Indel GIN-SAC4 FS Series User Manual
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Indel GIN-SAC4 FS Series User Manual

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GIN-SAC4xX FS
User Manual
Version:
1.4
Date:
22.06.2021
Language: English
Issue:
Translation of the original instructions

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Summary of Contents for Indel GIN-SAC4 FS Series

  • Page 1 GIN-SAC4xX FS User Manual Version: Date: 22.06.2021 Language: English Issue: Translation of the original instructions...

  • Page 3: Table Of Contents

    SAC4xX FS User Manual Table of contents General......................11 1.1. About This Manual ..........................11 1.2. About Indel Series GIN-SAC4xX Servo Drives with the FS Option ........... 11 1.3. Distribution and Support ......................... 11 1.3.1. Manufacturer ..............................11 1.3.2. Support ................................11 1.4.
  • Page 4 SAC4xX FS User Manual 2.3.10. Mains Power Supply Failure ..........................23 2.3.11. EMC .................................. 23 2.3.12. Start-Up ................................24 2.3.13. Service Life ............................... 24 2.3.14. Liability ................................24 2.3.15. Defective Drives ............................... 24 2.4. Intended Use ............................ 25 Handling ......................26 3.1.
  • Page 5 SAC4xX FS User Manual 5.4.3. Connection to a Higher-Level Safety Controller ..................... 40 5.4.4. Parameters ..............................40 5.5. Safe Two-Channel Inputs 1-3 ......................41 5.5.1. Parameters ..............................41 5.5.2. Connection to Two-Channel Contact based Sensors ..................42 5.5.3. Connection to a Safe Two-Channel Output ....................43 5.5.4.
  • Page 6 SAC4xX FS User Manual 5.11. Safety Subfunction Parameters ....................... 71 5.11.1. STO and SS1-t Functions ..........................71 5.11.2. SS2-t, SOS and SLS Functions ......................... 71 5.12. Safe Response Time ......................... 72 5.12.1. Maximum Safe Response Time of the GIN-SAC4xX ..................72 5.12.2.
  • Page 7 SAC4xX FS User Manual 6.2.2. Login ................................89 6.2.3. Opening the System Topology File ......................... 90 6.2.4. Parametrisation ............................... 91 6.2.5. Additional Information ............................ 92 6.2.6. Creating the Configuration File ........................92 6.2.7. Archiving Safe Configuration Files ........................93 6.3. Loading and Verifying the Safe Configuration ................
  • Page 8 SAC4xX FS User Manual 8.3.6.1 SinCos ................................113 8.3.6.2 Resolver ................................. 113 8.3.6.3 Incremental Encoder ............................. 114 8.3.6.4 Absolute value Feedback ..........................114 8.3.7. Digital I/Os ..............................115 8.4. Environmental Conditions ......................116 8.5. Notes according US-Market ......................116 Electrical installation ..................117 9.1.
  • Page 9 SAC4xX FS User Manual 9.10.3.1 Connection to an absolute value Interface ....................133 9.10.3.2 Connection to a sin/cos interface ......................... 134 9.10.3.3 Connection to a single-ended incremental encoder ..................135 9.10.4. Absolute Value Feedbacks ..........................136 9.10.4.1 Hiperface................................ 136 9.10.4.2 EnDat 2.1 ................................ 137 9.10.4.3 SSI / Biss C / EnDat 2.2 ...........................
  • Page 10 SAC4xX FS User Manual 11.1. Status LED............................152 11.2. Error Table ............................153 Related Documents ..................155 12.1. EC Declaration of Conformity for GIN-SAC4xX FS ................. 155 12.2. Type Examination for GIN-SAC4xX FS .................... 156 12.3. CB Test Certificate .......................... 157 Standards .....................

  • Page 11: General

    In addition to the motor actuation, safety subfunctions STO, SS1-t, SS2-t, SOS and SLS are available. Indel servo drives are designed for industrial use, which is subject to applicable standards and regula- tions.

  • Page 12: Copyright

    SAC4xX FS User Manual 1.5. Copyright © Indel AG It is forbidden to disclose and reproduce this document without express permission from Indel. 22.06.2021 Rev 1.4 Seite 12 von 160...

  • Page 13: Documentation Revisions

    SAC4xX FS User Manual 1.6. Documentation Revisions Revision Date Author Comment 25.09.2016 Thomas Jericke Creating the document based on the GIN-SAC4xX Rev 0.1 manual. 30.09.2016 Thomas Jericke Corrections after review Rev 0.2 03.10.2016 Thomas Jericke Corrections after second review Rev 0.3 18.11.2016 Thomas Jericke Rev 0.4...
  • Page 14 Notes on acceleration monitoring added.  Document approval: reference to Draft deleted.  15.06.2017 Max Bleuler Rev 1.1 Old Indel logo replaces with a new one  New URL links in section 2.3.11  21.08.2017 Thomas Jericke Rev 1.2 Corrected the order of the Inputs on the wiring ex- ...

  • Page 15: Definition Used

    Electronical or mechanical Hardware Component Hardware Insulated Gate Bipolar Transistor IGBT Indel Connectivity Server of the fifth generation: service program to manage INCOServer V communication between the PC and an Indel control unit Program to start up, maintain and operate Indel control units...
  • Page 16 Safe Stop 2 type C SS2-t Safe Torque Off No subfunction monitoring Muting Microcontroller program Software Safe Operation Stop Communication endpoint in the Indel cockpit Target Uniform Resource Locator Microsoft® operating system Windows 22.06.2021 Rev 1.4 Seite 16 von 160...

  • Page 17: Symbols Used

    SAC4xX FS User Manual 1.8. Symbols used Danger The symbol stands for information the non-observance of which may result in death or immediate severe damage. Danger due to electricity The symbol stands for information the non-observance of which may result in bodily injury due to electricity.

  • Page 18: Units Used

    SAC4xX FS User Manual 1.10. Units Used The following abbreviations are used with units. Abbreviation Meaning Degree (degree measures) ° Ampere Ampere root mean square (effective Current) Year anno Centigrade °C Farad Gravitational acceleration (9.8 m/s2) Hour Henry Hertz Kilogram Metre Minute Metre above sea level...

  • Page 19: Safety

    SAC4xX FS User Manual Safety 2.1. User Inspection Upon Receipt Upon receipt of the shipment and before every start-up the GIN-SAC4x4 should be checked for its integ- rity and completeness. In particular the following properties need to be verified: Completeness and correctness of the shipment contents (see section 4.1) ‣...

  • Page 20: Protection Against Contact With Electrical Parts

    SAC4xX FS User Manual 2.2.4. Protection against contact with electrical parts The operation of servo amplifiers requires that some parts carry more than 50 V , i.e. low voltages. Touching such parts can result in life-threatening electric shocks. There is a risk of death or severe bodily injury.

