connection.......................................................................................................................................... 40
6.5.3.1Power connector: DC link voltage, logic supply....................................................................................... 40
6.5.4 Appropriate cables incl. mating connector................................................................................................ 40
7Commissioning............................................................................................................................. 41
7.1 Notes before commissioning....................................................................................................................... 41
7.2 Work schedule commissioning................................................................................................................... 42
7.3 Error messages............................................................................................................................................... 43
8
8.1
Parameter setting.......................................................................................................................... 45
PC user interface ECO Studio..................................................................................................................... 45
9Accessories.................................................................................................................................... 46
9.1 Mating connector set ECOMPACT® basic version (Molex PCB connectors)....................................... 46
9.2 Cables for basic version (Molex PCB connectors).................................................................................... 47
9.3 Establishing the Crimp connections.......................................................................................................... 48
10Appendix....................................................................................................................................... 49
10.1Glossary.......................................................................................................................................................... 49
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User Manual ECOMPACT®
1
About this manual
This installation manual describes the compact servo drive ECOMPACT®. It concerns all persons who project, install and commission ECOMPACT® drives.
Further information:
ÂÂ Software commissioning: ECO Studio Operation Manual ECOVARIO®, ECOSTEP®, ECOMPACT®
ÂÂ Parameterization: ECO Studio Operation Manual ECOVARIO®, ECOSTEP®, ECOMPACT®
ÂÂ Application Notes ECOMPACT®
This manual makes the following demands on qualified personnel:
Transport: Personnel trained in handling electrostatic sensitive devices
Installation: Electrotechnically qualified personnel who know the security directives of electrical engineering and automation
Setup/Commissioning: Qualified personnel with a broad knowlege of the fields of electrical engineering,
automation and drives.
2
Safety instructions
2.1Symbols
Table 2.1: Symbols
Pictogram
Subject to change without notice!
Warning
Consequences
General warning about danger
Disregarding this warning may
lead to death or serious injuries.
Warning about dangerous electrical voltages
Disregarding this warning may
lead to death or serious injuries.
Warning about hot surfaces
Disregarding this warning may
lead to burns to the skin.
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User Manual ECOMPACT®
2.2
General safety instructions
Table 2.2: General safety instructions
The compact servo drives are components which are built into machines and can only be
used as integral components of such equipment. Setting the compact servo drive into operation is forbidden until it has been established that the machine or plant fulfils the requirements of the EC Machinery Directive 2006/42/EC.
Only properly qualified personnel are permitted to perform activities such as transport, installation, setup and maintenance of the product. The qualified personnel must know and
observe all relevant safety standards.
In case of modifications or retrofits with components of manufacturers other than Jenaer
Antriebstechnik, please contact us to clarify that those components are suitable to be assembled with our devices.
The operating conditions have to accord to the data on the nameplate.
Emergency-off equipment must be workable in all operation modes, especially during setup
and maintenance.
2.3Installation
Table 2.3: Safety instructions, installation
On coupling the motor it is important to pay attention to the exact orientation of the shaft.
A too big misalignment leads to vibrations, reduction of torque and lessens the working life
of the bearings. Always avoid a mechanically overdefined bearing of the shaft.
On mounting drive elements onto the free shaft end, watch the safe radial and axial stress
of the shaft. Never use a hammer or a similar tool for mounting. Protect the drive elements
from loosening.
When using a belt drive watch the safe radial stress of the motor shaft.
Make sure the compact servo drive is properly ventilated. If ambient temperatures higher
than 40 °C occur contact the manufacturer.
2.4
Electrical connection
Table 2.4: Safety instructions, electrical connection
The compact servo drives are not intended for direct connection to the power supply system but have to be driven with an electronic converter. Connecting the motor directly to the
power supply system leads to destruction of the motor.
All work may only be carried out by qualified personnel. The machine or plant has to be
switched off and protected against restart.
Before applying a voltage it is vital to make sure that the protective earth conductor is connected properly. Observe the data on the name plate.
During operation control and power connections lead dangerous voltages. Never loosen
connections if they are live.
After disconnecting the device wait at least 3 minutes before touching the contacts. Capacitors can still have dangerous voltages present up to 3 minutes after switching off the supply
voltage. To be sure measure the DC link voltage and wait until it has fallen below 40 V.
8
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User Manual ECOMPACT®
2.5
During operation
Table 2.5: Safety instructions, operation
The surfaces of the motors can get hotter than 70 °C. Therefore they have to be protected
against touching. No temperature sensitive parts may touch the surface or be fastened to
them.
Unintentional movements of motors, tools or axes may lead to death or serious injuries.
ECOMPACT® drives can produce strong mechanical powers and high accelerations. Avoid
staying in the danger zone of the machine. Never switch off safety equipment, not even for
test operation! Malfunctions should be repaired by qualified personnel immediately.
2.6
Prescribed use
All notes about technical data and ambient conditions have to be observed.
Using the unit in hazardous locations and in ambients containing oil, gas, vapours, dusts, radiations etc. is
prohibited if it is not explicitly allowed due to special measures.
The manufacturer of the machine must generate a hazard analysis for the machine and take appropriate
measures to ensure that unforeseen movements cannot cause injury or damage to any person or property.
If one or more ECOMPACT® are built into machines or plants the intended operation of the whole machine or plant is forbidden until it has been established that the machine or plant fulfills the requirements
of the EC Machinery Directive 2006/42/EC and the EMC Directive 2004/108/EC. Further EN 60204 and
EN ISO 12100 parts 1 and 2 have to be observed.
3
Legal notes
3.1
Terms of delivery
Our terms of delivery are based on the „The General Terms of Delivery for Products and Services of the Electrical Industry“ (German: ALB ZVEI) of the Central Association of the Electrical and Electronics Industry
(ZVEI e.V.) in their current version.
Subject to change without notice!
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User Manual ECOMPACT®
3.2Liability
The circuits and procedures in this manual are proposals. Every user has to check the suitability for every
special case. Jenaer Antriebstechnik GmbH is not responsible for suitability. Especially Jenaer Antriebstechnik is not responsible for the following damage causes:
ÂÂ disregarding the instructions of this manual or other documents concerning ECOMPACT®
ÂÂ unauthorized modifications of drive, motor or accessories
ÂÂ operating or dimensioning faults
ÂÂ Improper use of the ECOMPACT® components
3.3
Standards and directives
ECOMPACT® compact servo drives are components intended to be built into machines or plants for industrial purpose. The devices meet the following standards:
Directive 2006/95/EC „Low Voltage Directive“
Applied harmonized standards:
DIN EN 60 204-1/VDE 0113-1: „Safety of machinery – Electrical equipment of machines – General requirements“
DIN EN 61800-5-1: „Adjustable Speed Electrical Power Drive Systems - Part 5-1: Safety requirements; Electrical, thermal and energy“
Directive 2004/108EC „EMC directive“
Applied harmonized standards:
DIN EN 61 800-3: „Adjustable speed electrical power drive systems - EMC requirements and specific test
methods“
3.3.1
CE conformity
Compact servo drives ECOMPACT® are components that are intended to be built into electrical plant and
machines for industrial use. The manufacturer of the machine is responsible that the machine or plant fulfills the requirements of the EMC directive. The compact servo drives ECOMPACT® have been tested by an
authorized testing laboratory in a defined configuration with the system components which are described
in this documentation. Any divergence from the configuration and installation described in this manual
means that you will be responsible for carrying out new measurements to ensure that the regulatory requirements are fulfilled.
10
Subject to change without notice!
User Manual ECOMPACT®
Jenaer Antriebstechnik
GmbH
Buchaer Straße 1 · 07745 Jena · Germany
Tel. +49 (0) 3641 6 33 76 55
Fax. +49 (0) 3641 6 33 76 26
______________________________________________________________________
Declaration of Conformity
We, the company
Jenaer Antriebstechnik GmbH
Buchaer Straße 1
07745 Jena
Germany
declare the conformity of the product
Designation:
Compact Servo Drive
Type:
ECOMPACT®23E21XX
ECOMPACT®23E31XX
ECOMPACT®23E41XX
ECOMPACT®60E32XX
with the following directives:
EC Directive 2004/108/EC:
(EMC Directive)
Applied harmonized standards:
EN 61800-3 (EMI Disturbance)
EN 61800-3 (EMI Immunity)
EC Directive 2006/95/EC:
(Low Voltage Directive)
Applied harmonized standards:
EN 61800-5-1
EN 60204
Issued by:
Jenaer Antriebstechnik GmbH
Dipl.-Ing. (FH) Stephan Preuß
General Manager
Place, date:
Jena, 14.09.2010
Legally binding signature:
This declaration does not guarantee specific features.
Subject to change without notice!
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User Manual ECOMPACT®
4
Technical Data
4.1Equipment
Motor:
The ECOMPACT® is available with two different motor types:
ÂÂ with encoder commutated multi-pole synchronous motor -> ECOMPACT® series 23E
ÂÂ with low-pole AC servo motor -> ECOMPACT® series 60E.
The ECOMPACT® 23E is equipped with a high dynamic 2-phase encoder commutated synchronous motor
with 56,2 mm flange (NEMA23). The ECOMPACT® 23E is available in three versions, as 23E21 with a
peak torque of 1.15 Nm, as 23E31 with a peak torque of 2.15 Nm and as 23E41 with a peak torque of 3.2
Nm. ECOMPACT® series 23E drives are well-suited as direct drives. In this case, a gear unit normally is
not necessary, the drive is space-saving, more precise and cost-effective.
