Indel SAC4 series Instrucciones de uso

Version: Rev 1.36

Date: 04.07.2019

Language: English

Issue: Translation

Hardware

User Manual

GIN-SAC4xX

Page 3 of 90 04.07.2019Rev 1.36

Inhaltsverzeichnis

1. General 8

1.1. About this manual 8

1.2. Sales and Service 8

1.2.1. Manufacturer 8

1.2.2. Support 8

1.3. Disclaimer 8

1.4. Copyright 8

1.5. Documentation versions 9

1.6. Used terms 11

1.7. Symbols used 12

2. Safety 13

2.1. Safety instructions 13

2.1.1. Qualiedpersonnel 13

2.1.2. Documentation 13

2.1.3. ESD protection 13

2.1.4. Protection against contact with electrical components 13

2.1.5. Turno 14

2.1.6. High voltage test, insulation resistance test 14

2.1.7. Residual Current Circuit Breaker 14

2.1.8. SafeTorqueo 14

2.1.9. Maximum movement in the event of an error 14

2.2. Safety requirements 15

2.2.1. Risk analysis 15

2.2.2. Checking the safety function 15

2.2.3. Run-on 15

2.2.4. Braking resistance 15

2.2.5. Residual energy in the intermediate circuit 16

2.2.6. Safety covers 16

2.2.7. Protection against dangerous movements 16

2.2.8. Suspended loads 16

2.2.8.1. Loss of the logic power supply 17

2.2.9. Power failure of the mains supply 17

2.2.10. EMC 17

2.2.11. Commissioning 17

2.2.12. Service life 18

2.2.13. Simple protection against bypassing 18

Page 4 of 90 04.07.2019Rev 1.36

2.2.14. Responsibility 18

2.2.15. Defective drives 18

2.3. Intended use 19

3. Handling 20

3.1. Storage 20

3.2. Maintenance 20

3.3. Repair Service 20

3.4. Disposal 20

4. Productidentication 21

4.1. Scope of delivery 23

4.1.1. GIN-SAC4x4 23

4.1.2. GIN-SAC4x3 23

4.1.3. GIN-SAC4x2 24

4.1.4. GIN-SAC4x1 24

4.2. Rating plates 25

4.2.1. SAC4x4 230V 25

4.2.2. SAC4x4 400V 25

4.2.3. SAC4x3 230V 26

4.2.4. SAC4x3 400V 26

5. Stop/EmergencyPowerOfunctionsinaccordancewithEN60204 27

5.1. Emergency stop 27

5.1.1. Implementing emergency stop category 0 27

5.1.2. Implementing emergency stop category 1 28

5.2. Emergency halt 28

5.3. EmergencyPowerO 29

6. Safety functions with the SAC4 30

6.1. Safetorqueo(STO) 30

6.2. Connection example 30

6.2.1. SAC4 drives with STO 31

6.2.2. Diagnostic function in the servo drive 31

6.2.3. Monitoringofthediagnosticpath(K1-K2)bytheuser 31

7. Technical description 32

7.1. SAC4xX option PRO 32

7.2. Rotary option switch 32

7.3. Technicalspecications 33

7.3.1. General 33

7.3.2. Mains connection and intermediate circuit 33

Page 5 of 90 04.07.2019Rev 1.36

7.3.3. Nominal currents of output stages 35

7.3.4. Logic power supply 38

7.3.5. Motor 38

7.3.6. Feedback 39

7.3.6.1. SinCos 39

7.3.6.2. Resolver 39

7.3.6.3. Incremental encoder 40

7.3.6.4. Absolute value feedback 40

7.3.7. Digital IOs 41

7.3.8. Safetorqueo(STO) 42

7.4. Ambient conditions 43

8. Electrical installation 44

8.1. Notes 44

8.2. Pin assignment of SAC4xX 45

8.2.1. GIN-SAC4x4 overview 45

8.2.2. GIN-SAC4x3 overview 46

8.2.3. GIN-SAC4x2 overview 47

8.2.4. GIN-SAC4x1 overview 48

8.2.5. Logic power supply / Digital IOs 49

8.2.6. Mains connection 49

8.2.7. Motor connections 50

8.2.8. Intermediate circuit voltage 50

