MASTERDRIVE Modular Synchronous and Asynchronous Servo Drive System Technical Specifications THE MASTERDRIVE DRIVE SYSTEM PROFIBUS-DP PROFIBUS-DP Gate Gateway CP-DP1 way CP-DP1 Bus Interf Busankopplung ace Analog outputs (AH7) Analoge Ausgänge (AH7) Terminal module Klemmenmodul Servocontroller Servoregler EKL 300 EKL 300 MC7000 MC7000 CP100 oper Bedienterminal CP100 ator terminal CTRL VAL -1 min Hz ESC start E/A-Erweiterung (AH6) I/O expansion (AH6) stop return enter SMART CARD PC-Benutzersoftware PC user software S S MART MARC TCARD ARD als Datenspeicher as data storage device Bediengerät KEYPAD KEYPAD control unit DRIVEMANAGER RS232 RS485 diverse Verbindungskabel Various connecting cables Schnittstellenkonverterkabel Interface converter cable LBSKK200 LBSKK200 Asynchron- Asynchronous Servomotoren Mains power Netz- servomotors ASx ASx connection anschluß Netzdrossel Radio interf Funkentstörfilter erence Line choke suppression filter Motordatensätze zur leichten Anpassung Motor data sets for easy adaptation of der Servoregler an die Motoren Synchron- servocontrollers to motors Synchronous servomotors PSx Servomotoren PSx The Application n packages for the MC7000 – tailored AB AB to your drive tasks t POSMOD BASIC MOTION • Speed control with Additionally: • Freely programmable various reference inputs, single-axe positioning • Stepper motor mode e.g. via ± 10 V, fixed system • Electronic gearing speeds or pulse input • Point-to-point positioning • Torque control For the PosMod application package please contact us to obtain the MASTERDRIVE "MC7000 POSMOD SINGLE-AXLE Positioning System" data specification. MASTERDRIVE Technical Specifications The following pages give you a summary of the contents of the MASTERDRIVE Specification Booklet By referring to the Contents (pages 1-4) you will be able to quickly access individual chapters and subchapters 1-1 CHAPTER 1 CHAPTER 2 CHAPTER 4 Summary of the contents Servocontroller MC7000 Operation of the MASTERDRIVE I = 2/4/8/12/16/32/64 A N VAL Hz stop start return enter SMART CARD DRIVEMANAGER KEYPAD KP100 Properties VAL CTRL min-1 • extended scope of functions by using Hz the Vecon chip set stop start return enter • minimum unit volume for 2 A, 4 A and 8 A device for application packages for application package BASIC BASIC + MOTION BASIC operation modes: Page mode-guided • speed control with 2-7 parameter editor PC surface external position control • speed control with 2-8 ±10 V reference generation • speed control with 2-9 fixed speeds • speed control via 2-10 pulse input • torque control 2-11 MOTION operation modes: ESC • stepper motor operation 2-14 • electronic gearing 2-15 CP100 operator terminal • point-to-point 2-16 positioning For BASIC + MOTION application packages SMARTCARD Page 2-20 MC7000 Display and input of with motor-specific custom variables parameters Order details: Order details: MC7000, BASIC Page 2-12 DRIVEMANAGER Page 4-3 MC7000, MOTION Page 2-18 KEYPAD Page 5-4 OPERATORTERMINAL Page 5-5 1-2 Issue: January 1999 SMART CARD CHAPTER 3 CHAPTER 5 Servomotors Encoder cable Motor cable synchronous motor PSM... Page 3-10 size built-in window M = 0.32 ... 0.9 Nm M ¤ 55 mm N M = 0.55 ... 2.0 Nm N ¤ 70 mm N M = 0.8 ... 4.1 Nm 0 ¤ 92 mm N M = 3.2 ... 8.6 Nm M = 1.3 ... 6.5 Nm 1 ¤ 110 mm N N Page 5-7 M = 7 ... 25 Nm M = 3.5 ... 16.5 Nm 2 ¤ 140 mm N N M = 13 ... 47 Nm 3 ¤ 190 mm N M = 40 ... 143 Nm 4 ¤ 260 mm N Page 5-6 Page 5-6 Asynchronous motor ASM... Page 3-9 Motors with terminal boxes can be connected with a Preferred types standard screened ASM and PSM motor cable See page 3-6 Mains filter Page 5-2 Line chokes Page 5-3 Order details: Order details: Servomotors ASx and PSx Page 3-2 Mains filter Page 5-2 Line chokes Page 5-3 Accessories for PROFIBUS-DP Page 5-6 Pre-assembled cables Page 5-9 User information Page 5-12 1-3 Issue: January 1999 cable for resolver KRX-N0xxx KRX-KSxxx cable for optical encoder KG1-KSxxx KG2/3-KSxxx for motors with plug-in power terminals CONTENTS Summary of the contents of MasterDrive 1-1 CHAPTER 1 Overview of the chapters in the Specification booklet 1-4 Contents CHAPTER 2 Servocontroller MASTERCONTROL MC7000 (2 ... 64 A) 2-1 Technical Data of MC7000 2-3 Application package MC7000 BASIC 2-6 Order details for servocontroller MC7000 BASIC 2-12 Possible versions of MC7000 BASIC 2-13 Application package MC7000 MOTION 2-14 Order details for servocontroller MC7000 MOTION 2-18 Possible versions of MC7000 MOTION 2-19 Accessories for servocontroller MC7000 2-20 CHAPTER 3 Synchronous and asynchronous servomotors (0,32 ... 143 Nm) 3-1 Order details for the servomotors ASx and PSx 3-2 Versions of the servomotors 3-3 Basic equipment for the servomotors 3-5 Preferred types of servomotor 3-6 Selected system components for the preferred types 3-7 Typical M-n characteristic curve of the servomotors 3-8 Technical data of the asynchronous servomotors ASx-xx 3-9 Technical data of the synchronous servomotors PSx-xx 3-10 Simplified diagrams of the servomotors 3-12 Table of dimensions for shaft, flange and base 3-13 Simplified diagrams of the servomotors (repetition) 3-14 Table of dimensions for a motor with a self cooling and external cooling system 3-15 Built-on flange, power and encoder connection 3-16 Permissible axial and lateral force 3-18 Technical data of model and shaft packing IP65 3-19 Technical data of self cooling and external cooling system 3-20 PC user software DRIVEMANAGER 4-1 CHAPTER 4 Order details for PC user software DRIVEMANAGER 4-3 Accessories for DRIVEMANAGER 4-4 1-4 Issue: January 1999 Technical data of holding brake 3-22 CHAPTER 5 Accessories for MASTERDRIVE servodrives 5-1 Interference prevention filter 5-2 Line chokes 5-3 Control unit KEYPAD KP100 5-4 Operator terminal CP100 5-5 Accessories for PROFIBUS-DP 5-6 Wiring accessories 5-7 External accessories for the servocontroller 5-8 Prepared encoder cables 5-9 Prepared motor cables 5-10 Motor accessories 5-11 User information 5-12 1-5 Issue: January 1999 CHAPTER 2 SERVOCONTROLLER SERIES MASTERCONTROL MC7000 Assembly and layout plan MC7402 - MC7408 14 13 12 1 11 2 10 + 3 9 + X5 CTRL 4 min-1 16 5 X4 8 stop start enter return 17 6 X2 SMART CARD 7 8 + 15 X1 + 8 Legend No. Function No. Function 10/ Connection for application hardware 2 or 1,2 Displays 11 for bus interface 3 Center point for all earthing lead connections 12 Connection for application hardware 1 or also for CAN bus 4 Control terminals X5: 2 digital inputs, 1) 2 analog inputs , 1 hardware 13 Encoder interface 2: encoder simulation and pulse input release, 2 digital outputs, 1 relay output (standard version) 14 Encoder interface 1: for connecting the 5 Socket-contact for control unit KP100 encoder built into the motor 6 Connection for motor and PTC 15 Plug of the control unit KEYPAD KP100 7 Connection for mains input, DC link 16 Control unit KEYPAD KP100 (can be supplied as an and braking resistor accessory, see Chapter 5) 8 Cable clamps for cable stress reduction 17 SMARTCARD for adapting the controller to the motors and storage medium for all controller parameters and for correct EMC screening 9 Connection for serial interface RS485 Directives and Conformity with the Machinery all MC7000 devices (MC7402 ... MC7464) Standards Directive 89/392/EEC UL - recognized FILE: E146022 Mark of conformity pending EMC Conformity with the basic specifications all MC7000 devices using appropriate mains 2) EN50081-1 (interference emmission: when using a corresponding mains filter residential area) (MC7402 and MC7404 with integral mains EN50082-2 (interference immunity: industrial area) filter) 1) Alternatively, analog inputs can also be used as digital inputs. 2) Further information in chapter 5 Accessories 2-1 Issue: January 1999 1 11 2 12 3 13 4 14 5 15 6 16 7 17 8 18 9 19 10 20 + + + L1 PE n.c. RB n.c. RB L3 L2 - + WV U PE PTC PTC CHAPTER 2 SERVOCONTROLLER SERIES MASTERCONTROL MC7000 Assembly and layout plan MC7412 - MC7464 X10 X13 X12 X11 H2 H1 X9 X8 yyy yyy yyy CTRL MC7464 -1 min X1 U V W + RB RB - L1 L2 L3 4yyy start stop return enter 5 yyy X5 MC7432 X1 U V W + - L2 L3 L1 yyy SMART 1 CARD MC7464yyy PTC PTC X2 X4 MC7432 X2 PTC PTC U V W RB RB PTC PTCyyy X2 3 1 2 X1 RB RB + - L1 L2 L3 2 MC7412, MC7416 MC7432, MC7464 Legend No. Function No. Function H1 Green LED, display X11* Connection for application hardware 2, X12* (e.g. AH7 with 2 analog outputs) H2 Yellow LED, fault indication or for bus interface X1 Connection for mains input, X13* Connection for application hardware or DC link and braking resistor (e.g. AH6 for I/O extension) and also for CAN bus X2 Connection for motor and PTC X4 Socket for KEYPAD 1 Center point for earthing lead connection 2 Cable clamps for correct EMC screening X5 Control terminals and cable stress reduction X8 Serial interface RS485 3KEYPAD plug X9 Encoder interface 2: encoder 4 Control unit KEYPAD KP100 simulation and pulse input 5 Data memory of SMARTCARD X10 Encoder interface 1, for connecting the encoder built into the motor * Depending on the version of the device being used. 2-2 Issue: January 1999 CHAPTER 2 TECHNICAL DATA MC7000 Mains filter integrated (limit value curve A industrial area) Des. Dim. MC7402 MC7404 MC7408 MC7412 MC7416 MC7432 MC7464 1) Output motor end Rated power (400V mains) S kVA 1.4 2.8 5.5 8.3 11 22 44 1) Rated power (460V mains) S kVA 1.6 3.2 5.2 9.5 11 22 50 Voltage (RMS) U V 3 x 400/460 1) Contin. current (RMS) (400V/460V) I A 2 / 2 4 / 4 8 / 6.5 12 / 12 16 / 14 32 / 32 64 / 64 N 2) Contin. current (RMS) (400V/460V) I A 1.5 / 1.5 2.5 / 2 4 / 2.5 7.5 / 6 9 / 7 32 / 28 60 / 56 N 6) Pulse current for 10s I A2 · I max N 3) Switching frequency of the power stage f kHz 4, 8, 16 (factory setting 8 kHz ) s Motor system asynchronous or synchronous Protection against short circuit yes, but not at terminals for braking resistor and earth fault 5) Mains voltage U V 3 x 400/460 ± 10% Input mains side Asymmetry of the mains voltage % ≤ 3 Frequency f Hz 48 ... 62 Power factor of the fundamental mode cosϕ > 0.97 1 1) 4) Efficiency η %> 95 1) 4) Power-loss P W 70 110 200 250 310 600 1000 v Peak braking power with internal P kW 1.9 3.4 6 6 6 – SP Brake chopper braking resistor ( max. duration) (17 s) (10 s) (3 s) (8 s) (8 s) – Cyclical braking operation P W80 80 40 90 30 – eff Minimum ohmic resistance R Ω 280 160 90 33 13 10 min of external braking resistors (design code BR3) Peak braking power at P kW 1.9 3.4 6.0 16.8 42 55 SPex external resistance R min Pulses per revolution at G1 Encoder simulation encoder versions G1, G3, G5 G3 2048 (sin/cos encoder) G5 Standard pulses per revolution R1 1024 (128, 256, 512, 1024, 2048, 4096) for encoder versions (resolver)R1, R2, R2 2048 (256, 512, 1024, 2048, 4096, 8192) R8 (value range) R8 3072 (384, 768, 1536, 3072, 6144, 12288) Zero pulses per revolution for G1 1 encoder versions G1, G3, G5 G3 (sin/cos encoder) G5 0 Zero pulses for encoder versions R1 1 R1, R2, R8 (resolver) R2 2 R8 3 1) For factory setting 8 kHz switching frequency of the power stage (4 kHz for MC7432 and MC7464). All other data applies irrespective of the switching frequency of the power stage! 