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power automation PA 9000 Installation Instructions Manual

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  • Page 1 PA 9000 Installation instructions ETC Drive Micro...
  • Page 2 Power Automation GmbH CNC-Automatisierungstechnik Gottlieb-Daimler-Str. 17/2 74385 Pleidelsheim Germany Telephone: +49-7144-899-0 Fax: +49-7144-899-299 E-mail: info@powerautomation.com Internet: www.powerautomation.com Original installation instructions Version 2.0 © 2017 Power Automation GmbH 21.02.2017...

  • Page 3: Table Of Contents

    PA 9000 ETC Drive Micro Table of contents Table of contents General information............. 7 Information on this manual.......... 7 Explanation of symbols..........7 Limitation of liability............9 Copyright..............9 Warranty terms............9 Customer service............10 Glossary..............11 Safety.................. 13 Customer's responsibility........... 13 Personnel requirements..........
  • Page 4 PA 9000 ETC Drive Micro Table of contents 4.13 Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-)..60 4.14 Analog 0 - 5V Inputs (REF, FDBK)......61 4.15 Axis ID Inputs (AxisID 0, AxisID 1, Axis ID 2).... 63 4.16 RS-232............... 63 4.17 EtherCATâ..............
  • Page 5 PA 9000 ETC Drive Micro Table of contents Safety notes............. 115 Malfunction indicators..........117 10 Dismounting and decommissioning......119 Service and return process..........121 11.1 Service..............121 11.1.1 Service addresses..........122 11.2 Spare parts.............. 123 11.3 Return policy and procedure........124 11.4 Training..............
  • Page 6 PA 9000 ETC Drive Micro Table of contents 21.02.2017 | 6...

  • Page 7: General Information

    PA 9000 ETC Drive Micro General information 1 General information 1.1 Information on this manual Content The manual describes the EtherCAT drives of the PA ETC-Drive â Micro serie. 1.2 Explanation of symbols Warnings Warnings are identified by pictures. These warnings are introduced by signal words, which express the severity of a danger.
  • Page 8 PA 9000 ETC Drive Micro General information DANGER! … highlights hazards caused by electric current. There is a danger of serious injury or death if the safety notes are not complied with. Additional symbols and high- The following symbols and highlights are used to distinguish...

  • Page 9: Limitation Of Liability

    Apart from this, the obligations agreed upon in the delivery con- tract, the general terms and conditions, and the delivery conditions of Power Automation and the legal regulations valid at the time of contract apply. We reserve the right to make technical modifications in order to improve usability.

  • Page 10: Customer Service

    Our Customer Service is always available for technical information. For information on whom to contact by phone, fax, e-mail or via the internet, see Power Automation's address on page 2. Additionally, Power Automation staff is always interested in receiving new information and experiences resulting from the use of our products, which could be of great value for future improve- ments.

  • Page 11: Glossary

    PA 9000 ETC Drive Micro General information 1.7 Glossary - American wire gauge BGND - Ground of 24V-supply and holding brake supply voltage - Complete Drive Module - Communité Europeenne CLOCK - Clock signal CMOS - Complementary metal-oxide-semiconductor - Computerized Numerical Control...
  • Page 12 PA 9000 ETC Drive Micro General information - Peripheral Component Interconnect Personal computer extension for periphery devices connected to the motherboard. PELV - Protected extra low voltage - Programmable Logic Controller - Program Organization Unit. PLC functions, function blocks and programs are POUs...

  • Page 13: Safety

    PA 9000 ETC Drive Micro Safety 2 Safety 2.1 Customer's responsibility The control unit is used for commercial purposes. The operating company is thus subject to the legal obligations concerning indus- trial safety. The safety, accident prevention and environmental protection regu-...

  • Page 14: Personnel Requirements

    PA 9000 ETC Drive Micro Safety 2.2 Personnel requirements 2.2.1 Qualifications WARNING! Danger of injury in case of insufficient qualifi- cation! Improper operation can lead to severe personal injuries and/or material damage. – Only those persons who have been specified in...

  • Page 15: Intended Use

    The ETC drives are exclusively intended and built for the use described in this installation manual. The ETC drives of Power Automation are developed and produced according to the current state of the technology. They are components which are built in into electrical equipment and can only be used as integrated component of such equipment.

  • Page 16: Unintended Use

    PA 9000 ETC Drive Micro Safety 2.4 Unintended use Unintended use WARNING! Beware of unintended use! – In particular, avoid using the ETC drive for the following purposes as these are regarded as not intended: – Operation by not instructed personnel –...

  • Page 17: Safety Instructions

    PA 9000 ETC Drive Micro Safety 2.5 Safety instructions Shock Current DANGER! – Wait at least 7 minutes after disconnecting the ETC drive from the mains supply voltage before touching live sections of the equipment (e.g. contacts) or undoing connections. Up to 7...

  • Page 18: Personal Protective Gear

    PA 9000 ETC Drive Micro Safety CAUTION! General – The utilization of the ETC drive is limited according to DIN-EN 61800-3. This product can cause radio interference problems in living quarters. In this case it can be necessary for the operator to accomplish adequate measure- ments.

