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Pilz PMC Series Installation Manual

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Motion Control PMC
PMCtendo DD5 / PMCprimo Drive3
Installation manual – Item No. 21 590-01

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Summary of Contents for Pilz PMC Series

  • Page 1 Motion Control PMC PMCtendo DD5 / PMCprimo Drive3 Installation manual – Item No. 21 590-01...

  • Page 2: General Conditions

    Pilz GmbH & Co. KG. Notes Pilz GmbH & Co. KG reserves the right to make amendments to this document at any time. The examples given serve only as illustrations. No guarantee is given for their suitability in particular applications.

  • Page 3: Table Of Contents

    2 Table of contents Table of contents General conditions Copyright....................2 Notes......................2 Previous editions..................2 Table of contents Type key Type PMCtendo DD5 ................6 Type PMCprimo Drive3................6 Safety instructions European Directives and Standards Abbreviations and symbols General About this manual ..................
  • Page 4 2 Table of contents 9.3.1 Mains electrical supply connection (X0) ..........42 9.3.2 24V auxiliary supply (X4) ................ 43 9.3.3 24V supply (X10) ..................44 9.3.4 Master encoder supply (X10)..............45 9.3.5 DC bus link (X8) ..................46 Motor connection with brake (X9) ............47 External regen restistor (X8) ..............
  • Page 5 2 Table of contents Setup 10.1 Important notes ..................90 10.2 Guide to setup..................91 10.3 Setup software PDrive ................92 10.3.1 Use as directed..................92 10.3.2 Software description ................92 10.3.3 Hardware requirements ................92 10.3.4 Minimum requirements for the PC: ............92 10.3.5 Installation under WINDOWS 2000 / XP ..........

  • Page 6: Type Key

    3 Type key Type key Type PMCtendo DD5 Type PMCprimo Drive3 Page 6 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 7: Safety Instructions

    4 Safety instructions Safety instructions • Only properly qualified personnel are permitted to perform activities such as transport, installation, setup and maintenance. Properly qualified persons are those who are familiar with the transport, assembly, installation, setup and operation of the product, and who have the appropriate qualifications for their job.

  • Page 8: European Directives And Standards

    5 European Directives and Standards European Directives and Standards Servo amplifiers are components that are intended to be incorporated into electrical plant and machines for industrial use. When the servo amplifiers are built into machines or plant, the amplifier must not be used until it has been established that the machine or equipment fulfills the requirements of the EC Machinery Directive (98/37/EC), the EC EMC Directive (89/336/EEC) and the EC Low Voltage Directive 73/23/EEC.
  • Page 9 5 European Directives and Standards Conformance with UL and cUL This servo amplifier is listed under UL file number E306065. UL (cUL)-certified servo amplifiers (Underwriters Laboratories Inc.) fulfil the relevant U.S. and Canadian standard (in this case UL 840 and UL 508C). This standard describes the fulfilment by design of minimum requirements for electrically operated power conversion equipment, such as frequency converters and servo amplifiers, which is intended to eliminate the risk of fire, electric shock, or injury to persons, being caused...

  • Page 10: Abbreviations And Symbols

    6 Abbreviations and symbols Abbreviations and symbols The abbreviations and symbols used in this manual are explained in the table below: Abbreviation Meaning AGND Analog ground Restart lock, option BTB/RTO Ready to operate Fieldbus (CANopen) Communité Europeenne Clock signal Serial interface for a PC-AT DGND Digital ground (for 24V and digital I/O) German Institute for Industrial Standards...

  • Page 11: General

    7 General General About this manual This manual describes the PMCtendo DD5 and PMCprimo Drive3 series of digital servo amplifiers. In this manual you can find information about: • Technical description of the PMCtendo DD5 and PMCprimo Drive3 Chapter 7.7 •...
  • Page 12 7 General If the servo amplifiers are used in residential areas, in business/commercial areas, or in small industrial operations, then additional filter measures must be implemented by the user. The PMCprimo Drive3 and PMCtendo DD5 family of servo amplifiers is exclusively intended for driving suitable brushless synchronous servomotors and asynchronous motors with closed-loop control of torque, speed and/or position.

  • Page 13: Instrument Description

    7 General Instrument description 7.4.1 Package supplied When you order an amplifier from the series PMCtendo DD5 resp. PMCprimo Drive3, you will receive: • Mating connectors X0, X3, X4, X8, X9 (only 230V amplifiers) • Assembly, Installation and Setup instructions •...

  • Page 14: The Pmctendo Dd5 Family Of Digital Servo Amplifiers

    7 General 7.4.4 The PMCtendo DD5 family of digital servo amplifiers 7.4.4.1 Standard version • Two voltage classes with large nominal voltage range +10% Series 230V: 1 x 110V ... 3 x 230V (3A, 6A and 10A) -10% + 10% Series 480V: 3 x 208V ...
  • Page 15 7 General 7.4.4.4 Auxiliary supply voltage 24V DC • Electrically isolated, internal fusing, from an external 24V DC power supply unit with, for instance, isolating transformer or uninterruptible power supply 7.4.4.5 Operation and parameter setting • With our user-friendly setup software PDrive, for setup via the serial interface of a PC •...

