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JetMove 206B-230

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1. side Solder Side Shield cable housing Mating Connector SZ 4 wrap nut N Ed seal and et 219 gt Attaching SCIENS shield case EN Dieci must have a metric connection of thread cores Solder Connect shield with the greatest Sice possible surface area Use metallized housing only Pin Signal Core Color Pin unassigned 1 unassigned 2 7 Sine white 3 2 Reference sine brown 4 8 Cosine green 5 3 Reference cosine amber 6 6 DATA RS 485 gray 7 1 DATA RS 485 pink 8 4 OV blue 9 5 Power supply red 10 7 through 12 volts 9 Thermal sensor black 11 Thermal sensor 127 Pin 9 and pin 12 are short circuited Dimensions of the HIPERFACE mating connector are specified in millimeters Jetter AG JetMove 206B 230 7 5 Sin Cos Encoder Connection 7 5 Sin Cos Encoder Connection 7 5 1 Adapter An adapter is needed for connecting a sin cos encoder This adapter can be obtained from Jetter AG by the following specification JM 200 ENC ADAP item 10000430 10000430 Another 9 pin SUB D connector ofthe encoder cable can be connected to this adapter Further this adapter allows for connecting an individual temperature sensor of the motor as normally these signals are not conducted via the encoder cable if a sin cos encoder is used 7 5 2 Specificati
2. 1 1 Motor ka Cofe2 Phase2 v2 _ m i t m CS Cole Phase3 l J Fig 9 Connection of motor lines 48 Jetter AG JetMove 206B 230 Jetter AG 7 2 Motor Connection 7 2 3 Motor Power Cable with Mating Connector SC Note The suitable mating connector SC female connector can be ordered from JetterAG by supplying the following particulars Item 15100070 Motor mating connector for the Jetter motor series JH2 JH3 JH4 JH5 JL2 JL3 JL4 JK4 JK5 JK6 and for the Bautz motor series M25 M40 F50 F63 F80 without brake Item 15100105 Motor mating connector for the Jetter motor series JH2 JH3 JH5 JL2 JL3 JL4 JK4 JK5 JK6 and for the Bautz motor series M25 M40 F50 F63 F80 with brake Note Motor power cable with mating connector SC female connector suitable for the Jetter motor series JL2 JL3 JL4 JK4 JK5 JK6 and for the Bautz motor series M25 M40 F50 F63 F80 can be ordered from Jetter AG by supplying the following particulars It is confectioned with the matching motor mating connector and can be ordered by the following cable assy numbers Without brake Cable assy 26 1 With brake Cable assy 24 1 Mating Connector of the Motor solder side Solder Side Fig 10 SC series mating connector of the motor internal thread M23 49 7 Description of Connections Cable Specification of the Motor Power
3. Reference sine Cosine Reference cosine Index Reference index oV Power supply 5 V 100 mA max coc AJO unassigned 63 7 Description of Connections E 64 Important To be considered before connecting sin cos encoders If a sin cos encoder is to be used after applying the logic power supply to the JetMove 2xx and before the first enable commutation finding always has to be carried out If this is not considered the motor might move uncontrollably The counting direction of the position in the JetMove 2xx is reversed in the following cases Case 1 The signal sine is exchanged with the signal cosine and the signal reference sine is exchanged with the signal reference cosine Case 2 The signal sine is exchanged with the signal reference sine Case 3 The signal cosine is exchanged with the signal reference cosine Due to conduction loss a voltage smaller than 5 V might reach the encoder If necessary the encoder supply cords have to have a greater diameter If a motor temperature sensor is not used the inputs have to be short circuited at the adapter so the JetMove 2xx will not give an error message Jetter AG JetMove 206B 230 Jetter AG 7 6 7 6 Digital Inputs Logic Power Supply Specification of Terminal X10 10 pin spring tension terminal type ZEC 1 0 10 ST 3 5 Diameter of the cable apt for connecting 0 2 1 mm
4. Switches 9 and 10 Position Meaning 9 OFF 10 OFF NORMAL Normal function of the Ethernet OPERATION interface 9 OFF 10 ON LOAD The boot process proceeds as far as to the initial program loader of the Ethernet interface 9 ON Reserved After booting the switch has no influence to the interface functions The current position of the mode selector can be scanned in register 10181 12 4 Setting the IP Address There are four ways of assigning an IP address to a JetMove 206B 230 OEM The actually used IP address can be scanned in register 2931 12 4 1 Default IP Address If at activating the controller DIP switches 1 through 8 are in OFF position the JetMove 206B 230 OEM has got IP address 192 168 10 15 In case of any uncertainties with regard to the IP address used you can use this loophole to set the JetControl to a defined state 12 4 2 IP Address Out of the Configuration Memory If at activating the JetMove 206B 230 OEM the DIP switches 1 through 8 are in ON position the JetControl has got the IP address saved in the configuration memory The configuration memory can be accessed by means of the System cfgvar ini file or registers 10131 through 10145 Jetter AG JetMove 206B 230 E Important Jetter AG 12 Ethernet Interface Option Configuration File In order to gain access to the configuration file System cfgvar ini the user having got the ad
5. Bus cable leading to next member BUS OUT 8 3 9 4 7 X61 ENCODER 2 1 R2 Ri 54 52 51 S3 T1 T2 6 9 pin SUB D Logic power supply ENABLE LIMIT LIMIT X10 JetMove 206B 230 Dig inputs DC 24V0 6A BRAKE 1 X62 X1 Motor 3 x AC 230 V 55650 iui vi Iwi PE 7 UL 1 Please Note A free wheeling diode is needed if it has not been I ur La integrated in the motor In Jetter motors free t uf _ wheeling diodes have It not been integrated 24V Recommended diode type P 1 17 1771 1N4002 up Contactor Br Br Fig 15 Connection diagram JetMove 206B 230 1 phase connection type of position transducer Resolver See also chapter 7 Description of Connections page 45 Jetter AG 77 10 Connection Diagrams 78 see Page 67 Bus cable coming from previous bus member Bus cable leading to next bus member BUS OUT 9 4 5 Sin R Si Cos R Co U 1 Term X61 ENCODER D D JetMove 206B 230 Dig inputs Logic power supply x1 3 x AC 230 V U1 V1 W1 PE Please Note A f
6. Current pre control adjustable Position controller Cycle time 250 us Speed pre control adjustable Position setpoint generator Sine square and linear acceleration and deceleration ramps Setpoint output cycle position feedback controller interpolation can be parameterized individually 2 ms Position sensing Resolver Resolution Scan time Sine cosine sensor multi and single turn Interface Resolution of absolute position Resolution of velocity pickup Scan time 12 bits per revolution 62 5 us HIPERFACE 15 bits per revolution 20 bits per revolution 62 5 us Jetter AG JetMove 206B 230 7 1 Power Supply Connection 7 Description of Connections 7 1 Power Supply Connection Specification of Terminal X1 4 pin spring tension terminal type ZEC 1 5 4 ST 7 5 C2 R1 4 for printed circuit boards Diameter of the cable apt for connecting 0 25 1 5 mm AWG 24 AWG 16 Bladed screw driver 0 6 x 3 5 x 100 mm Specifications of Connecting Cable Cable size 4 1 5 mm AWG 16 4 Material Copper Temperature class 60 C Stripping length of cores 6 mm e Bootlace ferrules are not required Cable Shielding Not needed Power Supply 3 Phase Connection Terminals X1 on the Signal Specification Amplifier Side U1 L1 AC230V between the power
7. Jetter AG JetMove 206B 230 Jetter AG 1 4 Instructions on EMI For the following lines shielded cables are to be used Analog lines data lines motor cables coming from inverter drives servo output stage frequency converter lines between components and interference suppressor filter if the suppressor filter has not been placed at the component directly Both sides of the cable must be shielded Unshielded wire ends of shielded cables should be as short as possible The entire shield must be drawn behind the isolation and then be clamped under an earthed strain relief with the greatest possible surface area When male connectors are used The shield must in its entire perimeter be drawn behind the shielding clamp of the metallized connector housing respectively of the EMC gland bushing its greatest possible surface area being clamped under a strain relief Only use metallized connectors e g SUB D with metallized housing Make sure that the strain relief is directly connected with the housing here as well see fig 2 Fig 2 Shielding of SUB D connectors in conformity with EMC standards If the shield cannot be attached to the connector for example with a screw type terminal It is important that shield and strain relief are highly conductive and directly connected to a grounded surface with the greatest possible surface area When doing so grounding must be implemented in a way that the unshi
8. Vibration resistance 10Hz 57 Hz atan amplitude of 0 075 mm e 57Hz 150 Hz 1 09 constant acceleration 1 octave per minute 10 frequency sweeps sinusoidal all three spatial axes DIN EN 50178 DIN EN 60068 2 6 Degree of protection IP20 DIN EN 60529 Mounting position Vertical refer to fig 4 page 25 For sufficient air flow there has to be a clearance of 100 mm above and below the device Electrical safety conditions Reference Class of protection DIN EN 61800 5 1 Dielectric strength Isolation Power to earth and power to logic 1 7 kVdc 25 Power to earth and power to logic gt 1 MOhm at 500 V DIN EN 61800 5 1 DIN EN 60146 1 1 DIN EN 60204 Protective connection 12 V 25 A 0 1 Ohm DIN EN 61800 5 1 Overvoltage category DIN EN 61800 5 1 DIN VDE 0110 1 Important Measures to avoid damages in transit and storage The packaging material and the storage place are to be chosen in a id way that the values given in the above table Operating Parameters on page 29 are kept to 30 Jetter AG JetMove 206B 230 Jetter AG EMC Emitted Interference Parameter Value Reference Housing Frequency band DIN EN 61800 3 30 230 MHz limit 30 dB nV m at 30 m Frequency band 230 1 000 MHz limit 37 dB n V m at 30 m Class B Line AC Frequency band DIN EN 61800 3 0 15 0 5 MHz limit 79 d
9. 90 12 29 44 Appendix Potentially explosive atmosphere 18 Resolver cable Cable assy 23 S Safe Standstill option Scope of delivery Setting the IP address Seven segment display Mode 0 Normal operation Mode 1 Commissioning Sine consine sensor Sine cosine encoder SSI Cable System bus cable Cable assy 530 Specification T Technical data Terminal box of the motor U Usage other than intended V Vibration resistance W Warnings Wiring diagram 57 91 23 88 69 70 44 61 98 68 67 35 55 30 75 77 117 Jetter Phone Phone Sales Fax Sales Hotline Internet E mail Jetter Subsidiaries Jetter Schweiz AG Henauer Stra e 2 9524 Zuzwil Phone 41 71 91879 50 Fax 41 71 91879 59 E mail info jetterag ch Internet http www jetterag ch 118 Jetter AG Graeterstrasse 2 71642 Ludwigsburg Germany 49 7141 2550 0 49 7141 2550 433 49 7141 2550 484 49 7141 2550 444 http www jetter de sales jetter de Jetter USA Inc 13075 US Highway 19 North Florida 33764 Clearwater Phone 1 727 532 8510 Fax 1 727 532 8507 E mail bschulze jetterus com Internet http www jetter de Jetter AG
10. switched over Some devices are provided with an automatic crossover function which ensures automatic adjustment to the cable and distant station 12 3 Logic Circuit LEDs Switches 12 3 1 LEDs Logic LEDs ERR red Flashes shortly at initializing It remains lit in case of an initialization error at the Ethernet interface RUN green Flashes regularly at correct functioning of the Ethernet interface The as is state of the LED can be scanned in register 10182 LED Error Messages Following power up the red LED ERR and the green LED RUN are flashing The selector is in LOAD position The boot loader is running The OS of the Ethernet interface is neither checked nor launched Following power up the red LED ERR flashes three times then both LEDs red ERR green RUN are flashing The selector is in RUN or STOP position The boot loader is running There is no valid operating system of the Ethernet interface available The red LED ERR and the green LED RUN are flashing alternately with intermittent breaks during runtime Fatal operating system error of the Ethernet interface 87 12 Ethernet Interface Option 88 12 3 2 The DIP Switches The switches are evaluated at switching on the JetMove 206B 230 OEM Switches 1 through 8 influence the IP address switches 9 through 10 influence starting the operating system Start Up Process
11. 1 2 Danger 1 2 1 Ensure Your Own Safety Isolate the digital servo amplifier JetMove 206B 230 from the mains if maintenance works have to be carried out By doing so you will prevent accidents resulting from electric voltage and moving parts Please note chapter 1 3 Residual Dangers page 17 Safety and protective devices e g the barrier and cover of the terminal box or the thermal motor circuit breaker must not in any case be shunted or by passed Dismantled protective equipment such as guards and thermal motor circuit breakers must be reattached and checked for proper functioning prior to commissioning Prior to commissioning the machine manufacturer shall conduct a hazard analysis for the machine and take appropriate measures to prevent personal injury and damage to property resulting from accidental movements Malfunctions In the case of malfunctions or other faults please immediately separate the digital servo amplifier JetMove 206B 230 from the mains Please note chapter 1 3 Residual Dangers page 17 Malfunctions or other damages have to be reported to a responsible person at once Secure the servo amplifier JetMove 206B 230 against misuse or accidental use 1 2 2 Information Signs and Labels d p 14 Markings information signs and labels always have to be observed and kept readable Replace damaged or unreadable information signs and labels Jetter AG JetMove 206B 230 1