2) At a switching frequency of 16 kHz (8 kHz for MC7432 and MC7464). 3) Servocontroller MC7432 and MC7464: factory setting 4 kHz. 4) For rated voltage and rated current. 5) Operation on an IT network is not permitted. 6) . . . . Pulse current: MC7432 at 4 kHz: 2.0 l (at 8 kHz: 1.3 l ), for MC7464 at 4 kHz: 1.5 l (at 8 kHz: 1.0 l ). N N N N 2-3 Issue: January 1999 K F ∅ A M L E G K CHAPTER 2 TECHNICAL DATA MC7000 Des. Dim. MC7402 MC7404 MC7408 MC7412 MC7416 MC7432 MC7464 Ambient conditions Cooling air temperature (1000 m a.s.l) T °C 0 ... 40 N Type of cooling forced cooling Relative humidity rF % 15 ... 85, non-condensing (VDE0160) Power reduction depending ΔP % 5 % per 1000 m above 1000 m a. s.l., H on the mounting height max. 2000 m a.s.l. Length of motor lead L m 0 ... 10 m, with power reduction 10 ... 50 m ML Power reduction depending on the length of the motor lead at 4+8 kHz ΔP mA/m 0 25 50 100 ML at 16 kHz mA/m 25 65 70 150 Storage temperature T °C -25 ... +55 (VDE0160) L Transport temperature T °C -25 ... +70 (VDE0160) T Vibration 2 g (IEC 68-2-6) Protection type IP20, VBG4 Mechanics Mounting type vertical wall mounting Mass m kg 3.7 7.5 10 15 Dimensions ØA mm Ø 4.8 Ø 5.8 Ø 7 B mm 347 360 440 C mm 315 345 425 D mm 65 142.5 190 285 E mm 7.5 F mm 40 100 150 240 G mm 69 – (G = D) H mm 260 260 290 J mm 112 – Minimum mounting distance K mm 100 150 Lmm 0 0 Mmm 0 0 D J VAL CTRL VAL CTRL -1 -1 min min Hz Hz stop start enter stop start enter return return SMART CARD B C H Note: The control unit KEYPAD KP100 must be ordered as a separate item. For further infor- mation see chapter 5 Accessories 2-4 Issue: September 1997 CHAPTER 2 APPLICATION PACKAGES FOR SERVOCONTROLLER MASTERCONTROL MC7000 The application packages enable the MASTERCONTROL MC7000 to perform the motion tasks of the servodrive system even more quickly and simply: AB n MOTION All operation modes of BASIC plus the operation modes: Page • stepper motor operation 2-14 VAL CTRL min-1 • electronic gearing 2-15 Hz • point-to-point 2-16 t positioning stop start return enter BASIC Operation modes: Page SMART CARD • speed control with 2-7 external position control • speed control with 2-8 ± 10 V reference generation • speed control with 2-9 fixed speeds • speed control via 2-10 pulse input • torque control 2-11 Tailored to With the application packages you can use the flexibility of the MC7000 to perform standard your drive requirements motion tasks very quickly using the operation modes. Every application package is equipped with selected hardware and software, which is tuned to specific operation modes. You require the PC user software DRIVEMANAGER if you want to use the application packages for the servocontroller. The functions and scope of the PC user software DRIVEMANAGER are described in chapter 4. 2-5 Issue: September 1997 CHAPTER 2 APPLICATION PACKAGE BASIC The application package BASIC contains the operation modes speed control with external position control, speed control with ± 10 V reference generation, speed control with fixed speeds, speed control via pulse input and torque control. These operation modes have the following advantages: • Only one encoder is required for controlling the torque and the speed and it can also be used for an external position control. This means that no additional encoders and cabling are required. • Short scanning periods of the control circuits: torque control 62.5 μs and speed control 250 μs. This means that a very high quality of control is achieved as a result. Control connections X5 max. 20 m 1 + 10 V Auxiliary supply for reference generation 2 - 10 V 3 ISA0- Input: fully programmable (analog/digital) 4 ISA0+ 5 ISA1 Input: fully programmable (analog/digital) 6 GND_ISA1 1 1 7 + 24 V Auxiliary supply for digital NC 8 + 24 V inputs and outputs 9 IS00 Input: Start control 10 IS01 Input: fully programmable (digital) + 24 V 11 ENPO Release power stage 12 OS00 Output: fully programmable (digital) 13 OS01 Output: fully programmable (digital) 14 DGND Digital ground 1 1 15 24 V_EXT Connections for control voltage +24 V Supply unit 2 16 GND_EXT (only for version SN2) GND 24 V ± 10 %, 3 A 17 GND_EXT 18 OS03 Not assigned 19 OS02/3 Relay output programmable 20 OS02/4 1 M 3~ � Earth all screens at both ends to the casing over a large surface area using cable clamps! ` Only use the control voltage connection for version SN2 (external supply of the control unit)! 2-6 Issue: September 1997 CHAPTER 2 APPLICATION PACKAGE BASIC encoder simulation Operation mode speed control with external position control CTRL MASTERDRIVE VAL -1 min Hz rotational stop start return enter speed reference NC ± 10 V In the operation mode speed control with external position control the MC7000 can be directly operated using an NC, which carries out the position control. This operation mode is characterized by the following properties: • encoder simulation, number of lines on the resolvers parameterizable • resolution of analog input: 12 bit • possibility of torque limitation by means of second analog input • 1 analog input, 3 digital inputs, 1 hardware-release, 2 digital outputs, 1 relay output Control connections X5 mode-related 1 + 10 V 11 ENPO Release power stage Auxiliary supplies for the 2 - 10 V reference generation 12 OS00 Output: ready for operation 3 ISA0- 13 OS01 Output: reference reached Analog reference input: +10 ... -10 V 4 ISA0+ 14 DGND Ground for terminals 7 to 13 5 ISA1 15 24 V_EXT Torque Control voltage connection reduction 6 GND_ISA1 16 GND_EXT (only for version SN2) 7 + 24 V 17 GND_EXT Auxiliary supply for digital inputs and outputs 8 + 24 V 18 OS03 Not assigned 9 IS00 19 OS02/3 Input: start control Relay output of holding brake (programmable) 10 IS01 20 OS02/4 Input: fully programmable 2-7 Issue: September 1997 CHAPTER 2 APPLICATION PACKAGE BASIC Operation mode speed control with ± 10 V reference generation MASTERDRIVE VAL CTRL min-1 Hz stop start return enter speed reference NC ± 10 V The operation mode speed control with ± 10 V reference generation is characterized by the following properties: • linear and sin²-shaped ramps to ensure that the movements do not wear out the mechanism • generation of analog references • resolution of analog input: 12 bit • possibility of torque limitation by means of second analog input • 1 analog input, 3 digital inputs, 1 hardware-release, 2 digital outputs, 1 relay output Control connections X5 mode-related 1 + 10 V 11 ENPO Release power stage Auxiliary supplies for the 2 - 10 V reference generation 12 OS00 Output: ready for operation 3 ISA0- 13 OS01 Output: reference reached Analog reference input: +10 ... -10 V 4 ISA0+ 14 DGND Mass for terminals 7 to 13 5 ISA1 15 24 V_EXT Torque Control voltage connection reduction 6 GND_ISA1 16 GND_EXT (only for version SN2) 7 + 24 V 17 GND_EXT Auxiliary supply for digital inputs and outputs 8 + 24 V 18 OS03 Not assigned 9 IS00 19 OS02/3 Input: start control Relay output of holding brake (programmable) 10 IS01 20 OS02/4 Input: fully programmable 2-8 Issue: September 1997 CHAPTER 2 APPLICATION PACKAGE BASIC Operation mode speed control with fixed speeds n0 VAL CTRL MASTERDRIVE min-1 Hz stop return start enter n1 NC S0 reference S2 reached S1 S0 In the operation mode speed control with fixed speeds up to four fixed speeds can be filed in the MC7000, which are then selected in running operation by means of two binary coded inputs. Control connections X5 mode-related 1 + 10 V 11 ENPO Release power stage Auxiliary supplies for the 2 - 10 V reference generation 12 OS00 Output: ready for operation 3 ISA0- 13 OS01 Output: reference reached Input n0 4 ISA0+ 14 DGND Digital ground 5 ISA1 15 24 V_EXT Change of Control voltage connection rotation 6 GND_ISA1 16 GND_EXT (only for version SN2) 7 + 24 V 17 GND_EXT Auxiliary supply for digital inputs and outputs 8 + 24 V 18 OS03 Not assigned 9 IS00 19 OS02/3 Input: start control Relay output of holding brake (programmable) 10 IS01 20 OS02/4 Input n1 S0 = switch for rotational speed 0 (e.g. stop) S1 = switch for rotational speed 1 (e.g. high speed) S2 = switch for rotational speed 2 (e.g. crawl speed) 2-9 Issue: September 1997 CHAPTER 2 APPLICATION PACKAGE BASIC Operation mode speed control via pulse input a) CTRL MASTERDRIVE VAL -1 min Hz G stop start return enter encoder b) NC n1 n2 In the operation mode speed control via pulse input the MC7000 precisely follows the rotational speed of a master axis. Since no position controller is active, you must note that although the rotational speeds can be synchronized by the master and slave axis, but not the angular positions. The operation mode is characterized by the following properties: • driven at RS422 level (± 5 V) by: - signals of a square-wave incremental transmitter, - encoder simulation of an MC6000 or MC7000 or - pulse-direction signals (virtual master axis) • precise speed synchronism • speed ratio adjustable online by 16-bit counter and 16-bit denominator • 4 digital inputs, 1 hardware-release, 2 digital outputs, 1 relay output Control connections X5 mode-related 1 + 10 V 11 ENPO Release power stage Auxiliary supplies for the reference generation 2 - 10 V 12 OS00 Output: ready for operation 3 ISA0- 13 OS01 Output: reference reached Connect to DGND 4 ISA0+ 14 DGND fully programmable Digital ground 5 ISA1 15 24 V_EXT Torque Control voltage connection reduction 6 GND_ISA1 16 GND_EXT (only for version SN2) 7 + 24 V 17 GND_EXT Auxiliary supply for digital inputs and outputs 8 + 24 V 18 OS03 Not assigned 9 IS00 19 OS02/3 Input: start control Relay output of holding brake (programmable) 10 IS01 20 OS02/4 Fully programmable max. 20 m Encoder connection X9 a) 12 2A G pulse/track A 13 2A b) 7 2B pulse/track B NC 14 2B 1 1 2-10 Issue: September 1997 CHAPTER 2 APPLICATION PACKAGE BASIC Operation mode torque control MASTERDRIVE VAL CTRL min-1 Hz stop start return enter torque reference NC ± 10 V The operation mode torque control is a suitable means of controlling the tensile force and has the following properties: • limitation of the operating speed by internal speed limiting controller • resolution of the analog input: 12 bit • 1 analog input, 3 digital inputs, 1 hardware-release, 2 digital outputs, 1 relay output Control connections X5 mode-related 1 + 10 V 11 ENPO Release power stage Auxiliary supplies for the 2 - 10 V 12 OS00 reference generation Output: ready for operation 3 ISA0- 13 OS01 Output: reference