installation instructions pa 9000 etc drive ... - inovance.eu · 1 general information 1.1...

PA 9000ETC Drive Micro

Installation instructions

Original installation instructions

© 2018 Power Automation GmbH

Power Automation GmbH

CNC-Automatisierungstechnik

Gottlieb-Daimler-Str. 17/2

74385 Pleidelsheim

Germany

Telephone: +49-7144-899-0

Fax: +49-7144-899-299

E-mail: [email protected]

Internet: www.powerautomation.com

Version 3.0

2 12.06.2018

Table of contents1 General information................................................................... 7

1.1 Information on this manual................................................ 7

1.2 Explanation of symbols...................................................... 7

1.3 EtherCAT trademark.......................................................... 8

1.4 Limitation of liability............................................................ 9

1.5 Copyright........................................................................... 9

1.6 Warranty terms.................................................................. 9

1.7 Customer service............................................................. 10

1.8 Glossary........................................................................... 11

2 Safety........................................................................................ 132.1 Customer's responsibility................................................. 13

2.2 Personnel requirements................................................... 14

2.2.1 Qualifications................................................................. 14

2.2.2 Unauthorized persons................................................... 14

2.3 Intended use.................................................................... 15

2.4 Unintended use................................................................ 16

2.5 Safety instructions........................................................... 16

2.6 Personal protective gear.................................................. 18

2.7 Conduct in a dangerous situation and in case of acci-dents................................................................................ 19

2.8 Environmental protection................................................. 19

2.9 Labels.............................................................................. 20

3 PA ETC-Drives MC Overview.................................................. 213.1 Supported Motor-Sensor Configurations......................... 25

4 Technical Data.......................................................................... 334.1 General Specification....................................................... 33

4.2 Operating Conditions....................................................... 34

4.3 Specific Data.................................................................... 36

4.4 Logic Supply Input (+VLOG).............................................. 37

4.5 Motor Supply Input (+VMOT)............................................. 38

4.6 Motor Outputs (A/A+, B/A-, C/B+, BR/B-)........................ 40

4.7 Enable circuit inputs (ENA1, ENA2)................................ 44

4.8 Digital Inputs.................................................................... 45

PA 9000 ETC Drive Micro

Table of contents

12.06.2018 | 3

4.9 Digital Outputs................................................................. 49

4.10 Digital Hall Inputs (Hall1, Hall2, Hall3)............................. 53

4.11 Encoder Inputs................................................................. 54

4.12 Linear Hall Inputs (LH1, LH2, LH3).................................. 57

4.13 Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-)............ 58

4.14 Analog 0 - 5V Inputs (REF, FDBK).................................. 59

4.15 Axis ID Inputs (AxisID 0, AxisID 1, Axis ID 2).................. 61

4.16 RS-232............................................................................. 61

4.17 EtherCATâ...................................................................... 62

4.18 Supply Output (+5V)........................................................ 64

4.19 Graphical presentation..................................................... 65

4.20 Conformance with European directives and UL-stand-ards.................................................................................. 69

4.21 Installation guidelines...................................................... 70

5 Installation................................................................................ 735.1 Important instructions...................................................... 73

5.2 PA MC x04 ETC-Drive..................................................... 74

5.2.1 Interfaces...................................................................... 74

5.2.2 Mechanical construction and mounting......................... 80

5.2.3 Connector properties..................................................... 81

5.2.4 External Fusing............................................................. 82

5.3 Linear Feedback Types................................................... 83

5.4 Switchgear cabinet assembly.......................................... 84

6 Interface.................................................................................... 916.1 PA MC x04 ETC-Drive..................................................... 91

6.1.1 24V Digital I/O Connection............................................ 91

6.1.2 5V Digital I/O Connection.............................................. 92

6.1.3 Analog Inputs Connection............................................. 93

6.1.4 Motor connections......................................................... 94

6.1.5 Feedback connections.................................................. 97

6.1.6 Power Supply Connection........................................... 100

6.1.7 Serial RS-232 connection........................................... 105

7 Transport, packaging, storage and disposal....................... 1077.1 Transport....................................................................... 107

7.2 Packaging...................................................................... 108


Table of contents

12.06.2018 | 4

7.3 Storage.......................................................................... 108

7.4 Disposal......................................................................... 109

8 Maintenance............................................................................ 1118.1 Safety notes................................................................... 111

8.2 Maintenance schedule................................................... 111

8.3 Measures after maintenance......................................... 113

9 Troubleshooting..................................................................... 1159.1 Safety notes................................................................... 115

9.2 Malfunction indicators.................................................... 117

10 Dismounting and decommissioning.................................... 11911 Service and return process................................................... 121

11.1 Service........................................................................... 121

11.1.1 Service addresses....................................................... 122

11.2 Spare parts.................................................................... 123

11.3 Return policy and procedure.......................................... 124

11.4 Training.......................................................................... 126

12 EC Declaration of Conformity............................................... 12713 Proof of change...................................................................... 12914 Index........................................................................................ 131


Table of contents

12.06.2018 | 5


Table of contents

12.06.2018 | 6

1 General information1.1 Information on this manualThe manual describes the EtherCATâ drives of the PA ETC-DriveMicro serie.

1.2 Explanation of symbolsWarnings are identified by pictures. These warnings are introduced bysignal words, which express the severity of a danger.

Pay attention to these warnings and act cautiously in order to avoidaccidents, personal injuries and damage to property.

… indicates an imminently hazardous situation which, if unavoid-able, will result in death or serious injury.

… indicates a potentially hazardous situation which, if unavoid-able, could result in death or serious injury.

… indicates a potentially hazardous situation which, if unavoid-able, may result in minor or moderate injury.

… indicates a potentially hazardous situation which, if unavoid-able, may result in property damage.

… emphasizes useful hints and recommendations as well as informa-tion for efficient and trouble-free operation.

The following symbols are used in connection with the safety notes tohighlight particular dangers:

… highlights hazards caused by electric current. There is adanger of serious injury or death if the safety notes are not com-plied with.

The following symbols and highlights are used to distinguishinstructions, descriptions of results, cross-references and other ele-ments inside this manual.

.. Highlights a step as part of a procedure of instructions.

ð .. Highlights a state or an automatic process as a result of aninstruction.

n .. Highlights single or unordered instructions and lists.

Ä “Additional symbols and highlighting” on page 7.. Highlights cross-references to chapters or sections of this manual.

Content

Warnings

L DANGER

L WARNING

L CAUTION

NOTICE

Special Safety Notes

L DANGER

Additional symbols and high-lighting


General information

12.06.2018 | 7

[Key].. Highlights captions of buttons, fields and other elements of thesoftware's graphical user interface.

“Menu è Submenu è ”.. Highlights a path to access a menu or sub-menu in the software's graphical user interface.

Example/Extract.. Highlights verbatim examples and extracts fromconfiguration files.

1.3 EtherCAT trademarkEtherCATâ is a registered trademark and patented technology,lisensed by Beckhoff Automation GmbH, Germany.

Fig. 1: EtherCATâBranding logo


General information

12.06.2018 | 8

1.4 Limitation of liabilityAll information and notes in this installation manual were compiledunder due consideration of valid standards and regulations, thepresent status of technology and our years of knowledge and experi-ence.

Power Automation can not be held liable for damage resulting from:

n disregarding this installation manualn unintended usen employment of untrained personneln unauthorized conversionsn unauthorized modifications to the softwaren technical modificationsn use of unapproved spare partsn use in conjunction with machines not deemed compatible by

Power Automation

In case of customized versions the actual scope of delivery can varyfrom the explanations and representations in this installation manual,because of the utilization of additional options or due to the latest tech-nical changes.

Apart from this, the obligations agreed upon in the delivery contract,the general terms and conditions, and the delivery conditions of PowerAutomation and the legal regulations valid at the time of contract apply.

We reserve the right to make technical modifications in order toimprove usability.

1.5 CopyrightThis installation manual is protected by copyright law.

Passing this installation manual on to third parties, duplication of anykind – even in form of excerpts – as well as the use and/or disclosureof the contents without the written consent of Power Automation is notpermitted.

Violations oblige to compensation. The right for further claims remainsreserved.

1.6 Warranty termsThe material warranty terms are provided in Power Automation's termsand conditions as well as inside the sales documents.

Liability

Copyright

Material Warranty


General information

12.06.2018 | 9

1.7 Customer serviceOur Customer Service is always available for technical information.

For information on whom to contact by phone, fax, e-mail or via theinternet, see Power Automation's address on page 2.

Additionally, Power Automation staff is always interested in receivingnew information and experiences resulting from the use of our prod-ucts, which could be of great value for future improvements.

Service


General information

12.06.2018 | 10

1.8 GlossaryAWG - American wire gauge

BGND - Ground of 24V-supply and holding brake supply voltage

CDM - Complete Drive Module

CE - Communité Europeenne

CLOCK - Clock signal

CMOS - Complementary metal-oxide-semiconductor

CNC - Computerized Numerical Control

CSA - Canadian Standards Association

DDU - Delivered Duty Unpaid

DIN - DIN standard

EEC - European Economic Community

EMC - Electromagnetic compatibility

EMI - EMI-Filter, (electromagnetic interference)

EN - European standard (Euro Norm)

EU - European Parliament and Council of the European Union

HMI - Human Machine Interface

The graphical user interface provided by the PA software.

IEC - International Electrotechnical Commission

IGBT - Insulated Gate Bipolar Transistor

IPC - Insulating Piercing Connector

LED - Light-emitting diode

MDI - Manual Data Input

MTBP - Machine Tool Builder's Panel

Panel including the basic requirements for a machine tooloperator: emergency stop push button, cycle start and stoppush buttons, jog plus and minus push buttons, feed rateand spindle speed override pots and a number of auxiliarypush buttons.

MTC - Motor thermal contact

NC-Start - Numerical Control Start Button

NC-Stop - Numerical Control Stop Button

PA - Power Automation

PAMIO - Power Automation Modular Input Output

Extendable Superbus based interface allowing connectionof additional I/O modules.


General information

12.06.2018 | 11

PC - Personal Computer

PCI - Peripheral Component Interconnect

Personal computer extension for periphery devices con-nected to the motherboard.

PELV - Protected extra low voltage

PLC - Programmable Logic Controller

POU - Program Organization Unit. PLC functions, function blocksand programs are POUs

RCD - Residual-current-operated protective device

RMS - Rotating Measuring Systems (Encoder)

RES - Resolver

RMS - Root mean square

Rint. - Connection internal regen resistor

Rtr - Connection regen chopper

SELV - Safety extra low voltage

SVM - Space vector modulation

UL - Underwriters Laboratory

VAC - AC voltage

VDC - DC voltage


General information

12.06.2018 | 12

2 Safety2.1 Customer's responsibilityThe control unit is used for commercial purposes. The operating com-pany is thus subject to the legal obligations concerning industrialsafety.

The safety, accident prevention and environmental protection regula-tions applicable for the area of application of the machine must becomplied with, along with the safety notes specified in this installationmanual. The following applies in particular:

n The customer must become familiar with the industrial safety regu-lations and identify additional dangers which may arise due to thespecific working conditions at the place of use of the control unit,by means of a risk analysis. These must be converted into oper-ating instructions for operation of the control unit.

n Throughout the time of use of the control unit the customer mustcheck whether the operating instructions created by him corre-spond to the current status of regulations and standards. When-ever changes in regulations and standards occur, instructions mustbe adapted accordingly.

n The customer must clearly specify the responsibilities forinstallation, operation, maintenance, and cleaning.

n The customer must make sure that all employees who have towork with the control unit have read and understood these oper-ating instructions.In addition, the customer must train and inform his personnel aboutpotential dangers at regular intervals.

Moreover, the customer is also responsible for keeping the control unitin technically good condition, and therefore the following applies:

n The customer must make sure that the maintenance intervalsspecified in these operating instructions are complied with.

n The customer must regularly check all safety features for functionand completeness.

n The customer must supply his personnel with the necessary pro-tective equipment.


Safety

12.06.2018 | 13

2.2 Personnel requirements2.2.1 QualificationsDanger of injury in case of insufficient qualification!– Only those persons who have been specified in the corre-

sponding chapters of this installation manual should beentrusted with the listed types of work.

– Employ certified experts, if in doubt.Improper operation can lead to severe personal injuries and/ormaterial damage.The following qualifications are specified for different areas of activitylisted in the installation manual.

Instructed personwas instructed by the operating company about the duties assigned toher/him and the possible dangers that may arise from inappropriateconduct.

Qualified personnelare able to carry out assigned work and to recognize possible dangersdue to professional training, knowledge, and experience as well asprofound knowledge of applicable regulations.

2.2.2 Unauthorized personsDanger for unauthorized persons!– Keep unauthorized persons away from the working area.– If in doubt, address such persons and ask them to leave the

working area.– Interrupt your work as long as unauthorized persons are in

the working area.Unauthorized persons, who do not meet the requirementsdescribed in this installation manual, are not aware of the dan-gers in the working area.Only persons who are expected to perform their tasks reliably are per-mitted as personnel. Persons whose reaction capability is impaired,e.g. through drugs, alcohol or medication are not permitted.

n When selecting personnel, ensure that the personnel can workwith the control unit in terms of technical and content aspects.

L WARNING

L WARNING


Safety

12.06.2018 | 14

2.3 Intended useThe ETC drives are exclusively intended and built for the usedescribed in this installation manual.

The ETC drives of Power Automation are developed and producedaccording to the current state of the technology.

They are components which are built in into electrical equipment andcan only be used as integrated component of such equipment.

Before the products are installed, the following requirements have tobe fulfilled to meet the intended use.

n Everyone who is working in any way with the products, has to readand understand the safety instructions, the intended use and theunintended use.

n The ETC drive has to run under the mounting and installation con-ditions, described in this installation manual. Especially the envi-ronmental conditions (temperature, protection class, humidity,mains input, EMC and the mounting position) have to be consid-ered.

n The ETC drive has to be assembled in a closed switchgear cab-inet.

n The ETC drive has to be used in original delivery condition (withoutany mechanical or electrical modification).

n Do not mount or use mechanical or electrical damaged or faultyservo drives.

n The ETC drive is intended to control synchronous servo motors, inclosed loop control of torque, speed or position.

n The ETC drive is developed for usage in industrial environment. Ifit is used in residential areas, an additional filter must be installedin the mains input line.

