Metronix DIS-2 310/2 FB FS STO Manuale utente

Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0

Kocherstraße 3 Telefax: +49-(0)531-8668-555

D-38120 Braunschweig E-mail: vertrieb@metronix.de

Germany http://www.metronix.de

Product Manual

Servo Positioning Controller DIS-2 310/2 FB

Seite 2

Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0

Copyrights

The information and data in this document have been composed to the best of our knowledge. Howev-

er, deviations between the document and the product cannot be excluded entirely. For the devices and

the corresponding software in the version handed out to the customer, Metronix guarantees the con-

tractual use in accordance with the user documentation. In the case of serious deviations from the user

documentation, Metronix has the right and the obligation to repair, unless it would involve an unrea-

sonable effort. A possible liability does not include deficiencies caused by deviations from the operating

conditions intended for the device and described in the user documentation.

Metronix does not guarantee that the products meet the buyer’s demands and purposes or that they

work together with other products selected by the buyer. Metronix does not assume any liability for

damages resulting from the combined use of its products with other products or resulting from improp-

er handling of machines or systems.

Metronix Meßgeräte und Elektronik GmbH reserves the right to modify, amend, or improve the docu-

ment or the product without prior notification.

This document may, neither entirely nor in part, be reproduced, translated into any other natural or

machine-readable language nor transferred to electronic, mechanical, optical or any other kind of data

media, without expressive authorisation by the author.

Trademarks

Any product names in this document may be registered trademarks. The sole purpose of any trade-

marks in this document is the identification of the corresponding products.

ServoCommander™ is a registered trademark of Metronix Meßgeräte und Elektronik GmbH.

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Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0

Revision log

Author:

Metronix Meßgeräte und Elektronik GmbH

Manual name:

Product Manual „Servo Positioning Controller DIS-2 310/2 FB“

File name:

P-HB_DIS-2_310_2_FB_3p0_EN.doc

File location:

Series no.

Description

Revision index

Date of change

001

Release for distribution

1.0

31.03.2009

002 Update Corporate Identity – No technical

changes

2.0 18.04.2011

003

Changes in chapter 2.2

3.0

28.06.2011

004 Page 48 – Figure 9., Schematic modified.

Connections controller / PLC for +24V and

0V changed.

4.0 15.11.2018

005

Latest Metronix Company Logo inserted

4.0

15.11.2018

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Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0

TABLE OF CONTENTS:

1GENERAL...........................................................................................................10

1.1 Documentation.................................................................................................10

1.2 Scope of supply ...............................................................................................11

2SAFETY NOTES FOR ELECTRICAL DRIVES AND CONTROLLERS..............13

2.1 Used symbols...................................................................................................13

2.2 General notes...................................................................................................13

2.2.1 Danger resulting from misuse.............................................................................15

2.3 Safety notes......................................................................................................15

2.3.1 General safety notes...........................................................................................15

2.3.2 Safety notes for assembly and maintenance......................................................17

2.3.3 Protection against contact with electrical parts...................................................18

2.3.4 Protection against electrical shock by means of protective extra-low voltage

(PELV) ................................................................................................................19

2.3.5 Protection against dangerous movements .........................................................19

2.3.6 Protection against contact with hot parts............................................................20

2.3.7 Protection during handling and assembly...........................................................20

3PRODUCT DESCRIPTION.................................................................................22

3.1 General .............................................................................................................22

3.1.1 Basic information................................................................................................22

3.1.2 Area of application and intended use .................................................................22

3.1.3 DIS-2 310/2 FB features.....................................................................................23

3.2 Power supply....................................................................................................25

3.2.1 Single-phase AC supply......................................................................................25

3.2.2 DC bus coupling, DC supply...............................................................................25

3.2.3 Mains fuse ..........................................................................................................25

3.3 Brake chopper..................................................................................................25

3.4 Communication interfaces..............................................................................25

3.4.1 RS232 interface..................................................................................................25

3.4.2 CAN-Bus.............................................................................................................26

3.4.3 Profibus...............................................................................................................26

3.4.4 EtherCAT............................................................................................................26

3.4.5 I/O functions and device controller .....................................................................26

4TECHNICAL DATA.............................................................................................27

4.1 Ambient conditions and qualification.............................................................27

4.2 Performance data power supply [X1] .............................................................28

4.3 Motor connection [X6] .....................................................................................28

4.4 Motor feedback connection [X2].....................................................................29

4.5 Communication interfaces..............................................................................31

4.5.1 RS232 [X5] .........................................................................................................31

4.5.2 I/O- interface [X1]................................................................................................31

4.5.3 Incremental encoder input and output [X1].........................................................32

4.6 Technical data fieldbus interfaces..................................................................34

4.6.1 CAN-Bus [X401] / [402] ......................................................................................34

4.6.2 Profibus [X401] / [402]........................................................................................34

4.6.3 EtherCAT [X401] / [402]......................................................................................34

5FUNCTION OVERVIEW .....................................................................................35

5.1 Motors...............................................................................................................35

