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Metronix DIS-2 310/2 FB Product Manual

Servo positioning controller
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Servo Positioning Controller DIS-2 310/2 FB
Metronix Meßgeräte und Elektronik GmbH
Kocherstraße 3
D-38120 Braunschweig
Germany
Product Manual
Telefon:
+49-(0)531-8668-0
Telefax:
+49-(0)531-8668-555
E-mail:
vertrieb@metronix.de
http://www.metronix.de

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Summary of Contents for Metronix DIS-2 310/2 FB

  • Page 1 Product Manual Servo Positioning Controller DIS-2 310/2 FB Metronix Meßgeräte und Elektronik GmbH Telefon: +49-(0)531-8668-0 Kocherstraße 3 Telefax: +49-(0)531-8668-555 D-38120 Braunschweig E-mail: vertrieb@metronix.de Germany http://www.metronix.de...
  • Page 2 In the case of serious deviations from the user documentation, Metronix has the right and the obligation to repair, unless it would involve an unrea- sonable effort. A possible liability does not include deficiencies caused by deviations from the operating conditions intended for the device and described in the user documentation.
  • Page 3 Seite 3 Revision log Author: Metronix Meßgeräte und Elektronik GmbH Manual name: Product Manual „Servo Positioning Controller DIS-2 310/2 FB“ File name: P-HB_DIS-2_310_2_FB_3p0_EN.doc File location: Series no. Description Revision index Date of change Release for distribution 31.03.2009 Update Corporate Identity – No technical 18.04.2011...

  • Page 4: Table Of Contents

    Profibus [X401] / [402] ..................34 4.6.3 EtherCAT [X401] / [402] ..................34 FUNCTION OVERVIEW ..................35 Motors ....................... 35 5.1.1 Synchronous servo motors ................. 35 Current and speed controlled mode ............... 35 Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...
  • Page 5 General notes on connection ................68 Tools / material ....................68 Connecting the motor ..................68 Connecting the servo positioning controller DIS-2 310/2 FB to the power supply, control panel or plc ................68 Connecting the PC ................... 69 Product Manual “Servo Positioning Controller DIS-2 310/2 FB“...
  • Page 6 Heat sink temperature monitoring ..............71 9.1.6 Motor monitoring ....................72 9.1.7 Motion sequence monitoring ................72 9.1.8 Additional internal monitoring functions .............. 72 9.1.9 Operating hour meter..................73 Error messages ....................74 Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...
  • Page 7 Driving profiles of servo positioning controller DIS-2 310/2 FB ........41 Figure 4: Course program ......................42 Figure 5: DIS-2 310/2 FB view into the housing – location of the connectors ......43 Figure 6: DIS-2 dimensions of the housing .................. 45 Figure 7: DIS-2 310/2 FB mounting example –...
  • Page 8 Seite 8 TABLE OF TABLES: Table 1: Scope of supply DIS-2 310/2 FB CANopen ............... 11 Table 2: Scope of supply DIS-2 310/2 FB PROFIBUS ..............11 Table 3: Scope of supply DIS-2 310/2 FB EtherCAT ............... 11 Table 4: Scope of supply DIS-2 310/2 FB ..................
  • Page 9 Description of the requirements for the categories in accordance with EN 954-1 ..... 63 Table 35: EMERGENCY OFF and EMERGENCY STOP as per EN 60204-1........64 Table 36: Stop categories ........................65 Table 37: Error overview ........................74 Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 10: General

    1 General 1.1 Documentation This product manual serves the purpose of a safe use of the DIS-2 310/2 FB series servo positioning controller. It contains safety notes, which must be complied with. Further information can be found in the following manuals of the DIS-2 310/2 FB product range: ...

  • Page 11: Scope Of Supply

    Seite 11 1.2 Scope of supply The DIS-2 310/2 FB is available in three different versions. The technology modules (CAN, Profibus, EtherCAT) are factory integrated and not provided by an exchange by the users. Table 1: Scope of supply DIS-2 310/2 FB CANopen...
  • Page 12 61 mm x 40,5 mm, height: approx. 1.5 mm, height in the area of the connecting cable: 4 mm, with strands l = 105 mm + connector from company JST (VHR-2N and contacts SVH-41T-P1.1) Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 13: Safety Notes For Electrical Drives And Controllers