Beware of unintended use!– Operate the ETC drive as intended only.– Observe all instructions in this installation manual.– Observe the permissible ambient conditions and electromag-

netic compatibility mentioned in the technical data.Any use exceeding the scope of intended use and/or differentapplication of the ETC drives can result in hazardous situations.Claims of any kind for damage resulting from unintended use are void.

The operator is solely responsible for all damage resulting fromunintended use.

Intended Use

Dangers

L WARNING


Safety

12.06.2018 | 15

2.4 Unintended use

Beware of unintended use!– In particular, avoid using the ETC drive for the following pur-

poses as these are regarded as not intended:– Operation by not instructed personnel– It is not allowed to be used in electrical equipment on

ships (service afloat) or in offshore applications becauseof the conductive pollution.

– It must be used in environmental conditions according tothe conditions described in this installation manual (nottoo hot, with closed switchgear cabinet, correct mountingposition, etc.).

Be very carefully in plants, were conductive material (carbon fiber,graphite with machining of graphite cast iron or similar) is easy purgeable on the factory floor.

In this case, the switchgear cabinet has to be sealed very carefully (noforced ventilation with blower filter) or has to be placed outside the fac-tory floor.

Especially at setup of the machine, the risk is high because of openswitchgear cabinet doors. ETC drives, which are contaminated in thatway, must not be used anymore.

2.5 Safety instructions

– Wait at least 7 minutes after disconnecting the ETC drive fromthe mains supply voltage before touching live sections of theequipment (e.g. contacts) or undoing connections. Up to 7minutes after switching off the supply voltages, capacitorscan still have dangerous voltages present. To be sure, checkthe voltage of the DC-link circuit and wait until it has fallenbelow 40V.

– Never remove the electrical connections to the EtherCATâ

amplifier while it is enabled. There is a danger of electricarcing with damage to contacts and danger to persons.

– If a leakage current sensor is used in the mains supply of theETC drive, a leakage current sensor RCD type B has to beused in any case. If a RCD type A or AC is used, there is arisk, that the DC ground current of the ETC drive inhibits theleakage current sensor.

– Failure to observe one of these instructions will lead to death,serious injury or equipment damage.

Unintended use

L WARNING

Shock Current

L DANGER


Safety

12.06.2018 | 16

Hot SurfacePA MC 106 ETC-Drive / PA MC 107 ETC-Drive– During operation, the ETC drive can become a hot surface and

may reach high temperatures. Check (measure) the tempera-ture and wait until it has cooled down below 40°C (104°F)before touching it.

– Failure to observe this precaution can result in severe injury.PA MC 114 ETC-Drive– During operation, the heat sink of the servo drive can become

hot and may reach temperatures above 80°C (176°F). Check(measure) the heat sink temperature and wait until it hascooled down below 40°C (104°F) before touching it.

– Failure to observe this precaution can result in severe injury.

General– The utilization of the ETC drive is limited according to DIN-EN

61800-3. This product can cause radio interference problemsin living quarters. In this case it can be necessary for the oper-ator to accomplish adequate measurements.

– The ETC drive contains electro statically sensitive compo-nents which may be damaged by incorrect handling. Groundyourself before touching the ETC drive by touching anygrounded unpainted metal surface. Avoid contact with highlyinsulating materials (artificial fabrics, plastic film etc.). Placethe ETC drive on a conductive surface.

– Do not open the unit. Keep all covers and switchgear cabinetdoors closed during operation. Otherwise there are deadlyhazards, with the possibility of severe danger to health ormaterial damage.

– During operation, EtherCATâ amplifiers, according to theirdegree of enclosure protection, may have uncovered life com-ponents. Control and power connections may be live, even ifthe motor is not rotating.

– Failure to observe these precautions can result in severeinjury and equipment damage.

L DANGER

L CAUTION


Safety

12.06.2018 | 17

2.6 Personal protective gearWearing of personal protective gear is required to minimize health haz-ards and damage when working with the control unit.

n Always wear the protective equipment that is necessary for therespective task when working.

n Follow the instructions on personal protective equipment that arelisted in this installation manual and other installation manuals pro-vided by Power Automation.

n The environment in which the control unit is installed may requireusers to wear additional personal protective gear.Observe the instructions on personal protective gear provided bythe operating company.

Antistatic glovesfor protection of the hands during the work. Wear the antistatic glovesalways until the work is finished.

ESD clothingfor protection of components susceptible to electrostatic discharge.Wear the ESD clothing during the work on electrostatic components.

ESD safety padfor protection of components susceptible to electrostatic discharge. Putthe ESD safety pad on the floor before starting to work.

ESD safety shoesfor protection of components susceptible to electrostatic discharge.Wear the ESD safety shoes to protect electrostatic-discharge-sensitivedevices due to inadequate derivative electrostatic energy.

Ear protectionfor protection of the ears during the work. Wear the ear protectionalways until the work is finished.

Ground strapfor protection of components susceptible to electrostatic discharge.Wear the ground strap on your wrist and connect it to a suitableequipotential bonding.

Protective glassesfor protection of the eyes during the work. Always wear the protectiveglasses until the work is finished.


Safety

12.06.2018 | 18

2.7 Conduct in a dangerous situation and in caseof accidentsn Stay informed about locations of first aid equipment (first aid kit,

covers, etc.) and fire extinguishers at the site of installation.n Instruct personnel about accident reporting, first aid and rescue

facilities at the site of installation.

n Disconnect power supply immediately.n Initiate first aid measures.n Inform responsible persons at the site.n Call for rescue service if applicable.

2.8 Environmental protectionEnvironmental hazard caused by incorrect handling!Incorrect handling of environmentally hazardous substances,especially incorrect waste disposal, can cause considerabledamage to the environment.n Do not release environmentally hazardous substances or compo-

nents into the environment.n Always properly dispose of environmentally hazardous compo-

nents/substances in accordance with local law and regulations.

The following environmentally hazardous components or substancesare contained in the control unit:

Batteries contain toxic heavy metals. They are considered hazardouswaste and must be disposed of by approved specialized waste dis-posal companies.

Electronic components are considered special waste. They must beproperly disposed of.

Power Automation will accept the control unit to properly dispose of itscomponents upon decommissioning.

n Follow the standard return procedure, as described in Ä Chapter11.3 “Return policy and procedure” on page 124.

Preventive Measures

In Case Of Accidents

L CAUTION

Batteries

Electronic Components


Safety

12.06.2018 | 19

2.9 LabelsReadability Of Labels– Keep labels in readable condition at all times.– Replace damaged labels (not including material warranty

seals).– Replacements can be obtained from Power Automation.Over the course of time labels may become dirty or nonreadablefor any other reason. Improper input voltages applied due to read-ability of labels can damage the control unit.

The following label is attached on each ETC drive box:

Fig. 2: Type Plate (Example)

PA MC 304 ETC-drive - PA MC 604 ETC-driven The position of the type plate is arranged on the lower side of the

ETC-drive box.

PA MC 106 ETC-drive / PA MC 107 ETC-drive / PA MC 114 ETC-driven The position of the type plate is arranged on the right side of the

ETC-drive box.

NOTICE

Type Plate


Safety

12.06.2018 | 20

3 PA ETC-Drives MC OverviewThe PA MC x04 ETC-Drives and PA MC 10x ETC-Drives are a familyof fully digital intelligent servo drives, based on the latest DSP tech-nology and they offer unprecedented drive performance combined withPA CNC controller.

Suitable for control of brushless DC, brushless AC (vector control), DCbrushed motors and step motors, the PA ETC-Drives accept as posi-tion feedback incremental encoders (quadrature or sine/cosine) andlinear Halls signals (PA MC x04) / SSI encoders (PA MC 10x).

All ETC-Drives perform position, speed or torque control and work insingle, multi-axis or stand-alone configurations:

n Executing homing sequencesn Handling of digital I/O and analogue input signalsn Synchronizing all the axes through PA CNC controller

Fig. 3: Power Supply Connection

General


PA ETC-Drives MC Overview

12.06.2018 | 21

For PA MC x04 ETC-Drives / PA MC 10x ETC-Drives commissioningEasySetUp or EasyMotion Studio PC applications may be used.

EasySetUp is a subset of EasyMotion Studio, including only the drivesetup part.

The output of EasySetUp is a set of setup data that can be down-loaded into the drive EEPROM or saved on a PC file. At power-on, thedrive is initialized with the setup data read from its EEPROM. WithEasySetUp it is also possible to retrieve the complete setup informa-tion from a drive previously programmed. EasySetUp shall be used fordrive setup in all cases where the motion commands are sent exclu-sively from a master. EasySetUp can be downloaded free of chargefrom the Power Automation web page.

EasyMotion Studio platform includes EasySetUp for the drive setup,and a Motion Wizard for the motion programming.

The Motion Wizard provides a simple, graphical way of creating motionprograms. With EasyMotion Studio you can fully benefit from a keyadvantage of Power Automation drives – their capability to executecomplex motions without requiring an external motion controller,thanks to their built-in motion controllers. With camming mode, Easy-Motion Studio offers the possibility to quickly download and test a camprofile and also to create a .sw file with the cam data. The .sw file canbe afterwards stored in a master and downloaded to the drive, wher-ever needed. A demo version of EasyMotion Studio (with EasySetUppart fully functional) can be downloaded free of charge from PowerAutomation web page.

EasySetUp / EasyMotion Studio



12.06.2018 | 22

n Up to 6 axes, to optimize the cost situation of a machine byreduced component cost.

n 9 drive types are available:– 3-axis drive PA MC 304 ETC-Drive– 4-axis drive PA MC 404 ETC-Drive– 5-axis drive PA MC 504 ETC-Drive– 6-axis drive PA MC 604 ETC-Drive– 1-axis drive PA MC 106 ETC-Drive– 1-axis drive PA MC 107 ETC-Drive BX– 1-axis drive PA MC 107 ETC-Drive BA– 1-axis drive PA MC 114 ETC-Drive BX– 1-axis drive PA MC 114 ETC-Drive BA

n Two different mounting levels of the PA MC ETC-Drives are pos-sible:– on the mounting plate in the cabinet

– DIN Rail mounting technologyn Fully digital servo drive suitable for the control of rotary or linear

brushless, DC brush, and step motors.n Very compact design.n Sinusoidal (FOC) or trapezoidal (Hall-based) control of brushless

motors.n Open or closed-loop control of 2 and 3-phase steppers.n Various modes of operation, including: torque, speed or position

control, position or speed profiles, external analogue reference orsent via a communication bus.

n Standalone operation with stored motion sequences.n Single-ended and RS-422 differential encoder interface.n Single-ended, open collector Digital Hall sensor interface.n 5 digital inputs:

– 5 - 36 V– NPN: Enable– Limit switch +– Limit switch -– 2 general-purpose

n 4 digital outputs:– 5 - 36 V, 0.5 A– NPN open-collector: Ready– NPN open-collector: Error– 2 general-purpose

n RS-232 serial interface (up to 115200 bps).n 2K x 16 internal SRAM memory for data aquisition.n 4K x 16 E2ROM to store programs and data.n PWM switching frequency up to 100kHz.n Motor supply: 9 - 36 Vn Logic supply: 7 - 36 V. Separate supply is optional.

Concept



12.06.2018 | 23

n Operating ambient temperature: 0 - 40 °C (over 40 °C withderating).

n Hardware Protections:– Short-circuit between motor phases.– Short-circuit from motor phases to ground.– Over-voltage.– Under-voltage.– Over-current.

Table 1: Product keyType code Description

MC 304PA ETC-Drive Micro

3 axis (3 x 4A/8A)


4 axis (4 x 4A/8A)


5 axis (5 x 4A/8A)


6 axis (6 x 4A/8A)


1 axis (1 x 6A)

MC 107 (BX, BA)PA ETC-Drive Micro

1 axis (1 x 7A)

MC 114 (BX, BA)PA ETC-Drive Micro

1 axis (1 x 14A)

The product key of the servo drive is illustrated on the type plate (see Fig. 2).



12.06.2018 | 24

3.1 Supported Motor-Sensor ConfigurationsThe following configurations are supported by the PA MC x04 ETC-Drives and PA MX 10x ETC-Drives ( Ä Table on page 25).

Product key Encoder Sin/Cos BISS SSI Motor Type MotorVoltage

PA MC 304 ETC-Drive

supported supported DC, BLDC,Stepper

12-36 V DC

PA MC 404 ETC-Drive


12-36 V DC

PA MC 504 ETC-Drive


12-36 V DC

PA MC 604 ETC-Drive


12-36 V DC

PA MC 106 ETC-Drive

supported supported supported supported DC, BLDC,Stepper

12-48 V DC

PA MC 107 ETC-Drive BX


12-80 V DC

PA MC 107 ETC-Drive BA


12-80 V DC

PA MC 114 ETC-Drive BX


12-80 V DC

PA MC 114 ETC-Drive BA


12-80 V DC

Each defined motor type can have any combination of the supportedfeedbacks either on motor or on load.



12.06.2018 | 25

PA MC x04 ETC-Drives support the following configurations:

Position control of a brushless AC rotary motor with an incre-mental quadrature encoder on its shaftThe brushless motor is vector controlled like a permanent magnet syn-chronous motor. It works with sinusoidal voltages and currents. Scalingfactors take into account the transmission ratio between motor andload (rotary or linear). Therefore, the motion commands (for position,speed and acceleration) expressed in SI units (or derivatives) refer tothe load, while the same commands, expressed in IU units, refer to themotor.

Fig. 4: Position control of a brushless AC rotary motor with an incre-mental quadrature encoder on its shaft

Position control of a brushless AC rotary motor with an incre-mental sine/cosine encoder on its shaftThe brushless motor is vector controlled like a permanent magnet syn-chronous motor. It works with sinusoidal voltages and currents. Scalingfactors take into account the transmission ratio between motor andload (rotary or linear). Therefore, the motion commands (for position,speed and acceleration) expressed in SI units (or derivatives) refer tothe load, while the same commands, expressed in IU units, refer to themotor.

Fig. 5: Position control of a brushless AC rotary motor with an incre-mental sine/cosine encoder on its shaft

Brushless AC Rotary Motor WithAn Incremental QuadratureEncoder

Brushless AC Rotary Motor WithAn Incremental Sine/CosineEncoder



12.06.2018 | 26

Position control of a brushless AC linear motor with an incre-mental sine/cosine encoderThe brushless motor is vector controlled like a permanent magnet syn-chronous motor. It works with sinusoidal voltages and currents. Scalingfactors take into account the transmission ratio between motor andload (rotary or linear). Therefore, the motion commands (for position,speed and acceleration) expressed in SI units (or derivatives) refer tothe load, while the same commands, expressed in IU units, refer to themotor.