The ECOMPACT 60E is suitable for higher speeds (rated speed 3500 rpm).
Encoder:
The ECOMPACT® is equipped with an integrated high resolution incremental encoder (128,000 increments
per revolution). As an option, an absolute value encoder is available.
Servo amplifier:
The integrated servo amplifier provides the digital torque, force, speed and positioning control. The supply
voltage of the power stage is max. 60 VDC. The drive can be controlled and parameterized via the CANopen interface. As an option, a version with EtherCAT® interface can be provided. For control purposes
furthermore 5 digital 24-V-inputs and 2 digital outputs are available. 2 inputs and 2 outputs are isolated.
Holding brake:
As an option, the ECOMPACT® 23E can be equipped with a braking module. The activation of the holding
brake is done automatically.
12
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User Manual ECOMPACT®
4.2
Ordering key
Table 4.1: Ordering key ECOMPACT® 23E
23Exx
-
x
xx
-
x
x
x
-
x
x
-
x
x
-
xxx
xxx
No. of parameter set (three digits)
No. of firmware (three digits)
Approvals
A: CE, standard design
B - I: CE, special design
Type of field bus
C: CAN
P: EtherCAT
Options
A: 2 x restart lock (redundant, standard), 1 x free usable digital output
B: 1 x restart lock, 1 x free usable digital input
2 x free usable digital output (Option)
C: 2 x restart lock (redundant), 2 x free usable digital outputs
Supply
B: DC, power supply 24 ... 60 V; logic supply 24 V
Specialties, mountings, customer versions
Consecutive numbers
0 = no further option – standard device without mechanical modifications
B = drilling
G = gear (detailed implementation at the end of the ordering key, e.g. PLE60-5)
K = short motor shaft (< 20.6 mm)
L = long motor shaft (> 20.6 mm)
P = feather key acc. to DIN 6885
S = special feather key
W = other shaft machining (special diameter, surface, internal thread, etc.)
0 = cable feed-through – standard device without modifications
A = cable gland
C = connector version M8/M12
K = customer version (replaces the nomenclature for options)
Encoder type
8X: Incremental encoder, max. resolution 128.000 Inc/rev
DS: Absolute value encoder, resolution 17 bit singleturn
7W: Absolute value encoder, resolution 17 bit singleturn, 12 bit multiturn
Brake
0: without brake
B: braking module 1.5 Nm mounted
Motor type
23E21: Characteristics see Table 4.6 and Fig. 4.1
23E31: Characteristics see Table 4.6 and Fig. 4.2
23E41: Characteristics see Table 4.6 and Fig. 4.3
Example: ECOMPACT® 23E31-08X-000-BA-CA-000-000:
ECOMPACT® 60E is available in the configuration
ECOMPACT® compact servo drive with:
ECOMPACT® 60E32-08X-000-BA-CA-000-000:
ÂÂ Incremental encoder, Incremental encoder, max. resolution 128.000 Inc/rev
max. resolution 128.000 Inc/rev
DC supply
ÂÂ DC supplyTwo Enable inputs
ÂÂ Two Enable inputs
CAN interface
ÂÂ CAN interface
CE approval, standard design.
ÂÂ CE approval, standard design.
(Characteristics see Table 4.6 and Fig. 4.4)
Subject to change without notice!
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User Manual ECOMPACT®
4.3
Electrical Data
Table 4.2: Electrical data, power supply
Symb.
Unit
23E21
23E31
23E41
60B32
DC supply
Un
Rated supply voltage at DC input XS5 or
XS6
VDC
60 (24 ... 60)
In
Rated current (per phase) (ED 100%)
ARMS
3.3
3.4
1.8
3.9
I0
Stall current (per phase) (ED 100%)
ARMS
5.6
4.4
3.7
4.25
PVn
Rated losses
W
20
20
20
20
23E21
23E31
23E41
60E32
0.16
0.19
0.54
0.11
8.4
9.9
28.3
6.5
23E41
60E32
Table 4.3: Electrical data, motor characteristics
Symb.
Unit
kT
Torque constant
Nm/A
kE
Voltage constant
V/1000min-1
Isolation class
B, 130°C
Table 4.4: Electrical data, control signals
Qty.
1
5
3
Control signal
Unit
24-V supply (current consumption without
outputs)
Digital control signal inputs
(2 inputs isolated)
V
24 ±10 %
A
0.8
V
LOW 0 – 7, HIGH 12 – 36
mA
Digital control signal outputs
(2 outputs isolated)
10 (at 24 V )
V
24 A
0.2
Table 4.5: Electrical data, external fuses
4.4
DC supply
5 A (time-lag)
24 V supply
3 A (time-lag)
Mechanical data
Table 4.6: Mechanical data, dimensions and weight
14
Dimensions and weight
Unit
Dimensions W x H x T
mm
Weight of unit
kg
23E21
23E31
cf. drawings in Fig. 5.1
1.55
1.75
2.50
2.20
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User Manual ECOMPACT®
Table 4.7: Mechanical data, rated values
Symb.
Unit
23E21
23E31
23E41
60E32
MP
Peak torque (ED)
Nm
1.15 (40%)
2.15 (40%)
3.20 (40%)
1.00 (15%)
M0
Stall torque (ED 100%)
Nm
0.77*
1.20
2.20
0.50
Mn
Rated torque (ED 100%)
Nm
0.40*
0.67
0.98
0.43
nn
Rated speed
min-1
1000
1000
1000
3500
JM
Motor inertia
kgm2x10-3
0.026
0.046
0.069
0.01
FA
Max. axial load
N
80
110
FR
Max. radial load
N
100
220
FMA
Max. axial load during assembly
N
150
400
* preliminary values
M [Nm]
1,2
M [Nm]
3,5
M [Nm]
2,5
1
0,8
3
2
60V
2,5
60V
1,5
2
0,6
1
0,4
1
0,5
0,2
0,5
0
0
0
0
500
Intermittent
1000
1500
Continuous
2000
-1
n [min ]
60V
1,5
0
Fig. 4.1: Characteristics 23E21
500
Intermittent
1000
1500
Continuous
0
2000
-1
n [min ]
Fig. 4.2: Characteristics 23E31
500
Continuous
1000
1500
Intermittent
2000
n [min-1]
Fig. 4.3: Characteristics 23E41
M [Nm]
1,5
1
60 V
0,5
4.5
0
Ambient conditions
0
2000
Aussetzbetrieb
4000
Dauerbetrieb
6000
n [min-1]
Fig. 4.4: Characteristics 60E32
Table 4.8: General technical data, ambient conditions
Ambient conditions
ECOMPACT® is designed for ambient conditions of class 3K3 following EN 50178.
Symb.
Condition
Unit
TA
Ambient temperature during
operation with nominal load
°C
Storage temperature
°C
-10 – 70
Degree of humidity (not
condensing)
% rel. F.
5 – 95 (RH-2 nach IEC-61 131-2)
Cooling
h
5 – 40
Installation altitude
via motor flange and convection
m
up to 1 000 without restriction of power
Installation position
any
Protection class
IP40
Table 4.9: General technical data, applicable standards
Noise immunity
acc. to EN61800-3
Noise emission
acc. to EN61800-3
CE safety
acc. to EN61800-5-1
Subject to change without notice!
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User Manual ECOMPACT®
5Installation
5.1
Mechanical Installation
5.1.1
Important notes
ÂÂ Make sure that transport and storage did no damage to the units.
ÂÂ Depending on the power losses a sufficient convection is necessary
ÂÂ The minimum bending radii of the connecting cables (cf. chapter 9.2) must be observed.
5.1.2Dimensions
56.2
47.14
ø 38.1
±0.2
±0.05
115.5
23E21, 23E31: D = 8
23E41: D = 10
93.5
øD
-0.013
ECOMPACT Series 23E:
4x
ø5
1.6 +0.5
20.6
+0.5
-1.5
84.5
L
23E21
23E21
23E31
23E31
23E41
23E41
without braking module
with braking module
without braking module
with braking module
without braking module
with braking module
L
L
L
L
L
L
=
=
=
=
=
=
142.5
186.4
164.5
208.4
189.5
233.4
All lengths with incremental encoder.
With absolute value encoder, length
increases by 20 mm.
With option EtherCAT interface:
Height increases to 115.5 mm.
Options:
115,5
Option: M8/M12
connectors
(cf. chapter 6.4)
Option: cable glands IP54
(cf. chapter 6.3) and absolute
value encoder
Option: EtherCAT interface
(cf. chapter 6.5)
96
ø 14k6
ECOMPACT Series 60E:
4x
ø5
0
ø 50- 0.03
2.5 +0,5
 60
25 ±0.2
191
ø 70
All length specifications with incremental encoder.
Fig. 5.1: Dimensions of the ECOMPACT®
16
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User Manual ECOMPACT®
5.1.3Mounting
ECOMPACT® is intended for the following mounting positions:
ÂÂ drive shaft horizontal
ÂÂ drive shaft vertical, shaft end downwards
ÂÂ drive shaft vertical, shaft end upwards
A sufficient heat dissipation has to be observed. The surface temperature of the motor must not exceed
70°C. If the drive is operated at its limit a sufficient heat dissipation via the motor flange has to be ensured.
