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Beckhoff AX2070 Assembly, Installation, Setup

Digital servo amplifier
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Digital Servo Amplifier
AX2040/2070
Assembly, Installation, Setup
Keep all product manuals as a product component
during the life span of the servo amplifier.
Pass all product manuals to future
users / owners of the servo amplifier.
Edition 06/2007

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  • Page 1 Digital Servo Amplifier AX2040/2070 Assembly, Installation, Setup Keep all product manuals as a product component during the life span of the servo amplifier. Pass all product manuals to future users / owners of the servo amplifier. Edition 06/2007...
  • Page 2 Printed in the Federal Republic of Germany All rights reserved. No part of this work may be reproduced in any form (by printing, photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of BECKHOFF.

  • Page 3: Table Of Contents

    BECKHOFF Contents 06/2007 Page General About this manual ............... 7 Hints for the online edition (PDF format) .
  • Page 4 BECKHOFF Contents 06/2007 Page Mechanical Installation Important notes ............... . 33 Guide to mechanical installation.
  • Page 5 BECKHOFF Contents 06/2007 Page Setup Important notes ............... . 75 Setup software .
  • Page 6 BECKHOFF Contents 06/2007 Page Expansion Cards 10.1 Guide to installation of expansion cards............95 10.2...

  • Page 7: General

    BECKHOFF General 06/2007 General About this manual This manual describes the digital servo amplifiers of the AX2040/2070 series (standard version). A more detailed description of the expansion cards which are currently available and the digital connection to automation systems can be found on the accompanying CD-ROM in Acrobat-Reader format (system requirements: WINDOWS with Internet browser, Acrobat Reader) in several language versions.

  • Page 8: Abbreviations Used

    BECKHOFF General 06/2007 Abbreviations used The abbreviations used in this manual are explained in the table below. Abbreviation Meaning AGND Analog ground Restart Lock, option BTB/RTO Ready to operate Fieldbus (CANopen) Communité Européenne (EC) Clock signal Serial interface for a PC-AT...

  • Page 9: Safety Instructions

    BECKHOFF Safety 06/2007 Safety Safety Instructions Only properly qualified personnel are permitted to perform activities such as trans- port, installation, setup and maintenance. Properly qualified persons are those who are familiar with the transport, assembly, installation, setup and operation of the pro- duct, and who have the appropriate qualifications for their job.

  • Page 10: Use As Directed

    NEC 60°C or 75°C column for AWG size). We only guarantee the conformance of the servo amplifiers with the standards for industrial areas (page 11), if the components are delivered by BECKHOFF. Consider the specifications on page 70 when you use the personnel safe restart lock -AS-.

  • Page 11: European Directives And Standards

    BECKHOFF Standards 06/2007 Standards European directives and standards Servo amplifiers are components that are intended to be incorporated into electrical plant and machines for industrial use. When the servo amplifiers are built into machines or plant, the amplifier must not be used until it has been established that the machine or equipment fulfills the require- ments of the EC Machinery Directive (98/37/EC), the EC EMC Directive (89/336/EEC) and the EC Low Voltage Directive (73/23/EEC.)

  • Page 12: Approvals

    BECKHOFF Standards 06/2007 Approvals 3.4.1 CE - conformance Conformance with the EC EMC Directive (89/336/EEC) and the Low Voltage Directive (73/23/EEC) is mandatory for the supply of servo amplifiers within the European Community. Product standard EN 61800-3 is applied to ensure conformance with the EMC Directive. The Declaration of Confor- mity form can be found on our website (download area).

  • Page 13: Handling

    Disposal In accordance to the WEEE-2002/96/EG-Guidelines we take old devices and accessories back for professional disposal, if the transport costs are taken over by the sender. Send the devices to: Beckhoff Automation GmbH Eiserstr. 5 D-33415 Verl AX2040/2070 Product Manual...

  • Page 14: Package Supplied

    BECKHOFF Package 06/2007 Package Package supplied When you order a AX2040/2070 series amplifier, you will receive: — AX2040/2070 — mating connectors X3, X4 The mating SubD connectors are not part of the package! — Online documentation on CD-ROM — Setup software DRIVE.EXE on CD-ROM Accessories: (must be ordered separately) —...

  • Page 15: Part Number Scheme

    BECKHOFF Package 06/2007 Part number scheme AX20 4 0 0 1 - 0000 Family Expansions AX20 AX2000 0000 no expansion B110 ETHERCAT Current rating B200 Lightbus 40A rms B310 PROFIBUS 70A rms B520 DeviceNet B750 SERCOS B900 Ethernet Voltage rating IO01 I/O-Expansion 230...480V...

