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Pilz PMCprotego D.48 Operating Manual

Servo amplifiers
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Servo amplifiers
Operating Manual-1001735-EN-04

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Summary of Contents for Pilz PMCprotego D.48

  • Page 1: Stop Category

    PMCprotego D.48, PMCprotego D.72 Servo amplifiers Operating Manual-1001735-EN-04...

  • Page 2: Expansion Cards For Slot

    Preface This document is the original document. All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made for the user's internal purposes. Suggestions and comments for improving this documenta- tion will be gratefully received.

  • Page 3: Table Of Contents

    Motor connection 4.2.3 Motor holding brake 4.2.4 Brake resistor 4.2.5 Intermediate circuit 4.2.6 Intermediate circuit topology Control element 4.3.1 Supply voltage 24 VDC 4.3.2 Digital inputs and outputs 4.3.2.1 Overview 4.3.2.2 Digital inputs Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 4 Expansion card PROFINET 4.4.6 Expansion card Fan Controller Switch on/switch off behaviour 4.5.1 Normal mode 4.5.2 Fault condition Implementation of stop categories 4.6.1 Stop Category 0 4.6.2 Stop Category 1 4.6.3 Stop Category 2 Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 5 Resolver 6.7.5.4 SinCos encoder with HIPERFACE interface 6.7.5.5 SinCos encoder with EnDat 2.1 interface 6.7.5.6 Encoder with EnDat 2.2 interface 6.7.5.7 SinCos encoder with BISS interface, analogue 6.7.5.8 Encoder with BISS interface, digital Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 6 7.4.2 Status indicator 7.4.3 Standard menu 7.4.4 Advanced menu Messages/errors 7.5.1 Status messages 7.5.2 Error messages 7.5.3 Warnings Safety checks Expansion cards 7.7.1 PROFIBUS DP interface expansion card 7.7.2 PROFINET interface expansion card Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 7 11.2.4 Connector for cable assembly, motor power cable 11.2.5 Connector set as spare part 11.2.6 Energy store 11.2.7 Connection cable to the motor series "PMCtendo SZ" Section 12 Appendix 12.1 Abbreviations Section Glossary Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 8: Validity Of Documentation

    Introduction Introduction Validity of documentation This documentation is valid for the products PMCprotego D.48 and PMCprotego D.72. It is valid until new documentation is published. This operating manual explains the product's function and operation, describes the installa- tion and provides guidelines on how to connect the PMCprotego D.
  • Page 9 It also highlights areas within the text that are of particular import- ance. INFORMATION This gives advice on applications and provides information on special fea- tures. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 10: Unit Structure

    No internal brake resistor, external brake resistor available if required. Inverted rectifier with isolated current measurement and IGBT transistors Connection of synchronous servo motors, linear motors, asynchronous motors Integrated noise suppression filters in accordance with EN 61800-3 Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 11: Control Element

    CoDeSys (development environment in accordance with IEC 61131-3) Via the PROFINET-/ETHERNET parameter channel (PASmotion) (Requirement: The expansion card PROFINET is inserted) Operation and display Servo amplifier operated via two keys Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 12 EN 61800-5-1 – Soft start, overvoltage detection, short circuit protection, phase failure monitoring – Temperature monitoring of servo amplifier and motor (when using Pilz motors with ready-made cables) Protection of personnel and plant – Safety function STO – Safe Torque Off Single-channel without feedback: Up to PL d (Cat.
  • Page 13 1 or slot 2 (for combinations see Type code). Expansion cards for slot 3: – PMCprotego S1, PMCprotego S1-2 – PMCprotego S2, PMCprotego S2-2 – PMC expansion card PosI/O – PMC expansion card PosI/O-AIO – Fan controller, available only on request Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 14: Front View

    11: Connection for incremental en- coder, sine/cosine encoder, pulse/ direction 24 V 12: Connection for resolver 13: EtherCAT interface 14: Expansion cards slot 1 15: Keys 16: LED display for messages Front view of the PMCprotego D Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 15: Plan View

    Documentation CD Commissioning software (PASmotion) on the Internet INFORMATION The D-Sub mating connectors, the motor connector and the fieldbus junc- tion box are not supplied with the device! They are available as accessories. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 16: Type Code

    Overview Type code Fig.: Type code Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 17: Type Label

    Always state the full details on the "Type label modified device" (configura- tion) in new orders or spare parts orders. Fig.: Type label modified device Legend new type Modified type key Ident. No. Order number Ser. No. Serial number Firmware Firmware version Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 18 Type key Ident. No. Order number Prod. version Product version Firmware Firmware version Mains Voltage Mains voltage Power Power Inom Continuous output current Year of manufacture Prot. type Protection type Ambient temp Ambient temperature Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 19: Intended Use

    Servo amplifiers with higher commutation frequencies are available only on request. INFORMATION On servo amplifiers from firmware version 5.71, no firmware version prior to Version 5.71 can be loaded. It is possible to downgrade from Version 5.73 to 5.71, for example. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 20: Hazard Analysis

    UL 508C describes the fulfilment by design of minimum requirements for electrically op- erated power converters, such as frequency converters and servo amplifiers. UL 840 describes the fulfilment by design of clearance and creepage distances on elec- trical equipment and printed circuit boards. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 21: Safety Function Sto

    The STO1-ENABLE input on the servo amplifier has no function if the servo amplifier con- tains a safety card. In this case, the safety card activates the safe pulse disabler on the servo amplifier in order to shut down the power element. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 22: Use Of Qualified Personnel

    Block the drive through an additional mechanical holding brake, which is ac- tivated safely (e.g. with the safety card PMCprotego S1-2). 3.1.6 Use of qualified personnel The products may only be assembled, installed, programmed, commissioned, operated, maintained and decommissioned by competent persons. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 23: Warranty And Liability

    - Control and power connections may still carry voltage, even when the mo- tor is not rotating. - Surfaces on the servo amplifiers may become hot during operation. Tem- peratures may reach more than 80° C. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 24: Standards

    Standards for compliance with the EU Low Voltage Directive (2014/35/EU) EN 60204-1 (Safety and electrical equipment of machines) EN 60439-1 (Low voltage switchgear and controlgear assemblies) EN 61800-5-1 (Adjustable speed electrical power drive systems - Safety requirements) Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 25: Stop, Emergency Stop And Emergency Switching Off Functions

    The parameters "STOPMODE" and "ACTFAULT" must be set to 1 if the stop and emer- gency stop categories are to be implemented. Change the parameters in the commission- ing software terminal, if necessary (PASmotion). Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 26: Stop Functions

    (e.g. category 0 stop with safety function STO). – controlled in such a way that the hazardous movement is stopped as quickly as possible (stop category 1). Reset shall not initiate a restart. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 27: Emergency Stop Functions

