Pilz PMCtendo DD5 Operating Manual
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Pilz PMCtendo DD5 Operating Manual

Servo amplifiers
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Operating Manual PMCtendo DD5
Operating Manual PMCtendo DD5
PMCtendo DD5
Servo amplifiers
Operating Manual — No. 1002236-EN-01

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Summary of Contents for Pilz PMCtendo DD5

  • Page 1 Operating Manual PMCtendo DD5 Operating Manual PMCtendo DD5 PMCtendo DD5 Servo amplifiers Operating Manual — No. 1002236-EN-01...
  • Page 2 Preface...

  • Page 3: Table Of Contents

    Motor connection 4.2.3 Motor holding brake 4.2.4 Brake resistor 4.2.5 Intermediate circuit Control element 4-11 4.3.1 Supply voltage 24 VDC 4-11 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 4 4-51 Chapter 5 Installation General requirements Dimensions Installing the servo amplifier Installing the expansion cards Installing the fieldbus junction box Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 5 6-38 1.5 MHz 6.7.5.11 Absolute encoder with SSI interface 6-41 6.7.5.12 Electronic gearing, Master-Slave mode 6-43 6.7.5.13 Encoder emulation 6-46 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 6 Chapter 8 Technical details PMCtendo DD5.03/230V PMCtendo DD5.06/230V PMCtendo DD5.10/230V PMCtendo DD5.01/480V PMCtendo DD5.03/480V PMCtendo DD5.06/480V Chapter 9 Appendix Glossary Abbreviations Index Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 7: Chapter 1 Introduction

    1100 Validity of the documentation 1- BA_Einfuehrung_1 This documentation is valid for the product PMCtendo DD5. It is valid until new documentation is published. This operating manual explains the function and operation, describes the installation and provides guidelines on how to connect the product PMCtendo DD5.

  • Page 8: Overview Of Documentation

    This chapter describes how to commission the product. 8 Technical Details 9 Appendix This chapter contains a glossary, a list of the abbreviations used and the index. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 9: Definition Of Symbols

    It also highlights areas within the text that are of partic- ular importance. INFORMATION This gives advice on applications and provides information on special features. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 10 Introduction Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 11 – 230 V series: 6 A, 10 A – 480 V series: 3 A, 6 A Integrated noise suppression filters in accordance with EN 61800-3  ][Ueber_Merkmale_Entstoerfilter Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 12 ][Ueber_Merkmale_Bedienung_protego_D Operation and display Servo amplifier operated via two keys  Three-digit LED display for status and messages  Ueber_Merkmale_integrierte_Sicherheit_DD5 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 13: Chapter 2 Overview

    Fieldbus junction box CAN Adapter: Splits the combined RS232/CANopen interface on the  PMCtendo DD5 into one RS232 interface and two CANopen interfac- es wired in parallel Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 14 7: Connection for motor brake 8: Supply voltage 24 VDC and safety function STO 9: Inputs and outputs, ENABLE, operational readiness Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 15 13: Connection for encoder emulation, Master-Slave mode, stepper motor control system 14: RS232 interface for commissioning and parameter set- ting or CANopen controller Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 16 INFORMATION The D-Sub mating connectors and the motor connector are not supplied with the unit! They are available as accessories. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 17 Overview Type code Type code 2500 Type code 2- Typenschlüssel Fig. 2-1: Type code Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 18  YOM: Year of manufacture  Firmware: Firmware version  Prot. type: Protection type  Ambient temp: Ambient temperature  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 19 3- 3.1 Intended use 3100 Intended use 3- Sicherheit_Bestimmung_DD5 The servo amplifiers PMCtendo DD5 are designed to drive suitable brushless, synchronous servo motors and asynchronous motors with speed, torque and/or position control. ][Sicherheit_Bestimmung_Ausschluss The following is deemed improper use: Any component, technical or electrical modification to the servo am- ...

