Parker 638 series Product Manual
  1. Manuals
  2. Brands
  3. Parker Manuals
  4. DC Drives
  5. 638 series
  6. Product manual

Parker 638 series Product Manual

Digital servo drive
Hide thumbs Also See for 638 series:
Table of Contents

Advertisement

Quick Links

See also: Product Manual
07-02-12-02-EN-V0608.doc

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the 638 series and is the answer not in the manual?

Questions and answers

Related Manuals for Parker 638 series

Summary of Contents for Parker 638 series

  • Page 1 07-02-12-02-EN-V0608.doc...
  • Page 2 UL: CD EASYRIDER Windows - Software UL: 07-02-09- ® HIPERFACE Feedback System UL: 07-05-02- Product Manual - Bus Interface SUCOnet K UL: 07-05-03- Product Manual Bus Interface CAN UL: 07-05-04- Product Manual - Bus Interface Profi Bus DP UL: 07-05-05- Product Manual - Bus Interface Interbus S UL: 07-05-07- Product Manual - I/O Interface...
  • Page 3 Product Manual - Cables UL: 12-03 Product Manual - Ballast Resistors Parker Hannifin GmbH Co. KG All rights reserved. No portion of this description may be produced or processed in any form without the consent of the company. Changes are subject to change without notice.

  • Page 4: Table Of Contents

    Page The Most Important Thing First ................8 Safety Precautions ....................9 General Information................... 11 System Description ...........................11 Special Features of the 638 Servo Drive ..................11 Overview of Standard Digital Communication ..................11 Determining Criteria for the Utilization of the 638 Drive..............12 Operation Configuration ........................12 Model Code............................13 Combination Possibilities for the Various Communication / I/O - Modules........14...
  • Page 5 Page Connection Assignments and Functions 2.13 Fieldbus Interface RP PCA, PC8 ......................41 Pinning Profibus DP and CAN2-BUS and RS485 ................41 Pinning RP PC8 / X120 (with I/O’s)....................41 DIP Switch Position for Option Module RP PCA, PC8 ..............42 2.14 Overview of the Terminal Cross Section...................43 Operating Mode ..................
  • Page 6 Page Hardware Configuration................65 Jumpers.............................65 Power Board Layout Plan 638A ......................66 Power Board Layout Plan 638B/C ....................66 Commissoning................... 67 Commissioning Preparation......................67 Step 1 : Wiring and Communications Test..................68 Step 2 :Feedback Test and Motor Selection..................69 Step 2.2 Motor Selection........................70 Step 2.3 Motor with Resolver Feedback ...................71 Step 2.4 Motor with HIPERFACE Feedback..................71 Step 2.5 Motor with SIN-COS Feedback Linear Motor..............71 Step 3 : Power Up and Drive Activation....................72...
  • Page 7 Page Technical Data ..................107 12.1 General Technical Data ........................107 Power Circuit ...........................107 Control Circuit..........................107 Signal Inputs and Outputs - Connection X10..................107 Thermo-Control X30........................107 Thermo-Control X62........................108 Brake-Control X62...........................108 Signal Inputs and Outputs - Connection X120B resp. 120C............108 Digital Control..........................109 Digital Communication ........................109 Resolver Evaluation / Transmitter Principles ..................109 Controller System..........................110 Mechanical Data ..........................110...

  • Page 8: The Most Important Thing First

    The Most Important Thing First Thank you for your confidence in choosing our products. These operating instructions are intended to provide an overview of the technical data and features of our products. Please read the operating instructions completely before operating the product. Should you have any questions, please contact your nearest service representative.

  • Page 9: Safety Precautions

    Safety Precautions Digital servo drives, corresponding to EN 61800-5-1/VDE 0160, are electronic power components utilized for the regulation of the flow of energy in high- voltage electrical power installations. They are exclusively designed, configured and approved to supply our servo motors. Handling, installation, operation, and maintenance are only permitted under the conditions of and in keeping with the effective and/or legal regulations, regulation publications and this technical document.
  • Page 10 Pay Special Attention to the Following: Please Permissible Protection Class: Protective Grounding - operation is only permitted when the protective conductor is connected according to regulations. Observe ! Operation of the servo drive when employing a residual current operated protective device as the sole protection against indirect touching, is not permissible.

  • Page 11: General Information

    General Information System Description Special Features of the 638 Servo Drive The digital 638 servo drive provides for the electrical connection, rotational speed and position control of the AC servo motor. All of the functions and system controls are digitally regulated, employing a sampling rate of 105µs.

  • Page 12: Determining Criteria For The Utilization Of The 638 Drive

    Determining Criteria for the Utilization of the 638 Drive Decisions relating to the appropriate selection of the motor type, feedback system and drive type, as well as the system layout and option modules required, are dependant upon the specific application and the anticipated operating mode of the system. There are 6 operating modes to choose from: 0 Seed / Current control switchable via Input X10.24...

  • Page 13: Model Code

    Model Code Special Marking Type: Marking Description 6th. Generation Digital Servo Drive Size: Size A Size B Size C Rated Current: Rated Current: 1,0 amps 2,5 amps 2,0 amps 5,0 amps being prepared 4,0 amps 7,5 amps 6,0 amps 10,0 amps 15,0 amps Intermediate Voltage: 638A...