    The safety note indicates a possible perilous voltage. 2.2 General notes In case of damage resulting from non-compliance with the safety notes in this manual, Metronix Meßgeräte und Elektronik GmbH will not assume any liability. Prior to the initial use you must read the chapters 2 Safety notes for electrical drives and controllers and chapter 7.4 Notes concerning safe and EMC-compliant installation.
  • Page 14 Inappropriate handling of the servo drive controller and non-compliance of the warnings as well as inappropriate intervention in the safety features may result in property damage, personal injuries, electric shock or in extreme cases even death. Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 15: Danger Resulting From Misuse

    Gold contacts or contacts with a high contact pressure should be used to switch the con- trol contacts. Preventive interference rejection measures should be taken for control panels, such as connecting contactors and relays using RC elements or diodes. Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...
  • Page 16 Safety of machinery – Basic terminology, general principles for design EN 1050 Safety of machinery – Principles for risk assessment EN 1037 Safety of machinery – Prevention of unexpected start-up EN 954-1 Safety-related parts of control systems Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 17: Safety Notes For Assembly And Maintenance

    Also make sure that the external power supply of the controller (24V) is switched off. The DC bus circuit or the mains supply must always be switched off prior to switching off the 24V controller supply. Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 18: Protection Against Contact With Electrical Parts

    Otherwise the housing may carry high voltages which can cause electrical shock. Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 19: Protection Against Electrical Shock By Means Of Protective Extra-Low Voltage (Pelv)

    The monitors in the drive components for the most part rule out malfunctions in the connected drives. In view of personal protection, particularly the danger of personal injury and/or property damage, this Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 20: Protection Against Contact With Hot Parts

    Handling and assembly of certain parts and components in an unsuitable manner may under adverse conditions cause injuries. DANGER! Risk of injury due to improper handling! Personal injury due to pinching, shearing, cutting, crushing! The following general safety notes apply: Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...
  • Page 21 Use lifting devices and tools appropriately. If necessary, use suitable protective equipment (e.g. goggles, protective footwear, pro- tective gloves). Do not stand underneath hanging loads. Remove leaking liquids on the floor immediately to prevent slipping. Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 22: Product Description

    Normally, it is mounted directly on the motor. The power supply of the DIS-2 310/2 FB servo positioning controller is supplied with 230 V AC power. At the motor connection, it supplies the synchronous machine with a pulse-width-modulated, symmet- rical, 3-phase rotating field with variable frequency, current and voltage.

  • Page 23: Dis-2 310/2 Fb Features

    Seite 23 Prior to using the DIS-2 310/2 FB controller in special areas of application with particularly high norma- tive requirements, e.g. medical technology or avionics, requiring particularly high levels of device safe- ty, the user has to check whether the DIS-2 fulfils the corresponding standards. In case of doubt, please contact your local distributor.
  • Page 24  Fieldbus connection to  CANopen in accordance with "CAN in Automation (CiA) DSP402".  Profibus in accordance DP-V0, based on PROFIVIdrive, version 3.1  EtherCAT in accordance to CoE (CANopen over EtherCAT) Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 25: Power Supply

    (chapter 7.1 Connection to Power Supply and control in system). 3.3 Brake chopper The DIS-2 310/2 FB consist of an integrated brake chopper. A brake resistor is available as scope of supply (Metronix order no: 9519-0002-00, see also chapter 1.2 Scope of supply ) as plate resistor.

  • Page 26: Can-Bus

    The servo positioning controller DIS-2 310/2 FB has two analog inputs for input levels in the range of +10V to -10V. Both inputs are is designed as a differential inputs (12 bit), to guarantee high interfer- ence immunity.

  • Page 27: Technical Data

    Interference emission Category C2 Interference immunity Category C3 Table 6: Technical data: Dimensions and weight Parameter Value Dimensions: H*W*D 56*80*112 mm (without mounting plate and mating plugs) Weight approx. 500 g Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 28: Performance Data Power Supply [X1]

    Normally closed contact: > 100 kΩ cold Analogue Sensor Silicon temperature sensors KTY series ≈ 2000 Ω KTY81-2x0; KTY82-2x0 ≈ 1000 Ω KTY81-1x0; KTY81-2x0 ≈ 1000 Ω KTY83-1xx ≈ 1000 Ω KTY84-1xx Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 29: Motor Feedback Connection [X2]

    Seite 29 4.4 Motor feedback connection [X2] Different feedback systems can be connected to the servo positioning controller DIS-2 310/2 FB via the universal encoder interface:  Resolvers  Analogue Hall sensors  Digital Hall sensors (Six-step Hall encoders)  Incremental encoders with Hall sensors as commutation signals ...