  • Page 21: Safe Torque Off

    Brake Resistor / Ballast Resistor The brake resistor is not actuated by Indel servo drives in safe mode. If the brake resistor is defective or wrong, the motor does not stop within an expected timeframe. In a worst-case scenario, this may result in bodily injury and property damage.

  • Page 22: Residual Energy In The Intermediate Circuit

    SAC4xX FS User Manual 2.3.4. Residual Energy in the Intermediate Circuit Residual energy in intermediate circuit capacitors can be retained up to ten minutes after the power sup- ply is switched off (after the main or the main contactor is opened). It is possible to move the motor with this residual energy.

  • Page 23: Protection Against Dangerous Movements

    , the servo drive indicates an error, and the mo- cc MIN tors are deenergised. 2.3.11. For EMC-compliant wiring, see the documents: INDEL Wire Routing Guide and INDEL Installation Guide, as well as all the wiring notes contained in this document. INDEL Wiring Guidelines WWW.

  • Page 24: Start-Up

    The start-up, including that of safety subfunctions, should be documented. Basically, when the use of Indel servo drives includes safety drive disconnection after safe torque-off (STO), safe type C stop 1 (SS1- t), safe type C stop 2 (SS2-t), safe operating stop (SOS) and safely limited speed (SLS) as defined in EN 61800 Part 5.2 and a fail-safe protection against inadvertent restart as defined in EN ISO 13849 Category...

  • Page 25: Intended Use

    SAC4xX FS User Manual 2.4. Intended Use Indel series GIN-SAC4xX servo drives may only be used within the specifications set forth in this ‣ document and those referred to herein. The machine may be used as intended provided that it is found to be compliant with the provi- ‣...

  • Page 26: Handling

    3.1. Storage Indel GIN-SAC4xX drives can be stored for up to twelve months, without any restrictions whatsoever. For storage of more than twelve months, the capacitors must be reformed before starting up the drive. In ad- dition, all electrical connections must be cut off and L1/L2 must be supplied with 230 VAC for 20 minutes.

  • Page 27: Product Identification

    SAC4xX FS User Manual Product Identification GIN-SAC4xXs are available in the following various versions. Type Option Article Nr. Description 5A/230V/FS 311349420 Servo drive, functional safety, 1x230Vac/325Vdc, GIN-SAC4x4 4 x output stages, total 20Arms direct current, single-core 800MHz ARM, 8MB of flash memory, 256MB of RAM, GinSlave 5A/230V/PRO/FS 311349425...
  • Page 28 SAC4xX FS User Manual Type Option Article Nr. Description 5A/400V/PRO/FS 311349245 Servo drive, functional safety, 3x400Vac/565Vdc, GIN-SAC4x2 2 x output stages, total 10Arms direct current, dual-core 800MHz ARM, 8MB of flash memory, 256MB of RAM, 0.5MB of NVRAM, GinSlave/GinMas- ter, SD card adapter 5A/230V/FS 311349120 Servo drive, functional safety, 1x230Vac/325Vdc,...

  • Page 29: Contents

     DFMC 1.5/6-ST-3.5-LR Phoenix contact with specific Indel labelling Mating connector X17:  PC 4 HV/4-ST-7.62 Phoenix contact with specific Indel labelling Mating connector X10, X11, X12, X13  PC 5/4-STF-SH1-7.62 Phoenix contact with specific Indel labelling Mating connector X15 ...

  • Page 30: Gin-Sac4X2

    Mating connector X7:  DFMC 1.5/6-ST-3.5-LR Phoenix contact with specific Indel labelling Mating connector X17:  PC 4 HV/4-ST-7.62 Phoenix contact with specific Indel labelling Mating connector X10, X11  PC 5/4-STF-SH1-7.62 Phoenix contact with specific Indel labelling Mating connector X15 ...

  • Page 31: Optional Accessories

    SAC4xX FS User Manual 4.2. Optional Accessories Type Article Nr. Description SAC4-AD-2X 611755000 Compact pluggable Adaptor for GIN- SAC4xX devices, connects 2 Motor Out- puts in parallel to get higher output motor currents. Installation is toolless by simply plug the adapter onto the SAC and fixing the knurled screw.

  • Page 32: Rating Plates

    SAC4xX FS User Manual 4.3. Rating Plates 4.3.1. GIN-SAC4x4 5A/230V/PRO/FS and GIN-SAC4x4 5A/230V/FS 4.3.2. GIN-SAC4x4 5A/400V/PRO/FS and GIN-SAC4x4 5A/400V/FS 22.06.2021 Rev 1.4 Seite 32 von 160...

  • Page 33: Gin-Sac4X3 5A/230V/Pro/Fs And Gin-Sac4X3 5A/230V/Fs

    SAC4xX FS User Manual 4.3.3. GIN-SAC4x3 5A/230V/PRO/FS and GIN-SAC4x3 5A/230V/FS 4.3.4. GIN-SAC4x3 5A/400V/PRO/FS and GIN-SAC4x3 5A/400V/FS 22.06.2021 Rev 1.4 Seite 33 von 160...

  • Page 34: Gin-Sac4X2 5A/230V/Pro/Fs And Gin-Sac4X2 5A/230V/Fs

    SAC4xX FS User Manual 4.3.5. GIN-SAC4x2 5A/230V/PRO/FS and GIN-SAC4x2 5A/230V/FS 4.3.6. GIN-SAC4x2 5A/400V/PRO/FS and GIN-SAC4x2 5A/400V/FS 22.06.2021 Rev 1.4 Seite 34 von 160...

  • Page 35: Gin-Sac4X1 5A/230V/Pro/Fs And Gin-Sac4X1 5A/230V/Fs

    SAC4xX FS User Manual 4.3.7. GIN-SAC4x1 5A/230V/PRO/FS and GIN-SAC4x1 5A/230V/FS 4.3.8. GIN-SAC4x1 5A/400V/PRO/FS and GIN-SAC4x1 5A/400V/FS 22.06.2021 Rev 1.4 Seite 35 von 160...

  • Page 36: Safety Devices

    SAC4xX FS User Manual Safety Devices This section provides a description of the GIN-SAC4xX FS’s Safety Devices, including the wiring and proper parametrisation of individual components. The plug and pin assignment of all the connectors can be found in section 9.2. 5.1.

  • Page 37: Safe Pulse Inhibition

    SAC4xX FS User Manual 5.3. Safe Pulse Inhibition The Safe-AxControl module is provided with safe two-channel pulse inhibition. The pulse inhibition is implemented by cutting off the GIN-SAC4xX’s photocoupler power supply, which is fully integrated into the drive and requires no wiring. The Safe-AxControl module’s pulse inhibition is read back and tested. 5.3.1.