  • Page 19: Conduct In A Dangerous Situation And In Case Of Accidents

    PA 9000 ETC Drive Micro Safety ESD clothing for protection of components susceptible to electrostatic discharge. Wear the ESD clothing during the work on electrostatic compo- nents. ESD safety pad for protection of components susceptible to electrostatic discharge. Put the ESD safety pad on the floor before starting to work.

  • Page 20: Environmental Protection

    Electronic Components Electronic components are considered special waste. They must be properly disposed of. Power Automation will accept the control unit to properly dispose of its components upon decommissioning. Follow the standard return procedure, as described in Ä Chapter 11.3 “Return policy and procedure” on page 124.
  • Page 21 PA 9000 ETC Drive Micro Safety Type Plate The following label is attached on each ETC drive box: Fig. 1: Type Plate (Example) PA MC 304 ETC-drive - PA MC 604 ETC-drive The position of the type plate is arranged on the lower side of the ETC-drive box.
  • Page 22 PA 9000 ETC Drive Micro Safety 21.02.2017 | 22...

  • Page 23: Pa Etc-Drives Mc Overview

    PA 9000 ETC Drive Micro PA ETC-Drives MC Overview 3 PA ETC-Drives MC Overview General The PA MC x04 ETC-Drives and PA MC 10x ETC-Drives are a family of fully digital intelligent servo drives, based on the latest DSP technology and they offer unprecedented drive performance combined with PA CNC controller.
  • Page 24 The Motion Wizard provides a simple, graphical way of creating motion programs. With EasyMotion Studio you can fully benefit from a key advantage of Power Automation drives – their capability to execute complex motions without requiring an external motion controller, thanks to their built-in motion controllers. With camming mode, EasyMotion Studio offers the possibility to quickly download and test a cam profile and also to create a .sw file with the cam...
  • Page 25 PA 9000 ETC Drive Micro PA ETC-Drives MC Overview Concept Up to 6 axes, to optimize the cost situation of a machine by reduced component cost. 9 drive types are available: – 3-axis drive PA MC 304 ETC-Drive – 4-axis drive PA MC 404 ETC-Drive –...
  • Page 26 PA 9000 ETC Drive Micro PA ETC-Drives MC Overview – Short-circuit from motor phases to ground. – Over-voltage. – Under-voltage. – Over-current. Table 1: Product key Type code Description PA ETC-Drive Micro MC 304 3 axis (3 x 4A/8A) PA ETC-Drive Micro...

  • Page 27: Supported Motor-Sensor Configurations

    PA 9000 ETC Drive Micro PA ETC-Drives MC Overview 3.1 Supported Motor-Sensor Configurations The following configurations are supported by the PA MC x04 ETC- Drives and PA MX 10x ETC-Drives ( Ä Table on page 27). Product key Encoder Sin/Cos...
  • Page 28 PA 9000 ETC Drive Micro PA ETC-Drives MC Overview Brushless AC Rotary Motor With PA MC x04 ETC-Drives support the following configurations: An Incremental Quadrature Position control of a brushless AC rotary motor with an incre- Encoder mental quadrature encoder on its shaft The brushless motor is vector controlled like a permanent magnet synchronous motor.
  • Page 29 PA 9000 ETC Drive Micro PA ETC-Drives MC Overview Brushless AC Linear Motor With An Position control of a brushless AC linear motor with an incre- Incremental Sine/Cosine Encoder mental sine/cosine encoder The brushless motor is vector controlled like a permanent magnet synchronous motor.
  • Page 30 PA 9000 ETC Drive Micro PA ETC-Drives MC Overview Brushless DC Rotary Motor With Position Control, Hall Sensors And This configuration is only available at the version Encoders On Motor And Load PA MC 10x ETC-Drives. Dual loop position of a brushless DC rotary motor with digital Hall...
  • Page 31 PA 9000 ETC Drive Micro PA ETC-Drives MC Overview Brushless AC Rotary Motor With Position control of a brushless AC rotary motor with linear Linear Hall Signals Hall signals The brushless motor is vector controlled like a permanent magnet synchronous motor. It works with sinusoidal voltages and currents.
  • Page 32 PA 9000 ETC Drive Micro PA ETC-Drives MC Overview Brushless DC Rotary Motor With Position Control, Hall Sensors And This configuration is only available at the version Encoders On Motor And Load PA MC 10x ETC-Drives. Dual loop position control of a brushless DC linear motor with dig-...
  • Page 33 PA 9000 ETC Drive Micro PA ETC-Drives MC Overview DC Brushed Rotary Motor With Position Control, Quadrature This configuration is only available at the version Encoders On Motor And Load PA MC 10x ETC-Drives. Dual loop, position control of a brushed DC rotary motor with an incremental quadrature on the motor and an incremental encoder on the load.
  • Page 34 PA 9000 ETC Drive Micro PA ETC-Drives MC Overview Step Motor With Incremental Closed-loop control of load position using an encoder on load, Encoder At Load combined with open-loop control of a 2- or 3-phase step motor in speed, with speed reference provided by the position controller.