Fig. 6: Position control of a brushless AC linear motor with an incre-mental sine/cosine encoder

Position control of a brushless DC rotary motor with digital Hallsensors and an incremental quadrature encoder on its shaftThe brushless motor is controlled using Hall sensors for commutation.It works with rectangular currents and trapezoidal BEMF voltages.Scaling factors take into account the transmission ratio between motorand load (rotary or linear). Therefore, the motion commands (for posi-tion, speed and acceleration) expressed in SI units (or derivatives)refer to the load, while the same commands, expressed in IU units,refer to the motor.

Fig. 7: Position control of a brushless DC rotary motor with digital Hallsensors and an incremental quadrature encoder on its shaft

Brushless AC Linear Motor With AnIncremental Sine/Cosine Encoder

Brushless DC Rotary Motor WithDigital Hall Sensors And An Incre-mental Quadrature Encoder



12.06.2018 | 27

This configuration is only available at the version PA MC 10x ETC-Drives.

Dual loop position of a brushless DC rotary motor with digital Hall sen-sors, an incremental quadrature or Sin/Cos encoder on one feedbackand another incremental encoder on the second feedback. The speedloop is controlled with the encoder on the motor and the position loopis controlled with the encoder on the load.

The Sin/Cos encoder is present only on the Feedback #1 interface.

Fig. 8: Brushless DC rotary motor with position control, hall sensorsand encoders on motor and load

Position control of a brushless AC linear motor with an incre-mental quadrature linear encoder on the trackThe brushless motor is vector controlled like a permanent magnet syn-chronous motor. It works with sinusoidal voltages and currents. Scalingfactors take into account the transmission ratio between motor andload (linear or rotary). Therefore, the motion commands (for position,speed and acceleration) expressed in SI units (or derivatives) refer tothe load, while the same commands, expressed in IU units, refer to themotor.

Fig. 9: Position control of a brushless AC linear motor with an incre-mental quadrature linear encoder on the track

Brushless DC Rotary Motor WithPosition Control, Hall Sensors AndEncoders On Motor And Load

Brushless AC Linear Motor With AnIncremental Quadrature LinearEncoder



12.06.2018 | 28

Position control of a brushless AC rotary motor with linear HallsignalsThe brushless motor is vector controlled like a permanent magnet syn-chronous motor. It works with sinusoidal voltages and currents. Scalingfactors take into account the transmission ratio between motor andload (rotary or linear). Therefore, the motion commands (for position,speed and acceleration) expressed in SI units (or derivatives) refer tothe load, while the same commands, expressed in IU units, refer to themotor.

Fig. 10: Position control of a brushless AC rotary motor with linear Hallsignals

Position control of a brushless AC linear motor with linear HallsignalsThe brushless motor is vector controlled like a permanent magnet syn-chronous motor. It works with sinusoidal voltages and currents. Scalingfactors take into account the transmission ratio between motor andload (rotary or linear). Therefore, the motion commands (for position,speed and acceleration) expressed in SI units (or derivatives) refer tothe load, while the same commands, expressed in IU units, refer to themotor.

Fig. 11: Position control of a brushless AC linear motor with linear Hallsignals

Brushless AC Rotary Motor WithLinear Hall Signals

Brushless AC Linear Motor WithLinear Hall Signals



12.06.2018 | 29


Dual loop position control of a brushless DC linear motor with digitalHall sensors, an incremental quadrature or Sin/Cos encoder on onefeedback and another incremental encoder on the second feedback.The speed loop is controlled with the encoder on the motor and theposition loop is controlled with the encoder on the load.

The Sin/Cos encoder is present only on the Feedback #1 interface.

Fig. 12: Brushless DC rotary motor with position control, hall sensorsand encoders on motor and load

Position control of a DC brushed rotary motor with an incre-mental quadrature encoder on its shaftScaling factors take into account the transmission ratio between motorand load (rotary or linear). Therefore, the motion commands (for posi-tion, speed and acceleration) expressed in SI units (or derivatives)refer to the load, while the same commands, expressed in IU units,refer to the motor.

Fig. 13: Position control of a DC brushed rotary motor with an incre-mental quadrature encoder on its shaft

Brushless DC Rotary Motor WithPosition Control, Hall Sensors AndEncoders On Motor And Load

DC Brushed Rotary Motor With AnIncremental Quadrature Encoder



12.06.2018 | 30


Dual loop, position control of a brushed DC rotary motor with an incre-mental quadrature on the motor and an incremental encoder on theload. The speed loop is controlled with the encoder on the motor andthe position loop is controlled with the encoder on the load.

Fig. 14: DC Brushed rotary motor with position control, quadratureencoders on motor and load

Open-loop control of a 2- or 3-phase step motor in position orspeedScaling factors take into account the transmission ratio between motorand load (rotary or linear). Therefore, the motion commands (for posi-tion, speed and acceleration) expressed in SI units (or derivatives)refer to the load, while the same commands, expressed in IU units,refer to the motor.

Fig. 15: 2- or 3-phase step motor without encoder

DC Brushed Rotary Motor WithPosition Control, QuadratureEncoders On Motor And Load

2- Or 3-Phase Step Motor WithoutEncoder



12.06.2018 | 31

Closed-loop control of load position using an encoder on load, com-bined with open-loop control of a 2- or 3-phase step motor in speed,with speed reference provided by the position controller. The motioncommands in both SI and IU units refer to the load.

Fig. 16: Step motor with incremental encoder at load

Closed-loop control of a 2-phase step motor in position, speed ortorque. Scaling factors take into account the transmission ratiobetween motor and load (rotary or linear). Therefore, the motion com-mands expressed in SI units (or derivatives) refer to the load, while thesame commands, expressed in IU units refer to the motor.

Fig. 17: Step motor with incremental encoder

Step Motor With IncrementalEncoder At Load

Step Motor With IncrementalEncoder



12.06.2018 | 32

4 Technical Data4.1 General SpecificationTable 2: PA MC x04 ETC-DriveProperty Value Unit

Dimensions174 x 70 x 165 mm

6.85 x 2.76 x 6.50 inch

Weight 125 g

Power dissipation(Idle - no load)

3.4 W

Power dissiplation(operating)

8.5 W

Efficiency 98 %

Cleaning agents Dry cleaning is recommended (only water- oralcohol-based).

Protection class IP20

Table 3: PA MC 106 ETC-DriveProperty Value Unit

Dimensions (with rec-ommended matingconnectors)

109 x 79 x 19.5 mm

4.3 x 3.1 x 0.77 inch

Dimensions (withoutmating connector)

103 x 71 x 16.4 mm

4.06 x 2.8 x 0.65 inch

Weight (withoutmating connector)

125 g


3.4 W


8.5 W

Efficiency 98 %



General Information


Technical Data

12.06.2018 | 33



139 x 94.2 x 24.6 mm

5.47 x 3.7 x 0.97 inch


240 g


3.6 W


11 W

Efficiency 98 %





139 x 94.2 x 24.6 mm

5.47 x 3.7 x 0.97 inch


240 g


3.6 W


11 W

Efficiency 98 %



4.2 Operating ConditionsProperty Value Unit

Operating temperature (rated data) 0 - +40 °C

+32 - +104 °F

General


Technical Data

12.06.2018 | 34

Property Value Unit

Storage temperature -40 - +85 °C

-40 - +185 °F

Relative humidity (non condensing) 90 %

Relative humidity (non condensing)(storage)

100 %

Site altitude (above sea level at rateddata)

up to 1000 m

Site altitude (above sea level withderating of 1.5% / 100 m)

1000 - 2500 m

Pollution level (according toDIN-EN 61800-5-1)

2

Ventilation Forced ventilation by con-trolled internal fan


Technical Data

12.06.2018 | 35

4.3 Specific Data

Property Value Unit

Micro

Rated mains voltage (symmetrically toground) maximum 5000 rms symmetrical

amps (L1, L2, L3)

9V - 36V VDC

Maximum peak current at switch on of themains contactor (limited by the inrush circuit)

24 A

Rated installed power for S1 operation 0.1 (9V / 1 axis) - 2.2 (36V / 6 axis) kVA

Rated DC-link voltage 9 - 36 VDC

Auxiliary supply voltage +24V 7 - 36 VDC

Power of auxiliary supply voltage +24V 3.6 W

Holding brake supply voltage +24V-BR ext.

Max. holding brake current per axis ext.

Rated output current axis 1 (rms +/- 3%) 4 Aeff



Max. continuous sum current of all axes(heat sink)

24 Aeff

Peak output current axis 1 for max 5sec.(rms +/- 3%)

8 Aeff


8 Aeff


8 Aeff

Power stage losses (sum average currentsof the 3 axis and multiply with factor), without

regen losses

- W / Aeff

Output frequency of the power stage 100 kHz

Rated Data


Technical Data

12.06.2018 | 36

Property Value

Auxiliary Supply (X1A) Molex

Power Supply (X1B) Molex

Feedback (X6, X7, X8) Molex

Motor (X3, X4, X5) Molex

4.4 Logic Supply Input (+VLOG)

Property PA MC x04ETC-Drive

PA MC 106ETC-Drive

PA MC 107ETC-Drive /PA MC 114ETC-Drive

Unit

Supplyvoltage

Nominal values 7 - 36 9 - 36 9 - 36 VDC

Absolute maximum values,drive operating but outsideguaranteed parameters

4.9 - 42 8 - 40 8 - 40 VDC

Absolute maximum values,surge (duration £ 10ms)

-1 - 45 -1 - 45 -1 - 45 V

Supplycurrent

No Load onDigital Outputs

+VLOG = 7V 125

(max. 300)

mA

+VLOG = 9V 400 400 mA

+VLOG = 12V 80

(max. 200)

300 300 mA

+VLOG = 24V 50

(max. 125)

150 150 mA

+VLOG = 40V 40

(max. 100)

90 90 mA

Plug Types


Technical Data

12.06.2018 | 37

4.5 Motor Supply Input (+VMOT)Table 6: PA MC x04 ETC-Drives

Property Value Unit

Supplyvoltage

Nominal values 9 - 36 VDC

Absolute maximum values, drive operating butoutside guaranteed parameters

8.5 - 40 VDC

Absolute maximum values, surge (duration£ 10ms)

-1 - 45 V

Supplycurrent

Idle 1 (max. 5) mA

Operating +/-4 (-10 - +10) A

Absolute maximum value, short-circuit condition(duration £ 10ms)

15 A


Supplyvoltage

Nominal values 48 (11 - 50) VDC


9 - 52 VDC


-1 - 57 V

Supplycurrent

Idle 1 (max. 5) mA

Operating +/-8 (-20 - +20) A


26 A


Supplyvoltage



11 - 94 VDC


-1 - 95 V

Supplycurrent

Idle 1 (max. 5) mA


Technical Data

12.06.2018 | 38

Property Value Unit

Operating +/-10 (-20 - +20) A


22.5 A


Supplyvoltage



11 - 94 VDC


-1 - 95 V

Supplycurrent

Idle 1 (max. 5) mA

Operating +/-20

(-40 - +40)

A


45 A


Technical Data

12.06.2018 | 39

4.6 Motor Outputs (A/A+, B/A-, C/B+, BR/B-)Table 10: PA MC x04 ETC-Drive

Property PA MC x04 ETC-Drive Unit

Nominal output current,continuous

for DC brushed, steppers and BLDC motors withHall-based trapezoidal control

4 A

for PMSM motors with FOC sinusoidal control(sinusoidal amplitude value)

4 A

for PMSM motors with FOC sinusoidal control(sinusoidal effective value)

2.82 A

Motor output current,peak

maximum 2.5s -10 - +10 A

Short-circuit protectionthreshold

measurement range +/-13 (max. +/-15) A

Short-circuit protectiondelay

10 (min. 5) ms

On-state voltage drop for nominal output current; including typicalmating connector contact resistance

+/-0.3 (max. +/-0.5) V

Off-state leakage cur-rent

+/-0.5 (max. +/-1) mA

Motor inductance(phase-to-phase)

Recommended value,for ripple +/-5% of

measurement range;+VMOT = 36 V

FPWM = 20 kHz 250 mH



FPWM = 80 kHz 60 mH


Absolute minimumvalue, limited by short-

circuit protection; +VMOT= 36 V

FPWM = 20 kHz 75 mH

FPWM = 40 kHz 25 mH

FPWM = 60 kHz 20 mH

FPWM = 80 kHz 10 mH

FPWM = 100 kHz 5 mH

Motor electrical time-constant (L/R)

Recommended value,for +/-5% current meas-

urement error due toripple

FPWM = 20 kHz 250 ms



FPWM = 80 kHz 63 ms


Technical Data

12.06.2018 | 40

Property PA MC x04 ETC-Drive Unit


Current measurementaccuracy

FS = Full Scale +/-4 (max. +/-8) %FS

Table 11: PA MC 106 ETC-DriveProperty PA MC 106 ETC-Drive Unit



8 A


8 A


5.66 A


maximum 2.5s -20 - +20 A


measurement range +/-26 (+/-22 - +/-30) A


10 (min. 5) ms


+/-0.3 (max. +/-0.5) V


+/-0.5 (max. +/-1) mA







FPWM = 80 kHz 80 mH





FPWM = 40 kHz 40 mH

FPWM = 60 kHz 30 mH

FPWM = 80 kHz 15 mH

FPWM = 100 kHz 8 mH


Technical Data

12.06.2018 | 41

Property PA MC 106 ETC-Drive Unit







FPWM = 80 kHz 63 ms



FS = Full Scale +/-4 (max. +/-8) %FS




10 A


10 A


7.1 A


maximum 2.5s -38.3 - +38.3 A


measurement range max. +/-45 A


10 (min. 5) ms


+/-0.3 (max. +/-0.5) V


+/-0.5 (max. +/-1) mA






FPWM = 80 kHz 60 mH




FPWM = 20 kHz 75 mH

FPWM = 40 kHz 25 mH

FPWM = 80 kHz 10 mH


Technical Data

12.06.2018 | 42


FPWM = 100 kHz 5 mH






FPWM = 80 kHz 63 ms



FS = Full Scale +/-4 (+/-8) %FS




10 A


10 A


7.1 A


maximum 2.5s -38.3 - +38.3 A


measurement range max. +/-45 A


10 (min. 5) ms


+/-0.3 (max. +/-0.5) V


+/-0.5 (max. +/-1) mA






FPWM = 80 kHz 60 mH




FPWM = 20 kHz 75 mH

FPWM = 40 kHz 25 mH

FPWM = 80 kHz 10 mH


Technical Data

12.06.2018 | 43


FPWM = 100 kHz 5 mH






FPWM = 80 kHz 63 ms



FS = Full Scale +/-4 (+/-8) %FS

4.7 Enable circuit inputs (ENA1, ENA2)The enable circuit inputs (ENA1, ENA2) are only available at the PAMC 106 ETC-Drive, PA MC 107 ETC-Drive and PA MA 114 ETC-Drive. At the PA MC 107 ETC-Drive and PA MC 114 ETC-Drive theenable circuit inputs are named STO1, STO2.