  • Page 20: Chapter 3 Safety

    Remove the voltage and secure the entire plant (main switch). E-STOP: Switch off the mains contactor (E-STOP pushbutton).  ][Sicherheit_Bestimmung_Gefahr Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 21: Use Of Qualified Personnel

    Have read and understood the safety guidelines given in this descrip-  tion Have a good knowledge of the generic and specialist standards ap-  plicable to the specific application. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 22: Warranty And Liability

    When decommissioning, please comply with local regulations regard-  ing the disposal of electronic devices (e.g. Electrical and Electronic Equipment Act). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 23: Safety During Operation

    To be safe, measure the voltage in the intermediate circuit and wait  until the voltage has dropped below 40 VDC. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 24: Standards

    EMC-compliant (such as shielding, earthing, how to manage the connectors and lay the ca- bles). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 25 The machine or plant manufacturer must check to see whether any ad- ditional standards or EU directives are applicable for his plant or ma- chinery. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 26: Stop And E-Stop Functions

    Where applicable, the stop function shall signal that such a condition exists. The reset of the stop function shall not initiate any hazardous conditions. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 27: E-Stop Functions

    The 24 V supply voltage tothe servo amplifier Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 28 E-STOP function. If a holding brake meets the dynamic require- ments, the fact that this application will cause increased wear must be taken into account. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 3-10 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 29: Chapter 4 Function Description

    Overview 4100 Overview 4- ][Funktion_Uebersicht_DD5 The PMCtendo DD5 is a digital servo amplifier which drives servo mo- tors with speed, torque and/or position control. It is suitable for closed loop operation of brushless, synchronous servo motors and asynchro- nous motors.
  • Page 30 Function description Overview Fig. 4-1: Block diagram PMCtendo DD5 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 31: Power Element

    Fig. (1) – (5) 400 – 480 V mains supplies with earthed star point, see Figure (6)  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 32 The isolating transformers must have the relevant input and output  voltages. The following illustration shows the connection types. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 33 Function description Power element Fig. 4-3: Connection types for the mains connection Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 34: Motor Connection

    In the commissioning software PDrive it is possible to select from a  database the appropriate data record and parameters to suit the mo- tor. Motor cables are available ready-assembled from Pilz as an accesso-  4.2.3 Motor holding brake...
  • Page 35 All times can be set via parameters. The times in the timing diagram are default values. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 36 The N/O contact from a safety relay within the braking circuit  A suppression device (e.g. varistor or flywheel diode).  ][Funktion_Motorhaltebremse_protego_D_01_24_Schaltung Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 37: Brake Resistor

    The power element shuts down. The following error message ap- pears: “ F02: Overvoltage”. – The relay contact for operational readiness, BTB/RTO, opens. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 38: Intermediate Circuit

    230 V series: Max. 24 A  480 V series: Max. 40 A  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-10 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 39: Control Element

    The control element is fed with 24 V from an isolated external power supply. Please note the information provided under “Technical Details”. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-11 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 40: Overview

    Digital inputs and outputs Digital inputs and outputs 4.3.2.1 Overview Overview 4- ][Funktion_Ein_Aus_Uebersicht_DD5 The PMCtendo DD5 has digital inputs and outputs for a range of appli- cations. The digital signals can be logically linked within the PDrive commission- ing software. Connectors/ Designation...
  • Page 41 24 V. This input is not compatible with IEC 61131-2.  Volt-free, reference earth is XGND  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-13 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 42: Digital Outputs

    EEPROM and the unit must be reset (e.g. using the commissioning software). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-14 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 43: Safety Function Sto

    Disconnect the servo amplifier from the mains and wait for the intermediate circuit to discharge itself. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-15 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 44: Signal States

    3. If a suspended load is present, use an additional mechanical measure to block the drive 4. Activate safety function (STO-ENABLE = 0 V) Fig. 4-6: Safety function STO Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-16 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 45: Connection Example

    Differential inputs, signal range from -10 VDC to +10 VDC.  Resolution (with sign bit):  – Input ANALOG-IN1: 14 Bit – Input ANALOG-IN2: 12 Bit Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-17 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 46 – Swap the configuration of terminals X3/3-4 or X3/5-6 or change the Count direction parameter in the "Feedback" window (0/1). Fig. 4-8: Direction of rotation Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-18 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 47: Encoder Systems

    The servo amplifier supports all standard encoder types. The table below provides an overview of the supported encoder types and their corresponding parameters and connectors. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-19 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 48 X2: Motor encoder (resolver) X1: Motor encoder (e.g. SinCos en- X5: Motor encoder (e.g. absolute en- coder) coder with SSI interface) Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-20 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 49 X2 Master: Motor encoder (resolver) X2 Master: Motor encoder (resolver) X5 Master, Slave: Master-Slave connection X2 Slave: Motor encoder (resolver) Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-21 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 50: Resolver

