ABB MicroFlex e190 User Manual

ABB motion control

User’s manual

MicroFlex e190 servo drive

List of related manuals

Drive hardware manuals and guides

MicroFlex e190 Quick Installation Guide

MicroFlex e190 Wall chart

Code (English)

3AXD50000037325

3AXD50000037323

Certificates

MicroFlex e190 & OPT-SIO-1 EU Single Declaration of Conformity 3AXD10000540159

MicroFlex e190 STO (TÜV) Certificate 3AXD10000540318

MicroFlex e190 UL Certificate 3AXD10000540319

Option manuals and guides

OPT-MF-200 Encoder Breakout Quick Installation Guide

OPT-MF-201 Resolver Adapter Quick Installation Guide

OPT-SIO-1 Option Card* User's Manual

OPT-SIO-1 Option Card Quick Installation Guide

3AXD10000692233

3AXD10000688314

3AXD50000351336

3AXD50000296361

You can find manuals and other product documents in PDF format on the Internet. See

section Document library on the Internet on the inside of the back cover. For manuals

not available in the Document library, contact your local ABB representative.

* Firmware build version that supports the option card: MicroFlex e190 Build 5900.4.0 and later.

User’s manual

MicroFlex e190

Table of contents

1. Safety

4. Mechanical installation

6. Electrical installation:

AC input / DC input, motor

9. Start-up

 2020 ABB Beijing Drive Systems Co. Ltd .

All Rights Reserved.

3AXD50000037326 REV C

EN

EFFECTIVE: 2020-6-9

Table of contents 5

Table of contents

List of related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1. Safety

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Use of warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Safety in installation and maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Electrical safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Permanent magnet motor drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

General safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Printed circuit boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Safe start-up and operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

General safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Network security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2. Introduction to the manual

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Contents of this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Quick installation and start-up flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

General terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3. Operation principle and hardware description

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Product overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Layout - front . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Layout - top . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Layout - bottom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Main circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Type designation label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Type designation key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Memory unit - MU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4. Mechanical installation

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Contents of the package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Main dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Cabinet construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Cooling and degrees of protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Disposition of the devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Preventing the recirculation of hot air . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Grounding of mounting structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

6 Table of contents

Cabinet heaters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Requirements for the installation site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Required tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Direct wall mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Mains filter installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Braking resistor installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

5. Planning the electrical installation

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Motor selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Supply connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Supply disconnecting device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Thermal overload and short circuit protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Thermal overload protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Protection against short-circuit in motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Protection against short-circuit in the supply cable or the drive . . . . . . . . . . . . . . . . . . . . 42

Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Ground fault protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Emergency stop devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Residual current device (RCD) compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Safe Torque Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Selecting the power cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

General rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Alternative power cable types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Motor cable shield . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Selecting the control cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Connection of a motor temperature sensor to the drive . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Routing the cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Control cable ducts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Typical installation example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

6. Electrical installation: AC input / DC input, motor and brake

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Checking the insulation of the assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Supply cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Motor and motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Braking resistor assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Power cable connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

AC power cable connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

DC power cable connection diagram (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

24 V control circuit supply (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Motor brake connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Thermal switch connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

7. Electrical installation: input / output

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Table of contents 7

Connecting the control cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

X3: Analog input AI0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

X3: Analog output AO0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Using a digital input as a drive enable input (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Using a digital input as a home switch input (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

X4: Digital inputs - Safe Torque Off (STO) inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

X3: Digital inputs - general purpose DI1 & DI2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Special functions on inputs DI1 & DI2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

X3: Digital inputs - general purpose DI0 & DI3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

X3: Digital outputs - general purpose DO0 - DO3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Other I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

X2: External power supply for the control unit (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . 72

SW1 linear switches - startup functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Control cable grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Ethernet ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

E1 / E2: Real-time Ethernet port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

E1 / E2: Ethernet port configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

E3: Ethernet host . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Motor feedback (X8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Incremental encoder with Halls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Serial interfaces & SinCos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Extra incremental encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Incremental encoder input/output (X7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

OPT-MF-201 Resolver adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Supported feedback type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Encoder 0 input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Encoder 1 input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Encoder 2 input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

8. Installation checklist

Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

9. Start-up

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Connect the MicroFlex e190 to the PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Install Mint WorkBench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Configure the PC Ethernet adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Enable the Ethernet adapter for Mint WorkBench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Start the MicroFlex e190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Preliminary checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Power on checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Start Mint WorkBench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Commissioning Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Using the Commissioning Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Further tuning - no load attached . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Further tuning - with load attached . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

8 Table of contents

Optimizing the velocity response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Correcting overshoot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Correcting zero-speed noise in the velocity response . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Ideal velocity response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Performing test moves - continuous jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Performing test moves - relative positional move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Further configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Configuration tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

EtherCAT tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Ethernet POWERLINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Parameters tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Spy window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Other tools and windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Safe Torque Off (STO) acceptance test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

10. Fault tracing

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Problem diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

SupportMe feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Power-cycling the MicroFlex e190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

MicroFlex e190 indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

EtherCAT® mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Ethernet POWERLINK mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Drive status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Mint WorkBench . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Warning messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Axis warnings

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Controller warnings

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

Error messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Autotuning errors

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

Parameter errors

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Communication errors

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Axis errors

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Controller errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

11. Maintenance

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Maintenance intervals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Heat sink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

Cooling fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

Removing the fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

Replacing the fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

Reforming the capacitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Other maintenance actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

Transferring the memory unit to a new drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

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12. Technical data

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Cooling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

Cooling characteristics, noise levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

Efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

Supply cable fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

AC input (supply) connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

Effect of AC power supply voltage on DC-bus voltage . . . . . . . . . . . . . . . . . . . . . . . . . . 152

DC input (supply) connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

Motor connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

Brake resistor connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

Control unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

X7 Incremental encoder without Halls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

X8 Incremental encoder with Halls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

X8 Serial interfaces + SinCos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Dimensions and weights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Degrees of protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

WEEE notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

RoHS compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

China RoHS marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

Applicable standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

Design and test standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

Environmental test standards: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

Functional safety standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

RCM marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

CE marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Compliance with the European EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Compliance with the European Machinery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

UL marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

UL checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

13. Mains filters

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

When is a mains filter required? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

Footprint filter (single phase only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

Installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Selection table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Specifications and dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

14. Resistor braking

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

System braking capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

10 Table of contents

Braking energy calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

Braking energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

Braking power and average power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

Resistor choice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

Resistor derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

Duty cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

15. Accessories

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

24 V power supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

Encoder breakout OPT-MF-200 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

Resolver adapter OPT-MF-201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

Option card OPT-SIO-1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

Motor power cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

Feedback cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

Ethernet cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

16. Appendix: Safe Torque Off (STO)

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

Special considerations for using the STO function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Drive location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Hazard analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Additional stopping methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

IGBT failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

Wiring principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Connected components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Short circuit testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Drive enable input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Single drive module: internal power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

Single drive module: external power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

Multiple drive modules: internal power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

Multiple drive modules: external power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

Operation of the STO function and diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

Hardware activation of the STO function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

Firmware monitoring of the STO function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

Software monitoring of the STO function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

STO status indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

STO software functional diagram: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

Monitoring the delay between the STO inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

STO function activation and indication delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

Validating the operation of a safety function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

Authorized person . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

Acceptance test reports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

Preliminary checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

Table of contents 11

Start-up, acceptance, and proof test interval checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

Restarting the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

Maintenance / servicing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

Error messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

Decommissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

STO safety relay type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

STO cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

Data related to safety standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

Safety data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

Failure rates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

12 Table of contents

1

Safety 13

Safety

What this chapter contains

This chapter contains the safety instructions which you must obey when installing, operating and servicing the drive. If ignored, physical injury or death may follow, or damage may occur to the drive, motor or driven equipment. Read the safety instructions before you work on the unit.

Use of warnings

Warnings caution you about conditions which can result in serious injury or death and/or damage to the equipment and advise on how to avoid the danger. The following warning symbols are used in this manual:

Electricity warning warns of hazards from electricity which can cause physical injury and/or damage to the equipment.

General warning warns about conditions, other than those caused by electricity, which can result in physical injury and/or damage to the equipment.

Electrostatic sensitive devices warning warns of electrostatic discharge which can damage the equipment.

Hot surface warning warns of component surfaces that may become hot enough to cause burns if touched.

14 Safety

Safety in installation and maintenance

These warnings are intended for all who work on the drive, motor cable or motor.



Electrical safety

WARNING!

Ignoring the following instructions can cause physical injury or death, or damage to the equipment.

• Only qualified electricians are allowed to install and maintain the drive!

• Be sure the system is properly earthed/grounded before applying power. Do not apply AC or DC power before earths/grounds are connected.

• Never work on the drive, motor cable or motor when input power is applied. After disconnecting the input power, always wait for 5 minutes to let the intermediate circuit capacitors discharge before you start working on the drive, motor or motor cable. Always ensure by measuring with a multimeter (impedance at least

1 Mohm) that: 

1. Voltage between drive input phases L1, L2 and L3 is close to 0 V.



2. Voltage between terminals UDC+ and UDC- and the frame is close to 0 V.



3. There is no voltage between terminals R+ and R- and the ground.

• Do not work on the control cables when power is applied to the drive or to the external control circuits. Externally supplied control circuits may cause dangerous voltages inside the drive even when the main power on the drive is switched off.

• Do not make any insulation or voltage withstand tests on the drive.

• Do not connect the drive to a voltage higher than that marked on the type designation label. Higher voltage can activate the brake chopper and lead to brake resistor overload, or activate the over-voltage controller which can lead to the motor rushing to maximum speed.

• If a drive is installed on a corner-grounded TN system, the drive could be damaged.

• All ELV (extra low voltage) circuits connected to the drive must be used within a zone of equipotential bonding, i.e. within a zone where all simultaneously accessible conductive parts are electrically connected to prevent hazardous voltages appearing between them. This is accomplished by proper factory grounding.

• To prevent equipment damage, be certain that input and output signals are powered and referenced correctly.

• To ensure reliable performance of this equipment be certain that all signals to/from the drive are shielded correctly.

• Do not tin (solder) exposed wires. Solder contracts over time and can cause loose connections. Use crimp connections where possible.

Safety 15

• If the drive is subjected to high potential (‘hipot') testing, only DC voltages may be applied. AC voltage hipot tests could damage the drive. For further information please contact your local ABB representative.

• The safe integration of the drive into a machine system is the responsibility of the machine designer. Be sure to comply with the local safety requirements at the place where the machine is to be used. In Europe these are the Machinery

Directive, the Electromagnetic Compatibility Directive and the Low Voltage

Directive. In the United States this is the National Electrical code and local codes.

• To comply with CE directive 2014/13/EU an appropriate AC filter must be installed.

• Motor overtemperature sensing is required to satisfy UL 61800-5-1. The drive has no provisions for motor overtemperature protection, so external provisions are required. The motor thermistor connection must be isolated (see page

58 ).

• The AC supply, DC supply (if used) and the 24 V DC control circuit supply must be fused.

• The 24 V DC control circuit supply must be installed so that the 24 V DC supplied to the unit is isolated from the AC supply using double or reinforced insulation, or by using basic insulation with a protective earth.

• The input of the control circuit must be limited to Safety Extra Low Voltage circuits.

• For UL installations use 75 °C copper wiring only.

• For UL installations: Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes.

• For use in Canada: Transient surge suppression shall be installed on the line side of this equipment and shall be rated 240V (phase to ground), 240V (phase to phase), suitable for overvoltage category III, and shall provide protection for a rated impulse withstand voltage peak of 2.5kV.

Note:

• The motor cable terminals on the drive are at a dangerously high voltage when the input power is on, regardless of whether the motor is running or not.

• The DC terminals (UDC+, UDC-) carry a dangerous DC voltage that is approximately 1.4 times the AC supply voltage, e.g. 336 V DC when operating on a 240 V AC supply.

• The Safe Torque Off function does not remove the voltage from the main and auxiliary circuits. The function is ineffective against deliberate sabotage or

misuse. See page 187 .

16 Safety



Grounding

These instructions are intended for all who are responsible for the grounding of the drive.

WARNING!

Ignoring the following instructions can cause physical injury or death, increased electromagnetic interference and equipment malfunction:

• Ground the drive, motor and adjoining equipment to ensure personnel safety in all circumstances, and to reduce electromagnetic emission and interference.

• Make sure that grounding conductors are adequately sized as required by safety regulations.

• In a multiple-drive installation, connect each drive separately to protective earth

(PE).

• Where EMC emissions must be minimized, make a 360° high frequency grounding of cable entries in order to suppress electromagnetic disturbances. In addition, connect the cable shields to protective earth (PE) in order to meet safety regulations.

Note:

• Power cable shields are suitable for equipment grounding conductors only when adequately sized to meet safety regulations.

• Standard EN 61800-5-1 (section 4.3.5.5.2.) requires that as the normal touch current of the drive is higher than 3.5 mA AC or 10 mA DC, you must use a fixed protective earth connection and: 

- cross-section of the protective earthing conductor of at least 10 mm

2

16 mm

2

Al, or 

Cu or

- automatic disconnection of the supply in case of discontinuity of the protective earthing conductor, or 

- a second protective earthing conductor of the same cross-sectional area as the original protective earthing conductor.

Safety 17



Permanent magnet motor drives

These are additional warnings concerning permanent magnet motor drives.

WARNING!

Ignoring the following instructions can cause physical injury or death, increased electromagnetic interference and equipment malfunction.

• Do not work on the drive when the permanent magnet motor is rotating. Also, when the supply power is switched off and the inverter is stopped, a rotating permanent magnet motor feeds power to the intermediate circuit of the drive and the supply connections become live.

• Before installation and maintenance work on the drive: 

- Stop the motor.





- Ensure that there is no voltage on the drive power terminals according to step 1 or 2, or if possible, according to both steps: 

1. Disconnect the motor from the drive with a safety switch or by other means.



Check by measuring that there is no voltage present on the drive input or output terminals (L1, L2, L3, U, V, W, R+/UDC+, UDC-, R-).



2. Ensure that the motor cannot rotate during work. Make sure that no other system, like hydraulic crawling drives, is able to rotate the motor directly or through any mechanical connection like felt, nip, rope, etc. Check by measuring that there is no voltage present on the drive input or output terminals (L1, L2, L3,

U, V, W, R+/UDC+, UDC-, R-). Ground the drive output terminals temporarily by connecting them together as well as to the PE.

• Do not run the motor over the rated speed. Motor over-speed leads to overvoltage which may damage or explode the capacitors in the intermediate circuit of the drive.

18 Safety

General safety

These instructions are intended for all who install and service the drive.

WARNING!

Ignoring the following instructions can cause physical injury or death, increased electromagnetic interference and equipment malfunction:

• Handle the unit carefully.

• Take care when lifting. When carrying, do not suspend the unit from the front panel as it could detach and cause the unit to be dropped.

• Beware of hot surfaces. The metal heat sink on the left side of the MicroFlex e190 can become very hot during normal operation. The surfaces of drive system components (such as a mains choke or braking resistor, if present) become hot when the system is in use, and remain hot for a while after disconnection of the electrical supply. A brake resistor can generate enough heat to ignite combustible materials. To avoid fire hazard, keep all combustible materials and flammable vapors away from brake resistors.

• Ensure that debris from drilling and grinding does not enter the drive when installing. Electrically conductive debris inside the unit may cause damage or malfunction.

• Drives must be installed inside an electrical cabinet that provides environmental control and protection. Installation information for the drive is provided in this manual. Motors and controlling devices that connect to the drive should have specifications compatible with the drive. If not installed in an electrical cabinet, barriers around the equipment are required.

• Avoid locating the drive immediately above or beside heat generating equipment, directly below water or steam pipes, or in the vicinity of corrosive substances or vapors, metal particles and dust.

• Ensure sufficient cooling.

• Do not attach the drive by riveting or welding.

• The MicroFlex e190 must be installed where the pollution degree according to UL and EN 61800-5-1 shall not exceed 2.



Printed circuit boards

WARNING!

Ignoring the following instructions can cause damage to the printed circuit boards and/or void the warranty:

• Wear a grounding wrist band when handling the boards. Do not touch the boards unnecessarily. The printed circuit boards contain components sensitive to electrostatic discharge.

Safety 19

Safe start-up and operation



General safety

These warnings are intended for all who plan the operation of the drive or operate the drive.

WARNING!

Ignoring the following instructions can cause physical injury or death, or damage to the equipment.

• After changing or maintaining the fan, make sure that the bottom cover is correctly attached before connecting voltage to the drive. Keep the bottom cover attached during operation.

• Before adjusting the drive and putting it into service, make sure that the motor and all driven equipment are suitable for operation throughout the speed range provided by the drive. The drive can be adjusted to operate the motor at speeds above and below the speed provided by connecting the motor directly to the power line.

• Do not activate any automatic fault reset functions of the drive control program if dangerous situations can occur. When activated, these functions will reset the drive and resume operation after a fault.

• Do not control the motor with an AC contactor or disconnecting device

(disconnecting means); instead, use external commands via fieldbus or the I/O of the drive. The maximum allowed number of charging cycles of the DC capacitors

(i.e. power-ups by applying power) is one per two minutes.

• Make sure that any safety circuits (for example, emergency stop and Safe torque off) are validated in start-up. See chapter

Start-up for reference of the validation

instructions.

• The drive is not field repairable. Never attempt to repair a malfunctioning drive; contact your local ABB representative or Authorized Service Center for replacement.

• When operating a rotary motor with no load coupled to its shaft, remove the shaft key to prevent it flying out when the shaft rotates.

• Operating the MicroFlex e190 in torque mode with no load attached to the motor can cause the motor to accelerate rapidly to excessive speed.

• Improper operation or programming of the drive may cause violent motion of the motor and driven equipment. Be certain that unexpected motor movement will not cause injury to personnel or damage to equipment. Peak torque of several times the rated motor torque can occur during control failure.

• Violent jamming (stopping) of the motor during operation may damage the motor and drive.

• The drive can be programmed to start up and begin to turn the motor (autoenable) immediately after an input voltage break or a fault reset. If an external

20 Safety source for start command is selected and it is ON, the drive could start immediately after an input voltage break or fault reset.

• MEDICAL DEVICE / PACEMAKER DANGER: Magnetic and electromagnetic fields in the vicinity of current carrying conductors and industrial motors can result in a serious health hazard to persons with cardiac pacemakers, internal cardiac defibrillators, neurostimulators, metal implants, cochlear implants, hearing aids, and other medical devices. To avoid risk, stay away from the area surrounding a motor and its current carrying conductors.



Network security

This product is designed to be connected to and to communicate information and data via a network interface. It is the customer’s sole responsibility to provide and continuously ensure a secure connection between the product and the customer network or any other network (as the case may be). The customer shall establish and maintain any appropriate measures (such as but not limited to the installation of firewalls, application of authentication measures, encryption of data, installation of anti-virus programs, etc) to protect the product, the network, its system and the interface against any kind of security breaches, unauthorized access, interference, intrusion, leakage and/or theft of data or information. ABB and its affiliates are not liable for damages and/or losses related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.

Introduction to the manual 21

2

Introduction to the manual

What this chapter contains

This chapter describes the manual. It contains a flowchart of steps for checking the delivery, installation and start-up of the drive. The flowchart refers to chapters/sections in this manual and to other manuals.

Target audience

This manual is intended for people who plan the installation, install, start-up, use and service the drive. Read the manual before working on the drive. You are expected to know the fundamentals of electricity, wiring, electrical components and electrical schematic symbols.

The manual is written for readers worldwide. Both SI and imperial units are shown.

22 Introduction to the manual

Contents of this manual

The manual consists of the following chapters:

•

Safety (page 13

) gives safety instructions you must follow when installing, commissioning, operating and servicing the drive.

•

Introduction to the manual (this chapter, page 21

) describes applicability, target audience, purpose and contents of this manual. It also contains a quick installation and commissioning flowchart.

•

Operation principle and hardware description (page 27

) describes the operation principle, connector layout, type designation label and type designation information in short.

•

Mechanical installation (page 33 ) describes how to check the installation site,

unpack, check the delivery and install the drive mechanically. It also provides the dimensions of the drive.

•

Planning the electrical installation (page 41

) describes the requirements for the

AC supply, cabling and RCDs.

•

Electrical installation: AC input / DC input, motor and brake (page 49

) describes the installation of high power connections including the AC supply, motor output, brake resistor, and optional DC supply / sharing.

•

Electrical installation: input / output (page 59 ) describes the installation of low

power connections, including analog and digital input/outputs (including Safe

Torque Off), motor feedback and Ethernet.

•

Installation checklist (page 91 ) provides a list of checks to confirm that the

physical installation has been completed correctly.

•

Start-up

(page

93 ) describes the steps for applying power to the drive, installing

the Mint Machine Center software, and tuning and optimizing the motor/drive combination.

•

Fault tracing (page 109 ) describes the drive’s LED indicators and provides

solution to common problems encountered during installation.

•

Maintenance (page 141 ) describes the maintenance required to maintain

optimum performance from the drive.

•

Technical data (page 147 ) contains the technical specifications of the drive, e.g.

the dimensions, ratings, technical specifications, and provisions for fulfilling the requirements for CE and other markings.

•

Mains filters (page 165

) describes optional mains filters that can be used with the drive.

•

Resistor braking (page 171 ) describes how to select, protect, and wire braking

choppers and resistors.

•

Accessories (page 179

) describes additional components that are useful for the drive installation.

•

Appendix: Safe Torque Off (STO) (page 187 ) describes STO features, installation,

and technical data.

Introduction to the manual 23

Related documents

See List of related manuals on page 2 (inside the front cover).

24 Introduction to the manual

Quick installation and start-up flowchart

Task

Plan the electrical installation and acquire the accessories needed (cables, fuses, etc.).

Check the ratings, required cooling air flow, input power connection, compatibility of the motor, motor connection, and other technical data.

See

Planning the electrical installation

(page

41 )

Cooling and degrees of protection

(page

36 )

Technical data (page 147

)

Check the installation site.

Cabinet construction

(page

36 )

Contents of the package (page 34 )

Installation procedure

(page

39 )

Unpack and check the units (only intact units may be started up).

Check that all necessary optional modules and equipment are present and correct.

Mount the drive.

Route the cables.

Routing the cables

(page

47

)

Check the insulation of the supply cable, the motor and the motor cable.

Checking the insulation of the assembly

(page

50 )

Connect the power cable.

Connect the motor cable.

Connect the control cables.

Power cable connection

(page

51

)

Electrical installation: input / output

(page

59 )

Check the installation.

Start the drive.

Installation checklist

(page

91 )

Start-up

(page

93 )

Introduction to the manual 25

Terms and abbreviations

The following units and abbreviations might appear in this manual.



General terms

Term/Abbreviation Explanation

EMC

IGBT

Electromagnetic Compatibility.

Insulated Gate Bipolar Transistor; a voltage-controlled semiconductor type widely used in inverters due to their easy controllability and high switching frequency.

I/O

MU-xx

RFI

RGJxxx

Input/Output.

The memory unit attached to the control unit of the drive.

Radio-frequency interference.

Series of optional braking resistors for the MicroFlex e190.

See also page

207 for safety related abbreviations.



Trademarks

EtherCAT

®

is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.



PROFINET

®

is defined by Profibus & Profinet International, an umbrella organization headquartered in Karlsruhe, Germany.

Ethernet/IP™ is managed by ODVA, Inc., a global trade and standards development organization.

Windows 7, Windows 8 and Windows 10 are registered trademarks of the Microsoft

Corporation.

Mint™ and MicroFlex

®

are registered trademarks of Baldor, a member of the ABB group.

26 Introduction to the manual

Operation principle and hardware description 27

Operation principle and hardware description

3

What this chapter contains

The chapter briefly describes the operation principle, layout, type designation label and type designation information. It also shows a general diagram of power connections and control interfaces.

Product overview

The MicroFlex e190 is an IP20 drive for controlling AC motors. It is to be installed into a cabinet by the customer. The MicroFlex e190 is available with several output power ratings.

28 Operation principle and hardware description



Layout - front

AC supply connection

(page 51

)

DC supply connection

(page 54

)

Brake resistor connection (page

171

)

Motor output

(page 51

)

Earth bar

Fieldbus status LEDs (page

111 )

7-segment display (page

114

)

Fieldbus mode selectors (page 75 )

Start-up function selectors (page 72 )

PC host Ethernet connection (page

75 )

Option card (page 182 )

Digital inputs / outputs (pages

64 -

71 )

Analog inputs / output (page

61-63 )

Safe Torque Off inputs (page 187 )

Motor feedback input (page

76

)

Encoder breakout (page 180 )

Resolver adapter (page 181 )



Layout - top

Operation principle and hardware description 29

Memory unit (page 32 )

Ethernet fieldbus ports (page

74 )

PE connection

(page 53 )



Layout - bottom

Optional 24 V control circuit supply input

(page

56 )

Incremental encoder feedback input

(page

83

)

X8 voltage output selector (page

78 )

30 Operation principle and hardware description



Main circuit

The diagram below shows the main circuit of the drive. For further information on the

power unit, see the chapter Electrical installation: AC input / DC input, motor and brake

.

1

AC supply

1-phase or 3-phase supply

Mains choke (optional)

R+/UDC+ UDCL1 L2 L3

2

+

~

=

–

MicroFlex e190

Mains filter

Inverter

3

4

=

~

U V W

Motor output

R-

5

R+/UDC+

RGJxxx braking resistor

(optional)

1. AC supply. 1-phase 200...240 V or 3-phase 200...240 V phase-to-phase (±10%).

2. Rectifier. Converts alternating current and voltage to direct current and voltage.

3. DC link. DC circuit between rectifier and inverter.

4. Inverter. Converts direct current and voltage to alternating current and voltage.

5. Brake chopper. Conducts the surplus energy from the intermediate DC circuit of the drive to the brake resistor when necessary. The chopper operates when the

DC link voltage exceeds a certain maximum limit. The voltage rise is typically caused by deceleration (braking) of a high inertia motor. The user must obtain and install a brake resistor when needed.

Operation principle and hardware description 31

Type designation label

Before attempting installation and operation, check the information on the type designation label to verify that the unit is of the correct type. The label is located on the right-hand side of the drive.

Type code (see description below)

0)(83$1 Material code

$VVHPEOHGLQ&KLQD

ABB Oy

Hiomotie 13

00380 Helsinki

Finland

)UDPH

$

,QSXW 8 a9$&

, $

I +]

2XWSXW 8 a8

,

I

$

+]

IP20

UL open type 61

*3AXD50000038570*

C

UL

LISTED

IND. CONT. EQ.

E470302

US

Compliance markings

I1 = Input current

I2 = Output current

Serial number

The first digit of the serial number refers to the manufacturing plant. The 2nd and 3rd digits indicate the year of manufacture, while the 4th and 5th digits indicate the week.

Digits 6 to 10 are a running integer starting every week at 00001.



Type designation key

The type code contains information on the specifications and configuration of the drive. The type code is explained in the following table. Not all selections are necessarily available for all types; refer to MicroFlex e190 Ordering Information , available on request.

MFE190

-04

U

P

-0 A

-2

+N8020

MFE190-04UP-03A0-2+N8020

MicroFlex e190 

Drive module 

Universal encoder 

Programming: P = programmable, N = not programmable 

Size: 01A6 = 1.6 A, 03A0 = 3 A, 06A0 = 6 A, 09A0 = 9 A. See page

148

.



Input voltage: 2 = 200...

240 V AC ±10%

Memory unit: MFE190-MU-OCU+N8020

32 Operation principle and hardware description



Memory unit - MU

The memory unit defines the identity and features of the drive, and holds the drive’s firmware and saved parameters. The memory unit holds the Mint program on models with programming capability.

The memory unit is an essential part of the drive and must always be fitted. It is not designed for frequent removal and insertion.

All power to the drive must be turned off before removing or inserting the memory unit.

The memory unit can be inserted into an identical replacement drive. If the replacement drive does not have an identical specification, it must be re-tuned before using the memory unit to the drive. Retuning the drive using Mint WorkBench allows the correct tuning parameters to be saved in the memory unit.

The memory unit can be used only with MicroFlex e190 drives. It is not compatible with any other product that uses a similar unit, e.g. ZMU-02. The MicroFlex e190 memory unit can be identified by the part MFE190-MU-OCU+N8020 on the label and provide motion programming capability.





The older drive is not provided with the MFE190-MU-OCU+N8020 (order code:

3AXD50000048603) memory unit. Contact your local supplier for details.

Mechanical installation 33

Mechanical installation

4

What this chapter contains

The chapter describes the mechanical installation of the drive.

34 Mechanical installation

Contents of the package

The box contains:

• MicroFlex e190 drive

• Connector pack containing terminal blocks for the drive.

• Memory unit

• Quick Installation Guide.

Quick Installation Guide

Connector pack

MicroFlex e190

Mechanical installation 35

Main dimensions

MicroFlex e190 drives can be installed side by side. The main dimensions of the drive and free space requirements are shown below.

Ø 5

(

0.20

)

Ø 12

(

0.47

)

Unit:mm(inches)

73.45

(

2.89

)

72

(

2.83

)

200*

(

7.87

)

155

(

6.10

)

* Approximate dimensions. Allow extra space for feedback and other control cables.

7

(

0.28

)

5

(

0.2

)

Weights:

1.6 A: 1.65 kg (3.64 lb)

3 A: 1.70 kg (3.75 lb)

6 A: 1.75 kg (3.86 lb)

9 A: 1.75 kg (3.86 lb)

36 Mechanical installation

Cabinet construction

The cabinet frame must be sturdy enough to carry the weight of the drive components, control circuitry and other equipment installed in it.

The cabinet must protect the drive against contact and meet the requirements for

dust and humidity (see the chapter Technical data ).



Cooling and degrees of protection

The cabinet must have enough free space for the components to ensure sufficient cooling. Observe the minimum clearances given for each component.

