tech series & standard series - selema srl · 2016-01-26 · tech series & standard series...

ECO2 / ECO4 EVOLUTION series

TECH series & Standard series

Installation Manual

Monari Sardè, 3 - Bentivoglio (BO) - Italy +390516640464 - Fax +390516640784 - www.selema-srl.it

INDEX

Chapter

1 Safety Information Page 3

2 General Description Page 4

3 Technical specifications Page 5

4 Models and Options Page 10 4 Models Page 10 4.3 Ventilation set option Page 13 4.4 Controllable motors Page 13

5 Mechanical Installation Page 14 5.1 Mechanical Installation & Dimensions Page 13 5.2 Braking resistor Page 15

6 Electrical Installation Page 16 6.1 Description of Electrical Connections Page 16 6.2 Wiring Diagrams Page 17 6.3 Sizing the power circuit Page 33

7 Electrical Safety, Electromagnetic Compatibility, Emergency circuit, criteria of wiring, EMC Components

Page 36

7.1 Electrical Safety Page 36 7.2 Electromagnetic Compatibility Page 35 7.3 Emergency Circuit Page 36 7.4 Wiring standards Page 39 7.5 EMC Components Page 41

8 Commissioning & Maintenance Page 42

9 Parameters & Local keypad operation Page 49

10 Diagnostics & Alarms Page 54

11 Annex A Key to label Page 59

12 Annex B Motor tables Page 60

13 ECO EVOLUTION & ECO TECH series Page 71 STO Function Page 71 Debugging fieldbus and serial networks on RJ45 connectors Page 72 DC BUS Page 74 Holding brake control Page 74 HIPERFACE DSL Page 75

MANUAL REV 4.0 Cod. Man.: 01MTECOx10513

Cod. catalogue: 010113

ECO2D/ECO4D - Chapter 1: Safety information

3

1 SAFETY INFORMATION

This manual contains all information required to enable correct product installation and

maintenance. Its use is intended for technically qualified personnel with appropriate knowledge of the management control technology employed as well as sufficient familiarity with the general concepts of automation safety For correct product use please consult “Instruction Manual”, “Additional

Information”, “Fieldbus Information” and “Mechatronic Functions”.

WARRANTY

In accordance with the terms and conditions of sale, the product is covered by the Selema

S.r.l. warranty with effect from purchase date. Such warranty shall be invalidated should

damage be due to negligence, misuse or incorrect installation/application.

In this respect it should be stressed that the Drive is one component of the

kinematic system and the user/installer shall therefore assess the product’s

suitability for its intended application.

In line with a policy of continuous improvement, the manufacturer reserves the right to modify product manual and/or specifications without notice, whilst accepting no liability arising from IMPROPER use.

Symbols and terminology

This manual makes use of special terms to highlight essential information requiring particular attention. The purpose of these terms is to guarantee major safety in the workplace and prevent damage being caused to the system.

The following terms and symbols are used:

DANGER High Voltage

Paragraphs are labelled in this manner when personnel would be placed at serious risk should the safety rules not be respected.

WARNING Read carefully.

This term highlights important instructions that should be followed carefully in order to avoid damaging the product.

NOTE Notes contain some useful information and tips for the proper functioning of the system .

Earth wire connection point.

WARNING: FILTERS AC power filters should be permanently earthed, whilst filter leakages

could affect the performance of residual current devices.

ECO2D/ECO4D - Chapter 1: Safety information

4

DANGER HIGH VOLTAGE

DANGER HIGH VOLTAGE Several product components are energised by high voltage and

could constitute a serious safety risk. Do not touch exposed

connections with the power supply connected. Always

disconnect power supply and wait 5 minutes before

carrying out any operation on connections or accessing

internal components.

Installation should be performed by technically qualified personnel who are fully aware of the possible sources of danger and relevant safety and accident-prevention legislation.

The user should ensure that the installation complies with current safety regulations.

The appliance should be properly earthed in order to prevent the risk of electric shock.

WARNING: PROTECTION RATING The product conforms to degree of protection IP20; full consideration

should be given to the environmental conditions of the installation site in order to ensure safe and reliable operation.

The customer should give details of unusual operating conditions since these may require special build or protection specifications.

WARNING: SALES DISTRIBUTION For unrestricted sales distribution: “Not intended to be used on a low-

voltage public network which supplies domestic premises. May cause radio frequency interference”.

2.1 GENERAL DESCRIPTION

ECO2x/ECO4x offers three lines of Drive with differing performance and price. ECO2D/ECO4D is the

standard line, ECO2T/ECO4T (TECH) implements all functions of the standard line but includes additional software functions, RJ45 fieldbus connectors, STO function, external DC BUS, automatic holding brake control and digital feedback with absolute encoders. ECO2E/ECO4E (EVOLUTION) includes all the above but also features ETHERNET-based fieldbuses and improved performance of speed and position loops.

Due to the very large number of functions and parameters, use of the Drive Watcher software suite is essential for programming and parameter setting, whilst individual parameters may be modified in a simple, interactive manner, including via the drive’s on-board local keypad. The local display also

supplies information regarding operating status and any alarms that may have been triggered. In this Manual, comprehensive information is provided only in the chapters dealing with product installation, electrical connections, safety requirements and motor setup. In order to facilitate consultation, the other functions are discussed only in summary form.

All functions are covered in full detail in the following manuals:

Instruction Manual, Additional Information, Field Bus Information and Mechatronic Functions.

ECO2D/ECO4D - Chapter 3: Technical Specifications

5

3 TECHNICAL SPECIFICATIONS

Please refer to the following tables for correct storage and use of the drive. The drive operating conditions MUST comply with the requirements set out in the tables below. Failure to comply with these requirements could lead to malfunction or premature failure of the drive.

Power Supply ECO2 230Vac ∼ RMS Three-phase ± 10 %, 50/60Hz

ECO4 400Vac ∼ RMS Three-phase ± 10 %, 50/60Hz

Control section power supply and digital inputs/outputs

Isolated +24Vdc ± 15 %; max 0.5 + 250 mA if coupled with vector motors with fan + 10 mA per digital input used + consumption of load connected to each output.

Voltage dissymmetry, line impedance, voltage harmonics, commutation notches

Comply with CEI EN 61800-2: 1999-09.

Rated output current / rated output power (referred to motor control)

4A RMS/ 1kW for ECO2x0410, 6A RMS/1.7kW for ECO2x0615

4A RMS/2.2 kW for ECO4x0410 5A RMS/2.7 kW for ECO4x0515

10A RMS/ 4.5kW for ECO4x1020, 20A RMS/ 9 kW for ECO4x2040

25A RMS/11.2 kW for ECO4x2550, 30A RMS/ 13.5KW for ECO4x3090

40A RMS/ 18KW for ECO4x40120, 60A RMS/ 27KW for ECO4x60180

Power output rated short-circuit specifications

ECO2x0410 = 25 A -- ECO2x0615 = 35 A

ECO4x0410 = 30 A -- ECO4 x0515 = 30 A -- ECO4x1020 = 60 A

ECO4x2040 = 85 A -- ECO4x2550 = 110 A -- ECO4x3090 = 170 A

ECO4x40120 = 300 A -- ECO4x60180 = 300 A

Output Frequency From 0 to 300 Hz.

Switching frequency 8 Khz PWM

Drive leakage current Max 3 mA

Table 3.1 Power supply - Electrical Specifications

Analogue inputs No. 2, resolution 1:5000,

- REF, REF\ differential ± 10V Impedance ≥ 47 k Ω .

- EXTREF 0 − 10V Impedance ≥ 15 k Ω .


6

Isolated Digital Inputs 12 isolated (according to options requested): Impedance = 10 k Ω

Input

0V24

Digital input reference circuit, with signal reversal protection. Input Signal at +24 V dc input at logic level 1. Input signal at 0 V or disconnected input at logic level 0.

Table 3.2 Analogue and Digital Input Specifications

Digital Outputs 4 isolated (according to options): PNP type 0.5 A/ each output The sum of all outputs shall not exceed 1A

Output

+24V

Digital output reference circuit.

1, Drive OK with 100mA relay contact already connected to +24V.

Table 3.3 Digital Output Specifications

Motor encoder inputs

Inputs are the 5V differential line receiver type for connection to a 5V line driver encoder (input impedance is 1 k Ω )

Resolver sine/cosine input

Resolver excitation output

A resolver can be used provided it meets the following specifications: frequency 10 KHz, typical input impedance min. Ω 110+J140, output impedance typical output impedance Ω 130+J240, sine/cosine to excitation ratio = 0.5

Encoder Outputs (for motors with Encoder only)

0-5V differential CMOS Line Driver Outputs. Impedance = Connect min. 100 Ω, max 1k Ω;

Resolution: the same as that of motor Encoder.

Simulated Encoder Outputs (only if Resolver To Encoder option requested)

0-5V differential CMOS Line Driver Outputs. Impedance = 220 Ω (max = 1 kΩ); with 220 Ω load impedance on phases A and B, the output signal changes to ≈ 2V

Resolution: 128, 256, 512, 1024 pulses/electric revolution; multiply by 3 to calculate pulses/mechanical revolution when using a 6-pole


7

Resolver, multiply by 2 for a 4-pole resolver, do not multiply when using a 2-pole Resolver .

Serial Port 1 full duplex RS422/RS485

Pulse positioner input Pulse: active high from 12 to 24 Vdc, impedance 2.2 kΩ.

We recommend use with PNP open drain or push-pull commands.

Table 3.4 Features Inputs/Outputs special.

Protections - Motor temperature rise: depends on the motor thermal resistor

- Heat sink temperature rise:: 75 ° C ± 5 °C.

- IGBT temperature rise: TJ = 105 °C ± 5 °C.

- Phase short circuit.

- Earth short circuit.

- Motor overcurrent: depends on model.

- Power supply overvoltage: ECO2D 400 Vdc, ECO4D 710 Vdc on internal DC BUS ( + /- 3 % ).

- Power supply undervoltage: ECO2D 180 Vdc, ECO4D 425 Vdc on internal DC BUS ( + /- 3 % ).

Braking Circuit Dissipative on external resistance. Reponse thresholds ECO2D = 390 Vdc ( + /- 3 %) ECO4D = 680 Vdc ( + /- 3 %) on internal DC BUS

Dissipation to the braking resistor depends entirely on the application, the resistor supplied as standard is designed for typical applications. For applications with particularly exacting cycles, please refer to the calculations in chapter 5.2 .

Table 3.5 Protections and Braking Circuit.

Operating Temperature

From 0 °C to +40 ° C, max 0 ÷ 55 °C; 40 to 55 °C derate. at 55 °C consider derating drive’s rated I by 50% and therefore set parameter d5 to 50..

Relative Humidity From 5% to 85% non-condensing.

Altitude Up to 1,000 meters above sea level.

Storage Temperature From -25 °C to + 85 ° C.

Relative Humidity From 5% to 95% non-condensing.

Table 3.6 Climatic operating and storage conditions.

Climatic conditions during transport In accordance with clause 4.3 of CEI EN 61800-2:1999-09.

Mechanical Conditions Complying with CEI EN 61800-2: 1999-09.

Protection Rating IP 20.


8

Table 3.7 Mechanical and transport conditions

Power loss

09ECO2x0410 19 W

09ECO2x0615 26 W

09ECO4x0410 25 W

09ECO4x0512 31 W

09ECO4x1020 56 W

09ECO4x2040 103 W

09ECO4x2550 140 W

09ECO4x3090 190 W

09ECO4x60180 280 W

Table 3.8 Joule heating losses calculated at rated current and ambient temperature (Ta) 25 C°.

Electromagnetic Compatibility The product complies with the International Technical Standard: CEI EN 61800-3 2005-04 “Adjustable-speed electric power drive systems - Part 3: EMC Product standard including specific tests”; and therefore also satisfies the European Directive on electromagnetic compatibility [89/336/EEC as amended by 92/31/EEC and 93/68/EEC]. Product conformity is only guaranteed if installation is carried out in strict accordance with the instructions set out herein in the chapter covering “Electrical Installation.

Low Voltage and Safety Product safety and operating features meet with the requirements of the following International Standards: - CEI EN 61800-2 1999-09 “Adjustable speed electrical power drive systems: Part 2: General requirements - Rating specifications for low voltage adjustable frequency AC power drive systems”; - CEI EN 61800-5-1 dated 2005-03 “Adjustable speed electrical power drive systems - part 5-1: Safety requirements. Electrical, thermal and energy”; and thus comply with Low Voltage Directive 73/23/EEC as amended by 93/68/EEC.


9

Table 3.9 Normative References.

CE Marking The product illustrated herein meets the requirements of the European Low Voltage and Electromagnetic Compatibility Directives specified in this table and therefore fulfils all conditions necessary for CE marking.

Table 3.10 Normative References and CE marking

WARNING: EMC

Should a Power Drive System (PDS) be just one component of equipment subject to a different EMC product standard, the EMC standard covering the equipment as a whole shall apply.

The drive is used in conjunction with other components such as motor, transformer, filter, circuits for assistance to switching, protective and auxiliary circuits, thus forming a complete end. The person in charge of assembly shall ensure that the system or product complies with all current regulations applicable in the country where the system or product itself is to be used.

ECO2D/ECO4D - Chapter 4: Models and Options

10

4 Models and Options

There are three lines of Drive with differing performance and price. ECO2D/ECO4D represents the standard line with several features implemented internally, management of encoder feedback, resolvers

and absolute encoders with BISS digital protocol. ECO2/ECO4 (TECH) implements all functions of the standard line but includes additional of fieldbuses, STO safety functions, external DC BUS for managing regenerative energy motor during braking, automatic holding brake control, sine/cosine absolute digital feedback and absolute feedback with DSL protocol.

ECO2/ECO4 (EVOLUTION) includes all these functions of the ECO2/ECO4 TECH line but also features ETHERNET-based fieldbuses, special axis anti-sway algorithms and improved performance of speed and position loops. Your choice of series and drive depends on the application. Tables 4.1 and 4.2 will allow you to select product and associated options . Table 4.1 allows the drive to be chosen on the basis of current and voltage. Table 4.2 bases your choice on the functions required, the type of motor feedback system, control type (analogue, with fieldbus, pulse or using the other mechatronic functions).

ECO Models Current and voltage Model

Current rating

(RMS amp)

Peak Current

(RMS amp for 2 sec)

Voltage (RMS Vac)

09ECO2x0410

4 Amp.

10 Amp.

230 Vac

09ECO2x0615

6 Amp.

15 Amp.

230 Vac

09ECO4x0410

4 Amp.

10 Amp.

400 Vac

09ECO4x0512

5 Amp.

12 Amp.

400 Vac

09ECO4x1020

10 Amp.

20 Amp.

400 Vac

09ECO4x2040

20 Amp.

40 Amp.

400 Vac

09ECO4x2550

25 Amp.

50 Amp.

400 Vac

09ECO4x3090

30 Amp.

90 Amp.

400 Vac

09ECO4x60180

60 Amp.

180 Amp.

400 Vac

Table 4.1 Models listed according to output current

ECO2D/ECO4D


11

Table 4.2 Models listed according to feedback and required software options on ECO2/ECO4D

Model

Available Functions

Motor Feedback Analogue

Input Speed & Torque & Torque Limit

Pulse

Modbus & S-CAN & SAP & MSQ

Electronic gearbox & ElectronicCAM & External Encoder

Field Buses

CANOpen SCAN MODBUS

Incr. Encoder 2048 pulses or 5000 pulses or 4096 pulses

Resolv.

Absolute Encoders

BiSS Sin/Cos DSL

Code: Analog

Yes --- --- --- --- Yes --- ---

Code: Networks MSQ & SAP

Yes --- Yes --- CANOpen Modbus SCAN

Yes --- ---

Code: Standard Full

Yes

Yes

Yes

Yes

Yes

Yes

---

---

Optional feedback hardware boards Option 09FRRTEN

Enables resolver feedback Yes Yes Yes Yes Yes --- Yes --- Option 09BiSS

Enables BiSS absolute encoder feedback --- Yes Yes Yes Yes --- --- BiSS

Option Sin/Cos

Enables absolute encoder feedback with sine/cosine output and Hiperface protocol

Yes Yes Yes Yes Yes Yes Yes Sin/Cos


12

ECO2x/ECO4x

Table 4.3 Models listed according to feedback and required software options on ECO Evolution or

TECH.

Model

Available Functions Motor Feedback

Analogue Input Speed & Torque & Torque Limit

Pulse

Modbus & S-CAN & SAP & MSQ

Electronic gearbox & ElectronicCAM & External Encoder

Field Buses

CANOpen SCAN MODBUS

Increm. Encoder 2048 pulses or 5000 pulses or 4096 pulses

Resolv.

Absolute Encoders

BiSS Sin/Cos DSL

Code: Analogue

yes --- --- --- --- yes --- ---

Code: Networks & MSQ & SAP

yes --- yes --- CANOpen Modbus SCAN

yes --- ---

Code: Standard Full

yes

yes

yes

yes

yes

yes

---

---

Optional hardware boards for feedback Enables resolver feedback 09FRRTEN

Option yes yes yes yes yes --- Yes --- Enables BiSS absolute encoder feedback 09BiSS

Option --- Yes yes yes yes --- --- BiSS

Enables absolute encoder feedback with sine/cosine output and Hiperface protocol Sin/Cos Option

yes yes yes yes yes yes Yes Sin/Cos Enables DSL absolute encoder feedback DSL

Option yes yes yes yes yes yes yes DSL

Optional fieldbus hardware boards Enables ETHERCAT fieldbus. No other network enabled. 09ETHERCAT

Option yes yes yes yes Standard

networks enabled

through Mini-DIN

yes Yes DSL

Activate field network on ETHERNET base. Modbus IP, Ethernet IP, Profinet 09ETHERNET Option yes yes yes yes Standard

networks enabled

through Mini-DIN

yes yes DSL


13

ECO2D0410 and ECO2D0615 are both very small in size. For more exacting tasks or where there is very little space inside the switchboard, it may be necessary to use the Ventilation Set option.