  • Page 14: Combination Possibilities For The Various Communication / I/O - Modules

    Combination Possibilities for the Various Communication / I/O - Modules Slot Option Module Model Code 638xxxxFxSTO232000xxx 638xxxxFxSTO232EAExxx 638xxxxFxSTO2322CAxxx 638xxxxFxSTO2322C8xxx 638xxxxFxSTO422000xxx 638xxxxFxSTO422EAExxx 638xxxxFxSTO4222CAxxx 638xxxxFxSTO4222C8xxx 638xxxxFxSTO485000xxx 638xxxxFxSTO485EAExxx 638xxxxFxSTO4852CAxxx 638xxxxFxSTO4852C8xxx 638xxxxFxSTOCAN000xxx 638xxxxFxSTOCANEAExxx 638xxxxFxSTO2CA000xxx 638xxxxFxSTO2CAEAExxx 638xxxxFxSTO2C8000xxx 638xxxxFxSTO2C8EAExxx 638xxxxFxSTOCCA000xxx 638xxxxFxSTOCCAEAExxx 638xxxxFxSTOCC8000xxx 638xxxxFxSTOCC8EAE 638xxxxFxSTODEV000xxx 638xxxxFxSTODEVEAExxx 638xxxxFxSTOSUC000xxx 638xxxxFxSTOSUCEAExxx 638xxxxFxSTOPDP000xxx 638xxxxFxSTOPDPEAExxx...

  • Page 15: Module Slots Layout

    Module Slots Layout Module Slots: *2CA *2C8 Motor - Feedback System: RD2: Standard Resolver HF2: Option HIPERFACE SC2: Option Sine / Cosine with Memorychip as of FW V8.35 RM2: Resolver + Memory HM2: HIPERFACE + Memory SM2: Sine/Cosine + Memory Module Design Design A Design B...

  • Page 16: Dimensions

    Dimensions 638A Series Important: Please note that on the front side of the unit, approximately 70 mm of additional space is required for the signal mating plugs! When installing multiple servo drives, there is minimum space on the side. The unit should only be mounted vertically as shown. 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 17: 638B Series

    638B Series Important: Please note that on the front side of the unit, approximately 70 mm of additional space is required for the signal mating plugs! When installing multiple servo drives, there is minimum space on the side. The unit should only be mounted vertically as shown. 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 18: Connection Assignments And Functions

    Connection Assignments and Functions Insulation Concept The insulation of the 638 units is achieved in various insulation classes or groups. 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 19: Overview Of Compact Unit Connections

    Overview of Compact Unit Connections 638A01.. to 638A06.. 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 20: B03.. To 638B15

    638B03.. to 638B15.. 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 21: Assignments Power Connections

    Assignments Power Connections Power, Ballast, DC Bus - Connection X60 638A Plug - X60 Designation Function 0 Volt DC Bus RB1/+UCC External – Ballast Resistor / + DC - Bus External – Ballast Resistor Power Connection 1, 230V AC Power Connection 2, 230V AC L3 / N Power Connection 3, 230V AC / Ground Protective Ground...

  • Page 22: Brake / Thermo - Connection X62

    Brake / Thermo - Connection X62 638A Stecker - X62 Bezeichnun Funktion +24V Input; Supply Voltage Mechanical Brake Input; Refer. Potential Supply Voltage 638B Mechanical Brake Control Mechanical Brake Control Mechanical Brake Not assigned Setup and Thermo PTC /NTC Wiring Thermo PTC /NTC example...

  • Page 23: Feedback Sensor X30

    Feedback Sensor X30 The feedback system creates a digital value from the feedback position sensor. From this value the following is derived: Commutation according to the pole division Actual rotational speed value Position value for the position controller Feedback - Module X300 The X30 connection is directly connected to the Feedback - Module X300.The mode of operation of the feedback system is specified by this plug-in module.

  • Page 24: Feedback Connection X30 (Sub D 09 Socket)

    Feedback Connection X30 (SUB D 09 Socket) Pinning for the Motor - Feedback - Socket X30 when employed with: Resolver Module X300_RD2 or X300-RM1(Standard Module) Module: X300_RD2 / X300_RM1 Function / NTC optional cos + sin + carrier + / NTC optional cos - sin - Setup and Wiring example...

  • Page 25: Feedback - Module X300 With Memory 638A

    ® HIPERFACE - Module X300_HF2 or X300_HM1 Module: X300_HF2 / X300_HM1 Function 10 VDC cos + sin + data - ref cos ref sin data + Sine / Cosine - Module X300_SC2 or X300_SM1 Module: X300_SC2 / X300_SM1 Function 5,5 V cos + sin + zero pulse -...

  • Page 26: Service-Interface Com1 (Rs232)

    Service-Interface COM1 (RS232) Functions: Supports all diagnostic and parameter configuration activities PC connection utilizing our communications cable KnPC/D Communication utilizing our operational program software (EASYRIDER Windows - Software) Com 1 RS232 Function Drive Side RS232 on PC 4-Pin Modular Plug Receive Serial Data Send Serial Data Do Not Connect...

  • Page 27: Safe Torque Off

    Safe Torque Off Connection Safe Torque Off X11 Plug - X11 Description Function STO1 # Channel 1 (ACTIVE_STO1) STO1 # Channel 1 (ACTIVE_STO1) Parallel to PIN 1 0V / PE Reference Potential 0V STO2 # Channel 2 (ACTIVE_STO2) Ready potential-free contact assembly Ready potential-free contact assembly Further description of this function can be found in Chapter “Safe Torque Off“...

  • Page 28: Signal Connection

    Signal Connection Control Signal Plug X10 (SUB D25 Socket) Inputs / Outputs Control Signal Plug X10 Function Type Description Shielding Connection Screen Configurable (Operating Mode) OPTO Input Stabilized Auxiliary Supply Voltage Output -12VDC; max. 80 mA Auxiliary Supply Voltage Configurable (Operating Mode) OPTO Input...