  • Page 30: Table 13: Technical Data: Evaluation Of Incremental Encoder [X2]

    < 200 µs Speed resolution approx. 4 min Absolute accuracy of angle detec- < 5´ tion Max. rotational speed 6.000 min , 3.000 min with lines / turn at 1024 Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 31: Communication Interfaces

    24 V, max. 20 mA Encoder output A-Signal DOUT2 Freely configurable, usable as 24 V, max. 20 mA Encoder output B-Signal DOUT3 on [X3] Holding brake 24 V, max. 700 mA Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 32: Incremental Encoder Input And Output [X1]

    EN 1131-2 Max. input frequency = 50 kHz (lines/s); f depends on input filter, data measured with Limit limit = 13,3 kΩ and C = 470 pF Input Input Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 33: Table 19: Technical Data: Incremental Encoder Output [X1] (Dout1, Dout2)

    > 100 kHz (lines/s); f depends on line length, data measured Limit limit with R = 1 kΩ and C = 1 nF , which equals 5 m cable length Load Load Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 34: Technical Data Fieldbus Interfaces

    EtherCAT protocol CoE, CANopen over EtherCAT Signal level 0 ... 2,5 V DC differential input voltage 1,9 ... 2,1 V DC current supply of the activated 35 mA EtherCAT technologie modul Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 35: Function Overview

    Typically, permanently excited synchronous motors with sinusoidal EMF are used. The servo position- ing controller DIS-2 310/2 FB is a universal servo drive controller, which can be operated with standard servo motors. The motor specifications are determined and parameterized by means of an automatic motor identification.
  • Page 36 In speed-controlled mode, a certain speed setpoint is assigned. The DIS-2 servo positioning controller determines the current actual speed n_actual through the encoder evaluation. To make sure that the speed setpoint is complied with, the current setpoint i_set is determined. Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 37: Figure 1: Control Scheme Of The Controller Cascade

    Seite 37 Figure 1: Control scheme of the controller cascade Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 38: Function Overview

    Motion-Control-DSP inside the DIS-2 310/2 FB controller. The high-performance positioning control system in the DIS-2 310/2 FB controller has numerous pa- rameter and position data sets. Up to 64 position sets can be stored in a non-volatile manner in the DIS-2 310/2 FB and approached with the help of the trajectory generator.

  • Page 39: Synchronisation, Electrical Transmissions

    64 positioning sets. As an alternative, the DIS-2 310/2 FB also allows to save all the parameter of a position set individually for each position set. This means a higher level of flexibility in the various motion profiles. As a result, the maximum number of available position sets is reduced to 16.

  • Page 40: Pulse Direction Interface

    Every positioning control requires a defined zero at startup, which is determined by means of a homing. The servo positioning controller DIS-2 310/2 FB can do this homing on its own. As reference signals it evaluates different inputs, e.g. the limit switch inputs.

  • Page 41: Absolute Positioning

    Figure 3: Driving profiles of servo positioning controller DIS-2 310/2 FB 5.3.8 Positioning sequences Positioning sequences consist of a series of positioning sets. These are run consecutively. A position- ing set can be made part of a path program by means of its path program options, thus generating a linked list of positions: Product Manual “Servo Positioning Controller DIS-2 310/2 FB“...

  • Page 42: Software Limit Switches (Positioning Range)

    In positioning mode an additional automatic braking function can be activated, which shuts down the power stage of the DIS-2 310/2 FB after a parameterized idle time and which lets the brake fall in. 5.4 Use of digital and analogue in- and outputs The two differential analogue inputs, AIN0 and AIN1 can be used as digital inputs.

  • Page 43: Mechanical Installation

     The DIS-2 310/2 FB was originally designed for direct mounting on one side of the motor.  Optimum cooling will be achieved, if the DIS-2 310/2 FB is mounted vertical, this means that con- nector [X1] is directed to the floor or to the sky.

  • Page 44: Connectors On The Main Board

    6.2.2 Connectors for RS232 and fieldbus-modules (CANopen, PROFIBUS, EtherCAT): [X5]: Connector for the RS232 communication to parameterise or control the DIS-2 310/2 FB [X401]: Fieldbus connector which can be used for bus IN or bus OUT [X402]: Second fieldbus connector for bus IN or bus OUT Product Manual “Servo Positioning Controller DIS-2 310/2 FB“...