This option MUST be requested when placing the order, as subsequent fitting is not possible. Please see chapter 5.3, table 5.1 for mechanical and installation specifications.

Being fully digital, the ECO2/ECO4 drive utilises internal algorithms that predefine the exact set of parameters with which the motor is controlled in order to optimise performance without having to set a large number of parameters. This feature greatly facilitates Drive installation, notably reducing the time required to tune axis dynamics. It is therefore indispensable that it be coupled only with the motor for which it was designed. Every model has been given a set of parameters for use with various factory-characterised motors that are all rated to suit its control capabilities, therefore the recommendations of the motor table should be followed to the letter. The motor actually used is selectable via the “ d8” parameter of the configuration file or via local keypad. In some cases it is possible to use other motors or the same motors with different mapping. To this end, by using the dedicated “Motor SET-UP” software you can customise mapping for up to 10 motors or 10 map configurations.

ECO can control Brushless Synchronous AC, Vector AC, Synchronous Torque AC, Linear and Tubular motors

4.3 “ VENTILATION SET” option, code: 09VF1ECO

4.4 CONTROLLABLE MOTORS

NOTE: MOTOR TABLE

Please see annex B for complete motor table.

ECO2D/ECO4D - Chapter 6.2 Electrical Installation - Wiring Diagrams

14

5.1 MECHANICAL INSTALLATION & DIMENSIONS

Check that the packaging is fully intact in its original box and the Drive, its connector Kit and the brake resistor (if included) have suffered no visible damage during shipment. If this is not the case, DO NOT under any circumstances connect the Drive or use the other components

The ECO2x/ECO4x drive is designed for use in fixed installations and on non-mobile surfaces. Suitable measures should be taken if needing to be mounted on surfaces with strong vibrations, e.g. antivibration mountings.

The ECO2/ECO4 drive is designed to allow fitting of a switchboard to the anchor plate using the fixing holes provided on the external enclosure.

The mechanical dimensions are shown in figure 5.1 and tables 5.1.1 or 5.1.2 or 5.1.3 .

To allow for sufficient ventilation it is necessary that it be installed vertically in order to facilitate natural air circulation through the heat sink vents. Should lack of space make horizontal fitting necessary (horizontal fixing panel), it will require some form of forced ventilation or a performance downgrade.

ELECTRICAL SAFETY

In order to avoid malfunction of the drive, the installation must comply with the following guidelines when fixing to the inside of the switchboard:

1. Install in a clean environment, free from dust and corrosive agents and with limited humidity. 2. Do not install it near any heat sources such as transformers etc., and do not place it above these

sources in order to avoid overheating. 3. Ensure that the ventilation holes on the top and bottom of the drive are completely free from

obstruction. 4. Maintain a gap of at least 20 mm from the surrounding components. 5. Install on a supporting base consisting of a single unpainted metal plate.

L2 L4L4

L3 L2

L1 L1

H1H2

H3 ( 4,5 )

P

H3 ( 4,5 )

Figure 5.1.1 ECO2/ECO4 mechanical dimensions.

All mechanical dimensions of the ECO series (Standard, TECH and EVOLUTION) are the same, therefore all tables in the manual referring to ECO2D and ECO4D are also applicable to TECH and EVOLUTION


15

Table 5.1.2

ECO4x MECHANICAL DIMENSIONS

Table 5.1.3

ECO2x MECHANICAL DIMENSIONS with external ventilation

Under certain operating conditions it may be necessary to ventilate the drive. Subject to customer request when placing order, the ECO2D drive can be supplied complete with ventilation set. The fan is secured to the underside of the drive. The ventilation set requires +24Vdc power supply that is obtainable from the drive's CN1 connector.

Table 5.1.4

5.2 BRAKING RESISTOR

ECO2xx, ECO40410 and ECO40512 drives are supplied with a braking resistor that is connected to the M2 terminal block. Models ECO41020 and ECO42040 models have an internal resistor with the option of connecting an external resistor to the M3 terminal block. In models ECO42550 and ECO43090, the resistors are external and should be connected to the M3 terminal block. The braking resistors supplied with the drive clearly vary according to model, and have the following specifications: ECO2 68Ω 100W ECO4x410 150Ω 100W ECO4x1020 and ECO4x2040 150Ω 150W. There may be applications with particularly demanding cycles that when faced with a strong inertial load do not allow the supplied resistor to dissipate all the energy necessary. When this occurs you will need to connect a suitably-rated external resistor to the M3 terminal block .

The braking resistor can reach very high temperatures depending on load inertia and the machine cycle. It is therefore essential that the braking resistor be isolated in a section of the switchboard where it does not represent a hazard for nearby equipment or the wiring itself. In some cases where high load inertia is combined with an extremely short machine cycle,

mechanical separation is essential with a thermal resistor connected to an alarm. Use the following formula in order to calculate dissipated power P= (0.5 × J t × ω 2 × (f) - PL where Jt = total inertia [in Kg m 2 ] ω = max. angular velocity [rad/sec], f = work cycle repetition rate [in No. cycles per second] PL = Power required to overcome friction.

L1 L2 L3 L4 H1 H2 H3 P

09ECO2D0410G/V Drive Model

37,5 62 82 31 216 168 208 150 1,6

Weight

kg

09ECO4x0410 09ECO4x0512 09ECO4x1020 09ECO4x2040 09ECO4x2550 09ECO4x3090

42.5 42.5

70 70 105

105

67 67

104 130 140

140

87 --- 87

--- --- ---

---

---

52 65 70

70

227 227

270

210 210

242 315 360 380 250 8.5

360 380 250 9.7

220 190 2.2 220 190 2.5

260 224 4.2 335 224 7.5 345

390

390

L1 L2 L3 L4 H1 H2 H3 P Drive Model Weightkg

H3 P 179 150 1,3

179 150 1,5

179 150 1,5

L1 L2 L3 L4 H1 H2

09ECO2x0410P 09ECO2x0410G 09ECO2x0615

Drive model 37,5

37,5

37,5

62

62

62

68 ---

82 ---

82 ---

186

186

186

168

168

168

Weightkg

09ECO4x40120 140 249 --- 124,5 487 431 459 249 23

09ECO4x60180 140 249 --- 124,5 487 431 459 249 23


16

6 ELECTRICAL INSTALLATION

Being digitally controlled, it is vital that the ECO2/ECO4 drive be connected to the motor for which it was designed and therefore this operation should be rigorously supervised. To this end, you should ensure correct setting of parameter d8 in the motor table. If connection to an unsuitable model takes place, problems are likely to occur such as instability, overheating and performance loss.

WARNING Do not open the drive enclosure without prior authorisation from Selema; in any

event, always wait for three minutes after switching off before attempting to access product.

6.1 ELECTRICAL CONNECTIONS

The ECO2/ECO4 drive has terminal blocks and connectors located on the front panel and top of the enclosure. These connections are illustrated in the figure below. It should be noted that the M1 terminal block on the ECO2 incorporates both power supply and motor, whilst on the ECO4 there are two separate terminal blocks. The TECH and EVOLUTION versions have the same terminal blocks and connectors as the Standard series and therefore the common connections described hereafter can be used for all models. TECH and EVOLUTION have extra connectors for the additional hardware functions and details are given in the Annexes at the end of this manual.

CN3: Encoder Master Electronic Cam

Gearbox, Etc……

CN2: Input/Output

CN1: Digital Drive Command Analogue Reference

Input Pulse

CN4 : Motor Feedback Encoder/Resolver

CN5: Encoder Out

or Simulated Encoder

CN6: Serial Interface

Modbus CANopen

S-Can S-Net

M1 on ECO2D

LINE 230 Vac & Motor Phases

M1 on ECO4D

LINE 400 Vac

M2: on ECO4D Motor Phases


17

Figure 6.1.1 ECO2/ECO4 drive connections (NB The photo shows an ECO4D. The ECO2D drive has a single terminal block for LINE and Motor Phase signals. TECH and EVOLUTION series photos can be found in the specific section at the end of this manual).

6.2 WIRING DIAGRAMS

This paragraph provides all information necessary for making the ECO2/ECO4 drive electrical connections; in particular, the tables give details of all the terminal blocks and connectors fitted to the drive, whilst the respective connections are illustrated in the diagrams.

M1 Terminal block for ECO2D xxxx

Power supply and motor connections

Connector type 7-way plug-in terminal block. Pin No. Signal Signal description

1 L1 Phase L1, drive power supply. 2 L2 Phase L2, drive power supply. 3 L3 Phase L3, drive power supply. 4 SH Motor earth reference 5 U Motor phase. Please refer to the table for correct connection on the motor

side 6 V Motor phase.

7 W Motor phase.

Table 6.2.1 Description of M1 terminal block signals on ECO2xxxx (230 Vac)

Fuses

SH

U

V

W

M1

M2

1

2

L1 L2 L3

4

U V W

Max 10 cm

Earth

MOTOR

External braking resistor

Screened Motor Cable

Transformer

MAINS Machine Frame Metal Panel

SWITCHBOARD MACHINE WIRING

To other equipment

Earth bar

Metal panel earth connection

ECO2D

Cable screen

Cable sheath

Metal Back Panel (Earth)

The screen should be earthed using a metal cable clamp (360° connection); remove paint from the panel in the area where the clamp will rest. This should be effected as close as possible to the ends of the cable. Should it not be possible to connect the cable clamp close to the drive, the braid wire may be led to the earth terminal

WARNING Earthing instructions should be followed to

the letter, otherwise system noise immunity could be compromised.

system noise immunity could be compromised

PE L1 L2 L3 LINE

PE' L1' L2' L3' LOAD

LINE Filter CNW207 xx

NOTE Please see chapters 6.4 and 6.5 for information regarding cables, earthing, and EMC components.

NOTE Please see 6.3 for information regarding the transformer.

NOTE The connection inside the switchboard with

the earth symbol () indicates a direct connection to the metal panel at the back of the switchboard.


18

Figure 6.2.1 Power signal wiring diagram

Terminal block M2 for ECO2 xxxx: Brake Resistor

Connector type: 2-way terminal block on drive underside

Table 6.2.2 Description of M1 terminal block signals on ECO2Dxxxx (230 Vac)

M1 terminal block for ECO4 xxxx

M1 terminal block: Power supply connections

Connector type 3-way plug in terminal block. Pin No. Signal Signal Description

1 L1 Phase L1, drive power supply. 2 L2 Phase L2, drive power supply. 3 L3 Phase L3, drive power supply..

Table 6.2.3 Description of M1 terminal block signals on ECO4Dxxxx (400 Vac) Figure 6.2.2 ECO4D power signal wiring diagram.

PE L1 L2 L3 LINE

PE' L1' L2' L3' LOAD

Line Filter CNW207 xx

Max 10 cm

Cable screen

Cable sheath


The screen should be earthed using a metal cable clamp (360° connection); remove paint from the panel in the area where the clamp will rest. This should be effected as close as possible to the ends of the cable. Should it not be possible to connect the cable clamp close to the drive, the braid wire may be led to the earth terminal

L1 L2

L3

M1

M3

1 2

U V W

MOTOR

Fuses

W V U

SH

M2

L1 L2 L3

4

Earth

External braking resistor

Screened Motor Cable

NETWORK Machine Frame Metal Panel


To other equipment

Earth bar


ECO 400

WARNING Earthing instructions should be followed to

the letter, otherwise system noise immunity could be compromised.

NOTE Please see chapters 6.4 and 6.5 for information regarding cables, earthing, and EMC components.

NOTE Please see 6.3 for information regarding the transformer.

NOTE The connection inside the switchboard with

the earth symbol () indicates a direct connection to the metal panel at the back of the switchboard.


19

M3 terminal block for ECO4: Brake Resistor

2-way terminal block on left underside of the ECO4D0410, ECO4D0512 drive

2-way plug-in terminal block on front panel of ECO4D1020, ECO4D2040, ECO4D2550 drive

Table 6.2.4 Description of M3 terminal block signals on ECO4Dxxxx

Table 6.2.5 Description of M2 terminal block signals on ECO4Dxxxx.

Motor side terminal block/connector connections

Motor terminal board connections have different names according to the type of motor used. Table 6.2.6 gives the different names and associates the Drive signal name with the motor terminal.

Table 6.2.6 Description of ST, DSM, HS, smsT, smsN motor terminal block signals

WARNING: When connecting to motors not listed in table 5.5 (e.g. Torque Motors, Linear Motors, etc.) please refer to the Selema publication:

MOTOR and FEEDBACK connections

M2 terminal block for ECO4: MOTOR PHASES

Connector type 4-way plug-in terminal block. Pin No. Signal Signal description

1 W motor W phase 2 V motor V phase 3 U motor U phase 4 SH Motor ground reference

MOTOR PHASE connections

ECO2/ECO4 MOTOR type

M2 Terminal block

HS

Hypertach connector

HS (Molex)

Plug connector

DSM with Resolver 4-way MIL connector

DSM with Encoder

4-way MIL connector

smsT & smsN

Terminal

block

Pin No.

ECO 2

ECO 4

Signal

ST

Connector/ Terminal block

3 way

+ GND

6 way +

GND

6 way

4 way

7 1 W 3 C 3 6 4 3 C B W 6 2 V 2 B 2 2 2 2 B C V 5 3 U 1 A 1 1 1 1 A A U 4 4 SH 6 D GND GND 5 4 D D GND

x Brake + 4 6 --- x Brake - 5 3 ---


20

CN1 terminal block Main control signals and analogue inputs Connector Type 12-way plug-in terminal block. Pin no. Signal Signal Description

1 +V24 +24 Vdc power supply 2 0V24 +24 Vdc 0V reference and 0V reference for TEN, IEN isolated inputs 3 OK DRIVE OK (100 mAmax).

Relay output indicating drive status. - +24 V dc closed contact under normal operating conditions. - Open contact when in state of alarm

4 TEN TORQUE ENABLE, torque enable signal. Isolated digital input, active at + 24Vdc. Active signal enables drive to supply torque to motor. In the absence of this signal, the motor immediately frees itself.

5 IEN INPUT ENABLE, speed setpoint enable signal Isolated digital input, active at + 24 Vdc. With signal on drive enables reading of speed/torque setpoint. In the absence of the signal, reading of setpoint is disabled and it is assigned the value 0V With motor running, absence of IEN signal causes the motor to come to a halt in accordance with the emergency ramp set; after the ramp has been completed, the motor remains in locked rotor condition

6 REF ± 10V speed/torque external analogue reference signal Non-inverting input.

7 REF/ ± 10 V speed/torque external analogue reference signal Inverting Input.

8 0V Reference ground of signals REF\, REF & EXTREF. 9 EXTREF EXTERNAL TORQUE REFERENCE.

Analogue input (0-10 V) limiting peak torque deliverable to the motor: input at 0 V zero torque. Input disconnected or +10V stall torque.

10 PULSE Only available with “Pulse Positioning” option. Optoisolated input active at +24V, impedance 2K2Ω. Pulse input, every time this signal is activated, the positioner advances a certain distance corresponding to that programmed in parameters P1 and P2 of PL menu.

11 DIR Only available with “Pulse Positioning” option. Optoisolated input active at +24V, impedance 2K2Ω. Direction of rotation input: the direction of rotation during positioning is defined by the state of this signal. DIR input at 0V clockwise direction (side with drive shaft visible). DIR input at +24Vdc Anticlockwise direction (side with drive shaft visible).

12 CONCLR Only available with “Pulse Positioning” option. Optoisolated input active at +24V, impedance 10KΩ. Control Clear signal, resets internal counter containing number of pulses acquired.

Table 6.2.7 CN1 signal details.


21

Figure 6.2.3 CN1 enable and control signal wiring diagram in standard optionless version. Figure 6.2.4 CN1 enable and control signal wiring diagram in version with pulse positioner. Inputs PULSE, DIR and CONCLR accept PNP or PUSH-PULL 12-24 V dc inputs.

SWITCHBOARD

Power supply Metal Panel NOTE

If not utilised, the EXTREF torque limiting signal must remain completely disconnected.

Please see chapters 6.4 and 6.5 for information regarding cables and EMC components.

CNC

or PLC

Metal panel earth connection ECO2D/ 4D

Earth bar

CN1

+24V

0V24

+24V

CN2

+24V 0V24 OK

REF

TEN IEN

EXTREF

REF/ 0V

DIR PULSE

CONCLR

15 16

13 14

12

+24V 0V24 OK TEN IEN

PULSE

DIR CONCLR

OUTEOJ

ECO2D/4D

+24V

0V24

OK

TEN

IEN

REF

CN1

REF/

0V

EXTREF

PULSE

DIR

CONCLR

+24V

0V24

+24V

+24V 0V24 OK TEN IEN REF REF/

SWITCHBOARD


If not utilised, the EXTREF torque limiting signal must remain completely disconnected. Please see chapters 6.4 and 6.5 for information regarding cables and EMC components.

CNC or

PLC


Earth bar


22

Figure 6.2.5 Enable and control signal wiring diagram in version with PULSE POSITIONER and possibility of external SWITCHING between PULSE POSITIONER and ANALOGUE INPUT (REF and REF/) operation. For software parameter setting please see “Additional Information for ECO2D/4D”. Inputs PULSE, DIR and CONCLR accept PNP or PUSH-PULL 12-24 V dc inputs.