The motor flange has to be mounted on a plain surface. A good thermal and electrical connection has to be
observed. Varnished surfaces should be avoided. The motor is mounted by means of 4 M5 screws. For reasons of the electromagnetic compatibility (EMC) proper grounding of the ECOMPACT® is required. In the
basic version of the ECOMPACT, this is achieved by connecting the protective earth (PE) conductor of the
voltage supply to the earthing lug in the cable connection area (cf. Fig. 5.2) and the conductive mounting of
the motor flange. The ECOMPACT version with M8/M12 connectors provides the PE pin on the „Power“
connector.
Fig. 5.2: Earthing lug in the cable connection area of the ECOMPACT®
When mounting the ECOMPACT® into a machine make sure that the CAN bus cables and the Enable cables
are laid EMC conform by connecting the cable shield extensively via the screening clamps to chassis earth
on both sides.
To calculate the minimal mounting space the minimum bending radii of the connecting cables (cf. Chap.
9.2) have to be regarded.
Subject to change without notice!
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User Manual ECOMPACT®
5.2
Electrical Installation
5.2.1
Important notes
All installation work may only be carried out if the machine or plant is not live and protected against restart.
Never exceed the maximum rated voltage of 60 VDC (+10 %) at the connector XS5 or XS6 (or as an option at
the M12 connector „Power“)!
Fusing of the DC supply and of the 24-V logic supply should be carried out by the user. The compact servo
drive has to be properly grounded. The protective earth connector must have at least the same diameter as
the supply cables.
5.2.2
EMC compliant installation
The supply connection of the machine should be equipped with an appropriate RFI suppression filter. Always use shielded cables.
Metal parts in the cabinet have to be interconnected extensively and conductive regarding HF. Used relays,
contactors, solenoids etc. have to be protected against overvoltage. Supply cables and motor cables must be
laid in a proper distance of control cables.
5.2.3
Connection diagram
The following diagram shows a connection example of the ECOMPACT® basic version (CAN) with external logic supply 24 VDC and power supply 60 VDC. In this example power supply module SV24/60 is used.
Dependent on the resulting power consumption it is possible to supply several ECOMPACT® by means of
one power supply module. A concatenation of compact servo drives is possible up to an overall power consumption of 480 W (with an 8 A fuse, medium time-lag).
18
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User Manual ECOMPACT®
ECOMPACT
®
XS3
XS5
CAN
DC+
CAN
XS4
+24V_Supply
GND
GND
zu weiterem ECOMPACT
4
CAN
4
CAN
Steuerung
CWI
60V DC
DC+
24V DC
+24V_Supply
GND
GND
230V AC
XS8
XS6
SV24/60
XS9
CCWI
3
3
Endlage pos.
Endlage neg.
XS10
HOME
3
Referenz
OUT2
XS2
OUT1
ENABLE 1
GND_EXT
+24V_EXT
XS7
ENABLE 2
+24V_EXT
PE
Freigabe 2*
L1
N
Digitalausgang 1
PE
Digitalausgang 2
Freigabe 1
GND
+24V
*) Optional kann XS7 auch als frei verwendbarer Digitaleingang ausgeführt sein ( ECOMPACT-xxExx-xxx-xxx-B B -... )
Bild 5.3: Connection diagram ECOMPACT® basic version with SV24/60
Subject to change without notice!
19
User Manual ECOMPACT®
6Interfaces
6.1
Available interfaces
By default, the ECOMPACT® provides interfaces for 5 digital inputs, 2 digital outputs, a CAN bus interface,
power supply +24 ... +60 VDC, logic supply +24 VDC.
As options are available:
ÂÂ A version with protection class IP54.Here, the CAN bus interface (incoming and outgoing),
power supply +24 ... +60 VDC, and logic supply +24 VDC are provided via cable glands (cf.
chapter 6.3)
ÂÂ A version with M8/M12 industry connectors located on a connection board. The pin assignment is described in chapter 6.4.
ÂÂ A version with EtherCAT® interface. More information can be found in chapter 6.5.
6.2
Standard version
The interfaces of the ECOMPACT® are by default designed as PCB plug connectors. For connecting the
ECOMPACT® the connector housing cover has to be opened. Fig. 6.1 shows the view to the connectors after
opening the cover.
Danger of injury when unplugging the PCB plug connectors.
Observe that the connectors have to be unlocked before removing.
Unlock by pressing the locking lever.
Grip the connectors only at their housing (not at the cable).
Not observing these precautions can result in injuries or damages.
For the interfaces XS2 to XS10 a mating connector set is available (cf. table 9.1 „Original accessories ECOMPACT®“). To simplify the handling all mating connectors are labelled.
20
Subject to change without notice!
User Manual ECOMPACT®
6.2.1
Overview of all connectors
Table 6.1: Assignment of the PCB plug connectors
Connector
Assignment
XS2
Digital outputs OUT1, OUT2,
Enable 1
XS3
CAN bus interface 1
XS4
CAN bus interface 2
XS5
Power supply (max. 60 V)
+ logic supply (24 V)
XS6
Power supply (max. 60 V)
+ logic supply (24 V)
XS7
Enable 2 or digital input 1
XS8
Digital input CWI: Positive limit position
XS9
Digital input CCWI: Negative limit position
XS10
Digital input HOME: Reference switch
S1
DIP switch for setting the device address
(CAN ID)
S2
DIP switch for internal deactivation of the
restart lock (Enable inputs)
XS2
Enable 1, Digital outputs
XS3
CAN bus 1
XS7
Enable 2 or Digital input 1
XS8
Digital input (Positive limit position)
S2 Bridge Enable 1 + 2
XS9
S1 Device address
Digital input (Negative limit position)
XS6
XS4
Voltage supply 2
(Power + logic)
CAN bus 2
XS10
XS5
Voltage supply 1
(Power + logic)
Digital input
(Reference switch)
Fig. 6.1: Order of the PCB plug connectors of the ECOMPACT® with connector housing cover opened
Set the device address at DIP switch S1 and if required Enable bridges at DIP switch S2 before
connecting the cables because S1 and S2 might be accessible difficultly afterwards. When setting
the DIP switches be careful that no surrounding components or cables are damaged by supporting
tools such as small screwdrivers.
Subject to change without notice!
21
User Manual ECOMPACT®
6.2.2
Cable pre-assembling and cable feed-through (cable sleeves)
Pre-assembled cables are available for ECOMPACT®. Optionally the cables can be pre-assembled by the
customer. For this purpose, a mating connector set is available. For cable feed-through cable sleeves are used
by default. As an option, cable glands (M16 x 1,5) are available as well (cf. chapter 6.3).
Table 6.2 lists the appropriate mating connector type, the pre-assembled cable type and the appropriate cable
sleeve diameter for all PCB plug connectors.
Make sure that only cable sleeve diameters (A or B, cf. table) are used which are appropriate for the
respective cable diameter. Otherwise protection class IP40 cannot be guaranteed.
Table 6.2: Cable and connector data
Connector
22
Interface
Mating connector,
JAT designation
Cable type
JAT designation
Cable
sleeve Ø
XS2
Digital outputs OUT1, OUT2,
Enable 1
Molex Micro-Fit 3.0
DAT36-833-100-003-000
A or B
XS3
CAN bus bridge
Molex Micro-Fit 3.0
DAT30-832-832-003-000
A
XS4
CAN bus interface
Molex Micro-Fit 3.0
DAT30-832-412-003-000
A
XS5
Power supply (max. 60 V)
+ logic supply (24 V) bridge
Molex Mini-Fit Jr.
NET43-820-820-003-000
A
XS6
Power supply (max. 60 V)
+ logic supply (24 V)
Molex Mini-Fit Jr.
NET43-820-100-003-000
A
XS7
Enable or Digital input 1
Molex Micro-Fit 3.0
DAT35-830-100-003-000
B
XS8
Digital input CWI: Positive limit position
Molex Micro-Fit 3.0
SNS35-831-100-003-000
B
XS9
Digital input CCWI: Negative limit position
Molex Micro-Fit 3.0
SNS35-831-100-003-000
B
XS10
Digital input HOME: Reference switch
Molex Micro-Fit 3.0
SNS35-831-100-003-000
B
Subject to change without notice!
User Manual ECOMPACT®
For feeding-through the pre-assembled cables proceed as follows:
1. Specify the direction the cables are intended to be fed through the ECOMPACT® housing. Prefered
direction of the power supply cable is to the front. The control signal cables should be fed to the side.
2. Remove the respective cable sleeve accomodation by pulling it upwards.
The following figure shows the removed cable sleeve accomodation.
Zugentlastung, Schraube TX10
Kabeltülle
Kabeltüllenaufnahme
Befestigungslasche
Dichtungsring
Torx-Schrauben TX10
3. Remove the sealing ring at the outer edge.
4. Loosen the two Torx screws (TX10) and retrieve the cable sleeve including the mounting lug.
5. Loosen the screw at the strain relief.
6. Open the cable sleeve outlet(s) to be used.
7. Feed the cable through the slot at the side of the cable sleeve into the respective outlet.
8. Pull the cable back to the strain relief. Observe that the cable shield is well connected to the strain
relief.
9. Tighten up the screw at the strain relief.
10. Re-insert the cable sleeve into the cable sleeve accomodation and screw on the mounting lug using the
two Torx screws (TX10).
11. Re-insert the sealing ring into the cable sleeve accomodation.
12. Connect the protective earth line (PE) of the power supply cable to the connector housing (cf. Chap.
5.1.3, Fig. 5.2).
13. Plug the cable connectors to the respective PCB plug connectors
14. Re-insert the cable sleeve accomodation into the housing of the ECOMPACT®.
Subject to change without notice!