Table 14: PA MC ETC-DriveProperty PA MC ETC-Drive Unit

Enable function Disables motor power when either ENA1 or ENA2 is disconnected from the powersource.

Mode compliance PNP

Default state Input floating (wiring disconnected) Logic Low

Input voltage

Logic “LOW” -10 - 2.2 V

Logic “HIGH” 6.3 - 36 V

Absolute maximum, continuous -10 - 39 V

Input currentLogic “LOW”, pulled to GND 0 mA

Logic “HIGH”, pulled to +Vlog max. 0.4 mA

Pulse duration

Ignored low-high-low tbd ms

Ignored high-low-high tbd ms

Accepted pulse tbd ms

Fault reaction time From internal fault detection to register DER bit14 = 1 and Output 2 high-to-low.

tbd ms

ESD protection Human body model +/-2 kV


Technical Data

12.06.2018 | 44

4.8 Digital InputsTable 15: PA MC x04 ETC-Drive

IN0, IN1, IN2/LSP, IN3/LSN, IN4/Enable

Property Value Unit

Mode compliance TTL / CMOS / LVTTL

(3.3V) / Open-col-lector / NPN / 24V out-

puts

Default state Input floating (wiring disconnected) Logic HIGH

Input voltage

Logic LOW 0 (max. 0.8) V

Logic HIGH 5 - 24 (min. 2) V

Floating voltage (not connected) 3 V

Absolute maximum, continuous -10 - +30 V

Absolute maximum, surge (duration £1s) -20 - +40 V

Input current

Logic LOW; Pulled to GND 0.6 (max. 1) mA

Logic HIGH; Internal 4.7KW pull-up to +3.3 0 mA

Logic HIGH; Pulled to +5V 0.15 (max. 0.2) mA

Logic HIGH; Pulled to +24V 2 (max. 2.5) mA

Input frequency 0 - 150 kHz

Minimum pulse width 3.3 ms

ESD protection Human body model min. +/-5 kV

Table 16: PA MC 106 ETC-DriveIN0, IN1, IN2/LSP, IN3/LSN, IN5, IN6

Property Value Unit

Mode compliance PNP

Default state Input floating (wiring disconnected) Logic LOW

Input voltage

Logic LOW 0 (min. -36 / max. 2.4) V

Logic HIGH 24 (min. 7.5 / max. 36) V




Input current Logic LOW; Pulled to GND 0 mA


Technical Data

12.06.2018 | 45

IN0, IN1, IN2/LSP, IN3/LSN, IN5, IN6

Property Value Unit

Logic HIGH 9 (max. 10) mA




IN0, IN1, IN2/LSP, IN3/LSN, IN5, IN6

Property Value Unit

Mode compliance NPN / Open-collector /24V outputs


Input voltage


Logic HIGH 5 - 24 (min. 2) V




Input current

Logic LOW; Pulled to GND 0.6 (max. 1) mA

Logic HIGH; Internal 4.7KW pull-up to +3.3 0 mA

Logic HIGH; Pulled to +5V 0.15 (max. 0.2) mA

Logic HIGH; Pulled to +24V 2 (max. 2.5) mA




Table 17: PA MC 107 ETC-DriveIN0, IN1, IN2/LSP, IN3/LSN

Property Value Unit

Mode compliance PNP


Input voltageLogic LOW 0 (min. -10 / max. 22) V

Logic HIGH 6.3 - 36 V


Technical Data

12.06.2018 | 46

IN0, IN1, IN2/LSP, IN3/LSN

Property Value Unit



Absolute maximum, surge (duration £1s) -20 - 40 V

Input currentLogic LOW; Pulled to GND 0 mA

Logic HIGH 1.3 (max. 2) mA





Property Value Unit

Mode compliance NPN


Input voltage

Logic LOW -10 - 2.2 V





Input currentLogic LOW; Pulled to GND 0.6 (min. -1.6 / max. 1) mA

Logic HIGH; Pulled to +24V 0 (min. 0 / max. 0.3) mA



ESD protection Human body model min +/-2 kV

Table 18: PA MC 114 (BX, BA) ETC-DriveIN0, IN1, IN2/LSP, IN3/LSN

Property Value Unit

Mode compliance PNP


Input voltage Logic LOW 0 (min. -10 / max. 22) V


Technical Data

12.06.2018 | 47


Property Value Unit




Absolute maximum, surge (duration £1s) -20 - 40 V

Input currentLogic LOW; Pulled to GND 0 mA

Logic HIGH 1.3 (max. 2) mA





Property Value Unit

Mode compliance NPN


Input voltage

Logic LOW -10 - 2.2 V





Input currentLogic LOW; Pulled to GND 0.6 (min. -1.6 / max. 1) mA

Logic HIGH; Pulled to +24V 0 (min. 0 / max. 0.3) mA



ESD protection Human body model min +/-2 kV


Technical Data

12.06.2018 | 48

4.9 Digital OutputsTable 19: PA MC x04 ETC-Drive

OUT0, OUT1, OUT2/Error, OUT3/ Ready

Property Value Unit

Mode compliance

All outputs (OUT0, OUT1, OUT2/Error, OUT3/Ready)

TTL / CMOS / Open-collector / NPN 24V

Ready, Error TTL / CMOS / Open-collector / NPN 24V /

LVTTL (3.3V)

Default state

Not supplied (+VLOG floating or to GND) High-Z (floating)

Immediately afterpower-up

OUT0, OUT1 Logic HIGH

OUT2/Error, OUT3/Ready

Logic LOW

Normal operationOUT0, OUT1, OUT2/Error

Logic HIGH

OUT3/Ready Logic LOW

Output voltage

Logic LOW; output current = 0.5A 0.2 (max. 0.8) V

Logic HIGH; output cur-rent = 0, no load


3 (min. 2.9 / max. 3.3) V

OUT0, OUT1 4.5 (min. 4 / max. 5) V

Logic HIGH, external load to +VLOG VLOG

Absolute maximum, continuous -0.5 - VLOG+0.5 V

Absolute maximum, surge (duration £1s) -1 - VLOG+1 V

Output current

Logic LOW, sink current, continuous max. 0.5 A

Logic LOW, sink current, pulse £5 s max. 1 A

Logic HIGH, sourcecurrent; external load toGND; VOUT ³2.0V


max. 2 mA

OUT0, OUT1 max. 4 mA

Logic HIGH, leakage current; external load to+VLOG; VOUT = VLOG max = 40V

0.1 (max. 0.2) mA

Minimum pulse width 2 ms



Technical Data

12.06.2018 | 49

Table 20: PA MC 106 ETC-DriveOUT0, OUT1, OUT2/Error, OUT3/ Ready, OUT4

Property Value Unit

Mode compliance All outputs (OUT0, OUT1, OUT2/Error, OUT3/Ready, OUT4)

TTL / Open-collector /NPN 24V

Default state



OUT0, OUT1, OUT4 Logic HIGH


Logic LOW

Normal operationOUT0, OUT1, OUT2/Error, OUT4

Logic HIGH


Output voltage

Logic LOW; output current = 0.5A 0.8 V



3 (min. 2.9 / max. 3.3) V

OUT0, OUT1, OUT4 4.5 (min. 4 / max. 5) V




Output current

Logic LOW, sink current, continuous max. 0.5 A

Logic LOW, sink current, pulse £5 s max. 1 A



max. 2 mA

OUT0, OUT1, OUT4 max. 4 mA


0.1 (max. 0.2) mA




Technical Data

12.06.2018 | 50

Table 21: PA MC 107 ETC-DriveOUT0, OUT1, OUT2/Error, OUT3/Ready

Property Value Unit

Mode compliance All outputs (OUT0, OUT1, OUT2/Error, OUT3/Ready)

NPN 24V

Default state





Logic LOW


Logic HIGH


Output voltage




3 (min. 2.9 / max. 3.3) V

OUT0, OUT1 4.5 (min. 4 / max. 5) V




Output current

Logic LOW, sink cur-rent, continuous

OUT0 max. 2 A

OUT1, OUT2, OUT3 max. 0.5 A

Logic LOW, sink cur-rent, pulse £5 s

OUT0 max. 4 A

OUT1, OUT2, OUT3 max. 1 A



max. 2 mA



0.1 (max. 0.2) mA




Technical Data

12.06.2018 | 51

Table 22: PA MC 114 (BX, BA) ETC-DriveOUT0, OUT1, OUT2/Error, OUT3/Ready

Property Value Unit

Mode compliance All outputs (OUT0, OUT1, OUT2/Error, OUT3/Ready)

NPN 24V

Default state





Logic LOW


Logic HIGH


Output voltage




3 (min. 2.9 / max. 3.3) V

OUT0, OUT1 4.5 (min. 4 / max. 5) V




Output current

Logic LOW, sink cur-rent, continuous

OUT0 max. 2 A

OUT1, OUT2, OUT3 max. 0.5 A

Logic LOW, sink cur-rent, pulse £5 s

OUT0 max. 4 A

OUT1, OUT2, OUT3 max. 1 A



max. 2 mA



0.1 (max. 0.2) mA




Technical Data

12.06.2018 | 52

4.10 Digital Hall Inputs (Hall1, Hall2, Hall3)This table is applied to the

– PA MC x04 ETC-Drives– PA MC 106 ETC-Drive– PA MC 107 (BX, BA) ETC-Drive– PA MC 114 (BX, BA) ETC-Drive

Property Value Unit

Mode compliance TTL / CMOS / Open-collector


Input voltage


Logic HIGH 5 (min. 2) V

Floating voltage (not connected) 4.4 V



Input currentLogic LOW; Pulled to GND 1.2 mA

Logic HIGH; Internal 4.7KW pull-up to +5 0 mA




Technical Data

12.06.2018 | 53

4.11 Encoder InputsTable 23: PA MC x04 ETC-Drive

A/A+, A-, B/B+, B-, Z/Z+, Z-

Property Value Unit

Single-ended modecompliance

Leave negative inputs disconnected TTL / CMOS / Open-collector

Input voltage, single-ended mode A/A+, B/B

+

Logic LOW max. 1.6 V

Logic HIGH min. 1.8 V


Input voltage, single-ended mode Z/Z+




Input current, single-ended mode A/A+, B/B

+, Z/Z+

Logic LOW; Pull to GND 2.5 (max. 3) mA


Differential mode com-pliance

For full RS422 compliance TIA/EIA-422-A

Input voltage, differen-tial mode

Hysteresis +/-0.1 (min. +/-0.06 /max. +/-0.2)

V

Common-mode range (A+ to GND, etc.) -7 - +7 V

Input impedance, differ-ential

A+ to A-, B+ to B- 4.7 (min. 4.2) kW

Z+ to Z- 7.2 (min. 6.1) kW

Input frequencySingle-ended mode, Open-collector / NPN 0 - 500 kHz

Differential mode, or Single-ended driven bypush-pull (TTL / CMOS)

0 - 10 Mhz

Minimum pulse widthSingle-ended mode, Open-collector / NPN 1 ms


50 ns

Input voltage, any pin toGND

Absolute maximum values, continuous -7 - +7 V

Absolute maximum, surge (duration £ 1s) -11 - +14 V



Technical Data

12.06.2018 | 54

Table 24: PA MC 106 ETC-Drive (Encoder 1)A1/A1+, A1-, B1/B1+, B1-, Z1/Z1+, Z1-

Property Value Unit

Single-ended modecompliance

Leave negative inputs disconnected TTL / CMOS / Open-collector

Input voltage, single-ended mode A/A+, B/B

+




Floating voltage (notconnected)




Input current, single-ended mode A/A+, B/B

+, Z/Z+

Logic LOW; Pull to GND 5.5 (max. 6) mA



For full RS422 compliance, see TIA/EIA-422-A


Hysteresis +/-0.1 (min. +/-0.06 /+/-0.2)

V


Common-mode range(A+ to GND, etc.)