12. 49 SM series mating connector of the motor internal thread M40 52 RC series mating connector of the resolver internal thread M23 56 RC series HIPERFACE mating connector internal thread M23 59 Sin cos encoder connection with adapter 62 Connection diagram JetMove 206B 230 1 phase connection type of position transducer Resolver 77 Connection diagram JetMove 206B 230 1 phase connection type of position transducer HIPERFACE 78 Connection diagram JetMove 206B 230 3 phase connection type of position transducer Resolver 79 Connection diagram JetMove 206B 230 3 phase connection type of position transducer HIPERFACE 80 RC series mating connector of the EnDat internal thread M23 94 Jetter AG JetMove 206B 230 Appendix Jetter AG 115 Appendix 116 Appendix E Index A Accessories Active cooling Air humidity Ambient temperature Analog input option Autotransformer B Blocking of the motor Class of protection Commissioning Safety instructions Compatible servo motors Configuration memory Connection diagram Connection diagrams Contact assignment Motor Power Supply Convection Corrosion Counting input option D Damages in transit and storage Degree of protection Description of symbols Diagnostics Dielectric test voltage 45 23 37 29 29 83 81 47 30 28 38 88 77 77 48 46 24 29 93 30 30 5 71 30 Differences between JetMove 206 230 and JetMo
13. AWG 24 AWG 16 with bootlace ferrules in a plastic sleeve 0 25 0 75 mm AWG 24 AWG 18 Bladed screw driver 0 4 x 2 5 mm Digital Inputs Logic Power Supply Digitale Inputs Logic Power Supply Wiring Signal Operating Principle Specification Terminal X10 atthe Amplifier ENABLE Hardware Atthis input a high DC 24V enable for signal is necessary for 7 5 mA max the power power supply of the Operating point supply of the motor This signal must 6 V low motor have been applied 15V high Input before carrying out the software enable Alow signal de energizes the motor immediately REF Reference Depending on the DC 24 V switch parameter setting this 7 5 mA max Input input is used for Operating point reference run 6 V low gt 15 V high NC or NO contact LIMIT Positive limit Depending on the DC 24 V switch input parameter setting this 7 5 mA max input is used as a Operating point positive limit switch 6 V low gt 15 V high NC or NO contact LIMIT Negative Depending on the DC 24 V limit switch parameter setting this 7 5 mA max input input is used as a Operating point negative limit switch 6 V low gt 15 V high NC or NO contact 65 7 Description of Connections contact Br2 either by the control program or by the firmware ofthe JetMove 206B 230 at release of the motor current Important Note A fr
14. For systems with UL approval use overload protection devices that are UL listed acc to UL 508 HKJH and a self protected combination motor controller specification 230 V 10 A for UL certified systems The JetMove 206B 230 is suitable for use on a circuit capable of delivering not more than 50 000 rms symmetrical Ampere 600 Volt eff Max Output voltage of the motor Three phase with 325 V typical 480 V max Motor output current at an ambient temperature of 45 C Nominal current lag 6 A Spitzenstrom min 5 Sekunden leg 12 A The duration depends on the temperature of the heat sink See Note 2 on page 37 35 5 Technical Data 36 Electrical Specifications Continuous output 1 4 kW for a three phase mains connection Short circuit protection motor side Designed for phase to phase phase to earth Motor overload protection See Motor Protection on page 39 Motor cable Cable size Material Capacitance Temperature class Maximum length of the motor cable 4 min 1 5 mm AWG 16 min Copper 150 pF m gt 60 C 50 m max for greater lengths please contact Jetter AG Line filter Line filter ensuring EMC in a residential environment to DIN EN 61800 3 with no limitations The following filters can be applied with input circuits FMAC 931 0810 8 A FMAC 932 1610 16 A FMAC 932 2510 25 A FMAC 934 3610 36 A
15. cabe separately Mn wires are shielded brake ur equipped with wire end lines and all housing ferrules over shielding wrap nut Mating m Connector seal and ull relief T a rere connection of Il 4 326 the shield mesh cores E Solder Side 606 Mating Connector O 2 Cable Strap I Motor Cable n Connect both sides of the shield with the greatest possible surface area Use metallized housing only Pin Wire Number Signal Pin X62 U2 1 Phase 1 1 X62 V2 2 Phase 2 5 X62 W2 3 Phase 3 2 X62 PE yellow green PE conductor X10 BRAKE2 5 Brake 6 X10 GND 4 Brake 4 Dimensions of the motor mating connector are specified in millimeters 51 7 Description of Connections 52 7 2 4 Motor Power Cable with Mating Connector SM Note The suitable mating connector SM female connector can be ordered from Jetter AG by supplying the following particulars Item 60860443 Motor mating connector JL5 Note The Jetter motor power cable with mating connector SM matching the JL5 motor series can be obtained from Jetter AG It is confectioned with the matching motor mating connector and can be ordered b
16. 2 5 2 4 Checking the Installation Checking the Installation Check motor and servo amplifier wiring and connections by means of the connection diagrams used Check the holding brake if existing for proper functioning Check to see whether all necessary protection measures against accidental contact with live or moving parts have been taken Carry out any other checks specific to or required for your system Notes on Safety as regards the Installation HAZARD caused by high operating voltage Extremely hazardous voltages of up to DC 480 V may occur Please observe the following precautions in order to avoid injuries such as muscle cramps burns unconsciousness respiratory standstill or possibly death Warning Jetter AG Have installation and maintenance jobs carried out by qualified personnel onlychapter 1 1 3 Personnel Qualification page 12 Switch off the operating voltage Please take into account the information on residual dangers given in chapter 1 3 2 Hazards after POWER is turned OFF page 19 Before carrying out installation and maintenance jobs separate the servo amplifier JetMove 206B 230 and all connected devices from the mains pull out the mains plug 27 2 JetMove 206B 230 Installation Instructions Warning 28 Notes on Safety as regards Commissioning HAZARD caused by high operating voltage Extremely hazardous voltages of up to DC 480 V may occur Please observe the
17. 2 ms Transmission rate 100 kHz 1 MHz Maximum cable length 50 100m Type of signal 5 V differential signals Input impedance 22kO0 Bus termination 120 integrated resistance Electrical isolation None 14 3 2 Description of Connections Specification of Mating Connector for X72 e 9 pin male SUB D connector Metallized enclosure Specification of the SSI Cable e Cable size 2 2 0 14 mm 2 0 25 mm AWG 26 4 AWG 23 2 2 0 25 mm must be used for the power supply unit and for GND The cables have to be twisted in pairs and included in an overall shielding The following signal lines have to be twisted in pairs Clock and Clock DATA and DATA 0 V and power supply The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Maximum cable length 100 m Dependent on the encoder type the transmission frequency has to be reduced due to the signal runtimes in long cables Jetter AG 97 14 Counting Input Option 98 14 3 3 SSI Cable SSI Cable JetMove 2xx SUB D male connector X72 Shielding Specification of the Cable Attaching screws must have a metric thread Connect shield with the greatest possible surface area Use metallized housing only Encoder signal 5 V differential signal Maximum cable length 100m P
18. 206B 230 not expressly authorised by the manufacturer will result in a loss of any liability claims to Jetter AG The original parts are specifically designed for the servo amplifier JetMove 206B 230 Parts and equipment from other manufacturers are not tested by Jetter AG and are therefore not released by Jetter AG The installation of such parts may impair the safety and the proper functioning of the digital servo amplifier JetMove 206B 230 Any liability on the part of Jetter AG for any damages resulting from the use of non original parts and equipment is excluded 1 1 5 Repair and Maintenance Repairs at the digital servo amplifier JetMove 206B 230 must not be carried out by the operator The servo amplifier JetMove 206B 230 does not contain any parts to be repaired by the operator For being repaired the servo amplifier JetMove 206B 230 must be sent to Jetter AG Jetter AG JetMove 206B 230 Jetter AG 1 1 General Safety Instructions The digital servo amplifier JetMove206B 230 is maintenance free Therefore absolutely no inspection or maintenance works are required for the operation of this device 1 1 6 Disposal When disposing of the digital servo amplifier the local environmental regulations must be complied with You can disassemble the servo amplifier JetMove 206B 230 into its main components by unscrewing it aluminum heat sink and side plate steel casing cover electronic boards 1 Safety Instructions
19. 72 Jetter AG JetMove 206B 230 9 1 Fault Messages Fault Message Table JetMove 206B 230 Error Type of Error Description Reaction Remedy Number F12 Ground fault One or several Immediate Check the motor cable phases of the motor controller and the motor cable or inside the disable Acknowledge failure motor have been short circuited to earth F 13 Internal checksum An internal Immediate Switch the 24 V supply combined error checksum error has controller off and on again with F00 occurred disable If the error occurs repeatedly return the amplifier for repair F 14 Internal An internal Immediate Switch the 24 V supply combined communication communication error controller off and on again with F 00 error has occurred disable If the error occurs repeatedly return the amplifier for repair F 15 The hardware The software enable Immediate Disable the drive by enable is missing is given without a controller means of the software hardware enable disable Acknowledge failure F16 Power input The current at the Immediate Check input voltage overcurrent power input is too controller Reduce mechanical high disable power of the motor Acknowledge failure F 17 Trip of software Actual position is Stop at Check target position limit switch is outside the max Acknowledge failure activated programmed range current Return the axis to a and a software limit max position within the s
20. an overall shielding The following signal lines have to be twisted in pairs Sine and reference sine Cosine and reference cosine DATA and DATA 0 V and power supply The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Maximum cable length 50 m 7 4 2 HIPERFACE Cable with Mating Connector Note 27 T The resolver respectively HIPERFACE mating connector of the Jetter motor gt series JL JK and JH can be ordered from Jetter AG by supplying the following particulars Item 15100069 Resolver HIPERFACE The complete HIPERFACE cable connecting the servo amplifier series JetMove 2xx and the Jetter motor series JL JK and JH can be obtained from Jetter AG It can be ordered by submitting the following cable specifications and the respective cable length in cm KAY_0723 xxxx For the servo amplifier series JetMove 2xx 58 Jetter AG JetMove 206B 230 7 4 HIPERFACE Connection HIPERFACE mating connector solder side Solder Side Fig 13 RC series HIPERFACE mating connector internal thread M23 Jetter AG 59 7 Description of Connections 60 HIPERFACE Cable of KAY_0723 xxxx JetMove 2xx SUB D male connector X61 Shielding Motor HIPERFACE female solder
21. and temperature of a motor Normal Null Sea Level Protective Earth Protective Earth respectively Protective Earth Conductor Feedback unit at a servo motor for determining the absolute position within one revolution Other than a HIPERFACE the resolver will not provide any information on how many revolutions the motor has performed so far A resolver could be envisaged as a transformer the couplings of its secondary windings sine and cosine change in relation to the position of the motor shaft Basically a resolver consists of a rotor with one coil and a stator with two coils The stator windings are displaced by 90 sine and cosine The resolver itself does not contain any electronic components Safe Extra Low Voltage Voltage which under all operating conditions will not exceed a peak or DC voltage of 42 4 V This voltage is either measured between two conductors or between one conductor and earth The circuit in which this voltage occurs must be separated from the mains power supply by a safety isolating transformer or some equivalent Type name of a plug in connector time rise time hold Rise time of a pulse total hold time of a pulse time rise time normal Rise time of a pulse total duration of a pulse Supply network which is solidly earthed in the neutral point and which is equipped with a protective earth conductor Jetter AG JetMove 206B 230 Jetter AG TT network UL VDE
