Pilz PMCtendo DD5 Manual de usuario
Operating Manual — No. 1002236-EN-01
Servo amplifiers
Operating Manual PMCtendo DD5
Operating Manual PMCtendo DD5
PMCtendo DD5
This document is a translation of the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Co ies may be made
for internal ur oses.
Suggestions and comments for im roving this documentation will be gratefully received.
Pilz®, PIT®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS ®, SafetyEYE®,
SafetyNET ®, the s irit of safety® are registered and rotected trademarks of
Pilz GmbH & Co. KG in some countries.
SD means Secure Digital.
Preface
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected] 1
Contents
Contents
Contents Page
Chapter 1 Introduction
1.1 Validity of the documentation 1-1
1.1.1 Retaining the documentation 1-1
1.2 Overview of documentation 1-2
1.3 Definition of symbols 1-3
Chapter 2 Overview
2.1 Unit structure 2-1
2.1.1 Unit features 2-1
2.1.1.1 Power element 2-1
2.1.1.2 Control element 2-2
2.2 Front view 2-4
2.3 Plan view 2-5
2.4 Scope of supply 2-6
2.5 Type code 2-7
2.6 Type label 2-8
Chapter 3 Safety
3.1 Intended use 3-1
3.1.1 Hazard analysis 3-1
3.1.2 Electrical data 3-1
3.1.3 Environmental conditions 3-1
3.1.4 Guidelines for UL approval 3-2
3.1.5 Safety function STO 3-2
3.1.6 Use of qualified personnel 3-3
3.1.7 Warranty and liability 3-4
3.1.8 Disposal 3-4
3.2 Safety during operation 3-5
3.3 Standards 3-6
3.4 Stop and E-STOP functions 3-8
3.4.1 Stop functions 3-8
3.4.2 E-STOP functions 3-8
Chapter 4 Function description
4.1 Overview 4-1
4.2 Power element 4-3
4.2.1 Mains voltage 4-3
4.2.2 Motor connection 4-5
4.2.3 Motor holding brake 4-6
4.2.4 Brake resistor 4-8
4.2.5 Intermediate circuit 4-9
4.3 Control element 4-11
4.3.1 Supply voltage 24 VDC 4-11
Contents
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected]
2
4.3.2 Digital inputs and outputs 4-11
4.3.2.1 Overview 4-11
4.3.2.2 Digital inputs 4-12
4.3.2.3 Digital outputs 4-13
4.3.3 Safety function STO 4-14
4.3.3.1 Safety information 4-14
4.3.3.2 Signal states 4-15
4.3.3.3 Connection example 4-16
4.3.4 Analogue inputs 4-17
4.3.5 Encoder systems 4-18
4.3.5.1 Overview 4-18
4.3.5.2 Resolver 4-21
4.3.5.3 SinCos encoder 4-22
4.3.5.4 Incremental encoder 4-24
4.3.5.5 Absolute encoder with SSI interface 4-25
4.3.6 Electronic gearing 4-26
4.3.6.1 Stepper motor control systems (pulse/di-
rection)
4-27
4.3.6.2 Master-Slave mode 4-27
4.3.7 Encoder emulation 4-28
4.3.8 Communication interfaces 4-31
4.3.8.1 RS232 interface 4-31
4.3.8.2 CANopen interface 4-31
4.3.9 Tools 4-32
4.4 Expansion cards 4-34
4.4.1 Expansion card I/O-14/08 4-34
4.4.2 Expansion card for PROFIBUS-DP inter-
face
4-36
4.4.3 Expansion card for SERCOS interface 4-36
4.4.4 Expansion card for DeviceNet 4-38
4.4.5 Fieldbus junction box 4-41
4.5 Switch on/switch off behaviour 4-43
4.5.1 Normal operation 4-44
4.5.2 Fault condition 4-45
4.6 Implementation of stop categories 4-47
4.6.1 Stop Category 0 4-47
4.6.2 Stop Category 1 4-49
4.6.3 Stop Category 2 4-51
Chapter 5 Installation
5.1 General requirements 5-1
5.2 Dimensions 5-2
5.3 Installing the servo amplifier 5-3
5.4 Installing the expansion cards 5-5
5.5 Installing the fieldbus junction box 5-6
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected] 3
Contents
Chapter 6 Wiring
6.1 Connector description 6-1
6.2 Block diagram 6-2
6.3 Wiring guidelines 6-4
6.3.1 Protection against contact 6-5
6.3.1.1 Leakage current 6-5
6.3.1.2 Residual current devices FI 6-6
6.3.1.3 Isolating transformer 6-7
6.3.2 Connection cables 6-7
6.4 Wiring procedure 6-9
6.5 EMC-compliant wiring 6-10
6.5.1 Earthing 6-10
6.5.2 Shielding 6-10
6.5.2.1 Shield connection on the front plate 6-11
6.5.2.2 Motor connection 6-12
6.5.3 Filters 6-12
6.5.4 Chokes 6-13
6.6 Power element 6-14
6.6.1 Mains voltage 6-14
6.6.2 Motor with brake 6-15
6.6.3 External brake resistor 6-17
6.6.4 Intermediate circuit 6-17
6.7 Control element 6-20
6.7.1 Supply voltage 24 VDC 6-20
6.7.2 Digital inputs 6-21
6.7.3 Digital outputs 6-22
6.7.4 Analogue inputs 6-23
6.7.5 Encoder systems 6-24
6.7.5.1 Resolver 6-24
6.7.5.2 SinCos encoder with HIPERFACE inter-
face
6-25
6.7.5.3 SinCos encoder with EnDat 2.1 interface 6-27
6.7.5.4 SinCos encoder with EnDat 2.2 interface 6-28
6.7.5.5 SinCos encoder with BISS interface, ana-
logue
6-30
6.7.5.6 SinCos encoder with BISS interface, digital 6-31
6.7.5.7 SinCos encoder with SSI interface 6-33
6.7.5.8 SinCos encoder without data track 6-34
6.7.5.9 Incremental encoder ROD (AquadB) 5 V,
350 kHz
6-36
6.7.5.10 Incremental encoder ROD (AquadB) 5 V,
1.5 MHz
6-38
6.7.5.11 Absolute encoder with SSI interface 6-41
6.7.5.12 Electronic gearing, Master-Slave mode 6-43
6.7.5.13 Encoder emulation 6-46