90 mm [3.54”]

90 mm [3.54”]

0 mm [0”]

The air inlets and outlets must be equipped with gratings that

• guide the air flow

• protect against contact

• prevent water splashes from entering the cabinet.

The temperature of the cooling air entering the unit must not exceed the maximum

allowed ambient temperature (see Ambient conditions in the chapter

Technical data

).

Mechanical installation 37

Consider this when installing heat-generating components (such as other drives and braking resistors) nearby.

The drawing below shows two typical cabinet cooling solutions. The air inlet is at the bottom of the cabinet, while the outlet is at the top.

Air outlet

Air outlet

Air inlet

Arrange the cooling of the drives so that the requirements given in chapter Technical data are met:

• Cooling air flow. Note that the values in

Technical data

apply to continuous nominal load. If the load is less than nominal, less cooling air is required.

• Allowed ambient temperature.

Make sure the air inlets and outlets are sufficient in size. Note that in addition to the power loss of the drive, the heat dissipated by cables and other additional equipment must also be ventilated.

The internal cooling fans of the drives are usually sufficient to keep the component temperatures low enough in IP22 cabinets.

In IP54 cabinets, thick filter mats are used to prevent water splashes from entering the cabinet. This entails the installation of additional cooling equipment, such as a hot air exhaust fan.

The installation site must be sufficiently ventilated.

38 Mechanical installation



Disposition of the devices

For easy installation and maintenance, a spacious layout is recommended. Sufficient cooling air flow, obligatory clearances, cables and cable support structures all require space.

For layout examples, see section

Cooling and degrees of protection .



Preventing the recirculation of hot air

COOL AREA

Air baffle plates

Airflow in

Outside the cabinet

Prevent hot air circulation outside the cabinet by leading the outgoing hot air away from the area where the inlet air to the cabinet is taken. Possible solutions are listed below:

• gratings that guide air flow at the air inlet and outlet

• air inlet and outlet at different sides of the cabinet

• cool air inlet in the lower part of the front door and an extra exhaust fan on the roof of the cabinet.

Inside the cabinet

Prevent hot air circulation inside the cabinet with leak-proof air baffle plates. No gaskets are usually required.

Mechanical installation 39



Grounding of mounting structures

Make sure all cross-members or shelves on which drive system components are mounted are properly grounded and the connecting surfaces left unpainted.

Notes: 

Ensure that the components are properly grounded through their fastening points to the installation base. It is recommended that the mains filter (if present) and the drive be mounted on the same mounting plate.



Cabinet heaters

Use a cabinet heater if there is a risk of condensation in the cabinet. Although the primary function of the heater is to keep the air dry, it may also be required for heating at low temperatures. When placing the heater, follow the instructions provided by its manufacturer.

Installation procedure



Requirements for the installation site

The drive must be installed in an upright position with the mounting plate against a wall. MicroFlex e190 drives can be installed tightly side by side. Make sure that the installation site complies with these requirements:

• The installation site has sufficient ventilation to prevent overheating of the drive.

• The operation conditions of the drive agree with the specifications in

Ambient conditions (page 157 ).

• The wall is vertical, not flammable and strong enough to hold the weight of the

drive. See Dimensions and weights (page 157 ).

• The material below the installation is not flammable.

• There is enough free space above and below the drive for cooling air flow, service and maintenance. There is enough free space in front of the drive for operation, service and maintenance.



Required tools

• Slot screwdrivers for the screw type connectors.

• A drill and screws or bolts for mounting the MicroFlex e190.

• Wire stripper.

• For UL installations, use UL listed closed loop connectors that are of appropriate size for the wire gauge being used.

Connectors are to be installed using only the crimp tool specified by the manufacturer of the connector.

40 Mechanical installation



Direct wall mounting

1. Mark the locations for the two holes. The mounting points are shown in Main dimensions on page 35

.

2. Fix the screws or bolts to the marked locations.

3. Position the drive onto the screws on the wall. Note: Only lift the drive by its chassis.

4. Tighten the screws.



Mains filter installation

See the chapter

Mains filters on page 165

.



Braking resistor installation

See the chapter

Resistor braking on page 171 .

Planning the electrical installation 41

Planning the electrical installation

5

What this chapter contains

This chapter contains the instructions that you must follow when selecting the motor, cables, protections, cable routing and way of operation for the drive. If the recommendations given by ABB are not followed, the drive may experience problems that the warranty does not cover.

Note: The installation must always be designed and made according to applicable local laws and regulations. ABB does not assume any liability whatsoever for any installation which breaches the local laws and/or other regulations.

Motor selection

Select the (3-phase AC induction) motor according to the rating table in the chapter

Technical data . The table lists the typical motor power for each drive type.

Only one permanent magnet synchronous motor can be connected to the inverter output. It is recommended to install a safety switch between the permanent magnet motor and the drive output in order to isolate the motor from the drive during maintenance work on the drive.

Supply connection

Use a fixed connection to the AC power line or DC supply. Alternatively, the drive can be powered from a suitable fixed DC supply.

WARNING!

As the leakage current of the device typically exceeds 3.5 mA, a fixed installation is required according to EN 61800-5-1.

42 Planning the electrical installation

Supply disconnecting device

Install a hand-operated input disconnecting device (disconnecting means) between the AC power source and the drive. The disconnecting device must be of a type that can be locked to the open position for installation and maintenance work.

Europe: 

If the drive is used in an application which must meet the European Union Machinery

Directive according to standard EN 60204-1 Safety of Machinery, the disconnecting device must be one of the following types:

• a switch-disconnector of utilization category AC-23B (EN 60947-3)

• a disconnector that has an auxiliary contact that in all cases causes switching devices to break the load circuit before the opening of the main contacts of the disconnector (EN 60947-3).

Other regions ：

The disconnecting means must conform to the applicable safety regulations.

Thermal overload and short circuit protection



Thermal overload protection

The drive protects itself and the input and motor cables against thermal overload when the cables are dimensioned according to the nominal current of the drive. No additional thermal protection devices are needed.



Protection against short-circuit in motor cable

The drive protects the motor cable and the motor in a short-circuit situation when the motor cable is dimensioned according to the nominal current of the drive. No additional protection devices are needed.



Protection against short-circuit in the supply cable or the drive

Protect the supply cable with fuses. Fuse recommendations are given in the chapter

Technical data

. When placed at the distribution board, standard IEC gG fuses or UL type CC fuses will protect the input cable in short-circuit situations, restrict drive damage and prevent damage to adjoining equipment in case of a short circuit inside the drive.

Operating time of the fuses

Check that the operating time of the fuse is below 0.5 seconds. The operating time depends on the type, the supply network impedance, and the cross-sectional area, material and length of the supply cable. US fuses must be of the CC “fast acting” type. Circuit breakers cannot be used with the MicroFlex e190 for UL compliant applications. Fuses must be used.

Planning the electrical installation 43



Motor thermal protection

According to regulations, the motor must be protected against thermal overload and the current must be switched off when overloading is detected.

The drive can be configured to include a motor temperature input that protects the motor and switches off the current when necessary. For more information about motor thermal protection see

Thermal switch connection

on page

58 , and the Mint

keyword MOTORTEMPERATUREINPUT in the Mint WorkBench help file.

Ground fault protection

The drive is equipped with an internal ground fault protective function to protect the unit against ground faults in the motor and the motor cable. This is not a personal safety or a fire protection feature.

The optional mains filter includes capacitors connected between the main circuit and the frame. These capacitors and long motor cables increase the ground leakage current and may cause fault current circuit breakers to function.

Emergency stop devices

For safety reasons, install the emergency stop devices at each operator control station and at other operating stations where emergency stop may be needed.

Note: Stopping motion and/or disabling the drive in software does not separate the drive from dangerous potential.

Residual current device (RCD) compatibility

MicroFlex e190 drives are suitable to be used with residual current devices of Type B.

Other measures for protection in case of direct or indirect contact, such as separation from the environment by double or reinforced insulation or isolation from the supply system by a transformer, can also be applied.

44 Planning the electrical installation

Safe Torque Off

The drive supports the Safe Torque Off function according to standards

EN 61800-5-2; IEC 61800-5-2; EN 60204-1; EN 61508.

The Safe Torque Off function disables the control voltage of the power semiconductors of the drive output stage, thus preventing the inverter from generating the voltage required to rotate the motor (see diagram below). By using this function, short-time operations (like cleaning) and/or maintenance work on nonelectrical parts of the machinery can be performed without switching off the power supply to the drive.

MicroFlex e190

X4:4

+24 V Activation switch

Safe Torque Off connection

X4:1

X4:2

UDC+

Control circuit

Output stage

(1 phase shown)

U/V/W

UDC-

Notes:

• The STO function is activated when one or both of the safety circuit contacts open. If the period between both contacts opening or closing exceeds a predefined value, a fault in the safety circuit or wiring is assumed and an error is reported. See

Appendix: Safe Torque Off (STO) on page 187 .

• The maximum cable length between the drive and the activation switch is 30 m (98 ft)

WARNING!

The Safe Torque Off function does not disconnect the voltage of the main and auxiliary circuits from the drive. Therefore maintenance work on electrical parts of the drive or the motor can only be carried out after isolating the drive system from the main supply.

Note: It is not recommended to stop the drive by using the Safe Torque Off function. If a running drive is stopped by using the Safe Torque Off function, the drive will stop by coasting. If this is not acceptable (e.g. causes danger), the drive and machinery must be stopped using the appropriate stopping mode before using this function.

For further information on the function, see

Appendix: Safe Torque Off (STO)

on page

187

.

Planning the electrical installation 45

Selecting the power cables



General rules

Dimension the supply (input power) and motor cables according to local regulations .

• The cable must be able to carry the drive load current. See the chapter

Technical data

for the rated currents.

• The cable must be rated for at least 70

°

C maximum permissible temperature of conductor in continuous use. For UL installations use 75 °C copper wiring only.

• The conductivity of the PE conductor must be equal to that of a phase conductor

(i.e. same cross-sectional area).

• 600 VAC cable is accepted for up to 500 VAC.

• Refer to the chapter

Technical data

for EMC requirements.

Symmetrical shielded motor cable must be used (see the figure below) to meet the

EMC requirements of the CE mark.

A four-conductor system is allowed for input cabling, but shielded symmetrical cable is recommended. Compared to a four-conductor system, the use of symmetrical shielded cable reduces electromagnetic emission of the whole drive system as well as motor bearing currents and wear.

The motor cable and its PE pigtail (twisted shield) must be kept as short as possible in order to reduce electromagnetic emission.



Alternative power cable types

Power cable types that can be used with the drive are represented below.

Motor cable

(also recommended for supply cabling)

Symmetrical shielded cable: three phase conductors and a concentric or otherwise symmetrically constructed PE conductor, and a shield

PE conductor  and shield

Shield

Note: A separate PE conductor is required if the conductivity of the cable shield is not sufficient for the purpose.

Shield

PE

PE

Shield

Allowed for supply cabling

A four-conductor system: three phase conductors and a protective conductor.

PE PE

46 Planning the electrical installation



Motor cable shield

To function as a protective conductor, the shield must have the same cross-sectional area as a phase conductor when they are made of the same metal. To effectively suppress radiated and conducted radio-frequency emissions, the shield conductivity must be at least 1/10 of the phase conductor conductivity. The requirements are easily met with a copper or aluminum shield. The minimum requirement of the motor cable shield of the drive is shown below. It consists of a concentric layer of copper wires with an open helix of copper tape. The better and tighter the shield, the lower the emission level and the bearing currents.

Insulation jacket Copper wire screen Helix of copper tape Inner insulation

Cable core

Selecting the control cables

It is recommended that all control cables be shielded.

Double-shielded twisted pair cable is recommended for analog signals. For pulse encoder cabling, follow the instructions given by the encoder manufacturer. Use one individually-shielded pair for each signal. Do not use a common return for different analog signals.

Double-shielded cable (Figure a) is the best alternative for low-voltage digital signals but single-shielded twisted multi-pair cable (Figure b) is also usable.

a b

Run analog and digital signals in separate cables.

Never mix 24 VDC and 240 VAC signals in the same cable.



Connection of a motor temperature sensor to the drive

See page 58

.

Planning the electrical installation 47

Routing the cables

Route the motor cable away from other cable routes. Motor cables of several drives can be run in parallel installed next to each other. It is recommended that the motor cable, input power cable and control cables be installed on separate trays. Avoid long parallel runs of motor cables with other cables in order to decrease electromagnetic interference caused by the rapid changes in the drive output voltage.

Where control cables must cross power cables make sure they are arranged at an angle as near to 90 degrees as possible. Do not run extra cables through the drive.

The cable trays must have good electrical bonding to each other and to the grounding electrodes. Aluminum tray systems can be used to improve local equalizing of potential.

A diagram of the cable routing is below.

Supply cable min 200 mm (8”)

90°

Supply cable

Motor cable min 300 mm (12”)

Drive

Control cables min 500 mm (20”)

Braking resistor cable

Motor cable min 500 mm (20”)



Control cable ducts

24 V 240 V

90°

90°

24 V 240 V

Not allowed unless the 24 V cable is insulated for 240 V or insulated with an insulation sleeving for 240 V.

Lead 24 V and 240 V control cables in separate ducts inside the cabinet.

48 Planning the electrical installation



Typical installation example

CAUTION

DO NOT TOUCH!

Brake resistors can become extremely hot! Locate away from vulnerable components and wiring.

Protective

Earth

(PE)

Footprint filter OFI-01 saves panel space.

The filter can be inverted if the AC input is above the drive.

Drive earth wire must be at least

10 mm 2 (7 AWG)

Connect AC power cable shield to metal panel, using conductive shield earth/ground clamps.

On painted panels, remove paint to expose bare metal.

AC power wires should be as short as possible, typically less than 0.3 m (1 ft).

Longer wires must be shielded as shown.

Wire colors may vary according to region.

AC power from fuses or reactor

Installation cabinet

‘star point’

Electrical installation: AC input / DC input, motor and brake 49

6

Electrical installation:

AC input / DC input, motor and brake

What this chapter contains

The chapter describes how to connect input power cables, motor and brake resistor.

WARNING!

The work described in this chapter may only be carried out by a

 qualified electrician. Follow the instructions in chapter

Safety on page 13

.

Ignoring the safety instructions can cause injury or death.



Make sure that the drive is disconnected from the input power during installation. If the drive is already connected to the input power, wait for 5 minutes after disconnecting the input power.

50 Electrical installation: AC input / DC input, motor and brake

Checking the insulation of the assembly



Drive

Do not make any voltage tolerance or insulation resistance tests (e.g. hi-pot or megger) on any part of the drive as testing can damage the drive. Every drive has been tested for insulation between the main circuit and the chassis at the factory.

Also, there are voltage-limiting circuits inside the drive which cut down the testing voltage automatically.



Supply cable

Check the insulation of the supply (input) cable according to local regulations before connecting to the drive.



Motor and motor cable

Check the insulation of the motor and motor cable as follows:

• Check that the motor cable is connected to the motor, and disconnected from the drive output terminals U, V and W.

• Measure the insulation resistance between each phase and the motor PE conductor by using a measuring voltage of 1 kV DC. The insulation resistance must be higher than 1 Mohm.

ohm

U

V

W

M

3~

PE



Braking resistor assembly

Check the insulation of the braking resistor assembly (if present) as follows:

1. Check that the resistor cable is connected to the resistor, and disconnected from the drive output terminals R- and R+.

2. At the drive end, connect the R- and R+ conductors of the resistor cable together.

Measure the insulation resistance between the combined conductors and the PE conductor by using a measuring voltage of 1 kV DC. The insulation resistance must be higher than 1 Mohm.

Rohm

R+

PE

Electrical installation: AC input / DC input, motor and brake 51

Power cable connection



AC power cable connection diagram

L1/L L2/N L3 PE

For alternatives, see

Planning the electrical installation

: Supply disconnecting device

(page

42 ).

Mains filter (optional). See the chapter

Mains filters (page 165 ).

The UDC+/UDC- connectors can be used for common DC configurations.

See page

54

.

MicroFlex e190

(1)

L1/L L2/N L3

(3)

PE

UDCUDC+

RR+ PE PE U V W

V

Optional braking resistor (see the chapter

Resistor braking

on page 42

)

(2)

U

PE

W

Notes:

– If shielded supply (input) cable is used, and the conductivity of the shield is less than 50% of the conductivity of a phase conductor, use a cable with a ground conductor or a separate PE cable (1).

– For motor cabling, use a separate ground cable (2) if the conductivity of the cable shield is less than 50% of the conductivity of a phase conductor and the cable has no symmetrical ground conductors. See also section

Selecting the power cables on page 45

.

– AC supply (3), 1-phase 200...240 V (±10%) or 3-phase 200...240 V phase-to-phase (±10%).

L1 and L2 are used for single phase supply.

52 Electrical installation: AC input / DC input, motor and brake



Procedure

Cabling drawings with tightening torques are presented on page

53 .



1. Strip the power cables so that the shields are bare at the cable clamps.

2. Twist the ends of the cable shield wires into pigtails.

3. Strip the ends of the phase conductors.

4. Connect the phase conductors of the supply cable to the L1 and L2 terminals of the drive (or L1, L2 and L3 for three phase supply).



Connect the phase conductors of the motor cable to the U, V and W terminals.



Connect the conductors of the resistor cable (if present) to the R- and R+ terminals.

5. Tighten the cable clamps onto the bare cable shields.

6. Crimp a cable lug onto each shield pigtail. Fasten the lugs to ground terminals.



Note: Try to work out a compromise between the length of the pigtail and the length of unshielded phase conductors as both should ideally be as short as possible.

7. Cover visible bare shield and pigtail with insulating tape.

8. Secure the cables outside the unit mechanically.

9. Ground the other end of the supply cable shield or PE conductor(s) at the distribution board. In case a mains choke and/or a mains filter is installed, make sure the PE conductor is continuous from the distribution board to the drive.

Grounding the motor cable shield at the motor end

For minimum radio frequency interference, ground the cable shield 360 degrees at the lead-through of the motor terminal box or ground the cable by twisting the shield so that the flattened shield is wider than 1/5 of its length.

360 degrees grounding

Conductive gaskets a b > 1/5 · a b

Electrical installation: AC input / DC input, motor and brake 53

AC power cable connection

Supply cable

Cable clamp on bare shield

Cover bare shield with insulating tape

0.5...0.6 N·m (4.4...5.3 lbf·in)

M4, 10 mm max.

1.0...1.3 N·m (8.9...11.5 lbf·in)

0.5...0.6 N·m (4.4...5.3 lbf·in)

Motor earth wire

M4, 10 mm max.

1.0...1.3 N·m (8.9...11.5 lbf·in)

Cable clamp on bare shield

Motor cable

54 Electrical installation: AC input / DC input, motor and brake



DC power cable connection diagram (optional)

The UDC+ and UDC- terminals are intended for common DC configurations of a number of MicroFlex e190 drives.

AC supply (DC sharing)

DC sharing allows regenerative energy from one drive to be utilized by other drives that are in motoring mode. Each drive is connected to the AC supply* and has its own brake resistor. The MicroFlex e190 drives’ DC connections are linked as shown in the diagram below.

AC supply

Fuses

UDC+

UDC-

~

~

UDC+

UDC-

~

~

UDC+

UDC-

~

~

M

3~

M

3~

M

3~

* The MicroFlex e190 DC connection is not designed to provide the primary power source to other drives.

DC supply

MicroFlex e190 can use a DC supply as the primary power source (see page 154 ).

Each drive is powered from the DC supply and has its own brake resistor. There is no

AC supply.

DC supply

Fuses

UDC+

UDC-

~

~

UDC+

UDC-

~

~

UDC+

UDC-

~

~

M

3~

M

3~

M

3~

Electrical installation: AC input / DC input, motor and brake 55

Each drive has an independent DC capacitor pre-charging circuit.

UDC+ UDCL1 L2 L3

+

~

=

–

Pre-charging circuit

=

~

U V W

The ratings of the DC connection are given on page 154

.

56 Electrical installation: AC input / DC input, motor and brake

24 V control circuit supply (optional)

A 24 V DC supply can be provided to power the controlling electronics. This is useful for safety reasons where the main AC (or DC) power supply is removed from the power stage, but the controlling electronics must remain powered to retain position,

I/O information and communications.

A separate fused 24 V supply should be provided for the MicroFlex e190.

Customer supplied

24 V DC

+24 V

GND

Fuse *

Use a twisted pair cable.

* Recommended fuse: Bussman S504 20 x 5 mm anti-surge 2 A.

X2

Electrical installation: AC input / DC input, motor and brake 57

Motor brake connection

A rotary motor might require a brake. The brake prevents the uncontrolled release of suspended or tensioned loads when power to the motor is removed or disconnected, e.g. by a motor circuit contactor. Contact your local supplier for details of appropriate brakes.

You can wire a motor's brake, via relays, to a digital output on connector X3; see

Connecting the control cables on page 60

. This provides a way for the

MicroFlex e190 to control the motor's brake. A typical circuit is shown in the following diagram:

X3

User supply

V+

User supply

GND from motor brake connections

Relay

DO2+ 12

DO22

The relay has normally open contacts and is shown deactivated

(contacts open, brake engaged).

+24 V 0 V

Separate customer supplied

24 V DC supply

The inner shield surrounding the brake wires should be earthed/grounded at one point only.

This circuit uses DO2 as a motor brake output. The output is configured using Mint keyword MOTORBRAKEOUTPUT ; see the Mint help file for details. With this configuration, the following sequences can be used to control the brake.

To engage the brake:

• The motor is brought to rest under normal control;

• The relay is deactivated, causing the brake to engage;

• The drive is disabled, removing power from the motor.

To disengage the brake:

• The drive is enabled;

• The drive applies power to the motor to hold position under normal control;

• The relay is activated, causing the brake to be disengaged.

It is sometimes necessary to include a small delay after the relay has been activated, before starting motion. This delay allows time for the relay contacts to engage and the brake to release. See the Mint keyword MOTORBRAKEDELAY .

WARNING! The 24 V DC power supply used to power the brake must be a separate supply as shown in the diagram. Do not use the supply that is powering the MicroFlex e190 digital outputs. The brake wires often carry noise that could cause erratic drive operation or damage. The brake contacts must never be wired directly to the digital outputs. The relay should be fitted with a protective flyback diode, as shown. The separate 24 V DC supply used for the motor brake can also be used to power the relay in the thermal switch circuit (see below).

58 Electrical installation: AC input / DC input, motor and brake



Thermal switch connection

You can use the motor's thermal switch contacts (normally closed), to control a relay connected to a digital input on connector X3. This allows the MicroFlex e190 to respond to motor over-temperature conditions. Using the Mint WorkBench Digital I/O tool, the input can be configured to be the motor temperature input. The Mint keyword

MOTORTEMPERATUREINPUT can also be used to configure a digital input for this purpose. A typical circuit, using DI2 as the input, is shown in the following diagram:

The relay has normally open contacts and is shown deactivated

(contacts open, motor overheated).

X3

DI2+

14 motor  thermal  switch

DI2-

4

+24 V 0 V

Separate customer supplied

24 V DC supply

+24 V 0 V

Customer supplied

24 V DC supply

WARNING! The 24 V DC power supply connected to the thermal switch must be a separate supply as shown in the diagram. The thermal switch wires often carry noise that could cause erratic drive operation or damage. The thermal switch contacts must never be wired directly to a digital input. The separate 24 V DC supply used for the thermal switch can also be used for the motor brake circuit.

Electrical installation: input / output 59

Electrical installation: input / output

7

What this chapter contains

The chapter describes how to connect low voltage control signals.

I/O

AI

AO

DI

DO

STO

The following conventions will be used to refer to the inputs and outputs:

Input / Output 

Analog Input 

Analog Output 

Digital Input 

Digital Output 

Safe Torque Off

WARNING!

The work described in this chapter may only be carried out by a

 qualified electrician. Follow the instructions in chapter

Safety on page 13

.

Ignoring the safety instructions can cause injury or death.



Make sure that the drive is disconnected from the input power during installation. If the drive is already connected to the input power, wait for 5 minutes after disconnecting the input power.

60 Electrical installation: input / output

Connecting the control cables

E2

E1

Ethernet fieldbus

AC input

200...240 V AC ±10%

DC bus-

Brake-

DC bus+ / Brake+

Motor output

Ethernet host (PC)

IN

OUT

L1

L2

L3

UDC-

R-

R+/UDC+

U

V

W

E1/E2

E2

E1

X1A

1

6

X1B

1

2

2

3

4

5

3

E3

1

M

X1A

X1B

X2

E3

X3

X4

X8

6

7

4

5

8

2

3

X3

1 Status-/DO0-

DO2-

DO1-

DI2-

DI3-

DI1-

DI0-

AGND

Status-/DO0+

DO2+

DO1+

DI2+

DI3+

DI1+

DI0+

AO0

16

17

14

15

18

12

13

X3

11

X7

Feedback voltage selector

Wire sizes and tightening torques:

X1A: Dinkle EC762V-B3253206P-BK 

X1B: Dinkle EC762V-B3253203P-BK 

0.2...6.0 mm

2

(30*...10 AWG) 

* Minimum size for UL installations is 14 AWG.



Torque: 0.7 N·m (6.2 lbf·in) 

X2: Phoenix Contact MVSTBR 2,5HC/ 2-ST-5,08 

0.2...2.5 mm

2

(24...12 AWG) 

Torque: 0.6 N·m (5.3 lbf·in) 

X3, X4: Weidmüller B2L 3.50/20/180, 

Weidmüller B2L 3.50/8/180 

0.2...1.0 mm

2

(28...16 AWG)

Notes:

The wiring shown is for demonstrative purposes only. Complete information for all connectors, including X7 and X8, is provided in this chapter and the chapter

Technical data.

9

10

AI0-

Shield

DO0-DO2: Maximum 100 mA per output, R

STO1

STO2

AI0+

Shield

STO1

STO2 load

19

20

> 250 ohm.



AI0: Differential and single-ended connections are possible.

X4

1

2

X4

5

6

3 SGND SGND 7

4 24 V out 24 V out 8

Safe Torque Off: Both circuits must be closed for the drive to start.

(Optional) Control circuit supply input: 24 V, 1 A

0 V

+24 V IN

X2

1

2

Electrical installation: input / output 61

Analog I/O

The MicroFlex e190 provides:

• One 12-bit resolution ±10 V analog input.

• One 12-bit resolution ±10 V analog output.

An analog input receives the torque / velocity reference signal when operating as an analog drive (see CONTROLREFSOURCE in the Mint help file) or it can be used as a general purpose ADC input.

A additional analog input can be provided by the option card (see page

182

).



X3: Analog input AI0

The analog input passes through a differential buffer and second order low-pass filter with a cut-off frequency of approximately 1.2 kHz.

The analog input can be connected as either a differential or a single ended input as shown below. The analog input is not optically isolated from internal power rails, so care must be taken to avoid earth/ground loops and similar associated problems. To minimize the effects of noise, the analog input signal should be connected to the system using an individually shielded twisted pair cable with an overall shield. The overall shield should be connected to the chassis at one end only. No other connection should be made to the shield.





When the MicroFlex e190 is connected to Mint WorkBench, the analog input value

(expressed as a percentage) can be viewed using the Spy window’s Monitor tab.

Alternatively, the command Print ADC(0) can be used in the command window to return the value of the analog input. See the Mint help file for full details of ADC ,

ADCMODE and other related ADC ... keywords.

Differential inputs: connect input to AIN+ and AIN-. Leave AGND unconnected:

AIN0+

AIN09

8

X3

19

AI0

(

ADC.0

)

AIN0+

GND

9

8

X3

19

AI0

(

ADC.0

)

Differential connection Single ended connection

62 Electrical installation: input / output

Typical input circuit to provide 0-10 V (approx.) input from a 24 V source:

+24 V DC

Nȍ:

Nȍ: potentiometer

X3

19

0 V 9

8

AI0

(

ADC.0

)

Analog input - typical connections from a PLC/controller:

PLC/controller

X3

AI0+

AI0-

19

9

MicroFlex e190

+15V

-15V

Shield

Connect overall shield at one end only

Analog input - typical connections from an ABB AO561:

AO561

13

17

O0U+

O01-

X3

AI0+

AI0-

19

9

MicroFlex e190

+15V

-15V

18

SG

Connect overall shield at one end only

Mint

ADC.0

Mint

ADC.0

Electrical installation: input / output 63



X3: Analog output AO0

The analog output can be used to drive loads of 1 k Ω or greater. Shielded twisted pair cable should be used. The shield connection should be made at one end only. In

Mint, the analog output can be controlled using the DAC keyword. See the Mint help file for full details of DAC and other related DAC ... keywords.

Analog output - typical connections to a PLC/controller:

MicroFlex e190 PLC/controller

X3

18

8

AO0

GND

AI+

AI-

10

Shield

Connect overall shield at one end only

Analog output - typical connections to an ABB AI523:

MicroFlex e190 AI523

X3

18

8

AO0

GND

10

Shield

Connect overall shield at one end only

I0+

2.0

I0-

1.0

64 Electrical installation: input / output

Digital I/O

The MicroFlex e190 provides:

• 4 general purpose digital inputs.

• 2 dedicated Safe Torque Off (STO) inputs.

• 3 general purpose digital outputs.

6 additional general purpose digital inputs and 4 additional general purpose digital outputs can be provided by the option card (see page

182 ).



Using a digital input as a drive enable input (optional)

A general purpose digital input can be configured as a ‘drive enable input’. This input must be activated to allow the drive to operate. This provides an additional method for stopping the drive using a hardware switch or external PLC/controller (e.g. AC500) although it does not provide any of the formal safety features of the Safe Torque Off

inputs (see page 187 ). The optional drive enable input is configured using the Digital

I/O tool in Mint WorkBench.



Using a digital input as a home switch input (optional)

If homing is being handled locally by the MicroFlex e190, the axis home switch (if present) must be wired directly to the home input on the MicroFlex e190, otherwise it will not be able to complete its internal homing routines. The home switch input is configured using the Digital I/O tool in Mint WorkBench, or by using the Mint

HOMEINPUT keyword. Other HOME … keywords define the homing sequence.