  • Page 38: Safe Insulated Two-Channel Input: Safe Input 0 (Sto)

    SAC4xX FS User Manual 5.4. Safe Insulated Two-Channel Input: Safe Input 0 (STO) GIN-SAC4xX FS’s safe input 0 (STO) is internally connected to the Safe-AxControl module. This input is intended either for connecting to an emergency stop circuit, door contact, etc. or for connecting the GIN- SAC4xX FS to a higher-level safety controller.
  • Page 39 If the GIN-SAC4xX FS’s cross-fault recognition is used, the Input 0 (STO) parameter must be set to Pulsed. The GIN-SAC4xX FS’s pulse outputs may be wired only to the safe inputs of Indel de- vices. The maximum allowable cable length of the safe digital inputs is 30 metres.

  • Page 40: Connection To A Higher-Level Safety Controller

    SAC4xX FS User Manual 5.4.3. Connection to a Higher-Level Safety Controller If input 0 (STO) is actuated by a higher-level control unit, a two-channel output (OSSD) must be used. The negative terminals of input 0 (STO) must be wired back to the earth (GND) or the relevant negative termi- nal of the safe outputs.

  • Page 41: Safe Two-Channel Inputs 1-3

    SAC4xX FS User Manual 5.5. Safe Two-Channel Inputs 1-3 The GIN-SAC4xX FS’s safe inputs 1-3 are intended for defining the active safety level during operation. How to calculate the safety level based on input signals is described in section 5.16. Safe inputs 1-3 are processed by the Safe-AxControl module.

  • Page 42: Connection To Two-Channel Contact Based Sensors

    If the GIN-SAC4xX FS’s cross-fault recognition is used for safe inputs 1-3, the relevant input’s Input X parameter must be set to Pulsed. The GIN-SAC4xX FS’s pulse outputs may be wired only to the safe inputs of Indel de- vices.

  • Page 43: Connection To A Safe Two-Channel Output

    SAC4xX FS User Manual 5.5.3. Connection to a Safe Two-Channel Output Safe inputs 1-3 can be connected to a safe two-channel output (OSSD). This enables to connect active sensors such as light curtains or a higher-level control unit. In addition the SAC4xX’s GND terminals and the safety controller or active sensor must be directly connected with each other.

  • Page 44: Use Of Pulse Signals For Multiple Inputs

    SAC4xX FS User Manual 5.5.4. Use of Pulse Signals for Multiple Inputs If the pulse signals provided by the GIN-SAC4xX FS are used for more than one input pair, correct wiring must be insured. Lines that use the same pulse signals must not be laid in a shared cable be-cause a possible cross-fault may be missed.

  • Page 45: Error Recognition By The Safety Module

    SAC4xX FS User Manual 5.5.5. Error Recognition by the Safety Module When the pulse signals provided are used, the Safe-AxControl module inside the GIN-SAC4xX FS recog- nises external errors at the inputs as follows. Error Recognition Note 24V contact at the input Earth contact at the input when the contact is closed If the closed current principle is observed...

  • Page 46: Safe Two-Channel Output

    SAC4xX FS User Manual 5.6. Safe Two-Channel Output The GIN-SAC4xX is provided with a safe two-channel output for status feedback of the safe pulse inhibi- tion. In the standard configuration (without a ring wiring) the output state corresponds to pulse pattern clearance.

  • Page 47: Connection To An Insulated Safe Input

    SAC4xX FS User Manual 5.6.2. Connection to an insulated Safe Input If the safe output is connected to an insulated input, the negative terminal of the safe input must be wired back to the GIN-SAC4xX FS’s GND. 5.6.3. Connection to an Uninsulated Safe Input If the safe output is connected to an uninsulated input, the groundwires of the GIN- SAC4xX FS and the input module must be additionally connected with each other be- cause otherwise in case of Wire breakage at the GIN-SAC4xX FS’s earth (single error)

  • Page 48: Error Recognition By The Safety Module

    SAC4xX FS User Manual If the safe brake module is provided with insulated inputs, the ground wires of both channels should be connected to the GIN-SAC4xX. 5.6.5. Error Recognition by the Safety Module The GIN-SAC4xX FS’s Safe-AxControl module monitors the safe two-channel output with test pulses. This enables to detect the following external errors.

  • Page 49: Parameters

    SAC4xX FS User Manual 5.6.6. Parameters Parameter Unit Default Value Description Group ‹Output Configuration› on Safe-AxControl Inactive / Inactive Defines if the safe output is inactive or active. Output Active Note: If <ring wiring> is active, this parameter is disabled because the output is used for the ring circuit.

  • Page 50: Ring Wiring Of Multiple Gin-Sac4Xx Fss

    SAC4xX FS User Manual 5.8. Ring Wiring of Multiple GIN-SAC4xX FSs It is possible to operate multiple GIN-SAC4xX FSs together by connecting them into a ring. The safe output is then wired to safe input 3 of the next GIN-SAC4xX FS. The last GIN-SAC4xX FS is subsequently connected back to the first one.

  • Page 51: Parameter

    SAC4xX FS User Manual The safety components installed must be connected to all GIN-SAC4xX FSs. For cross-fault recognition, however, only one drive per channel supplies test pulses. In the safe configuration the ‹ring wiring› option must be enabled on all GIN-SAC4xX FSs. A safe response time of 3 275µs must be added per each connected GIN-SAC4xX FS.

  • Page 52: Safe Encoder Evaluation And Monitoring

    SAC4xX FS User Manual 5.9. Safe Encoder Evaluation and Monitoring The GIN-SAC4xX FS drive is provided with one permanently built-in Safe-AxMonitor module per axis, which allows safe assessment and monitoring of each resolver or sin/cos encoder. 5.9.1. Integration into the Safety Chain To integrate an encoder into the safety chain, please refer to the relevant diagram shown in the IFA Guide https://www.dguv.de/medien/ifa/en/pub/rep/pdf/reports2013/ifar0713e/safe_drive_controls.pdf.

  • Page 53: Gin-Sac4Xx Fs's Error Recognition If Resolvers Are Connected

    SAC4xX FS User Manual Before connecting an encoder for safe monitoring, the user must perform a risk assess- ment. The correct selection, installation and maintenance of the encoder are the user’s responsibility. Both the requirements of this manual and those of the encoder manu- facturer should be observed.
  • Page 54 SAC4xX FS User Manual Error Effect Sine signal set to 0. Wire breakage in the sine winding. Sine signal set to 0. Short-circuit in the sine winding. Lower signal amplitude. Partial short-circuit in the sine winding. Cosine signal set to 0. Wire breakage in the cosine winding.

  • Page 55: Requirements For The Use Of Resolvers

    SAC4xX FS User Manual 5.9.3. Requirements for the Use of Resolvers The table below lists undetectable resolver errors. The measures specified in the Requirement column should be performed by the user or encoder manufacturer. Error Effect Requirements No or false posi- The resolver should be firmly fixed to the drive Slippage of the load tion/Movement rec-...

