Ssd Company Limited Servo Drive 637F Users Manual

637f to the manual f5ff6d29-f62e-4d35-bcec-3e730436f6a4

2015-02-06

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07-02-10-01-E-V0505.doc
637f
Servo drive
Product
Manual
Additional Supporting Documentation
________________________________________________________________________________________________________________________________________________________________________________________________________________________
2 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
UL:07-02-01
Product Manual Rack 6 U and EMV
UL:07-02-02-01
Product Manual Power Supply Plug-in Module NE B
UL: 07-02-09-02
Feedback System HIPERFACE®
UL:07-02-10-02
Product - Manual Safe Standstill SBT
UL:07-05-02-03
Product Manual SUCOnet K
UL:07-05-03-02
Product Manual Bus Interface CAN for 635 / 637 / 637+ / 637f
UL:07-05-04-02
Product Manual Bus Interface DP for 635 / 637 / 637+ / 637f
UL:07-05-05-02
Product Manual Bus Interface Interbus S for 635 / 637 / 637+ / 637f
UL:07-05-07-02
Product Manual I/O Interface for 635 / 637 / 637+ / 637f
UL:07-05-08-02
Product Manual Bus Interface Device Net for 635 / 637 / 637+ / 637f
Additional Supporting Documentation
________________________________________________________________________________________________________________________________________________________________________________________________________________________
07-02-10-01-E-V0505.doc Product Manaul Type: 637f 3
UL:07-09-04-02
Product Manual Suppression Aids EH
UL:10-06-03
Product Manual Serial Transfer Protocol
635 / 637 / 637+ / 637f EASY- Serial
UL: CD
EASYRIDER® Windows - Software
UL:10-06-05
Product Manual Software BIAS®
UL: 12-01
Product Manual Accessories - Plugs
UL:12-02
Product Manual Accessories - Cable
UL:12-03
Product Manual Ballast Resistors
©SSD Drives GmbH.
All rights reserved. No portion of this description may be produced or processed in any form without the
consent of the company.
Changes are subject to change without notice.
SSD Drives has registered in part trademark protection and legal protection of designs.
The handing over of the descriptions may not be construed as the transfer of any rights.
Made in Germany, 2005
Table of Contents
________________________________________________________________________________________________________________________________________________________________________________________________________________________
4 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Seite
The Most Important Thing First ........................................................................7
Safety Precation .................................................................................................8
1 General Information................................................................................10
1.1 System Description.......................................................................................................................10
1.1.1 Digital Communication..................................................................................................................11
1.1.2 Operation configurations...............................................................................................................11
1.1.3 Compatibility with 637 Servo Drives (Not required for new projects)...........................................12
1.1.4 Compatibility with 637+ Servo Drives..........................................................................................12
1.2 Type Code ...............................................................................Fehler! Textmarke nicht definiert.
1.2.1 Combination possibilities for the various communications / I/O - modules ..................................14
1.2.2 Layout module slots......................................................................................................................15
1.2.3 Layout of Power Board .................................................................................................................15
1.3 Range Data...................................................................................................................................16
1.3.1 Insulation Concept........................................................................................................................16
1.3.2 General Data.................................................................................................................................16
1.3.3 Compact Units 637f/K D6R...........................................................................................................17
1.3.4 Plug-In Modules 637f/D6R............................................................................................................18
1.3.5 Single- and Three-Phase Supply..................................................................................................19
1.3.6 Output Power................................................................................................................................20
1.4 Dimensions ...................................................................................................................................21
1.4.1 Dimensions for Compact Device and Plug-In Module..................................................................21
1.4.2 EMC-Clip (optional) .....................................................................................................................22
2 Connector Assignments and Functions ..............................................23
2.1 General View of Connections for Compact Device 637f/ K D6R 02 – 10 ....................................23
2.1.1 637f/K D6R 02...10 Width 14 HP..................................................................................................23
2.1.2 637f/K D6R 16...30 Width 20 HP..................................................................................................24
2.2 Connector Pin Assignments and Contact Functions....................................................................25
2.2.1 Power Connections for Plug-In Module 637f/D6R........................................................................25
2.3 Signal Connections.......................................................................................................................26
2.3.1 Control Signal Plug X10 - SUB D25 Socket .................................................................................26
2.4 Feedback Sensor X30 ..................................................................................................................29
2.4.1 Function module X300..................................................................................................................29
2.4.2 Feedback Sensor Connection X30 (SUB D 09 Socket) ...............................................................30
2.5 Multi-function X40 .........................................................................................................................31
2.5.1 Incremental Output .......................................................................................................................32
2.5.2 Incremental-Input..........................................................................................................................32
2.5.3 Stepper Motor Input......................................................................................................................33
2.5.4 Stepper Motor Input......................................................................................................................33
2.5.5 SSI Encoder Interface...................................................................................................................34
2.6 Digital Interfaces ...........................................................................................................................35
2.6.1 Service Interface - COM1 (RS232)...............................................................................................35
2.6.2 Fieldbus Interface - COM2............................................................................................................36
2.7 Option module RP SBT ................................................................................................................44
2.7.1 Safe Stop ......................................................................................................................................44
2.7.2 Brake control and PTC evaluation................................................................................................45
Table of Contents
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 5
Seite
3 Operating modes ....................................................................................46
3.1 Operating modes and pin functions..............................................................................................47
3.2 Configurable pin-functions (depending on the operating mode) ..................................................48
3.3 Function diagrams from inputs and outputs .................................................................................49
4 Mechanical Installation ..........................................................................50
4.1 Mounting .......................................................................................................................................50
4.2 Control cabinet - mounting............................................................................................................50
4.3 Cooling..........................................................................................................................................50
5 Electrical Installation..............................................................................51
5.1 Safety............................................................................................................................................51
5.2 The danger of electric shocks.......................................................................................................51
5.3 Danger areas ................................................................................................................................51
5.4 Grounding, safety grounding ........................................................................................................51
5.4.1 Ground connections......................................................................................................................51
5.5 Short-circuit capability and discharge currents.............................................................................51
5.6 Fuses, contactors, filters...............................................................................................................52
5.7 Correction of supply current .........................................................................................................53
5.8 Brake resistor................................................................................................................................54
5.8.1 Selection of the brake resistor ......................................................................................................54
5.8.2 Configuration of the brake resistor ...............................................................................................55
6 Wiring instructions.................................................................................57
6.1 General Information......................................................................................................................57
6.2 Control cabling..............................................................................................................................57
6.3 Power cabling ...............................................................................................................................57
6.4 Installation of the rack...................................................................................................................57
6.5 Analog setpoint .............................................................................................................................57
6.6 Safety rules...................................................................................................................................57
6.7 Electromagnetic compatibility (EMC)............................................................................................57
6.7.1 Hints for mounting.........................................................................................................................58
6.7.2 Example for mounting...................................................................................................................59
6.7.3 Achieveable specifications and conditions ...................................................................................59
7 Setting and programming......................................................................60
7.1 Jumper..........................................................................................................................................60
7.2 Digital communication see: Chapter 13........................................................................................60
8 Commissioning.......................................................................................61
8.1 Preparation ...................................................................................................................................61
8.2 Commissioning in steps................................................................................................................62
9 Diagnose und Fehlersuche....................................................................65
9.1 7-segment display.........................................................................................................................65
9.2 Reset of a regulator trouble ..........................................................................................................69
9.3 Trouble shooting ...........................................................................................................................70
10 Block circuit diagram .............................................................................71
Table of Contents
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6 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Seite
11 General Technical Data..........................................................................72
11.1 Power circuit .................................................................................................................................72
11.2 Control circuit................................................................................................................................72
11.3 Signal inputs and outputs, connection X10 ..................................................................................72
11.4 Signal inputs and outputs, connection X120B resp. 120C ...........................................................73
11.5 Digital control ................................................................................................................................73
11.6 Digitale communication.................................................................................................................74
11.7 Resolver evaluation/transmitter principle......................................................................................74
11.8 Controllersystem...........................................................................................................................74
11.9 Analog-Outps................................................................................................................................75
11.10 Thermal data.................................................................................................................................75
11.11 Mechanical data............................................................................................................................75
12 Disposal...................................................................................................76
13 Software...................................................................................................77
13.1 EASYRIDER® Windows - Software..............................................................................................77
13.2 SSD Drives programming language BIAS....................................................................................78
14 Certificates ..............................................................................................81
15 Index ........................................................................................................86
16 Modification Record ...............................................................................88
The Most Important Thing First
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 7
The Most Important Thing First
Thanks for your confidence choosing our product.
These operating instructions present themselves as an overview of the technical data and
features.
Please read the operating instructions before operating the product.
If you have any questions, please contact your nearest SSD Drives representative.
Improper application of the product in combination with dangerous voltage can lead to
injuries.
In addition, damage can also occur to motors or other products.
Therefore please observe our safety precautions strictly.
Safety precautions
We assume that, as an expert, you are familiar with the relevant safety regulations,
especially in accordance with VDE 0100, VDE 0113,VDE 0160, EN 50178, the accident
prevention regulations of the employers liability insurance company and the DIN
regulations and that you are able to use and apply them.
As well, relevant European Directives must be observed.
Depending on the kind of application, additional regulations e.g. UL, DIN are subject to be
observed.
If our products are operated in connection with components from other manufacturers,
their operating instructions are also subject to be observed strictly.
Safety Precautions
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8 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Safety Precation
Attention
Digital servo drives, corresponding to EN 50178/VDE 0160, are power
electronic components utilized for the regulation of the flow of energy in
electrical power installations. They are exclusively designed and configured to
supply SSD Drives, or SSD Drives approved, servo motors. Handling,
installation, operation, and maintenance are only permitted under the conditions
of and in keeping with the effective and/or legal regulations, regulation
publications and this technical document.
The operator must make sure that these regulations are strictly followed.
The Concept of Galvanic Separation and Insulation:
Galvanic separation and insulation corresponding to EN 50178/VDE 0160,
provides for additional insulation protection.
In addition, all digital signal inputs and outputs are provided with a galvanic
separation utilizing either a relay or an optical coupler. In this way, an increased
level of protection against potential interference and a limitation of potential
damage due to incorrect connections are provided.
The voltage level must not exceed the designated low safety voltage of 60V
DC or 25V AC, respectively, in accordance with EN 50178/VDE 0160.
The operator must make sure that these regulations are strictly followed.
Danger !
High Voltage!
Danger of Electrocution!
Life Threatening Danger!
Caution !
Due to safety considerations and the product guarantee, the
operator is prohibited from opening the servo drive case. Service,
maintenance and repair of SSD Drives products should only be
carried out by specified representatives of the company. Expert
configuration and professional installation, as described by this
document, are the best way to insure for the problem-free operation
of the SSD Drives servo drive!
Safety Precautions
________________________________________________________________________________________________________________________________________________________________________________________________________________________
07-02-10-01-E-V0505.doc Product Manaul Type: 637f 9
Please
observe!
Pay Special Attention to the Following:
Permissible Protection Class: Protective Grounding - operation is only permitted
when the protective conductor is connected according to regulations.
The operation of servo drives is not allowed, under the sole use of a residual
current operated protective device as protection against indirect touching. The
servo drive may only be used in the rack or in its compact enclosure.
Furthermore the regulator is designed solely for control cabinet operation.
Work on or with the servo drive may only be carried out with insulated tools.
Installation work may only be done in a de-energized state. When working on
the drive, one should not only block the active – input, but also separate the
drive completely from the main power connection.
CAUTION - Risk of Electrical Shock:
Wait 3 minutes after switching the component off, to allow the capacitors to
discharge.
Screws sealed with varnish fulfill an important protection function and may not
be moved or removed.
It is prohibited to penetrate the inside of the unit with objects of any kind.
Protect the unit from falling parts, pieces of wire, metal parts, etc., during
installation or other work in the control cabinet. Metal parts can lead to
a short-circuit in the servo drive.
Before putting the unit into operation, remove additional covers so that the unit
does not overheat. With measurements at the servo drive it is absolutely
necessary to observe the potential separation
Stop !
SSD Drives GmbH is not liable for damages which may occur when the
instructions and/or the applicable regulations are not explicitly observed!
1 General Information
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10 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
1 General Information
1.1 System Description
The 5th generation of the digital servo drive serves to regulate the current, speed and position of
AC servo motors, (standard: with resolver)
All control circuits and functions are realized digitally.
System variants
Rack - version: 637f/D6R.... Compact - version: 637f/K D6R....
637f / K D6R
AC
DC
Us 24VDC
R
Su pply volt a ge:
1*oder 3*230VAC/50..60 Hz
3* 400... 460VA C/50..60H z
M
637f / K D6R
AC
DC
Us 24VDC
R
Su pply volt a ge:
1*oder 3*230VAC/50..60 Hz
3* 400... 460VA C/50..60H z
M
Fan
Power supply
p lug -in module
NE B
Rack, R6
or
R6 EMV
Servodri ves
Fan
Servo-
dr ive
Power supply unit
Explanations for the rack and power supply modules are documented in separate descriptions.
If required, the returned braking energy can be drawn off into additional external ballast resistors.
The AC-supply voltage is fed directly or via transformer to the associated power supply module.
The devices are designed to be operated on networks which are grounded at the
centre point (TN networks) !
General Information 1
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 11
System Description
1.1.1 Digital Communication
Diagnostics / Setup
General: by 7 segment display
Comfortable: via PC with EASYRIDER® Windows – Software from version V8.xx
(serial interface RS232)
Communication
The serial-communication-protocol is open and fully documented.
(Explanation see separate documentation)
Every user has unrestricted access to all functions and parameters.
EASYRIDER
customer-ma de software
PLC So ftware
PLC, binary selectionl,+/- 10V
X10
RS232
current-loop
speed-loop
position-loop
instructions
⌧
programming
diagnostics
setup
⌧
⌧
PLC
COM1
COM2
⌧
RS232
RS422
RS485
CAN-BUS 1
CAN-BUS 2
SUCOnet K
Profibus DP
Inter bus S
DeviceNet
637f
1.1.2 Operation configurations
There are opportunities ranging from simple current and speed control to programmable position control
processes (PLC), supported by the 1500 BIAS command blocks.
"BIAS" User shell for intelligent drive controls
see:
chapter 3 Operating modes
chapter 13.2 BIAS commands
chapter 13.3 Extended BIAS commands
1 General Information
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12 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
System Description
1.1.3 Compatibility with 637 Servo Drives (Not required for new projects)
The 637f series servo drives are essentially pin- and functionally compatible with the servo drives 637.
However, when a servo drive 637 is replaced with a 637f drive, the existing application must be checked and
carefully tested to determine compliance under the corresponding safety precautions.