If homing is being handled by an EtherCAT

®

master over Ethernet, and the master is profiling the motion, there are three options. The choice depends on the accuracy required for the homing and the EtherCAT cycle-time:

• The axis home switch is wired to an input on the MicroFlex e190, and then mapped back to the master over EtherCAT;

• The home switch is wired directly to the EtherCAT master;

• The home switch is wired to one of the fast inputs (DI1 / DI2), and the master (or the manager node) enables the drive’s touch probe function. See the Mint

WorkBench help file for details.



X4: Digital inputs - Safe Torque Off (STO) inputs

The two safe torque off (STO) inputs are identical. Each input directly enables part of the motor output control circuit. Both inputs must be powered to allow the

MicroFlex e190 to supply power to the motor. If an additional hardware drive enable input is used to control the MicroFlex e190, it must not be wired with the STO input circuit. The state of the STO inputs can be viewed using the Mint WorkBench Spy window's Axis tab or via the Mint SAFETORQUEOFF keyword. See the Mint help file for details.

See

Appendix: Safe Torque Off (STO)

on page

187

.

Electrical installation: input / output 65



X3: Digital inputs - general purpose DI1 & DI2

These general purpose fast digital inputs are buffered by an opto-isolator, allowing the input signal to be connected with either polarity. When the MicroFlex e190 is connected to Mint WorkBench, the digital inputs can be configured using the Digital

I/O tool. Alternatively, Mint keywords including RESETINPUT , ERRORINPUT ,

STOPINPUT , FORWARDLIMITINPUT , REVERSELIMITINPUT , DRIVEENABLEINPUT ,

MOTORTEMPERATUREINPUT , PHASESEARCHINPUT and HOMEINPUT can be used.

The state of the digital inputs can be viewed using the Mint WorkBench Spy window's

Axis tab. See the Mint help file for details.

Digital input - typical connections from a PLC/controller:

PLC/controller

User supply

24 V

MicroFlex e190

X3

DI1+

16

DI1-

6

Shield

10

TLP118

User supply

GND

Digital input - typical connections from an ABB DO561 PLC output module:

DO561

User supply

24 V MicroFlex e190

X3

19

UP

11

O0 DI1+

16

20

ZP DI1-

6

Shield

10

TLP118

User supply

GND

66 Electrical installation: input / output



Special functions on inputs DI1 & DI2

DI1 and DI2 can be configured to perform special functions. The ENCODERMODE keyword controls the configuration. When operating as an encoder input or step and direction inputs, DI1 and DI2 can be used for a dual-loop feedback system or connected to a master encoder for position following applications (see the FOLLOW ,

FLY and CAM keywords in the Mint help file).

Fast latch input

( ENCODERMODE bit 2 = 0) 

DI1 or DI2 can be configured using the LATCHTRIGGERCHANNEL keyword to become a fast latch input. This allows the position of the axis to be captured in real-time and read using the Mint keyword LATCHVALUE . The input can be configured using the

LATCHTRIGGEREDGE keyword to be triggered either on a rising or falling edge.

Further control of position capture is provided by various other keywords beginning with LATCH . See the Mint help file for details.

The maximum latency to read the fast position depends on the feedback device. For an incremental encoder, the latency is approximately 150 - 300 ns. For other feedback devices latency can be up to 62.5 μ s, resulting from the 16 kHz sampling frequency used for these types of feedback device. The fast interrupt is latched on a pulse width of about 30 μ s, although a width of 100 μ s is recommended to ensure capture. The captured value is latched in software to prevent subsequent inputs causing the captured value to be overwritten.

Note: The fast inputs are particularly sensitive to noise, so inputs must use shielded twisted pair cable. Do not connect mechanical switches, relay contacts or other sources liable to signal ‘bounce’ directly to the fast inputs. This could cause unwanted multiple triggering.

Encoder input

( ENCODERMODE bit 2 = 0) 

Whilst operating as general purpose digital inputs, DI1 and DI2 are simultaneously interpreted by the drive as an additional quadrature (CHA, CHB) incremental encoder input. DI1 is CHA and DI2 is CHB. In Mint, the input formed by digital inputs DI1 and

DI2 is encoder 1. The encoder value can be read using the ENCODER keyword.

Step (pulse) and direction inputs

( ENCODERMODE bit 2 = 1) 

If ENCODERMODE bit 2 is set, DI1 and DI2 are interpreted as step and direction inputs.

In Mint, the input formed by digital inputs DI1 and DI2 is channel (encoder) 1.

• DI1 is used as the step input. The step frequency controls the speed of the motor.

• DI2 is used as the direction input. The state of the direction input controls the direction of motion. The motor direction itself can be reversed if necessary via the

MOTORDIRECTION Mint keyword.

Electrical installation: input / output 67

The controller providing the step and direction signals may use current sourcing / open emitter outputs or it may use current sinking / open collector outputs.

In both cases it is still vital to ensure twisted pairs are used for these signals (twist the signal for DIN1+ with the signal for DIN1- and twist the signal for DIN2+ with the signal for DIN2-).

Step and direction inputs - typical connections from a PLC/controller using open emitter outputs:

PLC/Controller

Step

Output

Step

User supply

24 V

X3

Twisted pairs

DI1+

16

MicroFlex e190

Step

User supply

24 V

TLP118

Direction

Output

Dir

DI1-

6

Shield

10

User supply

GND

Twisted pairs DI2+

14

Direction

TLP118

DI2-

4

Shield

10

User supply

GND

68 Electrical installation: input / output

Step and direction inputs - typical connections from a PLC/controller using open collector outputs:

PLC/Controller

Step

Output

GND

11

User supply

24 V

Twisted pairs

X3

DI1+

16

MicroFlex e190

Step DI1-

6

Shield

10

User supply

24 V

Twisted pairs DI2+

14

Dir

Direction

Output

DI2-

4

Shield

10

GND

GND

User supply

GND

Step

TLP118

Direction

TLP118

Electrical installation: input / output 69



X3: Digital inputs - general purpose DI0 & DI3

These general purpose digital inputs are buffered by an opto-isolator, allowing the input signals to be connected with either polarity. When the MicroFlex e190 is connected to Mint WorkBench, the digital inputs can be configured using the Digital

I/O tool. Alternatively, Mint keywords including RESETINPUT , ERRORINPUT ,

STOPINPUT , FORWARDLIMITINPUT , REVERSELIMITINPUT , DRIVEENABLEINPUT ,

MOTORTEMPERATUREINPUT , PHASESEARCHINPUT and HOMEINPUT can be used.

The state of the digital inputs can be viewed using the Mint WorkBench Spy window's

Axis tab. See the Mint help file for details.

Digital input - typical connections from a PLC/controller:

PLC/controller

User supply

24 V

MicroFlex e190

X3

DI0+

17

DI0-

7

User supply

GND

Digital input - typical connections from an ABB DO561 PLC output module:

DO561

User supply

24 V

MicroFlex e190

X3

19

UP

11

O0 DI0+

17

DI0-

7

20

ZP

User supply

GND

70 Electrical installation: input / output

Digital input - typical current sourcing connections to a digital input:

User supply

24 V

X3

DI0+

17

DI0-

7

MicroFlex e190

User supply

GND

Electrical installation: input / output 71



X3: Digital outputs - general purpose DO0 - DO3

The general purpose digital outputs are optically isolated. They source current from the user supply as shown below. The maximum saturated voltage across the outputs when active is 1.0 V DC, so it can be used as a TTL compatible output.

The output includes a self-resetting fuse that operates at approximately 200 mA. The fuse can take up to 20 seconds to reset after the load has been removed. If the output is used to directly drive a relay or any other inductive load, a suitably rated diode must be fitted across the load, observing the correct polarity. This is to protect the output from the back-EMF generated by the load when it is de-energized.

When the MicroFlex e190 is connected to Mint WorkBench, the active level of the output can be configured using the Digital I/O tool. Alternatively, the Mint keyword

OUTPUTACTIVELEVEL can be used in the command window. Other Mint keywords such as COMPAREOUTPUT , GLOBALERROROUTPUT , DRIVEENABLEOUTPUT and

MOTORBRAKEOUTPUT can be used to configure the output. The state of the digital outputs can be viewed using the Mint WorkBench Spy window Axis tab.

Note: By default DO0 is configured as a global error output. Use the Digital I/O tool or the Mint command GLOBALERROROUTPUT = -1 to release the output for other purposes. See the Mint help file for details.

Digital output - typical connections to a PLC/controller:

MicroFlex e190

User supply

24 V PLC/controller: X3

13

DO1+

3

DO1-

User supply

GND

72 Electrical installation: input / output

Digital output - typical connections to an ABB DI561 PLC input module:

MicroFlex e190 X3

User supply

24 V DI561

13

DO1+

3

DO1I0

2

C0..7

1

User supply

GND

Other I/O



X2: External power supply for the control unit (optional)

An external +24 V, 1 A power supply for the control board can be connected to terminal block X2. Using an external supply is recommended if:

• the application requires fast start after connecting the drive to the main input supply.

• fieldbus communication is required when the main input supply is disconnected.



SW1 linear switches - startup functions

The linear switches are read once at startup.

1: Selects normal IP address configuration, or a fixed IP address. The fixed IP address (192.168.0.1) allows the drive to be accessed if the software assigned IP address is not known.

Software assigned IP address Fixed IP address 192.168.0.1

2

1

2

1

2: Selects normal operation or firmware recovery mode. Recovery mode allows new firmware and other configuration files to be downloaded. The fixed IP address

192.168.0.1 is enabled and the symbol is displayed. Mint WorkBench allows you to update firmware and view the file system.

Normal operation Recovery mode

2

1

2

1

Electrical installation: input / output 73



Control cable grounding

The shields of all control cables must be grounded at the earth bar. Use M4 screws to fasten cable clamps.

The shields should be continuous as close to the terminals as possible. Only remove the outer jacket of the cable at the cable clamp so that the clamp presses on the bare shield. At the terminal block, use shrink tubing or insulating tape to contain any stray strands. The shield (especially in case of multiple shields) can also be terminated with a lug and fastened with a screw at the earth bar. Leave the other end of the shield unconnected or ground it indirectly via a few nanofarads high-frequency capacitor (e.g. 3.3 nF / 630 V). The shield can also be grounded directly at both ends if they are in the same ground line with no significant voltage drop between the end points.

Keep any signal wire pairs twisted as close to the terminals as possible. Twisting the wire with its return wire reduces disturbances caused by inductive coupling.

Use shrink tubing or tape to contain strands

Remove outer jacket of cable at clamp to expose cable shield

Earth bar

M4, 10 mm, 1.0...1.3 N·m (8.9...11.5 lbf·in)

74 Electrical installation: input / output

Ethernet ports



E1 / E2: Real-time Ethernet port

Pin 1

Link

Activity

7

8

5

6

3

4

1

2

TX+

TX-

RX+

(NC)

(NC)

RX-

(NC)

(NC)

The E1 and E2 Ethernet ports on the top panel of the MicroFlex e190 are used for real-time Ethernet fieldbus connections such as EtherCAT® and Ethernet

POWERLINK®. For full details about the fieldbus connections, see the Mint

WorkBench help file.

In an EtherCAT network the E2 (IN) port must be connected to the master side of the network. The E1 (OUT) port, if used, must be connected to the IN port of the next slave device in the network. Set both front panel rotary HI / LO switches to 0 to select

EtherCAT slave mode.

In an Ethernet POWERLINK network the connectors are identical.

See

MicroFlex e190 indicators on page 111 for a description of the fieldbus status

indicators.

EtherCAT connections:

EtherCAT master

Electrical installation: input / output 75



E1 / E2: Ethernet port configuration

The rotary switches are read once at startup. The switches select the mode of operation for the E1 and E2 Ethernet fieldbus connectors on the top panel of the drive. See page

74 .

Value

00

01-EF

F0-FF

Mode

EtherCAT slave mode

Ethernet POWERLINK CN mode: selected value is node ID

Reserved



E3: Ethernet host

The Ethernet host port is used to connect a PC for configuring the MicroFlex e190.

See section

Start-up on page 93 for details about configuring the PC’s Ethernet

adapter for communication with the MicroFlex e190.

The host port also can be used for Modbus TCP, Ethernet/IP and PROFINET fieldbus connections.

76 Electrical installation: input / output

Motor feedback (X8)

MicroFlex e190 supports incremental encoder, EnDat 2.1, SinCos, BiSS-B (Bidirectional Synchronous Serial Interface), SSI (Synchronous Serial Interface), EnDat

2.2, Smart Abs absolute encoder or Hiperface feedback, for use with linear and rotary motors. Resolvers are supported by using the optional resolver adapter (see page

85 ). There are some important considerations when wiring the feedback device:

• The inputs are not isolated.

• The feedback device wiring must be separated from power wiring.

• Where feedback device wiring runs parallel to power cables, they must be separated by at least 76 mm (3 in).

• Feedback device wiring must cross power wires at right angles only.

• To prevent contact with other conductors or earths / grounds, unearthed / ungrounded ends of shields must often be insulated.

• Linear motors use two separate cables (encoder and Hall). The cores of these two cables will need to be wired to the appropriate pins of the 15-pin D-type

mating connector or the encoder breakout option (see page 180 ) can be used to

simplify linear feedback connections.

• A maximum combined total of 500 mA can be supplied by X8 pin 12 and X7 pin 9 to feedback devices. Self-resetting fuses protect the 5.5 / 8-12 V supply on X8 and the 5.5 V supply on X7.

Connection summary

1

8

9

15

11

12

13

14

7

8

9

10

15

5

6

3

4

1

2

Pin Inc.encoder

with Halls

CHA+

CHB+

CHZ+

(NC)

Hall U-

Hall U+

EnDat

2.1

Data+

Clock+

(NC)

(NC)

Sin-

Sin+

SinCos

(NC)

(NC)

(NC)

(NC)

Sin-

Sin+

BiSS-B,

SSI

Data+

Clock+

(NC)

(NC)

(NC)

(NC)

EnDat 2.2

Data+

Clock+

(NC)

(NC)

(NC)

(NC)

Smart Abs Hiperface

Data+

(NC)

(NC)

(NC)

(NC)

(NC)

Data+

(NC)

(NC)

(NC)

Sin-

Sin+

Hall V-

Hall V+

CHA-

CHB-

Cos-

Cos+

Data-

Clock-

Cos-

Cos+

(NC)

(NC)

(NC)

(NC)

Data-

Clock-

(NC)

(NC)

Data-

Clock-

(NC)

(NC)

Data-

(NC)

Cos-

Cos+

Data-

(NC)

CHZ(NC) (NC) (NC) (NC) (NC) (NC)

+5.5 V out +5.5 V out +5.5 V out +5.5 V out +5.5 V out +5.5 V out +8 V out*

DGND

Hall W-

DGND

(NC)

DGND

(NC)

DGND

(NC)

DGND

(NC)

DGND

(NC)

DGND

(NC)

Hall W+ (NC) (NC) (NC) (NC) (NC) (NC)

* The switch selects the voltage output on pin 12 (see page 78

).

Electrical installation: input / output 77

Twisted pairs must be used for each complementary signal pair e.g. CHA+ and CHAor Data+ and Data-.

The overall cable shield (screen) must be connected to the metallic shell of the Dtype connector.

In Mint WorkBench, the primary motor feedback encoder on connector X8 is encoder

0. The extra incremental encoder input formed by digital inputs DI1 and DI2 is encoder 1 (see page

66 ). The other extra incremental encoder input on connector X7

is encoder 2 by default (see page

83 ), but alternatively connector X8 can be

configured as encoder input 2 (see page

81 ).



Incremental encoder with Halls

The incremental encoder connections (ABZ channels and Hall signals) are made using the 15-pin D-type female connector X8. The encoder inputs (CHA, CHB and

CHZ) accept differential signals only. Twisted pairs must be used for each complementary signal pair e.g. CHA+ and CHA-. The Hall inputs may be used as differential inputs (recommended for improved noise immunity) or single ended inputs. When used as single ended inputs, leave the Hall U-, Hall V- and Hall W- pins unconnected. The overall cable shield (screen) must be connected to the metallic shell of the D-type connector. The encoder supply on pin 12 typically provides 5.5 V to the encoder (500 mA maximum, less if other encoder inputs are in use; see page

76 ). Maximum cable length is 30 m.

Motor

Twisted pairs

Encoder

Feedback

Hall

Feedback

X8

1

9

2

10

3

11

CHA+

CHA-

CHB+

CHB-

CHZ+ (INDEX)

CHZ- (INDEX)

12

13

+5.5 V out

DGND

6

5

8

7

15

14

Hall U+

Hall U-

Hall W+

Hall W-

Hall V+

Hall V-

Connect overall shield to connector backshells

78 Electrical installation: input / output



Serial interfaces & SinCos

The MicroFlex e190 supports the following feedback types, for use with linear and rotary motors:

• EnDat 2.1

• SinCos encoders (1 V pk-pk, 2.5 V reference)

• BiSS-B (Bi-directional Synchronous Serial Interface), SSI (Synchronous Serial

Interface) or EnDat 2.2

• Smart Abs absolute encoders

• Hiperface

Twisted pairs must be used for each complementary signal pair e.g. CHA+ and CHAor Data+ and Data-. Maximum cable length is 30 m.

The overall cable shield (screen) must be connected to the metallic shell of the Dtype connector. The encoder supply on pin 12 provides either 5.5 V or 8-12 V to the encoder, selected using the switch behind connector X7 (500 mA maximum, less if other encoder outputs are in use; see page

76 ).

WARNING!

Check the feedback device’s power input specifications before using the 8 V position. Selecting the wrong voltage could damage your feedback device.Typically 8 V is only used when using an Hiperface encoder.

5 V 8 V

( Default )

Electrical installation: input / output 79

EnDat interface

Incremental and absolute (multi and single turn) devices are supported. It is possible to read and write information to the encoder. The Sin and Cos channels are not required when using a version 2.2 EnDat encoder.

EnDat 2.1 interface cable connections:

Motor

Absolute

Encoder

Twisted pairs

X8

8

2

10

12

5

6

1

9

7

13

Data+

Data-

Sin-

Sin+

Cos-

Cos+

Clock+

Clock-

+5.5 V out

DGND

Connect  internal  shields to  pin 13.

Connect overall shield to connector backshells

SinCos interface

SinCos interface cable connections:

Motor

SinCos

Feedback

Twisted pairs

Connect overall shield to connector backshells

X8

5

6

7

8

12

13

Sin-

Sin+

Cos-

Cos+

+5.5 V out

DGND

Chassis

Connect  internal  shields to  pin 13.

BiSS-B interface

The BiSS-B (Bi-directional Serial Synchronous interface) is an open-source interface that can be used with many types of absolute encoder.

BiSS-B interface cable connections:

Motor

Absolute

Encoder

Twisted pairs

X8

1

9

2

10

12

13

Data+

Data-

Clock+

Clock-

+5.5 V out

DGND

Chassis

Connect  internal  shields to  pin 13.

Connect overall shield to connector backshells

80 Electrical installation: input / output

SSI encoders

SSI interface cable connections:

Motor

Absolute

Encoder

Twisted pairs

Connect overall shield to connector backshells

X8

1

9

2

10

12

13

Data+

Data-

Clock+

Clock-

+5.5 V out

DGND

Chassis

Connect  internal  shields to  pin 13.

Smart Abs encoders

Smart Abs interface cable connections:

Absolute

Encoder

Motor

ER6V

Twisted pairs

X8

1

9

12

13

Data+

Data-

+5.5 V out

DGND

Chassis

Connect overall shield to connector backshells

Multi-turn Smart Abs encoders require an additional battery supply to retain position information when the drive is not powered.

Hiperface interface

Hiperface interface cable connections:

Absolute

Encoder

Motor

Twisted pairs

Connect overall shield to connector backshells

X8

7

8

12

13

5

6

1

9

Data+

Data-

Sin-

Sin+

Cos-

Cos+

+8 V out

DGND

Chassis

Connect  internal  shields to  pin 13.

Electrical installation: input / output 81



Extra incremental encoder

Some applications require the connection of multiple encoders typically when:

• A single axis has multiple encoders on the same motion system to eliminate mechanical errors (a dual encoder application).

• The drive is required to follow encoder signals given to it from a master encoder input.

In both cases the drive can support a connection to an extra incremental encoder by

X7 (see page 83

) or X8. The default extra incremental encoder input (encoder 2) is

X7.If X7 is occupied as an encoder output and the primary feedback type is one that does not use the Hall/sin/cos inputs (Incremental encoder without Halls, BiSS-B, SSI,

EnDat 2.2, Smart Abs or resolver), the extra incremental encoder also can be connected to X8.

Note : In Mint, this extra encoder input (encoder 2 on X8) is available only when connector X7 has been configured as an encoder output (see page

84 )

.

When connector X8 is specified as encode 2, a encoder breakout OPT-MF-200 need to be mounted to split one 15-pin connector X8 into one 15-pin connectors X8A and one 9-pin X8B. X8A is connected to motor feedback, while X8B is connected to an extra incremental encoder (see page

180

).

Pin

9

10

7

8

4

5

6

11

12

13

14

15

1

2

3

Inc. encoder without Halls

CHA+

CHB+

CHZ+

(NC)

(NC)

(NC)

(NC)

(NC)

CHA-

CHB-

CHZ-

+5.5 V out

DGND

(NC)

(NC)

X8A (Primary encoder)

BiSS-B

Data+

Clock+

(NC)

(NC)

(NC)

(NC)

(NC)

(NC)

Data-

Clock-

(NC)

+5.5 V out

DGND

(NC)

(NC)

SSI

Data+

Clock+

(NC)

(NC)

(NC)

(NC)

(NC)

(NC)

Data-

Clock-

(NC)

+5.5 V out

DGND

(NC)

(NC)

EnDat 2.2

Data+

Clock+

(NC)

(NC)

(NC)

(NC)

(NC)

(NC)

Data-

Clock-

(NC)

+5.5 V out

DGND

(NC)

(NC)

Smart Abs

Data+

(NC)

(NC)

(NC)

(NC)

(NC)

(NC)

(NC)

Data-

(NC)

(NC)

+5.5 V out

DGND

(NC)

(NC)

82 Electrical installation: input / output

6

7

4

5

Pin X8B (extra Inc. encoder without Halls) Corresponding pin on X8

1 CHA+ 6

2

3

CHB+

CHZ+

8

15

8

9

(NC)

DGND

CHA-

CHB-

CHZ-

+5.5 V out

(NC)

13

5

7

14

12

The inputs may be used as differential inputs (recommended for improved noise immunity) or single ended inputs. When used as single ended inputs, leave the

CHA-, CHB- and CHZ- pins unconnected. The overall cable shield (screen) must be connected to the metallic shell of the D-type connector. The encoder supply on pin 12 provides 5.5 V to the encoder (500 mA maximum, less if other encoder inputs are in

use; see page 76

). Maximum cable length is 30 m.

Extra incremental encoder cable connections:

Twisted pairs

Encoder

Feedback

Encoder

Feedback

;$

1

9

2

10

3

11

X8

1

9

2

10

3

11

Used by incremental encoder without Halls, BiSS-B, SSI,

EnDat 2.2, or Smart Abs primary encoder

12

13

;%

7

6

5

8

7

15

14

12

13

+5.5 V out

DGND

Extra incremental encoder:

CHA+

CHA-

CHB+

CHB-

CHZ+ (INDEX)

CHZ- (INDEX)

Connect overall shield to connector backshells

Electrical installation: input / output 83

Incremental encoder input/output (X7)

The incremental encoder input/output connection provides A/B channels and a Z index channel. Twisted pairs must be used for each complementary signal pair e.g.

CHA+ and CHA-. The Mint keyword ENCODEROUTCHANNEL is used to set the mode of operation for X7. When set to the default value of -1, X7 operates as an input.

Pin 1

3

4

1

2

5

CHA+

CHB+

CHZ+

(NC)

GND

6

7

8

9

CHA-

CHB-

CHZ-

+5.5 V out

Input mode: ABZ incremental encoder (default)

By default, X7 is configured as an extra ABZ incremental encoder input (encoder 2).

When operating as an encoder input, X7 can be used for a dual-loop feedback system or connected to a master encoder for position following applications.

Incremental encoder cable connections:

Twisted pairs

Encoder

Feedback

X7

1

6

2

7

3

8

CHA+

CHA-

CHB+

CHB-

CHZ+ (INDEX)

CHZ- (INDEX)

9

5

+5.5 V out

DGND

Connect overall shield to connector backshells

Input mode: Step (pulse) and direction

Optionally, connector X7 can be configured as a step and direction input. Use one of the following methods to select step and direction mode.

• In Mint WorkBench, choose the Parameters tool and expand the Encoder family.

Click the EncoderMode entry, then click the value next to EncoderMode (Encoder

Channel 2). Check Bit 2: Step/Direction, then click OK. On the menu, choose

Tools, Store Drive Parameters.

• In Mint WorkBench, choose the Edit & Debug tool. In the Command window enter the command: ENCODERMODE(2)=4 (or other value where bit 2 is set). On the menu, choose Tools, Store Drive Parameters.

84 Electrical installation: input / output

The step and direction inputs are both differential and must be controlled from a

RS422 differential source. Single-ended connections cannot be used.

• The A channel pins (1 & 6) are used as the step input. The step frequency controls the speed of the motor.

• The B channel pins (2 & 7) are used as the direction input. The state of the direction input controls the direction of motion.

• The Z channel input is not used.

Step / direction inputs - typical connections from a PLC/controller:

PLC/controller

Step output

X7

1

MicroFlex e190

Step+

6

Step-

Twisted pairs

Dir output

2

Dir+

7

Dir-

Shield

Connect shields at one end only.

Note: The inputs should be use shielded twisted pair cable with an overall shield.

Connect the input signals correctly according to the pin assignment for connector X7.

Encoder output mode

Optionally, connector X7 can be configured as an encoder output (encoder output 0).

This automatically enables the extra incremental encoder input on connector X8, which then becomes encoder input 2 (see page

81 ). When operating as an encoder

output, X7 can be connected to the encoder input of a motion controller to provide position feedback. The A/B outputs are a pair of synthesized pulse trains with a 50% duty cycle, 90 degrees out of phase. The ENCODEROUTCHANNEL Mint keyword is used to define the source signal that will be output at X7:

• -1 = (Default) No encoder source assigned, X7 operates as an encoder input.

• 0 = Encoder 0, the primary encoder input on X8.

• 1 = Encoder 1, the encoder input formed by digital inputs DI1 and DI2 when they

are set to behave as an encoder input (see Special functions on inputs DI1 & DI2

on page

66

).

• 2 = Encoder 2, the extra incremental encoder interface on X8.

The frequency of the A/B outputs is varied according to the source signal, and can be scaled using the ENCODEROUTRESOLUTION Mint keyword. The output at X7 is identical to the input at X8, with no propagation delay, provided the output resolution

Electrical installation: input / output 85 is set to match the input resolution. In all other cases there is a propagation delay of up to 125 µs.

Use one of the following methods to configure X7 as an encoder output:

• In Mint WorkBench, choose the Drive Setup tool and proceed to the Motor

Feedback page. In the Simulated Encoder Output 0 area, click in the Encoder source channel drop down and choose one of the encoder sources 0, 1, or 2 as described above. Proceed to the end of the wizard and follow the instructions to save the changed parameter.

• In Mint WorkBench, choose the Parameters tool and expand the Encoder family.

Click the EncoderOutChannel entry, then click the value next to

EncoderOutChannel (Encoder Channel 0). Choose one of the encoder sources 0,

1, or 2 as described above. On the menu, choose Tools, Store Drive Parameters.

• In Mint WorkBench, choose the Edit & Debug tool. In the Command window enter the command: ENCODEROUTCHANNEL(0)= n , where n is 0, 1, or 2, as described above. On the menu, choose Tools, Store Drive Parameters.



OPT-MF-201 Resolver adapter

The optional resolver adapter OPT-MF-201 allows a motor with resolver feedback to be connected to the MicroFlex e190. See page

181

for details.

86 Electrical installation: input / output

Supported feedback type

Various feedback types are offered as options on linear and rotary servo motors, the feedback types supported by MicroFlex e190 include the incremental encoder, EnDat

2.1, SinCos, BiSS-B, SSI, EnDat 2.2, Smart Abs absolute encoder, Hiperface encoder and resolvers (supported by using the optional resolver adapter, see page

85 ).

When selecting an encoder, you need to determine which type of encoder feedback is required in order to be compatible with the drive that will be receiving the encoder signals. Choosing the wrong encoder type will result in a non-functional system and possibly hardware damage.

The right feedback type for your application is automatically set when the motor is selected in Mint WorkBench.The Mint keyword ENCODERTYPE can also be used to define the feedback type of encoder input. Moreover, MicroFlex e190 supports two different types of incremental encoder signal inputs, see more details below.

Electrical installation: input / output 87

The MicroFlex e190 has 3 encoder input channels:

• Encoder 0: Primary encoder input on connector X8 (see page 76 ).

• Encoder 1: Extra optional incremental encoder input on connector X3 (see page

66 ).

• Encoder 2: Extra optional incremental encoder input on connector X7 (see page

83 )

or to X8 by using the OPT-MF-200 encoder breakout option (see page

81 ).

88 Electrical installation: input / output



Encoder 0 input

Encoder 0 on connector X8 is the e190 drive's universal encoder input channel, supports a wide range of feedback types as follows.

No.

