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Lust MASTERCONTROL MC6000 Series Instruction Manual

Servocontroller 4-64 a
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ANTRIEBSTECHNIK
M
C
MC6000
ASTER
ONTROL
Servocontroller 4 - 64 A
CTRL
min -1
stop
start
enter
return
SMART
C A R D
Instruction Manual

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Summary of Contents for Lust MASTERCONTROL MC6000 Series

  • Page 1 ANTRIEBSTECHNIK MC6000 ASTER ONTROL Servocontroller 4 - 64 A CTRL min -1 stop start enter return SMART C A R D Instruction Manual...
  • Page 2 The M System ASTER RIVE CAN-Bus Interface InterBus-S Interface I/O Module1 Terminal Module EKL 300 Servocontroller MC6000 PC Interface CTRL min -1 RS485 start stop return enter SM AR T C A R D storages MART all parameters Mains connection various cables asynchronous servomotors...
  • Page 3 Dear Customer Thank you for the trust that you have placed in us by purchasing the LUST drive system. ASTER RIVE Installation and commissioning must only be carried out by a trained engineer. Please take the time to read the instructions carefully. Following the instructions meticulaously will you time and avoid uncertainty and questions at the commissioning stage.
  • Page 4 Symbols ⇒ Danger! Danger of death by electrocution or rotating machinery. ⇒ Warning: you must follow this instruction. ⇒ Warning: before opening the equipment, disconnect from the mains and wait approximately two minutes for the DC link capacitors to discharge. wait 2 minutes after power-off ⇒...
  • Page 5 Signposts Especially important for commissioning: ↓ ↓ ↓ ↓ ↓ Safety Instructions General, Manufacturer's Declaration, CE and EMC Technical Specifications of Servocontrollers Installation Instructions Installation, Commissiong Important Instructions for Operation Electrical Connections EMC, Connection to the mains power supply, motor, terminals, encoder, RS485 and Bus system Software Overview Using K...

  • Page 6: Table Of Contents

    Quick Finder General ......................1-1 Safety instructions ..................... 1-1 Intended use ...................... 1-1 Manufacturer's Declaration for Servocontrollers ..........1-2 Manufacturer's Declaration for Servomotors ............1-4 MC6000 with CE Mark ..................1-6 Instructions for correct EMC installation ............1-8 What are the main benefits of the M System? ........
  • Page 7 RS485 serial interface ..................4-20 Encoder simulation ..................4-22 InterBus-S-Interface (C1 and C7) ..............4-24 CAN-Bus-Interface (C2) ................... 4-25 MC6000 software and overview ..............5-1 System software ....................6-1 Layout of the KeyPad ..................6-1 Using the controls ....................6-2 6.2.1 General ......................
  • Page 8 Displays and Error Messages ................. 9-1 Operating display ....................9-1 Error Messages ....................9-1 9.2.1 Warnings and errors in the Servocontroller ............9-2 9.2.2 KeyPad operator errors..................9-4 9.2.3 Errors when using SmartCard ................9-4 9.2.4 Trouble shooting ....................9-5 Description of Parameters ................

  • Page 9: General

    General Safety Instructions Servodrives have high voltage exposed metal components and may also have moving or rotating parts and hot surfaces, so they do of course represent a danger to human life. To prevent serious injury or major damage, only qualified personnel who are trained in working on electrical drives may work on the equipment.

  • Page 10: Manufacturer's Declaration For Servocontrollers

    Manufacturer's Declaration for Servocontrollers MC6000 Instruction Manual...
  • Page 11 MC6000 Instruction Manual...

  • Page 12: Manufacturer's Declaration For Servomotors

    Manufacturer's Declaration for Servomotors MC6000 Instruction Manual...
  • Page 13 MC6000 Instruction Manual...

  • Page 14: Mc6000 With Ce Mark

    MC6000 with CE Mark Copy of the CE Test Certificate as as exaple for MC6404 and MC6408: MC6000 Instruction Manual...
  • Page 15 Copy of Summary of Test Results as an example for MC6404 and MC6408: MC6000 Instruction Manual...

  • Page 16: Instructions For Correct Emc Installation

    Instructions for Correct EMC Installation CE including EMC: The M drive system has been designed such that it complies not only with the low ASTER RIVE voltage directive, but also the EMC directive (assuming appropriate installation) - and even the strict directive for domestic use.

  • Page 17: What Are The Main Benefits Of The M

    What are the main benefits of the M System? ASTER RIVE • One Servocontroller for asynchronisous and synchronisous motors ⇒ reduced training and documentation costs. ⇒ reduced cost of spares in stock CTRL min -1 stop start enter return • - one controller for Servocontrollers and frequency inverters S M A R T C A R D...

  • Page 18: Details For Ordering The Mc6000 Servocontroller

    Details for ordering the MC6000 Servocontroller The Servocontroller model is identified by the order code. Non-standard versions are identified by the addition of model codes to the order code. In the model combination represented, there is standardization on one model at each stage (eg control, encoder interface etc).

  • Page 19: Mc6000 Servocontroller Models

    MC6000 Servocontroller Models Location Version Short Description Described code Standard With KP100 multifunction control unit. Section 6 Control Without KP100 multifunction control unit – Standard Encoder interface for evaluating resolvers. Section 4.5 Encoder interface for evaluating the latest optical encoders, Section 4.5 Encoder incremental sin/cos outputs and simultaneous absolute position...

  • Page 20: Accessories For The Mc6000 Servocontroller

    1.10 Accessories for the MC6000 Servocontroller Accessories for fitting to the Servocontroller Order Description Code KP100 KP100 multifunction control unit for operating the Servocontroller and frequency inverter 0000.ZSC without data MART 0792.ZSC, for adapting the MC6000 Servocontrollers to the MART xxx-xx-xxxx Servomotor series ASx and PSx Accessories for fitting externally...

  • Page 21: Technical Specifications For Servocontrollers

    Technical Specifications for Servocontrollers Design and Layout CTRL min -1 RB RB L1 L2 L3 start stop enter return S M A R T L1 L2 L3 C A R D PTC PTC PTC PTC RB RB PTC PTC L1 L2 L3 RB RB MC6404 ...

  • Page 22: Output - Motor

    Output - motor MC6404 MC6408 MC6412 MC6416 MC6432 MC6464 Code Unit Rated power (400V mains) 1 S Voltage (RMS) 3 x 0 ... 400 / 460 Cont. current (400V / 460V) 1 I 4 / 4 8 / 7 12 / 12 16 / 15 32 / 32 64 / 60...

  • Page 23: Ambient Conditions

    Ambient conditions Code Unit MC6404 MC6408 MC6412 MC6416 MC6432 MC6464 Cooling air temperature °C 0 - 40 (up to 1000 m a.s.l.) Type of cooling forced cooling Relative humidity 15 - 85, non condensing (VDE0160) Power reduction relative 5 %/°C above 40°C cooling air temperature to cooling air temperature max.