The following points should be checked in any case and eventually be adjusted before the function test:
1. Motor direction parameter and limit switch setting (see release note V6.12)
2. Position setpoints and comparison values have to be quadrupled, resp. sixteenfold
(low encoder resolution at 637)
3. Coupling factors in synchronous applications have to be quadrupled, resp. sixteenfold
(low encoder resolution at 637)
4. Execution of BIAS- and PLC programs is 2.25 times quicker than with the 637. This can cause timing
problems with improper programming (e.g. wait times with NOPs)
1.1.4 Compatibility with 637+ Servo Drives
(Not required for new projects)
Der Servoregler 637f ist voll funktionskompatibel zu 637+
Funktion 637 637+ 637f
PC-Operating-Software EASYRIDER® DOS Version
or Windows Version EASYRIDER®
Windows Version EASYRIDER®
Windows Version V8.xx
PC-Connection-Cable
see: chapter 2.6.2.3 PC - SUBD-9 to
LEMO connector (COM1)
PC - SUBD-9 to
4-pin module connector (COM1)
Power Part, Power Data and
Power Connectors equal
Control Singals, Connector X10
see: chapter 2.3.2 equal pinning and function
Analog Set Point X10.5/18,
Resolution 12 bits
14 bits
Resolver Signals, Connector X30
see: chapter 2.4.2 pin–compatible
12/14 Bit Resolution extended functionality
16 Bit Resolution
HIPERFACE
Feedback – Interface - Module
X300
see: chapter 2.4.1
-
- SIN / COS
Multifunction, Connector X40
see: chapter 2.5 compatible extended functionality
Interface, Connector COM2
see: chapter 2.6.2 – 2.6.2.9 equal extended functionality
CAN BUS 2, RP_2Cx
Options Module
see: chapter 2.6.2 – 2.6.2.10 equal extended functionality
RP_SBT
Operating Modes, BIAS –
Functions
see: chapter 3 and 13.2
command set compatible
position value
12/14 bits ≈ 1revolution
future extensions possible
position value 16 bit ≈ 1 revolution
PROG-Key present not available
Analog-Output - Test Signals
MP1/MP2:
> connector X 10
X 10.6 / X 10.17
> Front Test Sockets yes no
Technical Data
Analog Out
MP1 / X10.17
MP2 / X10.6
7 bits , Rout = 10 kOhm
7 bits , Rout = 10 kOhm
8 bits , Rout = 1.8 kOhm
10 bits , Rout = 1.8 kOhm
Control Loops
see: chapter 11.5 performance boost
compared to 637:
cycle time twice as fast
performance boost as
compared to 637f:
cycle time for speed twice as
fast,
position eight times as fast
Control Loop Parameters
Generally compatible,
possible optimization required
Jumper
see: chapter 7.1 JP2.2, JP2.3, JP2.7, JP2.8
General Information 1
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 13
1.2 Modle code
standard optional special
marking a b c d e f g1 g2 h i
type: 637f/ X D6R XX .S5 -X -X -XXX -XXX -XXx -XXX
marking description
XXXX/ = 637f ≅ SSD Drives-fast-design
a K = 1-axis-compact digital-servo drive system
0 = design plug-in device
b D6R = Digital 6U drive
c Rated current:
02 = 2 amps
04 = 4 amps
06 = 6 amps
10 = 10 amps
16 = 16 amps
22 = 22 amps
30 = 30 amps
d .S5 = Digital servo drive 5th generation
e Intermediate circuit rated voltage:
-3 = 325V (230V AC) 16..30A only as rack system possible
-7 = 650V (460V AC)
f -E = With EMC-Clip unit
-0 = Without EMC-Clip unit
additional option modules on the drive for communication via COM2
-000 = None option
-232 = RS 232 interface ≅ slot A (B)
-422 = RS 422 interface ≅ slot A (B)
-485 = RS 485 interface ≅ slot A (B)
-CAN = CAN – Bus ≅ slot A (B)
-2CA = 2 x CAN (without I/O’s) ≅ slot B (A) / [C*]
-2C8 = 2 x CAN + 4 outputs and 4 inputs ≅ slot B (A) / [C*]
-DEV = CAN - Bus / DeviceNet ≅ slot B (A)
-SUC = SUCOnet K ≅ slot B (A)
-PDP = Profibus DP ≅ slot B (A)
-IBS = Interbus S (Attention: changed front plate) ≅ slot B (A)
g1
-EA5 = I/O interface (5 inputs, 2 outputs) ≅ slot B (A)
g2 additional option modules on the drive via X200 (Attention: changed front plate)
-000 = No Options
-EAE = I/O interface (14 inputs, 10 outputs) ≅ slot C
-SBT = Safety – Board Module ≅ slot C
h X300 – Function module
-RD2 = Standard X30 Resolver module 2nd version ≅ slot D
-HF2 = HIPERFACE module 2nd version ≅ slot D
-SC2 = Sinus / Cosinus - module 2nd version ≅ slot D
i Entry only at use
-Sxx = Special - resistance - setting
-X7x = Broad-band contact X10.7 - X10.8
-BSx = Protection moisture condensation
-B7x = Protection moisture condensation + Broad-band contact X10.7 - X10.8
-923 = Jumper 209 / 2 - 3 open , by SBT - Option Thermo - Contact X30 (PTC / NTC)
at assignment [C] Interface you can used 1 x CAN *
Typical Example
A typical example of an order of a 1-axis compact device in SSD Drives design:
a b c d e f g1 g2 h i
Type: 637f/ KD6R 02 .S5 -3 -0 -2CA -EAE -RD2 -
1 General Information
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14 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Modle Code
1.2.1 Combination possibilities for the various communications / I/O - modules
Slots A B C
Option modules 232 422 485 CAN 2CA 2C8 DEV SUC PDP IBS EA5 EAE SBT *2CA *2C8
Type Codel
637f/xD6Rxx.S5-x-x-232-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-232-EAE-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-232-SBT-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-232-2CA-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-232-2C8-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-422-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-422-EAE-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-422-SBT-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-422-2CA-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-422-2C8-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-485-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-485-EAE-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-485-SBT-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-485-2CA-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-485-2C8-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-CAN-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-CAN-EAE-
xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-CAN-SBT-xx
x
- - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-2CA-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-2CA-EAE-xxx - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-2CA-SBT-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-2C8-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-2C8-EAE-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-2C8-SBT-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-DEV-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-DEV-EAE-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-DEV-SBT-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-SUC-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-SUC-EAE-xx
x
- - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-SUC-SBT-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-PDP-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-PDP-EAE-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-PDP-SBT-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-PDP-2CA-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-PDP-2C8-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-IBS-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-IBS-EAE-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-IBS-SBT-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-EA5-000-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-EA5-EAE-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-EA5-SBT-xxx - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-000-EAE-xxx - - - - - - - - - - - - - -
637f/xD6Rxx.S5-x-x-000-SBT-xxx - - - - - - - - - - - - - -
-000 = none option possible combination at assignment [C] Interface you can used 1 x CAN *
Example:
637f/xD6Rxx.S5-x-x-232-EAE-RD2
… -232 = on slot A
… -EAE = on slot C
… -RD2 = on slot D (Motor - Feedbacksystem)
General Information 1
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 15
Modle Code
1.2.2 Layout module slots
Module slots:
A -232
-422
-485
-CAN
B -2CA
-2C8
-DEV
-SUC
-PDP
-IBS
-EA5
C -EAE
-SBT
*-2CA
*-2C8
Motor - Feedbacksysteme:
-RD2: Standard resolver
D -HF2: Option HIPERFACE®
-SC2: Option rotor position transmitter
* kann nur 1 mal CAN verwendet werden
Note: The option modules of the slots A / B / C can only be reached after removing the cooling plate.
1.2.3 Layout of Power Board
View solder side (solder jumper)
JP2.8
JP2.3
JP2.7
JP2.2
JP101. 1/ 2/ 3
JP102 1/ 3/ 2
JP100 2/ 3/ 1
JP1 1/ 3/ 2
JP2 2/ 3/ 1
JP3 1/ 3/ 2
JP4 2/ 3/ 1
JP209. 1/ 2/ 3
Solder jumper function
see: Chapter 7.1
1 General Information
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16 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
1.3 Range Data
1.3.1 Insulation Concept
COM1
COM2
Remote IN
X10
analog
X10
digital
X40
X30
dep. Optionsmodule
M1, M2, M3
DC-bus
brak - cirquit
L1, L2, L3
Us DC 24 V power supply
DC 24 V
PE
L1
N
AC
power - terminals
double insulation VDE 0160
Insulation of control voltage supply
Required for safe separation (PELV): double insulation
Take Care ! The insulation of control (Com1..X40) depends on the insulation of control voltage supply
Additional insulation via opto-coupler or relay (without Safety-Functions)
customer part
1)
1) see additional hints, chapter 2.4.2
GND
1.3.2 General Data
Enclosure Rating -
for Mounting in a Cubicle IP20
Operating Temperature Range EN 50178 / VDE 0160, class 3K3
Storage Temperature Range -25°...+55° C
Air Pressure 86 kPa - 106 kPa
Humidity 5% - 85%, 40°C
Operating Temp 0...40°C
Reduced Operation
De-rating of the Output Current
1) >40°...< 50°C
2% /°C
Altitude h h ≤ 1000m
Reduced Operation
De-rating of the Output Current
1) h > 1000...≤ 4000m
1% / 100m
Safety Over Voltage - Category of Power Circuit EN 50178 / VDE 0160, UL, cUL III,
Pollution Degree - for Mounting in a Cubicle VDE / UL: 2
Vibration Test in Accordance with
DIN IEC 68-2-6, Test FC
Condition for Testing
Frequency Range
Amplitude
Acceleration
Test Time per Axis
Frequency Sweep Speed
10...57Hz 57...150Hz
0,075 mm
1g
10 sweep cycle
1 octave/min
1) Use only fan-cooled devices. For reduced operating
conditions, no UL approval is available.
General Information 1
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 17
Range Data
1.3.3 Compact Units 637f/K D6R
Compact Units
637f / K D6R 02
.S5 K D6R 04
.S5 K D6R 06
.S5 K D6R 10
.S5 K D6R 16
.S5 K D6R 22
.S5 K D6R 30
.S5
-3 -7 -3 -7 -3 -7 -3 -7 -7 -7 -7
Input
Supply Voltage min. [V] 14
50..60 Hz Un [V] 230 460 230 460 230 460 230 460 460 460 460
max. toleranc
e + 10%
Phases 1;3 3 1;3 3 1;3 3
Supply Peparation Fuses, contacts, filters see chapter 5.6
Power-On Current
Limit
model NTC 4 Ohm NTC 2 Ohm
Control Voltage 1) Us [V] 21,5....24....29, attention: insulation-concept chapter 1.3.1
Control Current
incl. Fan
Is
DC [A] Continuous: max. 1,2A Power-On-Peak:
nom. 3A; max.. 6A / 0,8 mS, 2,5A / 25 mS Continuous: max 1,5A Power-
On-Peak: nom. 3A;
max. 6A / 0,8 mS, 3A / 25 mS
Output
Sine-Wave Voltage
at Un
Unr [Veff] 220 447 220 447 220 447 220 447 447 447 447
3)
De-rating of Unr depending upon load and single or 3-phase supply. (see chapter 1.3.5)
Rated Current RMS Inr [A] 2 4 6 10 16 22 30
3)
Max. Current RMS
Time for Imax
4) Imaxr
min. [A]
Sec 4
5 8
5 12
5 20
5 32
5 44
5 60
5
Min. Motor
Inductance
(terminal / terminal)
Lph/ph [mH] 6,0 12,0 3,0 6,0 2,0 4,0 1,2 2,4 2,0 1,1 0,8
Brake Circuit
Setpoint DC Ub [V] 375 730 375 730 375 730 375 730 730 730 730
Max. Power Pbmax [kW] 4,5 8,7 4,5 8,7 6,7 13,0 11,2 21,
7 29,0 34,8 34,8
Continuous Power Pbnenn [W] ≤ 560
Internal Resistor Rbint
Pd
Pmax
[Ω]
[W]
[kW]
100
30
1,4
300
30
1,7
100
30
1,4
300
30
1,7
100
30
1,4
300
30
1,7
100
30
1,4
300
30
1,7
------
Min. External
Resistor
2) Rbextmi
n [Ω] 47 82 47 82 27 47 15 27 20 15 15
General
Power Loss
Fan, Electronic
PE loss
[W]
29
29
29
29
29
29
29
29
36
36
36
2 Piece L 024 / (16TE x 25) Fan Models
24V DC [V] 2 Piece L 024 / (12TE * 25)
1 Piece L 024 / (12TE * 15) 1 2 Piece L 024 /
(16TE x 20)
Power Stage per A [W/A] 9 12 9 12 9 12 9 12 12 12 12
Weight [kg] 5,0 8,8
Additional Data see: chapter 11
1) Suggested: transformer-based supply
2) Use only SSD Drives-released types
3) Max. continuous performance reduced to 80%, see chapter 1.3.6
4) References chapter 1.3.6
1 General Information
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18 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Range Data
1.3.4 Plug-In Modules 637f/D6R
Plug-In Modules
637f/ D6R 02
.S5 D6R 04
.S5 D6R 06
.S5 D6R 10
.S5 D6R 16
.S5 D6R 22
.S5 D6R 30
.S5
-3 -7 -3 -7 -3 -7 -3 -7 -3 -7 -3 -7 -3 -7
Input
DC-BUS Rated min. [V] 20
Ug [V] 325 650 325 650 325 650 325 650 325 650 325 650 325 650
max.
t
olerance + 10%
Control Voltage Us [V] 24V DC +20% -10%, attention: insulation-concept chapter 1.3.1
Control Current 1) Is
DC [A]
Continuous: max 0,8A Power-On-Peak: nom. 2A; max 5A / 0,8 mS, 2A / 25mS
Fan
2) Typ
--- L220
K --- L220K L220G
Output
Sine-Wave Voltage
at Un Unr [Veff] 220 447 220 447 220 447 220 447 220 447 220 447 220 447
3)
De-rating of Unr depending on load and single or 3-phase supply (see chapter 1.3.5)
Rated Current RMS Inr [A] 2 4 6 10 16 22 30 3)
Max. Current RMS
Time for Imax Imaxr [A]
min. 4
5 Sec 8
5 Sec 12
5 Sec 20
5 Sec 32
5 Sec 44
5 Sec 60
5 Sec
Min. Motor
Inductance
(terminal / terminal)
Lph/ph [mH] 6,0 12,0 3,0 6,0 2,0 4,0 1,2 2,4 1,0 2,0 0,55 1,1 0,4 0,8
Brake-Circuit
Setpoint DC Ub [V] 375 730 375 730 375 730 375 730 375 730 375 730 375 730
Max. Power Pbmax [kW] 4,5 8,7 4,5 8,7 6,7 13,0 11,2 21,7 15,0 29,0 18,0 34,8 18,0 34,8
Continuous Rating Pbnenn [W] ≤ 560
Min. External
Resistor
2) Rbextmin [Ω] 33 63 33 63 22 43 12 24 10 20 8,2 15 8,2 15
General
Power Loss
Electronic
Output Stage per A
PE loss
[W]
[W/A]
20
9
20
12
20
9
20
12
20
9
20
12
20
9
20
12
20
9
20
12
20
9
20
12
20
9
20
12
Weight [kg] 1,5 4,0
Additional Data see chapter 11
1) Suggested: transformer-based supply
2) Use only SSD Drives-released types
3) Max. continuous performance reduced to 80%, see chapter 1.3.6
4) References chapter 1.3.6
General Information 1
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 19
Range Data
1.3.5 Single- and Three-Phase Supply
Due to the line-ripple of the DC-Bus, the rate of usable output voltage is reduced as follows.
