diax 03 - bosch rexroth · 1.2 procedure ... 2.1 selection list ... the dlf (high resolution...

DIAX03Drive With Electric

Gear Functions

DOK-DIAX03-ELS-04VRS**-INF1-EN-P

Drive Configuration: ELS 04VRS

mannesmannRexroth

engineering

Indramat273440

DDS

DIAX 03ELS-04VRS

DKR

DIAX03 Drive With Electric Gear Functions

DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96


Drive Configuration

DOK-DIAX03-ELS-04VRS**-INF1-EN-P

• Map 50-04V-EN / Register 7

• 209-0072-4303-00

This documentation serves

to identify the designation for a configured drive of the DIAX03 drivefamily, based on:

• Determining the motor type

• Choosing the motor - motor feedback combination

• Choosing the desired function of the drive control device

In addition, an overview is provided of the available basic functions andpossible additional functions.

Document identification ofprevious issues

Release date Remarks

DOK-DIAX03-ELS-04VRS**-INF1-EN-P 07/96 first edition

INDRAMAT GmbH, 1996

Transmission as well as reproduction of this documentation, commercialuse or communication of its contents will not be permitted without expresswritten permission. Violation of these stipulations will requirecompensation. All rights reserved for the issuance of the patent orregistered design. (DIN 34-1)

INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telephone 09352/40-0 • Tx 689421 • Fax 09352/40-4885

Abt. END (HP)

Changes in the contents of the documentation and the delivery rights forthe products are reserved.

Title

Type of Documentation

Documentation Type

Internal File Mark

What is the purpose of thisdocumentation?

Course of Modifications

Copyright

Publisher

Liability


DOK-DIAX03-ELS-04VRS**-INF1-EN-P •07.96 Contents I

Contents

1 Determination of the Drive Configuration 1-11.1 Term explanation ................................................................................................................................. 1-1

1.2 Procedure............................................................................................................................................. 1-3

Schematic: Determining the Motor/Drive combination.................................................................. 1-3

Schematic: Determining the Hardware Configuration Number ..................................................... 1-4

2 Determining the Motor/Drive combination 2-12.1 Selection list ......................................................................................................................................... 2-1

3 Selecting the motor and feedback combination 3-13.1 Possible motor / encoder feedback combinations ............................................................................... 3-1

3.2 Connection examples .......................................................................................................................... 3-1

DSF/RSF....................................................................................................................................... 3-1

Sinusoidal encoder (Linear Scale) ................................................................................................ 3-1

Geartooth encoder ........................................................................................................................ 3-2

EnDat encoder .............................................................................................................................. 3-2

4 Functionality Selection - Determining the configuration number 4-14.1 Basic functionality ................................................................................................................................ 4-1

4.2 Selection of additional features ............................................................................................................ 4-2

Motor Feedback Interface - DSF / RSF......................................................................................... 4-3

Sinusoidal Encoder Interface (Linear Scale)................................................................................. 4-5

Motor Feedback Interface - Geartooth encoder............................................................................ 4-6

Motor Feedback Interface - EnDat encoder .................................................................................. 4-8


DOK-DIAX03-ELS-04VRS**-INF1-EN-P •07.96 Contents II


DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Determination of the Drive Configuration 1-1

1 Determination of the Drive Configuration

1.1 Term explanation

DIAX03 Digital drives are configured according to customer requirementsthrough the installation of varies plug-in cards designed by Indramat. Forthis reason, the digital drives have card slots.

Digital drives with no plug-in cards installed are defined as basic units.The DDS03.2 basic unit has two slots for additional cards (U1, U2). Allother drives are equipped with 4 slots for additional cards (U1, U2, U3,U4). All drives are equipped with one specific slot (U5), which is used forthe DSM02.3 Parameter/Software module.

The following plug-in cards can be provided:

• Command communication interface card

• Modules for position measurement system evaluation

• Input/Output cards to exchange binary signals with a programmablecontroller

• Software modules

• Analog interface cards

• Encoder position interface cards

The DSS is used for command communications. This card must alwaysbe installed in slot U1 of the digital drive.