22. be provided Correct cabling of the PE bus according to the connection diagram must be carried out chapter 10 Connection Diagrams page 77 Jetter AG 15 1 Safety Instructions IN ji Sao 5 PEE oooooooooo B 5 Fig 1 Double earthing IS Important Do not install an earth leakage current breaker in the mains power supply Using an earth leakage current breaker Fl within the mains power supply is not possible If in spite of this an earth leakage current breaker is installed it will switch off the digital servo amplifier JetMove 206B 230 although there is no fault When a leakage current screen needs to be installed in the JetMove 206B 230 an isolating transformer must be used 16 Jetter AG JetMove 206B 230 1 3 Residual Dangers 1 3 Residual Dangers 1 3 4 Hazards During Operation HAZARD caused by high operating voltage Extremely hazardous voltages of up to DC 480 V occur Such voltages may result in muscle cramps burns unconsciousness respiratory standstill or death Danger gt During operation all coverings and control cabi
23. counted value of an actual position can be read via a JetMove register by the controller program or processed by the firmware of the JetMove in the controllers 14 2 EnDat 2 2 14 2 1 Technical Data Technical Data of the Input EnDat 2 2 Encoder types Absolute encoders single multiturn or linear Scanning 62 5 us Baud rate 8 MHz Maximum cable length 100 m Type of signal 5 V differential signals Input impedance 22 kQ Bus termination 120 integrated resistance Electrical isolation None 93 14 Counting Input Option 94 14 2 2 Description of Connections Specification of Mating Connector for X72 e 9 male SUB D connector Metallized enclosure EnDat Cable Specification e Cable size 2 2 0 14 mm 2 0 25 mm AWG 26 4 AWG 23 2 2 0 25 mm must be used for the power supply unit and for GND The cables have to be twisted in pairs and included in an overall shielding The following signal lines have to be twisted in pairs DATA and DATA Clock and Clock 0 V and power supply The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Maximum cable length 100 m 14 2 3 EnDat Cable with Mating Connector Note The resolver HIPERFACE respectively mating connector of the Jetter motor series JL JK and JH and can be ordered from Jetter
24. following precautions in order to avoid injuries such as muscle cramps burns unconsciousness respiratory standstill or possibly death gt Have commissioning jobs carried out by qualified personnel only see chapter 1 1 3 Personnel Qualification page 12 Before energizing the device make sure that the following requirements are complied with gt Reattach dismantled protective equipment and check it for proper functioning This way protection from moving parts of the machine will be achieved Secure the servo amplifier JetMove 206B 230 against accidental contact with conductive parts and components Only connect devices or electrical components to the signal lines of the digital servo amplifier JetMove 206B 230 Enable Limit REF BRAKE 1 and BRAKE 2 that have been sufficiently isolated against the connected electric circuits These signal lines may only be connected with units that have got the ground potential of the DC 24 V power supply Only connect resolver HIPERFACE and servo motor to the servo amplifier if they have been sufficiently isolated from the connected electric circuits The leakage current of the digital servo amplifier JetMove 206B 230 is greater than 3 5 mA Therefore a second protective earth conductor is required in order to avoid electric shocks For this the measures listed in chapter 1 2 3 Earthing Procedure page 15 have to be taken Always carry out each commissioning even a short fu
25. lines V1 L2 W1 L3 PE PE conductor O yellow green PE Core3 Line Voltage 3 Core2 5 Line Voltage 2 1 5 Line Voltage 1 a xo Fig 7 Connection of the 3 phase supply line Jetter AG 45 7 Description of Connections 46 1 Phase Connection Power Supply Terminals X1 on the Signal Specification Amplifier Side U1 AC 230 V between mains phase and V1 N neutral conductor Wi PE PE conductor yellow green B I E B Core2 S Neutral Core 3 y 5 Line Voltage E Fuse or circuit breaker or X1 motor circuit breaker Fig 8 Connection of the 1 phase supply line One phase connection is only possible up to a motor rating of 1 kW Jetter AG JetMove 206B 230 7 2 Motor Connection 7 2 Motor Connection 7 2 1 General Remarks TS Important Measures to avoid malfunctions of the control system and the motor Always connect brake lines to a separate power supply unit DC 24 V if and motor lines run together in bunch of cables and are not separately shielded Important Measures to avoid oscillation and blocking of the motor m Avoid mixing up of phase cables resp be sure to connect the phase cables according to pin assignment Jetter AG 47 7 Description of Connections 7 2 2 Assignment and Specifications Specificati
26. twisted pair Ethernet Straight through twisted pair cable Crossover cables transmitting and receiving lines are crossed LED 85 12 Ethernet Interface Option 86 The LEDs of the JetMove 206B 230 OEM Ethernet Designation Operating Principle ACT Activity The JetMove 206B 230 OEM transmits or receives data via the Ethernet LNK Linkage The JetMove 206B 230 OEM is linked with the Ethernet 12 2 1 Connection between the JetMove 206B 230 OEM and a PC or JetControl Direct connection between a PC or JetControl and a JetMove 206B 230 OEM is established by means of a crossover cable 12 2 2 Connection between the JetMove 206B 230 OEM and a PC or JetControl through a Switch If connection between PC or JetControl and a JetMove 206B 230 OEM is established through a switch straight through cables have to be used Terminals have to be interconnected by means of crossover cables e PCtoPC JetControl to PC e JetControl to JetMove OEM etc Terminals with infrastructure components e g switch have to be interconnected via straight through cables PCto switch JetControl to switch e JetMove OEM to switch etc Jetter AG JetMove 206B 230 Jetter AG 12 Ethernet Interface Option If the proper cable is not available the uplink port of a switch hub can be used The pin assignment of an uplink port allows connection of terminals or can be
27. types Jetter motors of the series JL JK and JH and Bautz motors of the series M and F Please refer to Jetter Motor Catalog or contact the sales department of Jetter AG _ Note M A In case you intend to use motors other than the above mentioned types please contact Jetter AG 38 Jetter AG JetMove 206B 230 Jetter AG 5 2 Motor Protection 5 2 Motor Protection There are three ways of motor protection 5 2 1 Built In Temperature Sensor The JetMove 206B 230 servo amplifier is able to run by means of three different temperature sensors and to evaluate their data Sensor type Type of sensor signal evaluation KTY83 110 The temperature is measured in C The warning level is adjustable An error message is activated at maximum motor temperature PTC Go no go decision An error message is activated at maximum motor temperature Temperature switch Go no go decision An error message is activated at maximum motor temperature 5 2 2 Pt Calculation The digital servo amplifier JetMove 206B 230 calculates the model of motor power loss by an I t calculation The calculated value is a measure of the average power dissipation of the motor It is calculated in percent of the maximum motor power dissipation For this calculation it is important that the parameters are entered correctly Continuous rated current either continuous rated motor current or continuous rated amplifier current taking the lower
28. 2 please refer to Appendix A Recent Revisions page 105 Jetter AG JetMove 206B 230 gt Danger Caution Important Jetter AG Introduction Description of Symbols This sign is to indicate a possible impending danger of serious physical damage or death This sign is to indicate a possible impending danger of light physical damage This sign is also to warn you of material damage This sign indicates hazard of life due to electric shock caused by a high operating voltage This sign is to indicate hazard of serious physical damage or death due to accidentally touching dangerous parts of the device This sign is to indicate a possible impending situation which might bring damage to the product or to its surroundings It also identifies requirements necessary to ensure faultless operation You will be informed of various possible applications and will receive further useful suggestions It also gives you words of advice on how to efficiently use hardware and software in order to avoid unnecessary efforts Enumerations are marked by full stops strokes or scores Operating instructions are marked by this arrow Automatically running processes or results to be achieved are marked by this arrow Introduction Reference to PC keyboard and HMI keys This symbol informs you of additional references data sheets literature etc associated with the given subject product etc It also hel
29. 2 Assignment and Specifications 48 7 2 3 Motor Power Cable with Mating Connector SC 49 7 2 4 Motor Power Cable with Mating Connector SM 52 7 2 5 Connection Assignment of Terminal Box 55 7 3 Resolver Connection 56 7 3 4 Specification 56 7 3 2 Resolver Cable with Mating Connector 56 7 4 HIPERFACE Connection 58 7 4 1 Specification 58 7 4 2 HIPERFACE Cable with Mating Connector 58 7 5 Sin Cos Encoder Connection 61 7 5 1 Adapter 61 7 5 2 Specification 61 7 5 8 Connection Diagram 62 7 6 Digital Inputs Logic Power Supply 65 7 System Bus 67 7 7 1 Specifications of the Jetter System Bus Cable 67 8 Status Monitoring 69 9 Diagnostics 71 9 1 Fault Messages 71 9 2 WARNINGS 75 10 Connection Diagrams 77 11 Analog Input Option 83 11 1 Operating Principle 83 11 2 Technical Data 83 11 3 Description of Connections 84 12 Ethernet Interface Option 85 12 1 Operating Principle 85 12 2 Description of Connections 85 12 2 1 Connection between the JetMove 206B 230 OEM and a PC or JetControl86 12 2 2 Connection between the JetMove 206B 230 OEM and a PC or JetControl through a Switch86 12 3 Logic Circuit LEDs Switches 87 12 3 1 LEDs 87 12 3 2 The DIP Switches 88 12 4 Setting the IP Address 88 Jetter AG JetMove 206B 230 Jetter AG 12 4 1 12 4 2 12 4 3 13 14 14 1 14 2 14 2 1 14 2 2 14 2 3 14 2 4 14 3 14 3 1 14 3 2 14 3 3 14 4 14 4 1 14 4 2 14 4 3 15 15 1 15 2 Default IP Address IP Add
30. 2 Ensure Your Own Safety 1 2 3 Earthing Procedure gt Screw the enclosure of the digital servo amplifier JetMove 206B 230 onto a highly conducting earthed panel gt Do only use the servo amplifier JetMove 206B 230 at the three phase earthed industrial network network network with earthed neutral 5 000 A max symmetric rated current at 400 480 V 10 The servo amplifier must not be operated when connected to unearthed networks and to unsymmetrically earthed networks A one phase connection to these mains can be established by means of a mains phase and a neutral wire The three phase connection may only be established by means of an isolating or autotransformer also refer to chapter Power supply connection page 35 and chapter 10 Connection Diagrams page 77 gt The leakage current of the digital servo amplifier JetMove 206B 230 e is greater than 3 5 mA Therefore a second protective earth conductor is required in order to avoid electric shocks For this the following measures have to be taken The protective earth conductor must be connected to the PE screw 1 located at the top side of the rack as well as to the PE terminal X1 2 for this please refer to Fig 1 The cross sectional areas of the two earthing conductors must be equal to the cross sectional areas of the supply lines 1 5 mm min Adurable connection with the power supply of the digital servo amplifier JetMove 206B 230 has to
31. AG by supplying the following particulars Item 15100069 Resolver HIPERFACE The complete HIPERFACE cable between the servo amplifier series JetMove 2xx and the Jetter motor series JL JK and JH can be ordered from Jetter AG The resolver cable can be ordered by submitting the following cable specifications and the respective cable length in cm KAY 0723 xxxx For the servo amplifier series JetMove 2xx HIPERFACE mating connector solder side Solder Side Fig 19 RC series mating connector of the EnDat internal thread M23 Jetter AG JetMove 206B 230 Jetter AG 14 2 EnDat 2 2 HIPERFACE EnDat Cable of KAY_0723 xxxx JetMove 2xx SUB D male connector X72 Shielding Motor EnDat female solder side cable Solder Side housing F Mating Connector d wrap nut T seal and pull relief E x 2 element 219 gt Attaching screws 5 2 0 25 mm picid case et must have a metric eme tT thread he shield mesh l Solder Connect shield with the greatest Side possible surface area Use metallized housing only Pin Signal Core Color Pin unassigned 1 unassigned 2 7 DATA RS 485 white 3 2 DATA RS 485 brown 4 8 unassigned g
