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1. djustable li adjustable linear D Converter 15 V controller ENOC isolation PIVI OTR 24Vde 2 disconnection path with enable pin 1 9 STO2 deactivation of the driver supply IN our Eins EN i 1 15 VDC 1 W Le x ENEE linear controller 5V KON i as 1 GND ZK Hal bases ai I 5 3 3V Output siege 5V TR 15V TR 3 1 disconnection path driver STO1 4 PS PWM signal block d PWM drivel T al power module Pin 1 inverting I ui 6 3 3 N a Fl 3 3V 24V u tr 16 gt us Q Pin 3 T i 3 Output stage GND DSP driver FIR Pin 2 t o DGND 3 I 3 gt driver IC Kd S pa 6 l lt floating Ly fi feedback contact PWM signal feedback ii i ab REL1 amp Pnt ae 7Y driver supply feedback _ Pin 6 1 Safety circuit switch relay safety circuit 2 Disconnection paths 1 and 2 control inputs STO1 and STO2 3 Power output stage 4 Supply for the output stage drivers 5 PWM signal block 6 Feedback contact Figure 6 Mode of operation in the case of the DIS 2 310 2 FB FS STO When the Safe Torque Off STO function is active the energy supply to the drive is interrupted in a safe manner The drive cannot generate any torque and thereby neither any dangerous movements In the case of suspended loads or other external forces additional measures must be taken in order to prevent them from sagging e g mechanical holdi
2. 38 Evaluation of Six Step Sensors Hall and block commutation mode X2 38 Technical data Evaluation of Incremental encoder X2 044 38 Technical data Evaluation of HIPERFACE Encoders X2 nn 39 Technical data RS232 X5 sich AR Waa He BR in ieh 40 Technical data Digital inputs and outputs X1 oo cece ee eeeee eect eeaeeeeeeaaeeeeeeaeeeeeeas 40 Technical data Analogue inputs and outputs X1 ceececceeecceeeeeeeeeeeeee eee eeeeeeeeeeeees 41 Technical data Incremental encoder input X1 DIN4 DIN5 DIN6 42 Technical data Incremental encoder output X1 DOUT1 DOUT 42 Technical data Control ports X40 STO1 STO2 uersssessssnnnsnnnnnnnnnnnnnnnnnn 43 Technical data Feedback contact X40 REL1 REL2 usnseeennnennneennnn 43 Technical data CAN Bus X401 X402 eennennennnennnennnennnennnn 44 Technical data PROFIBUS X401 X402 nennnnnennennennnnnn 44 Technical data EtherCAT X401 X402 senennennnnnnnnnennennnn 44 SLOP Cate GOSS PABEFPREARIIFERT NOLTE EE AE ET AE aa Aari AA A EET EEEN Aa ENAR E REEERE 54 STO signal plausibility table ccesccesesceceeseeeeeeeseeeeeeeseeeseeseeeeeeeeseneeeesseeeaeesseaaes 56 Time data concerning Figure 7 uurs22444nnennnnensnnnnnnnnnnnnnnnennn nenn
3. ano Reference potential Reference potential Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation 8 2 7 Page 93 Connection Safe Torque Off STO X40 and X40A For further information concerning the safety function please refer to chapter 6 Configuration on the device X40 Counterplug X40 Configuration on the mounting plate X40A Counterplug X40A Length in metres Order number 1 5 1518960 5 0 1518986 10 0 1518999 LO o o 0888618388 O a o ol 888I8888 i od 5 8 Cog 5 L_ 2686 O olo 16 X40 R Pn O se pi E O KX afs ooi Gits eh amp e Figure 31 Molex No 87832 0614 Molex No 51110 0660 with up to 6 contacts Molex No 50394 8051 for example PhoenixContact M12 socket SACC DSI FS 5P PG 9 0 5 SCO 0 25 rear panel 5 pin type A coded for example M12 plug with xx m cable length SAC 5P MS xx PUR SAC UUUUUUULLL Le Example for X40A R The counterplug Molex No 51110 0660 mentioned above is attached to the free cable ends Position and connection STO signals X40 and X40A Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 94
4. Table 37 Pin assignment X40 STO1 O0OV 24V Control input 1 for STO function Teles eowesponding GND for STO1 and STO2 24V 24 V 20 Internal logic supply 24V REL1 Normally open contact for feedback STO to an external control system sro lo V 24V contro input 2 for STO function Normally open contact for feedback STO to an external control system Table 38 Pin assignment X40A Control input 1 for STO function lo V 24V contro input 2 for STO function Normally open contact for feedback STO Normally open contact for feedback STO Corresponding GND for STO1 and STO2 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 95 8 3 Connectors field bus modules DIS 2 310 2 FB FS STO The following types of technology modules can be integrated into the basic device DIS 2 310 2 FB FS STO The modules are factory assembled according to the order The RS232 interface is integrated in each technology module 8 3 1 Connection Serial interface X5 Configuration on the device M8 flush type socket 3 pin type Counterplug X5 M8 counterplug for free configuration for example Phoenix order number 1506901 or see accessories section 1 2 Table 4 ALU UUUUUUU M12 female M12 male M8 female O X402 X401 Figure 32 Position and connection RS232 interface Table 39 Pin assignment X5 Re
5. Feedback STO1 Feedback STO2 OK General Status window and Safety module Status window with the Version 3 0 Functional safety technology Page 71 Safety module Status Ready for operation on D 2 Normal operation Homing vali E Output stage active A E g a Erle Intermediate circuit loaded Safety circuit error Target reached Pt Motor servo Input sto1 C Undervoltage in the DC bus Input STO2 Din Limit switch 0 ur pat F sTo1 Din Limit switch 1 Serr Following error Feedback STO2 Homing run active Safety lt S OK Saicy status EEE Digital inputs Digital outputs FJ Error messages warnings E ol x Error text Figure 14 General Status window Safety module Status window and Error messages warnings window with the state Error Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 72 Ready for operation Normal operation Homing valid O Safe Torque Off STO Output stage active Safety circuit error Intermediate circuit loaded Target reached _ Pt Motor servo Input STO1 C Undervoltage in the DC bus C Din Limit switch 0 C Din Limit switch 1 CO Following error Input STO2 Feedback S
6. gt Cleaning gt long machine shutdowns Prior to carrying out maintenance work make sure that the power supply has been turned off locked and the DC bus circuit is discharged The external or internal brake resistor carries dangerous DC bus voltages during operation Contact may result in death or serious personal injury After the mains supply has been switched off the intermediate circuit capacitors of the DIS 2 310 2 FB FS STO carry a residual charge that only decreases slowly via internal discharge resistors in the DIS 2 310 2 FB FS STO duration gt 270 s to Uzx lt 60 V At Uzx 400 V the electrical energy per DIS 2 310 2 FB FS STO is Eczx 20 J bpb bE Please wait this time prior to performing any work on the affected connections For safety reasons control the intermediate circuit by measurement Contact with high intermediate circuit voltages may result in death or serious personal injury In applications where this is not acceptable the intermediate circuit must be rapidly discharged via an additional contact and a suitable dimensioned discharge resistor Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 23 Ho Io gt gt gt D Be careful during the assembly During the assembly and also later during operation of the drive make sure to prevent drill chips metal dust or assembly parts screws nuts cable sections from falling
7. 512 1024 lines per revolution Connection level 24 V single ended 24V 8V 30V active high following DIN EN 61131 2 Max input frequency FLimt 50 KHz lines s flimi depending on input filter data measured with Rinput 13 3 KQ and Cinput 470 pF The output provides incremental encoder signals that can be processed in superordinate control systems The signals are generated based on the angle of rotation of the encoder with a freely programmable line count The emulation provides one single ended track signal A and one single ended track signal B Table 19 Technical data Incremental encoder output X1 DOUT1 DOUT2 Parameter Values Number of lines Programmable to 32 64 128 256 512 1024 lines per revolution Connection level 24V max 20 mA Output impedance Ra 300 Q Limit frequency FLimt gt 100 kHz lines s flimi depending on cable length data measured with Rioag 1 KQ and Cyoag 1 NF which corresponds to a cable length of 5m Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Technical data Page 43 4 6 STO interface X40 Table 20 Technical data Control ports X40 STO1 STO2 Parameter Values Nominal voltage 24 V related to GND Voltage range 19 2 28 8V Permissible residual ripple 2 related to nominal voltage 24 V Input current STO1 0 5 mA typical maximum 1 mA Input current STO2 25 mA
8. Dangerous movements can be caused by faulty control of connected motors for different reasons Improper or faulty wiring or cabling Error in handling of components Error in sensor or transducer Defective or non EMC compliant components Software error in superordinated control system These errors can occur directly after switching on the device or after an indeterminate time of operation The monitors in the drive components for the most part rule out malfunctions in the connected drives In view of personal protection particularly the danger of personal injury and or property damage this may not be relied on exclusively Until the built in monitors come into effect faulty drive movements must be taken into account their magnitude depends on the type of control and on the operating state DANGER Dangerous movements Danger to life risk of injury serious personal injuries or property damage For the reasons mentioned above personal protection must be ensured by means of monitoring or superordinated measures on the device These are installed in accordance with the specific data of the system and a danger and error analysis by the manufacturer The safety regulations applying to the system are also taken into consideration Random movements or other malfunctions may be caused by switching the safety installations off by bypassing them or by not activating them Product Manual Servo drive DIS 2 310 2
9. ccceeeceeeeeeeetteeeeneeee Connection to power supply control and motor usennnennennenneeennnnnneennennnennennneen Connection and pin numbering X1 24442400444400nnnnnnnnnnnnnnnnnnnennnnnn nenn Position and connection motor cable usssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn anne Position and connection angle encoder 444444 nen nnnnnnnnnnnnnnnnnnnnnnnnnnnnn ann Version 3 0 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure 33 Figure 34 Figure 35 Page 9 Position and connection holding brake 44444snnnnnnnnnnnnnnnnnnennnnnnnnnn nn nnnn ann 89 Position and connection brake resistor uuurersnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnn nn nnnn ann 90 Position and connection technology module interface urs24srsnennnennnnnnennnnnnnnn 91 Position and connection STO signals X40 and X40A 2 ns0unnennnennnnn 93 Position and connection RS232 interface u nnersnsennnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 95 Position and connection CAN interface 0usnneernnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nen 97 Position and connection PROFIBUS interface ursnnsnnsennsnnnnnnnnennnnnnnnnnnnn nenn 98 Position and connection EtherCAT interface 40ursnnnnnnennnnnnnnnnnnnnnnnnnnnnnnennnnn 99 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3
10. reference signal Homing can be started by way of a command via the communication interface or automatically when the servo drive is enabled Optionally it is also possible to configure the start via a digital input by way of the parameterisation software DIS 2 ServoCommander in order to perform a homing process in a targeted manner regardless of whether the servo drive has been enabled or not The servo drive Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Function overview Page 50 enabling acknowledges error messages for example and can be switched off depending on the application without requiring another homing process when the servo drive is enabled again For homing several different methods have been implemented following the DSP 402 CANopen protocol For most methods the system starts by searching for an initiator at search speed The subsequent movement depends on the method and type of communication If a homing process is activated via an existing fieldbus there will be no follow up positioning to the zero position However if the homing process is started via a digital input follow up positioning to zero can be selected as an option The ramps and speeds for homing can be parameterised via the DIS 2 ServoCommander Homing can also be performed in a time optimal or jerk free manner A detailed description of the homing methods can be found in the DIS 2 ServoCommander software manual 5 3 2 Re
11. 2 310 2 FB FS STO servo drive evaluates different types of encoder feedback systems via the universal rotary encoder interface Resolvers Analogue Hall sensors Digital Hall sensors six step encoders Incremental encoders with digital Hall sensors Stegmann incremental encoders single turn and multi turn absolute encoders with a HIPERFACE interface The parameterisation of the relevant encoder evaluation in the servo drive is performed with the aid of the parameterisation software DIS 2 ServoCommander Table 10 Technical data Resolver evaluation X2 Parameter Values Suitable resolvers Industry standard Transformation ratio 0 5 Carrier frequency 10 kHz Resolution gt 12 Bit typ 15 Bit Delay time signal detection Speed resolution Absolute accuracy of angle lt 10 detection Max rotational speed 16 000 min Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Technical data Page 38 Table 11 Technical data Evaluation of analogue Hall sensor signals X2 Parameter Values Suitable Hall sensors HAL400 Micronas SS495A Honeywell and others Type differential analogue output Voy 2 0 V 3 0 V Signal amplitude max 4 8 Vss differential 0 Resolution gt 12 Bit typ 15 Bit Delay time signal detection lt 200 us Speed resolution approx 10 min Absolute accuracy of angle lt 30 d