A basic unit with installed plug-in cards is called a configured drive.

Every Hardware configuration has to be labeled with a letter-numbercombination, i.e., BE04-01-FW. The digital drive will be deliveredaccording to the selected configuration.

Basic units

Additional plug-in cards

Command communicationinterface card

configured drive

Hardware configuration


1-2 Determination of the Drive Configuration DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

The following image displays the components of a Hardwareconfiguration.

PZ5001f1.fh3

1

6

DDS 2

1

11

01

2 3 4

56

789

01

2 3 456

789

Achtung

H i erm u ß da sk or rekt e

Typ ens chi ld g em äß

K on fi gura ti ons bl at t

a uf gekl eb t sei n

ATTENTION

H ier m uß d as kor r ek te

T ypen sch il d gem ä ß

Ko nf ig urat io nsbl at t

auf ge kle bt s ein

COVER

COVER

COVER

U1

U2

U3

U4

U5

U5

U1

U2U3

U4

X4

Digital Drive Basic Unitwith Protective faceplate

Soft-wareModule

SYSTEM CONFIGURATION

DDS02.2-W050-B

DDS02.2-W050-BE12-01-FW

DSS02.1M

DSM02.3-FW

CommandInterfaceCard

ConfigurationLabel

AuxiliaryPlug-inCard

Figure 1-1: Components of a Hardware configuration


DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Determination of the Drive Configuration 1-3

1.2 Procedure

In order to determine the correct configuration for both the DIAX03 driveand the configuration number, we recommend the following procedure:

1. Determine the Motor/Drive combination:

- RPM / Torque requirements for your application

- use a selection list to choose the Motor/Drive combination.

2. Determining the Hardware configuration number:

- Motor: select a Motor feedback combination

- select desired features

- The configuration number is determined based on the selected auxiliary plug-in cards.

The following two diagrams demonstrate how you can determine theconfiguration number.

Schematic: Determining the Motor/Drive combination

Determining the necessary plug-in modules

FP5002d1.ds4

Vmax FdN Fmax ED Controller Motor type .........

Vmax FdN Fmax ED Controller Motor type .........

Selection list

Velocity/torque need ?

Constructive requirements ?

Motor type

Figure 1-2: Diagram for working with a selection list.


1-4 Determination of the Drive Configuration DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

Schematic: Determining the Hardware Configuration Number

Tab.: B4

Tab.: B3

Tab.: B2

DZF 2.1

Tab.: B1

DAG 1.2

Functionality:

Analog inputs

Dig. in and outputs

Neededplug-in module

Necessary plug-in modules:

DEA DEF 4.2 1.1

DRF DSA 1.1 1.1

Tab.: A

Sine feedback

Sprocketfeedback

Motortype:

MKD

MDD

LSF

EnDat feedback

Motor feedback interface:

1.1 Selection of motor- motor feedback Combinations

Example: MDD motor with DSF als motor interface

Example: additional functions selected: Analog inputs > DRF 1.1 Dig. in and outputs > DEA 4.2

Example: DRF 1.1 + DEA 4.2 > BE06-01-FW

Tab.: C4Tab.: C3

Tab.: C2

DZF 2.1

Tab.: C1

DAG 1.2

Configurationdesignation:

BE12-01-FW

BE37-01-FW

Module combinations:

DEA DEF DEF 4.2 1.1 2.1

DRF DSA 1.1 1.1

BE28-01-FW

X

X

DEF 2.1

X

X

X

X

X

X X

X X

1. Determining the necessary plug-in modules

BE06-01-FW

2. Determining the configurationdesignation based on the selectedplug-in modules

FP5001d1.ds4

1.2 Selection of desired functionality > Determining the necessary additional plug-in modules

ResolverDig. servofeedback

Figure 1-3: Diagram for determining the configuration number


DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Determining the Motor/Drive combination 2-1

2 Determining the Motor/Drive combination

2.1 Selection list

The selection list is used to determine to appropriate Motor/Drivecombination for the application.