  • Page 16: Technical Description

    BECKHOFF Technical description 06/2007 Technical description The digital servo amplifiers of the series AX2040/2070 Standard version 2 current ratings (40 A, 70 A) +10% wide range of rated voltage (3x208V to 3x480V –10% shield connection directly at the servo amplifier...
  • Page 17 BECKHOFF Technical description 06/2007 Operation and parameter setting With our user-friendly software for setup through the serial interface of a PC Direct operation by means of two keys on the servo amplifier and a 3-character LED display for status display in case of no PC available...

  • Page 18: Technical Data

    BECKHOFF Technical description 06/2007 Technical data Rated data AX2040 AX2070 3 x 230V-10% ... 480V+10%, 50 Hz Rated-supply voltage (grounded system) 3 x 208V-10% ... 480V+10%, 60 Hz Rated installed load for S1 operation Rated DC bus link voltage 290...675 Rated output current (rms value, ±...

  • Page 19: Recommended Torques

    Auxiliary supply 24V 4 AT Regen resistor electronic External fusing Fusible cutouts or similar AX2040 AX2070 (Fuse UL time delay) AC supply N1/2/3 Type of branch circuit fuses: 50 AT (FRx-50) * 80 AT (FRx-80) * Class RK5, 480V min...

  • Page 20: Conductor Cross-Sections

    BECKHOFF Technical description 06/2007 6.2.4 Conductor cross-sections Observe the technical data for connection cables ð p. 41. Following EN 60204 (for AWG: table 310-16 of the NEC 60°C or 75°C column), we recommend for single-axis systems: 25 mm² (2 awg), shielded between filter and amplifier, 600V,105°C AC connection (221°F)

  • Page 21: Control For Motor Holding Brake

    BECKHOFF Technical description 06/2007 Control for motor holding brake A 24 V / max. 3 A holding brake in the motor can be controlled directly by the servo amplifier. Check voltage drop, measure the voltage at brake input and check brake function (brake and no brake).

  • Page 22: Regen Circuit

    The RTO (BTB) contact of this amplifier (terminals X3/2,3) will be opened at the same time (ð p. 66). Regen circuit: technical data Supply voltage Rated data AX2040 AX2070 External regen resistor Upper switch-on level of regen circuit 400 - 430 Switch-off level of regen circuit...

  • Page 23: Switch-On And Switch-Off Behavior

    BECKHOFF Technical description 06/2007 Switch-on and switch-off behavior This chapter describes the switch-on and switch-off behavior of the AX2040/2070 and the steps required to achieve operational stopping or emergency stop behavior that complies with standards. The servo amplifier’s 24 V supply must remain constant. The ASCII commands ACTFAULT (error response) and STOPMODE (ENABLE signal response) dictate how the drive will behave.

  • Page 24: Behavior In Standard Operation

    BECKHOFF Technical description 06/2007 6.7.1 Behavior in standard operation The behavior of the servo amplifier always depends on the current setting of a number of different parameters (e.g., ACTFAULT, VBUSMIN, VELO, STOPMODE, etc.; see online help). The diagram below illustrates the correct functional sequence for switching the servo amplifier on and off.

  • Page 25: Behavior In The Event Of An Error (With Standard Setting)

    BECKHOFF Technical description 06/2007 6.7.2 Behavior in the event of an error (with standard setting) The behavior of the servo amplifier always depends on the current setting of a number of different parameters (e.g., ACTFAULT, VBUSMIN, VELO, STOPMODE, etc.; see online help). The diagram...

  • Page 26: Stop/Emergency Stop Function To En 60204

    BECKHOFF Technical description 06/2007 Stop/Emergency Stop Function to EN 60204 With the personnel safe restart lock –AS- (see page 69 onwards) the drive can be secured on standstill (torque-free) using its internal electronics so that even when power is being supplied, the drive shaft is protected against unintentional restart.

  • Page 27: Emergency Stop: Standards

    BECKHOFF Technical description 06/2007 6.8.2 Emergency Stop: Standards The emergency Stop function is used for the fastest possible shut-down of the machine in a dan- gerous situation. The Emergency Stop function can be triggered by the actions of a single person. It must be fully functional and available at all times.

  • Page 28: Implementation Of The Stop Category 0

    BECKHOFF Technical description 06/2007 6.8.3 Implementation of the Stop Category 0 Bringing the motor to a standstill by immediately switching off the amplifier power supply (STOP- MODE & ACTFAULT parameters set to 1). The switching sequence is precisely determined by this circuit in order to avoid undesirable fault messages and servo amplifier failures.