Feedback type Parameter

1

2

3

4

5

6

7

8

9

10 Rotary EnDat v2.1

11

Incremental encoder

Hall sensor

SSI

Rotary incremental encoder without Halls ENCODERTYPE(0)=0

Linear incremental encoder without Halls ENCODERTYPE(0)=1

Rotary incremental encoder with Halls ENCODERTYPE(0)=2

Linear incremental encoder with Halls ENCODERTYPE(0)=3

Rotary Hall sensors only without encoder ENCODERTYPE(0)=4

Linear Hall sensors only without encoder ENCODERTYPE(0)=5

Baumer SSI encoder of ABB motor ENCODERTYPE(0)=6

Linear SSI encoder

Generic SSI encoder

ENCODERTYPE(0)=19

ENCODERTYPE(0)=24

Rotary EnDat v2.2

ENCODERTYPE(0)=7

ENCODERTYPE(0)=9

11

13

EnDat v2.2

Linear EnDat v2.2

Rotary SinCos encoder

ENCODERTYPE(0)=10

ENCODERTYPE(0)=11

14 Linear SinCos encoder

15

SinCos

Linear SinCos encoder with Halls

ENCODERTYPE(0)=12

ENCODERTYPE(0)=21

16 Rotary Hiperface encoder

17 Smart Abs absolute encoder

ENCODERTYPE(0)=13

ENCODERTYPE(0)=16

18 Rotary BiSS encoder ENCODERTYPE(0)=17

19

20

BiSS-B

Linear BiSS encoder

Resolver (fitted with OPT-MF-201 resolver adapter)

ENCODERTYPE(0)=18

ENCODERTYPE(0)=25

Note : When using the incremental without Halls, BiSS-B, SSI, EnDat 2.2, Smart Abs or resolver (via OPT-MF-201), an extra incremental encoder can be simultaneously

connected to X8 (configured as encoder 2, via OPT-MF-200, see page 81

).

Electrical installation: input / output 89



Encoder 1 input

Encoder 1 is an extra incremental encoder input channel and can be used to set up dual-encoder control system or be connected to a master encoder. It comes from fast digital inputs 1 and 2 on connector X3.

The incremental encoder signal type:

• 24 V DC signal levels

• Logic levels: “0” < 2 V, “1” > 12 V

• A/B single ended, no Z index

• User power supply: 24 V DC

No.

Feedback type

1 Rotary incremental encoder without Halls

2 Linear incremental encoder without Halls

3 Step & Direction inputs

Parameter

ENCODERTYPE(1)=0

ENCODERTYPE(1)=1

ENCODERMODE(1)=4



Encoder 2 input

Encoder 2 is extra incremental encoder input channel and can be used to set up dualencoder control system or be connected to a master encoder. The encoder input is

5V differential line driver (RS422).

The incremental encoder signal type:

• RS422 A/B/Z differential

• Max. input frequency A / B: 2 MHz

• Power supply: 5.5 V DC

No.

Feedback type

1 Rotary incremental encoder without Halls

2 Linear incremental encoder without Halls

3 Step & Direction inputs

Parameter

ENCODERTYPE(2)=0

ENCODERTYPE(2)=1

ENCODERMODE(2)=4

See application note AN00262 for more information about dual encoder control.

90 Electrical installation: input / output

Installation checklist

Installation checklist 91

8

Checklist

Check the mechanical and electrical installation of the drive before start-up. Go through the checklist together with another person.

WARNING!

Only qualified electricians are allowed to carry out the work described below. Read the safety instructions on the first pages of this manual before you work on the unit. Ignoring the safety instructions can cause injury or death.

Open the main disconnector of the drive and lock it to open position. Measure to ensure that the drive is not powered.

Check

MECHANICAL INSTALLATION

The ambient operating conditions are allowable. (See Mechanical installation,

Technical data

: Ratings ,

Ambient conditions .)

The unit is fastened properly to the cabinet. (See Cabinet construction

and

Mechanical installation.

)

The cooling air will flow freely.

The motor and the driven equipment are ready for start. (See Planning the electrical

installation, Technical data :

Motor connection

.)

ELECTRICAL INSTALLATION (See

Planning the electrical installation, Electrical installation:

AC input / DC input, motor and brake.

)

The capacitors are reformed if stored over one year (ask local ABB representative for more information).

The drive is grounded properly.

92 Installation checklist

Check

The supply (input power) voltage matches the drive nominal input voltage.

The supply (input power) is connected to L1/L2/L3 (UDC+/UDC- in case of a DC supply) and the terminals are tightened to specified torque.

Appropriate supply (input power) fuses and disconnector are installed.

The motor is connected to U/V/W, and the terminals are tightened to specified torque.

The braking resistor (if present) is connected to R- and R+/UDC+, and the terminals are tightened to specified torque.

The motor cable (and braking resistor cable, if present) is routed away from other cables.

There are no power factor compensation capacitors in the motor cable.

The external control connections to the control unit are OK.

There are no tools, foreign objects or dust from drilling inside the drive.

The supply (input power) voltage cannot be applied to the output of the drive through a bypass connection.

9

Start-up 93

Start-up

What this chapter contains

This chapter describes software installation and the start-up procedure of the drive.

Safety

WARNING!

Read the Safety

instructions on the first pages of this manual before performing any maintenance on the equipment. Ignoring the safety instructions can cause injury or death.

Introduction

Before powering the MicroFlex e190 you must connect it to the PC using an Ethernet cable and install the Mint WorkBench software on the PC. This includes a number of applications and utilities to allow you to configure, tune and program the

MicroFlex e190. Mint WorkBench and other utilities can be downloaded from the pages of

Connect the MicroFlex e190 to the PC

Connect a CAT5e Ethernet cable between the PC and the MicroFlex e190 E3

Ethernet port on the front panel. Do not connect the cable to the E1 or E2 ports on the top of the drive.

NOTE!

You cannot connect an ordinary office PC to the MicroFlex e190

without first altering the PC's Ethernet adapter configuration. See Configure the PC Ethernet adapter on page 94

.

94 Start-up

Install Mint WorkBench

The Windows user account requires administrative user rights to install Mint

WorkBench. To install Mint WorkBench from new.abb.com/motion , download the application and run it.

Configure the PC Ethernet adapter

It is necessary to alter the PC's Ethernet adapter configuration to operate correctly with the MicroFlex e190. By default, the MicroFlex e190 has a static IP address of

192.168.0.1. This can be changed using the Configuration tool in Mint WorkBench.

NOTE!

You cannot connect an ordinary office PC to the MicroFlex e190 without first altering the PC's Ethernet adapter configuration. However, if you have installed a second Ethernet adapter dedicated for use with the MicroFlex e190, then this adapter's configuration can be altered without affecting the PC's office

Ethernet connection. A USB to Ethernet adapter is a convenient way to add a second

Ethernet adapter to a PC. If you are unsure about making changes to your PC's

Ethernet adapter configuration, or are prevented by user permission levels, ask your

I.T. administrator to assist you.

The following explanation assumes the PC is connected directly to the

MicroFlex e190, and not across an intermediate Ethernet network. If you wish to attempt the connection through an intermediate Ethernet network, then the network administrator must be consulted to ensure that the necessary IP address is allowed and is not already allocated on the network.

1. On the Windows 7 Start menu, choose Control Panel, then Network and Sharing

Center. (Windows 8.1: Apps screen, Control Panel, Network and Internet,

Network and Sharing Center. Windows 10: Start, Settings, Network & Internet,

Ethernet).

2. On the left of the window, click Change Adapter Settings (Windows 10: Change adapter options). Double click the icon for the required Ethernet adapter, then click Properties.

3. Select the ‘Internet Protocol Version 4 (TCP/IPv4)' entry and click Properties.

4. On the General tab, make a note of the existing settings. Click Advanced... and make a note of any existing settings. Click Cancel and then click the Alternate

Configuration tab and make a note of any existing settings.

5. On the General tab, choose the ‘Use the following IP address' option.

6. In the IP address box, enter an IP address, e.g. 192.168.0.241. This is the IP address that will be assigned to the Ethernet adapter.

7. In the Subnet mask box, enter 255.255.255.0 and click OK.

8. Click Close to close the Local Area Connection Properties dialog.

9. Click Close to close the Local Area Connection Status dialog.

Start-up 95

Enable the Ethernet adapter for Mint WorkBench

Before Mint WorkBench can use the Ethernet adapter to discover the

MicroFlex e190, the adapter must be enabled in the Mint Sidebar.

1. On the Windows 7/10 task bar in the notification area, right-click the Mint HTTP

Server icon and choose Properties. (Windows 8.1: On the Start screen, click the

Desktop icon to access the desktop first.)

2. In the Discovery area, check the required local area connection, then click OK.

Note:If the Mint Sidebar can't discover the drive then you may need to disable or modify your Firewall and/or Anti-virus settings .

Start the MicroFlex e190

If you have followed the instructions in the previous sections, you should have now connected the power sources, your choice of inputs and outputs, and the Ethernet cable linking the PC to the MicroFlex e190.



Preliminary checks

Before you apply power for the first time, check all items in

Installation checklist ,

starting on page

91 .



Power on checks

See section

Drive status display on page 114

for symbols that show if the drive has detected a fault.

1. Turn on the 24 V DC control circuit supply (if present).

2. Turn on the AC supply (or DC supply, page 54

).

3. The drive status display shows a test sequence which normally takes approximately 15-20 seconds. The sequence ends with the symbol, or if an

STO input (page 187 ) is not powered. Start-up can take more than 1 minute after

downloading new firmware.

4. To allow the Commissioning Wizard to function, the Safe Torque Off inputs (page

187

) must be powered to allow the MicroFlex e190 to be enabled.

96 Start-up

Start Mint WorkBench

Mint WorkBench is a fully featured application for programming and controlling the

MicroFlex e190. Mint WorkBench includes a comprehensive help file that contains information about every Mint keyword, how to use Mint WorkBench, and background information on motion control topics. Press F1 to display the help file. For help on using Mint WorkBench, click the red Mint WorkBench icon on the opening page.

1. On the Windows Start menu, select All Programs, ABB, Mint WorkBench, Mint

WorkBench. (Windows 8.1: On the Apps screen, click the Mint WorkBench icon.)

2. In the opening dialog box, click Start Online Project...

3. Wait until the MicroFlex e190 is listed in the Controllers found box, e.g.

“ MicroFlex e190 on 192.168.0.1

”.

4. Select the MicroFlex e190 in the list, and check Launch Commissioning Wizard.

5. Click Select.

Note: If the MicroFlex e190 is not listed, check the Ethernet cable is connected to the

E3 port on the front panel of the drive, not E1 or E2 on the top panel. Check that the

MicroFlex e190 is powered correctly and the start-up sequence (see

Power on checks , above) has completed. Ensure you have enabled the Ethernet adapter for

Mint WorkBench (see page

95 ). Click Scan to re-scan the ports. It can take up to 5

seconds for Mint WorkBench to detect the MicroFlex e190. 

6. Mint WorkBench connects to the MicroFlex e190 and displays the Commissioning

Wizard.

Note: If Launch Commissioning Wizard was not checked, Edit & Debug mode is displayed.

Start-up 97

Commissioning Wizard

Each type of motor and drive combination has different performance characteristics.

Before the MicroFlex e190 can be used to control the motor accurately, the

MicroFlex e190 must be ‘tuned'. Tuning is the process where the MicroFlex e190 powers the motor in a series of tests. By monitoring the drive's output and the feedback from the motor's encoder, the MicroFlex e190 can make small adjustments to the way it controls the motor. This information is stored in the MicroFlex e190 and can be uploaded to a file if necessary.

The Commissioning Wizard provides a simple way to tune the MicroFlex e190 and create the necessary configuration information for your drive/motor combination, so this is the first tool that should be used. If necessary, any of the parameters set by the

Commissioning Wizard can be adjusted manually after commissioning is complete.



Using the Commissioning Wizard

Each screen of the Commissioning Wizard requires you to enter information about the motor, drive or application. Read each screen carefully and enter the required information. When you have completed a screen, click Next > to display the next screen. If you need to change something on a previous screen, click the < Back button. The Commissioning Wizard remembers information that you have entered so you do not need to re-enter everything if you go back to previous screens. If you need extra help, click Help or press F1.

Select your Motor Type:

Select the type of motor that you are using; rotary or linear, brushless or induction.

Select your Motor:

Carefully enter the details of your motor. If you are using a Baldor motor, the catalog number or spec. number can be found stamped on the motor's nameplate. If you are using a motor with EnDat feedback, are using a different manufacturer’s motor, or need to enter the specification manually, select the ‘Enter motor parameters manually’ option.

Confirm Motor and Drive information:

If you entered the catalog or spec. number on the previous page, it is not necessary to change anything on this screen; all the required data is entered already. However, if you selected the ‘Enter motor parameters manually’ option, it is necessary to enter the required information before continuing.

Motor Feedback:

If you entered the catalog or spec. number on the previous page, it is not necessary to change anything on this screen; the feedback resolution is entered already.

However, if you selected the ‘Enter motor parameters manually’ option, it is necessary to enter the feedback resolution before continuing.

98 Start-up

Drive Setup complete:

This screen confirms that drive setup is complete.

Select Operating Mode and Source:

In the Operating Mode section, choose the required operating mode. In the

Reference Source section, it is important to select the correct operating source

(‘Direct’ or ‘RT Ethernet’) as the Reference Source. This allows the Autotune Wizard to operate correctly, and allows further initial testing to be performed using Mint

WorkBench. Although the MicroFlex e190 might eventually be controlled over

EtherCAT (or Ethernet POWERLINK), the ‘RT Ethernet' reference source should be selected only after the MicroFlex e190 has been commissioned and is ready to add to the EtherCAT (or Ethernet POWERLINK) network. This is selected by choosing the

Operating Mode tool in the Toolbox.

Application Limits:

Application maximum speed (App. Max. Speed) defaults to zero and need to be entered the correct speed value. It is often not necessary to change other parameters on this screen. However, if you wish to adjust the application peak current (App. Peak

Current) , then click in the appropriate box and enter a value.

Select Scale Factor:

It is often not necessary to change anything on this screen. However, it is recommended to select a user unit for position, velocity and acceleration. This allows

Mint WorkBench to display distance, speed and acceleration using meaningful units, instead of encoder counts. For example, selecting a Position User Unit of Revs (r) means that all position values entered or displayed in Mint WorkBench will represent revolutions. The Position Scale Factor value changes automatically to represent the required scale factor (the number of quadrature counts per revolution). If you need to use an alternative unit, for example degrees, type “Degrees” in the Position User Unit box and enter a suitable value in the Position Scale Factor box. Separate velocity and acceleration units can also be defined. See the Mint help file for more information about scale factors.

Profile Parameters:

It is often not necessary to change anything on this screen. However, if you wish to adjust the parameters for any control method, click in the appropriate box and enter a value.

Analog input parameters:

It is not necessary to change anything on this screen. However, if you wish to adjust the analog inputs, click Common Settings to select the input range. The Tune Offset button automatically adjusts the input to compensate for any DC offset.

Start-up 99

Operation setup complete:

This screen confirms that operation setup is complete.

Autotune Wizard

The Autotune Wizard tunes the MicroFlex e190 for optimal performance with the attached motor. This removes the need for manual fine-tuning of the system, although in some critical applications this might be required.

Click Options... to configure optional autotuning parameters. Each Option shows settings relevant to the adjacent test.

WARNING!

The motor moves during autotuning. For safety it is advisable to disconnect any load from the motor during initial autotuning. The motor can be tuned with the load connected after the Commissioning Wizard has finished.

Autotune:

Click START to begin the auto-tuning process. Mint WorkBench takes measurements from the motor and then performs small test moves.

For further information about tuning with the load attached, see

Further tuning - with load attached on page 101

.

Note: Even if you do not perform any further tuning or configuration, the STO function must be tested; see

Appendix: Safe Torque Off (STO) on page 187

.



Further tuning - no load attached

The Autotune Wizard calculates many parameters that allow the MicroFlex e190 to provide good control of the motor. In some applications, these parameters need to be fine-tuned to provide the exact response that you require.

1. Click the Fine-tuning icon in the Toolbox on the left of the screen.







The Fine-tuning window is displayed at the right of the screen. This already shows some of the parameters that have been calculated by the Commissioning Wizard.



The main area of the Mint WorkBench window displays the capture window.

When further tuning tests are performed, it displays a graph representing the response.

2. The Fine-tuning window has a number of tabs the bottom. 



Click on the Current tab to fine tuning the current loop.



Click on the Velocity/ Position tab to fine tuning the velocity/position loop in velocity / torque servo configuration. 



100 Start-up

Some tabs might not be available depending on the configuration mode you selected in the Commissioning Wizard.

3. In the Test Parameters area at the bottom of the tab, click in the Move Type drop down box and select Forward. 



Enter values in the Velocity and Distance boxes to create a short move. The values you enter depend on the velocity scaling factor that was selected in the

Commissioning Wizard. This example assumes the velocity scaling factor was selected as Revs Per Minute (rpm), so entering a value of 1000 here creates a move with a velocity of 1000 rpm. Similarly, assuming the position scaling factor had been set to Revolutions (r), the value 10 creates a move lasting for 10 revolutions of the motor.

4. Click Go to start the test move. Mint WorkBench performs the test move and displays a graph of the result.

5. Click on the graph labels to turn off unwanted traces. Leave just Demand Velocity and Measured Velocity turned on.

Typical autotuned response (no load):

Measured velocity

Demand velocity

Note: The graph that you see will not look exactly the same as this one! Each motor has a different response.

The graph shows that the response reaches the demand quickly and only overshoots the demand by a small amount. This can be considered an ideal response for most systems.

Start-up 101

For further information about tuning with the load attached, see

Further tuning - with load attached on page 101

.



Further tuning - with load attached

To allow Mint WorkBench to adjust the basic tuning to compensate for the intended load, it is necessary to attach the load to the motor and then perform the autotune procedure again.

1. Attach the load to the motor.

2. Click the Autotune icon in the Toolbox on the left of the screen.

3. Clear all of the check boxes. Only “Measure the inertia” and “Calculate speed and position loop gains” must be selected.

4. Click START to begin the auto-tuning process. Mint WorkBench takes measurements from the motor and then performs small test moves.

5. Click the Fine-tuning icon in the Toolbox on the left of the screen.

6. In the Velocity tab's Test Parameters area, ensure the same move parameters are entered and then click Go to start the test move. 



Mint WorkBench performs the test move and displays a graph of the result.

102 Start-up

Optimizing the velocity response

It can be desirable to optimize the default autotuned response to better suit your application. The following sections describe the two main tuning factors and how to correct them.



Correcting overshoot

The following graph shows a response where the measured velocity overshoots the demand by a significant amount.

1. Go to the Fine-tuning window's Velocity tab. 



To reduce the amount of overshoot, click Calculate... and increase the bandwidth

 using the slider control. Alternatively, type a larger value in the Bandwidth box.



Click OK to close the Bandwidth dialog.

2. Click Go to start the test move. Mint WorkBench performs the test move and displays a graph of the result.



Velocity overshoots demand:

Measured velocity

Demand velocity

Start-up 103



Correcting zero-speed noise in the velocity response

The following graph shows a response where there is very little overshoot but a significant amount of zero-speed noise. This can cause undesirable humming or ringing in the motor.

1. Go to the Fine-tuning window's Velocity tab. 



To reduce the amount of noise, click Calculate... and decrease the bandwidth

 using the slider control. Alternatively, type a smaller value in the Bandwidth box. 

Click OK to close the Bandwidth dialog.

2. Click Go to start the test move. Mint WorkBench performs the test move and displays a graph of the result.



Zero-speed noise:

Measured velocity

Demand velocity

104 Start-up



Ideal velocity response

Repeat the tests described in Correcting overshoot and Correcting zero-speed noise in the velocity response until the optimal response is achieved. The following graph shows an ideal velocity response. There is only a small amount of overshoot and very little zero-speed noise.

Ideal velocity response:

Measured velocity

Demand velocity



Performing test moves - continuous jog

This section tests the basic operation of the drive and motor by performing a continuous jog. To stop a move in progress, click the red stop button or the drive enable button on the toolbar. Alternatively, use the Mint WorkBench ‘Red Stop Button’ feature.

1. Check that the Drive enable button is pressed (down).

2. In the Toolbox, click the Edit & Debug icon.

3. Click in the Command window. 





Type: 



JOG(0)=10 

This causes the motor to move continuously at 10 units per second. In Mint

WorkBench, look at the Spy window located on the right of the screen. Check that

Start-up 105 the axis tab is selected. The Spy window's Velocity display should show 10

(approximately). If there seems to be very little motor movement, it is probably due to the scale factor. In the Commissioning Wizard, on the Select Scale Factor page, if you did not adjust the scale factor then the current unit of movement is feedback counts per second. Depending on the motor's feedback device, 10 feedback counts per second could equate to a very small velocity. Issue another

JOG command using a larger value, or use the Operating Mode Wizard to select a suitable scale factor (e.g. 4000 if the motor has a 1000 line encoder, or 10,000 for a 2500 line encoder).

4. To stop the test, type: 



STOP(0)

5. If you have finished testing click the Drive Enable button to disable the drive.



Performing test moves - relative positional move

This section tests the basic operation of the drive and motor by performing a positional move. To stop a move in progress, click the red stop button or the drive enable button on the toolbar. Alternatively, use the Mint WorkBench ‘Red Stop Button’ feature.

1. Check that the Drive enable button is pressed (down).

2. In the Toolbox, click the Edit & Debug icon.

3. Click in the Command window. 





Type: 

MOVER(0)=10 

GO(0)=10 



This causes the motor to move to a position 10 units from its current position.



The move stops when completed.

4. If you have finished testing click the Drive Enable button to disable the drive.

106 Start-up

Further configuration

Mint WorkBench provides a number of other tools for testing and configuring the

MicroFlex e190. Every tool is explained fully in the help file. Press F1 to display the help file, then navigate to the Mint WorkBench book. Inside this is the Toolbox book.



Configuration tool

The Configuration tool shows the MicroFlex e190 integrated configuration interface.

1. Click the Configuration tool icon in the Toolbox on the left of the screen.

2. Select Upload configuration from controller or Start new configuration .

3. Enter a descriptive name for the controller and click NEXT at the bottom of the screen.

4. Continue through the screens making the required changes. Press F1 to display help.

5. Click APPLY to save the changed settings, then CLOSE to complete the configuration.



EtherCAT tool

The EtherCAT tool shows all information relating to the EtherCAT connection.

1. Click the EtherCAT tool icon in the Toolbox on the left of the screen.

2. Wait until data is uploaded from the MicroFlex e190.

3. The Summary tab shows basic information about the EtherCAT connection.

4. Click the Object Dictionary tab (above the table) to view the current state of the drive’s object dictionary. Press F1 to see the Mint WorkBench help file for instructions about the screen’s tool bar.

5. Click the “Save as...” button to export the ESI file.



Ethernet POWERLINK

The Ethernet POWERLINK tool shows all information relating to the Ethernet

POWERLINK connection.

1. Click the Ethernet POWERLINK tool icon in the Toolbox on the left of the screen.

2. Wait until data is uploaded from the MicroFlex e190.

3. The Summary tab shows basic information about the Ethernet POWERLINK connection.

4. Click the Object Dictionary tab (above the table) to view the current state of the drive’s object dictionary. Press F1 to see the Mint WorkBench help file for instructions about the screen’s tool bar.

Click the “Save as...” button to export the XDD file.

Start-up 107



Parameters tool

The Parameters tool can be used to view or change most of the drive's parameters.

1. Click the Parameters icon in the Toolbox on the left of the screen. The main area of the Mint WorkBench window displays the Parameters editor screen. 



Items listed with a grey icon are read only so cannot be changed.



Items listed with a green icon are currently set to their factory default value.



Items listed with a yellow icon have been changed from their factory default value, either during the commissioning process or by the user.

2. In the parameters tree, scroll to the required item. Click on the small + sign beside the item's name. The list expands to show all items in the category. Click on the item you wish to edit.

3. The adjacent table lists the chosen item. Click in the Active Table cell and enter a value. This immediately sets the parameter, which remains in the MicroFlex e190 until another value is defined or power is removed. The icon to the left of the item becomes yellow to indicate that the value has been changed. On the menu, choose Tools, Store Drive Parameters to ensure the value remains after a power cycle.





Many of the MicroFlex e190's parameters are set automatically by the

Commissioning Wizard, or when tests are performed in the Fine-tuning window.



Spy window

The Spy window can be used to monitor and capture parameters in real-time. If you

tried the test moves in Performing test moves - continuous jog on page 104 or

Performing test moves - relative positional move on page 105 then you have already

seen the Spy window, as it is displayed in conjunction with Edit & Debug mode. See the Mint help file for full details of each tab.

1. Click the Edit & Debug icon in the Toolbox on the left of the screen. 

The Spy window is displayed on the right of the screen. Click on the tabs at the bottom of the window to select the required function.

2. The Axis tab displays the five most commonly monitored parameters, together with the state of special purpose inputs and outputs.

3. The I/O tab displays the state of all the digital inputs and outputs.



Click on an output LED to toggle the output on/off.

4. The Monitor tab allows up to six parameters to be selected for monitoring. 

Click in a drop down box to select a parameter. 

At the bottom of the Monitor tab, real-time data capture can be configured.

108 Start-up



Other tools and windows

Remember, for help on each tool press F1 to display the help file, then navigate to the

Mint WorkBench book. Inside this is the Toolbox book.

Edit & Debug Tool

This tool provides a work area including the Command window and Output window.

The Command window can be used to send immediate Mint commands to the

MicroFlex e190. If you tried the test moves in

Performing test moves - continuous jog on page 104 or

Performing test moves - relative positional move on page 105 , then

you have already used Edit & Debug mode. Press Ctrl+N to open a Mint programming window.

Note: Mint programming only supported if a Mint memory module is installed.

Scope Tool

Displays the capture screen. This screen is also shown when the Fine-tuning tool is selected.

Digital I/O Tool

This tool allows you to configure the active states and special assignments for the digital inputs and outputs. For example, a general purpose digital input can be configured as an optional ‘drive enable input’, which must be active to enable the



drive; see pages 64

to 69

.



If a digital input is to be used as a home switch input, see

Using a digital input as a home switch input (optional) on page 64 for important details.

Safe Torque Off (STO) acceptance test



Drive commissioning is not complete until the STO function has been tested. 

The acceptance test of the safety function must be carried out by an authorized person with expertise and knowledge of the safety function. The test must be

 documented and signed by the authorized person.



See

Appendix: Safe Torque Off (STO) on page 187 .

Fault tracing 109

10

Fault tracing

What this chapter contains

This section explains common problems and their solutions. The LED indicators are described in

MicroFlex e190 indicators on page 111

.



Problem diagnosis

If you have followed all the instructions in this manual in sequence, you should have few problems installing the MicroFlex e190. If you do have a problem, read this section first.

• In Mint WorkBench, use the Error Log tool to view recent errors and then check the help file.

• If you cannot solve the problem or the problem persists, the SupportMe feature can be used.



SupportMe feature

The SupportMe feature is available from the Help menu, or by clicking the button on the motion toolbar. SupportMe can be used to gather information which can then be e-mailed, saved as a text file, or copied to another application. The PC must have e-mail facilities to use the e-mail feature. If you prefer to contact ABB technical support by telephone or fax, contact details are provided on the back cover of this manual. Have the following information ready:

• The serial number of your MicroFlex e190 (if known).

• Open the Help, SupportMe menu item in Mint WorkBench to view details about your system.

• The catalog and specification numbers of the motor that you are using.

• A clear description of what you are trying to do, for example trying to establish communications with Mint WorkBench or trying to perform fine-tuning.

110 Fault tracing

• A clear description of the symptoms that you can observe, for example the Status

LED, error messages displayed in Mint WorkBench, or errors reported by the Mint error keywords ERRORREADCODE or ERRORREADNEXT .

• The type of motion generated in the motor shaft.

• A list of any parameters that you have setup, for example the motor data you entered/selected in the Commissioning Wizard, the gain settings generated during the tuning process and any gain settings you have entered yourself.



Power-cycling the MicroFlex e190

The term ‘power-cycle the MicroFlex e190’ is used in the Troubleshooting sections. If the mains AC supply (or DC supply) is removed, wait for 2 minutes before reapplying the supply.

Fault tracing 111

MicroFlex e190 indicators



EtherCAT ® mode

The Ethernet LEDs display the overall condition of the Ethernet interface once the startup sequence has completed. The LED codes conform to the EtherCAT Technology Group (ETG) standard at the time of production.

NET ERR (Red)

Off : No errors or not powered.

Blinking :

Invalid mailbox configuration in BOOT.

Invalid mailbox configuration in PREOP.

Invalid Sync manager configuration.

Invalid output configuration.

Invalid input configuration.

Invalid watchdog configuration.

Invalid DC Sync configuration.

Invalid DC latch configuration.



1 flash :

Unspecific error.

No memory.

Invalid request state change.

Unknown requested state.

Bootstrap not supported.

No valid firmware.

No valid inputs available.

No valid output.

Synchronization error.

Invalid Sync manager types.

Slave needs cold start.

Slave needs INIT.

Slave needs PREOP.

Slave needs SAFEOP.

Invalid input mapping.

Invalid output mapping.

Inconsistent settings.

FreeRun not supported.

SyncMode not supported.

2 flashes : Sync manager watchdog.

FreeRun needs 3 buffer mode.

Background watchdog occurred.

No valid inputs and outputs.

Fatal sync error.

No sync error.

PLL error.

DC sync IO error.

DC sync time-out error.

Invalid DC Sync cycle time.

DC Sync0 cycle time.

DC Sync1 cycle time.

Message box EoE error.

Message box CoE error.

Message box FoE error.

Message box SoE error.

Message box VoE error.

EEPROM no access.

EEPROM error.

Slave restarted locally.

112 Fault tracing

NET RUN (Green)

Off: INITIALISATION state (or not powered).

Blinking: PRE-OPERATIONAL state. 

1 flash: SAFE-OPERATIONAL state.



3 flashes: Device identification. This state can be set from the master to locate the device.

Continuously illuminated, not flashing: Node in OPERATIONAL state.

EtherCAT is operating normally.



Ethernet POWERLINK mode

The Ethernet LEDs display the overall condition of the Ethernet interface once the startup sequence has completed. The LED codes conform to the Ethernet POWERLINK Standardization

Group (EPSG) standard at the time of production.

Green (status)

Off: Node in NOT ACTIVE state or a previous initialization state. The controlled node is waiting to be triggered by the manager node.

1 flash: Node in PRE-OPERATIONAL1 state. Ethernet POWERLINK mode is starting.





2 flashes: Node in PRE-OPERATIONAL2 state. Ethernet POWERLINK

 mode is starting.



3 flashes: Node in READY TO OPERATE state. The node is signalling its readiness to operate.