This reduction affects the maximum attainable speed of the applied motor.
Three-phase supply:
The unloaded output voltage will be reduced to approx. 90%, maximally 85
%
Single-phase supply: 50 – 60 Hz
only servo drive 637f / ..02 up to 06
see the following diagram:
Hint for parameterization:
To avoid unexpected tripping of the under voltage threshold, the parameter setting should be left on
default values (EASYRIDER® Windows – Software).
Required motor-terminal-voltage for specified speed.
Approximation: (up to 3000RPM)
Ukl = 1,2 * (EMF * n / 1000) + I * (Rph + RL) [V]
Ukl Required motor voltage [V RMS]
EMF Back-EMF of motor [V RMS] / 1000 RPM
Rph Resistance of motor (between terminals) [Ω]
RL Line resistance of motor cable [Ω]
I Motor-current [A RMS]
Output current [A ]
RMS
Derating of servo drive output voltage in case of single-phase operationen
2
4
6
8
10
20 40 60 80 100
0 0
12
[%]
Output voltage in % of unloaded condition
1 General Information
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20 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Range Data
1.3.6 Output Power
In case of continuous operation in the full-load range, the limits as shown in the following diagram
need to be respected.
Typical servo applications are not affected by this restriction. (S3 operation: Start/Stop).
General Information 1
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 21
1.4 Dimensions
1.4.1 Dimensions for Compact Device and Plug-In Module
A
B
C
DD
400
386
262
a
280
233 304
243
220
plug -in modu le
space for fan
18
Ø 5,
2
Ø 10
Ø 5,2
5,2
9
detail
detail
d
d1,6
front side
637f/K D6R 02...10 width 637f/K D6R 16...30 width
A 65,0 mm 14 HP 104,6 mm 20 HP
B 60,0 mm 100,0 mm
C 30,0 mm 71,0 mm 1 HP ≈ 5,08mm
D 14,5 mm 14,5 mm
a 40,2 mm 8 HP 80,4 mm 16 HP
Important Note:
You will need additional space on the front side, of approx. 70 mm, for the signal mating plugs!
1 General Information
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22 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Dimensions
1.4.2 EMC-Clip (optional)
1.4.2.1 For 8 HP Drive
side view front view
1.4.2.2 For 16 HP Drive
side view front view
EMC - Clip for
Feedback cable
(e.g. Resolver)
1
Mains cable 2
Motor cable 3
Meaning:
1,2,3 = cage clamp terminals
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 23
2 Connector Assignments and Functions
2.1 General View of Connections for Compact Device 637f/ K D6R 02 – 10
2.1.1 637f/K D6R 02...10 Width 14 HP
2 Connector Assignments and Functions
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24 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
General View of Connections for Compact Device 637f/ K D6R 02 – 10
2.1.2 637f/K D6R 16...30 Width 20 HP
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 25
2.2 Connector Pin Assignments and Contact Functions
2.2.1 Power Connections for Plug-In Module 637f/D6R
(at the rear of the rack)
(H15 multiple pin strip according to DIN 41612)
2 Connector Assignments and Functions
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26 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
2.3 Signal Connections
2.3.1 Control Signal Plug X10 - SUB D25 Socket
Complete Representation X10
Reference to pin 22 & pin 23: With controllers with option module SBT, kindly note the extended
functions of these signals (see documentation 07-02-10-02-E-Vxxxx).
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 27
Signal Connections
Control Signal Plug X10 - SUB D25 Socket
Connection Example
(without option SBT)
model: SUB D 25
control signal plug X10
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
drive side
spread out
spread out
PLC
+/- 10V
+24V, I/O-supply
output ready
input active
0V reference point, I/O-supply
24V
+ -
0V
mecanical
limit switches
1)
1)
~
=
L1
N
2)
~
=
L1
N option: brake
Eurotherm
AC-Servomotor
3 ~
V1 K1
+24V (br)
0V (br)
AC-Servomotor
3 ~
X10.23 X10.9
Brake-Connection Type A :
when Isolation-Type of Break - Installat ion is
Basic (not PELV). The PELC - Isolation of
Control - Cirquits is uneffected.
Brake-Connection Type B :
when isolation-type of break - installation is
P ELV.
PELV-
isolation
2)
V1: Varistor e.g.. Siemens Q69X3431, 38V DC
K1: Couple-relais min. 2A,/60VDC PELV Isolation
Supply may be used for mutliple brakes
option: brake
1) Security- and supervising logic, to be programmed by user !
2) IMPORTANT:
The power-supply for the motor-brake has to be adapted to the type of brake.
Voltage-Drops caused by long cables also may effect malfunctions of the brake.
2 Connector Assignments and Functions
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28 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Signal Connections
Control Signal Plug X10 - SUB D25 Socket
Inputs / Outputs
Control Signal Plug X10
PIN
X10 function type description
1 shield connector shield
2 configurable (chapter 3) OPTO input
3 stabilized auxiliary voltage
-12VDC; max. 80 mA output auxiliary voltage
4 configurable (chapter 3) OPTO input
5 reference point to X10.18 analog input
0...+-10V
Ri = 10 kOhm
6 Current monitor can be scaled
in the speed controller menu MP2 analog output,
0…+-10V
7
via JP100 (solder jumper)
can be assigned as free and
loopable potential of the
READY contact
Optional
8 ON: regulator without fault
OUT: regulator fault or
supply voltage off
Relay Output
fixed: ready
9 Reference point for digital
inputs Reference point for digital inputs
10 Reference potential for
analog signals Ground
11 configurable (chapter 3) OPTO Input
12 configurable (chapter 3) OPTO Output
13 configurable (chapter 3) OPTO Output
14 configurable (chapter 3) OPTO Input
15 configurable (chapter 3) OPTO Input
16 stabilized auxiliary voltage
+12V DC; max 80 mA output auxiliary voltage
17 actual speed value monitor,
scalable MP1 analog output,
0…+-10V
18 nominal speed value;
scalable differential
referenced to X10.5
Analog input
0...+-10V / Ri = 10 kOhm
19 Setting of the current limit
can be activated and scaled
(0..+10V for 0.. Imax)
analog input
0..+10V
Ri = 10 kOhm
20 configurable (chapter 3) OPTO Output
21 Nominal: 24V DC Supply for outputs
22 H = output stage is active
L = output stage inactive OPTO input
fixed: active
23 configurable (chapter 3) Relay output
24 configurable (chapter 3) OPTO input
25 configurable (chapter 3) OPTO input
Data of the digital inputs and outputs see chapter 11 General technical data
Reference to Pin 22 & Pin 23: With controllers with option module SBT, kindly note the extended
functions of these signals (see documentation 07-02-10-02-E-Vxxxx).
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 29
2.4 Feedback Sensor X30
The Feedback system generates a digital value, representing the rotor position
Derivated from this value:
commutation according to pole pair number
actual speed value
position value for position control
2.4.1 Function module X300
The connector X30 is directly related to the function module X300. This plug-in module
(see chapter 1.4.3.1) determines the type of usable Feedback system.
Thus the 637f drive system gets flexibility and is adaptable to future requirements.
Types X300 Description
X300_RD2 Standard Resolver
X300_HF2 Option HIPERFACE®
X300_SC2 Option Sinus/Cosinus
Further types on reques
Plug and Play
The 637f identifies the type of the module X300.
The EASYRIDER® Windows – Software loads the correct function code.
You follow the instructions in the EASYRIDER® Windows – Software.
At function module RD2 the function code is already installed (factory default).
Note:
With application of the function module X300_HF2 (HIPERFACE®) please observe
documentation 07-02-09-02-E-Vxxxx.
2 Connector Assignments and Functions
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30 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Feedback Sensor X30
2.4.2 Feedback Sensor Connection X30 (SUB D 09 Socket)
Pinning of Motor - Feedback - Socket X30 with:
Resolver Module X300_RD2 (Standard Module)
Module: X300_RD2
PIN
X30 Function
1 shield
2 PTC optional
3 cos +
4 sin +
5 carrier +
6 PTC optional
7 cos -
8 sin -
9 carrier -
HIPERFACE® - Module X300_HF2
Module: X300_HF2
PIN
X30 Function
1 GND
2 10 VDC
3 cos +
4 sin +
5 data -
6 -
7 ref cos
8 ref sin
9 data +
Sinus / Cosinus - Module X300_SC2
Module: X300_SC2
PIN
X30 Function
1 GND
2 5,5 V
3 cos +
4 sin +
5 zero pulse +
6 -
7 ref cos
8 ref sin
9 zero pulse -
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 31
2.5 Multi-function X40
Description of the X40:
Via a programmable I/O processor, the X40 connection can be configured differently.
EASYRIDER® Windows - Software
Standard functions:
- Incremental output
- Incremental input
- Stepper motor - pulse inputs
- SSI interface
The unobstructed configurability provides ideal conditions for synchronous applications.
General data X40
plug type: SUB D 09 male plug
maximum input or output frequency: 200 kHz
maximum cable length connected to galvanical
insulated terminals
(Encoder, controls)
maximum cable length connected to ground-
related terminals (other drives, controls)
maximum number of signal inputs to one as
incremental-output configured device
25 m; for extended distances please contact our
engineer
2 m, take care for good common grounding !
8
output signals: driver model MAX483 or compatible, RS422
differential logic level: L ≤ 0,5V H ≥ 2,5V
nominal range: 0,0 ... 5,0V 150mA max.
input signals: receiver model MAX483 or compatible, RS422
differential input level: diff min = 0,2V
nominal signal difference: 1,0V
current consumption: 1...4 mA (depending on frequency)
Notice:
Master / Slave operation
1 Master, maximum 8 Slaves
Condition: Devices directly side by side !
2 Connector Assignments and Functions
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32 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Multi-function X40
2.5.1 Incremental Output
EASYRIDER® Windows - Software X40 Mode = 0
Incremental encoder simulation for processing in positioning modules
Standard: 1024 increments
pulse duty cycle
further selectable pulse numbers: 2048, 512, 256, 128, 64, 4096
Inr. I/O X40
PIN
X40 Function Designation
1 Channel B B
2 Channel B inverted /B
3 Shield connector Shield
4 Channel A A
5 Channel A inverted /A
6 Reference * GND
7 Channel Z inverted zero impulse /Z
8 Channel Z, zero impulse Z
9 Supply voltage output max. 150 mA + 5 VDC
Design Rule:
The input frequency range of the connected control must meet at least the value
of pulse output frequency on X40.
n = max. speed (rpm)
x = increments e.g. 1024
f = output frequency at X40.1,2,4,5
Formula: [Hz] =
60
x)*(n * 1,2
=f
Example: n = 4000 1/min
Hz 81920=
60
1024)*(4000 * 1,2
=f
2.5.2 Incremental-Input
EASYRIDER® Windows - Software X40 Mode = 1
Parameter range of the input signals: 10...1000000 increments
Figure:
Note:
The operation of incremental encoders via long cables may cause a voltage drop of the encoder power
supply. We recommend the use of a separate voltage supply if necessary.
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 33
Multi-function X40
2.5.3 Stepper Motor Input
pulse / direction
EASYRIDER® Windows - Software X40 Mode = 2
Inr. I/O X40
PIN
X40 Function Designation
1 Output: Drive active inverted /READY
2 Output: Drive active READY
3 Shield connector Schield
4 Pulse inverted /P
5 Pulse P
6 Reference potential (generally to connect) GND
7 Direction inverted /R
8 Direction R
9 Supply voltage output max. 150 mA +5 VDC
2.5.4 Stepper Motor Input
pulse positive / negative
EASYRIDER® Windows - Software X40 Mode = 3
Figure: Puls / Richtung
Figure: Puls positiv / negativ
2 Connector Assignments and Functions
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34 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Multi-function X40
2.5.5 SSI Encoder Interface
EASYRIDER® Windows - Software X40 Mode = SSI_13 bit Singleturn
EASYRIDER® Windows - Software X40 Mode = SSI _14 bit Singleturn
EASYRIDER® Windows - Software X40 Mode = SSI_25 bit Multiturn
(13 bit Single- / 12 bit Multiturn)
EASYRIDER® Windows - Software X40 Mode = SSI_26 bit Multiturn
(14 bit Single- / 12 bit Multiturn)
Inr. I/O X40
PIN
X40 Function Designation
1 Serial data from SSI encoder,
GRAY code up to 26 bit inverted /DATA
2 Serial data from SSI encoder,
GRAY code up to 26 bit DATA
3 Shield connector Schirm
4 Clock output, inverted
Standard frequenzy: 179 kHz /TAKT
5 Clock output
Standard frequenzy: 179 kHz TAKT
6 Reference potential GND
7 do not connect
8 do not connect
9
Supply voltage output max. 150 mA
If other data required:
a) Use of X300 module
b) External supply
+5 VDC
TAKT and /TAKT twisted pair
DATA and /DATA twisted pair
Cable screened, screen grounded at both sides,
max. cable length: 200m
Note:
For further information about SSI (Synchronous Serial Interface),
please refer to the documentations of appropriate suppliers.
(e.g.: Comp. Sick or Hengstler)
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 35
2.6 Digital Interfaces
2.6.1 Service Interface - COM1 (RS232)
Standard
Functions:
Supporting all diagnosis and setup tasks
Connection to your PC is made with the
SSD Drives communication cable KnPC/D
Communication is made via the SSD Drives operating program
(EASYRIDER® Windows - Software)
Com 1 RS232 Function drive side RS232 PC side
PIN PIN
4-pin modular jack
RXD 1 Receive serial data 3 TXD
TXD 2 Transmit serial data 2 RXD
3 do not connect
GND 4 GND 5 GND
Type Code Länge Beschreibung
Kn PC 637f / 631-03.0 3 m PC-side, Sub D 09-plug
Kn PC 637f / 631-05.0 5 m Drive side, 4-pin RJ 10-plug
Note:
The service interface RS232 is not galvanically isolated and should not be planned for this reason as an
operating interface ("hard-wiring")!
The mains connection of the PC must be made closed to the drive, to achieve a common ground.
2 Connector Assignments and Functions
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36 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Digital Interfaces
2.6.2 Fieldbus Interface - COM2
Option modules SUB D09 socket
Many different functions can be implemented by optional using of the option modules.
Funktionen realisiert werden. Layout - see chapter 1.2.3
Overview:
module designation interface galvanic isolation design slot
RP 232 RS 232 - A A
RP 422 1) RS 422/485 - A A
RP 485 1) RS 422/485 X A A
RP CAN CAN X A A
RP PDP Profibus DP X B B
RP SUC SUCOnet K X B B
RP IBS 2) Interbus S X B B
RP DEV DeviceNet X B B
RP 2CA 3) CAN1/CAN2 X B B or C
RP 2C8 3) CAN1/CAN2 X B B or C
1) full - duplex (4-wire)
2) additional plug Interbus Rem. IN (SUB D)
3) additional plug COM 3 (B)
2.6.2.1 additional In-/Outputs
module designation inputs outputs connection via design slot
RP EA5 4) 5 2 COM2 B B
RP EAE 14 10 X200 C C
RP 2C8 4 4 X120 B/C B B or C
4) no Fieldbus possibility (interface)
Caution!