  • Page 29: Implementation Of The Stop Category 1

    BECKHOFF Technical description 06/2007 6.8.4 Implementation of the Stop Category 1 Bringing the motor to a standstill by interrupting the mains supply and using controlled electronic braking (STOPMODE & ACTFAULT parameters set to 1). The 24 V supply for the AX2040/2070 must remain constant.

  • Page 30: Implementation Of The Stop Category 2

    BECKHOFF Technical description 06/2007 6.8.5 Implementation of the Stop Category 2 The machine receives an operational stop (disable) command and brakes the drive using the set braking ramp (STOPMODE & ACTFAULT parameters set to 1). The drive is braked in a controlled manner during the stopping (disabling) procedure. If the speed VEL0 (see sequence diagram in chapter 6.5) is undershot, the holding brake is applied and the...

  • Page 31: Shock-Hazard Protection

    BECKHOFF Technical description 06/2007 Shock-hazard protection 6.9.1 Leakage current Leakage current via the PE conductor results from the combination of equipment and cable leakage currents. The leakage current frequency pattern comprises a number of frequencies, whereby the residual-current circuit breakers definitively evaluate the 50Hz current. For this reason, the leakage current cannot be measured using a conventional multimeter.

  • Page 32: Isolating Transformers

    BECKHOFF Technical description 06/2007 6.9.3 Isolating transformers If protection against indirect contact is absolutely essential despite a higher leakage current, or if an alternative form of shock-hazard protection is sought, the AX2040/2070 can also be operated via an isolating transformer.

  • Page 33: Mechanical Installation

    BECKHOFF Mechanical Installation 06/2007 Mechanical Installation Important notes Protect the servo amplifier from impermissible stresses. In particular, do not let any compo- nents become bent or any insulation distances altered during transport and handling. Avoid contact with electronic components and contacts.

  • Page 34: Assembly

    BECKHOFF Mechanical Installation 06/2007 Assembly Ask our customer service for information for pass through mounting Material : 4 hexagon socket screws to DIN 912, M6 Tool required : 5 mm Allen key - A.4.038.4/12 AX2040/2070 AX2040/2070 Product Manual...

  • Page 35: Dimensions

    BECKHOFF Mechanical Installation 06/2007 Dimensions AX2040/2070 Product Manual...
  • Page 36 BECKHOFF Mechanical Installation 06/2007 This page has been deliberately left blank. AX2040/2070 Product Manual...

  • Page 37: Electrical Installation

    BECKHOFF Electrical Installation 06/2007 Electrical Installation Important Notes Check the combination of servo amplifier and motor. Compare the rated voltage and current of the units. Carry out the wiring according to the connection diagram on page 39. Make sure that the maximum permissible rated voltage at the terminals L1, L2, L3 or +DC, –DC is not exceeded by more than 10% even in the most unfavourable case...

  • Page 38: Guide To Electrical Installation

    BECKHOFF Electrical Installation 06/2007 Guide to electrical installation The following notes should assist you to carry out the electrical installation in a sensible sequence, without overlooking anything important. Cable selec- Select cables according to EN 60204 (ð p. 20) tion EMC-compliant (EMI) shielding and grounding (ð...

  • Page 39: Wiring

    BECKHOFF Electrical Installation 06/2007 Wiring 8.3.1 Important notes Only professional staff who are qualified in electrical engineering are allowed to install the servo amplifier.The installation procedure is described as an example. A different procedure may be sensible or necessary, depending on the application of the equipment.

  • Page 40: Shielding Connection To The Front Panel

    BECKHOFF Electrical Installation 06/2007 8.3.2 Shielding connection to the front panel Remove the outer covering of the cable and the shielding braid from the cores for the required length. Secure the cores with a cable tie. Remove the outer covering of the...

  • Page 41: Technical Data For Cables

    BECKHOFF Electrical Installation 06/2007 8.3.3 Technical data for cables Further information on the chemical, mechanical and electrical characteristics of the cables can be obtained from out customer service . Observe the restrictions in the chapter "Conductor cross-sections" on page 20.

  • Page 42: Components Of A Servo System

    BECKHOFF Electrical Installation 06/2007 Components of a servo system AX2040/2070 Control / PLC restart lock -AS- 24V-power supply Mains filter Fuses Mains choke Regen resistor Drive contactor Fuses Motor Terminals Cables drawn bold are shielded. Electrical ground is drawn with dash-dotted lines.

  • Page 43: Block Diagram

    BECKHOFF Electrical Installation 06/2007 Block diagram The block diagram below is just an overview. AX2040/2070 Product Manual...

  • Page 44: Pin Assignments

    BECKHOFF Electrical Installation 06/2007 Pin assignments AX2040/2070 Product Manual...