12. 2 A 0 24 V logic supply 24 V DC 20 approx 200 mA 700 mA 100 mA internally protected with poly switch triggered at approx 1 A Brake chopper Brake chopper is integrated Uchop 390 V External brake resistor possible mounting on mounting plate Type PLR of Metallux Metronix order no 9519 0002 00 Resistance 100 Q Continuous power pulse power 30 W 1450 W An external fuse B10 is recommended see section 3 2 3 Current consumption of the DIS 2 310 2 without additional wiring 3 Maximum admissible current consumption of an optional holding brake Maximum current consumption when DOUTO to DOUT2 and the CAN bus are active 4 3 Motor connection X6 Table 8 Technical data Motor connection specifications X6 Parameter Values Specifications for operation with 230 Ver THousing 80 C Output power Output current 2 Aett Max output current for 1 s 6 Aet PWM frequency Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Technical data Page 37 Table 9 Technical data Motor temperature monitoring X2 Parameter Values Digital sensor Normally closed contact Reo lt 500 Q Riot gt 100 KQ Analogue sensor Silicon temperature sensors KTY series KTY81 2x0 KTY82 2x0 Ros 2000 Q KTY81 1x0 KTY81 2x0 Ros 1000 Q KTY83 1xx Ros 1000 Q KTY84 1xx R oo 1000 Q 4 4 Angle encoder connector X2 The DIS
13. 310 2 FB FS STO Version 3 0 Mechanical installation Page 79 The following two figures show a mounting example of an STO application In this case the mounting plate must be milled deeper so that the M12 circular connector X40A can be integrated Figure 21 DIS 2 310 2 FB FS STO mounting example with STO synchronous servo motor mounting plate with brake resistor and servo drive Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Page 80 Mechanical installation T were T yanm T n IT ums Jemen enn uama parem teem wines Pam aasa M IA Je Y Mala doL 9 T _ rf E Fa A BE A iubIy wg ynoge s 10 S1S31 oye q BY jPe 40 q q Jou Isnw ZB ayojasay pue Jojs sa oyeIg peuondo y JO pan asa si Bese payoyey uaap oy DIS 2 FB FS STO Example of a mounting plate universal Figure 22 Version 3 0 Product Manual Servo drive DIS 2 310 2 FB FS STO Page 81 Mechanical installation 77 ce ee ee ee eS ee ee a GEHE E a FSB epa er Te Ten en a TR Te O T T IT T some ze om cm em ew w o f Ta umos TI pae aem See e e e e ete fol eee a emf oe Lm I eeeseg OT repay Tepe ee ee ungen OLS Z S re RT fe lelelelezlalel amp aa ume fia scee j TEEI W Er os M JA Je9yY TEL ig Sp ta n m i i M M a email m M IA do a i 1 wwe jnoge SI 10 S1S31 ayeiq Sy jPe 9
14. 4 1 Ambient conditions and qualification uuueunnsnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnn 35 ALD S pply X 1a en 36 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 4 3 Motor Connection Kol eanan 36 4 4 Angle encoder connector X2 uuuus4400400000000nnnnn nenn nnnnnnnnnnnnnnnnn 37 4 5 Communication interfaces uuuunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 40 4 5 1 90232 Polka 40 4 5 2 I O interface X1 2 2 ee een 40 4 5 3 Incremental encoder input and output X1 42 4 6 STO interface X40 0u000s04400 nn 43 4 7 Fieldbus Interfaces s uusuuuseunsnunn nn anne 44 4 7 1 CAN Bus X401 402 era 44 4 7 2 PROFIBUS X401 402 2 22244404442 seen 44 4 7 3 EtherCAT X401 ADD Te 44 5 FUNCTION OVERVIEW einer 45 5 1 MOTOTS ono ARERRER FR FEAR RRGER ae aeaiee aa teaei e are eiea aea aae einai 45 5 1 1 Synchronous ServomOotors ssssessssssertrrteeseerrrrnrnrneseerrrrn nn 45 5 2 Current and speed Control seeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 45 5 3 Positioning Mode anne 48 5 3 1 HOMINO fact Sexes ned te te ti ceed ones era tered bo scans econ mes encase 49 5 3 2 Relative positioning sis en 50 5 3 3 Absolute positioning er NZ 50 5 3 4 Motion profile generator 50 5 3 5 Positioning seguenees ara anal 51 5 3 6 Software lIMPSWICNGS nick aka aaa nual aa 52 5 3 7 Br
15. E Eis K d S g i a p lt m 2 a gt ae vn iim I z Nm M ke 5 a g amp E 3 2 yi z i N UN I y amp ETO E CCC zer lt T 2 so lt al s la e m y a z al re 3 en T S 3 9 ioe E L g 7 N Y ES z z 3 S m al LU j z m z l 3 2 LB a z m ad Bos 2 a ES gt Isl 2 i S So gl a zi ON De TT gt a ep 3 5 x N eid a A N 5 da ALAE bi 2 5 au _ n min amp z t Z T E Figure 18 Dimensions of the housing Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Mechanical installation Page 78 7 4 Mounting The servo drive DIS 2 310 2 FB FS STO will be mounted directly to the motor using a seal The mounting flange at the motor should have a smooth surface with a circular slot to achieve the highest protection against water Further the mounting flange should have a milling groove for mounting the brake resistor and to keep the required clearance and creepage distances between DC bus potential and PE Achieving the protection degree of IP67 is possible by using a good mechanical construction Figure 19 Mounting example without STO synchronous servo motor mounting plate with brake resistor Figure 20 Mounting example without STO servo drive mounting plate motor Product Manual Servo drive DIS 2
16. Page 69 6 6 Parameterisation with the DIS 2 ServoCommander The DIS 2 ServoCommander DSC parameterisation software has been expanded for the use of DIS 2 FB FS STO servo drives with an integrated Safe Torque Off STO function A complete description of the parameterisation software can be found in the DIS 2 user manual The main additions are PL Status indication of the state machine of the firmware of the DIS 2 FB FS STO basic device Status indication of the STO input signals and the associated feedback signals Option to parameterise the discrepancy time between STO1 and STO2 Support of the specified warnings and error messages Din Lindt amich O ee Achas valum amA Digal outputs I Syneheonization Tanp in power unit eC Reversal of rotation direction u Laici Figure 12 Indication of the type of servo drive and extended status window 6 6 1 Servo drive type indication At the lower edge of the DSC main screen there is a status bar It shows the type of servo drive see Figure 12 6 6 2 Status indication of the state machine The status window i e the window that is permanently displayed in the online mode has been extended by the status indication of the state machine It shows the status of the functional safety in the firmware of the DIS 2 FB FS STO basic device see Figure 12 In addition the status of the internal state machine is indicated in the
17. Safety module window see section 6 6 3 Safety module Status window Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology 6 6 3 Safety module Status window Page 70 In order to use the DIS 2 FB FS STO servo drive with the integrated STO safety function the Safety module Status window has been added to the DSC parameterisation software It shows the status of the state machine in the DIS 2 FB FS STO The status results from an evaluation of the STO input signals and their respective feedbacks This window can be opened either via the menu Parameters Functional safety Status or via the Safety button in the quick access toolbar below menu bar see Figure 12 In order to emphasise its importance in view of the functional safety the Safety button is yellow The following shows the three states normal operation error and safe state reached amp Ready for operation Homing valid lt Output stage active C0 Target reached __ Ft Motor servo 0 Undervoltage in the DC bus Din Limit switch 0 __ DIn8 Limit switch 1 0 Following error 0 Homing run active Safety Digital outputs Figure 13 Safety status state Normal operation Product Manual Servo drive DIS 2 310 2 FB FS STO Normal operation Safe Torque Off STO Safety circuit error Input STO1 Input STO2
18. at all times Ao T Do not try to install or commission the servo drive before carefully reading all safety notes for electrical drives and controllers contained in this document These safety instructions and all other user notes must be read prior to any work with the servo drive In case you do not have any user notes for the servo drive please contact your sales representative Immediately demand these documents to be sent to the person responsible for the safe operation of the servo drive o If you sell rent and or otherwise make this device available to others these safety notes must also be included o Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 18 The user must not open the servo drive for safety and warranty reasons Professional control process design is a prerequisite for sound functioning of the servo Io 0 drive DANGER Inappropriate handling of the servo drive and non compliance with the warnings as well as inappropriate intervention in the safety features may result in property damage personal injuries electric shock or in extreme cases even death Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 19 w Danger resulting from misuse Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical d
19. into the servo drive Also make sure that the external power supply of the servo drive 24 V is switched off The DC bus circuit or the mains supply must always be switched off prior to switching off the 24 V servo drive supply Carry out work in the machine area only if AC and or DC supplies are switched off Switched off output stages or servo drive enablings are no suitable means of locking In the case of a malfunction the drive may accidentally be put into action This does not apply to drives with the Safe Torque Off STO feature see chapter 6 Initial operation must be carried out with idle motors to prevent mechanical damages for example due to the wrong direction of rotation Electronic devices are never fail safe It is the user s responsibility in the case an electrical device fails to make sure the system is transferred into a secure state The servo drive and in particular the brake resistor externally or internally can assume high temperatures which may cause serious burns Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 24 2 4 3 Protection against contact with electrical parts This section only concerns devices and drive components carrying voltages exceeding 50 V Contact with parts carrying voltages of more than 50 V can be dangerous for people and may cause electrical shock During operation of electrical devices some parts
20. liquids on the floor immediately to prevent slipping DbbbbbbbbD Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Product description Page 29 3 Product description 3 1 General 3 1 1 Basic information Servo drives of the DIS 2 series Decentralised Intelligent Servo 2 Generation are intelligent servo drives with extensive parameterisation options Due to this flexibility they can be adapted to numerous areas of application Type key DIS 2 310 2 FB FS STO a Safe Torque Off integrated functional safety variant fieldbus continuous current in amperes intermediate circuit voltage 2 generation type Figure 1 Type key 3 1 2 Area of application and intended use The DIS 2 310 2 FB FS STO servo drive was designed for the decentralised control of three phase permanent magnet synchronous machines Thanks to numerous encoder feedback options and various control methods such as block commutation and sine commutation the servo drive can be adapted optimally to the motor characteristics The servo drive must be installed directly on the motor The DIS 2 310 2 FB FS STO servo drive is supplied with 230 V AC At the motor connection it supplies the synchronous machine with a pulse width modulated symmetrical 3 phase rotating field with variable frequency current and voltage The controller unit is supplied with 24 V DC via a power supply unit Product Manual Servo drive DIS 2 310 2 FB F
21. nnnnnnnnnnnnnnnnnnnnnann 60 Time data concerning Figure 8 uur 22440nnsnnnnennnnnnnennennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn nn 62 Time data concerning Figure 9 u 22440r4s4nnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennn nn 64 Questions for a validation in accordance with EN ISO 13849 1 and 2 example 73 Pin assignment XI svi ett eet eines tr tees et 86 P n assignment AG 2 2 et ea Herr RB 87 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Table 33 Table 34 Table 35 Table 36 Table 37 Table 38 Table 39 Table 40 Table 41 Table 42 Table 43 Table 44 Page 11 Pin assignment X2 2 2 2 22 eee ia diel HE Re 88 Piniassignment XS 3 22 i hel ends ea 89 Pin assignment 300 42222 Bi ee 90 Pin assignment X8 4 2 12222 22 Ba Hier RER 91 Pin assignment XAU ienee Heerlen 94 Pin assignment X40A ceiros nani nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn nennen 94 Pin assignment X Herer E Hs AAE EEEE EEEE 95 Pin assignment to set up an RS232 adapter cable for connection to a PC NOTEDOOKE A TE EE EE einen E 96 Pin assignment X401 and X402 eeecceeeesteeeeeeee eee ee eaeeeeeeaaeeeeeeaeeeeeaeeeeeeenaeeeeneaa 97 Pin assignment X401 and X402 20044440444400nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 98 Pin assignment X401 and X402 cceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeaaeseeeeseeeeestaeeseneeee 99 OOE a ARS