Contents
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected]
4
6.7.6 Communication interfaces 6-48
6.7.6.1 RS232 interface 6-48
6.7.6.2 CANopen interface 6-49
6.8 Expansion cards 6-52
6.8.1 Expansion card I/O-14/08 6-52
6.8.2 Expansion card for PROFIBUS-DP inter-
face
6-54
6.8.3 Expansion card for SERCOS interface 6-54
6.8.4 Expansion card for DeviceNet 6-55
6.8.5 Fieldbus junction box 6-57
Chapter 7 Commissioning
7.1 Safety information 7-1
7.2 Commissioning the servo amplifier 7-3
7.2.1 Gather the project data 7-3
7.2.2 Wire components 7-3
7.2.3 Preparing for commissioning 7-5
7.2.4 Connect 24 VDC supply voltage 7-5
7.2.5 Establish communication PMCtendo DD5
<-> PC
7-5
7.2.6 Set parameters for the servo amplifier 7-6
7.2.7 Perform the first test run 7-8
7.3 LEDs and keys 7-9
7.3.1 Key functions 7-9
7.3.2 Standard menu 7-9
7.3.3 Advanced menu 7-10
7.4 Messages/errors 7-12
7.4.1 Status messages 7-12
7.4.2 Error messages 7-12
7.4.3 Warning messages 7-13
Chapter 8 Technical details
8.1 PMCtendo DD5.03/230V 8-1
8.2 PMCtendo DD5.06/230V 8-4
8.3 PMCtendo DD5.10/230V 8-5
8.4 PMCtendo DD5.01/480V 8-6
8.5 PMCtendo DD5.03/480V 8-7
8.6 PMCtendo DD5.06/480V 8-8
Chapter 9 Appendix
9.1 Glossary 9-1
9.2 Abbreviations 9-2
9.3 Index 9-4
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected] 1-1
1.1 Validity of the documentation
1 Introduction
11000Introduc tionIntroduc tion1-1.1Validity of th e documenta tion1100Validity of th e documenta tion1-BA_Einfuehrung_1
This documentation is valid for the product PMCtendo DD5. It is valid
until new documentation is published.
This operating manual explains the function and operation, describes
the installation and provides guidelines on how to connect the product
PMCtendo DD5.
][Einfhrun g_Dokumen te_beach ten
Please also refer to the following documents from the motion control
range:
The online help for the PDrive commissioning software describes how
to set the parameters for the servo amplifier.
The "PMCprimo CAN Networking" manual contains guidelines for
networking multiple PMCprimo control systems and additional CAN-
open devices.
All these manuals can be found on the supplied CD-ROM: "Motion Con-
trol Documentation".
You will need to be conversant with the information in these documents
in order to fully understand this manual.
BA_Einfuehrung_DD5
This operating manual is valid for the following products:
PMCtendo DD5 from Version 1.1
1.1.1 Retaining the documentation
Retaining the documentation1-Einf Aufbewahren
This documentation is intended for instruction and should be retained
for future reference.
1.2 Overview of documentation
1 Introduction
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected]
1-2
1.2Overview of documentation1200Overview of documentation1-][Einfuehrung_Uebersicht_1
1 Introduction
The introduction is designed to familiarise you with the contents, struc-
ture and specific order of this manual.
2 Overview
This chapter provides information on the product's most important fea-
tures.
3 Safety
This chapter must be read as it contains important information on in-
tended use.
4 Function Description
This chapter describes the product's individual components.
5 Installation
This chapter explains how to install the product.
6 Wiring
This chapter describes the product's wiring.
7 Commissioning
This chapter describes how to commission the product.
8 Technical Details
9 Appendix
This chapter contains a glossary, a list of the abbreviations used and the
index.
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected] 1-3
1.3 Definition of symbols
1 Introduction
1.3Definition of symbols1300Definition of symbols1-Einfhrung Zeichen
Information that is particularly important is identified as follows:
DANGER!
This warning must be heeded! It warns of a hazardous situation
that poses an immediate threat of serious injury and death and
indicates preventive measures that can be taken.
WARNING!
This warning must be heeded! It warns of a hazardous situation
that could lead to serious injury and death and indicates preven-
tive measures that can be taken.
CAUTION!
This refers to a hazard that can lead to a less serious or minor
injury plus material damage, and also provides information on
preventive measures that can be taken.
NOTICE
This describes a situation in which the unit(s) could be damaged
and also provides information on preventive measures that can
be taken. It also highlights areas within the text that are of partic-
ular importance.
INFORMATION
This gives advice on applications and provides information on
special features.
1 Introduction
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected]
1-4
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