  • Page 45: Connection Diagram (Overview)

    BECKHOFF Electrical Installation 06/2007 Connection diagram (overview) Reference Safety Instructions (ð p.9) and AX2040/2070 Use As Directed (ð p.10) ! ð p.63 ð p.51ff ð p.64 ð p.50 ð p.48 ð p.65 ð p.66 ð p.47 ð p.48 ð p.47 ð...

  • Page 46: Power Supply

    BECKHOFF Electrical Installation 06/2007 Power supply 8.8.1 Connection to various mains supply networks This page illustrates all the possible connection variations for different electrical supply networks. An isolating transformer is always required for 400...480V mains networks without earth(ground) and for networks with asymmetrical earth(ground).

  • Page 47: Mains Supply Connection (X0)

    BECKHOFF Electrical Installation 06/2007 8.8.2 Mains supply connection (X0) — EMI filter and mains choke (required) provided by the user Fusing (e.g. fusible cut-outs) provided by the user ð p. 19 — AX2040/2070 8.8.3 24V auxiliary supply (X4) — Electrically isolated, external 24VDC supply, e.g. with insulating transformer Required current rating ð...

  • Page 48: Motor Connection With Brake (X0, X4)

    BECKHOFF Electrical Installation 06/2007 Motor connection with brake (X0, X4) Cable cross section see motor documentation. AX2040/2070 8.10 External regen resistor (X0) Fusing and regen resistor provided by the user AX2040/2070 AX2040/2070 Product Manual...

  • Page 49: Feedback

    The table below provides an overview of the supported feedback types, their corresponding para- meters and a reference to the relevant connection diagram in each case. On each of these, the pin assignment shown on the encoder side relates to the BECKHOFF motors. Wiring...

  • Page 50: Resolver (X2)

    BECKHOFF Electrical Installation 06/2007 8.11.1 Resolver (X2) Connection of a Resolver (2 to 36-poles) as a feedback system. The thermostat contact in the motor is connected via the resolver cable to the AX20 and evaluated there. If cable lengths of more than 100 m are planned, please contact our customer service .

  • Page 51: Sine Encoder With Biss (X1)

    BECKHOFF Electrical Installation 06/2007 8.11.2 Sine encoder with BISS (X1) Wiring of a single-turn or multi-turn sine-cosine encoder with BISS interface as a feedback system (firmware revision from 6.68). During start-up of the servo amplifier the parameters stored in the encoder eeprom are uploaded, after that phase only the sine/cosine signals are used.

  • Page 52: Sine Encoder With Endat 2.1 Or Hiperface (X1)

    BECKHOFF Electrical Installation 06/2007 8.11.3 Sine Encoder with EnDat 2.1 or HIPERFACE (X1) Connection of a single-turn or multiturn sine-cosine encoder. Preferred types are ECN1313 and EQN1325. The thermostat contact in the motor is connected via the resolver cable to the AX20 and evaluated there.

  • Page 53: Sine Encoder Without Data Channel (X1)

    BECKHOFF Electrical Installation 06/2007 8.11.4 Sine Encoder without data channel (X1) Connection of a sine-cosine encoder without data channel as feedback unit. Every time the 24V auxiliary voltage is switched on, the amplifier needs start-up information for the position controller (parameter value MPHASE).

  • Page 54: Incremental Or Sine Encoder With Hall Sensors (X1)

    BECKHOFF Electrical Installation 06/2007 8.11.5 Incremental or sine encoder with hall sensors (X1) Feedback devices (incremental or sine-cosine), which don't deliver an absolute information for com- mutation, can be used as complete feedback system combined with an additional Hall encoder. All signals are connected to X1.

  • Page 55: Incremental Encoder (X5)

    BECKHOFF Electrical Installation 06/2007 8.11.6 Incremental Encoder (X5) An incremental encoder can be used as standard motor feedback. Every time the 24V auxiliary voltage is switched on, the amplifier needs start-up information for the position controller (parameter value MPHASE). Depending on the feedback type either wake&shake is executed or the value for MPHASE is read out of the amplifier's EEPROM.

  • Page 56: Electronic Gearing, Master-Slave Operation

    BECKHOFF Electrical Installation 06/2007 8.12 Electronic Gearing, Master-slave operation In the case of the “electronic gearing” functionality (see setup software and description of GEAR- MODE parameter), the servo amplifier is controlled by a secondary feedback device as a slave. It is possible to set up master/slave systems, use an external encoder as a setpoint encoder or con- nect the amplifier to a stepper motor control.

  • Page 57: Connection To A Ax20 Master, 5 V Signal Level (X5)

    BECKHOFF Electrical Installation 06/2007 8.12.1 Connection to a AX20 master, 5 V signal level (X5) You can link several AX20 amplifiers together in master-slave operation. Up to 16 slave amplifiers can be controlled by the master via the encoder output. The connector X5 must be used.