8.2.9. Braking resistance 51

8.2.10. Feedbacksx 51

8.2.11. STO 52

8.3. Motor connection 53

8.3.1. 3-phase motor on one output stage 53

8.3.2. 3-phase motor on two parallel output stages 53

8.3.3. DC motor at an output stage 54

8.4. Mains connection 55

8.5. Intermediate circuit 56

8.6. Logic power supply 56

8.7. Digital IOs 57

8.7.1. Inputs 57

8.7.2. Outputs 57

8.8. External brake resistance 58

8.9. Feedback 58

8.9.1. SinCo feedback 58

Page 6 of 90 04.07.2019Rev 1.36

8.9.2. Resolver feedback 59

8.9.3. Incremental encoder feedback 60

8.9.3.1. Connection to absolute value interface 60

8.9.3.2. Connection to SinCos interface 61

8.9.3.3. Connection of single-ended incremental encoder 62

8.9.4. Absolute value feedbacks 63

8.9.4.1. Hiperface 63

8.9.4.2. EnDat 2.1 64

8.9.4.3. SSI 65

8.9.5. Temperature sensors 65

8.10. Voltage supply 66

8.10.1. Logic power supply 66

8.10.2. Mains connection 66

8.11. Wiring 67

8.11.1. Conductor cross-sections SAC4x4 67

8.11.2. Routing of motor cables 67

8.11.3. Cable routing of the safety-related cut-out 67

8.11.4. Routing of SinCos, incremental, and resolver lines 68

8.11.5. Potential equalisation 68

8.11.6. Protective earth connection 68

8.12. Motor overload protection 68

8.12.1. I2t cut-out 68

8.12.2. Braking resistance 68

9. Mechanical installation 69

9.1. Notes 69

9.2. Assembly instructions 69

9.3. GIN-SAC4x4 70

9.3.1. Assembly 70

9.3.2. Dimensions 71

9.4. GIN-SAC4x3 72

9.4.1. Assembly 72

9.4.2. Dimensions 73

9.5. GIN-SAC4x2 74

9.5.1. Assembly 74

9.5.2. Dimensions 75

9.6. GIN-SAC4x1 76

9.6.1. Assembly 76

Page 7 of 90 04.07.2019Rev 1.36

9.6.2. Dimensions 77

10. Troubleshooting 78

10.1. Status LED 78

11. Further documents 81

11.1. EC Declaration of Conformity 81

11.2. TypecerticateforSAC4x4 82

11.3. TypecerticateforSAC4x3 84

11.4. TypecerticateforSAC4x2 86

11.5. TypecerticateforSAC4x1 88

12. Standards 90

Page 8 of 90 04.07.2019Rev 1.36

General

1. General

1.1. About this manual

This user manual describes the Indel servo drives of the SAC4 series. This document is the original

edition.

1.2. Sales and Service

1.2.1. Manufacturer

Indel AG

Tüwis 26

CH-8332 Russikon

Switzerland

[email protected]

www.indel.ch

Tel.: +41 44 956 20 00

Fax: +41 44 956 20 09

1.2.2. Support

Indel AG provides you with extensive technical support:

• Engineering for hardware and soware

• Worldwide support via Team Viewer

• Worldwide on-site technical support

• Commissioning of controls and drives on site

1.3. Disclaimer

The documentation was created to the best of our knowledge and belief. However, the products de-

scribed are constantly being developed and improved. The documentation should therefore never be

considered complete. All information in the documentation is without guarantee. We reserve the right

to make changes at any time without notice. No claims can be made regarding changes to products

which have already been delivered.

1.4. Copyright

Unless specically authorised by Indel, the redistribution and reproduction of this document is pro-

hibited.