    This leads to a Category 0 stop. The emergency stop must be implemented us- ing other measures (e.g. protection against direct contact) if a Category 0 stop is not per- mitted for the machine. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 28: Overview

    Interfaces for communication with the periphery or the commissioning software PASmotion – Digital inputs and outputs – Analogue inputs – Safety circuits – Bus interfaces: CAN, EtherCAT – RS232 interface for parameter setting and commissioning Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 29 Charging circuit Intermediate circuit Digital capacitor inputs Controller Brake chopper Control Digital Monitoring outputs Communication Inverted rectifier Operational readiness Analogue inputs Supply voltage Incremental encoder Holding brake Fig.: Block diagram of PMCprotego D Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 30: Power Element

    3 x 208 VAC - 3 x 480 VAC. Please note the maximum permitted voltages between the external conductors (L1, L2, L3) and the servo amplifier housing: Periodic overvoltages between the external conductors and the housing: Max. 1000 V (amplitude) Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 31 A 3L line choke with u = 2% must be used in the event of a mains voltage imbalance of > 3%. Install the line choke on the mounting plate in a way that is EMC-compliant. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 32 400 ... 480 V 208 ... 240 V 400 ... 480 V (10) 208 ... 240 V 400 ... 480 V 208 ... 240 V (11) Fig.: Connection types for the mains connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 33: Motor Connection

    Thermal switches and motor feedback systems on the servo motor are evaluated. In the commissioning software (PASmotion) it is possible to select from a database the appropriate data record and parameters to suit the Pilz motor. Motor cables are available ready-assembled from Pilz as an accessory.
  • Page 34 Measure the voltage at the brake input! Test the function of the brakes by releasing and applying the brake. Setting the parameters The brake function must be enabled in the commissioning software (PASmotion) via the Brake option ("Motor" window). Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 35 The brake output BR+ switches at a speed of 5 rpm (VEL0) or after 5 s at the latest (EMRGTO). The rise times (t ) and fall times (t ) of the motor holding brake depend on the motor type (see motor documentation). Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 36: Brake Resistor

    “Messages/Errors”). – The servo amplifier detects overvoltage on the intermediate circuit. The power ele- ment shuts down. The following error message appears: “F02: Overvoltage”. – The relay contact for operational readiness, BTB/RTO, opens. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 37: Intermediate Circuit

    - Do not wire servo amplifiers with smaller outputs between two servo ampli- fiers with higher outputs. - Ensure that the total rated currents of all the servo amplifiers connected in parallel in an intermediate circuit does not exceed 96 A (140 A PEAK Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 38: Intermediate Circuit Topology

    Use shielded cables for larger cable lengths. Amplifiers that frequently work as generators in the application should be placed next to devices that frequently consume energy. This reduces the current flow over longer dis- tances. Fig.: Intermediate circuit connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 39: Control Element

    DIGITAL-IN2 Type 1 X3A/4, 5 DIGITAL-IN3 Semiconductor 4 kHz Evaluation of input 61131-2 limit DIGITAL-IN4 Type 1 switches X3A/1 ENABLE Semiconductor 4 kHz Enable sig- input 61131-2 nal from Type 1 controller Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 40: Digital Inputs

    In a disabled condition ("0" signal), the connected motor is torque-free. PLC-compatible (IEC 61131-2 Type 1), volt-free, reference earth is DGND Further information and connection examples can be found in this chapter under "Safety function STO". Setting the parameters: Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 41 Setting the parameters: Select whether they should be used as input or output in the commissioning software (“Digital I/O” window). INFORMATION The inputs are active high or low, depending on the selected function. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 42 The input STO2-ENABLE must be connected to the output STO SIL3 on the safety card. – If the safety function STO is not needed, STO2-ENABLE must be connected dir- ectly to 24 V. INFORMATION Further information is available in the section entitled “Safety function STO”. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 43: Digital Outputs

    1: STO1-ENABLE active (= "0"), power element switched off 0: STO1-ENABLE inactive (= "1"), drive in closed loop operation – STO2-STATUS 1: STO2-ENABLE active (= "0"), power element switched off 0: STO2-ENABLE inactive (= "1"), drive in closed loop operation Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 44: Safety Function Sto

    WARNING! Risk of electrocution! The safety function STO does not guarantee electrical isolation from the power output. Disconnect the servo amplifier from the mains and wait for the intermediate circuit to discharge itself. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 45: Signal States

    3. If a suspended load is present, use an additional mechanical measure to block the drive 4. Activate safety function STO (STO1-ENABLE and STO2-ENABLE= 0 V) ENABLE X3A/1 >100 ms Fig.: Safety function STO Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 46: Safety Function Sto Without A Safety Card

    STATUS and STO2-STATUS of the PMCprotego D. They are evaluated by a safety control system. STO dual-channel PMCprotego D.x STO1-STATUS The signals STO1-STATUS and STO1-Feedback STO2-STATUS must be evaluated. STO2-STATUS STO2-Feedback 24 V STO1-ENABLE POWER 24 V STO2-ENABLE Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 47 STO2-ENABLE: Digital input, 2nd shutdown route for shutting down the pulse disabler safely STO1-STATUS: Digital output, switch status STO1 STO2-STATUS: Digital output, switch status STO2 : Delay time between 1/0 pulse edge of STO1-ENABLE/STO2-ENABLE and 1/0 pulse edge of output STO1-STATUS/ STO2-STATUS Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 48: Safety Function Sto With Safety Card

    The following circuit example illustrates single-channel activation of the safety function STO. The drives are switched via a safety gate. Safety gates S1/S2 are monitored by a safety relay PNOZ s3. Shorts across contacts are detected. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 49: Connection Example For Sto, Dual-Channel

    The safety function STO complies with PL e (Cat. 4) of EN ISO 13849-1 and SIL CL 3 of EN/IEC 62061. The relays' wiring must comply with the category or performance level required for the ap- plication. Further information on the safety control system PNOZmulti is available from Pilz. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 50: Analogue Inputs

    Reversing the direction of rotation: Anti-clockwise rotation of motor shaft (facing the shaft): – Swap the configuration of terminals X3B/10-9 or X3B/12-11 or change the Count direction parameter in the “Feedback” window (0/1). Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 51: Encoder Systems