22. of the machine part should be made of uncoated aluminium or galvanised sheet metal In order to ensure compliance with the interference emission limits we recommend using a shielded 230 V AC supply cable between the input line filter and the DIS 2 310 2 FB FS STO The maximum length is 10 m 9 5 Connecting the PC Plug the connector of the serial interface cable see the accessories 1 2 Scope of supply into the port for the serial interface X5 of the DIS 2 310 2 FB FS STO Plug the D Sub connector of the serial interface cable into an RS232 port of the PC Check all of the plug in connections The rest of the procedure is described in the software manual Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Start up Page 104 9 6 Checking whether the system is ready for operation 1 Ensure that the servo drive enabling DIN9 is inactive LOW 2 Switch the power supply of all ofthe devices on 3 Start the DIS 2 ServoCommander 4 The communication with the servo drive will be started 5 Parameterise the servo drive depending on the application If the communication with the servo drive could not be started there is a malfunction Perform the following steps 1 Switch the power supply off 2 Wait for 5 minutes in order to be sure that the intermediate circuit has been discharged 3 Check all of the connecting cables 4 Check whether the 24 V power supply operates correctly 5 Switch the pow
23. on the DIS 2 310 2 FB FS STO and let it lock into place Screw the braking resistor see the accessories 1 2 Scope of supply if necessary onto the mounting plate Connect it to the corresponding interface X300 on the DIS 2 310 2 FB FS STO and let it lock into place Check all of the plug in connections Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Start up Page 103 9 4 Connecting the DIS 2 310 2 FB FS STO servo drive to the power supply and to the control panel or control unit Ensure that the power supply is switched off Connect the connector X1 to the DIS 2 310 2 FB FS STO servo drive Alternatively the control panels can also be connected via X1 If applicable connect the superordinate control system to the fieldbus interface X401 X402 If applicable connect the connector of the integrated Safe Torque Off STO system X40 or X40A See also the note in section 6 2 2 Connect the 24 V connectors to a suitable power supply unit Make the mains supply connections Check all of the plug in connections O A good PE connection has only a low impedance even in the case of very high jji interference frequencies An optimum PE connection can be realised by mounting the DIS 2 310 2 FB FS STO directly on the motor If you want to mount the DIS 2 310 2 FB FS STO and the motor separately ensure to mount them on the same metal part of the machine In this case the surface
24. the connecting cables are laid is highly important for EMC considerations Il ensure to comply with the information that is given in section 8 4 Notes concerning the safe and EMC compliant installation DANGER Non compliance with the safety instructions that are stated in chapter 2 Safety notes for electrical drives and controllers may result in damage to property injuries electric shock or in extreme cases in death 9 2 Tools material PC with the parameterisation software DIS 2 ServoCommander Serial interface cable DIS 2 310 2 FB FS STO control panel or control unit Power supply cable Screwdriver or Allen key depending on the screws with which the DIS 2 310 2 FB FS STO is fastened on the motor 9 3 Connecting the DIS 2 310 2 FB FS STO servo drive to the motor Connect the connector see the connector set in section 1 2 Scope of supply to the motor cable Then connect it to the corresponding interface X6 on the DIS 2 310 2 FB FS STO and let it lock into place Connect the connector see the connector set 1 2 Scope of supply to the encoder cable and if included also to the motor temperature sensor Then connect it to the corresponding interface X2 on the DIS 2 310 2 FB FS STO and let it lock into place Connect the connector see the connector set 1 2 Scope of supply to the cable of the holding brake if necessary Then connect it to the corresponding interface X3
25. the state of the control inputs STO1 and STO2 due to the fact that the internal supply voltages ramp up with different speeds 6 2 5 Auxiliary supply 24V GND X40 The DIS 2 310 2 FB FS STO servo drive provides an auxiliary 24 V supply via X40 This auxiliary supply is intended solely for applying 24 V to the inputs STO1 and STO2 if the STO function is not used Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 59 6 3 Functionalities in the DIS 2 310 2 FB FS STO basic device The following functions in the basic device are not certified in accordance with the EN safety standards They are functional extensions and offer additional diagnostic options Error messages that are generated by the basic device e g when the discrepancy time is exceeded are registered and evaluated by the non safety relevant state machine of the servo drive If the conditions for an error state are recognised an error message will be generated In this case it cannot be absolutely guaranteed that the power output stage has been switched off safely go Note When error messages are acknowledged all of the acknowledgeable errors concerning the functional safety will be acknowledged as well see section 10 2 The servo drive monitors the status of the control inputs STO1 and STO2 This enables the firmware of the servo drive to detect the request of the STO safety function Safe Torqu
26. time If it is exceeded the servo drive will generate an error message A discrepancy time of 100 ms is preset Recommendation Ensure to always switch STO1 and STO2 simultaneously 6 2 3 2 Test pulses Temporary test pulses from safety control systems are tolerated i e they do not trigger a request of the STO function The tolerance with regard to test pulses of sensors with OSSD signals is configured for the operating range in accordance with the technical data in section 4 6 The permissible test pulse duration is slightly dependent on the control voltage level at the inputs STO1 and STO2 Example Input voltage for STO1 and STO2 24 V gt OSSD signals with a test pulse duration of 4 ms will be tolerated 6 2 4 Feedback contacts REL1 REL2 X40 If the STO function is not active the feedback contact is open This is the case for example if only one of the two control voltages STO1 or STO2 is applied if the 24 V logic supply voltage is switched off or in the event of a failure of the supply voltage If the STO function is active safe state the relay contact is closed The feedback contact is realised by way of one single channel It may be used for diagnostic purposes but not in the safety circuit Section 4 6 describes the technical data for the feedback contact When the 24 V supply of the basic device is switched on or off the switching state of the relay may briefly lt 20 ms deviate from
27. time can be parameterised by way of a higher value in the servo drive Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 63 6 4 3 Time behaviour for activating SS1 during operation with restart The time behaviour in Figure 9 is based on the SS1 example circuit in section 6 5 2 and on the control signal S1 for K1 You can find the time data in Table 29 safety switching device S1 K1 DIN9 K1 V STO1 STO2 bomeiow t STO ON DIS 2 FB FS STO Status closed REL1 REL2 open servo drive enabling DIN9 speed Holding brake RAV option servo drive enabling internal Figure 9 Time behaviour when activating the safety function SS1 external switching with restart Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 64 Table 29 Time data concerning Figure 9 tk Delay between the switching of S1 and the gt data sheet of the safety closing of the undelayed contact K1 switching device tv k1 Delay between S1 and the opening of the off Can be adjusted on the safety delayed contacts K1 switching device tsto on STO1 switch on time from low to high until the gt section 4 6 blocking of the PWM signal is deactivated or STO2 switch on time from low to high until the supply of the output stage drivers is available At this point of time both STO signa
28. x signal error Is the angle encoder cable defective Is the angle encoder defective Check the configuration of the angle encoder interface Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Page 111 CAN Possible causes measures Response Reaction error code 7380 Resolver track Is the resolver connected signal error or carrier failure Is the angle encoder cable defective Is the angle encoder defective Check the configuration of the angle encoder interface 9 5113 5V electronic The error may be due to a defective lt 5 ms X system supply angle encoder or Hall sensors or error due to a wiring error of X2 Possible error on technology module X8 Electronic error in the DIS 2 device The error cannot be eliminated by the user Return the servo drive to the distributor 10 5114 12 V electronic The error may be due to a defective lt 5 ms x system supply angle encoder or SINCOS encoder error or due to a wiring error of X2 Electronic error in the DIS 2 device The error cannot be eliminated by the user Return the servo drive to the distributor 11 5112 24 V logic supply Is the 24 V logic supply too highor lt 5ms X error too low Is it impossible to load the 24 V logic supply e g when the holding brake is actuated Error in the holding brake or in the wiring to X3 or overload of the brake output due to a brake wit
29. 0 Page 10 Table of Tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8 Table 9 Table 10 Table 11 Table 12 Table 13 Table 14 Table 15 Table 16 Table 17 Table 18 Table 19 Table 20 Table 21 Table 22 Table 23 Table 24 Table 25 Table 26 Table 27 Table 28 Table 29 Table 30 Table 31 Table 32 Scope of supply DIS 2 310 2 FB FS STO CANopen uunesseesssssennnennnnennennnnnnennnnnn 13 Scope of supply DIS 2 310 2 FB FS STO PROFIBUS uusssensessennnnesnnnnnnennnnn 13 Scope of supply DIS 2 310 2 FB FS STO EtherCAT sseessseennennnnennennnnnnennnnn 13 Accessories DIS 2 310 2 FB FS STO sersssnsssnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnn nen 14 Technical data Ambient conditions and quallification 00 ccsceeeeceeeeeeeeseeeeeteeeeeeeees 35 Technical data Dimensions and WEIQNH ccceeeeeseceeeeneeeeeeeeeeeeeeaeeeeeeaaeeeesaeeeeeeeaaes 35 Technical data Performance data power supply X1 cccseeeeseeeeeeeeeeeeeeeeeeeeeeeeees 36 Technical data Motor connection specifications X6 cccceeeseeeeeeeeeseeeeeseeeeeneeees 36 Technical data Motor temperature monitoring X2 eee eeeeeeeeeeeeeeeeneeeeeenaeeeeeenaes 37 Technical data Resolver evaluation X2 2004444004nnannnnnnnnnnnnnnnennnnnnnn nn 37 Technical data Evaluation of analogue Hall sensor signals X2
30. 0 the COM Port of the PC Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 General Page 15 Brake resistor for DIS 2 310 2 FB FS STO Metronix part number Plate resistor pre fabricated Metallux PLR 100 61 41 9519 0002 00 100 Q 10 30 W continuous power output dimensions 61 mm x 40 5 mm height approx 1 5 mm in the area of the connecting cables height approx 4 mm with strands 105 mm connector by JST VHR 2N and contacts SVH 41T P1 1 Parameterisation program DIS 2 ServoCommander Metronix part number 9019 0900 00 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 16 2 Safety notes for electrical drives and controllers 2 1 Used symbols Information il Important information and notes Caution Nonobservance may result in severe property damages DANGER Nonobservance may result in property damages and in personal injuries j AN Caution Dangerous voltages The safety note indicates a possible perilous voltage Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 17 2 2 General notes In case of damage resulting from non compliance with the safety notes in this manual Metronix Me ger te und Elektronik GmbH will not assume any liability o ite 5 iI Prior to the initial u
31. 0 q aq D gt amp y JOU JSNW 310 9194 pue 10 S1S91 aye q jeuondo OY 10 pan asa s Baye payoyey usa b y Version 3 0 DIS 2 FB FS STO Example of a realised mounting plate Product Manual Servo drive DIS 2 310 2 FB FS STO Figure 23 Electrical installation Page 82 8 Electrical installation 8 1 Connection to power supply control and motor The following figure shows a typical application with two or more DIS 2 310 2 FB FS STO servo drives with a connection to 230 V AC power supply to a 24 V DC logic supply and to a control or to a PLC without STO functionality The connector X40 for the integrated safety function Safe Torque Off STO is not shown in this figure The STO applications are described in section 6 5 to other DIS 2 310 2 FB Q1 So Ey a a Main filter z E A L mne DIS 2 310 2 FB N e o o ot MI Main switch Automatic circuit breaker e Fuse to other DIS 2 310 2 FB L rn External braking resistor 24V ovl4 Only one single DC Power Supply D central connection between 0 V DGND and PE 230 VAC 24 VDC LI 6 5 24 V max 0 7 A I DHA Resolver Encoder Figure 24 Connection to power supply control and motor Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 83 The servo drive is connected to the 230 VAC power supply via the main swit