23
User Manual ECOMPACT®
6.2.3
Control signals
6.2.3.1 XS2, XS7: Digital outputs (24V), Enable inputs
+24 V
+24 V
Control
XS2
XS2
5 OUT1
5 OUT1
Load
+24 V
+24 V
6 OUT2
6 OUT2
Load
+24 V
4 ENABLE1
4 ENABLE1
S2.1
S2.1
GND
GND
+24 V
Galvanic
isolation
Galvanic
isolation
XS5 or XS6
GND
GND
+24 V
1 +24 V
2 GND
3 GND
+
-
+24 V
1 +24 V
External
power supply
24 V DC
2 GND
3 GND
XS7
+24V_Supply
GND
XS7
+24V
+24V
ENABLE2
2 (DIN1)
S2.2
ENABLE2
2 (DIN1)
S2.2
+24 V
+24 V
1 +24V
ECOMPACT
R
1 +24V
ECOMPACT
R
Fig. 6.2: Connector XS2, XS7: Circuit of the digital outputs and Enable inputs: - left side: Operation with external control
- right side: Operation without external control
Version xxExx-0xx-xxx-BA-Cx-xxx-xxx
Table 6.4a: Pin assignment of the digital outputs and ENABLE inputs, wire colours of standard cables
Signal
Conn.
Pin
OUT1
XS2
5
yellow
Description
Status output ENABLE 2
IO max = 0.2 A, isolated
+24V_EXT
XS2
1
white
External reference potential
+24V
OUT2
XS2
6
grey
Digital output 2
IOmax = 0.2 A, isolated
GND
XS2
2, 3
brown
Reference potential GND
ENABLE 1
XS2
4 green
Enable 1
ENABLE 2
XS7
2 brown Enable 2
+24V_EXT
XS7
1 white
Reference pot. +24V Enable 2
In the version xxExx-0xx-xxx-BA-Cx-xxx-xxx the ECOMPACT® provides two hardware enable inputs
which both have to be activated in order to switch the ECOMPACT® operational (cf. chapter 6.2.5.1,
restart lockout). Enable input 1 is activated by supplying a voltage of + 24 V (HIGH). Enable input 2 is activated by jumpering the both pins at XS7. By means of the DIP switch S2 the enable can be forced („ON“
position), e.g. for testing purposes or if no hardware enable signal should be used. S2.1 is assigned to
enable input 1, S2.2 is assigned to enable input 2. The status of enable input 2 is directly switched through
to the status output OUT1.
24
Subject to change without notice!
User Manual ECOMPACT®
Version xxExx-0xx-xxx-BB-Cx-xxx-xxx
Table 6.4b: Pin assignment of the digital outputs and ENABLE inputs, wire colours of standard cables
Signal
Conn.
Pin
OUT1
XS2
5
yellow
Description
Digital output 1
IO max = 0.2 A, isolated
+24V_EXT
XS2
1
white
External reference potential
+24V
OUT2
XS2
6
grey
Digital output 2
IOmax = 0.2 A, isolated
GND
XS2
2, 3
brown
Reference potential GND
ENABLE 1
XS2
4 green
Enable 1
DIN 1
XS7
2 brown Digital input
+24V_EXT
XS7
1 white
Reference pot. +24V DIN1
In the ECOMPACT® version xxExx-0xx-xxx-BB-Cx-xxx-xxx only Enable 1 is available, XS7 can be used as
free programmable digital input DIN1. OUT1 can be used as free programmable digital output.
By means of the DIP switch S2.1 the enable can be forced („ON“ position), e.g. for testing purposes or if
no hardware enable signal should be used.
DIP switch S2.2 has to be in the „OFF“ position in order to switch through the signals at
digital input XS7.
Version xxExx-0xx-xxx-BC-Cx-xxx-xxx
Table 6.4a: Pin assignment of the digital outputs and ENABLE inputs, wire colours of standard cables
Signal
Conn.
Pin
Description
OUT1
XS2
5
yellow
Digital output 1
IO max = 0.2 A, isolated
+24V_EXT
XS2
1
white
External reference potential
+24V
OUT2
XS2
6
grey
Digital output 2
IO max = 0.2 A, isolated
GND
XS2
2, 3
brown
Reference potential GND
ENABLE 1
XS2
4 green
Enable 1
ENABLE 2
XS7
2 brown Enable 2
+24V_EXT
XS7
1 white
Reference pot. +24V Enable 2
In the version xxExx-0xx-xxx-BC-Cx-xxx-xxx the ECOMPACT® provides two hardware enable inputs
which both have to be activated in order to switch the ECOMPACT® operational (cf. chapter 6.2.5.1,
restart lockout). Enable input 1 is activated by supplying a voltage of + 24 V (HIGH). Enable input 2 is
activated by jumpering the both pins at XS7. By means of the DIP switch S2 the enable can be forced
(„ON“ position), e.g. for testing purposes or if no hardware enable signal should be used. S2.1 is assigned
to enable input 1, S2.2 is assigned to enable input 2. OUT1 and OUT2 can be used as free programmable
digital outputs.
Subject to change without notice!
25
User Manual ECOMPACT®
6.2.3.2 XS8, XS9, XS10: Digital inputs for limit switches and reference switch
Table 6.5: Pin assignment of the digital inputs, wire colours of standard cables (3x)
Signal
Conn.
Pin
Wire colour
Description
+24V
XS8
1
white
Reference potential +24V
CWI
(DIN3)
XS8
2
green
Positive limit position
GND
XS8
3
brown
Reference potential GND
+24V
XS9
1
white
Reference potential +24V
CCWI
(DIN4)
XS9
2
green
Negative limit position
GND
XS9
3
brown
Reference potential GND
+24V
XS10
1
white
Reference potential +24V
HOME
(DIN5)
XS10
2
green
Reference switch
GND
XS10
3
brown
Reference potential GND
ECOMPACT
R
Sensors
XS8
Positive limit
1
+24V
2
CWI (DIN3)
3
GND
XS9
1
+24V
2
CCWI (DIN4)
3
GND
XS10
1
+24V
+24 V
Negative limit
+24 V
Reference
+24 V
2 Home (DIN5)
3
GND
Fig. 6.3 Connector XS8, XS9, XS10: Circuit of the digital inputs for limit switches and reference switch
26
Subject to change without notice!
User Manual ECOMPACT®
6.2.3.3 XS3, XS4: CAN interface
Table 6.6: Pin assignment connector XS3, XS4, pin assignment of Sub-D connector,
Signal
Pin
Pin Sub-D
Description
CAN_V+
1
9 (white)
+24 VDC (+8 − +30 VDC),
max. 50 mA
CAN_H
2
7 (green)
CAN data H
CAN_L
3
2 (yellow)
CAN data L
CAN_GND
4
3 (brown)
Reference potential for
CAN_V+
default cable used w. cable sleeves
The connectors XS3 and XS4 can be used equivalently. The signals are looped through, thus the CAN bus
can be connected to another ECOMPACT®. For reasons of clearness XS4 should be used for the incoming
CAN bus from the CAN master, and XS3 should be used for the transfer to other devices.
The ECOMPACT® CAN interface is based on the communication profile CiA DS 301 and on the device
profile CiA DSP 402 (drives and motion control). It must be supplied with external voltage. Terminating
resistors are not built in the ECOMPACT®. A CAN bus has to be terminated with a 120 Ω resistor at the
beginning and at the end. If the ECOMPACT® is operated as first or last participant at a CAN bus, a 120-Ω
terminating resistor (as part of the mating connector set, cf. Chap. 9) is used at XS3 between the pins 2 and
3 (cf. Fig. 6.5).
The device address is set via the binary coding of the DIL switch S1. If all switches are in the „0“ position, the
node ID is 0x7F. The Baud rate and the node ID can be set directly via the appropriate CAN objects.
The following Baud rates are supported: 1 000 kBit/s, 500 kBit/s, 250 kBit/s, 125 kBit/s, 100 kBit/s, 50 kBit/s.
If point of sampling and scan rate (86.7 %, 3-times sampling at all Baud rates) do not meet the demands
please get in touch with the technical service of Jenaer Antriebstechnik.
In the ECOMPACT® with EtherCAT® option (chapter 6.5) the connectors XS3 and XS4 cannot
be used as external CAN interface.
Subject to change without notice!
27
User Manual ECOMPACT®
Fig. 6.4: Circuit XS3, XS4: CAN interface
CAN_H
2
2
2
2
2
2
3
1
4
3
1
4
3
1
4
3
1
4
3
1
4
3
1
4
R
R
CAN_L
CAN_V+
CAN_GND
Master im
CAN-Bus
XS4 XS3
Achse 1
XS4 XS3
Achse 2
XS4 XS3
Achse n
Fig. 6.5: Size terminating resistors R according to line impedance; normal: R = 120 Ω
6.2.4
Power connection
6.2.4.1 XS5, XS6: DC link voltage, logic supply
Table 6.7: Pin assignment connector XS5, XS6, wire colours of standard cables
Signal
Pin
Wire colour
Description
GND
1
brown
Reference ground
DC+
2
orange
+ DC link
(power supply)
GND
3
black
Reference ground
+24V_Supply
4
red
Logic supply
green/yellow
Protective earth
PE*
*) connected to the housing, cf. chapter 5.1.3, Fig. 5.2
The connector XS5 is used for direct DC supply. Furthermore, the logic circuit (+24V) which is separate
from the power circuit is supplied here.
The connectors XS5 and XS6 are looped through, thus the supply voltages can be fed to another
ECOMPACT® via XS6.