reached Torque reference ± 10 V 4 ISA0+ 14 DGND Digital ground 5 ISA1 15 24 V_EXT Fully programmable Control voltage connection 6 GND_ISA1 16 GND_EXT (only for version SN2) 7 + 24 V 17 GND_EXT Auxiliary supply for digital 8 + 24 V inputs and outputs 18 OS03 Not assigned 9 IS00 19 OS02/3 Input: start control Relay output of holding brake (programmable) 10 IS01 20 OS02/4 Fully programmable 2-11 Issue: September 1997 CHAPTER 2 ORDER DETAILS FOR SERVOCONTROLLER MC7000 BASIC General The functionality of the servocontroller is indicated by the order designation. Other versions differing from the standard package are indicated by adding design codes to the order designation. Only one of the possible versions shown may be ordered per type of interface (e.g. encoder interface, bus interface etc.). Standard version x.x MC 7 4x x BASIC Order or type designation 1) version number application package BASIC continuous current (RMS), see Technical Data of MC7000 mains voltage, see Technical Data of MC7000 MASTERCONTROL MC7000 series Standard version: • encoder interface for analysis of resolvers • encoder simulation • for MC7402 and MC7404 with built-in mains filter for complying with the limit value curve of class A (industrial area) • Instruction Manual Note: The KeyPad KP100 control unit should be ordered as a separate item. For further information see section 5, ”Accessories”. Design codes x.x MC 7 4x x BASIC for deviations from . . . the standard design codes The design codes are separated by a comma and can be written one after the other in any order. Example MC7408 , BASIC , AH7 with two additional analog outputs ± 10 V application package Basic 1) The version number indicates the technical version of the application package. If the number is not quoted in the order, we will deliver the current version. 2-12 Issue: January 1999 CHAPTER 2 POSSIBLE VERSIONS of MC7000 BASIC n AB t BASIC MOTION Type of interface Version Brief description location code Standard Encoder interface for analysis of resolvers Encoder D2 Encoder interface for analyzing the latest model of optical encoders, interface 1 with incremental sin/cos outputs and additional absolute position information as a single-turn or multi-turn variant Standard Without bus interface Bus-Interface C11 CAN bus interface (CAN) with connection system Sub-D 25-pole; for 2 x 9-pole connections use terminal module EKL300 (see chapter 5 Accessories). The CAN bus interface is also to be used as a connection for the PROFIBUS-DP via the PROFIBUS-DP gateway CP-DP1 (see section 5, ”Accessories”). C15 CANopen with connection via two 9-pin Sub-D connectors. Caution! Version C15 excludes use of version AH7. Standard Brake chopper power electronics with braking resistor in the for MC7402 heat sink to MC7416 Standard Brake chopper power electronics (c.d.f. 100 %) to the direct connection Brake chopper for MC7432 of an external braking resistor version to MC7464 BR3 Brake chopper power electronics (c.d.f. 100 %) to the direct connection for MC7402 of an external braking resistor to MC7416 Standard With own supply of the control unit (without external 24 V supply) Supply of control unit SN2 External 24 V supply of the control unit Standard With relay output for controlling a holding brake Control HB1 With additional output for controlling a holding brake of holding brake (+ 24 V, max. 2 A), with short circuit and cable fracture monitoring, Caution: Not possible for MC7432 and MC7464! Standard Without application hardware 2 Application AH7 With 2 additional analog outputs, outpoint signal ± 10 V, hardware 2 resolution 12 bit, with connection system Sub-D 9-pole Caution! Version AH7 excludes use of version C15. There may be only one version at each assignment point. 2-13 Issue: January 1999 CHAPTER 2 APPLICATION PACKAGE MOTION The application package MOTION contains the operation modes: • stepper motor operation • electronic gearing • point-to-point positioning These operation modes have an integrated position controller with a scanning period of 250 μs. This has the following advantages compared with an external position controller: • no need for encoder analysis in the control system • reduced amount of cabling required • minimum down times in the position control circuit resulting in a high quality of control The application package MOTION can only be operated with the operating software DRIVEMANAGER (see chapter 4). Operation mode stepper motor operation Z CTRL MASTERDRIVE VAL -1 min Y Hz stop start return enter Position stepper reference motor control X In the operation mode stepper motor operation the MC7000 can be directly driven by a stepper motor control system and has the following properties: • no steps are omitted or left out • good rotation, even at low rotational speeds • the maximum step frequency is only limited by the maximum motor speed • 16 to 1,048,576 steps per revolution • angle precision to below 0.1° • reference run with zero-point correction • limit-switch analysis • 12 digital inputs, 1 hardware-release, 6 digital outputs, 1 relay output 2-14 Issue: September 1997 CHAPTER 2 APPLICATION PACKAGE MOTION Operation mode MC7000, BASIC as Master electronic gearing VAL CTRL MASTERDRIVE min-1 s Hz stop return start enter reference NC t MC7000, MOTION as Slave VAL CTRL MASTERDRIVE -1 min Hz stop start return enter In mechanical engineering electronic gears are increasingly taking over from mechanical gears and line shafts since in many cases they are more precise and cheaper, allow a more flexibile design of machinery and shorten the standstill times when changing products. The MC7000 has the following properties in the operation mode electronic gearing: • control by: – signals of a square-wave incremental transmitter – encoder simulation of an MC6000 or MC7000 • transmission ratio adjustable online by 16-bit counter and 16-bit denominator • synchronization precision to below 0.1° • reference run with zero-point correction • limit-switch analysis • displacement of the synchronous position (register control) • 12 digital inputs, 1 hardware-release, 6 digital outputs, 1 relay output 2-15 Issue: September 1997 CHAPTER 2 APPLICATION PACKAGE MOTION Operation mode point-to-point MASTERDRIVE VAL CTRL min-1 Pos A Hz positioning stop start return enter control Pos B AB . . .C reference reached In point-to-point positioning mode a controller or the DriveManager generates up to 15 positioning sets which are transferred offline to the MC7000. The controller selects the current positioning set by way of four binary coded inputs. In the operation mode point-to-point positioning the MC7000 has the following properties: • a maximum of 15 positioning sets can be selected for absolute or relative positioning • linear and sin²-shaped speed ramps to ensure that the movements do not wear out the mechanism • reference run • limit-switch analysis • 12 digital inputs, 1 hardware-release, 6 digital outputs, 1 relay output Positioning and If you find the functions of the operation mode point-to-point positioning are not enough to sequential program perform a certain drive task, we are prepared to create a positioning and sequential program for your particular application. Please let us know if you are interested in such an offer. For entering the positioning sets with target position, speed and acceleration It is not possible to enter the point-to-point positioning using the KEYPAD. 2-16 Issue: January 1999 Chapter 2 APPLICATION PACKAGE MOTION Control connections for X5 1 + 10 V point-to-point positioning Supply voltage analog output max. 20 m 2 - 10 V 3 ISA0- Neg. HW limit switch 4 ISA0+ 5 ISA1 Feed release 6 GND_ISA1 7 + 24 V 3 8 + 24 V NC Manual/automatic 9 IS00 Pos. HW limit switch 10 IS01 Release power stage 11 ENPO 12 OS00 Ready 13 OS01 Standstill 14 DGND Digital ground 1 1 15 24V_EXT 2 16 GND_EXT 2 17 GND_EXT 1 18 OS03 19 OS02/3 Relay output of holding brake 20 OS02/4 +24V GND 1 24 V ± 10 %, 3 A 24 V +10%, 5 A M 3~ X13 13 25 4 22 OE03 Output: No tracking error 9 OE02 Output: reference point defined 21 OE01 4 Output: axis in position 8 OE00 Output: axis in position 0 (reference point) +24V 20 24V-OUT 24 V supply for outputs OE00 ... 03 7 GND-OUT Ground for outputs OE00 ... 03 19 +24V 3 GND 6 DGND 18 n.c. 5 GND-IN Ground for inputs IE00 ... 07 17 IE07 Input p3 4 IE06 Input p2 16 IE05 Input p1 3 IE04 Input p0 15 IE03 Input: jog- 2 IE02 Input: jog+ 14 IE01 Input: start release 1 IE00 Input: reference cam � Earth all screens at both ends to the casing over a large surface area using cable clamps! ` Only use the control voltage connection for version SN2 (external supply of the control unit)! ´ The internal 24 V of the servocontroller is used to supply inputs and outputs at X5 (max. loading capacity: 200 mA in total). 2-17 Issue: January 1999 CHAPTER 2 ORDER DETAILS FOR SERVOCONTROLLER MC7000 MOTION General The functionality of the servocontroller is characterized by the order designation. Other versions differing from the standard package are indicated by appendices of design codes in the order designation. In the versions shown only one version can be ordered per terminal location (e.g. encoder interface, bus interface etc.). Order or type MOTION MC 7 4x x x.x designation (Standard version) 1) version number application package Basic MOTION continuous current (RMS), see Technical Data of MC7000 mains voltage, see Technical Data of MC7000 Series MASTERCONTROL MC7000 Standard version: • encoder interface for analysis of resolvers • encoder simulation • 12 digital inputs, and 6 digital outputs • limit-switch analysis • for MC7402 and MC7404 with built-in mains filter for complying with the limit value curve of class A (industrial area) • instruction Manual Note: The KeyPad KP100 control unit should be ordered as a separate item. For further information see section 5, ”Accessories”. Design codes for MC 7 4x x MOTION x.x deviations from the . . . standard Design codes The design codes are separated by a comma and can be written one after the other in any order. Example MC7408 , MOTION , D2 for evaluation of optical encoders application package MOTION 1) The version number indicates the technical version of the application package. If the number is not quoted in the order, we will deliver the current version. 