The connections COM2 or COM3 B/C and X30 are implemented via SUB D09 socket.
It is to be guaranteed by the customer that an interchanging is not possible!
The solder ring jumpers JP2.8, 2.3, 2.7, 2.2 must be switched dependent on the option module.
See chapter 7.1 (factory-adjusted)
2.6.2.2 Additional CAN-BUS2 Interface
(Use in combination with other Fieldbus)
modul designation interface galvanic isolation design slot
RP 2CA CAN2 X C C
RP 2C8 3) CAN2 X C C
3) additional plug COM 3 (B)
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 37
Digital Interfaces
2.6.2.3 Module Designs
Design A Design B Design C
2.6.2.4 Pin assignment for RS232
with option module RP 232
Pin assignment as RS232
1 -
2 RXD
3 TXD
4 -
5 GND
6 -
7 -
8 -
9 -
2.6.2.5 Pin assignment for RS422/485
with option module RP 422, without galvanic isolation
with option module RP 485, with galvanic isolation
Pin assignment as RS422/485
1 -
2 -
3 -
4 Data In
5 GND
6 Data In invertierted
7 Data Out invertierted
8 Data Out
9 -
Parallel wiring up to 16 devices
2 Connector Assignments and Functions
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38 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Digital Interfaces
2.6.2.6 Pin Assignment for CAN/DeviceNet
with option module RP CAN / RP DEV / RP 2CA / RP 2C8, with galvanic isolation
Pin description designation
1 - -
2 CAN_L bus line
(dominant low) CAN_L
3 Ground GND
4 - -
5 - -
6 Optional ground GND
7 CAN_H bus line
(dominant high) CAN_H
8 - -
9 - -
2.6.2.7 Pin assignment for Profibus DP
with option module RP PDP, with galvanic isolation
Pin description designation
1 - -
2 - -
3 Line B B
4 Request to send RTS
5 Ground GND
6 Potential +5V +5V
7 - -
8 Line A A
9 - -
2.6.2.8 Pin assignment for SUCOnet K
with option module RP SUC, with galvanic isolation
Pin description designation
1 - -
2 - -
3 Data line + TA/RA
4 - -
5 Signal ground SGND
6 - -
7 Data line - TB/RB
8 - -
9 - -
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 39
Digital Interfaces
2.6.2.9 Pin assignment for Interbus S
with option module RP IBS, with galvanic isolation
Remote OUT (COM2)
Remote OUT (SUB D09 socket)
PIN
Com 2 description designation
1 Data line OUT forward
(error voltage A) DO2
2 Data line IN backward
(error voltage A) DI2
3 Reference potential GND I
4 - -
5 VCCI +5V
6 Data line OUT forward
(error voltage B) /DO2
7 Data line IN backward
(error voltage B) /DI2
8 - -
9 Reporting input * RBST
* to forward Interbus-S interface
Remote IN (COM3 B)
Remote IN (SUB D09 plug)
≅ additional plug
PIN
Remote
IN description designation
1 Data line IN forward
(error voltage A) DO1
2 Data line OUT backward
(error voltage A) DI1
3 Reference potential GND I
4 - -
5 - -
6 Data line IN forward
(error voltage B) /DO1
7 Data line OUT backward
(error voltage B) /DI1
8 - -
9 - -
Attention: specific front panel is required !
2 Connector Assignments and Functions
________________________________________________________________________________________________________________________________________________________________________________________________________________________
40 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Digital Interfaces
2.6.2.10 Pin assignment for I/O interface
with option module RP EA5, with galvanic isolation
Digitale I/O Option
COM2 SUB D09 socket
PIN
Com 2 designation comment status
1 BIAS input 101 standard input
2 BIAS input 102 standard input
3 BIAS input 107 standard input
4 BIAS input 108 standard input
5 0VSPS ground reference
0VSPS B
6 BIAS input 106 standard input
7 BIAS output 109 standard output
8 BIAS output 110 standard A
9 +24VSPS ext. +24V feed-in UB
Notice !!
The inputs with the internal number 107 and 108 must be connected to the pins with number 3 and 4.
The outputs with the internal number 109 and 110 must be connected to the pins with number 7 and 8
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 41
Digital Interfaces
2.6.2.11 Pin assignment for I/O interface
with option module RP EAE, with galvanic isolation
Digitale I/O Option
X200 SUB D26 High Density socket
PIN
X200 designation comment status
1 Bias input 201 standard input
2 Bias input 202 standard input
3 Bias input 203 standard input
4 Bias input 204 standard input
5 Bias input 205 standard input
6 Bias input 206 standard input
7 Bias input 207 standard input
8 Bias input 208 standard input
9 Bias output 209 standard output
10 Bias output 210 standard output
11 Bias input 211 standard input
12 Bias input 212 standard input
13 Bias input 213 standard input
14 Bias input 214 standard input
15 Bias input 215 standard input
16 Bias input 216 standard input
17 Bias output 217 standard output
18 Bias output 218 standard output
19 Bias output 219 standard output
20 Bias output 220 standard output
21 Bias output 221 standard output
22 Bias output 222 standard output
23 Bias output 223 standard output
24 Bias output 224 standard output
25 +24 V SPS Ext. +24 V feed-in Ub
26 0 V SPS Ground reference 0 V SPS B
2 Connector Assignments and Functions
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42 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Digital Interfaces
2.6.2.12 Pin assignment for I/O interface
with option module RP 2C8, with galvanic isolation
Digitale I/O Option
X120B orr X120C Cage – Clamp terminal 10pole..
(min./max. cable cross-section: 0,08mm² / 1,5mm²)
comment
PIN
X120 designation
Function 0 Function 1
status
1 Input 121 BIAS Reset drive fault Input
2 Input 122 BIAS Limit switch + Input
3 Input 123 BIAS Limit switch - Input
4 Input 124 BIAS Reference switch Input
5 Output 125 BIAS Cam 1 Output
6 Output 126 BIAS Cam 2 Output
7 Output 127 BIAS Cam 3 Output
8 Output 128 BIAS Cam 4 Output
9 +24 V SPS Ext. +24 V feed-in Ub
10 0 V SPS Ground reference 0 V SPS B
Signal statuses of the I/O are indicated in each case by a 2mm LED
at the front plate.
Connector COM3 B – see chapter 2.6.2.6
LED lighten I/O = high
LED off I/O = low
X120
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 43
Digital Interfaces
2.6.2.12.1 DIL – switch position for module RP2CA and RP 2C8,
with galvanic separation
DIL – switch position CAN
Default = all off
20-------------------------------26
note number
0 - 127
20---------22
baud rate
222120
0 0 0 0 20 kBaud
0 0 I 1 50 kBaud
0 I 0 2 100 kBaud
0 I I 3 125 kBaud
I 0 0 4 250 kBaud
I 0 I 5 500 kBaud
I I 0 6 800 kBaud
I I I 7 1000 kBaud (1MBaud)
Example: node number 5; 1MBaud
DIL – switch position bus termination
COM2
COM3 Default COM2/COM3
2 Connector Assignments and Functions
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44 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
2.7 Option module RP SBT
2.7.1 Safe Stop
Connector assignment X290:
PIN
X290 designation comment status
1 Input Active 1) OPTO Input
2 Reference point
Input Active
OPTO Input
3 Starting lockout
deactivated Relais Input
4 Reference point
Starting lockout Relais Input
5 Checkback contact Free contact Break contact
6 Checkback contact Free contact Break contact
Hinweis:
1) With employment the option module RP SBT changes the function “AKTIV” from the connecting
plug X10.22 after X290.1! The input X10.22 can be used then as free programmable input
(BIAS).
Use of the function Safe Stop
The option RP_SBT of the drive controller 637fxx-x.S5 supports the safety function “Safe Stop”, protection
against unexpected starting, according to the requirements of the EN954-1 “Category 3” and EN1037.
The stop of the machine must be caused and guaranteed before by the external machine control.
This applies in particular to vertical axes without selflocking mechanics or counterweight.
If an error arises in the drive system during the active brake phase, the axis can coast down uncontrolled
or even accelerate actively.
In order to use the Starting lockout function intended, it is to be looped into the net contactor circle or
emergency stop circle with the obligation-led reporting contact X290.5/6. With not plausible functioning of
the Starting lockout relay, related to the operating mode of the machine, a galvanic separation of the drive
concerned from the net must take place. The Starting lockout and the associated mode may be used again
only after error correction.
Due to a danger analysis / view of risk (to be accomplished according to machine guideline 89/392/EWG
and/or EN 292; EN 954 and EN 1050) the machine manufacturer must project the safety circuit of its
machine types for the entire machine including all integrated components (also the electric drives).
Block diagram:
Connector Assignments and Functions 2
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 45
Option module RP SBT
2.7.2 Brake control and PTC evaluation
Connector assignment X280
PIN
X280 designation status
1 Supply for brake output and PTC evaluation Input
2 Reference point for supply Input
3 Reference point for Brake control Output
4 Brake control Active ok. Relais output
5 PTC Input
6 PTC Input
Use of the Brake control
The relay output X290.3 serves for the control of holding brakes. This output is functionally identical to the
output X10.23.
The output at X290.3 has the following advantages over X10.23:
The isolation relay contact control electronics corresponds to the basis isolation. I.e. also brake
installations (which correspond to the basis isolation) without interface relays, while maintaining the
PELV isolation (double) of the drive controller are operated (see X10 connection example chapter 2.3.2)
The brake control possesses an active clamping of over voltages between the two brake connections.
Stronger dimensioning of the brake contact.
Use of the PTC evaluation
The PTC connection serves for the monitoring of the engine temperature. In its function mode it is
identical to the port X30.2/6. The following advantage exists over X30.2/6 :
The isolation evaluation circle control electronics corresponds to the basis isolation. I.e. also
PTC thermistors (which correspond to the basis isolation) can be evaluated, without waiving the
safe separation to the control electronics.
Block diagram / Connector assignment
Circuit diagram
Further details see product manual 07-02-10-02-E-V..
3 Operating Mode
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46 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
3 Operating modes
The preselection of the device functions are carried out by choosing the operating modes 0...5 according to
the following table, see chapter 3.1, (EASYRIDER® Windows - Software).
Each operating mode allows the assignment of different in- and output functions (F0..F6).
Operating
mode Reference-source Hints for selecting the operating
0
1
2
analog (X10.5/18) switchable the operating modes 1 and 2 by input X10.24
speed control analog
torque controller analog
3 analog (X10.5/18) /
digital
simple applications with requirement of switching between
position and speed control position controller (input X10.24)
handling like operating mode 4
4 digital or analog in acc.
to parameter set general position-controlled systems. Up to 10 positions can be
stored under identifier-numbers and activated like shown.
5 digital or analog in acc.
to programming or via
digital communication
(e.g. fieldbus)
simple to complex systems using instructions BIAS
(up to 1500 command blocks)
PLC - functions
for further information:
see chapter 13.1 and 13.2
Operating Mode 3
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 47
3.1 Operating modes and pin functions
operating modes
Available
pins
number
0
torque / speed-
control
1
speed
control
2
torque
control
3
position /
speed-control
4
position
control
5
position control
+ BIAS
functions
input
X10.14 F0, F1 F0, F1 F0, F1 F0, F1, F2,
F3 F0, F1, F2,
F3,F6 F0, F1, F2,F6
input
X10.15 F0, F1 F0, F1 F0, F1 F0, F1, F2,
F3 F0, F1, F2,
F3,F6 F0, F1, F2,F6
input
X10.4 --- --- --- --- F2,F6
F0, F2, F3,F6
input
X10.25 --- --- --- --- F2,F6
F0, F2, F3,F6
input
X10.11 F1 F1 F1 F1 F1,F2,F6
F0, F1, F2, F3,F6
input
X10.24 F0
L = torque-
H = speed
control
--- --- F0
L = torque-
H = speed
control
F1, F2,F6 F1, F2, F3,F6
input
X10.2 --- --- --- --- F0
F2, F3
output
X10.12 F0, F2, F5 F0, F2, F5 F0, F2, F5 F0, F1,F3, F5 F0, F1,F3,
F5 F0, F1, F2, F3,
F4, F5
output
X10.13 F0, F2, F5 F0, F2, F5 F0, F2, F5 F0, F1,F3, F5 F0, F1,F3,
F5 F0, F1, F2, F3,
F4, F5
output
X10.20 F0, F2, F5 F0, F2, F5 F0, F2, F5 F0, F1,F3, F5 F0, F1,F3,
F5 F0, F1, F2, F3,
F4, F5
output
X10.23 F0, F2, F5 F0, F2, F5 F0, F2, F5 F0, F1,F3, F5 F0, F1,F3,
F5 F0, F1, F2, F3,
F4, F5
The assignment of the functions F0..F5 is listed in the following table
3 Operating Mode
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48 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
3.2 Configurable pin-functions (depending on the operating mode)
Input functions (depending on the operating modes)
input
Nr. function
F0 function
F1 function
F2 function
F3 function
F4 function
F5 function
F62)
input
X10.14 ⌧ 3)
limit switch +
1)
set selection
data 20
move manually
+
⌧ ⌧
CAN
Node no.
20
input
X10.15
⌧ 3)
limit switch -
1)
set selection
data 2a
move manually
- ⌧ ⌧
CAN
Node no.
2a
input
X10.4 latch input 1
extended
latch 1)
set selection
data 2b ⌧ ⌧ ⌧
CAN
Node no.
2b
input
X10.25
latch input 2
⌧
1)
set selection
data 2c ⌧ ⌧ ⌧
CAN
Node no.
2c
input
X10.11 start (slope 0--
>1) for BIAS -
move commands
3)
regulator
trouble reset
1)
set selection
data 2d ⌧ ⌧ ⌧
CAN
Node no.
2d
input
X10.24 operating mode
selection
(0) – 1or 2
(3) – 1or 4
3)
reference
sensor
1)
set selection
data 2max ⌧ ⌧ ⌧
CAN
Node no.
2max
input
X10.2
start (slope 0-->1)
w
ith position set
selection in
position control (4)
⌧ strobe
(slope 0-->1)
for BIAS-set
selection
⌧ ⌧ ⌧ ⌧
output
X10.12 position
reached
reference
output ⌧
tracking
window
exceded
synchron-
format
trigger
non
drive trouble -
output
X10.13 temperature
monitoring reference
output ⌧
tracking
window
exceded
start offset
trigger
non
regulator
trouble -
output
X10.20 warning reference
output ⌧
tracking
window
exceded ⌧
non
drive trouble -
output
X10.23 active ok
(motor brake) reference
output ⌧
tracking
window
exceded ⌧
non
drive trouble -
⌧ BIAS-function, free programmable.(in operating mode 5) resp. no function in operating mode 0 at 4.
fast input for optimal timing
1) With every row (from the top to the bottom) in which the function F2 is assigned to an input, the binary
value (2n) increases by 1. (see example)
Operating mode 4: only permissible set number 0 - 9 !
