Multi-axis system with sinusoidal regeneration (92 pages)
Summary of Contents for Keba ServoOne CM-P BG1
Page 1
ServoOne CM ServoOne CM-P Operation Manual Passive supply unit BG1+2 Compact multi-axis system ServoOne CM...
Page 2
Date: 02/2020 Information and specifications may be subject to change at any time. For information on Firmware version: V1.1 the latest version, please visit www.keba-lti.com. The German version is the original of this documentation.
Table of contents Mechanical installation ..............13 Notes for installation ....................13 3.1.1 Order and arrangement ................13 Mounting clearances ....................14 General ..................5 Cooling the devices ....................15 Target group ......................5 Installation of the devices for wall mounting .............15 Prerequisites ......................5 3.4.1 Dimensions (housing with heat sink) ............16 Pictograms .......................
Page 4
Table of contents Table of contents Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 Design variants ................41 Operation on different mains systems ..............29 4.7.1 Operation of the ServoOne CM-P on TN and TT system: ....29 24 V back-up on power failure ................41 4.7.2 Operation of the ServoOne CM-P on IT system: ........
The documentation on the devices is to be stored so it is legible, accessible at KEBA does not accept any liability for injuries, damage or financial losses that result from all times and for the entire life of the product.
You will find the significance of the individual characters of the order code in You will find all reference documents for this device on our web site: the column on the left. www.keba-lti.com in Service Downloads SOCM ServoOne CM...
Rating plate Position of rating plate You will find the rating plate (T) on the left side of the device. On the rating plate for the ServoOne CM-P Supply Unit BG1+2 you will find the serial number. You can identify the date of manufacture based on the following key. SO CM-P.0010.0000.0 Serial no.
ID no.: 1400.201B.5-00 Date: 02/2020 Scope of supply 1.11 Support The scope of supply includes: Address: KEBA Industrial Automation Germany GmbH Gewerbestrasse 5-9 ServoOne CM-P supply unit 35633 Lahnau Pre-assembled busbar elements for 24 V control supply -U - and...
Safety Protection against magnetic and/or electromagnetic fields during installation and operation. Persons fitted with heart pacemakers, metallic implants or hearing aids etc. must not be allowed access to the following areas: x Areas in the immediate vicinity of electrical equipment! Overview x Areas where electronics components and drive controllers are installed, repaired and operated!
Only have repairs undertaken by authorised repair shops. Unauthorised repairs could lead to death, injury or damage (see previous sections). The warranty provided by KEBA Pay attention to special safety instructions and warnings that are given here in the document before a will be rendered void.
Not approved for usage outside a switch cabinet. Not approved for the generation of high-frequency onboard For information on the laws, standards and directives applied by KEBA, refer to the networks for which the devices are not designed. declaration of conformity.
Mechanical installation 3.1.1 Order and arrangement The following basic guidelines apply to the arrangement and installation of the supply unit or axis controllers. Butt mounting and alignment Notes for installation The devices can be mounted directly beside each other without any spacing. They are fastened to the backing plate using two/four screw joints.
Mechanical installation Mechanical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 Mounting clearances ≥ 300 ≥ 130 CAUTION! Damage to the device due to incorrect installation conditions! The device may suffer irreparable damage if the conditions are not met. x The minimum clearances stated in the figure below apply to all devices (MotionOne CM, ServoOne CM-P and ServoOne CM).
Cooling the devices Installation of the devices for wall mounting Cooling air must be able to flow through the device without restriction. On installation in Step Action Comment switch cabinets with convection (= heat loss is dissipated to the outside via the cabinet Arrange the supply unit on the backing plate as per walls), always fit an internal fan.
Mechanical installation Mechanical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 3.4.1 Dimensions (housing with heat sink) 3.4.2 Dimensional sketches, wall mounting ServoOne CM-P Supply unit BG1 Supply unit BG2 Type SOCM-P.0010 SOCM-P.0022 Weight 2.65 kg 5.1 kg B (width) H (height)
Installation of the devices for cold plate Step Action Comment Arrange the supply unit on the backing plate as per Figure 3.1. This action is necessary to be able to Also provide enough space to the left of the supply unit for couple the DC link using the busbars.
Mechanical installation Mechanical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 3.5.1 Dimensions, cold plate model ServoOne CM-P Supply unit BG1 Supply unit BG2 Type SOCM-P.0110 SOCM-P.0122 Weight 2.2 kg 4.2 kg B (width) 54.5 H (height) T (total depth) 188.5...