Blinking (continuous flashing): Node in STOPPED state. The controlled

 node has been deactivated.



Flickering (very fast flashing): Node in BASIC ETHERNET state (Ethernet

POWERLINK is not operating, but other Ethernet protocols may be used).

Continuously illuminated, not flashing: Node in OPERATIONAL state.

Ethernet POWERLINK is operating normally.

Fault tracing 113

Red (error)

Off: Ethernet POWERLINK is working correctly.

Continuously illuminated: An error has occurred.

LED flash periods

The following diagram shows the definitions of the terms ‘blinking’, ‘flashing’ and

‘flickering’ used in the previous sections, as defined by the EtherCAT Technology

Group.

LED flash timing definitions:

Off  (Not illuminated)

1 flash 

2 flashes 

Inverted 2 flashes 

1 s

1 s

1 s

1 s

3 flashes, etc.



Blinking 

Flickering 

1 s

On

200 ms

(Continuously illuminated)

114 Fault tracing



Drive status display

The drive status display indicates errors and general

MicroFlex e190 status information. When an error occurs the drive displays a sequence starting with the symbol E , followed by the five digit error code. For example, error code 10015 is displayed:

STO error

The decimal point to the right of the number also illuminates to indicate STO errors. If a symbol appears followed by an error code, please contact ABB technical support. For a complete list of error codes, open Mint WorkBench, press F1, and locate the Error Handling book. This contains topics listing the drive status display indicators and basic error codes. See also

Start the MicroFlex e190

on page

95 .

The following information symbols can be displayed:

Symbol Description

Drive disabled, and one or both STO inputs are not powered. The drive must be enabled before operation can continue. Both STO inputs must be powered. If an optional drive enable input has been configured, it must also be powered.

Initialization error / recovery mode. If this is the only symbol shown after powering the drive, remove all power, check the memory unit is inserted correctly, then reapply power. This symbol is also displayed during recovery

mode (see page 72

).

Drive disabled. The drive must be enabled before operation can continue. If an optional drive enable input has been configured, it must also be powered.

Suspend active. The Mint SUSPEND command has been issued and is active. Motion ramps down to zero demand whilst active.

Firmware loading (segments are illuminated sequentially). This sequence is followed by a numerical sequence representing firmware initialization stages.

Hold to Analog (HTA) mode. The axis is in Hold To Analog mode. See the

Mint keyword HTA .

Fault tracing 115

Symbol Description

Drive enabled, but idle.

Cam move. A cam profile is in progress. See the Mint keyword CAM .

Dwell. A dwell (wait) ‘move’ is in progress. See the Mint keyword

MOVEDWELL .

Flying shear. A flying shear is in progress. See the Mint keyword FLY .

Follow move. The drive is in follow mode. See the Mint keyword FOLLOW .

Homing. The drive is currently homing. See the Mint keyword HOME .

Incremental move. An incremental linear move is in progress. See the Mint keywords INCA and INCR .

Jog. The drive is jogging. See the Mint keywords JOG , JOGCOMMAND and related topics.

Offset move. An offset move is in progress. See the Mint keyword OFFSET .

Position move. A linear move is in progress. See the Mint keywords MOVEA and MOVER .

Torque move. The drive is in torque mode. See the Mint keywords

TORQUEREF , TORQUEREFSOURCE and related commands.

Firmware recovery mode in operation; see

SW1 linear switches - startup functions on page 72 .

Stop input active. A Mint STOP command has been issued or an optional stop input is active.

Velocity reference move. The drive is under velocity control. See the Mint keywords VELREF and related keywords.

Spline. A spline move is in progress. See the Mint keyword SPLINE and related keyword.

User defined symbols can be displayed using Mint keywords LED and LEDDISPLAY .

116 Fault tracing



Power

Drive does not start when applying AC power:

• Check that the motor output phases are not short circuited. The drive trips on a motor phase short circuit and will not restart unless AC power is removed.

Remove all power from the drive, correct the short circuit and restart the drive.



Communication

Drive status display is off:

• Check that the 24 V DC control circuit supply is correctly connected at X2, and is switched on. If a 24 V DC supply is not provided, an AC supply (or DC supply, page

54 ) must be present at X1 to allow communication.

Drive status display shows ‘ I ’:

• The MicroFlex e190 is in firmware recovery mode. This means that it does not boot fully, and allows Mint WorkBench to download firmware from the Choose

Firmware dialog. See SW1 linear switches - startup functions

on page

72 .

Mint WorkBench fails to detect the MicroFlex e190:

• Ensure that the MicroFlex e190 is powered and the drive status display is

illuminated (page 114 ).

• Check that the Ethernet cable is connected between the PC and MicroFlex e190.

Check that the cable is connected to port E3 (on the front panel) and not port E1 or E2.

• Check that the PC's Ethernet port has been correctly configured for TCP/IP operation, and enabled for use with Mint WorkBench (see

Configure the PC

Ethernet adapter

on page

94 ).

• Check that any PC firewall or security software does not prevent communication on TCP ports 5000 and 5001, and UDP port 5050. These ports are essential for communication with the MicroFlex e190.

• Try an alternative cable or different port on the PC.



Mint WorkBench

The Spy window does not update:

• The system refresh has been disabled. Go to the Tools, Options menu item, select the System tab and then choose a System Refresh Rate (500 ms is recommended).

Cannot communicate with the controller after downloading firmware:

• After firmware download, always power-cycle the MicroFlex e190.

Fault tracing 117



Tuning

Cannot enable the MicroFlex e190 because there is an error 10010:

• Check the drive enable input, if assigned, is connected and powered correctly.

Cannot enable the MicroFlex e190 because there is an error 10033 and/or

10035:

• Check the Safe Torque Off inputs on connector X2 are both connected and powered correctly.

When the MicroFlex e190 is enabled the motor is unstable:

• Check that the load is firmly coupled to the motor.

• Use the Mint WorkBench Drive Setup Wizard to confirm that the correct motor data has been entered.

• Use the Mint WorkBench Autotune Wizard to re-tune the motor.

• If the motor is still unstable, select the Mint WorkBench Autotune Wizard once more. Click Options.... On the Bandwidth tab, move the Current and/or Position and Speed Control sliders to a slower position to select a lower bandwidth. Click

OK to exit and then start the Autotune Wizard again.



Ethernet

Cannot connect to the drive:

• Check that the PC's Ethernet adapter has been correctly configured, as described

in Configure the PC Ethernet adapter on page 94 .

How do I configure my EtherCAT manager to operate with the MicroFlex e190?

• An EtherCAT ESI file (.xml) that describes the drive to the EtherCAT manager can

























 be uploaded from the controller using the Mint WorkBench EtherCAT tool.



118 Fault tracing

I cannot control the MicroFlex e190 from my EtherCAT or Ethernet POWERLINK manager

The drive reference source must be set to allow the EtherCAT or Ethernet

POWERLINK manager to take control of the MicroFlex e190. There are several ways to do this:

• Set the CONTROLREFSOURCESTARTUP parameter to '1' using the Mint

WorkBench Parameter viewer or Command window, save the parameters and restart the drive. This gives control to the manager each time the MicroFlex e190 starts.

• Set the Control Ref. Source to ‘RT Ethernet (CiA402)’ in the Mint WorkBench

Operating Mode Wizard or Commissioning Wizard.

• Click the Direct button on the Mint WorkBench Motion tool bar, and select ‘RT

Ethernet (CiA402)’ in the Axis 0 drop down.

• Confirm that the reference source on all controlled nodes has been set to real time Ethernet in the Mint WorkBench Operating Mode Wizard, and that the master has been configured correctly.

Fault tracing 119

Warning messages generated by the drive



Axis warnings

Code Warning

20003 All axis warnings cleared

(_ecAXIS_WARNINGS_CLEA

RED)

20004 Encoder battery low

(_ecENCODER_BATTERY_L

OW)

Cause

This information message can appear in the error log to indicate that all axis warnings have been cleared.

When using an encoder with battery backup (e.g. Smart Abs multi-turn) a battery low condition has been reported.

What to do

No Action required

Consider changing the Encoder battery

120 Fault tracing



Controller warnings

Code Warning Cause What to do

40006

40007

40012

40013

40014

40015

40016

40021

40022

Attempt to configure too many axes

(_ecTOO_MANY_AXES)

CamBox segments have been skipped

(_ecCAM_BOX_OVERRUN)

A host event has failed with retries

(_ecEVENT_RETRY_WAR

NING)

Attempted to assign too many servo axes

(_ecTOO_MANY_SERVO_

AXES)

Attempted to assign too many stepper axes

(_ecTOO_MANY_STEPPER

_AXES)

Attempted to assign too many virtual axes

(_ecTOO_MANY_VIRTUAL

_AXES)

Attempted to assign too many remote axes

(_ecTOO_MANY_REMOTE

_AXES)

All controller warnings cleared

(_ecCONTROLLER_WARNI

NGS_CLEARED)

Last reset was not controlled

(_ecRESET_NOT_CONTR

OLLED)

The device configuration file has attempted to assign more axes than are available on the controller.

The cam box has skipped a segment. This can happen if the source is moving fast enough to cause a segment to be skipped.

A host (i.e. ActiveX) event handler has failed to acknowledge an event that has been raised by the controller. There is a 'timeout' period of 1 second in which the host must acknowledge an event.

During the processing of the

..CMCF / .DCF (device configuration file), too many servo axes were configured.

During the processing of the

..CMCF / .DCF (device configuration file), too many stepper axes were configured.

During the processing of the

..CMCF / .DCF (device configuration file), too many virtual axes were configured.

During the processing of the

..CMCF / .DCF (device configuration file), too many remote axes were configured.

This information message can appear in the error log to indicate that all controller warnings have been cleared.

Last reset was not controlled

Re-run the System Configuration Wizard .

See CAMBOX in Mint WorkBench Help, look at "position_array". Either slow down the source or increase the size of the segments

If the host does not acknowledge the event after 3 time-out periods, the controller generates warning 40012. See ERRDATA for details of the error.

To fix this issue, use the System Config

Wizard to reduce the number of configured servo axes.

To fix this issue, use the System Config

Wizard to reduce the number of configured stepper axes.

To fix this issue, use the System Config

Wizard to reduce the number of configured virtual axes.

To fix this issue, use the System Config

Wizard to reduce the number of configured remote axes.

No Action Required

To fix this issue, use the System Config

Wizard to reduce the number of configured servo axes.

Fault tracing 121

Code Warning Cause What to do

40023

40024

40025

40026

40027

40028

Default MAC detected

(_ecDEFAULT_MAC_DETE

CTED)

Could not open license file or

Error reading license file

(_ecMISSING_LICENCE_FI

LE)

Licence file doesn't match hardware

ID(_ecFOREIGN_LICENCE

_FILE_PRESENT)

Invalid Licence file

(_ecINVALID_LICENCE_FIL

E_PRESENT)

Warning applying parameter value

(_ecPARAM_WARNING)

Warning fan fault

(_ecFAN_FAULT_WARNIN

G)

Default MAC has been detected, valid MAC address is not set.

Could not open license file or Error reading license file

Wrong licencing version or platform,or Flash unique ID does not match the one in the license file

Licence data hash does not match the one in the

Licence File

This warning will be generated if an attempt is made to write to a parameter that is no longer supported.

The fan is possibly faulty, unplugged or jammed.

Set valid MAC address

If this error is received, please contact ABB technical support.

If this error is received, please contact ABB technical support.

If this error is received, please contact ABB technical support.

If necessary recommission the drive to create a new parameter table

Firstly ensure the latest firmware is in use

(as the fan is controlled by firmware). Check the bottom of the drive to determine that the fan inlets are not blocked and the fan is rotating. If the drive fan does not turn see the drive installation manual for instructions on how to replace the fan

See AN00267 ABB Motion Drives Error trouble shooting manual for more details on error handing.

122 Fault tracing

Error messages generated by the drive



Autotuning errors

Code Error Cause What to do

4000 No autotuning error

(_ecAUTOTUNE_SUCCESS)

4001 Drive rating data invalid

There is no autotuning error.

4002 Drive speed max invalid

One of the following conditions has not been met

1. Drive bus nominal voltage < 1

2. Drive rated current <= 0

DriveSpeedMax <= 0

Only check AutoTune test ID auoDESIGN_MOTION_CONTR

OL .

4003 Config doesn't support that test(_ecCONFIG_NOT_RIGHT_TY

PE)

4004 Axis error has occurred

(_ecAXIS_ERROR)

The autotuning operation does not support this controller configuration.

An asynchronous axis error or drive error has occurred during the autotuning operation.

4005 Calculated torque constant invalid Drive had calculated a Torque

Constant which is too small.

4006 Inductance value is zero E For the selected motor the winding inductance is zero

4007 Resistance value is zero

(_ecZERO_RESISTANCE_VALUE

)

4008 User has aborted test

(_ecUSER_TEST_ABORT)

4009 Cannot capture data during test

(_ecCAPTURE_FAILED)

For the selected motor the winding resistance is zero

The autotuning operation has been manually aborted.

Many of the autotuning operations use the data capture facility. This error message can occur if the capture facility is in use prior to performing the autotuning operation.

No Action

Check memory module is connected correctly, check power supply level is correct

Re-run commissioning and check that DriveSpeedMax is set correctly

This error will not occur unless the configuration has been manually changed using the CONFIG keyword.

See the Mint WorkBench Motion toolbar for more information on the error.

Check motor data is correct.

To avoid this error, make sure that a motor has been selected from the database in the Drive Setup Wizard.

Alternatively, if a custom motor has been selected and you are unsure of motor data, check that the “Measure motor resistance and inductance" test has been selected and run using the Autotune tool.

To avoid this error, make sure that a motor has been selected from the database in the Drive Setup Wizard.

Alternatively, if a custom motor has been selected and you are unsure of motor data, check that the "Measure motor resistance and inductance" test has been selected and run using the Autotune tool.

This will occur if the Autotune tool's

STOP button is clicked while tests are being performed.

Not normally a probem, but to prevent this before autotuning, type

CP=0 in the Command window to halt any capture operations.

Fault tracing 123

Code Error Cause What to do

4010 Resistance too low, possible short

) circuit

(_ecPOSSIBLE_SHORT_CIRCUIT

4011 Autotuning doesn't support feedback device

(_ecUNSUPPORTED_FEEDBACK

_TYPE)

4012 Encoder resolver rotation sense is

) wrong

(_ecFEEDBACK_SENSE_WRONG

This error can occur during the

Measure motor resistance and inductance test and indicates that the effective motor winding resistance is very low.

The Test the feedback or

Feedback calibration test (EnDat absolute encoders only) does not operate on this feedback type.

During the Measure the voltage constant and Measure the motor inertia tests, a torque is applied to the motor. This error will occur if the resulting motion is in the opposite direction to the torque

(a positive torque should cause positive velocity).

Check that there are no short circuits between the U, V and W terminals of the motor and that the motor power cable is wired correctly.

This error will not normally occur because Mint WorkBench will not allow autotuning on unsupported feedback types. Ie the combination of

Motor and Feedback device is not supported by Mint Workbench.

The most common cause of this error is an incorrectly wired or set up feedback device (encoder or resolver), or an incorrectly wired motor. Select the Test the feedback option. This will indicate if there is a problem with the wiring or setup of the drive and will automatically compensate for certain wiring errors.

Note that the Test the feedback test should ideally be run with the motor disconnected from the load.

This error can also occur when autotuning a motor connected to some types of load. In particular, loads with a lot of compliance (e.g. belt drives) or torque offsets (e.g. gravitational loading) can cause problems for autotuning.

Another cause of the error may be because the position feedback is noisy, perhaps due to long cables on resolver feedback systems, for example. In either of these cases, it may be necessary to manually tune the system using the Fine-tuning tool.

124 Fault tracing

Code Error Cause What to do

4013 Hall sequence doesn't behave as expected

(_ecHALL_FAULT_OR_NO_ROTA

TION)

The Hall sequence doesn't behave as expected. This error can occur during the Test the feedback test when using an incremental encoder + Halls feedback system.

4015 Position control update rate invalid Position loop control rate

(ControlRate(0, 1)) < 1.

The error can occur for a number of reasons, so try the following tests:

•Return to the Confirm Motor

Information page of the Drive Setup

Wizard to check these values. If the resolver is not a standard ABB product, check that the specification is compatible in the drives hardware manual

•A common cause of this error is an incorrectly wired or set up encoder/resolver. Try manually moving the rotor and watching the position field in the Axis tab. If the position does not change, or it changes erratically, this indicates a problem with the encoder wiring.

•Run the Test the feedback test again. Ideally, the Test the feedback test should be run with the motor disconnected from the load, although it will operate successfully where the load is purely inertial or load friction is small.

Note: watch the movement of the rotor. For rotary motors, the shaft should rotate through just over one revolution in one direction followed by one revolution in the opposite direction. For linear motors, the rotor should move through just over one pole pitch in one direction followed by one pole pitch in the opposite direction. If the rotor moves significantly more or less than these distances, this indicates that the number of motor poles is not set correctly (rotary motors), or the pole pitch is not set correctly (linear motors). If the motion during the test is not smooth, this indicates that friction is high and the test will not be able to obtain conclusive results.

Change control rate to expected value (normally 4000)

Fault tracing 125

Code Error Cause What to do

4016 Mathematic error in gain calculations

(_ecGAIN_CALCS_FAILED)

4017 Drive setup is invalid

4018 Can't fit model to voltage/current data

(_ecCANNOT_FIT_RESISTANCE_

MODEL)

4019 Can't fit model to voltage/current transient

(_ecCANNOT_FIT_INDUCTANCE

_MODEL)

This error can occasionally occur during the Calculate current loop gains or Calculate the speed and position gains tests, indicating a numerical problem in the gain equations. It can also indicate a problem with the values of motor resistance and inductance (MOTORRS and

MOTORLS) when it occurs during current loop gain calculations, or with the values of inertia and damping

(LOADINERTIA and

LOADDAMPING) when it occurs during speed/position loop gain calculations.

This error can potentially occur in any of the autotuning operations, although it is rare. It indicates a problem with the fundamental setup of the drive such as the settings for motor rated current or peak current.

The error can usually be cleared by changing the design bandwidth for the appropriate operation (click

Options... in the Autotune tool). If that fails, try running the entire autotuning sequence again.

Try running the Commissioning

Wizard again, making sure that the I am starting a new application. Reset memory to factory defaults option on the Welcome page is selected.

During the Measure motor resistance and inductance test, a gradually increasing voltage is applied to the motor and the generated current is logged. The process is stopped when the drive current reaches 80% of the specified motor rated current value. The resulting voltage/current characteristic is used to calculate the resistance of the windings and certain parameters of the drive's power stage. Error 4018 will occur if there is not enough data in the voltage/current characteristic to perform the calculation.

During the Measure motor resistance and inductance test, stator inductance is measured by applying a voltage step to the motor and logging the generated current waveform. Inductance is then calculated from the resulting voltage/current characteristic. Error 4019 indicates that this calculation cannot be performed because of insufficient data or an unusual characteristic.

Check the wiring between the drive and motor and the motor windings for open circuits

Try skipping the Measure motor resistance and inductance test. To do this, manually enter the motor resistance and inductance in the

Confirm Motor Information page of the Drive Setup Wizard (most motor manufacturers will supply this information) and confirm that the test is not selected in the Autotune tool.

Once autotuning is complete, check that the response of the current controllers is satisfactory using the

Fine-tuning tool's Current tab.

126 Fault tracing

Code Error Cause What to do

4020 Can't fit load model speed data

)

(_ecCANNOT_FIT_LOAD_MODEL

4021 Motor test timed out

(_ecAUTOTUNE_TEST_TIMEOUT

)

4022 Motor travelled too far during test

(_ecAUTOTUNE_TEST_OVERTR

AVEL)

During the Measure the motor inertia test, a torque waveform is applied by the motor and the motor speed logged. A simple inertia/damping model is then fitted numerically to the resulting torque/speed characteristic. Error 4020 indicates that the fitting process failed. A common cause for this is lack of sufficient information to fit the load model.

During the Measure the voltage constant and Measure the motor inertia tests, current is applied to the motor to accelerate the motor and load. Error 4021 indicates that the rotor did not reach a sufficient speed, or travel a sufficient distance, within the duration of the test. Error

4021 can occur if the torque (or force) generated by the motor is insufficient to overcome friction in the load.

Click Options... in the Autotune tool and then select the Limits tab.

Increase the value in the Max Travel box to allow the motor to rotate further during the test and consequently log more data. The model fitting process can also fail for certain types of load. For example, loads with high coulomb or static friction will not conform well to an inertial load model. Likewise gravitational loading (i.e. vertical axes) will cause problems for autotuning. If the Measure the motor inertia test continues to fail then the subsequent Calculate the speed and position gains test will also fail, as it requires values for load inertia and damping. It may be necessary to manually tune the system using the

Fine-tuning tool's Speed and Position tabs.

Click Options... in the Autotune tool and then select the Limits tab.

Increase the value in the Max Torque box to allow the motor to generate sufficient torque to overcome friction.

If the Measure the motor inertia test continues to fail then the subsequent Calculate the speed and position gains test will also fail, as it requires values for load inertia and damping. It may be necessary to manually tune the system using the Fine-tuning tool's Speed /

Velocity and Position tabs.

During the Measure the voltage constant and Measure the motor inertia tests, current is applied to the motor to accelerate the motor and load. Once the motor has reached a sufficient speed, the direction of applied current is reversed to bring the rotor to a halt within specified travel limits.

Error 4022 indicates that the test was unable to impose these limits.

Click Options... in the Autotune tool and then select the Limits tab.

Increase the value in the Max Travel box to allow the motor to rotate further during the test. Also, try reducing the value in the Max Speed box. If the Measure the motor inertia test continues to fail then the subsequent Calculate the speed and position gains test will also fail, as it requires values for load inertia and damping. It may be necessary to manually tune the system using the Fine-tuning tool's Speed /

Velocity and Position tabs.

Fault tracing 127

Code Error Cause What to do

4023 Not enough test data to analyse

(_ecINSUFFICIENT_TEST_DATA)

This error can occur during any of the autotuning tests, namely the Measure motor resistance and inductance test, the

Measure the voltage constant and Measure the motor inertia tests, and the Feedback calibration test (for absolute encoders only). Generally, error

4023 means that insufficient data was logged during the test to obtain accurate parameter measurement.

4024 Flux model parameters are invalid

(_ecINVALID_FLUX_MODEL)

The Measure the motor inertia test will fail with this error if the voltage constant has not been defined.

4025 Load model is invalid

(_ecINVALID_LOAD_MODEL)

See errors 4018 , 4019 and 4020 for the reasons why these tests fail.

To determine the voltage constant, either select a standard motor from the database in the Drive Setup

Wizard , enter a voltage constant value in the Confirm Motor

Information page of the Drive Setup

Wizard (see manufacturer's motor data), or run the Measure the voltage constant test.

If this error occurs during the

Measure the motor inertia test, it suggests that the characteristics of the load are such that inertia cannot be accurately calculated.

See error 4020 for more information.

4026 Encoder parameter invalid

4027 Motor inductance is not set

Error 4025 can also occur during the Calculate the speed and position gains test if the values of load inertia and damping have not been defined.

In this case, run the Measure the motor inertia test to measure load inertia and damping.

Either;

EncoderResolution < 1 or

EncoderCycleSize = 0.

When motor type is AM, Lm or

Llr <= 0.

Correct Encoder parameters and re run autotune tests

To avoid this error, make sure that a motor has been selected from the database in the Drive Setup Wizard.

Alternatively, if a custom motor has been selected and you are unsure of motor data, check that the "Measure motor resistance and inductance" test has been selected and run using the Autotune tool.

128 Fault tracing

Code Error Cause What to do

4028 Can't set stator resistance

(_ecCANNOT_SET_STATOR_RE

SISTANCE)

4029 Can't set stator leakage inductance

(_ecCANNOT_SET_STATOR_IND

UCTANCE)

4030 Motor pole pitch invalid

4031 Motor pole number invalid

4032 Load inertia is not set

Can't set stator resistance.

Can't set stator leakage inductance.

Calculated motor pole pitch <= 0.

Calcualted motor poles < 2.

4033 Can't set maximum motor flux

(_ecCANNOT_SET_MOTOR_MAX

_FLUX)

Calcaulted load inertia <= 0.

Can't set motor flux model time constant.

4035 Can't set load inertia

(_ecCANNOT_SET_LOAD_INERTI

A)

Can't set load inertia.

Can't set load damping. 4036 Can't set load damping

(_ecCANNOT_SET_LOAD_DAMPI

NG)

4037 Can't set controller proportional gain

(_ecCANNOT_SET_GAIN_KIPRO

P)

Can't set controller proportional gain.

Can't set current controller integral gain.

4038 Can't set current controller integral gain

(_ecCANNOT_SET_GAIN_KIINT)

4039 Can't set speed controller proportional gain

(_ecCANNOT_SET_GAIN_KVPRO

4040 Can't set speed controller integral gain

(_ecCANNOT_SET_GAIN_KVINT)

4041 Can't set position proportional gain

(_ecCANNOT_SET_GAIN_KPROP

)

Can't set speed controller integral gain.

Can't set speed controller integral gain.

Can't set position proportional gain.

Can't set position derivative gain. 4042 Can't set position derivative gain

(_ecCANNOT_SET_GAIN_KDERI

V)

4043 Can't set position integral gain

(_ecCANNOT_SET_GAIN_KINT)

4044 Can't set velocity feedforward gain

(_ecCANNOT_SET_GAIN_KVELF

F)

4045 Can't set velocity feedback gain

(_ecCANNOT_SET_GAIN_KVEL)

4046 Can't set acceleration feedforward gain

(_ecCANNOT_SET_GAIN_KACCE

L)

4047 Inertia test failed

(_ecINERTIA_TEST_FAILED)

Can't set position integral gain.

Can't set velocity feedforward gain.

Can't set velocity feedback gain.

Can't set acceleration feedforward gain.

Inertia measurement failed

Error codes 4028 to 4054 will occur if the associated drive parameter, calculated by one of the autotuning tests, or set by the user is outside the allowable range of values. These errors should not normally occur.

If the problems persist, make sure that a motor has been selected from the database in the Drive Setup

Wizard. Alternatively, if a custom motor has been selected and you are unsure of motor data, check that the

"Measure motor resistance and inductance" test has been selected and run using the Autotune tool. If the problem persists you will need to manually tune the control loops in the drive.

Fault tracing 129

Code Error Cause What to do

4048 Voltage constant test failed

(_ecVOLTAGE_CONSTANT_TES

T_FAILED)

4049 Can't set offset angle

(_ecCANNOT_SET_ANGLE_OFF

SET)

4050 Can't set observer gain K1

(_ecCANNOT_SET_OBSERVER_

GAIN_K1

4051 Can't set observer gain K2

(_ecCANNOT_SET_OBSERVER_

GAIN_K2)

4052 Can't set observer gain KJ

(_ecCANNOT_SET_OBSERVER_

GAIN_KJ)

4053 Can't enable integral position control

(_ecCANNOT_SET_KINT_MODE)

4054 Can't set integral term limit

(_ecCANNOT_SET_KINT_LIMIT)

4055 Invalid autotuning operation number

(_ecINVALID_OPERATION)

4060 Cannot enable drive

(_ecCANNOT_ENABLE_DRIVE)

4061 Drive communications error

(_ecDRIVE_COMMS_ERROR)

Voltage constant measurement failed

Can't set motor feedback offset angle (Possible encoder fault or wrong config)

Can't set observer gain K1.

Can't set observer gain K2.

Can't set observer gain KJ.

Can't enable integral position control.

Can't set integral term limit.

This will only occur if Mint

WorkBench attempts to run an autotuning operation not supported by the firmware.

A drive cannot be enabled unless; the hardware enable is configured but not active or the

AC supply (or shared DC bus supply) is present.

Communication between the host PC and the controller has failed.

Error codes 4028 to 4054 will occur if the associated drive parameter, calculated by one of the autotuning tests, or set by the user is outside the allowable range of values. These errors should not normally occur.

If the problems persist, make sure that a motor has been selected from the database in the Drive Setup

Wizard. Alternatively, if a custom motor has been selected and you are unsure of motor data, check that the

"Measure motor resistance and inductance" test has been selected and run using the Autotune tool. If the problem persists you will need to manually tune the control loops in the drive.

Check Drive parameters and Re run

Autotuning tests

Go to Mint Workbench Parameter view and Check; Enabling >

DriveEnableInput setting is correct - if so ensure that the input is active before running autotune.

To check drives connected voltage

Go to Mint Workbench Parameter view and Check;

Drive > DriveBusVolts is at the correct level (325VDC for 230VAC supply)

Check the serial or USB cable.

130 Fault tracing

Code Error Cause What to do

4063 Encoder fault

(_ecPOSSIBLE_ENCODER_FAUL

T)

4065 Test move will take too long

4066 Test move velocity is too high

4067 Motor rated current undefined

4068 Current control loop is not tuned

4069 Autotuning doesn't support motor type

4070 Can't set flex control proportional gain

General Encoder fault

Calculated velcoity >

DriveSpeedMax in veloctiy autotune.

Motor rated current < 0.2A

Check encoder configuration, wiring and encoder operation when rotating by hand.

Test move takes too long time in. Check that test moves are set so that they will not take an excessive amount of time, Also check scaling is set correctly by checking

SCALEFACTOR

Re-run commissioning and check that DriveSpeedMax is set correctly

Check Motor data is correct, if the motor current is below 0.2A then its too small to be controlled by the drive

Re-run Autotuning Current loop has not been tuned before performing the Rotor parameters autotuning

(applicable to asynchronous motors only)

Cannot do the wanted Autotune for this motor type.

Can't set flux control loop proportional gain.

Check Motor data is correct

Check Motor data is correct

4071 Can't set flex control integral gain Cannot be shown because there is no error in API.

4074 Can't set magnetizing inductance Cannot set motor Lm.

Check Motor data is correct

Check Motor data is correct

Fault tracing 131



Parameter errors

Code Error Cause What to do

6001 Parameter value out of range

(_ecPARAM_VALUE_OUT_OF_R

ANGE)

6004 Parameter definition has changed

(_ecPARAM_DEFINITION_ERRO

R)

The value supplied for the parameter is out of range.