    The resolver determines the absolute position of the rotor to the stator  within a revolution and signals this information to the servo amplifier. Resolvers are fitted as standard in Pilz rotary servo motors PMCtendo  It is possible to connect resolvers from 2 to 36-poles.
  • Page 51 5 V +/-5% 12 V analogue (BISS B) 5 V +/-5% 12 V analogue (BISS B) 7.5 – 11 V Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-23 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 52 & shake and the torque is insufficient to hold the load. Do not use this feedback system with vertical, suspended loads. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-24 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 53: Incremental Encoder

    350 kHz shake Incremental encoder 5 V, 1.5 MPHASE from EEP- Incremental encoder 5 V, 1.5 MPHASE with wake& shake Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-25 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 54 & shake and the torque is insufficient to hold the load. Do not use this feedback system with vertical, suspended loads. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-26 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 55: Absolute Encoder With Ssi Interface

    Change Bit 20 of the ASCII command DRVCNFG2 (see ASCII  Object Reference in the commissioning software's online help), otherwise error F04 will be registered. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-27 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 56 Use an incremental encoder to achieve higher EMC immunity. Parameter setting: Control Parameter GEARMODE Pulse/direction 5 V (X1) Pulse/direction 24 V (X3) Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-28 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 57: Master-Slave Mode

    4.3.6.2 Master-Slave mode Master-Slave mode 4- ][Funktion_Master_Slave_DD5 Functions: Interconnection of PMCtendo DD5: Maximum of 16 Slaves can be ac-  tivated by the Master via the encoder output Slave is activated by the Master via the encoder interface X5 ...

  • Page 58: Encoder Emulation

    4 ... 256 (2 ... 2 Encoder signal passed from terpolation TTL counts * resolution of X1 to X5 encoder Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-30 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 59 Multi-turn: The leading 12 to 16 Bits indicate the number of revolu-  tions; the following 16 bits state the position. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-31 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 60  Input |ΔU| ≥ 0.3 V  Default count direction: Upwards, facing the motor axis when rotating  clockwise Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-32 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 61: Communication Interfaces

    For further information please refer to the CANopen manual. When the appropriate parameters are set, the analogue setpoint inputs can still be used. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-33 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 62: Tools

    – Configuration of the safety functions – Setting of limit values, braking ramps for the safety functions, mon- itoring of motion sequences A database containing motor parameters for Pilz motors makes it eas-  ier to set parameters for the servo amplifier.

  • Page 63: Expansion Cards

    1110 Decimal The functions can be configured in the commissioning software. The ta- ble overleaf shows the default settings. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-35 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 64 The message may be varied via the parameters. PosReg 0 May only be set via commands. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-36 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 65 The servo amplifier supplies the voltage to the expansion card. Fig. 4-12: Front view of the expansion card PROFIBUS-DP Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-37 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 66: Expansion Card For Sercos Interface

    COS station. You can set the servo amplifier's transmitter output through the “SERCOS” window in thecommissioning software (cable run adjustment via the FO length parameter). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-38 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 67 Length of the connection with a 1 mm² plastic cable 16 MBit/s Length of the connection with a 1 mm² plastic cable Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-39 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 68: Expansion Card For Devicenet

    - Communication device has failed. The device has detected an error that's preventing communication with the network (e.g. duplicated MAC ID or BUSOFF). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-40 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 69 Use the rotary switch under "Baudrate" to set the transmission rate.  Switch setting Value Description 125 kBit/s 250 kBit/s Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-41 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 70: Fieldbus Junction Box

    Terminating resistor is selected Terminating resistor is de-selected Feed CAN monitoring voltage is selected CAN monitoring voltage is de-selected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-42 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 71 Function description Expansion cards Example for networking two PMCtendo DD5: PC connected to the first PMCtendo DD5 connector X6A  PMCtendo DD5 connector X6 linked with fieldbus adapter  CAN1, connector X6B: CAN Master  CAN2: Socket X6C: Connection between the two PMCtendo DD5 ...