When making your selection, you need to take into consideration theapplication requirements. Example: RPM, Torque, etc.

The information from the selection list concerning the motor type isimparitive for determining the Hardware Configuration number.


2-2 Determining the Motor/Drive combination DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96


DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Selecting the motor and feedback combination 3-1

3 Selecting the motor and feedback combination

3.1 Possible motor / encoder feedback combinations

The following table contains valid motor and feedback combinations.

Table A: Motor Feedback Interface

MotorType

DigitalServo feedback (1)

ResolverFeedback (2)

Sinusoidalencoder (LS) (3)

Geartoothencoder

EnDatencoder (4)

MKD X

MDD X

2AD X X

ADF X X

1MB X X X X

MBW X X X

LAR X X

LAF X X

LSF XTable 3-1: Valid motor and feedback combinations

(1) : Singleturn or Multiturn-DSF

(2) Resolver or Multiturn-Resolver

(3) : Incremental measurement with Sine signals or

Incremental Sine encoder (linear scale)

(4) : absolute measurement with EnDat-Interface or

Singleturn- or Multiturn-Rotation encoder with EnDat


3-2 Selecting the motor and feedback combination DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96


DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Selecting the motor and feedback combination 3-1

3.2 Connection examples

DSF/RSF

The motor power and standard feedback connections are made with thebasic unit hardware. No additional plug-in cards are necessary.

LWL

MDD

U1 (DSS)ap5003f1.fh3

Figure 3-4: MDD Motor with DSF feedback is the standard interface

Sinusoidal encoder (Linear Scale)

The DLF (high resolution position interface) card is required for this typeof interface.

LWL

U2 (DLF)

U1 (DSS)

1MB

ap5004f1.fh3

Figure 3-5: 1MB Motor with High resolution encoder from Heidenhain connectedto the DLF card.


3-2 Selecting the motor and feedback combination DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

Geartooth encoderThe DZF (geartooth encoder interface) card is required for this type ofinterface.

LWL

Carriage

U2 (DZF)

ap5005f1.fh3U1 (DSS)

2 AD motor withgeartooth encoder

Figure 3-6: 2AD motor with geartooth encoder connected to the DZF card.

EnDat encoderThe DAG 1.2 (EnDat and SSI interface) card is required for this type ofinterface.

LWL

U2 (DAG)

U1 (DSS)

Linear motorLAF

Incremental linearunit of measurewith sine output

Primary partSecondary part

Figure 3-7: LAF Motor with EnDat encoder connected to the DAG1.2 card


DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Functionality Selection - Determining the configuration number 4-1

4 Functionality Selection - Determining theconfiguration number

4.1 Basic functionality

Independent from the motor used, the DIAX03 digital drives offer a widerange of features which are always available.

These feature are available with the basic unit and no additional plug-incard is required.

The following features are provided:

Basic functionality:

• Variety of diagnostic possibilities

• Language selection

• Selected error reaction

• Emergency Stop Feature

• Support through NC reaction in case of an error

• Setting of torque-/force limits

• Reset feature

• Acceleration preset control

• Velocity mix factor

• Velocity preset control

• Drive Halt

• Drive controlled feedback procedure

• Evaluation of absolute measurment scale

• Analog output

• Oscilloscope feature

• Measurement button feature

• Dynamic camshaft gear

• Modulus Features


4-2 Functionality Selection - Determining the configuration number DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

4.2 Selection of additional features

Depending on your application, DIAX03 offers a range of additionalfeatures.

When selecting these additional features, you should take intoconsideration which of the mentioned plug-in cards in the following tablesyou need.

Depending on the basic unit, the number of available plug-in card slotswill differ.

DDS03.2 max. 2 additional plug-in cards

DDS02.2 max. 4 additional plug-in cards

DKR max. 4 additional plug-in cards

Note: The U1 slot for the DSS command communication card is included within the number of available card slots.

The following requirements have to be taken into consideration whenselecting an additional feature:

• Each plug-in card can only be used for one function.