2) only possible with module RP-CAN.
3) Is the Option RP 2C8 (chapter. 2.6.2.12) insertion, are the contact function as the same definition on X10-
plug invalid (the inputs can freely programmable and use in BIAS program)
Operating Mode 3
________________________________________________________________________________________________________________________________________________________________________________________________________________________
07-02-10-01-E-V0505.doc Product Manaul Type: 637f 49
3.3 Function diagrams from inputs and outputs
Temp.
t
V1
V2
R_NTC1
R_PTC
R_NTC2
t1 t2
Temp.
t
V1
V2
R_NTC1
R_PTC
R_NTC2
t1 t2
/h/
/9/
/h/
/9/
I-LIMIT
/h/
/9/
/8/
/5/
/5/
I-LIMIT
95 °C
90 °C 100 °C
/8/
/4/
/4/
I-LIMIT
/8/
/3/
/3/
I-LIMIT
Nsoll
Fault signal /
protection function
Protection mode switching off
in acc. with EASYRIDER config.- menue
Protection mode limiting
acc. with EASYRIDER config. menue
regulator protection
output Warning(F0) X10.20
output Ready X10.8
Warnin g display
fault signal display
max. current rated current of regulator
output Warning(F0) X10.20
output Ready X10.8
Warnin g display
fault signal display
motor protection
output Warning(F0) X10.20
output Ready X10.8
Warnin g display
fault signal display
NTC-output stage protection
Warning time approx. 3 sec.
max. current rated current of motor
Warning time approx. 3 sec.
Warning time approx. 6 sec.
current limiting
assume motor temp erature
curve
NTC-motor protection
output Temp.(F0) X10.13
output Ready X10.8
Warnin g display
fault signal display
no limiting function with PTC
switch off with R_ PTC after warning time
PTC-motor protection
output Temp.(F0) X10.13
output Ready X10.8
Warning display
fault signal display
Function Passive -Delay (recommanded by use of motor brake)
reaction time for brake
input ACTIVE X10.22
setpoint internally to zero
output stage Active
output AKTIVE -OK(F0) X10.23 (holding brake)
switch off with R_ NTC2
Nsetpoint
decrease as of R_NTC1
I
2
t
I
2
t
Warning time approx. 6 sec.
Hint: With the assembly of the option module SBT you kindly note the extended functions of the signals
(see documentation 07-02-10-02-E..)
4 Mechanische Installation
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50 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
4 Mechanical Installation
4.1 Mounting
SSD Drives digital servo drives may be installed only in a vertical position to guarantee the best air
circulation for the cooling ribs of the heat sink. Vertical installation above other drive racks or above other
heat producing devices can lead to overheating. In addition the drives are to be operated exclusively in
SSD Drives racks or the compact enclosure respectively.
4.2 Control cabinet - mounting
Installation should be carried out only in a control cabinet in which the inside must be free from dust,
corrosive fumes, gases and all liquids.
Make absolutely sure that the condensing of evaporating liquids including atmospheric moisture is
avoided. Should the digital servo drive be installed in a place where condensation is likely, a suitable
anticondensation heater must be installed. The heater must be SWITCHED OFF during normal operation.
Automatic switch off is recommended
SSD Drives-digital servo drives should not be installed in are as which have been classified as
dangerous, if they have not been installed in an approved enclosure an accordance with regulations and
checked.
Make sure, there is enough cooling and space ! (see sketch)
only horizontal !
on the side
no distance is required
General rule:
It is better to place heat-producing devices low in an enclosure to support internal convection and to
spread the heat. If placing such devices up high is unavoidable, enlarging the upper dimensions at the
expense of height or installing fans should be considered.
4.3 Cooling
The digital servo drives are protected against damages caused by overheating.
There is a thermal sensor installed on the heat sink. When the temperature rises to >95°C,
the drive is automatically switched off. This setting cannot be changed.
Make sure a cabinet of proper size is selected for adequate air circulation
If the device becomes operated in a not ventilated device, the case volume of the specified control
cabinet must be calculated in accordance with the following table !
Units Volume of cabinet
637f/0D6R02...D6R10 0,12 m³
637f/0D6R16...D6R30 0,25 m³
For more exact information, please, address to the control-cabinet manufacture
Electrical Installation 5
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 51
5 Electrical Installation
5.1 Safety
The voltages carried by power supply cables, motor cables, connectors, and certain parts of the drive can
cause serious electric shocks and even death
5.2 The danger of electric shocks
Caution !
Risk of electrical shock, wait 3 minutes after switching off, for discharging the capacitors.
Disconnect SSD Drives plug-in units from mains before working on them. A period of three minutes must
pass after switching off so that the internal capacitors can discharge completely. Until the discharge time is
over, there can be dangerous voltages in the module !
Persons, which monitoring or carrying out electrical installation and maintenance must be adequately
qualified and schooled in these activities.
5.3 Danger areas
The use of variable speed drives of all kinds can invalidate the certification for dangerous areas (apparatus
group and/or temperature class) of explosion-protected motors. Inspection and certification for the
complete installation of servo motors and electronic components must be obtained.
5.4 Grounding, safety grounding
The grounding impedance must meet the requirements of local industrial safety regulations and should be
inspected and checked at appropriate and regular intervals
5.4.1 Ground connections
It is recommended to attach a ground bus of high conductivity copper as near as possible to the servo-rack
or regulator modules in order to minimize the length of the cable connections.
The recommended dimensions are:
Thickness: d = 5 to 6 mm
Length
(m) Width
(mm)
< 0,5 20
0,5 < 1,0 40
1,0 < 1,5 50
b grounding bus-bar
d
l
Ways of raised discharge currents > DC 10mA resp. > AC 3,5mA the PE-Bolt of the drive has to be
connected to PE using copper-cable minimum 10mm² !
5.5 Short-circuit capability and discharge currents
Due to the working-principle of servo drives there may discharge currents to
PE exceeding DC 10mA resp. AC 3,5mA.
Suitable for use on a circuit capable of delivery not more than 5000 RMS symmetrical
amperes 505V maximum. (Note according to UL508C)
5 Electrical Installation
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52 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
5.6 Fuses, contactors, filters
Compact units
637f/ KD6R 02
.S5 KD6R 04
.S5 KD6R 06
.S5 KD6R 10
.S5 KD6R 16
.S5 KD6R 22
.S5 KD6R 30
.S5
-3 -7 -3 -7 -3 -7 -3 -7 -7 -7 -7
Fuses, Contactors 4)
RCD-switch not recommended. Required setpoint: 300 mA, no protection against life danger
mains input currents [A] 3,5 5 7,5 12 19 26 30
mains protection 1) Type T10A T10A T10A T20A T25A (T32A) 35A (T32A) 35A
protector-switch 2) Type PKZM0-16 PKZM0-16 PKZM0-16 PKZM0-16 PKZM0-25 PKZ2/ZM32 PKZ2/ZM32
mains fuse 2) Type DIL 00M DIL 00M DIL 00M DIL 00M DIL 0M DIL 0M DIL 0M
Line filters 4)
general only for use in earth referenced supplies(TN). Current drain to PE !
single-phase
industrial env.
max. motor cable 50m
(EN55011 A)
Type
LNF E 1*230/012
up to AC 230V !!
+
ferrite core
not possible !
residential env.
max. motor cable 20m
(EN55011 B)
Type
LNF E 1*230/012
up to AC 230V !!
+
ferrite core
not possible !
3-phasig
industrial env.
max. motor cable 50m
(EN55011 A)
Type LNF B 3*480/008
+
ferrite core FR 3
LNF B 3*480/018
+
ferrite core FR 6
LNF B 3*480/033
+
ferrite core FR 6
residential env.
max motor cable 20m
(EN55011 B)
Type LNF B 3*480/008
+
ferrite core FR 3
LNF B 3*480/018
+
ferrite core FR 3
LNF B 3*480/033
+
ferrite core FR 3
3-phasen, max. 3 Units, supplied by a common filter
industrial env.
max. motor cable 20m
(EN55011 A)
Type LNF B 3*480/018; LNF B *480/033 + ferrite core FR
other types upon request
(according to ref.measurements with 3 units, supplied by common line)
residential env.
max motor cable 20m
(EN55011 B)
3) Type LNF B 3*480/018; LNF B 3*480/033 + ferrite core FR
other types upon request
(according to ref.measurements with 3 units, supplied by common line)
Plug-in modules 637f / D6R 02
.S5 D6R 04
.S5 D6R 06
.S5 D6R 10
.S5 D6R 16
.S5 D6R 22
.S5 D6R 30
.S5
-3 -7 -3 -7 -3 -7 -3 -7 -3 -7 -3 -7 -3 -7
Fuses, contactors,
filters 4)
1)
general
Orientation: Table for compact units and the addition of rated currents of used
units on the DC-Bus. Depending on the application, energy sharing effects by
DC-link may reduce the required supply current considerable.
fuses
Rule of the thumb: single-phase operation: 2...3 times of added rated currents
Rule of the thumb: 3-phase operation: 1,5...2 times of added rated currents
peak making currents Depending on power-supply unit, limiting equipment is requiered (delay contactor)
filters only for use in earth referenced supplies(TN). Current drain to PE !
filter types Orientation: Table of compact units. Further types: see separate manual
1) recommended for UL-requirements: Bussmann Type FRS-R, 600V, use only UL-approved fuse-holders !
2) recommended, Klöckner Moeller for instance
3) Measurement of conducted emissions only
4) for applications with continuous load: see notes in chapter 5.7
Electrical Installation 5
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 53
5.7 Correction of supply current
Attention in case of continous load:
Due to the capacitive input impedance of
DC-Bus, the input current is deformated.
This guides to RMS -values higher than the sinus-based calculated values. Fuses,
contactors and line filters have to be selected in respect to this effect.
In typical servo application with Stop/Go-operation (S3-Operation), the
rating to nominal data will be sufficient.
In other cases, the value has to be corrected using the following diagram.
Example:
Drive type 637f/KD6R16.S5-7 is supplied by AC 230V 3-ph.
Output-power: Pout = 200V x 16A x 1,73 = 5,54 kW
This output-power must be generated by:
calculated supply-current Iac sinus = 5,54kW / (230V x 1,73) = 13,9 A
Correction-Factor from diagram: 1,6
RMS. Supply-Current Ieff = Iac sinus x 1,6 = 22,3 A
Result:
All supply-equipment has to be selected in respect to the enhanced current.
5 Electrical Installation
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54 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
5.8 Brake resistor
5.8.1 Selection of the brake resistor
The energy of a moving system flows back to the Drive. The DC-Bus capacitors are able to take a small
value. The rest has to be converted to heat by a resistor.
Switching of this brake resistor depends on the DC-Bus voltage.
The load of the resistor is simulated and supervised electronically
(EASYRIDER® Windows - Software). Peak power (Pmax) and continuous power (Pd) ratings have to be
sufficient to meet the requirements of the application.
n1
RPM
T tb1 t [sec]
Movement
I [A]
Ib t [sec]
Braking-Current
Values for Example
n1 = 3000 RPM
tb1 = 0,1 sec.
T = 2,0 sec.
J = 0,0005 kgm² Total Inertia
Definition of Data
RL = 0,3 Oh m
Speed at Brake-Start
Braking Time
Cycle- Time
Cable-Resistance
Braking-Current Ib = 3,2 A
Motor-Resistance Rph = 3,6 Ohm
Calculation
Step 1
Calculation of brake-power
(Approximation. Capacitor-load, friction-and drive-
losses neglected)
example
Power of motion:
Pkin = 0,0055 * J * n1² / tb1 [W] Pkin = 0,0055 * 0,0005 * 3000²/0,1
Pkin = 247 W
Motor-losses:
Pvmot = Ib² * (Ri + RL) [W] Pvmot = 3,2² * (3,6 + 0,3)
Pvmot = 40 W
Cont. Power:
Pd = 0,9 * (Pkin-Pvmot) * tb1 / T
[W]
Pd = 0,9 * (247 - 40) * 0,1 / 2
Pd = 9,3 W
Peak-Power:
Pmax = (1,8 * Pkin) - Pvmot [W] Pmax = (1,8 * 247) - 40
Pmax = 405 W
used units:
J total inertia [kgm²]
n1 speed at Brake-Start [RPM]
tb1 braking time [Sec]
T cykle time [Sec]
Ib brake-current [A]
Rph resistance of motor (between terminals) [Ω]
RL line resistance of motor cable [Ω]
Electrical Installation 5
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 55
Brake resistor
selection of the brake resistor
Step 2
Internal / external Brake-resistor required ?
see data in chapter 1.3.3 / 1.3.4
Example-Drive type
637f/K D6R04-7
In case of unsufficient capability or not included
internal Brake-Resistor, a type may be selected from
the following list
External and internal Brake-Resistors will be switched
in parallel. The internal and external performance-Data
may be added in this case.
acc. to data in 1.3.3:
internal resistor:
Cont. Power Pd = 30W
Peak Power Pmax = 1700W
Required:
Pd = 9,3W Pmax = 405W
Result: The internal capability is sufficient
5.8.2 Configuration of the brake resistor
Possible ballast circuit configurations at digital devices
a) Compact design
The plug-in modules of servo-control series 635/637/637+/637f are provided with an on board ballast
electronics. It is intended for application as compact unit KDER resp. KD6R.
These compact units contain the necessary ballast resistor incl. fuse for the ballast circuit.
Except KD6R 16..30-7 (external resistor only).
b) Rack design
While the plug-in modules are used in a rack, the NEB power supply module takes dissipation
of the braking energy (adjustment of ballast monitoring: please see NEB manual).
In this case the ballast electronics of the plug-in module will be deactivated with the
configuration parameter "Ballast activate = N". All further ballast parameters are no longer
relevant then.
r.g. a) Adjustment of ballast circuit for compact units:
1. Ballast electronics activated:
In this case the ballast electronics of the plug-in module will be activated. "Ballast activate = J".
2. Operating point:
The operating point has to be adjusted dependent on the voltage variant.
"Ucc Ballast on = 375 V" for 230 V AC supply
"Ucc Ballast on = 720 V" for 400..460 V AC supply
3. Resistance value:
As resistance value, the parallel resistance from internal and external resistance has to be adjusted.
4. Rated power:
As ballast power (braking energy), the sum total of internal and external resistor power
has to be adjusted.
Precondition for correct monitoring of shunted ballast resistors is the nearly same ratio of P - cont.
power to P - pulse power. This is guarantied with the SSD Drives standard combinations.
..KD6R 16..30-7 units do not contain an internal ballast resistor.
At these versions the values of the external resistor can be feed directly.
5 Electrical Installation
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56 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Brake resistor
selection of the brake resistor
Example: EASYRIDER
Evaluation resistance value in use of internal and external resistances.
Internal “Ballast resistances = 300 Ohm“ for ..KD6R10..-7
External “Ballast resistances = 100 Ohm“ for ..KD6R10..-7
Rext.