  • Page 29: Multi-Function X40

    Multi-Function X40 Description of the X40: Via a programmable I/O processor, the X40 connection can be configured differently. EASYRIDER Windows - Software Standard functions: - Incremental output - Incremental input - Stepper motor - pulse inputs - SSI interface The unobstructed configurability provides ideal conditions for synchronous applications. General Data Plug Type: SUB D 09 male plug...

  • Page 30: Incremental - Output

    Incremental - Output EASYRIDER Windows - X40 Connection: Mode = Incremental Output Incremental encoder simulation for processing in positioning modules Standard: 1024 increments with Pulse Duty Cycle Additional selectable pulse settings: 16384, 8192, 4096, 2048, 512, 256, 128, 64 Inc. I/O X40 Function Designation Channel B...

  • Page 31: Stepper Motor Input

    Stepper Motor Input Two different modes are available EASYRIDER Windows - Software X40 Connection: Mode = Stepper Motor (Pulse+Direction) EASYRIDER Windows - Software X40 Connection: Mode = Stepper Motor (2*Pulse) INCR. I/O X40 Function Designation Mode: Pulse+Direction Mode: 2*Pulse Output: Drive Active - Inverted /READY Output: Drive Active READY...

  • Page 32: Ssi-Encoder Interface

    SSI-Encoder Interface EASYRIDER Windows – Software X40 Connection: Modus = SSI_13 Bit Singleturn Input X40 Connection: Modus = SSI_14 Bit Singleturn Input X40 Connection: Modus = SSI_25 Bit Multiturn Input / (13 Bit Single- / 12 Bit Multiturn) X40 Connection: Modus = SSI_26 Bit Multiturn Input / (14 Bit Single- / 12 Bit Multiturn) X40 Connection: Modus = SSI_18 Bit Multiturn Input / (16 Bit Single- / 2 Bit Multiturn) Incr.

  • Page 33: Fieldbus Interface Com2

    Fieldbus Interface COM2 Additional functions can be realized through the optional employment of the Options Modules Pinning for RS232 Module: RP 232 Function GND / 485-GND Pinning for RS422/485 Module: RP 422 oder RP 485 Function Data In Data In - Inverted Data Out - Inverted Data Out Options module RP 422, without galvanic separation...

  • Page 34: Pinning For Can Or Devicenet

    Pinning for CAN or DeviceNet Module: RP CAN (CAN BUS1) or RP DEV Function Designation CAN_L Bus Line CAN_L (dominant low) Ground CAN-GND Optional Ground CAN-GND CAN_H Bus Line CAN_H (dominant high) with galvanic separation Pinning for Profibus DP Module: RP DP Function Designation Line B...

  • Page 35: Pinning For Ea5 I/O-Interface (Digital In And Outputs)

    Pinning for EA5 I/O-Interface (Digital In and Outputs) Module: RP EA5 Function Designation Status BIAS Input 101 Standard Input BIAS Input 102 Standard Input BIAS Input 107 Standard Input BIAS Input 108 Standard Input 0VSPS Ground reference 0VSPS BIAS Input 106 Standard Input BIAS Output 109...

  • Page 36: Fieldbus Interface Com2 In Combination With Com3 (Option Slot A/B)

    2.10 Fieldbus Interface COM2 in Combination with COM3 (OPTION SLOT A/B) Pinning for Interbus S (RP IBS) Remote OUT - Outgoing Interface (SUB D09 Socket) Module: RP IBS Function Designation Data Line OUT Forward (error voltage A) Data Line IN Backward (error voltage A) Reference Potential IBS-GND...

  • Page 37: Fieldbus Interface Rp 2Ca, 2C8

    2.11 Fieldbus Interface RP 2CA, 2C8 Pinning CAN1-BUS and CAN2-BUS Module: RP 2CA, 2C8 CAN2 CAN1 Function Designation CAN_L Bus Line CAN_L (dominant low) Ground CAN-GND Optional Ground CAN-GND CAN_H Bus Line CAN_H (dominant high) with galvanic isolation Pinning RP 2C8 X120 (with I/O’s) Function X120 BIAS PIN...

  • Page 38: Dip Switch Position For Option Module Rp 2Ca And Rp 2C8

    DIP Switch Position for Option Module RP 2CA and RP 2C8 DIP – Switch Position CAN DIP – Switch Position BUS – Termination (Example 638A) 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 39: Fieldbus Interface Rp Cca, Cc8

    2.12 Fieldbus Interface RP CCA, CC8 Pinning CAN1-BUS, CAN2-BUS and RS485 Module: RP CCA, CC8 Function Designation CAN_L Bus Line CAN_L (dominant low) Ground CAN-GND CAN1 Optional Ground CAN-GND CAN_H Bus Line CAN_H (dominant high) CAN2 RS485 Data-IN inv. CAN_L Bus Line (dominant low) Ground 485-/CAN-GND...

  • Page 40: Dip Switch Position For Option Module Rp Cca And Rp Cc8

    DIP Switch Position for Option Module RP CCA and RP CC8 DIP – Switch Position CAN 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 41: Fieldbus Interface Rp Pca, Pc8

    2.13 Fieldbus Interface RP PCA, PC8 Pinning Profibus DP and CAN2-BUS and RS485 Module: RP PCA, PC8 Function Designation Line B Profibus DP Request to Send Ground PDP-GND Potential +5V Line A CAN2 RS485 Data-IN inv. CAN_L Bus Line (dominant low) Ground 485-/CAN-GND DATA-IN...