  • Page 35: Technical Data

    PA 9000 ETC Drive Micro Technical Data 4 Technical Data 4.1 General Specification General Information Table 2: PA MC x04 ETC-Drive Property Value Unit 174 x 70 x 165 mm Dimensions 6.85 x 2.76 x 6.50 inch Weight 125 g Power dissipation 3.4 W...

  • Page 36: Operating Conditions

    PA 9000 ETC Drive Micro Technical Data Property Value Unit Weight (without 240 g mating connector) Power dissipation 3.6 W (Idle - no load) Power dissiplation 11 W (operating) Efficiency 98 % Cleaning agents Dry cleaning is recommended (only water- or alcohol-based).
  • Page 37 PA 9000 ETC Drive Micro Technical Data Property Value Unit Site altitude (above sea level at rated up to 1000 m data) Site altitude (above sea level with 1000 - 2500 m derating of 1.5% / 100 m) Pollution level (according to...

  • Page 38: Specific Data

    PA 9000 ETC Drive Micro Technical Data 4.3 Specific Data Rated Data Property Value Unit Micro Rated mains voltage (symmetrically to 9V - 36V ground) maximum 5000 rms symmetrical amps (L1, L2, L3) Maximum peak current at switch on of the...

  • Page 39: Logic Supply Input (+Vlog )

    PA 9000 ETC Drive Micro Technical Data 4.4 Logic Supply Input (+V Property PA MC x04 PA MC 106 PA MC 107 Unit ETC-Drive ETC-Drive ETC-Drive / PA MC 114 ETC-Drive Nominal values 7 - 36 9 - 36 9 - 36 Absolute maximum values, 4.9 - 42...

  • Page 40: Motor Supply Input (+Vmot )

    PA 9000 ETC Drive Micro Technical Data 4.5 Motor Supply Input (+V Table 6: PA MC x04 ETC-Drives Property Value Unit Nominal values 9 - 36 Absolute maximum values, drive operating 8.5 - 40 Supply but outside guaranteed parameters voltage...
  • Page 41 PA 9000 ETC Drive Micro Technical Data Table 9: PA MC 114 ETC-Drive Property Value Unit Nominal values 80 (12 - 90) Absolute maximum values, drive operating 11 - 94 Supply but outside guaranteed parameters voltage Absolute maximum values, surge (duration -1 - 95 £...

  • Page 42: Motor Outputs (A/A+, B/A-, C/B+, Br/B-)

    PA 9000 ETC Drive Micro Technical Data 4.6 Motor Outputs (A/A+, B/A-, C/B+, BR/B-) Table 10: PA MC x04 ETC-Drive Property PA MC x04 ETC-Drive Unit for DC brushed, steppers and BLDC motors with Hall-based trapezoidal control Nominal output cur-...
  • Page 43 PA 9000 ETC Drive Micro Technical Data Table 11: PA MC 106 ETC-Drive Property PA MC 106 ETC-Drive Unit for DC brushed, steppers and BLDC motors with Hall-based trapezoidal control Nominal output cur- for PMSM motors with FOC sinusoidal control...
  • Page 44 PA 9000 ETC Drive Micro Technical Data Table 12: PA MC 107 ETC-Drive Property PA MC 107 ETC-Drive Unit for DC brushed, steppers and BLDC motors with Hall-based trapezoidal control Nominal output cur- for PMSM motors with FOC sinusoidal control...
  • Page 45 PA 9000 ETC Drive Micro Technical Data Table 13: PA MC 114 ETC-Drive Property PA MC 107 ETC-Drive Unit for DC brushed, steppers and BLDC motors with Hall-based trapezoidal control Nominal output cur- for PMSM motors with FOC sinusoidal control...

  • Page 46: Enable Circuit Inputs (Ena1, Ena2)

    PA 9000 ETC Drive Micro Technical Data 4.7 Enable circuit inputs (ENA1, ENA2) The enable circuit inputs (ENA1, ENA2) are only available at the PA MC 106 ETC-Drive, PA MC 107 ETC-Drive and PA MA 114 ETC-Drive. At the PA MC 107 ETC-Drive and PA MC 114 ETC- Drive the enable circuit inputs are named STO1, STO2.

  • Page 47: Digital Inputs

    PA 9000 ETC Drive Micro Technical Data 4.8 Digital Inputs Table 15: PA MC x04 ETC-Drive IN0, IN1, IN2/LSP, IN3/LSN, IN4/Enable Property Value Unit TTL / CMOS / LVTTL (3.3V) / Open-col- Mode compliance lector / NPN / 24V outputs...
  • Page 48 PA 9000 ETC Drive Micro Technical Data IN0, IN1, IN2/LSP, IN3/LSN, IN5, IN6 Property Value Unit Minimum pulse width ESD protection Human body model min. +/-2 IN0, IN1, IN2/LSP, IN3/LSN, IN5, IN6 Property Value Unit NPN / Open-col- Mode compliance...
  • Page 49 PA 9000 ETC Drive Micro Technical Data IN0, IN1, IN2/LSP, IN3/LSN Property Value Unit Input frequency 0 - 150 Minimum pulse width ESD protection Human body model min. +/-2 IN0, IN1, IN2/LSP, IN3/LSN Property Value Unit Mode compliance Default state...
  • Page 50 PA 9000 ETC Drive Micro Technical Data IN0, IN1, IN2/LSP, IN3/LSN Property Value Unit Minimum pulse width ESD protection Human body model min. +/-2 IN0, IN1, IN2/LSP, IN3/LSN Property Value Unit Mode compliance Default state Input floating (wiring disconnected) Logic HIGH Logic LOW -10 - 2.2...