SWITCHBOARD




CNC

or PLC

Metal panel earth connection ECO2D/4 D

Earth bar

CN1

+24V

0V24

+24V

+24V 0V24 OK TEN IEN

EXTREF 0V

DIR PULSE

CONCLR

+24V 0V24 OK TEN IEN REF REF\

PULSE

DIR CONCLR

MODE OUTEOJ

REF REF/

CN2

4 5

3

11 12 13

........


23

Figure 6.2.6 Enable and control signal wiring diagram in SAP configuration Extended mode. Signals with double wording depend on the SAP MODE register. They are fully explained in the Mechatronic Functions manual

0V

+24V

FEEDBACK SELECTION FEEDBACK_A FEEDBACK_B

NEAR TARGET POSITION OUTEOJ

LS2 LS1

HOME SWITCH

HOMING MODE

S3 S4

SPEED SELECTION

S1 S2

OK IEN TEN

1 2 3 6 7 10

5 14 8 9 11 13 16 15 12

POWER SUPPLY +24V

CN1

1 2 3 4 5 6 7

C N 2

ECOD

+24v

0V

+24V

PLC or CNC

REF REF/

START


24

Figure 6.2.7 Enable and control signal wiring diagram in Electronic gearbox, CAM configuration including homing mode and possibility of switching between electronic gearbox and analogue operation.

SWITCHBOARD




CNC

or PLC

Metal panel earth connection ECO2D/ 4D

Earth bar

CN1

+24V

0V24

+24V

+24V 0V24 OK

REF

TEN IEN

EXTREF

REF/ 0V

START

WAY HOMING

LS1 LS2

+24V OUTEOJ

CN2

2 3

1

CN3

Master Encoder

5

8

4

10 11

9

13 14

12

Position LATCH

PLC CNC PC

CN6 2 5 4 3

7 6

8 1

+24V 0V24 OK TEN IEN REF REF\

Photocell or proximity switch

*


25

TERMINAL BLOCK CN2 Control Signals secondary to general use in mechatronics functions

Connector Type 16 Way plug in terminal block .

Pin No. Signal Signal Description

1 START Available with the SAP options and various mechatronic options (electronic gearbox, CAM etc.). Its functions change according to the setting of parameter C9 that selects the required option.

2 S1 Coding Input for selecting registers in SAP mode


4 MODE/S5 SAP MODE bit 0 =1 -> Mode selection signal Only available with ELECTRONIC GEARBOX or PULSE POSITIONER OPTION. Input = 24 Vdc, operates from analogue input (REF and REF/).

SAP MODE bit 3 =1 - Coding input for selecting registers in SAP mode.

5 Homing Enable signal for Homing procedure (Axis Zero) in electronic gearbox mode (c9 = 2). The signal must be active throughout the procedure. Interruption of the signal will cause the procedure to be halted. At the end of the procedure the OUTEOJ bit is activated.



8 LS1 Negative Limit Switch.

9 LS2 Positive Limit Switch.

10 SELVEL Velocity selection (see SAP documentation)

11 POSITION LATCH /

FEEDBACK SELECTION

Position Latch. Signal used for real-time axis position capture. The position is stored on the leading edge of the signal within a maximum time of 3 mS (faster times available if requested when ordering) with MODBUS/S-NET/S-CAN/CANopen options only.

Feedback Selection: used solely in SAP configuration Used to switch FEEDBACK-A and FEEDBACK-B outputs to FEEDBACK-C and FEEDBACK-D (see SAP Stand Alone Positioner documentation)

12 OUTEOJ End of job output signal, output not available with analogue configuration. This signal assumes importance (active at +24V) when the positioning system has completed the command

13 FEEDBACK-A

Used solely in SAP configuration. The code acquired in inputs S1, S2, S3, S4 is repeated in the FEEDBACK outputs (A or B). S1 or S3 is repeated on FEEDBACK-A

14 HOME SW Home switch, signal that identifies the zero micro. The functions it performs are chosen according to programming mode, please see the sections “Parameters and Messages” and “A parameters – Homing Methods”

15 Near Target POSITION

Signal that becomes active when the difference between final position and current position is inside a window specified in a register

16 FEEDBACK-B

As for FEEDBACK-A but S2 or S4 is repeated



26

CN3 connector External encoder input available for electronic gearbox, CAM, SAP and positioner used in fieldbuses

Connector type 9-way, D plug Pin no. Signal Signal Description

1 +5ENC + 5Vdc power supply for external encoder 2 N. C. Not connected 3 INA\ Master encoder phase A\ 4 INA Master encoder phase A 5 05ENC +5Vdc power supply reference 6 INB Master encoder phase B 7 INB\ Master encoder phase B\ 8 -- Pin Reserved 9 -- Pin Reserved

Table 6.2.9 CN3 signal details

Figure 6.2.8 External encoder wiring diagram

1

2 3

4 5 6

7 8

9

CN3

+5ENC INA\

INA 05ENC

INB INB\

SWITCHBOARD

ECO2D/ 4D Metal Panel Master Encoder for

Electronic Gearbox Master Encoder Cable +5ENC INA\ INA 05ENC

INB INB\

WARNING For improved protection we recommend the use of shielded twisted pair cables. The shielding should be connected on the control side only.

MASTER ENCODER


27

CN4 connector Connections to be made when using standard brushless motors with RESOLVER

CN4 connector: Resolver Signals for brushless motors

Connector type 26-way, D socket, HD 3-row

Pin no. Signal Signal Description 8 COS2 Cosine input for resolver connector COS signal. 9 COS1 Cosine input for resolver connector COS\ signal. 17 SEN2 Sine Input for resolver connector SEN signal. 18 SEN1 Sine Input for resolver connector SEN\ signal. 22 0VECC Excitation signal output for resolver primary winding. 23 ETC. 8 kHz sine wave. 25 +24V +24Vdc power supply. 26 TMOT MOTOR THERMAL RESISTOR isolated input

Signal originates from PTC thermal situated inside the motor. 1, 2, 3, 4, 5, 6, 7, 10, 11, 12, 13, 14, 15, 16,

19, 20, 24

N. C.

These pins must NOT be Connected under any circumstances. It is sometimes necessary to connect pin 21 to the Resolver cable internal shield when the drive side metal clamp is positioned more than 50 cm away from the Drive.

Figure 6.2.9 Brushless-motor resolver signal wiring diagram.

1 2 3 4 5

CN4

6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26

COS2 COS1 SEN2 SEN1

0VECC

+24V TMOT

COS COS\

Φ Φ

SEN SEN\

Φ Φ

0 V V-Ref

B D S

G H

C E

+24V

TMOT

A

N ECC


CN4 Signal Resolver Conn. Pin No Details 19-way 10-way

8 COS2 →→→→ COSΦΦΦΦ C J 9 COS1 →→→→ COSΦΦΦΦ\ E C 17 SEN2 →→→→ SENΦΦΦΦ G G 18 SEN1 →→→→ SENΦΦΦΦ\ H K 22 0VECC →→→→ 0 V B B 23 ECC →→→→ V-Ref D A 25 +24V →→→→ PTC A E 26 TMOT →→→→ PTC N F

Twisted pair screen →→→→ Screen Screen

S --

Machine frame Metal Panel


ECO2D ECO4D Metal panel earth

connection NOTE Please see chapters 6.4 and 6.5 for information regarding cables and EMC components.

WARNING Earthing instructions should be followed to the letter, otherwise system noise immunity could be compromised.

Screened Resolver Cable

SMST/N motor RESOLVER

Motor PTC


The screen should be earthed using a metal cable clamp (360° connection); remove paint from the panel in the area where the clamp will rest. This should be effected as close as possible to the ends of the cable. Should it not be possible to connect the cable clamp close to the drive, the braid wire may be led to pin 22.

Max 10 cm

Cable screen

Cable sheath

0VECC


28

CN4 connector Connections to be made when using AC brushless motors with RESOLVER and Fan

Figure 6.2.11 Resolver signal wiring diagram for AC Brushless (Vector) or standard forced-ventilation brushless motors.

WARNING: The difference between the layout of fig. 6.2.9 and fig. 6.2.10 merely concerns the forced-ventilation connection since all AC Brushless motors are fitted as standard with forced ventilation

The arrangement of figure 6.2.10 can be used for connecting standard forced-ventilation Brushless motors.

1

2

3

4

5

CN4

6

7

8

9

10 11

12

13

14

15 16

17

18

19

20 21

22

23

24

25

26

COS2 COS1 SEN2 SEN1

0VECC

0V24 +24V

COS COS\

Φ Φ

SEN SEN\

Φ Φ

0 V V-Ref

B D S

G H

C and

0V24

TMOT N

TO

TMOT

+24V

+24V

0V24 M

ETC.

Max 10 cm

NOTE Please see chapters 6.4 and 6.5 for information regarding cables and EMC components.

WARNING Earthing instructions should be followed to the letter, otherwise system noise immunity could be compromised.

SWITCHBOARD Metal Panel Frame

Earth Bar Ground Bar



Vector Motor RESOLVER

Fan

Vector Motor PTC

Screened Resolver Cable

ECO2D ECO4D

Cable screen

Cable sheath

Panel Rear Metal (Ground)

The screen should be earthed using a metal cable clamp (360° connection); remove paint from the panel in the area where the clamp will rest. This should be effected as close as possible to the ends of the cable. Should it not be possible to connect the cable clamp close to the drive, the braid wire may be led to pin 22.

CN4 Signal Resolver Revolver Cable

N° Pin Details Connector Twisted pair type

8 COS2 → COSΦ C Shielded twisted 9 COS1 → COSΦ\ E pair 17 SEN2 → SENΦ G Shielded twisted 18 SEN1 → SENΦ\ H pair 22 0VECC → 0V B Shielded twisted 23 ECC → V-Ref D pair

24 0V24 → 0V24V Motor Fan.

M Twisted pair

25 +24V→Mot. PTC Therm. Motor Fan.+24V

A

Partly used 26 TMOT → Motor PTC N

Twisted pair

0VECI


29

CN4 connector Connections to be made when using

BRUSHLESS MOTORS with ENCODER

Connector CN4: Encoder Signals

Connector type 26-way, D socket, HD 3-row

Pin no. Signal Signal Description 1 A Phase A Encoder. 2 A\ Phase A\ Encoder. 3 B Phase B Encoder. 4 B\ Phase B\ Encoder. 5 EU Phase EU Encoder. 6 M Marker Encoder. 11 EW Phase EW Encoder. 12 EV Phase EV Encoder . 15 M\ Marker\ Encoder. 19 +5ENC +5Vdc power supply, Encoder. 20 05ENC +5Vdc power supply reference, Encoder. 25 +24V +24Vdc power supply .

26 TMOT MOTOR THERMAL RESISTOR isolated input. Signal originates from PTC thermal resistor situated inside of the motor.

7, 8, 9, 10, 13, 14, 16, 17, 18, 21, 23, 24

N. C. These pins must NOT be Connected under any circumstances

Tables 2.6.10 Description of signals of the CN4

Figure 6.2.12 Encoder signal wiring diagram

1 2 3 4 5

CN4

6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26

AO A\ B B\

M\

+24V TMOT

AAA\ B B\

EU EV

TMOT

+24V

EU EV

M\ M

EW

+5ENC 05ENC

M\ M

EW +5ENC 05ENC

ENCODER

+5ENC 05ENC

Motor PTC


ECO2D/ 4D Metal Panel Machine Frame

Encoder Cable

NOTE Please see chapters 6.4 and 6.5 for information regarding cables and EMC components.

NOTE Vector motors do not utilise signals “EU”, “EV”, “EW”.

0VECC


30

The ECO2/ECO4 Drive can be connected to various types of motors with differing electrical performance and mechanical dimensions. As a result, the type of connector and terminal block also varies according to the type of motor.

Table 6.2.12 Description of drive side encoder connector and motor side ST, DSM, SC, smsT, smsN & Hyperline connector signals

WARNING: When connecting to motors not specified in table 2.6.11 (e.g. Torque Motors, Linear Motors) or sensors not mentioned herein, please refer to the Selema publication:

MOTOR and FEEDBACK connections.

Description of Encoder connections between CN4 on the drive side and ENCODER connectors on the MOTOR side

ECO2/ECO4 Types MOTORS

Connector CN4

HYPER Line

Pin No.

Signal

ST 19-way MIL connector

SC 14-way MIL connector

SC 15-way plug connector

DSM 14-way MIL conn.

DSM 17-way Hypertac conn.

smsT & smsN 19-way MIL connector

12-way plug plug connector (Molex)

17-way Hypertac

1 A G E 1 E 12 G 10 12 2 A\ H D 2 D 11 H 2 11 3 B P F 3 F 1 P 8 1 4 B\ N L 4 L 2 N 9 2 6 M J H 5 H 3 J 11 3 15 M\ K M 6 M 13 K 7 13 20 0VENC B A 14 A 7 B 3 7 19 +5VENC A B 13 B 10 A 1 10 5 EU M N 7 N 4 M 6 4 12 EV E P 9 P 16 E 4 16 11 EW C R 11 R 5 C 5 5 26 +24V R J -- J 9 R Jump

with 25 on CN4

9

25 TMOT V K -- K 8 V Jump with 26 on CN4

8

SHIELDING


31

CN5 CONNECTOR Using the CN5 connector, the ECO2D/ECO4D drive can provide positional information from the transducer used on the motor. When using an incremental encoder, the output pulses are strictly identical to those of the transducer as regards both electrical characteristics and the drive shaft’s number of pulses/mechanical revolution. On the other hand, if using a resolver, the output pulses are simulated and therefore the number of pulses per revolution is selectable, whilst output characteristics are similar to those of an incremental encoder.

Table 6.2.1.3 CN5 signal details

Motor feedback utilised: Incremental Encoder Encoder outputs are physically connected to the encoder input received from the motor, it is therefore possible to connect loads with a minimum total impedance of 120 ohm. Fig 6.2.13 shows how the incremental encoder operates. The M (marker) pulse is active only once per mechanical revolution and lasts a half-period of Phase A. Encoders with an M signal of different duration are available on request. Signals A and B have a phase shift of 90 electrical degrees. Figure 6.2.13

Motor feedback utilised: Resolver

Using a motor with resolver offers output signals that simulate an encoder. This can be obtained by requesting Drive with optional RTEN (resolver to encoder) board code 09FRRTEN. This board can control resolvers having a voltage ratio of 0.3 or 0.5 and has output pulse

Connector CN5: Encoder or Encoder simulated outputs

Connector Type 9-way D socket Pin No. Signal Signal description

1 N. C. Pin Not Connected 2 N. C. Pin Not Connected 3 A\ Phase A\ output 4 A Phase A output 5 GND Encoder signal earth reference signal output 6 B Phase B output 7 B\ Phase B\ output 8 M Marker output 9 M\ Marker\ output

PHASE A PHASE B M (zero pulse)

PHASE A\

PHASE B\

M\ (zero pulse)


32

selection via keypad. Marker (M) pulses depend on resolver pole pairs. A resolver with 1 pole pair will have just one marker per mechanical revolution, whilst a resolver with 2 pole pairs will have 2 markers per mechanical revolution and so on.

C1 Parameter

Pulses/electric revolution

Pulses/mechanical revolution as a function of resolver pole pairs

1 Pole pair (2 Poles )

2 Pole pairs (4 Poles)

3 Pole pairs (6 Poles )

4 Pole pairs (8 Poles)

1 1024 1024 Max 6000 rpm

2048 Max 6000 rpm

3096 Max 4500 rpm

4096 Max 3000 rpm

2 512 512 Max 6000 rpm

1024 Max 6000 rpm

1536 Max 4500 rpm

2048 Max 3000 rpm

3 256 256 Max 6000 rpm

512 Max 6000 rpm

768 Max 6000 rpm

1024 Max 6000 rpm

4 128 128 Max 6000 rpm

256 Max 6000 rpm

384 Max 6000 rpm

512 Max 6000 rpm

Table 6.2.14 Selecting simulated encoder output pulse resolution

WARNING: Encoder output The encoder output is fitted with a current limiter that offers overload and short circuit protection. However, this protection will cause an output voltage drop as a function of the applied load. With an external load of ∼∼∼∼ 1 k ΩΩΩΩ there is a voltage of 3.2 V between a phase and its negative (e.g. A and A\); with 100 ΩΩΩΩ the voltage drops to ∼∼∼∼ 2V. However, these values conform to standard RS 422 specifications for differential outputs.

Motor feedback utilised: Absolute Encoders

The ECO2/ECO4 drive supports rotary absolute encoders using BiSS-B or DSL protocol. For further details, please refer to the Selema publication “ECO2/ECO4 Additional Information” . DSL connections are dealt with in the chapter EVOLUTION Series and TECH Series at the end of the manual.

CN6 Connector CN6 is the fieldbus signal output connector

CN6 Connector: serial interface signals

Connector type 8-way, mini-DIN socket (round)

Pin No. Signal Signal Description 1 RX Receive data high, receive signal side non-inverting. 2 RX\ Receive data low, receive signal inverting side. 3 TX Transmit Data high, transmission signal non-inverting side. 4 GND 0V signal for +5 Vdc power supply. 5 VCC +5Vdc power supply. 6 TX\ Transmit Data low, transmission signal inverting side.