  • Page 42: Dip Switch Position For Option Module Rp Pca, Pc8

    DIP Switch Position for Option Module RP PCA, PC8 DIP – Switch Position CAN2 / RS485 and Profibus DP Further information for the Profibus DP: See Documentation 07-05-04-02-E-Vxxxx. 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 43: Overview Of The Terminal Cross Section

    2.14 Overview of the Terminal Cross Section Cross Section 638A 638B 638C Solid Core / 0,2-10 0,75-16 0,2-2,5 Line, Multiple conductor line 0,2-6 0,75-16 Brakeresistor Flexible with ferrule 0,25-2,5 0,25-6 0,5-16 without plastic sleeve DC-Link Flexible with ferrule with 0,25-2,5 0,25-4 0,5-16 plastic sleeve...

  • Page 44: Operating Mode

    Operating Mode Operating Mode General The preselection of the device functions are carried out by choosing the operating modes 0...5 according to the following table, see: Operating modes and pin functions, (EASYRIDER Windows - Software). Each operating mode allows for the assignment of different in and output functions (F0..F6). Operating Reference Source Hints for Selecting the Operating Mode...

  • Page 45: Operating Modes And Pin Functions

    Operating Modes and Pin Functions Operating Modes Available Torque / Speed- Speed Torque Position / Position Position Control Control Control Control Speed Control Contact + BIAS Control Numbers Functions Input F0, F1 F0, F1 F0, F1 F0, F1, F2, F0, F1, F2, F0, F1, F2,F6 F3,F6 X10.14...

  • Page 46: Configurable Pin Functions (Operating Mode Dependent)

    Configurable Pin Functions (Operating Mode Dependent) Input Functions (Operating Mode Dependent) Input Function Function Function Function Function Function Function Input move manually set selection Node no. X10.14 limit switch + data 2 0 move manually Input set selection Node no. X10.15 limit switch - data 2 a...

  • Page 47: Functions Diagrams With Protection Mode "Switch Off

    Functions Diagrams with Protection Mode “Switch Off” In accordance with EASYRIDER Windows – Software “Commissioning / Motor / Motor/30” 07-02-12-02-EN-V0608.doc / Type: 638...
  • Page 48 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 49: Mechanical Installation

    Mechanical Installation Mounting In order to guarantee the best possible air circulation for the cooling unit, the servo drive should only be installed in a vertical position. The vertical installation above other systems or heat producing units can cause overheating. Control Cabinet Mounting Installation should be carried out only in a control cabinet in which the inside is free from dust, corrosive fumes, gases and liquids.

  • Page 50: Electrical Installation

    Electrical Installation Installation General Safety The voltages carried by power supply cables, motor cables, connectors, and certain parts of the drive can cause serious electric shock and even death Danger of Electric Shock Caution ! Risk of electrical shock, wait 3 minutes after switching off, for discharging of the capacitors. Disconnect the drive unit from the mains before working on it.

  • Page 51: Power Mains Connection

    Power Mains Connection Types of power mains The 638 servo drives can be directly connected to TT- and TN-Systems (TT- and TN-Systems are three-phase systems with grounded neutral). When using the servo drive in IT mains (three-phase systems without grounded neutral), isolation transformers must be used.
  • Page 52 Type 638A-1A 638A-2A 638A-4A 638A-6A constant k 1,22 1,22 Type 638B-03 638B-05 638B-08 638B-10 638B-15 constant k 1,29 1,13 1,13 1,11 1,08 When information about load torque, Inertia and the friction-situation be there, the effective momentum is calculated with following formula: (in case of correct motor dimensioning also the rated torque of the employed motor can be used): cycle For the determination of n...
  • Page 53 Fault Current Protection Servo Drive of the 638series can cause a DC current in protective grounding. Where for the protection in case of a direct or indirect contact residual current device (RCD) is used, only a RCD of the type B (AC-DC sensitive) is permissible on the current supply side. If is permissible for application should types with increased trip current (300mA) and/or.

  • Page 54: Dc Link Parallel Connection

    DC Link Parallel Connection General With the operation of a group of drives it is possible to couple the DC link circuit of the 638 Drives. Advantages: Positive energy balancing - utilization of braking energy, with energy equalization achieved through the DC link Smaller load on the ballast resistors Increased DC link capacity through smaller residual rippling, specifically with single phase applications...

  • Page 55: Variation 2; Servo Drives With Dc Link Protection

    Variation 2; Servo Drives with DC LINK protection Block Diagram 2 Advantage: Sum of power not limited by line fuse. Disadvantage: DC-fuses necessary. 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 56: Function Softstart

    Function Softstart When switch on the supply voltage the DC link capacities become over a resistance loaded. Attain the undervoltage threshold + constant waiting period (2,4s) that becomes charging resistor a relay bridges. The operating status „undervoltage “changes at the same time in „ready“. When switching the supply voltage off the soft starting function becomes only after falling below undervoltage threshold again actively.

  • Page 57: Layout Of The Ballast Capacity

    Layout of the Ballast Capacity Energy, which is produced by the electrical brake motor, will be fed into the DC link and then through the DC link coupling to serve other motors within the sequence. Only a portion of the energy which is produced in this manner leads to an increase in the DC link voltage and will then, at a specified voltage threshold, be converted to heat and released through the units’...

  • Page 58: Fuses , Contactors

    Fuses , Contactors 638A Servo - Driver 638A01.. 638A02.. 638A04.. 638A06.. Fuse, Contactor FI – Switch Not recommended Input Supply Current 1) [A] 2, 8 1 phase Input Supply Current 1) [A] 3 phase Fusible cut-out VDE Type 6..16A gG 6..16A gG 10..16A gG 16A gG Automatic circuit breaker VDE Type B6A..16A B6A..16A...