  • Page 51: Digital Outputs

    PA 9000 ETC Drive Micro Technical Data 4.9 Digital Outputs Table 19: PA MC x04 ETC-Drive OUT0, OUT1, OUT2/Error, OUT3/ Ready Property Value Unit All outputs (OUT0, OUT1, OUT2/Error, OUT3/ TTL / CMOS / Open- Ready) collector / NPN 24V...
  • Page 52 PA 9000 ETC Drive Micro Technical Data Table 20: PA MC 106 ETC-Drive OUT0, OUT1, OUT2/Error, OUT3/ Ready, OUT4 Property Value Unit All outputs (OUT0, OUT1, OUT2/Error, OUT3/ TTL / Open-col- Mode compliance Ready, OUT4) lector / NPN 24V Not supplied (+V...
  • Page 53 PA 9000 ETC Drive Micro Technical Data OUT0, OUT1, OUT2/Error, OUT3/Ready Property Value Unit OUT2/Error, OUT3/ Logic LOW Ready OUT0, OUT1, OUT2/ Logic HIGH Error Normal operation OUT3/Ready Logic LOW Logic LOW; output current = 0.5A OUT2/Error, OUT3/ 3 (min. 2.9 / max. 3.3) V Logic HIGH;...
  • Page 54 PA 9000 ETC Drive Micro Technical Data OUT0, OUT1, OUT2/Error, OUT3/Ready Property Value Unit OUT3/Ready Logic LOW Logic LOW; output current = 0.5A OUT2/Error, OUT3/ 3 (min. 2.9 / max. 3.3) V Logic HIGH; output Ready current = 0, no load OUT0, OUT1 4.5 (min.

  • Page 55: Digital Hall Inputs (Hall1, Hall2, Hall3)

    PA 9000 ETC Drive Micro Technical Data 4.10 Digital Hall Inputs (Hall1, Hall2, Hall3) This table is applied to the – PA MC x04 ETC-Drives – PA MC 106 ETC-Drive – PA MC 107 (BX, BA) ETC-Drive – PA MC 114 (BX, BA) ETC-Drive...

  • Page 56: Encoder Inputs

    PA 9000 ETC Drive Micro Technical Data 4.11 Encoder Inputs Table 23: PA MC x04 ETC-Drive A/A+, A-, B/B+, B-, Z/Z+, Z- Property Value Unit Single-ended mode Leave negative inputs disconnected TTL / CMOS / Open- compliance collector Logic LOW max.
  • Page 57 PA 9000 ETC Drive Micro Technical Data Table 24: PA MC 106 ETC-Drive (Encoder 1) A1/A1+, A1-, B1/B1+, B1-, Z1/Z1+, Z1- Property Value Unit Single-ended mode Leave negative inputs disconnected TTL / CMOS / Open- compliance collector Logic LOW max. 1.6...
  • Page 58 PA 9000 ETC Drive Micro Technical Data Table 25: PA MC 106 ETC-Drive (Encoder 2) A2+/Data+, A2-/Data-, B2+/Clk+, B2-/Clk-, Z2+, Z2- Property Value Unit Differential mode com- TIA/EIA-422-A pliance Hysteresis +/-0.1 (min. +/-0.06 / max. +/-0.2) Input voltage Differential mode -14 - +14 Common-mode range (A+ to GND, etc.)

  • Page 59: Linear Hall Inputs (Lh1, Lh2, Lh3)

    PA 9000 ETC Drive Micro Technical Data 4.12 Linear Hall Inputs (LH1, LH2, LH3) This table is applied to the – PA MC x04 ETC-Drives – PA MC 106 ETC-Drive Property Value Unit Operational range 0.5 - 4.5 (min. 0 / max.

  • Page 60: Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-)

    PA 9000 ETC Drive Micro Technical Data 4.13 Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-) Table 27: PA MC x04 ETC-Drive / PA MC 107 ETC-Drive / PA MC 114 ETC-Drive Property Value Unit Input voltage, differen- Sin+ to Sin-, Cos+ to Cos- 1 (max.

  • Page 61: Analog 0 - 5V Inputs (Ref, Fdbk)

    PA 9000 ETC Drive Micro Technical Data 4.14 Analog 0 - 5V Inputs (REF, FDBK) Table 29: PA MC x04 ETC-Drive Property Value Unit Operational range 0 - 4.95 Input voltage Absolute maximum values, continuous -12 - +18 Absolute maximum, surge (duration£1s) max.
  • Page 62 PA 9000 ETC Drive Micro Technical Data Property Value Unit Integral linearity max. +/-2 Bits Offset error +/-2 (max. +/-10) Bits Gain Error +/-1% (max. +/-3%) % FS Bandwidth (-3dB) Depending on software settings 0 - 1 ESD protection Human body model min.

