00s401bk141 gb

BETRIEBSANLEITUNG
INSTRUCTION MANUAL
KEB COMBIVERT S4
Größe D / E / G / H / R / U
00.S4.01B-K141
Size D / E / G / H / R / U
Erst Betriebsanleitung Teil
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Read Instruction manual part
1
lesen!
first!
1/2004
Diese Betriebsanleitung
– ist gültig für das Servosystem KEB COMBIVERT S4
– muß jedem Anwender zugänglich gemacht werden
Vor jeglichen Arbeiten muß sich der Anwender mit dem Gerät vertraut machen. Darunter
fällt insbesondere die Kenntnis und Beachtung der Sicherheits- und Warnhinweise. Lesen
Sie deshalb unbedingt die "Technische Dokumentation Teil 1".
Damit beim KEB COMBIVERT S4 trotz umfangreicher Program-miermöglichkeiten eine einfache Bedienung und Inbetriebnahme möglich ist, wurde eine spezielle Bedienerebene geschaffen, in der die wichtigsten Parameter zusammengefaßt sind. Sollten jedoch die von KEB vordefinierten Parameter nicht ausreichen um Ihren Einsatzfall zu lösen, können Sie gegen eine
geringe Schutzgebühr ein Applikationshandbuch erwerben.
Es umfaßt: - Erstellen einer individuellen Bedienerebene
- Aufstellung und Beschreibung weiterer Parameter
Die in dieser Betriebsanleitung verwendeten Pictogramme entsprechen folgender Bedeutung:
Gefahr
Warnung
Vorsicht
Wird verwendet, wenn Leben oder Gesundheit des Benutzers gefährdet sind oder erheblicher
Sachschaden auftreten kann.
Achtung
Unbedingt beachten! Besondere Hinweise für den sicheren und störungsfreien Betrieb.
Information Hilfestellung, Tip
This manual
– is valid for the frequency inverter KEB COMBIVERT F4-F
– must be made available to every user
Before working with this unit you must familiarize yourself with it. Pay special attention
to the safety and warning guides. Make sure to read ‘Technical Documentation Part 1’!
KEB COMBIVERT S4 has very extensive programming options. To make the operation and
start-up simpler for the user, a special operator level was created in which the most important
parameters are found. However, if the parameters pre-defined by KEB are not sufficient for
your application an application manual is available for a small fee.
It includes: - Creating an individual operator level
- Listing and description of other parameters
The pictograms used in this manual mean:
Danger
Warning
Caution
Used when the life or health of the user is exposed to danger or when considerable damage
to property can occur.
Attention
Must be observed! Special instructions for a safe and trouble-free operation.
Information Assistance, Tip
Table of Contents
1.
Introduction ................................. 4 7.
1.1 Application ............................................... 4
1.2 Part Code ................................................. 4
2.
Operating Specifications ........... 5
2.1
2.2
2.3
2.4
2.5
2.6
Moving or Rotating Parts .......................... 5
High Operating Temperatures .................. 5
Connection Directions ............................. 5
Interference Protection of Servo Controller . 6
Interference Protection of Electric Plants . 7
Operating Directions ................................ 7
Operation ................................... 22
7.1
7.2
7.3
7.4
7.5
Parameter Structure ............................... 22
Parameter Survey .................................. 22
Selection and Changing of Parameters . 23
Storing Parameter Value ........................ 23 GB
Error Message ....................................... 23
8.
Parameter Description .............. 24
9.
Drive Mode ................................. 35
9.1
9.2
9.3
9.4
9.5
9.6
Setting Possibilities ................................ 35
Condition ............................................... 35
Display and Keyboard ............................ 35
Setpoint Display / Setpoint Presetting .... 35
Rotation Presetting ................................ 36
Start / Stop / RUN................................... 36
3.
Control Cabinet Installation ....... 8
3.1
3.2
3.3
3.4
Ambient Conditions ............................... 8
Installation Instructions ............................ 8
Calculations ............................................. 9
Minimum distance .................................... 9
4.
10. Accessories ............................... 37
Technical Data ........................... 10 10.1 Braking Resistor .................................... 37
4.1 230V Class ............................................ 10
4.2 400V Class ............................................ 10
4.3 Overload charakteristic .......................... 12
10.1.1 Part No. ................................................................ 37
10.1.2 Technical Data ...................................................... 37
10.1.3 Dimensions ........................................................... 38
10.1.4 Connection ............................................................ 38
10.2 Submounting braking resistor ................ 39
5.
6.
10.2.1 Dimensions ........................................................... 39
Dimensions ................................ 13 10.3 Radio Interference Suppression Filter ... 40
10.3.1 Tecnical Data ........................................................ 40
10.3.2 Connection ............................................................ 40
Connection ................................ 14 10.4 Operator ................................................. 41
6.1 Survey Housing sizes ............................ 14
6.2 Power Circuit Terminals ......................... 15
6.3 Connection ............................................ 16
6.3.1 1-phase Connection 230V ..................................... 16
6.3.2 3-phase Connection 400V ..................................... 17
6.4
6.5
6.6
6.7
6.8
11. Adjustment Assistance
Speed Controller ....................... 42
Incremental Encoder Simulation ............ 18
Connection Resolver ............................. 18
Connection SIN/COS-Encoder Option ... 19
Cables ................................................... 19
Control Terminal Strip X1 ....................... 20
12. Error Diagnosis ......................... 43
6.8.1 Digital Inputs / Outputs ......................................... 21
6.8.2 Analog Inputs / Outputs ........................................ 21
6.8.3 Output Relay ......................................................... 21
13. Passwords ................................. 45
GB 3
Introduction
1.
Introduction
1.1 Application
GB
The digital servo controller KEB COMBIVERT S4 serves exclusively for
the control and regulation of the servo motors KEB COMBIVERT SM.
On delivery the servo amplifiers are synchronized to the servo motors
supplied by KEB. So you receive a highly dynamic drive which is
connected and ready for operation within the shortest time for standard
applications.
The operation of other motors requires an adaption of the amplifier and is
to be recommended only with special knowledge of control technology.
1.2 Part Code Servo
Controller
Size
Type
Design
Sub-assembly
AB.S4.CDE-FGHI
AB Size / Dimension wide
see Part 3
C
Housing design: D, E, G or H
D
Supply voltage.
0 ... 200V class DC sub-assembly
1 ... 400V class DC sub-assembly
2 ... 200V class
3 ... 200V class with 3-phase Interference suppression
4 ... 400V class
E
Mechanic construction of the motor.
Motor unit marking see part B
F
Motor nominal speed.
1 ... 1500 UPM
3 ... 3000 UPM
5 ... ------- UPM
2 ... 2000 UPM
4 ... 4000 UPM
6 ... 6000 UPM
G
0 ... with self ventilated
1 ... with forced ventilated
HI 09 ... Resolver / SSI
10 ... Resolver / SSI / Interference suppression
11 ... Resolver / IG-IO / Interference suppression
12 ... Resolver / IG-IO
13 ... ERN1387 / IG-IO
14 ... ERN1387 / IG-IO / Interference suppression
15 ... ERN1188 / IG-IO
16 ... ERN1188 / IG-IO / Interference suppression
GB 4
Operation Specifications
2.
Operation
Specifications
2.1 Moving or Rotating
Parts
– Motor shaft
– Feed axis and parts connected to it
GB
Prior to any work on the machine (e.g. exchange of
tools), disconnect the machine and secure against
unintended restart!
Safely secure movement range of machine during
operation! Danger of injury!
2.2 High Operating
Temperatures
°C
100
– Housing of servo motor
– Braking resistors
Motor housing and braking resistor can attain very high
operating temperatures! Danger of injury!
0
2.3 Connection
Directions
A trouble-free and safe operation of the servo system is only warranted
when the following connection instructions are observed.
When deviated from, malfunctions and damages may occur in
isolated cases.
– The servo controller KEB COMBIVERT S4 is only designed for a fixed
connection.
– Do not interchange power cable and motor line.
– Lay control and power lines separately (min. 10 cm distance).
– Connect control lines only to switching elements and setting devices
(relay, switch, potentiometer), that are suitable for extra-low voltages.
– Use shielded/twisted control lines. Connect the shield only singlesided to PE of the servo controller.
GB 5
Operating Specificatons
– Use shielded motor cables. Connect shield to the Servo controller to
PE and extensively connect to motor housing.
– Earth servo controller very well: star-shaped earthing, avoid earth
loops, shortest connection to main earthing terminal.
