Related Manuals for Lenze ETC Series
Summary of Contents for Lenze ETC Series
- Page 1 EDSTCXX ./Y2 Hardware Manual ETC Motion Control ETCxxxxx DIN rail modules and PCI card...
- Page 2 © 2006 Lenze Drive Systems GmbH, Hans−Lenze−Straße 1, D−31855 Aerzen No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive Systems GmbH. All information given in this documentation has been selected carefully and complies with the hardware and software described.
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Page 3: Table Of Contents
Contents Preface and general information ........About this Manual . - Page 4 Contents Mechanical installation ..........Control and module for top hat rail mounting (ETCHx) .
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Page 5: Preface And General Information
Preface and general information The ETC Motion Control as the leading element of automation is together with the Lenze drive controllers and motors an optimal system solution for the control of movements. In the ETC system both compact controls for installation on top hat rails and PC insert cards are available. -
Page 6: For Which Products Is The Manual Valid
Preface and general information For which products is the manual valid? For which products is the manual valid? Standard device Product Version HM = top hat rail, MC core PM = PCI insert card, MC core HC = DIN rail, CNC core PC = PCI insert card, CNC core ETCHx0xx Number of axes... -
Page 7: Legal Regulations
No liability is accepted by Lenze as to the suitability of any of the procedures or circuit recommendations included here. The information in this manual describe the properties of the products without guaranteeing them. -
Page 8: Technical Data
Technical data General data and operating conditions Technical data General data and operating conditions ETCHx ETCPx Type Labelling and approval CE (compliance with the EMC Directive) Climatic conditions Storage 1 K3 per IEC/EN 60721−3−2 −20 °C ... +60 °C; D Temperature = 20 K/h Transport... -
Page 9: Rated Data
Technical data Rated data Standard device 2.2.1 Rated data 2.2.1 Standard device Type ETCHx ETCPx Control (top hat rail design) Control (PCI insert card) Weight 235 g 300 g Dimensions (W x H x D) 100 x 45 x 115 mm 130 x 23 x 190 mm Supply voltages: Feed (external) -
Page 10: Power Supply Unit
Technical data Rated data 2.2.2 Power supply unit 2.2.2 Power supply unit Type ETCHN003 Power supply module Weight 150 g Dimensions (H x W x D) 99 mm x 22.5 mm x 114.5 mm Supply voltages: Feed (external) typ. 24 V DC 5 V DC output on ME bus typ. -
Page 11: Input Module
Technical data Rated data Input module 2.2.4 2.2.4 Input module Type ETCHI008 ETCHI016 8 channel input module 16 channel input module Weight 120 g 215 g Dimensions (H x W x D) 99 x 22.5 x 114.5 mm 99 x 45.0 x 114.5 mm Switching voltage of the inputs typ. -
Page 12: Output Module
Technical data Rated data 2.2.5 Output module 2.2.5 Output module Type ETCHU008 ETCHU016 Semiconductor switch against 24 V DC (High Side Switches) 8 channel output module 16 channel output module Weight 145 g 215 g Dimensions (H x W x D) 99 x 22.5 x 114.5 mm 99 x 45.0 x 114.5 mm Supply voltages:... -
Page 13: Analogue Module
Technical data Rated data Analogue module 2.2.6 2.2.6 Analogue module Type ETCHA022 2 channel analogue input/output module, 0 V or −10 V ... +10 V Weight 125 g Dimensions (H x W x D) 99 x 22.5 x 114.5 mm Supply voltages: Control voltage (sensor feed) typ. -
Page 14: Device Description
Device description System overview 3.1.1 Examples for an automation system Device description System overview 3.1.1 Examples for an automation system Ethernet ETC-System Components ETCHx CAN1 CAN2 IPC with ETCPx CAN-I/O ECS/MCS-System Drives I/O-System IP20 ETCM001 ETCHx / ETCPx The core of the automation system is the ETC control in the top hat rail design (ETCHx) or as PCI insert card (ETCPx). - Page 15 ƒ ETC−MMI gateway as communications program between Windows applications and the ETC control. ƒ Lenze ETC−MMI for the configuration, operation and monitoring of the ETC control and for creating CNC programs. ƒ CoDeSys development environment for the creation and testing of PLC programs.