  • Page 56: Gin-Sac4Xx Fs's Error Recognition If Sin/Cos Encoders Are Connected

    SAC4xX FS User Manual 5.9.5. GIN-SAC4xX FS’s Error Recognition If Sin/cos Encoders Are Connected If a sin/cos encoder is used for safe axis monitoring, the axis’s Safe-AxMonitor module monitors the signal for the following criteria: The signal strength (sin + cos ) is within the predefined tolerance.
  • Page 57 The listed errors refer to sin/cos encoders with optoelectronic positioning. If an en- coder based on other physical principles (magnetism) is used, a separate error analysis is necessary. For this purpose, Indel should in any case be contacted. The maximum velocity jump corresponds to an acceleration von 2.5 MHz/s...

  • Page 58: Requirements For The Use Of Rotary Sin/Cos Encoders

    SAC4xX FS User Manual 5.9.6. Requirements for the Use of Rotary Sin/cos Encoders The table below lists undetectable errors of rotary sin/cos encoders. The measures specified in the Re- quirement column should be performed by the user or encoder manufacturer. Error Effect Requirement...

  • Page 59: Requirements For The Use Of Linear Sin/Cos Encoders

    SAC4xX FS User Manual The encoder detects errors by checking amplitudes and quadratures. It is not allowed to use encoders with signals that are synthetically generated or derived from each other. The sine and the cosine signals must be generated independently from each other.

  • Page 60: Parameters Of The Safe Evaluation Of Sin/Cos Encoders

    SAC4xX FS User Manual Error Effect Requirement Due to an erroneous Error exclusion against the loosening of the ma- Loosening of the scan- encoder signal, no terial measure. The fastening of the material ning carriage more movement can measure must allow for the overstress stipu- be recorded.
  • Page 61 SAC4xX FS User Manual MTTF per channel Performance Level Achieved PL b 3 years ≤ MTTFd ‹ 6 years PL c 6 years ≤ MTTFd ‹ 14 years PL d 14 years ≤ MTTFd If a signal tolerance is set within a range from 40% to 50%, only a medium DC and consequently category 2 can be achieved.

  • Page 62: Calculation Of The Signal Strength Limit

    SAC4xX FS User Manual 5.9.9. Calculation of the Signal Strength Limit Signal strength limits are calculated based on the specified tolerance of squared signal strengths. Thus the following limits apply and are monitored. ������������������ �������������� ������������ ��������������ℎ ∶= √ ������������_������������_��������������ℎ ×...

  • Page 63: Scaling Of The Measuring System

    SAC4xX FS User Manual 5.9.10. Scaling of the Measuring System The scaling of the measuring system defined the relationship between movement information provided by the encoder and the physical movement of the monitored axes. In addition, the setup of the Safe-AxMonitor modules offers a series of parameters to define this relationship.

  • Page 64: Parameters

    SAC4xX FS User Manual 5.9.11. Parameters Parameter Unit Default value Description Group ‹Axis configuration› on Safe-AxControl Mute / Monitored Defines if axis 0 is monitored. If an axis is muted, Axis 0 Monitored it is not affected by the SLS and the SOS func- tions.

  • Page 65: Implemented Safety Subfunctions

    SAC4xX FS User Manual Parameter Unit Default value Description Group ‹Signal configuration› on Safe-AxMonitor No filter Defines the time span across which the speed is Speed filter averaged by the speed filter. mV (peak to 1000 Maximum peak to peak sine and cosine signal Signal peak) levels.

  • Page 66: Sto: Safe Torque Off

    SAC4xX FS User Manual 5.10.1. STO: Safe Torque Off With the STO safety subfunction, it is possible to bring the drive motor into de-energised state. Thus the motor is deprived of torque, and consequently of force. The power supply is interrupted using safe pulse inhibition.

  • Page 67: Sos: Safe Operating Stop

    SAC4xX FS User Manual 5.10.2. SOS: Safe Operating Stop The SOS function monitors and prevents leaving the configurated tolerance range of the halting position. The motor can still be regulated in the function. Thus the motor can be held in position even despite ex- posure to external forces.

  • Page 68: Ss1-T: Safe Stop 1 Type C (Time-Delayed)

    SAC4xX FS User Manual 5.10.3. SS1-t: Safe Stop 1 Type C (Time-Delayed) The SS1-t function features controlled axis shutdown with time-delayed triggering of the STO function. The SS1-t function with controlled shutdown is configured by setting, in the Safe-AxControl module, a STO delay time of more than 0 (zero).

  • Page 69: Ss2-T: Safe Stop 2 Type C (Time-Delayed)

    SAC4xX FS User Manual 5.10.4. SS2-t: Safe stop 2 Type C (Time-Delayed) The SS2-t Type C function features controlled axis shutdown with time-delayed triggering of the STO function. The SS2-t function with controlled shutdown is configured by setting, in the Safe-AxMonitor module, a SOS delay of more than 0 (zero).

  • Page 70: Sls: Safely Limited Speed

    SAC4xX FS User Manual 5.10.5. SLS: Safely Limited Speed The SLS function monitors and prevents the configured velocity limit from being exceeded. The motor can still be regulated in the function. The SLS function is configured by setting one of the SLS safety subfunctions for the axis’s required safety level in the Safe-AxMonitor module.

  • Page 71: Safety Subfunction Parameters

    SAC4xX FS User Manual 5.11. Safety Subfunction Parameters The safety parameters are dependant on the safety modules that are needed for the implementation of a safety subfunction. Therefore, except for STO and SS1-t, the parameters for all functions depend on how many axes the drive has.

  • Page 72: Safe Response Time

    SAC4xX FS User Manual Encoder parameters should be taken into account when determining the actual pa- rameters for a complete safety chain. To this end, the instructions contained in section 5.9 on page 52 should be observed. 5.12. Safe Response Time The safe response time is deemed to be the time from when a safety subfunction is requested or an error is detected to when safe state is enabled.

  • Page 73: Requirement Of The Sto Safety Subfunction

    SAC4xX FS User Manual 5.12.2. Requirement of the STO Safety Subfunction The maximum response time of the STO function is 3,275 µs. 5.12.3. Requirement of the SS1-t Safety Subfunction The maximum response time of the SS1-t function is 3,275 µs plus the configurated delay time. 5.12.4.

  • Page 74: Requirements For The Use Of Safety Modules

    Requirements for the Use of Safety Modules The Safe-AxControl and the Safe-AxMonitor modules can only be used as part of a properly functioning Indel control system. It must meet at least the software requirements: «INOS» (Indel Realtime-OS) Revision 2.14.2.7471 or higher ...

  • Page 75: Configuring State

    SAC4xX FS User Manual 5.14.2. Configuring State In Configuring state a complete setup of the module is performed, including setup verification. Setup de- pendant components are initialised. Substates 5.14.2.1 Substates Number Description The module reads the configuration history from the internal Startup memory.

  • Page 76: Error State

    Error states are read by the functional control system and can be indicated and acknowledged by means of the Indel cockpit. Substates 5.14.4.1 None.