2-18 Issue: January 1999 CHAPTER 2 POSSIBLE VERSIONS OF MC7000 MOTION n AB t BASIC MOTION Type of interface Version Brief description location code Standard Encoder interface for analysis of resolvers Encoder D2 Encoder interface for analyzing the latest model of optical encoders, interface 1 with incremental sin/cos outputs and additional absolute position information as a single-turn or multi-turn variant Standard Without bus interface Bus-Interface C11 CAN bus interface (CAN) with connection system Sub-D 25-pole; for 2 x 9-pole connections use terminal module EKL300 (see chapter 5 Accessories) The CAN bus interface is also to be used as a connection for the PROFIBUS-DP via the PROFIBUS-DP gateway CP-DP1 (see section 5, ”Accessories”). C15 CANopen with connection via two 9-pin Sub-D connectors. Caution! Version C15 excludes use of version AH7. Standard Brake chopper power electronics with braking resistor in the for MC7402 heat sink to MC7416 Standard Brake chopper power electronics (c.d.f. 100 %) to the direct connection Brake chopper for MC7432 of an external braking resistor version to MC7464 BR3 Brake chopper power electronics (c.d.f. 100 %) to the direct connection for MC7402 of an external braking resistor to MC7416 Standard With own supply of the control unit (without external 24 V supply) Supply of control unit SN2 External 24 V supply of the control unit Standard With relay output for controlling a holding brake Control HB1 With additional output for controlling a holding brake of holding brake (+ 24 V, max. 2 A), with short circuit and cable fracture monitoring, Caution: Not possible for MC7432 and MC7464! Standard Without application hardware 2 Application AH7 With 2 additional analog outputs, outpoint signal ± 10 V, hardware 2 resolution 12 bit, with connection system Sub-D 9-pole Caution! Version AH7 excludes use of version C15. There may be only one version at each assignment point. Note: Installation of the DRIVEMANAGER operating software (chapter 4) is necessary for commissioning of the MOTION application package 2-19 Issue: January 1999 CHAPTER 2 ACCESSORIES FOR THE MC7000 Order description Brief description Accessories for servo controller retrofit KP100 multifunctional control unit KEYPAD for operation of the servo controller and frequency inverter, also refer to chapter 5 Accessories ZSC SMARTCARD without data content, for storing and transfer of device settings on other MC7000 servocontrollers 0808.ZSC, xxx-xx-xxxx SMARTCARD for adapting the MC7000 servocontroller to motors in the ASx and PSx ranges upto software version 1.65 0808.ZDK, xxx-xx-xxxx Diskettes for adapting the MC7000 servocontroller to motors in the ASx and PSx ranges from software version 1.65 Easy adapting of the servo- leichte Anpassung der Servoregler controllers to the motors an die Motoren Adapation of the MC7000 servocontroller SMARTCARD or diskette SMART to the ASx and PSx motor ranges descri- CARD for servomotors bed in this specification booklet is carried CTRL out via a SMARTCARD with models up to min-1 software 1.65 or via diskette with newer stop start return enter versions. All motor parameters and com- plete controller dimensioning are stored in these formats Presetting the SMARTCARD: The maximum installation torque is limited to the motor’s rated value in order to protect the installation. Order designation 0 80 8 . Z S C xxx-- xx x xxx x SMARTCARD motor specifications SMARTCARD for MC7000 1) Example for servomotor 0808.ZSC , PSM-11-2xR83 (- xxx) PSM-11-20R83-012 insignificant for ordering SMARTCARD Motor type used SMARTCARD for MC7000 1) x = specification insignificant, places need not be given Note: The SMARTCARD is write protected for security reasons. Please order a seperate SMARTCARD ZSC not containing data for storing remaining device settings. The DRIVEMANAGER from version 1.0 is necessary in order to read the information on the controller diskette. The content of supply already contains the disk set with motor data sets for PSM motors with R8 and G5 encoders and also for ASM motors with R2, G1 or G5 encoders. 2-20 Issue: January 1999 CHAPTER 3 SYNCHRONOUS AND ASYNCHRONOUS SERVOMOTOR SERIES Introduction The synchronous and asynchronous Servomotors are designed to a uniform pattern for best results, especially for the MASTERCONTROL MC6000 and MC7000 Servocontroller in mind. From a design point of view the Servomotors differ basically in their rotor princple: squirrel-cage rotor in ASx asynchronous Servomotors • permanent magnet rotor in PSx synchronous Servomotors • One Servocontroller for Synchronous and Asynchronous Motors CTRL min-1 stop start enter return SMART CARD Features of the asynchronous ASx Servomotors Features of the synchronous PSX Servomotors Advantages most cost effective solution for applications compact design with in which the larger physical size is no rotor losses acceptable large speed range with constant low moment of inertia of rotor so excellent maximum power output dynamic response maintenance-friendly low maintenance (brushless) 3-1 Issue: March 1997 CHAPTER 3 ORDERING ASx AND PSx SERVOMOTORS Introduction The specific Servomotor model is indicated by the order designation. Each design code has a particular meaning, refer to Servomotor design codes. Design codes are also used for non-listed Servomotors. Only one design option can be ordered per code CHAPTER, (eg voltage, encoder system etc). Order/type designation A S H A B CDE F G The order designation must always be complete and in this sequence. ASM - 23 - 20R23 - 3 Resolver connector 90° turned -1 Rated speed 3000 min Example Resolver R2 (4 pole) Without holding brake Voltage 330V Size 2, length 3 Flange mounting, self cooling Asynchronous Servomotor Design code A S for options and customer-specific version K L Code CHAPTERs K and L are only used where there is a deviation from the standard version. See table "Servomotor design codes". 3-2 Issue: March 1997 AS = Asynchronous Servomotor PS = Permanently excited Synchronous Servomotor Type, cooling Size, length Voltage version Holding brake Encoder system Rated speed Connections CHAPTER 3 SERVOMOTOR DESIGN CODES Code Design Description Motor Type CHAPTER Code M Flange with self cooling ASx-1x to 3x, PSx-Mx to 2x Type, Cooling B F Flange with forced cooling ASx-1x to 3x, PSx-1x to 2x H Flange, foot with self cooling ASx-1x to 4x, PSx-1x to 2x V Flange, foot with forced cooling ASx-1x to 4x, PSx-1x to 2x Size, Length Mx Installation 55, 4 units long PSM-Mx Nx Installation 72, 3 units long PSM-Nx 0x Installation 92, 4 units long PSM-0x C 1x Installation 110, 5 units long ASx-1x, PSx-1x 2x Installation 140, 5 units long ASx-2x, PSx-2x 3x Installation 190, 4 units long ASx-3x 4x Installation 260, 3 units long ASx-4x D 2 Rated voltage of motors 330V All Voltage Version E 0 Without holding brake All Holding Brake 1 With permanently excited holding brake All (Observe max speed) Encoder System 00 Without encoder system All R1 Resolver (2 pole) All R2 Resolver (4-pole), preferred type for ASx All ASx R8 Resolver (6-pole), preferred type for PSx All PSx G1 Incremental encoder with sin/cos outputs All ASx F G3 Incremental encoder with sin/cos outputs All ASx and PSx from as multi turn encodersixe 0x G5 Incremental encoder with sin/cos outputs All ASx and PSx from 1) as single turn encoder size 0x 2) K1 Resolver (2 pole), with mounting flange All ASM, ASH, PSM, PSH 2) K2 Resolver (4 pole), with mounting flange All ASM, ASH 2) K8 Resolver (6 pole), with mounting flange All PSM, PSH 1) The new encoder type G5 replaces type G2. It is electrically and mechanically compatible, however another SMARTCARD is necessary. 2) For mounting a second encoder, eg (Heidenhain ROD426 or Stegmann DG60). The coupling is not included. 3-3 Issue: March 1997 CHAPTER 3 SERVOMOTOR DESIGN CODES Code Design Description Motor Type CHAPTER Code -1 1 Rated speed 1500 min Rated Speed Please observe the technical specifications of -1 2 Rated speed 2000 min the Servomotors. -1 G 3 Rated speed 3000 min -1 4 Rated speed 4000 min -1 6 Rated speed 6000 min 0 Power connection: terminal box All from size 0x Connections Resolver connector: plug-in, outlet straight Encoder connector: plug-in, outlet straight or 90° H 3 Power connection: terminal box All from Size 0x Resolver connector: plug-in, outlet 90° with resolver with encoder choose design code 0 2 Power connector: plug-in, outlet straight PSx-Mx, PSx-Nx, PSx-0x, Resolver connector: plug-in, outlet straight PSx-1x and ASx-1x Encoder connector: plug-in, outlet straight or 90° 4 Power connector: plug-in, outlet 90° PSx-Mx, PSx-Nx, PSx-0x, Resolver connector: plug-in, outlet 90° PSx-1x and ASx-1x Encoder connector: plug-in, outlet straight or 90° 5 Power connector: plug-in, outlet 90° Resolver connector: plug-in, outlet straight Encoder connector: plug-in, outlet straight Notes: • In all encoders G1, G3 and G5 the connector can be directed either straight or at 90°. • For matching power connectors and for cable see CHAPTER 5 Accessories. 0 Standard, shaft end A side with feather key All Options and customer- specific versions 1 Shaft end A side without feather key All K 2 With radial shaft seal IP65 All (Observe maximum speed) 4 Design code 1 and 2 All (Observe maximum speed) Options and customer- 0 Standard model All specific versions 1 Vibration to ISO 2373 R All ASx L 2 Vibration to ISO 2373 S All PSx 3 Radial and axial run-out to DIN 42955 R All 4 Design code 1 and 3 All ASx 5 Design code 2 and 3 All PSx 3-4 Issue: January 1999 CHAPTER 3 BASIC VERSION OF SERVOMOTORS Type ASx Asynchronous PSx Synchronous Features Servomotors Servomotors General Technical Motor type Asynchronous motor Permanently excited synchronous motor Specifications Magnet - Neodymium-iron-boron Type (DIN 42948) IM B35, IM B5, V1, V3 Protection (DIN 40050) IP65, Shaft Seal IP64 (Option IP65) Insulation Class Insulation Class F to VDE0530 Windings over-temperature Δt = 105, coolant temperature t = +40 °C u Cooling Self cooling (IC 0041) IP65 Forced cooling (IC 0641) IP44, 54 Finish RAL 9005 (black) Shaft end on the A (D) side Cylindrical shaft end DIN 748, feather key 1) and feather key groove DIN 6885, clearance k6 Flange dimension DIN 42948 and IEC 72 Eccentricity, concentricity Tolerance N (normal) and radial run-out DIN 42955 R (reduced) to order Vibration level ISO 2373 Step N, R available as option Step R, S available as option Thermal monitoring of motor PTC Thermistor in Stator Windings Torque loading In order to eliminate the risk of themal overload of motors the effective torque load must not be greater than the rated torque of the Servomotor 2 Σ M x t n n M ≤ M M = eff eff N t ges Maximum pulse torque Typically 2 to 5 times rated torque depending on controller allocation. 3 to 5 times the rated torque is only permissible for 0.2 s maximum only. Bearing life The average life is 20,000 hours under rated conditions (M ≤ M ). max N Connection Connections for motor, thermistor Threaded bolts in terminal box, and holding brake connectors to order Encoder system connection Signal Connector (no mating connector) 1) For the motor types PSM-Nx is the clearance j6. 