The value you have entered or that is stored in the parameter file (.ptx) you have loaded does not fit within the limits specified by the drive firmware version loaded. If needed update the firmware first then load the parameter file. To do this in

Mint Workbench go to Tools > Download

Firmware > Select and download firmware file. Once complete try again

The specified parameter exists, but its definition has changed.

Check the latest documentation for the parameter.

132 Fault tracing



Communication errors

Code Error

8000

8001

8002

8003

EtherCAT AL status code

(_ecETHERCAT_AL_STAT

USCODE)

CIP configuration error

(_ecCIP_CFG_ERROR)

Cause

This error is listed together with a

Profile Code in the Mint WorkBench

Error Log. Note: The displayed profile code must be converted to hexadecimal to give the specific

EtherCAT error code.

This error is listed together with a

Profile Code in the Mint WorkBench

Error Log. The displayed profile code must be converted to hexadecimal to give the specific CIP general status code.

POWERLINK error code

(_ecPOWERLINK_ERROR)

This error is listed together with a

Profile Code in the Mint WorkBench

Error Log. The displayed profile code must be converted to hexadecimal to give the specific POWERLINK error code.

PROFInet error code

(ecPROFINET_CFG_ERRO

R)

This error is reported when multicast

MAC filter configuration fails.

What to do

This error status indicates that the

EtherCAT master has been sent an error code by the drive. Check the error log to determine what the "real" drive error code is.

This error status indicates that the

EtherCAT master has been sent a CIP error code by the drive. Check the error log to determine what the "real" drive error code is.

This error status indicates that the

POWERLINK master has been sent an error code by the drive. Check the error log to determine what the "real" drive error code is.

This error status indicates that the

PROFInet master has tried to configure the device ID but has failed.

Fault tracing 133



Axis errors

Code Error Cause What to do

10000 Motion aborted

(_ecABORT)

10001 Forward hard limit hit

(_ecFWD_HARD_LIMIT)

10002

10003

Reverse hard limit hit

(_ecREV_HARD_LIMIT)

Forward soft limit hit

(_ecFWD_SOFT_LIMIT)

This error is caused by using the

ABORT keyword or breaking a

Mint program. See ABORT and

ABORTMODE .

Drive has been configured to have a Forward Limit input and its currently active.

See LIMITREVERSE and

LIMITMODE .

The ABORT keyword has been issued by the mint program. This may be normal in the operation. If its not find the issue with the Mint program.

Check Drive configuration, Mint Program and/or Parameter file. See

LIMITFORWARD and LIMITMODE.

Check Drive configuration, Mint Program and/or Parameter file. See

LIMITREVERSE and LIMITMODE .

The axis may be configured to have a maximum and minimum limit of travel in software. If the axis position exceeds one of these limit values, a motion error will be generated.

Check Drive configuration, Mint Program and/or Parameter file. See

SOFTLIMITFORWARD and

SOFTLIMITMODE .

10004 Reverse soft limit hit

(_ecREV_SOFT_LIMIT)

10005 Fatal following error exceeded

(_ecFOLLOWING_ERRO

R)

10006

10007

Fatal velocity error exceeded

(_ecVEL_FATAL)

Error input active

(_ecERROR_INPUT)

The axis may be configured to have a maximum and minimum limit of travel in software. If the axis position exceeds one of these limit values, a motion error will be generated.

Check Drive configuration, Mint Program and/or Parameter file. See

SOFTLIMITREVERSE and

SOFTLIMITMODE .

FOLERRORFATAL sets the maximum permissible following error before an error is generated.

The following error is defined as the demand position minus the actual motor position. If the following error exceeds the value set by FOLERRORFATAL

(maximum following error) an error may be generated.

VELFATAL, velocity error checking allows the measured velocity (VEL) of an axis to be compared to its demand velocity

(VELDEMAND). If the difference between the two values exceeds the limit set with VELFATAL, then an error will be created.

An input is defined as an

ERRORINPUT and it is activated by an error condition.

If this error occurs the axis may not be free to move, is moving when it should not (for example a suspended load with a bad motor brake) or there could be a limitation within the drive (eg current or speed limit) or motor size (eg Inertia) that stops it moving to the target position with the given ACCEL/DECEL rates before the following error is beyond the value set by the user. See FOLERRORFATAL and

FOLERRORMODE.

Note: If this error occurs when using a

Smart Inc encoder, see Smart Inc encoders in Mint Help.

Check the Mint program or other source of velocity demand is not attempting to run the axis faster than the programmed

DRIVESPEEDMAX

See ERRORINPUT and

ERRORINPUTMODE.

134 Fault tracing

Code Error Cause What to do

10009 Invalid trajectory

(_ecPROFILE_ERROR)

10010 Drive enable input is

10011 inactive

(_ecDRIVE_ENABLE_INA

CTIVE)

10012 Power base is not ready to enable

(_ecPOWER_BASE_NOT

_READY)

10013 Power module has an error

(_ecPOWER_MODULE_F

AULT)

10014

Drive I.T exceeded limit

(_ecDRIVE_OVERLOAD)

Over current trip

(_ecOVER_CURRENT)

Trajectory generation error. The controller was unable to perform the requested profile. This can occur during CAM moves if an invalid element is detected (e.g. a negative master distance). An axis performing a cam profile can skip over very short slave segments if the master velocity is such that the slave segment is less than one profiler tick in length. If more than 5 slave segments are skipped in one profiler tick, this error will be generated. The axis will be crash stopped and disabled.

DRIVEENABLEINPUTMODE is configured to

_emCRASH_STOP_DISABLE and the input defined by

DRIVEENABLEINPUT has become inactive whilst the drive was enabled

Check Mint CAM parameter file for anamolus Data points. Excel is a helpful tool to help with this.

Check Digital Input status and correct

The drive overload algorithm has integrated up to 100% and has tripped the drive to protect it. This will happen if the RMS current for the application exceeds the

DRIVERATEDCURRENT value

The Power base has been asked to enable but is not ready. For it to be so it must have the correct voltage and supply and not be overheated.

Check tuning, check motion profile

(especially acceleration and deceleration). If necessary select a larger drive (which may also require an alternative motor)

Check of power base ambient conditions and supply voltage. Include interlocks in any program being used that check

DRIVEENABLEREADY

There’s circuit detection in power unit and the signal is connected to the DSP. The power unit generated an error while in operation.

over current, earth fault, over temperature on power board

Possible causes of this are Over temperature, Over Current, Brake chopper Short circuit or poor earthing or shielding (particularly of motor power cables). Power cycle to clear the error.

Based on the drives currently configured DRIVERATINGZONE the drive has detected a motor overcurrent state. Measured current should not exceed the maximum current. The maximum current is related with the over current and the rated current.

Check the motor is free to rotate, has been sized correctly and there are no short circuits on the drive output wiring.

Fault tracing 135

Code Error Cause What to do

10015 Over speed trip

(_ecOVER_SPEED)

10016 Over voltage trip

(_ecBUS_OVER_VOLTAG

E)

10017

10018

10019

)

Under voltage trip

(_ecBUS_UNDER_VOLTA

GE)

Motor I^2.T exceeded limit

(_ecMOTOR_OVERLOAD

Motor temperature trip

(_ecMOTOR_TEMP_INPU

T)

The drive has detected the apparent motor velocity has exceeded the trip threshold set by

DRIVESPEEDMAX and the

VELFATAL parameters

Note: If this error occurs when using a

Smart Inc encoder, see Smart Inc encoders (setting a high application max speed and 200% velocity threshold may be necessary when using Smartabs). For other feedback types check the integrity of the feedback wiring and the earthing/shielding of all cables to/from the drive

The drive has shut down to protect itself after the measured dc bus voltage exceeded the preset limit.

This can often occur during deceleration, particularly with large inertial loads

Decrease deceleration rate, add a regen resistor if one is not fitted. Consider use of common dc bus if there are multiple drives where some regenerate and some motor

The drive has shut down to protect itself after the measured dc bus voltage fell below a preset limit.

This can often occur during acceleration, particularly with large inertial loads

Note: if

DRIVEBUSUNDERVOLTSOVER

RIDE is 0, low limit will use power data, otherwise will use

DRIVEBUSUNDERVOLTSOVER

RIDE.

Decrease the acceleration rate. If the fault occurs when the axis is not accelerating check the supply connections to the drive. A larger motor/drive combination may be required if the needed acceleration cannot be achieved

The motor overload algorithm has integrated up to 100% and has tripped the drive to protect the motor. This will happen if the RMS current for the application exceeds the MOTORRATEDCURRENT value

#1. Motor Over Temperature has been detected on the drive and the drives hardwired Thermistor X10 input has detected Motor overheating from the connected motor PTC sensor

Check tuning, check motion profile. If necessary select a larger motor (which may also require an alternative drive)

When using feedback temperature monitoring, X10 connections TH1 and

TH2 should be connected with a wire link

(short-circuited) to suppress the normal temperature trip function.

Note: MOTORTEMPERATURETRIP does not monitor the drive's X10 motor thermistor input. Also look for a fault with feedback cable or wiring.

#2. Motor Over Temperature has been detected on the drive and the

Motor Encoder is of a serial variety

(such as Hiperface DSP which provides motor thermistor resistance as part of the feedback data). If this value exceeds

MOTORTEMPERATURETRIP the drive trips with a motor overtemperature error

Set MOTORTEMPERATURETRIP to a resistance that is suitable for the motor's thermistor device. eg

MOTORTEMPERATURETRIP(0) =

1200.

Also look for a fault with feedback cable or wiring.

Note: MOTORTEMPERATURETRIP operates only with motors that have a positive temperature coefficient (PTC) thermistor, where resistance increases with temperature, or with motors that have a switch that goes open-circuit at high temperatures.

136 Fault tracing

Code Error Cause What to do

10020

10021

10022

)

Phase search failure

(_ecPHASE_SEARCH_FA

ILED)

Hall signals lost or incorrect

(_ecHALL_SIGNAL_LOSS

Encoder signals lost or incorrect

(_ecENCODER_SIGNAL_

LOSS)

10023 Encoder power supply loss

(_ecENCODER_SUPPLY_

LOSS)

10026

10027

PDO data is not present

(Mn to Cn)

(_ecPDO_DATA_MISSIN

G_MN_TO_CN)

Remote motion command failed

(_ecREMOTE_MOTION_F

AILED)

Phase search must be completed to control a motor with type

"encoder only"

This error indicates that a feedback type of halls only or

Encoder + Halls is used and has detected an error. If this is so the halls sensor state is checked by the drive and that the Hall state detected is illegal (0 or 7).

Phase search must be completed to control a motor with type "encoder only"- if it does not finish successfully check encoder settings in drive and check the correct number of motor poles has been configured.

This error would normally indicate a faulty encoder in the motor (the encoders include simulated hall signals) or bad wiring to the motor encoder. Check the quality of installation, wiring and encoder type selection.

Note: You can use Mint Workbench to scope Encoder Hall State to look for problems.

This indicates that either there has been a total break or total disruption with the encoder signals.

Check the quality of installation, wiring and encoder type selection.

Note: You can use Mint Workbench to scope Encoder Hall State and Encoeder to look for problems.

Note: To get more information on this error connect to the Drive with Mint

Workbench go to "Parameters > Encoder

> Channel 0 > Encoder

Parameter(Encoder0, Fault Register)" If this contains a value other than 0 you can use this value to give you more help on the error. See help file subject:

ENCODERPARAMETER. Check all earthing and shielding arrangements are as per the instruction manual.

Power supply to encoder has been lost or has dropped below the minimum level for the selected encoder type.

Note: encoder voltage is supplied by the drive.encoder power is given from power board, then transferred from 8v to 5v by control board.

Check that there are no shorts in the encoder wiring to the encoder supply

(e.g. ensure the shields are not shorting to the supply or other signal pins). If the wiring is OK and the problem persists then it is likely one of the internal power supplies is failing.

EtherCAT or EPL PDO data from the manager (MN) to the remote axis (CN) has been lost. This error occurs if the remote axis detects that at least two consecutive PDO packets have not been received correctly.

This error will occur on the drive if it has lost its connection to the Manager. Check that the Manager is running, configured correctly and the network is operating correctly.

Unable to load motion on the remote axis. Generally speaking, this error indicates MML in drive is not ready for operation.

This can be caused by a number of reasons, such as incorrect operating mode, the motor brake being enabled or the move buffer being full.

Fault tracing 137

Code Error Cause What to do

10028

10029

Encoder not ready to operate

(_ecENCODER_NOT_RE

ADY)

Supply phase loss detected

(_ecSUPPLY_PHASE_LO

SS)

10030 PDO data is not present

(Cn to Mn)

(_ecPDO_DATA_MISSIN

G_CN_TO_MN)

10032 PDO value out of range

(_ecPDO_VALUE_OUT_O

F_RANGE)

10033 STO active

(_ecSTO_ACTIVE)

The drive is configured to use a

Serial Encoder and it is not able to provide position information.

The encoder may take several seconds to become ready and this error will be generated if an attempt is made to enable the axis before the encoder is ready.

This error can also occur if the resolution configured on the drive is not compatible with the encoder. The axis will be crash stopped and disabled.

Note: To get more information on this error connect to the Drive with Mint

Workbench go to "Parameters > Encoder

> Channel 0 > Encoder

Parameter(Encoder0, Fault Register)" If this contains a value other than 0 you can use this value to give you more help on the error. See help file subject:

ENCODERPARAMETER

The three phase drive has detected that one of the AC supply phases may been lost. The drive can normally only operate using a three phase supply. MotiFlex e100 drives have dedicated phase monitoring hardware, MotiFlex e180 drives monitor the ripple on the dc bus and if this becomes excessive then they assume an input phase has been lost

PDO data from the remote axis

(CN) to the manager (MN) has been lost. This error occurs if the manager detects that at least two consecutive PDO packets have not been received correctly.

Check the connection of the input phases. If the connections are OK and a

MotiFlex e180 is tripping spuriously (e.g. because the application requires harsh repeated accel and decel cycles) then you can disable phase loss detection using PHASELOSSMODE(0) = 0

This error will occur on the NextMove e100 if it detects a drive disappears from the network. This may be "normal" for an optional node (and the error must be handled via the ONERROR event). If this error is unexpected check the drive is not resetting and check the integrity of the

Ethernet (EPL) cabling

When controlling an axis using

Real time Ethernet one of the

PDOs sent to the drive were out of range. This is often the velocity reference PDO and can be caused when an axis is geared to a master axis/encoder and the master position/encoder value is changed via the program to a new value causing an infinite velocity demand

Connect to the drive whilst the error is active and use the Error Log to determine which PDO is out of range. If it's velocity then check the Mint program to ensure axes that are geared to master references are not geared when those master references position/encoder values are written to

Either one or both of the Safe

Torque Off inputs is not powered.

This error can occur only when the drive is enabled.

Check drive STO inputs, if used check the wiring of the safety circuit or for open guards or Emergency stops etc.

138 Fault tracing

Code Error Cause What to do

10034

10035 STO input mismatch

(_ecSTO_INPUT_MISMAT

CH)

10036 Encoder reading wrong or

Hall fault

(_ecENCODER_READING

_WRONG)

10037

10038

10039

10040

STO hardware fault

(_ecSTO_HARDWARE_F

AULT)

Resolver signals lost or incorrect

(_ecRESOLVER_SIGNAL

_LOSS)

Hiperface DSL encoder error

(_ecHIPERFACE_DSL_E

NCODER_ERROR

10041 Output frequency over limit

(_ecOUTPUT_FREQ_OVE

R_LIMIT)

10042

All axis errors cleared

(_ecAXIS_ERRORS_CLE

ARED)

Encoder battery dead

(_ecENCODER_BATTER

Y_DEAD) ecDRIVESPEEDMAX_OU

T_OF_RANGE

Either one or both of the internal fault circuit outputs has been asserted, indicating an internal hardware fault in the STO circuits.

This error can occur when the drive is enabled or disabled.

Check drive STO inputs, if used check the wiring of the safety circuit or for open guards or Emergency stops etc.

The drive has detected a mismatch in its internal STO registers. This error can occur when the drive is enabled or disabled.

The drive has detected that the measured Hall transition angle differs from the electrical angle used in the control by at least 70 degrees.

Check the two drive STO inputs are in the same state with a multimeter. It may be necessary to adjust

STOMISMATCHTIME to account for any timing discepancies in the connected safety circuit.

Check the quality of installation, wiring and encoder type selection.

Note: You can use Mint Workbench to scope Encoder Hall State and Encoder to look for problems. Check that all earthing

/ shielding is as per the drive installation manual

No action required This information message can appear in the error log to indicate that all axis errors have been cleared.

This information message can appear at startup, or when the drive is enabled, if the battery backup supply for a Smart Abs encoder has failed.

Change the Encoder battery

An error has occurred when using the Resolver Adapter (OPT-MF-

201 or FB-03). The error is caused by the loss of resolver signals.

An error has occurred when reading the position over

Hiperface DSL.

Check the wiring to the motor’s feedback device, the integrity of the motor connector, and the connections inside to the adapter.

Note: To get more information on this error connect to the Drive with Mint

Workbench go to "Parameters > Encoder

> Channel 0 > Encoder

Parameter(Encoder0, Fault Register)" If this contains a value other than 0 you can use this value to give you more help on the error. See help file subject:

ENCODERPARAMETER. Check all earthing / shielding is as per the drive installation manual

Reduce your application's speed.

The drive has detected that the output frequency exceeded 550

Hz. This restriction is required to meet relevant European Export

Control Regulation.

Motor velocity is above parameter

DriveSPeedMax(0)

Go to parameters > Drive >

DriveSpeedMax and check value is set correctly. Check Commanded Drive

Speed is not too high.

Fault tracing 139



Controller errors

Code Error

30001

30005

30007

30008

30009

30010

30029

Cause What to do

Controller over-temperature

(_ecOVER_TEMPERATU

RE)

The drive has detected it is dangerously hot.

Check the drive ambient conditions allow for sufficient cooling.

Note: TEMPERATURE will return the current temperature, in degrees Celsius, from the drive's internal temperature sensor. If the temperature exceeds the predefined TEMPERATURELIMITFATAL value (model dependent), then an overtemperature trip will be caused.

TEMPERATURELIMITFATAL for each drive is; e190 3A is 80°C, e190 6A and 9A is 75°C

The controller FPGA has failed to initialize. If this error is received

Power cycle. If Error Persists Replace the

Drive

FPGA failed to initialise

(_ecFPGA_INITIALISATI

ON_ERROR)

Error accessing nonvolatile memory

(_ecNON_VOL_MEMOR

Y_FAILURE)

Error applying parameter value

(_ecPARAM_ERROR)

Unable to access non-volatile memory.

Power cycle. If Error Persists Replace the

Drive

Errors have occurred during a parameter table download or during startup. Some of the parameters could not be applied correctly. See the Error Log for details of the failures. The controller's status display will flash only 'E', and will not be followed with the usual error code digits.

This Error is most commonly ascociated with either a parameter file (.ptx) issue. It is a common problem if the parameter file is generated from an older firmware version with either different parameters or different parameter limits. Read the Error log for specific guidance on the effected parameters.

General internal controller error

(_ecINTERNAL_ERROR)

An internal error has occurred.

Read parameter failed

Fan is not operating correctly (_ecFAN_LOSS)

The drive has detected that an internal cooling fan has failed.

Power cycle. If Error Persists Replace the

Drive

Check the bottom of the drive to determine that the fan inlets are not blocked and the fan is rotating. If the drive fan does not turn, the general is the fan hardware failure, need to replace the fan.

Controller undertemperature

(_ecUNDER_TEMPERAT

URE)

The controller has detected an ambient temperature lower than -

5 °C.

The ambient temperature must be increased before the drive can be enabled.

140 Fault tracing

Code

30030

30032

Error Cause What to do

All controller errors cleared

(_ecCONTROLLER_ERR

ORS_CLEARED)

This information message can appear in the error log to indicate that all controller errors have been cleared.

No Action

Hardware revision does not support EPL

(_ecHARDWARE_DOES

_NOT_SUPPORT_EPL)

The controller does not support

Ethernet POWERLINK.

Earlier Hardware revisions of e180 (with

GCU-01 control cards before Rev A) do not support EPL and on these old hardware revisions if the EPL address switches are not both set at '0' then this error will be generated. Old drives will still work in every other mode but if EPL is needed the Hardware will need to be exchanged

See AN00267 ABB Motion Drives Error trouble shooting manual for more details on error handing.

Maintenance 141

11

Maintenance

What this chapter contains

This chapter contains preventive maintenance instructions.

Safety

WARNING!

Read the Safety

instructions on the first pages of this manual before performing any maintenance on the equipment. Ignoring the safety instructions can cause injury or death.

Maintenance intervals

If installed in an appropriate environment, the drive requires very little maintenance.

This table lists the routine maintenance intervals recommended by ABB.

Maintenance

Capacitor reforming

Interval

Every year of storage

Instruction

See

Reforming the capacitors .

See

Heat sink .

Heat sink temperature check and cleaning

Cooling fan change

Depends on the dustiness of the environment (every 6 to 12 months)

Every 6 years if the ambient temperature does not exceed 45 °C

(113 °F).

Every 3 years if the ambient temperature is higher than 45 °C

(113 °F).

See

Cooling fan .

142 Maintenance

Heat sink

The heat sink fins pick up dust from the cooling air. The drive might report overtemperature warnings and faults if the heat sink is not clean. In a normal environment, the heat sink should be checked annually, in a dusty environment more often.

WARNING!

Obey the instructions in Safety on page 13

. Ignoring the instructions can cause physical injury or death, or damage to the equipment.

WARNING!

Use a vacuum cleaner with an anti-static hose and nozzle. A normal vacuum cleaner can cause static discharges which can cause damage to circuit boards:

Clean the heat sink as follows (when necessary): 

1. Stop the drive and disconnect it from input power.

2. Wait for 5 minutes and measure to make sure that there is no voltage. Refer to

Electrical safety

on page

14 .

3. Remove the cooling fan (see section

Cooling fan on page 143 ).

4. Blow clean, dry, and oil free compressed air from the bottom of the heat sink to the top. Use a vacuum cleaner at the air outlet to trap the dust. If there is a risk that dust can go into other equipment, clean the heat sink in another room.

5. Install the cooling fan.

Maintenance 143

Cooling fan

The actual lifespan of the cooling fan depends on the drive usage and ambient temperature. Fan failure can be predicted by the increasing noise from fan bearings and the gradual rise in the heat sink temperature in spite of heat sink cleaning. If the drive is operated in a critical part of a process, fan replacement is recommended once these symptoms start appearing. Replacement fans are available from ABB. Do not use other than ABB-specified spare parts.



Removing the fan

Place the drive on its side as shown. Push in the two retaining clips (1) at the back of the drive. Remove the base (2) by pulling on the top edge first. Disconnect the fan cable (3). Carefully bend the clips on the fan holder (4) to release the fan.

1

2

3

Airflow direction

4

144 Maintenance



Replacing the fan

Insert the new fan (1) ensuring the airflow direction is bottom-to-top. Route the wire through the retaining clip and connect the cable to the circuit board (2). Insert the front edge of the base into the front panel (3). Apply outward pressure at the centre of the base and simultaneously push the fan into the drive (4). Check that the plastic lug fits into the recess in the heat sink (5). Check that the fan cable has not moved or obstructed the encoder voltage switch (6, see page

78 to check the correct position).

Check that the retaining clips are fitted into the mounting plate (7).

2

1

Airflow direction

4

4

4

5

6

3

7

Maintenance 145

Reforming the capacitors

The capacitors must be reformed if the drive has been stored for a year or more. See

page 31

for information on finding out the manufacturing date. For information on reforming the capacitors, contact your local ABB representative.

Other maintenance actions



Transferring the memory unit to a new drive

When a drive is replaced, the parameter settings can be retained by transferring the memory unit from the defective drive to the new. However, non-volatile data stored using the NVRAM ... keywords is not stored on the memory unit by default. Before removal, use the NVRAMSAVE keyword to store the data on the memory unit.

WARNING!

Do not remove or insert a memory unit when the drive is powered.



146 Maintenance

Technical data 147

12

Technical data

What this chapter contains

The chapter contains the technical specifications of the drive, for example, the ratings, sizes and technical requirements as well as provisions for fulfilling the requirements for CE and other marks.

148 Technical data

Ratings

The nominal current ratings for the MicroFlex e190 with 200...240 V AC supply are given below. For example, if a 6 A model is required to provide brief 300% overloads, assume its rated current is only 5.3 A.

Drive type

MFE190-04 xx ...

-01A6-2

PWM switching frequency

(Hz)

8000

300%

3 s overload

(A rms

)

1.6

200%

3 s overload

(A rms

)

1.6

Low speed output*

(< 2 Hz)

(A rms

)

1.6

Stationary:

DC output, any phase

(A)

2.3

Drive type

MFE190-04 xx ...

-03A0-2

PWM switching frequency

(Hz)

8000

300%

3 s overload

(A rms

)

2.5

200%

3 s overload

(A rms

)

3.0

Low speed output*

(< 2 Hz)

(A rms

)

3.0

Stationary:

DC output, any phase

(A)

4.2

Drive type

MFE190-04 xx ...

-06A0-2

PWM switching frequency

(Hz)

8000

300%

3 s overload

(A rms

)

5.3

200%

3 s overload

(A rms

)

6.0

Low speed output*

(< 2 Hz)

(A rms

)

6.0

Stationary:

DC output, any phase

(A)

8.5

Drive type

MFE190-04 xx ...

-09A0-2

PWM switching frequency

(Hz)

8000

300%

3 s overload

(A rms

)

7.5

200%

3 s overload

(A rms

)

9.0

Low speed output*

(< 2 Hz)

(A rms

)

9.0

Stationary:

DC output, any phase

(A)

12.7

The DriveSize dimensioning tool available from ABB is recommended for selecting the drive, motor and gear combination for the required motion profile.

* The maximum overload current between 0 Hz and 2 Hz is 150% of rated current.

Technical data 149



Derating

The continuous output currents stated above must be derated if any of the following conditions apply. The final derating factor is a multiplication of all applicable derating factors.

Ambient temperature derating: 1.6 A models

A temperature derating is required when operating the 1.6 A models in ambient temperatures between 45 °C (+113 °F) and the maximum of 50 °C (122 °F): 

Derating factor for 1.6 A models:

1.00

0.80

+45 °C

+113 °F

+50 °C

+122 °F

Ambient temperature

Ambient temperature derating: 3 A, 6 A & 9 A models

No temperature derating is required in ambient temperatures up to the maximum of

55 °C (131 °F).

Altitude derating

At altitudes from 1000 to 2000 m (3280 to 6560 ft) above sea level, the derating is 1% for every 100 m (328 ft). For a more accurate derating, use the DriveSize PC tool.

150 Technical data

Cooling

Method

Free space around the unit

Internal fan, flow from bottom to top, air-cooled heat sink.

See

Cooling and degrees of protection on page 36

Cooling characteristics, noise levels

Drive type

MFE190-04 xx ...

-01A6-2

-03A0-2

-06A0-2

-09A0-2

Power loss

W

20

40

80

120

Air flow m

3

/h

(No fan)

56.4

56.4

56.4

Efficiency

Approximately 98% at nominal power level.

Noise level dBA

(No fan)

45

45

45

Technical data 151

Supply cable fuses

Fuses for short circuit protection of the supply cable are listed below. The fuses also protect the adjoining equipment of the drive in case of a short circuit. Check that the operating time of the fuse is below 0.5 seconds. The operating time depends on the supply network impedance and the cross-sectional area and length of the supply

cable. See also chapter Planning the electrical installation

.

Note: Fuses with a higher current rating must not be used

1 Φ AC supply

Drive type

MFE190-04 xx ...

Input current

(A)

-01A6-2

-03A0-2

-06A0-2

-09A0-2

3

7

14

20

IEC fuse UL fuse

Rated current

(A)

Voltage

(V)

20

500

500

500

500

Class Rated current

(A)

Voltage

(V) gG 600

UL

Class gG gG gG

20

600

600

600

CC

Cross-sectional area of cable mm 2 AWG

1.5...4

16…12

1.5...4

16…12

1.5...4

16…12

1.5...6

16…10

3 Φ AC supply

Drive type

MFE190-04 xx ...

Input current

(A)

-01A6-2

-03A0-2

-06A0-2

-09A0-2

2

4

8

12

IEC fuse UL fuse

Rated current

(A)

Voltage

(V)

20

500

500

500

500

Class Rated current

(A)

Voltage

(V) gG 600

UL

Class gG gG gG

20

600

600

600

CC

Cross-sectional area of cable mm

2 AWG

1.5...4

16…12

1.5...4

16…12

1.5...4

16…12

1.5...6

16…10

152 Technical data

AC input (supply) connection

1 Φ 3 Φ

Voltage ( U

1

)

Frequency

Network type

Imbalance

200...240 V AC ±10% 200...240 V AC ±10%

50...60 Hz ±5%

Grounded (TN, TT).

Corner grounded TN, and IT (ungrounded) systems not allowed.

Max.

±3% of nominal phase to phase input voltage

Fundamental power factor (cos phi

1

)

0.98 (at nominal load)

Terminals

Short circuit current protection

(UL 61800-5-1)

Detachable screw terminal block for 0.20..6 mm 2 wire.

The drive is suitable for use on a circuit capable of delivering not more than 5000 A rms symmetrical amperes, 240 V maximum, when

protected by fuses given in the fuse table on page 151

.