  • Page 63: Axis Id Inputs (Axisid 0, Axisid 1, Axis Id 2)

    PA 9000 ETC Drive Micro Technical Data 4.15 Axis ID Inputs (AxisID 0, AxisID 1, Axis ID This table is applied to the – PA MC x04 ETC-Drives Table 33: PA MC x04 ETC-Drive Property Value Unit Not connected Strap to GND...

  • Page 64: Ethercatâ

    PA 9000 ETC Drive Micro Technical Data 4.17 EtherCATâ Table 34: PA MC 106 ETC-Drive Property Value Unit Standards compliance IEEE802.3, IEC61158 Transmission line According to TIA/EIA-568-5-A Cat.5e.UTP specification EtherCATâ supports MDI/MDI-X auto-cross- TIA/EIA-568-A or TIA/ J5, J6 pinout over...
  • Page 65 PA 9000 ETC Drive Micro Technical Data Property Value Unit Hardware: by DIP switch 1 - 127 & 255 Node addressing By software, via EasySetup 1 - 255 EtherCATâ uses no MAC address none MAC addressing ESD protection Human body model min.

  • Page 66: Supply Output (+5V)

    PA 9000 ETC Drive Micro Technical Data 4.18 Supply Output (+5V) Table 37: PA MC x04 ETC-Drive Property Value Unit +5V output voltage Current sourced = 250mA 5 (min. 4.8 / max. 5.2) V +5V output current 350 (min. 250)

  • Page 67: Graphical Presentation

    PA 9000 ETC Drive Micro Technical Data 4.19 Graphical presentation These graphical presentations are only available at the versions PA MC x04 ETC-Drives. Fig. 17: De-rating with ambient temperature (PA MC 304 ETC- Drive) Fig. 18: De-rating with altitude (PA MC 304 ETC-Drive)
  • Page 68 PA 9000 ETC Drive Micro Technical Data Fig. 19: Current De-rating with PWM frequency (PA MC 304 ETC- Drive) Fig. 20: Over-current diagram (PA MC 304 ETC-Drive) 21.02.2017 | 68...
  • Page 69 PA 9000 ETC Drive Micro Technical Data Fig. 21: Output Voltage De-rating with PWM frequency Fig. 22: De-rating with ambient temperature (PA MC 504 ETC- Drive) 21.02.2017 | 69...
  • Page 70 PA 9000 ETC Drive Micro Technical Data Fig. 23: De-rating with altitude (PA MC 504 ETC-Drive) Fig. 24: Current De-rating with PWM frequency (PA MC 504 ETC- Drive) 21.02.2017 | 70...

  • Page 71: Conformance With European Directives And Ul-Standards

    PA 9000 ETC Drive Micro Technical Data Fig. 25: Over-current diagram (PA MC 504 ETC-Drive) CAUTION! For PWM frequencies less than 20 kHz correlate the PWM frequenc with the motor parameter in order to avoid possible motor damage. 4.20 Conformance with European directives...

  • Page 72: Installation Guidelines

    PA 9000 ETC Drive Micro Technical Data CE-Conformance The conformance with the EC-Directive on EMC (2014/30/EC) and the Low Voltage Directive (2006/95/EC) is mandatory for the supply of servo drives within the European Community. The harmonized standard DIN-EN 61800-5-1 (Adjustable speed...
  • Page 73 PA 9000 ETC Drive Micro Technical Data Fixing of the cable shield Data cables and analog cables must be laid separately from each other. The cable shield has to be laid extensively on a protected ground conductor rail directly after the cabinet entry and the fix- ation of the shield with cable clamps.
  • Page 74 PA 9000 ETC Drive Micro Technical Data Shielding Of Conductors Electrical, magnetic and electromagnetic interference fields are weakened by means of shielding Via the shielding rail, which is connected with low impedance to the rack, interference currents are shorted by the cable shield to the ground.

  • Page 75: Installation

    PA 9000 ETC Drive Micro Installation 5 Installation 5.1 Important instructions General DANGER! If a leakage current sensor is used in the mains supply, in any case a leakage current sensor RCD type B has to be used. There is a risk, if a RCD type A or AC will be used.