A1+ to A1-, B1+ to B1-, Z1+ to Z1- 1 kW

Input frequencySingle-ended mode, Open-collector / NPN 0 - 5 kHz


0 - 10 MHz

Minimum pulse widthSingle-ended mode, Open-collector / NPN 1 ms


50 ns



Absolute maximum, surge (duration £ 1s) -11 - +14 V



Technical Data

12.06.2018 | 55

Table 25: PA MC 106 ETC-Drive (Encoder 2)A2+/Data+, A2-/Data-, B2+/Clk+, B2-/Clk-, Z2+, Z2-

Property Value Unit


TIA/EIA-422-A

Input voltage


V

Differential mode -14 - +14 V



A2+, B2+, Z2+ A2-, B2-, Z2- 150 W

A1-, A2-, B1-, B2-, Z1-, Z2- 1.6 kW

Differential mode 0 - 10 MHz

Differential mode 50 nS

Input frequency Differential mode 0 - 10 MHz

Minimum pulse width Differential mode 50 ns


Table 26: PA MC 107 ETC-DriveA1+, A1-, B1+, B1-, Z1+, Z1-, A2+, A2-, B2+, B2-, Z2+, Z2-

Property Value Unit


TIA/EIA-422-A



V

Differential mode -14 - +14 V



A1+, A2+, B1+, B2+, Z1+, Z2+ 2.2 kW

A1-, A2-, B1-, B2-, Z1-, Z2- 1.6 kW

Differential mode 0 - 10 MHz

Differential mode 50 nS



Technical Data

12.06.2018 | 56

4.12 Linear Hall Inputs (LH1, LH2, LH3)This table is applied to the

– PA MC x04 ETC-Drives– PA MC 106 ETC-Drive

Property Value Unit

Input voltage

Operational range 0.5 - 4.5 (min. 0 / max.4.9)

V


Absolute maximum, surge (duration£1s) -11 - +14 V

Input current Input voltage 0 - 5V +/-0.9 (min. -1 / max.+1)

mA

Interpolation resolution Depending on software settings max. 11 Bits

Frequency 0 - 1 kHz



Technical Data

12.06.2018 | 57

4.13 Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+,Cos-)

Table 27: PA MC x04 ETC-Drive / PA MC 107 ETC-Drive / PA MC 114 ETC-DriveProperty Value Unit

Input voltage, differen-tial

Sin+ to Sin-, Cos+ to Cos- 1 (max. 1.25) VPP


Operational range 2.5 (min. -1 / max. 4) V



Input impedanceDifferential, Sin+ to Sin-, Cos+ to Cos- 4.7 (min. 4.2) kW

Common-mode, to GND 2.2 kW

Interpolation Resolution Depending on software settings 11 Bits

FrequencySin-Cos interpolation 0 - 450 kHz

Quadrature, no interpolation 0 - 10 MHz



Input voltage, differen-tial

Sin+ to Sin-, Cos+ to Cos- 1 (max. 1.25) VPP


Operational range 2.5 (min. -1 / max. 4) V



Input impedance

Differential, Sin+ to Sin-, Cos+ to Cos- 4.7 (min. 4.2) kW

With SW3 pins 2, 3 to ON 150 W

Common-mode, to GND 2.2 kW

Interpolation Resolution Depending on software settings 11 Bits

FrequencySin-Cos interpolation 0 - 450 kHz

Quadrature, no interpolation 0 - 10 MHz



Technical Data

12.06.2018 | 58

4.14 Analog 0 - 5V Inputs (REF, FDBK)Table 29: PA MC x04 ETC-Drive

Property Value Unit

Input voltage

Operational range 0 - 4.95 V


Absolute maximum, surge (duration£1s) max. +/-36 V

Input impedance To GND 30 kW

Resolution 12 Bits

Integral linearity max. +/-2 Bits

Offset error +/-2 (max. +/-10) Bits

Gain Error +/-1% (max. +/-3%) % FS

Bandwidth (-3dB) Depending on software settings 0 - 1 kHz



Input voltage

Operational range 0 - 5 V



Input impedance To GND 28 kW

Resolution 12 Bits






Table 31: PA MC 107 (BX, BA) ETC-DriveProperty Value Unit

Input voltageOperational range 0 - 5 V



Technical Data

12.06.2018 | 59

Property Value Unit


Input impedance To GND 6.8 kW

Resolution 12 Bits







Input voltage

Operational range 0 - 5 V



Input impedance To GND 6.8 kW

Resolution 12 Bits







Technical Data

12.06.2018 | 60

4.15 Axis ID Inputs (AxisID 0, AxisID 1, Axis ID 2)This table is applied to the

– PA MC x04 ETC-Drives

Table 33: PA MC x04 ETC-DriveProperty Value Unit

External connections 7 levels

nNot connectednStrap to GNDnStrap to +5Vn4.7 kW to GNDn4.7 kW to +5Vn22 kW to GNDn22kW to +5V

Pin current Use to size PCB tracks max. +/-0.5 mA

4.7kW / 22kW resistorrating

min. 3 mW

4.7kW / 22kW resistortolerance

max. +/-5 %


4.16 RS-232This table is applied to the

– PA MC x04 ETC-Drives– PA MC 106 ETC-Drive– PA MC 107 (BX, BA) ETC-Drive– PA MC 114 (BX, BA) ETC-Drive

Property Value Unit

Standards compliance TIA/EIA-232-C

Bit rate Depending on software settings 9600 - 115200 Baud

Short-circuit protection 232TX short to GND Guaranteed



Technical Data

12.06.2018 | 61

4.17 EtherCATâTable 34: PA MC 106 ETC-Drive

Property Value Unit

Standards compliance IEEE802.3, IEC61158

Transmission line spec-ification

According to TIA/EIA-568-5-A Cat.5e.UTP

J5, J6 pinout EtherCATâ supports MDI/MDI-X auto-crossover TIA/EIA-568-A or TIA/EIA-568-B

Software protocolscompatibility

CoE, CiA402,IEC61800-7-301

Node addressing By software, via EasySetup 1 - 255

By hardware via hex sw1 and sw2 1 - 127

MAC addressing EtherCATâ uses no MAC address none








CoE, CiA402,IEC61800-7-301

Node addressingHardware: by DIP switch 1 - 127 & 255

By software, via EasySetup 1 - 255








Technical Data

12.06.2018 | 62

Property Value Unit



CoE, CiA402,IEC61800-7-301

Node addressingHardware: by DIP switch 1 - 127 & 255

By software, via EasySetup 1 - 255




Technical Data

12.06.2018 | 63

4.18 Supply Output (+5V)Table 37: PA MC x04 ETC-Drive

Property Value Unit

+5V output voltage Current sourced = 250mA 5 (min. 4.8 / max. 5.2) V

+5V output current 350 (min. 250) mA

Short-circuit protection NOT protected

Over-voltage protection NOT protected




+5V output current 250 (min. 200) mA






+5V output current (min. 200) mA






+5V output current (min. 200) mA





Technical Data

12.06.2018 | 64

4.19 Graphical presentationThese graphical presentations are only available at the versions PAMC x04 ETC-Drives.

Fig. 18: De-rating with ambient temperature (PA MC 304 ETC-Drive)

Fig. 19: De-rating with altitude (PA MC 304 ETC-Drive)


Technical Data

12.06.2018 | 65

Fig. 20: Current De-rating with PWM frequency (PA MC 304 ETC-Drive)

Fig. 21: Over-current diagram (PA MC 304 ETC-Drive)


Technical Data

12.06.2018 | 66

Fig. 22: Output Voltage De-rating with PWM frequency

Fig. 23: De-rating with ambient temperature (PA MC 504 ETC-Drive)


Technical Data

12.06.2018 | 67

Fig. 24: De-rating with altitude (PA MC 504 ETC-Drive)

Fig. 25: Current De-rating with PWM frequency (PA MC 504 ETC-Drive)


Technical Data

12.06.2018 | 68

Fig. 26: Over-current diagram (PA MC 504 ETC-Drive)

For PWM frequencies less than 20 kHz correlate the PWM fre-quenc with the motor parameter in order to avoid possible motordamage.

4.20 Conformance with European directives andUL-standardsETC-drives are components which are built in electrical equipment andmachines for industrial use. The operation is forbidden, until themachine or plant fulfills the requirements defined by the EC-Directiveon Machines 2006/42/EC, represented by DIN-EN 60204-1, and theEC-Directive on EMC 2014/30/EC.

L CAUTION

Directives


Technical Data

12.06.2018 | 69

The conformance with the EC-Directive on EMC (2014/30/EC) and theLow Voltage Directive (2006/95/EC) is mandatory for the supply ofservo drives within the European Community.

The harmonized standard DIN-EN 61800-5-1 (Adjustable speed elec-trical power drive systems - Part 5-1: Safety requirements - Electrical,thermal and energy) is applied to the servo drive in connection with theLow Voltage Directive (2006/95/EC).

The harmonized standard DIN-EN 61800-3 (Adjustable speed elec-trical power drive systems - Part 3: EMC product standard includingspecific test methods) is applied to the servo drive in connection withthe EMC-Directive 2014/30/EC.

The PA ETC-drives have been tested in a defined configuration withsystem components described in this installation manual. Any diver-gence from the configuration and installation described in this installa-tion manual means that new measurements have to be done to ensurethat the regulatory requirements are met.

4.21 Installation guidelinesElectromagnetic compatibility (EMC) refers to the ability of an electricaldevice to work flawlessly in an electromagnetic environment withoutgenerating or being susceptible to disturbances. All PA ETC drivesare designed for use in industrial environments and meet high EMCspecifications.

Cabling

n The cabling must be in line groups (high voltage, current supply,signal and data lines)

n High voltage lines and signal respectively data lines must be laid inseparate channels or bundles

n The signal and data lines have to be routed as near as possiblebeside ground areas

Reference potential and ground of all electrical operating supplies

n Installation parts and cabinets with your CNC control unit have tobe connected in star topology with the isolation/protected groundconductor system to avoid ground loops.

n Sufficiently dimensioned potential compensation lines have to belaid if there are potential differences between installation parts andcabinets

Area-wide grounding of the inactive metal parts

n A central connection between the ground and the protected groundconductor system have to be installed.

n All inactive metals have to be connected extensively and impe-dance-low.

CE-Conformance

Meaning Of EMC

Important Rules For EMC


Technical Data

12.06.2018 | 70

Fixing of the cable shield

n Data cables and analog cables must be laid separately from eachother.

n The cable shield has to be laid extensively on a protected groundconductor rail directly after the cabinet entry and the fixation of theshield with cable clamps.

n The isolation / protected ground rail has to be connected impe-dance-low with the cabinet.

n The metallic or metallized plug cases for shielded cables must beused.

n When transmitting signals with small amplitudes the one sidedgrounding of the cable shield may be favorable.

Electromagnetic interferences may interfere with the ETC drive:

n Electromagnetic fields (RF coupling)n Magnetic fields with power frequencyn Power supplyn Protected ground conductorn Superbus system

Depending on the spreading medium and the distance to the interfer-ence cause, interferences to the ETC drive occur by means of capaci-tive, galvanic, inductive or radiant coupling mechanisms.

Possible Interference


Technical Data

12.06.2018 | 71

Electrical, magnetic and electromagnetic interference fields are weak-ened by means of shielding

Via the shielding rail, which is connected with low impedance to therack, interference currents are shorted by the cable shield to theground. It's important that the connection to the protected ground con-ductor is impedance-low, because otherwise the interference currentsmay cause interference.

For the use of shielded cables the following rules are important:

n The screen cover should be higher than 80%n The cables have a copper braid (shield / screen)n Normally the cable shield must be connected to ground in both

sides of the cable. Double-sided grounding is necessary to achievehigh-quality interference suppression in the higher frequencyrange. The cable shield can be connected to single-sidedgrounding in exceptional cases, but if that is done, only lower fre-quencies will be absorped.A single-sided ground connection of the cable shield may be con-venient, if:– the conduction of a potential compensating line is not possible– analog signals (some mV respectively μA) are transferred– foil screens (static screens) are used instead of screens made

of copper braid.n When using data lines always use metallic or metallized plugs for

serial couplings. Fix the cable screen of the data line at the plugrack.

n It is convenient to strip the insulated cable interruption free and layit on the isolation/protected ground conductor line (stationary oper-ation).

n Metal cable clamps to fix the cable shield have to be used. Theclamps must clasp the copper braid extensively and have goodcontact.

n The cable shield has to be laid on a protective earth rail directlyafter the entry of the cable in the cabinet. Do not attach the cableshield again on the CNC control / PAMIO / PASIO device.

Please observe at installation!At potential differences between the grounding points, there maybe a compensation current via the cable shield grounded at bothsides.

Shielding Of Conductors

L CAUTION


Technical Data

12.06.2018 | 72

5 Installation5.1 Important instructions

If a leakage current sensor is used in the mains supply, in anycase a leakage current sensor RCD type B has to be used. Thereis a risk, if a RCD type A or AC will be used. The DC-part of theleakage current inhibits the leakage current sensor.

Ground the PA MC ETC-Drive with a minimum wire size of 10 mm2

(AWG 8) at the ground bolt.n The PA MC ETC-Drive and motors have to be grounded properly.

Use uncoated, zinc plated mounting plates (sub plates).n The mains supply of the PA MC ETC-Drive demands a fixed con-

nection.If the PA MC ETC-Drive is mounted in a moveable part of amachine with mains connector plug, the ground connection has tohave a minimum wire size of 10 mm2 (8 AWG), because of thehigh leakage current of the PA MC ETC-Drives (> 3.5 mA).

n Check the PA MC ETC-Drive mechanically. If the housing hasbeen damaged e.g. by transport, don’t use it!! Don’t touch elec-tronic components of the drive.

n Compare the rated voltage and current of the servo motor with thedata of the PA MC ETC-Drive. Do the wiring according to the Con-nection diagram.

n Make sure that the mains input voltage, under any condition, doesnot exceed the maximum rating of the servo drive. Note also possi-bilities of mains supply.

n Define the external fusing of the mains input, 24V auxiliary supplyand holding brake supply, according to External fusing.

n Install the motor and control cables separately (min. distance100mm). This reduces the noise level on the control signals,caused by the EMI radiation of the motor cables. Use onlyscreened motor and feedback cables, with shielded connectionson both ends.

n The prescribed mounting position is vertical.n The air flow in the switchgear cabinet has to be in a way, so that

enough cool and filtered air for the PA MC ETC-Drive is provided.n All alterations of the PA MC ETC-Drive will invalidate the material

warranty, except setting the software functions by parameter.n At start-up of the PA MC ETC-Drive, check the setting of the PA

MC ETC-Drive peak current. Especially smaller motors will bedamaged very quickly if the setting of the PA MC ETC-Drive is toohigh (e.g. a 1A-motor and the 10A-unit, not reduced to 1A!)

General

L DANGER

NOTICE


Installation

12.06.2018 | 73

5.2 PA MC x04 ETC-Drive5.2.1 Interfaces

Fig. 27: Location of the connectors

1 IO connector2 EtherCATâ connector RJ 45 (X23)3 Connectors for axis 14 Connectors for axis 25 Connectors for axis 36 Connectors for axis 47 Connectors for axis 58 Connectors for axis 69 EtherCATâ connector RJ 45 (X23)10 Power supply connector

The motor and feedback connectors are located on the lower frontsideof the ETC drive (see Fig. 27).