Effect of AC power supply voltage on DC-bus voltage

350

300

250

Three-phase AC supply

Single-phase AC supply

200

150

100

100 125 150 175 200

AC supply voltage (RMS)

225 250

Technical data 153

Effect of AC power supply voltage on DC-bus ripple voltage

50

40

30

9 A model, single-phase AC supply

20

10

0

100

1.6 A, 3 A, 6 A models, single-phase AC supply

All models, three-phase AC supply

125 150 175 200

AC supply voltage (RMS)

225 250

Effect of output current on DC-bus ripple voltage

70

60

50

40

30

20

10

9 A model, single-phase AC supply

1.6 A, 3 A, 6 A models, single-phase AC supply

All models, three-phase AC supply

0

20 30 40 50 60 70 80 90 100

% of drive rated current

110 120 130 140 150

154 Technical data

DC input (supply) connection

Voltage

Ratings

Terminals

270...340 V DC ±10%

Drive type

MFE190-04

-01A6-2

-03A0-2

-06A0-2

-09A0-2 xx ...

I dcN

(A)

1.96

3.67

7.35

11.02

I dcN

is the average DC input current requirement.

Detachable screw terminal block for 0.20...6 mm 2 wire.

C

(µF)

560

560

1120

1120

Motor connection

Motor types

Frequency

Current

Switching frequency

Maximum motor cable length

Terminals

Asynchronous induction motors, asynchronous servo motors, synchronous permanent magnet motors

0...550 Hz

See section

Ratings.

8 kHz

50 m (164 ft) with screened cable

Detachable screw terminal block for 0.20...6 mm

2

wire.

Brake resistor connection

Description

Nominal switching threshold

Nominal power

(10% peak power, r = 57 Ω

Peak power

(10% peak power, r = 57 Ω

Maximum brake switching current

Minimum load resistance

Maximum load inductance

Unit

V DC kW kW

A pk

Ω

µH

All models on: 388, off: 376

0.25

2.7

10

39

100

Technical data 155

Control unit

X2: Control circuit supply input

X3: Analog input AI0

X3: Analog output AO0

X3: Digital inputs DI1…DI2

X3: Digital inputs DI0, DI3

X3: Digital outputs

DO0...DO2

X4: Safe Torque Off (STO)

E1: Ethernet host PC connection

Memory capacity

24 V (±10%) DC, 1 A 

Optional external power supply through connector X2 (pitch

5.08 mm, wire size 2.5 mm

2

).

Connector pitch 3.5 mm, wire size 1.0 mm 2

Voltage input: –10…10 V, R in

: 60 kohm 

Differential inputs, common mode ±10 V 

Sampling interval per channel: 0.25 ms 

Filtering: Adjustable using ADCTIMECONSTANT keyword (see

Mint WorkBench help file) 

Resolution: 11 bit + sign bit (±4.9 mV)

Connector pitch 3.5 mm, wire size 1.0 mm

2 

AO0 (voltage): –10…10 V, R load

Update interval: 1 kHz 

> 1 kohm 

Resolution: 12 bit (±4.9 mV)

Connector pitch 3.5 mm, wire size 1.0 mm

2 

Logic levels: “0” < 2 V, “1” > 12 V 

R in

: 3.3 kohm 

Hardware latching:

Minimum pulse width: 250 ns

Minimum step time: 250 ns

Minimum space time: 250 ns

Direction input setup time: 250 ns

Direction input hold time: 100 ns

Maximum input frequency: 2 MHz

Sampling interval: 1 kHz

Filtering: Adjustable using INPUTDEBOUNCE keyword (see Mint

WorkBench help file)

Connector pitch 3.5 mm, wire size 1.0 mm 2 

Logic levels: “0” < 2 V, “1” > 12 V 

R in

: 3.3 kohm 

Minimum pulse width: 5 µs

Filtering: Adjustable using INPUTDEBOUNCE keyword (see Mint

WorkBench help file)

User supply: 24 V DC

Output current: 100 mA max. per output, R load

> 250 ohm

Connector pitch 3.5 mm, wire size 1.0 mm

2 

Output supply: 24 V DC, 30 mA per input

Pulse tolerance: < 1 ms

For the drive to start, both connections STO1 and STO2 must be powered.

Connector: RJ-45 

Cable length < 3 m

256 KB program / variables; 1 KB non-volatile data

156 Technical data

Feedback



X7 Incremental encoder without Halls

Encoder interface

Max. input frequency A / B

RS422 A/B differential, Z index

2 MHz (8 MHz quadrature counts)

Output power supply to encoder 5.5 V DC (±7%) 500 mA max.*

Maximum recommended cable length

30 m

* Total combined current for this encoder and X8 primary encoder, which may be

connected simultaneously (see page 76

).



X8 Incremental encoder with Halls

Encoder interface

Max. input frequency A / B

RS422 A/B differential, Z index

2 MHz (8 MHz quadrature counts)

Hall inputs RS422 A/B differential

Output power supply to encoder 5.5 V DC (±7%) 500 mA max.* or 8 V DC set by switch

Maximum recommended cable length

30 m

* Total combined current for this encoder and the X7 encoder input, which may be

connected simultaneously (see page 76

).



X8 Serial interfaces + SinCos

Supports BiSS-B, SSI, EnDat 2.1, EnDat 2.2, Smart Abs, SinCos and Hiperface using required combinations of the following inputs:

Signals

Device types: 

BiSS-B, Smart Abs

SSI

EnDat, SinCos

Hiperface

Differential input pairs for Data, Clock, Sin, Cos.

Single or multi-turn devices.

Single turn devices up to 18-bit.

Single or multi-turn devices, 512 or 2048 cycles per turn, absolute positioning up to 65536 steps.

SinCos signal: 1 V pk-pk sine wave centered on a 2.5 V reference.

Output power supply to encoder 5.5 V or 8-12 V set by switch, 500 mA max.*

Maximum recommended cable length

30 m

* Total combined current for this encoder and either the X8 extra incremental encoder or X7 encoder, which may be connected simultaneously (see page

76 ).

Technical data 157

Dimensions and weights

For basic weights and dimensions, see

Main dimensions on page 35 .

Ambient conditions

Environmental limits for the drive are given below. The drive is to be used in a heated, indoor, controlled environment.

Operation

installed for stationary use

Installation site altitude 0 to 2000 m (6560 ft) above sea level. [See also section

Altitude derating on page

149 .]

-

Storage in the protective package

-

Transportation in the protective package

Air temperature -40 to +70 °C 

(-40 to +158 °F)

-40 to +70 °C 

(-40 to +158 °F)

Relative humidity

1.6 A model:

0 to +50 °C (32 to 122 °F)

3 A, 6 A, 9 A models:

0 to +55 °C (32 to 131 °F).

No frost allowed. 

See section

Derating

on page

149

.

0 to 95% Max. 95% Max. 95%

No condensation allowed. Maximum allowed relative humidity is 60% in the presence of corrosive gases.

Contamination levels No conductive dust allowed.

Sinusoidal vibration:

EN 60068-2-6: 2008

The drive must be installed in clean air according to enclosure classification.

Cooling air must be clean, free from corrosive materials and electrically conductive dust.

Tested according to, mechanical conditions:

– –

2…9 Hz: 3.0 mm (0.12”) 

9…200 Hz: 1g

– Max. 10g, 11 ms Max. 10g, 11 ms Shock: 

EN 60068-2-27: 2009

IEC 60068-2-27:2008

Free fall Not allowed 76 cm (30”) 76 cm (30”)

158 Technical data

Degrees of protection

MicroFlex e190 complies with EN 60529, IP20.

For UL purposes the MicroFlex e190 is defined as an open-type, three phase single axis servo amplifier.

The drive must be installed in a cabinet to fulfill the requirements for shielding from contact. Access to the cabinet should be restricted to trained maintenance staff.

See chapter Cabinet construction.

The top surface of cabinets / enclosures which are accessible when the equipment is energized shall meet at least the requirement of protective type IP3x with regard to vertical access only.

Materials

Drive enclosure

Packaging

Disposal

PC/ABS, color NCS 1502-Y (RAL 9002 / PMS 1C Cool Grey) and RAL

9017 (Traffic black).

Hot-dip zinc coated steel sheet extruded aluminum AlSi.

Corrugated cardboard, PP bands.

The drive contains raw materials that should be recycled to preserve energy and natural resources. The package materials are environmentally compatible and recyclable. All metal parts can be recycled. The plastic parts can either be recycled or burned under controlled circumstances, according to local regulations. Most recyclable parts are marked with recycling marks.

If recycling is not feasible, all parts excluding electrolytic capacitors and printed circuit boards can be landfilled. The DC capacitors contain electrolyte, which is classified as hazardous waste within the EU. They must be removed and handled according to local regulations.

For further information on environmental aspects and more detailed recycling instructions, contact your local ABB distributor.



WEEE notice

According to the requirements of the Waste Electrical and Electronic

Equipment Directive (WEEE) the following information is provided.

This symbol indicates that the product must not be disposed of with other general waste. It is your responsibility to dispose of your waste electrical equipment by handing it over to a designated collection point for the recycling of waste electrical and electronic equipment. The separate collection and recycling of your waste equipment at the time of disposal will help conserve natural resources and ensure that it is recycled in a manner that protects human health and the environment. For more information about where you can recycle your waste, please contact your local authority.

Technical data 159



RoHS compliance

MicroFlex e190 is in conformity with Directive 2011/65/EU of the European parliament and of the council of 8th June 2011 on the restriction of the use of certain hazardous substances in electrical and electronic equipment. The RoHS declaration

3AXD10000540158 is available on new.abb.com/motion .



China RoHS marking

The People's Republic of China Electronic Industry Standard (SJ/T

11364-2014) specifies the marking requirements for hazardous substances in electronic and electrical products. The green mark is attached to the drive to verify that it does not contain toxic and hazardous substances or elements above the maximum concentration values, and that it is an environmentally-friendly product which can be recycled and reused.

Part Hazardous substances

Lead

(Pb)

Mercury

(Hg)

Cadmium

(Cd)

Hexavalent chromium

(Cr(VI))

Polybrominated biphenyls (PBB)

Polybrominated diphenyl ethers

(PBDE)

PCB

Metal parts

O

O

O

O

O

O

O

O

O

O

O

O

Plastic parts O O O O O O

O: Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit requirement of GB/T 26572.

X: Indicates that said hazardous substance contained in at least one of the homogeneous materials used for this part is above the limit requirement of GB/T 26572. The limits are:

Pb: 1000 ppm (0.1%)

Cr6+: 1000 ppm (0.1%)

Hg: 1000 ppm (0.1%)

PBB: 1000 ppm (0.1%)

Cd: 100 ppm (0.01%)

PBDE: 1000 ppm (0.1%)

160 Technical data

Applicable standards

MicroFlex e190 complies with the following standards.



Design and test standards

UL 61800-5-1

EN 61800-5-1:2007

Power Conversion Equipment.

Adjustable speed electrical power drive systems. Safety requirements.

Electrical, thermal and energy.

Degrees of protection provided by enclosures.

EN 60529:1991 +

A2:2013

EN 61800-3:2004 +

A1:2012

Adjustable speed electrical power drive systems. Electromagnetic compatibility.

Conducted emissions:

When installed as directed in this manual, MicroFlex e190 conforms to

Category C2 conducted limits.

Radiated emissions:

When installed as directed in this manual, MicroFlex e190 conforms to

Category C2 radiated limits.

All frame sizes conform to the ‘second environment’ immunity requirements defined by this standard.

See also the CE Declaration of Conformity available on the internet; see

Document library on the Internet on page 209 .



Environmental test standards:

EN 60068-1:2014

EN 60068-2-1:2007

EN 60068-2-2:2007

EN 60068-2-6:2008

Environmental testing, general and guidance.

Environmental testing, Test A. Cold.

Environmental testing, Test B. Dry heat.

Environmental testing, Test Fc. Vibration (sinusoidal).

EN 60068-2-27:2009 Environmental testing, Test Ea. Shock.

EN 60068-2-30:2005 Environmental testing, Test Db. Damp heat, cyclic.

EN 60068-2-31:2008 Environmental testing, Test Ec. Rough handling shocks

EN 60068-2-78:2013 Environmental testing, Test Cab. Damp heat, steady state.

Technical data 161



Functional safety standards

EN 61508:2010, 

Parts 1, 2

EN 61800-5-2:2007

IEC 61800-5-2:2016

Functional safety of electrical/electronic/programmable electronic safety-related systems

Adjustable speed electrical power drive systems: Safety requirements,

Functional

EN ISO 13849-1:2015 Safety of machinery: Safety-related parts of control systems. Part 1:

General Principles for Design

EN ISO 13849-2:2012 Safety of Machinery: Safety-related parts of control systems. Part 2:

Validation

EN 62061:2005 +

A1: 2013 + A2: 2015

Safety of machinery: Functional safety of safety-related electrical, electronic and programmable electronic control systems

RCM marking

RCM marking is required in Australia and New Zealand. A RCM mark is attached to each drive in order to verify compliance with the relevant standard (IEC 61800-3, Adjustable speed electrical power drive systems -

Part 3: EMC product standard including specific test methods ).

CE marking

A CE mark is attached to the drive to verify that the unit follows the provisions of the

European, EMC, and machinery directives.

CE Declaration of Conformity

The declaration (3AXD10000540159) is available on the internet. See Document library on the Internet on page 209 .

Compliance with the European EMC Directive

The cabinet builder is in responsible for the compliance of the drive system with the

European EMC Directive. For information on items to consider, see:

• Subsections

Compliance with EN 61800-3, category C2 & C3

and Compliance with EN 61800-3, category C4 , below.

• The chapter Planning the electrical installation in this manual.

• Technical Guide No. 3 – EMC Compliant Installation and Configuration for a

Power Drive System (3AFE61348280 [English]).

Definitions

EMC stands for Electromagnetic Compatibility. It is the ability of electrical/electronic equipment to operate without problems within an electromagnetic environment.

Likewise, the equipment must not disturb or interfere with any other product or system within its locality.

162 Technical data

First environment includes domestic premises. It also includes establishments directly connected without intermediate transformers to a low-voltage network which supplies buildings used for domestic purposes.

Second environment includes all establishments other than those directly connected to a low-voltage network which supplies buildings used for domestic purposes.

Drive of category C2 . Power drive system with rated voltage less than 1000 V which is neither a plug-in device nor a movable device and, when used in the first environment, is intended to be installed and commissioned only by a professional.

Drive of category C3 . Power drive system with rated voltage less than 1000 V, intended for use in the second environment and not intended for use in the first environment.

Drive of category C4 . Power drive system with rated voltage equal to or above

1000 V, or rated current equal to or above 400 A, or intended for use in complex systems in the second environment.

WARNING!

The drive can cause radio interference if used in residential or domestic environment. The user is required to take measures to prevent interference, in association to the requirements for the CE compliance listed above, if necessary.

Compliance with EN 61800-3, category C2 & C3

The drive meets the requirements of the EMC Directive with the following provisions:

1. The drive is equipped with optional mains filter (see page

165

).

2. The motor and control cables are selected as specified in the chapter Planning the electrical installation

.

3. The drive is installed according to the instructions given in this manual.

Motor cable length does not exceed 50 metres (164 ft)

Technical data 163

Compliance with EN 61800-3, category C4

The drive meets the requirements of the EMC Directive with the following provisions:

1. It is ensured that no excessive emission is propagated to neighbouring lowvoltage networks. In some cases, the natural suppression in transformers and cables is sufficient. If in doubt, a supply transformer with static screening between the primary and secondary windings can be used.



Medium voltage network

Neighbouring network

Supply transformer

Static screen

Low voltage

Point of measurement

Equipment

(victim)

Equipment

Low voltage

Equipment

Drive

2. An EMC plan for preventing disturbances is drawn up for the installation. A template is available from the local ABB representative.

3. The motor and control cables are selected as specified in the chapter

Planning the electrical installation .

4. The drive is installed according to the instructions given in this manual.

Compliance with the European Machinery Directive

This safety related drive complies with the European Union Machinery Directive requirements for a safety component intended to be integrated into machinery.

Compliance with the machinery directive has been verified according to standards

EN 61800-5-2, IEC 61800-5-2, EN ISO 13849-1, EN 62061, and EN 61508 parts 1 &

2. The drive has been designed, constructed and equipped in such a way that when installed as instructed in this manual, all hazards of an electrical nature are, or can be, prevented. The drive complies with EN 61800-5-1 which specifies safety requirements in terms of electrical, thermal and energy.

Note: The final assembler of the machinery must take the necessary precautions to prevent all hazards of an electrical nature when integrating this equipment. General specifications for design of electrical equipment of machinery is given in EN 60204-1 and EN 60204-11. Specifications for electrical equipment are also given in many standards for specific categories of machinery.

164 Technical data

UL marking

See the type designation label for the valid markings of your drive.



UL checklist

Input power connection – See section AC input (supply) connection on page 152

.

Disconnecting device (Disconnecting means) – See section

Supply disconnecting device on page 42 .

Ambient conditions – The drive is to be used in a heated indoor controlled environment. See section

Ambient conditions on page 157

for specific limits.

Input cable fuses – For installation in the United States, branch circuit protection must be provided in accordance with the National Electrical Code (NEC) and any applicable local codes. To fulfill this requirement, use the UL classified fuses given in

section Supply cable fuses

on page

151

.

For installation in Canada, branch circuit protection must be provided in accordance with the Canadian Electrical Code and any applicable provincial codes. To fulfill this

requirement, use the UL classified fuses given in section Supply cable fuses

on page

151

.

Power cable selection – See section Selecting the power cables on page 45

.

Power cable connections – For the connection diagram and tightening torques, see

section Power cable connection

on page

51 .

Control connections – For the connection diagram and tightening torques, see

section Connecting the control cables on page 60

.

Overload protection – The drive provides overload protection in accordance with the

National Electrical Code (US).

Braking – The MicroFlex e190 has an internal braking chopper. When applied with appropriately sized braking resistors, the braking chopper allows the drive to dissipate regenerative energy (normally associated with quickly decelerating a

motor). Braking resistor selection is discussed in the chapter Resistor braking on page 171 .

UL standards – See section

Applicable standards on page 160

.

Mains filters 165

13

Mains filters

What this chapter contains

This chapter describes how to select and install mains filters for the MicroFlex e190.

The chapter also contains the relevant technical data.

When is a mains filter required?

The EMC product standard (EN 61800-3) covers the specific EMC requirements stated for drives (tested with motor and cable) within the EU. EMC standards such as

EN 55011 or EN 61000-6-3/4 apply to industrial and household equipment and systems including drive components inside. Drive units complying with the requirements of EN 61800-3 are always compliant with comparable categories in

EN 55011 and EN 61000-6-3/4, but not necessarily vice versa. EN 55011 and

EN 61000-6-3/4 do neither specify cable length nor require a motor to be connected as a load. The emission limits are comparable according to the following table.

EN 61800-3, product standard

EMC standards in general

EN 61800-3, product standard

Category C1

EN 55011, product family standard for industrial, scientific and medical (ISM) equipment

Group 1 Class B 1st environment, unrestricted distribution

1st environment, restricted distribution

2nd environment, unrestricted distribution

2nd environment, restricted distribution

Category C2

Category C3

Category C4

Group 1 Class A

Group 2 Class A

Not applicable

166 Mains filters

A mains filter is required in order for MicroFlex e190 to meet the category C2 level, using a motor with a max. 50 m cable. This level corresponds to the A limits for

Group 1 equipment according to EN 55011.

WARNING! A mains filter must not be installed if the drive is connected to an

IT power system (i.e. an ungrounded, or a high resistance grounded [over 30 ohm] power system).



Footprint filter (single phase only)

The single-phase footprint AC power filter, part OFI-01, provides mounting holes for the MicroFlex e190. This allows the filter and MicroFlex e190 to use minimal panel mounting space.

Mains filters 167

Installation guidelines

• If a mains choke is also installed, the mains filter is connected between the mains choke and the drive. See the diagram below.

• For optimal operation of the filter, the drive and the filter must be mounted on the same conductive surface.

• Ensure the filter does not block the airflow through the drive.

• Keep the cable between the drive and the filter as short as possible.



Connection diagram

AC supply

L1 L2 L3 PE

Mains choke (if present)

L1 L2 L3

Mains filter

L1’ L2’ L3’

L1 L2

~

~

L3 PE

MicroFlex e190



Selection table

Drive type

MFE190-04 xx ...

-01A6-2

-03A0-2

230VAC 1Ø

Meets EN 61800-3, category C2 with motor cable <50m

OFI-02 or

OFI-01

-06A0-2

-09A0-2

OFI-01

The mains filters are protected to IP20.

230VAC 3Ø

Meets EN 61800-3, category C2 with motor cable <50m

OFI-03

JFI-02

168 Mains filters

Specifications and dimensions

Part Rated volts

OFI-02

OFI-03

JFI-02

OFI-01

Dimensions, type OFI-01:

B

D

250

480

480

250

Rated amps

@ 40°C

8

7

16

20

Leakage current

(mA)

0.7

33

33

12

Weight kg (lbs)

0.33 (0.73)

0.5 (1.1)

0.8 (1.76)

0.72 (1.59)

F

I

E

Mounting slot detail

H

G

C A

G

H

I

Dimension

F

I

D

E

A

B

C

OFI-01

Dimensions: mm (inches)

260 (10.23)

73 (2.87)

239.5 (9.43)

50 (1.97)

40 (1.57)

21.5 (0.87)

M5×10 (0.39) max. depth

Dimensions, type OFI-02:

D E A

K

Dimension

F

G

D

E

A

B

C

K

L

H

J

B

J

OFI-02

Dimensions: mm (inches)

113.5 (4.47)

57.5 (2.26)

45.4 (1.79)

94 (3.7)

103 (4.06)

25(0.98)

12.4 (0.49)

32.4 (1.28)

4.4 (0.17)

6 (0.24)

15.5 (0.61)

Mains filters 169

F

G

L

H

C

170 Mains filters

Dimensions, types OFI-03 / JFI-02:

D

C

M5

Dimension

A

B

E

F

C

D

G

F G

A

B

E

OFI-03

190 (7.48)

40 (1.57)

Dimensions: mm (inches)

JFI-02

250 (9.84)

45 (1.77)

70 (2.76)

160 (6.30)

180 (7.09)

20 (0.79)

4.5 (0.18)

70 (2.76)

220 (8.66)

235 (9.25)

25 (0.98)

5.4 (0.21)

Resistor braking 171

14

Resistor braking

What this chapter contains

This chapter contains information about calculating the regenerative power created by the motor when it decelerates or is driven by the load. The chapter then describes the process for selecting an appropriate resistor to dissipate the regenerative power.

WARNING!

Electrical shock hazard. DC-bus voltages can be present at the brake resistor terminals. Use a suitable heat sink (with fan if necessary) to cool the brake resistor. The brake resistor and heat sink (if present) can reach temperatures in excess of 80 °C (176 °F).

172 Resistor braking

Introduction

Each drive has a braking capacity that defines the amount of regenerative energy its

DC bus capacitors can store before the voltage on the capacitors exceeds the drive’s over-voltage level. In a common DC system, all of the drive’s DC bus capacitors are connected, so the system braking capacity becomes the sum of all the drives’ braking capacities. If the total regenerative energy in the system exceeds the system braking capacity, the excess energy must be diverted into a brake resistor (also known as a regeneration or ‘regen’ resistor) to be dissipated as heat. The brake resistor can be connected to one drive in the system, but if that drive’s braking chopper cannot withstand the total regenerative power in the system, more than one drive must be fitted with a brake resistor.

System braking capacity



The braking capacity of the drive is calculated from the following formula: 

B dc

= 0.5 x DC bus capacitance

(

Brake switching threshold)

2

– ( 2 x Supply voltage )

2

) where the Brake switching threshold is 388 V. This gives the following typical values:

MicroFlex e190 Braking capacity, B dc

(J)

Model Frame

DC bus capacitance ( μ F)

240 V AC supply

01A6-2

03A0-2

06A0-2

09A0-2

A

A

A

A

560

1120

12.5

25

Resistor braking 173

Braking energy calculation

The following calculations can be used to estimate the type of brake resistor that will be required for the application. To complete the calculation, some basic information is required. Remember to use the worst-case values to ensure that the braking power is not underestimated. For example, use the maximum possible motor speed, maximum inertia, minimum deceleration time and minimum cycle time that the application might encounter.

Requirement Enter value here a) Initial motor speed, before deceleration begins, in radians per second. 



Multiply RPM by 0.1047 to give radians per second.

b) Final motor speed after deceleration is complete, in radians per second. 



Multiply RPM by 0.1047 to get radians per second. This value will be zero if the load is going to be stopped.

c) The deceleration time from initial speed to final speed, in seconds.

Initial motor speed, U = _________ rad/s

Final motor speed, V = _________ rad/s

Decel time, D d) The total cycle time (i.e. how frequently the process is repeated), in seconds.

e) Total inertia.





This is the total inertia seen by the drive, accounting for motor inertia, load inertia and gearing. Use the Mint WorkBench

Autotune tool to tune the motor, with the load attached, to determine the value.

This will be displayed in kg·m

2

in the

Autotune tool. If you already know the

 motor inertia (from the motor spec.) and the load inertia (by calculation) insert the total here.



Multiply kg·cm

2

by 0.0001 to give kg·m

2

.

Multiply lb-ft

2

by 0.04214 to give kg·m

2

.



Multiply lb-in-s 2 by 0.113 to give kg·m 2 .

Cycle time, C

Total inertia, J

= _________ s

= _________ s

= ________ kg·m 2

174 Resistor braking



Braking energy

The braking energy to be dissipated, E, is the difference between the initial energy in the system (before deceleration begins) and the final energy in the system (after

 deceleration has finished). If the system is brought to rest then the final energy is zero.





The energy of a rotating object is given by the formula: 

E =

1

2

 J  

2

 where E is energy, J is the moment of inertia, and ω is the angular velocity. 



The braking energy, which is the difference between the initial energy and the final energy, is therefore: 

E =



 2

 

2





–



 1

 

2 





=

1

2

 J   U

2

– V

2



= ________________ J (joules) 

Calculate the braking energy for the motor. If the value is less than the system braking capacity B dc

, calculated on page

172

, a brake resistor will not be required.



Braking power and average power

The braking power, P gen,max

, is the rate at which the braking energy is dissipated.

This rate is defined by the deceleration period, D (see page 172 ). The shorter the

 deceleration period, the greater the braking power.



E

P gen,max

=

D





P gen,max

= ________________ W (watts) 

The brake resistors shown in the table on page 175 can withstand brief overloads, but

the average power dissipation must not exceed the stated continuous power rating.

The average power dissipation is determined by the proportion of the application cycle time spent braking. The greater the proportion of time spent braking, the greater

Resistor braking 175 the average power dissipation. This average value can be used to represent an

equivalent continuous braking power, where C is the cycle time (see page 173 ):



P gen,ave

= P gen,max

×

D

C



= ________________ W (watts)



Calculate the maximum braking power P gen,max and the equivalent continuous braking power P gen,ave

for the motor.



Resistor choice



P gen,ave

is the value to use when assessing which brake resistor to use. However, a safety margin of 1.25 times is recommended to ensure the resistor operates well within its limits

1

, so: 



Required resistor power rating = 1.25 × P gen,ave



________________ W (watts)

The range of suitable brake resistors is shown in the following table. Choose the resistor that has a power rating equal to or greater than the value calculated above.

Part

RGJ139

RGJ160

RGJ260

RGJ360

Resistance

39 Ω

60 Ω

60 Ω

60 Ω

Power rating

100 W

100 W

200 W

300 W

WARNING! The brake resistance must be 39 Ω or greater to ensure the drive’s maximum regeneration switching current (10 A) is not exceeded.

Failure to observe the minimum resistance could result in damage to the drive. See

Brake resistor connection on page 154

.

1. The brake resistors listed in the following table can withstand a brief overload of 10 times the rated power for 5 seconds. Please contact ABB if larger power ratings are required.

176 Resistor braking



Resistor derating

The brake resistors shown in the previous table can achieve their stated power rating only when mounted on a heat sink. In free air a derating must be applied.

Furthermore, in ambient temperatures greater than 25 °C (77 °F), a temperature derating must be applied.

On heat sink Resistor part number

RGJ139

RGJ160

Nominal power rating

(W)

100

In free air

Derate power linearly from:

80% @ 25 °C (77 °F) to

70% @ 55 °C (113 °F)

RGJ260

RGJ360

200

300

Derate power linearly from:

70% @ 25 °C (77 °F) to

62% @ 55 °C (113 °F)

Derate power linearly from:

100% @ 25 °C (77 °F) to

88% @ 55 °C (113 °F)

Typical heat sink:

200 mm x 200 mm x 3 mm

Derate power linearly from:

100% @ 25 °C (77 °F) to

88% @ 55 °C (113 °F)

Typical heat sink:

400 mm x 400 mm x 3 mm



Duty cycle

The braking duty cycle is the amount of time taken braking as a proportion of the overall application cycle time. For example, the following diagram shows a system which performs a trapezoidal move profile, with braking during part of the deceleration phase. The braking duty is 0.2 (0.5 second braking / 2.5 second cycle time):  v

0.5 s

Decel time

0.5 s

Braking active

0.5 s t

2.5 s

(Cycle time)

2.5 s

(Cycle time)

2.5 s

(Cycle time)

Resistor braking 177



Dimensions

B

A C

E

F

G

D

Part

RGJ139

Power

W

100

Res.

Ω

39

RGJ160

RGJ260

RGJ360

100

200

300

60

60

60

A

165

(6.49)

165

(6.49)

165

(6.49)

215

(8.46)

B

41

(1.61)

41

(1.61)

60

(2.36)

60

(2.36)

Dimensions mm (inches)

C

22

(0.87)

D

152

(5.98)

E

12

(0.47)

22

(0.87)

30

(1.18)

30

(1.18)

152

(5.98)

146

(5.75)

196

(7.72)

12

(0.47)

17

(0.67)

17

(0.67)

F

10

(0.39)

10

(0.39)

13

(0.51)

13

(0.51)

G

4.3

(0.17)

4.3

(0.17)

5.3

(0.21)

5.3

(0.21)

178 Resistor braking

Accessories 179

15

Accessories

What this chapter contains

This section describes accessories and options that you might need to use with your

MicroFlex e190. Shielded (screened) cables provide EMI / RFI shielding and are required for compliance with CE regulations. All connectors and other components must be compatible with the shielded cable.



24 V power supplies

A range of compact 24 V DIN rail mounting power supplies are available. The supplies include short circuit, overload, over-voltage and thermal protection.