7 CANL CANBUS Low signal. Only available in version with options S-CAN, CANopen options.

8 CANH CANBUS High signal. Only available in version with S-CAN, CANopen options.


33



34

Front view of drive The CN6 connector is used for debugging with the “Drive Watcher” software when installing the Drive or connecting to a fieldbus. A fieldbus of several devices is established by connecting communication signals in parallel; in addition, when connecting a large number of drives, implementing an isolated connection is recommended in order to increase communication immunity to electromagnetic interference.

NOTE

- In order to facilitate wiring the connector in fieldbus configuration when connecting more than one drive, we recommend using the Selema cable and the “Network Box Module A.

- Product order code: “09BM06NETA”.

- In order to optoisolate the fieldbus, order Drive with optoisolated configuration and 09PSVNET800 power supply. A single power supply unit can handle 6 optoisolated drives in a CAN network and 11 drives in a Modbus or S-NET network.

1 3

4

5

7

8

6

2

35

6. 3 SIZING THE POWER CIRCUITS

ECO2x Drives have a 230 Vac power supply. A transformer should be fitted when connecting to a 400 Vac three-phase network. On the other hand, ECO4D drives can be connected directly to the 400 V power supply.

ECO2x

Details follow regarding size of transformer and safety fuses for positioning in series at the drive power supply. Connection to the 400 V ac supply network should be effected via a suitably sized transformer, if possible with screen between primary and secondary winding and delta configuration for primary winding and star configuration for secondary winding. In any event, safety regulations require that the star point of this configuration be earthed. Should earthing transformer secondary not be necessary, configurations featuring transformers with delta secondary can also be used. This configuration keeps current harmonics to a minimum. Each drive should be protected by a set of fuses. Table 6.3.1 shows the type of fuse to utilise according to drive current.

ECO2D Model Transformer Slow-blow fuses Notes

ECO2x 04 10 Single/three-phase 12 A - ECO2x 06 15 Three-phase 16 A -

Table 6.3.1 Transformers and safety fuses. The choice of the transformer must be made according to the rating of the motor with which the drive is to be coupled and it is therefore advisable to consult the motor tables. For the more exacting tasks it may be necessary to increase transformer power by 20-30%. A single transformer can be used to power more than one drive in parallel. To determine the size required it is necessary to consider whether or not they operate contemporarily and if so calculate the sum of their respective capacities. If powering more than three drives with a single transformer, it is appropriate advisable to fit a soft-start circuit. Fuses should be the time-delay type since high current peaks can occur when switching on that originate from the charge of the filter's internal capacitors.

NOTE:

Depending on the motor connected, the drive may also be powered by using single-phase voltage supplied to the L1-L2 terminals only.

If wishing to take advantage of this possibility by connecting to the 230 V ac supply, it will be necessary to fix a current-limiting resistor to one of the two phases to be shorted with a contactor ≅ 200msec after switch-on (soft-start).

36

WARNING: SOFT-START

Leaving aside the type of power supply utilised and the number of drives, it is in any case advisable to fit a soft-start circuit whenever you intend switching on and off dozens of times each day.

SOFT-START The soft-start circuit consists of 2 current-limiting resistors (or 1 in the case of single-phase voltage) to be connected in series with the L1-L2 power phases and shunted about 200 msec after switch on. The must be the wire type and capable of withstanding current overloads 10 times greater than the rated current. Optimum values are 100 Ω, 50 Wmin, 250 V ac; for this reason we advise the use of our braking resistors. It therefore follows that the contactor contacts should be adequately sized. Figure 6.3.1 Soft-Start Circuit .

ECO4x

The ECO4D drive can be directly connected to the 400 Vac power supply and needs neither transformer nor soft-start circuit. Each drive should be protected by a set of time-delay fuses. Table 6.3.2 shows the type of fuse to utilise according to drive current.

Model ECO4-D Slow-blow fuses

ECO4x 04 10 12 A ECO4x 05 12 16 A

ECO4x 10 20 25 A ECO4x 20 40 50 A ECO4x 25 50 63 A

ECO4x 30 90 100 A

ECO4x 40 120 160 A

ECO4x 60 180 200 A

Table 6.3.2 Fuses .

Closure of contacts after 200 ms ECO2D

L1

L2

L3

M1

Line Filter

09CNW207xx

PE' L1'

L2'

L3'

PE L1

L2

L3

L O A D

L I N

AND

From secondary winding of transformer

2 ×××× R

ECO2D/ECO4D - Chapter 7: Electrical Safety, Electromagnetic Compatibility, Emergency circuit, criteria of wiring, EMC Components

37

7 .1 ELECTRICAL SAFETY

Earthing the drive is necessary to ensure ELECTRICAL SAFETY and ELECTROMAGNETIC COMPATIBILITY. All instructions set out under the heading ELECTRICAL SAFETY MUST be followed to the letter,

whilst we recommend compliance with those found under the heading ELECTROMAGNETIC COMPATIBILITY if the installation is to meet EMC regulations.

ELECTRICAL SAFETY

1. The cross-sectional area of the system earth conductor shall be at least 10 mm². If less, you should check that the minimum size meets local safety regulations for equipment with stray current.

2. The The CSA of the wire leading from the drive to the switchboard earth bonding point or terminal secured to its back panel shall be at least 2.5 mm².

3. The system earth point shall have a maximum impedance of 0.1 ohm. 4. The earth conductor shall be connected to the Drive screw on the drive

close to the Electrical Earth symbol. 5. Do not switch on the Drive before connecting the earth conductor to the

drive and system earth point 6. If removing the drive from the switchboard, the earth conductor should

be disconnected last of all.

7. 2 ELECTROMAGNETIC COMPATIBILITY

ELECTROMAGNETIC COMPATIBILITY

Correct build and set-up of the earth circuit of a drive-motor system keeps EMI to a minimum and thus guarantees compliance with EMC regulations applicable to the specific system. Details follow of the precautions to be taken when earthing in accordance with electromagnetic compatibility (EMC). For further details, please consult the Selema S.r.l. publication “Filtering Solutions” .

1.- When fitting the drive to a panel inside the electrical cabinet, a good RF earth contact is required. n this respect it is advisable to take advantage of broad surfaces and/or earthed metal parts using low-impedance conductors for high frequencies, e.g. using rectangular cables such as stranded copper.

Earth connection


38

2.- Good bonding of drive metal housing is needed, both for safety and EMC reasons, if necessary removing layers of rust or paint. A good low-impedance earth (0,1 Ω) is required in the switchboard, e.g. copper bar.

3.- The motor casing should have a low-impedance RF earth and you should therefore ensure that its path to earth is as short as possible. Simply connecting the motor cable is not enough.

4.- Connect the earth terminal (screw on drive) to the metal earthing plate on which the drive is mounted with as short a connection as possible.

5.- Cable external screening must be bonded from both ends with nickel-brass cable clamps or similar connectors using the maximum possible contact surface.

7 .3 EMERGENCY CIRCUIT

EMERGENCY

If the STO function is not utilised, follow the procedures specified below:

In order to guarantee the safety of the operator and the machine itself, international standards require that the drive should have its power supply shut off and be disabled.

As regards the ECO2D/ECO4D drive, depending on the “risk analysis” performed by the manufacturer of the machine or system, two different operating modes are possible as detailed hereafter. Mode 1 Immediately cuts off power supply connections and switches off TEN signal.

This will lead to motor axis being freed immediately. If choosing this mode, we strongly recommend fitting an emergency brake to the motor.

Mode 2 Switch off the IEN signal immediately as shown in the figure “Enabling Emergency Ramp” power supply connections and after max 0.5 sec (dependent on type of machine and after performing “risk analysis”). This mode may be used for braking the motor with an emergency ramp regardless of the signal present on REF and REF\ pins.

ECO2/ECO4 Drives of TECH and EVOLUTION series have STO SIL 2 safety circuit and therefore it is thus ensured that the motor will have no rotation, even in the absence of a failure of the drive; current certification is “Pending”


39

Figure 7.3.1 Enabling emergency ramp This function is specially designed to the motor under machine emergency conditions or at least slow it down with dynamics suited to the mechanics on which it is installed. To achieve this, the connection of the IEN signal to the +24Vdc must be severed when the machine is put in emergency, leaving feeding to +24Vdc input TEN. During the emergency ramp, the+24 Vdc AUX SUPPLY should also remain connected, whilst the power supply may be disconnected at the same time as the IEN signal or after 0.5 seconds according to the application. The Ramp obtained with IEN disabled and TEN enabled is set by changing parameter “F3” Emergency Ramp.

The functional diagram of Figure 6.4.1 merely illustrates operation of the IEN input and is not intended to replace other equipment designed to protect machinery or operator.

Drive ECO2D/EECOxxx

Other emergency contacts (doors, limit switches, etc.)

+24V

0V24

OK

TEN

IEN

REF

CN1

REF/

0V

EXTREF

PULSE

DIR

CONCLR

TENIEN

+24Vdc

REFREF\

+24VdcEmergency Button

40

7 .4 Wiring standards

The technical specifications set out hereafter should be followed to the letter in order to guarantee correct wiring of the drive.

Power Conductors, Motor Cable Power supply basically means the drive three-phase circuit and the motor power-supply cable.

The following table lists recommended cable sizes for each ECO2/ECO4 model and also gives the code of a suitable Selema motor cable.

ECO2x/ECO4x model Cable CSA Selema motor cable

(Trailing)

ECO2x 04 10 1.5 mm² Code 09CP15 S ECO2x 06 15 1.5 mm² Code 09CP15 S ECO4x 04 10 1.5 mm² Code 09CP15 S ECO4x 05 12 1.5 mm² Code 09CP15 S ECO4x 10 20 2.5 mm² Code 09CP25 S ECO4x 20 40 4 mm² Code 09CP40 S ECO4x 25 50 6 mm² ------------ ECO4x 30 90 10 mm² ------------ ECO4x 40 120 16 mm² ------------ ECO4x 60 180 25 mm² -------------

Table 7 .4.1 Motor cable specifications.

NOTE: Motor Cable

The motor cable requires a 4-way model with external stranded-copper screening.

Good earth bonding is indispensable in order to ensure correct product operation and conformity with EMC regulations and safety standards.

Bond the motor cable screening from both ends making use of as large a contact surface as possible and utilising 360° metal clamps (nickel brass cable clamps).

Use trailing cables in installations where the motor is mounted to a moving part .

Control/signal conductors

- Control/signal conductors

Unless otherwise indicated, the recommended size is 0.5 mm² with screw terminals.

- Analogue signal cable (if using REF\, REF) The cable must be the screened twisted-pair type (at least 0.22 mm²).

41

Resolver Cable

It is essential that the Resolver cable be provided with individually-screened twisted pairs for the COS2, COS1, SEN2, SEN1, ECC and 0VECC signals, whilst for the thermal resistor signals screening of the twisted pair is not indispensable. In addition to internal screening, the cable must also be fitted with external screening. When wiring it is most important that special attention be paid to the connection of the screens, both for the twisted pairs and the outer screening (see wiring diagrams for the Resolver cable signals of Brushless and AC Brushless motors).

NOTE: Selema recommended Resolver Cable The recommended cable is a 6-twist duplex model (6 × 2 × 0.22 mm2) with 3 individually-screened twisted pairs and 3 unscreened twisted pairs plus an external screening covering all 6 twisted pairs.

NOTE: Resolver Cable Wiring

The Resolver cable should have three screened twisted pairs (for COS2 and COS1, SEN2 and SEN1, ETC and 0VECC signals); all three internal screens of these twisted pairs must be connected together on the ECO2D/ECO4D side and led to pin 21 (0VECC) of the CN4. On the other side (resolver connector - motor side) they should be connected to pin S .

For the Motor thermal resistor (PTC) use an unscreened twisted pair. The external screening must be bonded from both ends with nickel-brass cable

clamps using the maximum possible contact surface. When the wiring arrangement makes it impossible to connect the outer screen

with metal cable clamps, there is the option of connecting the screen on the drive side to pin 21 of the CN4 connector leaving the screen open on the motor side.

Encoder Cable

The encoder signal connection cable must be the screened type with screen connected per figure 6.2.11. Alternatively, a screened cable with 7 twisted pairs can be used.

Serial Cable

The cable must be an 8-way screened model (at least 0.22 mm²).

WARNING: Cables

The routes followed by power cables and signal cables should be kept well apart.

The length of the Resolver and motor cables shall under no circumstances exceed 50 m if performance is not to suffer as a result of their excessive inductance and stray capacitance; for longer distances please Selema S.r.l. Customer Care.

42

7 5 EMC COMPONENTS

Brief particulars follow of our recommended filtering components for the various sizes of ECO2/ECO4 drive which allow EMC problems to be partly resolved. For comprehensive details, please refer to our “Filtering Solutions” guide where the matter is fully discussed. - LINE FILTER

In order to meet EMC standards (conducted emissions), it is necessary to install a power line filter just upstream from the ECO2/ECO4 between drive and any transformer. The power line filter must be of sufficient size to handle the drive’s supply current.

WARNING: LINE FILTERS In order for the drive to meet EMC , it is essential that filters from the

Selema series 09CNW207xx be used according to the application or alternatively other filters with similar specifications. Pay a great deal of attention to the filter’s attenuation capacity for the frequency range in question and verify the leakage current to the earth cable.

NOTE: LINE FILTERS The location of required filters should be carefully established, but it is evident

that filtering each PDS is not practicable. Depending on the switchboard layout, a single filter can be used for more than

one drive. In such case it is necessary to add together the simultaneous power consumption of the various drives.

For instructions and choice of filters please refer to the Selema S.r.l. guide “Filtering Solutions ”.

- FERRITE CORES

In order to meet EMC standards regarding immunity and emissions, in some cases it is imperative that one or more ferrite cores be fitted so as to reduce the flow of EMI through cables. Cables requiring core and recommended core type are listed below.

Cable Type Selema core Positioning

L1, L2, L3 power supply cables.

Core model SCK2 (internal Φ = 9 mm, Z=80

Ω).

Position core close to M1 terminal block and include L1, L2, L3 cables

Connection Cable signals and I/O.

Core model SCK3 (internal Φ = 13 mm, Z=80

Ω).

Position core in the immediate vicinity of CN1 terminal block and include all cables that converge into it.

Table 7.5.1 Ferrite cores. Should the serial cable route be situated close to sources of interference (transmission problems), a core with suitably-sized internal diameter should also be fitted to this cable.

ECO2D/ECO4D - Chapter 8: Commissioning & Maintenance

43

8.1 SWITCH-ON / SWITCH-OFF PROCEDURE

Details follow of the sequence of steps required for a correct switch-on and switch-off of the ECO2/ECO4 drive. SWITCH-ON

Supply +24 V dc power to logic (the drive display will show “In” followed by “UL”).

Switch on power (the display will show “Fr”).

Enable drive (TEN signal on).

WARNING: Switch-on When switching on the drive’s power supply, the +24 V dc any auxiliary power supply must always be on. Non compliance with this procedure could cause damage to the drive.

Whenever there is a gap of more than 200 ms between supply of power to the logic and power switch on, or in the absence of power, the drive sounds a low-voltage alarm; the alarm itself is automatically reset by restoring the correct power supply level.

SWITCH-OFF

- Disable ECO2/ECO4 (TEN signal off).

- Disconnect power supply (L1,L2,L3).

- Disconnect +24V dc power supply.

These three switch-off steps can also take place contemporarily but not with a different sequence to that specified.

8.2 INITIAL START-UP AND COMMISSIONING

The following paragraph assumes that the operator is fully conversant with product operating procedures. Therefore, the start-up procedure indicated below is merely intended as a basic guide to the preliminary checks and main operations required.


44

NOTE

Drive installation is greatly facilitated by using the Drive Watcher software whose functions offer user-friendly parameter set-up and start-up

PRELIMINARY CHECKS

a) Check that mechanical installation carefully follows the instructions given in chapter 5.1.

b) Check that the electrical connections correspond to those indicated in chapter 6, ensuring clean and secure contact of all connectors and terminal blocks.

c) Mechanically disconnect the drive shaft from the load (no-load motor).

DANGER

During testing the motor may be subject to high speed and acceleration and it is therefore very important that its main body be securely mounted so as not to constitute any form of human safety hazard.

The spline should remain on the drive shaft in such a way as to prevent its sudden release at high speeds (use the spline cover).

PROCEDURE The following operations should be carried out separately on each drive. Please consult chapter 10 (Alarms) should a malfunction or an alarm be encountered during this procedure.

1. Follow the switch-on procedure as indicated in the previous section without enabling the ECO2/ECO4 Drive (TEN and IEN at 0V or disconnected). The display will show “In” (initialization) and after 1 second “UL”; subsequently (after powering up) “Fr” will appear to indicate that neither is enabled.

2. Ensure that the drive shaft is not in locked rotor condition (shaft free).

3. Check that parameter “d8” is set for the correct motor. Check that drive-motor are correctly matched in accordance with the tables of annex B.

4. Check that parameters “F1”, “ F2”, “ d1” “ d2”, “ d5”, “ d6”, “ d7” are set to their default value.

NOTE

In the case of drive with “CANopen”, “S-CAN”, MODBUS/S-NET fieldbuses, CAM or SAP options and other mechatronics functions, continue from point 26.

5. Enable TEN signal. Check that “Lo” appears on the display and that at the same time the motor is placed in locked rotor condition. The motor should remain in locked rotor condition, without any vibration or speed offset. If this is not the case, carefully check wiring.


45

NOTE In the case of Drive without options (standard version) continue from next point (6) up to point 10.

For drive with Pulse Positioning option continue from point 11 up to point 18.

For drive with Electronic Gearbox option continue from point 19 to point 25.