1
.intR
1
Rtotal.
1
:formula +=
Ω=⇒
Ω
+
Ω
=75.Rtotal
100
1
300
1
.Rtotal
1
Set up resistance value = 75 Ohm
Evaluation Ballst power in use of internal and external Ballast power.
Internal “Ballast power = 30 Watt“ for ..KD6R10..-7
External “Ballast power = 100 Watt“ for ..KD6R10..-7
Pext.Pint.Ptotal.:formula
+
=
130WPges.100W30WPtotal. =⇒
+
=
Set up rated power = 130 Watt
Caution !
Placing of external brake resistors
Brake-resistor are dissipating heat !
Make sure, that there will be no fire-danger in case of operating the resistor
in nominal- or fail-conditions
Wiring Instructions 6
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 57
6 Wiring instructions
6.1 General Information
Digital servo drives are designed for operation in metallic grounded enclosures.
For perfect operation as well as for observance of all regulations the front board must be connected
with the enclosure electrically and fixed.
6.2 Control cabling
Recommended cross section 0,25 mm².The control signal lines must be laid seperate from the power
signal lines.(see chapter 6.7.1)
The resolver cable must contain three shielded pairs and must be shielded as a whole. The shielding
should be connected to the ground spread out on the regulator side. We recommend using SSD Drives
resolver cable KIR. Cable for transmitting data are always to be laid shielded !
6.3 Power cabling
Recommended section according to rated current. Use only 75° Cu-cables.
6.4 Installation of the rack
When the rack is secured not in a hinged bay but on a mounting plate, it is recommended to do the wiring
of the connections for the power connector X50 on the rear of the rack before installing. With hinged-bay
installation, the customer must ensure that the parts sensitive to voltage such as the Ucc bus, mains
supply lines, etc., are protected against electric shock.
6.5 Analog setpoint
The setpoint input is a differential input. Therefore the poling can be done depending on the requirements.
Important: the setpoint voltage must be galvanically connected to the reference potential of the control
connections (plug X10). It is possible to connect one pole directly to GND.
6.6 Safety rules
Caution !
Plug / unplug all modules only when
Ucc (DC-BUS) is off, that is, the green LED on the power supply module is off and the discharge
time > 3 minutes has elapsed.
The user must ensure protection against accidental touching.
6.7 Electromagnetic compatibility (EMC)
Confirmity in accordance with the EEC Directive 89/336/EEC has been evaluated using a reference-
system, consisting of a compact type drive and a line-filter on mounting-plate,
connected to an AC-syncronous motor.
Mainly responsible for EMC-emissions is the motor cable. So this has to be installed exeptional carefully.
The layout of grounding is very important. Grounding has to be low-impedant for high frequences. That
means, all ground-connecting parts have to use area.
The measurements made are valid under the use of SSD Drives - cables, suppression aids and line filters
and by application of the following wiring instructions:
6 Wiring Instructions
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58 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Electromagnetic compatibility (EMC)
6.7.1 Hints for mounting
A All components are mounted inside of
a steel control cubicle on a mounting plate
(thickness min. 3mm).
Recommended: Galvanizing
3mm
B The connection between drive housing filter-
housing and mountig-plate must be blank and
not reduced by varnish. All screws must be well
fixed !
C Use only SSD Drives-filters and cables for motor
and resolver
D Place all wires and cables as close as possible
to any grounded metal parts
E Separate power- and control cables. Minimum
distance: 0,3m
crosspoints: 90° 0,3 m 90°
F Avoid cable-loops. Especially the line between
line-filter and drive has to be as close and short
as possible (drilled)
G Maintain screen as close as possible to the
cable-end (max distance 8 cm)
8 cm max
H Connect screen-connections according to
general view of connetions, see chapter 2.1.
Ground screens on both sides, shortest way.
For long cables: Connect additional screen-area
along the way
I Connect screens area-contacted to good
grounded points
K Connect unused wires in cables to ground
L Install control cables directly close to grounded
metal-parts or screend when leaving the control-
cubicle
M Take care for good grounding of control-
transformer (DC 24V). Use transformer with
metal-socket and take care for conductive
contact to mounting-plate
N Take care for good general grounding of the
complete system. Interconnect several
mounting-plates with copper-rails or
copperband. Take care for ground connection
between control-cubicle and machine !
Wiring Instructions 6
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 59
Electromagnetic compatibility (EMC)
6.7.2 Example for mounting
6.7.3 Achieveable specifications and conditions
conditions additional conditions
Area
Class
Standard Motor-cable
length
Area
Class
Standard
Emissions:
transmitted by
cable or by air
Industrial A EN50081-2/
EN55011Klasse A see
chapter 5.6 LNF S/E
LNF B closed
cabinet with
≥ 15 dB
attenuation
toroidal
ferrite
cores
see
Residential B EN50081-1/
EN55011 Klasse
B
see
chapter 5.6 LNF S/E
LNF B chapter
5.6
Interference
immunity:
(≅ radiation)
transmitted by
cable or by air
Industrial A EN50082-2 - - - -
Residential B - - - -
7 Setting and Programming
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60 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
7 Setting and programming
7.1 Jumper
All jumpers are set to a standard position in production !
Layout of the Jumpers see: Chapter 1.2.3
JP100,
bridged pad...
2 and 3
(standard) READY contact with reference to
common output supply voltage on
X10.21
1 and 3 READY contact can be wired freely
JP101,
bridged pad...
2 and 3
(standard) Analog input X10.19 without internal
Pull-up.
1 and 3 Analog input X10.19 with internal Pull-
up to +12 V (FRR compatible)
JP102,
bridged pad...
2 and 3
(standard) X10.23 = active ok. output
1 and 3 X10.23 = GND internal
(FRR compatible)
JP1, JP2
bridged pad... adjust identically !
2 and 3
(standard) X10.15 = high-active
1 and 3 X10.15 = low-active
JP3, JP4
bridged pad... adjust identically !
2 and 3
(standard) X10.14 = high-active
1 and 3 X10.14 = low-active
JP2.8, JP2.3
JP2.7, JP2.2
open Default, RP CAN, RP DEV, RP PDP
RP 2CA, RP 2C8
close RP 232, RP 422, RP 485,
RP IBS, RP EA5, RP SUC
JP209 2-3
JP209 1-3
close Default RP SBT
Further connecting configuration see:
Product Manualo 07-02-10-02-E-Vxxxx RP_SBT
7.2 Digital communication
see: Chapter 13
Commissioning 8
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 61
8 Commissioning
Caution !
Wiring errors or incompatible operation may cause unpredictable motions.
Avoid danger for man and machine !
8.1 Preparation
For PC-link use the SSD Drives communication software
EASYRIDER® Windows - Software. For the start,
we suggest exercises in simulation mode to get familiar with EASYRIDER.This chapter
presumes the knowledge how to handle EASYRIDER. Suggestions: Use test equipment to
train yourself. EASYRIDER® Windows - Software contains interactive HELP - functions.
For security-reasons the access to several functions is blocked by password. Commissioning
has to be executed by trained stuff only.
Users may have their application-adapted commissioning methods when familiar with
the product, on their own responsibility.
The system must be in accordance with all valid safety specifications. The function of all
safety equipment (limit-switches for example) have to be checked.
To activate the power-stage of the drive, the "ACTIVE"-signal (X10.22 against X10.9)
has to be exited.
Hint: With the assembly of the option module SBT you kindly note the extended functions of the
signals
(see documentation 07-02-10-02-E..)
8 Commissioning
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62 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
8.2 Commissioning in steps
Step Action Remark
1 Before switching on
Check the wiring, especially:
Filter polarity, supply
Motor wiring, motor polarity
Resvolver wiring,
polarity (or other feedback systems)
2 With critical mechanical part: remove motor shaft from
application avoid danger
3 Connect PC by RS232 link to the drive service port COM1
and start EASYRIDER ®
Set up state
NOT ACTIVE
635/ 637/ 637+/ 637f 1)
X10.22 against X10.9
631
X10.7 against X10.4
4
Power on
7-segment-
dispay
Switch on control voltage
635/ 637/ 637+/ 637f
Us = 24V DC
631
Us = 230V AC
5
EASYRIDER ® communicates (see diagnosis F9)
7-segment-
dispay
Are parameters already evaluated?
6
Yes: load parameter-file
xxx.WDD.
Store parameters in the
drive. If existent: load BIAS-
file xxx.WBD and store in
drive.
Proceed with 10 or 15
(experts)
No: continue with 7
7 Menu Commissioning:
Select the used motor from the EASYRIDER ®- Library
Adjust max. current to nominal motor current or smaller
reduced torque
8 When leaving that menu:
Tuning-parameters for current loop will be calculated and
offered to the user.
Normally, these values give dynamic servo motion.
Confirm acceptance of offered
parameters
9 Store data power-fail-save in the drive
10 Menu: Tuning speed loop
1) Hint: With the assembly of the option module SBT you kindly note the extended functions of the
signals (see documentation 07-02-10-02-E..)
Commissioning 8
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 63
Commissioning in steps
Step Action Remark
11 “ACTIVE” switched
7-segment-
dispay
12 Adjust test generator as required.
Activate test generator with “START F8”.
Activate graph to display motor current or speed.
Can be optimize manually
(P- and I- gain)
Is the result ok?
13
Yes: continue with 14 No: continue with U1
14 Preparation to the position controller
The commissioning of the position controller is first
recommended without linked mechanics. In the case of
secure function, the mechanics can then be linked up.
15 Power OFF.
Connect motor-shaft to application
Move application to a free area between mechanical
limits.
Power ON.
Menu: Tuning position loop
16 Adjust test generator. Select Pos. 1 and Pos. 2 to
uncritical value.
Select slow speed and low acceleration first, rise up later
mind: reaction-time- to
Emergency stop
17 “ACTIVE” – switched. Every activation of “START F8”
excites a motion form Pos. 1 to Pos 2 and with next
activation, form Pos. 2 to Pos. 1
18 Observe the behaviour of application and graph.
Optimize tuning-parameters (P-, I- and V gain)
Is the result ok?
19
Yes: continue with 20 No: continue with 9
20 Basic power-up is done now.
Further functions (Interfaces, fieldbus functions,
synchronizing and so on may be done adapted to
selected equipments
21 Select the menu “File” store parameters” and store the
data in the regulator, protect against lost, with F7-key data save
8 Commissioning
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64 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
Commissioning in steps
Step Action Remark
U1.1 Menu: Tuning Speed Loop
Stabile parameters are calculate bases on the
system data; and can be called up with “Default
value”.
Sometimes it is recommended to make further
manual tuning.
Rated value can be soured either digital by the
internal generator or analogue by
635/ 637/ 637+/ 637f 631
+/- 10V at X10.5/18 +/- 10V at X10.1/2
ATTENTION!
Too hard tuning will cause current-ripple and high
power dissipation.
P- gain too high or I-time constant too
small
Motor noise
U1.2 Too weak adjustment cause slow loops reactions
that may cause problems for the tuning of position
loops.
P- gain too small or I-time constant too
high
It the result ok?
U1.3 Yes: continue with 9 No: continue with U2.1
U2.1 Menu: Tuning Current Loop
Stable parameters are calculated bases on the
system data and can be called up with “default value”
Manual tuning may be useful.
Rated value can be soured either digital by the
internal generator or analogue by
635/ 637/ 637+/ 637f 631
+/- 10V at X10.5/18 +/- 10V at X10.1/2
ATTENTION!
Tuning of current loops should be only done after
consultation of SSD Drives experts.
continue with 9
Diagnosis and Trouble-Shooting 9
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 65
9 Diagnose und Fehlersuche
9.1 7-segment display
Many sources of faults can be narrowed down with the diagnosis display.
explanation Output servo drive display
comment ready warning2) 631 635/637 637+ 637f
no display
any control voltage? external fuses ok?
off off  
system ready for operate
drive ready, not active
off off  
drive ready for operate!
DC link voltage within the limits,
power stage active, fault-free
 
internal STOP with serial deactivating
activate drive via serial interface
off off  
regulator of serial interface (bus interface)
deactivated !
only if bus interface is integrated
off off  
deactivated with delay time for the brake
deactivated via input. on off
deactivated via serial command. off off
Active input is activated with switching on
24 V control voltage
switch enable X10.xx switch on 0 V and
after that 24 V
off off
X10.7
X10.22
X10.22
X10.22
Under voltage of control voltage
Power supply switched on? Power supply o.k ?
internal fuse o.k.? control voltage < 17 V
off off  
Under voltage in DC-bus < Ua low threshold
check power supply (power supply unit, wiring,
fuse), check under voltage parameter
off off  
feedback system error (e.g. resolver)
wiring to encoder system ok?
encoder system supply ok?
off off  
I²t- overload of the drive
does the control loop oscillate?
P-amplification too high mechanics stiff?
requirements too high? is warning /8/ evaluated?
1) 1)  
1) Reaction to these errors chapter: Function diagrams from inputs and outputs
2) With configuration corresponding chapter : Operating modes and pin functions
3) Only warning respect. status indicator
The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus)
is switched off for safety reasons.
9 Diagnosis and Trouble-Shooting
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66 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
7-segment display
explanation Output servo drive display
comment ready warning2) 631 635/637 637+ 637f
overload of the motor I²t
does the control loop oscillate?
P-amplification too high mechanics stiff?
requirements too high? is warning /8/ evaluated?
1) 1)
over temperature of the output stage (> 95°C)
adequate cooling of the regulator?
ambient temperature too high?
1) 1)
over voltage on DC bus
ballast module ok? adequate ballast module?
1) 1)
chassis shorting and short circuit due to hardware
motor cabling ok? digital-loops setup ok?
short circuit to chassis in the motor? braking
resistor: ohm- value too low? try to start fresh! send
in for repair
off off
WARNING!
Overload of the regulator I²t or motor I²t or temp.-
output stage too high. If no reaction within approx.
3sec.it switches off with signals /3/, /4/ or /5/.
Signal /8/ clears when there is no more danger or it
is switched off
mechanics stiff? defective bearings; cold grease?
reduce requirements and creep to next possible
STOP
on 1)
over temperature motor(NTC/PTC)
check overload of the motor / cooling etc.
off
motor temperature too high
check overload of the motor / cooling etc.
on 1)
ballast active
Brake energy is removed
warning I²t ballast too high
ballast resistance usage >90%
switch off ballast
ballast resistance overloaded
on 1)
1) Reaction to these errors chapter: Function diagrams from inputs and outputs
2) With configuration corresponding chapter : Operating modes and pin functions
3) Only warning respect. status indicator
The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus)
is switched off for safety reasons.