  • Page 72: Switch On/Switch Off Behaviour

    19"). The servo amplifier is switched off; the BTB relay contact for op- erational readiness opens. If the factory default setting is unchanged Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-44 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 73 The safety function STO activates the pulse disabler on the servo ampli- fier and removes the power to the motor. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-45 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 74: Normal Operation

    "Motor holding brake"). The drive is shut down safely using the safety function STO. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-46 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 75: Fault Condition

    F16/F19 = Error messages for mains-BTB/input phase  F05 = Error message for undervoltage)  Fig. 4-17: Switching on and off under fault conditions Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-47 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 76 (ACTFAULT = 1). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-48 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 77: Implementation Of Stop Categories

    If a holding brake meets the dynamic requirements, the fact that this application will cause increased wear must be taken into ac- count. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-49 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 78 Implementation of Category 0 E-STOP, control function with auxiliary contactors Fig. 4-18: Stop Category 0 S1: On  ][Funktion_Stopp_Motorleistung S2: Off  S3: E-STOP  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-50 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 79 Frequent forced braking using the holding brake built into the motor can damage the brake. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-51 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 80 Implementation of Category 1 E-STOP, control function with auxiliary contactors Fig. 4-19: Stop Category 1 S1: On  ][Funktion_Stopp_Motorleistung S2: Off  S3: E-STOP  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-52 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 81: Stop Category 2

    Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-53 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 82 Implementation of Category 2 E-STOP, control function with auxiliary contactors Fig. 4-20: Stop Category 2 S1: On  ][Funktion_Stopp_Motorleistung S2: Off  S3: E-STOP  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-54 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 83 ) / 9550 where: : Motor output [kW]  : Standstill torque [Nm]  : Rated speed [1/min]  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-55 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 84 Function description Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 4-56 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 85: Chapter 5 Installation

    ][Montage_Schaltschrankbeleuchtung Control cabinet lighting Use low interference panel lighting for inside the control cabinet.  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 86: Dimensions

    B: Fan, only on device types  – 230 V series: 6 A and 10 A – 480 V series: 3 A and 6 A Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 87: Installing The Servo Amplifier

    Attach the servo amplifier to the mounting plate in your control cabi-  net. Replace the fan underneath the servo amplifier.  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 88 Installation Installing the servo amplifier Fig. 5-2: Installing the servo amplifier in a control cabinet Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 89: Installing The Expansion Cards

    The expansion card is inserted correctly when the front rests on the servo amplifier's mounting lugs. Fix the screws in place. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 90: Installing The Fieldbus Junction Box

    Turn the screws into the thread on the spacer bolts. Connect the female D-Sub socket into the X6 connector on the servo amplifier. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 91: Chapter 6 Wiring

    6 6 000 Wiring Wiring 6- 6.1 Connector description 6100 Connector description 6- Verdrahtung Fig. 6-1: Connector pin assignment PMCtendo DD5 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 92: Block Diagram

    Protective earth, PE Mounting Wide area, electrical connection between the designat- plate ed device and the mounting plate in the control cabinet Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 93 Wiring Block diagram Fig. 6-2: Block diagram PMCtendo DD5 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 94: Wiring Guidelines

    The safety circuit must switch the mains contactor. This is the only way to guarantee monitoring of the servo amplifier. ][Verdr_Einl_Hinweis Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 95: Protection Against Contact

    50 Hz current. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 96: Residual Current Devices Fi

    Wiring Wiring guidelines The ready-made cables from Pilz are low capacity. The leakage current can be calculated approximately as follows (at 400 V mains voltage): = n x 20 mA + L x 1 mA/m at 8 kHz clock frequency at the output ...

  • Page 97: Isolating Transformer

    “Wiring”. INFORMATION We recommend that the cables between the transformer and the servo amplifier be kept as short as possible. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 98: Connection Cables

    +24 V/DGND Max. 2.5 mm² Check voltage drop * North America: max. 39 m length, Europe: up to max. length Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 99: Wiring Procedure

    “Residual current devices”) Connect the PC (see section entitled “Communications interfaces”)  Check Check the wiring against the wiring diagrams  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 100 Ensure these earthing straps are as short and wide as possible. Unused wires in a cable should be earthed at both ends.  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-10 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 101: Emc-Compliant Wiring

    All connectors or sockets should be fastened with screws to ensure  ample, conductive contact between the braided shield and the front plate. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-11 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 102: Shield Connection On The Front Plate

    These hook into the bottom shielding plate and guarantee optimum contact between the shield and the shielding plate. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-12 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 103: Motor Connection

    The cable shield for the motor cable is connected to the servo amplifier housing via the shielding plate. Use the ready-made motor cable from Pilz (accessory). However, if you wish to wire your own motor connector, follow the instructions below: Strip the outer cable sheath to ap- prox.