6. Supply +0.5V speed setpoint across REF\ and REF (REF positive) using CN or control board or

potentiometer. Enable IEN signal. Check that “En” appears on the display the motor should turn in an anticlockwise direction (side with drive shaft visible) at 1/20 the rated speed of motor selected. Test correct running maximum speed setpoint at +10V.

7. Use parameter “d4” in order to regulate offset, see 6.2 “Parameter Details”.

8. Switch off ECO2/ECO4 drive and apply load to motor.

9. Repeat points 1 and 2, and check remaining settings of the ECO2/ECO4 drive according to application and true load, as indicated in chapter 6.2 “Parameter Details”.

10. Test machine cycle, including under the most stressful conditions, ensuring that neither an alarm nor the I²T function is triggered (test to be performed by connecting the drive to a PC with Drive WATCHER software).

For drive with Pulse Positioning option continue up to point 18.

11. Set IP and PL menu parameters according to application.

12. Enable IEN signal and check that “En” appears on the display. The motor must remain stationary.

13. The pulse sets a transition from 0V to 24V and the subsequent transition from 24 V to 0 V. Supply a pulse to the PULSE input and check that the motor turns over at the step programmed in parameters “P1” and “P2” of the PL menu . With DIR = 0 V, the motor rotates in a clockwise direction (side with drive shaft visible). If just a single transition is performed, the motor will move just ½ step.

14. With DIR input at +24Vdc, check that motor direction of rotation is the opposite to that noted at the previous point (point 13).

15. Enable CONCLR input and sure that the motor does not turn over even if pulses are supplied.

16. Switch off drive and apply load to motor.

17. Repeat points 1 and 2, and check remaining settings of the drive according to application and true load, as indicated in chapter 6.2 “Parameter Details”.

18. Test machine cycle, including under the most stressful conditions, ensuring that neither an alarm nor the I²T function is triggered (test to be performed by connecting the drive to a PC with Drive WATCHER software).

For drive with Electronic Gearbox option continue up to point 25.

19. Set IP and PL menu parameters according to application.

20. Enable IEN signal and check that “En” appears on the display. The motor must remain stationary.

21. Enable IN0 signal (pin 1 of CN1 terminal block), input active at +24 V dc.

22. Move the Master Encoder and check that the electronic gearbox follows the movements of the Master.

23. Switch off ECO2/ECO4 drive and apply load to motor.

24. Repeat points 1 and 2, and check remaining settings of the drive according to application and true load, as indicated in chapter 6.2 “Parameter Details”.


46

25. Test machine cycle, including under the most stressful conditions, ensuring that neither an alarm nor the I²T function is triggered (to this end, monitor OP variables on keypad or connect drive to a PC with Drive Watcher software).

In the case of fieldbus-networked drive with “CANopen”, “S-CAN”, “ MODBUS”, “S-NET” “Electrical Axis” or “Electronic Gearbox” options, continue up to point 28.

26. Set position loop parameters and speed/acceleration registers.

27. Switch on TEN signal, enable drive using network commands and check that the motor axis remains in locked rotor condition without vibration.

28. Switch on IEN signal and start system by sending the appropriate commands over the network (CANopen, S-CAN, S-NET, MODBUS).

NOTE

MODBUS and S-NET fieldbus functions require axis calibration before the network can be used since the fieldbus commands and drive analysis programme use the same serial port. The Drive Watcher AXIS TEST utility is therefore very useful. There are also specific programmes for use with the more complex mechatronic functions such as SAP for the Stand Alone Positioner function and CAM BUILDER for the Electronic CAM function.

8.3 MAINTENANCE

The ECO2/ECO4 Drive has no components that require maintenance. When replacing the drive, it should be returned to SELEMA in the original packaging.

Be careful when carrying out any operation on components situated close to the drive, some parts of the drive can be hot.

When replacing the drive, you must disconnect the power supply and the respective connectors, see chapter 6.2. Even after disconnecting the power supply, DO NOT open the drive for any reason.

ECO2D/ECO4D - Chapter 9: Parameters & Local keypad operation

47

9 PARAMETERS

The Drive has several internal functions, some relatively simple, others decidedly complex, and these are set by PARAMETERS and REGISTERS. The simpler functions rely on parameters alone, while the more complex ones also require setting in specific REGISTERS. The local keypad is used solely to set PARAMETERS and display alarms. For complex applications or the use of fieldbuses and mechatronic functions that make extensive use of REGISTERS as well as PARAMETERS use of the “ Drive Watcher” programme is essential.

The front of the drive is fitted with a 2-button keypad ) and a 2-figure display. You will have to install Drive Watcher on your PC for comprehensive programming of all functions, however, standard function parameters can be programmed using the local keypad. The display allows viewing of operating STATUS, ALARMS , PARAMETERS and their respective values.

POWER ON display messages When switching on, drive operating status is displayed and initialisation of internal software is confirmed by “In ” ( Initialisation, that appears for a few seconds); the message “Fr ” (Free ) will then appear to confirm that the drive has been supplied with power and is ready to receive commands or “UL” (Under Level ) if not energised. If TEN signal is enabled, the motor will be energised. At this point, the function performed depends on the IEN signal. If IEN is on, the display shows “En” (Enable), the drive supplies torque to the motor and is enabled to follow the analogue signal (if the parameter c9 = 0 ) present on REF and REF/ pins. If IEN is off, the display shows “Lo” ( Lock ) and the drive supplies torque to the motor, although this remains in locked rotor condition.

Parameters

Here is a summary of drive parameters. They can all be modified via keypad. Their functions are described in detail at chapter 9 of the Instruction Manual .

d1 Speed loop proportional gain, KP . % d2 Speed loop integral gain, KI . % d3 Maximum motor speed, Vmax . % d4 Speed offset adjustment % d5 Maximum motor current. % d6 Peak current/rated current ratio. % d7 I²T function. % d8 Motor Selection. Pure Number

Table 9.1.1 d Parameters

E1 Maximum rated speed. % E2 Input setpoint filter % E3 Exceptions Parameter. Number E4 Brake Number

Table 9.1.2 E Parameters

F1 Acceleration ramp % F2 Deceleration ramp % F3 Emergency ramp % F4 Reserved Number

Table 9.1.3 F Parameters

+ ENTER


48

C1 RTE output pulse selection. Pure Number C2 Motor direction of rotation Pure Number C3 Control type selection (speed/torque). Pure Number C4 Resolver pole pair selection Pure Number C5 Encoder pulses/revolution selection Pure Number C6 Transducer type selection Pure Number C7 Network node number Pure Number C8 NOT UTILISED. -- C9 Operating mode selection. Pure Number

Table 9.1.4 C Parameters

I1 Position loop proportional gain. % I2 Position loop integral gain % I3 Position loop derivative gain % I4 Inertia compensation value. % I5 Positioning error timeout (in hundredths of a second). Number I6 External encoder mode selection Number I7 Reserved Number

Table 9.1.5 . I Parameters with “Pulse Positioning or Electronic Gearbox” option

O1 Instantaneous current. Number O2 RMS Current. Number O3 Overload (% of I2T) Number O4 Reserved Number

Table 9.1.6 O Parameters

P1 Drive shaft pulses/revolution (most significant part). Number P2 Drive shaft pulses/revolution (least significant part). Number P3 Maximum following error (degrees) (most significant part). Number P4 Maximum following error (degrees) (least significant part). Number P5 Ramp-up time (in ms/100 RPM). Number P6 Ramp-down time (in ms/100 RPM). Number P7 Maximum Speed (in RPM/100). Number

Table 9.1.7 P Parameters with “Pulse Positioning” option A1 Master Encoder reference marks hi (most significant part). Number A2 Master Encoder reference marks lo (least significant part). Number A3 Gear ratio numerator Number A4 Gear ratio denominator. Number A5 Maximum following error (in degrees) hi (most significant part). Degrees A6 Maximum following error (in degrees) lo (least significant part). Degrees

Table 9.1.8 A Parameters with “ Electronic Gearbox” option H1 Homing method Pure Number H2 Switch homing speed as % of the rated speed. % H3 Index Pulse homing speed in thousandths of rated speed. % H4 Ramp-up/down time (in ms/100 RPM). Number H5 Position offset sign Number H6 Master Encoder position offset in pulses (hi), tens of thousands. Number H7 Master Encoder position offset in pulses (mid), hundreds. Number H8 Master Encoder position offset in pulses (lo), units. Number


49

H9 Position offset manual calibration utility. Number Table 9.1.9 H (Homing) parameters with “Electronic Gearbox” option

n1 CANbus Baud rate. Pure Number Table 1.9.10 n parameters with “ CANopen” , “ S-CAN” options . Details follow of the C9 parameter, of paramount importance in selecting drive operating mode, and network node parameter. Details of other parameters can be found in the Instruction Manual or Additional Information .

C9 Operating mode selection Pure Number

Operating mode selection (analogue or positioning or fieldbus input). This is the drive’s essential parameter.

(00- 09): 00 = Analogue input, the speed or torque setpoint is acquired by REF and REF\ inputs. (00 = default value ).

01 = Pulse Positioning input, if this option is included. 02 = Electronic Gearbox input, if this option is included. 03 = MODBUS & S-NET network, if this option is included. 04 = S-CAN network, if this option is included. 05 = CANopen Network, if this option is included. . 06 = Electronic CAM, if this option is included. 07 = SAP (Stand Alone Positioner) if this option is included. 08 = MSQ (Motion SeQuencer). 09 = CUSTOM - for special software changes only 10 = Synchronised start/stop electronic cam 11 = ETHERNET-based fieldbuses on TECH and EVOLUTION only

On TECH and EVOLUTION only I2T hardware alarm Signal assumes importance if I2T intervenes (pin 13 of CN2) only

with C9 = 0, 1, 2, 3, 4, 5, 6 10

n PARAMETERS

This menu is only available with the “CANopen” and “S-CAN” options.

n1 CANbus Baud rate Number

The Baud rate parameter is coded as follows:

Parameter value: 1 2 3 4 5 6 7 8

Baud rate (kbaud): 10 20 50 125 250 500 800 1000

This parameter is read only when switching on the drive. Therefore, all changes (subject obviously to being saved in non-volatile memory) will only take effect the next time you switch on.


50

(01-08): 08 = default value.

51

9.2 LOCAL KEYPAD OPERATION AND MENUS

The display shows Drive STATUS (“In”, “Fr”, “UL”, “En”, “Lo” ). Press any key in order to access the main parameters menu; once inside these menus, if no key is pressed, after 4-5 seconds the display will once again show Drive STATUS.

Warning! changed, all parameters remain in the drive’s volatile memory (RAM). In order to make parameter changes permanent, they must be saved to the Drive flash memory using the procedure in the “EP” menu.

MAIN MENUS The ECO2/ECO4 main menu differs according to the options requested by the user.

- The main menu of the STANDARD MODEL comprises separate menus; press [+] to pass from one to another. Upon reaching the last menu the cycle is completed and you will return to the first one (Figure 9.1.2).

- The main menu of the product with the “PULSE POSITIONER” option (c9 = 1) offers two additional submenus “IP” and “PL”; press [+] to pass from one to another. Upon reaching the last menu the cycle is completed and you will return to the first one (Figure 7.1.2).

- The main menu of the product with the “ELECTRONIC GEARBOX ” option (c9 = 2) offers three additional submenus “IP”, “ AL” and “Ho”; press [+] to pass from one to another. Upon reaching the last menu the cycle is completed and you will return to the first one (Figure 7.1.2).

- The main menu of the product with “CANopen” (c9 = 5) and “S-CAN” options (c9 = 4) also offers the “nP” menu. Press [+] to pass from one to another. Upon reaching the last menu the cycle is completed and you will return to the first one (Figure 7.1.3).

Press [ENTER] key to access menu currently shown on the display.

52

d r

E d

c n

E P

S A

A b

OR

P

A A

Figure 9.2.1 Main Menu of ECO2/ECO4 without options (standard product).

WARNING The “SE” Resolver Alignment menu only appears in the main menu when parameter c9 = 0. The “AA” menu appears in some software option configurations for absolute encoder management. Its use is explained in the publication Additional Information.

Main Menu of ECO2D/4D without options (standard product)

The figure illustrates the main menu of the ECO2D/ECO4D without options (standard product). Details of the submenus follow.

Drive parameter menu: Drive Parameters .

Extended Drive parameter menu: Extended Drive Parameters .

F u Ramp and special function menu: Function Parameters .

Parameter control menu for the various operating modes: Control Parameters .

Default parameter menu: E2PROM.

Parameter save menu: SAve. N. B. This menu will only appears if changes to

parameters have been made.

Alarm buffer menu: Alarm Buffer.

S E Function Menu: SEnsor. Procedure with password. Resolver/Encoder alignment. Only available if c9 = 0.

Menu that displays phase and peak currents, I2T etc.: Output Parameters . Absolute encoder alignment. Procedure with password.

A A c9 = 3

d r ENTER

+

c n ENTER

+

E d

ENTER

+

F u

ENTER

+

OR

P

ENTER

+

S E ENTER

+

A b

ENTER

E P

+ ENTER

S A

+ ENTER

53

ENTER

+

ENTER

By pressing the [ENTER] when “SA” appears, the screen now shows “y?” seeking further confirmation that you wish to save data to flash memory. If you have made a mistake and do not wish to save the parameters hold down just one of the two keys and the message “no” will appear for several seconds. On the other hand, if you wish to continue, press down both keys contemporarily for at least 3 seconds, In this case, a sequence of two messages will appear: “YE” and “- -”. Since this operation is only allowed with drive disabled, if the TEN signal is enabled (drive enabled), “YE” flashes on the screen in order to indicate the anomaly. After disabling the TEN signal, the flashing stops and the operation is carried out. Upon completion, you will return to “Fr ” status.

SPECIAL MENUS

The menus listed below differ in some respects from the general ones described above

SA “ SAVE “ - Parameter save menu

This menu saves parameters (stored in RAM) in non-volatile memory (flash memory). Such command allows permanent storage of the entire set of parameters in use at the time of saving. Therefore, the next time the drive is switched on, parameters will retain the values saved. In order to activate the choice of a new motor (change to “d8” parameter), the drive should be switched off and back on again.

SE “ SEnsor “ - Resolver/Encoder alignment menu

The “SE” menu allows you to check Resolver or Encoder alignment. The value indicates the phase angle in electrical degrees between the resolver or encoder and the electrical field of the magnets. In the event of a considerable difference in phase, you can perform alignment by physically disconnecting the Resolver or Encoder and changing its mechanical position with respect to the drive shaft. As the two procedures are slightly different for resolver or encoder, the instructions provided in Figure 7.1.9 should be followed to the letter. The “SE” menu is only displayed when parameter c9 = 0. In order to access this menu press [ENTER] key when “SE” appears on the display. This is followed by the message “??”, indicating a request for the password. Subsequent steps are explained in the diagram below.

S E ? ?

0 0 ENTER

+

+ Drive status is displayed and you will return to the home page.

Press [+] key until reaching the numeric value of the password. After reaching the password value, press the [ENTER] key. Resolver Enable TEN The drive shaft moves to electrical zero. The misalignment value is displayed. Encoder DO NOT enable TEN Manually rotate the drive shaft for at least two mechanical revolutions The alignment value is displayed

Drive status is displayed and you will return to the home page.

.. ..

X. x.

ENTER

0 1

+

Password Value

54

Use of the password (and respective Resolver/Encoder alignment function) is for technical

support staff only; the technical support engineer should know the password. Consult the publication “ECO2/ECO4 Additional Information” if y ou do not know the password.

WARNING

During the Resolver alignment stage you should ensure that the shaft is completely free to move; for safety reasons you should also lock the motor and not touch the drive shaft as it will be moved during this procedure.

Misalignment values of between [-08 and +08] can be considered correct.

Misalignment values exceeding 99 degrees are indicated by the flashing “--” symbol.

EP “ E2PROM “ - Default parameter reset menu

This menu should be used if all parameter values have been modified incorrectly and you would like to restore a safe configuration. Such menu therefore allows parameters to be loaded with their default settings as indicated by the following diagram.

A value “x. X. = 00-99” indicates the misalignment in electrical degrees (absolute value). Resolver

A flashing value indicates that no torque is applied to the axis and therefore the measurement is not valid. Apply torque to the axis by enabling the TEN signal and misalignment will now be displayed.

The misalignment sign is shown by the decimal points of the two digits visible on the display.

Encoder

A flashing value indicates that the measurement is not yet valid. The drive shaft should be rotated for two mechanical revolutions. Once the TEN signal is enabled, misalignment will be displayed.

X x.

AN

P

ENTER

d E

y ?

ENTER

n or

+ ENTER an

Y E

- -

+ ENTER or

Main Menu

By pressing [ENTER] when “EP” appears on the display, the “dE” menu will appear. Press [ENTER] again in order to load parameter default values. The screen now shows “y?” seeking further confirmation that you wish to load default values. If you have made a mistake and do not wish to load the default parameters, hold down just one of the two keys and the message “no” will appear for several seconds. On the other hand, if you wish to continue, press down both keys contemporarily for at least 3 seconds. In this case a sequence of two messages will appear “YE” and “- -”. Since this operation is only permitted with drive disabled, if TEN signal is enabled (drive enabled), the “YE” box will flash in order to indicate this anomalous situation. Once the TEN signal has been disabled, the box stops flashing and the operation will be carried out. Upon completion, you will return to “Fr” status.