  • Page 24: Mounting Instructions

    Mounting instructions Note: These instructions are applicable to the Servocontroller with heat sink and complete enclosure (Standard version). General: The location for installation must be free from conducting or corrosive materials and free from humidity. Servocontrollers are typically housed in cabinets with external air throughflow. They are attached to a mounting board with four M5 screws.

  • Page 25: Installation And Commissioning

    Installation and commissioning The actual installation procedure must always be matched to the specific application. The instructions in this section are given for general guidance only . Instructions for installation 1. Read these instructions thoroughly. 2. Installation and commissioning must be carried out only by a qualified electrical engineer. 3.

  • Page 26: Installation Of Drive System

    Installation of the drive system 1. When installing the Servomotor in the system or machine observe the instructions in Sections 4.3.2 and 12 . If possible delay installing shaft end items (e.g. gears, pulleys, couplings etc.) until after commissioning, so that tests can be carried out without exposed system parts turning.
  • Page 27 2. Function Test (correct recognition of direction of rotation): • download the S supplied with the motor (DRIVE). This any previous MART will match the Servocontroller perfectly to the motor in use. Remember however that customer settings may be overwritten •...

  • Page 28: Important Tips

    9. If the drive characteristics are unsatisfactory, (because the moment of inertia of the installation is not known for example) then adjust the control parameters (see Section 8) . Your specialist supplier will be pleased to assist, or you can contact the manufacturer direct: Lust Antriebstechnik GmbH Dep. Application Tel .

  • Page 29: Electrical Connections

    Electrical Connections System Connection Diagram X10 X11 Note: Diagrammatic MC6000 representation only PARA CTRL CARD min -1 stop start return enter S M A R T C A R D RB RB + ≥ 10 mm 2 +24V Function Function KeyPad KP100 control unit Encoder MC6000 PSU...

  • Page 30: Electromagnetic Compatability

    Warning! Safety Instructions It is absolutely essential to disconnect the equipment from the mains before working on it. Do not work on the equipment within about 2 minutes of switching off, so that the DC circuit capacitors can discharge to a residual voltage of less than 65V. wait 2 minutes after power-off Potential separation between the power section and the control section meets the VDE...

  • Page 31: Power Terminals

    Instructions for Correct EMC Installation MC6000 Servocontroller ... with original Installation using serrated washers encoder cable ... with screened control cable control terminals CTRL min -1 resolver oder ... with good optical encoder star grounding asynchronous or synchronous Servomotor ... with mains filter RB RB + (see section 4.2) ...

  • Page 32: 4.3.2 Motor Connection

    The Servocontroller may only be connected to the mains power supply at 120 second intervals. During commissioning and after an Emergency Off the voltage supply may be switched on again directly. Mains filter for correct EMC connection of Servocontroller Mains filter max.
  • Page 33 Motors with terminal boxes For correct EMC wiring of motors, screw glands with large surface area screening contact should be used, such as TOP-T-S by Lütze. Various cable outlet – arrangements can be obtained by turning the terminal box (square terminal boxes can be turned by 90° rectangular ones by 180°).

  • Page 34: 4.3.3 Connection Of Thermistor

    The motor PTC does not provide adequate thermal monitoring in the case of dynamic processes with overload in PSx motors, sizes M, N & O. In such cases you must please contact Lust to check design values to avoid destruction of the motor.

  • Page 35: 4.3.4 Connection Of Braking Resistor

    4.3.4 Connection of braking resistor In regenerative operation, eg during braking of the drive, the motor feeds the energy back to the Servocontroller which increases the voltages in the DC link circuit. If the voltage exceeds approximately 745 V DC the internal braking transistor is switched on and the regenerative energy is converted into heat by the braking resistor.
  • Page 36 Selection of braking chopper versions and design values: 1. Draw the operating profile of your drive (n/t, M/t, see Fig. 1a). 2. Calculate the required peak braking torque and peak braking performance (see Fig. 1b) : - moment of inertia of the motor −...
  • Page 37 Warning - Danger of Death! It is your responsibility to ensure that the braking process remains within the approved limits in the graph in diagram 2 and below the limit values in the table below. For longer periods of braking at higher braking power, the power stage will be blocked to protect it from overvoltage. When this occurs the Servocontroller will not control the motor in any way.
  • Page 38 Using the internal braking resistor (Standard model): For a single braking process within a ten minute period the peak braking power of 6kW may be applied for 8 seconds (see Diagram 2, curve A). This assumes that the temperature of the side- mounted heat sink is ≤...

  • Page 39: 4.3.6 Mc6000 Protection Functions

    An external braking chopper can be connected to these terminals in order to increase braking power especially in dynamic applications. Following consultation with the manufacturers, LUST, you can: 1. feed in the DC link voltage or 2. connect the DC link circuits of several Servocontrollers.

  • Page 40: Control Connections

    Control Connections The MC6000 Servocontroller can be linked via the terminal strip to a superordinate controller (e.g: PLC). The terminals carry: • two analog inputs for reference value input • three digital inputs, two of them fully programmable • two digital outputs, fully programmable •...

  • Page 41: Specification Of Control Connections

    4.4.2 Specification of Control Connections Auxiliary supplies: • ±10 V DC, ±5%, short circuit proof, max. load 2 mA • +24 V DC, internal: ±10%, short circuit proof, max. load 200 mA • +24 V DC, with external supply (all other voltages are generated from +24 V): ±20%, current requirements: typically 0,5 A (all inputs and outputs...
  • Page 42 4.4.3 Identification of Input and Output Codes The codes for inputs and outputs are made up as follows: Code Device(module) Description Input/Output I S0 0 Standard inputs IS00, IS01 Servocontroller S Number of I/O OS00, OS01 Standard outputs Location (module) ISA0, ISA1 Analog inputs Input / Output...
  • Page 43 Analog input ISA1 1. Input of voltage reference value +10 V -10 V ISA1 = 0 to + 10 V; ISA0- ≥ 10 K ISA0+ 0 ... 10 V ISA1 Resolution 10 Bit AGND +24V OS01 IS00 OS00 +24V ENPO IS01 2.
  • Page 44 Outputs OS00, OS01 1. Use as digital output +24V max. 65mA ISA0- ISA0+ +10 V ISA1 -10 V +24V 2. Use as PWM output +24V IS00 Output voltage range: 0 - 24V IS01 minimum load: R2 ≥ 1 kΩ ENPO OS00 OS01 DGND...

  • Page 45: Enpo Input (Enable Power Stage)

    4.4.5 ENPO Input (Enable power stage) ENPO input (Enable Power Output) enables or disables the power stage transistors of the Servocontroller. The input is directly hard wired in the hardware. Apply +24 V to the input to enable the power stage. ENPO Digital Input Enable Power +10 V -10 V...