GB
The connections on the control terminal strip and
the encoder inputs show a safe seperation in
accordance with VDE 0100. The person who sets
up the systems or machines must ensure that the
existing or newly wired circuit meets the VDE
requirements for safe seperation.
2.4 Interference
Protection of Servo
Controller
The control and power inputs of the servo controller are
protected against interferences.
An increased operational reliability and additional
protection against malfunctions is achieved through
following measures:
– Use of mains filter when the mains voltage is affected by the connection
of large consumers (reactive-power compensation equipment, HFfurnaces etc.)
– Protective wiring of inductive consumers (solenoid valves, relays,
electromagnets) with RC elements or similar devices to absorb the
energy released at switch-off.
– Separate laying of power lines as described in the connection directions
to avoid inductive and capacitive coupling of interference pulses.
Paired-twisted cables protect against inductive parasitic voltages,
shielding provides protection against capacitive parasitic voltages.
Optimal protection is achieved with twisted and shielded cables when
signal and power lines are layed separately.
GB 6
Operating Specificatons
2.5 Interference
Protection of
Electric Plants
The servo controller KEB COMBIVERT S4 transmits waves of high
frequency. Following measures can reduce the arising interference
pulses that may effect electric plants in the vicinity of the servo controller:
GB
– Installation of the servo controller in a metal housing.
– Shielded motor cables.
The shield must be connected to PE of the servo controller and to the
housing of the motor (connect extensive shield). The shielding shall
not be used as protective earthing. Only an uninterrupted shield
begining as close as possible at the servo controller or servo motor
ensures a safe function of the shielding.
– Good earthing (metal-powder tape or 10 mm2 earth lead)
– Use of radio interference suppression filters.
2.6 Operating Directions
To avoid premature ageing or destruction of the servo
system KEB COMBIVERT S4 observe the following
directions!
– Install a circuit interrupter between voltage supply and servo controller
to permit the independent switch-off of KEB COMBIVERT S4.
– Frequent switching between mains and servo controller is not permitted!
– The switching between motor and servo controller during operation is
prohibited!
– The servo system KEB COMBIVERT S4 is to be operated under
suitable conditions (see Ambient Condition).
GB 7
Control Cabinet Installation
3.
Control Cabinet
Installation
Altitude of site max. 2000 m –– A power reduction of 1 % per
100 m must be taken into account for site altitudes of 1000
m and more above sea level, i.e. 1500mNN = 95% PNominal
GB
3.1 Ambient Conditions
3.2 Installation
Instructions
Max. permissible limit values: Servo controller KEB COMBIVERT S4
Coolant inlet temper.- /
Ambient temperature
during operation
Storage temperature
-25 °C…+70°C
Transport temperature
-25 °C…+70°C
Relative humidity max.
max. 95 %, no condensationg
(identification "F" DIN 40040)
Climatic category 3K3
-10 °C…+45 °C
– Stationary installation and earthing of the servo controller KEB
COMBIVERT S4.
– At the installation of the servo controller observe minimum distance to
adjacing elements (see Installation Instructions).
– No moisture or water shall penetrate into the servo controller.
– Avoid penetration of dust into the servo controller. For installation in a
dust-proof housing sufficient heat dissipation must be provided.
– Do not operate the servo system KEB COMBIVERT S4 in explosionprotected rooms.
– Ensure sufficient heat emmission of the servo motor.
– Protect servo controller and servo motor against aggressive gases and
liquids.
– Avoid any impacts or shocks on the servo motor.
– Use suitable devices for fitting or taking off drive elements on the motor
shaft (toothed wheels, belt-pulleys, clutches etc.)
If other consumers which produce electric or magnetic fields or which
effect the power supply are located in the vicinity of the servo controller,
they must be positioned as far away as possible from the servo controller
and steps must be taken to suppress interferences.
GB 8
Control Cabinet Installation
3.3 Calculations
Calculation of control cabinet surface
A=
Rate of air flow with fan cooling:
V=
A = Control cabinet surface
[m2]
∆T = Temperature difference
[K]
K = Heat transfer coefficient
W
m2 . K
PV = Heat dissipation
[W]
V = Air flow rate of fan
[m3/h]
PV
.
∆T K
[m2]
3,1 . PV
[m3/h]
∆T
GB
(Default value = 20 K)
(Default value = 5
W )
m2 . K
For detailed informaton please refer to the catalogs of the control cabinet
manufacturers.
3.4 Installation
Conditions
100
INPUT
VOLTAGE XXXXXXXXXXX
XXXXXXXXXXX
CYCLE
KEB Antriebstechnik
Karl E. Brinkmann GmbH
D-32677 Barntrup
OUTPUT
POWER XXXXXXXXXXXX
VOLTAGE XXXXXXXXXX
CURRENT XXXXXXXXXXXX
AC-MOT. 4,0 KW, 2/4 P, 50/60 HZ
VER-NO. XXXXXXXXXXXXXXX˜
ART-NO. XX.F4.XXX-XXXX
SER-NO. 95000001/XXXXXXX
Made in Germany
50
INPUT
VOLTAGE XXXXXXXXXXX
XXXXXXXXXXX
CYCLE
KEB Antriebstechnik
Karl E. Brinkmann GmbH
D-32677 Barntrup
OUTPUT
POWER XXXXXXXXXXXX
VOLTAGE XXXXXXXXXX
CURRENT XXXXXXXXXXXX
AC-MOT. 4,0 KW, 2/4 P, 50/60 HZ
VER-NO. XXXXXXXXXXXXXXX˜
ART-NO. XX.F4.XXX-XXXX
SER-NO. 95000001/XXXXXXX
Made in Germany
START
ENTER
F/R
INPUT
VOLTAGE XXXXXXXXXXX
XXXXXXXXXXX
CYCLE
KEB Antriebstechnik
Karl E. Brinkmann GmbH
D-32677 Barntrup
START
FUNC.
ENTER
SPEED
F/R
STOP
START
FUNC.
ENTER
SPEED
F/R
STOP
ANTRIEBSTECHNIK
OUTPUT
POWER XXXXXXXXXXXX
VOLTAGE XXXXXXXXXX
CURRENT XXXXXXXXXXXX
AC-MOT. 4,0 KW, 2/4 P, 50/60 HZ
VER-NO. XXXXXXXXXXXXXXX˜
ART-NO. XX.F4.XXX-XXXX
SER-NO. 95000001/XXXXXXX
Made in Germany
FUNC.
SPEED
STOP
ANTRIEBSTECHNIK
50
ANTRIEBSTECHNIK
100
Minimum distance
Warm air outlet
KEB
COMBIVERT
S4
Cool air inlet
GB 9
Technical Data
4.
Technical Data
Operating temperature -10°
Type of Protection
... +45°C; Storage: -25° ... +70°C
IP20
The Type of protection is warranted only with correct
installation and connection of the components.
GB
4.1 230V Class
Size
Housing
Mains voltage1)
Line frequency
Line phases
Input current
max. perm. Mains fuse 3)
Rated output current
Stillstandsdauerstrom Ido
Stall currentImax 4)
Line cross section 2)
Heat dissipation PV 5)
1)
4.2 400V Class
2)
3)
4)
5)
GB 10
05
14
D
G
[V]
180 . . . 260 + 0%
[Hz]
50 / 60 Hz + 2 Hz
1
3
1
3
3
[A]
4,8
2,6 12,8
7
36
[A]
16
10
16
10
50
[A]
2,4
6,4
33
[A]
6,4
6,4
33
[A]
8,5 for
14,8 for
49,5 for
1200 ms
600 ms
1000 ms
2
[mm ]
1,5
1,5
280
[W]
65
75
100
In relation to 230V nominal input voltage
Size
Housing
Mains voltage 1)
Line frequency
Line phases
Input current
max. perm. Mains fuse 3)
Rated output current
Stall current Ido
Peak currentImax 4)
Line cross section 2)
Heat dissipation 5)
1)
03
D
07
D
[V]
[Hz]
[A]
[A]
[A]
[A]
[A]
[mm2]
[W]
10
D
305 . . . 500 + 0%
50 / 60 Hz + 2 Hz
3
3
3
7
10
10
2,7
6,4
2,7
6,4
8,5 for 200 ms
22 for 200 ms
1,5
1,5
50
110
In relation to 400 V nominal input voltage
Recommended min. cross section of mains supply at rated power and
cable length up to 30 m.