Location Of The Connectors


Installation

12.06.2018 | 74

Table 41: Location of the motor and feedback connectorsDrivetype

Axis 1 Axis 2 Axis 3

Cable Motor Feed-back

Motor Feed-back

Motor Feed-back

MC J61 J21 J62 J22 J63 J23

Fig. 28: Connectors for axis 1, 3 and 5

1 Motor connector J61, J63, J652 IO connector J51, J53, J553 Serial connector J41, J43, J454 Feedback connector J21, J23, J25

Fig. 29: Connectors for axis 2, 4 and 6

1 Motor connector J62, J64, J662 IO connector J52, J54, J563 Serial connector J42, J44, J464 Feedback connector J22, J24, J26

Connectors For Axis 1, 3, 5

Connectors For Axis 2, 4, 6


Installation

12.06.2018 | 75

Fig. 30: Feedback connector

Table 42: Feedback ConnectorPins (see Fig. 30) Function

Pin 1 GND

Pin 2 +5VOUT

Pin 3 not connected

Pin 4 +5VOUT

Pin 5 A-

Pin 6 A/A+

Pin 7 B-

Pin 8 B/B+

Pin 9 Z-

Pin 10 Z/Z+

Pin Assignment


Installation

12.06.2018 | 76

Fig. 31: Motor connector

Table 43: Motor ConnectorPins (see Fig. 31) Function

Pin 1 A/A+

Pin 2 C/B+

Pin 3 Hall 1

Pin 4 Hall 2

Pin 5 Hall 3

Pin 6 B/A+

Pin 7 BR/B-

Pin 8 +5VOUT

Pin 9 not connected

Pin 10 GND


Installation

12.06.2018 | 77

Fig. 32: IO connector

Table 44: IO ConnectorPins (see Fig. 32) Function

Pin 1 +5VOUT

Pin 2 REF

Pin 3 IN0

Pin 4 IN4/ENABLE

Pin 5 IN3/LSN

Pin 6 OUT2/Error

Pin 7 +VLOG

Pin 8 GND

Pin 9 FDBK

Pin 10 IN1

Pin 11 IN2/LSP

Pin 12 OUT0

Pin 13 OUT3/Ready

Pin 14 OUT1

Pin Assignment


Installation

12.06.2018 | 78

Fig. 33: Serial connector

Table 45: Serial ConnectorPins (see Fig. 33) Function

Pin 1 RS-232 Data Transmission

Pin 2 not connected

Pin 3 RS-232 Data Reception

Pin 4 GND

Pin Assignment


Installation

12.06.2018 | 79

5.2.2 Mechanical construction and mountingThe mechanical dimensions of the servo drives are shown in Fig. 34.

Fig. 34: Dimension Sheet

Overview


Installation

12.06.2018 | 80

The cable ducts below and above the ETC-drive must have the dis-tance as shown in Fig. 35. This is necessary to get enough air throughthe heat sink.

Fig. 35: Cable ducts

Material: 4 hexagon socket screws M5 (according to DIN-ENISO 4762)

Required tool: Allen key (4 mm)

5.2.3 Connector propertiesAll connections of the servo drive (except the ground bolt) are plug-and-socket connections. To install cables and to replace drives can bedone easily. Nevertheless, it also opens the possibility to create cablesets for high volume machines. The mechanical properties of the inter-face connectors are shown in Ä Table on page 82.

Cable Ducts

Plug- and Socket Connections


Installation

12.06.2018 | 81

Connector Type Wire size Max. screwtorque

X1A Phoenix MSTB 2.5HC/3-ST

1 - 2.5 mm2

(14 - 16 AWG)0.3 Nm

(2.25 inch lb)

X1B Phoenix PC4/8 1 - 4 mm2

(12 - 16 AWG)1.3 Nm

(12 inch lb)

X3

Phoenix PC4/6 1 - 4 mm2

(12 - 16 AWG)1.3 Nm

(12 inch lb)X4

X5

X6D-Sub 25 withmetal housing

0.25 - 0.5 mm2

(20 - 22 AWG)Soldered or

crimpedX7

X8

Ground bolt M5 10 mm2

(8 AWG)3.5 Nm

(31 inch lb)

5.2.4 External FusingThe AC-mains and 24V-fuses are calculated according to the customerneeds (see Ä Table on page 82).

Signal Fuses, time delay

Signal Fuses, time delay ACmains input (L1/N, L2, L3)

Size fuses to the average power

n needed by the servo drivesn connected to the circuit

Maximum rating is 20A corre-sponding to cable diameter of 4 mm2

(12 AWG) (FRS-25)

24V DC input (24V, 24V BR toBGND)

Limited to 16A, time delayed at 2.5mm2 (14 AWG) for the electric circuit

External regen resistor10A, time delayed, 1200V (e.g. SIBA10 022 01, 3-channel-D Fuse- Link)or FRS-10

Calculation


Installation

12.06.2018 | 82

5.3 Linear Feedback TypesDirect drive motors are always combined with linear feedback systems.

Available are optical or magnetic linear encoders in various resolu-tions. Normally they have no parameter channel. That means, thatthese encoders are incremental and not absolute. After switch-on ofthe machine, the servo drive has to perform a phasing routine and themachine has to be referenced before starting the machine in workingmode.

Preferred is the use of encoders with analog output signal. The outputlevel is 1 VSS with an offset of 2.5V. In this case the servo drive countsthe incremental signals and is able to interpolate the sine/cosine sig-nals to enlarge the resolution of the system. The input frequency of theencoder can be low, but the internal position resolution is high.

The less preferable option is to use encoders with A, B and N digitaloutput signals (RS422). The servo drive can also read this type ofsignal. But there is no possibility to enlarge the internal resolution,except the quadruplication of the A and B signals. The input frequencyof the servo drive is limited to 250 kHz. So the resolution is also limitedaccording to the maximum speed of the motor.

Table 46: Possible Feedback Devices For Direct Drive MotorsProperty High resolution linear encoder Low resolution linear encoder

Resolution of the encoder 20 μm for one sine period 1 mm for one sine period

Resolution of the interpolated posi-tion (about 12 Bit of a sine period)

ca. 5 nm ca. 0.5 μm

Absolute Position No No

Phasing at the first enable of theaxis

Yes Yes

Setting for the motor type M-TYPE 4 4

Performance Very stiff, depending on themechanical situation

Standard stiffness

Maximum speed 5 m/s (limited by the maximuminput frequency of the feedback

input, 250 kHz)

30 m/s (limited by the maximumoutput frequency of the drive at

motor pole pitch, e.g. of 32 mm, 1kHz)


Installation

12.06.2018 | 83

5.4 Switchgear cabinet assemblyAccording to DIN-EN 60204-1 the following data is recommended( Ä Table on page 84):

Signal Cable rating

DC mains input

CAB PS MC 1(MCx04)

10x0.5 mm2

(AWG 20)300 V, 105°C

DC mains input

CAB PS MC 2(MC106)

4x1mm2 (AWG 18) 300 V, 105°C

CAB MOT MC 1 10x0.5mm2

(AWG 20)600 V, 80 °C

CAB MOT MC 2 10x0.5mm2

(AWG 20)600 V, 80 °C

Holding brake Minimum 0.75 mm2

(18 AWG), part of themotor cable, shieldedseparately, checkvoltage drop

600 V,105 °C(221 °F)

"Motor Feedback"Product Key:CAB FB MC 1

10x0.14mm2 (AWG 26), twisted pairs,shielded

The following cables are available at Power Automation (seeÄ Chapter 11 “Service and return process” on page 121):

– CAB SER MC 1 (Configuration cable for MC106, MCx04, 2.5m)– CAB SER MC 2 (Configuration cable for MC107, MC114, 2.5m)– CAB PS MC 1 (Power Supply cable 24VDC for MCx04, 2.5m)– CAB PS MC 2 (Power Supply cable 24VDC for MC106, 2.5m)– CAB FB MC 1 (Feedback cable for MCx04, MC106, 2.5m)– CAB MOT MC 1 (Motor cable for MCx04, 2.5m)– CAB MOT MC 2 (Motor cable for MC106, 2.5m)– CAB I/O MC 1 (I/O cable for MCx04, 2.5m)– CAB I/O MC 2 (I/O cable for MC106, 2.5m)– CAB I/O MC 3 (I/O cable for MC107, MC114, 2.5m)– CAB STO MC 1 (STO cable for MC106, MC107, MC114, 2.5m)

Wire Sizing


Installation

12.06.2018 | 84

Table 47: OverviewPA Product Key Min. Bending

RadiusNo of cycles at r =0.3m

CAB SER MC 1 90mm 1 000 000

CAB SER MC 2 90mm 1 000 000

CAB PS MC 1 90mm 1 000 000

CAB PS MC 2 90mm 1 000 000

CAB FB MC 1 70mm 1 000 000

CAB MOT MC 1 90mm 1 000 000

CAB MOT MC 2 90mm 1 000 000

CAB I/O MC 1 90mm 1 000 000

CAB I/O MC 2 90mm 1 000 000

CAB I/O MC 3 90mm 1 000 000

CAB STO MC 1 90mm 1 000 000

Chain cables have to be installed loosely in the cable chain, that is,without any restraint in the cable chain. Do not attach several cablestogether in the cable chains. Various cables in the cable chain shouldbe separated by separators. The size of the cable chain should besuch that they allow sufficient space for cable movements (see Fig. 36).

Cable Bending Radius


Installation

12.06.2018 | 85

Fig. 36: Installation of chain cables

The connection, e.g. the fixation point of the cable on each side of thecable chain should be at least 30 x cable diameter from the bendingpoint of the chain. Stress on the fixation point has to be avoided. Thestrain relief should be applied over a large area of the outer sheath.Crushing the conductors of the cable will shorten the service life of thecable. In any case, the cable can never be moved all the way to theconnection point (see Fig. 37.


Installation

12.06.2018 | 86

Fig. 37: Bending Radius

If one of the cables in the cable chain is defective, all cables should bereplaced, as otherwise quality deviations due to mechanical stress(straining) could occur.


Installation

12.06.2018 | 87

The servo drive works up to 45°C (113°F) ambient temperature (55°C(131°F) with power reduction). This means, there could be a need of acooling unit.

In principle, the usage of a cooling unit can and will produce condensa-tion water. So it is important to notice the following:

– Cooling units have to be mounted so that condensed water doesnot drop on electronic devices of the switchgear cabinet (see Fig. 38).

– Amassed condensed water should not spray into electronicdevices, by the cooling unit fan (see Fig. 39).

Fig. 38: Cooling unit on top of the switchgear cabinet

Fig. 39: Cooling unit in the door of the switchgear cabinet

Avoid dewing also by following these rules:

n Set the set point of the temperature control of the cooling unitslightly below the temperature of the factory building.

n Use only properly sealed switchgear cabinets to avoid dewing byexternal damp air.

Usage Of Cooling Units


Installation

12.06.2018 | 88

n Especially at installation or service when the machine is runningwith open switchgear cabinet doors, make sure, that the tempera-ture of the electronic devices are not cooler than the switchgearcabinet air. This will generate dewing in the electronic devices.


Installation

12.06.2018 | 89


Installation

12.06.2018 | 90

6 Interface6.1 PA MC x04 ETC-Drive6.1.1 24V Digital I/O Connection

Fig. 40: 24V Digital I/O connection

n Connect the external load to the external supply +VLOG for usingthe 24V outputs.

n The maximum sink current is 0.5A continuous, up to 1A pulsed forless than 5 seconds.

n The inputs are compatible with NPN type outputs (input must bepulled to GND to change its default state).

n The outputs are compatible with NPN type inputs (load is tied tocommon +VLOG, output pulls to GND when active and is floatingwhen inactive).


Interface

12.06.2018 | 91

6.1.2 5V Digital I/O Connection

Fig. 41: 5V Digital I/O connection

n The inputs are compatible with TTL(5V), LVTTL(3.3V), CMOS andopen collector outputs.

n The outputs are compatible with TTL (5V) inputs.n The output loads can be individually and independently connected

to +5V or to GND.


Interface

12.06.2018 | 92

6.1.3 Analog Inputs Connection

Fig. 42: Analog inputs connection

n Default input range for analog inputs is 0-5V for REF and FBDK.For a +/-10V range, see Fig. 43.

Fig. 43: +/- 10V to 0-5V Input range adapter

0 - 5V Input Range

+/- 10V To 0-5V Input RangeAdapter


Interface

12.06.2018 | 93

If the analogue signal source is single-ended, use a 2-wire twistedshielded cable as follows:

n First wire connects the live signal to the drive input.n Second wire connects the source ground to the drive ground.n Shield will be connected to the drive ground terminal.

If the analogue signal source is differential and the signal sourceground is isolated from the drive GND, use a 2-wire twisted shieldedcable as follows:

n First wire connects the source plus (positive, in-phase) to the driveanalog input.

n Second wire connects the source minus (negative, out-of-phase) tothe drive ground (GND).

n Shield is connected only at the drive side, to the drive GND, and isleft unconnected at the source side.

If the analog signal source is differential and the signal source groundis common with the drive GND, use a 2-wire shielded cable as fol-lows:

n First wire connects the source plus (positive, in-phase) to the driveanalogue input.

n Second wire connects the source ground to the drive ground(GND).

n Shield is connected only at the drive side, to the drive GND, and isleft unconnected at the source side.

n The source minus (negative, out-of-phase) output remains uncon-nected.

6.1.4 Motor connections

Fig. 44: Brushless motor connection

Recommendation For Wiring

Brushless Motor Connection


Interface

12.06.2018 | 94

Fig. 45: 2-phase Step motor connection

Fig. 46: 2-phase step motor connection, two coils per phase

2-phase Step Motor Connection


Interface

12.06.2018 | 95

Fig. 47: 3-Phase Step Motor connection

Fig. 48: DC Motor connection

3-Phase Step Motor Connection

DC Motor Connection


Interface

12.06.2018 | 96

n Avoid running the motor wires in parallel with other wires for a dis-tance longer than 2 meters. If this situation cannot be avoided, usea shielded cable for the motor wires. Connect the cable shield tothe PA MC x04 ETC-Drive GND pin. Leave the other end discon-nected.

n The parasitic capacitance between the motor wires must notbypass 10nF. If very long cables (tens of meters) are used, thiscondition may not be met. In this case, add series inductorsbetween the PA MC x04 ETC-Drive outputs and the cable. Theinductors must be magnetically shielded (e.g. toroidal) and must berated for the motor surge current. Typically the necessary valuesare around 100 mH.

n A good shielding can be obtained if the motor wires are runninginside a metallic cable guide.

6.1.5 Feedback connections

Fig. 49: Single-ended incremental encoder connection

Recommendations For MotorWiring

Single-ended Incremental EncoderConnection


Interface

12.06.2018 | 97

Fig. 50: Differential incremental encoder connection

120W (0.25W) terminators are required for long encoder cables, ornoisy environments.

Fig. 51: Digital Hall connection

Differential Incremental EncoderConnection

Digital Hall Connection


Interface

12.06.2018 | 98

Fig. 52: Linear Hall connection

Fig. 53: Sine-Cosine analogue encoder connection

Linear Hall Connection

Sine-Cosine Analog Encoder Con-nection


Interface

12.06.2018 | 99

n Always connect both positive and negative signals when the posi-tion sensor is differential and provides them. Use one twisted pairfor each differential group of signals as follows:– A+/Sin+ with A-/Sin-/LH1– B+/Cos+ with B-/Cos-/LH2– Z+ with Z-/LH3

Use another twisted pair for the 5V supply and GND.n Always use shielded cables to avoid capacitive-coupled noise

when using single-ended encoders or Hall sensors with cablelengths over 1 meter. Connect the cable shield to the GND, at onlyone end. This point could be either the PA MC x04 ETC-Drive(using the GND pin) or the encoder / motor. Do not connect theshield at both ends.

n If the PA MC x04 ETC-Drive 5V supply output is used by anotherdevice (like for example an encoder) and the connection cable islonger than 5 meters, add a decoupling capacitor near the supplieddevice, between the +5V and GND lines. The capacitor value canbe 1 - 10 mF, rated at 6.3V.