32. 2 310 2 FB FS STO 85 8 2 1 Connection Power supply and I O X1 2222 85 8 2 2 Connection Motor X6 ansehe 87 8 2 3 Connection Angle encoder X2 cccccceeeeeseeeeeeeeeeeeeeeeeees 87 8 2 4 Connection Holding brake X3 ccceeeeeeeeeeeeeeeeeeeeeeeeeeeees 89 8 2 5 Connection Brake resistor X300 cccceeeeeeeeeeeeeeeeeeeeeeeeeeees 90 8 2 6 Connection Extension port X8 cccceeeeeeeeeeeeeeeeeeeeeeeeeeeees 91 8 2 7 Connection Safe Torque Off STO X40 and X40A 93 8 3 Connectors field bus modules DIS 2 310 2 FB FS STO sssse0ee 95 8 3 1 Connection Serial interface X5 0044444444440 95 8 3 2 Connection CANopen X401 and X402 97 8 3 3 Connection PROFIBUS X401 and X402 98 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 10 8 3 4 Connection EtherCAT X401 and X402 99 8 4 Notes concerning the safe and EMC compliant installation 100 8 4 1 Explanations and terminology 244444440snnnnn nennen 100 8 4 2 General information concerning EMC ussnss sn 100 8 4 3 EMC ranges First and second environment 101 8 4 4 EMC compliant Callie Heeres 101 STAHT UP a A A E A 102 9 1 General connection notes uuuunnnnn
33. 2 FB FS STO Version 3 0 Functional safety technology Page 60 6 4 Time behaviour Note o 1 The switching order of STO1 STO2can be changed in all of the diagrams However the switching times of the various channels differ from each other due to the underlying principle 6 4 1 STO basic time behaviour Figure 7 shows the basic time behaviour of the safety module You can find the time data in Table 27 J STO1 0 re O terror Di STO2 0 I i l prse ee a Do wo pe Ismo e o e terozon boi closed iN 1 STO2 OFE Status REL1 REL2 pen Fe ee Bon H gt Eom H Me Safety state f Figure 7 Basic time behaviour during the activation and deactivation of the STO safety function Table 27 Time data concerning Figure 7 tsto1 ON STO1 switching time from low to high gt section 4 6 STO1 switch on time from low to high until the blocking of the PWM signal is deactivated tsTo2 ON STO2 switching time from low to high gt section 4 6 STO2 switch on time from low to high until the supply of the output stage drivers is available tsTo1 OFF STO1 switching time from high to low gt section 4 6 STO1 switch off time from high to low until the blocking of the PWM signal is activated tsto2 OFF STO2 switching time from high to low gt section 4 6 STO2 switch off time from high to low until the supply of the output stage drivers is no
34. 24 V max 20 mA Encoder output A signal DOUT2 Freely configurable usable as 24 V max 20 mA Encoder output B Signal DOUTS on X3 Product Manual Servo drive DIS 2 310 2 FB FS STO Holding brake 24 V max 700 mA Version 3 0 Technical data Page 41 Table 17 Technical data Analogue inputs and outputs X1 Parameter Values High resolution 10V input range 12 Bit resolution differential analogue inputs lt 250us delay time Input protection up to 30V Analogue input Analogue input usable as input for current or speed setpoint AINO AINO Pins shared with DINO and DIN1 Analogue input Analogue input usable as input for current or speed setpoint AIN1 AINA Pins shared with DIN2 DIN3 Analogue output 0 10V output range 8 Bit resolution flimi 1kKHz AMONO Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Technical data Page 42 4 5 3 Incremental encoder input and output X1 The digital incremental encoder inputs and outputs can be used to realise a master slave synchronisation In addition the incremental encoder input can be used for the synchronisation with an external single ended ABN signal Alternatively the A and B inputs can also be interpreted as pulse direction signals Table 18 Technical data Incremental encoder input X1 DIN4 DIN5 DIN6 Parameter Values Number of lines Programmable to 32 64 128 256
35. 310 2 FB FS STO Version 3 0 Page 8 Table of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Product Manual Servo drive DIS 2 310 2 FB FS STO TYPO Key 2 2 nahin cite ited i cei atti aha Tr neuere Controller cascade block diagram 404440nsnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nenn Positioning control block diagram uu 2s444eennnnnnnnnnnnennnnnnnnnnnnnnnnnnnnn nen EEEE Motion profiles of the DIS 2 310 2 FB FS STO nnensneensnnnnnnnnnnnnnnnnnnnnnnn nn Path progran u in a RE evils aeetduslade Muyiceducsucadveviluacchdydede E Mode of operation in the case of the DIS 2 310 2 FB FS STO neeeneenne Basic time behaviour during the activation and deactivation of the STO Sate by function ai sac ebede handedth cenna nial dah dada TAA AE Time behaviour when activating the safety function STO with restart Time behaviour when activating the safety function SS1 external switching With restart 2 2 x Stee eee asics ee te eta ea slate eet A Circuit example Safe Torque Off STO ursnnsrsnsnnnnennnnnnennnnnnnnnnnnnnnnnnnnnnnnnnn nenn Circuit example Delays a
36. ANopen protocol as per DS301 and DSP402 Current consumption of the 5mA activated CAN technology module 4 7 2 PROFIBUS X401 402 Table 23 Technical data PROFIBUS X401 X402 Communication interface Values Controller PROFIBUS controller VPC3 C max 12 MBaud Protocol PROFIBUS DP 32 byte telegrams with mode dependent structure Current consumption of the 20 mA activated PROFIBUS technology module 4 7 3 EtherCAT X401 402 Table 24 Technical data EtherCAT X401 X402 Communication interface Values Controller ESC10 slave EtherCAT protocol CoE CANopen over EtherCAT Signal level 0 2 5 VDC Differential voltage 1 9 2 1 VDC Current consumption of the 35 mA activated EtherCAT technology module Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Function overview Page 45 5 Function overview 5 1 Motors 5 1 1 Synchronous servomotors In a typical application permanent magnet synchronous machines with a sinusoidal EMF are used The DIS 2 310 2 FB FS STO is a universal servo drive that can be used in conjunction with standard servomotors An automatic motor identification system can be used for the determination and parameterisation of the motor data 5 2 Current and speed control The current and speed control system is a cascaded control structure with an internal current control circuit and a superimposed speed control circu
37. Ambient conditions and qualification Admissible temperature ranges Storage temperature 25 C to 70 C Operating 0 to 80 C temperature Temperature switch off at approx 85 C Housing Ambient temperature 0 C to 30 C at nominal power With power derating respectively output current derating of 3 K from 30 C Admissible installation height Mounting height maximum 2000 m above msl above 1000 m above msl with power reduction 1 per 100 m Humidity Relative humidity up to 90 no bedewing Protection degree IP54 dependent on mounting IP67 may be achieved Protection class Pollution degree 2 EC type examination for See chapter 6 integrated safety function Safe Torque Off STO CE conformity Low voltage directive Directive 2006 95 EG Standard EN 61800 5 1 EMC directive Directive 2004 108 EG Standard EN 61800 3 with external line filter for example Epcos B84111 Interference emission First environment category C2 Interference immunity Second environment Table 6 Technical data Dimensions and weight Parameter Dimensions basic device H W D 56 x 80 x 112 mm without counterplug und mounting plate Weight approx 0 55 kg Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Technical data Page 36 4 2 Supply X1 Table 7 Technical data Performance data power supply X1 Supply voltage 1x 230 V AC 10 approx
38. Delay time signal detection lt 200 us Speed resolution approx 4 min Absolute accuracy of angle lt 5 detection Max rotational speed 6 000 min 3 000 min at 1024 increments revolution Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Technical data Page 40 4 5 Communication interfaces 4 5 1 RS232 X5 Table 15 Parameter Values Technical data RS232 X5 RS232 as per RS232 specification 9600 Baud to 115 2 kBaud 4 5 2 Table 16 Parameter Signal level VO interface X1 Technical data Digital inputs and outputs X1 Values 24V 14V 30V active high DINO DIN1 DIN2 DIN3 Bito Bit1 Target selection for positioning Bit2 16 targets selectable from target table Bit3 DIN4 usable as incremental input A signal DIN5 usable as incremental input B signal Bit4 Target selection for positioning 4 target groups with separate positioning parameter Bit5 selectable e g speed acceleration DIN6 usable as incremental input N signal Control signal start positioning DIN7 End switch input 0 DIN8 End switch input 1 DINQ Servo drive enable at high signal acknowledge error with falling edge Logic outputs general 24V 8V 30V active high short circuit rated to GND DOUTO 24 V max 20 mA Operational state Ready DOUT1 Freely configurable usable as
39. FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 27 2 4 6 Protection against contact with hot parts DANGER Housing surfaces may be hot Risk of injury Risk of burning Do not touch housing surfaces in the vicinity of heat sources Danger of burning Before accessing devices let them cool down for 10 minutes after switching them off Touching hot parts of the equipment such as the housing which contain heat sinks and resistors may cause burns Poe Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 28 2 4 7 Protection during handling and assembly Handling and assembly of certain parts and components in an unsuitable manner may under adverse conditions cause injuries DANGER Risk of injury due to improper handling A Personal injury due to pinching shearing cutting crushing The following general safety notes apply Comply with the general setup and safety regulations on handling and assembly Use suitable assembly and transportation devices Prevent incarcerations and contusions by means of suitable protective measures Use suitable tools only If specified use special tools Use lifting devices and tools appropriately If necessary use suitable protective equipment for example goggles protective footwear protective gloves Do not stand underneath hanging loads Remove leaking
40. FI metronix servo drives Product Manual Servo drive DIS 2 310 2 FB FS STO Metronix MeBgerate und Elektronik GmbH Phone 49 0 531 8668 0 KocherstraBe 3 Telefax 49 0 531 8668 555 38120 Braunschweig E mail vertrieb metronix de Germany http www metronix de Page 2 Translation of the original instructions Copyrights 2013 Metronix Me ger te und Elektronik GmbH All rights reserved The information and data in this document have been composed to the best of our knowledge However deviations between the document and the product cannot be excluded entirely For the devices and the corresponding software in the version handed out to the customer Metronix guarantees the contractual use in accordance with the user documentation In the case of serious deviations from the user documentation Metronix has the right and the obligation to repair unless it would involve an unreasonable effort A possible liability does not include deficiencies caused by deviations from the operating conditions intended for the device and described in the user documentation Metronix does not guarantee that the products meet the buyer s demands and purposes or that they work together with other products selected by the buyer Metronix does not assume any liability for damages resulting from the combined use of its products with other products or resulting from improper handling of machines or systems Metronix Me ger te und Elektronik GmbH r
41. PEFERSEPFFRRRENLPFERFSFLHERLEETETEEREFEFFERRTELEEPERFSLFREFEEERLLERFRFSEEEEFLEFLEEERESEEEERHRETELERTERF 110 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 General Page 12 1 General 1 1 Documentation This manual serves the purpose of a safe use of the DIS 2 310 2 FB FS STO servo drive It contains safety notes which must be complied with Further information can be found in the following manuals of the DIS 2 product range Mounting Instructions Servo drive DIS 2 310 2 FB FS STO Instructions on the installation of the DIS 2 310 2 FB FS STO servo drive English version CANopen Manual Servo drive DIS 2 Description of the implemented CANopen protocol as per DSP402 PROFIBUS Manual Servo drive DIS 2 Description of the implemented PROFIBUS DP protocol EtherCAT Manual Servo drive DIS 2 Description of the implemented EtherCAT protocol German version User Manual DIS 2 48 10 DIS 2 48 10 IC DIS 2 48 10 FB Description of the device functionality and the software functionalities of the firmware including the RS232 communication Description of the parameterisation program DIS 2 ServoCommander with instructions for the commissioning of a DIS 2 series servo drive You can find all these documents on our homepage at the download area http www metronix de Furthermore the manuals are part of the CD ROM DIS 2 ServoCommander Certificates and declaration
42. S 2 310 2 FB FS STO Version 3 0 Mechanical installation Page 74 If only STO2 is activated is the drive being stopped immediately and is the error Discrepancy time STO1 and STO2 exceeded being signalled display 24 in the DIS 2 FB FS STO after the discrepancy time has elapsed Does the system detect a short circuit between STO1 and STO2 or has a suitable fault exclusion been defined Only if a safety switching device with an evaluation of the REL1 REL2 feedback contact is used Is the drive being stopped in the event of a short circuit of REL1 and REL2 Is the restart being prevented This means that if the emergency stop has been actuated and if the enable signals are active there will be no movement following a start command unless an acknowledgement has been given Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Mechanical installation Page 75 7 Mechanical installation 7 1 Important notes The DIS 2 310 2 FB FS STO servo drive was designed for direct installation on the motor Optimum cooling can be ensured when the DIS 2 310 2 FB FS STO servo drive is mounted in a vertical position This means that connector X1 is located on top or at the bottom The maximum permissible temperature of the housing is 80 C to guarantee the specified service life of the electronic system Connect the connecting cable for X1 as closely as possible to the DIS 2 310 2 FB FS STO servo drive to