  • Page 46: Encoder Connection

    Encoder Connection The encoder cable is supplied ready for use. This cable connects the round connector on the motor casing to the 15 way Sub-D socket in the device lid as shown in the system connection plan. The encoder cable must not be separated, for example to feed signals via terminals in the cabinet.
  • Page 47 4.5.2 Encoder Cables: KG1-KSxx and KG2/3-KSxx xx = length of cable in metres Motor end Standard Lengths: xx = 05, 10, 15, 20, 25, 30 m; max. 50 m (longer lengths to order) KG1-KSxx KG2/3-KSxx Function Color Function Color DATA+ gray bridge pin DATA-...
  • Page 48 Serial Interface RS485 The M RS485 Serial Interface is available at the 9-pin ASTER ONTROL Sub-D connector X8. The Serial Interface is potential-isolated via optocoupler to improve resistance to interference and an external voltage supply is required for that purpose There are three ways of connecting &...
  • Page 49 The following table shows the allocation of the RS485 interface and the version-specific connections required. The connections listed are made within the cable connector. Pin no. Assignment Version 1 Version 2 Version 3 (RS485) (external + 24 V) (external + 5 V) (internal + 5 V) n.c.

  • Page 50: Encoder Simulation

    Encoder Simulation Encoder simulation provides position information, e.g. when operating with superordinate position control in twin device technology ( see diagram Twin Device Technology below ) or in the mode position servocontrol mode (special software in preparation). Encoder simulation is provided at connector X9 (25 pin Sub-D socket). This simulates an incremental encoder with square wave output signals using the signals from the encoder connected at X10.
  • Page 51 Additional Input for incremental encoders Servocontrollers which are equipped to evaluate signals from optical encoders (Version code D2) also have an additional function which can be used in future by specific software modules. In this equipment the X9 connector can also be used as an input for an additional incremental encoder with square-wave output signals.
  • Page 52 InterBus-S Interface (C1 and C7) Version Code Local Bus Connection (IBS-L) Remote Bus Connection (IBS-F) The Bus connection is via X11 and X12: X11 - InterBus-S output (Sub-D connector socket) X12 - InterBus-S input (Sub-D connector plug) Local Bus connection (C1): Remote Bus connection (C7): Sub-D 15-pin Sub-D 9-pin...

  • Page 53: Can-Bus-Interface (C2)

    Note: To ensure uninterruptible operation of the InterBus-S independently of the MC6000 mains power supply, the Servocontroller should be operated using an external +24V supply ( see Section 4.4.1 ). Technical Specifications Supply voltage: 24 V DC ± 20 % for MC6000 controller Current: max.
  • Page 54 Facilities for allocating device addresses: a) using a parameter (Addresses 0 - 29) b) using DIP switches on the PCB (Addresses 0 - 29) c) using a coded plug (Addresses 0 - 7) Connect address pins with pin 1 (+5V) DIP switch/Pin No.

  • Page 55: Mc6000 Software And Overview

    MC6000 Software and Overview This section provides an overview of the Servocontroller software structure. The following sections provide further detail. The MC6000 Servocontroller software consists of 3 types: Software MC6000 Software MC6000 Configuration Control Operation Bedienung Konfiguration Regelung Operation using K Configuration of Control circuit for PC or bus systems...
  • Page 56 The Control Software contains the internal control structures of the Servocontroller. The parameters in these control circuits include controller application and the lag time of the torque controller. As these parameters have been factory-set for best results, they will only need modifying in exceptional cases by qualified users.

  • Page 57: System Software

    System Software It is very simple to use the Servocontroller and set the parameters using the KP100 K which is supplied as standard. Layout of the K start stop enter return SMART C A R D Description Function LCD display 140 segments, backlit, red/green Scroll backw3ards in menu structure, change value...

  • Page 58: General

    Using the keys 6.2.1 General The equipment carries out a self test (display backlit in red) when the mains power supply is switched on. The instantaneous value of the control value is displayed (display backlit in green) when the test is complete. The VAL menu option is active.

  • Page 59: Lcd Display

    LCD Display PARA CTRL CARD h min -1 Hz/s Description Function Counterclockwise symbol for output rotating field counterclockwise enabled Clockwise symbol for output rotating field clockwise enabled Acceleration ramp symbol displayed when acceleration enabled Braking ramp symbol displayed when braking enabled 3 digit display 7 segment display for editing status,...

  • Page 60: Control Levels

    Control Levels The control level or mode is set using the parameter MODE ( see PARA Menü ). The number of parameters which can be edited and displayed depends on the mode selected. Modes 2 - 4 are protected from unauthorized access by passwords. The passwords allow access to all lower levels/modes.

  • Page 61: Examples For Setting Parameters

    Examples for Setting Parameters The procedure for editing parameters can best be understood through examples. We recommend that you make these changes during actual commissioning of the Servocontroller. Note: You can cancel or exit from any action by pressing stop/return key. Reset to factory settings: •...
  • Page 62 Example 2 - Setting Position Control mode By way of an example control mode is here set to Position Control. The corresponding parameter is CFCON (CONFIGURATION CONTROL) in _CONF, which contains the system configuration. The parameter CFCON must be set to PCON mode (POSITION CONTROL). It is only possible to change the mode at user level MODE=3 (or higher).

  • Page 63: Overview Of Menu Structure

    Overview of Menu Structure PARA CTRL CARD CARD PARA CTRL s t a r t s t a r t s t a r t s t a r t e n t e r e n t e r e n t e r e n t e r PARA...

  • Page 64: The Para Menu

    Included in the actual values which can be displayed in the VAL Menu are, for example, the effective output current or speed. In addition parameters are available which provide information on the (instantaneous) condition of the device: software version, status word, service hours, most recent error etc.
  • Page 65 Only parameters from 3 subject areas, namely _CONF, _KPAD and _REF have a special meaning. _CONF contains the general configuration of the Servocontroller and the whole drive system. This can be used for selecting the control mode: control of torque, speed or position. There are some settings in _KPAD which relate to the K , eg the user level and the continuous display of the continuous actual value.

  • Page 66: The Ctrl Menu

    6.7.3 The CTRL Menu This menu is used for operating the drive with any preferred reference value using the K Depending on the operating mode a reference value can be entered for torque, speed or position. In speed control, acceleration and braking ramps (parameters ACCR and DECR in the subject area _REF) can be used.
  • Page 67 CTRL Menu Structure CTRL CTRL Menu selected. s t a r t e n t e r Press the start/enter key to change to password prompt. CTRL Press the start/enter key to initiate password changes. s t a r t e n t e r Enter the password with the arrow keys (factory setting = 465).

  • Page 68: The Card Menu

    6.7.4 The CARD Menu This menu is used for reading from and writing to the S for storing device settings and MART for automatic matching to specific motors. The CARD Menu contains 4 functions: Function Description READ Read some or all parameters from the SmartCard WRITE Save all parameters on the SmartCard LOCK...

  • Page 69: Setting The Parameters For The Mc6000

    Setting the parameters for the MC6000 Parameters for the Servocontroller are set in the PARA Menu. When the PARA Menu is selected the first subject area is displayed. Now select the required area containing the parameters to be edited. Press the arrow keys to scroll through the subject areas.
  • Page 70 PARA menu structure (parameters expressed as an exponential) PARA _REF = reference value input selected. Tap the start/enter key to change to the s t a r t e n t e r parameter level. PARA Select the parameter level with the arrow keys eg.