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Page 16: Layout Example For An Etc Island
Device description System overview 3.1.2 Layout example for an ETC island 3.1.2 Layout example for an ETC island ETCM002 Serial interface (RS232) Watchdog (e.g. for emergency stop chain) Ethernet Motion CAN bus (CAN2) 24 V supply ME bus (CAN1) ETCHN003: Power supply unit for the supply of the ETC island and ME bus connection ETCHx004: ETC Motion Control for 4 axes (control) ETCHIxxx: Input module with 16 or 8 digital inputs... - Page 17 Device description System overview Layout example for an ETC island 3.1.2 Control CAN Master CAN bus terminated 1. isolated system 2. isolated system 3. isolated system max. CAN bus length ETC024 Several ETCHx islands can be connected to form a complete system. Please note the maximum permissible cable length per CAN level dependent on the Baud rate (¶...
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Page 18: Set Node Address
Device description System overview 3.1.3 Set node address 3.1.3 Set node address Every ETCHx I/O module in a line represents a separate node at CAN1 bus and must be set up with a unique node address. ETC025 The node address is set via a front Hex switch (4 low value address bits) and via permanently wirded bridges within the housing (3 high value address bits). -
Page 19: Control In Top Hat Rail Design (Etchx)
Device description Control in top hat rail design (ETCHx) Control in top hat rail design (ETCHx) Description The ETCHx is a control for top hat rail assembly. Up−to−date communication interfaces like Ethernet TCP/IP for networking and PC−MMI connection and dual CANopen for the connection of field bus terminals or digital drive amplifiers make the ETCHX ideal for use in machines with a distributed control structure. - Page 20 Device description Control in top hat rail design (ETCHx) Organisation of memory 4 MByte static SRAM (32 Bit RAM) and 2 MB Flash PROM are available. ETCHC: The firmware has a memory requirement of 1 ... 1.5 MB SRAM and 1 MB Flash PROM.
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Page 21: Serial Interface
Device description Control in top hat rail design (ETCHx) Serial interface 3.2.1 3.2.1 Serial interface The subassembly features two serial interfaces of the RS232 standard. The signals of the first serial interface are connected to the RS232 plug connector, and those of the second interface to the free contacts of the CAN2 plug connector. -
Page 22: Can Interface
3.2.2 CAN interface 3.2.2 CAN interface Drives approved by Lenze can be connected to the CAN2 interface. CAN2 (drives) The CAN2 interface is connected to the 9−pole D−Sub connector with standard connector allocation via the CAN driver (electrically isolated). The isolation voltage to the computer is 500 V. - Page 23 Device description Control in top hat rail design (ETCHx) CAN interface 3.2.2 Connector allocation for ME bus with CAN1 (Phoenix Mini−Combicon) ETC010 Signal Signal GND 5 V CAN_H GND 5 V CAN_L +5 V +5 V +24 V CAN_Gnd GND 24 V Note! The physical connection can be checked at any point of the CAN bus using an Ohmmeter.
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Page 24: Ethernet Interface
Device description Control in top hat rail design (ETCHx) 3.2.3 Ethernet interface 3.2.3 Ethernet interface The interface is used to connect a PC terminal or to integrate the control within a network. It is designed as a RJ45 plug−in connector. The cabling type is 10 BASE−T. -
Page 25: Watchdog (Wdog)
Device description Control in top hat rail design (ETCHx) Watchdog (WDOG) 3.2.4 3.2.4 Watchdog (WDOG) The Watchdog circuit is used to monitor the processor and switches the linked outputs off as soon as they are no longer triggered. ETC039 Signal +24 V out (max. -
Page 26: Control As Pci Insert Card (Etcpx)
Elements Designation Function 0 P1 1st Serial interface (RS232) 1 P2 2nd Serial interface (RS232) 2 J3 Lenze Service interface 3 J4 Lenze Service interface 4 J5 Lenze Service interface Battery for SRAM 6 P7 Lenze Service interface 7 P5... -
Page 27: Serial Interface
Device description Control as PCI insert card (ETCPx) Serial interface 3.3.1 3.3.1 Serial interface The subassembly features two serial interfaces of RS232 standard. The can be used for operating the PLC development environment, as monitor interfaces and as client−specific PLC interface. The signals are directed to 10−pole pin contact strips P1 and P2 and can be connected via ribbon cables to the D−Sub plug connectors fitted to the card slots or the PC housing openings. - Page 28 Device description Control as PCI insert card (ETCPx) 3.3.1 Serial interface Connector allocation P2, user interface(9−pole D−Sub pin) ETC033 Signal Signal Connector allocation P1, monitor program (10−pole pin contact strip) ETC034 Signal Signal Via the plug connector P1 the content of the DPR can be read and written to using a monitor program.