  • Page 104: Filters

    Protect the motor from high voltage rise rates  Additional earthing measures are unnecessary because, unlike filters, chokes do not have to divert disturbances to earth. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-14 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 105 Connector pin assignment Connector X0 Designation Description Earth conductor Mains voltage phase L3 Mains voltage phase L2 Mains voltage phase L1 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-15 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 106 Two-phase without neutral conduc- 110 … 230 VAC delta, star Single phase with neutral conductor 110 … 230 VAC delta, star Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-16 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 107 Connector X9 Designation Description Brake- Brake+ Earth conductor Motor connection phase U Motor connection phase V Motor connection phase W Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-17 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 108 The wires to the brake (BR+/BR-) should be shielded separately. Connect the shielding on both ends. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-18 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 109 1.5 A, 3 A 6 A, 10 A Blow-out fuse or similar 6 AT 6 AT (FRS-6) (FRS-10) US types in brackets Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-19 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 110 Cable runs ≤200 mm: Use unshielded single wires (2.5 mm²) Cable lengths > 200 mm: Use shielded cables. ][Verdr_Leiterquerschnitte_Zusatz Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-20 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 111: Power Element

    230 V series: Max. 24 A  480 V series: Max. 40 A  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-21 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 112: Under "Connection Cables", Please Note The Requirements For The:  Cable Cross Sections  Insulation Material

    Use the following fuses. Fuse Device type Type Blow-out fuse or similar Max. 8 AF Fine wire fuse or circuit breaker Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-22 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 113: Digital Inputs

    Enable input Connector X4 Designation Description 3, 4 DGND Reference earth for digital inputs STO-ENABLE STO – Safe torque off Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-23 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 114 Referenced to earth: Always connect DGND (X4/3.4) to I/O-GND on the control system Connect a safe semiconductor out- put or positive-guided relay contact Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-24 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 115: Digital Outputs

    Referenced to earth: Always con- nect DGND (X4/3, 4) to I/O-GND on the control system Relay contact for operational read- iness, servo amplifier Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-25 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 116: Analogue Inputs

    AGND (X3/7) to CNC-GND on the control system - Twisted pair, shielded - Shield connection on the front plate Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-26 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 117: Encoder Systems

    Thermal switch in the motor is con- nected via the resolver cable at X2 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-27 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 118 Reference cosine n. c. Data- (RS 485) Parameter channel RS 485 ϑ Thermal switch n. c. n. c.: not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-28 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 119: Sincos Encoder With Hiperface Inter

    Thermal switch in the motor is con- nected via the encoder cable at X1 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-29 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 120: Sincos Encoder With Endat 2.1 Interface

    Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch CLOCK\ Test pulse output inverted n. c.: not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-30 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 121 Thermal switch in the motor is con - nected via the encoder cable at X1 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-31 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 122: Sincos Encoder With Endat 2.2 Interface

    Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch CLOCK\ Test pulse output inverted n. c.: Not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-32 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 123 Thermal switch in the motor is con - nected via the encoder cable at X1 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-33 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 124 Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch CLOCK\ Test pulse output inverted n. c. = not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-34 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 125: Sincos Encoder With Biss Interface, Ana

    Thermal switch in the motor is con- nected via the encoder cable at X1 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-35 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 126: Sincos Encoder With Biss Interface, Digital

    Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch CLOCK\ Test pulse output inverted n. c. = not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-36 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 127 Thermal switch in the motor is con- nected via the encoder cable at X1 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-37 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 128: Sincos Encoder With Ssi Interface

    Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch CLOCK\ Test pulse output inverted n. c. = not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-38 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 129 Thermal switch in the motor is con- nected via the encoder cable at X1 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-39 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 130: Sincos Encoder Without Data Track

    Supply voltage 0 V Sine + Supply voltage Zero pulse - ϑ Thermal switch n. c. n. c. = not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-40 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 131 Thermal switch in the motor is con- nected via the encoder cable at X1 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-41 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 132 Sense Up. Supply voltage feedback 5 V Reference pulse inverted ϑ Thermal switch n. c. n. c. = not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-42 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 133: Incremental Encoder Rod (Aquadb) 5 V