  • Page 77: Fail Safe States

    SAC4xX FS User Manual 5.15. Fail Safe States The safety modules are designed so that they spontaneously go into safe state once they become inac- tive. On the Safe-AxControl module this is implemented in such a way that all safety-relevant outputs are powered from a circuit that is deenergised when it is not excited.

  • Page 78: Binary Selection

    SAC4xX FS User Manual Input Safety Protection Element Enabling button Light curtain Safety cover contact switch Protections must always be connected to the inputs according to their efficiency, namely so that the protection with the lowest efficiency is connected to input 1. 5.16.2.

  • Page 79: Active Safety Subfunction

    SAC4xX FS User Manual 5.17. Active Safety Subfunction The active safety subfunction is defined by the current safety level and its configuration. A function can be configured for each axis and each level. The configurated delay times are then measured for each safety subfunction separately. Therefore, a change from a higher level to a lower one can result in multiple changes of active safety subfunctions.

  • Page 80: Error Codes

    SAC4xX FS User Manual Parameter Unit Default Description value Group ‹General Configuration› on Safe-AxControl Group ‹Safety level X› (with X := 0 upto 7) on Safe-AxMonitor Mute / Mute Safety subfunction of the relevant safety Safety SLS / level. When muting is enabled, no safety sub- Sub-function function is monitored for this and all higher levels.
  • Page 81 SAC4xX FS User Manual Error Description Possible Reason Synchrony Error Between Both Module Controllers Synchronisation Errors CtrlSynchSafetyState Safety state between CPU A and B different Secondary error AllSynchSchedState Scheduler state between A and B different Secondary error AllSynchTwin Cycle synchronisation failed Secondary error AllSynchClock Cycle times between A and B different...
  • Page 82 SAC4xX FS User Manual Error Description Possible Reason Software Errors Captured by Defensive Programming Software Errors MoniMgrAmSafetyLevel Too high safety level requested Software error AllMgrConfigState Configuration manager is in invalid state Software error CtrlMgrImcState Intermodular communication manager is in invalid state Software error AllDevPomInit Initialisation error of the power monitoring device...
  • Page 83 SAC4xX FS User Manual Error Description Possible Reason Internal Flash Memory Errors Flash Memory Errors AllFlashReadError Flash memory read access error Software defect AllFlashEraseError Flash memory sector erasure error Hardware defect AllFlashWriteError Flash memory write access error Hardware defect Safe-AxControl Module Hardware Errors Safe-AxControl Hardware Errors CtrlInputInternal Internal input test has detected an error...
  • Page 84 SAC4xX FS User Manual Error Description Possible Reason MoniSinCosEncoderStep One-step principle of the sin/cos encoders violated Wiring error Velocity Measurement of CPU A and CPU has to high difference Hardware defect MoniPosSpeedDiffTooLarge Position Measurement of CPU A and CPU has to high difference Hardware defect MoniPosPosDiffTooLarge Sine square + cosine square of CPU A and CPU B show a too high...

  • Page 85: Error Handling

    A memory cell has been cor- The error should be reported to Indel AG. If Soft RAM error rupted during operation. the error persists, the GIN-SAC4xX needs to be replaced.

  • Page 86: Configuration Of The Safety Modules

    SAC4xX FS User Manual Configuration of the Safety Modules This section describes how to configure the GIN-SAC4xX FS’s safety modules. How to set up the functional control system can be found in the start-up manual. Only the most important steps of safety set-up are described here.
  • Page 87 SAC4xX FS User Manual <?xml version="1.0" encoding="utf-8" standalone="yes"?> <!-- trans-table-name="device-map" --> <!-- List of Devices on the GinLink --> <Devices> <!-- GIN-SAC4x4 FS --> <Device Type="GIN" ProductCode="311349345"> <Name>GIN-SAC4x4_1</Name> <Address> <MAC>undefined</MAC> </Address> <!-- List of the Safety-Modules inside the Drives --> <Devices>...
  • Page 88 SAC4xX FS User Manual … Continues <!-- GIN-SAC4x2 FS --> <Device Type="GIN" ProductCode="311329345"> <Name>GIN-SAC4x2_2</Name> <Address> <MAC>undefined</MAC> </Address> <!-- List of the Safety-Modules inside the Drives --> <Devices> <!-- Safe-AxControl --> <Device Type="COP" ProductCode="311347200"> <Name>Control</Name> <Address> <!-- Safe-AxControl is always on Base-address 8 --> <COP>0x8</COP>...

  • Page 89: Creating And Editing The Safe Configuration File

    6.2.2. Login You must log in into the Indel Safety Configurator if you want to create or edit the configuration. For this purpose, use the <log in> button in the right upper corner. For the <User name> always use your complete name or a clearly assigned user name.

  • Page 90: Opening The System Topology File

    Select the <Open> item in <File> or press Ctrl + O and select the correct file in the dialogue box. Now Indel Safety Configurator creates a configuration where all parameters are set to standard. Once the configuration is generated, you should verify the topology of the created safety configuration.

  • Page 91: Parametrisation

    SAC4xX FS User Manual 6.2.4. Parametrisation To ensure the proper operation of the safety modules, all parameters must necessarily be correctly set. Therefore, after the creation of the safety configuration each safety module and each of its parameters must be systematically checked. For this purpose, the first safety module needs first to be selected in the tree diagram.

  • Page 92: Additional Information

    Once all parameters are correctly set, you can compose a configuration file for the safety modules. This file should be created in Indel image format. For this purpose, press the Write button in the left upper cor- ner or select the <Write Indel-Image> item from the <File> menu.

  • Page 93: Archiving Safe Configuration Files

    This is why all configurations in use need to be archived. Most preferably, a version management system should be used for this purpose. Before start-up the following files of the acknowledged configuration should be ar- chived: device-map.xml  ch.indel.safety.config.csv  ch.indel.safety.config.img  SafetyConfiguratorProject.isc ...

  • Page 94: Loading And Verifying The Safe Configuration

    Once Indel Cockpit is started, INCOServer V at which the system is running must be selected. INCOServer V usually runs on the PC connected directly to the system. If Indel Cockpit is started on that PC, localhost must be entered as an address for INCOServer V. Otherwise the IP address or URL of the computer where INCOServer V has been started must be entered.

  • Page 95: Selecting Commissioning Dashboard

    6.3.6. Loading the Configuration for Verification Purposes To load the safety configuration, use Indel Cockpit’s image loader tool. For this purpose, select the Image Loader tab on the right side. Subsequently, the safe configuration file ch.indel.safety.config.img created for this system in Indel Safety Configurator must be selected.
  • Page 96 SAC4xX FS User Manual Once the file is added, it appears in the download queue. Make sure that the Burn to flash option is set to Off and press the Download all button to load the safety configuration into the system. If the loading pro- cess is successful, the safety configuration is automatically distributed across all connected GIN-SAC4xX FSs.