6.1.6 Power Supply Connection

Fig. 54: Supply connection

Recommendations For Wiring


Interface

12.06.2018 | 100

n Always provide a nearby capacitor on the motor supply lines. Thecapacitor should be located within 10cm of the PA MC x04 ETC-Drive edge connector, max. 20cm. The minimum recommendedcapacitance is 220mF, always rated at the appropriate voltage.

n Use short, thick wires between the PA MC x04 ETC-Drive and themotor power supply. Connect power supply wires to all the indi-cated pins. If the wires are longer than 2 meters, use twisted wiresfor the supply and ground return. For wires longer than 20 meters,add a capacitor of at least 1000mF (rated at an appropriate voltage)right on the terminals of the PA MC x04 ETC-Drive.

Recommendations For SupplyWiring


Interface

12.06.2018 | 101

During abrupt motion brakes or reversals the regenerative energy isinjected into the motor power supply. This may cause an increase ofthe motor supply voltage (depending on the power supply characteris-tics). If the voltage bypasses 39V, the drive over-voltage protection istriggered and the drive power stage is disabled.

In order to avoid this situation you have 2 options:

n Option 1: Add a capacitor on the motor supply big enough toabsorb the overall energy flowing back to the supply. The capacitormust be rated to a voltage equal or bigger than the maximumexpected over-voltage and can be sized with the formula:

UMAX 39V is the over-voltage protection limitUNOM Nominal motor supply voltageEM Overall energy flowing back to the supply in Joules

In case of a rotary motor and load, EM can be calculated with the for-mula:

JM Total rotor inertia [kgm2]JL Total load inertia as seen at motor shaft after transmission [kgm2]vM Motor angular speed before deceleration [rad/s]mM Motor mass [kg] - when motor is moving in a non-horizontal

planemL Load mass [kg] - when load is moving in a non-horizontal planeg Gravitational acceleration, e.g. 9.8 [m/s2]hinitial Initial system altitude [m]hfinal Final system altitude [m]IM Motor current during deceleration [ARMS/phase]RPh motor phase resistance [W]td Time to decelerate [s]TF Total friction torque as seen at motor shaft [Nm] - includes load

and transmission

In case of a linear motor and load, the motor inertia JM and the loadinertia JL will be replaced by the motor mass and the load mass meas-ured in [kg], the angular speed vM will become linear speed measuredin [m/s] and the friction torque TF will become friction force measuredin [N].

Recommendations To Limit Over-voltage During Braking


Interface

12.06.2018 | 102

n Option 2: Connect a brake resistor RBR between phase BR/B-(pins A25-A28) and ground (pins A23+A24+B23+B24), and acti-vate the software option of dynamic braking.

This option will not be available if the drive is used with a step motor.

The dynamic braking option can be found in the Drive Setup dialoguewithin EasyMotion / EasySetup. The braking will occur when DC busvoltage increases over UBRAKE. This parameter (UBRAKE) should beadjusted depending on the nominal motor supply. Optimally (from abraking point of view), UBRAKE should be a few volts above the max-imum nominal supply voltage. This setting will activate the brakeresistor earlier before reaching dangerous voltages – when the over-voltage protection will stop the drive. Of course, UBRAKE must alwaysbe less than UMAX – the over-voltage protection threshold.

This option can be combined with an external capacitor whose value isnot enough to absorb the entire regenerative energy EM but can helpreducing the brake resistor size.

The brake resistor value must be chosen to respect the following con-ditions:1. to limit the maximum current below the drive peak current IPEAK =

10A

2. to sustain the required braking power:

ð where C is the capacitance on the motor supply (external),e.g.

3. to limit the average current below the drive nominal current INOM= 4A

Brake resistor selection


Interface

12.06.2018 | 103

ð where tCYCLE is the time interval between 2 brakes in case ofrepetitive moves.

4. to be rated for an average power PAV and a peak power PPEAK

If

the braking power PBR must be reduced by increasing either td (thetime to decelerate) or C (the external capacitor on the motor supply).

If

either the braking power must be reduced or tCYCLE (the time intervalbetween braking cycles) must be increased.

The brake resistor may have hot surfaces during operation.

Remarks

L DANGER


Interface

12.06.2018 | 104

6.1.7 Serial RS-232 connection

Fig. 55: Serial RS-232 connection

n If you build the serial cable, you can use a 3-wire shielded cablewith shield connected to both ends. Do not use the shield as GND.The ground wire (pin B1 of J1) must be included inside the shield,like the 232Rx and 232Tx signals.

n Always power-off all the PA MC x04 ETC-Drive supplies beforeinserting/removing the RS-232 serial connector.

n Do not rely on an earthed PC to provide the PA MC x04 ETC-DriveGND connection! The drive must be earthed through a separatecircuit. Most communication problems are caused by the lack ofsuch connection.

Recommendation For Wiring


Interface

12.06.2018 | 105


Interface

12.06.2018 | 106

7 Transport, packaging, storage and dis-posal7.1 TransportCheck the delivery immediately on receipt for completeness and trans-port damage.

Record the extent of transport damage in the transport documents oron the delivery note of the forwarding agent.

Complaint periods limitedClaim any damage as soon as it is detected. Compensation claims canonly be submitted within the applicable complaint periods.

Improper transport can result in damage!Improper transport can cause extensive material damage. TheETC drive contains electrostatically sensitive components, whichcan be damaged by incorrect handling. Discharge yourself,before touching the EtherCATâ amplifier. Avoid contact withhighly insulating materials (artificial fabrics, plastic films etc.).Place the ETC drive on a conductive surface.n When unloading the packages upon delivery and during in-house

transport, exercise caution and observe the symbols on thepackage.

n Do not remove packaging material until control units are ready forassembly.

n Use only the manufacturer’s original recyclable packaging.n Avoid mechanical vibrations.

Property Value Unit

Temperatures -25 - +70 °C

-13 - +158 °F

Humidity (non condensing) £ 95 %

Maximum rate of change 20 K/h

Additional requirementsPackages may be marked with notes for storage, which may exceedthe requirements mentioned here. These must be adhered to.

Inspection

Improper Transport

L CAUTION

Transport Conditions


Transport, packaging, storage and disposal

12.06.2018 | 107

7.2 PackagingThe individual packages have been packed to match the transport con-ditions that can be expected.

The packaging has the function of protecting the individual compo-nents against damage, corrosion, etc. until they are finally fitted. Thepackaging material must therefore not be damaged and should only beremoved just before assembly is to take place.

If there is no returns agreement for the packaging, separate materialsaccording to type and size and direct to further use or recycling.

Environmental damage caused by incorrect waste disposal!Packaging materials are valuable raw materials and can sensiblyreconditioned and recycled in many cases.n Dispose of packaging materials environmentally compliant.n Follow the locally valid waste disposal regulations. If necessary

employ a special waste disposal company to dispose of packagingmaterial.

n The dimensions of the packaging box are: 300 mm x 400 mm x500 mm (height x depth x width).

n A copy of the name plate of the ETC drive is located outside of thepackaging box.

7.3 StorageStore packages under the following conditions:

n Do not store outdoors.n Store in a dry and dust-free environment.n Do not subject to aggressive media.n Protect against direct sunlight.n Avoid mechanical vibrations.n For storage periods longer than 3 months check the general condi-

tion of all parts and packaging regularly.n If necessary renew the packaging.

Concerning Packaging

Handling Packaging Materials

NOTICE

Storage Of Packages



12.06.2018 | 108

Property Value Unit

Temperatures -25 - +55 °C

-13 - +131 °F

Humidity (non condensing) £ 95 %

Maximum rate of change £ 20 K/h

Additional requirementsPackages may be marked with notes for storage, which may exceedthe requirements mentioned here. These must be adhered to.

Improper storage can result in damage!Improper storage can cause extensive material damage.n Always store the control unit in its original packaging.n The EtherCATâ amplifiers contain electrostatically sensitive com-

ponents, which can be damaged by incorrect handling. Dischargeyourself before touching the EtherCATâ amplifier. Avoid contactwith highly insulating materials (artificial fabrics, plastic films etc.).Place the EtherCATâ amplifier on a conductive surface.

Table 48: Storage Duration< 1 year > 1 year

Without restriction. Capacitors must be re-formedbefore operating the ETC drive.To re-form, remove all electricalconnections and supply theEtherCATâ amplifier for about 30minutes from 230 VAC, single-phase, on terminals L1 and L2,respectively L1/N and L2.

7.4 DisposalThe ETC drives can be reduced to its principal components, byremoving the screws (aluminum heat sink, steel housing sections,electronics boards)

Disposal should be carried out by a certified disposal company.

Storage Conditions

Improper Storage

L CAUTION

Disposal Of Components



12.06.2018 | 109



12.06.2018 | 110

8 Maintenance8.1 Safety notesSome maintenance tasks can only be executed by trained qualifiedpersonnel, or only by Power Automation. In these cases this isseparately indicated in the description of the specific maintenancetasks. All work on the electrical equipment shall only be executed by aqualified electrician.

Danger to life caused by electric current!Touching conductive parts causes a direct danger to life. Damageto insulations or individual components can cause danger to life.Property damage due to improperly executed maintenance work!– Prior to starting work ensure that there is sufficient assembly

space.– Ensure order and cleanliness at the assembly site! Loose

parts and tools or parts and tools placed on top of each otherare hazard sources.

– If components have been removed, ensure that they are prop-erly mounted; re-install all mounting elements and complywith standard screw tightening torque specifications.

Improper maintenance can cause property damage.

8.2 Maintenance scheduleMaintenance tasks that are required for optimum and trouble-freeoperation are described in the sections below. If increased dust pollu-tion is detected at regular inspections do the following:

n Shorten the required maintenance intervals to correspond with theactual signs of pollution.

n Check, whether the cabinet still adheres to the requirements of itsprotection class (IP).

For questions on maintenance work, contact Power AutomationService ( Ä Chapter 11 “Service and return process” on page 121).

Personnel

Safety Messages

L DANGER

NOTICE


Maintenance

12.06.2018 | 111

The ETC drive does not require any maintenance.

To open the enclosure invalidates the material warranty.

Interval Maintenance work Personnel

If a ETC drive has to bereplaced (no specialmounting tools are required)

n Switch off the main switch of the switchgear cabinet andremove the fuses supplying the ETC drive

n Wait at least 7 minutes after disconnecting the ETC drivefrom the mains supply voltage before touching live sectionsof the equipment (e.g. contacts) or undoing connections.Capacitors can still have dangerous voltages up to 7minutes present after switching off the supply voltages. Tobe sure, check the voltage in the DC-link circuit and waituntil it has dropped below 40V.

n During operation, the heat sink of the ETC drive canbecome hot and may reach temperatures above 80°C(176°F). Check (measure) the heat sink temperature andwait until it has cooled down below 40°C (104°F), beforetouching it.

n Remove the connectors. Make sure, that the identification isclear.Don’t interchange the connectors at installation of thereplacement.

n Disassemble the ETC drive.n Check the alternate drive and compare it to the disassem-

bled drive. Install only the same type!n Plug the connectors. Be careful again, not to interchange

the connectors.n Install the fuses, supplying the ETC drive. Switch on the

switchgear cabinets’ mains switch.n Check, if the right parameters have been downloaded to the

ETC drive.

Instructedperson

If the ETC drive doesn'twork properly and has to berepaired

The repair of the ETC drive has to be done by Power Automa-tion (see Ä Chapter 11 “Service and return process”on page 121).

Once a year Check whether all fans inside the electrical cabinet are oper-ating accordingly.

n Use a sheet of paper and keep it in front of the fans insidethe electrical cabinet to check if it is moving.Dirty protective grill (fan) may be cleaned with a dry brush.Do not immerse or spray.

Instructedperson

Check whether all interface cables are installed properly in theirrespective sockets.

n Before re-plugging loose cables, properly shut down controlunit and machine and secure against inadvertent restart.

n Unplug respective cables and re-plug them afterwards.

Instructedperson

Schedule


Maintenance

12.06.2018 | 112

Interval Maintenance work Personnel

Check whether the housing of the ETC drive is free of dirt anddust.

n Use a sheet of paper with Isopropanol or similar cleaningagent to clean the dirty housing.Dirt inside the unit has to be cleaned by the manufac-turer.

Instructedperson

8.3 Measures after maintenancePerform the following steps after completing maintenance and beforeswitching on the control unit and the machine:1. Check all previously loosened screw connections for a tight fit.2. Check whether all previously removed protective devices and

covers are properly installed again.3. Make sure that all tools, materials and other equipment used

were removed again from the cabinet.4. Clean up work area and remove any substances left over, such

as fluids, cleaning material or the like. Dispose them according tothe current applicable regulations.

5. Make sure that all safety features on the control unit and relatingto the machine are fully functional.


Maintenance

12.06.2018 | 113


Maintenance

12.06.2018 | 114

9 TroubleshootingThe following chapter describes possible causes of faults during instal-lation and configuration and the steps required to eliminate them.

n In the event of frequent faults, re-check, if the configuration wasset up as described in this installation manual.

n In the event of faults that cannot be eliminated through the fol-lowing instructions, please contact Power Automation (seeÄ Chapter 11 “Service and return process” on page 121).

9.1 Safety notesn The troubleshooting procedures described in this installation

manual can be performed by the operator unless otherwisemarked.

n Some work may be performed only by specially trained personnelor only by Power Automation, in which case special notice is givenin the description of the individual faults.

n All work on the electrical system must be performed by a qualifiedelectrician.

Unauthorized troubleshooting procedures can result in injury!Improper troubleshooting procedures can result in severe per-sonal injury or material damage.n Observe the personnel requirements for repairs specified in the

troubleshooting chart.If in doubt, contact Power Automation for help or support by anauthorized service technician.

n Ensure that the power supply has been disconnected.n Make sure that the assembly location is clean and well organized.n Components that are loosely stacked or lying around can cause

accidents.n If components have been removed, ensure proper assembly, install

all mounting elements and comply with screw tightening torques.