  • Page 45: Dimensions Of The Housing

    Seite 45 6.3 Dimensions of the housing Figure 6: DIS-2 dimensions of the housing Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 46: Mounting

    Figure 7 and Figure 8). Achieving the protective class of IP67 is possible by using a good mechanical construction. It is recommended that the brake resistor is screwed on the mounting plate. Figure 7: DIS-2 310/2 FB mounting example – synchronous servo motor, mounting plate with brake resistor and servo positioning controller DIS-2 310/2 FB Product Manual “Servo Positioning Controller DIS-2 310/2 FB“...

  • Page 47: Figure 8: Example Of A Mounting Plate For A Motor

    Seite 47 Figure 8: Example of a mounting plate for a motor Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 48: Electrical Installation

    7.1 Connection to Power Supply and control in system The following illustration shows a typical application with two or more DIS-2 310/2 FB servo positioning controllers with a connection to 230 V AC power supply, to a 24 V DC logic supply and to a control or to a PLC.
  • Page 49 The shield of the cable will protect the analogue input from noise. The shield should be connected on both sides - to the housing of the DIS-2 310/2 FB and to the PLC housing.
  • Page 50 Seite 50 The digital IO signals DINx and DOUTx do not need a shield to protect them from incoming noise, but a shielded cable between DIS-2 310/2 FB and PLC will improve the EMC emission of the whole sys- tem.

  • Page 51: Pin Configuration Main Board Dis-2 310/2 Fb

    Seite 51 7.2 Pin configuration main board DIS-2 310/2 FB 7.2.1 Pin configuration Power supply and I/O [X1] Connector type at DIS-2 310/2 FB: Phoenix PLUSCON – VARIOCON Counter Plug: Phoenix PLUSCON – VARIOCON Set, with: 1x VC-TFS6 2x VC-TFS8...
  • Page 52 +310 V Intermediate circuit voltage plus Bench mark for Intermediate circuit voltage minus Protective earth 230V AC ± 10% Input power supply N 230V AC ± 10% Input power supply L Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 53: Pin Configuration Motor Phases [X6]

    Connector type at DIS-2 310/2 FB: Molex No. 87832-1614 Counter Plug: Molex No. 51110-1651 with up to 16 contacts Molex No. 50394- 8051 12 11 14 13 16 15 Figure 12: Pin configuration Encoder Interface Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 54: Table 25: Pin Configuration [X2]

    +12 V / 100 mA +12 V power supply for Stegmann Hiperface en- coder #REF Resolver: connect to resolver line R2 RMS,diff Others: connect to incremental line #N /#DATA max. 50 mA n.c. Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 55: Pin Configuration Holding Brake [X3]

    Pin No. Denomina- Value Specification tion 380 V / 4 A Connection for brake resistor to intermediate voltage nom. BR-CH 0 V / 380V Connection for brake resistor to brake chopper Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 56: Pin Configration Expansion Interface For The Fieldbus-Modules [X8]

    +3.3 V 3,3 V +/- 2% 100 mA max. (together with 5 V) Technology module power supply 5,0 V +/- 5% +5 V 100 mA max. (together with 3.3 V) Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...
  • Page 57 3,3 V CMOS interface for access to technology modules with an #IRQA logic level SSIO interface MOSI SCLK MISO Reference potential Reference potential Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 58: Pin Configuration Fieldbus-Modules Dis-2 310/2 Fb

    Reference potential for the serial interface, gal- vanically connected with the common reference potential for the intermediate circuit and the logic system Connect the cable shield on both sides of the Shield Shield connector housing Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 59: Pin Configuration Canopen [X401] And [X402]

    CAN_HI 0 V / 5 V Signal CAN_HI according to CAN bus specification CAN_LO 0 V / 5 V Signal CAN_LO according to CAN bus specification Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 60: Pin Configuration Profibus [X401] And [X402]

    Seite 60 7.3.3 Pin configuration PROFIBUS [X401] and [X402] The PROFIBUS interface at the servo positioning controller DIS-2 310/2 FB is in accordance with EN 50170 as 5-pin M12 plug (B-coded, at the technology plug-in module, as socket and as plug)

  • Page 61: Pin Configuration Ethercat [X401] And [X402]

    Seite 61 7.3.4 Pin configuration EtherCAT [X401] and [X402] The EtherCAT-Interface at the servo positioning controller DIS-2 310/2 FB is in accordance with IEC 61076-2-101 as 4-pole M12 socket (shielded und D-coded) Connector type at DIS-2 310/2 FB: [X401] M12 flush-type socket, 4-pin type, D-coded...