  • Page 58: Connection To A Sine-Cosine Encoder Master (X1)

    BECKHOFF Electrical Installation 06/2007 8.12.3 Connection to a sine-cosine encoder master (X1) You can operate the AX2040/2070 as a slave, mastered by a sine-cosine encoder (master-slave operation). The connector X1 must be used. If cable lengths of more than 25 m are planned, please consult our customer service.

  • Page 59: Connection To A Ssi Encoder (X5)

    BECKHOFF Electrical Installation 06/2007 8.12.4 Connection to a SSI encoder (X5) You can set up the AX2040/2070 as a slave following a synchronous serial absolute-encoder (master-slave operation). This application uses the SubD connector X5. If lead lengths of more than 50 m are planned and for questions concerning the power supply of the encoder, please consult our customer service.

  • Page 60: Step/Direction With 5 V Signal Level (X5)

    BECKHOFF Electrical Installation 06/2007 8.12.5.1 Step/Direction with 5 V signal level (X5) This interface can be used to connect the servo amplifier to a stepper-motor controller with 5 V signal level. The connector X5 must be used. Frequency limit: 1.5 MHz...

  • Page 61: Encoder Emulations

    BECKHOFF Electrical Installation 06/2007 8.13 Encoder emulations 8.13.1 Incremental encoder output - A quad B (X5) The incremental-encoder interface is part of the package supplied. Select the encoder function ROD (screen page “Encoder”). In the servo amplifier, the position of the motor shaft is calculated from the cyclic-absolute signals of the resolver or encoder.

  • Page 62: Ssi Output (X5)

    BECKHOFF Electrical Installation 06/2007 8.13.2 SSI output (X5) The SSI interface (synchronous serial absolute-encoder simulation) is part of the delivered package. Select the encoder function SSI (screen page “Encoder”). In the servo amplifier, the posi- tion of the motor shaft is calculated from the cyclically absolute signals from the resolver or encoder.

  • Page 63: Digital And Analog Inputs And Outputs

    BECKHOFF Electrical Installation 06/2007 8.14 Digital and analog inputs and outputs 8.14.1 Analog inputs (X3) The servo amplifier is equipped with two differential inputs for analog setpoints which are programmable. AGND (X3/1) must always be joined to the CNC-GND of the controls as a ground reference.

  • Page 64: Analog Outputs (X3)

    BECKHOFF Electrical Installation 06/2007 8.14.2 Analog outputs (X3) Technical characteristics — Reference ground is analog-GND (AGND, terminal X3/1 and X3/10) — Output resistance : 2.2 kW Output voltage ±10 V — — Resolution : 10 bit. — Update rate 62.5 µs...

  • Page 65: Digital Inputs (X3)

    BECKHOFF Electrical Installation 06/2007 8.14.3 Digital inputs (X3) All digital inputs are electrically isolated through optocouplers. Technical characteristics — Reference ground is Digital-GND (DGND, terminal X3/18) — Inputs at X3 meet PLC standards (IEC 61131-2 Typ 1) — High: 11...30 V / 2...11 mA, Low -3...+5 V / <1 mA —...

  • Page 66: Digital Outputs (X3)

    BECKHOFF Electrical Installation 06/2007 8.14.4 Digital outputs (X3) Technical characteristics — Reference ground is digital-GND (DGND, terminal X3/18) — All digital outputs are floating — DIGITAL-OUT1 and 2: Open-collector, max. 30 VDC, 10 mA BTB/RTO: Relay output, max. 30 VDC or 42 VAC, 0.5 A —...

  • Page 67: Rs232 Interface, Pc Connection (X6)

    BECKHOFF Electrical Installation 06/2007 8.15 RS232 interface, PC connection (X6) The setting of the operating, position control, and motion-block parameters, can be carried out on an ordinary commercial PC. Connect the PC interface (X6) of the servo amplifier while the supply to the equipment is swit- ched off via a normal commercial 3-core null-modem cable to a serial interface on the PC.

  • Page 68: Canopen Interface (X6)

    BECKHOFF Electrical Installation 06/2007 8.16 CANopen interface (X6) The interface for connection to the CAN bus (default 500 kBaud). The integrated profile is based on the communication profile CANopen DS301 and the drive profile DSP402. The following functions are available in connection with the integrated position controller: Jogging with variable speed, reference traverse (zeroing), start motion task, start direct task, digital setpoint provision, data transmission functions and many others.

  • Page 69: Restart Lock -As

    BECKHOFF Electrical Installation 06/2007 8.17 Restart lock -AS- A frequently required application task is the protection of personnel against the restarting of drives. This can not be achieved by an electronic inhibit, but must be implemented with mechanical ele- ments (positively driven relay contacts).