    Thermal switch in the motor is con- nected via the encoder cable at X1 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-43 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 134: Incremental Encoder Rod (Aquadb) 5 V, 1.5 Mhz

    Supply voltage feedback 5 V Channel B inverted ϑ Thermal switch Channel A inverted n. c. = not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-44 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 135 Channel A inverted Channel Channel B- Ch annel B inverted n. c. n. c. n. c. = not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-45 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 136 Sense Up. Supply voltage feedback 5 V n. c. ϑ Thermal switch n. c. n. c. = not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-46 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 137 Thermal switch in the motor is con- nected via the encoder cable at X1 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-47 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 138: Absolute Encoder With Ssi Interface

    Supply voltage feedback +5 V DATA\ Data inverted ϑ Thermal switch CLOCK\ Test pulse output inverted n. c. = not connected Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-48 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 139 Thermal switch in the motor is con- nected via the encoder cable at X1 Twisted pair, shielded Shield connection in the connector Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-49 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 140: Electronic Gearing, Master-Slave Mode

    Pulse/direction encoder 5 V Twisted pair, shielded Shield connection in the connector Terminating resistor R = 120 Ohm ][Verdr_Geber_Puls_Richt_24V_DD5 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-50 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 141 Input circuit Pulse/direction 24 V - DIR: Direction - PULS: Pulse - 24 VDC to earth - Shielded cable ][Verdr_Geber_Puls_Richt_5V_DD5 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-51 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 142 Twisted pair, shielded Select R in accordance with the ca- ble impedance, typically 120 Ω ][Verdr_Geber_Master_Slave_DD5 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-52 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 143 Always connect GND to the earth on the control system Twisted pair, shielded Select R in accordance with the ca- ble impedance, typically 150 Ω Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-53 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 144: Encoder Emulation

    Select R in accordance with the ca- ble impedance, typically 150 Ω Max. cable length: 100 m ][Verdr_Emulation_SSI_protego_D Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-54 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 145 Always connect GND to the earth on the control system Select RT in accordance with the ca- ble impedance, typically 150 Ω Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-55 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 146: Communication Interfaces

    The interface is on the same connec- tor as the CANopen interface. The RS232 and CANopen interface use the same operating earth (GND). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-56 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 147 9-pin female D-Sub con- nector (PC) Cable: 9-pin female D-Sub connector (servo amplifier) to 25-pin female D-Sub connector (PC) Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-57 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 148: Canopen Interface

    Cable resistance (loop) 159.8 Ω/km  Cable runs in relation to transmission rate Transmission rate [kBit/s] Max. cable runs [m] 1000 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-58 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 149 CANopen interface of the PMCtendo DD5 into two parallel CANopen interfaces. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-59 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 150: Expansion Cards

    Digital output PosReg3 Digital output PosReg4 Digital output PosReg5 Digital output 24 VDC Supply voltage 24 VDC I/O-GND Reference earth Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-60 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 151 24 VDC for outputs Referenced to earth: Always connect I/O-GND (X11B/12) and DGND (X4) to I/O-GND on the control system Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-61 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 152 “PROFIBUS- DP/FMS Installation Guidelines” published by the PROFIBUS User Group PNO. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-62 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 153: Expansion Card For Sercos Interface

    COS bus system with fibre-optic ca- ble (schematic diagram) Receive data: F-SMA connector on X13 Send data: F-SMA connector on X14 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-63 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 154: Expansion Card For Devicenet

    Cable shield connection CAN_H DeviceNet connection (high signal) Supply voltage (+) 5-pin Combicon plug-in connector in accordance with the DeviceNet specification Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-64 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 155: Fieldbus Junction Box

    Fieldbus junction box Fieldbus junction box 6- ][Verdr_Erw_CAN_Adapter_DD5 Connector pin assignment RS232 X6A RS232 Designation Description Receive data Send data Earth Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-65 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 156 Connector pin assignment CANopen X6B CAN1 X6C CAN2 Designation Description CAN_L CAN low signal CAN_GND Earth CAN_H CAN high signal Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 6-66 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 157: Chapter 7 Commissioning