Diagnosis and Trouble-Shooting 9
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 67
7-segment display
explanation Output servo drive display
comment ready warning2) 631 635/637 637+ 637f
X 300 – Module not inserted
or wrong inserted or defect
X 300 testing
off off
X 300 – setting wrong
X 30 / X40 Counter-Configuration test in
the EASYRIDER® Windows – Software
tracking window exceeded
3)
only in operation mode position control, will be
deleted with the next run-command
tracking error with switch off
only in operation mode "position control"
limit switch +
3)
limit switch + X10.xx on 0 Volt,
from Firmware 6.16
X10.8
X10.14
X10.14
X10.14
limit switch -
3)
limit switch - X10.xx on 0 Volt,
from Firmware 6.16
X10.9
X10.15
X10.15
X10.15
limit switch + / limit switch -
3)
both limit switch X10.xx on 0 Volt,
from Firmware 6.16
X10.8
X10.9
X10.14
X10.15
X10.14
X10.15
X10.14
X10.15
memory-checksum-error
try new start, store the value again
off off
DC Bus Unterspannung < 100 V
-
1: internal software error, Watchdog
2: blinking: BIAS software error
1: Firmware version check
2: Bias program error fix
1) Reaction to these errors chapter: Function diagrams from inputs and outputs
2) With configuration corresponding chapter : Operating modes and pin functions
3) Only warning respect. status indicator
The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus)
is switched off for safety reasons.
9 Diagnosis and Trouble-Shooting
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68 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
7-segment display
explanation Output servo drive display
comment ready warning2) 631 635/637 637+ 637f
starting lockout RP SBT
terminal X290. 3/4 check
Max. speed overload
check speed limits resp. setpoint speed
CAN - Open 402 Sync Message error in
Interpolated positioning mode
-
6.19c
8.19d
1) Reaction to these errors chapter: Function diagrams from inputs and outputs
2) With configuration corresponding chapter : Operating modes and pin functions
3) Only warning respect. status indicator
The error signals are shown as long as there is control voltage (Us), also when the power (DC-Bus)
is switched off for safety reasons.
Diagnosis and Trouble-Shooting 9
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 69
9.2 Reset of a regulator trouble
A general precondition for correct execution of the Reset is the elimination of the error cause.
The error signals
at
blinking
(BIAS)
of the drive can be reset via:
1. Control voltage OFF/ON,
2. the serial command “Drive Reset“ 0x02
The host login must be occurred.
The drive must be deactivated via the serial command “deactivate Drive“ 0x00.
3. the fieldbus-command “ Drive Reset“ 0x16 (22 decimal)
The host login must be occurred via the BUS command 0x01.The drive must be deactivated
via the BUS command “deactivate Drive“ 0x14.
The fieldbus command “Drive Reset“ with constant repetition of the fieldbus command 0x16 will be
works-off only once.
For further processing, it is necessary, meanwhile to send another control word
(e.g. 0 status order).
4. a 0 – 1 flank on input X10.11
Precondition:
- The input X10.11 is with function 1“Reset drive fault“ configured
(EASYRIDER® Windows – Software)
- There is no host login.
- The input Active,(X10.22) is inactive (0V) 1)
- The signal must be present min. 250 ms
Notice !!
After remove of the tracking error deactivation the warning message
(tracking error) is active up to the next move command.
The error signal (releasing before ready) can be reset by deactivation the drive.
1) Hint: With the assembly of the option module SBT you kindly note the extended functions of the
signals (see documentation 07-02-10-02-E..)
9 Diagnosis and Trouble-Shooting
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9.3 Trouble shooting
The following list refers to faults which can occur during operation.
Display:
Error Explanation and remedy
no motor run despite current flow motor mechanically blocked?
motor brake released? 1)
motor runs unevently check setpoint wiring
check grounding and shielding
too high P-amplification in the speed controller
reduce value
(with EASYRIDER® setting/speed control)
too small I-time in the speed controller?
reduce value
(with EASYRIDER® setting/speed control)
no reaction of setpoint progression, despite
torque in standstill Limit switch functions
effective (BIAS)
no current flow;
no torque despite activating the regulator
correctly
motor cables interrupted?
Is input "I extern" (X10.19) activated
(config. menu) and not notched up?
limit switch - input
activated and not notched up?
Interference symptoms with power
frequency Ground loops in setpoint or actual value wiring?
Shieldings laid on both sides?
Signal cables near high voltage cables?
Motor takes up preferred positions after
activation Position encoder or motor cables with reversed
poles?
Resolver or Feedback- encoder incorrectly
adjusted?
Number of motor poles wrong matching? (config.
menu)
1)
Motor runs up immediately after activation
although there is no setpoint Motor cables or feedback- cables reversed?
Encoder incorrectly adjusted?
(e.g. Resolver)
1)
Motor reaches in idling cycle very different
speed when running to the right or to the left Feedback-Encoder incorrectly adjusted
(e.g. Resolver)
1) Display
or
mostly short after activating; before warning
Block Circuit Diagram 10
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10 Block circuit diagram
11 General Technical Data
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72 Product Manual Type: 637f 07-02-10-01-E-V0505.doc
11 General Technical Data
11.1 Power circuit
galvanic separation from control circuit in acc. with EN 50178 / VDE 0160
specification in accordance with UL 508C and cUL
short circuit and to frame proof for Min. 2000 releasings
overvoltage monitoring D6R..-3 Max. 400V DC ±5V DC
overvoltage monitoring D6R..-7 Max. 765V DC ±10V DC
undervoltage monitoring min. 15V DC; configurable
overtemperature switch off at 95 ° C +/- 5%
clock frequency 4,75 kHz
frequency of current ripple 9,5 kHz
11.2 Control circuit
galvanic separation from power circuit in acc. with EN 50178 / VDE 0160
further information: see concept of insulation chapter 1.3.1
see data compact units chapter. 1.3.3
see data plug-in modules chapter 1.3.4
11.3 Signal inputs and outputs, connection X10
additional galvanic separation from power and
control circuit
nominal voltage of the in- and outputs 24 V DC
number of outputs
signal outputs via OPTO coupler 5
Umax = 45V DC;
I = 0..60 mA; short circuit proof, resistive load
signal outputs via RELAY Umax = 45V DC;
I = 1uA...1,2A
contact protection with inductive load internal varistor
number of inputs
signal outputs via OPTO coupler 8
L = 0...7 V DC or open
H = 15...30 V DC
Iin 24VDC: 8 mA
Shortest time of signal at all input to accept the
signal in an application:
> 1 ms
Damping of the transfer from
low to high (0-->24V): fast input:
20µs (X10.4, X10.25)
Damping of the transfer
from
low to high (0-->24V):
Interrupt response time for fast input 10µs (X10.4, X10.25)
Damping of the transfer from
high to low (24-->0V) fast input:
250µs (X10.4, X10.25)
Damping of the transfer
from
high to low (24-->0V)
General Technical Data 11
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11.4 Signal inputs and outputs, connection X120B resp. 120C
additional galvanic separation from power and
control circuit
nominal voltage of the in- and outputs 24 V DC +20% / -10%
number of outputs
signal outputs via OPTO coupler
4
resistive load Imax. = 2A
inductive loadmax. 1Henry
Iout. Iout. Iout.
1A 1A 1A
1A 1A 1A
0,33A 0,33A 0,33A
0,2A 0,2A 0,2A
short-circuit current limited by (5A)
over-temperature protection,
active overvoltage clamping (50V);
keyed
number of inputs
signal outputs via OPTO coupler 4
L = 0...7 V DC or open
H = 15...30 V DC
Iin at 24VDC: 8 mA
Shortest time of signal at all input to accept the
signal in an application: > 1 ms
Damping of the transfer from
low to high (0-->24V): default input:
200µs
Damping of the transfer from
high to low (24-->0V) default input:
1000µs
11.5 Digital control
current control
Loop-Cycle-Time 105 µs
settings according to factory specifications or motor data
speed control -menue current limits, Adjustment by:
Analog Input
0..10V = 0..100%; can be normed, 10Bit
speed control
Loop-Cycle-Time 105 µs
settings speed control menue
Usoll = 10 V, can be normed; Ri = 10k differential setpoint input analog
resolution (including sign) 14 bit
digital setpoint input via interfaces
position control
Loop-Cycle-Time 105 µs
11 General Technical Data
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11.6 Digitale communication
RS232 - service interface COM1
19200 baud, 8 databits, 1 startbit, 1 stopbit,
parity: even
Optional
RS232 / RS422 / RS 485
on SUB D – socket
COM2
CAN1, Profibus DP, SUCOnet K
on SUB D – socket
Interbus S on SUB D – socket (OUT)
Interbus S (Remote IN)
CAN2
additional on SUB D – socket
11.7 Resolver evaluation/transmitter principle
General:
The specified data refer to the combination of the standard resolver interface with Function-Module
X300_RD2; operated with the SSD Drives resolver R 21-T05, R15-T05
carrier frequency ft = 4,75 kHz
ripple of the speed actual value signal 2% 1)
max. position resolution for one revolution 65536 / 16 bit
absolute position accuracy +/- 0,7 ° 1)
relative position accuracy +/- 0,08 ° 1)
1) Data under check, Reality: Quality improved
11.8 Controllersystem
system run-up time after switching on
the control voltage max. 6 sec.
data memory / organization Flash Eprom 256 KB
RAM 64 KB;
EEPROM 96 kByte
General Technical Data 11
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11.9 Analog-Outps
measuring pin X10.17
signal range -10V.....0.....+10V
magnifier function can be normed
resolution 10 bit, independend of norming
internal resistance 1,8 kOhm
measuring pin X10.6
signal range -10V.....0.....+10V
magnifier function can be normed
resolution 8 bit, independend of norming
internal resistance 1,8 kOhm
11.10 Thermal data
thermal data see chapter 1.3
11.11 Mechanical data
dimensions see chapter 1.4
weight see chapter 1.3
Further data you will find in chapter 1.3
12 Disposal
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12 Disposal
The digital servo drive consists of different materials.
The following table shows, which materials can be recycled and which have to be disposed
of in a special way.
material recycle disposal
Metal yes no
plastics material yes no
printed board assembly no yes
Dispose of the appropriate materials in accordance with the valid environmental control laws.
Software 13
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13 Software
13.1 EASYRIDER® Windows - Software
EASYRIDER® Windows - Software is an comfortable tool to use all drive functions.
Detailed Online-Help-information’s and instruction are available.
EASYRIDER® Instructions: (extract)
Autopilote-function as interactive tutorial
System identification
BIAS - instruction-set editor
Oszilloscope-function
start-up and comissioning-tools
Setting of parameters, Setting of configurations
Servo-diagnostics, Interface diagnostics, Fieldbus diagnostics
Motor library
save system data in file, load system data from file
send system data to servo drive, save system data in servo drive
load system data from servo drive
Important:
Edited data in EASYRIDER® are transmitted to the RAM of the servo drive and active after use of the
instruction SEND. Only the instruction SAVE in EEPROM writes data into a not volatile memory. Data
are stored there power-fail save.
13 Software
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13.2 SSD Drives programming language BIAS
In Operating mode 5 – Position control with BIAS, three user-defined programs can be executed parallel.
The BIAS-program and the PLC-program
(sequence cascades, 1 command per position controller sampling = 844 µs) as well as the Mathematics
program (cyclic execution in remaining time of processor).
The BIAS-program is primary intended for administration of travel commands. If application permits, also
simple calculations can be performed and analog/digital I/O‘s can be serviced in this task.
The PLC-task is conceived to perform I/O logic, sequence control, monitoring and CAN-Bus
communication.
The Mathematics program is designed for complex calculations, e.g. computing of a cam, executed by the
BIAS-program afterwards. But it is also possible to store the same tasks here, as basically defined for PLC-
task, which can increase PLC performance of the 637+ controller approx. twenty times.
While the BIAS-program will be executed from the start block directly after activation of
operating mode 5, the PLC-program will be first started by BIAS-command "PLC-program" and the
Mathematics program by command "Mathematics program". At reaching the command "End of program"
(Mode = 0) the respective execution pointer re-jumps to his start label.
Within the command set the following command groups are provided:
Pogram flow control
- Fixing start/end of main- and sub-programs
- Conditional and unconditional jump commands
Travel relevant commands
-Positioning commands
-Parameter commands
-Technology functions >Register positioning
>PID-control
>Synchronous applications
Logic commands
- Logic commands for coils and internal relays
Variable commands
-Writing and reading of parameters
-Fundamental operations of arithmetic with long integer
-Type-conversions long integer <=> double float (Math.task only)
-Fundamental operations of arithmetic with double float (Math.task only)
-SIN(x),COS(x),SQRT(x) with double float (Math.task only)
-Writing and reading of synchronous profile tables.
CAN-Bus commands
-Communication with other SSD Drives products
Software 13
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SSD Drives programming language BIAS
The user has the possibility to program his sequence himself from this set of commands.
Available program area
Set number
0000 -
... |
... | can be selected via
... | data inputs X10.xx
... | max. to block no. 63 and
... | and Strobe X10.2
... |
0063 -
...
...
1499 last block
The BIAS operation set is listed on the next page.
You can read the exact function of the individual commands in the help function of the EASYRIDER®
Windows -Software in the BIAS editor or in the BIAS command description (10-06-05-E-Vxxxx).
13 Software
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13.3 BIAS – Commands
Position = const. [Variable X] = position BIAS-execution pointer [Variable X] =flag Y Profile value = [variable X] Save table PLC-program
This command is only permitted
in the BIAS- task This command is only permitted
in the BIAS, PLC and MATH-
Task
This command is only permitted
in the PLC and MATH-Task This command is only permitted
in the BIAS and PLC -Task This command is only permitted
in the MATH-Task This command is only permitted
in the MATH-Task This command is only permitted in
the BIAS and MATH-Task
0 1 2 3 4 5 6 7 8 9 A B
0 Move position Move position +
parameter Position = const. Position =
[variable X] [Variable X] =
position NOP Flag X = const. If input X ? const. [Variable X] = const. Mathematic program Table
[[variable X]] = const.
[D_Variable X] = [D_Variable
Y]+
[D_Variable Z]
1 Move
incremental
position
Move
incremental
position +
parameter
Speed = const. Speed =
[variable X] [Variable X] =
speed End of program If flag X ? const. If output X ? const. If [variable X] ?
const. Profile initialization =
const.
Table
[[variable X]] =
[Y_Variable Z]
[D_Variable X] =
[D_Variable Y] -
[D_Variable Z]
2 Move datum Move datum +
parameter Acceleration = const. Acceleration =
[Variable X] [Variable X] =
acceleration Sub- program Flag X =
flag Y Output X = const. [Variable X] =
[variable Y] + const. Profile cycle length =
[variable X] [X_Variable Y]= Table
[[variable Z]]
[D_Variable X] =
[D_Variable Y] *
[D_Variable Z]
3 Move infinite
positive
Move infinite
positive +
parameter Deceleration = const. Deceleration =
[variable X] [Variable X] =
deceleration End of Sub-program Flag X =
input Y Output X =
flag Y [Variable X] =
[variable Y] – const. [Variable X] =
profile value [ W_Variable X] =
[ Y_Variable Z]
[D_Variable X] =
[D_Variable Y] /
[D_Variable Z]
4 Move infinite
negative
Move infinite
negative +
parameter Gear factor = const. Gear factor =
[Variable X] [Variable X] =
gear factor PLC-program Flag X =
output Y _____________ [Variable X] =
[variable Y] * const. Profile value = [variable
X] [ X_ Variable Y] =
const. If [D_Variable X] ?