43. S STO Version 3 0 Product description Page 30 The DIS 2 310 2 FB FS STO was designed for continuous torque speed and position control in typical industrial applications such as Positioning and feed drives in machines Palletising and packaging machines Wood processing machines Drives of winding machines wire drawing machines etc Drives in screw and press fitting applications Conveying applications Prior to using the DIS 2 in special areas of application with particularly high normative requirements e g medical technology or avionics or in areas of application that require particularly high levels of device safety the user must check whether the DIS 2 310 2 FB FS STO fulfils the applicable standards In case of doubt please contact your local distributor The DIS 2 may only be used if the specified operating conditions and the technical data that are stated in chapter 4 are fulfilled In addition the mounting and start up instructions must be followed see chapters 7 8 9 3 1 3 Performance characteristics of the DIS 2 310 2 FB FS STO The DIS 2 310 2 FB FS STO has the following performance characteristics Compact design the housing closed on five sides can be mounted on the motor either directly or by way of an adapter plate see section 7 4 Mounting Highly precise control thanks to a high quality sensor system Full integration of all of the components of the control
44. TO1 Feedback STO2 C Homing run active OK Safety Safety status Safe state reached Digital inputs Digital outputs Figure 15 General Status window and Safety module Status window with the state Safe state reached 6 6 4 Safety module Parameters window In order to use the DIS 2 FB FS STO servo drive with the integrated STO safety function the Safety module Parameters window has been added to the DSC parameterisation software This window can be opened via the menu Parameters Functional safety Parameters and it is used to parameterise the discrepancy time This value is preset to 100 ms and should be fine for the usual applications If necessary the discrepancy time see section 6 2 3 1 between STO1 and STO2 can be prolonged to up to 1 s Safety module Parameters 2 Discrepance time 99 20 ms 99 20 ms af gt x Cancel Figure 16 Safety module Parameters window Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 73 6 7 Functional test validation go Note Il The STO function must be validated after the installation or after the installation has been changed This validation must be documented by the machine or system manufacturer As assistance for the commissioning process the following checklist example includes several questions for minimi
45. ake ManageMent cceeeeeeeeesecceeeeeeeeeeeeeeeaeeeeeeeeeeeeeeteeneaeees 52 5 4 Synchronisation electronic gear unit uusuennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 52 5 4 1 Pulse direction interface u 24444444440nnnnnnnnnnnnnnnnnnnnnnn 52 5 5 Use of digital and analogue inputs and outputSs uneessennnnnnnnnnnnnnnn 52 5 6 JOGGING and TEACHING anne 52 6 FUNCTIONAL SAFETY TECHNOLOGY uuuuususunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 53 6 1 General intended Use ne 53 6 2 Integrated Safe Torque Off STO function uussss0s0n0nnnnnnnn 54 6 2 1 General information concerning the STO function 54 6 2 2 Description of the STO safety function en 59 6 2 3 Control inputs STO1 STO2 X40 224440000snnnnn nennen 57 6 2 4 Feedback contacts REL1 REL2 X40 gt 58 6 2 5 Auxiliary supply 24V GND X40 2444444440Hen nenn 58 6 3 Functionalities in the DIS 2 310 2 FB FS STO basic device 59 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 6 4 Time DEN AVIOUN ZESRRHERERENEHENEREAERENEREREHEHEREREREREREREREHEREREFEREREEEREHERERERERERERERERERRRERE 60 6 4 1 STO basic time DeNAVIOUN eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 60 6 4 2 Time behaviour for activating STO during an operation with eStar dale nies aug vee a EE E r a an 61 6 4 3 Tim
46. anical system Configuration and type of wiring Superordinate control system The DIS 2 310 2 FB FS STO servo drive has been qualified in accordance with the product standard EN 61800 3 for electric drives based on an upstream line filter see section 4 1 Ambient conditions and qualification The declaration of conformity for the EMC directive 2004 108 EC is available from the manufacturer Caution In a residential i e non industrial environment this product can cause high frequency interferences that may require interference suppression measures Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 101 8 4 3 EMC ranges First and second environment The DIS 2 310 2 FB FS STO servo drive fulfils the requirements of the applicable product standard EN 61800 3 if the servo drive is installed in a suitable manner and if all of the connecting lines are wired in an equally suitable manner This standard no longer refers to limit value classes but to so called environments The first environment includes mains supply networks that supply residential buildings The second environment includes mains supply networks that supply only industrial buildings In addition these environments have been divided into interference emission categories First environment restricted availability gt category C2 rated voltage lt 1000 V Second environment gt category C3 rated v
47. aximum integrated value is reached a warning parameterisable will be issued When 100 is reached the maximum current will be limited to the rated current Monitoring of the automatic motor identification process The system monitors whether the automatic identification of the phase sequence number of pairs of poles and angle encoder offset have been performed successfully 10 1 7 Monitoring of the motion sequence Following error The deviation between the position setpoint and the actual position is monitored Positioning range A running positioning process is monitored to see whether the positions are within the adjustable positioning range Limit switches If both limit switches are active at the same time an error will be generated Path program The path program is monitored in order to detect invalid commands 10 1 8 Additional internal monitoring functions Memory test checksums The internal FLASH memory program and data flash memory is monitored by way of a checksum test and the processor stack is also monitored Operating mode Depending on the operating mode certain specific monitoring functions will be activated Communication The communication via the serial interface and fieldbus is monitored Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Page 108 10 1 9 Monitoring of the STO functionality Plausibility check The system checks whether the STO fe
48. c state 1 The feedback for disconnection path 2 is realised in an indirect manner via the power unit temperature T LT signal The temperature is transferred digitally square wave signal to the small voltage end DGND potential via a channel of the output stage drivers In the permissible temperature range the configuration of the transfer circuit ensures that the signal is always a square wave signal during the operation When the driver supply is disconnected via STO2 the driver supply feedback signal assumes the logic state 1 For self diagnosis the enable signals STO1 and STO2 and the associated feedback signals will be checked for plausibility in the DSP The plausibility check or the test of the safety function will be performed in accordance with the following truth table Table 26 STO signal plausibility table 24V STO1 STO2 PWM signal Driver supply Normally open feedback feedback contact STO1 STO2 REL 1 2 ON OV OV 1 1 closed safe state STO open open open Note io Floating feedback contact If an external diagnosis is required the semiconductor relay transfers the safe or unsafe state to a superordinate control system The PLC must perform a plausibility check in accordance with Table 26 contact closed STO state achieved at regular suitable intervals see the note in section 6 1 If an error occurs during the plausibility check the further operation of the syste
49. ceeeee 22 2 4 3 Protection against contact with electrical parts 24 2 4 4 Protection against electrical shock by means of protective extra low voltage PELV anne 25 2 4 5 Protection against dangerous movements uuneessenennnnnnneennn 26 2 4 6 Protection against contact with hot parts nn 27 2 4 7 Protection during handling and assembly en 28 3 BRODUCTDESCHIPHON un 29 Bed 51 1 2 1 NPFEBE PIERRE BEIDEN EBP DREIER EBEREREEBLTEUEEBERTEPEFBLTEEEBERPEPEPUPDERFEBERTEREPBEITERTE 29 3 1 1 BasieINiormalion sus sercreraxercamtcuercun sate sctpeste topes teoenete gt pareramewtes 29 3 1 2 Area of application and intended USGC cccccccccceceeeeeeeeeeeees 29 3 1 3 Performance characteristics of the DIS 2 310 2 FB FS STO 30 3 2 Power SUP Y ne 32 3 2 1 Single phase AC power supply ccceeeeeeeeeeeeeeteeeeeeeeeeeeeees 32 3 2 2 Intermediate circuit link DC SUPDIY cceeeeeeeeeeeeeeteeeeeeeees 32 3 2 3 Mains fuse protection 32 3 3 Brake ChOpper uu00u50n00 0 een 32 3 4 Communication interfaces u20000000000000nnnnnnnnn nn 33 3 4 1 RS232 interface cccccccccccccccccccecceeecceeeeeeceeeeeeeeeeeeeeeeeeeeeeeeess 33 3 4 2 GAN BUS en 33 3 4 3 PRORBUS ee 33 3 4 4 EtherGAT ae ee 33 3 4 5 I O functions and device Control cccccccceeeeeeeeeeeeeeeeeeeeeeeees 34 4 TECHNICAL DATA zu 5 00 ann una EEE ER ea 35
50. ceive signal RS232 specification Transmit signal RS232 specification Reference potential for the serial interface internally connected with the common reference potential for the logic system Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 96 Table 40 Pin assignment to set up an RS232 adapter cable for connection to a PC notebook X5 pin assignment at D SUB 9 connector pin DIS 2 310 2 FB for connection to a PC Transmit signal RS232 specification Specification E 2 Ro RxD_PC Receive signal RS232 specification Reference potential for the serial interface internally connected with the common reference potential for the logic system Connect the cable shield on both sides of Shield the connector housing Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 97 8 3 2 Connection CANopen X401 and X402 Configuration on the device X401 M12 flush type plug 5 pin type A coded X402 M12 flush type socket 5 pin type A coded Assembled M12 bus cable for example made by Phoenix one end male connector one end female connector pre fabricated lengths order name SAC 5P MS xxx 920 FS SCO xxx defines the length in m The following lengths are available xxx 0 3 0 5 1 0 2 0 5 0 10 0 15 0 Counterplug Length in metres Order number Length in m
51. ch or the main contactor A slow blow two pole automatic circuit breaker of 10 A B10 is recommended and has to be installed in the mains supply line If necessary a fault current protection switch RCD has to be installed additionally Oj Information Il Requirements for the use of fault current protection switches RCD see section 2 4 1 To fulfil the EMC directive an external line filter is necessary see section 1 2 Scope of supply In complex systems with many servo drives of the type DIS 2 310 2 FB FS STO the use of a suitable common line filter can be more useful for cost reasons The logic power supply is 24 V DC A shared reference potential OV is used A central star point near the power supply units for all GND connections reduces the ground bouncing effects between the servo drives The motor is connected to the board of the DIS 2 310 2 FB FS STO via connector X6 The DIS 2 310 2 FB FS STO controls an optional existing holding brake through connector X3 The encoder and the temperature sensor have to be connected through the recessed connector X2 on the circuit board The DIS 2 310 2 FB FS STO has an additional integrated brake chopper It is therefore possible to connect the braking resistor through the connector X300 on the circuit board as shown in Figure 24 Normally the braking resistor is installed on the mounting plate for the electronics housing DANGER Only use the brake resistor that is appro
52. controller is active in the servo drive Since the torque that is generated on the motor shaft is approximately proportional to the active current in the motor it is legitimate to use the term torque controlled mode TI The accuracy of the torque control depends mainly on the motor and also on the sensor system that is used to measure the rotor position With a good synchronous machine a high resolution rotary encoder SINCOS encoder and good controller adjustment the DIS 2 can reach a torque ripple in the range of 1 to 3 referred to the maximum current or to the associated maximum torque of the motor In the speed controlled mode a certain speed setpoint is specified The DIS 2 servo drive determines the current actual speed n_actual by way of the encoder evaluation In order to ensure compliance with the speed setpoint the current setpoint i_set is determined Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Page 47 Function overview E T E a os soon EEE a TOFTE a os USN uonels4d aju Josuas je u w u 10SU S SOYUIS b s l SOIN ser uis fN uo1e a1d13 U Josuas jeH an ojeue 19N 0SOY Moseid T _ gt A8SeUd neseud e g bf jow sda un 39u31 1 y pe x JOyyAUDOIOA Meseld N Aeseld N nose