    Please note that in this case the freely rotating motor is not yet connected to the prime mover. The servo amplifier is tested using a PMCtendo AC motor from Pilz. INFORMATION The processes described here will help you understand the prin- ciple procedure during commissioning.
  • Page 158 Residual charges in capacitors may still show haz- ardous values for up to 5 min. after the mains voltage is switched off. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 159: Commissioning The Servo Amplifier

     PMCtendo ACx.xx servo motor with resolver  Mains contactor K1  24 VDC power supply for control element  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 160  amplifier K1: Mains contactor  A1: Mains contactor 24 V +  A2: Mains contactor 24 V -  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 161: Preparing For Commissioning

    After approx. 5 seconds:  – LED display: YY. (current strength, flashing dot for CPU O.K.) – Relay contact BTB: closed Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 162: Establish Communication Pmctendo Dd5

    1. In the project window, select The "Basic Setup" window appears. This contains information about the servo amplifier (hardware, firmware, serial number, operating hours). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 163 You'll find the type code on the motor's type plate. Make your entries using buttons (1) or (2). Example: PMCtendo AC2.32/0/M/X/X/X/H/6 Fig. 7-2: Enter the motor's type code Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 164: Perform The First Test Run

    3. Specify motor setpoints Set up a reverse mode as an example. Reverse mode Motor Tuning Select the function under the tab.  Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 165 PScope and adjust the tuning parameters.  Ensure that the freely rotating motor is not yet connected to the work  machine. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 166: Leds And Keys

    The diagram below illustrates the function of the keys and LEDs. Fig. 7-3: Key functions Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 7-10 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 167: Standard Menu

    The diagram below shows how the display is structured. Fig. 7-4: Standard menu display Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 7-11 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 168: Advanced Menu

    Keep the right-hand button pressed down as you switch on the 24 V  supply voltage Fig. 7-5: Advanced menu Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 7-12 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 169 Error in the analogue/digital conversion, often caused by very strong electromagnetic inter- ference Brake chopper Brake circuit defective or incorrect setting Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 7-13 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 170: Messages/Errors

    An invalid motion task has been started No reference point No reference point was set when the motion task was started Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 7-14 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 171 Firmware version has not been released sion * = These warning messages result in a controlled shutdown of the drive (braking with emergency ramp). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 7-15 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 172 Commissioning Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 7-16 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 173: Chapter 8 Technical Details

    Input current at signal level "1" 2 - 11 mA Scan rate DIGITAL-IN-1 and 2 500 kHz 500 kHz Scan rate DIGITAL-IN-3 and 4 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 174 Noise emission 25 dB (A) Cooling Protection type in accordance withEN 60529 IP54 Mounting (e.g. cabinet) Housing IP20 Terminals IP20 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 175 Si_Kennzahlen_Erläuterung_1 All the units used within a safety function must be considered when cal- culating the safety characteristic data. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 176: Pmctendo Dd5.06/230V

    Input current at signal level "1" 2 - 11 mA Scan rate DIGITAL-IN-1 and 2 500 kHz Scan rate DIGITAL-IN-3 and 4 500 kHz Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 177 45 dB (A) Cooling Fans installed Protection type in accordance withEN 60529 Mounting (e.g. cabinet) IP54 Housing IP20 Terminals IP20 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 178 Si_Kennzahlen_Erläuterung_1 All the units used within a safety function must be considered when cal- culating the safety characteristic data. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 179: Pmctendo Dd5.10/230V

    Input current at signal level "1" 2 - 11 mA Scan rate DIGITAL-IN-1 and 2 500 kHz Scan rate DIGITAL-IN-3 and 4 500 kHz Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 180 45 dB (A) Cooling Fans installed Protection type in accordance withEN 60529 Mounting (e.g. cabinet) IP54 Housing IP20 Terminals IP20 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 181 Si_Kennzahlen_Erläuterung_1 All the units used within a safety function must be considered when cal- culating the safety characteristic data. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 182: Pmctendo Dd5.01/480V

    Input current at signal level "1" 2 - 11 mA Scan rate DIGITAL-IN-1 and 2 500 kHz Scan rate DIGITAL-IN-3 and 4 500 kHz Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 8-10 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 183 Noise emission 25 dB (A) Cooling Protection type in accordance withEN 60529 Mounting (e.g. cabinet) IP54 Housing IP20 Terminals IP20 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 8-11 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 184 Si_Kennzahlen_Erläuterung_1 All the units used within a safety function must be considered when cal- culating the safety characteristic data. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 8-12 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 185: Pmctendo Dd5.03/480V