• The maximum is one for the selection of an external measurementsystem.

Additional features are dependant on the opposition to those featuresfound on the basic unit for the connected motor and feedback interface.

For this reason the motor feedback interfaces are listed and explained inthe following chapters.

Additional cards are required.

max. Number of cards

Requirements



Motor Feedback Interface - DSF / RSF

You can select additional features from the table below when using amotor with either a DSF or RSF feedback type.

Depending on your selection, you may need a single card or acombination of plug-in cards.

Once you have selected the appropriate plug-in cards from the tablebelow, you can then use the “Configuration selection for motors withDSF/RSF” table to select the correct drive configuration. Thisconfiguration number will contain the correct components you will need toorder.

If the plug-in card combination is not found on this table, verify yourselection of components (motor type, motor encoder, features) as youmay need to change them.

Selection of features for a motor with DSF/RSF

Table B1: Additional plug-in cards:

FeaturesDAG1.2M

DEA4.2M

DEF1.1M

DEF2.1M

DFF1.1M

DLF1.1M

DRF1.1M

DSA1.1M

DZF2.1M

Analog signal interface X

Digital I/O interface X

external measurement system withHeidenhain Sine encoder (Linear Scale) X

external measurement system withHeidenhain Incremental encoder X X

external measurement system withDSF encoder X

external measurement system withAbsolute encoders (SSI )Interface X

external measurement system withEnDat encoder X

external measurement system withGear tooth encoder (Indramat) X

Master axis encoder measurementsystem with GDS encoder X

Master axis encoder measurementsystem with EnDat encoder X

Master axis encoder measurementsystem with SSI Interface X

Master axis position output X

Selected additional plug-in cards:

Table 4-1:Additional features for a motor with DSF/RSF



Configuration selection for a motor with DSF/RSF

Table C1:Plug-in card combinations

Configuration numbers:DAG1.2M

DEA4.2M

DEF1.1M

DEF2.1M

DFF1.1M

DLF1.1M

DRF1.1M

DSA1.1M

DZF2.1M

BE12-01-FW

BE37-01-FW X

BE54-01-FW X

BE31-01-FW X

BE32-01-FW X

BE09-01-FW X

BE23-01-FW X

BE45-01-FW X

BE70-01-FW X X

BE27-01-FW X X

BE38-01-FW X X

BE04-02-FW X X

BE50-01-FW X X

BE62-01-FW X X

BE47-01-FW X X

BE15-01-FW X X

BE06-01-FW X X

BE08-01-FW X X

BE33-01-FW X X

BE30-01-FW X X

BE74-02-FW X X

BE65-01-FW X X X

BE63-01-FW X X X

BE72-02-FW X X X

BE22-01-FW X X X

BE02-02-FW X X X

BE03-02-FW X X X

BE48-01-FW X X X

BE40-01-FW X X X

BE57-01-FW X X X

BE55-01-FW X X X

BE25-01-FW X X X

BE13-01-FW X X X

BE28-01-FW X X X

Table 4-2: Configuration selection for a motors with DSF/RSF



Sinusoidal Encoder Interface (Linear Scale)

If the selected motor/feedback type is using a sinusoidal encoderinterface, then you can select additional features from the table “Selectionof features for motors with sinusoidal encoders.”

Depending on your selection, you may need a single card or acombination of plug-in cards.

Once you have selected the appropriate plug-in cards from the tablebelow, you can then use the “Configuration selection for motors withsinusoidal encoder” table to select the correct drive configuration. Thisconfiguration number will contain the correct components you will need toorder.


Selection of features for a motors with a sinusoidal encoder


FeaturesDAG1.2M

DEA4.2M

DEF1.1M

DEF2.1M

DFF1.1M

DLF1.1M

DRF1.1M

DSA1.1M

DZF2.1M

Digital I/O Interface X X


external measurement system withDSF encoder (1) X X

external measurement system withabsolute SSI Interface X X

external measurement system withEnDat encoder X X

Master axis encoder measurementsystem with GDS encoder (1) X X

Master axis encoder measurementsystem with EnDat encoder X X

Master axis encoder measurementsystem with SSI Interface X X

Master axis position output X X


Table 4-3:Additonal features for a motor with a sinusoidal encoder instead ofDSF/RSF feedback

(1) If the standard encoder interface X4 is not used, it can be used for theexternal encoder instead of the DFF card.