55

Ab “ Alarm buffer “ Alarm buffer menu

The alarm buffer menu allows you to view the last four alarms that have been triggered since the drive was switched on. In order to access press [ENTER] key when “Ab” appears on the display. The last detected will appear. Continue pressing [+] in order to carry out complete scanning of the most recent alarms (in chronological order). Having reached the final alarm, press [+] again in order to return to the main menu in “Ab”. Figure 9.2.4 “ Ab” menu

Press [ENTER] when “Ab” appears on the display and a list is shown of the most recent alarms to be generated since switch-on. “AL” will flash on the screen followed by corresponding alarm code, e.g. “AL” “15”.

Press [+] and [ENTER] to delete all alarms stored in the buffer up until that time. If no alarms have been generated, the display shows the code n. all. = 0 0

NOTE : n. all. = alarm number or code (see chapter 10.1 ).

ENTER

+

A b

+

+

+

ENTER

A L n. all.

A L n. all.

A L n. all.

A L n. all.

+

ECO2D/ECO4D - Chapter 10: Diagnostics and Alarms

56

10 DIAGNOSTICS and ALARMS

The Drive signals its operating status on the display and using a feedback contact called OK (CN2 connector). Provided there are no abnormal operating conditions, the OK signal is enabled and “STATUS” is shown on the display. If an alarm has been triggered, its number will appear on the display.

Drive STATUS

“ In” (Initialisation), appears for a few seconds when switching on the Drive

“ UL” (Under Level) only when switching on the Drive after “In” status Input conditions: 1. L1, L2, L3 NOT energised 2. TEN disabled 3. IEN of no importance OK signal: On Motor Conditions: Shaft Free

“ Fr ” (Free) Input conditions: 1. L1, L2, L3 energised 2. TEN disabled 3. IEN of no importance OK signal: On Motor Conditions: Shaft Free

“ Lo” (Lock) Input conditions: 1. L1, L2, L3 energised 2. TEN enabled 3. IEN disabled OK signal: On Motor Conditions: Shaft locked, motor in locked rotor condition. The Drive supplies the motor

with torque, but maintains position regardless of setpoint.

“ En” (Enable) Input conditions: 1. L1, L2, L3 energised 2. TEN enabled 3. IEN enabled OK signal: On Motor Conditions: Drive shaft moves in accordance with setpoint (analogue or digital depending

on the setting of C9).


57

10 .1 ALARMS

The Drive continuously monitors its own operating status and when an abnormal situation arises, the corresponding alarm code appears on the display, the DRIVE OK signal is disabled and the motor is disabled in various ways depending on the type of alarm. “AL ” and the respective alarm code will flash alternately on the display in order to indicate an alarm. The drive can store sequences of up to 4 alarms, so the alarm buffer menu allows you to view the last four alarms that have been triggered since the drive was switched on. Menu access is explained in chapter 9.2 “Local keypad operation”.

The following table provides a list of possible alarms with respective codes and details the resultant action taken by the drive.

Table 10.1a Alarm details

Code Description Drive action

AL 01 IGBT problem Immediately frees axis.

AL 02 Motor thermistor Brakes with set emergency ramp and frees axis.

AL 03 Motor overcurrent

Immediately frees axis

AL 04 DC bus overvoltage


AL 05 Undervoltage Brakes with set emergency ramp and frees axis

AL 06 Drive thermistor. Brakes with set emergency ramp and frees axis

AL 07 DSP processor fault Frees axis, drive fails to complete POWER ON

AL 08 Motor transducer alarm Immediately frees axis

AL 09 Flash Memory Alarm Immediately frees axis

AL 10 No reset of braking resistor Brakes with set emergency ramp and frees axis.

AL 11 Network communication error Brakes with set emergency ramp and frees axis.

AL 12 Homing operation error Immediately frees axis

AL 13 CAN communication error Brakes with set emergency ramp and frees axis.

AL 14 Homing procedure not properly completed


AL 15 Overflow alarm Immediately frees axis

AL 16 Following error Immediately frees axis

AL 20 LS1 alarm Brakes with emergency ramp and only allows movement in the opposite direction

AL 21 LS2 alarm Brakes with emergency ramp and only allows movement in the opposite direction

AL 23 No alignment using absolute encoder Immediately frees axis

AL 24 No communication with absolute encoder


AL 25 Absolute encoder: axis moving at start-up error


AL 26 Unauthorised operating mode alarm Immediately frees axis


58

Alarm reset procedure:

Once the cause of the malfunction has been removed, the alarm condition can be reset in two different ways: 1. Turn the drive off and on again; 2. Disable and re-enable TEN signal( if the alarm is caused by incorrect parameters, etc. ) Here is a list of possible reasons for drive operational faults (signalled by a flashing alarm code) and some suggestions as to how to remove the cause the of malfunction.

ALARM 01: Overcurrent, overtemperature or short cir cuit in IGBT. IGBT hardware protection has been triggered indicating overtemperature or short circuit or abnormally high current in the power stages. Disconnect power supply and check that U, V, W phases have not shorted each other or caused earth signal short or leakage. If so, check wiring for possible cause.

ALARM 02 : Motor Thermistor. Motor overtemperature, motor PTC thermistor trigger ed.

In case of initial switch-on, check the motor thermistor wiring is correct. Otherwise, check that motor temperature is close to 120 °C. If motor temperature is undoubtedly lower, check the presence of +24 Vdc on the TMOT terminal (pin 26 of CN4 ).

ALARM 03: Motor overcurrent . Motor current exceeds that specified by the motor table Ensure that motor selected is that actually utilised (check “d8” parameter in the motor tables). Check that motor and resolver cable wiring matches the provisions of the various wiring diagrams in chapter 6.2; check correct alignment of Resolver or Encoder (keypad SE or AA menu). We recommend that you consult the “ECO2/ECO4 Additional Information” manual when performing this procedure for the first time. Check the absence of strong sources of impulse noise in the immediate vicinity of the cables and/or product (e.g. relays, contactors, solenoid valves, etc.). Check that power cables are suitably isolated from signal cables (especially when using the resolver cable).

ALARM 04: DC bus overvoltage. DC BUS voltage exceeds rated maximum Check that wiring and size of power supply circuit conform to the requirements of chapter 5 and that supply voltage is within allowed tolerances, i.e. inside the range specified by chapter 3.1 . In case of alarm during operating cycle, check whether braking resistor is connected (motor could be in regenerative phase with braking resistor NOT CONNECTED). If condition persists, then problem is due to fact that load inertia exceeds the drive’s braking capacity. Recalculate the kinetic energy to be dissipated and choose a more suitable braking module, If this problem persists, contact Selema “Customer Services”.

ALARM 05: Undervoltage Supply voltage insufficient or below prescribed minimum. Check that wiring and size of the power supply circuit conform to the requirements of chapter 5 and that supply voltage falls within rated values (chapter 3). Should alarm be triggered during operating cycle, ensure that power transformer size is correct especially for 230 V drives powered by an isolation transformer or autotransformer. ALARM 06: Drive thermal resistor Heat sink overtemperature


59

Ensure that the instructions regarding mechanical installation have been followed to the letter (see chapter 4).

ALARM 07: DSP processor fault. The alarm highlights an excessive level of on-line disturbance, resulting in failure of processor hardware, or unsuccessful firmware update.

Carefully check that wiring and electrical specifications meet the requirements of chapter 5, in particular as regards earthing, screening and noise filters.

ALARM 08: Motor feedback alarm Alarm indicates that resolver or encoder or digital feedback is wrongly connected or affected by bad interference. Ensure resolver/encoder cable is correctly wired. In applications with BiSS absolute encoder this alarm is triggered only after completion of start-up, so during normal operation when noting inconsistencies between digital position readings. In external encoder applications this alarm warns that the threshold set in parameter I7 has been exceeded.

ALARM 09: Flash Memory Alarm Flash Memory contains inconsistent data. Switch drive off and back on and repeat storage operations. If this problem persists, please contact Selema Customer Services.

ALARM 10: No reset of braking resistor Operate time exceeds 10 seconds. If this alarm is triggered it means that system kinetic energy is too large to be dissipated by the drive or supply voltage exceeds rating plate data, thus the braking resistor remains permanently ON. Warning, do not reset the alarm before checking supply voltage, failing which, damage may be caused to the braking resistor ALARM 13: Network communication error alarm. Verify that parameter C9 setting is correct

Check network node parameter and baud rate

Check fieldbus connections and correct positioning and value of termination resistors.

Check that fieldbus cables do not pass close or parallel to power cables and screening has been carried out correctly and is not broken if a connector has been used to patch the cable.

ALARM 14: Homing error alarm Homing procedure not completed.

Check for any mechanical problems or errors in the homing parameters. Acceleration, deceleration or speed set is incompatible with system dynamics, check the respective configuration parameters. ALARM 15: Positioning system overflow error alarm The system uses 32 bit variables to represent positions. Should an individual command call for excessive linear displacement (about 40 minutes with the axis at 3000 RPM), there is a risk of causing overflow in internal counting operations. ALARM 16: Following error alarm This alarm is triggered when the demand position of the movement differs from the measured position, by an amount exceeding the maximum allowed following error (e.g. parameters “P3” and “P4” of PL menu or “A5” and “A6” of AP menu) for a time exceeding that indicated in the relevant parameter (e.g. “I5” of IP menu) .


60

Check for possible mechanical problems or errors in the above-mentioned parameters. The acceleration or deceleration set is incompatible with system dynamics.

ALARM 20: LS1 signal enabled

ALARM 21: LS2 signal enabled

ALARM 22: Not used

ALARM 23: Electric field/absolute encoder alignment procedure not implemented

ALARM 24: Fault in serial communication with absolute encoder

ALARM 25: Error of absolute position read by serial interface due to excessive axis movement during switch-on

ALARM 26: This alarm warns that the selected mode is not compatible with the options configured in drive. The alarm will reset only by turning the Drive off.

Details now follow of other operating faults and their possible solutions.

1. Motor turns over jerkily or vibrates excessively. 1a) Check that motor and resolver cable wiring corresponds to that indicated in the “WIRING

DIAGRAMS” of paragraph 6.2, screening included. 1b)Check that motor parameters have been programmed correctly.

2. Motor remains in locked rotor condition but does not follow the analogue speed setpoint. 2a) Check that IEN signal has been enabled. 2b) Check the presence of the actual speed setpoint desired across REF and REF\ terminals of

CN1.

3. Motor follows the analogue speed setpoint irregularly. 3a) Check that speed setpoint reference earth is connected to 0V terminal (pin 8 of CN1).

4. Motor vibrates slightly whilst in “locked rotor ” condition. 4a) Check that motor and resolver or encoder wiring corresponds to that indicated in the wiring

diagrams of chapter 5.2, screening included.

5. Motor occasionally suffers performance loss.

Check whether I²T function has been triggered by displaying via PC or O1-2-3 parameters.

ECO2D/ECO4D - Annex A: Key to label

61

Annex A KEY TO LABEL

This Annex describes the fields to be found on the ECO2/ECO4 label thus allowing all drive data to be ascertained.

Via Monari Sardè, 340010 Bentivoglio

(BO) ITALY

Cod. DateS/N REV. RM MT Sp. Opt.

09ECO2D0410PE 24/01/0811858 18 2.55 1.0 A046

AC-INPUT230V +/-10% 50/60 Hz

1 or 3 PHASE - 4,5 AMPS

AC-OUTPUT215V 3 PHASE 1,0 KW 4,0A

Cod. = Product sales code (see chapter 4 Models and Options).

Dates = Product manufacturing date S/N = Serial Number Rev. = Identifies the new software or hardware release divided as follows:

- the first two numbers identify the hardware release,

- the subsequent two or three numbers identify the software release.

Example: Rev. 10102 indicates hardware release 1.0 and software 10.2. R M = Indicates the release of the Instruction Manual supplied with the product. MT = Indicates motor table release Sp.

= This field is used for: - custom software versions (Vsx) - special hardware settings (non standard)

Opt. = Specifies option type (see chapter 4 Models and Options) AT = Specifies the rated RMS current that can be delivered to the drive.

AC-INPUT = Input specification details AC-

OUTPUT = Output specification details

ECO2D/ECO4D - Annex B: Motor tables

62

Annex B MOTOR TABLES

Being fully digital, the drive utilises internal algorithms that predefine the exact set of parameters used to control the motor. It is therefore indispensable that it be coupled only with the motor for which it was designed. Every model has been given a set of parameters for use with various motors that are all rated to suit its driving capabilities, therefore the recommendations of the motor table should be followed to the letter. The motor to be used is selectable through the “d8” parameter of the configuration file or via local keypad. The “d8” parameter is only acquired by the Drive when switching on, therefore changes to it will only take effect after saving data (see “EP” menu), then switching the drive off and back on again. Warning!! For full details of the latest motor mapping, always consult the “Motor Tables” reference manual by visiting www.selema-srl.it (see the download area) Motor Table Revision A0 57 for drive 09ECO2D0410

D8

Selectable motors

Revision Notes Rated Speed

Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm

25 DSM5 12 109 44 or next Resolver 2P 4800 0.8 2.9 0.4 1.45 52 DSM5 12 1x4 50 or next Enc. 2048 C5 =01 5000 0.8 4 0.4 2 26 DSM5 13 109 44 or next Resolver 2P 4800 1.6 6 0.82 3.06 35 DSM5 31 1x9 44 or next Resolver 2P 3000 1.6 6 1.4 4.9 43 DSM5 31 1x4 44 or next Enc.2048 C5 =01 3000 1.6 6 1.4 4.9 47 DSM5 32 1x9 44 or next Resolver 2P 3000 2.7 10 2.4 7.8

22 DSM5 32 1x4 DSM6 32 1x4

44 or next

Enc.2048 C5 =01 3000

2.7

10

2.4

7.8

49 DSM5 32 1x4 46 or next Enc.2048 C5 =01 3500 2.7 10 2.4 7.8 23 DSM5 33 1x9 44 or next Resolver 2P 3000 3.8 10 3.5 8.6 24 DSM5 13 1x4 48 or next Enc.2048 C5 =01 5000 1.6 6 0.7 2.6 48 DSM5 33 1x4 44 or next Enc.2048C5 =01 3000 3.8 10 3.5 8.6 34 DSM5 41 1x9 49 or next Resolver 2P 3000 3.6 10 3.2 9 4 MVQ 63 30 2 44 or next Resolver 4P 3000 3.5 7 2.5 5 6 MVQ 71 30 2 44 or next Resolver 4P 3000 4 10 3.5 9 33 G00 M4074 44 or next Resolver 2P 4000 1.2 3.7 0.46 1.35 27 ST0560051 TBM -------- 4500 0.84 2.6 0.5 1.5 28 ST0560091 TBM -------- 4500 1.51 4.6 0.9 2.7 29 ST0560131 TBM -------- 4500 2.27 6.8 1.3 4.05 30 ST0850121 TBM 4500 2.02 6 1.2 3.6 31 ST0850122 TBM -------- 3000 1.32 4 1.2 3.6 32 ST0850221 TBM -------- 4500 3.69 10 2.2 6 45 ST0850222R 44 or next Resolver 2P 3000 2.42 7.3 2.2 6.6 44 ST0850322 TBM -------- 3000 3.52 10 3.2 8 36 ST0850422 TBM ------- 3000 4 10 3.6 9.1 46 ST1150302R 44 or next Resolver 2P 3000 3.3 9.9 3 9 41 B60C582 47 or next Enc.2048 C5 =01 3000 0.72 2.36 0.5 1.6


63

The table Revision A0 57 for drive 09ECO2D0410 continues on next page

Continued Motor Table Revision A0 57 for drive 09ECO2D0410

D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 37 SC600656B 45 or next Enc.2000C5 =05 5000 1.2 4.1 0.65 1.95 50 SC601306R 44 or next Resolver 2P 3000 1.2 4.1 1.3 3.9 51 SC601306R 44 or next Resolver 2P 4500 1.2 4.1 1.3 3.9 38 SC601306B 45 or next Enc. 2000C5 =05 5000 2.5 8.3 1.3 3.9 53 S0601B302 51 or next Enc.2048 C5 =01 3000 1.42 4.7 0.8 2.6 54 S0601B302 51 or next Enc.2048 C5 =01 4000 1.42 4.7 0.8 2.6 55 S0602B304 51 or next Enc.2048 C5 =01 3000 2.35 9.2 1.35 5.2 56 S0602B304 51 or next Enc.2048 C5 =01 4000 2.35 9.2 1.35 5.2 57 MV63400 51 or next Resolver 4P 2000 2 5 2.1 5.7 58 DSM5 30 1x9 52 or next Resolver 2P 3000 1.5 7 0.9 3.6 59 S0802B378 53 or next Res olver 2P 4500 3.5 10 1.9 6 60 SC40 032 6B 54 or next Enc 2000 C5 =05 5000 0.6 2 0.3 1 61 SMB60601

(Prk) 4230 55 or next Resolver 2P 6000 3.1 9 1.4 4.2

62 PMA24O 57 or next Resolver 2p 6000 4 10 2 4.5 63 DSM5 33 1x4 56 or next Enc.2048 C5 =01 3500 3.8 10 3.5 8.6

Warning: although not mentioned above, the SMST & SMSN motors are present in this table at the same positions as the F1ECOD0410 tables. To make things clearer, the table with the SMST & SMSN motors appears at the end of this chapter. Motor Table Revision A0 37 for drive 09ECO2D0615

D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 0

T1M2 030 Factory used

------- ------- 3000

2.6

11.3

2.1

9

1 N0 M6 030 27 or next Res 6P 3000 1.9 10 1.2 6.3 2 N1 M2 030 27 or next Res 6P 3000 2.4 10.9 2 9

3 N1 M4 030 27 or next Res 6P 3000 4.4 14.1 3.8 12 4 N7 M2 030 27 or next Res 6P 3000 4.5 14.1 3.3 10 5 N7 M4 030 27 or next Res 6P 3000 6 14.1 4.9 11.5 6 MVQ 63 30 2 27 or next Res. 4P 3000 3.5 7 2.5 5