  • Page 16: The Pmcprimo Drive3 Family Of Digital Servo Amplifiers

    7 General 7.4.5 The PMCprimo Drive3 family of digital servo amplifiers In addition to the PMCtendo DD5 functionality the PMCprimo Drive3 offers further possibilities: 7.4.5.1 Performance data • Position controller with 1 ms cycle time using 10 axis • 9 axes in system: 1 Motor direct, as well as 8 other channels for controlling further axes •...

  • Page 17: Connection To Various Electrical Supply Networks

    7 General Connection to various electrical supply networks This page illustrates all the possible connection variations for different electrical supply networks. An isolating transformer is always required for 400 … 480V networks that are asymmetrically grounded or not grounded 230V series: 480V series: Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 17...

  • Page 18: Components Of A Servo System

    7 General Components of a servo system Page 18 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 19: Technical Data

    7 General Technical data 7.7.1 Technical data 230 V series Rated data PMCtendo DD5 PMCprimo Drive3 Size — +10% Rated supply voltage(grounded supply, phase to 1 x 110V … 1 x 230V -10% +10% phase) 3 x 110V … 3 x 230V -10% 50/60 Hz Rated input power for S1 operation...

  • Page 20: Technical Data 480 V Series

    7 General 7.7.2 Technical data 480 V series Rated data PMCtendo DD5 PMCprimo Drive3 Size 1.5A Rated supply voltage (grounded supply, phase to +10% 3 x 208V … 480V , 50/60 Hz -10% phase) Rated input power for S1 operation Max.

  • Page 21: Inputs / Outputs

    7 General 7.7.3 Inputs / outputs ±10 Analog inputs 1, 2 (resolution 14/12 bit) ±10 Max. common-mode voltage Input resistance to AGND kΩ Digital control inputs as per EN 61131-2 Type 1, max. 30VDC Digital control outputs, active high open Emitter, max. 30VDC, 10mA DC max.

  • Page 22: Permissible Ambient Temperatures, Ventilation, Mounting Position

    7 General 7.7.6 Permissible ambient temperatures, ventilation, mounting position p. 112 Storage hints p. 112 Transport hints Supply voltage tolerances +10% Supply input 230V series: 1x110V … 1x230V , 50/60 Hz -10% +10% 3x110V … 3x230V , 50/60 Hz -10% +10% 480V series: 3x208V...

  • Page 23: Led Display

    7 General 7.7.8 LED display 7.7.8.1 PMCtendo DD5 A 3-character LED display indicates the status of the amplifier after switching on the 24V supply p.94). When the keys on the front panel are used, the parameter and function numbers are shown, as well as the numbers for any errors that may occur ( p.98).

  • Page 24: Control Circuit For Motor-Holding Brake

    7 General Control circuit for motor-holding brake A 24V / max.1.5A holding brake in the motor can be controlled directly by the amplifier. Check voltage drop, measure the voltage at brake input and check brake function (brake and no brake). This function does not ensure personnel safety! The brake function must be enabled through the BRAKE parameter (screen page: Motor, setting: WITH).

  • Page 25: Grounding System

    7 General Grounding system AGND — analog inputs, internal analog ground, encoder emulation, RS232, CAN (X6) DGND — digital inputs/outputs and the 24V supply, optically isolated EGND — digital inputs/outputs (X10); 24V supply PMCprimo Drive3, supply master encoder, optically isolated 7.10 Regen circuit During braking with the aid of the motor, energy is fed back into the servo amplifier.

  • Page 26: Technical Data

    7 General 7.10.2 Technical Data Regen circuit Supply voltage Rated data DIM 115 V 230 V 400 V 480 V Switch-on (upper) threshold of regen circuit Overvoltage F02 Regen resistor (internal) Continuous power in regen circuit (RBint) — Pulse power in regen circuit (RBint max. 1s) 0.75 Regen resistor (external)* Continuous power in regen circuit (RBext) max.

  • Page 27: Switch-On And Switch-Off Behavior

    7 General 7.11 Switch-on and switch-off behavior The diagram below illustrates the correct functional sequence for switching the servo amplifier on and off. 7.11.1 Stop function as per EN 60204 (VDE 0113) If a fault occurs ( p. 98) then the output stage of the servo amplifier is switched off and the BTB/RTO contact is opened.

  • Page 28: Emergency Stop Strategies

    7 General 7.11.2 Emergency Stop strategies The Emergency Stop function is defined in EN 60204 (VDE 0113), Para. 9.2.5.4. 7.11.2.1 Implementation of the Emergency Stop function Wiring recommendation can be found in the Application Note “Stop and Emergency Stop Functions" 7.11.2.2 Category 0 The controller enable is switched to “disable”, the electrical supply is disconnected.

  • Page 29: Installation

    8 Installation Installation Important notes • Protect the servo amplifier from impermissible stresses. In particular, do not let any components become bent or any insulation distances altered during transport and handling. Avoid contact with electronic components and contacts • Check the combination of servo amplifier and motor. Compare the rated voltage and current of the units.