Page 9 of 90 04.07.2019Rev 1.36

General

1.5. Documentation versions

Version Date Author Comment

Rev pr M. Suter All dra versions issued before the rst release.

Rev 1.00 26.02.2014 M. Suter • Release

Rev 1.10 19.05.2014 M. Suter • Incorporation of the GIN-SAC4x3

Rev 1.11 20.05.2014 M. Suter • Addition of assembly instructions, rotary option

switch and rotary switch description

Rev 1.12 13.06.2014 M. Suter • Correction GIN-SAC4x3 only 3x output stage

Rev 1.20 09.07.2014 M. Suter • Chapter 6.1 deleted

• Issue: Original added to cover page

• Chapter 2.3 not to be used in explosion hazard

areas

• Chapter 2.3 Only for use in industrial contexts

• Chapter 2.1.1 extended

• Chapter 2.2.2 added

• Chapter 7.3.8, fuse protection of the relay 1A

• Chapters 5.1.1 and 5.1.2 for illustrative purposes

only

Rev 1.21 28.07.2014 M. Suter • Change to interactive PDF format

Rev 1.22 06.08.2014 M. Suter • Various corrections

• Standards updated

Rev 1.23 11.08.2014 M. Suter • Adaptations to EMC standard

Rev 1.24 12.08.2014 M. Suter • Declaration of Conformity added

Rev 1.25 11.11.2014 M. Suter • Chapter 7.3.4, Power consumption of

logic power supply < 2A

Rev 1.26 25.11.2014 M. Suter • Type certicate for SAC4x4 and SAC4x3 added

Rev 1.27 02.04.2015 M. Suter • Status LED chapter 10.1 on page 78 added

Rev 1.28 02.04.2015 M. Suter • Reaction time tOFF of the STO in chapter 7.3.8 on page 42

corrected from 3ms to 15ms

Rev 1.29 15.04.2015 M. Suter • Modication to conductor cross-sections chapter

8.11.1

• Modication to motor overload protection chapter

8.12

• Modication to assembly instructions chapter 9.2

Rev 1.30 31.07.2015 M. Suter • Suva approval on rating plates

• Incorporation GIN-SAC4x1

• Various corrections

Rev 1.31 28.10.2015 M. Suter • PT100 and PT1000 can now also usable as tempera-

ture sensors, chapter 8.9.5

Rev. 1.32 19.04.2016 M. Bleuler • Declaration of Conformity adjusted according to

current guidelines, chapter 11.1

• Intermediate circuit capacity added for SAC4x3,

SAC4x2 and SAC4x1, chapter 7.3.2

Rev. 1.33 17.10.2016 M. Bleuler • D-Sub mating connector corrected in chapters 4.1.1,

4.1.2, 4.1.3 and 4.1.4

• GIN-SAC4x2 in chapter 4, chapter 4.1.3, chapter

6.2.1, chapter 7.3.1, chapter 7.3.3, chapter 8.2.3 and

chapter 9.5 added

• Type-examination certicate GIN-SAC4x2 and GIN-

SAC4x1 added in chapters 11.4 and 11.5

Page 10 of 90 04.07.2019Rev 1.36

General

Rev. 1.34 13.12.2016 M. Bleuler • New sketch added under assembly instructions in

chapter 9.2

• EC Declaration of Conformity adapted only for STO

option in chapter 11.1

Rev. 1.35 15.06.2017 M. Bleuler • Old Indel logo replaced with new Indel logo

• Relinking the URLs

Rev. 1.36 06.02.2018 M. Bleuler • Former Chapter 8.3.3 "three parallel ouput stages"

deleted, as not implemented to date.

• Additional note added under chapter 6.2.2 in con-

nection with internal evaluation.

• Chapter 6.2.3 added for better understanding in

conjunction with Chapter 6.1.

• Overvoltage category standard in chapter 7.3.2

adjusted.

• Overvoltage category standard in chapter7.4 ad-

justed.

• Pin assignment of positions in image in chapters

8.2.2 and 8.2.3 corrected.

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