  • Page 76: Pa Mc X04 Etc-Drive

    PA 9000 ETC Drive Micro Installation All alterations of the PA MC ETC-Drive will invalidate the mate- rial warranty, except setting the software functions by param- eter. At start-up of the PA MC ETC-Drive, check the setting of the PA MC ETC-Drive peak current. Especially smaller motors will be damaged very quickly if the setting of the PA MC ETC-Drive is too high (e.g.
  • Page 77 PA 9000 ETC Drive Micro Installation Table 41: Location of the motor and feedback connectors Drive Axis 1 Axis 2 Axis 3 type Cable Motor Feed- Motor Feed- Motor Feed- back back back Connectors For Axis 1, 3, 5 Fig. 27: Connectors for axis 1, 3 and 5...
  • Page 78 PA 9000 ETC Drive Micro Installation Pin Assignment Fig. 29: Feedback connector Table 42: Feedback Connector Pins (see Fig. 29) Function Pin 1 Pin 2 Pin 3 not connected Pin 4 Pin 5 Pin 6 A/A+ Pin 7 Pin 8...
  • Page 79 PA 9000 ETC Drive Micro Installation Fig. 30: Motor connector Table 43: Motor Connector Pins (see Fig. 30) Function Pin 1 A/A+ Pin 2 C/B+ Pin 3 Hall 1 Pin 4 Hall 2 Pin 5 Hall 3 Pin 6 B/A+...
  • Page 80 PA 9000 ETC Drive Micro Installation Pin Assignment Fig. 31: IO connector Table 44: IO Connector Pins (see Fig. 31) Function Pin 1 Pin 2 Pin 3 Pin 4 IN4/ENABLE Pin 5 IN3/LSN Pin 6 OUT2/Error Pin 7 +VLOG Pin 8...

  • Page 81: Mechanical Construction And Mounting

    PA 9000 ETC Drive Micro Installation 5.2.2 Mechanical construction and mounting Overview The mechanical dimensions of the servo drives are shown in Fig. 33. Fig. 33: Dimension Sheet 21.02.2017 | 81...

  • Page 82: Connector Properties

    PA 9000 ETC Drive Micro Installation Cable Ducts The cable ducts below and above the ETC-drive must have the distance as shown in Fig. 34. This is necessary to get enough air through the heat sink. Fig. 34: Cable ducts...

  • Page 83: External Fusing

    PA 9000 ETC Drive Micro Installation Connector Type Wire size Max. screw torque Phoenix MSTB 0.3 Nm 1 - 2.5 mm 2.5 HC/3-ST (2.25 inch lb) (14 - 16 AWG) 1.3 Nm 1 - 4 mm Phoenix PC4/8 (12 inch lb)

  • Page 84: Linear Feedback Types

    PA 9000 ETC Drive Micro Installation 5.3 Linear Feedback Types Direct drive motors are always combined with linear feedback sys- tems. Available are optical or magnetic linear encoders in various resolu- tions. Normally they have no parameter channel. That means, that these encoders are incremental and not absolute.

  • Page 85: Switchgear Cabinet Assembly

    PA 9000 ETC Drive Micro Installation 5.4 Switchgear cabinet assembly Wire Sizing According to DIN-EN 60204-1 the following data is recommended Ä Table on page 85): Signal Cable rating DC mains input 300 V, 105°C 10x0.5 mm (AWG 20) CAB PS MC 1...
  • Page 86 PA 9000 ETC Drive Micro Installation – CAB I/O MC 3 (I/O cable for MC107, MC114, 2.5m) – CAB STO MC 1 (STO cable for MC106, MC107, MC114, 2.5m) 21.02.2017 | 86...
  • Page 87 PA 9000 ETC Drive Micro Installation Cable Bending Radius Table 47: Overview PA Product Key Min. Bending No of cycles at r = Radius 0.3m CAB SER MC 1 90mm 1 000 000 CAB SER MC 2 90mm 1 000 000...
  • Page 88 PA 9000 ETC Drive Micro Installation The connection, e.g. the fixation point of the cable on each side of the cable chain should be at least 30 x cable diameter from the bending point of the chain. Stress on the fixation point has to be avoided.
  • Page 89 PA 9000 ETC Drive Micro Installation Usage Of Cooling Units The servo drive works up to 45°C (113°F) ambient temperature (55°C (131°F) with power reduction). This means, there could be a need of a cooling unit. In principle, the usage of a cooling unit can and will produce condensation water.
  • Page 90 PA 9000 ETC Drive Micro Installation Especially at installation or service when the machine is run- ning with open switchgear cabinet doors, make sure, that the temperature of the electronic devices are not cooler than the switchgear cabinet air. This will generate dewing in the elec- tronic devices.

  • Page 91: Interface

    PA 9000 ETC Drive Micro Interface 6 Interface 6.1 PA MC x04 ETC-Drive 6.1.1 24V Digital I/O Connection Fig. 39: 24V Digital I/O connection Connect the external load to the external supply +V using the 24V outputs. The maximum sink current is 0.5A continuous, up to 1A pulsed for less than 5 seconds.

  • Page 92: Digital I/O Connection

    PA 9000 ETC Drive Micro Interface 6.1.2 5V Digital I/O Connection Fig. 40: 5V Digital I/O connection The inputs are compatible with TTL(5V), LVTTL(3.3V), CMOS and open collector outputs. The outputs are compatible with TTL (5V) inputs. The output loads can be individually and independently con- nected to +5V or to GND.

  • Page 93: Analog Inputs Connection

    PA 9000 ETC Drive Micro Interface 6.1.3 Analog Inputs Connection 0 - 5V Input Range Fig. 41: Analog inputs connection Default input range for analog inputs is 0-5V for REF and FBDK. For a +/-10V range, see Fig. 42. +/- 10V To 0-5V Input Range Adapter Fig.