  • Page 62: Notes Concerning Safe And Emc-Compliant Installation

    7.4.3 EMC ranges: First and second environment Proper installation and wiring of all connecting cables provided, the DIS-2 310/2 FB servo positioning controllers fulfil the requirements of product standard EN 61800-3. This standard no longer refers to "classes", but to so-called environments.

  • Page 63: Emc-Compliant Cabling

    Well-tried components and well- rence is lower than for category tried safety principles must be used. Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 64: Table 35: Emergency Off And Emergency Stop As Per En 60204-1

    It is thus impossible to achieve an EMERGENCY OFF in the normative sense by using the "safe stop" function, because in order to do so, the entire system would have to be shut down via the power switch (main switch or power contactor). Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 65: Emergency Off / Emergency Stop Wiring Examples

    Figure 20 on the next page shows a realization example for a system that comprises one or several DIS-2 310/2 FB units, power supply units with a mains power connection, a control system and switch- ing elements to realize the EMERGENCY STOP function in accordance with EN 60204-1, stop catego- ry 1.
  • Page 66 Seite 66 Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

  • Page 67: Emergency Off (Stop Category 0)

    After the disconnection of the mains power supply, there is still some residual energy in the intermediate circuit capacitors of the DIS-2 310/2 FB. The elimination of this energy by internal discharging resistors in the DIS-2 310/ 2 FB and in the power supply unit takes some time (duration: >...

  • Page 68: Initial Operation

     Control panel DIS-2 310/2 FB or PLC  Power supply cable  Screw driver or Allen key, depends of the fastening screw of the DIS-2 310/2 FB to the motor 8.3 Connecting the motor  Connect the motor connector (see connector set in chapter 1.2 Scope of supply) to the motor ca- ble and plug it into interface [X6] of the DIS-2 310/2 FB ...

  • Page 69: Connecting The Pc

    Seite 69  Plug the connector of the control panel to the servo positioning controller DIS-2 310/2 FB interface [X1]  Connect an optional field bus system to the field bus interface [X401] / [X402]  Connect the 24V connections to a suitable power supply unit.

  • Page 70: Service Functions And Error Messages

    9.1 Protection and service functions 9.1.1 Overview The servo positioning controller DIS-2 310/2 FB has a powerful sensor analysis, which monitors the proper functioning of the controller, power output stage, motor and communication with the outside world. All occurring errors are stored in an internal error memory. Most errors will cause the controller unit to shut down the servo positioning controller and the power output stage.

  • Page 71: Overcurrent And Short-Circuit Monitoring

    24V overvoltage / undervoltage monitoring: The power supply of the logic component of the DIS-2 310/2 FB servo positioning controller is monitored. If the power supply of the logic compo- nent is too high or too low, a fault message will be issued.

  • Page 72: Motor Monitoring

     I²t current monitoring with motor warning: The DIS-2 310/2 FB servo positioning controller also has an I²t monitoring system to limit the average power loss in the motor. Since the power loss in the electronic power system and in the motor increases in a square manner with the cur- rent in the worst case, the squared current value is taken as the measure for the power loss.

  • Page 73: Operating Hour Meter

    Seite 73 9.1.9 Operating hour meter  The DIS-2 310/2 FB servo positioning controller has an operating hour meter. In the DIS-2 Ser- voCommander parameterization software, it is displayed on the Times tab in the About /About menu.  The count of the operating hour meter is saved in the internal flash once in a minute. As a result, there may be deviations of up to 60 seconds after a reset or a power-on.

  • Page 74: Error Messages

    Temperature of the electronic power system < 100ms X X < -40°C or > 85°C. DIS-2 310/2 FB heated up by the motor? Decouple the DIS-2 310/2 FB thermally if necessary. Over-/ under- temperature Check / improve the installation and the cool-...
  • Page 75 Hall sensors or due to a wiring error of X2. Possible error on technology module X8 Electronic error in the DIS-2 310/2 FB de- vice. The error cannot be eliminated by the Error 5V - inter- user.
  • Page 76 Check the power rating of the drive package. Check the power rating of the drive package. < 100ms X X X DIS-2 310/2 FB heated up by the motor? Decouple the DIS-2 310/2 FB thermally if Output stage necessary.
  • Page 77 Field bus communication is disturbed: Check < 5ms X X X the installation regarding EMC aspects. PROFIBUS communication Check the node number setting - node used error more than once in the network Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...
  • Page 78 "unknown error", please contact your local distributor. It is possible to assign these error numbers for firmware extensions or customized firm- ware versions with additional monitoring functions. Product Manual “Servo Positioning Controller DIS-2 310/2 FB“ Version 4.0...

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