    Input current at signal level "1" 2 - 11 mA Scan rate DIGITAL-IN-1 and 2 500 kHz Scan rate DIGITAL-IN-3 and 4 500 kHz Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 8-13 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 186 45 dB (A) Cooling Fans installed Protection type in accordance withEN 60529 Mounting (e.g. cabinet) IP54 Housing IP20 Terminals IP20 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 8-14 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 187 Si_Kennzahlen_Erläuterung_1 All the units used within a safety function must be considered when cal- culating the safety characteristic data. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 8-15 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 188: Pmctendo Dd5.06/480V

    Input current at signal level "1" 2 - 11 mA Scan rate DIGITAL-IN-1 and 2 500 kHz Scan rate DIGITAL-IN-3 and 4 500 kHz Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 8-16 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 189 45 dB (A) Cooling Fans installed Protection type in accordance withEN 60529 Mounting (e.g. cabinet) IP54 Housing IP20 Terminals IP20 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 8-17 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 190 Si_Kennzahlen_Erläuterung_1 All the units used within a safety function must be considered when cal- culating the safety characteristic data. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 8-18 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 191 Smooths the still undulating, rectified supply voltage to the servo amplifier; also used as an energy store (with feedback for example). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 192 Standard for Flash memory cards (SD = Secure Digital) Servo amplifiers Converter for servo motors, enabling controlled operation of three-phase motors for dynamic movements (closed loop). Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 193 Temperature-sensitive switch built into the motor winding. Zero pulse Signal which the incremental encoder transmits once per revolution, used to zero the machine. Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 194: Chapter 9 Appendix

    Programmable logic controller SRAM Static RAM Safe stop Safe operating stop Synchronous serial interface Safe speed range Safety function STO Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 195 Appendix Abbreviations Abbreviation Description AC voltage DC voltage Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 196 Wiring 6-45 EMC-compliant wiring 6-10 Encoder emulation 4-28 Wiring 6-46, 6-47 Encoder systems 4-18 Absolute encoder with SSI interface 4-26 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 197 4-13 Wiring 6-21 Installation Earthing Mounting location Intended use during operation Safety function STO Intermediate circuit Wiring 6-18 Isolating transformer Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 198 4-36 Wiring 6-54 PScope 4-32 Pulse/direction Wiring 6-43 Residual current devices Resolver 4-21 Wiring 6-24 RS232 interface 4-31 Wiring 6-48 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 199 6-44 Stop function 3-8, 4-47 Supply voltage 24 VDC 4-11 Wiring 6-20 Technical details Warning messages 7-13 Wiring 6-10 Procedure Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 200 Appendix Index Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 9-10 Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 201: Glossary

    Appendix Glossary 9 9 000 Appendix Appendix 9- 9.1 Glossary 9100 Glossary 9- ][Glossar Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 202: Abbreviations

    Programmable logic controller SRAM Static RAM Safe stop Safe operating stop Synchronous serial interface Safe speed range Safety function STO Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 203 Appendix Abbreviations Abbreviation Description AC voltage DC voltage Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...

  • Page 204: Index

    Wiring 6-45 EMC-compliant wiring 6-10 Encoder emulation 4-28 Wiring 6-46, 6-47 Encoder systems 4-18 Absolute encoder with SSI interface 4-26 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 205 4-13 Wiring 6-21 Installation Earthing Mounting location Intended use during operation Safety function STO Intermediate circuit Wiring 6-18 Isolating transformer Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 206 4-36 Wiring 6-54 PScope 4-32 Pulse/direction Wiring 6-43 Residual current devices Resolver 4-21 Wiring 6-24 RS232 interface 4-31 Wiring 6-48 Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 207 6-44 Stop function 3-8, 4-47 Supply voltage 24 VDC 4-11 Wiring 6-20 Technical details Warning messages 7-13 Wiring 6-10 Procedure Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 208 Appendix Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de...
  • Page 209 Please refer to our homepage for further details or contact our headquarters. Pilz GmbH & Co. KG Felix-Wankel-Straße 2 73760 Ostfildern, Germany Telephone: +49 711 3409-0 Telefax: +49 711 3409-133 E-Mail: pilz.gmbh@pilz.de Internet: www .pilz.com...

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