  • Page 94: Motor Connections

    PA 9000 ETC Drive Micro Interface Recommendation For Wiring If the analogue signal source is single-ended, use a 2-wire twisted shielded cable as follows: First wire connects the live signal to the drive input. Second wire connects the source ground to the drive ground.
  • Page 95 PA 9000 ETC Drive Micro Interface 2-phase Step Motor Connection Fig. 44: 2-phase Step motor connection Fig. 45: 2-phase step motor connection, two coils per phase 21.02.2017 | 95...
  • Page 96 PA 9000 ETC Drive Micro Interface 3-Phase Step Motor Connection Fig. 46: 3-Phase Step Motor connection DC Motor Connection Fig. 47: DC Motor connection 21.02.2017 | 96...

  • Page 97: Feedback Connections

    PA 9000 ETC Drive Micro Interface Recommendations For Motor Avoid running the motor wires in parallel with other wires for a Wiring distance longer than 2 meters. If this situation cannot be avoided, use a shielded cable for the motor wires. Connect the cable shield to the PA MC x04 ETC-Drive GND pin.
  • Page 98 PA 9000 ETC Drive Micro Interface Differential Incremental Encoder Connection Fig. 49: Differential incremental encoder connection W (0.25W) terminators are required for long encoder cables, or noisy environments. Digital Hall Connection Fig. 50: Digital Hall connection 21.02.2017 | 98...
  • Page 99 PA 9000 ETC Drive Micro Interface Linear Hall Connection Fig. 51: Linear Hall connection Sine-Cosine Analog Encoder Con- nection Fig. 52: Sine-Cosine analogue encoder connection 21.02.2017 | 99...

  • Page 100: Power Supply Connection

    PA 9000 ETC Drive Micro Interface Recommendations For Wiring Always connect both positive and negative signals when the position sensor is differential and provides them. Use one twisted pair for each differential group of signals as follows: – A+/Sin+ with A-/Sin-/LH1 –...
  • Page 101 PA 9000 ETC Drive Micro Interface Recommendations For Supply Always provide a nearby capacitor on the motor supply lines. Wiring The capacitor should be located within 10cm of the PA MC x04 ETC-Drive edge connector, max. 20cm. The minimum recom- mended capacitance is 220mF, always rated at the appropriate voltage.
  • Page 102 PA 9000 ETC Drive Micro Interface Recommendations To Limit Over- During abrupt motion brakes or reversals the regenerative energy voltage During Braking is injected into the motor power supply. This may cause an increase of the motor supply voltage (depending on the power supply characteristics).
  • Page 103 PA 9000 ETC Drive Micro Interface Option 2: Connect a brake resistor RBR between phase BR/B- (pins A25-A28) and ground (pins A23+A24+B23+B24), and activate the software option of dynamic braking. This option will not be available if the drive is used with a step motor.
  • Page 104 PA 9000 ETC Drive Micro Interface ð where t is the time interval between 2 brakes in case CYCLE of repetitive moves. to be rated for an average power P and a peak power PEAK Remarks the braking power PBR must be reduced by increasing either t (the time to decelerate) or C (the external capacitor on the motor supply).

  • Page 105: Serial Rs-232 Connection

    PA 9000 ETC Drive Micro Interface 6.1.7 Serial RS-232 connection Fig. 54: Serial RS-232 connection Recommendation For Wiring If you build the serial cable, you can use a 3-wire shielded cable with shield connected to both ends. Do not use the shield as GND.
  • Page 106 PA 9000 ETC Drive Micro Interface 21.02.2017 | 106...

  • Page 107: Transport, Packaging, Storage And Disposal

    PA 9000 ETC Drive Micro Transport, packaging, storage and disposal 7 Transport, packaging, storage and disposal 7.1 Transport Inspection Check the delivery immediately on receipt for completeness and transport damage. Record the extent of transport damage in the transport documents or on the delivery note of the forwarding agent.

  • Page 108: Packaging

    PA 9000 ETC Drive Micro Transport, packaging, storage and disposal Transport Conditions Property Value Unit Temperatures -25 - +70 °C -13 - +158 °F £ 95 % Humidity (non condensing) Maximum rate of change 20 K/h Additional requirements Packages may be marked with notes for storage, which may exceed the requirements mentioned here.

  • Page 109: Storage

    PA 9000 ETC Drive Micro Transport, packaging, storage and disposal 7.3 Storage Storage Of Packages Store packages under the following conditions: Do not store outdoors. Store in a dry and dust-free environment. Do not subject to aggressive media. Protect against direct sunlight.

  • Page 110: Disposal

    PA 9000 ETC Drive Micro Transport, packaging, storage and disposal Table 48: Storage Duration < 1 year > 1 year Without restriction. Capacitors must be re-formed before operating the ETC drive. To re-form, remove all electrical connections and supply the...

  • Page 111: Maintenance

    Personnel Some maintenance tasks can only be executed by trained qualified personnel, or only by Power Automation. In these cases this is separately indicated in the description of the specific maintenance tasks. All work on the electrical equipment shall only be executed by a qualified electrician.
  • Page 112 PA 9000 ETC Drive Micro Maintenance Schedule The ETC drive does not require any maintenance. To open the enclosure invalidates the material war- ranty. Interval Maintenance work Personnel If a ETC drive has to be Switch off the main switch of the switchgear cabinet and...