7 MVQ 71 30 2 27 or next Res 4P 3000 6 12 5.5 11 8 MVQ 80 30 2 27 or next Res 4 Pole 3000 6 14.1 5.5 12.9 9 T0 M4 030 27 or next Res 6 Pole 3000 1.4 6 1 4.5 10 T1 M2 030 27 or next Res 6 Pole 3000 2.6 11.3 2.1 9 11 T1 M2 060 27 or next Res 6 Pole 6000 5.2 14.1 2.1 5.8 12 T1 M4 030 27 or next Res 6 Pole 3000 4.8 14.1 3.9 11.4

13 T1 M6 030 27 or next Res 6 Pole 3000 6.8 14.1 4.8 11.4 14 MV 71 900 27 or next Res 4 Pole 2000 3.8 9.5 5.5 11.4 15 EX420EAJR 30 or next Res 2 Pole 3000 4.26 10.6 3.5 8.6


64

1200 --

The table Revision A0 37 to drive 09ECO2D0615 continues on the following page


D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 17 NOT USED

21 DSM5 32 1x4 DSM6 32 1x4

TBM Enc.2048C5 =01 3000 2.7 11.5 2.5 9.5

22 DSM5 32 1x9 34 or next Resolver 2 Pole 3000 2.7 13 2.5 11 19 DSM5331X4 27 or next Enc.2048C5 =01 3000 3.8 10 3.4 8.5

23 DSM5 33 1x9 31 or next Res 2 Pole 3000 3.8 15 3.3 12 24 DSM5 33 1x4 TBM Enc.2048C5 =01 3000 3.8 15 3.4 13 18 DSM5 341X9 27 or next Res 2 Pole 3000 4.6 15 4.1 12 20 DSM5 341X4 27 or next Enc.2048C5 =01 3000 4.6 15 4.1 13.2

-- .............. --------- ------- ------- ------ ----- ----- ----- 25 ST0850221 TBM 4500 3.69 11 2.2 6 26 ST0850222 TBM 3000 2.42 7.3 2.2 6 27 ST0850322 TBM 3000 3.52 10.6 3.2 8.8 28 ST0850422 TBM 3000 4.62 13.8 4.2 11

29 ST1150302 TBM 3000 3.3 9.9 3 9 30 ST1150522F 28 or next Enc 2000 C5 =5 3000 5.72 15 5.2 13.2 31 ST1150702 TBM 3000 5.84 15 7 16.8 -- .............. --------- ------- ------- ------ ----- ----- ----- 16 MVQ 63 30 2 27 or next Res 4 Pole 3000 4 10 2.8 7.1 32 B100L513 29 or next Enc. 2048 C5 =01 3000 7 15 5.6 12.5 33 DSM542 1X4 32 or next Enc. 2048 C5 =01 3000 5.9 15 5.4 13.5 34 DSM542 1X9 33 or next Res. 2P 3000 5.9 15 5.4 13.5 35 PMA44Q 35 or next Res. 2P 2500 6 15 6.6 16.5 36 B100C507 S3

28% 20 min. 36 or next Enc. 2048 C5 =01 3000 6 In S3

28% 20min

9.5 5.2 8.3

37 PMA24N 37 or next Res. 2P 2500 2.3 8 2.1 7.1


65

Motor Table Revision A0 40 for drive 09ECO4D0410

D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 0

N1 V4 030 Factory used

1 NOT USED ---- ---- ---- ---- ---- ---- ---- 2 NOT USED ---- ---- ---- ---- ---- ---- ---- 3 NOT USED ---- ---- ---- ---- ---- ---- ---- 4 T1 V2 030 20 or next Res. 6P 3000 1.7 8.8 2.1 9.4 5 NOT USED ---- ---- ---- ---- ---- ---- ---- 6 T1 V4 030 20 or next Res. 6P 3000 3.3 10 3.9 11.7 7 N0 V6 030 20 or next Res. 6P 3000 1.2 5.8 1.2 5.4

8 N1 V2 030 20 or next Res. 6P 3000 1.5 6 2 8 9 N1 V4 030 20 or next Res. 6P 3000 2.7 10 4 13.3 10 N7 V2 030 20 or next Res. 6P 3000 2.2 8 3.3 11.8 11 MVQ 63304 20 or next Res. 4P 3000 1.6 4.3 2.8 7.5 12 MVQ 71304 20 or next Res. 4P 3000 2.6 6.7 4.6 11.9 13 MVQ 80304 20 or next Res. 4P 3000 4.2 10 9.5 22.5

14 NOT USED ---- ---- ---- ---- ---- ---- ---- 26 DSM5 31 2x4 23 or next Enc.2048 C5 =01 3000 0.9 4 1.3 5 36 DSM5 31 2x9 25 or next Res 2P 3000 0.9 4 1.3 5 31 DSM 5 32 2x4 20 or next Enc.2048C5 =01 3000 1.7 7 2.46 10 38 DSM 5 32 2x9 26 or next Res 2P 3000 1.7 7 2.46 10

32 DSM 5 33 2x4 20 or next Enc.2048C5 =01 3000 2.46 10 3.5 13.5 34 DSM 5 33 2x9 21 or nex t Res 2 Pole 3000 2.46 10 3.5 13.5 50 DSM 5 33 2x6 39 or next Enc.4096C5 =00 3000 2.46 10 3.5 13.5 25 DSM5 34 2x4 20 or next Enc.2048C5 =01 3000 2.75 9.95 4.2 14 37 DSM5 42 2X9 25 or next Res 2 Pole 3000 3.5 10 5.4 15.5 39 DSM5 42 2X4 26 or next Enc.2048 C5 =01 3000 3.5 10 5.4 15.5 40 DSM54 1 2x4 30 or next Enc.2048C5 =01 3000 2.1 10 3.2 15 41 DSM5 50 2X4 31 or next Enc.2048C5 =01 3000 3.4 10 3.6 10.5 42 DSM5 50 2X4 32 or next Enc.2048C5 =01 4000 3.4 10 3.6 10.5 43 DSM5 33 1X9 33 or next Res 2P 4000 3.8 10 3.3 9 44 DSM5 42 1X9 34 or next Res 2P 4000 4 10 3.6 9.1 45 DSM541 2X9 35 or next Res. 2P 3000 2.1 10 3.2 15 46 DSM5 50 2X9 35 or next Res 2P 3000 3.4 10 3.6 10.5 47 DSM5 42 2X4 36 or next Enc. 4096C5 =0 3000 3.5 10 5.4 15.5 15 NOT USED ---- ---- ---- ---- ---- ---- ---- 16 ST0560052 TBM 4500 0.55 1.6 0.5 1.5 17 ST0560092 28 or next Res. 2P 4500 0.99 3 0.9 2.7 18 ST0560132 TBM 4500 1.43 4.5 1.35 4



66


D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 19 ST0850122 TBM 4500 2.2 6 1.2 3.6

20 ST0850122 TBM 3000 2.2 6 1.2 3.6 21 ST0850222 28 or next Res 2 Pole 4500 2.4 7.3 2.2 6.6 22 ST0850222 28 or next Res 2 Pole 3000 2.4 7.3 2.2 6.6 35 ST0850224F 22 or next Enc.2000C5 =05 3000 1.38 4.1 2.2 6.56 23 ST0850322R 29 or next Res 2 Pole 4500 3.53 10 3.2 8.8 24 ST0850324F 27 or next Enc.2000 C5 =05 3000 2 6 3.2 9.5 27 ST0850422R 29 or next Res 2 Pole 4500 4 10 3.6 8.8 28 ST0850424F 22 or next Enc.2000 C5 =05 3000 2.63 7.9 4.2 12.6 29 ST1150303 TBM 3000 2.50 8.2 3 9 30 ST1150524 24 or next Enc.2000 C5 =05 3000 3.25 10 5.2 14 33 ST1150704 TBM 3000 4 10 6.2 14.8 48 SKA14830819 37 or next C5 =8 1000 2 10 8 32 49 S0802B377 38 or next Enc.2048 C5 =01 3000 1.3 5 1.9 7 51 B100C537E 40 or next Enc.2048 C5 =01 3000 1.7 5.6 2.5 8.4


67


D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 0

N1 V4 030 Factory used

1 NOT USED ---- ---- ---- ---- ---- ---- ---- 2 NOT USED ---- ---- ---- ---- ---- ---- ---- 3 NOT USED ---- ---- ---- ---- ---- ---- ---- 4 NOT USED ---- ---- ---- ---- ---- ---- ---- 5 NOT USED ---- ---- ---- ---- ---- ---- ---- 6

T1 V6030

19 or next

Res 6 Pole 3000

4.26

12

5.9

16.5

7 NOT USED ---- ---- ---- ---- ---- ---- ---- 8 NOT USED ---- ---- ---- ---- ---- ---- ---- 9 N1 V4030 19 or next Res 6 Pole 3000 3 11.2 3.8 18 10 NOT USED ---- ---- ---- ---- ---- ---- ---- 11 N7 V4030 19 or next Res 6 Pole 3000 4.6 12 6 18 12 N2 V2030 19 or next Res 6 Pole 3000 5 12 7.5 19 13 MVQ 80304 19 or next Res. 4 Pole 3000 4.5 12 8.8 28.8 14 MVQ 63304 19 or next Res 4 Pole 3000 1.6 4.3 2.5 7.5 15 MVQ 71304 19 or next Res 4 Pole 3000 2.6 6.7 5.9 12.3 16 MVQ 90304 19 or next Res. 4 Pole 3000 4.6 12 7.2 17.2 NOT USED ---- ---- ---- ---- ---- ---- ---- NOT USED ---- ---- ---- ---- ---- ---- ----

19 ST0560052 TBM Prefer 4500 0.55 1.6 0.5 1.5

20 ST0560092 TBM 4500 0.99 3 0.9 2.7 21 ST0560132 TBM 4500 1.43 4.5 1.35 4 22 ST0850122 TBM Prefer 4500 2.2 6 1.2 3.6 23 ST0850122 TBM Prefer 3000 2.2 6 1.2 3.6 41 ST0850222 TBM Prefer 4500 2.4 7.3 2.2 6.6

40 ST0850222 TBM Prefer 3000 2.4 7.3 2.2 6.6 24 ST1150703 A023 or

next Res 2 Pole Hiperface

3000 5.8 12 7 14

25 ST1150703 A023or next Res. 2 Pole 3000 5 12 6 14 26 ST1150704F 19 or next Enc.2000 C5 =05 3000 4.38 12 7 18.1

27 ST1150924F 19 or next Enc.2000 C5 =05 3000 5 12 8.25 18.8 28 ST0850324 TBM Prefer 3000 2 6.5 3.2 9.6 29 ST0850422 TBM 4500 4 10 3.2 8.8 30 ST0850424 TBM Prefer 3000 2.63 8.3 4.2 12.6 31 ST1150303 TBM 3000 2.50 8.2 3 9



68


D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 32 ST1150524 30 or next Enc.2000 C5 =05 3000 3.25 10 5.2 14 42 ST1150523 A024 or next Res. 2 Pole 3000 4.3 12 5.2 14 33 ST1150523F 29 or next Enc.2000 C5 =05 4000 4.3 12 5.2 14 34 ST0850322 TBM 4500 3. 53 10 3.2 8.8 35 ST1421203R 21 or next Res 2 Pole 4000 5 12 6 14 36 DSM5312x4 TBM Prefer .Enc.

2048 C5 =01 3000 0.9 4 1.3 5

37 DSM5322x4 TBM Prefer Enc. 2048 C5 =01

3000 1.7 7 2.46 10

38 DSM5332x4 22 or next Encoder 2048 C5 =01

3000 2.46 10 3.5 13.5


3000 2.75 12 4.2 16.8


3000 5 12 7.6 18

43 DSM5512x9 26 or next Res 2P 3000 5 12 7.6 18 44 DSM5421x9 27 or next Res. 2P 4000 5 12 4.6 11 45 DSM5331X9 28 or next Res. 2P 4000 3.8 10 3.3 9 46 DSM5412X9 28 or next Res. 2P 3000 2.1 10 3.2 15 47 DSM5502X9 28 or next Res. 2P 3000 3.4 12 3.6 12.5 18 DSM5432x9 A025 or next Res. 2P 3000 4.9 12 7.6 18

48 DSM5432x4 31 or next Enc. 2048 C5 =01

3000 4.9 12 7.6 18


69


D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 0 MVQ71304

Factory used

1 NOT USED ---- ---- ---- ---- ---- ---- ---- 2 T1 V6030 TBM Res 6 Pole 3000 4.26 12 5.9 16.5 3 N1 V4030 TBM Res 6 Pole 3000 3 11.2 3.8 18 4 N7 V4030 TBM Res 6 Pole 3000 4.6 12 6 18

5 N2 V2030 TBM Res 6 Pole 3000 5 12 7.5 19 6 MVQ 80304 TBM Res 4 Pole 3000 4.5 12 8.8 23 7 MVQ 71304 TBM Res 4 Pole 3000 2.6 6.7 5.9 12.3 8 MVQ 90304 A007 Res 4 Pole 3000 7 18 12 26 9 MVQ 00304 TBM Res 4 Pole 3000 10 20 16 32 -- .............. --------- ------- ------- ------ ----- ----- ----- 11 ST0850422 TBM 4500 4 10 3.6 8.8 12 ST0850424 TBM Prefer. 3000 2.63 8.3 4.2 12.6 13 ST1150303 TBM Prefer. 3000 2.50 8.2 3 9 14 ST1150524 TBM Prefer. 3000 3.25 10 5.2 14 15 ST1150523 TBM 4500 4.3 12 5.2 14 23 ST1150702R A004 Res 2 Pole 3000 7.7 20 7 18 24 ST1150702R A004 Res 2 Pole 4500 7.7 20 7 18 16 ST1150704F A005or next Enc.2000 C5 =05 3000 4.38 13.1 7 19.5 17 ST1150924F A006 or next Enc .2000 C5 =05 3000 5.75 17.3 9.2 26 18 ST1151104F A003 or next Enc .2000 C5 =05 3000 6.88 20 11 30 19 ST1421204 A011 or next Enc .2000 C5 =05 3000 7.5 20 12 30 25 ST1421653 A008or next Res 2 Pole 3000 13.7 25 16.5 30 20 ST1421654 A014or next Enc.4096 C5 =0 3000 11 20 17.5 31 21 ST1421204H A001or next Enc .4096 C5 =0 3000 7.5 20 12 30 22 ST1421204H A001or next Enc .4096 C5 =0 3000 7.5 20 12 30 44 130KB8A15015A A009or next Enc .4096 C5 =0 2000 8.5 20 15 34 45 N2V2030 A002or next Enc .4096 C5 =0 3000 4.52 15 7.5 23 46 N2V3030 A002or next Enc .4096 C5 =0 3000 7.9 20 11 26 30 SKA14830819 A010or next C5 =8 1000 2 10.7 8 35 31 SKA245304151 A010or next C5 =8 500 4.36 16.1 41 125 32 SKA245304151

with I 2T=10 sec. A010or next C5 =8 500 4.36 16.1 41 125

33 SKF245120 52115

A010ornext C5 =8 300 7.3 20 57 150

34 SKA245607051 with I 2T=10 sec 70 Nm nominal

A012or next C5 =8 500 8.88 20 70 150

35 DSM55 2x9 A010or next Res 2 Pole 3000 8.3 20 12.3 30 36 DSM5 52 2x4 A012or next Enc.2048 C5 =01 3000 8.3 20 12.3 27 37 DSM5 43 1x9 A013or next Res 2 Pole 4000 7.8 20 7.7 19.5


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Motor Table RevisionA0 10 for drive 09ECO4D2040

D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 0 MVQ71304

Factory used

1 T2 V4045 TBM Res 6 Pole 4500 10.6 35.4 10 30

2 T2 V2045 TBM Res 6 Pole 4500 7.9 29 7.5 25 3 T1 V4060 TBM Res 6 Pole 6000 5.5 24.9 3.7 15 -- .............. --------- ------- ------- ------ ----- ----- ----- 9 MVQ00304 A004 or

next Res 4 Pole 3000 13.5 34.5 22 50

10 MVQ12304 TBM Res 4 Pole 3000 18 40 28 62

12 FAS T2 V6 030 A001 or next

Res 6 Pole 3000 11.4 39.5 19 65

13 MOOG G405 1020A

TBM Res. 2 Pole 4500 13 29 13.5 28

14 MOOG G405 1020 A high Current

TBM Res 2 Pole 4500 16.7 29 17.5 28

15 T2 V4030 A003or next Res 6 Pole 3000 8.5 27 13 39 18 ST1150702 TBM 4500 7.69 23.1 6.99 19 19 ST1150703 TBM 4000 5.84 17.5 7 19 20 ST1150704 TBM Prefer 3000 4.38 13.1 7 19 21 ST1150922 TBM 4500 10.1 30.3 9.2 25 22 ST1150923 TBM 4000 7.67 23 9.2 25 23 ST1150924 TBM Prefer 3000 5.75 17.3 9.2 25 24 ST1151102 TBM 4500 12.09 36.3 11 30 25 ST1151103 TBM 4000 9.17 27.5 11 30 26 ST1151104 TBM Prefer 3000 6.88 20.6 11 30 27 ST1421202 TBM 4500 13.19 39.6 12 33 28 ST1421203 TBM 4000 10.01 30 12 33 29 ST1421204 A010 Enc.4096C5 =00 3000 7.5 20 12 30 30 ST1421652 TBM 4500 18.14 40 16.5 34.5 31 ST1421653 TBM 4000 13.76 40 16.5 44 32 ST1421654F A003or next Enc.2000 C5 =05 3000 10.32 31 16.5 45 33 ST1422103 TBM 4000 17.51 40 21 45.5 34 ST1422104F A002or next Enc.2000 C5 =05 3000 13.13 39.4 21 58 35 ST1422553 A006or next Res. 2 Pole 4000 20 40 24 45.5 36 ST1422554 TBM Prefer 3000 15.95 40 25.2 60 37 DSM5 52 2X4 A005or next Enc.2048 C5 =01 3000 8.3 40 12.3 55