32. B uV Frequency band 0 5 30 MHz limit 73 dB uV Important pet This is a product of restricted availability according to IEC EN 61800 3 This module can cause radio interferences in residential areas In this case the user must take adequate measures to prevent this Additional line filters can be helpful here See Line filter on page 36 EMC Interference Immunity Enclosure Parameters Value Reference HF field Frequency band 80 DIN EN 61000 4 3 amplitude modulated 1 000 MHz test field strength DIN EN 61800 3 10 V m AM 80 at 1 kHz Criterion A ESD Contact discharge DIN EN 61800 3 Test peak voltage 6 kV DIN EN 61000 4 2 Criterion B 31 3 Operating Conditions EMC Interference Immunity Power Connections and Power Interfaces Parameters Value Reference Conducted radio disturbances Frequency 0 15 80 MHz Test voltage 10 V AM 80 at 1 kHz Criterion A DIN EN 61800 3 DIN EN 61000 4 6 Burst fast transients Test voltage 2 kV tr tn 5 50 ns Repetition frequency 5 kHz Criterion B DIN EN 61800 3 DIN EN 61000 4 4 Voltage surges tr th 1 2 50 us 8 20 us 1 kV phase to phase 2 kV phase to ground Criterion B DIN EN 61800 3 DIN EN 61000 4 5 Interference Immunity Process Measuring and Control Lines Parameters Value Reference Conducted radio disturbances Frequency 0 15 80 MHz Test volta
33. Cable with Mating Connector SC for JetMove 206B 230 For connection without motor holding brake 50 Motor Power Cable Cable Assy 26 1 Connecting Shielding Mating Terminals of JetMove Connector ofthe 206B 230 Motor female solder side 4 x 1 5 mm Shielded highly AWG 16 4 flexible 4 wire Solder Side cable with PE ce The wires are GND equipped with wire end ferrules housing wrap nut 1 pe NE seal and pull relief element shield case 360 round connection of Il the shield mesh Mating Connector cores Solder Side Cable Strap 2 Motor Cable FE Connect both sides of the shield with the greatest possible surface area Use metallized housing only Pin Wire Number Signal Pin X62 U2 1 Phase 1 1 X62 V2 2 Phase 2 5 X62 W2 3 Phase 3 2 X62 PE yellow green PE conductor Dimensions of the motor mating connector are specified in millimeters Jetter AG JetMove 206B 230 7 2 Motor Connection For connection with motor holding brake Motor Power Cable Cable Assy 24 1 Connecting Shielding Mating Terminals of JetMove Connector ofthe 206B 230 Motor female solder side 4 x 1 5 mm 2 x Highly flexible 1 5 mm 6 wire cable T AWG 16 6 with PE GND
34. DC link voltage Units mA dB cm mm Appendix Supply network which is solidly earthed in the neutral point yet which is not equipped with a protective earth conductor Earthing is carried out by means of a local protective earth Underwriters Laboratories Inc Verband deutscher Elektrotechniker e V Association of German Electrical Engineers DC circuit within a servo drive on the basis of which the motor currents are generated Ampere Milliampere 1 mA 10 A Dezibel Gram Hour Hertz Kelvin Meter Centimeter 1 cm 102 m Millimeter 1 mm 10 m Second Volt Microvolt 1 uV 10 v Watt Ohm Degrees centigrade temperature unit Degrees angular dimension 113 Appendix 114 Appendix D List of Illustrations Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig Fig PO Nos Q ouem 10 12 13 14 15 16 17 18 19 Double earthing 16 Shielding of SUB D connectors in conformity with EMC standards 21 Shielding of screw terminals in conformity with the EMC standards 22 Rear and front view of the JetMove 206B 230 enclosure with mounting holes 25 Mounting dimensions of the JetMove 206B 230 33 Block diagram of drive controller structure 43 Connection of the 3 phase supply line 45 Connection of the 1 phase supply line 46 Connection of motor lines 48 SC series mating connector of the motor internal thread M23
35. JetMove 206B 230 Digital Servo Amplifier Zn LS SSS SSS SS User Manual Jetter 60870529 Introduction Item 60870529 Revision 3 02 July 2013 Printed in Germany Jetter AG reserve the right to make alterations to its products in the interest of technical progress These alterations will not necessarily be documented in every single case This manual and the information contained herein have been compiled with due diligence However Jetter AG assume no liability for printing or other errors or damages arising from such errors The brand names and product names used in this manual are trade marks or registered trade marks of the respective title owner Jetter AG JetMove 206B 230 Jetter AG Introduction How to Contact us Jetter AG Graeterstrasse 2 71642 Ludwigsburg Germany Phone Switchboard 49 7141 2550 0 Phone Sales 49 7141 2550 433 Phone Technical Hotline 49 7141 2550 444 Fax Sales 49 7141 2550 484 E mail Sales sales jetter de E mail Technical Hotline hotline jetter de Web address http www jetter de This User Manual is an Integral Part of the JetMove 206B 230 Type Serial Year of Manuafacture Order To be entered by the customer Inventory Place of Operation Introduction Significance of this User Manual This user manual is an integral part of the digital servo amplifier JetMove 206B 230 and must be kept in
36. Phase 3 X62 PE Pin 4 Protective earth X10 BRAKE2 Pin 7 Brake X10 GND Pin 8 Brake alternative to motor connectors Jetter AG 55 7 Description of Connections 7 3 Resolver Connection 7 3 1 Specification Specification of Mating Connector X61 ENCODER e 9 pin male SUB D connector Metallized housing Specification of the Resolver Cable e Cable size 4 2 0 14 mm AWG 26 8 Cores have to be shielded and twisted in pairs and have to be included in an overall shielding The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Maximum cable length 50 m 7 3 2 Resolver Cable with Mating Connector 7 Note 27 E bx The resolver respectively HIPERFACE mating connector of the Jetter motor E series JL JK and JH can be ordered from Jetter AG by supplying the following particulars Item 15100069 Resolver HIPERFACE The complete resolver cable between the servo amplifier series JetMove 2xx and the Jetter motor series JL JK and JH can be obtained from Jetter AG It can be ordered by supplying the following cable assy number Cable assy 23 For the servo amplifier series JetMove 2xx Mating connector of the resolver solder side Solder Side Fig 12 RC series mating connector of the resolver internal thread M23 56 Jetter AG JetMove 206B 230 7 3 Resolver Conn
37. See Note 3 on page 37 Voltage supply of processor logics Demands on the power supply module DC24V 20 30 V e lt 06 The voltage output of the power supply unit must comply with the SELV or PELV type Internal ballast resistor Resistor 120 O e Continuous output 75 W e Maximum capacity internally limited to 1 kW at 0 6 s warning and error message Residual voltage To havoid hazard of electrical shock wait at least 5 minutes after switching off the digital servo amplifier before attempting to pull out the plug or remove this unit refer to page 19 Leakage current gt 3 5 See Danger resulting from electric shock on page 38 Jetter AG JetMove 206B 230 NM A M M 27 2 M N M 27 A M Jetter AG 5 1 Electrical Specifications Electrical Specifications Digital inputs Enable E Reference switch R Limit switch right L Limit switch left L Input Inp DC 20 V 30 V related to the ground potential of voltage supply of processor logics with an input current of 7 5 mA max each See Digitale Inputs Logic Power Supply on page 65 Braking relay contacts Br1 and Br2 Vmax DC 30V Imax DC 2 A Contact N O connected to BR1 and BR2 on X10 The lines may only be connected to devices that are related to the same potential as the power supply of the controller logic Can be switc
38. a way that it is always at hand until the digital servo amplifier JetMove 206B 230 will be disposed of Pass this manual on if the digital servo amplifier JetMove 206B 230 is sold alienated or loaned In any case you encounter difficulties to clearly understand this user manual please contact the manufacturer We would appreciate any suggestions and contributions on your part and would ask you to contact us This will help us to produce manuals that are more user friendly and to address your wishes and requirements Unavoidable residual hazards for persons and property may result from this digital servo amplifier JetMove 206B 230 For this reason any person who has to deal with the transport installation operation maintenance and repair of the digital servo amplifier JetMove 206B 230 must have been familiarised with it and must be aware of these dangers Therefore this person must carefully read understand and observe this manual and especially the safety instructions Missing or inadequate knowledge of the manual results in the loss of any claim of liability on part of Jetter AG Therefore the operating company is recommended to have the instruction of the persons concerned confirmed in writing History Revision Remarks 2 00 Original issue 3 01 For revisions please refer to Appendix A Recent Revisions page 105 3 02 This English revision corresponds to German revision 3 01 For revision in chapter 7 2
39. anism limit defined in the Check steepness of parameter tracking decelerati acceleration error limit for the on ramp deceleration ramps and time specified in amplifier parameters in tracking window relation to the time parameters tracking error limit and tracking error window time Acknowledge failure F 24 Error 24 V The external 24 V Immediate Check external power combined supply voltage supply was lower controller supply with F 01 than 18 V disable Acknowledge failure F25 F27 Internal power or more internal Immediate Note the fault number combined supply error supply voltages controller Return the amplifier for with F 01 have fallen below disable repair their limits F 29 The mains poweris The average mains Immediate Acknowledge failure too high power of the 230 V controller Reduce the average supply was too high disable load of the motor 74 Jetter AG JetMove 206B 230 9 2 WARNINGS Fault Message Table JetMove 206B 230 Error Type of Error Description Reaction Remedy Number F 30 let error The average power Immediate Let the motor cool loss of the motor is controller down greater than the disable Acknowledge failure max value Checkthe configuration configured by of nominal motor nominal motor current overload factor current overload and motor time factor and motor constant time const
40. ant Reduce the average See I t Calculation load of the motor on page 39 F 31 Motor overload The average motor Immediate Let the motor cool protection power loss was controller down according to UL higher than defined disable Acknowledge failure according to UL Reduce the average See chapter 5 2 3 load of the motor Motor Overload Calculation to UL page 41 F 38 Asymmetric The amplitudes of mmediate Check wiring or encoder signal the analog sine controller encoder signals cosine signals are disable Acknowledge failure not identical F 39 Error at Measuring the mmediate Check parametering commutation commutation offset controller Check wiring or finding could not be disable encoder signal completed with Acknowledge failure results being guaranteed F 42 Malfunctioning of Encoder breakage Immediate Check the encoder line encoder 2 only for or initialization error controller and all plug in the option CNT disable connections Acknowledge failure Jetter AG 9 2 WARNINGS If the dot in the seven segment display is flashing one or several warnings have been recognized Please check in the Motion Setup or by issuing the motion instructions in the controller program which warning is active 75 9 Diagnostics 76 Jetter AG JetMove 206B 230 10 Connection Diagrams see Page 67 Bus cable coming from previous bus member
41. ation 7 QUICK STOP A quick stop has been activated ACTIVATED The drive is being decelerated to n 0 and then locked E ERROR REAKTION IS An error has been recognized ACTIVATED An adjustable error reaction may be active F MALFUNCTION The drive controller is locked error can be acknowledged FX X ERROR NUMBER Error with number X X has occurred Flashing dot Warning activated 0 Flashing ZERO Boot sector activated C Flashing C OS flash gets deleted E Flashing E OS flash gets deleted E Flashing L OS loader gets loaded P Flashing P OS is transferred to the flash memory U Flashing U The boot sector waits for OS update JetMove 206B 230 Seven Segment Display Mode 1 Commissioning Display Meaning Meaning g Nas is value lt 0 9 Nmax b M gt 0 n gt 0 gt Quadrant Mode of operation Motor M lt 0 n gt 0 gt Quadrant 11 Mode of operation Generator e M lt 0 n lt 0 gt Quadrant III Mode of operation Motor f M gt 0 n lt 0 gt Quadrant IV Mode of operation Generator a Positive current limit has been reached d Negative current limit has been reached Jetter AG JetMove 206B 230 9 9 1 Note Diagnostics Fault Messages 9 1 Fault Messages M A In the case of a fault message the letter F and two successive numbers appear on the seven segmen
42. coder Cable Incremental Encoder Cable JetMove 2xx SUB D male connector X72 Shielding Specification of the Cable Attaching screws must have a metric thread Shi Connect shield with the greatest possible surface area Use metallized housing only Encoder signal 5 V differential signal Maximum cable length 100m Pin Signal KO Ki K2 OV nm Power supply 5 V 200 mA max KO K1 K2 Oo do not use Jetter AG JetMove 206B 480 15 Ordering Information 15 Ordering Information 15 1 List of Documentation The documents listed below have been supplied on the website of Jetter AG at http www jetter de Support for download Programming jetmove 2xx at jetcontrol bi xxxx user information pdf User information on configuration and operation of the JetMove 2xx IE series at the JetControl 24x Item 60874950 jetmove 1xx 2xx D203 at the jetcontrol bi xxxx user infor mation pdf E User information on configuration and operation of the JetMove 2xx series at the NANO B C D Item 60866113 15 2 Options Designation Ethernet Analog Counting Interface Input Input Page 85 Page 83 Page 93 JM 206B 230 JM 206B 230 OEM JM 206B 230 IA1 v JM 206B 230 CNT Y JM 206B 230 OEM IA1 Y 4 JM 206B 230 OEM CNT v Jetter AG 101 15 Orde