    Position Electronic Configura- Commut- Speed reg- control- tion Location Parameter ation ulator Gearing One en- In the mo- FBTYPE coder Two en- In the mo- FBTYPE coders (ex- ternal posi- External EXTPOS tion) Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 52 The table below provides an overview of the supported encoder types and their corres- ponding parameters and connectors. Feedback types with one-cable connection (power and feedback in one cable) Hybrid cable Hiperface DSL Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 53 + Hall encoder Incremental encoder ROD (AquadB) 24 V, without 12, 16 24 V zero pulse Incremental encoder ROD (AquadB) 24 V, without 24 V zero pulse + Hall encoder Absolute encoder with SSI interface Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 54 Incremental encoder ROD (AquadB) 5 V, with zero pulse + Hall encoder Absolute encoder with SSI interface SinCos encoder with SSI interface (linear) Pulse/direction 5 V Encoder with expansion card "PosI/O" or "PosI/O-AIO" Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 55 X5 (expansion card POS I/ X5: Expansion card POS I/ incremental encoder) O, POS I/O-AIO: External O, POS I/O-AIO: External encoder (e.g. incremental encoder (e.g. incremental encoder) encoder) FBTYPE FBTYPE FBTYPE EXTPOS EXTPOS EXTPOS Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 56 X2 Master: Motor encoder (resolver) O-AIO, external encoder (e.g. incremental X5 Master, Slave: Expansion card POS I/O, encoder) POS I/O-AIO, Master-Slave connection Slave Slave Master Master GEARMODE GEARMODE ENCMODE ENCMODE FBTYPE FBTYPE FBTYPE FBTYPE EXTPOS EXTPOS Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 57: Resolver

    Setting the parameters: Parameter Parameter Parameter Supply Encoder type FBTYPE EXTPOS GEARMODE voltage Up SinCos encoder 5 V with 5 V +/- 5% Hall SinCos encoder 12 V with 7.5 … 11 V Hall Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 58 SinCos encoder with SSI interface (X1) Functions: SinCos encoder with SSI interface connected as a linear feedback system Setting the parameters: Parameter Parameter Parameter Encoder type FBTYPE EXTPOS GEARMODE SinCos encoder with SSI interface 5 V Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 59: Incremental Encoders

    (motor phase parameter MPHASE). Depending on the encoder type, either a wake & shake is executed or the value for the MPHASE parameter is taken from the servo amplifier's EEPROM. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 60 Temperature monitoring on the motor is connected to X1 and is evaluated there Cutoff frequency at X3: 100 kHz Cutoff frequency at X1: 350 kHz Setting the parameters: Parameter Parameter Parameter Encoder type FBTYPE EXTPOS GEARMODE Incremental encoder 5 V, without zero pulse + Hall encoder Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 61: Absolute Encoder With Ssi Interface

    Cutoff frequency: 1.5 MHz Resolution per revolution: Max. 16 Bit Revolutions: Max. 16 Bit Motor temperature monitoring Setting the parameters: Parameter Parameter Parameter Encoder type FBTYPE EXTPOS GEARMODE Absolute encoder with SSI interface Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 62: Hall Encoder

    Encoder with BISS interface, digital 11, 12 SinCos encoder with EnDat 2.1 interface Encoder with EnDat 2.2 interface SinCos encoder with HIPERFACE interface SinCos encoder without data track 6, 7 Incremental encoder (AquadB) 5 V, 350 kHz Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 63: Stepper Motor Control Systems (Pulse/Direction)

    Use an incremental encoder to achieve higher EMC immunity. Parameter setting: Control Parameter GEARMODE Pulse/direction 5 V (X1) Pulse/direction 24 V (X3) 4.3.6.2 Master-Slave mode Functions: Interconnection of 2 PMCprotego D Slave is activated by the Master via the encoder interface X1 Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 64 On the expansion cards PosI/O or PosI/O-AIO there are no terminating res- istors in terminal X5. At X5, up to 16 Slaves can be connected to a Master (see "Expansion card PosI/O, PosI/O-AIO"). Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 65: Encoder Emulation

    ) One per revolution coder => X1 (only when >0 = SinCos encoder 256 … 524288 (2 … A = B = 1) etc. INFORMATION Binary resolutions (2 ) can be used if a safety card is built in. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 66 6-pole resolvers to one third of a re- volution. Multiturn: The leading 12 to 16 Bits indicate the number of revolutions; the following 16 bits state the position. Revolution SSIREVOL Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 67: Communications Interfaces

    PC: – Operating parameters – Position control parameters – Motion block parameters The interface is selected and set-up in the commissioning software. For further information please refer to the chapter entitled "Wiring". Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 68: Canopen Interface

    LINK_OUT Receipt is valid (OUT port) Invalid, power off or reset LED4 REPEATER Repeater on, network cyclical Flashes Repeater on, network not cyclical Repeater off, power off or reset Recommended cable: Cat 5e Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 69: Sd Card

    Setting of limit values, braking ramps for the safety functions, monitoring of motion sequences A database containing motor parameters for Pilz motors makes it easier to set paramet- ers for the servo amplifier. If the correct motor-related data has been loaded from the database, the control para- meters generally only need to be optimised.

  • Page 70: Expansion Cards

    The inputs and outputs are isolated from the servo amplifier through optocouplers. Fig.: Front view of expansion card I/O-14/08 LEDs: Description Green 24 V supply voltage is present Fault on the expansion card's outputs (overload and/or short circuit) Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 71 Starts the motion task that is addressed via the inputs A0 ... A7 (connector X11A/1...8). InPosition When a motion task reaches its target position (in the “In-Position” window), the output registers a high signal. An open circuit will not be detected. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 72 PosReg4 May only be set via parameters PosReg5 May only be set via parameters 24 VDC Supply voltage for digital outputs I/O-GND Earth for the digital signals from the control system Connector X11B Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 73: Expansion Card Posi/O, Posi/O-Aio

    On vertical axes, the load could fall unbraked. The brake is released with wake & shake. The torque is insufficient to hold the load. Do not use this feedback system with vertical, suspended loads. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 74: Absolute Encoder With Ssi Interface (X5, X1)

    Setting the parameters: Parameter Parameter Parameter Parameter Encoder type FBTYPE EXTPOS GEARMODE ENCMODE SinCos encoder with SSI interface 5 V linear 4.4.3.4 Electronic gearing, Master-Slave mode The expansion card can be used to implement: Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 75: Encoder Emulation

    SinCos encoder; a higher level control system uses these tracks for positioning. These six tracks are track A, B and NI (zero pulse) and their inverted signals A\, B\ and NI\. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 76 Default count direction: Upwards, facing the motor axis when rotating clockwise Output of SSI signals Functions: With this encoder emulation, positional data for the SSI interface is prepared from the exist- ing output signals from the resolver or SinCos encoder. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 77 Timeout t = 1.3 μs or 10 μs (SSITOUT parameter) Output |ΔU| I ≥ 2 V/20 mA Input |ΔU| ≥ 0.3 V Default count direction: Upwards, facing the motor axis when rotating clockwise Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 78: Analogue Inputs

    The expansion card has two PROFIBUS DP interfaces. They are wired in parallel on two female 9-pin D-Sub connectors. The servo amplifier supplies the voltage to the expansion card. Fig.: Front view of the PROFIBUS DP expansion card Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 79: Expansion Card Profinet