3-5 Issue: March 1997 CHAPTER 3 PREFERRED TYPES OF SERVOMOTORS From the wide range of design options for synchronous and asynchronous motors, we have selected the most common here and specified them as preferred types. Use of Benefits: preferred motors � High availability based on module stocking � Fixed delivery period of maximum 3 weeks for batch sizes up to 10 (motors with custom design options 6 to 8 weeks) • Resolver type encoder system Design and properties • Flange with self-cooling • Without holding brake • Plug-in power supply for synchronous servomotors • Asynchronous motor with terminal box • Large speed setting range on asynchronous machines • Low moments of rotor inertia, producing optimum dynamics Technical data of Self-cooling M M P I I n , n J m 0 N N 0 N N max L 2 the preferred types [Nm] [Nm] [kW] [A] [A] [rpm] [kgcm ] [kg] PSM-M4-20R86-4 1 0.8 0.5 1.6 1.7 6000 0.45 1.8 PSM-N4-20R84-4 0.65 0.6 0.25 0.9 0.9 4000 0.22 1.5 PSM-N6-20R84-4 2.3 2.0 0.83 2.4 2.0 4000 0.57 2.9 PSM-03-20R83-4 2.8 2.3 0.72 1.8 1.5 3000 5.3 4.2 PSM-04-20R83-4 4.8 4.1 1.3 3.7 3.2 3000 7.4 5.3 PSM -13-20R83-4 7.5 5.6 1.7 5.1 3.8 3000 11.7 10.1 PSM-23-20R83-0 15.5 11.2 3.5 10.1 7.3 3000 28 15.5 ASM-12-20R23-0 2 1.7 0.54 2.1 1.8 3000/12000 3.7 7.5 ASM-22-20R23-0 5.6 4.7 1.5 4.7 3.9 3000/12000 14.4 13.2 ASM-25-20R22-0 15 13 2.7 7.7 6.6 2000/8000 38.4 24 ASM-32-20R21-0 20 17 2.7 8.2 6.8 1500/8000 90 33 ASM-34-20R21-0 42 35 5.5 15.1 12.6 1500/8000 209 56.6 ASM-43-20R21-0 85 70 11 37 30.4 1500/8000 960 135 3-6 Issue: January 1999 CHAPTER 3 SELECTED SYSTEM COMPONENTS FOR THE PREFERRED TYPES VAL CTRL min-1 Hz stop star enter t return t M B Drive con- max Installation window [mm] Servomotor 3) [ms] [Nm] troller PSM-M4-20R86-4 MC7402 1.9 15 internal DND 6 KM1-KS005 internal 55 MC7404 3.2 9 PSM-N4-20R84-4 MC7402 2.4 4 internal DND 6 KM1-KS005 internal 70 PSM-N6-20R84-4 MC7402 4 6 internal DND 6 KM1-KS005 internal MC7404 8 3 internal DND 6 internal PSM-03-20R83-4 MC7402 6.1 28 internal DND 6 KM1- N005 internal 92 MC7404 9.2 19 internal DND 6 internal PSM-04-20R83-4 MC7404 10.3 23 internal DND 6 KM1-N005 internal MC7408 16.4 15 NFD 10.3 DND 14 internal ASM-12-20R23-0 MC7402 3.8 31 internal DND 6 KM1-N005 internal 110 MC7404 6.8 17 internal DND 6 internal PSM-13-20R83-4 MC7404 11.8 32 internal DND 6 KM1-N005 internal MC7408 22.4 17 NFD 10.3 DND 14 internal ASM-22-20R23-0 MC7404 8.8 26 internal DND 6 Terminal box internal MC7408 16.7 17 NFD10.3 DND 14 internal 140 PSM-23-20R83-0 MC7408 24.5 36 NFD 10.3 DND 14 Terminal box RHK 90 MC7412 36.8 24 NFD 25.1 DND 18 RHK 42 MC7416 44.8 20 NFD 25.1 DND 24 RHK 42 ASM-25-20R22-0 MC7408 31.5 26 NFD 10.3 DND 14 Terminal box RHK 90 MC7412 47.3 17 NFD 25.1 DND 18 RHK 42 ASM-32-20R21-0 MC7408 40 36 NFD 10.3 DND 14 Terminal box RHK 90 MC7412 60 24 NFD 25.1 DND 18 RHK 42 190 MC7416 68 21 NFD 25.1 DND 24 RHK 42 ASM-34-20R21-0 MC7412 66.7 50 NFD 25.1 DND 18 Terminal box RHK 42 MC7416 88.9 37 NFD 25.1 DND 24 RHK 42 MC7432 140 24 NFD 50.1 DND 45 RHK 15 ASM 43-20R21-0 MC7432 147.4 103 NFD 50.1 DND 45 Terminal box RHK 15 MC7464 221.1 69 NFD 80.0 DND 75 RHK 15 260 1) Acceleration with peak torque. no load. from standstill to nominal speed 2) For further information see section 5. ”Accessories”. 3) Speed-controlled applications: Application package BASIC (see section 2) elektron. Getriebe. Schrittmotorinterface: Application package MOTION (see section 2) Einachs-Positioniersystem: Application package POSMOD (see separate data specification) 3-7 Issue: January 1999 Preferred type Peak torque of drive package Acceleration time Mains filter Line choke (recommended) Motor cable (only up to size 1) Braking resistors internal/external 1) 2) 2) 2) CHAPTER 3 TYPICAL TORQUE-SPEED GRAPH OF SERVOMOTORS M M max max Field weakening 5 5 M M M M N N 4 4 max. 0.2 s max. 0.2 s max 0,2s max 0,2s Pulse Operation Pulse Operation 3 3 1 M~ n 2 Intermittent 2 Intermittent operation operation M M 0 0 depending on M M N N voltage reserve Continuous Continuous operation operation 123 4 1 n n n n N N n N M-n Graph for asynchronous motors M-n Graph for synchronous motors Term Explanation M Static torque Thermal limit torque of motor when stationary. This torque can be provided by the motor for 0 any length of time. I Static current Effective value of motor winding current which is required to generate the rated torque. 0 M Rated torque Thermal torque limit of motor at rated speed n . N N I Rated current Effective value of motor winding current required to generate the rated torque. N P Rated power Continous power of motor at rated working point (M , n ) at rated current I and rated voltage U . N N N N N M , I Limit curve Motors can be loaded maximum 5 times the rated current max max Field weakening area The maximum peak torque output in the field weakening area depends on the voltage reserve. Typical torque characteristics are proportional to the function 1/f or 1/n. 3-8 Issue: March 1997 CHAPTER 3 TECHNICAL SPECIFICATIONS OF ASx-xx ASYNCHRONOUS SERVOMOTORS Self cooling M M P I I n J mn 0 N N 0 N N L max -1 2 -1 [Nm] [Nm] [kW] [A] [A] [min ] [kgcm ] [kg] [min ] ASM (H)-11-2xxx3 1.5 1.3 0.41 1.6 1.4 3000 2.8 6.5 12000 ASM (H)-12-2xxx3 2 1.7 0.54 2.1 1.8 3000 3.7 7.5 12000 ASM (H)-13-2xxx3 2.7 2.3 0.72 2.74 2.3 3000 4.7 8.5 12000 ASM (H)-14-2xxx3 4.2 3.5 1.1 4 3.3 3000 6.5 10.2 12000 ASM (H)-15-2xxx3 5.2 4.7 1.5 5.4 4.5 3000 8.9 12.8 12000 ASM (H)-21-2xxx3 4.2 3.5 1.1 3.6 3 3000 10.9 10.8 12000 ASM (H)-22-2xxx3 5.6 4.7 1.5 4.7 3.9 3000 14.4 13.2 12000 ASM (H)-23-2xxx3 8.4 7 2.2 6.7 5.6 3000 21.5 16.2 10000 ASM (H)-24-2xxx2 12 10 2.1 6.4 5.3 2000 29.8 20.3 10000 ASM (H)-25-2xxx2 15 13 2.7 7.7 6.6 2000 38.4 24 8000 ASM (H)-31-2xxx1 15.5 13 2.1 6.2 5.2 1500 70 29.8 8000 ASM (H)-32-2xxx1 20 17 2.7 8.2 6.8 1500 90 33 8000 ASM (H)-33-2xxx1 27.5 23 3.6 10.3 8.7 1500 130 41.5 8000 ASM (H)-34-2xxx1 42 35 5.5 15.1 12.6 1500 209 56.6 8000 ASH-41-2xxx1 47 40 6.3 21 17.9 1500 450 87 8000 ASH-42-2xxx1 70 60 9.4 30 25.5 1500 740 113 8000 ASH-43-2xxx1 85 70 11 37 30.4 1500 960 135 8000 Forced Cooling M M P I I n J mn 0 N N 0 N N L max -1 2 -1 [Nm] [Nm] [kW] [A] [A] [min ] [kgcm ] [kg] [min ] ASF (V)-11-2xxx3 2 1.7 0.54 2.1 1.8 3000 2.8 7.5 12000 ASF (V)-12-2xxx3 2.7 2.3 0.72 2.8 2.4 3000 3.7 8.6 12000 ASF (V)-13-2xxx3 3.6 3 0.94 3.54 2.9 3000 4.7 9.7 12000 ASF (V)-14-2xxx3 5.6 4.7 1.5 5.1 4.3 3000 6.5 12.5 12000 ASF (V)-15-2xxx3 7.7 6.5 2 7.3 6.2 3000 8.9 14.2 12000 ASF (V)-21-2xxx3 5.6 4.7 1.5 4.6 3.9 3000 10.9 13.8 12000 ASF (V)-22-2xxx3 8.4 6.5 2 6.5 5 3000 14.4 16.2 12000 ASF (V)-23-2xxx3 12 10 3.1 8.9 7.4 3000 21.5 19.2 10000 ASF (V)-24-2xxx2 15.5 13 2.7 8 6.7 2000 29.8 23.3 10000 ASF (V)-25-2xxx2 19.7 16.5 3.4 9.8 8.2 2000 38.4 27 8000 ASF (V)-31-2xxx1 21.5 18 2.8 8.4 7 1500 70 33.8 8000 ASF (V)-32-2xxx1 27.5 23 3.6 10.6 8.9 1500 90 37.5 8000 ASF (V)-33-2xxx1 38 32 5 13.8 11.6 1500 130 46.5 8000 ASF (V)-34-2xxx1 56 47 7.4 18.4 15.4 1500 209 62.1 8000 ASV-41-2xxx1 83 70 11 33 27.5 1500 450 95 8000 ASV-42-2xxx1 140 118 18.5 50 42 1500 740 121 8000 ASV-43-2xxx1 170 143 22.5 61 51 1500 960 145 8000 In the sizes highlighted in gray there are preferred types, see page 3-7. Abbreviations: M Static torque J Rotor moment of inertia without holding brake 0 L M Rated torque m Mass (weight) excluding holding brake N P Rated power N I Static current 0 I Rated current N n Rated speed N n Maximum speed max 3-9 Issue: March 1997 CHAPTER 3 TECHNICAL SPECIFICATIONS OF PSx-xx SYNCHRONOUS SERVOMOTORS Self Cooling M M P I I n n J m 0 N N 0 N N' max L -1 2 [Nm] [Nm] [kW] [A] [A] [min ] [kgcm ] [kg] PSM-M1-2xxx2 0.34 0.32 0.067 0.4 0.4 2000 0.17 1 PSM-M1-2xxx6 0.34 0.32 0.2 0.85 0.9 6000 0.17 1 PSM-M2-2xxx6 0.5 0.48 0.3 1 1.1 6000 0.24 1.2 PSM-M3-2xxx2 0.65 0.6 0.125 0.55 0.58 2000 0.31 1.4 PSM-M3-2xxx6 0.65 0.6 0.375 1.2 1.3 6000 0.31 1.4 PSM-M4-2xxx2 1 0.9 0.19 0.65 0.7 2000 0.45 1.8 PSM-M4-2xxx6 1 0.8 0.5 1.6 1.7 6000 0.45 1.8 PSM-N4-2xxx4 0.65 0.6 0.25 0.9 0.9 4000 0.22 1.5 PSM-N4-2xxx6 0.65 0.5 0.31 1.3 1.2 6000 0.22 1.5 PSM-N5-2xxx4 1.5 1.3 0.54 1.6 1.4 4000 0.36 2.1 PSM-N5-2xxx6 1.5 1.0 0.62 2.4 2.1 6000 0.36 2.1 PSM-N6-2xxx4 2.3 2.0 0.83 2.4 2.0 4000 0.57 2.9 PSM-N6-2xxx6 2.3 1.5 0.94 3.5 3.0 6000 0.57 2.9 PSM-01-2xxx3 0.95 0.8 0.25 0.7 0.6 3000 1.1 3.1 PSM-01-2xxx4 0.95 0.75 0.31 0.8 0.65 4000 1.1 3.1 PSM-01-2xxx6 0.95 0.6 0.6 1.1 0.7 6000 1.1 3.1 PSM-02-2xxx3 1.8 1.5 0.47 1.5 1.2 3000 3.2 3.9 PSM-02-2xxx4 1.8 1.4 0.59 1.6 1.15 4000 3.2 3.9 PSM-02-2xxx6 1.8 1.2 0.75 2.7 1.8 6000 3.2 3.9 PSM-03-2xxx3 2.8 2.3 0.72 1.8 1.5 3000 5.3 4.2 PSM-03-2xxx4 2.8 2.2 0.92 2.8 2.2 4000 5.3 4.2 PSM-03-2xxx6 2.8 1.8 1.1 4.5 2.9 6000 5.3 4.2 PSM-04-2xxx3 4.8 4.1 1.3 3.7 3.2 3000 7.4 5.3 PSM-04-2xxx4 4.8 3.9 1.6 5 4.1 4000 7.4 5.3 PSM-04-2xxx6 4.8 2.3 1.4 6.7 3.3 6000 7.4 5.3 PSM (H)-11-2xxx3 3.4 3.2 1 2.6 2.4 3000 5.6 6.5 PSM (H)-11-2xxx4 3.4 3 1.2 3.4 3 4000 5.6 6.5 PSM (H)-11-2xxx6 3.4 2.1 1.3 5 3.1 6000 5.6 6.5 PSM (H)-12-2xxx3 5.6 4.5 1.4 3.9 3.1 3000 8.6 8.3 PSM (H)-12-2xxx4 5.6 4.1 1.7 5.1 3.7 4000 8.6 8.3 PSM (H)-12-2xxx6 5.6 3.2 2 8.2 4.7 6000 8.6 8.3 PSM (H)-13-2xxx3 7.5 5.6 1.7 5.1 3.8 3000 11.7 10.1 PSM (H)-13-2xxx4 7.5 5.1 2.1 7.2 4.9 4000 11.7 10.1 PSM (H)-13-2xxx6 7.5 4.1 2.6 10.1 5.5 6000 11.7 10.1 PSM (H)-14-2xxx3 9.6 6.6 2.1 6.4 4.4 3000 14.8 11.8 PSM (H)-14-2xxx4 9.6 5.7 2.4 8.9 5.3 4000 14.8 11.8 PSM (H)-21-2xxx2 8.4 7 1.5 3.7 3.1 2000 12.5 10.2 PSM (H)-21-2xxx3 8.4 6.5 2 5.8 4.5 3000 12.5 10.2 PSM (H)-21-2xxx4 8.4 5.2 2.2 7.7 4.8 4000 12.5 10.2 PSM (H)-22-2xxx2 12 11 2.3 4.8 4.4 2000 21 12.3 PSM (H)-22-2xxx3 12 10 3.1 7.7 6.4 3000 21 12.3 PSM (H)-22-2xxx4 12 7.6 3.2 10.3 6.5 4000 21 12.3 PSM (H)-23-2xxx2 15.5 13 2.7 7.3 6.1 2000 28 15.5 PSM (H)-23-2xxx3 15.5 11.2 3.5 10.1 7.3 3000 28 15.5 PSM (H)-23-2xxx4 15.5 8.4 3.5 12.9 7 4000 28 15.5 PSM (H)-24-2xxx2 20.5 17 3.5 9 7.5 2000 41 20.4 PSM (H)-24-2xxx3 20.5 13 4.1 13.1 8.3 3000 41 20.4 In the sizes highlighted in gray there are preferred types, see page 3-7. 