  • Page 30: Guide To Installation And Wiring

    8 Installation Guide to installation and wiring The following notes should help you to carry out the installation in a sensible sequence, without overlooking anything important. In a closed control cabinet. Please refer to page 22. The site must be free from conductive or corrosive materials. For the Site mounting position in the cabinet p.

  • Page 31: Assembly

    8 Installation Assembly Material: 3 x M5 hexagon socket screws to DIN 912 Tool required : 4 mm Allen key Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 31...

  • Page 32: Dimensions

    8 Installation 8.3.1 Dimensions Page 32 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 33: Wiring

    8 Installation Wiring Only professional staff who are qualified in electrical engineering are allowed to install the servo amplifier. The installation procedure is described as an example. A different procedure may be appropriate or necessary, depending on the application of the equipments. We provide further know-how through training courses (on request).

  • Page 34: Connection Diagram General

    8 Installation 8.4.1 Connection diagram general Page 34 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 35: Connection Diagram Pmcprimo Drive3

    8 Installation 8.4.2 Connection diagram PMCprimo Drive3 Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 35...

  • Page 36: Connector Assignments General

    8 Installation 8.4.3 Connector assignments general Page 36 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 37: Connector Assignments Pmcprimo Drive3

    8 Installation 8.4.4 Connector assignments PMCprimo Drive3 Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 37...

  • Page 38: Notes On Connection Technology

    8 Installation 8.4.5 Notes on connection technology 8.4.5.1 Shielding connection to the front panel Remove the outside shroud of the cable and the shielding braid on the desired core length. Secure the cores with a cable tie. Remove the outside shroud of the line on a length from for instance 30mm without damaging the shielding braid.
  • Page 39 8 Installation 8.4.5.2 Technical data for connecting cables Further information on the chemical, mechanical and electrical characteristics of the cables can be obtained from our customer service. Observe the rules in the section "Conductor cross-sections" on page 22. To reach the max.

  • Page 40: Interfaces

    9 Interfaces Interfaces All the important interfaces are presented in this chapter. The precise position of the connectors and terminals can be seen on page 34. The block diagram below just provides an overview. Block diagram general Page 40 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 41: Block Diagram Pmcprimo Drive3

    9 Interfaces Block diagram PMCprimo Drive3 Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 41...

  • Page 42: Electrical Supply

    9 Interfaces Electrical supply 9.3.1 Mains electrical supply connection (X0) 9.3.1.1 Three phase • Directly to 3-phase supply network, filter is integrated • Fusing (e.g. fusible cut-outs) to be provided by the user p. 21 9.3.1.2 Two phase without neutral Page 42 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 43: Auxiliary Supply (X4)

    9 Interfaces 9.3.1.3 Singel phase with neutral 9.3.2 24V auxiliary supply (X4) • External 24V DC power supply, electrically isolated, e.g. via an isolating transformer • Required current rating p. 19 • Integrated EMC filter for the 24V auxiliary supply Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 43...

  • Page 44: Supply (X10)

    9 Interfaces 9.3.3 24V supply (X10) These connectors are available only at a PMCprimo Drive3! • Electrically isolated, external 24V DC supply, e.g. with insulating transformer • 24 V can be taken from terminal X4, otherwise external fusing necessary • Required current rating ⇒...

  • Page 45: Master Encoder Supply (X10)

    9 Interfaces 9.3.4 Master encoder supply (X10) These connectors are available only at a PMCprimo Drive3! • Individual power supply for the connected encoder • Voltage range: See encoder datasheet! • External fusing provided by the user Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 45...

  • Page 46: Dc Bus Link (X8)

    9 Interfaces 9.3.5 DC bus link (X8) Terminals X8/1 (-DC) and X8/3 (+RBext). Can be connected in parallel, whereby the regen power is divided between all the amplifiers that are connected to the same DC bus link circuit. Only servo amplifiers with mains supply from the same mains (identical mains supply voltage) may be connected by the DC bus link.

  • Page 47: Motor Connection With Brake (X9)

    9 Interfaces Motor connection with brake (X9) Cable length ≤ 25 meters Cable length >25m For cable lengths above 25m up to max. 50m, a motor choke must be wired into the motor cable, close to the amplifier. Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 47...

  • Page 48: External Regen Restistor (X8)

    9 Interfaces External regen restistor (X8) Remove the plug-in link between the terminals X8/5 (-R ) and X8/4 (+R bint Page 48 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 49: Feedback

    9 Interfaces Feedback Feedback system Conn. Remark Resolver p. 49 2- to 36 polig ComCoder p. 50 A, B, Zero, Hall Incremental or sine encoder with Hall p. 51 A, B, Zero, Hall/ Sine, Cosine, Zero, Hall Sine Encoder with EnDat/HIPERFACE X1 p.