  • Page 59: Brake Resistor

    Brake Resistor Selection of the Brake Resistor When employing a breaking mechanism with an operating motor driven system, the contained energy flows back into the drive. The capacitors within the motor can absorb a small portion of the excess energy. The rest of the energy must be dissipated through a resistor in heat. The activation of the Brake Resistor occurs, depending upon the voltage threshold.

  • Page 60: Configuration Of The Brake Resistor

    In this case the internal and external configuration is sufficient capacities can be added together. Selection Brake Resistor Only Parker or by our released ballast resistors used ! Servo Drives Possible Brake Resistor 638A01.. / 638A02.. / 638A04.. / 638A06..
  • Page 61 Example for 638A: EASYRIDER Determination of the resistance values through the employment of both internal and external resistors. Internal “Brake Resistor = 170 Ohm“ External “Brake Resistor = 33 Ohm“ Formula Rges. Rext. Rges Rges Selected Resistance Value = 27,6 Ohm Determination of the brake resistor rating through the employment of both the internal and external brake resistor ratings Internal “Brake Resistor Rating = 20 Watt“...

  • Page 62: Wiring Instructions

    Wiring Instructions General Wiring Instructions General Information Digital servo drives are designed for operation in metallic grounded enclosures. For problem free operation, as well as for the observance of all regulations, the drive unit back must be connected with the cabinet mounting plate electrically and fixed. Control Cabling Recommended cross section 0,25 mm².The control signal lines must be laid seperately from “...

  • Page 63: Electromagnetic Compatibility (Emc)

    Electromagnetic Compatibility (EMC) Conformity, in accordance with the EEC Directive 89/336/EEC has been evaluated using a reference- system, consisting of a compact type drive and a line-filter on mounting-plate, connected to an AC-synchronous motor. The motor cable is mainly responsible for EMC emissions. The motor cable must be installed therefore employing exceptional care.

  • Page 64: Example For Mounting

    Example for Mounting X61 Motor Connector Wiring: 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 65: Hardware Configuration

    Hardware Configuration Jumpers All jumpers are set to a standard preset ! JP100, Bridged Pad 2 and 3 (standard) READY contact with reference to common output supply voltage on X10.21 1 and 3 READY contact can be freely wired JP101, Bridged Pad. 2 and 3 (standard) Analog input X10.19 without internal pull-up.

  • Page 66: Power Board Layout Plan 638A

    Power Board Layout Plan 638A View solder side (solder jumper) Power Board Layout Plan 638B/C View solder side (solder jumper) 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 67: Commissoning

    Commissoning Commissioning Preparation Caution ! Improper installation conditions and/or wiring can cause uncontrolled movement and operation of the equipment. Please carefully observe all safety instructions and regulations for the protection of both the equipment and personnel! It is recommended that one utilize the EASYRIDER Windows - Software Program for the initial set-up of the equipment.

  • Page 68: Step 1 : Wiring And Communications Test

    Step : Wiring and Communications Test Remark, Action, Function Anticipated Result Cause of Fault Condition Before Starting the Equipment! 638 Connector Check the wiring; in particular: Assignment supply voltage, incoming powerline, Electrical Installation motor wiring, motor polarity, Wiring Instructions ® feedback system, (Resolver;...

  • Page 69: Step 2 :Feedback Test And Motor Selection

    Step . :Feedback Test and Motor Selection Remark, Action, Function Anticipated Result Cause of Fault Condition Prerequisite: 638 X30 2.1.1 Connector Assignment Step The feedback sensor is connected to the 638 Drive through the X30 connection port. Optionally. Temperature sensor and/or Brakre are connected to the 638 X62 X62 connector.

  • Page 70: Step 2.2 Motor Selection

    Step 2.2 Motor Selection Remark, Action, Function Anticipated Result Cause of Fault Condition 2.2.1 Prerequisite: 638 X61 Connector Assignment Step The motor cable is connected to the 638 Drive through the X61 connection port 2.2.2 In the EASYRIDER configuration menu for When employing motors „Motor“, select Motor Library and then scroll down from other manufacturers...

  • Page 71: Step 2.3 Motor With Resolver Feedback

    Step 2.3 Motor with Resolver Feedback Remark, Action, Function Anticipated Result Cause of Fault Condition With standard motors, equipped with Resolver Feedback, when the unit is properly wired and the proper motor is selected, no additional action is required. For every360° motor shaft turn a position value of 2 = 65536 pulses is sensed.

  • Page 72: Step 3 : Power Up And Drive Activation

    Step : Power Up and Drive Activation Step 3.1 Power Up Remark, Action, Function Anticipated Result Cause of Fault Condition X60 Connector 3.1.1 Prerequisite: Assignment Step The power supply is connected to the X60 connection of the 638 Drive. Establish the X60 connection, when 3.1.2 lacking, only when the drive system is not In order to eliminate the risk of a...

  • Page 73: Step 4 : Control Loop Optimization

    : Control Loop Optimization Step Step 4.1 Control Loop Optimization with Rotary Motors Remark, Action, Function Anticipated Result Cause of Fault Condition Prerequisite: 4.1.1 Step In the EASYRIDER Commissioning Menu select Check the speed and power 4.1.2 „Speed Controller“ variation characteristics utilizing an oscilloscope and through the adjustment of the P and I sections set the parameters for...