    The parameters ACTFAULT (reaction to fault) and STOPMODE (reaction to ENABLE signal) define how the drive behaves when it is switched off. ACTFAULT/STOPMODE Behaviour* Motor runs down in an uncontrolled manner 1 (default) Motor is braked in a controlled manner Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 80 Behaviour of the safety function STO The safety function STO activates the pulse disabler on the servo amplifier and removes the power to the motor. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 81: Normal Mode

    Servo amplifiers on which the “Holding brake” function has been enabled have a separate procedure to switch off the inverted rectifier (see section in this chapter entitled “Motor hold- ing brake”). The drive is shut down safely using the safety function STO (STO1-ENABLE/STO2-EN- ABLE). Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 82: Fault Condition

    The error F06 does not switch off the output stage immediately. Controlled braking is initiated when ACTFAULT = 1. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 83 (ACT- FAULT = 1). NOTICE Please note the following when using a safety card PMCprotego S: Before setting the servo amplifier enable, the "Ready" output on the safety card (X30/16) must be polled! Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 84: Implementation Of Stop Categories

    Drive-integrated solution The safety card PMCprotego S from Pilz is used to implement a controlled stop of stop category 1. The safety function "Safe stop 1 – SS1" must be activated then. Information on the safety card PMCprotego S is available in the download area www.pilz.com.
  • Page 85 If there is an internal fault on the servo amplifier, the motor is forcibly braked once K20 drops out. Make sure that the machine cannot be damaged by abrupt braking. Frequent forced braking using the holding brake built into the motor can damage the brake. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 86 Function Description Wiring suggestion with external wiring Implementation with stop category 1 emergency stop, Control function with auxiliary contactors, without safety card PMCprotego S from Pilz. Fig.: Stop category 1 S1: On S2: Off S3: E-STOP Motor output P Motor circuit brake resistor R Up to 2.5 kW...

  • Page 87: Stop Category 2

    A controlled stop, with power left available to the machine actuators. Drive-integrated solution The safety card PMCprotego S from Pilz is used to implement a controlled stop of stop category 2. The safety function "Safe stop 2 – SS2" (Safe Stop 2) must be activated then.
  • Page 88 Function Description Wiring suggestion with external wiring Implementation with category 2 emergency stop, Control function with auxiliary contactors, without safety card PMCprotego S from Pilz. Fig.: Stop category 2 S1: On S2: Off S3: E-STOP Motor output P Motor circuit brake resistor R Up to 2.5 kW...
  • Page 89 Motor circuit brake resistor R 20 kW - 40 kW 0.33 Ω (600 W) 1000 V = (M ) / 9550 where: : Motor output [kW] : Standstill torque [Nm] : Rated speed [1/min] Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 90: Installation

    The servo amplifier and power supply should be installed close to each other on the conductive, earthed mounting plate inside the control cabinet. Control cabinet lighting Use low interference panel lighting for inside the control cabinet. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 91: Dimensions

    243 (9.57'') 145 (5.71'') 118 (4.65'') 227 (8.94'') 190 (7.48'') Fig.: Dimensions of the PMCprotego D.48/D.72 Installing the servo amplifier Installation materials: 4 hexagon socket cylinder head screws DIN 4762, M5 Required tool: Hexagonal wrench 4 mm Proceed as follows: Drill M5 holes in the control cabinet’s mounting plate, as shown in the illustrations.
  • Page 92 Installation Cable duct Cable duct Mounting plate Control cabinet door conductive (galvanised) Hexagon socket cylinder head screw EN 4762 Fig.: Installing the servo amplifier in a control cabinet Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 93: Installing The Shielding Plate

    Installation Installing the shielding plate Installation materials: Unscrew the screws (see illustration) and re-use them Required tool: Cross slot screwdriver Fig.: Installing the shielding plate on the servo amplifier Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 94: Installing The Expansion Cards

    2. Remove the film (perfora- 3. Tear off the film as far as tion) the marker 4. Break the bottom link 5. Break out the top plate 6. Break out the bottom plate Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 95: Expansion Cards For Slot 2

    1. Remove the front membrane. Lever out the cover plate beneath the film. Insert the expansion card into the slot. Fasten the front plate of the expansion card using the screws provided. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 96: Expansion Cards For Slot 3

    3. If not, it will not be pos- sible to enable the servo amplifier. Insert the expansion card into the slot. Fasten the front plate of the expansion card using the screws provided. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 97: Wiring

    Wiring Wiring Connector description PC/CAN Ethernet Ethernet Power RESOLVER ENCODER 24V/STO Brake supply Brake Motor External brake resistor Fig.: Connector description PMCprotego D.48/D.72 Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 98: Block Diagram

    X1, X2, X6, X9 Shield in the connector housing X3, X8 Shield on the front plate Protective earth, PE Mounting plate Wide area, electrical connection between the designated device and the mounting plate in the control cabinet Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 99 STO 1 STO1-STATUS STO Status XGND I/O-GND F N3 F N2 CAN Master F N1 F H1 RS 232 F H2 +24 V Ethernet XGND F H3 Ethernet Ethernet Fig.: Block diagram PMCprotego D.48/D.72 Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 100: Notes On Wiring

    (see section entitled "Connection cables"). To achieve the maximum cable length, use cable material of the quality described under "Connection cables". E-STOP circuit The relay output for operational readiness (BTB) must be incorporated into the plant's emergency stop circuit. BTB contact: No safe signal Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 101: Contact Protection

    50 Hz current. It's not possible to measure the leakage cur- rents using a conventional multimeter because these too are standardised at 50 Hz current. The ready-made cables from Pilz are low capacity. The leakage current can be calculated approximately as follows (at 400 V mains voltage): = n x 20 mA + L x 1 mA/m at 8 kHz clock frequency at the output stage...