In case of direct DC supply of the DC link circuit, the inrush current is not limited by the servo drive. Therefore, special limitation measures have to be taken in the external power supply unit. If energy is regenerated,
the power unit must be equipped with a ballast circuit in case the regenerated energy is higher than the
28
Subject to change without notice!
User Manual ECOMPACT®
6.2.5
Safety functions
6.2.5.1 Restart lock
The ECOMPACT® provides a redundant restart lock which can be implemented by two independent input
contacts ENABLE 1 (connector XS2) and ENABLE 2 (connector XS7). Optionally the restart lock can also
be configured via only one ENABLE input, the other is then free for other purposes. In case of an error the
drive is switched off, i.e. the power stage is switched off and the holding brake, if any, is activated. The error
is signalled and an emergency telegram is sent via the CAN bus. The device can be switched on again only if
the error condition is cleared and if the hardware enable inputs are activated.
Relevant aspects of safety
See also the prescribed use of the compact servo drive ECOMPACT® described in Chap. 2.3 and the operating conditions mentioned there.
If the restart lock is active, the inputs ENABLE 1 and ENABLE 2 set all driver transistors into high resistance
state. This is a hardware function for both inputs. The control of the feedback contact is a software function.
Also in case of an error, if a current in the motor is produced by damaged driver transistors the high-pole
servo motor cannot start because the necessary rotating field is not created.
6.3
Version with protection class IP54
As an option, a version of the ECOMPACT with protection class IP54 is available. Here, the CAN bus interface (incoming and outgoing), power supply +24 ... +60 VDC, and logic supply +24 VDC are provided via cable
glands. The cables of 0.5 m length are equipped with connector sleeves.
Power cable 0,5 m
connector sleeves
CAN cable 0,5 m
connector sleeves
EMC Cable glands
M16x1,5
For connecting the ECOMPACT version with protection class IP54 it is not necessary to open the
housing!
Subject to change without notice!
29
User Manual ECOMPACT®
6.3.1
CAN interface
The ECOMPACT® CAN interface is based on the communication profile CiA DS 301 and on the device
profile CiA DSP 402 (drives and motion control). The signals are looped through, thus the CAN bus can
be connected to another ECOMPACT®. The interface must be supplied with external voltage. Terminating
resistors are not built in the ECOMPACT®. A CAN bus has to be terminated with a 120 Ω resistor at the
beginning and at the end. If the ECOMPACT® is operated as first or last participant at a CAN bus, a 120-Ω
terminating resistor (as part of the mating connector set, cf. Chap. 9) is used at XS3 between the pins 2 and
3 (cf. Fig. 6.5).
Table 6.8: Wire assignment CAN interface
Signal
Colour
Description
CAN_V+
white
+24 VDC (+8 − +30 VDC), max.
50 mA
CAN_H in
green
CAN Data H incoming
CAN_L in
yellow
CAN Data L incoming
CAN_H out
grey
CAN Data H outgoing
CAN_L out
pink
CAN Data L outgoing
CAN_GND
brown
Reference potential for
CAN_V+
The Baud rate and the node ID can be set directly via the appropriate CAN objects.
The following Baud rates are supported: 1 000 kBit/s, 500 kBit/s, 250 kBit/s, 125 kBit/s, 100 kBit/s, 50 kBit/s.
If point of sampling and scan rate (86.7 %, 3-times sampling at all Baud rates) do not meet the demands
please get in touch with the technical service of Jenaer Antriebstechnik.
6.3.2
Power supply, logic supply
The power cable is used for direct DC supply. Furthermore, the logic circuit (+24V) which is separate from
the power circuit is supplied here.
Table 6.9: Wire assignment power supply, logic supply
Signal
Wire colour
Description
GND
brown
Reference ground
DC+
orange
+ DC link
(power supply)
GND
black
Reference ground
+24V_Supply
red
Logic supply
PE
green/yellow
Protective earth
In case of direct DC supply of the DC link circuit, the inrush current is not limited by the servo drive. Therefore, special limitation measures have to be taken in the external power supply unit. If energy is regenerated,
the power unit must be equipped with a ballast circuit in case the regenerated energy is higher than the
energy consumed by all consumers connected to the DC bus.
30
Subject to change without notice!
User Manual ECOMPACT®
6.4
Version with M8/M12 connectors with CAN interface
As an option, a version of the ECOMPACT with M8 and M12 connectors is available.
6.4.1
Overview of all connectors
Table 6.10: Connectors M8/M12
Connector
Description
CANin
M8
male
CAN bus interface in
CANout
M8
female
CAN bus interface out
Power
M12
male
Power supply (max. 60 V)
+ logic supply (24 V)
Din/Dout
M12
male
Digital outputs OUT1, OUT2,
Enable 1 + 2
CWI
Digital input CWI: Positive limit position
CCWI
Ref/
Home
M8
female
Digital input CCWI: Negative limit position
Digital input HOME: Reference switch
Din/Dout
Ref/Home
CCWI
CWI
Power
CANin
CANout
Fig. 6.6: Layout of the ECOMPACT® connectors (option M8/M12)
Information concerning the appropriate cables can be found in chapter 6.4.4.
Subject to change without notice!
31
User Manual ECOMPACT®
6.4.2
Control signals
6.4.2.1 Connector Din/Dout: Digital outputs (24V), Enable inputs
Connector
Din/Dout
+24 V
Connector
Din/Dout
+24 V
Control
5 OUT1
5 OUT1
Load
+24 V
+24 V
6 OUT2
6 OUT2
Load
+24 V
3 ENABLE1
3 ENABLE1
S2.1
S2.1
GND
GND
+24 V
Galvanic
isolation
GND
Galvanic
isolation
Power connector
GND
+24 V
1 +24 V
2 GND
8 GND
+
-
+24 V
1 +24 V
external
Power supply
24 V DC
2 GND
8 GND
+24 V
GND
+24V
ENABLE2
4 (DIN1)
S2.2
+24V_Supply
ENABLE2
4 (DIN1)
S2.2
+24 V
+24 V
7 +24V
ECOMPACT
R
7 +24V
ECOMPACT
R
Fig. 6.7: Connector Din/Dout: Circuit of the digital outputs and Enable inputs: - left side: Operation with external control
- right side: Operation without external control
Version xxExx-0xx-xxx-BA-Cx-xxx-xxx
Table 6.11: Pin assignment of the digital outputs and ENABLE inputs (M12 connectors)
Pin
Signal
Description
1
+24V_EXT
External reference potential +24V
2
GND_EXT
Reference potential GND
3
ENABLE 1
Enable 1
4
ENABLE 2
Enable 2
5
OUT1
Status output ENABLE 2
IO max = 0.2 A, isolated
6
OUT2
Digital output 2
IOmax = 0.2 A, isolated
7
+24V_EXT
Reference potential +24V Enable 2
8
GND_EXT
Reference potential GND
In the version xxExx-0xx-xxx-BA-Cx-xxx-xxx the ECOMPACT® provides two hardware enable inputs
which both have to be activated in order to switch the ECOMPACT® operational (cf. chapter 6.2.5.1,
restart lockout). Enable input 1 is activated by supplying a voltage of + 24 V (HIGH). Enable input 2 is
activated by jumpering the pins 7 and 4. The status of enable input 2 is directly switched through to the
status output OUT1.
32
Subject to change without notice!
User Manual ECOMPACT®
6.4.2.2 CWI, CCWI, Ref/Home: Digital inputs for limit switches and reference switch
Table 6.12: Pin assignment of the sensor inputs ECOMPACT® (M8 female connector)
Connector
Pin
Signal
Description
CWI
1
+24V
Reference potential +24V
3
GND
Reference potential GND
4
CWI (DIN3)
Positive limit position
1
+24V
Reference potential +24V
3
GND
Reference potential GND
4
CCWI (DIN4)
Negative limit position
1
+24V
Reference potential +24V
3
GND
Reference potential GND
4
HOME (DIN5)
Reference switch
CCWI
Ref/Home
ECOMPACT
R
Sensors
CWI
Positive limit
1
+24V
4
CWI (DIN3)
3
GND
CCWI
1
+24V
4
CCWI (DIN4)
3
GND
Ref/Home
1
+24V
+24 V
Negative limit
+24 V
Reference
+24 V
4 Home (DIN5)
3
GND
Fig. 6.8 Connectors CWI, CCWI, Ref/Home: Circuit of the digital inputs for limit switches and reference switch
Subject to change without notice!
33
User Manual ECOMPACT®
6.4.2.3 CANin, CANout: CAN interface
Table 6.13: Pin assignment CANin, CANout (M8 connectors)
Pin
Signal
Description
1
Shield
2
CAN_V+
+24 VDC (+8 − +30 VDC), max. 50 mA
3
CAN_H
CAN Data H
4
CAN_GND
Reference potential CAN_V+
5
CAN_L
CAN Data L
CANin
(male)
CANout
(female)
The connectors CANin and CANout can be used equivalently. The signals are looped through, thus the
CAN bus can be connected to another ECOMPACT®. For reasons of clearness CANin should be used for
the incoming CAN bus from the CAN master, and CANout should be used for the transfer to other devices.
The ECOMPACT® CAN interface is based on the communication profile CiA DS 301 and on the device
profile CiA DSP 402 (drives and motion control). It must be supplied with external voltage. Terminating
resistors are not built in the ECOMPACT®. A CAN bus has to be terminated with a 120 Ω resistor at the
beginning and at the end. If the ECOMPACT® is operated as first or last participant at a CAN bus, a 120-Ω
terminating resistor (male connector type Phoenix Contact SAC-5P-M 8MS DN TR) is used (cf. Fig. 6.9).
