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Indel GIN-AX4 Hardware Manual

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Hardware Manual
Indel motion boards
Made in Switzerland
Rev 1.31 © Indel AG, 04/11/2013
Language: English

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Summary of Contents for Indel GIN-AX4

  • Page 1 Hardware Manual Indel motion boards Made in Switzerland Rev 1.31 © Indel AG, 04/11/2013 Language: English...

  • Page 2: Table Of Contents

    Table of contents Indel motion boards Tabel of contents Description ........................4 Position controller..........................4 Assembly groups..........................5 Safety notes ........................6 General safety notes........................6 Safety requirements........................7 2.2.1 Risk analysis.............................7 2.2.2 24V DC power supply........................8 2.2.3 48V DC power supply (motor supply)....................8 2.2.4 EMV..............................8 2.2.5...
  • Page 3 Table of contents Indel motion boards Braking resistor..........................46 Motion boards with an ethernet interface..................46 Fieldbus systems......................47 GinLink ............................47 INFO-Link............................48 Error messages ..........................49 Warnings............................49 Sales and service......................50 Manufacturer ..........................50 Maintenance, cleaning, repair.....................50 Transport and storage........................50 Disposal............................50 Declaration of conformity......................51 List of figures.......................53 Document status......................54...

  • Page 4: Description

    Description Indel motion boards Description MAX boards offer extremely flexible possibilities for motor control. There are various versions with 2 ... 10 motor output stages, PWM outputs, encoder, resolver, SinCos inputs, etc. available. The units feature various analogue and digital inputs and outputs alongside the motor output stages.

  • Page 5: Assembly Groups

    Indel motion boards Description A number of variables are continually monitored within the motion boards: short-circuit monitors switch off the controller in the case of motor or ground short-circuit. Rapid overcurrent cut-outs protect the motor and output stage within the individual phases. These intervene when the drive is stuck or is stopped suddenly.

  • Page 6: Safety Notes

    Safety notes Indel motion boards Safety notes Questions These safety notes do not claim to be exhaustive. Please call us if you have any questions or problems. (Tel. +41 44 956 20 00) General safety notes Documentation Please read this documentation fully before installation and commissioning. Incorrect handling of the modules can lead to personal injury or property damage.

  • Page 7: Safety Requirements

    In the case of suspended loads, additional measures must be taken to ensure that the axis stays in place. The Indel servo drives do not offer outputs that allow you to safely control securing brakes. Holding brakes do not offer any protection when slowing down the motor.

  • Page 8: 24V Dc Power Supply

    Additional EMC safety measures may be required for machines that contain a large number of Indel servo drives. In such cases, the installation of a central mains filter is usually sufficient.

  • Page 9: Plug-In Connections

    Indel motion boards Safety notes 2.2.7 Plug-in connections Plug-in connections must never be plugged in or unplugged when the unit is switched on. 2.2.8 Responsibility The motion boards are not completely safe from failure, particularly the safety functions. In the event of failure, the operator is responsible for ensuring that the machine/system is put into a safe condition.

  • Page 10: Technical Details

    Protection class IP-20 Degree of contamination 2 (EN 50178) Installation position MAX-Boards(sufficient cooling re- quired, possibly with fan) Installation position GIN-AX4(sufficient cooling requi- vertical, upright red, possibly with fan) Vibration as per IEC 68-2-6 0.35 Amplitude, frequency response 10 … 120...
  • Page 11 Minimum inductance Minimum resistance Max. Cable length in the case of cable lengths > 20m use choke 0.5 … 1mH Min. Cable length in parallel operation of GIN-AX4 0.12 Minimum length of the parallel strands of the motor connections. Motor temperature monitoring...
  • Page 12 Technical details Indel motion boards MAX boards output stages Nominal values MAX4 MAX4 MAX10 4x2.5A 2x5A 4x5A 2x10A Number of output stages (MAX-10 only DC motors) Motor supply voltage 15 … 48 0 … 48 Overvoltage cut-off Overheating cut-off °C Max.
  • Page 13 Indel motion boards Technical details Absolute feedback systems Digital absolute feedback systems Number of dig. feedback systems (motor 1, 3) Endat 2.1 Endat 2.2 a.A. Synchronous serial interface, max. Telegram length Hiperface Biss a.A. An incremental encoder can also be connected to the absolute feedback inputs.
  • Page 14 Technical details Indel motion boards Incremental encoder Incremental encoder inputs MAX2,4 MAX-10 Level RS422 Max. Counting frequency of incremental enco- der track Max. Counting frequency for incremental enco- der at SinCos input Max. Counting frequency for incremental enco- der at absolute feedback system inputs...
  • Page 15 Indel motion boards Technical details Digital inputs and outputs Digital inputs and outputs MAX-2,4 MAX-10 Number of digital outputs 24V outputs (resistant to short- 18 … 32 circuiting) Constant current of 24V outputs Switching delay of outputs Number of digital inputs Digital inputs U 18 …...
  • Page 16 Technical details Indel motion boards Analogue inputs and outputs Analogue inputs and outputs MAX2,4 MAX-10 Number of analogue inputs Ranges ± 10 ± 5 ± 1 ± 0.1 Converter time / channel 8 … 12 Resolution Average filter 1 … 256 1 …...