53. ctor for bus IN or bus OUT Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Mechanical installation 3 Dimensions of the housing Page 77 T rr A mee es an n 2 3 n E E T I a 7 Hi 5 ol ol fra z 5 s 2 3 lt S og S Tea 5 lt 3 ee A D ET 5 5 T N E F ed a 2 z 5 A a ge aS d g 1 amp 2 2 3 Ion L Ee un Q 1 i T Th Hr je B 6l pA S
54. e will be issued When 100 is reached the maximum current will be limited to the rated current Check of the current measurement and offset calibration when the power stage is turned on When the power stage is switched on an automatic offset calibration of the current measurement will be performed If the offset is beyond the permissible tolerances an error will be generated 10 1 3 Monitoring of the intermediate circuit voltage Overvoltage monitoring The overvoltage monitoring system of the intermediate circuit responds as soon as the intermediate circuit voltage exceeds the operating voltage range As a result the power output stage will be switched off Undervoltage monitoring The system checks whether the intermediate circuit voltage is above a certain minimum limit parameterisable 10 1 4 Logic supply monitoring 24 V overvoltage undervoltage monitoring The supply of the logic component of the DIS 2 310 2 FB FS STO servo drive is monitored If the power supply of the logic component is too high or too low an error message will be issued Internal operating voltages All of the operating voltages that are generated internally e g the 3 3 V supply of the processor are monitored 10 1 5 Monitoring of the heat sink housing temperature Shut down at overtemperature The heat sink temperature of the power output stage is measured with a temperature sensor that is located in the IGBT module When the temperature limit is reac
55. e Off and various non safety oriented functions will be performed Detection of the PWM signal block by STO1 Detection of the disconnection of the driver supply for the power semiconductors by STO2 Deactivation of the drive control and also of the actuation of the power semiconductors PWM Deactivation of the actuation of the holding brake Evaluation of the actuation of the STO inputs discrepancy time Detection of application related error states Diagnosis of the hardware by way of a plausibility check of the disconnection paths Status and error indication via digital outputs fieldbuses etc o Note Il The brake is actuated via the non safety oriented firmware of the servo drive DANGER If one of the control inputs STO1 or STO2 is deactivated while the power output stage is active the drive will coast down without being braked if the holding brake is not connected This may damage the machine This is why we recommend connecting a holding brake to the servo drive It is possible to request the safe state while the actuation of the power semiconductors PWM is active The safety function requires both signals to have the same status It is only during a certain transition period the so called discrepancy time that unequal signals will be tolerated If this time is exceeded an error message will be triggered see section 6 2 3 1 Product Manual Servo drive DIS 2 310
56. e behaviour for activating SS1 during operation With restart astra 63 Sa E 6 11 T 65 6 5 1 Safe Torque Off STO Lunar 65 6 5 2 Delays and safe torque switch off SS1 Safe Stop 1 67 6 6 Parameterisation with the DIS 2 ServoCommander s ss000 69 6 6 1 Servo drive type indication cccccccceeceeeeeeeeeeeeeeeeeeeeeeeeeeeees 69 6 6 2 Status indication of the state machine unnss nn 69 6 6 3 Safety module Status window sssssssssssessssssssseeeeees 70 6 6 4 Safety module Parameters window sseseeeeeseeeeeees 72 6 7 Functional test validation uuuu u0u000200000000nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 73 7 MECHANICAL INSTALLATION nn 75 7 1 Important NOLES ZPEPEPRRITEFTPRRLTERTTERLT ERLTERETERLTERLTEL ERTEILT TTENELETTERLT IT OERELETTOERLTERETN 75 7 2 Position and alignment of the connectors uunrsusssnnnnnnennnnnnnnnnnnnnnnnnn 75 7 2 1 Connectors on the main board 242444444nnnnnnnnnn nennen 76 7 2 2 Connectors for the fieldbus interfaces and RS232 interface CANopen PROFIBUS or EtherCAT nn 76 7 3 Dimensions of the housing uuussnnnnsnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 77 7 4 MOUN NG a nF 78 8 ELECTRICAL INSTALLATION ns nn 82 8 1 Connection to power supply control and motor uuesseeennnnnnnnnnnnnn 82 8 2 Connectors on the basic device DIS
57. e controlled by way of a stepper motor card 5 5 Use of digital and analogue inputs and outputs In the case of the DIS 2 310 2 FB FS STO the two differential analogue inputs AINO and AIN1 can be used as digital inputs This means that four additional digital inputs are available The parameterisation is realised via the DIS 2 ServoCommander 5 6 Jogging and teaching This function offers the option to approach random target positions via the digital inputs and to save them in the internal position sets of the DIS 2 310 2 FB FS STO The speed of movement acceleration and jerk free part of the jogging mode can be parameterised via the DIS 2 ServoCommander Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 53 6 Functional safety technology 6 1 General intended use The DIS 2 310 2 FB FS STO servo drives support the integrated safety function Safe Torque Off STO according to the requirements of the standard EN ISO 13849 1 Furthermore the principles for testing Additional requirements for electrical power drive systems according to EN 61800 5 2 have been considered Safety indices Category Performance level Category 3 Performance level e PFH value probability of dangerous failure per hour PFH 4 45 10 h Note m 1 The indicated values are only reached under the following condition Regular testing of the STO function b
58. e from the mains or power supply Protect it from being switched on again For the installation the amount of DC bus voltage must be considered particularly regarding insulation and protective measures Ensure proper grounding wire dimensioning and corresponding short circuit protection gt D Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 25 2 4 4 Protection against electrical shock by means of protective extra low voltage PELV All connections and terminals with voltages of up to 50 Volts at the servo drive are protective extra low voltage which are designed safe from contact in correspondence with the following standards International IEC 60364 4 41 European countries within the EU EN 61800 5 1 DANGER High electrical voltages due to wrong connections Danger to life risk of injury due to electrical shock Only devices and electrical components and wires with a protective extra low voltage PELV may be connected to connectors and terminals with voltages between 0 to 50 Volts Only connect voltages and circuits with protection against dangerous voltages Such protection may be achieved by means of isolation transformers safe optocouplers or battery operation Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 26 2 4 5 Protection against dangerous movements
59. edback signals are in line with the associated STO input signals Discrepancy time monitoring The system checks whether the STO channels are activated within the set discrepancy time 10 1 10 Operating hour meter The DIS 2 310 2 FB FS STO servo drive has an integrated operating hour meter It is displayed via the DIS 2 ServoCommander parameterisation software in the menu Info Info on the Times tab The current count of the operating hour meter will be saved in the internal flash memory once per minute As a result there may be deviations of up to 60 seconds after a reset or power on Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Page 109 10 2 Error messages The following table provides an overview of all the errors that may occur In the Reaction column reactions that can be parameterised by the user are marked with an X O Il The parameterisation of the errors is described in the software manual The abbreviations C E and W have the following meaning C critical error The controlled operation of the motor cannot be guaranteed The power output stage will be switched off immediately The motor will coast down E error The motor will be decelerated based on the safety ramp Then the output stage will be switched off W warning The operation of the motor is still possible although perhaps only for a limited time The user ca
60. er Length in metres Order number 0 3 1523065 5 1524051 0 5 1523078 10 1524064 1 0 1523081 15 1524077 2 0 1521533 AL UUN M12 female M12 female M8 female 03 03 i 4 4 y u u X402 X401 X5 Figure 35 Position and connection EtherCAT interface Table 43 Pin assignment X401 and X402 2 5 VDC Transmission Data T RX fi 2 5 VDC Receive Data x lo 2 5 VDC Transmission Data 0 2 5 VDC Receive Data Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 100 8 4 Notes concerning the safe and EMC compliant installation 8 4 1 Explanations and terminology Electromagnetic compatibility EMC or electromagnetic interference EMI includes the following requirements Sufficient immunity of an electrical installation or electrical device against external electrical magnetic or electromagnetic interferences via cables or the environment Sufficiently small emission of electrical magnetic or electromagnetic interference of an electrical installation or electrical device to other devices in the vicinity via cables or through the environment 8 4 2 General information concerning EMC The interference emission and interference immunity of a servo drive always depends on the overall drive concept that includes the following components Power supply Servo drive Motor Electromech
61. er supply on Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Page 105 10 Service functions and error messages 10 1 Protection and service functions 10 1 1 Overview The DIS 2 310 2 FB FS STO servo drive has an extensive sensor system that monitors the controller unit power output stage motor and the communication with the outside world Errors that occur will be stored in the internal error memory Most errors will cause the controller unit to shut down the servo drive and power output stage The servo drive can only be switched on again after the error memory has been erased by an acknowledgement and after the error has been eliminated or ceased to exist Operational safety is ensured by an extensive sensor system and numerous monitoring functions Measurement of the motor temperature Measurement of the power unit temperature Measurement of the temperature inside the housing Detection of earth faults PE Detection of connections between two motor phases Detection of a short circuit of the braking resistor Detection of undervoltage overvoltage in the intermediate circuit Detection of errors concerning the internal voltage supply Measurement of the average power loss I t monitoring of the servo drive and motor Detection of errors during the current measurement process Detection of errors of the rotary encoder Detec
62. eserves the right to modify amend or improve the document or the product without prior notification This document may neither entirely nor in part be reproduced translated into any other natural or machine readable language nor transferred to electronic mechanical optical or any other kind of data media without expressive authorisation by the author Trademarks Any product names in this document may be registered trademarks The sole purpose of any trademarks in this document is the identification of the corresponding products ServoCommander is a registered trademark of Metronix Me ger te und Elektronik GmbH Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Page 3 Revision Information Metronix Me ger te und Elektronik GmbH Manual title Product Manual Servo drive DIS 2 310 2 FB FS STO P HB DIS 2 310 2 FB FS STO_3p0_EN docx Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Page 4 TABLE OF CONTENTS 1 GENERAL u een 12 1 1 Doc mentati sco un een 12 1 2 Scope Of Supply erinnern aaa 13 2 SAFETY NOTES FOR ELECTRICAL DRIVES AND CONTROLLERS 16 2 1 Used symboil8 u u 00u Eee 16 2 2 General n0fes ceiaiiu ae 17 2 3 Danger resulting from misuse uuusuus000n0nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 19 Dis AICLY NOUS EE T TATT 20 2 4 1 General safety notes 2 x0 naar 20 2 4 2 Safety notes for assembly and maintenance cc
63. etection Max rotational speed 16 000 min Other Signal levels on request as customer specific version please contact your local supplier Table 12 Evaluation of Six Step Sensors Hall and block commutation mode X2 Parameter Values Suitable Hall sensors Hall sensors with 5V supply 120 phase shift between phases open collector or push pull output iout gt 5 MA Resolution 6 steps per electric turn Delay time signal detection lt 200 us Speed resolution Depends on number of poles of the motor Max rotational speed 3 000 min on motors with two pole pairs Table 13 Technical data Evaluation of Incremental encoder X2 Parameter Values Pulse counts Programmable 32 to 1024 lines per revolution equivalent to 128 to 4096 increments revolution Input signal level 5 V differential inputs RS422 standard Power supply for encoder 5 V 100 mA max Input impedance R 1600 Q Max input frequency fmax gt 100 kHz pulses s Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Technical data Page 39 Table 14 Technical data Evaluation of HIPERFACE Encoders X2 Parameter Values Suitable encoders Stegmann HIPERFACE SCS60 70 SCM60 70 SRS50 60 SRM50 60 SNS50 60 SKS36 SKM36 SEK 34 37 52 SEL 34 37 52 for other types please contact your supplier Up to 16 Bit depends on number of increments