Mains fuse and line cross section can also be dimensioned on the
basis of the rated current of the servo motor.
The peak current Imax is a theoretical value, that leads to the operation
of the current limiting. The maximum torque llimit should be adjusted
10...15% below Imax.
Heat dissipation related to the static continuous current (heat dissipation
control circuit ca. 20 W).
Technical Data
Size
Housing
Mains voltage 1)
Line frequency
Line phases
Input current
max. perm. Mains fuse 3)
Rated output current
Stall current Ido
Peak current Imax 4)
Line cross section 2) 3)
Heat dissipation 5)
[V]
[Hz]
[A]
[A]
[A]
[A]
[A]
[mm2]
[W]
Size
Housing
Mains voltage 1)
Line frequency
Line phases
Input current
max. perm. Mains fuse 3)
Rated output current
Stall current Ido
Peak current Imax 4)
[A]
[A]
[A]
[A]
[A]
Line cross section 2) 3)
Heat dissipation PV 5)
[mm2]
[W]
1)
2)
3)
4)
5)
12
16
E
G
305 . . . 500 + 0%
50 / 60 Hz + 2 Hz
3
3
18,2
36
20
50
16,5
33
16,5
21,5
38 for 600 ms
49,5 for 600 ms
2,5
10
240
310
18
H
[V]
[Hz]
22
24
R
U
305 . . . 500 + 0%
50 / 60 Hz + 2 Hz
3
55
127
198
80
160
315
50
115
180
45
115
180
75 for
172,5 for
270 for
800 ms
1000 ms
1000 ms
25
50
95
610
1500
2400
In relation to 400 V nominal input voltage
Recommended min. cross section of mains supply at rated power and
cable length up to 30 m.
Mains fuse and line cross section can also be dimensioned on the
basis of the rated current of the servo motor.
The peak current Imax is a theoretical value, that leads to the operation
of the current limiting. The maximum torque llimit should be adjusted
10...15% below Imax.
Heat dissipation related to the static continuous current (heat dissipation
control circuit ca. 20 W).
GB 11
GB
Technical Data
4.3 Overload
characteristics
OL - Function
Servo controller
3,0
GB
03
05
07
10
12
14
16
18
22
24
n = 60 U/min
2,5
Release time [s]
Size
τ = 2s
2,0
n = 40 U/min
1,5
n = 20 U/min
n = 0 U/min
1,0
0,5
0
0
1
2
3
4
I
max.
Id0
1,3
2,3
3,1
3,4
3,0
1,5
2,3
1,7
1,5
1,5
Id0
2,4
6,4
2,7
6,4
16,5
33,0
21,5
45
115
180
I / Id0
OL - Function Overload range
120
Release time (s)
100
80
τ = 60s
60
40
20
0
0
GB 12
0,5
1
1,5
2
2,5
3
3,5
4
I / Id0
Dimensions
5.
Dimensions
Servo controller
Weight = 2/3,5 kg
Submounting
braking resistor
Weight=0,9/1,3/1,5 kg
Base filter
A
C1
C
ØF
C2
B
H
GB
B1
B
B2
Shield plate
Size
D
E
A
90
130
B
250
290
B1
264
352
B2
37,5
37,5
Servo controller
A
G
C
160
200
C1
50
50
Submounting
braking resistor
Weight=1,5/1,9 kg
C2
30
30
F H
5 240
7 275
Base filter
C1
C2
C
H
B
B
B1
B2
ÿF
Shield plate
Size
G
H
R*
U
A
170
297
340
340
B
B1
340 415
340 445
520
800
-
B2
32
51
68
-
C C1 C2 F G
255 56 30 7 150
255 66 7 250
355 - 10 300
355 - 11 300
H Wight
330 10
330 14
495 25-29
775 75
Dimensions and wights of the HF-filter: see Instruction Manual 00.F4.00BK000 (KEB-COMBIVERT F4).
*) The R-Housing installation filter have no influence to the dimensions
of the housing. ( Weight = 7 kg )
GB 13
Connection
6.
Connection
T
AR
ST
.
C
N
FU ED
E
SP
P
O
ST
Size
D-E
R
TE
EN /R
F
6.1 Survey Housing
sizes
GB
Optional Operator
with 9 pole Sub-D-socket
Parameterizing Interface
X1
Terminal strip
Connection control terminals
X3
9 pols Sub-D-socket
X4
15 pole Sub-D-socket
Connection system feedback
Resolver or SIN/COS-encoder
T
AR
ST
.
C
N
FU ED
E
SP
P
O
ST
Optional Operator
with 9 pole Sub-D-socket
Parameterizing Interface
R
TE
EN /R
F
Size
G /H/R/U
X3
9 pole Sub-D-socket
X4
15 pole Sub-D-socket
Connection system feedback
Resolver or SIN/COS-encoder
X1
Terminal strip
Connection control terminals
GB 14
Fig. Housing G
Connection
6.2 Power Circuit Terminals
Size D
Note input voltage, since 230V and 400V class (3 phase) is possible.
3-phase
1-phase
L1
N
PA
PB
U
V
W
L1
OH OH
L1, N
L1, L2, L3
PA, PB
L2
GB
L3
PA
PB
U
V
W
OH OH
1 phase mains connection
3 phase mains connection
Connection braking resistor
U, V, W
OH, OH
Motor connection
Connection for temperature sensor
Connection for screening/earthing
Size E
L1
L2
L3
PA PB
-
OH OH
U
V
L1, L2, L3
PA, PB
PA, -
W
OH, OH
U, V, W
3 phase mains connection
Connection braking resistor
Connection for braking module and
feedback unit
Connection for temperature sensor
Motor connection
Connection for screening/earthing
Size G
L1
L2
L3
--
++ PB
U
V
W
L1, L2, L3
++, PB
++, -OH, OH
U, V, W
OH OH
3 phase mains connection
Connection braking resistor
Connection for braking module,
feedback and supply unit
DC input 420...720VDC
Connection for temperature sensor
Motor connection
Connection for screening/earthing
Unit without DC input
+PA, PB
Connection braking resistor
+PA, Connection for braking module and
feedback unit
Size H
L1
L2
L3 PE
PE ++
--
PB
PE U
V
W
L1, L2, L3
++, PB
++, --
OH OH
OH, OH
U, V, W
PE
3 phase mains connection
Connection braking resistor
Connection for braking module,
feedback and supply unit
DC input 420...720VDC
Connection for temperature sensor
Motor connection
Connection for screening/earthing
GB 15
Connection
Size R and U
L1
L2
+PA
L3
-
PB
OH OH
U
V
W
GB
L1, L2, L3
+PA, PB
+PA, -
3 phase mains connection
Connection for braking resistor
Connection for braking module
and feedback unit
Connection for temperature sensor
Motor connection
OH, OH
U, V, W
Connection for screening/earthing
Remove or plug in the power connector only at switched
off unit and disconnected power supply!
Observe the correct phase sequence for the connection
of the servo motor!
6.3 1-phase Connection
230 V Class
PE
U, V, W
L1, L2
PA, PB
Protective earth conductor
Motor
Mains connection 1-phase
Connection braking resistor
Mains connection
B
C
A
D
4
1
3
2
Servo motor
power connector
1
U
4
3
V
W
2
PE
C PTC-connection
OH
OH
D PTC-connection
A
Brake +
B
Brake–
Motor housing/
threaded joint
GB 16
L1
L2
L3
PA
PB
U
V
W
L1
N
PE
External
brake
} supply unit with own
voltage supply
Connect extensive
shield to both sides!
Connector
Contact No.
Designation
Cable
Core No.
1
4
3
2
A
B
C
D
U
V
W
PE
Brake +
Brake –
PTC-Contact
PTC-Contact
1
2
3
Green-Yellow
5
6
7
8
Connection
6.4 3-phase Connection
230 V/400 V Class
Absolutely ensure the observance of the supply
voltage of the servo controller (3 x 230 V / 3 x 400 V!
GB
Remove or plug in the power connector only at
switched off unit and disconnected power supply !
Observe the correct phase sequence for the
connection of the servo motor !
PE
U, V, W
L1, L2, L3
PA, PB
Protective earth conductor
Motor
Mains connection 3-phase
Connection braking resistor
Mains connection
B
C
A
D
4
1
3
2
Servo motor
power connector
1
U
4
3
V
W
2
PE
L1
L2
L3
PA
PB
U
V
W
L1
L2
L3
PE
C PTC-connection
OH
OH
D PTC-connection
A
B
External brake supply
Brake +
Brake –
with own voltage
} unit
supply
Connect extensive
shield to both sides!