  • Page 17: Technical Details For Connector Boards

    Indel motion boards Technical details Technical details for connector boards 3.2.1 MAX-DBIT Analogue inputs Analogue inputs Channel no. MAX-DBIT Vacuum sensor 1) On Board Analogue inputs 1 … 3 X19, X20 Potentiometer input Potentiometer voltage PT-100 inputs 4 … 7...

  • Page 18: Max-Dbmt

    Technical details Indel motion boards 3.2.2 MAX-DBMT Analogue inputs Analogue inputs Channel no. MAX-DBMT Analogue inputs 1) 0 … 11 X16, 17, 18 PT-100 inputs 12 … 13 PT-100 references 14 … 15 Measuring current for PT-100 re- 3.333 sistance...

  • Page 19: Dimensions, Pin Assignment

    Indel motion boards Technical details Dimensions, pin assignment 3.3.1 Dimensions of AX4 Fig. 1: AX4 side Fig. 2: AX4 front A minimum distance of 50mm must be maintained between the individual motion boards. Fig. 3: Drill plan, AX4 Rev 1.31; 04/11/2013...

  • Page 20: Pin Arrangement For Ax4 Board

    Technical details Indel motion boards 3.3.2 Pin arrangement for AX4 board Fig. 5: Encoder pins (optional) Fig. 6: Motor pins Fig. 4: Front pins Absolute feedback systems can be connected to pins X3B, X4B; SinCos 1, 3. Page 20/54 04/11/2013; Rev 1.31...

  • Page 21: Pin Assignment For Digital Inputs And Outputs In Ax4

    Indel motion boards Technical details 3.3.3 Pin assignment for digital inputs and outputs in AX4 Ground for 24V outputs Digital outputs OUT 0 Output 0 OUT 1 Output 1 OUT 2 Output 2 OUT 3 Output 3 OUT 4 Output 4...

  • Page 22: Pin Assignment For Supplies And Interfaces In Ax4

    Technical details Indel motion boards 3.3.4 Pin assignment for supplies and interfaces in AX4 - Brake Braking resistor Supply + Brake Braking resistance (V_Mot) Output V_Mot Supply for motors 24V Ground 24V Ground 24V Out Supply for digital outputs SOut...

  • Page 23: Pin Assignment For Ax4 Encoder Systems

    Indel motion boards Technical details 3.3.5 Pin assignment for AX4 encoder systems Encoder type 1 Encoder type 2 Encoder type 3 SinCos 0 Enc 0 SinCos 1 Enc 1 Absolute feedback system 1 SinCos 2 Enc 2 SinCos 3 Enc 3...
  • Page 24 Technical details Indel motion boards Interruptions in the encoder and motor cables – when leading them into a cabinet or similar – should be designed with metal plug connections, not clamp connections. Page 24/54 04/11/2013; Rev 1.31...
  • Page 25 Indel motion boards Technical details Single-ended incremental encoders Additional level adjustment is required if single-ended incremental encoders are being used. A connection must be made to the encoder interface at jacks X3A and X4A and to the absolute feedback interface at jacks X3B and X4B. Fig. 7 und Fig. 8 give an example for the absolute feedback interface.

  • Page 26: Pin Assignment For Motors In Ax4

    Technical details Indel motion boards 3.3.6 Pin assignment for motors in AX4 3-phase motors Stepper motors X25, X26, X27, X28 Earth Shield Shield Stepper motor L2- Phase W Stepper motor L1- Phase V Stepper motor L2+ Phase U Stepper motor L1+...
  • Page 27 Indel motion boards Technical details Stepper motors in parallel operation Motor 0 Earth Motor X Earth 5 Shield 4 Stepper motor L2- 3 Stepper motor L2+ Motor 1 Earth 2 Stepper motor L1- 1 Stepper motor L1+ Motor 2 Earth...