The Baud rate and the node ID can be set directly via the appropriate CAN objects.
The following Baud rates are supported: 1 000 kBit/s, 500 kBit/s, 250 kBit/s, 125 kBit/s, 100 kBit/s, 50 kBit/s.
If point of sampling and scan rate (86.7 %, 3-times sampling at all Baud rates) do not meet the demands
please get in touch with the technical service of Jenaer Antriebstechnik.
Fig. 6.9: Interface CANin, CANout
CAN_H
3
3
3
3
3
3
R
CAN_L
CAN_V+
CAN_GND
Master im
CAN-Bus
R
5
2
4
5
2
4
CANin CANout
Achse 1
5
2
4
5
2
4
CANin CANout
Achse 2
5
2
4
5
2
4
CANin CANout
Achse n
Fig. 6.10: Size terminating resistors R according to line impedance; normal: R = 120 Ω
34
Subject to change without notice!
User Manual ECOMPACT®
6.4.3
Power connection
6.4.3.1 Power connector: DC link voltage, logic supply
Table 6.14: Pin assignment Power (M12 connector)
Pin
Signal
Description
1
DC+
+ DC link
(power supply 24 ... 60 VDC)
2
GND
Reference ground
3
+24V_Supply
Logic supply 24 VDC
4
PE
Protective earth
The „Power“ connector is used for direct DC supply. Furthermore, the logic circuit (+24V) which is separate
from the power circuit is supplied here.
In case of direct DC supply of the DC link circuit, the inrush current is not limited by the servo drive. Therefore, special limitation measures have to be taken in the external power supply unit. If energy is regenerated,
the power unit must be equipped with a ballast circuit in case the regenerated energy is higher than the
energy consumed by all consumers connected to the DC bus.
6.4.4
Appropriate cables incl. mating connector
Table 6.15: Appropriate cables incl. mating connector
Connector
Interface
Cable type (incl. mating
connector)
Description
Din/Dout
Digital outputs OUT1, OUT2,
Enable 1 + 2
e.g. Phoenix Contact
SAC-8P- 3,0-PUR/M12FS
Sensor/actor cable, 30V, 2A
M8 Bu / free wire ends, 8-pole,
cable length: 3m
CANin,
CANout
CAN bus *
e.g. Phoenix Contact
SAC-5P-M 8MS/ 2,0-920/M 8FS
Bus system cable, CANopen,
shielded, M8 male to female,
5-pole, cable length: 2 m
Power
Power supply (max. 60 V)
+ Logic supply (24 V)
e.g. Phoenix Contact
SAC-4P-FSS/ 1,5-PUR PE SH SCO
Sensor/actor cable, 60V, 4A
M12 female / free wire ends ,
4-pole, cable length: 3m
CWI
Digital input CWI: positive limit position
e.g. Phoenix Contact
SAC-3P-M 8MS/ 2,0-PUR/M 8FS
Sensor/actor cable
M8 male to female, 3-pole,
cable length: 2 m
CCWI
Digital input CCWI: negative limit position
e.g. Phoenix Contact
SAC-3P-M 8MS/ 2,0-PUR/M 8FS
Sensor/actor cable
M8 male to female, 3-pole,
cable length: 2 m
Ref/Home
Digital input HOME: reference switch
e.g. Phoenix Contact
SAC-3P-M 8MS/ 2,0-PUR/M 8FS
Sensor/actor cable
M8 male to female, 3 pole,
cable length: 2 m
*) Termination resistor for CAN bus: Phoenix Contact SAC-5P-M 8MS DN TR (M8 male, 5-pole)
Subject to change without notice!
35
User Manual ECOMPACT®
6.5
Version with M8/M12 connectors with EtherCAT interface
The version of the ECOMPACT with EtherCAT interface is only available with M8 and M12 connectors.
6.5.1
Overview of all connectors
Table 6.16: Connectors of the EtherCAT version
Connector
Description
EtherCAT
IN
M12
Incoming EtherCAT interface
female
EtherCAT
OUT
M12
Outgoing EtherCAT interface
female
Power
M12
male
Power supply (max. 60 V)
+ logic supply (24 V)
Din/Dout
M8
male
Digital outputs OUT1, OUT2,
Enable 1 + 2
Ref/
Home
M8
Digital input HOME: Reference switch
female
EtherCAT OUT
Ref/Home
EtherCAT IN
Power
Din/Dout
Fig. 6.11: Layout of the ECOMPACT® connectors (option with EtherCAT interface)
Information concerning the appropriate cables can be found in chapter 6.5.4.
36
Subject to change without notice!
User Manual ECOMPACT®
6.5.2
Control signals
6.5.2.1 Connector Din/Dout: Digital outputs (24V), Enable inputs
Connector
Din/Dout
+24 V
Connector
Din/Dout
+24 V
Control
5 STATUS1
5 STATUS1
Load
+24 V
+24 V
6 OUT2
6 OUT2
Load
+24 V
3 ENABLE1
3 ENABLE1
S2.1
S2.1
GND
GND
+24 V
Galvanic
isolation
GND
Galvanic
isolation
Power connector
GND
+24 V
2 +24 V
1 GND
+
-
+24 V
2 +24 V
external
Power supply
24 V DC
1 GND
+24 V
+24V_Supply
GND
+24V
ENABLE2
4 (DIN1)
S2.2
ENABLE2
4 (DIN1)
S2.2
ECOMPACT
R
ECOMPACT
R
Fig. 6.12: Connector Din/Dout: Circuit of the digital outputs and Enable inputs: - left side: Operation with external control
- right side: Operation without external control
Version xxExx-0xx-xxx-BA-Px-xxx-xxx
Table 6.17: Pin assignment of the digital outputs and ENABLE inputs (M8 connector)
Pin
Signal
Description
1
GND_EXT
Reference potential GND
2
+24V_EXT
External reference potential +24V
3
ENABLE 1
Enable 1
4
ENABLE 2
Enable 2
5
STATUS 1
Status output ENABLE 2
IO max = 0.2 A, isolated
6
OUT2
Digital output 2
IOmax = 0.2 A, isolated
In the version xxExx-0xx-xxx-BA-Px-xxx-xxx the ECOMPACT® provides two hardware enable inputs
which both have to be activated in order to switch the ECOMPACT® operational (cf. chapter 6.2.5.1,
restart lockout). Enable input 1 and Enable input 2 are activated by supplying a voltage of + 24 V (HIGH).
The status of enable input 2 is directly switched through to the status output STATUS 1.
Subject to change without notice!
37
User Manual ECOMPACT®
ECOMPACT
6.5.2.2 Ref/Home: Digital input
for reference switch
R
Sensors
CWI
Positive limit
+24 V
+24V
1
CWI
(DIN3)
Table 6.18: Pin assignment of the sensor input ECOMPACT®
female
connector)
4 (M8
Connector
Pin
Signal
Description
Ref/Home
1
+24V
Reference potential +24V
3
GND
Reference potential GND
4
GND
3
CCWI
HOME (DIN5)
Reference switch
1
+24V
4
CCWI (DIN4)
3
GND
Negative limit
+24 V
Ref/Home
Reference
+24 V
+24V
1
4 Home (DIN5)
GND
3
Fig. 6.13 Connector Ref/Home: Circuit of the digital input for reference switch
6.5.2.3 EtherCAT interface
ha
Sc
s.
t un
ib
le
rb ilung
ve te
g it
un r M
hn de zu
ic o et t.
r Ze ng cht lg
rtu fli rfo
ese e
di rw verp h ve
an , Ve ar, htlic
g
cht un rafb ric
rre ltig t st ge
be ae is ird
he ielf nen d w
s Ur rv rso un
Da e Ve Pe atz
d te rs
Je drit nse
e
an d
As an option, ECOMPACT® can be equipped with an EtherCAT® interface which can be used for setpoint
setting and parameterization. The interface supports the protocol of the EtherCAT® Technology Group and
allows for Fast Ethernet according to IEEE-802.3u (100Base-TX), fullduplex, 100Mbps. Physically, the interface is designed as two M12 sockets at the front side of the ECOMPACT®.
D
C
.
Än
de
run
g
.
l!
ua
an
n!
te
h
ac
en
ik
hn
ec ®
C
PA
T
n
Ru
nk
Li
du
ng
sber
eich
Da
tum
.
Na
me
JEN
1-D
09
t.
Kons .
Gez m
-Nr.:
Nor mm.
Ko
KO
1C
be
ga
he
an
rfläc
ranz - m
Tole 68
Obe
27
ne
e oh N ISO
um
Dat 1.12
Maß ch DI
.0
na
12
09
.01.
Ae
r An
1
bH
GmStrasse
0
a 0889
hnik
1
90
ec haer
08
1/6
bst Buc 745 Jen
64
1/6
07
03
64
Tel. . 03
Fax
trie
Ers.
f.:
5
ksto
0.1
Wer
CO
E
Folie
für l)
ung
er
en
leb cke
ufk De
na eite ch_Nr.:
Foliebers g/ Sa
(O
1hnun
01
Zeic
8_2
32
3.0
He
e
Nam rtwig
ig
He
rtw
Benn
Maß
stab
ff/ Ha
mm
lbze
ug
dic
k
1:1
Gew
icht
2
3
4
Table 6.19: Pin assignment connector IN,
OUT on design with EtherCAT® interface
5
4
38
2
3
115,5
.
.