  • Page 50: Comcoder (X1)

    9 Interfaces 9.6.2 ComCoder (X1) As an option our motors can be equipped with a ComCoder as feedback unit. For the commutation hall sensors are used and for the resolution an incremental encoder. The thermostat contact in the motor is connected via the ComCoder cable to X1 and evaluated there.

  • Page 51: Incremental Or Sine Encoder With Hall Sensors (X1)

    9 Interfaces 9.6.3 Incremental or Sine Encoder with hall sensors (X1) Feedback devices (incremental or sine-cosine), which don't deliver an absolute information for commutation, can be used as complete feedback system combined with an additional Hall encoder. All signals are connected to X1. If cable lengths of more than 25m are planned, please consult our customer service.

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

    9 Interfaces 9.6.4 Sine Encoder with EnDat or HIPERFACE (X1) As an option, our servomotors can be fitted with a single-turn or multi-turn sine-cosine encoder. Preferred types are the ECN1313 and EQN1325 encoders. The encoder is used by the as a feedback device for drive tasks that require highly precise positioning or extremely smooth running.

  • Page 53: Acuro Encoder, Biss Interface (X1)

    9 Interfaces 9.6.5 Acuro Encoder, BISS Interface (X1) As an option, our servomotors can be fitted with a single-turn or multi-turn ACURO encoder with BISS interface. The encoder is used by the as a feedback device for drive tasks that require highly precise positioning or extremely smooth running.

  • Page 54: Incremental Encoder (X5)

    9 Interfaces 9.6.6 Incremental encoder (X5) An incremental encoder can be used as standard motor feedback. Select feedback type 19 "ROD 5V with W&S". Drive executes wake&shake to calculate the necessary start-up information for the position controller every time the 24V auxiliary voltage is switched on.

  • Page 55: Sine Encoder Without Data Channel (X1)

    9 Interfaces 9.6.7 Sine Encoder without data channel (X1) An sine-cosine encoder without data channel can be used as standard motor feedback. Select feedback type 7 "SinCos 5V with W&S". Drive executes wake&shake to calculate the necessary start-up information for the position controller every time the 24V auxiliary voltage is switched The thermostat contact in the motor is connected via the encoder cable to X1 and evaluated there.

  • Page 56: Digital And Analog Inputs And Outputs

    9 Interfaces Digital and analog inputs and outputs 9.7.1 Analog inputs (X3) The servo amplifier is fitted with two programmable differential inputs for analog setpoints. AGND (X3/7) must always be joined to the GND of the controls as a ground reference. 9.7.1.1 Technical characteristics •...
  • Page 57 9 Interfaces 9.7.1.2 Analog-In 1 input (terminals X3/3-4) Differential input voltage max. ± 10 V, resolution 14-bit, scalable. Standard setting: speed setpoint (PMCtendo DD5 only) 9.7.1.3 Analog-In 2 input (terminals X3/5-6) Differential input voltage max. ± 10 V, resolution 12-bit, scalable. Standard setting: torque setpoint (PMCtendo DD5 only) Application examples for setpoint input Analog-In 2 (PMCtendo DD5 only): •...

  • Page 58: Digital Inputs (X3/X4)

    9 Interfaces 9.7.2 Digital Inputs (X3/X4) All digital inputs are electrically isolated via optocouplers. 9.7.2.1 Technical characteristics • Ground reference is Digital-GND (DGND, terminals X4/3 and X4/4) • The inputs at X3 are PLC-compatible (IEC 61131-2 Type 1) High: 11...30 V / 2...11 mA , Low: -3...5 V / <1mA •...
  • Page 59 9 Interfaces 9.7.2.2 ENABLE input The output stage of the servo amplifier is enabled by applying the ENABLE signal (terminal X3/12, 24V input, active high). In the disabled state (low signal) the connected motor has no torque. 9.7.2.3 AS-ENABLE input An additional digital input (AS-Enable) releases the power output stage of the amplifier as long as a 24V signal is applied to this input.

  • Page 60: Digital Inputs I1:1 - I1:8 (X10)

    9 Interfaces 9.7.3 Digital Inputs I1:1 - I1:8 (X10) These inputs are available only at a PMCprimo Drive3! All digital inputs are electrically isolated through optocouplers. 9.7.3.1 Technical characteristics • Reference ground is EGND (terminal X10, Pin 2) • Logic is PLC compatible •...

  • Page 61: Digital Outputs (X3)

    9 Interfaces 9.7.4 Digital outputs (X3) All digital outputs are electrically isolated through optocouplers. 9.7.4.1 Technical characteristics • Ground reference is Digital-GND (DGND, terminals X4/3 and X4/4) • DIGITAL-OUT1 and 2 : Open Emitter, max. 30V DC, 10mA • BTB/RTO : Relay output, max.
  • Page 62 9 Interfaces 9.7.4.2 Ready-to-operate contact BTB/RTO Operational readiness (terminals X3/1 and X3/2 ) is signaled by a floating relay contact. The contact is closed when the servo amplifier is ready for operation, and the signal is not influenced by the enable signal, the I²t-limit, or the regen threshold. All faults cause the BTB/RTO contact to open and the output stage to be switched off (if the BTB/RTO contact is open, the output stage is inhibited ->...