3-10 Issue: January 1999 CHAPTER 3 TECHNICAL SPECIFICATIONS OF PSx-xx SYNCHRONOUS SERVOMOTORS Forced Cooling M M P I I n , n J m 0 N N 0 N N max L -1 2 [Nm] [Nm] [kW] [A] [A] [min ] [kgcm ] [kg] PSF (V)-11-2xxx3 4.7 4.5 1.4 3.4 3.4 3000 5.6 7.3 PSF (V)-11-2xxx4 4.7 4.2 1.7 4.7 4.2 4000 5.6 7.3 PSF (V)-11-2xxx6 4.7 3 1.9 6.9 4.4 6000 5.6 7.3 PSF (V)-12-2xxx3 7.7 6.2 1.9 5.4 4.3 3000 8.6 9.1 PSF (V)-12-2xxx4 7.7 5.7 2.4 6.9 5.1 4000 8.6 9.1 PSF (V)-12-2xxx6 7.7 4.4 2.8 11.4 6.5 6000 8.6 9.1 PSF (V)-13-2xxx3 10.1 7.6 2.4 6.9 5.2 3000 11.7 10.9 PSF (V)-13-2xxx4 10.1 6.9 2.9 9.7 6.6 4000 11.7 10.9 PSF (V)-13-2xxx6 10.1 5.5 3.5 13.6 7.4 6000 11.7 10.9 PSF (V)-14-2xxx3 12.5 8.6 2.7 8.3 5.7 3000 14.7 12.7 PSF (V)-14-2xxx4 12.5 7.4 3.1 11.7 6.9 4000 14.74 12.7 PSF (V)-21-2xxx2 12.3 10.2 2.1 5.4 4.5 2000 12.5 13.2 PSF (V)-21-2xxx3 12.3 9.5 3 8.5 6.6 3000 12.5 13.2 PSF (V)-21-2xxx4 12.3 7.3 3.1 11.3 6.7 4000 12.5 13.2 PSF (V)-22-2xxx2 17.6 16 3.3 7 6.4 2000 21 15.3 PSF (V)-22-2xxx3 17.6 14.6 4.6 11.2 9.3 3000 21 15.3 PSF (V)-22-2xxx4 17.6 10.7 4.5 15 9.1 4000 21 15.3 PSF (V)-23-2xxx2 22.7 19 4 10.6 8.9 2000 28 18.5 PSF (V)-23-2xxx3 22.7 16.4 5.1 14.8 10.9 3000 28 18.5 PSF (V)-23-2xxx4 22.7 11.8 4.9 18.8 9.8 4000 28 18.5 PSF (V)-24-2xxx2 30 25 5.2 12.2 10.3 2000 41 23.4 PSF (V)-24-2xxx3 30 21 5.6 18.4 12.9 3000 41 23.4 Abbreviations: J Rotor moment of inertia without holding brake M Static torque L 0 m Mass (weight) excluding holding brake M Rated torque N P Rated power N I Static current 0 I Rated current N n Rated speed N n Maximum speed max Warning! In the case of small motor sizes (such as PSx motors sizes M, N and 0 or motors of other manufacturers) with MC6000 Servocontrollers thermal monitoring by the motor PTC is inadequate for dynamic operation with overload. In such cases the overall design should be checked with LUST to avoid the motor being destroyed. However, the MC7000 Servocontrollers are designed for operating small motors. The I² x t - protection switches off if the motor is overloaded. 3-11 Issue: November 1995 d20 d21 d20 d21 d20 d21 d20 d21 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Screw depth t22 Thread d23 CHAPTER 3 DIMENSIONS OF SERVOMOTORS Connection with Connection with c1 connector at 90° connector straight b20 Flange with self cooling c1 ASM-xx h5 PSM-xx L3 L20 L1 L38 b20 Flange/foot c1 with self cooling h5 ASH-xx PSH-xx L3 øs L20 e w1 a b f L1 L38 n g1 b20 Flange with forced cooling c1 ASF-xx h5 PSF-xx L3 L20 L1 L39 g1 b20 Flange/foot c1 with forced cooling h5 ASV-xx PSV-xx L3 øs L20 e b w1 a f L1 L39 n * Exception: For the motor types PSM-Nx is the clearance of dimension d1 (DIN / ISO standard)! j6 3-12 Issue: March 1997 h h d22 C d22 d22 C d22 d25 d25 d25 d25 j6 j6 j6 j6 d1 d1 d1 d1 k6* k6* k6* k6* Thread x Thread x Thread x Thread x b1 b1 b1 b1 P1 P1 P1 P1 P1 P2 P2 P2 P2 P2 g P1 g P2 CHAPTER 3 DIMENSIONS OF SHAFT, FLANGE AND FOOT See Page 3-15 for more dimensions Œ Shaft Flange Foot Type Size b1 d1 h5 L1 L3 x b20 c1 d20 d21 d22 d23 d25 L20 t22 a a b c e f n s w1 Length Type AS Type PS No With No With Br. Br. Br. Br. M1 PS M2 3 9 10.2 20 12 M3 55 11 63 - 5.8 - 40 2.5 - ----- ----- - M3 M4 PS N4 N5 4 11 12.5 23 18 M4 70 14 75 - 5.3 - 60 2.5 - ----- ----- - N6 01 PS 02 5 1416 3022M4 92 8100- 7 - 80 3 - ----- ----- - 03 04 AS 11 110 120 75 75 a. 12 130 140 105 105 PS 13 6 19 21.5 40 32 M6 110 10 115 - 9 - 95 3 - 150 160 135 135 100 8 30 120 25 7 63 14 180 190 165 165 AS 15 230 240 - - AS 21 110 155 110 155 a. 22 140 185 140 185 PS 23 8 24 27 50 32 M8 140 17 165 110 11 M8 130 3.5 18 170 215 170 215 125 10 30 150 25 10 50 24 215 260 215 260 AS 25 260 305 - - 31 145 200 - - AS 32 10 32 35 58 50 M12 190 22 215 140 14 M10 180 4 25 170 225 - - 190 17 40 215 27,5 12 70 33 215 270 - - 34 310 365 - - 41 245 245 - - AS 42 12 42 45 110 90 M16 260 18 300 - 18 - 250 5 - 335 335 - - 216 18 40 270 65 12 89 43 405 405 - - All dimensions in mm. Abbreviations: AS Asynchronous Servomotor Series PS Synchronous Servomotor Series Br. Permanently excited single disk holding brake GX Incremental encoder (sin/cos), variants G1, G3, G5 RX Resolver, variants R1, R2, R8, K1, K2, K8 3-13 Issue: January 1999 d20 d21 d20 d21 d20 d21 d20 d21 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Screw depth t22 Thread d23 Repetition identical CHAPTER 3 DIMENSIONS OF SERVOMOTORS with page 3-10 Connection with Connection with c1 connector at 90° connector straight b20 Flange with self cooling c1 ASM-xx h5 PSM-xx L3 L20 L1 L38 b20 Flange/foot c1 with self cooling h5 ASH-xx PSH-xx L3 øs L20 e w1 a b f L1 L38 n g1 b20 Flange with forced cooling c1 ASF-xx h5 PSF-xx L3 L20 L1 L39 g1 b20 Flange/foot c1 with forced cooling h5 ASV-xx PSV-xx L3 øs L20 e w1 a b f L1 L39 n * Exception: For the motor types PSM-Nx is the clearance of dimension d1 (DIN / ISO standard)! j6 3-14 Issue: March 1997 h h d22 C d22 d22 C d22 d25 d25 d25 d25 j6 j6 j6 j6 d1 d1 d1 d1 k6* k6* k6* k6* Thread x Thread x Thread x Thread x b1 b1 b1 b1 P1 P1 P1 P1 P1 P2 P2 P2 P2 P2 g P1 g P2 CHAPTER 3 DIMENSIONS FOR MOTORS WITH SELF�COOLING AND FORCED COOLING See Page 3-13 for more dimensions Motor (Self Cooling) Forced Cooling Type Size b20 g h L38 for Type AS L38 for Type PS g1 L39 for Type AS L39 for Type PS Length No Br. With Br. No Br. With Br. No Br. With Br. No Br. With Br. No Br. With Br. No Br. With Br. No Br. With Br. GX GX RX RX GX RX GX RX GX GX RX RX RX RX GX GX M1 - ---- 121 - 145 - - - ----- PS M2 55 -- - ---- 133 - 157 - - - - ----- M3 - ---- 145 - 169 - - - ----- M4 - ---- 170 - 194 - - - ----- PS N4 - ---- 135 - 163 - - - - ----- N5 70 -- - ---- 159 - 187 - - - - ----- N6 - ---- 195 - 223 - - - - ----- 01 - ---- 156 - 202 - - - - ----- PS 02 92 -- - ---- 180 - 226 - - - - ----- 03 - ---- 214 - 260 - - - - ----- 04 - ---- 248 - 294 - - - - ----- AS 11 286 294 254 293 246 216 254 224 358 366 315 354 273 281 318 326 a. 12 301 309 269 308 276 246 284 254 373 381 330 369 303 311 348 356 PS 13 110 118 63 321 329 289 328 306 272 314 284 123 393 401 350 389 333 341 378 386 14 356 364 324 368 336 306 344 314 428 436 385 424 363 371 408 416 AS 15 401409369408 ---- 473481430469 ---- AS 21 293 339 259 309 261 231 306 276 379 425 334 384 305 350 347 392 a. 22 313 359 279 329 291 261 336 306 399 445 354 404 335 480 377 422 PS 23 140 150 80 348 394 314 364 321 291 366 336 157 434 480 389 439 365 410 407 452 24 393 439 359 409 366 336 411 381 479 525 434 484 410 455 452 497 AS 25 438484404454 ---- 524570479529 ---- 31 343399316372 ---- 442498404460 ---- AS 32 190207112367423340396 ---- 203466522428484 ---- 33 414470387443 ---- 512569475531 ---- 34 509565482538 ---- 608664570626 ---- 41 449449416416 ---- 542542509509 ---- AS 42 260269132539539506506 ---- 273632632596596 ---- 43 609609576576 ---- 702702666666 ---- All dimensions in mm. Abbreviations: AS Asynchronous Servomotor Series PS Synchronous Servomotor Series Br. Permanently excited single disk holding brake GX Incremental encoder (sin/cos), variants G1, G3, G5 RX Resolver, variants R1, R2, R8, K1, K2, K8 3-15 Issue: January 1999 Œ ˚ ˚ 0 0 2 2 1 1 ; 5 ; CHAPTER 3 MOUNTING FLANGE, POWER AND ENCODER CONNECTIONS Mounting flange For installation of a second encoder, (eg Heidenhain ROD426 or Stegmann DG60) for models K1, K2, K8. The coupling is not included as standard (see CHAPTER 5 Accessories). Mounting hole for coupling M8 x 10 Mounting flange For motors Mounting flange PSx-Mx and PSx-Nx 20 (fixing with screws) Unscrew for mounting the encoder Fixing screw M3 x 12 (4 x) for encoder ∅ 9,52 g7 M4 x 22 (3 x) 4,5 ∅32 (18,5) H7 ∅50 Mounting hole for coupling M10 x 12 For motors ASx- und PSx-0x bis -4x 20 (fixing with clamps) 3 x M3 for fixing clamps Mounting flange 4,5 ∅ 9,52 Rear lid g7 15,5 ∅32 16,5 H7 ∅50 Eyebolt size: Power connection using terminal box Holding brake Type Size Power connection PTC and Brake (option) PTC +– PSx 0 M4 M3 not allocated thermal protection ASx, 1 M4 M3 2 BR2 BR PSx 2 M4 M3 1 ASx 3 M6 M3 VW U 4M6 M3 VW U Motor Power connector Socket Contact Allocation No. C 1U B D 2PE 4 A 3W 1 3 4V 2 A Brake + B Brake – C PTC For matching plugs and ready made D PTC cables see CHAPTER 5 Accessoires. 3-16 Issue: March 1997 , 3 4 M ∅ x x 3 3 ∅ 42 ∅ 68 ∅ 9,52 ∅ 9,52 g7 g7 ∅32 ∅32 H7 H7 ∅50 ∅50 CHAPTER 3 MOUNTING FLANGE, POWER AND ENCODER CONNECTIONS Power connection via incremental encoder resolver straight resolver 90° (sin/cos) terminal box ca. 62 j q a f g ±90˚ p s m ±e˚ ±90˚ ±90˚ ± 90° turnable Power connector, incremental encoder resolver straight resolver 90° (sin/cos) output straight or 90° j ca. 62 a q ±90˚ p s m ±90˚ ±90˚ ±90˚ Dimensions Motor Power connector Encoder connector Type Size a b c d e f g j k m n p q r s Connection 1) PSx 0 98 37 64 21 180° PG11 PG13,5 73 39 14 29 24 45 32 8 1) ASx, 1 98 37 64 21 180° PG11 PG13,5 73 39 11 29 29 45 32 3 Terminal PSx 2 75 58 80 24 90° PG9 PG16 73 39 11 29 29 45 32 3 box 2) ASx 3 123 71 123 25 90° PG21 PG16 73 39 11 29 34 45 32 -2 2) 4 123 71 123 25 90° PG21 PG16 73 39 -4 29 29 45 32 3 PSx M 47 32 25 – – – 29 17 45 32 15 N 47 32 25 – – – 29 17 45 32 16 Mains power 0 473225 73393629174532 8 connector ASx, 1 47 32 25 73 39 39 29 17 45 32 3 PSx 1) 2) From 1996; As supplied, cable bushings point towards motor shaft. 3-17 Issue: November 1995 b c b d c k k n n r r CHAPTER 3 PERMISSIBLE AXIAL AND RADIAL LOADS The following tables show the maximum permissible radial loads (F ) at the point l/2 and Rm maximum permissible axial loads F assuming a service life of 20000 hours. Am A radial load which is not in the middle of the shaft end can simply be re-calculated to take account of the different leverage effect. Size Radial load F [N] Axial load F [N] F Rm Am G F Rm -1 -1] at speed n [min ] at speed n [min [N] d 1500 2000 3000 6000 8000 1500 2000 3000 6000 8000 F Am ASx-11 9 ASx-12 800 750 640 500 430 650 600 500 370 320 12 I 2 ASx-13 15 ASx-14 22 I ASx-15 800 750 580 420 230 550 500 440 290 210 30 ASx-21 17 B5, B35 ASx-22 1300 1200 1020 790 660 980 890 770 560 470 24 ASx-23 36 ASx-24 52 ASx-25 1220 1140 950 680 500 850 790 600 440 360 67 ASx-31 57 V1 ASx-32 2760 2500 2100 1660 1450 2170 1900 1500 1160 1000 75 ASx-33 108 ASx-34 177 FG FAm ASx-41 3750 3450 2750 2200 1800 3100 2700 2200 1650 1400 175 ASx-42 300 F F G Am ASx-43 3550 3200 2450 1900 1300 2790 2400 1950 1400 1200 390 Size Radial Load F [N] Axial Load F [N] F Rm Am G -1 -1 at Speed n [min ] at Speed n [min ] [N] V3 2000 3000 4000 6000 2000 3000 4000 6000 PSx-M1 1 PSx-M2 310 260 240 210 250 200 170 140 2 PSx-M3 3 PSx-M4 4 In vertical installations PSx-N1 2 the permissible axial PSx-N2 330 280 250 220 260 210 180 150 4 loads F apply for the Am PSx-N3 6 upward load direction. In PSx-N4 2 the case of downward PSx-N5 400 340 300 270 310 260 220 180 4 load they are reduced by PSx-N6 6 F . G PSx-01 3 PSx-02 470 400 350 320 380 310 260 220 9 PSx-03 14 PSx-04 460 370 330 260 350 280 240 200 20 PSx-11 10 PSx-12 720 640 550 490 590 500 420 350 17 PSx-13 23 PSx-14 30 PSx-21 17 PSx-22 1100 1000 850 760 900 770 650 560 30 PSx-23 40 PSx-24 60 3-18 Issue: March 1997 CHAPTER 3 TECHNICAL SPECIFICATIONS: SHAPE AND SHAFT SEAL IP65 Shape Description Drawing Code Shaft Fixing or Mounting Arrangement Free Flange installation B5 shaft Access from casing side end Free Flange installation at bottom V1 shaft Access from casing side end at bottom Free Flange installation top V3 shaft- Access form casing side end at top Free Mounting on sub-structure B35 shaft- with additional flange end Access from casing side Lubrication Maximum speed Maximum speed -1 -1 Size with oil lubrication [min ] with grease Lubrication [min ] ASx-1x 12000 3500 Shaft seal IP65 (Option see ASx-2x 10500 3500 Code CHAPTER K) ASx-3x 9500 2500 ASx-4x 8000 2500 PSx-Mx 9000 6000 PSx-N1 - N3 9000 4500 PSx-N4 - N6 9000 6000 PSx-0x 9500 3500 PSx-1x 12000 3500 PSx-2x 10500 3500 Adequate lubrication is essential for reliability. Excessive speed causes the destruction of seal lips. 3-19 Issue: March 1997 CHAPTER 3 TECHNICAL SPECIFICATIONS: SELF COOLING AND FORCED COOLING Cooling The motor specific power data and torque data refer to • operating temperature -5 °C to 40 °C • operating temperature (coolant temperature) 40 °C related to none insulated installation and that part of the motor heat loss will be conducted through the fixing flange of the mounting location. Mounting flange Location of Mounting flange mounting flange material Size Minimum size of ASx-1x 230 x 150 x 15 steel mounting flange ASx-2x 300 x 300 x 20 steel ASx-3x 300 x 300 x 20 steel ASx-4x 380 x 310 x 20 steel PSx-Mx 200 x 100 x 10 steel PSx-Nx 230 x 150 x 15 steel PSx-0x 230 x 150 x 15 steel PSx-1x 230 x 150 x 15 steel PSx-2x 300 x 300 x 20 steel If the motor is installed thermally insulated from its mounting, the permissible rated torque must be reduced by 5 - 15%. 