  • Page 74: Step 4.2 Control Loop Optimization With Linear Motors

    Step 4.2 Control Loop Optimization with Linear Motors Remark, Step Action, Function Anticipated Result Cause of Fault Condition 4.2.1 Prerequisite: Step Under Construction!!! On to Step 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 75: Step 5 : Operation Mode Selection

    Step : Operation Mode Selection Remark, Action, Function Anticipated Result Cause of Fault Condition Prerequisite: Step In the EASYRIDER configuration menu, select With the selection of the Additional information „General“ and then select the appropriate operating mode, one must also and assistance is operating mode.

  • Page 76: Step 6 : Fieldbus Interface

    Step : Fieldbus Interface Remark, Action, Function Anticipated Result Cause of Fault Condition Prerequisite: Step The overall system commissioning and the communications test of the fieldbus interface are dependent upon the interface configuration of the drive. If there is not an options board connected then there are no more additional settings required, and one can move on to Step 7.

  • Page 77: Step 7 : Data Save

    Step : Data Save Remark, Action, Function Anticipated Result Cause of Fault Condition Prerequisite: Step Read the parameters shown in the EASYRIDER Data Menu under „Drive Parameters“. In the Menu, under commands select „Save Data on the Drive“ 07-02-12-02-EN-V0608.doc / Type: 638...
  • Page 78 In the Menu under Data, select „Save As“ , to save the drive parameters on the computer, utilizing the file suffix *.wdd . First system start up procedure Steps successfully accomplished. 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 79: Safe Torque Off (Sto)

    Safe Torque Off (STO) General Introduction The following documentation is meant to provide the basic information concerning our drive controller and an understanding about the advanced, safety oriented machine construction. References to standards or other regulations are made in a general overview manner. The specific standards or regulations for your installation will vary depending upon the equipment employed the specifics of your application.

  • Page 80: Stop Category According To En 60204-1 (Chapter. 9.2.2)

    Stop Category according to EN 60204-1 (Chapter. 9.2.2) Stop Requirement System Note Category Reaction Shutdown by immediate shut-off Uncontrolled Uncontrolled shutdown is the stopping of the of power supply to the machines’ Shutdown machines’ movement by eliminating the power supply driving components to the power components of the machine.

  • Page 81: Applications In Accordance With The Regulations

    Applications in Accordance with the Regulations The 638 Drive supports the safety function “Safe Torque Off”, in the sense of providing a definitive stopping of the equipment, with protection against unanticipated start-up, in accordance with regulations EN ISO 13849-1, Category 4, Performance Level e and EN 1037. The motor must stopped controlled through the machine controller.

  • Page 82: Safety Instructions And Limitations

    Safety Instructions and Limitations No Galvanic Separation of the Outputs The galavanic separation does not occur through the starting lockout function. This therefore does not in any way provide protection against an “electrical spike”. For operation interruptions, maintenance, service and cleaning of the equipment, the entire system must be definitively and galvanically separated from the power supply at the main switch box and confirmation should be made that the system can not restart (See EN 60204-1;5.3).

  • Page 83: Safe Torque Off Function, (Sto)

    Safe Torque Off Function, (STO) General The electricity flow to the motor windings is controlled through a solid state power component bridge (6-times IGBT). A microprocessor switch with PWM logic switches the IGTB’s rotating field orientation. Optical couplings are employed between the control logic and the power unit to provide for electrical isolation.

  • Page 84: Status Diagram And Function Of Terminals Sto1# Und Sto2

    Status Diagram and Function of Terminals STO1# und STO2# With hardware monitoring of the contact difference between STO1# und STO2# (Tolerance - ca. 20 Sec.) Active Time Delay t > 0 No additional special functions Diagram: Flow chart of the switching status from STO1# and STO2# Note for Standard Operation: The STO inputs should always be operated simultaneously.

  • Page 85: Configuration And Parameter Settings

    Configuration and Parameter Settings General Instructions for Parameter Settings The safe torque off, ’STO’, basic function is a built-in, hardware oriented safety function which is not configurable. Depending upon the specific application however, it is possible to alter specific settings on the drive side which can increase the operational safety factor.
  • Page 86 EASYRIDER Safety Parameter Data Entry Dialog Boxes 1. Commissioning menu - select “Safety“ : 2. Access password - enter “BGSM“ and verify with “OK“ 3. Enter Safety Password, select Parameter 4. Send the Parameter - press “Send”one time Nr. and enter the appropriate Value 4.
  • Page 87 Safety Parameter List The following safety functions are presently able to be configured: Parameter 0: Function Input X10.22 Parameter 1: Active-Time Delay Parameter 2: STO-Power-On-Test Parameter 0 Value Range Explanation Note Flow Chart Without Function No safety relevance. Function X10.22 is freely programmable (BIAS) Initial Factory Settings (default values)
  • Page 88 Safety Password The safety password must be entered in the appropriate field, every time that the Safety Parameter Configuration screen is selected. The password is always comprised of 4 letters. The difference between large and small case letters is recognized. The drive side initial factory setting of the password is “SAFE“.
  • Page 89 Flow Chart Diagram: Function X10.22 Emergency Stop 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 90: Application Example Of Sto (Safe Torque Off)

    Application Example of STO (Safe Torque Off) Example Function Application Example 1 Safety door monitoring or emergency shut-down with protection monitoring switch Application Example 2 Safety door monitoring or emergency shut-down with protection monitoring switch and time delay Application Example 3 Safety door monitoring or emergency shut-down WITHOUT protection monitoring switch Application Example 4...

  • Page 91: Application Example 1

    Application Example 1 Function/Action Response Protection Level Stop Cat. EN 954-1 ISO 13849-1 According to EN60204 The ‚STO’ is tripped when the safety Cat. 4 PL e Safety door monitoring or emergency shut-down with door is opened or emergency shut- down switch is activated.