5.1.1 Synchronous servo motors.................................................................................35

5.2 Current and speed controlled mode...............................................................35

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Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0

5.3 Function overview............................................................................................38

5.3.1 Synchronisation, electrical transmissions...........................................................39

5.3.2 Pulse direction Interface.....................................................................................40

5.3.3 Cycle times .........................................................................................................40

5.3.4 Homing ...............................................................................................................40

5.3.5 Relative positioning.............................................................................................40

5.3.6 Absolute positioning............................................................................................41

5.3.7 Driving profile generator .....................................................................................41

5.3.8 Positioning sequences........................................................................................41

5.3.9 Software limit switches (positioning range).........................................................42

5.3.10 Brake management ............................................................................................42

5.4 Use of digital and analogue in- and outputs..................................................42

5.5 Jogging and Teaching.....................................................................................42

6MECHANICAL INSTALLATION .........................................................................43

6.1 Important notes................................................................................................43

6.2 Position and alignment of the connectors.....................................................43

6.2.1 Connectors on the main board: ..........................................................................44

6.2.2 Connectors for RS232 and fieldbus-modules (CANopen, PROFIBUS,

EtherCAT):..........................................................................................................44

6.3 Dimensions of the housing .............................................................................45

6.4 Mounting...........................................................................................................46

7ELECTRICAL INSTALLATION...........................................................................48

7.1 Connection to Power Supply and control in system.....................................48

7.2 Pin configuration main board DIS-2 310/2 FB................................................51

7.2.1 Pin configuration Power supply and I/O [X1] ......................................................51

7.2.2 Pin configuration motor phases [X6]...................................................................53

7.2.3 Pin configuration Encoder Interface [X2]............................................................53

7.2.4 Pin configuration holding brake [X3]...................................................................55

7.2.5 Pin configuration brake resistor [X300]...............................................................55

7.2.6 Pin configration expansion interface for the fieldbus-modules [X8]....................56

7.3 Pin configuration fieldbus-modules DIS-2 310/2 FB......................................58

7.3.1 Pin configuration RS232 interface [X5]...............................................................58

7.3.2 Pin configuration CANopen [X401] and [X402]...................................................59

7.3.3 Pin configuration PROFIBUS [X401] and [X402]................................................60

7.3.4 Pin configuration EtherCAT [X401] and [X402] ..................................................61

7.4 Notes concerning safe and EMC-compliant installation...............................62

7.4.1 Definitions and terminology ................................................................................62

7.4.2 General information concerning EMC ................................................................62

7.4.3 EMC ranges: First and second environment ......................................................62

7.4.4 EMC-compliant cabling.......................................................................................63

7.5 EMERGENCY OFF / EMERGENCY STOP – terminology and standards ......63

7.6 EMERGENCY OFF / EMERGENCY STOP wiring examples...........................65

7.6.1 EMERGENCY OFF (stop category 0): ...............................................................67

8INITIAL OPERATION..........................................................................................68

8.1 General notes on connection..........................................................................68

8.2 Tools / material.................................................................................................68

8.3 Connecting the motor......................................................................................68

8.4 Connecting the servo positioning controller DIS-2 310/2 FB to the power

supply, control panel or plc ............................................................................68

8.5 Connecting the PC...........................................................................................69

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Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0

8.6 Checking operability........................................................................................69

9SERVICE FUNCTIONS AND ERROR MESSAGES...........................................70

9.1 Protection and service functions....................................................................70

9.1.1 Overview.............................................................................................................70

9.1.2 Overcurrent and short-circuit monitoring............................................................71

9.1.3 DC bus voltage monitoring .................................................................................71

9.1.4 Logic supply monitoring......................................................................................71

9.1.5 Heat sink temperature monitoring ......................................................................71

9.1.6 Motor monitoring.................................................................................................72

9.1.7 Motion sequence monitoring...............................................................................72

9.1.8 Additional internal monitoring functions..............................................................72

9.1.9 Operating hour meter..........................................................................................73

9.2 Error messages................................................................................................74

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Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0

TABLE OF FIGURE S:

Figure 1: Control scheme of the controller cascade ....................................................................37

Figure 2: Positioning control block diagram .................................................................................38

Figure 3: Driving profiles of servo positioning controller DIS-2 310/2 FB.....................................41

Figure 4: Course program............................................................................................................42

Figure 5: DIS-2 310/2 FB view into the housing – location of the connectors..............................43

Figure 6: DIS-2 dimensions of the housing..................................................................................45

Figure 7: DIS-2 310/2 FB mounting example – synchronous servo motor, mounting plate with

brake resistor and servo positioning controller DIS-2 310/2 FB....................................46

Figure 8: Example of a mounting plate for a motor......................................................................47

Figure 9: Connection to power supply, control and motor............................................................48

Figure 10: Connector and pin configuration [X1]............................................................................51