  • Page 97: Verifying The Configuration

    After a new safe configuration file is loaded, it has to be verified once by a registered user. If user verifica- tion is needed, this is reported in Indel Cockpit with a blue user symbol in the target view. If you click the symbol, the first GIN-SAC4xX is selected where configurations need to be verified. Alterna- tively, the target showing modules to be verified can also be selected manually.
  • Page 98 SAC4xX FS User Manual After the Confirm button is clicked, a list of all configuration parameters is shown for this safety module. 22.06.2021 Rev 1.4 Seite 98 von 160...

  • Page 99: Verifying The Safety Subfunctions

    All configuration parameters are correct and/or the CRC of the loaded configura-  tion is identical with the configuration created for this module in Indel Safety Con- figurator. The LEDs are flashing at the correct GIN-SAC4xX and at the correct module or the ...
  • Page 100 The functional mon- itoring can be deactivated in the Indel Axis Tool. Use the Button with the Helmet Symbol for this purpose. This may vary depending on the application. In case of doubts, please contact the system administrator or Indel.

  • Page 101: Permanently Loading The Safety Configuration

    SAC4xX FS User Manual 6.3.9. Permanently Loading the Safety Configuration Once all configurations and safety subfunctions are verified, the configuration can be loaded perma- nently. It is then burnt into the flash memory of the fieldbus master. For this purpose, download the con- figuration once again using the Image Loader tool, but this time with the Burn option activated.

  • Page 102: Unconfiguring Safety Modules

    Should any error be found during the verification or operation of the safety modules, then the acknowl- edgement of the configuration has to be deleted. The unconfigure button in the Configuration tab of Indel Cockpit’s Safety Tools is provided for this purpose. This function cancels the verification of the configura- tion and the module switches to unconfigured state.

  • Page 103: Event Log On Incoserver V

    In addition to INCOServer V’s event log, a CRC log of the recent five configurations is stored on the safety modules. In Indel Cockpit the configuration log can be found in the Actuals tab. CRCs can also be found in the log of the safety modules of new GIN-SAC4xXs. They are identical with the CRCs of the configurations used in the final acceptance test.

  • Page 104: Changing The Configuration

    SAC4xX FS User Manual 6.3.15. Changing the Configuration If any other configuration is needed, the whole configuration must be reloaded. However, only safety modules with changed parameters need to be verified. 22.06.2021 Rev 1.4 Seite 104 von 160...

  • Page 105: Integration Into The Functional System

    SAC4xX FS User Manual Integration into the Functional System The integration of the safety modules into a higher-level functional system is part of Indel operating sys- tem INOS. To ensure proper actuation of the safety modules, all GIN-SAC4xX FSs and safety modules must be properly entered in the device topology of the device-map.xml file.

  • Page 106: Resetting The Safety Modules

    The interface for resetting safety modules is provided for the application by Indel operating system INOS. The modules cannot be reset automatically, but they need to be initiated by the user. If a safety module detects an error, the application must indicate it to the user.

  • Page 107: Technical Description

    SAC4xX FS User Manual Technical Description 8.1. SAC4xX Option PRO Every SAC4xX with the PRO option is furnished with a dual core processor. This makes it possible to con- trol the motor using one core while the other one can be used for a customer-specific application. In sim- pler applications, the GIN-SAC4xX can also be used at the same time as a Master or GinLink Master.

  • Page 108: Technical Specifications

    SAC4xX FS User Manual 8.3. Technical Specifications 8.3.1. General General Specs GIN-SAC4xX 230 V 400 V Vibration max Sine, 10 Hz to 150 Hz, Amplitude 0.075 mm Shock max Emitted interference with mains filter EN 61800-3, Category C2 (Industrial) Interference immunity with mains fil- EN 61800-3, second environment (Industrial) Electrical safety (electrical clear- EN 61800-5-1...

  • Page 109: Mains Connection And Intermediate Circuit

    SAC4xX FS User Manual 8.3.2. Mains Connection and Intermediate Circuit Rated Data GIN-SAC4xX 230 V 400 V 1 x 110 ... 400 Rated single-phase connection voltage 1 x 110 ... 230 -10% +10% -10% +10% 3 x 110 ... 400 Rated three-phase connection voltage 3 x 110 ...

  • Page 110: Output Stage Rated Currents

    SAC4xX FS User Manual 8.3.3. Output Stage Rated Currents The tables below show theoretically possible rated and maximum currents of the output stages. The data has been calculated theoretically only. Therefore, each load must always be tested by the user. Especially the environmental conditions specified in section 8.4 should be strictly observed.
  • Page 111 SAC4xX FS User Manual Rated Currents GIN-SAC4x2 230 V 400 V at 8 kHz PWM frequency NENN at 8 kHz PWM frequency 16.5 at 12 kHz PWM frequency NENN at 12 kHz PWM frequency 13.5 at 16 kHz PWM frequency NENN at 16 kHz PWM frequency at 24 kHz PWM frequency...

  • Page 112: Controller Logic Power Supply

    SAC4xX FS User Manual 8.3.4. Controller Logic Power Supply Logic power supply GIN-SAC4xX 230 V 400 V Operating voltage 24 V (SELV / PELV) DC -15%...+25% External protection 8, fast type Current consumption < 2 Maximum potential between GND and earth 1) The resulting current consumption depends on the additional connected Components like Feedback Systems and Load on Safety-Outputs.

  • Page 113: Feedbacks

    SAC4xX FS User Manual 8.3.6. Feedbacks SinCos 8.3.6.1 Sin/Cos Interface GIN-SAC4xX 230 V 400 V Level Differential input resistance Ω Maximum input frequency Minimum input frequency for safely-lim- ited speed (SLS) 5V output maximum current load 12V output maximum current load Analogue input resolution Analogue input processing double shielded, pair twisted...

  • Page 114: Incremental Encoder

    SAC4xX FS User Manual Incremental Encoder 8.3.6.3 Incremental encoder at the GIN-SAC4xX absolute value Interface 230 V 400 V RS422 Level Input resistance Ω Maximum input frequency 5V output maximum current load 12V output maximum current load shielded Connection Cable See section 9.10.3.1 on page 133.

  • Page 115: Digital I/Os

    SAC4xX FS User Manual 8.3.7. Digital I/Os Digital Inputs GIN-SAC4xX 230 V 400 V Input voltage ±25% Switching threshold Analogue input filter Input Current at High State See section 9.7.1 on page 129. Digital Outputs GIN-SAC4xX 230 V 400 V Maximum output current External power supply rated voltage ±25%...

  • Page 116: Environmental Conditions

    SAC4xX FS User Manual 8.4. Environmental Conditions It is the user’s responsibility to observe the environmental conditions. Indel disclaims all liability in case of failure to do so. °C Ambient temperature during storage -20…85 Relative humidity during storage, without condensation °C...