3.5.2 Installation on the cooler For the optimal transfer of heat from the rear wall of the device to the cooler provided, a thermally conductive film is already bonded to the cooling plate on the device (see Figure 3.8). The film is laminated with aluminium toward the cooler. The device can be mounted and also removed with the film.
To connect KEBA servomotors we recommend the usage of pre- ensure they are not carrying any electrical power. If necessary, all cable connections are to be assembled motor and encoder cables from KEBA, as all EMC tests have been discharged using suitable means.
Page 22
NOTE: If connection cables from other suppliers are used, these cables must as a minimum be equivalent. However, an assurance of reliable operation with such cables cannot be given by KEBA. Figure 4.2 Cu strap for improvement of EMC Earthing measures The devices are to be fastened to a conductive, earthed backing plate.
4.2.1 Usage with mains filter External radio frequency interference suppression filters are available for the supply units SO CM-P BG1+2. With the measurement method specified by the standard and the external mains filter, these conform to the EMC product standard EN 61800-3 for "First environment"...
Electrical installation Electrical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 Overview of the connections Abbreviation Designation Details 24 V DC / GND 24 V control supply output via busbars See Chapter 4.12 The following shows the layout of ServoOne CM-P supply unit with the corresponding DC Link +/- DC link supply output via busbars See Chapter 4.12...
Protective earth conductor connection 4.4.2 Connection principle 1. MotionOne CM controller Step Action Comment 2. ServoOne CM-P supply unit 3. ServoOne CM axis Each device in the axis group must be earthed! controller x Connect together the PE connections on the supply unit, 4.
Electrical installation Electrical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 Electrical isolation concept You will find a wiring example for the axis group in which you will also find detailed information on the protective earth conductor connections in Figure 4.17 The control terminals are designed as protective extra low voltage (PELV) circuits and 1.
PELV PELV device is made using the shield lug on the connector X8 (Line IN). DC Link+ ϑ DC Link - For interference suppression on the ServoOne CM system, an optimised filter from KEBA n.c. PELV PELV PELV n.c. is to be fitted to the connection X8 (Line IN) on the supply unit. The supply current and ϑ...
Electrical installation Electrical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 4.6.2 Connector specification mounting the mains filter on a metal, conductive and well-grounded base plate and the connecting the cable shield to the backing plate as close as possible to the "Load" connection on the mains filter.
Before you use systems other than TN or TT, please contact us. Your sales NOTE: representative or application engineer at KEBA will be pleased to provide you with The operating regulations in the place of use as well as national and regional information on the boundary conditions that are to be met (e.g.
Electrical installation Electrical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 AC mains connection, 24 V switched- 4.7.2 Operation of the ServoOne CM-P on IT system: mode power supply Operation is possible: For three-phase supply with 3 x 230 V The mains connection on X7 supplies the integrated 24 V switched-mode power supply.
4.10 Brake chopper connection NOTE: The supply unit in the order variant SO CM-P.xxxx.0xxx.x is delivered without a switched-mode power supply. For more details see section 6.3 In regenerative operation, e.g. when braking the drive, the motor feeds energy back to the axis controller.
Electrical installation Electrical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 4.10.2 Connection example with ext. braking resistor DANGER! Risk of injury due to electrical power! Carelessness will result in serious injuries or death. x Terminal BR is permanently connected to DC link potential (>300 V DC). x Never make or disconnect electrical connections while they are electrically live! Always disconnect the power before working on the device.
Make sure that all connections have good contact and are sufficiently secure (2.1 Nm) that BG2. The technical data are therefore identical. they cannot come loose. NOTE! On the usage of other connection elements (busbars), KEBA does provide any guarantee for stable, reliable operation. Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00...
Electrical installation Electrical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 4.12.1 24 V control supply 4.12.2 DC link supply Figure Specification Figure Specification ServoOne CM-P ServoOne CM ServoOne CM-P ServoOne CM x ServoOne CM-P supply unit supply unit axis controller supply unit...
4.13 Control connections (front panel) 4.12.3 Overview of busbars in the group Step Action Comment For this purpose use the cable Make a connection between the connection X3 on the supply unit supplied of type: XCOM and X3 on the first axis controller (cross-communication). See appendix If necessary wire the programmable relay contacts X5 and X6 as well as the test pulse outputs TP01 and TP02.
Electrical installation Electrical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 4.14 Commissioning NOTE: Connections X3 are used only for internal communication between supply unit and axis controller. You will find a description of commissioning in the Operation Manual ServoOne CM Axis Controller chapter 4.