Figure 11: Pin configuration motor phases ....................................................................................53

Figure 12: Pin configuration Encoder Interface..............................................................................53

Figure 13: Pin configuration holding brake.....................................................................................55

Figure 14: Pin configuration brake resistor ....................................................................................55

Figure 15: Position and pin configuration technology module........................................................56

Figure 16: Position and pin configuration RS232 interface............................................................58

Figure 17: Position and pin configuration CAN interface ...............................................................59

Figure 18: Position and pin configuration Profibus interface..........................................................60

Figure 19: Position and pin configuration EtherCAT interface.......................................................61

Figure 20: Wiring example for the power supply and EMERGENCY OFF / EMERGENCY STOP66

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Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0

TABLE OF TABLES:

Table 1: Scope of supply DIS-2 310/2 FB CANopen.......................................................................11

Table 2: Scope of supply DIS-2 310/2 FB PROFIBUS ....................................................................11

Table 3: Scope of supply DIS-2 310/2 FB EtherCAT.......................................................................11

Table 4: Scope of supply DIS-2 310/2 FB........................................................................................11

Table 5: Technical data: Ambient conditions and qualification ........................................................27

Table 6: Technical data: Dimensions and weight.............................................................................27

Table 7: Technical data: Performance data [X1]..............................................................................28

Table 8: Technical data: Motor connection specifications [X6]........................................................28

Table 9: Technical data: Motor temperature monitoring [X2]...........................................................28

Table 10: Technical data: Resolver evaluation [X2]...........................................................................29

Table 11: Technical data: Evaluation of analogue Hall sensor signals [X2].......................................29

Table 12: Technical data: Evaluation of Six-Step-Sensors (Hall) and block commutation mode [X2]30

Table 13: Technical data: Evaluation of Incremental encoder [X2]....................................................30

Table 14: Technical data: Evaluation of HIPERFACE®Encoders [X2]..............................................30

Table 15: Technical data: RS232 [X5] ...............................................................................................31

Table 16: Technical data: Digital inputs and outputs [X1]..................................................................31

Table 17: Technical data: Analogue inputs and outputs [X1].............................................................32

Table 18: Technical data: Incremental encoder input [X1] (DIN4, DIN5, DIN6):................................32

Table 19: Technical data: Incremental encoder output [X1] (DOUT1, DOUT2): ...............................33

Table 20: Technical data: CAN-Bus [X401] / [X402]..........................................................................34

Table 21: Technical data: Profibus [X401] / [X402]............................................................................34

Table 22: Technical data: EtherCAT [X401] / [X402].........................................................................34

Table 23: Pin configuration [X1].........................................................................................................51

Table 24: Pin configuration [X6].........................................................................................................53

Table 25: Pin configuration [X2].........................................................................................................54

Table 26: Pin configuration [3] ...........................................................................................................55

Table 27: Pin configuration [X300].....................................................................................................55

Table 28: Pin configuration [X8].........................................................................................................56

Table 29: Pin configuration [X5].........................................................................................................58

Table 30: Pin assignment to set up an RS232 adapter cable for connection to a PC/notebook .......58

Table 31: Pin configuration [X401] and [X402]...................................................................................59

Table 32: Pin configuration [X401] and [X402]...................................................................................60

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Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0

Table 33: Pin configuration [X401] und [X402]...................................................................................61

Table 34: Description of the requirements for the categories in accordance with EN 954-1.............63

Table 35: EMERGENCY OFF and EMERGENCY STOP as per EN 60204-1...................................64

Table 36: Stop categories ..................................................................................................................65

Table 37: Error overview....................................................................................................................74

Seite 10

Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0

1 General

1.1 Documentation

This product manual serves the purpose of a safe use of the DIS-2 310/2 FB series servo positioning

controller. It contains safety notes, which must be complied with.

Further information can be found in the following manuals of the DIS-2 310/2 FB product range:

“Mounting Instructions Decentral Intelligent Servo DIS-2 310/2 FB”: Instruction manual

concerning the installation of the DIS-2 310/2 FB servo positioning controller.

CANopen Manual “Servo Positioning Controller DIS-2“: Description of the implemented

CANopen protocol as per DSP402.

PROFIBUS Manual “Servo Positioning Controller DIS-2”: Description of the implemented

PROFIBUS-DP protocol.

EtherCAT Manual “ Servo Positioning Controller DIS-2”: Description of the implemented

EtherCAT protocol.

Software manual "Servo Positioning Controller DIS-2": Description of the device function-

ality and the software functions of the firmware including the RS232 communication. Descrip-

tion of the DIS-2 ServoCommander™ parameterisation program with instructions concerning

the start-up of DIS-2 servo positioning controllers.

All manuals are available for download on the Metronix website under www.metronix.de.

Further, the manuals are located on the CD ROM DIS-2 ServoCommander™.

The described functionality in this manual are based on the product step 3.3.

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