  • Page 92: Application Example 2

    Application Example 2 Function/Action Response/Reaction Protection Level Stop Cat. EN 954-1 ISO 13849-1 According to EN60204 Active braking occurs when the safety Cat. 4 PL e Safety door monitoring or emergency shut-down with door is opened, the emergency shut- down switch is activated or tripping of protection monitoring switch and the ‚STO’...

  • Page 93: Application Example 3

    Application Example 3 Function/Action Response/Reaction Protection Level Stop Cat. EN 954-1 ISO 13849-1 According to EN60204 The ‚STO’ is tripped when the safety Cat. 3 PL d Safety door monitoring or emergency shut-down WITHOUT door is opened or emergency shut- down switch is activated.

  • Page 94: Application Example 4

    Application Example 4 Function/Action Response/Reaction Protection Level Stop Cat. EN 954-1 ISO 13849-1 According to EN60204 Active braking occurs when the safety Cat. 4 PL e Safety door monitoring or emergency shut-down with door is opened, the emergency shut- down switch is activated or tripping of protection monitoring switch and the ‚STO’...

  • Page 95: Sto Function Test

    STO Function Test The STO function must be tested when: The system is set-up for the first time. See: Commissioning Any component of the system is replaced. Any activity involving the wiring takes place. After all modifications to the drive system. (For example: parameter modifications, software updates, etc.) Established maintenance schedules dictate or after the machine has been inactive for a long period of time.
  • Page 96 STO-TEST Remark, Step Anticipated Result Action / Function Cause of Fault Condition Terminal X11.4 Test: Switch the 24V STO-TEST Rebuild Supply Voltage Off On STO Test Step 1 Switch off 24 V DC Voltage at STO-TEST Terminal X11.4 flash Wait approx. 20 seconds Check 7-Segment- STO-TEST...

  • Page 97: Signal Inputs Technical Data - Terminal Connection X11

    Signal Inputs Technical Data - Terminal Connection X11 General The technical data provided in the section General Technical Data is valid, with the exception of the data listed below. Nominal Voltage from the Inputs 24 V DC Required Insulation from the protective extra-low voltage (PELV) Control Voltage 24V STO –...

  • Page 98: Diagnosis And Trouble-Shooting

    Diagnosis and Trouble-Shooting 10.1 7-Segment-Display Many sources of faults can be narrowed down with the diagnosis display. Display Output Servo drive Explanation 635/637 637+ 637f/638 Comment Ready Warnin (Code) no display any control voltage? external fuses ok? system ready for operate drive ready, not active drive active and ready for operate! DC link voltage within the limits,...
  • Page 99 Display Output Servo drive Explanation 635/637 637+ 637f/638 Ready Warnin Comment (Code) I²t- overload of the drive does the control loop oscillate? P-amplification too high mechanics stiff? requirements too high? is warning /8/ evaluated? I²t overload of the motor does the control loop oscillate? P-amplification too high mechanics stiff? requirements too high? is warning /8/ evaluated? over temperature of the output stage (>...
  • Page 100 Display Output Servo drive Explanation 635/637 637+ 637f/638 Ready Warnin Comment (Code) X 300 – setting wrong X 30 / X40 Counter-Configuration test in the EASYRIDER Windows – Software tracking window exceeded only in operation mode position control, will be deleted with the next run-command tracking error with switch off only in operation mode "position control"...
  • Page 101 Display Output Servo drive Explanation 635/637 637+ 637f/638 Ready Warnin Comment (Code) X10.22 Quickstop Ramp active 638 only X10.22 low high slope missing 638 only Max. speed overload check speed limits resp. setpoint speed CAN - Open 402 Sync Message error in Interpolated positioning mode 6.19c 8.19d...
  • Page 102 Display Output Servo drive Explanation 635/637 637+ 637f/638 Ready Warnin Comment (Code) 638 X300 xM Module, Memory Error Alteracode missing 638 X300 xM Module, Memory Error Parameter- and BIAS-Data missing “ Function diagrams from inputs and outputs” Reaction to these errors chapter: With configuration corresponding chapter : “...

  • Page 103: Reset Of A Drive Trouble

    10.2 Reset of a Drive Trouble A general precondition for correct execution of the Reset is the elimination of the error cause. Possible error signals blinking (BIAS) The error signals of the drive can be reset via: 1. Control voltage OFF/ON, 2.

  • Page 104: Trouble-Shooting

    10.3 Trouble-Shooting The following list refers to faults which can occur during operation. Display: Error Explanation and remedy no motor run despite current flow motor mechanically blocked? motor brake released? motor runs unevently check setpoint wiring check grounding and shielding too high P-amplification in the speed controller reduce value (with EASYRIDER setting/speed control)

  • Page 105: Standards And Certifications

    Standards and Certifications 11.1 Compliance with Regulations, Limitations and Basic Conditions European Directives In accordance with EN61800-5-1 EG Low-Voltage Guidlines 2006/95/EC Safety requirements – Electrical, thermal and energy. EN 61 800-3, Emissions and immunity levels for EG-EMC-Directive Power drive systems. 2004/108/EC UL - Approved / being prepared Underwriter Laboratory Standard...

  • Page 106: En-V0608.Doc / Type

    EMC - Requirement 638A 638B 638C EMC – Emission EN 61 800-3 max. Motor cable length (Conducted) First Environment First Environment EMC – Emission Second Environment C3 (Radiated) EN 61 800-3 First Environment First Environment Second Environment C3 EMC – Immunity EN 61800-3 Levels (include EN 50081-2...