General Information

Personnel

Authorization

L WARNING


Troubleshooting

12.06.2018 | 115

The following general rules apply:

Personnel: n Qualified personnel

Protective equipment: n Ground strapn ESD safety shoesn ESD safety padn ESD clothingn Protective glassesn Ear protectionn Antistatic gloves

1. In the event of faults that pose immediate danger to man ormachine, activate the emergency shutoff function immediately.

2. Determine cause of fault.3. Disconnect the ETC drive from power supply.4. Immediately inform the person in charge at the equipment

location of the fault.5. Depending on the type of fault, eliminate the fault or have it

eliminated by an authorized specialist.

In Case Of Faults


Troubleshooting

12.06.2018 | 116

9.2 Malfunction indicatorsThe following components indicate malfunctions or improper configura-tion of the ETC-Drives Micro.

Faults and warnings can be detected by LED and bus system. The PAETC-Drive Micro has two LEDs which display the status of the drive(see Ä Table 49 “LED Displays” on page 117).

Table 49: LED DisplaysLED

Descriptiongreen red

on on Controller is in boot-mode (no or wrong

firmware)

flashing off Ready to switch onwithout mains supply

twinkling off Ready to switch on,mains supply is

applied

on flashing Output current islimited by I2T (one or

more axes)

on off Operational

off twinkling Warning

off on Error

Overview


Troubleshooting

12.06.2018 | 117

Malfunction of thedrive

Cause Remedy

I-FPOS shows decre-menting values whenthe motor rotatesclockwise (view of themotor shaft).

Feedback system isnot connected cor-rectly.

Connect feedbacksystem according todrawing (see page42).

n Motor does notrotate.

n Motor current isat the limit withouttorque.

Motor isn’t connectedin correct rotatingdirection.

Re-connect the motorin correct relation toterminals U, V, W.

n The motor castswithout set point.

n The motor torqueis too low or dif-ferent in bothdirections.

n M-ROFF is notset to the rightvalue.

n Motor and/orfeedback connec-tion is wrong.

n Set M-ROFF tothe right value.

n Re-connect motorand feedback cor-rectly.

The motor stops incertain positions.

n The setting of M-POL and/ or M-RPOL is not cor-rect.

n The motor cablehas a brokenwire.

n Not all wires ofthe motor cableare connected.

n Set M-POL andM-RPOLaccording to theto the data of themotor.

n Replace motorcable (especiallyin bending appli-cations).

n Connect all wiresof the motorcable.

The motor oscillates. n Control gains toohigh.

n Shielding of thefeedback cablehas a break.

n Reduce V-KPand/or PKV.

n Replace feedbackcable (especiallyin bending appli-cations).

Malfunction Of The Drive


Troubleshooting

12.06.2018 | 118

10 Dismounting and decommissioningWhen the ETC drive has reached the end of its service life it must bedismounted and disposed of in an environmentally responsiblemanner.

Personnel: n Qualified personnel

1. Ensure that the machine connected to the ETC drive rests in asafe state.

2. Disable the external power supply.3. Disconnect the power supply cable.4. Disconnect all input, output and interface wiring.5. Secure the ETC drive against unwanted movement.6. Loosen the screws that fix the ETC drive inside the cabinet.7. Dismount the ETC drive.

Electronic components are considered special waste. They must beproperly disposed of.

Power Automation will accept the ETC drive to properly dispose of itscomponents upon decommissioning.

To return the ETC drive follow the instructions given in Ä Chapter 11.3“Return policy and procedure” on page 124.

Environmental hazard caused by incorrect handling!Incorrect handling of environmentally hazardous substances,especially incorrect waste disposal, can cause considerabledamage to the environment.

Dismounting

Decommissioning

L CAUTION


Dismounting and decommissioning

12.06.2018 | 119


Dismounting and decommissioning

12.06.2018 | 120

11 Service and return process11.1 ServiceBy PhonePA's well-educated service staff is available to answer your technicalquestions. Due to the close co-operation with our customers, our engi-neers can solve problems often immediately by phone.

If on-site support is necessary, our service staff will diagnose theproblem and will prepare our field service engineer beforehand. This isto make on-site service as much effective as possible.

By Remote Control SoftwareEvery PA CNC is equipped with an Ethernet interface. If you have anetwork on-site, you only have to integrate the CNC system to yournetwork for world-wide-web access.

Power Automation provides a remote control software which allows ourservice staff to log into your CNC. This provides all the informationavailable on the machine. They can check all the data like the PLCprogram, machine parameters, or the NC programs directly on the realsystem under real conditions. This is the fastest and most cost-effec-tive way to solve problems.

On-SiteIf necessary our service engineers will visit you to help you solve yourproblems on-site. Our engineers are trained continuously to be alwaysup to date. Thereby you always can expect the best support.

Due to our service centers worldwide, our service staff can be on sitenormally within 24 hours at the latest.

Service At Power Automation


Service and return process

12.06.2018 | 121

11.1.1 Service addresses

Power Automation GmbH (Headquarters)Gottlieb-Daimler-Strasse 17/2

D-74385 Pleidelsheim

Tel: +49-7144-899-0

Fax: +49-7144-899-299

[email protected]

Power Automation America, Inc.8601 Jameel Road, Suite 140

Houston, Texas 77040 USA

Tel: +1-713-263-9400

Fax: +1-281-715-2500

[email protected]

http://www.powerautomation.info

Power Automation Office TurkeyKustepe Mah. Mecidiyekoy Yolu Cad.

Trump Towers No. 12 Kule: 2 K:18

Daire no: 3211022839 Sisli / Istanbul

Turkey

Tel: +90-212-306-3280

Fax: +90-212-306-3101

[email protected]

Shenzhen Double CNC Tech Co., Ltd9th-10th Floor, Zhongkenuo Industry Park

No. 7 Seventh Road, Tongguan Blvd

Guangming New Area

518132 ShenZhen, Guangdong

PR China

Service Addresses



12.06.2018 | 122

Power Automation France SARLCité de la Photonique

Bâtiment Pléione

11 avenue Canteranne

33600 Pessac

France

Tel: +33-559-4010-50

Fax: +33-559-4010-59

[email protected]

ACE AutomationA-721, Twinrex B/D

Deokpungdong-ro 111-10, Hanam-si

Gyeonggi-do, 465-831

South Korea

11.2 Spare partsDue to the high quality of our products we can assure you that you willnot need this service often. Spare parts are often urgent so PowerAutomation provides the relevant spare parts at the local service cen-ters for immediate dispatch.

Our 3 service centers in Europe, North America and Asia allow us todeliver all needed parts typically within 24 hours.

Only trust PA's original parts - because every part passes our tightquality checks.

We also offer consulting services to identify the most critical parts forthe machines in your production facilities. We suggest what criticalstock may be required to ensure a minimum downtime of yourmachines. Our specialists look for common parts to keep your inven-tory levels at a minimum.

Spare Parts



12.06.2018 | 123

11.3 Return policy and procedure

Power Automation will only accept control units and components forreplacement or repair, if they have been returned in adherence to theprovisions given below.

n If material warranty is void or if no error is detected, a testing flatrate will be charged. If an error is determined, the testing flat ratewill be charged to the repair costs.

n If material warranty is void you will receive a repair offer.n Before the repair starts we need a repair order from you, if the

material warranty is extinguished.

1. Contact Power Automation to receive an RMA form in Excelformat. Ä “RMA Form” on page 125

2. Open the 'RMA Process' form provided by Power Automation.

Use one form for each single part you want to ship back toPower Automation.

3. Fill in the form.

The fields marked with a red star (*) are mandatory fields.

Only fill in the fields next to the yellow bar on the left side of theform.

Do not fill in the fields next to the blue bar on the left side of theform. These fields are for internal notes only and blocked.

4. Send the completed form as an Excel file by email [email protected] to your local support (see web-page).

ð We will check the data and send the form back to you as aPDF file including an RMA number or tell you what informa-tion is missing if necessary.

5. Print the RMA form and add it to the accompanying componentsand documents.

6. After the check and repair the components will be shipped to youimmediately.

Policy

Acquiring RMA Number



12.06.2018 | 124

Fig. 56: RMA Form

RMA Form



12.06.2018 | 125

1. Pack the goods properly.

Controls must be packed in original or equivalent packaging. Ifthe packaging is not proper, Power Automation will charge apackaging flat rate.

NOTICE! Damages due to inadequate packaging Inadequatepackaging may result in damages to the control unit. Thiswill void the material warranty. PA does not bear any liabili-ties for damages in transit.

2. Write the RMA number on the cardboard box clearly readablefrom outside.

The incoming goods department rejects all deliverieswithout a visible, valid RMA number.

3. Ship the goods FREE DOMICILE / DDU. Other deliveries will berejected.

The goods have to arrive within 4 weeks after the date of theapproved RMA form.

11.4 TrainingHaving the best CNCs is one thing, to bring out the best of it is theother.

The PA training program comprises of a number of individually combin-able training modules which offer you a well-founded knowledge forusing PA CNCs. At our training centers we bring your employees -beginners and experts- up to scratch in CNC technology. We also offerindividual training courses at your site. The contents of the courses willbe customized to your requirements.

Return

Conditions Of Supply

Training Courses



12.06.2018 | 126

12 EC Declaration of Conformity

Fig. 57: EC-Declaration of Conformity


EC Declaration of Conformity

12.06.2018 | 127


EC Declaration of Conformity

12.06.2018 | 128

13 Proof of changeVersion Change Date

1 Original Version 07/05/2016

2 Chapter 12 (EC-Declaration ofConformity) new included

02/21/2017

3 Chapter 1.3 "EtherCATâ trade-mark" included

06/12/2018

Proof Of Change


Proof of change

12.06.2018 | 129


Proof of change

12.06.2018 | 130

14 Index

1, 2, 3 ...+/- 10V to 0-5V Input range adapter . . . . . . . . . . . 930-5V Input range . . . . . . . . . . . . . . . . . . . . . . . . . 932-phase Step Motor connection . . . . . . . . . . . . . . 953-Phase Step Motor connection . . . . . . . . . . . . . . 965V Digital I/O Connection . . . . . . . . . . . . . . . . . . . 9224V Digital I/O connection . . . . . . . . . . . . . . . . . . 91

AAcceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34Analog 0 - 5V Inputs . . . . . . . . . . . . . . . . . . . . . . . 59Analog inputs connection . . . . . . . . . . . . . . . . . . . 93Axis ID Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

BBatteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Brushless Motor connection . . . . . . . . . . . . . . . . . 94

CCable bending radius . . . . . . . . . . . . . . . . . . . . . . 85Cable ducts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81Cable types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81Connector

Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75Customer's responsibility . . . . . . . . . . . . . . . . . . . 13

DDC Motor connection . . . . . . . . . . . . . . . . . . . . . . 96Decommissioning . . . . . . . . . . . . . . . . . . . . . . . . 119Differential incremental encoder connection . . . . . 98Digital Hall connection . . . . . . . . . . . . . . . . . . . . . 98Digital Hall Inputs . . . . . . . . . . . . . . . . . . . . . . . . . 53Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Dismounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

EEasyMotion Studio . . . . . . . . . . . . . . . . . . . . . . . . 22EasySetUp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22EC Declaration of Conformity . . . . . . . . . . . . . . . 127Electrician . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Electronic components . . . . . . . . . . . . . . . . . 19, 119Enable circuit inputs . . . . . . . . . . . . . . . . . . . . . . . 44Encoder Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Environmental hazard . . . . . . . . . . . . . . . . . . . . . 19EtherCATâ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

FFeedback connections . . . . . . . . . . . . . . . . . . . . . 97Fusing

External . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

GGeneral instructions . . . . . . . . . . . . . . . . . . . . . . . 73Graphical presentation . . . . . . . . . . . . . . . . . . . . . 65

HHumidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

IInstallation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73Installation Guidelines . . . . . . . . . . . . . . . . . . . . . 70Instructed person . . . . . . . . . . . . . . . . . . . . . . . . . 14Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

LLabels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Limitation of liability . . . . . . . . . . . . . . . . . . . . . . . . 9Linear Feedback

Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83Linear Hall connection . . . . . . . . . . . . . . . . . . . . . 99Linear Hall Inputs . . . . . . . . . . . . . . . . . . . . . . . . . 57Logic Supply Input . . . . . . . . . . . . . . . . . . . . . . . . 37


Index

12.06.2018 | 131

MMaintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . 111Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Mechanical construction . . . . . . . . . . . . . . . . . . . . 80Motor connections . . . . . . . . . . . . . . . . . . . . . . . . 94Motor Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Motor Supply Input . . . . . . . . . . . . . . . . . . . . . . . . 38Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

OOperating conditions . . . . . . . . . . . . . . . . . . . . . . 34

PPA ETC-Drive Micro

Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Personal protective gear . . . . . . . . . . . . . . . . . . . 18Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 111Pictures

in the manual . . . . . . . . . . . . . . . . . . . . . . . . . . 7Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76, 78, 79Power supply connection . . . . . . . . . . . . . . . . . . 100Product key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Proof of Change . . . . . . . . . . . . . . . . . . . . . . . . . 129

QQualification

electrician . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14requirements . . . . . . . . . . . . . . . . . . . . . . . . . . 14technician . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Unauthorized person . . . . . . . . . . . . . . . . . . . . 14

Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . 14

RRMA form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125RMA-number . . . . . . . . . . . . . . . . . . . . . . . . . . . 124RS-232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

SSerial RS-232 connection . . . . . . . . . . . . . . . . . . 105Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121Service Addresses . . . . . . . . . . . . . . . . . . . . . . . 122Sin-Cos Encoder Inputs . . . . . . . . . . . . . . . . . . . . 58Sine-Cosine Analog encoder connection . . . . . . . 99Single-ended incremental encoder connection . . . 97Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123Supply Output . . . . . . . . . . . . . . . . . . . . . . . . . . . 64Supported motor configurations

PA MC x04 ETC-Drives . . . . . . . . . . . . . . . . . . 26Switchgear cabinet assembly . . . . . . . . . . . . . . . . 84

TTechnician . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34Training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

UUnintended use . . . . . . . . . . . . . . . . . . . . . . . . . . 16Usage Of Cooling Units . . . . . . . . . . . . . . . . . . . . 88

WWaste disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Wire sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84


Index

12.06.2018 | 132

installation instructions pa 9000 etc drive ... - inovance.eu · 1 general information 1.1...

Documents