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Page 29: Can Interface
Device description Control as PCI insert card (ETCPx) CAN interface 3.3.2 3.3.2 CAN interface The two CAN Controllers are directed via CAN drivers to 9−pole D−Sub plug−in connectors with standard connector allocation (electrically isolated). Because theETCPx has only one plug−in connector per CAN channel, the subassembly must either be connected to one of the two bus ends or it must be integrated with the bus line using an adapter cable or node connector (e.g. -
Page 30: Configuration And Watchdog
CAN interface P6 P6 is a drive interface for the connection of drives which have been approved by Lenze. Dependent on the control design up to 12 axes can be controlled. Note! The physical connection can be checked at any point of the CAN bus using an Ohmmeter. - Page 31 Device description Control as PCI insert card (ETCPx) Configuration and Watchdog 3.3.3 Watchdog OK signal The watchdog circuit is used to check the processor and switches off the linked outputs as soon as they are no longer triggered. The Watchdog OK signal is connected to Pin 10 of the pin contact strip J5. For external use this signal must be edited via the corresponding drivers and an electrical isolation.
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Page 32: Module
Device description Module 3.4.1 Power supply unit Module 3.4.1 Power supply unit Description The module ETCHN003 is used for the power supply of an ETC island and transfer module for the CAN bus with multiline system structure. ƒ Input voltage 18 ... 30 V DC Features ƒ... - Page 33 Device description Module Power supply unit 3.4.1 Elements 9 ... 12 S1, S2 LED 5 V, LED 24 V 1 ... 4 ETC007 Terminal Designation Meaning Comment +24 V Voltage supply Reference potential CAN High To extend the ME bus to external modules CAN Low C_Gd...
- Page 34 Device description Module 3.4.1 Power supply unit ME bus Control and power supply unit are connected to each other via the ME bus connector. The power supply unit is connected to the left of the control. ETC010 Signal Signal GND 5 V CAN_H GND 5 V CAN_L...
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Page 35: Bus Termination Module
Device description Module Bus termination module 3.4.2 3.4.2 Bus termination module Description The module ETCHT000 is used as a bus terminator for the internal CAN bus or as a transfer module for a multiline system structure. CAN terminator module: DIP switch 1 = ON CAN transfer module: DIP switch 1 = Off Elements 13 ... - Page 36 Device description Module 3.4.2 Bus termination module Block diagram Signale Signale Klemmen Klemmen Klemmen frontseitig frontseitig ME-Bus ME-Bus frontseitig ETC012 front terminals ME bus EDSTCXX EN 2.0...
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Page 37: Input Module
Device description Module Input module 3.4.3 3.4.3 Input module Description The input modules ETCI008 (8 inputs) and ETCI016 (16 inputs) for the connection of potential−free contacts (make−contacts) switch an available 24 V DC voltage to the respective input. Features ƒ 8 or 16 digital inputs ƒ... - Page 38 Device description Module 3.4.3 Input module Block diagram ETCHI008 Signale Signale Klemmen Klemmen Klemmen ME-Bus ME-Bus frontseitig frontseitig frontseitig etc015 front terminals ME bus EDSTCXX EN 2.0...
- Page 39 Device description Module Input module 3.4.3 Elements ETCHI016 13 ... 16 29 ... 32 9 ... 12 25 ... 28 LED1 LED2 1 ... 4 17 ... 20 5 ... 8 21 ... 24 ETC014 Terminal Designation Meaning Comment 13, 15, 9, IN1 ...
- Page 40 Device description Module 3.4.3 Input module Block diagram ETCHI016 etc016 front terminals ME bus EDSTCXX EN 2.0...
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Page 41: Output Module
Device description Module Output module 3.4.4 3.4.4 Output module Description The output modules ETCU008 (8 outputs) and ETCU016 (16 outputs) provide the digital signal from the control to the process level. The digital outputs are supplied via an external voltage source (24 V DC). Features ƒ... - Page 42 Device description Module 3.4.4 Output module Block diagram ETCHU008 etc019 front terminals ME bus Fuse 2 fuses (Microfuse 4 A) for 4 outputs each EDSTCXX EN 2.0...