  • Page 102: Residual Current Devices Fi

    < 5 m), we recommend that each servo amplifier is protected individu- ally using a 30 mA universal current sensitive residual current device. Selective FI residual current devices will stop the protective device being triggered inadvert- ently. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 103: Isolating Transformer

    Twisted pair, coder, thermal shielded switch, Max. 25 m Analogue inputs, 0.25 mm² Twisted pair, AGND, max shielded Max. 1.5 mm² 30 m Digital inputs 0.5 mm² and outputs, Max. 1.5 mm² BTB, DGND, max. 30 m Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 104: Wiring Procedure

    Connect the mains voltage (for maximum permitted voltage values see chapter entitled “Technical Details”); for information on FI residual current devices see section entitled “Residual current devices”) Connect the PC (see section entitled “Communications interfaces”) Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 105: Emc-Compliant Wiring

    Flexible earthing straps should be used on moving earth parts (e.g. machine parts, gates). Ensure these earthing straps are as short and wide as possible. Unused wires in a cable should be earthed at both ends. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 106: Shielding

    Any interruptions to the shielding e.g. at terminals, contactors, chokes, should be bridged at low impedance over a wide area. All connectors or sockets should be fastened with screws to ensure ample, conductive contact between the braided shield and the front plate. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 107: Shield Connection On The Front Plate

    Filters have leakage currents which may be considerably greater than the rated values in the event of a fault (phase failure, unbalanced load) (see section entitled “Leakage cur- rent”). Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 108: Chokes

    Overvoltage can destroy the device and lead to minor injuries. Select the correct mains voltage and the correct device type. When mains voltage is below 300 V AC please note: Set BONBTB = 1 and VBUSBAL = 1. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 109 Use the following fuses for F and F , depending on the device type. Device type D.48 D.72 Type Blow-out fuse or similar 60 A 80 A gRL or gL 400V/500V (Fuse classes RK5/ CC/J/T, 600VAC 200kA, time-delay) Protection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 110: Motor

    Leakage currents on long cable runs place a load on the servo amplifier's output stage. Wire the motor choke (ac- cessories) into the motor cable, close to the amplifier. Connect the shielding on both ends. Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 111: Motor Holding Brake

    BR+24 V BRGND Earth Connector pin assignment Output circuit Motor holding brake Wires to the brake (BR+/ PMCprotego BR-) should be shielded Connect the shielding on both ends BR +24 V BRGND Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 112: External Brake Resistor

    Monitoring is carried out by the servo amplifier via software. It is assumed that the parameters on the servo amplifier are set correctly. The fuses should provide protection from consequential damage in the event of a short circuit and earth fault. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 113 Min. 600 – 1000 100 A Conductor cross sec- 35 mm tion Fuse type Bussmann: up to 100 A: FWP-zzzA22F, size 22 x 58 mm with 500 Vdc UL approval Fuse holder Bussmann: CH142D, CH222B Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 114: Intermediate Circuit

    + Intermediate circuit voltage - Intermediate circuit voltage Connector pin assignment Output/input circuit Intermediate circuit Cable runs ≤ 500 mm: Use unshielded single wires (25 mm²) Cable lengths > 500 mm: Use shielded cables. Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 115: Energy Store Pmcenergy Sd

    This energy is usually imple- mented via brake resistors in power dissipation. If the energy is required, for example, with the next acceleration cycle, the energy stores supply the saved energy back in the intermediate circuit. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 116 Fig.: PMCenergy SD, type key Legend Base unit Energy store Expansion unit Expansion module INFORMATION For notes on assembly, installation and commissioning please refer to the operating manual of the energy storage module. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 117 LED flashes. The absorbed energy is used in the next acceleration process. Connector X8 Designation Description bridged Energy store BR W2 V2 -DC +DC PE Energy store -DC Energy store +DC Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 118 Wiring Output circuit Energy store Energy store: Discharge bridge [E] between terminal 1: –DC PMCenergy SD.B PMCenergy SD.E RS422 terminal 2: Re- move BR. Servo Drive Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 119: Control Element

    Pin 3 and 4 (XGND) +24 V +24 V XGND 24 V connection isolated XGND from external power supply, e.g. with isolating trans- former Noise suppression filters in- tegrated within the servo amplifier Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 120: Digital Inputs

    Designation Description XGND Reference earth for 24 VDC STO1-STATUS STO2-ENABLE STO – Safe torque off, 2nd STO1-ENABLE STO2-STATUS shutdown route STO2-ENABLE XGND STO1-ENABLE STO – Safe torque off, 1st XGND shutdown route +24V +24V Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 121 24 V 24 VDC STO2-ENABLE IO-GND XGND Referenced to earth: Al- ways connect XGND (X4B/3 or 4) to I/O-GND on the control system Connect a safe semicon- ductor output or positive- guided relay contact Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 122 STO/SIL 3 is used STO2-ENABLE STO/SIL3 XGND Input STO1-ENABLE has IO-GND no function, do not wire the connection Referenced to earth: Al- ways connect XGND (X4/3 or 4) to I/O-GND on the control system Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 123 STO2-ENABLE 24 V PMCprotego S2: Does not have a 2nd shutdown route XGND IO-GND Connect 24 VDC Referenced to earth: Al- ways connect XGND (X4/3 or 4) to I/O-GND on the control system Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 124: Digital Outputs

    XGND XGND XGND Reference earth for digital +24V +24V inputs or outputs XGND Reference earth for digital inputs or outputs STO2-STATUS Status of safety function STO1-STATUS Status of safety function Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 125: Analogue Inputs

    BTB/RTO ANALOG-IN1+ Analogue input 1+ BTB/RTO AGND ANALOG-IN2- Analogue input 2- ANALOG-IN 2+ ANALOG-IN 2- ANALOG-IN 1+ ANALOG-IN2+ Analogue input 2+ ANALOG-IN 1- AGND Reference earth for analogue in- puts Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 126: Encoder Systems

    Under “Connection cables”, please note the requirements for the: Cable cross sections Insulation material NOTICE The connection cable must not exceed the maximum length of 25 m. The connection cable must not be interrupted or separated. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 127 DSL- n. c.: Not connected Connector X8 Connection power Motor connection phase W W2 V2 -DC +DC PE Motor connection phase V Motor connection phase U Earth conductor Connector X9A Connection brake Brake+ Brake Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 128: Sfd3 One-Cable Connection

    250 mA should be shielded separately Connect the shielding on both ends Power element Brake 6.7.5.2 SFD3 one-cable connection Information on the connection can be found in chapter HIPERFACE DSL, one-cable con- nection. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 129: Resolver

    Cosine input Reference output Connector pin assignment Input circuit Resolver Motor Thermal switch in the motor is connected via the re- solver cable at X2 Twisted pair, shielded Shield connection in the connector Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 130: Sincos Encoder With Hiperface Interface

    Parameter channel RS 485 n. c. ϑ Thermal switch (+) n. c. REFSIN Reference sine n. c. REFCOS Reference cosine n. c. Data- (RS 485) Parameter channel RS 485 ϑ Thermal switch (-) n. c. n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 131 Wiring Input circuit SinCos encoder with HIPERFACE interface Motor Thermal switch in the motor is connected via the en- coder cable at X1. Twisted pair, shielded Shield connection in the connector Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 132: Sincos Encoder With Endat 2.1 Interface

    Sense 0 V Supply voltage feedback 0 V Channel A (sine) Sense Us Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch (-) CLOCK\ Test pulse output inverted n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 133 Wiring Input circuit SinCos encoder with EnDat interface Motor Thermal switch in the mo- tor is connected via the encoder cable at X1. Twisted pair, shielded Shield connection in the connector Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 134: Encoder With Endat 2.2 Interface