Motor housing/
threaded joint
Connector
Contact No.
Designation
Cable
Core No.
1
4
3
2
A
B
C
D
U
V
W
PE
Brake +
Brake –
PTC-Contact
PTC-Contact
1
2
3
Green-Yellow
5
6
7
8
GB 17
Connection
6.5 Connection
IncrementalEncodeR Simulation
GB
The encoder interface X3 is reversible from an incremental encoder
emulation to an incremental encoder input. The increments of the
emulation are fixed to 1024 for units with resolver interface. For units with
SIN/COS interface, the increments of the SIN/COS - encoder are used.
Max. input frequency:
Signals:
Max. transmission link:
Released encoder types:
Servo controller
Sub-D-connector X3
6 7 8 9
1 2 3 4 5
< 300 kHz
RS 422 / 2 trace signals and zero signal
50 m
Kübler 5800 / 5820
Heidenhain RON 425 / ROD 426
or compatible
PIN No.
1
2
3
4
5
6
7
8
9
Signal
Ua1
Ua2
Ua0
+5V
+18V
Ua1
Ua2
Ua0
GND
Meaning
Signal channel A
Signal channel B
Signal Zero
max. 150 mA (1)
max. 100 mA (1)
Signal channel A inverted
Signal channel B inverted
Signal zero inverted
(1) Voltage supply at X3 and X4 can be loaded at the +18V with max.
100mA. Alternatively the +5V can be loaded with 300mA.
Remove or plug in the power connector when the unit is
switched off and the power supply is disconnected!
Servo controller
Sub-D connector X4
6.6 Connection
Resolver
11
6
Servo motor
resolver connector
7
8
9
11
1
10
3
1
Housing
12
2
GB 18
6
12
7
13
8
2
14
9
3
4
5
Housing
Core Colour
5
4
15
10
SIN_LO
SIN
1
10
3
8
SIN_LO
SIN
red
blue
SIN_REF_LO
SIN_REF
5
7
5
10
SIN_REF_LO
SIN_REF
yellow
green
COS_LO
COS
2
11
4
9
COS_LO
COS
pink
grey
Connection
6.7 Connection
SIN/COSEncoderOption
Remove or plug in the connector only at switched off unit
and disconnected power supply !
Servo Controller
Sub-D socket X4
11
6
Servo Motor
1
Servo motor
Encoder connector
12
7
13
8
2
Housing
14
9
3
GB
15
10
4
5
Housing
Core colour
4
3
2
1
14
17
12
11
6.8 Cables
6
15
7
16
10
A (+)
A (-)
5
13
9
8
1
2
8
3
A (+) green
A (-) yellow
B (+) 11
B (-) 12
9
4
B (+) blue
B (-) red
C(+)
C(-)
5
6
6
1
C (+) white
C (-) brown
D (+) 14
D (-) 4
7
2
D (+) black
D (-) violet
R (+) 3
R (-) 13
15 R (+) grey
14 R (-) pink
+5V 10
GND 7
12 +5V grey/pink
13 GND white/green
For the servo system KEB COMBIVERT S4 factory-assembled motor,
resolver and encoder cables are available in the lengths 5m, 10m, 15m
und 20m.
00.S4.109–0005
Cable length
Part
05
10
15
20
=
=
=
=
5m
10 m
15 m
20 m
109
019
119
209
=
=
=
=
Resolver cable
Motor cable 1,5 mm2
Motor cable 2,5 mm2
Encoder cable ERN1387
Type designation 00.S4
Other cable lengths on request.
GB 19
Connection
6.9 Control Terminal
Strip X1
Rotation release (terminal X2.3 / X2.4) and analog torque
limitation (terminal X2.16 / X2.17) have no function in the
Drive Mode. See page GB 35 "Drive Mode".
GB Terminal Designa- Function
tion
1
ST
Control release (output off circuit,
if opened, no torque)
2
RST
Reset
3
F
Release of rotation direction (limit switch*) forward
4
R
Releaseofrotationdirection(limitswitch*)reverse
digital inputs:
+12…33 V / Ri = 2,7 kΩ
PNP
5
I1
Input for jogging speed forward
potential separated
6
I2
Input for jogging speed reverse
7
I3
Input for external error setting
* When the unit is defective there is
no guarantee that the software
protective function will start.
8
D1
Digital output signal 1
9
D2
Digital output signal 2
10
Uout
+ 24 V voltage input
11
0V
Ground reference for +24 V and digital in/outputs
12
CRF
+10 V reference voltage
13
COM
Ground for analog inputs/outputs
14
REF 1 +
15
REF 1 –
16
REF 2 +
Analog setpoint value setting
17
Analog torque limitation
REF 2 – refer to Parameter CP.9
18
A1
Programmable analog output 1
19
A2
Programmable analog output 2
20
RLA
Output relay:
21
RLB
RLA / RLC: normal operating condition
22
RLC
RLB / RLC: POWER OFF / malfunction
23
Ex. Voltage external supply of the control
GB 20
programmable
PNP - transistor outputs
16V - 30V / max. 20 mA
16V - 30V / max. 60 mA
at ext. supply of the control approx Uext.
+10V (+/- 3%) ; max. 4 mA
Voltage difference input
- 10V… + 10V / Resolution: 12 Bit
Ri = 40 kΩ
Voltage difference input 0…+10V
Resolution: 12 Bit; -10V…0V ^ 0 Nm/
+10V ^ Mmax. / Ri = 40 kΩ
-10V…+10V / Resolution: 10 Bit
Ri=100 Ω
30 V DC/1 A
+ 24 V external voltage input
Connection
+ 24 V
intern
6.9.1 Digital Inputs /
Outputs
PNP-Logic
6.9.2 Analog Inputs /
Outputs
GB
1
2
3
4
5
6
7
8
9
10
ST
RST
F
R
I1
I2
I3
D1
D2
Uout
11
12
13
14
15
16
17
0 V CRF
COM REF1 REF1 REF2 REF2
+
–
+
–
16
17
18
19
A1
A2
18
19
A1
A2
without analog
torque limitation
shield
connection
shield
connection
-10V…+10V
Set value
source
e.g.: SPS
11
0V
12
13
14
15
CRF COM REF1 REF1 REF2 REF2
+
–
+
shield
connection
–
with
analog
torque limitation
-10V…+10V
set value
source
e.g.: SPS
6.9.3 Output Relay
0V…+10V
Torque
limitation
e.g.: SPS
6.8.4 External voltage supply of the
control
20
21
11 ........ 23
22
RLA RLB RLC
shield
connection
0V
Ext.
Spg.
0V
+24 V
shield
connection
GB 21
Operation
7.
Operation
7.1 Parameter
Structure
GB
CP-Parameter
(CP.0 … CP.24)
Read-Only Parameters
can only be read they
cannot be changed.
(CP.1…CP.6, CP.14)
Programmable Parameters
can be changed. (CP.0, CP.7
… CP.13, CP.15 … CP.24)
NO-ENTER-Parameters
are programmable parameters,
a change is accepted and
stored immediately. (CP.7 …
CP.13,CP.16,CP.17, CP.19,
CP.20, CP.23, CP.24)
ENTER-Parameters
are programmable parameters
a change must be confirmed
with the ENTER-key before it
is accepted and stored. (CP.0,
CP.15, CP.18, CP.21, CP22)
7.2 Parameter
Survey
Par.-No.