64. eterisation program are not part of the standard scope of supply They can be ordered as accessories Table 4 Accessories DIS 2 310 2 FB FS STO 1x Connector set for motor encoder holding brake Metronix part number 9019 3120 02 Content 1x 5 pole motor connector incl crimp contacts 1x 16 pole counterplug for angle encoder incl crimp contacts 1x 2 pole counterplug for holding brake incl crimp contacts 1x Connector set for power supply and I Os Metronix part number 1x 2 pole VARICON counterplug 9019 3120 01 for DIS 2 48 10 FB FS STO 1x 6 pole VARICON counterplug for DIS 2 310 2 FB FS STO 2x 8 pole VARICON counterplug incl sleeve frame sleeve housing and EMC cable gland parameterisation length approximately 150 cm M8 circular connector for the connection to the servo drive 9 pole DSUB connector for the connection to 1x Control panel DIS 2 310 2 FB FS STO Metronix part number 9019 0330 00 1x Line filter Metronix END 230 4 Metronix part number Necessary to fulfil the EMC directive EN 61800 3 9504 0005 conducted interference 1 environment category C1 1x Line filter Epcos B84111 A B110 Epcos order number Necessary to fulfil the EMC directive EN 61800 3 B84111A0000B110 conducted interference 1 environment category C2 1x RS232 connection cable for DIS 2 FB FS STO Metronix part number Pre fabricated connection cable for the servo drive 9019 0221 0
65. etres Order number 0 3 1518258 5 1518290 0 5 1518261 10 1518300 1 0 1518274 15 1518813 2 0 1518287 Terminating resistor CANopen M12 Order number 1507816 AN UUUUUUUUUU Uo M12 female M12 male amp female C SAZ 2 X402 X401 Figure 33 Position and connection CAN interface Table 41 Contact for cable shield in the DIS 2 310 2 FB FS STO connected with the housing Pin assignment X401 and X402 Not used Reference potential for the CAN bus internally connected with the common reference potential for the logic system CAN_GND OV signal CAN_H according to CAN Bus specification canmi lovsv Signal CAN_L according to CAN Bus specification Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation 8 3 3 Connection PROFIBUS X401 and X402 Page 98 The PROFIBUS interface at the servo drive DIS 2 310 2 FB FS STO is configured according to EN 50170 as a 5 pole M12 plug B coded at the technology module as plug and socket Configuration on the device Counterplug X401 M12 flush type plug 5 pin type B coded X402 M12 flush type plug 5 pin type B coded Assembled M12 bus cable for example made by Phoenix one end female connector straight shielded M12 B coded 2 pin type other end male connector straight shielded M12 B coded 2 pin type pre fabricated lengths order name SAC 5P MS xxx 920 FS SCO xxx defi
66. gital inputs provide basic control functions see section 4 5 2 I O interface X1 The DIS 2 310 2 FB FS STO servo drive has a target table in which positioning targets can be stored and from where they can be retrieved at a later point of time At least four digital inputs are used for the target selection one input is used as a start input The limit switches are used to limit the range of movement for reasons of safety During homing one of the two limit switches can be used as a reference point for positioning control One input is used for enabling the servo drive The DIS 2 310 2 FB FS STO servo drive has two analogue inputs for input levels in the range of 70 Vto 10 V Both inputs are differential inputs 12 bits in order to guarantee a high level of interference immunity The analogue signals are quantised and digitised by the analogue digital converter with a resolution of 12 bits The analogue signals are used to define setpoints speed or torque for the control If necessary the analogue inputs can also be used as digital inputs Synchronous operation is possible via the I O interface In this case the digital inputs DIN4 DIN5 and DIN6 are used as incremental encoder inputs and the digital outputs DOUT1 and DOUT2 as incremental encoder outputs Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Technical data Page 35 4 Technical data 4 1 Ambient conditions and qualification Table 5 Technical data
67. h a too high current consumption Electronic error in the DIS 2 device The error cannot be eliminated by the user Return the servo drive to the distributor 12 HW FW The firmware that has been loaded lt 5 ms X conflict is not suitable for the device e g DIS 2 48 10 firmware in a DIS 2 310 2 FB FS STO Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages CAN error code Possible causes measures Response Page 112 Reaction 5210 Current measurement offset error Overcurrent in the intermediate circuit output stage The error cannot be eliminated by the user Return the servo drive to the distributor Is the motor defective Is for example the winding overloaded and burnt Is there a short circuit between the winding and housing Is there a short circuit in the cable between two phases or between a phase and the shield Insulation of the motor phase connections Defect inside the DIS 2 output stage defective or insulation fault insulating foil 3220 Undervoltage in the intermediate circuit Is the intermediate circuit supply too lt 1 ms low Is it impossible to load the intermediate supply sufficiently e g during an acceleration with full current Check the configuration of the intermediate circuit monitoring system If necessary set it to 50 to 70 of the rated voltage 16 3210 Ove
68. hed an error message will be issued In addition a temperature warning will be issued when the temperature is approximately 5 C below the limit value Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Page 107 10 1 6 Motor monitoring Monitoring of the rotary encoder An error of the rotary encoder leads to the shut down of the power output stage In the case of a resolver the track signal is monitored for example In the case of incremental encoders the commutation signals are checked Other intelligent encoders have other error detection features Motor temperature measurement and monitoring The DIS 2 310 2 FB FS STO servo drive has an analogue input for measuring and monitoring the motor temperature Thanks to the analogue signal detection method also non linear sensors are supported The shut down temperature can be parameterised Alternatively the motor temperature can also be monitored by way of a normally closed contact or PTC In this case however the shut down threshold cannot be parameterised Pt current monitoring with warning for the motor The DIS 2 310 2 FB FS STO servo drive has an I t monitoring system to limit the average power loss in the motor Since the power loss in the electronic power system and in the motor increases in a square manner with the current in the worst case the squared current value is taken as the measure for the power loss When 80 of the m
69. ibitor offers several advantages fewer external components e g contactors reduced wiring and space required in the control cabinet N and thereby lower costs Another advantage is the availability of the system In the case of the integrated solution the intermediate circuit of the servo drive can remain charged As a result there are no significant waiting times when the system is restarted Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 55 6 2 2 Description of the STO safety function Use the Safe Torque Off STO function if you need to disconnect the motor safely from the energy supply for your application The Safe Torque Off function disconnects the driver supply for the power semiconductors and the PMW signals thereby preventing the power output stage from supplying the voltage that is required by the motor see Figure 6
70. ible check range Please contact the technical support team Electronic error in the DIS 2 device The error cannot be eliminated by the user Return the servo drive to the distributor 24 The discrepancy The control inputs STO1 and STO2 Can be x time of STO1 and are not actuated simultaneously adjusted STO2 has been in the exceeded The control inputs STO1 and STO2 psc are not wired in the same way Check the discrepancy time that has been parameterised with the ServoCommander Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Page 114 CAN Meaning Possible causes measures Response Reaction error code 2380 It at 80 Is the motor blocked Check the power rating of the drive package Motor temperature Check the power rating of the drive 5 C below package maximum Output stage Check the power rating of the drive lt 100 ms temperature 5 C package below maximum Has the DIS 2 been heated up by the motor If necessary decouple the DIS 2 thermally Check improve the installation and cooling conditions Following error Is the motor blocked Is the controller adjusted optimally in particular the internal control circuits for current and speed Is the parameterised acceleration too high The error window is too small Increase the window Intermediate circuit Please contact the technical su
71. increase the reliability of the cabling Installation spaces Keep a minimum distance of 100 mm to other components each underneath and above the device to ensure sufficient venting 7 2 Position and alignment of the connectors The DIS 2 310 2 FB FS STO has the following connections 08 112 Figure 17 Arrangement of the connectors DIS 2 310 2 FB FS STO Top view of the device Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Mechanical installation Page 76 7 2 1 Connectors on the main board X1 The only connector on the main board that is led to the outside It includes digital and analogue inputs and outputs and the power supply X2 Connector of the angle encoder X3 Connector of the holding brake X300 Connector for the brake resistor that is mounted on the mounting plate X6 Connectors for the three motor phases U V and W X8 Expansion interface for technology modules fieldbuses X40 Connector of the STO interface This interface is led to the outside via a 5 pole M12 circular connector The circular connector normally is fixed on the mounting plate 7 2 2 Connectors for the fieldbus interfaces and RS232 interface CANopen PROFIBUS or EtherCAT i X5 Connector for the RS232 communication for example to parameterise the DIS 2 310 2 FB FS STO X401 Fieldbus connector for bus IN or bus OUT X402 Second fieldbus conne
72. it These controllers are PI controllers The setpoint selectors are used to transfer setpoints from various sources to the corresponding controllers The following setpoint sources are available 2 analogue inputs gt AINO AIN 1 RS232 Fieldbus gt CANopen interface or gt PROFIBUS DP interface or gt EtherCAT interface Synchronisation input The block diagram Figure 2 shows the fundamental set up In the case of a rotor oriented control two phase currents and the rotor position are measured First the currents are transformed into an imaginary part and a real part with the help of a Clark transformation Then they are transformed back into the rotor coordinates by way of a Park transformation This allows the rotor currents to be controlled to corresponding rotor voltages using PI controllers and to transform them back into the stator system The driver signal generation uses a symmetrical pulse width modulation for the power stage in sine commutation with the third harmonic An integrator monitors the current time integral of the controller If a maximum value maximum current for 1s is exceeded a warning will be issued and the current will be limited to the nominal current Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Function overview Page 46 In the torque controlled mode a current setpoint i_set is specified for the active current controller In this operating mode only the current
73. it link of several DIS 2 310 2 FB FS STO servo drives via the X1 connector is possible The pin assignment of X1 is described in section 8 2 1 Connection Power supply and I O X1 A DC supply is not intended for the DIS 2 310 2 FB FS STO 3 2 3 Mains fuse protection If possible a two pole circuit breaker 10 A with delayed action B10 should be installed in the mains power supply line see also section 8 1 Connection to power supply control and motor 3 3 Brake chopper The DIS 2 310 2 FB FS STO servo drive has an integrated brake chopper A braking resistor is available as an accessory part see also section 1 2 Scope of supply in the form of a plate type resistor Ideally it is mounted on the mounting plate between the motor and servo drive see section 7 4 Mounting If the permissible charging capacity of the intermediate circuit is exceeded during the regenerative feedback the braking resistor can convert the braking energy into heat The brake chopper is controlled by the software Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Product description Page 33 3 4 Communication interfaces The DIS 2 310 2 FB FS STO servo drive has several communication interfaces Apart from the RS232 interface various fieldbus interfaces are also available The servo drive always operates as a slave on the fieldbus 3 4 1 RS232 interface The RS232 protocol is mainly used as a parameterisation interface The parameteri