  • Page 63: Digital Outputs (X10)

    9 Interfaces 9.7.5 Digital outputs (X10) These outputs are available only at a PMCprimo Drive3! All digital outputs are electrically isolated through optocouplers. 9.7.5.1 Technical characteristics • Reference ground is EGND (terminal X10, pin 2) • All digital outputs are overload- and shortcircuit protected •...

  • Page 64: Encoder Emulation

    9 Interfaces Encoder emulation 9.8.1 Incremental encoder output - A quad B (X5) The incremental-encoder interface is part of the standard package. Select encoder function ROD (A Quad B) Encoder (“Encoder” screen page). The servo amplifier calculates the motor shaft position from the cyclic- absolute signals of the resolver or encoder, generating incremental-encoder compatible pulses from this information.

  • Page 65: Ssi Output (X5)

    9 Interfaces 9.8.2 SSI output (X5) The SSI interface (synchronous serial absolute-encoder emulation) is part of the standard package. Select encoder function SSI (“Encoder” screen page). The servo amplifier calculates the motor shaft position from the cyclic-absolute signals of the resolver or encoder. From this information a SSI date (Stegmann patent specification DE 3445617C2) is provided.

  • Page 66: Master-Slave Operation, Encoder Master Control

    9 Interfaces Master-slave operation, encoder master control These function is available only at a PMCtendo DD5! This interface can be used to link several amplifiers together in master-slave operation. Parameter setting for the slave amplifier is carried out with the aid of the setup software (electrical gearing).

  • Page 67: Connection To Incremental Encoder Master With 24V Signal Level (X3)

    9 Interfaces 9.9.3 Connection to incremental encoder master with 24V signal level (X3) This interface can be used to operate the PMCtendo DD5 as a slave, mastered by an encoder with a 24V signal level (master-slave operation). This uses the digital inputs DIGITAL-IN 1 and 2 on connector X3. Frequency limit: 100 kHz, transition time tv ≤...

  • Page 68: Connection To A Sine Encoder Master (X1)

    9 Interfaces 9.9.4 Connection to a sine encoder master (X1) This interface can be used to operate the PMCtendo DD5 as a slave, mastered by a sine- cosine encoder (master-slave operation). This uses the SubD connector X1. Frequency limit (A, B): 350 kHz Page 68 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 69: Interface For Stepper Motor Controllers (Step And Direction)

    9 Interfaces 9.10 Interface for stepper motor controllers (step and direction) These function is available only at a PMCtendo DD5! This interface can be used to connect the servo amplifier to a third-party stepper-motor controller. Parameter setting for the slave amplifier is carried out with the aid of the setup software (electrical gearing).

  • Page 70: Connection To A Stepper Controller With 5V Signal Level (X5)

    9 Interfaces 9.10.2 Connection to a stepper controller with 5V signal level (X5) This interface can be used to connect the servo amplifier to a stepper-motor controller with a 5V signal level. It uses the SubD connector X5. Frequency limit: 1.5 MHz Page 70 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 71: Connection To A Stepper Controller With 24V Signal Level (X3)

    9 Interfaces 9.10.3 Connection to a stepper controller with 24V signal level (X3) This interface can be used to connect the servo amplifier to a stepper-motor controller with a 24V signal level. It uses the digital inputs DIGITAL-IN 1 and 2 on connector X3. Frequency limit: 100 kHz Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 71...

  • Page 72: Rs232 Interface, Pc Connection (X6)

    9 Interfaces 9.11 RS232 interface, PC connection (X6) Operating, position control, and motion-block parameters can be set up by using the setup software PDrive on an ordinary commercial PC. Connect the PC interface (X6) of the servo amplifier to a serial interface on the PC via a null- modem cable, while the supply to the equipment is switched off.

  • Page 73: Canopen Interface (X6)

    9 Interfaces 9.12 CANopen Interface (X6) These interface can be used only at a PMCtendo DD5! The interface for connection to the CAN-bus (default : 500 kBaud). The integrated profile is based on the CANopen DS301 communication profile and the DS402 drive profile. The following functions are available in connection with the position controller: Jogging with variable speed, homing run (zeroing to reference), start motion task, start direct task, digital setpoint provision, data transmission functions and many others.
  • Page 74 9 Interfaces For EMC reasons, the SubD connector housing must fulfill the following requirements: • metal or metalized housing • provision for cable shielding connection on the housing, large-area connection Page 74 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 75: Can Bus Interface (X11/1,X11/2)

    9 Interfaces 9.13 CAN bus Interface (X11/1,X11/2) These interface is available only at a PMCprimo Drive3! 9.13.1 General With the CAN bus interfaces CAN-1B (X11/1) and CAN-1A (X11/2) multiple PMCprimo motion control systems can be connected together. Additional safety signals provide fault detection. Furthermore PMCtendo DD5 and PMCprimo Drive3 can be linked together.