  • Page 117: Electrical Installation

    SAC4xX FS User Manual Electrical installation 9.1. Notes The wiring of the drive should take into account the protection of the control cabinet against  inadvertent restart. Applicable national accident prevention regulations should be observed.  The electrical wiring should be installed in accordance with applicable national and interna- ...

  • Page 118: Sac4Xx Pin Assignment

    SAC4xX FS User Manual 9.2. SAC4xX Pin Assignment 9.2.1. Overview of the GIN-SAC4x4 22.06.2021 Rev 1.4 Seite 118 von 160...

  • Page 119: Overview Of The Gin-Sac4X3

    SAC4xX FS User Manual 9.2.2. Overview of the GIN-SAC4x3 22.06.2021 Rev 1.4 Seite 119 von 160...

  • Page 120: Overview Of The Gin-Sac4X2

    SAC4xX FS User Manual 9.2.3. Overview of the GIN-SAC4x2 22.06.2021 Rev 1.4 Seite 120 von 160...

  • Page 121: Overview Of The Gin-Sac4X1

    SAC4xX FS User Manual 9.2.4. Overview of the GIN-SAC4x1 22.06.2021 Rev 1.4 Seite 121 von 160...

  • Page 122: Logic Power Supply / Digital Ios

    SAC4xX FS User Manual 9.2.5. Logic Power Supply / Digital IOs Connector Name Figure Pin No. Pin Description 24 V (Main PWR Supply) DIN 3 DIN 2 DIN 1 DIN 0 / ext. Enable DOUT 3 DOUT 2 DOUT 1 DOUT 0 VCC DOUT (DOUT Supply) GND DOUT...

  • Page 123: Intermediate Circuit Voltage

    SAC4xX FS User Manual 9.2.8. Intermediate Circuit Voltage Connector Name Figure Pin No. Pin Description DC + X15 UCC DC - 9.2.9. Ballast Resistor Connector Name Figure Pin No. Pin Description X16 Ballast RB - RB + 9.2.10. Feedback Interfaces Connector Name Figure Pin No.

  • Page 124: Safety

    SAC4xX FS User Manual Connector Name Figure Pin No. Pin Description Shield / Schirm MTmp+ Cos + (Resolver) X0A Resolver 0 Sin + (Resolver) X1A Resolver 1 Ref+ (Resolver) X2A Resolver 2 MTmp- X3A Resolver 3 Cos- (Resolver) Sin- (Resolver) Ref- (Resolver) 9.2.11.

  • Page 125: Motor Connections

    SAC4xX FS User Manual 9.3. Motor Connections 9.3.1. Three-Phase Motor to an Output Stage 9.3.2. Three-Phasen Motor to Two parallel output Stages 22.06.2021 Rev 1.4 Seite 125 von 160...

  • Page 126: Three-Phase Motor To Three Parallel Output Stages

    SAC4xX FS User Manual 9.3.3. Three-Phase Motor to three parallel output Stages 9.3.4. DC-Motor to an Output Stage DC motors must not be used in the GIN-SAC4xX FS‘s axes for safety applications in terms of functional safety. 22.06.2021 Rev 1.4 Seite 126 von 160...

  • Page 127: Mains Connection

    SAC4xX FS User Manual 9.4. Mains Connection Three phase Mains Supply  Suitable for the GIN-SAC4xX FS/400V  One-phase Mains Supply ‣ Suitable for the GIN-SAC4xX FS/230V ‣ An external Fuse and external Mains Filter is necessary for operation. See Section 8.3.2 page 109.

  • Page 128: Intermediate Circuit

    SAC4xX FS User Manual 9.5. Intermediate Circuit The drive’s intermediate circuit power supply is connected to the X15 connector. Thus, intermediate cir- cuits of multiple GIN-SAC4x4 drives can be connected in parallel to share the available DC Capacitors. However, this is allowable only if the mains power supply of all drives is identical. Otherwise, the drives could become damaged.

  • Page 129: Standard Digital Inputs And Outputs

    SAC4xX FS User Manual 9.7. Standard Digital Inputs and Outputs 9.7.1. Inputs The non-safe digital inputs can be used as additional external Enable to disable the servo drive from out- side. If an emergency stop brake ramp is set up, it is triggered once the Enable input is disabled and the motor decelerates.

  • Page 130: Safe Digital Inputs And Outputs

    SAC4xX FS User Manual 9.8. Safe Digital Inputs and Outputs For routing of the safe digital inputs and outputs, the instructions contained in section 5 should be fol- lowed. 9.9. External Brake Resistor, aka Ballast Resistor When motors are decelerated, the dynamic energy flows back to the intermediate circuit capacitors. This increases the intermediate circuit voltage.

  • Page 131: Feedbacks

    SAC4xX FS User Manual 9.10. Feedbacks 9.10.1. SinCos Feedback Connection of a standard Sin/cos feedback with 1 V Signal levels  Power supply of the position encoder via the servo drive  16bit ADC resolution of position signals  Use of 10bit, i.e. 1024 values per sine or cosine periode ...

  • Page 132: Resolver Feedback

    SAC4xX FS User Manual 9.10.2. Resolver Feedback 22.06.2021 Rev 1.4 Seite 132 von 160...

  • Page 133: Incremental Encoder Feedback

    SAC4xX FS User Manual 9.10.3. Incremental Encoder Feedback Incremental encoders can be connected to the servo drive in two different ways: via the sin/cos and the absolute value interfaces. The difference here lies in the signal sampling rate, and consequently in the maximum possible signal frequency of the incremental encoder.

  • Page 134: Connection To A Sin/Cos Interface

    SAC4xX FS User Manual Connection to a sin/cos interface 9.10.3.2 Maximum input signal limit frequency is 200kHz  RS422 standard with a 120Ω termination resistor  Connection of single-ended incremental encoders – see section 9.10.3.3 on page 135.  22.06.2021 Rev 1.4 Seite 134 von 160...

  • Page 135: Connection To A Single-Ended Incremental Encoder

    The encoder must be capable of supplying enough pow-er for the 120Ω termination resistor. Indel recommends using differential incremental encoders with an RS422 interface compliant with to- day’s industry standard. Connection of a 5V single-ended incremental encoder ‣...

  • Page 136: Absolute Value Feedbacks

    SAC4xX FS User Manual 9.10.4. Absolute Value Feedbacks Hiperface 9.10.4.1 Support of single- and multi-turn encoders  16bit ADC resolution measurement of analogue signals  Use of 10bit, i.e. 1024 values per sine or cosine vibration  Data line compliant with the RS422/RS485 standard ...

  • Page 137: Endat 2.1

    SAC4xX FS User Manual EnDat 2.1 9.10.4.2 Support of single- and multi-turn encoders  16bit ADC measurement of analogue signals  Use of 10bit, i.e. 1024 values per sine or cosine vibration  Data and clock line compliant with the RS422/RS485 standard ...