43. eakest component of the system For this reason correct wiring and shielding of cables is of paramount importance Important Measures for increasing immunity to interference m Ground the enclosure according to chapter 1 2 3 Earthing Procedure d page 15 P gt Connect all grounding terminals of the JetMove 206B 230 A double u grounding terminal is required Connect the protective earth terminal located on the enclosure Connect the protective earth PE to terminal X1 Please refer to fig 1 on page 16 m Connect the motor lines If applicable an optional line filter must be near the servo amplifier Shield cables on both ends gt f a motor power cable is used which includes cores for brake control the brake control cores must be separately shielded Earth the shielding at both ends m The distance between the optional line filters and the servo amplifier JetMove 206B 230 must be as short as possible Ss Follow the instructions given in Application Note 016 EMC Compatible Installation of the Electric Cabinet published by Jetter AG The following instructions are excerpts from Application Note 016 Screw the enclosure of the digital servo amplifier JetMove 206B 230 onto a highly conducting earthed panel principle physical separation should be maintained between signal and voltage lines We recommend spacings greater than 20 cm Cables and lines should cross each other at an angle of 90
44. ection Resolver Cable of Cable Assy 23 JetMove 2xx Shielding Motor Resolver SUB D male female solder connector X61 side Solder Side cable mel housing Ee Mating Connector wrap nut seal and II relief Attaching screws T i hield must have a metric shield case thread connection of AM the shield mesh Solder cores Side Connect shield with the greatest possible surface area Use metallized housing only Pin Signal Core Color Pin 8 Cosine red 1 3 Cosine blue 2 2 Sine amber 3 7 Sine green 4 1 R1R exciter pink 5 winding 6 R2L exciter gray 6 winding 9 Thi white 7 Thermal sensor 4 Th2 brown 8 Thermal sensor unassigned 9 12 Dimensions of the resolver mating connector are specified in millimeters Jetter AG 57 7 Description of Connections 7 4 HIPERFACE Connection 7 4 4 Specification Specification of Mating Connector X61 ENCODER 9 male SUB D connector Metallized enclosure HIPERFACE Cable Specification e Cable size 4 2 0 14 mm 2 0 5 mm AWG 26 8 AWG 20 2 2 0 5 mm AWG 20 2 must be used for the power supply unit and for GND The cables have to be twisted in pairs and included in
45. ee wheeling diode is necessary in case ithas not been integrated in the motor yet In Jetter motors free wheeling diodes have not been integrated Recommended diode type 1N4002 INPUT Digital input Depending on the DC24V parameter setting this 7 5 mA max input can be used for Operating point quick stop position lt 6 V low capture or referencing 15V high without stop als Common GND for all inputs ground and supply of the logic d Common GND for all inputs ground and supply of the logic DC 24 V Voltage DC 20 30V supply of I lt 0 6 A processor logics BRAKE 1 Brakingrelay Relay contact for motor Vmax DC 30V contact Br1 holding brake Imax DC 2 A BRAKE 2 Brakingrelay The relay can be operated N O These connections are only for devices having got the same reference to ground as the power supply of the logic is connected to the ground of the control system 66 Jetter AG JetMove 206B 230 Jetter AG 7 7 Jetter System Bus 7 7 System Bus By means of the Jetter system bus the JetMove 206B 230 is interlinked with the controller additional JetMove amplifiers or Jetter peripheral modules The system bus input BUS IN is a 9 pin SUB D male connector and the system bus output BUS OUT is a 9 pin SUB D female connector 7 7 4 Specifications of the Jetter System Bus Cable Specification of Connectors On the BUS OUT X19 side e 9 pin male SUB D connect
46. elded portion of the cable is as short as possible refer to fig 3 21 1 Safety Instructions 22 Mating Connector Cable Strap Motor Cable Fig 3 Shielding of screw terminals in conformity with the EMC standards Jetter AG JetMove 206B 230 2 2 1 Scope of Delivery JetMove 206B 230 Installation Instructions 2 1 Scope of Delivery Digital servo amplifier JetMove 206B 230 The mating connector is plugged on Cable strap serving as strain relief and motor cable shield User manual Accessories The accessories are not part of the scope of delivery Jetter AG System bus cable of cable assembly number 530 x x m length 0 2 m to 5 0 m See chapter 7 7 Jetter System Bus page 67 Motor power cable see chapter 7 2 Motor Connection page 47 Resolver cable see chapter 7 3 Resolver Connection page 56 HIPERFACE cable see chapter 7 4 HIPERFACE Connection page 58 Synchronous servo motors e g the Jetter motor series JL JK or JH Motor circuit braker see chapter 5 Technical Data page 35 Circuit braker see chapter 5 Technical Data page 35 Isolating transformer or autotransformer Mounting screws 2 pcs refer to fig 4 page 25 Note If you are not sure which mounting accessories you will need please contact Jetter AG 23 2 JetMove 206B 230 Installation Instructions 24 2 2 Mechanical Installation Prior to installing the digital servo amplifie check it for pos
47. etMove 206B 230 Jetter AG 8 Status Monitoring The output stage LEDs indicate the operating status of the digital servo amplifier JetMove 206B 230 LEDs LED Color Meaning 5V green Logic module voltage is OK L1 yellow Axis is standing still speed 0 L2 yellow A voltage of 24 V is applied to the input of the positive limit switch LIMIT L3 yellow A voltage of 24 V is applied to the input of the negative limit switch LIMIT Note The seven segment display of the output stage indicates the operating and fault conditions of the digital servo amplifier JetMove 206B 230 The various display modes are set by the Motion Setup Mode 0 default is used for normal operation and mode 1 for commissioning JetMove 206B 230 Seven Segment Display Mode 0 Normal Operation Display State Meaning 0 NOT READY TO BE Initialization of amplifier functions SWITCHED ON 1 SWITCH ON INHIBIT Initialization completed Safe state achieved after initialization and acknowledgement of errors The drive controller can be switched on 2 READY TO BE SWITCHED Drive controller has been disabled by ON software command The drive controller can be switched on 3 SWITCHED ON DC link monitoring is activated 4 OPERATION ENABLED The drive controller is enabled 69 8 Status Monitoring 70 JetMove 206B 230 Seven Segment Display Mode 0 Normal Oper
48. f the digital servo amplifier JetMove 206B 230 is to be run under operating conditions which differ from the conditions mentioned in chapter 3 Operating Conditions page 29 the manufacturer is to be contacted beforehand 1 Safety Instructions 12 1 1 3 Personnel Qualification Depending on the life cycle of the product the persons involved must possess different qualifications These qualifications are required to ensure proper handling of the JetMove 206B 230 in the corresponding life cycle Product Life Cycle Minimum Qualification Transport Storage Trained and instructed personnel with knowledge in handling electrostatic sensitive components Mounting Installation Trained personnel specified in electrical automotive engineering such as industrial electronics engineers Commissioning Trained and instructed experts with profound Programming knowledge of and experience with electrical drive engineering such as electronics engineer for automation technology Operation Trained instructed and assigned personnel with knowledge of operating electronic devices Decommissioning Specialized personnel with training in electrical engineering such as industrial electronics technician 1 1 4 Modifications and Alterations to the Device For safety reasons no modifications and alterations to the digital servo amplifier JetMove 206B 230 and its functions are permitted Any modifications to the servo amplifier JetMove
49. fication of the Cable leading to the Analog Input e Cable size 2 0 14 mm min AWG 26 2 e Cores have to be twisted and entirely shielded The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Pin Assignment of the Analog Input Shielding X72 Connect shield with the greatest possible surface area Use metallized housing only Pin Signal 1 Analog signal 0 10 V to pin 6 6 9 Analog GND connected to earth in the device 2 5 Do not use Jetter AG JetMove 206B 230 Jetter AG 12 Ethernet Interface Option 12 Ethernet Interface Option 12 1 Operating Principle For the digital servo amplifier JetMove 206B 230 an optional integrated Ethernet interface can be ordered article designation of the device JM 206B 230 OEM This allows for the JetMove 206B 230 to be addressed by the controller via Ethernet instead of system bus Functional Equipment 1 Ethernet interface 10 100 MBit s TX 10 pin DIP switch for the lower 8 bits of RUN STOP LOAD the IP address and of various operating modes LED for status indication RUN ERR 12 2 Description of Connections The digital servo amplifier JetMove 206B 230 OEM is connected with the Ethernet by a RJ45 socket X71 There are two types of interconnecting cables used for 10 100 MBit s
50. g brake Motor Power Cable Cable Assy 202 The wires are equipped with wire end ferrules shielded brake lines and all over shielding pull relief element over shield mesh push seal and shield mesh wrap nut e housing Connecting Shielding Mating Terminals of JetMove Connector of the 206B 230 Motor female solder side 4 x 4 mm 2x Highly flexible 0 5 mm 6 wire cable AWG 12 4 with PE GND Solder Side AWG 20 2 separately mu Mating Connector aS zo Solder Side O60 Ne9o Connect both sides of the shield with the greatest possible surface area Use metallized housing only Pin Wire Number Signal Pin X62 U2 1 Phase 1 X62 V2 2 Phase 2 V X62 W2 3 Phase 3 W X62 PE yellow green PE conductor X10 BRAKE2 5 Brake X10 GND 6 Brake Dimensions of the motor mating connector are specified in millimeters Note For cables having been manufactured before April 2005 The signal Brake is assigned to core 4 Jetter AG JetMove 206B 230 7 2 Motor Connection 7 2 5 Connection Assignment of Terminal Box Connection Assignment of Terminal Box Field Wiring Motor Terminal Box Terminal Assignment Terminals of the Amplifier X62 U2 Pin 1 Phase 1 X62 V2 Pin 2 Phase 2 X62 W2 Pin 3
51. ge 10 V AM 80 at 1 kHz Criterion A DIN EN 61800 3 DIN EN 61000 4 6 Burst fast transients Test voltage 2 kV tr tn 5 50 ns Repetition frequency 5 kHz Criterion B DIN EN 61800 3 DIN EN 61000 4 4 Interference Immunity Signal Interfaces Parameters Value Reference Conducted radio disturbances Frequency 0 15 80 MHz Test voltage 10 V AM 80 at 1 kHz Criterion A DIN EN 61800 3 DIN EN 61000 4 6 Burst fast transients Test voltage 1 kV tr tn 5 50 ns Repetition frequency 5 kHz Criterion B DIN EN 61800 3 DIN EN 61000 4 4 32 Jetter AG JetMove 206B 230 4 Mounting Dimensions CN l A AA n n i 5 fen am Oo q je N 2 E a oo LH ES S X g e le 0 Oi ie Iu EE vH y lt 261 6 gt I peer kk 18 E 1 I peu gr 1 3I JEO CE j i OES CE a D ELI
52. hed by the control program of PLC or by operating system of JetMove 206B 230 together with software enable Power dissipation Py 100 W max Note 1 When a transformer is used The neutral point on the secondary side of the circuit must be grounded Note 2 Active cooling The fan is activated at 60 C and deactivated at 40 C The overtemperature protection is activated at 85 C The overtemperature alarm is activated at 80 C The duration or the peak current are measured at a starting temperature of 45 C at the heat sink Note 3 A line filter can supply several digital servo amplifiers JetMove 206B 230 as soon as I the current of the line filter is greater than the total current of the connected servo amplifiers 37 5 Technical Data Time between deactivating and activating the mains power supply i If the drive system has been run by motor power speed and torque at the Important moment and the mains power supply is deactivated the inrush current limitation unit must cool down for 2 to 3 minutes If this is not considered the inrush current limitation unit can be destroyed Danger resulting from electric shock gt In order to prevent electric shocks ground the digital servo amplifier JetMove 206B 230 by all means via two positions for this refer to chapter 1 2 3 Earthing Procedure page 15 Warning Compatible Synchronous Servo Motors Motor