  • Page 76: Speciality 1St Node

    9 Interfaces 9.13.3 Speciality 1st node • The 1st node is supplied with +12V at CAN-1A (X11/2, pin 9), referred to Pin 3 (CAN-GND). The power requirement is about 10mA each node. • An additional resistor 10 kΩ (250 mW, metal 1%) between Pin 1 and Pin 4 is necessary. 9.13.4 Speciality last node •...

  • Page 77: Can Bus Interface (X11/4)

    9 Interfaces 9.14 CAN bus Interface (X11/4) These interface is available only at a PMCprimo Drive3 with option -expansion card! The connector X11/4 can be used with the option –expansion card (see p. 109) as a second CAN interface (CAN-2). The master encoder input X11/4 is diabled. This is done by changing the hardware settings (jumper).

  • Page 78: Master Encoder Interface (X11/4)

    9 Interfaces 9.15 Master encoder interface (X11/4) These interface is available only at a PMCprimo Drive3! The PMCprimo Drive3 is designed for use with incremental or SSI encoders. The encoder type can easily be changed with the FS command. With SSI encoders the number of data bits can be set with NB. The direction of each encoder input can be changed with the command CW.

  • Page 79: Absolute Encoder (Ssi)

    9 Interfaces 9.15.2 Absolute encoder (SSI) • Reference ground is EGND (terminal X10 Pin 2) • Number of bits: 13..32 • Format: Binary or Gray • Clock frequency SSI-Clock: 100 kHz or 300 kHz (set with command FS) • Maximum voltage range (tracks) ref. to EGND: 5 V DC Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 79...

  • Page 80: Panel Interface - Modbus (X11/3)

    9 Interfaces 9.16 Panel interface - Modbus (X11/3) These interface is available only at a PMCprimo Drive3! 9.16.1 General At the PMCprimo Drive3 MODBUS panels can be connected, e.g. our PMI 315. A special adapter cable is required which can be orderd from us. In Standalone mode (see PMCprimo programming manual) at every control one panel can be connected.

  • Page 81: Profibus Dp Slave Interface (X11/3)

    9 Interfaces 9.17 Profibus DP Slave interface (X11/3) These interface is available only at a PMCprimo Drive3 with option –Profibus! 9.17.1 General The PMCprimo Drive3 is alternatively delivered with a Profibus-DP slave interface. The MODBUS/RS422 interface will be disabled. This is done by changing the hardware settings (jumper) on the PMCprimo board (see page 110).

  • Page 82: Example Using Profibus Dp

    9 Interfaces 9.17.3 Example using Profibus DP After setting the slave address (command CD 11; <address>) the PMCprimo Drive3 has to be restarted. The following message appears when the module is recognized: S T A R T Ser.Nr.:3094, Version 2.007 Sep 1 2004, 10:37:49 Operate Mode: STANDALONE Profibus-DP-IC found...

  • Page 83: Ethernet Interface (X11/5)

    9 Interfaces 9.18 Ethernet Interface (X11/5) These interface is available only at a PMCprimo Drive3 with option –expansion card! 9.18.1 General The Ethernet interface of the expansion board (RJ45, X11/5) is a fast alternative to the RS232 transfer. With the terminal software PTerm data can transmitted with a speed of 100 Mbit/s. The PMCprimo Drive3 can also be programmed and monitored locally in a Ethernet network, without direct presence of a programmer.

  • Page 84: Compact Flash Interface (X11/5)

    9 Interfaces 9.19 Compact Flash Interface (X11/5) These interface is available only at a PMCprimo Drive3 with option –expansion card! 9.19.1 General With the Compact Flash Interface programs can easily exchanged between two servo amplifiers of the PMCprimo Drive3 series. We recommend to use only compact flash cards from leading manufacturers.

  • Page 85: Personnel Safe Restart Lock -As

    9 Interfaces 9.20 Personnel safe restart lock -AS- A frequently required application task is the protection of personnel against the restarting of drives. This can be achieved by an electronic inhibit or with mechanical elements (positively driven relay contacts). When positively driven relay contacts where used, either the net contactor in the mains supply circuit switched off or the motor was disconnected from the servo amplifier by an additional contactor.

  • Page 86: Functional Description

    9 Interfaces 9.20.4 Functional description If the restart lock -AS- is not needed, then the input AS-ENABLE must be connected directly with +24VDC. The restart lock is then passed by and cannot not be used. In case of use of the restart lock the input AS Enable must be connected to the exit of a security control or a safety relay, which meets at least to the requirements of the category 3 after EN 954-1 (see the connection diagram on page 85).
  • Page 87 9 Interfaces 9.20.4.1 Signal diagram (sequence) The diagram shows how to use restart lock -AS- to ensure a safe stop of the drive and error free operation of the servo amplifier. 1. Brake the drive in a controlled manner (speed setpoint = 0V 2.
  • Page 88 9 Interfaces 9.20.4.2 Control circuit The example shows a circuit diagram with two separated work areas connected to one emergency stop circuit. For each work area individually "safe stop" of the drives is switched by a protective screen. The safety switchgears used in the example fulfill at least the safety category 3 according to DIN 954-1.
  • Page 89 9 Interfaces 9.20.4.3 Functional test With initial starting and after each interference into the wiring of the drive or after exchange of one or several components of the drive the function of the restart lock must be tested. First Method: 1.