_201
28
03
R
LEBE
IN
LED green
Clock
off
-
flashes
5 Hz
Description
EtherCAT state
Operational
flashes
200 ms on/
1s off
EtherCAT state Safe
Operational
on
-
EtherCAT state Operational
EtherCAT state Init
1
.
FK
ekt: NAU
LIE
FO
Proj
Verw
In
e
! m
N n ch b
IO llatio ! bu
UT sta G and
CA e in TUNnsh
Se H atio
ll
ACsta
er
t
na bs
Je trie
An
M
O
EC
nk
Li
T
A
Zust.
.
.
Run
OU
1
B
LED green:
LED yellow:
Link/Activity IN or OUT
Pin
Signal
Description
TX+
Transmit signal +
LED
orange
Description
1
2
RX+
Reveive signal +
off
3
TX-
Transmit signal -
No link. Link not sensed
(or no power)
4
RX-
Receive signal -
on
Link sensed, no traffic detected
flickering
Link sensed, traffic detected
Subject to change without notice!
Pre-
User Manual ECOMPACT®
The EtherCAT® „IN“ port is used for the connection to the PC or a server (end of a star-shaped connection).
The EtherCAT® „OUT“ port is intended for the connection to further servo amplifiers via a line-shaped
connection (uplink, cf. examples below).
Cabling is done via twisted-pair-cables UTP, Cat.5e, with D-coded M12 connector. The second connector
can be RJ45 (appropriate cable type e.g. Phoenix Contact VS-M12MS-IP20-93E-LI/2,0) or M12, respectively (for interconnection between two ECOMPACT®, appropriate cable type e.g. Phoenix Contact SACM12MSD/18,0-93E/M12MSD). Tree and line topologies are supported. Star topologies are possible as well.
The cable length between two devices is limited to 100 m.
For process control and visualization of EtherCAT® devices the operation with the PC software „TwinCAT“
(manufacturer: Beckhoff GmbH) is proposed. For configuration instructions and an application example
please refer to Application Note 26.
The objects which are required for the configuration of the EtherCAT® communication are described in the
manual „Object Dictionary ECOVARIO, ECOSTEP, ECOMPACT, chapter 5.2.29.
In the ECOMPACT® with EtherCAT® option the connectors XS3 and XS4 cannot be used as
external CAN interface.
ECOMPACT® with
EtherCAT® interface
5,511
5,511
5,511
ECOMPACT® with
EtherCAT® interface
ECOMPACT® with
EtherCAT® interface
Fig. 6.14: Operation of ECOMPACT® in an EtherCAT® network
Subject to change without notice!
39
User Manual ECOMPACT®
6.5.3
Power connection
6.5.3.1 Power connector: DC link voltage, logic supply
Table 6.20: Pin assignment Power (M12 connector)
Pin
Signal
Description
1
DC+
+ DC link
(power supply 24 ... 60 VDC)
2
GND
Reference ground
3
+24V_Supply
Logic supply 24 VDC
4
PE
Protective earth
The „Power“ connector is used for direct DC supply. Furthermore, the logic circuit (+24V) which is separate
from the power circuit is supplied here.
In case of direct DC supply of the DC link circuit, the inrush current is not limited by the servo drive. Therefore, special limitation measures have to be taken in the external power supply unit. If energy is regenerated,
the power unit must be equipped with a ballast circuit in case the regenerated energy is higher than the
energy consumed by all consumers connected to the DC bus.
6.5.4
Appropriate cables incl. mating connector
Table 6.21: Appropriate cables incl. mating connector
Connector
Interface
Cable type (incl. mating
connector)
Din/Dout
Digital outputs OUT1, OUT2,
Enable 1 + 2
e.g. Phoenix Contact
SAC-6P- 3,0-PUR/M 8FS SH
Sensor/actor cable, 30V, 2A
M12 Bu A coded / free wire ends,
6-pole, cable length: 3m
EtherCAT Master connection
e.g. Phoenix Contact
VS-M12MS-IP20-93E-LI/2,0
EtherCAT cable, twisted pair,
M12 male to RJ45, 4-pole, cable
length: 2 m
Looping through EtherCAT from ECOMPACT to ECOMPACT
e.g. Phoenix Contact
SAC-M12MSD/18,0-93E/M12MSD
EtherCAT cable, twisted pair, M12
male to M12 male, 4-pole, cable
length: 18 m
Power
Power supply (max. 60 V)
+ Logic supply (24 V)
e.g. Phoenix Contact
SAC-4P-FSS/ 1,5-PUR PE SH SCO
Sensor/actor cable, 60V, 4A
M12 female / free wire ends ,
4-pole, cable length: 3m
Ref/Home
Digital input HOME: reference switch
e.g. Phoenix Contact
SAC-3P-M 8MS/ 2,0-PUR/M 8FS
Sensor/actor cable
M8 male to female, 3 pole,
cable length: 2 m
EtherCAT
IN,
EtherCAT
OUT
40
Description
Subject to change without notice!
User Manual ECOMPACT®
7Commissioning
7.1
Notes before commissioning
Only qualified personnel with a broad knowlege of the fields of electrical engineering, automation and drives are allowed to commission the compact servo drive ECOMPACT®. If
required, Jenaer Antriebstechnik GmbH offers trainings.
The manufacturer of the machine must generate a hazard analysis for the machine and take
appropriate measures to ensure that unforeseen movements cannot cause injury or damage
to any person or property.
Check the wiring for completeness, short circuit and ground fault.
All live parts must be protected safely against touching.
Never pull the connectors while they are live!
If there are several axes in one machine commission one axis after the other. The axes already
commisioned should be switched off.
During operation the temperature of the heat sink and the housing may rise up to over 70 °C.
Before touching these parts after switching off the unit wait until the temperature has fallen
down to 40 °C.
Subject to change without notice!
41
User Manual ECOMPACT®
7.2
Work schedule commissioning
1. Check installation
The compact servo drive is disconnected from the supply. Check the wiring for completeness, short circuits
and ground faults.
2. Enable = deactivated
Basic version: Connect signal input ENABLE 1 at connector XS2 to 0 V and open the bridge between pins 1
and 2 of connector XS7 (ENABLE2).
Version with M8/M12 connectors: Connect the signal inputs ENABLE 1 and ENABLE 2 to 0 V.
Note: In the version with protection class IP54 ENABLE is permanently switched on and cannot be deactivated. Proceed with step 3.
3. Switch on 24 V logic supply
Apply the 24 V logic supply to the connector XS5 (basic version) or Power (version with M8/M12 connectors), pins GND and +24 V.
4. Start setup software
Via a CAN dongle connect a PC to the CAN interface of the ECOMPACT® and start the ECO Studio software. If the ECOMPACT is equipped with an EtherCAT interface (Option), connect it via a network cable
to a PC equipped with a network card. Establish the connection to the ECOMPACT®.
Note: If the PC is equipped with more than one network card assignment problems might occur.
5. Device configuration and mechanical configuration
By means of the ECO Studio device configuration wizard and the mechanical configuration wizard carry out
the basic settings for the operation of the ECOMPACT®. For a detailed description of software commissioning please refer to the ECO Studio help system.
6. Check safety equipment
Before switching on the voltage it is vital to check if all safety equipment that protects from
touching live parts and from the consequences of indeliberate movements functions properly.
7. Zero demand values
Before switching on the power supply the demand values for position and speed should be zeroed.
8. Switch on power supply
The power supply should only be switched on with the on/off switches of a contactor circuit.
9. ENABLE
0,5 s after switching on the power supply, the ENABLE signal can be switched to HIGH (Basic version: 24V
level at input XS2: ENABLE1 and bridge between pins 1 and 2 at connector XS7 (ENABLE 2), according to
the connection scheme in Chap. 6.2.2.1.)(Version with M8/M12 connectors: 24V level at inputs ENABLE1
and ENABLE 2). In the version with protection class IP54 ENABLE is permanently switched on. If the
motor vibrates or hums, first the p-gain of the velocity controller should be reduced (ECO Studio: in the
navigation area under Controller, „Velocity Controller“ tab).
42
Subject to change without notice!
User Manual ECOMPACT®
10. Optimization
The controller parameters are set to default values by the manufacturer. However, these values
have to be checked and adapted to the respective application, if required. Wrong parameter
settings can lead to damages of machine parts. A detailed description of the parameterization
of the velocity controller and of the position controller can be found in the ECO Studio help
system.
7.3
Error messages
If an error is detected, it is displayed by ECO Studio in the „Device Errors“ list.
Table 7.1: Error messages
Error
Measure
Group A General errors
A00
Incorrect checksum of a bootloader section or
overall checksum
Repeat action, if the error reoccurs, send in device to manufacturer
A01
Error during deleting a flash section
Repeat action, if the error reoccurs, send in device to manufacturer
A02
Error during activating the flash memory
If the error reoccurs, send in device to manufacturer
A03
Error during programming the flash
memory
Repeat action, if the error reoccurs, send in device to manufacturer
A04
Error during addressing the flash memory
Repeat action, if the error reoccurs, send in device to manufacturer
A10
Error during reading/writing the EEPROM
If the error reoccurs send in the device to manufacturer
A11
Incorrect checksum of an EEPROM section
Communication and/or application parameters have not (yet)
been stored. This behaviour is normal with new devices and has
been implemented for signalling this to the user.