  • Page 71: Configuration Software

    Configuration Software It is important to differentiate between the two types of parameters in the configuration software: a) Parameters which relate to the actual hardware. These are recognised automatically by the Servocontroller and stored on the S supplied; the user can display them on the MART Parameter Area...

  • Page 72: Function Selectors

    Advantages of the S MART All parameter settings can be stored on S s and transferred to other servo spindles. In MART this way several drives can have their parameters set to identical values quickly and reliably. By reading in the S (READ - ALL) all settings can be copied to other drives.

  • Page 73: Input Functions

    7.1.1 Input Functions Each of the inputs IS00, IS01, ISA0 and ISA1 (when using the I/O Module also IE00 to IE07) can undertake one of the following functions if the appropriate function selector has its parameter set accordingly (_CONF and _OPTN2). The described function is carried out if there is high level at the input (Exception: emergency stop and hardware position slot are low active).

  • Page 74: Fixed Inputs Fif0 Und Fif1

    7.1.2 Functions of Outputs Each of the outputs OS00 and OS01 (when using an I/O module, also OE00 to OE03) can undertake one of the following functions if the parameters are set for the appropriate function selector (_CONF or _OPTN2). The output produces high level when the condition is fulfilled. Setting: Function (the output is set if...): Switch off output (if not required)

  • Page 75: Reference Value Input

    Reference Value Input 7.2.1 Short Description of Reference Inputs The purpose of reference value input is to prepare an externally entered reference value and to transfer it to the control. Parameters for reference value input are set specific to the application when commissioning the Servo drive.
  • Page 76 Structure of Reference Value Input Instruction Manual MC6000...
  • Page 77 Key to "Structure of Reference Value Input" : Function Function Reference value sources The diagram shows the reference value Ref. value selectors of 4 ref. val. channels selectors with factory settings Ref. val. channels & intermediate ref. vals. Calculation of overall reference value 11 Sign reversal possible Rapid reference value channel for ±10V 12 Ramp generator 2)
  • Page 78 • The other software reference values RLIM1 and RLIM2 have a fixed function assigned to them. RLIM1 (Reference Limit 1) is the lower limit of the reference value, RLIM2 (Reference Limit 2) the upper limit. Both limit values, like the freely available fixed values, can be edited directly.
  • Page 79 7.2.3 Setting Reference Value Input a) If reference values are to be provided continuously from one reference value source: • Set a reference value selector, e.g. RSSL3 to the required reference value source. • Only in the case of speed control: set parameters for the acceleration and deceleration ramp ACCR and DECR (_REF).

  • Page 80: Special Functions

    Special Functions 7.3.1 Emergency Stop (/STOP) The Emergency Stop function can be used as an additional protective function. Emergency Stop can be triggered from a variety of difference control locations: Control Application Emergency stop triggered by Control terminals Input configured as „/STOP“ Serial interface Bit in control word SCNTL (_SIO) Interbus-S...
  • Page 81 7.3.3 Motor-operated Potentiometer Motor-operated Potentiometer (MOP) function means that the reference value is increased or reduced by a specific amount via two digital inputs or via the arrow keys of the K Parameter RSSLx= RPOT (_REF): Set MOP as reference value source Parameter MPCNF (_CONF): Select operating mode (MOP configuration) Parameter RINC (_REF):...

  • Page 82: Torque Limitation (Scale)

    Other parameters for output OS00 as PWM output: OA0MN minimum output value; value of output at 0V; factory setting= 0 OA0MX maximum output value; value of output at +24V; factory setting= 0 Example: The instantaneous speed is outputted via OS00 with factory setting of these parameters and selection of the PWM function by setting FOS00=ANALG (_CONF).

  • Page 83: Examples Of Applications

    Examples of Applications This section explains the control terminal arrangements, programming the function selectors and the reference value input by way of examples. 7.4.1 Example: Analog Reference Value Input A synchronous machine is to be driven with speed control using an analog reference value (0 - 10V) in the range -3000 to +3000min-1.
  • Page 84 Result: Ref. Value IS01 Speed 0 to + 10 V 0 to + 3000 rpm 0 to + 10 V 0 to - 3000 rpm Note: The Servocontroller parameter settings are factory-set so that the acceleration and deceleration ramps (ACCR and DECR) are switched off and the matching factor RF3FA = 100 %. The parameters of the drive are already set to meet the requirements of the operation.

  • Page 85: Example: Reference Value Input Using Serial Interface

    7.4.2 Example: Reference Value Input using Serial Interface Torque values are to be transferred to a drive via the Serial Interface. How should the parameters be set? Solution: Use the Five-Point Plan for the configuration. Parameter Setting Area 1. Read in SmartCard with motor data 2.
  • Page 86 7.4.3 Example: Switching Fixed Reference Values The Servo drive is to operate to the speed profile as in the diagram below. A PLC provides the reference values in the required time frame. An Emergency Stop will provide protection. How should the parameters be set? = 6000 min = 3 s = 1000 min...
  • Page 87 Acceleration and braking ramp are determined from: − 6000 − − ACCR: 2000 − − 6000 1000 − − 5000 DECR: Times t bis t can be calculated: − 1000 − − 5000 − 0 25 − − 2000 − −...

  • Page 88: Example: Analog Reference Value Input With Switching

    7.4.4 Example: Analog reference value input with switching A drive is to be driven with an analog reference value 0 to + 10 V - 10 V to + 10 V Using a switch the drive will be ramp controlled to 0 rpm or to a different speed. What parameters should be set? a) 0 to + 10 V: Parameter...

  • Page 89: Control Software

    Control Software The M MC6000 servocontroller works on the principle of flux vector control. Flux ASTER ONTROL vector control means that current is introduced into the part of the motor where the field is strongest. In this way the current is converted most efficiently into torque. The result is maximum utilization of the motor with the best possible dynamic performance and with minimum losses.
  • Page 90 The MC6000 servocontroller can be operated in three modes: • Torque Control (TCON) • Speed Control (SCON) • Position Control (PCON) The servocontroller has three control circuits which are superimposed on each other (see diagram). Depending on the mode, the subordinate control circuits are enabled e.g. in speed control only the speed controller and torque controller are enabled.

  • Page 91: General Control Structure

    General Control Structure The basic structure shown here applies to all types of control. Additional structure diagrams build on this. TCMMX-m2* TCTLG -TCMMX-m2* +TCMMX _MOT -TCMMX _TCON _CONF PMFS MOxxx TCTLG TCMMX TCTS Function Asynchronous or synchronous motors Modulator and power stage Torque controller m1* and m2* are torque controller inputs Note:...

  • Page 92: Torque Control Mode

    Torque Control Mode As shown in the diagram, the speed controller is also enabled in torque control mode. This special feature offers the following advantages: • The speed controller limits the speed to the maximum value set in parameter SCSMX. The controller works as a P controller.

  • Page 93: Speed Control Mode

    3. Lag time of torque controller TCTLG (_TCON) the lag time is optimized for the motor and no adjustment is necessary. 4. P gain of torque controller TCG (_TCON) The gain is optimized for the motor and no adjustment is necessary. Speed Control Mode The speed controller obtains its reference value from the inputs n1* and n2*.
  • Page 94 3. P gain of speed controller The total P gain results from the following parameters. (_SCON) Parameter for P gain of speed controller SCGFA (_SCON) For scaling and fine adjustment of SCG (0 - 999%, factory setting 100%) (_SCON) Moment of inertia of installation MOJNM (_MOT) Moment of inertia of motor.