  • Page 90: Setup

    10 Setup Setup 10.1 Important notes Only professional personnel with extensive knowledge in the fields of electrical engineering and drive technology are allowed to setup the servo amplifier. The procedure for setup is described as an example. Depending on the application, a different procedure may be appropriate or necessary.

  • Page 91: Guide To Setup

    10 Setup 10.2 Guide to setup The following instructions should help you to carry out the setup in a sensible order, without endangering people or machinery. See p. 29. Disconnect the servo amplifier from the supply. Check installation Apply 0V to terminal X3/12 (Enable) and to terminal X4/5 (AS-Enable) Block the Enablesignals Apply 24V DC to terminal X4/1 and teminal X10/3 (PMCprimo Drive3)

  • Page 92: Setup Software Pdrive

    10 Setup 10.3 Setup software PDrive This chapter describes the installation of the setup software PDrive for the PMCtendo DD5 and PMCprimo Drive3. The parameter settings are described detailed in the software manual for PDrive. The programming is described in the PMCprimo programming manual. Both manuals can be found on the CD-ROM PMCprimo Motion Control Tools..

  • Page 93: Working With Pdrive

    10 Setup 10.3.6 Working with PDrive The parameter settings and using the tools are described detailed in the software manual for PDRIVE. 10.4 Parametrization of the PMCtendo DD5 and PMCprimo Drive3 To facilitate the parametrization der PMCtendo DD5 and PMCprimo Drive3, a motor database is supplied with the drive.

  • Page 94: Keypad Operation Pmctendo Dd5

    10 Setup 10.4.2 Keypad operation PMCtendo DD5 This section illustrates the two possible operating menus and the use of the keys on the front panel. Normally, the only presents the standard menu for your use. If you want to operate the amplifier via the detailed menu, you must keep the right key pressed while switching on the 24V supply.
  • Page 95 10 Setup 10.4.2.3 Standard menu 10.4.2.4 Advanced menu Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 95...

  • Page 96: Keypad Operation Pmcprimo Drive3

    10 Setup 10.4.3 Keypad operation PMCprimo Drive3 The key operation for PMCprimo Drive3 is like the key operation for PMCtendo DD5. This means that the two keys are used in the same way and also the menus are named similarly. 10.4.4 Basic key operation For accessing the menu press the right key while switching on the 24 V power supply.

  • Page 97: Programming Of The Pmcprimo Drive3

    10 Setup 10.5 Programming of the PMCprimo Drive3 All programming of the PMCprimo Drive3 is done with the terminal program PTERM or, as an ® option, with the soft PLC development system CoDeSys from 3S. A succesful optimation of the PMCprimo Drive3 position controller is only possible after an well done optimation of the current and speed controllers with PDRIVE.

  • Page 98: Error Messages Pmctendo Dd5

    10 Setup 10.6 Error messages PMCtendo DD5 Any errors that occur are shown in coded form by an error number in the LED display on the front panel. All error messages result in the BTB/RTO contact being opened, and the output stage of the amplifier being switched off (motor loses all torque), and the motor-holding brake is activated.

  • Page 99: Warning Messages Pmctendo Dd5

    10 Setup 10.7 Warning messages PMCtendo DD5 Faults which occur, but which do not cause a switch-off of the amplifier output stage (BTB/RTO contact remains closed), are indicated in the LED display on the front panel by a coded warning number.

  • Page 100: Error Messages Pmcprimo Drive3

    10 Setup 10.8 Error messages PMCprimo Drive3 Errors which occur are shown in coded form by an error number in the LED display on the front panel (ticker). All error messages are also displayed on the connected terminal program PTerm. (x =axis number) Number Description...

  • Page 101: Status Messages Pmcprimo Drive3

    10 Setup 10.9 Status messages PMCprimo Drive3 The LED-Display shows the actual state of 3 channels at the same time for one second, then it switches to the next three channels (if enabled with the CD command). Display Description Command Position control mode Motor off mode Velocity control mode...

  • Page 102: Expansions And Accessories

    11 Expansions and Accessories Expansions and Accessories 11.1 Expansion Cards 11.1.1 Guide to installation of expansion cards • Use a suitable screwdriver to lever off the cover of the option slot. • Take care that no small items (such as screws) fall into the open option slot. •...

  • Page 103: Expansion Card -I/O-14/08

    11 Expansions and Accessories 11.1.2 Expansion card -I/O-14/08- This section describes the additional features that the expansion card -I/O-14/08- provides for the . If you ordered the expansion card together with the servo amplifier, then it will be delivered already inserted into the expansion slot of the servo amplifier and screwed in place. The -I/O-14/08- provides you with 14 additional digital inputs and 8 digital outputs.
  • Page 104 11 Expansions and Accessories 11.1.2.5 Connector assignments The functions are adjustable with the setup software PDrive. In the table below the default values are described. Connector X11A Default Description Function Motion block number, LSB Motion block number, 21 Motion block number, 22 Motion block number, 23 Motion block number, 24 Motion block number, 25...
  • Page 105 11 Expansions and Accessories 11.1.2.6 Connection diagram Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 105...