CP.0
CP.1
CP.2
* CP.3
* CP.4
* CP.5
CP.6
CP.7
CP.8
CP.9
CP.10
CP.11
CP.12
CP.13
CP.14
CP.15
CP.16
CP.17
CP.18
CP.19
CP.20
CP.21
CP.22
CP.23
CP.24
Parameter name
Password input
Actual speed display
Status display
Apparent motor current
Max. apparent motor current
Current Torque
Setpoint speed display
Acceleration time
Deceleration time
Torque limit
Max. setpoint speed
Jogging speed
P-factor speed controller
I-factor speed controller
Setting range Resolution Factory setting
0…9999
1
–
–
0,5 rpm
–
–
–
–
–
0,1 A
–
–
0,1 A
–
–
0,1 Nm
–
–
0,5 rpm
–
0…320 s
0,01 s
0,05 s
0…320 s
0,01 s
0,05 s
0,1 Nm
3 x MN
0…5 x MN
0…9999
0,5 rpm
Rated speed
0…9999
0,5 rpm
100 rpm
0…65535
1
Motor-type dependent
0…65535
1
Motor-type dependent
Line number incremental encoder simulation
–
–
1024/2048 (for sin/cos)
Behaviour at external fault
0…6
1
0
Offset REF 1
-100%…+100%
0,1 %
0%
Zero point hysteresis REF 1
0…10 %
0,1 %
0%
Function output A1
0…6
1
2
Amplification output A1
-20…+20
0,01
3 x MNenn ^ +10V
Amplification output A2
-20…+20
0,01
+/–nNenn ^ +/–10V
Switching condition output D1
0…20
1
20
Switching condition output D2
0…20
1
18
Torque level output D1
0…50 Nm
0,1 Nm
0,5 x MNenn
Speed level output D2
0…16000 rpm
0,5 rpm
0,5 x nNenn
*With the actual values displayed, from the normal machine dispersion and temperature drifts, tolerances must be taken into
account. (about ± 10% in relation to the nominal value)
GB 22
Operation
7.3 Selection and
Changing of Parameters
When switching on the servo controller the
display always shows the value of parameter
CP.1 (Status Display).
Raising / decreasing
of parameter value
Raising / decreasing
of parameter number
START
START
Display of
parameter number
Display of
parameter value
FUNC.
SPEED
START
START
ENTER
FUNC.
ENTER
F/R
SPEED
F/R
STOP
FUNC.
SPEED
STOP
STOP
7.4 Storing Parameter
Value
STOP
When changing the value of an ENTER-Parameter a point appears
behind the last digit in the display. By pressing the ENTERkey the
adjusted value is accepted and stored (point disappears).
Example:
ENTER
F/R
Acceptance /
Storing
7.5 Error Message
If an error occurs during operation the current display is overwritten by the
error message. To reset the error message press the key "ENTER".
Example:
Error /
Fault
ENTER
F/R
The key ENTER only reset the error message. To reset
the error itself the error cause must be eliminated first
and a reset at terminal X2.2 or a cold start must be carried
out.
! Error Massages / Error Diagnosis see page GB 43!
GB 23
GB
Parameter Description
8.
Parameter
Description
GB
The servo controller is supplied ex factory without password protection,
i.e. all programmable parameters can be changed. After the parameterizing
the unit can be locked against unauthorized access. The adjusted mode
is stored.
The passwords are listed in page GB 45!
Passwort input
Parameter
enabled
FUNC.
Locking of CP-Parameters:
SPEED
START
START
1)
ENTER
F/R
Password
Parameter
locked
1) Wrong password;
repeat entry!
STOP
Parameter
locked
Enabling of CP-Parameters:
FUNC.
SPEED
START
START
1)
ENTER
F/R
Password
Parameter
enabled
1) Wrong password;
repeat entry!
Actual Speed Display
Display of current motor speed.
Rotation "forward": Resolution 0,5 rpm.
Rotation "reverse": Represented by negative speed with a resolution of 1 rpm.
Example:
Rotation "forward"
Rotation "reverse"
Speed1837 rpm or 1837,5 rpm
GB 24
STOP
Parameter Description
The status display indicates the current operating condition of the servo
controller. Possible indications and their meaning are listed in the following:
Status Display
Operating State ready:
noP
0
No Operation
LS
70
Low Speed
Operating State run :
Facc 64 Forward Acceleration
Fcon 66 Forward Constant
FdEc 65 Forward Deceleration
rAcc
67 Reverse Acceleration
rCon 69 Reverse Constant
rdEc 68 Reverse Deceleration
rFP
79 ready for positioning
PA
80 positioning active
SrA
82 search for reference active
Operating State Abnormal Condition:
A.OH2 97 abnormal stopping OH
A.dOH 96 abnormal stopping drive OH
A.EF 90 abnormal stopping EF
A.PrF/ 94 abnormal stopping prohibited
A.Prr 95 rotation forward / reverse
A.bus 93 abnormal stopping bus
Operating State Fatal Error:
E.OC 4
error overcurrent
E.OP 1
error overpotential
E.UP 2
error underpotential
E.OH 8
error overheat
E.dOH 9
error drive overheat
E.OH2 30 error motor protection
E.OL 16 error overload inverter
E.EF 31 error extern fault
E.PrF/ 46 error prohibited rotation
E.Prr 47 forward/reverse
E.OS 105 error overspeed
E.LSF 15 current limit resistor error
E.SEt 39 error at set selection
E.bus 18 error bus
E.EnC 32 error encoder
E.PuC 49 error power unit
E.dSP 51 error DSP
E.hyb 52 error hybrid
E.SLF 110 error software limit forward
E.SLr 111 error software limit reverse
GB
Control release not briged, modulation switched off,
output voltage = 0, drive uncontrolled
Control release briged, no rotational direction command,
modulation switched off,
output voltage = 0 drive uncontrolled
Drive accelerates forward
Drive runs with constant speed forward
Drive decelerates forward
Drive accelerates in reverse
Drive runs with constant speed in reverse
Drive decelerates in reverse
Drive waits for the positioning to start
Drive executes a positioning command
Drive in reference point search
Quick stop after OH-prewarning
Quick stop after motor overheating
Quick stop after external error
Quick stop caused by one of the
software limit switches
Quick stop after the time monitoring starts for serial
communication (Watchdog)
Overcurrent
Overvoltage
Undervoltage
Overheat in the inverter
Motor overheated
Motor overloaded
Overload KEB COMBIVERT S4
External Fault
Quick stop caused by one of the
software limit switches
Error overspeed
Loading shunt error
Set selection error set x
Time monitoring for serial communication
Error in the resolver interfacing
Error in the power part detection
Internal processor error
Internal hardware error in the hybrid detection
Software limit switch F
Software limit switch R
A detailed error description is shown at page GB 43.
GB 25
Parameter Description
Indication of the current apparent motor current in ampere.
Apparent Motor Current
Resolution: 0,1 A
GB
Indication of the maximum apparent motor current measured during
operation, in ampere.
Apparent Motor Current
Peak Value
Resolution: 0,1 A
Indication of the current torque in newtonmeter.
Current Torque
Resolution: 0,1 Nm
Indication of preset setpoint speed in rpm.
Setpoint Speed Display
Resolution:
0,5 rpm
Positive speed:
Rotation "forward" or no sense of rotation
Negative Speed: Rotation "reverse"
GB 26
Parameter Description
Acceleration Time
The parameter defines the time required to accelerate form 0 rpm to rated
speed of the servo system (3000/4000/6000 rpm). The behaviour of the
actual acceleration time is proportional to the speed change (delta n).
GB
Rated speed [rpm]
3000/
4000/
6000
Setting range:
Resolution:
Factory setting:
Customer setting:
0…320 s
0,01 s
0,05
____ s
CP.7
Acceleration time[s]
CP.7
Rated speed
Calculation Example:
=
actual acceleration time
delta n
Calculation of acceleration time to be adjusted:
The drive shall accelerate from 100 rpm to 2500 rpm in 0,2 s !
Rated speed of the drive: 3000 rpm
delta n = 2500 rpm – 100 rpm = 2400 rpm
actual acceleration time
CP.7 = ––––––––––––––––––––––––– • Rated speed
delta n
CP.7=
0,2s
–––––––––– • 3000 rpm = 0,25 s
2400 rpm
In this example the parameter CP.7 must be adjusted to 0,25 s !
If CP.7 and CP.8 = 0.00 s
then CP.16 and CP.17 without function
GB 27
Parameter Description
Deceleration Time
GB
The parameter defines the time required to decelerate from rated speed
of the servo system (3000/4000/6000 rpm) to 0 rpm. The behaviour of the
actual deceleration time is proportional to the speed change.
Rated speed [rpm]
3000/
4000/
6000
Setting range:
Resolution:
Factory setting:
Customer setting:
0…320 s
0,01 s
0,05 s
_____ s
CP.8
Deceleration time [s]
CP.8
actual deceleration time
–––––––––––– = –––––––––––––––––––––
Rated speed
delta n
Calculation of deceleration time to be adjusted:
The drive shall decelerate from 3000 rpm to 1000 rpm in 0,05 s!
Rated speed of the drive: 4000 rpm
delta n = 3000 rpm – 1000 rpm = 2000 rpm
actual deceleration time
CP.8 = ––––––––––––––––––––––––– • Rated speed
delta n
0,05s
CP.8 = –––––––––– • 4000 rpm = 0,1 s
2000 rpm
In this example parameter CP.8 must be adjusted to 0,1 s !