53. his should be prevented by installing additional safety devices One safety precaution is to install a second set of limit switches to interrupt the power supply of the motor Another safety precaution would be installing a guard puc Make sure that hazards to persons are precluded even when the drive is rotating unintentionally Do not remove any guards A Do not wear gloves lest they should get caught in the rotating drive shaft Danger Never touch a rotating drive shaft 18 Jetter AG JetMove 206B 230 1 3 Residual Dangers 1 3 2 Hazards after POWER is turned OFF DANGER resulting from electric shock Capacitors installed in the servo amplifier can still have dangerous voltages present up to five minutes after switching off the operating voltage Always wait at least five minutes after switching off the device before Danger separating it from the mains or loosening the connections gt Always wait at least ten minutes after switching off before taking the following actions Touching the screws of the terminals X1 and X62 Disconnecting the terminals and touching the contacts Jetter AG 19 1 Safety Instructions 20 1 4 Instructions on EMI The digital servo amplifier JetMove 206B 230 is intended for use in industrial surroundings It may cause radio interferences when used in residential areas It is operated at the operator s own risk The noise immunity of a system is determined by the w
54. in Signal Clock 4 DATA do not use OV nm Power supply 5 V 200 mA max Clock DATA do not use Oo do not use Jetter AG JetMove 206B 230 14 4 Incremental Encoder 14 4 Incremental Encoder 14 4 1 Technical Data Technical Data of the Incremental Encoder Input Encoder types Rotatory or linear encoders Scanning 62 5 us Maximum counting rate 20 MHz Maximum cable length 100 m Type of signal 5 V differential signals Input impedance 22 kQ Bus termination 120 Q integrated resistance Electrical isolation None 14 4 2 Description of Connections Specification of the Mating Connector for X72 9 pin male SUB D connector Metallized enclosure Specification of the Incremental Encoder Cable Jetter AG Cable size 3 2 0 14 mm 2 0 25 mm AWG 26 6 AWG 23 2 2 0 25 mm must be used for the power supply unit and for GND The cables have to be twisted in pairs and included in an overall shielding The following signal lines have to be twisted in pairs KO and KO K1 and K1 K2 and K2 0 V and power supply The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Maximum cable length 100 m 99 14 Counting Input Option 100 14 4 3 Incremental En
55. logy Unlike the resolver the SinCos motor feedback system with HIPERFACE interface contains electronic components Over several motor rotations a HIPERFACE will report the absolute position values this cannot be performed by a resolver HIPERFACE is far more precise than a resolver but also more expensive International Electrotechnical Commission International Protection JetMove is the type designation of a digital servo amplifier series produced by Jetter AG The extension 206B 230 for example marks the following features 206 identifies a rated current of 6 A 230 identifies the operating voltage of the rated power supply 111 Appendix 112 Jetter system bus JetWeb Motor circuit breaker NN PE Resolver SELV SUB D tth ttn TN network The Jetter system bus is a system bus system of a cable length of 200 m max and of fast data transmission rates of 1 MBit s max In addition to this the Jetter system bus is highly immune to interferences Therefore the Jetter system bus is suited to realise field bus applications in a limited space Control technology comprising control systems motion systems user interfaces visualization devices remote I Os and industrial PCs Programming by means of multitasking and a modern sequence oriented language Communication by means of Ethernet TCP IP and making use of the Web technologies A circuit breaker with monitoring functions as to phases
56. lready hot when the digital servo amplifier JetMove 206B 230 is switched on i e at the time of connecting the 24 V logic power supply 41 5 Technical Data 42 Jetter AG JetMove 206B 230 Drive Controller Structure 6 uone njeng Liopoou3 peeds SE owe M A n o ejeg 9 PI Bueas i ausung e go b EE M eudiel uang bi 7 PI lt dy d 0 JeuPl 93 E ywan peeds ONUOQ B1d mn AWA T HMAMdi md eden gan i 181l0 1u0Q by uonoes H 101994 I VHAWMd E juan d b H Y o s VHOWMd jeunn Lydien youn O eyre Aul Joje1euec Wed Aul Jejoyuoopeeds Sod a uL dy xew Q jeul jeupeeds M Y Sod jeusod psads pm peads Pmql Joje1ouot juiodies Fig 6 Block diagram of drive controller structure 43 Jetter AG 6 Drive Controller Structure Drive Controller Specification All drive controllers can be parameterized through the control program Operating Principle Remarks Motor control commutation Space vector modulation PWM frequency 16 kHz Current controller Cycle time 62 5 us Speed controller Cycle time 125 us
57. ministrator rights must have been connected This file has the same structure as a Windows INI file CFGVAR Version 4 IP Address 192 128 10 97 255 255 255 0 192 128 10 1 50000 192 118 210 209 IP SubNetMask IP DefGateway BasePort IP DNS In no case change the version number Registers Alternative access to the configuration memory is possible via registers 10131 through 10145 In order to make a change via registers first password register 10159 with password value 2002149714 0x77566152 has to be loaded Then registers 10132 through 10145 are modified Finally the changes to the configuration memory have to be saved by entering an arbitrary value into register 10100 Registers Meaning ED AEST the Example 10100 Saving the configuration values 10131 Version number 4 10132 IP address MSB 192 10133 IP address 3SB 128 10134 IP addresse 2SB 10 10135 IP address LSB 97 10136 Subnet mask MSB 255 10137 Subnet mask 3SB 255 10138 Subnet mask 2SB 255 10139 Subnet mask LSB 0 89 12 Ethernet Interface Option Value Used in Registers Meaning the Example 10140 Default gateway MSB 192 10141 Default gateway 3SB 128 10142 Default gateway 2SB 10 10143 Default gateway LSB 1 10144 Port number of the JetlP server 50000 10145 IP address of the DNS server 0xC076D2D1 192 118 210 209 10159 Password 2002149714 0x77566152 Ei Do no
58. nctional test with correctly connected PE bus Jetter AG JetMove 206B 230 Jetter AG 3 Operating Conditions Operating Parameters Ambient Conditions Reference Transport conditions units within packing Temperature 25 70 C Air humidity 5 96 95 96 Non condensing DIN EN 50178 Storage conditions units within packing Temperature 25 55 C Change max 20 K h Air humidity 5 9596 Non condensing Max storage time 1 year DIN EN 50178 Ambient temperature 0 45 C 45 55 C with derating of 2 5 K Please be careful of sufficient cooling DIN EN 50178 Air humidity 5 96 8596 Non condensing DIN EN 50178 Pollution degree 2 DIN EN 50178 Corrosion immunity chemical resistance No special protection against corrosion Ambient air has to be free from higher concentrations of acids alcaline solutions salts metal vapours or other corrosive or electroconductive contaminants DIN EN 50178 Operating altitude Up to 1 000 m above sea level 1 000 to 2 500 m above sea level with derating of 1 5 96 per 100 m DIN EN 50178 29 3 Operating Conditions Operating Parameters Mechanical Conditions Reference Free falls withstanding test Within original packing the device withstands dropping over all of its edges DIN EN 50178 DIN EN 60068 2 31
59. nd motor greater than 2 5 x controller for a short circuit the rated current disable Check current control parameters If necessary correct parameters Acknowledge failure F 06 Ballast resistor The ballast resistor Immediate Let the amplifier cool overload is overloaded controller down disable After cooling down acknowledge failure Reduce regeneration power F 07 Amplifier The amplifier has Immediate Let the amplifier cool overtemperature reached the controller down maximum disable After cooling down temperature acknowledge failure Reduce power of the motion system F 08 Motor The motor has Immediate Let the motor cool overtemperature reached the controller down maximum disable After cooling down temperature acknowledge failure Reduce the power of the drive F 09 Encoder failure Encoder breakage Immediate For extended or initialization error controller diagnostics purposes disable use Motion Setup Check the encoder line and all plug in connections Acknowledge failure F 10 Overspeed The actual shaft Immediate Check motor and speed has controller encoder connections exceeded a value of disable Check speed controller 1 25 x maximum parameters If speed necessary modify parameters Acknowledge failure F 11 Current overrange A current Immediate Reduce K of the temporarily too high controller current controller by 10 is detected disable to 20 95 Acknowledge failure
60. net doors have to be kept closed Do not remove the cover pw Do not disconnect the electric connections of the servo amplifier JetMove 206B 230 when it is live m Do not touch the screws of the terminals X1 and X62 during operation The terminals have the following meaning X1 AC 230 V voltage supply X62 DC motor voltage up to 480 V Danger Hot surface hazard During operation the surfaces respectively the heat sinks of the digital servo amplifier JetMove 206B 230 can heat up The internal heat sink can reach temperatures of up to 90 C Caution Do not touch the enclosure of the servo amplifier JetMove 206B 230 near the internal heat sink during operation and during the cooling off period after switching off the device Make sure that no temperature sensitive parts have been connected or fastened to the servo amplifier JetMove 206B 230 Jetter AG 17 1 Safety Instructions DANGER in a potentially explosive atmosphere Do operate the digital servo amplifier JetMove 206B 230 in a potentially explosive atmosphere Danger DANGER of injuries caused by mechanic force The digital servo amplifier JetMove 206B 230 drives servo motor This servo motor moves mechanic parts or sharp edges Therefore failure or malfunctioning of the digital servo amplifier JetMove 206B 230 can be dangerous for man or Caution damage the manufacturing plant to an amount depending on the respective kind of plant T
61. nts in order to achieve greater dependability To grant an uncomplicated installation procedure To decrease the amount of various models In the development process special attention was paid to providing a large scope of interchangeability Of course there will still remain certain differences which must be considered in individual causes Automatic Encoder Recognition The JetMove 206B 230 is not equipped with two varieties for different position transducers any more Up to now the customer had to decide whether to order the JetMove 206 230 RE servo amplifier for the resolver input circuit or the servo amplifier JetMove 206 230 HI for the Hiperface input circuit The JetMove 206B 230 servo amplifier can automatically recognize which encoder has been connected to it and configure its input circuit respectively Consequences for the user Even with both encoder types being applied double stock keeping can be avoided Irrespective of the encoder type used the order number is the same Enclosure The enclosure of the servo amplifier JetMove 206B 230 has been adjusted to that of the amplifiers JetMove 203 230 x and JetMove 215 480 x thus emphasizing the homogeneity of the amplifier product family Consequences for the user None as the layout of the plugs the outside measurements and the mounting holes have remained unchanged Installation in Control Cabinet Thanks to the new enclosure it is now possible to fix
62. o f c oo FEET LT EI ID x m ur z T9 N m 1 MICH 1 IT 1 JE 1 1 HIT Er JE JU Ge t I 1 J JE JU je i HET 1 Fig 5 Mounting dimensions of the JetMove 206B 230 For installation please also refer to fig 4 on page 25 Jetter AG 33 4 Mounting Dimensions 34 Jetter AG JetMove 206B 230 Jetter AG 5 1 Electrical Specifications 5 Technical Data 5 1 Electrical Specifications Electrical Specifications Rated voltage supply Direct supply 230 V Common mode voltage 2 max Power dissipation 3 ms max 48 62 Hz Frequency change max 2 5 Power supply connection forarated power of the motor gt 1kW a three phase connection is standard e 1 phase direct Ups 230 V L to e 3 phase via autotransformer or isolating transformer e g Primary circuit Uer 3 x 400 V Secondary circuit Ug x 230 V See Note 1 on page 37 Power supply tolerance Ue 195 265 V 15 15 96 Inrush current limitation lt 30 A limited to 50 ms during the switch on sequence Refer to Time between deactivating and activating the mains power supply on page 38 Overload protection For each phase an external overload protection is required for example circuit breaker 10 AC fuse 10 AM medium time lag motor circuit breaker 10 A
63. oles Jetter AG 25 2 JetMove 206B 230 Installation Instructions 2 3 Electrical Installation gt Check for correct motor and servo amplifier assignment pe Compare rated voltage and continuous rated current of servo amplifier The motor must be isolated against voltages of 480 V min also refer to Compatible Synchronous Servo Motors on page 38 Connect the JetMove 206B 230 according to the connection wiring diagram shown in chapter 10 Connection Diagrams page 77 Especially check the power lines for appropriate protection see Overload protection on page 35 Protecting the motor cables is not advisable gt Select the cables according to standards Verify that all earthing cables are connected double earthing To connect resolvers or power units you can use prefabricated cables available from Jetter or opt for self made cables Please refer to chapter 7 Description of Connections page 45 Please regard the following items regarding installation according to If possible run control cables and power cables separately Connect resolver Use shielded terminals or EMC compatible connectors Connect holding brake if available and connect shields on both sides of the cables Connect the motor lines according to fig 3 page 22 Please further note thechapter 1 4 Instructions on EMI page 20 26 Jetter AG JetMove 206B 230 2 4