  • Page 95: Setting Speed Control

    8.3.1 Setting speed control The MC6000 speed controller has a function for setting the speed control step. When a speed step is applied the step response from the drive is captured. From this response the quality of the control circuit can be judged and the P proportion of the speed controller can be set. This function should be used especially in cases where the moment of inertia of the installation is not known exactly.
  • Page 96 Using setup mode (Setup mode) Setup mode is used for setting up the speed control circuit, taking into account the moment of inertia of the installation. The motor must therefore be connected to the installation. Setup mode cannot be used in conjunction with the SCOPE function of MCWORK. Safety waring: Remember that the connected motor will rotate in setup mode.

  • Page 97: Speed In Field Weakening

    9. If a new reference value step is entered, the parameters of the SETUP mode are updated automatically. 10.The SETUP mode is switched off when SETUP = OFF (_CONF). The speed controller is factory set to the symmetrical optimum with control filter: The first overshoot is 15%.

  • Page 98: Position Control Without Pre-Control

    8.4.1 Position control without pre-control This is actually only a theoretical control as the M Servocontroller uses an integral ASTER ONTROL pre-control which is described in the next section. Operation without pre-control is described here for the sake of simplicity. PCGFA n2*=0 Function...
  • Page 99 Displays and Error Messages Operating Display The MC6000 Servocontroller has three LEDs which provide current status information. The location of the LEDs is visible above the control terminals when the front panel of the cabinet is open. The two main LEDs (red and green) are also visible from the front through the cover. LED green (H1) LED red (H2) LED yellow (H3) Status...
  • Page 100 In case of error, an error message and a location number (top left on the screen display) are displayed. Accurate diagnosis is assisted by the error location number. If an error occurs which you cannot correct without the assistant of LUST, please give our service engineer the error location number.
  • Page 101 1 (X6) E-OP2 error on option module 2 (X7) There is a hardware or software error which should not occur during normal operation. Please contact the LUST service department: Acknowledge error by pressing Lust Antriebstechnik GmbH stop/return key for Abt.
  • Page 102 9.2.2 operator errors The following operator errors may occur when using the KP100 K Error Cause Solution ATT1 parameter cannot be changed in current select higher MODE 1) level mode or cannot be edited ATT2 motor must not be controlled on-line from cancel start signal from the CTRL menu another control location...
  • Page 103 9.2.4 Troubleshooting Possible causes of a function not working as as expected: Symptom Solution Reference value present, but drive does not turn - ENPO = High level - select correct control location CLSEL (_CONF) - use START command - check function selectors for analog inputs Drive turns but reference value cannot be - use reference value 3 or 4...
  • Page 104 Description of Parameters 10.1 System for Parameter Names The K has five upper case characters for representing parameter names. All parameter names are English as is customary in this area of technology. The five characters as abbreviations of the parameter name indicate the function of the parameter. As there is a meaningful link between the name and the meaning of the parameter, these parameter names are considerably easier to remember than parameter numbers.
  • Page 105 2. In the case of physical values and parameters, the next character provides the meaning: Formula Code English Acceleration Current Deceleration Flux Gain Inertia Inductance Torque Power Resistance Speed Time Voltage 3. These values are detailed with a one or two character alphanumeric index: Index English Rotor...
  • Page 106 10.1.2 Other areas and Val Menu This sort of system is not possible in the other areas _CONF, _OPTN1, _OPTN2, _SIO, _KPAD, _SCTY, _USER and _REF and in the VAL Menu. The reason is that these are parameters from many different areas and with various functions, not just physical values. Consequently it is not possible to deduce the meaning of the parameter unambiguously from the parameter name.
  • Page 107 10.2 The VAL Menu Parameters This list displays all actual values and fixed values which can be accessed in the VAL menu. AEach parameter is assigned a number which is required for control of the system via the serial interface or InterBus-S. The MODE column shows the minimum user level from which there is access to the display.
  • Page 108 10.3 Para Menu Parameters Sequence of Parameters: The parameters in the K are sorted by parameter number - depending on the set user level. In this description the parameters within each area are listed alphabetically for ease of access. "Display Level" and "Editing Level": These levels provide the minimum user level (MODE) required for displaying and editing these parameters.
  • Page 109 Parameter setting range: The setting range for parameters is only a theorectical range which cannot be used by every drive. For example ramp parameters ACCR and DECR can be set =65536 min . In practice however, depending on moments of inertia and the torque available, the maximum acceleration or deceleration is likely to be in the range 20,000 to 30,000 min .
  • Page 110 10.3.1 Configuration Area (_CONF) ANFIL _CONF Analog Filter Constant Time constant of analog filter for the analog reference value inputs ISA0, ISA1 _ENCD Parameter number: Physical unit: _OPT1 Value range: see table below Factory setting: _OPT2 Customer setting: Display level: _MOT Editing level: area:...