Configuration selection for a motor with a sinusoidal encoder (linear scale)

Table C2: Plug-in card combinations

Configuration numbers:DAG1.2M

DEA4.2M

DEF1.1M

DEF2.1M

DFF1.1M

DLF1.1M

DRF1.1M

DSA1.1M

DZF2.1M

BE32-01-FW X

BE62-01-FW X X

BE08-01-FW X X

BE33-01-FW X X

BE57-01-FW X X X

BE55-01-FW X X X

BE28-01-FW X X X

Table 4-4: Configuration selection for a motor with a sinusoidal encoder insteadof DSF/RSF feedback

Motor Feedback Interface - Geartooth encoderIf the selected motor/feedback type is using a geartooth encoderinterface, then you can select additional features from the table “Selectionof features for motors with geartooth encoders.”

Depending on your selection, you may require a single card or acombination of plug-in cards.

Once you have selected the appropriate plug-in cards from the tablebelow, you can then use the “Configuration selection for motors withgeartooth encoder” table to select the correct drive configuration. Thisconfiguration number will contain the correct components you will need toorder.




Selection of features for a motor with a geartooth encoder


FeaturesDAG1.2M

DEA4.2M

DEF1.1M

DEF2.1M

DFF1.1M

DLF1.1M

DRF1.1M

DSA1.1M

DZF2.1M



external measurement system withDSF encoder (1) X X

external measurement system withAbsolute (SSI)Interface X X

external measurement system withEnDat encoder X X

Master axis encoder measurementsystem with DSF encoder (1) X X

Master axis encoder measurementsystem with EnDat encoder X X

Master axis encoder measurementsystem with SSI Interface X X


Selcted additional plug-in cards:

Table 4-5:Additional features for a motor with a geartooth encoder


Configuration selection for a motor with a geartooth encoder

Table C3: Plug-in card combinations

Configuration number:DAG1.2M

DEA4.2M

DEF1.1M

DEF2.1M

DFF1.1M

DLF1.1M

DRF1.1M

DSA1.1M

DZF2.1M

BE37-01-FW X

BE70-01-FW X X

BE27-01-FW X X

BE38-01-FW X X

BE04-02-FW X X

BE65-01-FW X X X

BE63-01-FW X X X

BE72-02-FW X X X

BE22-01-FW X X X

BE02-02--FW X X X

BE03-02--FW X X X

Table 4-6: Configuration selection for a motor with a geartooth encoder



Motor Feedback Interface - EnDat encoder

If for example the motor type was determined for which an encoder withEnDat Interface is used for the motor encoder Interface, then you canselect the desired additional features from the table Additional features formotors with EnDat motor encoder Interface.

According to your selection the result will be a variety/combinations ofrequired moduls.

With this module combinations you can define in the table Configurationselection for Motors with EnDat motor encoder Interface thecorrosponding configuration label to be able to order the correctcomponents.

If the module combination is not listed in this table you should checkagain on you selected components (motor type, motor encoder interface,features) and you may have to change them.