    Thermal switch (-) CLOCK\ Test pulse output inverted n. c.: Not connected Connector pin assignment INFORMATION The encoder supply voltage from 3.6 – 14 V can be operated without a sensor cable. (FBTYPE 34) Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 135 X1. Twisted pair, shielded Shield connection in the connector 5V / 12V Connection INFORMATION The encoder supply voltage from 3.6 – 14 V can be operated without a sensor cable. (FBTYPE 34) Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 136: Sincos Encoder With Biss Interface, Analogue

    Sense 0 V Supply voltage feedback 0 V Channel A (sine) Sense Us Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch (-) CLOCK\ Test pulse output inverted n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 137 X1 Twisted pair, shielded Shield connection in the connector DATA DATA DATA\ DATA\ CLOCK CLOCK CLOCK\ CLOCK\ Sense Sense 5 V +/- 5 % Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 138: Encoder With Biss Interface, Digital

    Sense 0 V Supply voltage feedback 0 V n. c. Sense Us Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch (-) CLOCK\ Test pulse output inverted n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 139 DATA DATA coder cable at X1 DATA\ DATA\ Twisted pair, shielded CLOCK CLOCK CLOCK\ CLOCK\ Shield connection in the connector Sense Sense 5 V +/- 5 % Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 140: Sincos Encoder With Ssi Interface

    Sense 0 V Supply voltage feedback 0 V Channel A (sine) Sense Us Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch (-) CLOCK\ Test pulse output inverted n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 141 X1 Twisted pair, shielded Shield connection in the connector DATA DATA DATA\ DATA\ Switch on supply voltage CLOCK CLOCK Up: ENCVON=1 CLOCK\ CLOCK\ Sense Sense 5 V +/- 5 % Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 142: Sincos Encoder Without Data Track

    Thermal switch (+) n. c. Cosine + Sense 0 V Supply voltage 0 V Sine + Sense Us Supply voltage Zero pulse - ϑ Thermal switch (-) n. c. n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 143 Wiring Input circuit SinCos encoder without data track Thermal switch in the motor is connected via the en- coder cable at X1. Twisted pair, shielded Shield connection in the connector Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 144: Sincos Encoder With Hall Encoder

    ϑ Thermal switch (+) Hall-V Hall-V Cosine + Sense 0 V Supply voltage 0 V Sine + Sense Us Supply voltage Zero pulse - ϑ Thermal switch (-) Hall-W Hall-W Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 145 Wiring Input circuit SinCos encoder with Hall Servo Drive Thermal switch in the motor is connected via the en- coder cable at X1. Twisted pair, shielded Shield connection in the connector Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 146: Incremental Encoder Rod (Aquadb) 5 V, 350 Khz

    Channel B inverted Sense 0 V Supply voltage feedback 0 V Channel A inverted Sense Us Supply voltage feedback 5 V Reference pulse inverted ϑ Thermal switch (-) n. c. n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 147 Wiring Input circuit Incremental encoder 5 V Thermal switch in the motor is connected via the en- coder cable at X1 Twisted pair, shielded Shield connection in the connector Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 148: Incremental Encoder Rod (Aquadb) 5 V, 1.5 Mhz

    Channel A n. c. Sense 0 V Supply voltage feedback 0 V n. c. Sense Us Supply voltage feedback 5 V Channel B inverted ϑ Thermal switch (-) Channel A inverted n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 149 Wiring Input circuit Incremental encoder 5 V, 1.5 MHz Thermal switch in the motor is connected via the en- coder cable at X1 Twisted pair, shielded Shield connection in the connector Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 150: Incremental Encoder Rod (Aquadb) 5 V, With Zero Pulse And Hall Encoder

    Channel B inverted Sense 0 V Supply voltage feedback 0 V Channel A inverted Sense Us Supply voltage feedback 5 V Reference pulse inverted ϑ Thermal switch (-) Hall-W Hall-W n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 151 Incremental encoder 5 V with Hall encoder Servo Drive Thermal switch in the motor is connected via the en- Comcoder coder cable at X1 Twisted pair, shielded Shield connection in the connector Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 152: Incremental Encoder Rod (Aquadb) 24 V, Without Zero Pulse

    Reference earth for digital inputs Connector pin assignment Input circuit Incremental encoder 24 V, 100 kHz Thermal switch in the motor is connected to X1 or X2 24 V DIGITAL-IN1 DIGITAL-IN2 Shielded 24 V DGND X1/X2 Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 153: Incremental Encoder Rod (Aquadb) 24 V, Without Zero Pulse, With Hall Encoder

    Thermal switch (+) Hall-V Hall-V n c Sense 0 V Supply voltage feedback 0 V n c Sense Up. Supply voltage feedback 5 V n c ϑ Thermal switch (-) Hall-W Hall-W n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 154 Wiring Input circuit Incremental encoder 24 V with Hall encoder X3: 100 kHz X1: 350 kHz ROD (AquadB) + Hall Thermal switch in the motor is connected to X1 or X2 Shielded Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 155: Absolute Encoder With Ssi Interface

    Sense 0 V Supply voltage feedback 0 V n. c. Sense Us Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch (-) CLOCK\ Test pulse output inverted n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 156 X1 DATA DATA DATA\ DATA\ Twisted pair, shielded CLOCK CLOCK CLOCK\ CLOCK\ Shield connection in the connector Sense Sense Switch on supply voltage Up: ENCVON=1 5 V +/- 5 % Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 157: Hall Encoder

    Supply voltage n. c. Hall-U Hall-U ϑ Thermal switch (+) Hall-V Hall-V n. c. Supply voltage 0 V n. c. Supply voltage n. c. ϑ Thermal switch (-) Hall-W Hall-W n. c. not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 158 Wiring Input circuit Hall encoder Servo Drive Thermal switch in the motor is connected via the en- coder cable at X1. Twisted pair, shielded Shield connection in the connector Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 159: Electronic Gearing, Master-Slave Mode

    Connection Connection to a stepper motor control system with 24 V signal Connector X3 Designation Description DIGITAL-IN1 Input for direction DIGITAL-IN2 Input for pulse DGND Reference earth for digital inputs Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 160 Channel B Channel A inverted Channel B inverted Connector pin assignment input circuit Pulse/direction encoder 5 V Twisted pair, shielded PMCprotego Slave PMCprotego Master Terminating resistor R 150 Ohm (RS 485-compat- ible) Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 161: Encoder Emulation

    Shield connection in the PMCprotego connector Always connect GND to the earth on the control system Select R in accordance with the cable impedance, typically 150 Ω Max. cable length: 100 m Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 162: Communications Interfaces