  • Page 70: Use As Directed

    BECKHOFF Electrical Installation 06/2007 8.17.2 Use as directed The restart lock -AS- is exclusively intended to provide safety for personnel, by preventing the res- tart of a system. To achieve this personnel safety, the wiring of the safety circuits must meet the safety requirements of EN60204, EN12100 and EN 954-1..

  • Page 71: Functional Description

    BECKHOFF Electrical Installation 06/2007 8.17.4 Functional description The connector (X10) is mounted on the front panel of the AX2040/2070.The coil connections and a make (n.o.) contact of a safety relay are made available through 4 terminals on this connector. The 24VDC safety relay in the servo amplifier (approved) is controlled externally. All the relay con- tacts have positive action.

  • Page 72: Functional Test

    BECKHOFF Electrical Installation 06/2007 8.17.6 Functional test The functioning of the restart lock must be tested during setup, after every alteration in the wiring of the system, or after exchanging one or more components of the system. Stop all drives, with setpoint 0V, disable drives, mechanically block any suspended loads Activate the restart lock -AS-.

  • Page 73: Application Example Category 1 According To En 954-1

    BECKHOFF Electrical Installation 06/2007 8.17.8 Application example category 1 according to EN 954-1 8.17.8.1 Control circuit 8.17.8.2 Mains supply circuit AX2040/2070 Product Manual...

  • Page 74: Application Example Category 3 According To En 954-1

    BECKHOFF Electrical Installation 06/2007 8.17.9 Application example category 3 according to EN 954-1 Please contact our customer service. AX2040/2070 Product Manual...

  • Page 75: Setup

    BECKHOFF Setup 06/2007 Setup Important notes Only professional personnel with extensive knowledge in the fields of electrical/ drive technology are allowed to setup the servo amplifier. The setup procedure is described as an example. Depending on the application, a different procedure may be sensible or necessary. In multi-axis systems, setup each servo amplifier individually.

  • Page 76: Setup Software

    BECKHOFF Setup 06/2007 Setup software 9.2.1 General This chapter describes the installation of the setup software for the AX2040/2070 digital servo amplifiers. We offer training and familiarisation courses on request. 9.2.1.1 Use as directed The setup software is intended to be used for setting up and storing the operating parameters for the AX2040/2070 series of servo amplifiers.

  • Page 77: Hardware Requirements

    BECKHOFF Setup 06/2007 9.2.1.3 Hardware requirements The PC interface (X6, RS232) of the servo amplifier is connected to the serial interface of the PC by a null-modem cable (not a null-modem link cable !) (ð p. 67). Connect / disconnect the interface cable only when the supply is switched off for both the PC and the servo amplifier.

  • Page 78: Quickstart Guide

    BECKHOFF Setup 06/2007 Quickstart Guide 9.3.1 Preparation 9.3.1.1 Unpacking, Mounting and Wiring the Servo Amplifier 1. Unpack servo amplifier and accessories 2. Observe safety instructions in the manuals 3. Mount the servo amplifier as described in chapter 7.3 4. Wire the servo amplifier as described in chapter 8.3 or apply the minimum wiring for drive testing as described in chapter 9.3.1.3...

  • Page 79: Minimum Wiring For Drive Test

    BECKHOFF Setup 06/2007 9.3.1.3 Minimum Wiring for Drive Test This wiring does not fulfill any requirements to safety or functionality of your application, it just shows the required wiring for drive testing without load. Motor-Feedback Power ON Enable 24V ON...

  • Page 80: Connect

    BECKHOFF Setup 06/2007 9.3.2 Connect Connect the interface cable to a serial interface on your PC and to the serial interface X6 of the servo amplifier. USB to serial converter can be used optionally. Switch on the 24 V power supply for the servo amplifier.

  • Page 81: Important Screen Elements

    BECKHOFF Setup 06/2007 If communication works, parameters are transmitted from the servoamplifier to the computer. Then you see the start screen. Make sure, that the amplifier is disabled (Input HW-Enable con- nector X3 pin 15 must be 0 V or open)! 9.3.3...

  • Page 82: Basic Setup

    BECKHOFF Setup 06/2007 9.3.4 Basic Setup On the start screen click "Basic Setup" button. Regen Resistor: Select "external" regen resistor max.Regen Power: Fill in the power of the connected regen resistor. max. Mains Voltage: Select the nominal mains AC voltage Mains Phase Missing: You can select either warning "n05"...