When CP.7 and CP.8 = 0.00 s
then CP.16 and CP.17 without function
The maximum permissible torque of the drive is defined with parameter
CP.9.
Torque Limit
M
CP.9
0 Nm
+10 V
0V
Analog limitation:
Terminals X2.16 / X2.17
GB 28
Setting range:
Resolution:
Factory setting:
Customer setting:
0…5 x MN
0,1 Nm
3 x MN
____ Nm
Parameter Description
Defines the maximum output speed of the servo controller.
Maximum Setpoint Speed
Setting range:
0…9999 rpm
Resolution:
0,5 rpm
Factory setting:
Rated speed
Customer setting: ____
rpm
In case the preset speed is too high the value is limited
internally to the maximum permissible value!
Jog-Drehzahl
Jogging Speed
Presetting of speed that can be activated via digital inputs I1 or I2.
Depending on the assignment of the inputs the jogging speed can be
activated by direction of rotation "forward" or alternatively direction of
rotation "reverse" . If both directions of roation are preset at the same time then
rotation "forward" has priority.
Setting range:
Resolution:
Factory setting:
Customer setting:
0…9999 rpm
0,5 rpm
100 rpm
_____rpm
Condition:
The control terminals X2.1(ST), X2.3 (F) or X2.4 (R) must be connected
with terminal X2.10 (+16V) .
Function:
• I1 or I2 active
Ö Drive runs with adjusted jogging speed.
• I1 and I2 not active Ö Drive runs with original speed.
• In jogging operation the drive accelerates and decelerates
at the torque limt.
• Original direction of rotation, speed, acceleration time
and deceleration time are without function.
• In case the preset speed is too high the value is limited
internally to the maximum permissible motor speed!
GB 29
GB
Parameter Description
Proportional factor of
speed controller.
P-Factor Speed Controller
GB
see page 42
adjustment assistance
speed controller
Integral factor of
speed controller.
I-Factor Speed Controller
see page 42
adjustment assistance
speed controller
Setting range:
0...65535
Resolution:
1
Factory setting: motor-type depend
Customer setting:
_______
Setting range:
0...65535
Resolution:
1
Factory setting: motor-type depend
Customer setting:
_______
This Parameter shows the adjusted encoder (inc/r) of the incremental
encoder simulation. It is dependent on the system sub-assembly.
Line Number Incremental
Encoder Simulation
Behaviour at External
Fault
Increments of servo system with
- Resolver (sub-assembly 009 - 012):
- ERN 1387 (sub-assembly 012 - 014):
- ERN 1188 (sub-assembly 015, 016):
This parameter determines
the response of the drive to
an external fault.
1024 Increments
2048 Increments
512 Increments
Setting range:
0…6
Resolution:
1
Factory setting:
0
Remarks:
ENTER-Parameter
Customer setting:
________
Value Response of Drive
GB 30
0
Error message: E.EF → Immediate disconnection of inverter!
! To restart eliminate the fault and make a Reset !
1
Status message: A.EF → Fast stop → Disconnection of inverter after
attaining speed 0.
! To restart eliminate the fault and make a Reset !
2
Status message: A.EF → Fast stop → Holding torque at speed 0.
! To restart eliminate the fault and make a Reset !
3
Status message: A.EF → Immediate disconnection of inverter.
! Automatic restart when fault condition no longer exists!
4
Status message: A.EF → Fast stop → Disconnection of inverter after
attaining speed 0.
! Automatic restart when fault condition no longer exists!
5
Status message: A.EF → Fast stop → Holding torque at speed 0.
! Automatic restart when fault condition no longer exists !
6
Status message: none → No effect on the drive.
! Fault is ignored!
Parameter Description
Permits the shifting of the setpoint-speed characteristic.
! Only at CP.7 > 0,00 s!
n max
"forward"
Offset REF 1
1)
2)
3)
+10 V
-10 V
n max
"reverse"
Examples:
Adjustment of parameter
CP.7 and CP.8 must be GB
observed!
Setting range: -100…+100 %
Resolution:
0,1 %
Factory setting:
0%
Customer setting:
____ %
Characteristic 1: CP.16 = 0% (standard setting)
0V = 0 rpm
Rotation "forward": nmax is attained at +10V
Rotation "reverse": nmax is attained at -10 V
Characteristic 2: CP.16 = +40%
0V = 40 % of nmax "forward"
Rotation "forward": nmax is attained at 60% of +10V
Rotation "reverse": maximal 60% of nmax possible
Characteristic 3: CP.16 = –70%
0V = 70 % of nmax "reverse"
Rotation "forward": maximal 30% of nmax possible
Rotation "reverse": nmax is attained at 30% of -10V
Zero Point Hysteresis
REF 1
A zero point hysteresis of the analog reference input REF1 is adjusted
with this parameter. Voltage fluctuations and ripple voltages around the
zero point of the setpoint value do not cause any drifting of the motor.
! Only when CP.7 or CP.8 > 0,00 s !
n max
"forward"
-10 V
Adjustment of parameter
CP.7 and CP.8 must be
observed!
+10 V
n max
"reverse"
Setting range:
Resolution:
Factory setting:
Customer setting:
0…10 %
0,1 %
0%
____ %
0…10 % = 0…+/- 1 V
Example: If CP.17 is adjusted to 5 % then the drive starts only at a setpoint value of
+/- 0,5 V.
GB 31
Parameter Description
This parameter defines which variable is given out at analog output 1
(terminal X2.18).
Setting range:
0…6
Resolution:
1
Factory setting:
2
Remarks:
ENTER-Parameter
Customer setting:
________
Function Output A1
GB
Value Output variable
Value range at CP.19=1
0
actual speed
-6000…+6000 rpm
^ -10V…+10V
1
apparent motor speed
0…25 A
^
0…+10V
2
3
actual torque
intermediate circuit voltage
0…25 Nm
0…1000 V
^
^
0…+10V
0…+10V
4
speed reference variable
-6000…+6000 rpm
^ -10V…+10V
5
6
system deviation (speed control) -6000…+6000 rpm
setpoint torque
0…25 Nm
^ -10V…+10V
^
0…+10V
Parameter CP.19 defines the amplifcation of the analog output signal
at output A1 (terminal X2.18).
Amplification Output A1
+10 V
2)
1)
3)
-n
Characteristic 1: Amplification factor 1
Characteristic 2: Amplification factor 2
Characteristic 3: Amplification factor 0,5
At 2000 rpm a measurement shall be taken at analog output A1 +10 V.
CP.19 =
GB 32
-20…+20
0,01
3 x MRated ^ +10 V
_______
+n,I,U,M
-10 V
Calculation Example:
Setting range:
Resolution:
Factory setting:
Customer setting:
value at amplification 1 (s. CP.18) 6000 rpm
=
desired value at + 10 V
2000 rpm
= 3
Parameter Description
The analog output A2 (terminal X2.19) outputs the current speed of the
servo systems.
Parameter CP.20 defines the amplification of the analog output signal.
Amplification Output A2
2)
+10 V
1)
3)
Setting range:
Resolution:
Factory setting:
Customer setting:
-20…+20
0,01
+/– nRated ^ +/–10 V
______
+n
-n
-10 V
Characteristic 1: Amplification factor 1
Characteristic 2: Amplification factor 2
Characteristic 3: Amplification factor 0,5
Standardization at amplification 1 (CP.20=1):
0…+/– 10 V ^ -6000…+6000 rpm
Calculation Example:
Rated speed of the servo system: 3000 rpm
At 1000 rpm a measurement shall be taken at analog output A2 +10 V.
CP.20 =
value at amplification 1
–––––––––––––––––––
desired value at +10V
6000 rpm
CP.20 = –––––––––––
1000 rpm
CP.20 =
6
Defines the switching condition of digital output D1.
Switching Condition Output D1
Setting range:
0…20
Resolution:
1
Factory setting:
20
Remarks:
ENTER–Parameter
Customer setting:
______
! Refer to table Switching Conditions page GB 34 !
GB 33
GB
Parameter Description
Switching Condition
GB Output D2
Switching Conditions
Defines the switching
condition of digital output D2.
! Refer to table below !