4.15.1 Connection example, supply unit 3 x 400 V Key to connection example Position Designation Mains fuses for DC link supply Mains fuse for switched-mode power supply Mains contactor with protection circuit (optional) +24 V 24 V Programmable switching contact for mains contactor ϑ...
Electrical installation Electrical installation Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 4.15.2 Connection example, supply unit 3 x 230 V Key to connection example Designation Mains fuses for DC link supply Mains fuse for switched-mode power supply Mains contactor with protection circuit (optional) +24 V 24 V...
Diagnostics Green LED Voltage Red LED ERR Behaviour (Operating indication) (Error indication) No error and no warning Ready, the DC link is not connected to the There is a warning, however the supply unit Flashing slowly Status indication LED system. is ready.
Page 40
Diagnostics Diagnostics Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020...
Design variants 24 V back-up on power failure Applies to SO CM-P.xxxx.2xxx.x 6.1.1 Purpose of the function The "24 V back-up on power failure" function is used to stop in a controlled manner the masses moved in a mechanical system (e.g. robot arm). For this purpose the DC link in the 24 V switched-mode power supply (24 V SMPS) is coupled to the DC links in the axis controllers (DC Link +/-).
Page 42
Design variants Design variants Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 Key to connection example Designation Mains fuses for DC link supply Mains fuse for switched-mode power supply +24 V 24 V (3.1) Mains contactor normally open contact ϑ...
Version without 24 V switched-mode 6.1.3 Protective earth conductor connection with 24 V back-up on power failure power supply For these devices, the DC link in the 24 V switched-mode power supply (24 V SMPS) is coupled internally to the DC links in the axis controllers (DC Link +/-). Applies to SO CM-P.xxxx.0xxx.x The DC link in the 24 V switched-mode power supply and the DC link in the axis 6.3.1...
Page 44
Design variants Design variants Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 (1) Mains fuse for DC link supply (2) Mains fuse for ext. switched-mode ≈ power supply (3) Mains contactor (optional) +24 V 24 V (4) Switching contact for mains contactor (5) Mains choke (accessory) DC Link+...
*) After this time shutdown is initiated based on I * Load-dependent Table A.2 Brake chopper BG1 Table A.1 Technical data, ServoOne CM-P BG1 Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020...
Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 Technical data, supply unit BG2 DAMAGE TO THE DEVICE DUE TO CONNECTION OF AN EXT. CAUTION! BRAKING RESISTOR! x Carelessness may result in significant damage. Device Unit SOCM-P.0022 / SOCM-P.0122 Please note that no additional external braking resistor is allowed to be connected to the device Input, mains side model "with integrated braking resistor".
NOTE: DAMAGE TO THE DEVICE DUE TO CONNECTION OF AN EXT. CAUTION! In the overall axis group, a DC link capacitance of ≥ 100 µF/kW (for 3 x 400 V) BRAKING RESISTOR! or ≥ 170 µF/kW (for 3 x 230 V), referred to the highest rated power that x Carelessness may result in significant damage.
Page 48
Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 Climatic conditions ServoOne CM-P supply unit Mechanical conditions ServoOne CM-P supply unit As per EN 61800-2, IEC 60721-3-1 classes 1K3 and 1K4 As per EN 61800-2, IEC 60721-3-3 class 3M1 Frequency [Hz] Amplitude [mm] Acceleration [m/s²] In storage...
Power reduction at T ≥ 40 °C Certification unom If the multi-axis system is operated outside the specified maximum ambient temperature A.5.1 CE certification ), the output power of the supply unit must be reduced as a function of the higher unom ambient temperature;...
Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020 Accessories Mains filters We have supplemented the ServoOne CM system with comprehensive accessories. The following tables provide an initial estimation of which mains filter will probably meet Important components are, e.g.: the EMC requirements for a given requirement.
Therefore, typical application scenarios were assumed for the development of the filters and the capacitances of KEBA motor cables and motors used as the basis to produce The SO CM system features the possibility of operating up to 24 axes on one supply typical total capacitances for which the filters were designed.
Mains choke We recommend the usage of mains chokes to reduce the peak system currents and therefore also the distortion (THD) in the system and to prolong the life of the axis controller (for use on the ServoOne CM-P supply unit BG1+2). NOTE: For these devices, it is also to be ensured that the mains choke is installed on the mains side in front of the mains filter.
Page 54
Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020...
Page 55
Operation Manual Supply Unit SO CM-P BG1+2 ID no.: 1400.201B.5-00 Date: 02/2020...
Need help?
Do you have a question about the ServoOne CM-P BG1 and is the answer not in the manual?
Questions and answers