  • Page 111 CFCMX Configuration Current Maximum Maximum permissible effective value of current (100% overload for 10s); the value depends on the device type and is derived automatically from the final stage identification. _CONF Parameter number: _ENCD Physical unit: Value range: see table below Factory setting: dependent on device type _OPT1...
  • Page 112 CFHSW Configuration Hardware State Hardware status word (set after mains power on and Word manual changes) Parameter number: _CONF Physical unit: hexadecimal Value range: see table below _ENCD Factory setting: 0000h Customer setting: Display level: _OPT1 Editing level: cannot be edited area: No data storage MART...
  • Page 113 CFPNM Configuration Power Class Nominal Identification of power class of final stage (effective rated output current in amps) Parameter number: _CONF Physical unit: Value range: 4, 8, 12, 16 A _ENCD Factory setting: device-dependent Customer setting: Display level: _OPT1 Editing level: cannot be edited area: no data storage...
  • Page 114 FIF0, FIF1 Function Selector Input Fixed 0, 1 Function selector for fixed input 0 or 1; input simulated by software Use:eg for START and INV _CONF Parameter number: 443,444 Physical unit: _ENCD Value range: see table below Factory setting: Customer setting: _OPT1 Display level: Editing level:...
  • Page 115 FIS00, FIS01 Function Selector Input Standard 00, Function selector for input IS00 and IS01 Parameter number: 439, 440 _CONF Physical unit: Value range: see table below Factory setting FIS00: START _ENCD Factory setting FIS01: Customer setting: _OPT1 Display level: Editing level: area: REFRC _OPT2...
  • Page 116 FISA0, FISA1 Function Selector Input Standard Function selector for input ISA0 and ISA1 Analog 0, 1 Parameter number: 441, 442 _CONF Physical unit: Value range: see table below Factory setting: _ENCD Customer setting: Display level: _OPT1 Editing level: area: REFRC MART Changes effective: only after re-initializing ( see Section 6.7)
  • Page 117 FOA0 Function Selector Output Analog 0 Function selector, determines what value is provided at OS00 as PWM or analog output, scaling by OA0MN, OA0MX (_CONF), for example see parameter OA0MX _CONF Parameter number: Physical unit: _ENCD Value range: see table below Factory setting: SPEED _OPT1...
  • Page 118 FOS00, FOS01 (continued) No. Setting Function 13 OPTN1 Output is assigned to module in slot 1 and function assigned _CONF 14 OPTN2 Output is assigned to module in slot 2 and function assigned 2) _ENCD 15 ERRW Warning or error 16 /ERRW No warning and no error 17 USER0...
  • Page 119 OA0MN Output Analog 0 Minimum Value Minimum output value with analog function of output OS00 (value of output at 0V) Parameter number: _CONF Physical unit: Value range: -32764 - + 32764 _ENCD Factory setting: Customer setting: Display level: _OPT1 Editing level: area: REFRC MART...
  • Page 120 OPTN2 Option2 Identification of module card slot 2 (X7) Parameter number: Physical unit: hexadecimal _CONF Value range: see table below Factory setting: dependant on device type _ENCD Customer setting: Display level: Editing level: cannot be edited _OPT1 area: No data storage MART only after re-initializing ( see Section 6.7) Changed effective:...
  • Page 121 SETUP Setup Mode Switch on/switch off set up mode for setting speed controller Other parameters: 10PC, 1OVER, STIME (_SCON) _CONF Parameter number: Physical unit: _ENCD Value range: OFF {0} / ON {1} Factory setting: Customer setting: _OPT1 Display level: Editing level: _OPT2 area: MART...
  • Page 122 10.3.2 Encoder Area (_ENCD) Changes to parameters in this area only become effective after reinitialization ( see Section 6.7 ) ECLNC _CONF Encoder Line Count Line count of the encoder (only for G1, G2, G3) _ENCD Parameter number: _OPT1 Physical unit: Value range: 512 - 4096 Factory setting:...
  • Page 123 This may become apparent when the motor is stationary and hums loudly. Requirements for higher value settings should be discussed with LUST. ECTS...
  • Page 124 10.3.3 Option Slot 1 (_OPTN1) _OPTN1 can only be selected from the PARA menu if there is a module card in Option Slot 1 (X6). The parameters are then available, e.g. for the Interbus-S interface. These parameters are explained in the appropriate section. _CONF 10.3.4 Option Slot 2 (_OPTN2)
  • Page 125 10.3.5 Motor area (_MOT) Changes in parameters in this area only take effect after re-initialization ( see Section 6.7 ). Read in motor data from the S (DRIVE area). The Servocontroller is factory-set for the MART type ASM22 motor. _CONF MOCNM _ENCD Motor Current Nominal...
  • Page 126 MOL_S Motor Inductivity [L] Stator Stator inductance of motor Parameter number: Physical unit: _CONF Value range: 0,001 - 0,9999 Factory setting: motor-dependent, read in from S MART _ENCD Customer setting: Display level: Editing level: cannot be edited _OPT1 area: DRIVE MART _OPT2 MOMMX...
  • Page 127 MOR_R Motor Resistance Rotor Motor rotor resistance Parameter number: Ω Physical unit: _CONF Value range: 0,001 - 150 Factory setting: motor-dependent _ENCD Customer setting: Display level: Editing level: cannot be edited _OPT1 area: DRIVE MART _OPT2 MOR_S _MOT Motor Resistance Stator Motor stator resistance _TCON Parameter number:...
  • Page 128 10.3.6 Torque control area (_TCON) Note: Changes to these parameters only take effect after re-initialization ( see Section 6.7 ) area for these parameters: DRIVE. MART _CONF Torque Controller Gain Gain of torque controller (P proportion) _ENCD Parameter number: Physical unit: _OPT1 Value range: 0 - 426,0...