  • Page 83: Motor (Synchronous)

    BECKHOFF Setup 06/2007 9.3.5 Motor (synchronous) Press function key F12 (SW disable) before changing motor parameters. Motor Type: Select Synchronous Motor. If you use a linear motor or an induction motor, please contact our support department. Number-Name: Click the list to start uploading the motor parameter table, which is stored in the servo amplifier.

  • Page 84: Feedback

    BECKHOFF Setup 06/2007 9.3.6 Feedback Press function key F12 (disable) before chan- ging feedback parameters. Feedback Type: Select the feedback type used. Leave all other fields unchanged. If Software Enable is active, a warning appears. The configuration change cannot be performed.

  • Page 85: Save Parameters And Restart

    BECKHOFF Setup 06/2007 9.3.7 Save Parameters and Restart You are going to finish setup and you have changed several basic parameters. Depending on the parameters you changed, two possible reactions can occur: Configuration parameters changed A warning appears, that you have to restart the amplifier. This is called "coldstart". Click "YES". The parameters are saved to the amplifier's EEPROM automatically and a reset command restarts the amplifier (takes a few seconds).

  • Page 86: Jogging The Motor (Speed Control)

    BECKHOFF Setup 06/2007 9.3.8 Jogging the Motor (Speed Control) Be aware that the actual position of the load permits the subsequent moving operations. The axis could move to the hardware limit-switch or the mechanical stop. Make sure that a jerk or a fast acceleration of the load cannot cause any damage.

  • Page 87: Status

    BECKHOFF Setup 06/2007 9.3.9 Status Actual warnings and errors are listed on the Status screen, which can be accessed on the start screen by clicking the "Status" button. This button monitors the current status of the amplifier and can appear with different text.

  • Page 88: Multi-Axis System

    BECKHOFF Setup 06/2007 Multi-axis system Using a special multilink cable, you can connect up to six servo amplifiers together and to your PC : Cable type -SR6Y- (for 4 amplifiers) or -SR6Y6- (for 6 amplifiers). Add.:01 PC/CAN Add.:02 Add.:03 Add.:04...

  • Page 89: Example Of Connections For A Multi-Axis System

    BECKHOFF Setup 06/2007 9.4.3 Example of connections for a multi-axis system Reference Safety Instructions (ð p.9) and Use As Directed (ð p.10) ! AX2040/2070 AX2040/2070 AX2040/2070 Product Manual...

  • Page 90: Key Operation / Led Display

    BECKHOFF Setup 06/2007 Key operation / LED display In this chapter the two possible operation menus and the use of the keys in the front panel are shown. Normally, the AX2040/2070 only places the standard menu at your disposal. If you want to attend the amplifier via the detailed menu, you must keep the right key pressed while switching on the 24V-supply.

  • Page 91: Standard Menu Structure

    BECKHOFF Setup 06/2007 9.5.3 Standard menu structure see p.88 the entry will be stored automatically, when you exit the input field. 9.5.4 Extended menu structure Keep the right key pressed while switching on the 24V-supply. see p.88 see p.88 AX2040/2070 Product Manual...

  • Page 92: Error Messages

    BECKHOFF Setup 06/2007 Error messages Errors which occur are shown in coded form by an error number in the LED display on the front panel. All error messages result in the BTB/RTO contact being opened, and the output stage of the amplifier being switched off (motor loses all torque).

  • Page 93: Warning Messages

    BECKHOFF Setup 06/2007 Warning messages Faults which occur, but which do not cause a switch-off of the amplifier output stage (BTB/RTO con- tact remains closed), are indicated in the LED display on the front panel by a coded warning number.

  • Page 94: Removing Faults / Warnings

    BECKHOFF Setup 06/2007 Removing faults / warnings Depending on the conditions in your installation, there may be a wide variety of reasons for the fault. In multi-axis systems there may be further hidden causes of a fault. Detailled hints for removal of faults can be found in the Online help chapter "Trouble-Shooting".

  • Page 95: Guide To Installation Of Expansion Cards

    BECKHOFF Expansion Cards 06/2007 Expansion Cards 10.1 Guide to installation of expansion cards Use a suitable screwdriver to unscrew the cover of the option slot. Take care that no small items (such as screws) fall into the open option slot.

  • Page 96: Expansion Card -I/O-14/08

    BECKHOFF Expansion Cards 06/2007 10.2 Expansion card -I/O-14/08- This chapter describes the I/O-expansion card -I/O-14/08-. It only describes the additional features that the expansion card makes available for the AX2040/2070. If you ordered the expansion card together with the servo amplifier, then it will be delivered already inserted into the expansion slot of the servo amplifier and screwed fast.

  • Page 97: Connector Assignments

    BECKHOFF Expansion Cards 06/2007 10.2.5 Connector assignments Connector X11A Terminal Function Description Motion task no., LSB Motion task no., 2 Motion task no., 2 Motion task no., 2 Motion task no., 2 Motion task no., 2 Motion task no., 2 Motion task no., MSB...