- Page 43 Device description Module Output module 3.4.4 Elements ETCHU016 13 ... 16 29 ... 32 9 ... 12 25 ... 28 LED1 LED2 1 ... 4 17 ... 20 5 ... 8 21 ... 24 etc018 Terminal Designation Meaning Comment 9, 10, 11, OUT1 ...
- Page 44 Device description Module 3.4.4 Output module Block diagram ETCHU016 etc020 front terminals ME bus Fuse 2 fuses (Microfuse 4 A) for 4 outputs each EDSTCXX EN 2.0...
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Page 45: Analogue Module
Device description Module Analogue module 3.4.5 3.4.5 Analogue module Description The analogue module ETCHA022 is a mixed analogue input and output module. ƒ 2 analogue inputs and outputs, resolution 12 Bit, 0 ... 10 V or ±10 V Features ƒ Module address selectable via rotary switch Elements 13 ... - Page 46 Device description Module 3.4.5 Analogue module Block diagram 12 Bit A/D 12 Bit A/D ETC022 front terminals ME bus Fuse Switch−over voltage range (0 ... 10 V, −10 V ... +10 V) EDSTCXX EN 2.0...
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Page 47: Mechanical Installation
Mechanical installation Control and module for top hat rail mounting (ETCHx) Mechanical installation Control and module for top hat rail mounting (ETCHx) The modules of the ETCHx series are housings for top hat rail installation which are connected together. All modules of the ETCHx series feature modular ME bus housings and can be clipped directly onto a carrier rail TS35 with a maximum dimension of 7.5 or 15 mm as per European standard EN 50022. - Page 48 Mechanical installation Control and module for top hat rail mounting (ETCHx) Ventilation The natural convection of the ambient air is sufficient for operating the subassemblies. An adequate entry of the air underneath the device and unobstructed exit above must always be ensured. For installation in sealed housings the heat loss arising must be dissipated through the housing surfaces! If this cannot be guaranteed, a forced airflow is mandatory.
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Page 49: Control Etchx
Mechanical installation Control and module for top hat rail mounting (ETCHx) Control ETCHx 4.1.1 4.1.1 Control ETCHx ETC026 EDSTCXX EN 2.0... -
Page 50: Module Etchx
Mechanical installation Control and module for top hat rail mounting (ETCHx) 4.1.2 Module ETCHx 4.1.2 Module ETCHx ETC027 EDSTCXX EN 2.0... -
Page 51: Dismantling Of Control And Module Etchx
Mechanical installation Control and module for top hat rail mounting (ETCHx) Dismantling of control and module ETCHx 4.1.3 4.1.3 Dismantling of control and module ETCHx ETC028 EDSTCXX EN 2.0... -
Page 52: Control In Pci Design (Etcpx)
Mechanical installation Control in PCI design (ETCPx) 4.2.1 Installing the PCI card in the PC Control in PCI design (ETCPx) 4.2.1 Installing the PCI card in the PC Stop! Only install the PCI control variant ETCPx after installing the ETC−MMI and before starting the ETC−MMIs. Danger! Dangerous electrical voltage! Dangerous electrical voltage may be present at the components... -
Page 53: Electrical Installation
Electrical installation Installation according to EMC (installation of a CE−typical drive system) Electrical installation Installation according to EMC (installation of a CE−typical drive system) General notes ƒ The electromagnetic compatibility of the ETC Motion Control depends on the type and diligence of the installation. Pay particular attention –... - Page 54 Electrical installation Installation according to EMC (installation of a CE−typical drive system) Shielding ƒ Only use cables with braided shields. ƒ The cover density of the shield should exceed 80%. ƒ For data cables for the serial coupling always use metallic or metallised connectors.