Part

CP-E 24/0.75

CP-E 24/1.25

CP-E 24/2.5

CP-E 24/5.0

CP-E 24/10.0

CP-E 24/20.0

Input voltage

100-240 V AC

100-240 V AC

100-240 V AC

115/230 V AC

115/230 V AC

115/230 V AC

Output voltage

24 V DC

24 V DC

24 V DC

24 V DC

24 V DC

24 V DC

Output rating

0.75 A

1.25 A

2.5 A

5 A

10 A

20 A

180 Accessories

Encoder breakout OPT-MF-200

The encoder breakout (part OPT-MF-200) can be used to connect motor feedback

and an extra incremental encoder (see page 76

). Alternatively, the connectors can be used together to connect a single motor that has separate cables for encoder and

Halls (e.g. a linear motor).

OPT-MF-200

OPT-MF-200

MicroFlex e190

Motor feedback Incremental encoder

Accessories 181

Resolver adapter OPT-MF-201

The resolver adapter (OPT-MF-201) allows a motor with resolver feedback to be connected to the MicroFlex e190. The MicroFlex e190 must be power-cycled after connecting the resolver adapter. The resolver adapter sends an absolute position to the MicroFlex e190 at startup, so a phase search is not required. In Mint WorkBench, select a resolver motor in the Drive Setup Wizard. The wizard’s Feedback page will show the feedback type as Resolver Adapter. The resolver adapter can be used in conjunction with the encoder breakout (OPT-MF-200).

Resolver adapter specifications

• Excitation frequency: 10 kHz

• Maximum input speed: 60000 rpm (2 pole resolver)

• Output resolution: 12-bit

• Accuracy: +/-11 arc minutes

Resolver requirements

• Transformation ratio: 0.5

• Excitation supply load: 100 mA maximum.

182 Accessories

Option card OPT-SIO-1

The option card can provides:

1 general purpose analog input

6 general purpose digital inputs

4 general purpose digital outputs

1 RS485/ RS422 serial port

One analog input with a 12-bit resolution receives a wide range from -10V to +10V.

Six digital input channels are divided into 2 groups. Each group is powered by separate external power supply and allows the input signal to be connected with either polarity. All digital outputs share one common external power supply and the maximum voltage across the outputs when active is 30VDC. Serial port supports

4-wire or 2-wire connections. DIP switch SW2 is used for connecting terminal resistor.

See OPT-SIO-1 option card user’s manual (code:3AXD50000351336) for details.

Note: The firmware build version that supports the option card is MicroFlex e190

Build 5900.4.0 and later.

Switch Purpose

2 RS422 RX terminator

1

RS422 TX terminator or RS485 terminator

OFF

NO

NO

ON

120 Ω

120 Ω

X9 X10

Pin 1 Pin 8 Pin 14 Pin 7

1 TX+/ A

2 TX-/ B

3 Shield

4 RX+

5 RX-

6 Shield

7 AIN1-

8 TX+/ A

9 TX-/ B

10 Shield

11 RX+

12 RX-

13 Shield

14 AIN1+

14 Shield

13 CREF1

12 DIN8

11 DIN9

10 USRV+

9 DOUT5

8 DOUT6

7 DIN4

6 DIN5

5 DIN6

4 DIN7

3 CREF0

2 DOUT3

1 DOUT4

Accessories 183

Cables

A wide range of motor and feedback cables are available.



Motor power cables

For easier installation, it is recommended that a color-coded motor power cable is used. The part number for a BSM rotary motor power cable is derived as follows:

CBL 025 SP -12 S m

ft

1.5

5*

2.5

8.2

3.0

10*

5.0

16.4

6.1

20*

7.5

24.6

9.1

30*

10

32.8

15

49.2

15.2

50*

20 65.6

22.9

75*

30.5

100*

* North America only

SP BSM style threaded motor connector (motor end only)

WP SDM style threaded motor connector (motor end only)

RP Raw cable 

(no connector)

Current

(Amps)

6

12

20

35

50

90

-

S

Standard  connector

Stainless connector

Larger motors requiring 35 A cable or greater normally use terminal box connections, so a motor power connector is not required. For this reason connectors are not available on 35 A - 90 A cable.





Examples:

A 6.1 m cable, with a CE threaded standard connector, rated for 12 A has part number CBL061SP-12 .

A 30.5 m cable, with a CE threaded stainless steel connector, rated for 20 A has part number CBL305SP-20S .

A 50 ft cable, with no connector, rated for 50 A has part number CBL152RP-50 .

184 Accessories



Feedback cables

The part number for a feedback cable is derived as follows:

CBL 020 SF -E 1 S m

ft

2.5

8.2

5.0

16.4

7.5

24.6

10

32.8

15 49.2

20

65.6

30

98.4

SF

WF

DF

BSM servo motor feedback cable with at least 1 connector

SDM servo motor feedback cable with at least 1 connector

Servo motor feedback cable with drive connector only

B

D

E

S

BiSS

EnDat 

SinCos

Incremental encoder

SSI

-

1

2

Raw cable

Legacy controllers e100 / e150 e180 / e190

-

S

Standard  connector

Stainless steel connector

RF

Raw cable 

(no connector)

A Smart Abs

Other lengths available on request

R Resolver

Example:

A 2 m encoder feedback cable for a MicroFlex e190 drive, with required connectors at both ends, has part number

CBL020SF-E2.

These feedback cables have the outer shield tied to the connector housing(s). If you are using an alternative cable with your chosen feedback device, be sure to obtain a cable that is a shielded twisted pair 0.34 mm

2

(22 AWG) wire minimum, with an overall shield. Ideally, the cable should not exceed 30.5 m (100 ft). Maximum wire-towire or wire-to-shield capacitance is 50 pF per 300 mm (1 ft) length, to a maximum of

5000 pF for 30.5 m (100 ft).



Ethernet cables

The cables listed in this table connect MicroFlex e190 to other Ethernet nodes such as the controller, additional MicroFlex e190s, or other Ethernet compatible hardware.

The cables are standard CAT5e shielded twisted pair ‘crossover’ Ethernet cables:

Cable description

CAT5e Ethernet cable

Part

CBL002CM-EXS

CBL005CM-EXS

CBL010CM-EXS

CBL020CM-EXS

CBL050CM-EXS

CBL100CM-EXS

CBL200CM-EXS m

0.2

0.5

1.0

2.0

5.0

10.0

20.0

Length ft

0.65

1.6

3.3

6.6

16.4

32.8

65.6

Accessories 185

Connectors

The MFE190 DRIVE CONNECTOR KIT (order code: 3AXD50000038521) containing terminal blocks for the e190 drive can be provided separately if necessary.

The connector pack contains:

No.

Connector Description Quantity

1 X1A 1

2

3

X1B

X2

1

1

4

5

X3

X4

1

1

186 Accessories

Appendix: Safe Torque Off (STO) 187

16

Appendix: Safe Torque Off

(STO)

What this chapter contains

The appendix describes the basics of the Safe torque off function (STO) for the

MicroFlex e190. In addition, application features and technical data for the safety system calculation are presented.

Basics

The drive supports the Safe Torque Off (STO) function according to standards:

EN ISO 13849-1: 2015 

EN ISO 13849-2: 2012 

EN 61508-1/-2/-4/-6/-7: 2010 

EN 61800-5-2: 2007, IEC 61800-5-2: 2016 

EN 62061: 2005 + A1: 2013 + A2: 2015.

The STO function disables the control voltage of the power semiconductors of the drive output stage, which prevents the inverter generating the voltage required to rotate the motor (see diagram below). By using this function, short-time operations

(like cleaning) and/or maintenance work on non-electrical parts of the machinery can be performed without switching off the power supply to the drive.

188 Appendix: Safe Torque Off (STO)

Using internal 24 V drive source:

MicroFlex e190

PWM control circuit

Safe Torque Off connections

X4:4

X4:1

Internal

24V source.

Safety circuit

(emergency stop switch, relay etc.

X4:2

PWM power circuit

Drivers

High

U+

V+

W+

Low

U-

V-

W-

Integrated 

Power 

Module

DC+

DC-

U Motor output (U phase shown)

Appendix: Safe Torque Off (STO) 189

Using external 24 V sources:

MicroFlex e190

PWM control circuit

Safe Torque Off connections

X4:1

Safety circuit

(emergency stop switch, relay etc.

External

24 V source.

+24 V

Common

X4:2

X4:3

PWM power circuit

Drivers

High

U+

V+

W+

Low

U-

V-

W-

Integrated

Power 

Module

DC+

DC-

U

Motor output (U phase shown)

+24 V

+0 V

Notes:

* The STO function is activated when one or both of the safety circuit contacts open. If the period between both contacts opening or closing exceeds a predefined value, a fault in the safety circuit or wiring is assumed and an error is reported.

* The maximum cable length between drive and the safety switch is 30 m (98 ft).

WARNING!

The STO function does not disconnect the voltage of the main and auxiliary circuits from the drive. Therefore maintenance work on electrical parts of the drive or the motor can only be carried out after isolating the drive system from the main supply. If the drive was connected to the input power, wait for 5 minutes after disconnecting the input power.

190 Appendix: Safe Torque Off (STO)

Special considerations for using the STO function



Drive location

The MicroFlex e190 and all associated STO wiring must be installed in an indoor location. The MicroFlex e190 must be installed in a cabinet. The suitability of the cabinet for the intended environment must be determined by the installer. See

Ambient conditions on page 157

for further details.



Hazard analysis

A hazard analysis of the application should be performed before using the STO function in the application.



Additional stopping methods

It is not recommended to stop the drive by using the STO function. If a running drive is stopped by using the function, the drive trips and stops by coasting. If this is not acceptable e.g. causes danger, the drive and machinery must be stopped using the appropriate stopping mode before using this function. For example, suspended or tensioned loads (e.g. cranes, hoists) will require additional brakes or mechanical interlocks.



IGBT failure

If a permanent magnet motor drive experiences multiple power semiconductor failure, the drive system can produce an alignment torque which maximally rotates the motor shaft by 180/ p degrees ( p = pole pair number), even if the STO function has been correctly activated.





Failure of one or more IGBTs can cause the drive output to fail due to:

• IGBT desaturation protection causing all IGBTs to be stopped.

• Rupture of the AC input fuse.

Terminology

‘Active’ or ‘activated’ means that the STO function has been triggered. This removes power from the motor and disables the drive. The drive cannot be restarted without further operator intervention.

‘Standby’ means that the STO function has not been triggered. The drive can power the motor, provided all other criteria are satisfied to allow motor operation.

Appendix: Safe Torque Off (STO) 191

Wiring principles

The Safe Torque Off connector is X4 on MicroFlex e190 drives.

Wiring principles are shown in the diagrams below. See chapter Technical data for

the cable specification and possible safety relay types.

• The wiring to each STO input must be routed separately.

• Wiring the STO inputs in accordance with the following diagrams provides Safety

Integrity Level 3 (SIL3). It is not permissible to control both STO inputs from one safety circuit, as this does not provide SIL3 protection.

• The Safe Torque Off (STO) function provides a stop function equivalent to

‘stop category 0’ according to EN 60204-1.

• The STO element is classified as type A, according to EN 61508-2.



Connected components

Ensure that all components controlling the STO inputs, including cabling, do not cause the STO inputs to become constantly powered (a ‘dangerous failure’) or constantly unpowered (a ‘safe failure’).

Diagnostic pulses produced by Safe Digital Output devices are not recognized by the

MicroFlex e190, and will not activate the STO function provided they have a period of less than 1 ms.



Short circuit testing

Short circuit conditions on the STO inputs must be tested within the proof test interval.



Power supply

It is recommended to use the 24 V DC supply provided on pin 4 of connector X4. This supply is derived from the bus voltage (if present) or from the optional 24 V logic supply on connector X2 (if present).

If an external 24 V DC power supply is connected to X4 it must fulfill the following criteria:

• It must be a Safety Extra Low Voltage (SELV) supply.

• It must be suitable for the desired safe application and safety integrity level.

• It must be protected against over voltages.

• It must limit the output voltage under all fault conditions <60V.

• It must be TüV certified to EN 60950.



Drive enable input

If an additional hardware ‘drive enable’ input is used to control the drive, it must not be wired as part of the STO input circuit.

192 Appendix: Safe Torque Off (STO)



Single drive module: internal power supply

MicroFlex e190

Safe

Torque Off connections

X4:4

X4:1

Safety circuit

(emergency stop switch, relay, etc.)

X4:2



Single drive module: external power supply

MicroFlex e190

Safe

Torque Off connections

X4:1

Safety circuit

(emergency stop switch, relay, etc.)

X4:2

X4:3

External

24 V source

+24 V

+0 V

Appendix: Safe Torque Off (STO) 193



Multiple drive modules: internal power supply

MicroFlex e190

Safe

Torque Off connections

X4:4

X4:1

Safety circuit

(emergency stop switch, relay, etc.)

X4:2

X4:3

MicroFlex e190

Safe

Torque Off connections

X4:1

X4:2

X4:3

MicroFlex e190

Safe

Torque Off connections

X4:1

X4:2

X4:3

Note: The maximum number of drives is 16.

194 Appendix: Safe Torque Off (STO)



Multiple drive modules: external power supply

MicroFlex e190

Safe

Torque Off connections

X4:1

Safety circuit

(emergency stop switch, relay, etc.)

24 V External

Supply

+24 V

X4:2

+0 V

X4:3

MicroFlex e190

Safe

Torque Off connections

X4:1

X4:2

X4:3

MicroFlex e190

Safe

Torque Off connections

X4:1

X4:2

X4:3

Note: The maximum number of drives is 16.

Appendix: Safe Torque Off (STO) 195

Operation of the STO function and diagnostics



Hardware activation of the STO function

The drive contains two STO inputs. If both STO inputs are powered, the STO function is in the standby state and the drive operates normally.





If power is removed from one or both of the STO inputs, the STO function is activated.

The drive motor output power stage is disabled. Enabling is possible only after both

STO inputs have been powered, and all the faults have been cleared.



Firmware monitoring of the STO function

STO function activation

The firmware detects when the STO function is activated and will generates the ‘STO active’ error (10033) if the drive is enabled. The drive can be enabled again only after all the faults have been cleared.

STO input states

The state of the STO inputs are monitored by the firmware. The state of the STO inputs are stored in a hardware register within the drive. The register is monitored by the drive over a period specified by the STOINPUTMISMATCHTIME Mint keyword (the default value is 100ms) . If the inputs are in different states after the specified period has elapsed, the ‘STO input mismatch’ error (10035) is generated.

196 Appendix: Safe Torque Off (STO)



Software monitoring of the STO function

The drive can be programmed using the Mint language. The software application Mint

WorkBench is available for configuring, programming and monitoring the status of the drive. The SAFETORQUEOFF Mint keyword can be used to report the status of the

STO hardware registers. SAFETORQUEOFF contains an array of values indicating the states of the STO channel 1 and STO channel 2, the internal STO status output and the internal STO fault latch. This array is described in the following table:

Parameter Meaning

SAFETORQUEOFF(0) The combined state of the two STO inputs:

STO1 = bit 0, STO2 = bit 1

0 = not powered, 1 = powered

SAFETORQUEOFF(1) The state of STO1 input:

0 = not powered, 1 = powered

SAFETORQUEOFF(2) The state of STO2 input:

0 = not powered, 1 = powered

SAFETORQUEOFF(6) The state of the internal STO status output:

0 = fault, 1 = no fault

SAFETORQUEOFF(7) The latch state of the internal STO status output:

0 = fault, latched, 1 = no fault, not latched

The latched value (0) can not be cleared until the drive is enabled.

See the table in STO status indications on page 197

for a complete listing of

SAFETORQUEOFF values.

See

Error messages generated by the drive on page 202

, which describes the error codes displayed by the drive.

Appendix: Safe Torque Off (STO) 197

STO status indications

The following table lists the state of the STO function with reference to:

• values of the SAFETORQUEOFF Mint keyword (see page

196

).

• status of the STO inputs STO1 and STO2.

SAFETORQUEOFF(1) and SAFETORQUEOFF(2) return 1 when the respective STO input is powered (STO in standby, motor output enabled).

SAFETORQUEOFF(6) returns 1 when both inputs are powered.

No FAULTs

STO1

&

STO2 powered

STO1 not powered

STO2 not powered

STO in standby.

Motor output enabled.

SAFETORQUEOFF(0)=3 

SAFETORQUEOFF(1)=1 

SAFETORQUEOFF(2)=1 

SAFETORQUEOFF(6)=1

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=2 

SAFETORQUEOFF(1)=0 

SAFETORQUEOFF(2)=1 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=1 

SAFETORQUEOFF(1)=1 

SAFETORQUEOFF(2)=0 

SAFETORQUEOFF(6)=0

STO1

STO2 both not powered

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=0 

SAFETORQUEOFF(1)=0 

SAFETORQUEOFF(2)=0 

SAFETORQUEOFF(6)=0

FAULT

STO1 present

FAULT

STO2 present

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=3 

SAFETORQUEOFF(1)=1 

SAFETORQUEOFF(2)=1 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=3 

SAFETORQUEOFF(1)=1 

SAFETORQUEOFF(2)=1 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=2 

SAFETORQUEOFF(1)=0 

SAFETORQUEOFF(2)=1 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=2 

SAFETORQUEOFF(1)=0 

SAFETORQUEOFF(2)=1 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=1 

SAFETORQUEOFF(1)=1 

SAFETORQUEOFF(2)=0 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=1 

SAFETORQUEOFF(1)=1 

SAFETORQUEOFF(2)=0 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=0 

SAFETORQUEOFF(1)=0 

SAFETORQUEOFF(2)=0 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=0 

SAFETORQUEOFF(1)=0 

SAFETORQUEOFF(2)=0 

SAFETORQUEOFF(6)=0

FAULT

STO1

FAULT

STO2 both present

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=3 

SAFETORQUEOFF(1)=1 

SAFETORQUEOFF(2)=1 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=2 

SAFETORQUEOFF(1)=0 

SAFETORQUEOFF(2)=1 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=1 

SAFETORQUEOFF(1)=1 

SAFETORQUEOFF(2)=0 

SAFETORQUEOFF(6)=0

STO activated.

Motor output disabled.

SAFETORQUEOFF(0)=0 

SAFETORQUEOFF(1)=0 

SAFETORQUEOFF(2)=0 

SAFETORQUEOFF(6)=0

198 Appendix: Safe Torque Off (STO)



STO software functional diagram:

MicroFlex e190

STO

X4:1

STO1 STO1

STO2

X4:2

STO2

SAFETORQUEOFF(6)

SAFETORQUEOFF(1)

SAFETORQUEOFF(2)

SAFETORQUEOFF(0)

Monitoring the delay between the STO inputs

The STO function monitors the switching time difference between the STO inputs.

See

Operation of the STO function and diagnostics on page 195

.

STO function activation and indication delays

Hardware activation delay (the delay between removing power from an STO input and switching off the drive output bridge): < 50 ms.

Hardware indication delay (the delay between switching off the drive output bridge and being indicated to the Mint program): < 50 ms.

Software STO indication delay, Mint program (the delay between a mismatch occurring on the STO inputs and being indicated to the Mint program): < 200 ms user defined period, set by STOINPUTMISMATCHTIME .

Appendix: Safe Torque Off (STO) 199

Validating the operation of a safety function

EN 61508, EN 62061 and EN ISO 13849-1 require that the final assembler of the machine validates the operation of the safety function with an acceptance test at the installation site. The acceptance tests for the standard safety functions of the drive are described in the drive manual.

The acceptance test must be performed:

• by an authorized person

• at initial start-up of the safety function

• after any changes related to the safety function (wiring, components, settings, etc.)

• after any maintenance work related to the safety function.

• at the proof test interval, T

1

.



Authorized person

Commissioning of the drive and the acceptance test of the safety function must be carried out by an authorized person with expertise and knowledge of the safety function. The test must be documented and signed by the authorized person.



Acceptance test reports

Signed acceptance test reports must be stored in the logbook of the machine. The report shall include documentation of start-up activities and test results, references to failure reports and resolution of failures. Any new acceptance tests performed due to changes or maintenance shall be recorded in the logbook.



Preliminary checks

Before powering the drive, check:

• Grounding has been properly connected.

• Energy sources have been properly connected and are operational.

• Transportation stops and packing materials have been removed.

• No physical damage is present.

• All instruments have been properly calibrated.

• All field devices are operational.

• Interfaces are operational.

• Interfaces to other systems and peripherals are operational.

200 Appendix: Safe Torque Off (STO)

Start-up, acceptance, and proof test interval checklist

Action

Ensure that the drive can be run and stopped freely during the commissioning.

Stop the drive (if running), switch off the input power and isolate the drive from the power line by a disconnector.

Check the STO circuit connections against the circuit diagram.

Check that the shield of the STO input cable is grounded to the drive frame.

Close the disconnector and switch on the power.

Test the operation of the STO function when the motor is stopped:

• Disable the drive and ensure the motor shaft is not rotating.

• Activate the STO function (remove power from the STO inputs) and attempt to enable the drive.

• Ensure that the drive can not be enabled (see section Operation of the STO function and diagnostics on page 195 .)

• Deactivate the STO function (apply power to the STO inputs).

Test the operation of the STO function when the motor is running:

• Enable the drive and start motion. Ensure the motor is rotating.

• Activate the STO function (remove power from the STO inputs).

• Ensure that the drive disables and the motor stops rotating.

• Attempt to enable the drive.

• Ensure that the drive can not be enabled (see section Operation of the STO function and diagnostics on page 195 .)

• Deactivate the STO circuit (apply power to the STO inputs).

Document and sign the acceptance test report which verifies that the safety function is safe and accepted to operation.

Appendix: Safe Torque Off (STO) 201

Restarting the drive

Restarting the drive is not part of the STO test or certification processes, but is included here for convenience.

Action

Deactivate the STO circuit (apply power to the STO inputs).

If the drive holds a Mint program, or is connected to an Ethernet master device that can enable the drive, it is possible for the drive to restart and begin to control the motor without further intervention. If the drive does not hold a Mint program, some of the following actions are necessary, depending on the installation:

• Activate the additional drive enable input (if present).

• In Mint WorkBench (if connected), click the Clear errors button on the System toolbar, followed by the Drive Enable button on the Motion toolbar.

• Enable the drive from the Ethernet master device (if connected).

Maintenance / servicing

Include the STO operation tests described in Start-up, acceptance, and proof test interval checklist

on page

200

in the routine maintenance program of the machinery to which the drive is connected.

The STO function must be tested by authorized service personnel as frequently as required by the proof test interval T

1

; see Start-up, acceptance, and proof test interval checklist on page 200 . See also

Data related to safety standards on page 206

.

The STO input terminals do not need any maintenance. Maintain the drive according to the instructions given in this manual.

The exchange of safety related systems or subsystems must be performed only in a powerless condition.

The drive may only be opened by ABB authorized personnel.

202 Appendix: Safe Torque Off (STO)

Error messages generated by the drive

When an error occurs, the drive displays the error code on its front panel 7 segment display. The symbol

E is displayed, followed by the digits of the error code in sequence.





For example, error code 10033 is displayed as



E....1..0..0..3..3. 

Additionally, the right decimal point is illuminated for any STO error.





The STO errors are listed in the following table.

STO error

Note: The STO function is activated when one or both of the safety circuit contacts open. If the period between both contacts opening or closing exceeds a predefined value (defined by the STOINPUTMISMATCHTIME Mint keyword) a fault in the safety circuit or wiring is assumed and an error is reported. The maximum allowed cable length between the drive and the activation switch is 30 m (98 ft).

Appendix: Safe Torque Off (STO) 203

Error

10033  ecSTO_ACTIVE

10035 ecSTO_INPUT_MISMATCH

Cause

Either one or both of the



STO inputs is not powered.



This error is detected when the drive is enabled, or when attempting to enable the drive in software.

- safe switch or relay has dropped an output that controls the STO input.

What to do

- emergency stop switch has been operated.

- faulty safety relay

The drive has detected a mismatch in its internal STO

 registers.



This error can occur while the drive is enabled or disabled.

- emergency stop switch fault

- wiring fault

Use a test meter to check that the device controlling the STO input is providing the required output.

Check the operation of the emergency stop switch. Check that the contacts close correctly when the switch is reset.

Check the operation of the safety relay.

Check the operation of the emergency stop switch. Check that the contacts close correctly when the switch is reset.

Check that the period defined by STOINPUTMISMATCHTIME is long enough to allow both

STO inputs to settle.

Check the operation of the emergency stop switch. Check that the contacts close correctly when the switch is reset.

Check all wiring for the STO inputs.

Decommissioning

Before decommissioning any safety system from active service:

• Evaluate the impact of decommissioning on adjacent operating units and facilities or other field services.

• Conduct a proper review and obtain required authorization.

• Ensure that the safety functions remain appropriate during decommissioning activities.

Implement appropriate change management procedures for all decommissioning activities.

204 Appendix: Safe Torque Off (STO)

Technical data



STO safety relay type

General requirements

Output requirements

No. of current paths 2 independent paths (one for each STO path)

Switching voltage capability 30 V DC per contact

Switching current capability 10 mA per contact per drive

<200 ms Maximum switching delay between contacts

Internal supply/multiple units

Maximum length of safety circuit from operating contact to most distant drive

Maximum number of drives in circuit

External supply/multiple units

External power supply

EN 61508 and/or EN 61511 and/or

EN ISO 13849-1

30 m (98.4 ft)

16

Current requirement

Example 1

Type and manufacturer

24 V DC +10% SELV

20 mA per connected drive

Simple SIL3 approved safety relay

PSR-SCP- 24UC/ESP4/2X1/1X2 by Phoenix

Contacts

Approvals

Example 2

Type and manufacturer

Approvals

EN 954-1, cat 4; EN 61508, SIL3

Programmable safety logic

PNOZ Multi M1p by Pilz

EN 954-1, cat 4; EN 61508, SIL3; and

EN ISO 13849-1, PL e

Appendix: Safe Torque Off (STO) 205



STO cable

Type

Maximum length

Example cable

2×2×0.75 m

2

low voltage, single shielded, twisted pair cable

30 m between STO inputs and the operating contact

Li YCY TP 2×2×0.75 mm

2

shielded twisted pair cable by HELUKABEL or CEAM



Ambient conditions

Description

Operating temperature range

Minimum

Maximum

Storage temperature range

Unit

°C

°F

1.6 A model

°C °F

0

+55*

-40 to +85

-40 to +185

+32

+122*

95

0

3 A, 6 A, 9 A models

°C °F

+55

All models

+32

+131

Humidity 

(maximum, non-condensing)

Maximum installation altitude

(above m.s.l.) non-STO parts:



%

STO function: m ft m ft

Shock

Vibration



1000. Above 1000 m derate 1.1% / 100 m

3280. Above 3280 ft derate 1.1% / 330 ft

2000

6560

10 G

1 G, 2-200 Hz

* Subject to derating; see page

149

.

206 Appendix: Safe Torque Off (STO)

Data related to safety standards



Safety data

Frame SIL /

SILCL

UEI 3

PL SFF

[%]

PFH

[1/h]

D

PFD

G

[1/h]

MTTF

[a] d

DC

[%]

SC Cat. HFT CCF Lifetime e 98.32% 3.04E-09 2.33E-05 13943 ≥ 90 3 3 1 80

[a]

20

Proof test interval (PTI) T

1

= 2 years.



Mean repair time MRT = 0 h (circuit boards are not intended to be repaired).



Mean time to restoration MTTR = 48 h (MRT plus time used to locate the failure).



Failure rates

Channel

Total

CHX

CH1

CH2

λ sd

[FIT]

209.2

15.2

191.0

194.0

λ su

[FIT]

225.0

6.8

217.8

218.3

λ dd

[FIT]

0.7

0.0

0.7

0.7

λ du

[FIT]

7.4

2.8

4.6

4.6

SFF

[%]

98.3%

88.6%

98.9%

98.9%

Tested with:

• Control board build version: 

3AXD100000451859 Rev.03.

• Power unit build version: 

3AXD100000446920 Rev.03.

• Firmware build version: MicroFlex e190 Build 5850.1.34 and later.

Appendix: Safe Torque Off (STO) 207

Abbreviations

Abbreviation Reference

CCF EN ISO 13849-1

DC

FIT

HFT

IGBT

EN ISO 13849-1

EN 61508

EN 61508

Description

Common Cause Failure (%)

Diagnostic Coverage

Failure In Time: 1 × 10 -9 hours

Hardware Fault Tolerance

Insulated-gate bipolar transistor: The electrical components that drive the motor power outputs

MTTF

D

EN ISO 13849-1

PFD

PFH

PL

PTI

EN 61508

EN 61508

EN ISO 13849-1

EN 61508

EN 61508

Mean Time To dangerous Failure: (The total number of life units) / (the number of dangerous, undetected failures) during a particular measurement interval under stated conditions

Probability of Failure on Demand

Probability of Dangerous Failures per Hour

SFF

SIL

STO

EN 61508

EN 61800-5-2

IEC 61800-5-2

Performance Level: Corresponds SIL, Levels a-e

Proof Test Interval

Safe Failure Fraction (%)

Safety Integrity Level

Safe Torque Off

CE Declaration of Conformity

The declaration (3AXD10000540159) is available on the internet. See Document library on the Internet on page 209 .

TüV Certificate

The TüV Certificate (3AXD10000540318) is available on the internet. See Document library on the Internet on page 209 .

208 Appendix: Safe Torque Off (STO)

Further information

Product and service inquiries

Address any inquiries about the product to your local ABB representative, quoting the type designation and serial number of the unit in question.

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For information on ABB product training, navigate to new.abb.com/service/training and select Training courses .

Providing feedback on ABB Drives manuals

Your comments on our manuals are welcome. Go to new.abb.com/drives/manualsfeedback-form and select Document Library – Manuals feedback form (LV AC drives) .

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You can find manuals and other product documents in PDF format on the Internet.

Go to new.abb.com/drives and select Drives Document Library.

You can browse the library or enter selection criteria, for example a document code, in the search field.

Contact us

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3AXD50000037326 REV C (EN) EFFECTIVE: 2020-6-9