Selection of features for a motor with an EnDat encoder


FeaturesDAG1.2M

DEA4.2M

DEF1.1M

DEF2.1M

DFF1.1M

DLF1.1M

DRF1.1M

DSA1.1M

DZF2.1M

Analog Signal Interface X X


external measurement system with aHeidenhain Sine encoder (Linear Scale) X X

external measurement system witha Heidenhain Incremental encoder X X X

external measurement system witha DSF encoder (1) X X

external measurement system witha geartooth encoder (Indramat) X X

Master axis encoder measurementsystem with a DSF encoder (1) X X



Table 4-7: Additional features for a motor with an EnDat encoder Interface




Configuration selection for a motors with an EnDat encoder

Table C3: Module combinations

Configuration number:DAG1.2M

DEA4.2M

DEF1.1M

DEF2.1M

DFF1.1M

DLF1.1M

DRF1.1M

DSA1.1M

DZF2.1M

BE45-01--FW X

BE04-02--FW X X

BE74-02--FW X X

BE72-02--FW X X X

BE02-02--FW X X X

BE03-02--FW X X X

BE72-02--FW X X X

BE74-02--FW X X

Table 4-8: Configuration selection for a motor with an EnDat motor encoderInterface



Notes:


DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96 Directory of Customer Service Locations

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Directory of Customer Service Locations DOK-DIAX03-ELS-04VRS**-INF1-EN-P • 07.96

Outside of EuropaArgentina

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Telefon: 01/756 01 40 01/756 02 40Telex: 262 66 rexro arTelefax: 01/756 01 36

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Canada

Basic Technologies CorporationBurlington Division3426 Mainway DriveBurlington, OntarioCanada L7M 1A8

Telefon: 905/335-55 11Telefax: 905/335-41 84

China

Rexroth (China) Ldt.Shanghai OfficeRoom 206Shanghai Intern. Trade Centre2200 Yanan Xi LuShanghai 200335P.R. China

Telefon: 021/627 55 333Telefax: 021/627 55 666

China

Rexroth (China) Ldt.Shanghai Parts & Service Centre199 Wu Cao Road, Hua CaoMinhang DistrictShanghai 201 103P.R. China

Telefon: 021/622 00 058Telefax: 021/622 00 068

China

Rexroth (China) Ldt.1430 China World Trade Centre1, Jianguomenwai AvenueBeijing 100004P.R. China

Telefon: 010/50 50 380Telefax: 010/50 50 379

China

Rexroth (China) Ldt.A-5F., 123 Lian Shan StreetSha He Kou DistrictDalian 116 023P.R. China

Telefon: 0411/46 78 930Telefax: 0411/46 78 932

Hongkong

Rexroth (China) Ldt.19 Cheung Shun Street1st Floor, Cheung Sha Wan,Kowloon, Hongkong

Telefon: 741 13 51/-54 und 741 14 30Telex: 3346 17 GL REX HXTelefax: 786 40 19 786 07 33

India

Mannesmann Rexroth (India) Ltd.INDRAMAT DivisionPlot. 96, Phase IIIPeenya Industrial AreaBangalore - 560058

Telefon: 80/839 21 01 80/839 73 74Telex: 845 5028 RexBTelefax: 80/839 43 45

Japan

Rexroth Co., Ltd.INDRAMAT DivisionI.R. BuildingNakamachidai 4-26-44Tsuzuki-ku, Yokohama 226Japan

Telefon: 045/942-72 10Telefax: 045/942-03 41

Korea

Rexroth-Seki Co Ltd.1500-12 Da-Dae-DongSaha-Gu, Pusan, 604-050

Telefon: 051/264 90 01Telefax: 051/264 90 10

Korea

Seo Chang Corporation Ltd.Room 903, Jeail Building44-35 Yoido-DongYoungdeungpo-KuSeoul, Korea

Telefon: 02/780-82 07 ~9Telefax: 02/784-54 08

Mexico

Motorización yDiseño de Controles, S.A. de C.V.Av. Dr. Gustavo Baz No. 288Col. Parque Industrial la IomaApartado Postal No. 31854060 TlalnepantlaEstado de Mexico

Telefon: 5/397 86 44Telefax: 5/398 98 88

USA

Rexroth CorporationINDRAMAT Division5150 Prairie Stone ParkwayHoffman Estates, Illinois 60192

Telefon: 847/645-36 00Telefax: 857/645-62 01

USA

Rexroth CorporationINDRAMAT Division2110 Austin AvenueRochester Hills, Michigan 48309

Telefon: 810/853-82 90Telefax: 810/853-82 90

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