  • Page 28: Dimensions Of Max Boards

    Technical details Indel motion boards 3.3.7 Dimensions of MAX boards 3.3.7.1 MAX-Boards Fig. 9: MAX housing Total height with pins, without cabling: 50mm Pins at INFO-MAX2/4/10 Pins X1, X3 Pins with press-fit technology Harting:0973 196 6904 male Page 28/54 04/11/2013; Rev 1.31...
  • Page 29 Indel motion boards Technical details 3.3.7.2 Connector board MAX2-DBIT Dimensions of MAX2-DBIT Fig. 10: MAX2-DBIT measurements Vacuum sensor ● Honeywell SDX15A2 Measuring range: 0 ... 15 psi ● Full Scale: 90mV ● PT-100 inputs 4 PT-100 inputs at pins: X20, X21, X22 The measuring current for PT100 resistance is 3.3333mA.
  • Page 30 Technical details Indel motion boards Thermocouple inputs Thermocouple elements can be connected directly to pins X11 ... X15. There is a PT-100 balancing element on the connector board. ● Relative accuracy 256 averages 15 bit Absolute accuracy 45uV ● Type T,U CU-constantan ●...
  • Page 31 Indel motion boards Technical details 3.3.7.3 Connector board MAX4-DBIT Dimensions of MAX4-DBIT Fig. 11: MAX4-DBIT measurements All pins as in MAX2-DBIT Pins X25, X26, X40, X41 on connector board MAX4-DBIT Motor pins Molex 43045 series 250V/5A Arrow 43045-0612 Companion piece on cable...
  • Page 32 Technical details Indel motion boards 3.3.7.4 Connector board MAX-DBMT Dimensions of MAX-DBMT Fig. 12: MAX-DBMT measurements Digital I/Os Status display for all I/Os PT-100 inputs 2 PT-100 inputs at pin X13 The measuring current for PT100 resistance is 3.3333mA. Motor enabler input Input 15 (DI15, pin 30) at pin X37 is reserved for the motor enabler.
  • Page 33 Indel motion boards Technical details Thermocouple inputs Thermocouple elements can be connected to pins X17 ... X18. ● Relative accuracy: 256 averages 15 bit ● Absolute accuracy 45uV ● Type T,U CU-constantan Type J,L Fe-constantan ● Type E,K Chromel-alumel ●...
  • Page 34 Technical details Indel motion boards 3.3.7.5 GinLink, ethernet connections Fig. 13: GinLink, ethernet pins MAX4 board as GinLink slave GinLink In GinLink Out MAX4 board as stand-alone controller GinLink In Ethernet For stand-alone operation, rotary switch S1 must be set to 0x4.

  • Page 35: Pin Assignment For Max-2,4

    Indel motion boards Technical details 3.3.8 Pin assignment for MAX-2,4 Pin X3 - MAX2/MAX4 Fig. 14: MAX2/4 pin assignment, X3 Fig. 15: MAX2/4 pin description, X3 Rev 1.31; 04/11/2013 Page 35/54...

  • Page 36: Pin Assignment For Max-2

    Technical details Indel motion boards 3.3.9 Pin assignment for MAX-2 Pin X1 - MAX2 Fig. 16: MAX 2 pin assignment, X3 Fig. 17: MAX2 pin description, X Page 36/54 04/11/2013; Rev 1.31...

  • Page 37: Pin Assignment For Max-4

    Indel motion boards Technical details 3.3.10 Pin assignment for MAX-4 Pin X1 - MAX4 Fig. 18: MAX4 pin assignment, X3 Fig. 19: MAX4 pin description, X Rev 1.31; 04/11/2013 Page 37/54...

  • Page 38: 3.3.11 Supplies To Max Boards

    Technical details Indel motion boards 3.3.11 Supplies to MAX boards Supply Supply for +24V_IN X1: A1, B1, C1 Digital inputs Analogue inputs Logic supply Encoders: Incremental, SinCos +24V DOut 1 X1: A20, B20 Digital outputs 0 ... 7 +24V DOut 2 X1: C19, C20 Digital outputs 8 ...

  • Page 39: Serial Interface

    Indel motion boards Serial interface Serial interface RS232 Connector board Norm AX4-Board Cable PC (9-pole pin) Pin 1 Pin 1 Pin 2 Pin 1 Output Pin 2 Pin 3 Pin 2 Input Pin 3 Pin 4 Pin 3 Output Pin 4...