    With the supply voltages switched off, connect the interface (X6) on the servo amplifier to a serial interface on the PC via a null modem cable. INFORMATION Do not use a null modem link cable! Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 163 9-pin female D-Sub con- nector (servo amplifier) to 9-pin female D-Sub con- nector (PC) Cable: RS 232 RS 232 9-pin female D-Sub con- nector (servo amplifier) to 25-pin female D-Sub con- nector (PC) Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 164: Canopen Interface

    Longer cable runs can be achieved with lower cable capacitance (max. 30 nF/km) and lower conductor resistance (loop, 115 Ω/km). Characteristic impedance 150 ± 5 Ω => terminating resistor 150 ± 5 Ω. For EMC reasons, the D-Sub connector housing must meet the following requirements: Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 165: Ethernet-Based Interface

    Communication is via Ether CAT. IN Port Socket X7A Designation Description TD+ (Transmit+) Send data TD- (Transmit-) Send data inverted RD+ (Receive+) Receive data n. c. n. c. RD- (Receive-) Receive data inverted n. c. n. c. n. c.: Not connected Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 166: Expansion Cards

    OUT Port IN Port Expansion cards 6.8.1 Expansion card PMCprotego S1, PMCprotego S2 The wiring for the safety cards is described in detail in the operating manuals for the PMC- protego S1 and PMCprotego S2. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 167: Expansion Card I/O-14/08

    Digital output Folge-InPos / PosReg Digital output S_fehl Digital output PosReg1 Digital output PosReg2 Digital output PosReg3 Digital output PosReg4 Digital output PosReg5 Digital output 24 VDC Supply voltage 24 VDC I/O-GND Reference earth Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 168 I/O-GND on the control system Referenz S_fehl_clear FStartFolge FStartTippx Servo Drive X11B FRestart FStart_I/O InPos Folge-InPos / PosReg 0 S_fehl PosReg1 PosReg2 PosReg3 PosReg4 PosReg5 +24 V I/O-GND I/O-GND 3, 4 XGND Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 169: Expansion Card Posi/O, Posi/O-Aio

    Cable cross sections Insulation material 6.8.3.1 Electronic gearing Master-Slave mode Connector X5 Designation Description Ground n. c. n. c. Channel A inverted Channel A Channel B Channel B inverted n. c. n. c. n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 170 Output of incremental en- coder signals Always connect GND to the Servo Drive Master earth on the control system Twisted pair, shielded Select R in accordance with the cable impedance, typically 150 Ω Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 171: Encoder Emulation

    Output of incremental en- coder signals Shield connection in the connector Always connect GND to the earth on the control system Select R in accordance with the cable impedance, typically 150 Ω Max. cable length: 100 m Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 172 Shield connection in the Servo Drive connector DATA DATA DATA\ DATA\ Always connect GND to the earth on the control system CLOCK CLOCK CLOCK\ CLOCK\ Select RT in accordance with the cable impedance, typically 150 Ω Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 173: Analogue Inputs And Outputs

    AGND +/- 10 V ANALOG-IN3+ (X3B/13) to CNC-GND on the control system CNC-GND AGND - Twisted pair, shielded ANALOG-IN4- - Shield connection on the +/- 10 V ANALOG-IN4+ front plate Shield Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 174: Incremental Encoder Rod (Aquadb) 5 V

    ϑ Thermal switch (+) n. c. n. c. Sense 0 V Supply voltage feedback 0 V n. c. Sense Up. Supply voltage feedback 5 V n. c. ϑ Thermal switch (-) n. c. n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 175 If the cable length is > 25 m, please speak to our Customer Support. Connector X5 Designation Description Ground Zero pulse + Zero pulse - Track A- Track A+ Track B+ Track B- n. c. n. c. n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 176 Thermal switch (+) Hall-V Hall-V n. c. Sense 0 V Supply voltage feedback 0 V n. c. Sense Up. Supply voltage feedback 5 V n. c. ϑ Thermal switch (-) Hall-W Hall-W n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 177 Incremental encoder 5 V, with Hall Servo Drive Voltage supply and thermal switch in the motor is con- Comcoder nected to X1 via the en- coder cable Twisted pair, shielded Shield connection in the connector Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 178: Absolute Encoder With Ssi Interface

    ϑ Thermal switch (+) n. c. n. c. Sense 0 V Supply voltage feedback 0 V n. c. Sense Up. Supply voltage feedback 5 V n. c. ϑ Thermal switch (-) n. c. n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 179: Sincos Encoder With Ssi Interface

    If the cable length is > 50 m, please speak to our Customer Support. Connector X5 Designation Description Ground n. c. n. c. CLOCK\ Test pulse output inverted CLOCK Test pulse output DATA Data DATA\ Data inverted n. c. n. c. n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 180 Thermal switch (+) n. c. Track B+ Sense 0 V Supply voltage feedback 0 V Track A+ Sense Up. Supply voltage feedback 5 V n. c. ϑ Thermal switch (-) n. c. n. c.: Not connected Connector pin assignment Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 181 SinCos encoder with SSI interface Voltage supply and thermal switch in the motor is con- nected to X1 via the en- coder cable. Twisted pair, shielded Shield connection in the connector Cosinus Sinus Connection Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 182: Expansion Card With Profibus-Dp Interface

    B (RxD/TxD-P) 390 W 390 W Connection INFORMATION Cable selection, cable routing, shielding, bus connectors, bus termination and runtimes are all described in the “PROFIBUS-DP/FMS Installation Guidelines” published by the PROFIBUS User Group PNO. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 183: Profinet Interface Expansion Card

    Wiring 6.8.5 PROFINET interface expansion card INFORMATION For information on the PROFINET expansion card, please refer to the oper- ating manual "PROFINET for PMCtendo DD5 and PMCprotego D". Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 184: Commissioning

    This chapter describes the procedure for commissioning the servo amplifier for the first time, by way of example. Please note that in this case the freely rotating motor is not yet connected to the prime mover. The servo amplifier is tested using a Pilz motor. INFORMATION The processes described here will help you understand the principle pro- cedure during commissioning.