  • Page 138: Ssi / Biss C / Endat 2.2

    SAC4xX FS User Manual SSI / Biss C / EnDat 2.2 9.10.4.3 9.10.5. Temperature Sensors Motors’ temperature sensors can be connected directly to the feedbacks. Temperature sensors built into motor conduits must not be wired to the feedback socket jacks. The insu- lation class of the socket jacks allows a maximum of 50V.

  • Page 139: Power Supply

    9.11.2. Mains Connection Indel Servo Drives may only be operated in earthed TN and TT networks. The use of delta networks (TN-S networks with earthed phase) or IT networks (insulated earth) is forbid- den. Every operation outside TN or TT requires an isolating transformer, with the secondary star point having to be earthed.

  • Page 140: Wiring

    The shield of motor cables must be installed in the connector so that all-around contact is en- sured. See also the documentations: INDEL Wire Routing Guide and INDEL Installation Guide. 9.12.3. Routing of the Safe Inputs and Outputs Cables For the routing of the safe digital inputs and outputs, please follow the safety instructions shown in sec- tion 5.

  • Page 141: Routing Of Sin/Cos, Incremental And Resolver Cables

    All shields must always be provided on both sides. To prevent any undesired current leakage over the shield an equipotential bonding conductor should be provided if necessary. Especially in case of larger distances or various power supply systems. See also: Indel Wire Routing Guide. 9.12.6.

  • Page 142: Brake Resistor Aka Ballast Resistor

    SAC4xX FS User Manual 9.13.2. Brake Resistor aka Ballast Resistor The brake resistor must be protected against thermal overload. Voltages of up to 800V may occur across the brake resistor. The brake resistor must be designed to contain them. The brake resistor controller is not functionally secured. The brake resistor must be connected with a shielded cable of the required wire cross- section, which depends on the maximum braking efficiency applied.

  • Page 143: Mechanical Installation

    SAC4xX FS User Manual Mechanical Installation 10.1. Notes The following instructions need to be followed and observed by the user. The installation must be carried out using appropriate tools.  Equipment may be installed only if it is deenergised.  It should be made sure that sufficient cooling air is supplied from below the control cabinet.

  • Page 144: Gin-Sac4X4

    SAC4xX FS User Manual 10.3. GIN-SAC4x4 10.3.1. Installation GIN-SAC4x4 drives must be fastened using at least four M5 cylinder bolts. On the upper side the two holes most left and most right together with the two lower ones should always be used. 22.06.2021 Rev 1.4 Seite 144 von 160...

  • Page 145: Dimensions

    SAC4xX FS User Manual 10.3.2. Dimensions 22.06.2021 Rev 1.4 Seite 145 von 160...

  • Page 146: Gin-Sac4X3

    SAC4xX FS User Manual 10.4. GIN-SAC4x3 10.4.1. Installation GIN-SAC4x3 drives must be fastened using at least four M5 cylinder bolts. On the upper side the two holes most left and most right together with the two lower ones should always be used. 22.06.2021 Rev 1.4 Seite 146 von 160...

  • Page 147: Dimensions

    SAC4xX FS User Manual 10.4.2. Dimensions 22.06.2021 Rev 1.4 Seite 147 von 160...

  • Page 148: Gin-Sac4X2

    SAC4xX FS User Manual 10.5. GIN-SAC4x2 10.5.1. Installation GIN-SAC4x2 drives must be fastened using at least four M5 cylinder bolts. On the upper side the two holes most left and most right together with the two lower ones should always be used. 22.06.2021 Rev 1.4 Seite 148 von 160...

  • Page 149: Dimensions

    SAC4xX FS User Manual 10.5.2. Dimensions 22.06.2021 Rev 1.4 Seite 149 von 160...

  • Page 150: Gin-Sac4X1

    SAC4xX FS User Manual 10.6. GIN-SAC4x1 10.6.1. Installation GIN-SAC4x1 drives must be fastened using at least four M5 cylinder bolts On the upper side the two holes most left and most right together with the two lower ones should always be used. 22.06.2021 Rev 1.4 Seite 150 von 160...

  • Page 151: Dimensions

    SAC4xX FS User Manual 10.6.2. Dimensions 22.06.2021 Rev 1.4 Seite 151 von 160...

  • Page 152: Error Analysis

    11.1. Status LED The servo drives are furnished with various LEDs, from which diverse errors and warnings can be read. For a detailed error analysis, an additional Indel tool should be used. Flashes as the Flashes approx. Flashes approx.

  • Page 153: Error Table

    SAC4xX FS User Manual 11.2. Error Table Type Description Possible Causes Error Intermediate circuit voltage U No mains power supply  lower than the preset U Mains voltage too low  CC MIN Warning Intermediate circuit voltage is lower than U CC OK Error Intermediate circuit voltage is...
  • Page 154 SAC4xX FS User Manual Type Description Possible Causes Error The resolver or sin/cos level is out- Feedback cable broken  side the sin and sin Sin/cos ruler soiled  ranges Too large or too small distance be-  tween the sensor and the ruler Type Description Possible Causes...

  • Page 155: Related Documents

    SAC4xX FS User Manual Related Documents 12.1. EC Declaration of Conformity for GIN-SAC4xX FS 22.06.2021 Rev 1.4 Seite 155 von 160...

  • Page 156: Type Examination For Gin-Sac4Xx Fs

    SAC4xX FS User Manual 12.2. Type Examination for GIN-SAC4xX FS 22.06.2021 Rev 1.4 Seite 156 von 160...

  • Page 157: Cb Test Certificate

    SAC4xX FS User Manual 12.3. CB Test Certificate 22.06.2021 Rev 1.4 Seite 157 von 160...
  • Page 158 SAC4xX FS User Manual 22.06.2021 Rev 1.4 Seite 158 von 160...

  • Page 159: Standards

    SAC4xX FS User Manual Standards The following standards have been used and apply to the use of GIN-SAC4xX FS equipment. EN 60204-1: 2006 / A1: 2008 Sicherheit von Maschinen - Elektrische Ausrüstung von Maschinen EN ISO 13850: 2009 Sicherheit von Maschinen –Not-Halt – Gestaltungsleitsätze IEC 61131-2: 2007 Programmable controllers - Part 2: Equipment requirements and tests EN 61800-5-1: 2008...
  • Page 160 SAC4xX FS User Manual Reihe SN 29500 Teil 1-14: 1998 Ausfallrate Bauelement, Erwartungswert für …, Zuverlässigkeit EN 50178: 1998 Ausrüstung von Starkstromanlagen mit elektrischen Betriebsmitteln BGIA-Papier: 2012 EMV und Funktionale Sicherheit für Leistungsantriebe mit integrierten Sicherheitsfunktionen EN 60947-5-1: 2004 + Cor.:2005 + A1:2009 Niederspannungsschaltgeräte –...

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