1,1 P maximum permissible Altitude and coolant max continuous power load (S1) average temperature 1,05 M maximum permissible max continuous torque load (S1) 1 P rated power N M rated torque N 0,95 k correction factor, see graph on left 0,9 0,85 0,8 20 25 30 35 40 45 50 55 60 Kühlmitteltemperatur Coolant temperature in °C (0 to 1000 m asl) ϑ in ˚C (bis 1000 m ü. NN) oder or 0 1000 2250 3500 Höhe in m über NN Height above sea level in m (at 40 °C) (bei 40 ˚C) P = k P M = k M max * N max * N 3-20 Issue: November 1995 Factor k Faktor k CHAPTER 3 TECHNICAL SPECIFICATIONS: SELF COOLING AND FORCED COOLING Size Voltage Mains Frequency Rated Current Protection [V] [Hz] [A] Forced cooling ASF(V)-1x 1 x 230 +6%/-10% 48 ... 62 0.1 IP54 ASF(V)-2x 1 x 230 +6%/-10% 48 ... 62 0.18 IP54 ASF(V)-3x 3 x 400 +6%/-10% 48 ... 62 0.15 IP54 ASV-4x 3 x 400 +6%/-10% 48 ... 62 0.21 IP54 PSM-Mx - - - - PSM-Nx - - - - PSM-0x - - - - PSF(V)-1x 1 x 230 +6%/-10% 48 ... 62 0.1 IP54 PSF(V)-2x 1 x 230 +6%/-10% 48 ... 62 0.18 IP54 Air is drawn into the B side by axial fans and ejected througth the A side. The mating connector for the fan connection is supplied. Connection arrangement Fan connector (view of socket Connection for ASF(V)-1x to ASF(V)-2x contacts) 1 2 and PSF(V)-1x to PSF(V)-2x 1 = L1 2 = N = PE 1 3 2 Connection for ASF(V)-3x and ASV-4x 1 = U 2 = V 3 = W = PE 3-21 Issue: November 1995 CHAPTER 3 TECHNICAL SPECIFICATIONS: HOLDING BRAKE The zero backlash permanently excited single disk holding brake works on a fail-safe basis which in practical terms means that the brake works when no voltage is applied. The holding brake is switched on and off normally only when the motor is stationary. If the holding brake is to be used as an Emergency Stop brake, the permitted service life must be observed. Size M I U n mW J H N N max L B -1 6 2 [Nm] [A] [V] [min ] [kg] [10 Ws] [kgcm ] Technical ASx-1x 8 0.75 24 ± 10% 8000 0.65 4 0.55 specifications ASx-2x 25 0.84 24 ± 10% 6000 1.2 7.5 4.5 ASx-3x 80 1.5 24 ± 10% 6000 3.2 20 16 ASx-4x 160 2.2 24 ± 10% 6000 6.7 60 50 PSx-Mx 1.2 0.34 24 ± 10% 12000 0.2 0.15 0.07 PSx-Nx 2.5 0.50 24 ± 10% 10000 0.3 2 0.38 PSx-0x 5 0.67 24 ± 10% 10000 0.6 4 1.06 PSx-1x 8 0.75 24 ± 10% 8000 0.65 4 0.55 PSx-2x 25 0.84 24 ± 10% 6000 1.2 7.5 4.5 Abbreviations: M adhesion m mass (weight) H I exciter current W permissible service life switching cycles N L n maximum speed (unbraked) max U DC voltage for fan J moment of inertia of the holding brake N B Protection circuit As a consequence of the inductivity of the holding brakes there is a voltage peak spike which occurs Schützkontakt Contactor contact when the exciter current is swtiched off: this peak can be over 1000 V. To avoid this peak voltage a U protection suppressor circuit with a varistor should Brake R Bremse be used (recommended type Q69-X3022). Suggested circuit for brake protection MC7000, HB1 Output for driving a +24V-holding brake: • short circuit proof • monitoring open circuits (< 8 mA) • monitoring overcurrents (> 2 A) • internal protection diode (no varistor needed) 3-22 Issue: March 1997 CHAPTER 4 PC USER SOFTWARE DRIVEMANAGER General The user software DRIVEMANAGER is used to simplify the commissioning, control and operation of the servocontroller MASTERCONTROL MC6000/MC7000. The DRIVEMANAGER has the following features: • convenient parameter editor with clear text display • status display for monitoring the operation-related parameter values; direct control of the servocontroller is possible • convenient Digital-Scope for recording step responses (e.g. rotational speed or torque curve) for the easy tuning of the controller � �• storage and transmission of data sets � �• operation of networked drives via a serial interface (LUSTBUS) The device list shows all the devices connected at the bus The DRIVEMANAGER can also be used for editing parameters and to control the SMARTDRIVE VF1000 frequency inverter. 4-1 Issue: September 1997 CHAPTER 4 PC USER SOFTWARE DRIVEMANAGER Simple commissioning Using the user software DRIVEMANAGER and the application packages BASIC and MOTION it is possible to commission the servocontroller MASTERCONTROL MC7000, assisted by graphic displays. Select the operation mode suitable for your application (e.g. reference generation over ± 10 V) and the DRIVEMANAGER automatically loads a preset data set in the servocontroller. You can adapt the inputs, outputs and other settings as required. The controller is tuned by changing two parameters. Selecting the mode reference generation over ± 10 V Step one – Select the operation mode for a servodrive The function is assigned to the inputs and outputs by special mode-dependent operating masks 4-2 Issue: September 1997 CHAPTER 4 ORDER DETAILS FOR PC USER SOFTWARE DRIVEMANAGER Languages You can choose between German or English when you install the user software. The PC user software can be ordered in two versions. The versions differ in the installed Order notes software licenses: Order / type DRIVEMANAGER TEST designation Contains the full scope of functions and is intended for test and demo purposes. The runtime is limited to 180 days from installation. DRIVEMANAGER Contains the full scope of functions. The runtime is unlimited. The software license permits simultaneous use on any number of workstations. The following are included in the scope of supply: Scope of supply � � l 5 disks for installing the user software DRIVEMANAGER � � l User Manual DRIVEMANAGER � � l 2 floppy disks with motor data sets Hardware and software The following hardware and software is required for using the DRIVEMANAGER : requirements � � l a PC with an 80486 or more powerful processor ® ® ® � � l Microsoft Windows 95 or Windows NT (in preparation) � � l main memory (RAM) with at least 8 MB, 16 MB is recommended � � l a buffered serial interface Note: The interface converter cable LBSKK200 (KPRS232 for VF1000) must be used to connect the servocontroller to the PC. The order information is given on the next page. 4-3 Issue: January 1999 DRIVEMANAGER DRIVEMANAGER CHAPTER 4 Accessories for DRIVEMANAGER Interface converter For the operation of a single servocontroller: cable LB SKK200 RS485 RS232 LB SKK200 The cable converts the signals of the fail-safe RS485 interface of the servocontroller to the RS232 level of the PC. T-coupler For the operation of several networked servocontrollers: LB TK100 A B C @@@@@@@@@@ A LB TK100-01 RS232/RS485 B LB TK100-00 RS485/RS485 required only for VF1000S or line lengths > 1000 m C Standard cable RS232 9-pole m/f Order designation Order des. Brief explanation LB SKK200 Interface converter cable for converting from RS485 to RS232 LB TK100-01 T-coupler with isolation (RS232/RS485) LB TK100-00 T-coupler with isolation (RS485/RS485) 4-4 Issue: January 1997 DRIVEMANAGER CHAPTER 5 ACCESSORIES FOR MASTERDRIVE SERVODRIVES Overview: Accessories for mounting externally PROFIBUS-DP Gateway CP-DP1 CP100 ESC operator terminal RS485 connecting cable KSS252 CAN bus interface CTRL -1 min RS232 stop start return enter Interface converter cable LBSKK200 SMART CARD control unit KEYPAD KP100 Terminal modul EKL 300 chipcard data storage device SMARTCARD Mains power Pre-assembled connection motor cables Motor connector Line choke Pre-assembled Mains filter encoder cables 5-1 Issue: January 1999 CHAPTER 5 MAINS FILTERS The RFI filters for limit curve A are only for industrial, filters for limit curve B of the EMC Directives are also suited for domestic purpose. The listed filters are suited for 10 m motor cable length. Please ask us for filters for longer cables! Controller Orderdes. Cable Limit Rated Leakage connections Technical Specifications 2 type length curve current current [mm ] MC7402 NFD10.3 50 m class B 10 A < 116 mA 0.2 ... 4 MC7404 NFD10.3 50 m class B 10 A < 116 mA 0.2 ... 4 MC7408 NFD10.3 50 m class A 10 A < 116 mA 0.2 ... 4 MC7408 NFD10.4 100 m class B 10 A < 24 mA 0.2 ... 4 MC7412 NFD25.1 100 m class A/B* 25 A < 127 mA 0.2 ... 4 MC7416 NFD25.1 100 m class A 25 A < 127 mA 0.2 ... 4 25 m class B MC7432 NFD50.1 100 m class A 50 A < 140 mA 0.5 ... 16 25 m class B MC7464 NFD80.0 100 m class A 80 A < 305 mA 10 ... 25 50 m class B * reached through a further use of a mains choke type DNDxx Nominal voltage: 3 x 480 V AC ± 10 %. The data applies to the switching frequency of 8 kHz. NFD10.3, NFD10.4 NFD16.2, NFD25.1, NFD50.1, NFD80.0 Dimensions a a g f f g c c Orderdes. a b c d e ∅ ∅ ∅ fg ∅ ∅ Table of dimensions NFD10.3 240 95 230 45 36 ∅ 4.5 M5 NFD16.2 255 95 245 73 64 ∅ 4.5 M5 NFD25.1 255 95 245 73 64 ∅ 4.7 M5 NFD35.0 255 95 245 73 64 ∅ 4.7 M5 NFD50.1 290 100 275 90 76 ∅ 7M5 NFD80.0 325 107 310 150 105 ∅ 7M8 All dimensions in mm. 5-2 Issue: January 1999 e b d e b d CHAPTER 5 LINE CHOKES Line chokes for reducing power supply disturbances such as harmonics and commutation notches. Note: Line chokes are not required for compliance with the EMC Directives. Technical Data Controller Order Eff. rated Current Power Loss Inductivity Weight Terminal 2 Designation at 40°C [A] [W] [mH] [kg] [mm ] MC7402 and DND6 6 18 4.8 1.6 4 MC7404 MC7408 DND14 14 39 1.9 3.8 4 MC7412 DND18 18 51 1.6 3.8 4 MC7416 DND24 24 54 1.2 3.8 4 MC7432 DND45 45 96 0.58 6.5 16 MC7464 DND75 75 108 0.39 9.7 35 Rated voltage: 3 x 380 ... 