  • Page 185: Commissioning The Servo Amplifier

    Do not switch on the voltages until the system is com- missioned! CAUTION! Risk of overvoltage Overvoltage can destroy the device and lead to minor injuries. Select the correct mains voltage and the correct device type. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 186 24 VDC power supply for control element 24 V power supply for motor holding brake Motor and encoder cable Brake resistor R PC with installed commissioning software PASmotion. The current version is available on our website www.pilz.com. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 187 Enable hardware: Connect 24 VDC to terminal X3/1 via S2 switch Mains contactor K1 – Connect A1 terminal to X3/14 via S3 switch – Connect A2 terminal to XGND on the supply voltage "STO-ENABLE deactivated" mode: Link terminals X4/1 and X4/7 Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 188 1. Select Project --> New --> Project... The Create Motion Project window is opened. 2. Enter a name for the project under Project Name. 3. Click on Next. The Connection Settings window is opened. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 189 The Motor Database window is opened. Select motor from motor database 1. Enter the motor's type code. You'll find the type code on the motor's type plate. Make your entries using buttons (1) or (2). Example: PMCtendo SZ.32/1/X/X/K/H/30 Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 190 Overvoltage can destroy the device and lead to minor injuries. Select the correct mains voltage and the correct device type. 1. Select Analogue I/O in the Parameter Navigator. The Analogue I/O window is opened 2. If necessary, change the parameters: Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 191: Download Firmware From Sd Card To Servo Amplifier

    Firmware for the servo amplifier – default.par: Parameter file for the servo amplifier INFORMATION Only plug or unplug the SD card when the supply voltage to the servo amp- lifier is switched off! Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 192: Leds And Keys

    Press once: move down one menu item, decrease number by one Press twice in quick succession: De- crease the number by ten Hold down right-hand button and then press left-hand button: enter numbers, confirm entry Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 193: Status Indicator

    Commissioning The diagram below illustrates the function of the keys and LEDs. Fig.: Key functions 7.4.2 Status indicator Status Station address The amended address is saved automatically on exit. Fig.: Status indicator Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 194: Standard Menu

    Status 4: 24 V and mains voltage switched on Device signals current coding, power on and ENABLE. Point flashes Errors or warnings are displayed consecutively for 4 flash cycles each Parameter Fig.: Standard menu display Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 195: Advanced Menu

    Amplifier updating the start configuration Status message Status message, no error, programming mode - S - STO-ENABLE STO-ENABLE input = 0 V (if the drive is shut down) SD card Problem when accessing the SD card Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 196: Error Messages

    Handling error on the expansion card Reserved Reserved CAN Bus off Major CAN Bus communication error Warning Warning indicator assessed as an error Commutation error Commutation error Limit switch Reference run error (hardware limit switch reached) Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 197: Warnings

    Problem with the 24 V supply for the I/O expansion card SinCos feedback SinCos commutation (wake & shake) incomplete, will be cleared if amplifier is enabled and wake & shake is executed Table Error Fault as per speed/current table INXMODE 35 Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 198: Safety Checks

    You must comply with the requirements of the applicable national regulations. The intervals you select will depend on the application, the overall system and the associ- ated risk analysis. The test interval should not exceed one year. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 199: Expansion Cards

    "PROFIBUS DP for PMCtendo DD5 and PMCprotego D". 7.7.2 PROFINET interface expansion card INFORMATION For information on the PROFINET expansion card, please refer to the oper- ating manual "PROFINET for PMCtendo DD5 and PMCprotego D". Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 200: Technical Details Pmcprotego D.48

    Voltage rise with open terminals at 3 x 208 V AC 2,1 kV/µs at 3 x 230 V AC 2,3 kV/µs at 3 x 400 V AC 4 kV/µs at 3 x 480 V AC 4,8 kV/µs Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 201 15-pin D-Sub female connector Analogue inputs Number of analogue inputs Type of analogue inputs Voltage Input area -10 ... 10 V Resolution 16 Bit Max. common mode voltage -10 - 10 V Input resistance 150 kOhm Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 202 Temperature range with power derating 40 - 55 °C Power derating 2,5 %/K Storage temperature In accordance with the standard DIN EN 60721-3-1 Temperature range -25 - 55 °C Max. change 20 K/h Storage temperature class Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 203 Height 386 mm Height incl. connector 505 mm Width 190 mm Depth 244 mm Depth incl. connector (accessories) 285 mm Weight 13.000 g Where standards are undated, the 2013-08 latest editions shall apply. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 204: Technical Details Pmcprotego D.72

    Voltage rise with open terminals at 3 x 208 V AC 2,1 kV/µs at 3 x 230 V AC 2,3 kV/µs at 3 x 400 V AC 4 kV/µs at 3 x 480 V AC 4,8 kV/µs Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 205 15-pin D-Sub female connector Analogue inputs Number of analogue inputs Type of analogue inputs Voltage Input area -10 ... 10 V Resolution 16 Bit Max. common mode voltage -10 - 10 V Input resistance 150 kOhm Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 206 Temperature range with power derating 40 - 55 °C Power derating 2,5 %/K Storage temperature In accordance with the standard DIN EN 60721-3-1 Temperature range -25 - 55 °C Max. change 20 K/h Storage temperature class Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 207 Height 386 mm Height incl. connector 505 mm Width 190 mm Depth 244 mm Depth incl. connector (accessories) 285 mm Weight 13.000 g Where standards are undated, the 2013-08 latest editions shall apply. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 208: Safety Characteristic Data

    A safety function's SIL/PL values are not identical to the SIL/PL values of the units that are used and may be different. We recommend that you use the PAScal software tool to calculate the safety function's SIL/PL values. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 209: Order Reference

    RS232-DD4/primo Drive PSS Conv USB / RS232 Interface adapter USB /RS 232 305 160 PMCprotego D.CAN-Ad- Interface adapter for dividing the CANopen interface to 8 176 470 apter 48-72A two parallel CANopen interfaces Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 210: Connector For Cable Assembly, Motor Power Cable

    Connection cable to the motor series "PMCtendo SZ" The connection cables from the servo amplifier to the motor series "PMCtendo SZ" can be found in the catalogue or they are available on request. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 211: Appendix

    External brake resistor RBint Internal brake resistor Resolver "A quad B" encoder, incremental encoder Continuous duty Intermittent duty Safe brake test Safe direction Safely limited speed Safe operational stop Programmable logic controller SRAM Static RAM Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 212 Appendix Abbreviation Description Safe stop Safe operating stop Synchronous serial interface Safe speed range Safety function STO AC voltage DC voltage Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...

  • Page 213: Glossary

    ControlNet International (CI) and the Open DeviceNet sition or also interdependently via closed con- trol loops, in accordance with specified con- Vendor Association (ODVA), with help from the Industrial Ethernet Association (IEA). cepts. Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 214 Converter for servo motors, enabling controlled operation of three-phase motors for dynamic movements (closed loop) Servo technology Drive technology, in which the individual com- ponents are so compatible that the overall sys- tem achieves optimum dynamics and precision Operating Manual PMCprotego D.48, PMCprotego D.72 1001735-EN-04...
  • Page 215 Front cover Support Technical support is available from Pilz round the clock. Americas Australia Scandinavia Brazil +61 3 95600621 +45 74436332 +55 11 97569-2804 Spain Canada Europe +34 938497433 +1 888-315-PILZ (315-7459) Austria Switzerland Mexico +43 1 7986263-0 +41 62 88979-30...

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