64. on Specifications of the Mating Connector for X61 ENCODER e 9 pin male SUB D connector Metallized enclosure Sin Cos Encoder Cable Specifications e Cable size 2 2 0 14 mm 2 0 5 mm AWG 26 4 AWG 20 2 if there is no index signal e Cable size 3 2 0 14 mm 2 0 5 mm AWG 26 6 AWG 20 2 if there is no index signal 2 0 5 mm AWG 20 2 must be used for the power supply unit and for GND e Cores have to be twisted in pairs and have to be included in an overall shielding The following signal lines have to be twisted in pairs Sine and reference sine Cosine and reference cosine Index and reference index 0 V and power supply The shield must be connected to the connector housings on both ends of the cable with the greatest possible surface area Material Copper Temperature class 60 C Max cable length 100 m Jetter AG 61 7 Description of Connections 62 7 5 3 Connection Diagram JM 200 ENC ADAP Sin Cos Encoder JetMove 2XX Motor Temp Sensor Fig 14 Sin cos encoder connection with adapter Jetter AG JetMove 206B 230 Jetter AG 7 5 Sin Cos Encoder Connection Sin Cos Encoder Cable JetMove 2xx SUB D connector X61 with Adapter JM 200 ENC ADAP Shielding Attaching screws must have a metric thread Connect shield with the greatest possible surface areal Use metallized housing only Pin Signal Sine
65. on of the Connector for Terminal X62 e 4 pin connector type PC 4 4 ST 7 62 Diameter of the cable apt for connecting 0 25 4 0 mm AWG 24 AWG 12 Bladed screw driver 0 6 x 3 5 x 100 mm Stud torque for the screw clamping terminal 0 5 Nm 4 4 5 3 Ibf inch Specification of the Motor Cable Cable size 4 1 5 mm AWG 16 4 Material Copper Temperature class 60 C Stripping length of cores 6 mm Bootlace ferrules are recommended Cable Shielding Braided copper shield of 80 coverage Connection of the motor to the digital servo amplifier JetMove 206B 230 has to be done following the wiring diagram below Connection of the brake is optional X10 I Important Notd 24V A free wheeling diode is necessary 7 in case it has not been integrated in ud the motor yet In Jetter motors Strain relief of t NN JM 206 B 230 free wheeling diodes have not been integrated Recommended diode type 1N4002 1 gt C SZ The shield is extensively connected with the 1 metallised connector housing 2 4 4 08 ini Brake i l Il Brake ir IK 1 l Srden yellow PE l l u2 1
66. operation in accordance with these operating instructions The digital servo amplifier JetMove 206B 230 may only be operated in the closed control cabinet and within the range of the set values seechapter 5 Technical Data page 35 Do not apply a voltage to the digital servo amplifier JetMove 206B 230 that is higher than the prescribed operating voltage The single phase or each of the three phases of the digital servo amplifier JetMove 206B 230 has got an operating voltage ranging between AC 195 V and AC 265 V Thus the digital servo amplifier comes under the EG Low Voltage Directive It is the explicit purpose of the digital servo amplifier JetMove 206B 230 to torque speed and position control and to drive brushless synchronous servo motors The winding insulation of the motors must be higher than or at least equal to the DC link voltage supplied by the servo amplifier The digital servo amplifier JetMove 206B 230 is used to control machinery such as conveyors production machines and handling machines 1 1 2 Usage Other Than Intended This digital servo amplifier must not be used in technical systems which to a high degree have to be fail safe e g ropeways and aeroplanes The servo amplifier JetMove 206B 230 is not a safety relevant device according to the machinery directive 2006 42 EG Therefore using this servo amplifier for safety relevant applications as regards safety of persons is neither adequate nor permitted I
67. or Metallized enclosure On the BUS IN X18 side e 9 female SUB D connector Metallized enclosure System Bus Cable Specification The following minimum requirements apply to the manufacture of the system bus cable Technical Data of the System Bus Cable Operating Principle Description Core cross sectional 1 MBaud 0 25 0 34 mm area 500 kBaud 0 34 0 50 mm 250 kBaud 0 34 0 60 mm 125 kBaud 0 50 0 60 mm Capacity of the cable 60 pF m max Resistivity 1 MBaud Maximum 70 km 500 kBaud Maximum 60 km 250 kBaud Maximum 60 125 kBaud Maximum 60 km Number of cores 5 Shielding Complete shielding no paired shielding Twisting Core pairs CL and CH must be twisted 67 7 Description of Connections 68 Allowed Cable Lengths Baud Rate Max Cable Max Tap Line Max Overall Tap Length Length Line Length 1 MBaud 30m 0 3m 3m 500 kBaud 100 m 1m 39m 250 kBaud 200m 3m 78m 125 kBaud 200m System Bus Cable of Cable Assy 530 Shielding Shield BUS OUT Connect shield with the greatest possible surface area Use metallized housing only Pin Signal Pin CMODEO k CL GND CMODE1 TERM Unassigned CH Unassigned o A OJN Do not connect o OJN Jetter AG J
68. otor is run by a current of 12 A for about 8 minutes and 30 seconds Because of the fact that after reset the I t calculation always starts with zero the motor overload calculation is wrong if the motor is already hot when the digital servo amplifier JetMove 206B 230 is switched on i e at the time of parameters of 121 calculation are written after switching on 24 V logic power supply Jetter AG JetMove 206B 230 E Important Jetter AG 5 2 Motor Protection 5 2 3 Motor Overload Calculation to UL The UL standard prescribes a motor overload detection for a servo amplifier according to the following criteria The trip current is defined to be 1 15 times the user set continuous rated current If the average motor current corresponds to the trip current the overload protection has to switch off the motor after a limited time If the average motor current is 2 times higher than the trip current the overload protection has to switch off the motor after at least 8 minutes lf the average motor current is 6 times higher than the trip current the overload protection must switch of the motor after at least 20 seconds This protection error message 31 is activated can be parameterized only through the rated current value The motor overload protection is always active and cannot be deactivated Because of the fact that after reset the motor overload calculation always starts with zero the result is wrong if the motor is a
69. ps you to find your way around this manual 6 Jetter AG JetMove 206B 230 Jetter AG Table of Contents Table of Contents n loc mh b uch oO NNN on 1 3 1 1 3 2 1 4 2 1 2 2 2 3 2 4 2 5 2 6 5 1 5 2 5 2 1 5 2 2 5 2 3 7 1 7 2 Safety Instructions General Safety Instructions Intended Conditions of Use Usage Other Than Intended Personnel Qualification Modifications and Alterations to the Device Repair and Maintenance Disposal Ensure Your Own Safety Malfunctions Information Signs and Labels Earthing Procedure Residual Dangers Hazards During Operation Hazards after POWER is turned OFF Instructions on EMI JetMove 206B 230 Installation Instructions Scope of Delivery Mechanical Installation Electrical Installation Checking the Installation Notes on Safety as regards the Installation Notes on Safety as regards Commissioning Operating Conditions Mounting Dimensions Technical Data Electrical Specifications Motor Protection Built In Temperature Sensor 121 Calculation Motor Overload Calculation to UL Drive Controller Structure Description of Connections Power Supply Connection Motor Connection 11 11 11 11 12 12 12 13 14 14 14 15 17 17 19 20 23 23 24 26 27 27 28 29 33 35 35 39 39 39 41 43 45 45 47 Table of Contents 7 2 4 General Remarks 47 7 2
70. r or autotransformer 81 10 Connection Diagrams 82 Jetter AG JetMove 206B 230 Jetter AG 11 1 Operating Principle 11 Analog Input Option 11 1 Operating Principle For the digital servo amplifier JetMove 206B 230 an optional integrated analog input card can be ordered article designation of the device JM 206B 230 IA1 This card supplies an analog input of a 12 bit resolution The converted value of the measured voltage can be read by a register of the JetMove in the PLC program or processed by the firmware of the JetMove in an additional controller This way it is possible for example to realize a pressure control loop in which the motor controlled by the JetMove generates the pressure A pressure sensor in the machine is connected to the analog input of the JetMove to deliver the actual pressure value for the control loop 11 2 Technical Data Technical Data of the Analog Input Connection SUB D connector male at the device Voltage range 0 10V Input current 1 4 mA max Resolution 12 bits Value range 0 32767 resolution in steps of 8 Electrical isolation None Accuracy Zero error max 5 LSB 40 values corresponds to 12 2 mV Gain error max 10 LSB 80 values corresponds to 24 4 mV 83 11 Analog Input Option 84 11 3 Description of Connections Specification of Mating Connector for X72 9 pin female SUB D connector Metallized housing Speci
71. ree wheeling diode is EV cee needed if it has not been I ou 12 I integrated in the motor I 0 In Jetter motors free o 12 PET wheeling diodes have I not been integrated erm5EC FPES 24 Recommended diode type 2 2 7 Zu 1N4002 MIN Iva m 1 Contactor 7 8 T wj z a L3 L2 L Fig 16 Connection diagram JetMove 206B 230 1 phase connection type of position transducer HIPERFACE Jetter AG JetMove 206B 230 see Page 67 Bus cable coming from previous bus member Bus cable leading to next bus member BUS OUT 3 ENCODER N o e o o N o 40 N oc JetMove 206B 230 Dig inputs Logic power supply X1 3 x AC 230 V U1 V1 PE 4 Please Note A free wheeling diode is EM needed if it has not been pr 12 de integrated in the motor i Filter In Jetter motors free poli L2 13 wheeling diodes have esp al not been integrated Gnd Recommended diode type 1N4002 Li Fig 17 Connection diagram JetMove 206B 230 3 phase connection type of position transducer Resolver Jetter AG 79 10 Connection Diagrams see Page 67 Bus cable coming from p
72. reen 5 3 unassigned yellow 6 6 Clock RS 485 gray 7 1 Clock RS 485 pink 8 4 OV blue 9 5 5 V power supply red 10 200 mA max 9 unassigned black 11 unassigned 12 Pin 9 and pin 12 are short circuited thermal sensor HIPERFACE The measurements of the EnDat mating connector are specified in millimeters 95 14 Counting Input Option 14 2 4 Power Supply of the Encoder The optional counter card supplies a voltage of 5 V 5 96 The EnDat encoders by Heidenhain have been specified to 3 6 through 5 25 V of 0 2 A max This results in a maximum voltage drop of AU 1 15 V on the EnDat cable The voltage drop can generally be calculated as follows 12 AU Z 2 1 mm jvc ini E AU y 161 m_ Given AU Voltage drop in V I Current consumption by the measuring device in A A Cross section of the supply cable in mm ie Cable length y Electric conductivity for copper 56 5 Example At a cable cross section of 0 34 mm there results a maximum cable length of 54 74 m or at a cable length of 80 m the following cross section is needed 0 55 mm By a double wiring arrangement the cable length can be doubled 96 Jetter AG JetMove 206B 230 14 3 Synchronous Serial Interface SSI 14 3 Synchronous Serial Interface SSI 14 3 1 Technical Data Technical Data of the SSI Input Encoder types Multiturn absolute encoder Scanning up to
73. ress Out of the Configuration Memory IP Address Taken from the Switch Position Safe Standstill Option Counting Input Option Operating Principle EnDat 2 2 Technical Data Description of Connections EnDat Cable with Mating Connector Power Supply of the Encoder Synchronous Serial Interface SSI Technical Data Description of Connections SSI Cable Incremental Encoder Technical Data Description of Connections Incremental Encoder Cable Ordering Information List of Documentation Options List of Appendices Appendix A Recent Revisions Appendix B Differences between JetMove 206 230 and JetMove 206B 230 Appendix C Glossary Appendix D List of Illustrations Appendix E Index Table of Contents 88 88 90 91 93 93 93 93 94 94 96 97 97 97 98 99 99 100 101 101 101 105 106 109 112 114 Table of Contents 10 Jetter AG JetMove 206B 230 Jetter AG 1 1 General Safety Instructions 1 Safety Instructions 1 1 General Safety Instructions The digital servo amplifier JetMove 206B 230 fulfills the accepted safety regulations and standards Special emphasis was given to the safety of the users Further the user should adhere to the following regulations pertinent accident prevention regulations accepted safety rules EC guidelines and other country specific regulations 1 1 4 Intended Conditions of Use Usage according to the intended conditions of use includes
74. revious bus member Bus cable leading to next member BUS OUT EN ERUETI 1 E 9 x 8 z co E de s co XT e g a N m 1 _ gt p T 2B 5 228 WIS 73 Da L ao c 9 s X62 1 Motor 3xAC 230 V LI 1 Lu t L PY 1 1 1 1 1 1 1 Please Note A free wheeling diode is needed if it has not been LU 127 13 l integrated in the motor In Jetter motors free 111 L2 93 PE wheeling diodes have been integrated 15 Recommended diode type r7rF731 1 1773 qNapoa t4 7 3 Br Br Contactor Fig 18 Connection diagram JetMove 206B 230 3 phase connection type of position transducer HIPERFACE 80 Jetter AG JetMove 206B 230 Jetter AG Key to the wiring diagrams _ 0 FF WO Ww Line filter optional refer to Line filter on page 36 Mains protection refer to Overload protection on page 35 Motor Motor holding brake option Position transducer resolver or HIPERFACE encoder Motor overtemperature protection Isolating transforme