415 V, other voltages on request Short circuit voltage U : 4 % k Insulation class: T40/B to VDE0550 / 0532 Dimensions c f d e a b Table of dimensions Type a b c d e ∅ ∅ ∅ ∅ ∅ f DND6 100 60 105 60 44 4.8 DND14 150 67 167 113 49 5.8 DND18 150 67 167 113 49 5.8 DND24 150 67 190 113 49 5.8 DND45 180 76 195 136 57 7.0 DND75 180 96 195 136 77 7.0 All dimensions in mm. 5-3 Issue: January 1999 CHAPTER 5 CONTROL UNIT KEYPAD KP100 Control unit KEYPAD No. Description Function KP100 VAL 1 Hz 1 LCD display 140 segments, green/red illumination 2 2 Arrow button up Move back (scroll) within the 3 start stop return enter 5 menu structure 4 6 3 Arrow button down Move forward (scroll) within the SMART menu structure CARD 4 Stop/Return button Stop (Menu CTRL), abort or leave 7 selected menu 5 Start/Enter button Start (Menu CTRL), acknowledge or select menu 6SMARTCARD Data memory chip card, unit setting storage (not included) 7 Connecting cable Max. length 0.35 m Dimensions: H x W x D 158 x 62 x 21 [mm] All device settings of the Servocontrollers can be saved on the SMARTCARD – SMARTCARD. They can be easily transferred to other Servocon- Data memory chip card SMART trollers. CARD The SMARTCARD is also used for easy matching of the MASTERCON- TROL Servocontrollers to the Servomotor series ASx and PSx featured in this Databook. Choosing the motor-specific SMARTCARD see section 2. Order Brief description Order designation designation KP100 KEYPAD multifunction control unit to operate the servocontrollers and frequency inverters ZSC SMARTCARD without data, to save and transfer device settings to other servocontrollers 5-4 Issue: January 1999 CHAPTER 5 OPERATOR TERMINAL CP100 Operator control and monitoring with operator terminal ESC Properties Properties Explanation LCD display 2 x 16 characters Suitable for MC7000 BASIC and MOTION, all modes Supply 18 V - 30 V, 150 mA, external Interface RS485 (simultaneous operation of DRIVEMANAGER and CP100 not possible) Dimensions H x W x D 72 x 144 x 70 [mm] The operator terminal is used to input parameters or custom variables, as well as for status display. The functions include: • Servocontroller parameters • Transmission ratio (electronic gearing mode) • Speed, speed and acceleration (point-to-point positioning mode) IOn the operator terminal up to 15 parameters can be displayed and edited. The parameters are selected by way of an input screen within the DRIVEMANAGER user software. Order designation Order Brief description designation CP100 Operator terminal to input parameters or custom variables. Available from March 1999. 5-5 Issue: January 1999 CHAPTER 5 ACCESSORIES FOR PROFIBUS-DP PROFIBUS-DP Order designation: CP-DP1 Gateway Device Accessories supplied Gateway cable 1,5 m 1.5 m 8-pin Western plug on 9-pin D-Sub socket Bus termination plug Floppy disk with GSD files Technical data PROFIBUS-DP Gateway CP-DP1 Suitable for servocontroller MC7000 BASIC , C11 MC7000 MC7000 MOTION, C11 MC7000 POSMOD, C11 Hardware/protokoll DIN 19245 part 1 + part 3 or EN 50170 volume 2 Transfer rate 9.6 KB to 12 MB, adjustable Transmission range 12000 m to 100 m depending on transfer rate Stations per gateway Max. 10 stations Gateway cable 1.5 m Supplied with gateway 1.0 m 1,0 Lust system cable I MC7000 MOTION Supplied with device 1.0 m 1,0 Lust system cable II MC7000 BASIC 0,4 0.4 m Floppy disk with GSD- and Supplied with gateway ASCII files Bus termination plug Supplied with gateway PPO (Parameter Process PPO types 1 and 3 are supported data Objects) Power supply 24 V DC ± 20 % Current consumption 1.2 A DC ± 10 % Mounting type 35 mm standard profile rail Dimensions 22.5 x 99 x 119 mm (WxHxD) Ambient temperature 0 - 50 °C non-condensing 5-6 Issue: January 1999 16 32 64 ON 1 234 5 6 7 Address: 3 Click 1 2 4 8 Value Click O 1 2 3 4 5 6 7N CHAPTER 5 WIRING ACCESSORIES Wiring example MC7000 BASIC, C11 GSD 24 VDC 2 3 3 MC7000 VF1000L VF1000M 1 Required components: 1 Servocontroller MC7000 MOTION, C11 2 PROFIBUS-DP Gateway CP-DP1 3 Lust system cable II Wiring example MC7000 MOTION, C11 GSD 2 24 VDC 3 3 4 4 4 MC7000 MC7000 5 MC7000 5 5 1 1 1 E/A's Required components: 1 Servocontroller MC7000 MOTION, C11 2 PROFIBUS-DP Gateway CP-DP1 3 Lust system cable I 4 Connecting cable KSS252 5 Terminal module EKL300 5-7 Issue: January 1999 CHAPTER 5 EXTERNAL MODULES FOR SERVOCONTROLLERS Accessories for Order Description Servocontroller Designation external installation EKL300 Terminal module for forced wiring of application hardware. MC7000,.., C11 For MC74xx Servocontrollers with CAN-Bus interface and also for bus connection using 2 x 9 pin Sub-D connector. Excluding KSS252 cable. • 3-wire technology (signal, +24v and ground) for easy connection of initiators • maximum load on outputs: 50 mA (AH1 and AH6), 500 mA (AH2) short circuit proof • Z rail installation, dimension w x h x d = 113 x 78 x 72 mm Note: Please order the Cable to link Servocontroller and EKL300 terminal module as a separate position. KSS252 Cable to link Servocontroller and EKL300 terminal module all Cable length 1.8m. SC-KSG185 Connector with metallized housing. For wiring the CAN-Bus line MC7000,.., C11 at the 25 pin Sub-D connector of the MC7000. With protection against bending and with cable stress reduction. The cable connector can also be used to wire the PROFIBUS-DP. Manufacturer: ERNI, KSG185 series, 25-pin male 5-8 Issue: January 1999 CHAPTER 5 READY-MADE ENCODER CABLES We recommend for compliance to the EMC directives: Mains filter, screened control and motor cable, original encoder cable and effective grounding for high frequencies. Order/type designation K x x x Length in meters, Standard: 005, 010, 015, 020, 025 & 030 m, Maximum length: 50 m, longer cables to order Cable model: N0 - Normal KS - Festoonable For motors with RX - Resolver R1, R2, R8, K1, K2, K8 encoder system: G1 - Encoder G1 G2/3 - Encoder G3 and G5 Ready made encoder cable Example KRX - N0 005 Cable length 5 m Normal Ready made resolver cable Technical data Unit KRX-N0xxx KRX-KSxxx KG1-KSxxx KG2/3-KSxxx Servocontroller type all MC6000, D2 (not for design code D2) MC7000, D2 Motors with encoder system R1, R2, R8, K1, K2, K8 G1 G3, G5 Festoonable no yes yes Minimum bending radius: fixed installation mm 60 60 40 flexible use mm not permissible 120 100 Temperature range: fixed installation °C - 30 ... + 70 - 10 ... + 70 - 35 ... + 80 flexible use °C not permissible - 10 ... + 70 - 10 ... + 80 Cable diameter approx. mm 9.9 9.4 8.0 Outer sheath material PVC PUR PUR Resistance flame retardant flame retardant, resistant to oil, moisture resistant to and microbes moisture and (VDE0472) 5-9 Issue: March 1997 CHAPTER 5 READY-MADE MOTOR CABLES We recommend the ready-made screened motor cables for compliance to the EMC directives. C B Length xx D 4 A 3 1 2 Order/type designation K M x xx 1 Length in meters, Standard: 005, 010, 015, 020, 025 & 030 m, Maximum length: 50 m, longer cables to order Cable model: N0 - Normal KS - Festoonable Type 1 and 2: For connection of PTC and holding brake 4 x 1.5 mm² + 2 x (2 x 0.25 mm²) with complete screening and crimped contacts Motor Cable Example KM1 - N0 005 Cable length 5 m Normal Motor cable, Type 1 Technical data Unit KM1-N0xxx KM1-KSxxx KM2-KSxxx Festoonable no yes Motor types Motors up to 16 A rated current with mains connector Minimum bending radius:: fixed installation mm 65 30 60 flexible use mm – 100 120 Temperaturbereich: fixed installation °C - 30 ... + 80 - 50 ... + 90 - 50 ... + 90 flexible use °C – - 50 ... + 90 - 50 ... + 90 Cable diameter approx. mm 12.5 10 12.5 Outer sheath material PVC PUR PUR Resistance flame retardant flame retardant flame retardant resistant to VDE0472- moisture and 804/A microbes designations of wires U = black U = 1 V = blue V = 2 W = brown W = 3 5-10 Issue: January 1999 CHAPTER 5 MOTOR ACCESSORIES Motor connector Connector for motors with power connector (straight or 90° angled ) Order/type designation SM - LPNA 08B NNNN 170 Manufacturers: Interconnectron, Munich With accessories: 4 power and 4 signal contacts, for soldering (only suitable for fixed cabling); cable clamping ∅ 12 mm, installation plan Please note: B C A Only crimped contacts are 4 D permissible for flexible 3 1 installation, (eg festoonable cables) as repeated movement 2 fractures the cable at the soldered joint. Resolver connector Connector for motors with Resolver Order/type designation SG - SPNA 12B NNNN 169 Manufacturers: Interconnectron, Munich With accessories: 12 signal contacts, for soldering (only suitable for fixed cabling); cable clamping ∅ 12 mm, installation plan Please note: 9 8 1 Only crimped contacts are 7 12 10 2 permissible for flexible 6 3 installation, (eg festoonable 11 5 4 cables) as repeated movement fractures the cable at the soldered joint. Coupling for motors with mounting flange (design code K1, K2, K8) Order/type designation FK - BSK 33 02 33 Manufacturers: Bäuerle, St. Georgen (Germany) Coupling, Dimensions (D1 / D2 / L): 9.52 (3/8) / 6 / 22 mm D2 D1 L 5-11 Issue: March 1997 CHAPTER 5 USER INFORMATION CTRL VAL CTRL -1 -1 min min Hz stop start stop start return enter return enter SMART CARD Servocontroller Series Order-No. Language Description MC6000 0792.00B.0 German Operation manual 0792.20B.0 English Operation manual 0792.04B.2 German/ Version description AH4 English (12 Bit analog output) 0792.02B.0 German/ Retro-fitting of accessory English MC7000 0808.02B.2 German Operation manual, BASIC/MOTION 0808.22B.0 English Operation manual, BASIC/MOTION 0808.00B.1 German Operation manual for MC7402 + MC7404 up to software revision 1.65 0808.21B.0 English Operation manual for MC7402 + MC7404 up to software revision 1.65 0808.03B.2 German/ Version description AH7 English (12 Bit analog output) 0808.07B.0 German Operation manual, POSMOD 27 English 0808.08B.0 German Reference manual, POSMOD 28 English 0808.09B.0 German Programming manual, POSMOD 29 English 5-12 Issue: January 1999 CHAPTER 5 USER INFORMATION Accessory Series Order-No. Language Description KEYPAD KP100 A021.02B.0 German Operation manual KEYPAD A021.21B.0 English Operation manual KEYPAD DRIVEMANAGER 0842.01B.2 German/ User manual for PC software package English DRIVEMANAGER Non-product-specific for Series Order-No. Language Description information sources MC6000/7000 A040.02B.0 German LUSTBUS data transmission protocol MC6000/7000 A040.22B.0 English LUSTBUS data transmission protocol MC6000/7000 A047.02B.0 German CAN-Bus data transmission protocol MC6000/7000 A047.22B.0 English CAN-Bus data transmission protocol MC6000 0718.50B.0 German INTERBUS-S data transmission protocol MC6000 0718.51B.0 English INTERBUS-S data transmission protocol MC6000/7000 0792.50B.0 German Installation manual for net-working with LUSTBUS and CAN-Bus MC6000/7000 0792.51B.0 English Installation manual for net-working with LUSTBUS and CAN-Bus MC6000/7000 0792.06B.0 German Description of parameters 5-13 Issue: January 1999 Subject to technical changes 0808.42B.0-00 EN 04/99 Lust Antriebstechnik GmbH Gewerbestr. 5-9 D-35633 Lahnau Telefon 0 64 41/ 9 66-0 Telefax 0 64 41/ 9 66 -137 * * * * Internet: http://www.lust-tec.de e-mail: lust@lust-tec.de *