A20
Incorrect calibration data
Send in device to manufacturer
A21
Watchdog error of standard loadware
If the error reoccurs send in the device to manufacturer
A23
Loadware does not support this unit
Contact service hotline of Jenaer Antriebstechnik GmbH
Group B Bus errors
B00
CAN Nodeguarding error. No messages are Check bus connection and device function, check supply voltasent. Synchronisation window in interpolated ge of the CAN bus
mode exceeded.
B01
CAN bus parameters not available, incorrect saving of parameters. No messages are sent
Enter parameters again, check node ID and Baud rate
Group D Device and axis errors
D00
Restart lock blocks switch on
Check function of the restart lock
D01
No external enable
Check ENABLE signal
D03
Device temperature > 80 °C
D04
Temperature error motor
Switch off unit and let it cool down. Make sure that no heat accumulation can occur in the mounting space.
D06
Negative limit position reached
Reset if an error message is raised
D07
Positive limit positon reached
Reset if an error message is raised
D11
Overcurrent in the motor phases
Check motor and supply cables
D12
Exceeding i2 x t limitation of device
D13
Exceeding i x t limitation of motor
Check parameters and operating conditions.
Check if axis is freely movable.
Subject to change without notice!
2
43
User Manual ECOMPACT®
Error
Measure
D20
External 24 V supply at XS5/XS6 has fallen be- Check 24 V power supply. Are there disturbances on the power
low 17 V
line? Check output power specification of power supply whether
it is dimensioned sufficiently.
D21
DC link voltage too high
Check supply voltage (might be too high)
D22
DC link voltage too low
Check power supply and connections. Check output power specification of power supply whether it is dimensioned sufficiently
D24
Exceeding charging time of DC link
Check voltage
D30
Following error too high
Check axis parameters and operating conditions. Check whether
the axis is freely movable.
D31
Commutation not found
Check if axis is freely movable. Check whether the commutation
settings are correctly.
D32
Internal software reset
If error reoccurs send in device to manufacturer
D33
Error controller watchdog
If error reoccurs send in device to manufacturer
Group E Encoder errors
44
E00
Correction error of the encoder
If error reoccurs send in device to manufacturer
E01
Capture error of the encoder
If error reoccurs send in device to manufacturer
E02
Interpolation error of the encoder
Error reason might be strong electromagnetical interferences
E03
Too high speed of encoder or cannot be read
Check parameters (overall speed of the motor). Error reason
might be contamination or damage of the measuring system.
Subject to change without notice!
User Manual ECOMPACT®
8
Parameter setting
By setting the parameters the ECOMPACT® is adjusted to the application.
The parameters are set in the PC. The user interface ECO Studio is menu-driven and easy to handle.
The connection PC – ECOMPACT® is established via the CAN interface or via the EtherCAT interface,
respectively.
8.1
PC user interface ECO Studio
How to work with the user interface ECO Studio is described in detail in the ECO Studio help system.
Subject to change without notice!
45
User Manual ECOMPACT®
9Accessories
Table 9.1: Survey of ECOMPACT®original accessories
Order key
Description
Complementary parts
DKK10
Mating connector set Molex (for details cf. Chap. 9.1)
Software tools
CD with ECO software tools (e.g. ECO Studio) and documentation
Power supplies
SV24
1-phase power supply 24 VDC
SV24/60
1-phase power supply 24 VDC, 60 VDC
SV60
1-phase power supply 60 VDC
Cables
cf. table 9.2
Cable sleeves
DKH76
9.1
Cable sleeve 2 x Ø 4 mm to 6 mm
2 x Ø 5,5 mm to 7,5 mm
Mating connector set ECOMPACT® basic version (Molex PCB connectors)
A mating connetor set for all interfaces of the ECOMPACT® is available. All mating connectors are clearly
labelled and designed in a way that there is no danger of mixing them up.
Table 9.2: Composition of ECOMPACT® mating connector set DKK10 (standard version)
46
Quantity
Part
Mating connector for
Function
2
4-pole socket housing
Molex Mini-Fit Jr.
XS5, XS6
Power supply (max. 60 V)
+ Logic supply (24 V)
8
Crimp socket AWG 24-18
Molex Mini-Fit Jr.
XS5, XS6
Power supply (max. 60 V)
+ Logic supply (24 V)
1
2-pole socket housing
Molex Micro-Fit 3.0
XS7
3
3-pole socket housing
Molex Micro-Fit 3.0
XS8, XS9, XS10
2
4-pole socket housing
Molex Micro-Fit 3.0
XS3, XS4
1
6-pole socket housing
Molex Micro-Fit 3.0
XS2
25
Crimp socket AWG 20-24
Molex Micro-Fit 3.0
XS2, XS3, XS4, XS7,
XS8, XS9, XS10
Enable 2/Digital input 1
Digital inputs for limit positions and
reference switch
CAN bus interface
Digital outputs OUT1, OUT2,
Enable 1
for all socket housings Molex Micro Fit 3.0
1
Resistor 120 Ω wired
Terminating resisitor for CAN bus
1
Screw DIN7500-CTM3x6:A2K
Protective Earth (PE) connection
1
Serrated lock washer
DIN6798 VZ A 3,2
Protective Earth (PE) connection
2
Ring cable lug M3 red
Protective Earth (PE) connection
Subject to change without notice!
User Manual ECOMPACT®
9.2
Cables for basic version (Molex PCB connectors)
The insulated shield mesh of the cables must be connected to the device potential or the PE conductor resp.
If the grounding is improper or the mesh lies freely dangerous voltages may occur. The following table lists
the standard cables available for connection of the ECOMPACT®. The cables are further available in the
lengths 5 m and 10 m. All cables are equipped with the appropriate mating connectors for the respective
PCB plug connectors of the ECOMPACT® interfaces.
Note: Appropriate cables for the M8/M12 connector option are listed in chapter 6.4.4.
Appropriate cables for the EtherCAT® connector option are described in chapter 6.5.4.
Table 9.3: ECOMPACT® accessories, cables
Cable type
Use
Ø [mm]
Wires
Length
[m]
min.
bending r
Customer
Connector
DAT36-833-100-003-000
Digital outputs OUT1, OUT2,
Enable 1
Ø = 5.5 mm
5-lead
l=3m
rB = 28 mm
connector
sleeves
DAT30-832-832-003-000
Bridging cable CAN bus /
terminating resistor
Ø = 6.1 mm
4-lead
l=3m
rB = 46 mm
-
DAT30-832-412-003-000
CAN bus
Ø = 6.1 mm
4-lead
l=3m
rB = 46 mm
Sub-D, 9-pol.
NET43-820-820-003-000
Bridging cable
Power supply (max. 60 V)
+ Logic supply (24 V)
Ø = 6.4 mm
5-lead
l=3m
rB = 35 mm
-
Subject to change without notice!
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User Manual ECOMPACT®
NET43-820-100-003-000
Power supply (max. 60 V)
+ Logic supply (24 V)
DAT35-830-100-003-000
Enable 2/Digital input 1
SNS35-831-100-003-000
Digital input, 1x limit position or
reference switch
Ø = 6.4 mm
5-lead
l=3m
rB = 35 mm
connector
sleeves
Ø = 4.7 mm
2-lead
l=3m
rB = 24 mm
connector
sleeves
Ø = 4.7 mm
3-lead
l=3m
rB = 24 mm
connector
sleeves
All cables are trailing cables. The PUR sheath is temperature resistant up to 80 °C.
9.3
Establishing the Crimp connections
If cable assembly is done by the customer, the following tool is required for establishing the crimp connections: - Crimping tool for MOLEX Mini-Fit Jr., 16-24 AWG
- Crimping tool for MOLEX Micro-Fit 3.0, 20-30 AWG
Insertion of the 120 Ω resistor into the mating connector of XS3 (4-pole Micro-Fit 3.0 socket):
- isolate resistor with a shrinkable tube
- arrange resistor vertically
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Subject to change without notice!
User Manual ECOMPACT®
10Appendix
10.1Glossary
Ballast circuit
A ballast circuit transforms energy that is fed back into the DC link during
braking of a motor into heat. Thus it is made sure that the DC link voltage does
not increase too much.
Baud rate
Unit of measure for the transmission rate of data in serial interfaces. The baud
rate indicates the number of possible changes of state of the transmitted signal
per second (1 baud = 1 state change/s). The baud rate can be lower than the
bit rate (one bit is coded in several signal states). „Baud rate“ in this document
refers to signals in which one bit is defined with the two signal states HIGH and
LOW. In this case the bit rate equals the baud rate.
Bit rate
Transmission rate of information in bit/second
Bootloader mode
State of the servo amplifier in which a new loadware can be transmitted into the
servo amplifier‘s memory.
Circuit breaker
Switch that cuts the power if an error current limit is exceeded
DC link voltage
Smoothed DC voltage
Disable
Take back ENABLE signal for the servo amplifier: ENABLE input = 0 V
Encoder
Measuring system, that transforms the angular position of a shaft or the position of a linear system into coded data
EMC
Electromagnetic compatibility
Enable
enable signal for the compact servo drive (24 VDC signal)
ESD protection
Protection against electrostatic discharge
Fieldbus interface
here: CAN
Firmware
Part of the software tha is stored to ROM (read-only memory), the firmware
contains the start-up routines.
Ground fault
Here: electrically conductive connection between a power system or motor
phase and the PE conductor
ID number
Identification number of a special device in a bus structure
Loadware
Part of the software that can be stored to the flash memory of the device
Node
Device connection in a bus structure
Restart lock
Technical measure that prevents actuators safely by mechanical elements (positively driven contacts) from restarting indeliberately.
Subject to change without notice!
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