75. ring Information 102 Jetter AG JetMove 206B 230 Appendix Appendices Jetter AG 103 Appendix 104 Jetter AG JetMove 206B 230 Jetter AG Appendix A Recent Revisions Appendix Chapter Remarks Revised Added Deleted 1 1 2 JetMove is no safety related part 1 1 3 Personnel qualification 1 2 3 Neutral conductor 7 1 instead of Direct earth conductor 2 1 Mounting accessories 3 Operating conditions v 5 1 Electrical specifications 7 AWG numbers v 7 2 1 Motor connection General remarks 7 2 2 Note on free wheeling diode in revision 3 02 7 4 2 Specification of HIPERFACE cable 7 5 Sin cos encoder v connection 7 6 Specification of terminal v X10 7 6 Note on free wheeling diode 9 1 Error messages F38 F39 v and F40 10 Note on free wheeling diode 12 Ethernet interface option 13 Safe Standstill v 14 2 3 EnDat cable specification 15 Ordering information v Appendix E Index Style spelling have been revised Addresses 105 Appendix 106 Jetter AG JetMove 206B 230 Appendix Jetter AG 107 Appendix 108 Appendix B Differences between JetMove 206 230 and JetMove 206B 230 The JetMove 206 230 servo amplifier has been developed further to become the servo amplifier JetMove 206B 230 The objectives of this further development have been the following e save compone
76. sible transport damages Check the shipment for completeness To ensure proper functioning of the JetMove 206B 230 check whether the mounting plate in the electric cabinet is unpainted The only possible mounting position is vertical see siehe fig 4 page 25 For sufficient air flow there has to be a clearance of 100 mm above and below the device Mark on the panel two positions for the fastening screw threads of the JetMove 230B 230 see fig 4 page 25 Drill the holes and cut the respective threads into the panel Screw the corresponding fitting bolts into the thread by approximately half of their length By means of the oblong holes in the rear plate hang up the JetMove 206B 230 by the fitting bolts then screw them tightly Jetter AG JetMove 206B 230 2 2 Mechanical Installation 58 lt gt 33 8 A gt lt gt 3 gt gt gt gt Es o EN LS ol G A a b RQ e o amp BEL le El lj g 55 Y 4 Y 8 5 g 12 5 lt gt lt gt Y 9 DETAIL A 4 1 Fig 4 Rear and front view of the JetMove 206B 230 enclosure with mounting h
77. t exceed 1 kW Operating from a 3 phase power supply there will be no differences 109 Appendix 110 Jetter AG JetMove 206B 230 Jetter AG Appendix Appendix C Glossary AC CE DC DIN EG EC Low Voltage Directive Electro Magnetic Compatibility EMC EN ESD Hazard analysis HIPERFACE IEC IP JetMove Alternating Current Alternating current Communaut s Europ enes European Union Direct Current Deutsches Institut f r Normung e V German Industry Standard Europ ische Gemeinschaft European Union To be considered when using electric devices of a rated voltage between 50 and 1 000 V AC and between 75 and 1 500 V DC Definition according to the EMC regulations EMC is the ability of a device to function in a satisfactory way in an electro magnetic environment without causing electromagnetic disturbances itself which would be unbearable for other devices in this environment Europ ische Norm European Standard Electrostatic Discharge Excerpt from the Machinery Directive The manufacturer is under an obligation to assess the hazards in order to identify all of those which apply to his machine he must then design and construct it taking account of his assessment High Performance Interface HIPERFACE designates a sensor transducer system by Sick Stegmann The SinCos motor feedback system with the standardised HIPERFACE interface is often used in digital drive techno
78. t change the version number contained in register 10131 Important 12 4 3 IP Address Taken from the Switch Position In all other switch positions the IP address is taken out of the configuration memory the lowest order byte fourth octet is substituted by the position of DIP switches 1 through 8 To make up the IP address the position of DIP switches 1 through 8 is read in once during the start up procedure The actual settings of DIP switches 1 through 8 can be scanned in register 10180 90 Jetter AG JetMove 206B 230 Jetter AG 13 Safe Standstill Option 13 Safe Standstill Option The digital servo amplifier JetMove 206B 230 does not provide the option Safe Standstill As an alternative JM 204 480 S1 can be applied in the same performance range if working by a mains voltage of 400 V is possible and if a motor of another back EMF constant is ordered Note The sales staff of Jetter AG will gladly assist you in the selection 91 13 Safe Standstill Option 92 Jetter AG JetMove 206B 230 Jetter AG 14 1 Operating Principle 14 Counting Input Option 14 1 Operating Principle For the JetMove 206B 230 an optional integrated counter card can be ordered article designation of the device JM 206B 230 CNT It supplies a counting input equipped with the following interface EnDat 2 2 by Heidenhain e Synchronous Serial Interface SSI Incremental counter The received or
79. t display every second Fault Message Table JetMove 206B 230 Error Type of Error Description Reaction Remedy Number F 00 Hardware error Internal hardware Immediate Separate the drive defect controller controller from the disable power lines Return the amplifier for repair F 01 Internal voltage One or more power Immediate Separate the drive supply error supply voltages are controller controller from the beyond their limits disable power lines Return the amplifier for repair F 02 Mains phase error Failure of one ofthe Immediate Checkfuses and wiring is only active in mains phases controller Acknowledge failure case of a 3 phase disable connection F 03 Motor cable The motor cable is Immediate Check the motor cable breakage broken controller connections disable Acknowledge failure Please be careful The motor cable is tested when the drive controller is enabled for the first time F 04 Overvoltage in the A DC link voltage of Immediate Check input voltage DC link 480 V is detected controller supply disable Ifthe motor is used as generator reduce the regenerating power Acknowledge failure Jetter AG 71 9 Diagnostics Fault Message Table JetMove 206B 230 Error Type of Error Description Reaction Remedy Number F 05 Over current The output currentis Immediate Check cable a
80. the JetMove 206B 230 by two screws only to the middle fixing holes in the control cabinet The two outer mounting hole pairs are exactly at the same position as the mounting holes of the servo amplifier JetMove 206 203 Thus interchangeability is realized Consequences for the user The installation in the control cabinet will be simplified Jetter AG JetMove 206B 230 Jetter AG Appendix Preparation for UL Certification On the development of the servo amplifier JetMove 206B 230 special attention was given to UL certification Consequences for the user In future the JetMove 206B 230 can also be acquired together with a UL certificate Power Factor Correction Using a 1 phase power supply the servo amplifier JetMove 206 230 was operated with a power factor correction circuit In the JetMove 206B 230 amplifier this has not been applied any more Consequences for the user Incase of a 1 phase connection the DC link voltage in motor mode no feedback by braking is 325 V instead of 380 V As a result the maximum possible motor speed will be reduced by approximately 15 Moreover the DC link voltage now is directly proportional to the input voltage and no longer independent of it The effective value of the network input voltage in 1 phase operation at the same motor performance is about 2 3 times greater In any case it will remain below the crucial fusing value of 10 amps provided that motor output power does no
81. value of the two Overload factor and time constant of the motor The 121 calculation has to be activated by JetSym or by the PLC program It is possible to parameterize the warning level The error level error 30 is set to 100 The Pt value is readable in a variable of JetMove 206B 230 through JetSym or the PLC The digital servo amplifier JetMove 206B 230 calculates the percentage of motor power loss according to the following formula 39 5 Technical Data 40 E Important t x t 100 x Quite motor current ues m E rated current x t displayed value of motor power loss in 96 t Time since start of motor running it with the average current in seconds T Motor time constant in seconds The formula shows that the 100 96 value will never be reached as long as the average motor current is lower than the continuous rated current of the motor Further calculating always starts by 0 at t 0 the result of the equation is 0 After some time that is by far longer than the motor time constant the result does virtually not change any more The time till error stop x 100 96 is a result of the following formula rated current 2 t Tx mfi aeren _ average motor curren After reset the values of the important parameters are Continuous rated 6A current Overload factor 2 Motor time constant 1 800 s 30 min With these parameters the 100 error level will be reached if for example the m
82. ve 206B 230 Dimensions DIP switches Disposal Drive controller specification E Earthing procedure 106 33 88 13 44 Earth leakage current breaker Electrical Specifications EMC EnDat cable specification KAY 0723 xxxx Ethernet interface option F Fault message table H HIPERFACE cable KAY 0723 xxxx Incremental encoder cable Information signs Installation Electrical Mechanical Safety instructions Installation checking Installation to EMC rules Instructions on EMI Intended conditions of use J JetMove 206B 230 LEDs L Leakage current LEDs of the Ethernet interface Line filter Maintenance Malfunctions Modifications Motor power cable Cable assy 201 Cable assy 202 16 35 31 95 85 71 60 95 100 14 26 24 27 27 26 20 11 69 15 87 36 12 14 47 12 53 54 Jetter AG JetMove 206B 230 Jetter AG Cable assy 24 1 Cable assy 26 1 Motor protection Motor winding isolation Mounting dimensions Mounting position N Noise immunity O Operating altitude Operating conditions Ordering information Oscillating of the motor Overvoltage category P Password Configuration memory Personnel qualification Pollution degree PWM frequency R Reference variables Repair Residual dangers Electric shock High operating voltage Hot surfaces Mech force 24 19 27 28 51 50 39 26 33 30 20 29 29 101 47 30
83. witch has tripped torque software travel limits monitoring of software limit switches is re enabled automatically at entering this range F 18 The trip of One hardware limit Stop at Check target position hardware limit switch has tripped max Check reference Switch is activated current position max Acknowledge failure torque Return the axis to a position within the machine travel limits monitoring of hardware limit switches is re enabled automatically at entering this range Jetter AG 73 9 Diagnostics Fault Message Table JetMove 206B 230 Error Type of Error Description Reaction Remedy Number F 20 Undervoltage in The DC link voltage Stop with Check the supply the DC link is less than the set emergenc voltage minimum value y Check the parameter decelerati min trip on ramp Acknowledge failure F 21 Overvoltage of the The DC link voltage Stop with Check the supply DC link voltage has exceeded the emergenc voltage set maximum value y In generator operation decelerati reduce braking power on ramp Acknowledge failure F 22 The drive is The drive could not Immediate Eliminate the cause of blocked overcome the n 0 controller blocking threshold within the disable Acknowledge failure time limit specified by the parameter blocking triping time F 23 Tracking error The tracking error Stop with Check the drive has exceeded the emergenc mech
84. y the following cable assy numbers Without brake Cable assy 201 With brake Cable assy 202 Mating Connector of the Motor solder side Solder Side Fig 11 SM series mating connector of the motor internal thread M40 Jetter AG JetMove 206B 230 7 2 Motor Connection Cable Specification of the Motor Power Cable with Mating Connector SM for JetMove 206B 230 For connection without motor holding brake Motor Power Cable Cable Assy 201 Connecting Shielding Mating Terminals of JetMove Connector ofthe 206B 230 Motor female solder side 4 x 4 mm Shielded highly AWG 12 4 flexible 4 wire cable with Solder Side The wires are GND n equipped with wire end amp 29 ferrules ls FCS Mating 8 Connector cae MM MI N on shield mesh A S45 Solder Side OS S05 94 Mating Connector Cable Strap Motor Cable Connect both sides of the shield with the greatest possible surface area Use metallized housing only Pin Wire Number Signal Pin X62 U2 1 Phase 1 X62 V2 2 Phase 2 V X62 W2 3 Phase 3 X62 PE yellow green PE conductor Dimensions of the motor mating connector are specified in millimeters Jetter AG 53 7 Description of Connections 54 For connection with motor holdin

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