  • Page 40: Connection Examples

    Connection examples Indel motion boards Connection examples Motors on MAX2 board AC-Servo Motor 1 Distribution Board Cable INFO-MAX2 Board MOT_1A X1 a24, b24, c24 MOT_2A X1 a27, b27, c27 AC-Motor MOT_1B X1 a25, b25, c25 3-phase FRAME FRAME SHIELD SHIELD PHOENIX MCV 1937635, 5 POL.
  • Page 41 Indel motion boards Connection examples PWM-Output 1 INFO-MAX2 Board Distribution Board Cable +24V Load + Load + X1 a1, b1, c1 PWM_1 Load - Load - X1 a21, b21, c21 Load FRAME FRAME SHIELD PHOENIX MCV 1937619, 3 POL. Fig. 26: Connection example for PWM output 1...

  • Page 42: Wiring Of Digital Inputs And Outputs

    Connection examples Indel motion boards Wiring of digital inputs and outputs The wiring of the digital inputs and outputs is identical on all MAX boards and AX4 boards: +3.3V 74LV165 74LV14 2.2nF Fig. 30: Wiring of digital inputs +24V ITS724...

  • Page 43: Installation

    Apply all shielding on both sides. You may need to use a potential compensator in order to avoid unwanted leakage currents over the shielding, particularly in the case of larger distances or different supplies. See “Indel wiring guidelines”. Shield rail The control cabinet must include a shield rail, to which all shielded cables can be attached.

  • Page 44: Cooling And Ventilation

    The shielding must be attached with all- round contact in the pin. Also see Indel wiring guidelines and INDEL setup guidelines. Protective earth connection (PE) The protective earth must be designed in accordance with EN 61800-5-1:...

  • Page 45: Notes On Ul Directive

    Indel motion boards Installation 6.1.1 Notes on UL directive Motor overload protection External motor overload protection must be provided by the user. Additional overload protection is provided for motors by means of temperature sensors in the field winding. The user is responsible for applying this overload protection.

  • Page 46: Operation

    Operation Indel motion boards Operation Braking resistor It is highly recommended that a braking resistor be used on all motion boards. e.g. 150 Ohm 2W for minimum braking energy destruction. The braking resistance must be dimensioned in accordance with the application.

  • Page 47: Fieldbus Systems

    Indel motion boards Fieldbus systems Fieldbus systems GinLink GinLink 100MBit Ethernet INFO-Link Sercos Profibus Can-Bus 1000 Transmission Rate MHz GHz fieldbus, max. 32kHz cycle time ● Ethernet, up to 100m segment length ● GinLink frames packed into ethernet frames ●...

  • Page 48: Info-Link

    Fieldbus systems Indel motion boards INFO-Link Fig. 32: MAX equipment Addressing (blue) S1 Low 0x00 0x01 0x02 0x03 0x04 Axis 0 Encoder 1 Axis 2 Encoder 3 PWM 0 PWM 1 Digital Output 0...15 16..31 Digital input 0 ... 15 16..31...

  • Page 49: Error Messages

    Indel motion boards Fieldbus systems Error messages Stop, deactivated 0x0000'0001 Ucc below Ucc min 0x0000'0002 Ucc above Ucc max 0x0000'0004 I2t exceeded > 120% 0x0000'0008 Output stage overheated 0x0000'0010 Motor temp exceeded 0x0000'0020 Motor short-circuit / IGBT protection 0x0000'0040 Resolver SinCos error...

  • Page 50: Sales And Service

    Do not submerge or spray the housing. In the event of contamination inside the unit: have it cleaned by the manufacturer. Repairs can only be carried out by authorised specialist personnel. Any warranty on the part of Indel shall expire in the event of unauthorised intervention.

  • Page 51: Declaration Of Conformity

    Indel motion boards Sales and service Declaration of conformity Rev 1.31; 04/11/2013 Page 51/54...
  • Page 52 Sales and service Indel motion boards Page 52/54 04/11/2013; Rev 1.31...

  • Page 53: List Of Figures

    Indel motion boards List of figures List of figures Fig. 1: AX4 side........................19 Fig. 2: AX4 front........................19 Fig. 3: Drill plan, AX4......................19 Fig. 4: Front pins........................20 Fig. 5: Encoder pins........................20 Fig. 6: Motor pins........................20 Fig. 7: Connection example for 24V single-ended incremental encoder........25 Fig.

  • Page 54: Document Status

    1.29 25.06.2013 Expansion of section 3.3.6 Pin assignment for motors in AX4. Connection of stepper motors and 3-phase motors in parallel operation (GIN-Ax4 2x10A) 1.30 26.09.2013 Expansion of section 3.3.6 Pin assignment for motors in AX4 Minimum length for Y cables in parallel operation 1.31...

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