  • Page 129: P Gain Of Speed Controller

    10.3.7 Speed control area (_SCON) Changes to parameters in this area only take effect after re-initialization ( see Section 6.7 ) There is only one exception: parameter SCGFA for on-line matching of controller gain. _CONF Factory settings of parameters in this area depend on motor type and are set to be read in motor data from the S MART _ENCD...

  • Page 130: Scgfa (_Scon)

    SCGFA Speed Controller Gain Factor Matching factor for gain of speed control (P proportion) from 0% - 1000% Parameter number: _CONF Physical unit: Value range: 0,05 - 999,95 _ENCD Factory setting: 100,00 Customer setting: Display level: _OPT1 Editing level: Changes effective: immediate _OPT2 area:...
  • Page 131 SCTS Speed Controller Time Sampling Sampling time of speed controller (250 or 500 ms) Parameter number: Physical unit: _CONF Value range: 249,6 or 499,2 µs Factory setting: 249,6 µs _ENCD Customer setting: Display level: Editing level: cannot be edited _OPT1 area: no data storage MART...
  • Page 132 10.3.8 Position control area (_PCON) Changes to parameters in this area take effect only after re-initialization ( see Section 6.7 ). There is one exception only: parameter PCGFA for on-line matching of controller gain - any changes take effect immediately. _CONF PCAMX Position Controller Acceleration...
  • Page 133 10.3.9 Serial Interface area (_SIO) Note: Further informnation on Servocontroller operation using the serial interface will be found in the description of the L data transfer protocol (available from June 1996). _CONF _ENCD SADDR Serial Address Serial address of device _OPT1 Parameter number: Physical unit:...
  • Page 134 SCTL1 Serial Control Word 1 Control word 1 of serial interface Parameter number: Physical unit: hexadecimal _CONF Value range: see table below Factory setting: 0000h _ENCD Customer setting: Display level: Editing level: _OPT1 area: no data storage MART _OPT2 Bit posit Position value Title Meaning of bit...
  • Page 135 SERR Serial Error State Serial interface error status Parameter number: Physical unit: hexadecimal _CONF Value range: see table below Factory setting: _ENCD Customer setting: Display level: Editing level: cannot be edited _OPT1 area: no data storage MART _OPT2 Bit positionHex Title Meaning _MOT...
  • Page 136 10.3.10 K area(_KPAD) BARG Bargraph (Displayed Parameter) Continuous actual value of barchart display (this determines which parameter is displayed _CONF continuously on the barchart) Parameter number: _ENCD Physical unit: Value range: see table below _OPT1 Factory setting: SPEED Customer setting: _OPT2 Display level: Editing level:...
  • Page 137 DISP Displayed Parameter Continuous actual value of display (determines the parameter for continuous display or on entering the VAL menu) _CONF Parameter number: Physical unit: _ENCD Value range: all the parameters available in the VAL menu (depends on the current user level) Factory setting: REFV (reference value) _OPT1...
  • Page 138 PLRDY Parameter List Ready manual update of the parameter list and re-initialisation Parameter number: _CONF Physical unit: Value range: 0, 1 _ENCD Factory setting: Customer setting: Display level: _OPT1 Editing level: area: no data storage MART _OPT2 Explanation: _MOT The control can be initialised using this parameter. The paramter list is checked for validity and the dependent paramaters are calculated (see section 6.7).
  • Page 139 PSW2, PSW3, PSW4 Password Mode 2, 3, 4 Password for user levels 2, 3, 4 ( --PWx-- request when changing user level MODE) Parameter number: 100, 101, 102 _CONF Physical unit: Value range: 0 - 65535 _ENCD Factory setting: 222, 333, 444 Customer setting: Display level: _OPT1...
  • Page 140 10.3.11 Safety and error reaction parameter area (_SCTY) The parameters in this area can be programmed to define the reaction of servo controllers to errors occurring. _CONF The range of error responses is defined in the error reaction table. These responses can be assigned to specific errors with the parameters as described below.
  • Page 141 R-CPU Reaction on Error CPU Reaction to error in CPU Parameter number: Value range: _CONF Factory setting: Customer setting: _ENCD R-EEP _OPT1 Reaction on Error EEPROM Reaction to error in EEPROM _OPT2 Parameter number: Value range: 0 - 5 _MOT Factory setting: Customer setting: _TCON...
  • Page 142 R-OC Reaction on Error Over Current Reaction to overcurrent error Parameter number: Value range: 1 - 5 _CONF Factory setting: Customer setting: _ENCD R-OFF _OPT1 Reaction on Error Off Reaction to undervoltage or power off _OPT2 Parameter number: Value range: 1 - 5 _MOT Factory setting:...
  • Page 143 R-OTI Reaction on Error Over Reaction to Servocontroller overtemperature Temperature Inverter Parameter number: _CONF Value range: 1 - 5 Factory setting: _ENCD Customer setting: _OPT1 R-OTM Reaction on Error Over Reaction to motor overtemperature _OPT2 Temperature Motor _MOT Parameter number: Value range: 0 - 5 Factory setting:...
  • Page 144 R-TIM Reaction on Error Time Reaction to run time error Parameter number: Value range: 0 - 5 _CONF Factory setting: Customer setting: _ENCD R-WDG _OPT1 Reaction on Error Watchdog Reaction to error: watchdog triggered _OPT2 Parameter number: Value range: 0 - 5 _MOT Factory setting: Customer setting:...
  • Page 145 10.3.13 Reference Value Input Area (_REF) Notes: The paramaters in this area are described in detail in Section 7.2 . _CONF ) can be selected as reference value source using reference value selector ) parameter only for display of reference value _ENCD _OPT1 ACCR...
  • Page 146 RA0, RA1 Reference from Analog Input 0, 1 Analog input 0 (ISA0) and 1 (ISA1), Parameter only for display of digitized value Parameter number: 425, 426 _CONF Physical unit: Nm, Umin or r (depending on control mode) Value range: -32764 - 32764 _ENCD Factory setting: Customer setting:...
  • Page 147 RFIX1, RFIX2, RFIX3, RFIX4, RFIX5, RFIX6 Reference Fixed Value 1 - 6 Fixed reference values 1 to 6, Parameter number: 74x, 75x, 76x, 77x, 78x, 79x _CONF Physical unit: Nm, min or r (depending on control mode) Value range: theoretically: -32764 - 32764 in practice: this depends on the motor and the control _ENCD mode...
  • Page 148 RNA0, RNA1 Reference Norm Analog Input 0, 1 Scaling for analog reference value 0 and 1; example speed control: RNA0=3000 means that a reference speed of 3000 min corresponds to an ana log reference value of +10 V _CONF Parameter number: 82x, 83x _ENCD Physical unit:...
  • Page 149 RSSL1, RSSL2, RSSL3, RSSL4 Reference Source Selector 1 - 4 Reference value selectors for channels 1 to 4, used for selecting a reference value source Parameter number: 417, 418, 419, 420 _CONF Physical unit: Value range: see table below Factory setting: RCON, RSSL3= RFIX1 _ENCD Customer setting:...
  • Page 150 Description of I/O Module 1 (AH1) and EKL300 11.1 I/O Module 1 (AH1) The number of Servocontroller inputs and outputs can be extended using I/O Module 1 (AH1). The module can be plugged into slot 2 (X7) which is accessible from the front and in this way it can be integrated into the casing of the device.
  • Page 151 11.2 Terminal Allocation I/O Module1 Input terminals (X14) Output terminals (X13) Terminal Terminal Description Terminal Terminal Description Allocation Allocation IE00 Inputs GND-OUT Ground for IE01 (Input External 00 - 07) outputs IE02 +24V-OUT + 24 V supply IE03 for outputs IE04 OE00 Outputs...
  • Page 152 11.3 EKL300 The inputs and outputs of I/O Module 1 can be wired directly in the cabinet using the external terminal module EKL300. LED's indicate the status of inputs and outputs. The EKL300 is three wire. Connecting initiators is a simple task using the +24V signal and ground.
  • Page 153 EKL300 Layout Note: Abbreviated terminal indentification I0 = IE00, O0 = OE00, etc. 24V-IN 24V-IN 24V-IN GND-IN GND-IN GND-IN GND-OUT GND-OUT I0 I1 I2 I3 I4 I5 I6 I7 O0 O1 O2 O3 GND- 24V- GND- Function Function LEDs for inputs X2A output terminals LEDs for outputs X2B ground for output terminals (GND-OUT)