  • Page 113: Measures After Maintenance

    PA 9000 ETC Drive Micro Maintenance Interval Maintenance work Personnel Unplug respective cables and re-plug them afterwards. Check whether the housing of the ETC drive is free of dirt and Instructed dust. person Use a sheet of paper with Isopropanol or similar cleaning agent to clean the dirty housing.
  • Page 114 PA 9000 ETC Drive Micro Maintenance 21.02.2017 | 114...

  • Page 115: Troubleshooting

    Observe the personnel requirements for repairs specified in the troubleshooting chart. If in doubt, contact Power Automation for help or support by an authorized service technician. Ensure that the power supply has been disconnected.
  • Page 116 PA 9000 ETC Drive Micro Troubleshooting In Case Of Faults The following general rules apply: Personnel: Qualified personnel Protective equipment: Ground strap ESD safety shoes ESD safety pad ESD clothing Protective glasses Ear protection Antistatic gloves In the event of faults that pose immediate danger to man or machine, activate the emergency shutoff function immedi- ately.

  • Page 117: Malfunction Indicators

    PA 9000 ETC Drive Micro Troubleshooting 9.2 Malfunction indicators Overview The following components indicate malfunctions or improper con- figuration of the ETC-Drives Micro. Faults and warnings can be detected by LED and bus system. The PA ETC-Drive Micro has two LEDs which display the status of the Ä...
  • Page 118 PA 9000 ETC Drive Micro Troubleshooting Malfunction Of The Drive Malfunction of the Cause Remedy drive I-FPOS shows dec- Feedback system is Connect feedback rementing values not connected cor- system according to when the motor rectly. drawing (see page rotates clockwise 42).

  • Page 119: Dismounting And Decommissioning

    Decommissioning Electronic components are considered special waste. They must be properly disposed of. Power Automation will accept the ETC drive to properly dispose of its components upon decommissioning. To return the ETC drive follow the instructions Ä Chapter 11.3 “Return policy and proce- given in dure”...
  • Page 120 PA 9000 ETC Drive Micro Dismounting and decommissioning 21.02.2017 | 120...

  • Page 121: Service And Return Process

    CNC system to your network for world-wide-web access. Power Automation provides a remote control software which allows our service staff to log into your CNC. This provides all the informa- tion available on the machine. They can check all the data like the PLC program, machine parameters, or the NC programs directly on the real system under real conditions.

  • Page 122: Service Addresses

    PA 9000 ETC Drive Micro Service and return process 11.1.1 Service addresses Service Addresses Power Automation GmbH (Headquarters) Gottlieb-Daimler-Strasse 17/2 D-74385 Pleidelsheim Tel: +49-7144-899-0 Fax: +49-7144-899-299 service@powerautomation.com Power Automation America, Inc. 8601 Jameel Road, Suite 140 Houston, Texas 77040 USA...

  • Page 123: Spare Parts

    Due to the high quality of our products we can assure you that you will not need this service often. Spare parts are often urgent so Power Automation provides the relevant spare parts at the local service centers for immediate dispatch.

  • Page 124: Return Policy And Procedure

    Before the repair starts we need a repair order from you, if the material warranty is extinguished. Acquiring RMA Number Contact Power Automation to receive an RMA form in Excel Ä “RMA Form” on page 125 format. Open the 'RMA Process' form provided by Power Automa- tion.
  • Page 125 PA 9000 ETC Drive Micro Service and return process RMA Form Fig. 55: RMA Form 21.02.2017 | 125...

  • Page 126: Training

    Service and return process Return Pack the goods properly. Controls must be packed in original or equivalent packaging. If the packaging is not proper, Power Automation will charge a packaging flat rate. NOTICE! Damages due to inadequate packaging Inadequate packaging may result in dam- ages to the control unit.

  • Page 127: Ec Declaration Of Conformity

    PA 9000 ETC Drive Micro EC Declaration of Conformity 12 EC Declaration of Conformity Fig. 56: EC-Declaration of Conformity 21.02.2017 | 127...
  • Page 128 PA 9000 ETC Drive Micro EC Declaration of Conformity 21.02.2017 | 128...

  • Page 129: Proof Of Change

    PA 9000 ETC Drive Micro Proof of change 13 Proof of change Proof Of Change Version Change Date Original Version 07/05/2016 Chapter 12 (EC-Declaration of 02/21/2017 Conformity) new included 21.02.2017 | 129...
  • Page 130 PA 9000 ETC Drive Micro Proof of change 21.02.2017 | 130...

  • Page 131: Index

    PA 9000 ETC Drive Micro Index 14 Index EC Declaration of Conformity ....127 1, 2, 3 ... Electrician ......14 +/- 10V to 0-5V Input range adapter .
  • Page 132 PA 9000 ETC Drive Micro Index Motor connections ......94 Supply Output ......66 Motor Outputs .

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