  • Page 107: Technical Data

    Technical Data 12.1 General Technical Data Power Circuit Galvanic Separation from the Control in acc. with EN 61800-5-1/ UL 508C Circuit Specifications in accordance with EN 61800-5-1 / UL 508C and cUL Short Circuit and to Frame Test for min. 2000 releases Overvoltage Monitoring max.

  • Page 108: Thermo-Control X62

    Thermo-Control X62 Galvanic Separation to the Control Circuit Basic Isolated in acc. with EN 61800-5-1 Double Isolation in acc. with EN 61800-5-1 Galvanic Separation to the Power Circuit Measurement Voltage at 100 / 1640 / 6000 Ohm 0,15V / 1,7V / 3,2V Measurement Range 100..6000Ohm, short-circuit proof (Thermoswitch evaluable)

  • Page 109: Digital Control

    Digital Control Current Control Loop-Cycle-Time 105 µs Settings according to factory specifications or motor data Current Limits - Adjustment by: speed control -menu Analog Input 0..10V = 0..100%; can be standardized, 10Bit Speed Control Loop-Cycle-Time 105 µs Settings speed control menu Differential Setpoint Input Analog U soll = 10 V, can be normed;...

  • Page 110: Controller System

    Controller System System Start-Up Time after Switching On max. 6 seconds the Control Voltage Data Memory / Organization Flash Eprom 256 KB RAM 64 KB; EEPROM 96 kByte Mechanical Data Dimensions see “ Dimensions“ 638A 638B03 638B08 638C /10/15 Weight 1,6 Kg 2,7Kg 4,4Kg...

  • Page 111: Technical Unit Data

    12.2 Technical Unit Data 638A Servo Drive 638A01.. 638A02.. 638A04.. 638A06.. Input Supply Voltage 50..60 Hz min. (grounded at the centre point TN networks) max. tolerance +10% Phases 1 or 3 Supply System “ Fuse, Contactors, Filter“ Inrush Current Limitation type Softstart : capacitor - pre-charging over 390 Control Voltage...

  • Page 112: Output Power 638A

    Output Power 638A In the event of continuous operation in the full-load range, the limits as shown in the following diagram need to be respected. Typical servo applications are not affected by this restriction. (S3 operation: Start/Stop). 1) At servo drive 638A/06.. : Load limitations decreased to 66% with 1phase incoming supply and continuous operation and speed.

  • Page 113: 113

    638B Servo-Drive 638B03.. 638B05.. 638B08.. 638B10. 638B15.. Input Supply Voltage 50..60 Hz min. (grounded at centre point 400 /480 TN – networks) max. olerance -25% / +10% Phases Supply System “ Power Mains Connection“ Inrush Current Limitation type Softstart : capacitor – pre-charging over 340 Control Voltage 21,5 ...

  • Page 114: Output Power 638B

    Output Power 638B In the event of continuous operation in the full-load range, the limits as shown in the following diagram need to be respected. Typical servo applications are not affected by this restriction. (S3 operation:Start/Stop). At mains voltage 400V no restriction of the output power on the devices withstands 5 / 7,5 / 10A. 480V Netzspannung: 5A / 7,5A / 10A >...

  • Page 115: Software

    Software 13.1 EASYRIDER Windows - Software EASYRIDER Windows software is a useful and convenient tool to use to control all drive functions. Detailed online help information and instructions are available. EASYRIDER Instructions: (extract) Auto pilot function as an interactive tutorial System identification BIAS instruction-set editor Oszilloscope function...

  • Page 116: Introduction

    13.2 Introduction The selection of the Operating Mode 5 with the Drives 630 Serie activates the complete functionality of all control loops and the BIAS-program processing. EASYRIDER Software is the programming tool to create, load and save the BIAS Programs. The programming language “BIAS“...

  • Page 117: Program Layout

    Program layout A BIAS program consists of 3 basic memory areas. 1. The program definition: contains all definitions for starting and processing a BIAS program, the entries for defining a unit for position presetting and the necessary configurations of the inputs and outputs. 2.

  • Page 118: Execute A Plc Program

    Execute a PLC program A cyclic PLC program for supervisory monitoring tasks can be started parallel to the sequential processing of a BIAS program The PLC program is started by processing the BIAS command, ”PLC program”. After the PLC program is activated the programmed PLC commands are processed as of the specified block number.

  • Page 119: Bias - Commands

    13.3 BIAS - Commands Position = const. [Variable X] = position BIAS-execution pointer [Variable X] =flag Y Profile value = [varia This command is only permitted This command is only permitted This command is only permitted This command is only permitted This command is only per in the BIAS- task in the BIAS, PLC and MATH-...

  • Page 120: Appendix

    Appendix 14.1 STO - Safety - Parameter - Report - Proposal 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 121: Memo

    Memo 07-02-12-02-EN-V0608.doc / Type: 638...

  • Page 122: Modification Record

    Modification Record Version Modification Chapter Date Name Comment V0106 preliminary version 07.04.2006 N. Dreilich V0206 preliminary version V0306 final version 21.08.2006 N. Dreilich V0406 STO - expansion 28.09.2006 N. Dreilich New Photos V0507 Intenal Version N. Dreilich V0608 complete 638B 17.07.2008 N.
  • Page 123 Parker Hanni n GmbH & Co. KG Parker Hanni n GmbH & Co. KG Parker Hanni n GmbH & Co. KG Electromechanical & Drives Electromechanical & Drives Electromechanical & Drives Automation Group Automation Group Automation Group Robert-Bosch-Straße 22 Von-Humboldt-Straße 10...

Table of Contents

Save PDF