  • Page 154 11.4 Software description I/O Module 1 The inputs and outputs of the I/O Module have the same functionality as the digital I/O of the standard equipment. The ouputs however cannot be used as pulse width modulated outputs. If an I/O Module is inserted in option slot 2, it is automatically recognised by the Servocontroller and the appropriate parameters are enabled in the software.
  • Page 155 FOE00, FOE01 - FOE03 Function Selector Output External Function Selectors for External Outputs 0 - 3 0 - 3 Parameter numbers: 471, 472, 473, 474 Physical unit: Value range: see table Factory setting: Customer setting: Display level: Editing level: area: OPTN2 MART Each of the outputs can take over one of the following functions.
  • Page 156 SIEXT (continued) Function monitor input IE00 monitor input IE01 monitor input IE07 SOEXT Status Word Output Extern Status word of external output for monitoring outputs via serial interface Parameter number: Physical unit binary, 8 bit Value range: see table below Factory setting: Customer setting: Display level:...
  • Page 157 Servomotor Design Specifications 12.1 Synchronous and Asynchronous Servomotor Series General The synchronous and asynchronous Servomotors are designed to a uniform pattern for best results, especially with the M MC6000 Servocontroller in mind ASTER ONTROL From a design point of view the Servomotors differ basically in their rotor princple. •...
  • Page 158 12.2 Ordering Details for ASx and PSx Servomotors General The specific Servomotor model is indicated by the order code. Each model code has a special meaning (see Servomotor Models 12.3). Model codes are also used for non-listed Servomotors. Only one model option can be ordered per code section, (eg voltage, encoder system etc). The order code must always be Order Code/ complete and in this sequence.
  • Page 159 12.3 Servomotor Models Code Model Description Motor Type Section Code Flange with self cooling ASx-1x to 3x, PSx-Mx to 2x Type, Cooling Flange with external cooling ASx-1x to 4x, PSx-1x to 2x Flange, foot with self cooling ASx-1x to 4x, PSx-1x to 2x Flange, foot with external cooling ASx-1x to 4x, PSx-1x to 2x Size, Length...
  • Page 160 Code Model Description Motor Type Section Code Rated Speed Rated speed 1500 min Please observe the technical specifications of Rated speed 2000 min the Servomotors Rated speed 3000 min Rated speed 4000 min Rated speed 6000 min Connections Power connection via terminal box, All from size 0x Resolver connector, output straight Power connector socket output straight...
  • Page 161 12.4 Basic Versions of Servomotors Type ASx Asynchronous PSx Synchronous Features Servomotors Servomotors General Technical Motor type Asynchronous Servomotor Permanently excited SynchronouServomotor Specifications Magnet Neodymium-iron-boron Type (DIN 42948) IM B35, IM B5, V1, V3 Protection (DIN 40050) IP65, Shaft Seal IP64 (Option IP65) Insulation Class Insulation Class F to VDE0530 Windings over-temperature ∆t = 105, coolant temperature t...
  • Page 162 12.5 Typical M-n Graph of Servomotors Field weakening max 0,2s max 0,2s Pulse Operation Pulse Operation Intermittent Intermittent operation operation depending on voltage reserve Continuous Continuous operation operation M-n Graph for asynchronous motors M-n Graph for synchronous motors Term Explanation Static torque Thermal limit torque of motor when stationary.
  • Page 163 12.6 Technical Specifications: ASx-xx Asynchronous Servomotors Self cooling [Nm] [Nm] [kW] [min-1] [kgcm2] [kg] [min ASM (H)-11-2xxx3 0,41 3000 12000 ASM (H)-12-2xxx3 0,54 3000 12000 ASM (H)-13-2xxx3 0,72 2,74 3000 12000 ASM (H)-14-2xxx3 3000 10,2 12000 ASM (H)-15-2xxx3 3000 12,8 12000 ASM (H)-21-2xxx3 3000...
  • Page 164 12.7 Technical Specifications: PSx-xx Synchronous Servomotors Self Cooling [Nm] [Nm] [kW] [min [kgcm [kg] PSM-M1-2xxx2 0,34 0,32 0,067 2000 0,17 PSM-M1-2xxx6 0,34 0,32 0,85 6000 0,17 PSM-M2-2xxx6 0,48 6000 0,24 PSM-M3-2xxx2 0,65 0,125 0,55 0,58 2000 0,31 PSM-M3-2xxx6 0,65 0,375 6000 0,31 PSM-M4-2xxx2...
  • Page 165 In the case of PSx motors sizes M, N and 0, thermal monitoring by the motor PTC is inadequate for dynamic operation with overload. In such cases the overall design must be checked by LUST to avoid the motor being destroyed.
  • Page 166 12.8 Servomotor Dimensions Connection with Connection with connector at 90° connector straight Flange with self cooling ASM-xx PSM-xx l 20 Flange/foot with self cooling ASH-xx PSH-xx øs l 20 Flange with external cooling ASF-xx PSF-xx l 20 Flange/foot with external cooling ASV-xx PSV-xx øs...
  • Page 167 12.9 Dimensions of shaft, flange and toot Shaft Flange Foot Type Size, b1 d1 h5 c1 d20 d21 d22 d23 d25 l20 t22 Length Type AS Type PS No With No With 9 10,2 20 12 M3 40 2,5 11 12,5 23 18 M4 60 2,5 14 16 30 22 M4 8 100...
  • Page 168 Connection with Connection with connect at 90° connector straight Flange with self cooling ASM-xx PSM-xx l 20 Flange/foot with self cooling ASH-xx PSH-xx øs l 20 Flange with external cooling ASF-xx PSF-xx l 20 Flange/foot with external cooling ASV-xx PSV-xx øs l 20 12-12...
  • Page 169 12.10 Dimensions for motors with self cooling and external cooling Motor (Self Cooling) External Cooling Type Size, b20 I38 for Type AS I38 for Type PS I39 for Type AS I39 for Type PS Length No Br. With Br. No Br. With Br. No Br.
  • Page 170 12.11 Permissible axial and radial loads The following tables show the maximum permissible radial loads (F ) at x=l/2 and maximum permissible axial loads F assuming a service life of 20000 hours. A radial load which is not in the middle of the shaft end can simply be re-calculated to take account of the different leverage effect.
  • Page 171 12.12 Technical Specifications: shape and shaft seal IP65 Shape Description Drawing Code Shaft Fixing or Mounting Arrangement Free Flange installation shaft Access from casing side Free Flange installation at bottom shaft Access from casing side at bottom Free Flange installation top shaft- Access form casing side at top...
  • Page 172 12.13 Technical Specifications: self cooling and external cooling Cooling The motor specific power data and torque data refer to • operating temperature -5°C - 40°C • operating temperature (coolant temperature) 40°C related to none insulated installation and that part of the motor heat loss will be conducted through the fixing flange of the mounting location.
  • Page 173 Size Voltage Rated Current Protection Mains Frequency [Hz] External cooling ASF(V)-1x 1 x 230 +6%/-10% 48 ... 62 IP54 ASF(V)-2x 1 x 230 +6%/-10% 48 ... 62 0,18 IP54 ASF(V)-3x 3 x 400 +6%/-10% 48 ... 62 0,15 IP54 ASV-4x 3 x 400 +6%/-10% 48 ...
  • Page 174 12.14 Technical Specifications: holding brake The zero backlash permanently excited single disk holding brake works on a fail-safe basis which in practical terms means that the brake works when no voltage is applied. The holding brake is switched on and off normally only when the motor is stationary. If the holding brake is to be used as an Emergency Stop brake, the permitted service life must be observed.
  • Page 175 Supplement to Instruction Manual MC6000 Status: 12.05.97 ASTER ONTROL Software: V2.45 Valid for: Id.-Nr.: 0792.20B.0-02 Version: December 1995 Dear Customer! In the course of further technical development, changes have been made that are not described in the Instruction Manual. Note: From Software Version V2.0 on, the positioning and sequence control P 1 is not supported.
  • Page 176 We reserve the right to make technical changes. Id. No.: 0792.23B.1-00 EN 12.05.97 Lust Antriebstechnik GmbH ∗ Gewerbestr. 5-9 ∗ D-35633 Lahnau ∗ Germany ∗ Phone +49 64 41 / 9 66 -0 ∗ Fax +49 64 41 / 9 66 -137 Ergänzung zur Betriebsanleitung MC6000...
  • Page 177 We reserve the right to make technical changes BMC6000-E.02 11/95 Lust Antriebstechnik GmbH ∗ Gewerbestr. 5-9 ∗ D-35633 Lahnau ∗ Germany ∗ Telephone +49 64 41 / 9 66-0 ∗ Fax +49 64 41 / 9 66-137...

This manual is also suitable for:

Mastercontrol mc6404Mastercontrol mc6408Mastercontrol mc6412Mastercontrol mc6416Mastercontrol mc6432Mastercontrol mc6464

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