Setting range:
0…34
Resolution:
1
Factory setting:
18
Remarks:
ENTER–Parameter
Customer setting:
______
Digital output D1 and D2
Value Switching condition
0 always active
1 always active
2 system switched on; no abnormal operating condition
3 ready for operation and modulation enabled
4 abnormal operating condition / Fault (CP.2 = A.xxx or E.xxx)
5 inverter blocking after fault (E.xxx)
6 prewarning level electr. protective motor relay (OH.2) exceeded
7 after triggering of motor PTC-contact
8 prewarning level OH.2 or dOH exceeded
9 current controller in limitation
10 speed controller in limitation
11 any controller in limitation
12 drive in acceleration phase
13 drive in deceleration phase
14 drive runs with constant speed
15 drive runs with constant speed except speed 0
16 clockwise rotation – not at noP, LS, abnormal stopping or fault
17 anti-clockwise rotation-not at noP,LS,abnormal stopping or fault
only Digital output D1
18 actual speed > 0,1 x rated speed
19 apparent current > rated current
20 torque > torque level CP.23
only Digital output D2
18 actual speed > speed level CP.24
19 apparent current > rated current
20 torque > rated torque
21 Angle deviation > angle level
22 Reference mode completed
23 Target position reached only available in the posi mode
24 actual position > position level
25 Break control
Defines the torque level of
digital output D1.
Torque Level Output D1
Defines the speed level of
digital output D2.
Speed Level Output D2
GB 34
Setting range:
Resolution:
Factory setting:
Customer setting:
Setting range:
Resolution:
Factory setting:
Customer setting:
0…50 Nm
0,1 Nm
0,5 x MRated
______ Nm
0…16000 rpm
0,5 rpm
0,5 x nRated
______ rpm
Drive-Mode
9.
Drive-Mode
9.1 Setting Possibilities
9.2 Condition
The Drive Mode is a special operating mode of the KEB COMBIVERT. It
allows an easy manual startup. To activate the Drive Mode enter the
corresponding password in CP.0.
The passwords are listed on page GB 45!
– Stop / Start / Run
– Setpoint value
– Direction of rotation
GB
The control release must be activated (terminal stip X2).
Control release (terminal X2.3 / X2.4) and analog torque
limitation (terminal X2.16 / X2.17) are without function in the
Drive Mode.
9.3 Display and
Keyboard
Indication of operating status /
actual speed / setpoint speed.
Indication of direction
of rotation
Operating-/ Error display
Normal "LED on"
Error "LED blinks"
START
ENTER
FUNC.
F/R
SPEED
STOP
Operator panel
In
c
START
ENTER
FUNC.
F/R
SPEED
STOP
The preset setpoint value
is displayed for as long
as the SPEED-key is
pressed down.
START
ENTER
FUNC.
F/R
SPEED
STOP
e
alue
Decr
eas
es
et
lu
et v
es
as
re
va
9.4 Setpoint Display /
Setpoint Presetting
Setpoint value preset:
0 – max.
Hold the SPEED-key pressed
down and decrease the indicated
value with the STOP-key.
START
ENTER
FUNC.
F/R
SPEED
STOP
Hold the SPEED-key pressed
down and increase the indicated
value with the START-key.
GB 35
Drive-Mode
9.5 Rotation Presetting
Presetting Possibilities: F = forward (clockwise rotation)
r = reverse (anti-clockwise rotation)
Every actuation of the
ENTER-key causes a
change of the rotation.
START
GB
START
ENTER
FUNC.
ENTER
ENTER
FUNC.
F/R
SPEED
F/R
F/R
SPEED
STOP
9.6 Start / Stop / RUN
STOP
Status "Stop"
Inverter
disconnected
Status "Start"
Torque at
speed "0"
Press key
"START" once
START
START
START
ENTER
FUNC.
F/R
SPEED
STOP
STOP
ENTER
FUNC.
F/R
SPEED
STOP
Press key
"STOP" once
Press key
"START" once
STOP
START
Press
key
"STOP"
once
START
ENTER
FUNC.
F/R
SPEED
STOP
Status "Run"
The drive runs with
the preset speed.
To change from Drive Mode to CP Mode press the keys "FUNC" and
"ENTER" simultaneously and hold them for min. 3 s!
! Only possible in the status "Stop" !
GB 36
Accessories
10. Accessories
10.1 External Braking
Resistor
The braking resistor heats up during the braking operation. If the braking
resistor is installed in the control cabinet sufficient cooling of the cabinet
interior must be provided and a sufficient distance to the KEB COMBIVERT
S4 must be kept.
Do not mount the external braking resistor
below the servo controller !
10.1.1 Part No.
xx.56.080-xxx8
00 = 6 % ED
Voltage class
01 =
25 % ED
2 = 230 V
GB
02 = 40 % ED
4 = 400V
Braking resistor
Size
10.1.2 Technical Data
Size
Part number
PR (2)
[kW]
RB PN Nominal power 1) [W]
[Ohm]
6%
25 %
40 %
03, 05, 14.56.080-4008
800
07, 10 14.56.080-4018
7,0
82
2700
14.56.080-4028
3700
15.56.080-4008
1200
12
15.56.080-4018
10,3
56
3700
15.56.080-4028
5500
16.56.080-4008
39
1700
16
16.56.080-4018 14,8/14,4 39
5000
16.56.080-4028
40
7500
18.56.080-4008
4000
18
18.56.080-4018
26,3
22
9000
18.56.080-4028
13500
1)
The resistor nominal power to be selected PN dependent on the peak
power and the cycle duration factor c.d.f [%].
2)
Peak power recorded for a short period PR Dimensioning inverter:
Motor = 1 : 1
GB 37
Accessories
10.1.3 Dimensions
D
5,8x12
B
A
C
E
GB
Part number
RB
[Ohm]
14.56.080-4008
82
14.56.080-4018
82
14.56.080-4028
82
PN
[W]
800
2700
3700
A
B
C
D
E
526
630
830
64
190
190
92
230
230
120
145
145
550
650
850
15.56.080-4008
15.56.080-4018
15.56.080-4028
56
56
56
1200
3700
5500
426
830
830
150
190
300
185
230
340
120
145
145
450
850
850
16.56.080-4008
39
1700
430
190
230
145
450
D
Ø 10,5
B
A
C
E
Part number
RB
[Ohm]
16.58.080-4018
39
16.56.080-4028
40
18.56.080-4008
18.56.080-4018
18.56.080-4028
22
22
22
PN
[W]
5000
7500
A
B
C
D
E
380
380
370
570
430
630
260
260
490
490
4000
9000
13500
380
380
380
370
570
770
430
630
830
260
260
260
490
490
490
10.1.4 Connection
PA
PB
The external braking resistor is connected
with the shortest possible line (twisted) to
the terminals PA and PB.
PA
PB
KEB COMBIVERT S4
GB 38
Accessories
10.2 Submounted
braking resistor
The submounting braking resistors are planned for a small volume
installation directly under the frequency inverter. Mostly they are suitable
for short braking cycles and clock system. The assemblies are made of:
Braking resistor
Temperature switch
Submounted box
Installation material
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XX
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P
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GB
AN
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IEBS
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CH
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L1
L2
L3
Metal cover only
at D + E-housing
Connection Temperaturschalter (white)
(terminals OH/OH)
Connection Braking resistor (red)
(terminals PA/PB)
Size
Housing
Braking resistor
Permanent load
Non-recurring load (max. 3s)
Permissible load at 5 % ED
Permissible load at 10 % ED
Permissible load at 20 % ED
Permissible load at 40 % ED
Weight
Partnumber of the kit
(Ω)
[W]
[W]
[W]
[W]
[W]
[W]
[kg]
03 / 05 / 07 / 10
12
16
D
E
G
82
60
25
35
60
2 x 80
7800
9600
23000
700
1200
3200
350
600
1600
175
300
800
90
150
400
0,9
1,3
1,9
12.F4.D50-4200 14.F4.E50-4200 16.F4.G50-4200
10.2.1 Dimensions
C
B
A
Housing D
E
G
[mm]
A
90 130 170
B
250 290 340
C
30 30 25
GB 39
Accessories
10.3 Radio Interference
Suppression Filter
10.3.1 Technical Data
GB
Optional the servo amplifier KEB COMBIVERT S4 is available with
integrated radio interference suppression. Submounted filters are available
for all unit sizes. The dimensions of the submounted filters are listed in
Chapter „5 „Dimensions“.