  • Page 98: Connection Diagram

    BECKHOFF Expansion Cards 06/2007 10.2.6 Connection diagram AX2040/2070 -I/O-14/08 AGND and DGND (connector X3) must be joined together ! AX2040/2070 Product Manual...

  • Page 99: Expansion Cards -Profibus

    BECKHOFF Expansion Cards 06/2007 10.3 Expansion cards -PROFIBUS- This chapter describes the PROFIBUS expansion card for the AX2040/2070. Information on the range of functions and the software protocol can be found in the manual "Communication profile PROFIBUS DP". The PROFIBUS expansion card has two 9-pin Sub-D sockets wired in parallel.

  • Page 100: Expansion Card -Sercos

    BECKHOFF Expansion Cards 06/2007 10.4 Expansion card -SERCOS- This chapter describes the SERCOS expansion card for AX2040/2070. Information on the range of functions and the software protocol can be found in the manual "IDN Reference Guide SERCOS". 10.4.1 Front view 10.4.2...

  • Page 101: Connection Diagram

    BECKHOFF Expansion Cards 06/2007 10.4.4 Connection diagram Layout of the SERCOS bus system in ring topology, with optical fibre cables (schematic). AGND and DGND (connector X3) must be joined together ! 10.4.5 Modifying the station address The drive address can be set to a value between 0 and 63. With address 0, the drive is assigned as an amplifier in the SERCOS ring.

  • Page 102: Expansion Card -Devicenet

    BECKHOFF Expansion Cards 06/2007 10.5 Expansion card -DEVICENET- This section describes the DeviceNet expansion card for AX2040/2070. Information on the range of functions and the software protocol can be found in our manual “Device- Net Communication Profile”. 10.5.1 Front view 10.5.2...

  • Page 103: Combined Module/Network Status-Led

    BECKHOFF Expansion Cards 06/2007 10.5.4 Combined module/network status-LED Meaning The device is not online. The device has not yet finished the Dup_MAC_ID test. The device is possibly not yet switched on. The device is operating as normal, is online, and the connections have been establis- green hed.

  • Page 104: Bus Cable

    BECKHOFF Expansion Cards 06/2007 10.5.7 Bus cable To meet ISO 898, a bus cable with a characteristic impedance of 120 W should be used. The maxi- mum usable cable length for reliable communication decreases with increasing transmission speed. As a guide, you can use the following values which we have measured, but they are not to be taken as assured limits.

  • Page 105: Expansion Card -Ethercat

    BECKHOFF Expansion Cards 06/2007 10.6 Expansion card -ETHERCAT- This section describes the EtherCat expansion card for AX2040/2070. Information on the range of functions and the software protocol can be found in the EtherCat documentation. This expansion cards enables the servo amplifier to be connected to the EtherCat network via RJ-45 connectors (IN and OUT ports).

  • Page 106: Expansion Module -2Can

    BECKHOFF Expansion Cards 06/2007 10.7 Expansion module -2CAN- Connector X6 of the AX20 is assigned to the signals for the RS232 interface and the CAN interface. It is therefore not the standard pin assignment for these interfaces, and a special cable is required to be able to use both interfaces simultaneously.

  • Page 107: Connector Assignments

    BECKHOFF Expansion Cards 06/2007 10.7.4 Connector assignments RS232 CAN1=CAN2 X6A Pin Signal X6B=X6C Pin Signal CAN-Low CAN-GND CAN-High 10.7.5 Connection diagram AX2040/2070 Product Manual...
  • Page 108 BECKHOFF Expansion Cards 06/2007 This page has been deliberately left blank. AX2040/2070 Product Manual...

  • Page 109: Appendix 11.1 Glossary

    BECKHOFF Appendix 06/2007 Appendix 11.1 Glossary Clock Clock signal Common-mode voltage The maximum amplitude of a disturbance (on both inputs) which a differential input can eliminate CONNECT- modules Modules built into the servo amplifier, with integrated position control, which provide special versions of the...
  • Page 110 BECKHOFF Appendix 06/2007 P-controller Control loop with purely proportional behavior Phase shift Compensation for the lag between the electromagnetic and magnetic fields in the motor PID-controller Control loop with proportional, integral and differential behavior PID-T2 Filter time constant for the speed controller output...

  • Page 111: Index

    BECKHOFF Appendix 06/2007 11.2 Index Mains supply connection, interface..47 24Vaux. supply, interface ... 47 Mains supply networks ... . . 46 A quad B interface .

This manual is also suitable for:

Ax2040

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