[D_Variable Y]
5 Move
synchron Move synchron
+ parameter "Position reached"
window = const. “Position reached“
window =[variable X] [Variable X] =
block number Jump const. Flag X =
flag Y & flag Z _____________ [Variable X] =
[variable Y] / const. _____________ [Variable [X]] =
const. [D_Variable X] =
SIN {[D_Variable Y]}
6 Move CAM
profile
Move analogue
value +
integrator
Remaining position =
const. Remaining position
= [variable X] [Variable X] =
actual position Y Jump [variable X] Flag X =
flag Y | flag Z _____________ [Variable X] =
flag Y _____________ [Variable [X]] =
[variable Y] [D_Variable X] =
COS {[D_Variable Y]}
7 Synchronous
settings 1 Move speed +
integrator Ramp filter = const.,
[variable X] Maximal current =
[variable X] [Variable X] =
analogue input Y BIAS-Execution
pointer = const. Flag X =
flag Y ^ flag Z _____________ [Variable X] =
[variable Y].bit Z
number Save table [Variable [X]] =
[variable Y] [D_Variable X] =
SQRT {[D_Variable Y]}
8 Synchronous
settings 2 _____________ Actual position X =
const. Actual position X =
[variable Y] [Variable X] =
latch position Y Wait for
”position reached” Flag X =
! flag Y IBT- mask number =
const. [Variable X] =
[variable Y] _____________ [Variable X] =
[variable Y] ?
[variable Z] _____________
9 Move PID;
speed _____________ If actual position X
? const. Analogue output X
= [variable Y] [Variable X] =
actual speed Y Wait time = const. Flag X = status Y IBT- notification
number = const. If [variable X] ?
[variable Y] _____________ [Variable X] =
[variable Y] ?
const. _____________
A Move PID;
torque Cycle length =
const. If actual position X
? [variable Y] PID scaling [Variable X] =
latch status Y Wait time =
[variable X] If status X ? const. CAN Command =
[variable X]
[Variable X]=
[variable Y] + [variable
Z] _____________ _____________ _____________
B Set point
[axis no.] =
const.
Cycle length =
[variable X] Sensor window =
const. Sensor window =
[variable X]
[Variable X] =
position Y;
axis no.
BIAS-execution
pointer = [variable X] Modus X = const. IBT- data transfer [Variable X]=
[variable Y] - [variable
Z] ______________ ____________ _____________
C Set point
[axis no.] =
[variable X ]
Load parameter
set X =
[variable[Y]]
Sensor position =
const. Sensor position =
[Variable X] [Variable X] =
value Y Jump [Var.[X]]; length
= const.; from Flag X =
[variable Y] CAN2 Command =
[variable X]
[Variable X]=
[variable Y] * [variable
Z] _____________ _____________ _____________
D Move relative _____________ Sensor
adjustment 1 =
const.
Sensor
adjustment 1 =
[variable X]
[Variable X] =
axis status,
axis no. Y Execute X commands [Variable X]. bit[Y] =
const. _____________ [Variable X]=
[variable Y] / [variable
Z] _____________ _____________ _____________
E Start axis _____________ Sensor
adjustment 2 =
const.
Sensor
adjustment 2 =
[variable X] _____________ _____________ If [Var. X]. bit Y ==
const. then jump _____________ [Teachvariable X] =
[variable Y] _____________ _____________ _____________
F Stop axis Stop axis
+
parameter Update parameter PID parameter _____________ Virtual program Axis state, axis no. X,
bit Y = const., [flag Z] _____________ [Variable X] =
[teachvariable Y] _____________ _____________ _____________
Command group “Move commands“ Command group “Program control commands“
Command group “Parameter commands“ Command group “Mathematic commands“
Command group “Variable commands“ Command group “Output commands“
Command group “Flag commands“ Command group “CAN- Commands“
Command group “Conditional jump commands“ Command group “637f commands“
Certificates 14
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14 Certificates
14 Certificates
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Certificates 14
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14 Certificates
________________________________________________________________________________________________________________________________________________________________________________________________________________________
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Certificates 14
________________________________________________________________________________________________________________________________________________________________________________________________________________________
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15 Index
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15 Index
7
7-segment display.............................................65, 66, 67, 68
A
Achieveable specifications and conditions.........................59
Allgemein technische Daten...............................................72
Analog setpoint ..................................................................57
Analog-Outps .....................................................................75
Änderungsliste....................................................................88
B
BIAS – Commands...........................................................80
BIAS commands ................................................................78
Block circuit diagram.........................................................71
Brake control and PTC evaluation .....................................45
Brake resistor .....................................................................54
C
CAN-BUS2 interface .........................................................36
Certificates .................................................81, 82, 83, 84, 85
Combination possibilities for the various communications /
I/O - modules .................................................................14
Commissioning...................................................................61
Commissioning in steps......................................................62
Compact Units 637f/K D6R...............................................17
Compatibility with 637+ Servo Drives..............................12
Compatibility with 637 Servo Drives.................................12
Configurable pin-functions.................................................48
Configuration of the brake resistor.....................................55
Connector assignment X280...............................................45
Connector assignment X290...............................................44
Control cabinet - mounting.................................................50
Control cabling...................................................................57
Control circuit ....................................................................72
Control Signal Plug X10 ....................................................26
Control Signal Plug X10 ....................................................27
Control Signal Plug X10 ....................................................28
Controllersystem ................................................................74
Cooling...............................................................................50
Correction of supply current...............................................53
D
Danger areas.......................................................................51
Description X40 .................................................................31
Diagnose und Fehlersuche..................................................65
Digital Communication......................................................11
Digital control ....................................................................73
Digitale communication.....................................................74
DIL – switch position.........................................................43
DIL – switch position bus termination ...............................43
DIL – switch position for module RP2CA and RP 2C8.....43
Dimensions for Compact Device and Plug-In Module.......21
Disposal..............................................................................76
E
EASYRIDER Instructions..................................................77
EASYRIDER® Windows - Software..................................77
election of the brake resistor ........................................55, 56
Electrical Installation .........................................................51
Electromagnetic compatibility (EMC) ...............................57
EMC Clip ...........................................................................22
Example for mounting........................................................59
example of an order.........................................................13
F
Feedback Sensor Connection X30......................................30
Feedback-Sensor ................................................................29
Fieldbus interface COM2...................................................36
Function diagrams from inputs and outputs .......................49
Fuses, contactors, filters.....................................................52
G
General Data.......................................................................16
General Information...........................................................10
General view of connections........................................23, 24
Ground connections............................................................51
Grounding, safety grounding..............................................51
H
H15 multiple pin strip ........................................................25
Hints for mounting .............................................................58
HIPERFACE® - Module X300_HF2...............................30
I
Incremental output..............................................................32
Incremental-Input...............................................................32
Installation of the rack........................................................57
Insulation concept ..............................................................16
interface COM1..................................................................35
J
Jumper................................................................................60
L
Layout of Power Board ......................................................15
M
measuring pin X10.17 ........................................................75
measuring pin X10.6 ..........................................................75
Mechanical data .................................................................75
Mechanical Installation ......................................................50
Modle code.........................................................................13
Modul – Designs ................................................................37
module slots .......................................................................15
module X300......................................................................29
Mounting............................................................................50
Index 15
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07-02-10-01-E-V0505.doc Product Manaul Type: 637f 87
O
Operating modes................................................................ 46
Operating modes and pin functions................................... 47
Operation configurations................................................... 11
Option module RP SBT..................................................... 44
Option module RP SBT..................................................... 45
Output power..................................................................... 20
P
Pin Assignment for CAN/DeviceNet................................. 38
Pin assignment for I/O interface.............................40, 41, 42
Pin assignment for Interbus S............................................ 39
Pin assignment for Interbus S............................................ 88
Pin assignment for Profibus DP......................................... 38
Pin assignment for RS232 ................................................. 37
Pin assignment for RS422/485 .......................................... 37
Pin assignment for SUCOnet K......................................... 38
Plug-In Modules 637f/D6R ............................................... 18
Power cabling.................................................................... 57
Power circuit ..................................................................... 72
Preparation ........................................................................ 61
R
Range data......................................................................... 16
Remote IN (COM3 B)....................................................... 39
Remote OUT (COM2)....................................................... 39
Reset of a regulator trouble ............................................... 69
Resolver evaluation........................................................... 74
Resolver Module X300_RD2............................................ 30
RS232................................................................................ 35
S
Safe Stop ........................................................................... 44
Safety ................................................................................ 51
Safety Precautions............................................................... 9
Safety rules........................................................................ 57
Selection of the brake resistor ........................................... 54
Sicherheitshinweise......................................................... 4, 8
Signal inputs and outputs..............................................72, 73
Single- and Three-Phase Supply ....................................... 19
Single-phase supply........................................................... 19
Sinus / Cosinus - Module X300_SC2................................ 30
Software ............................................................................ 77
SSD Drives programming language BIAS ........................ 79
SSI-Encoder Interface ....................................................... 34
Stepper motor input........................................................... 33
Stepper motor input........................................................... 33
System Description............................................................ 10
System variants ................................................................. 10
T
The Most Important Thing First.......................................... 7
Thermal data...................................................................... 75
Three-phase-supply ........................................................... 19
Trouble shooting ............................................................... 70
W
Wiring instructions............................................................ 57
X
X120B ............................................................................... 42
X120C ............................................................................... 42
X200.................................................................................. 41
16 Modification Record
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16 Modification Record
Version Modification Chapter Date Name Comment
V0103 - - 02.06.03 N. Dreilich new
V0204 text correction
new functions
connection X30
additional In-/Outputs
Pin assignment for
Interbus S
correction
safety module SBT
Text addition for SBT
7-segment display
1.2
2.1-2.1.1
2.4.2
2.6.2.1
2.6.2.9
2.5.5
2.7
9.1-9.2
photo
page 29-30
correction
text addition
“COM3 B“
page 36
page 46-47
page 12-13/25-27/
44-45/50-51/65-66
/72
new options
new BIAS commands 13.3 16.03.04 N. Dreilich
V03004 SSD Drives - 19.10.2004 N.Dreilich Logos
V0405 diverse correction
(text, design and photos) all 12.05.2005 N. Dreilich
V0505 Model code, extended 18.05.2005 N. Dreilich
Argentina · Bangladesh · Brazil · Chile · Colombia Costa Rica Czech Republic · Ecuador · Greece · Hungary
ndonesia Iceland · Israel Kuwait · Lithuania · Malaysia · Marocco · Mexico · New Zealand · Nigeria · Peru · Philippines · Portugal
Saudi Arabia · Singapore · Slovenia · Sri Lanka · South Africa · Taiwan · Thailand · Turkey · United Arab Emirates · Vietnam
Austria · · · Cyprus · ·
I · ·
Local availability and service support also in:
United Kingdom
SSD Drives Ltd
New Courtwick Lane
Littlehampton
West Sussex BN17 7RZ
:
Fax:
Tel +44 1903 737000
+44 1903 737100
AUSTRALIA
Eurotherm Pty Ltd
Unit 1
20-22 Foundry Road
Seven Hills
New South Wales 2147
Tel:
Fax:
+61 2 9838 0099
+61 2 9838 9288
DENEMARK
SSD Drives
Enghavevej 11
DK-7100 Vejle
:
Fax:
Tel +45 70 201311
+45 70 201312
CANADA
SSD Drives Inc
880 Laurentian Drive
Burlington
Ontario
Canada, L7N 3V6
:
Fax:
Tel +1 905 333-7787
+1 905 632-0107
KOREA
SSD Korea Co., Ltd.
1308, Daeryung Techno Town
8th Bldg., 481-11 Gasan-Dong,
Geumcheon-Gu,
Seoul 153-803
:
Fax:
Tel +82 2 2163 6677
+82 2 2163 8982
NETHERLANDS
Eurotherm BV
Genielaan 4
2404CH
Alphen aan den Rijn
:
Fax:
Tel +31 172 411 752
+31 172 417 260
Poland
OBR-USN
ul. Batorego 107
PL 87-100 Torun
:
Fax:
Tel +48 56 62340-21
+48 56 62344-25
SPAN
Eurotherm Espana S.A.
Pol. Ind. Alcobendas
C/ La Granja, 74
28108 Madrid
:
Fax:
Tel +34 91 661 60 01
+34 91 661 90 93
SCHWEDEN
SSD Drives AB
Montörgatan 7
S-30260 Halmstad
:
Fax:
Tel +46 35 177300
+46 35 108407
SWITZERLAND
Indur Antriebstechnik AG
Margarethenstraße 87
CH 4008 Basel
:
Fax:
Tel +41 61 27929-00
+41 61 27929-10
U.S.A
SSD Drives Inc.
9225 Forsyth Park Drive
Charlotte
North Carolina 28273-3884
:
Fax:
Tel +1 704 588 3246
+1 704 588 3249
CHINA
Eurotherm Pty Ltd
Apt. 1805, 8 Building Hua Wei Li
Chao Yang District,
Beijing 100021
:
Fax:
Tel +86 10 87785520
+86 10 87790272
GERMANY
SSD DRIVES GmbH
Von-Humboldt-Straße 10
64646 Heppenheim
:
Fax:
Tel +49 6252 7982-00
+49 6252 7982-05
FRANCE
SSD Drives SAS
15 Avenue de Norvège
Villebon sur Yvette
91953 Courtaboeuf Cedex / Paris
:
Fax:
Tel +33 1 69 185151
+33 1 69 185159
HONG KONG
Eurotherm Ltd
Unit D
18/F Gee Chang Hong Centre
65 Wong Chuk Hang Road
Aberdeen
:
Fax:
Tel +852 2873 3826
+852 2870 0148
INDIA
Eurotherm DEL India Ltd
152, Developed Plots Estate
Perungudi
Chennai 600 096, India
:
Fax:
Tel +91 44 2496 1129
+91 44 2496 1831
IRELAND
SSD Drives
2004/4 Orchard Ave
Citywest Business Park
Naas Rd, Dublin 24
:
Fax:
Tel +353 1 4691800
+353 1 4691300
ITALY
SSD Drives SpA
Via Gran Sasso 9
20030 Lentate Sul Seveso
Milano
:
Fax:
Tel +39 0362 557308
+39 0362 557312
JAPAN
PTI Japan Ltd
7F, Yurakucho Building
10-1, Yuakucho 1-Chome
Chiyoda-ku, Tokyo 100-0006
:
Fax:
Tel +81 3 32132111
+81 3 32131900
Romania
Servosisteme SRL
Sibiu 17
061535 Bukarest
:
Fax:
Tel +40 723348999
+40 214131290
SSD Drives GmbH
Plant Servosystems
Im Sand 14, D-76669 Bad Schönborn
Telefon +49 (0)7253 9404-0, Fax +49 (0)7253 9404-99
·
Head Office
Von-Humboldt-Straße 10, D-64646 Heppenheim
Telefon +49 (0)6252 7982-00, Fax +49 (0)6252 7982-05
www.SSDdrives.com ssd@ssddrives.de

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