  • Page 106: Expansion Card -Profibus

    11 Expansions and Accessories 11.1.3 Expansion card -PROFIBUS- This section describes the PROFIBUS expansion card for the . Information on the range of functions and the software protocol can be found in our manual “Communication Profile PROFIBUS DP”. The PROFIBUS expansion card has two 9-pin SubD sockets wired in parallel. The supply voltage for the expansion card is provided by the servo amplifier.

  • Page 107: Expansion Module -Can Adapter

    11 Expansions and Accessories 11.1.4 Expansion module –CAN adapter Connector X6 of the PMCtendo-DD5 is assigned to the signals for the RS232 interface and the CAN interface. It is therefore not the standard pin assignment for these interfaces, and a special cable is required to be able to use both interfaces simultaneously.
  • Page 108 11 Expansions and Accessories 11.1.4.3 Connector assignments RS232 CAN1=CAN2 X6A Pin Signal X6B=X6C Pin Signal CAN-ERROR (*) CAN-Low CAN-GND CAN-BTB(*) CAN-GND CAN-High CAN-POWER(*) (*) only when connecting with multi PMCprimo devices in CAN main net 11.1.4.4 Connection diagram Page 108 Installation manual for PMCtendo DD5/PMCprimo Drive3...

  • Page 109: Pmcprimo Board And Pmcprimo Expansion Card

    11 Expansions and Accessories 11.1.5 PMCprimo board and PMCprimo expansion card The PMCprimo board upgrades the PMCtendo DD5 to a motion control device with a lot of interfaces and nearly unlimited functionality. The installation of the PMCprimo card is described in the “Installation and Operating Instructions for PMCprimo board”.
  • Page 110 11 Expansions and Accessories 11.1.5.2 Change X11/3 MODBUS Profibus DP After installing the Profibus DP module three jumpers have to be set: Page 110 Installation manual for PMCtendo DD5/PMCprimo Drive3...
  • Page 111 11 Expansions and Accessories 11.1.5.3 Replacing the buffer battery The buffer battery has to be replaced when “BATT” appears in the display. With present 24 V supply voltage, the buffer memory remains intact. Battery type: CR1225 Procedure: 1. Remove all connectors. 2.

  • Page 112: Appendix

    12 Appendix Appendix 12.1 Transport, storage, maintenance, disposal — only by qualified personnel Transport: — only in the manufacturer’s original recyclable packaging — avoid shocks — temperature -25 to +70°C, max. rate of change 20°C / hour — humidity max. 95% relative humidity, no condensation —...

  • Page 113: Finding And Removing Faults

    12 Appendix 12.2 Finding and removing faults The table below should be regarded as a “First-aid” box. There may be a wide variety of reasons for the fault, depending on the conditions in your installation. In multi-axis systems there may be further hidden causes of a fault. Our customer service can give you further assistance with problems.
  • Page 114 12 Appendix — short-circuit in the supply cable for — remove the short-circuit the motor-holding brake — motor-holding brake is faulty — replace motor F11 message: — fault in brake cable — check shielding of brake cable brake — no brake connected, although the —...
  • Page 115 12 Appendix — Kp (speed controller) too low — increase Kp (speed controller) Drive too soft — Tn (speed controller) too high — use motor default value for Tn (speed controller) — ARLPF / ARHPF too high — reduce ARLPF / ARHPF —...

  • Page 116: Glossary

    12 Appendix 12.3 Glossary Clock Clock signal Common-mode voltage The maximum amplitude of a disturbance (on both inputs) which a differential input can eliminate CONNECT modules Modules built into the servo amplifier, with integra- ted position control, that provide special versions of the interface for the connection to the higher- level control.
  • Page 117 12 Appendix Kp, P-gain Proportional gain of a control loop Limit speed (final speed) Maximum value for speed normalization at ±10V Limit switch Switch limiting the traverse path of the machine; implemented as n.c. (break) contact Machine The complete assembly of all connected parts or devices, of which at least one is movable Motion block Data packet with all the position control...

  • Page 118: Index

    12 Appendix 12.4 Index 24V auxiliary supply, Interface......43 ground symbol............33 Expansion card........... 107 Guide to installation of expansion cards ..... 102 ACURO (BISS) ............. 53 Hall ............... 51 AGND ..............25 humidity .............. 112 Ambient temperature ......... 22 Analog inputs............
  • Page 119 12 Appendix Supply ..............17 Supply voltage ............22 Use as directed ............ 11 Switch-on and switch-off behavior ......27 Ventilation............. 30 Technical data ............19 Tightening torques..........21 Transport ............112 Type key..............6 Warning messages..........99 Wiring ..............30 Installation manual for PMC tendo DD5/PMCprimo Drive3 Page 119...
  • Page 120 21 590-01, 2007-03 Printed in Germany...

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