Servo controller
Part No.:
Filter-kit
03 (D-Housing) 09.E4.T60-0001
[A]
Rated
current
20
[mA]
Leakage
current
12
[V]
Rated
voltage
230
05 (D-Housing) 09.E4.T60-0001
20
12
230
07 (D-Housing) 10.E4.T60-1001
8
15
400
10 (D-Housing) 10.E4.T60-1001
8
15
400
12 (E-Housing)
14.E4.T60-1001
20
50
400
16 (G-Housing) 16.E4.T60-1001
50
50
400
18 (H-Housing) 18.E4.T60-1001
70
30
400
Radio Interference
Suppression Filter
10.3.2 Connection
Connection 1-phase
L
L1
N
L2
PE
PE
Radio Interference
Suppression Filter
Connection 3-phase
GB 40
Servo Controller
U
V
W
PE
M
3~
Servo Controller
L1
L1
L2
L2
L3
L3
PE
PE
U
V
W
PE
M
3~
Accessories
10.4 Operator
As an accessory to the local operation an operator is necessary. To
prevent malfunctions, the Servo Controller must be brought into nOP
status before connecting/disconnecting the operator (open control release
terminal X2.1). When starting the Servo controller whitout an operator, it
is started with the last stored values or factory setting. The operator is
obtainable in different versions:
Digital-Operator
Part. No. 00.F4.010-2009
GB
5-digit LED-Display
START
ENTER
FUNC.
F/R
SPEED
STOP
Operating-/Error display
Normal "LED on"
Error "LED blinks"
Double function keyboard
Interface-Operator
Part.-No. 00.F4.010-1009
In the Interface operator there is an additionally isolated RS232/RS485Interface integrated. The RS232/485-parameterizing interface expands
the KEB COMBIVERT S4 for communication with data communications
equipment. Suitable wiring permits the physically isolated data
transmission.
PE-Connection
Servo controller
Parameterizing interface
5 4 3 2 1
9 8 7 6
PIN No. RS485 / Norm
1
–
2
–
3
–
4
A'
5
B'
6
–
7
8
9
C/C'
A
B
RS232/RS485
Signal
–
TxD
RxD
RxD-A
RxD-B
VP
COM
TxD-A
TxD-B
Meaning
reserved
Transmit signal / RS232
Receive signal / RS232
Receive signal A / RS485
Receive signal B / RS485
Supply voltage
+5 V, Imax = 10 mA
Data reference potential
Transmit signal A / RS485
Transmit signal B / RS485
GB 41
Adjustment Assistance Speed Controller
11. Adjustment Assistance
Speed Controller
GB
Problem:
very long transient
Assistance: Increase P-component (CP.12);
eventually reduce I-component
(CP.13)
Problem:
Speed overshoot too high
Assistance: Increase P-component (CP.12);
eventually reduce I-component
(CP.13)
Problem:
Problem:
Maintained vibration
Assistance: Reduce P-component (CP.12)
Transient too slow/ remaining
control deviation
Assistance: Increase I-component (CP.13)
Problem:
Problem:
Overshoot too long
Assistance: Increase I-component (CP.13)
GB 42
Maintained vibration with high
amplitude
Assistance: Reduce I-component (CP.13)
Error Diagnosis
12. Error Diagnosis
Undervoltage
Error messages are always represented by an „E“ and the corresponding
error in the display of KEB COMBIVERT S4. In the following the displayed
indications and their causes are described.
Occurs when the DC-link voltage drops below the permissible value.
Causes: - input voltage too low or instable
- inverter rating too low
- voltage losses through wrong wiring
- supply voltage from generator/transformer breaks down
at very short ramps
- one phase of input voltage missing (ripple detection)
Overvoltage
Occurs when the DC-link voltage rises above the permissible value.
Causes: - input voltage too high
- interference voltages at the input
- deceleration ramp too short
- braking resistor incorrectly connected
- braking module defective
Overcurrent
Occurs when the specified peak current is exceeded.
Causes: - short circuit at the output
- ground fault
- motor cable too long
- EMC
Overload
Occurs when a too large load is applied longer than the permissible
time allows (see Technical Data).
Causes: - mechanical fault or overload in the application
- wrong dimensioned inverter
- wrong wired motor
Overheat
Occurs when the heat sink temperature rises above the permissible
limit (see Technical Data).
Causes: - insufficient cooling
- surrounding temperature too high
- ventilator clogged
GB 43
GB
Error Diagnosis
ext. Overheat
GB
Load shunt error
Set selection error
Occurs, when external temperature monitoring is triggered.
Causes: - resistance at terminals OH/OH >1650 Ohm
- motor overloaded
- open circuit to temperature sensor
Load shunt not bridged, occurs for a short time during the switch
on phase, but must be automatically reset immediately. If the
error message remains, it may have following causes.
- load shunt defect
- input voltage wrong or too low
- high losses in the supply line
- wrong connected braking resistor
- braking module defect
Error SEt occurs, when trying to select a locked parameter set.
Bus error
Error buS; for bus operation a monitoring time (Watchdog time ud.8) can
be adjusted. The error is triggered when no telegrams are received
within the the adjusted time.
External fault
Error External Fault is triggered, when a digital input is being programmed
as external error input (di. 3...di.10 = 6) and trips.
Power unit code
Error Power unit Code invalid; during the initialization phase the power
unit was not identified or detected as non-permissible.
Error brake
Occurs when terminal F was not active at set direction clockwise or
counter-clockwise (refer to di- and Pn-Parameter for terminal handling).
Error brake
GB 44
Occurs when terminal R was not active at set direction clockwise or
counter-clockwise (refer to di- and Pn-Parameter for terminal handling).
Error Diagnosis
CPU-error
Hardware error
Control card defect
Hardware error
Software limit forward
Software limit reverse
Occurs when a setpoint position outside the permissible range has
been selected for the positioning (refer to Pc-Parameter).
Occurs when a setpoint position outside the permissible range has
been selected for the positioning (refer to Pc-Parameter).
___________________________________________________________
Error incremental encoder
Encoder not or wrong connected.
Overtemperature 2
Over speed
13. Passwords
Occurs when the motor is overloaded and is triggered by the internal
motor current monitoring. Function of an electrical motor protective relay.
Help:
– reduce the motor
– reduce torque limit (Parameter CP.9)
Error Over Speed occurs when the actual speed is higher than the
max.speed.
Causes:
– resolver not connected
– wrong adjustment of the speed controller
Customer "read only" Password
Customer "on" Password
Drive Password
100
200
500
GB 45
GB
GB
GB 46
KEB Antriebstechnik GmbH & Co. KG
Wildbacher Str. 5 • D–08289 Schneeberg
fon: +49 3772 67-0 • fax: +49 3772 67-281
mail: [email protected]
KEB - YAMAKYU Ltd.
15–16, 2–Chome, Takanawa Minato-ku
J–Tokyo 108-0074
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Ritzstraße 8 • A-4614 Marchtrenk
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Kostelni 32/1226 • CZ-370 04 Ceské Budejovice
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Herenveld 2 • B-9500 Geraadsbergen
fon: +32 5443 7860 • fax: +32 5443 7898
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Lugar de Salgueiros – Pavilhao A, Mouquim
P-4760 V. N. de Famalicao
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Xianxia Road 299 • CHN-200051 Shanghai
fon: +86 21 62350922 • fax: +86 21 62350015
net: www.keb-cn.com • mail: [email protected]
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No.8, Lane 89, Sec.3; Taichung Kang Rd.
R.O.C.-Taichung City / Taiwan
fon: +886 4 23506488 • fax: +886 4 23501403
mail: [email protected]
Société Française KEB
Z.I. de la Croix St. Nicolas • 14, rue Gustave Eiffel
F-94510 LA QUEUE EN BRIE
fon: +33 1 49620101 • fax: +33 1 45767495
mail: [email protected]
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Box 265, Bergavägen 19
S-430 93 Hälsö
fon: +46 31 961520 • fax: +46 31 961124
mail: [email protected]
KEB (UK) Ltd.
6 Chieftain Buisiness Park, Morris Close
Park Farm, Wellingborough GB-Northants, NN8 6 XF
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KEBCO Inc.
1335 Mendota Heights Road
USA-Mendota Heights, MN 55120
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KEB Italia S.r.l.
Via Newton, 2 • I-20019 Settimo Milanese (Milano)
fon: +39 02 33500782 • fax: +39 02 33500790
net: www.keb.it • mail: [email protected]
© KEB 00.S4.01B-K141 1/2004
Karl E. Brinkmann GmbH
Försterweg 36-38 • D-32683 Barntrup
fon: +49 5263 401-0 • fax: +49 5263 401-116
net: www.keb.de • mail: [email protected]