38 DSM5 53 2X4 A007or next Enc.2048 C5 =01 3000 10.8 40 18 66 39 ALM 52 20A7 A008or next Encoder

BiSS C6 =5 3000 12.3 40 19 58

40 DSM5 54 2x4 A009or next Enc.2048 C5 =01 3000 13.9 40 23 68


71


D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 0 MVQ71304

Factory used

1 MVQ71304 TBM Res 4 Pole 3000 2.6 6.7 5.9 12.3 2 MVQ00304 TBM Res 4 Pole 3000 13.5 34.5 22 50 3 FAST2 V6 030 A001or next Res 6 Pole 3000 11.4 39.5 19 65 4 T2 V4030 A001or next Res 6 Pole 3000 8.5 27 13 39 5 FAST 2 V8 030 A003or next Res 6 Pole 3000 15.1 50 24 77 6 UL719303 A002or next Res. 2 Pole 3000 17.2 43.8 29 72 7 DSM56224 A001 or next Enc. 2048 C5 =01 2000 9 38 19 70 8 DSM55329 A008 or next Res 2 Pole 3000 10.8 50 18 85 10 MVQ12304 A007 or next Res 4 Pole 3000 18 45 28 66 -- .............. --------- ------- ------- ------ ----- ----- ----- -- .............. --------- ------- ------- ------ ----- ----- ----- -- .............. --------- ------- ------- ------ ----- ----- -----

17 ST1421652 TBM 4500 18.14 50 16.5 42 18 ST1421653 TBM 4000 13.76 41.3 16.5 45.5 19 ST1421654F A001 or next Enc.2000 C5 =05 3000 10.32 31 16.5 45 20 ST1422102 TBM 4500 23.08 50 21 43 21 ST1422103 TBM 4000 17.51 50 21 55 22 ST1422104F A001or next Enc.2000 C5 =05 3000 13.13 39.4 21 58 23 ST1422553 TBM 4000 21.26 50 25.5 55.8 24 ST1422554 A004 or next Enc.4096 C5 =00 3000 15.95 47.8 25.5 70 25 ST1421204 A005or next Enc.4096 C5 =00 3000 7.5 20 12 30 26 DSM5621X4 A006or next Enc.2048 C5 =01 3000 18 50 19 53


D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 0 MVQ00304

Factory used

1 T2 V4030 A001 or next Res. 6 Pole 3000 8.5 27 13 39 2 DSM56224 A00 or next Enc.2048C5 =1 3000 9 38 19 70 3 DSM56414 A001 or next Enc.4096 C5 =0 1500 27.3 90 47 98 4 DSM56414 A001 or next Enc.4096 C5 =0 2000 27.3 90 47 98 5 DSM56414 A001 or next Enc.4096 C5 =0 2500 27.3 90 47 98 6 DSM53424 A002or next Enc.2048 C5 =1 3000 2.75 12 4.2 16.8 7 SKADDRP

3359051 A003or next C5 =8 500 23.4 90 220 710

8 DSM56314 A00 4or next Enc.2048 C5 =1 3000 20.7 84 35.5 140 9 ST1422554 A00 5 or next Enc.4096 C5 =0 3000 15.95 47.8 25.5 70 10 ST1421204 A006 or next Enc.4096 C5 =0 3000 7.5 20 12 30


72



D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm 11 SKADDRP

3359051 A007 or next C5 =8 556 23.4 90 220 710

12 SKADDRP 3359050

A008 or next C5 =8 830 30 90 170 420

13

SKADDRP 3359050 Peak 95A

A009 or next C5 =8 830 30 95 170 445

14 MVQ12304 A010 or next Res. 4 Pole 3000 18 75 28 115

15 SKADDRP 33532052 Peak 92A

A011 or next C5 =8 330 20.4 92 270 1210

Motor table revision A0 46 for Drive 09ECO2D0410 for “SMST & SMSN motors” . These motors appear as from A046 and in all subsequent releases and therefore also in table A0 57.

D8

Selectable motors


Rated Current A RMS

Peak Current A RMS

Rated Torque

Nm

Peak Torque

Nm

0 MVQ71304 Factory used

1 N0M3030 A044 or next

Res 6P 3000 1 5 0.6 3 2 N0M6030 Res 6P 3000 1.9 10 1.2 6.3 3 N1M2030 Res 6P 3000 2.4 10 2 8 4 MVQ63302 3000 3.5 7 2.5 5 5 T1M2030 Res 6P 3000 2.6 10 2.1 7.5 6 MVQ71302 3000 4 10 3.5 9 7 MV71900 2000 3.7 10 4.3 11.6 8 N1M4030 Res 6P 3000 4 10 3.42 8.5 9 N7M2030 Res 6P 3000 4 10 2.96 7.5

10 T00M2060 Res 6P 6000 0.85 3.82 0.3 1.35 11 T00M4060 Res 6P 6000 1.4 6.1 0.56 2.4 12 T0M2030 Res 6P 3000 0.8 3.54 0.5 2.2 13 T0M2060 Res 6P 6000 1.3 5.6 .05 2.2 14 T0M4030 Res 6P 3000 1.4 6 1 4.5 15 T0M4060 Res 6P 6000 2.4 10 1 4.2 16 T1M2030 Res 6P 3000 2.6 10 2.1 7.3 17 T1M2060 Res 6P 6000 4 10 1.64 4.1 18 T1M4030 Res 6P 3000 4 10 3.24 8.1 19 T000M3030 Res 6P 3000 1 2.1 0.14 0.3 20 T0M8030 Res 6P 3000 2.3 8 2 7 21 T00P060 Res 6P 6000 0.8 4.1 0.36 1.31

ECO2D/ECO4D - Chapter 13: ECO EVOLUTION / ECO TECH series

73

Functions exclusive to the

EVOLUTION series & TECH series

The series EVOLUTION ECO and ECO TECH drives differ from the standard series in the implementation of certain hardware functions and different software functions. A brief description of the hardware functions implemented is given herein. Please see the Instruction Manual for any doubts regarding the STO safety circuit, whilst the software functions are described in the “Additional Information” manual .

Hardware functions: STO safety function, double RJ45 fieldbus connector for daisy chaining, DC BUS Connector, BRAKE Connector.

The series ECO TECH & ECO EVOLUTION series drives feature the STO safety function that prevents accidental restarting of the motor.

A complete understanding of the stop and emergency functions is essential if the Drive’s STO function is to be used correctly in accordance with applicable standards. Please refer to the Instruction Manual for details of the functions involved and the relevant standards.

Safe Torque Off Function

WARNING The STO circuit achieves SILCL (Safety Integrity Level Claim Limit) 2 as specified by standard EN 62061 and PL (Performance Level) d of standard EN 13849-1. Certification is pending.


74

Installation enclosure Since the controller has an IP20 rating, the installation enclosure should be chosen so that the surrounding area also ensures safe operation of the Drive. The installation enclosure should provide at least an IP54 protection rating.

Wiring If the STO harness is outside the installation enclosure, cables should be installed in a permanent (fixed) manner, protected from external damage (e.g. with a duct), inserted in separate sleeves or protected one by one by earthing. If the wiring is inside the enclosure it shall comply with the provisions of standard EN 60204-1. CN9 STO connector signal connections

n.pin Signal Signal Description 1 STOA STOA +24V input for enabling motor torque 2 STOB STOB +24V input for enabling motor torque 3 0V 24V 24 volt 0V reference 4 +24 V +24 V 5 +24 V +24 V

STO Technical Specifications Input voltage 20V-30V

Input current 100 mA (Ieff) Peak current 150 mA (Is)

RJ45 connectors are used for connection to MODBUS, S-CAN and CANOPEN fieldbuses, thus allowing several drives to be daisy chained. The same connections are also available in the 8-way miniDIN connector providing full interchangeability of the Drive with the standard series or previous versions of ECO. On the other hand, ETHERNET-based fieldbuses (ECAT PROFINET, MODBUS OVER IP and ETHERNET IP) have different pinouts since they do not use the CANopen standard. However, the miniDIN output is still available. miniDIN connections are illustrated in chapter 6.2 herein. When ordering a Drive with CANopen protocol, this automatically includes the S-CAN and MODBUS RTU protocols. These connectors contain the CAN and RS422 signals. The LEDs on the connector show the CAN line status. Details follow of the pinouts of the CN7 and CN8 RJ45 connectors.

Debugging fieldbus and serial networks on RJ45


75

Connector Connector Connector Connector N N N Networetworetworetwork k k k CAN and RS CAN and RS CAN and RS CAN and RS232 232 232 232 ----RS CANRS CANRS CANRS CAN----RS422RS422RS422RS422 Pin No. Si gnal Signal Description

1 CAN_H CAN High signal

2 CA N_L CAN Low signal

3 GND_CAN CAN and RS422 signals reference

4 TX RS422 TX signal

5 TX\ RS422TX\ signal

6 SHIELD Earthed shield

7 RX RS422 RX signal

8 RX\ RS422 RX\ signal

ETHERNET-based fieldbuses

A Drive ordered with multi-protocol ETHERNET configuration or dedicated ECAT board complies with the pinout requirements of ETHERNET standard EIA/TIA T568A as shown in the following table. Two wiring standards, EIA/TIA-568 and EIA/TIA-568B, have been developed for such application and the only difference between them is that pairs 2 and 3 are swapped. The two standards do not have the same crosstalk as the tightness of winding the pairs is different. In Europe, EIA/TIA-568A is the usual choice. The cables can be Unshielded Twisted Pairs (UTPs) or Shielded Twisted Pairs (STPs). UTP and STP cables can be of different categories: we recommend category 5 or better.

RJ45 connector wiring according to standards EIA/TIA-568A/B

Pin T568A Pair

T568B Pair

Cond.

T568A colour T568B colour

1 3 2 1 white/green stripe

white/orange stripe

2 3 2 2 green solid orange solid

3 2 3 1 white/orange stripe

white/green stripe

4 1 1 2 blue solid blue solid

5 1 1 1 white/blue stripe white/blue stripe

6 2 3 2 orange solid green solid

7 4 4 1 white/brown stripe white/brown stripe

8 4 4 2 brown solid

brown solid


76

Colours used in direct connection

EIA/TIA-568A direct cable

The DC BUS on the M5 terminal block allows wiring of a system that can recover the energy from the motors’ electronic regenerative brakes and (if the cycle allows) use it for other drives, thus restricting dissipation through the braking resistors. This use allows several drives (max. 4) to be interconnected, thus mimicking a modular system. The drives should have similar power ratings.

Alternatively, you can use a proprietary Selema component called RIG 400 that offers complete reuse of energy regenerated by the Drives thus placing it at the disposal of machine auxiliary services.

Vertically-mounted motors usually have a holding brake. Whilst on the face of it holding brake control may appear simple, in actual fact there are some hidden pitfalls under certain conditions.

For example, during emergency braking with consequent disconnection of drive power supply it is necessary to carry out controlled braking and then insert the holding brake with the motor still in locked rotor condition by performing a timing sequence aimed at ensuring the axis is not lowered from the position to which it was taken at the end of controlled braking. This mechanism is implemented within the drive and can be set by a parameter.

External DC BUS

Holding brake control connector


77

Holding brake control is turned on by enabling parameter E4.

E4 Holding brake control Number

Holding brake control (available from version 2.01 upwards).

0: No brake control 1: Automatic brake control 2..15: Reserved 16: Emergency stop when issuing the TEN command 17..31: Reserved 32: Drive Ready & axis in locked rotor condition 33: Drive Ready & axis in locked rotor condition + Automatic brake control 48: Drive Ready & axis in locked rotor condition + Emergency stop when

disabling the TEN command or triggering of alarm that generates a stop ramp Details about brake control can be found in the Additional Information manual.

HIPERFACE DSL

HIPERFACE DSL ia a purely digital protocol that minimises the number of connections between drive and motor/feedback system. The reliability of the protocol means that the encoder feedback communication is fully integrated into the motor power cable. Selema implements a two-wire connection in which data is transmitted as a waveguide on the encoder power supply wires using a pulse transformer (for high frequency signals). The use of the transformer enhances common-mode interference rejection (common-mode rejection ratio). Here is a schematic diagram of the outgoing DSL connection from the Drive.


78

Initial setup in the machine If the motor is fitted with a multi-turn absolute encoder you need to make the machine zero point coincide with the absolute encoder zero point, however this is only necessary once when performing machine setup. An incremental encoder system does not require a similar procedure in order to carry out axis zero return (also because a zero return sensor is not usually fitted to the machine with a multi-turn absolute encoder) but you merely need to jog the axis to a certain position, reset the position on the absolute encoder (see procedure below) and if necessary set the position offset to the exact value of the mechanical reference position. The position offset can be set within the Drive or directly on the CNC. Details follow of the operations required for initial SETUP in the machine. Parameter check

It is advisable to check the following parameters: Ensure that the Drive is set with the fieldbus required for the application

Modbus RTU C9 = 3 S-CAN C9 = 4 CANOpen C9 = 5 EtherCAT C9 = 11 Check that the Drive is set to C6 = 5. If a parameter is not set as specified it should be modified and saved to flash memory. Switch Drive off and back on again! Encoder position reset Turn on Drive and connect power supply. Check that Drive is in “Fr ”, enable Ten Ien and check that Drive remains in “Fr ”. Press “+” key until reaching AA menu. Press Enter. Two question marks ?? will appear on the display. You should press Enter again and enter the password 73. Press Enter again. The motor will be placed in locked rotor condition and oF will appear on the display or otherwise Er if an error has occurred. Turn the drive off and on again. Upon restarting the drive, the position (Register 6: Position Actual Value) will be 0. If replacing the Drive, the encoder reset procedure will need to be repeated.

Encoder alignment with motor magnetic field

WARNING! Selema performs this procedure in-house and solely when replacing the motor encoder. This is a standard factory procedure when replacing a motor/encoder assembly and therefore does not need to be repeated.

DANGER! This procedure should be performed with driveshaft free. When carried out on a bench, mechanically restrain the motor to prevent uncontrolled rotation of the driveshaft that could represent a hazard for the operator.

Turn on Drive and connect power supply. Check that Drive is in “Fr ”, enable Ten Ien and check that Drive remains in “Fr ”. Press “+” key until reaching AA menu. Press Enter. Two question marks ?? will appear on


79

the display. You should press Enter again and enter the password 87. Press Enter again. The motor will be placed in locked rotor condition and oF will appear on the display or otherwise Er if an error has occurred. Turn the drive off and on again. Alignment data are written to the encoder (via serial link). This means we can couple the motor with any drive.

Diagnostics Monitor Software By analysing the parameters listed below we can estimate connection quality and interference within the machine. They can all be accessed by using the software: Encoder DSL Log ver 1.0 Link between ECOEvo and PC where the monitor programme is installed.

The following parameters are monitored:

Cable Delay: Delay set by DSL to compensate for the physical delay introduced by the length of the table. The following table provides a guide to delay as a function of cable length.

Master RSSI: Strength of signal received by the master (Eco drive). The value ranges from 0 to 12. The higher the value, the greater the quality of the connection. The drive will issue a warning if the value is less than or equal to 4.

Edges: The Edges register contains the DSL bit sample rate.

Quality Monitor: Indicates improvement or deterioration in the data signal quality. It is initialised at a value of 8. The optimum condition is 15 represents the default value during operation.

Temperature (°C): Temperature reached by the encoder’s internal board.

Power supply voltage: Encoder power supply voltage. The approximate value provided by the controller is 11.95 V. The encoder operates correctly between 7 and 12 V.

WARNING! should these values fall below the designated thresholds, the Drive will trigger Alarm 8.


80

Diagnostics wiring diagram To be used for system runtime diagnostics, it allows direct linking of the ECOEvo drive to the Moxa RS 422 converter:

ECO Drive CN4 Moxa RS 422 converter

Cannon 26-way plug Cannon 9-way socket CN10 terminal block signal details

Pin No.

Signal Details of signal

1 2 3 4 5 6

DSL + DSL - SH BRK+ BRK- SH

Encoder power supply DSL+ output (+ 12 V) and data transmission signals Encoder earth connection DSL- output (+ 0V12) and data transmission signals DSL twisted pair shield connection Holding/Emergency Brake at + 24 V when enabled Holding/Emergency Brake at 0V24 BRAKE twisted pair shield connection


81

Wiring diagram for single-cable connection between an ECOE/ECOT drive and motor using DSL encoder Wired cable code: 09CDSL441710 Drive side Motor side MINI COMBICON, 3.81 pitch, 6-way terminal block Selema code FMAMC156ST381

MINI COMBICON, 7.62 pitch, 4-way terminal block Selema code FMAPC44ST762

M17 9-way socket, front view Selema code FCCBSTA908FR118

Maximum cable length for 230 V DRIVE = 40 m/400 V DRIVE = 30 m


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tech series & standard series - selema srl · 2016-01-26 · tech series & standard series...

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