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Page 55: Can Installation Instructions
Electrical installation CAN installation instructions CAN installation instructions The connection of the incoming connection cable depends on the module and is carried out e.g. at the front via a 9−pole D−Sub socket. Connection cables for CAN connection Connection cables for CAN connection Reserved* Reserved*... -
Page 56: Cable Types For The Can Bus
(incl. optocouplers), the accuracy of the oscillators and the bus length (=cable length). The following table provides an overview for networking Lenze CAN subassemblies which cable lengths should not be exceeded for a specific transfer rate. The figures apply to a twisted pair data cable terminated at... -
Page 57: Stub Cables
Electrical installation CAN installation instructions Stub cables 5.2.3 5.2.3 Stub cables Stub cables are permitted. Their maximum length at 125 kB/s must not exceed 1 m (or 30 cm for 1 Mbit/s) per stub cable. With several stub cables the total of the stub cable lengths must not exceed 30 m (for 500 kbit/s). -
Page 58: Initial Switch−On
Electrical installation Initial switch−on Initial switch−on Prior to switching on the main switch always ensure that ƒ the layout is in accordance with the guidelines of VDE 0100, 0110, 0113 and 0160, ƒ the protective earth and the supply voltage have been wired correctly, ƒ... -
Page 59: Troubleshooting And Fault Elimination
Troubleshooting and fault elimination Status display Troubleshooting and fault elimination Status display LEDs on the front plate of the ETC report the actual system state. The meanings of the signals differ in the start−up phase and during operation. reserved (YE) Watchdog (GN) Error (RD) ETC042... - Page 60 Troubleshooting and fault elimination Status display Start−up phase During start−up a RAM test is carried out. After an error−free RAM test the LEDs 1 ... 6 produce a running indication. Any errors during the boot sequence will be signalled by the following pattern of flashing and indications. Checksum error in the internal FLASH−PROM.
- Page 61 Troubleshooting and fault elimination Status display Operation When the control enters the operating mode after start−up, the following pattern of flashing and indications applies. Meaning Watchdog Watchdog, must always illuminate when running. Reserved Without function ERROR Flashes after an exception (violation of the control program protection during runtime, exceeding the permitted variable range, division by zero etc.).
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Page 62: Error Management
Troubleshooting and fault elimination Error management Error management ETCHN003 Problem Potential cause Remedy LED 24 V at the power supply 24 V power supply at the Check 24 V supply unit does not illuminate power supply unit missing Check fuse Internal short circuit in the Check or replace module module... - Page 63 Troubleshooting and fault elimination Error management ETCHA022 Problem Potential cause Remedy Module does not work ME bus contacts incorrect Check module 24 V power supply at the Check 24 V supply power supply unit missing Internal module fault Replace module Live LED does not illuminate Live LED is programmed Check parameterisation...
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Page 64: Module Replacement
Troubleshooting and fault elimination Module replacement Module replacement In case of a fault the complete module electronics are replaced. For this all connected cables must first be removed and the voltage disconnected. As the individual modules are connected to the internal ME bus via a connector, the affected module must be separated from any modules connected to the left or right prior to removal. -
Page 65: Battery Replacement
Troubleshooting and fault elimination Battery replacement Battery replacement The battery life is dependent on the network operating time and the ambient temperature. The typcial service life at 23° C ambient temperature is approx. 7 years; in the worst case scenario (extremely high or low temperatures) the battery lasts approx. - Page 66 Troubleshooting and fault elimination Battery replacement ETCHx The battery used is from the type CR 2430. 1. Unlock the locks 0 on both sides using a suitable tool (e.g. screwdriver) by applying pressure. ETC044 2. Remove upper housing 1 and pull the circuit boards 2 from the housing base.
- Page 67 Troubleshooting and fault elimination Battery replacement 3. Undo locking screws 3 and remove shield sheet 4. ETC046 4. Undo screws 5 and remove circuit board 2. ETC047 5. Slide out the battery 6 using a suitable tools (non−conductive). ETC048 6. Push new battery 6 up to the stop into the holder and reassemble control in reverse order.
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Page 68: Index
Contents Index − Rating, 9 − Serial interfaces, 21 Analogue module ETCHA022 − Watchdog, 25 − Dismantling, 51 Control ETCPx − Fault finding, 63 − Battery replacement, 65 − Rating, 13 − Configuration and Watchdog, 30 application, as intended, 7 −... - Page 69 Contents Features, 19 , 26 , 32 , 37 , 41 , 45 Power supply ETCHN003 − Device description, 32 − Rating, 10 Power supply unit ETCHN003 Initial switch−on, 58 − Dismantling, 51 Input module ETCHI008 / 016 − Fault finding, 62 −...
- Page 70 Lenze Drive Systems GmbH EDSTCXX Hans−Lenze−Straße 1 EN 2.0 D−31855 Aerzen © 07/2006 Germany TD29 +49 (0) 51 54 82−0 Service 00 80 00 24 4 68 77 (24 h helpline) Ê Service +49 (0) 51 54 82−1112 E−Mail Lenze@Lenze.de Internet www.Lenze.com...