74. ithout help from an external control system In this operating mode the controller cascade in the DIS 2 310 2 FB FS STO is extended as shown in Figure 3 The position controller is a proportional controller short P controller The current position is determined based on the information that is provided by the internal encoder evaluation The position deviation is processed in the position controller and passed on to the speed controller as a speed setpoint The trajectory generator calculates the motion profile that is needed to reach the target based on the current position and speed It provides the position setpoint for the position controller and a pilot speed for the speed controller in order to improve the control dynamics for rapid positioning processes The positioning control provides numerous messages that are required for the external control system e g a target reached message and a following error message following error monitoring i I following error T trajectory generator A correction speed position controller Position parameters of temp data set position speed positioning unit position setpoint J 4 ll NY Se setpoint fieldbus parameters l 2 homing F path program speed feed POS forward A A dead range target reached Y remaining distance message x actual positi
75. l support team 60 6190 Error during the Internal error lt 5ms X pre calculation of the positioning Please contact the technical support team 61 8762 SYNC message A SYNC message has not been lt 5ms X XIX timeout received within the set SYNC time 62 6180 Stack overflow Internal error lt 5ms X Please contact the technical support team Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Page 117 CAN Possible causes measures Response Reaction error code 5581 Checksum error Internal error Please contact the technical support team Initialisation error Internal error Please contact the technical support team m The servo drives manages error no 1 to 64 internally Il If your device displays an error number that is not described in the error table or that is marked as an unknown error contact your local distributor It is possible that these error numbers have been assigned during firmware extensions or to customised firmware versions with additional monitoring functions Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0
76. lative positioning In the case of relative positioning the target position is added to the current position As this does not require a fixed zero point homing is not compulsory However it is often useful in order to bring the drive to a defined position When several relative positioning sequences are added to one another e g for a trimming unit or a conveyor belt endless positioning in one direction is possible chain dimension In order to add a follow up positioning run to the current target position while a positioning run is in progress the option relative referred to last target can be used In addition a positioning run in progress can be aborted by a new positioning run without the drive having to stop for this purpose 5 3 3 Absolute positioning In this case the position target is approached independently of the current position In order to be able to perform an absolute positioning process we recommend referencing homing the drive beforehand However this is not compulsory and it is usually not performed if absolute encoders are used In the case of absolute positioning the target position is a fixed absolute position with regard to the zero point or reference point An absolute positioning run in progress can be aborted by a new positioning run without the drive having to stop for this purpose 5 3 4 Motion profile generator In terms of the motion profiles time optimal and jerk limited positioning can be di
77. lel to X1 ov 2av Digital 24 V input for limit switches parallel to X1 Reference potential Reference potential Serial interface signal RxD Serial interface signal TxD Field bus signal CAN_H before filter Field bus signal CAN_L before filter Technology module power supply j 3 3 V 2 100 mA max together with 5 V Technology module power supply 1 5 0 V 5 100 mA max together with 3 3 V Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 92 Continuation of the table Pin assignment X8 13 30 a12 Ao 32 ato a7 AF as 36 as As 38 a4 at 40 a2 All signals with 3 3 V CMOS logic level All signals with 3 3 V CMOS logic level 16 bit parallel interface data bus 16 bit parallel interface address bus Ds 42 ao RD 44 wr RQB SYNC 46 IRQA mos 48 SCLK miso 50 ss All signals with 3 3 V CMOS logic level Bus control signals for access to technology modules via the data and address bus and synchronous serial interface for access to technology modules with an SSIO interface
78. ler and power unit RS232 interface for the PC communication and a fieldbus interface CAN PROFIBUS or EtherCAT realised via a device integrated technology module that is connected to the basic device via an expansion slot Fieldbus connection to CANopen in accordance with CAN in Automation CiA DSP402 PROFIBUS in accordance with DP VO based on PROFIDRIVE version 3 1 EtherCAT CoE CANopen over EtherCAT Easy connection to a superordinate control system e g to a PLC via the I O level or fieldbus Integrated universal rotary encoder evaluation for the following encoder types gt Resolvers gt Analogue Hall sensors gt Stegmann incremental encoders single turn and multi turn absolute encoders with a HIPERFACE interface gt Digital Hall sensors six step encoders gt Incremental encoders with Hall sensors Integrated driver for the 24 V holding brakes Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Product description Page 31 Compliance with the current CE and EN standards with an external line filter all other filters e g filters for the 24 V supply and of the inputs and outputs to ensure compliance with the EMC regulations are integrated in the device EMC optimised metal housing for direct mounting on the motor IP54 degree of protection IP67 is possible depending on the mounting method and seals Can be used as a torque controller speed controller or position con
79. longer available tv Drive Internal delay due to the firmware Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 61 6 4 2 Time behaviour for activating STO during an operation with restart Figure 8 shows the time behaviour starting with the disconnection of the control voltage at STO1 2 and the sequence that is necessary for restarting the device You can find the time data in Table 28 Notes The actuation of the holding brake is realised via the basic device and not in a safety oriented manner The holding brake will not be engaged until the speed is at 0 The illustration shows the coasting of the motor regardless of the activation deactivation of the brake The setpoint will not be enabled until the holding brake delay ty grake orr has elapsed 1 i STO1 0 gt tsto1 oFF D E STO2 i Ws geseeteeissikeitienn 1 tstoron gt nz i closed Status REL1 REL2 open servo drive enabling DIN9 speed Holding brake 24V option e gt toe bzo rom servo drive 1 enabling internal 0 Figure 8 Time behaviour when activating the safety function STO with restart Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 62 Table 28 Time data concerning Figure 8 tsto1 ON STO1 switching time from low to high gt sectio
80. ls are high depending on the switching sequence and switching time tsTo OFF STO1 switch off time from high to low until the gt section 4 6 blocking of the PWM signal is activated or STO2 switch off time from high to low until the supply of the output stage drivers is no longer available At this point of time both signals are low depending on the switching sequence and switching time ty DIN9 low Delay during which DIN9 must still be low after STO1 2 have been switched on again and the status of the STO function has changed tv Drive Internal delay due to the firmware 0 5 ms ty Brake ON Switch off delay of the holding brake time until Depending on the brake 1 the brake is engaged Ty Brake OFF Switch on delay of the holding brake time until Depending on the brake 2 the brake is released 1 Physical delay until the brake is closed This time should be parameterised at minimum in the servo drive in order to keep the internal servo drive enabling set until the brake has really engaged e g in order to prevent any suspended loads from slipping 2 Minimum time Physical delay until the brake is open This time can be parameterised by way of a higher value in the servo drive Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 65 6 5 Circuit examples 6 5 1 Safe Torque Off STO transmitter
81. m must be prevented by the control system e g by blocking the enable signal or by switching the mains contactor off Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 57 DANGER The drive may start with a jerk in the event of multiple errors in the DIS 2 310 2 FB FS STO If the output stage of the servo drive fails while in the STO state simultaneous short circuit of 2 power semiconductors in different phases a limited dwell movement of the rotor may result The angle of rotation distance corresponds to a pole pitch Examples Rotary axis synchronous machine 8 pole movement lt 45 at the motor shaft Linear motor pole pitch 20 mm gt movement lt 20 mm at the moved part m Note jji X40 is not connected in the delivery state The scope of supply includes an STO connecting cable pre assembled on both ends with the M12 device interface circular connector for STO wiring If the STO function is not required the scope of supply includes an alternative mating connector for X40 that can be used for bridging the pins 1 3 and 5 in order to deactivate the STO function 6 2 3 Control inputs STO1 STO2 X40 The control inputs STO1 and STO2 are used for requesting the STO safety function Safe Torque Off via two channels They enable the direct connection of safe semiconductor outputs electronic safety switching devices active safe
82. mmander or the control of the servo drive X5 is part of the fieldbus module and is looped through to the basic device The signals for the digital IOs DINx and DOUTx do not need a shield to protect them against interferences but a shielded cable between the DIS 2 servo drive and the control system improves the EMC behaviour throughout the entire system particularly in view of radiated interferences At least the control signals DIN9 servo drive enable and DOUTO ready for operation have to be connected between the PLC and the servo drive For synchronization DIN4 5 and 6 are used as incremental encoder inputs and DOUT1 and DOUT2 are used as incremental encoder outputs Make sure that the servo drive is completely wired prior to switching on the power supply for the intermediate circuit DC bus and the logic system If the 24 V DC power supply connections are reversed if the power supply is too high or if the connections of the intermediate supply and the logic supply are mixed up the DIS 2 310 2 FB FS STO servo drive may be permanently damaged il Verify that the power supply used for the power and for the logic part fulfil the specifications for the DIS 2 310 2 FB FS STO and are correspondingly resistant see Table 7 Technical data Performance data power supply X1 All power supply units must have PELV Protective Extra Low Voltage Intermediate supply 230 V AC Logic supply 24 V DC DANGER Wrong connec
83. n 4 6 STO1 switch on time from low to high until the blocking of the PWM signal is deactivated tsTo2 ON STO2 switching time from low to high gt section 4 6 STO2 switch on time from low to high until the supply of the output stage drivers is available tsto1 OFF STO1 switching time from high to low gt section 4 6 STO1 switch off time from high to low until the blocking of the PWM signal is activated tsto2 OFF STO2 switching time from high to low gt section 4 6 STO2 switch off time from high to low until the supply of the output stage drivers is no longer available toIng low Time during which DIN9 must be low before STO1 2 will be switched on again ty DIN9 low Delay during which DIN9 must still be low after STO1 2 have been switched on again and the status of the STO function has changed tv Drive Internal delay due to the firmware 0 5 ms tV Brake ON Switch off delay of the holding brake time until Depending on the brake 1 the brake is engaged TV Brake OFF Switch on delay of the holding brake time until Depending on the brake 2 the brake is released Physical delay until the brake is closed As far as this example is concerned this time does not need to be parameterised in the servo drive since at this point of time the internal servo drive enabling is no longer set due to the STO selection 2 Minimum time Physical delay until the brake is open This
84. n invalid jump destination an invalid target position will be addressed Node guarding timeout A remote frame has not been received within the set nodeguarding time 47 Error PROFIBUS Has the correct FW been loaded lt 5ms x piggy Please contact the technical support team Product Manual Servo drive DIS 2 310 2 FBFS STO Version 3 0 Service functions and error messages CAN error code Possible causes measures Page 116 Reaction Error PROFIBUS initialisation Please contact the technical support team EtherCAT communication error The communication is disturbed Check the installation under EMC aspects PROFIBUS communication error The communication is disturbed Check the installation under EMC aspects CAN communication error The communication is disturbed Check the installation under EMC aspects Check the baud rate setting Check the node number setting Is the node used more than once in the network RS232 communication error The communication is disturbed Check the installation under EMC aspects Position data set error There is a conflict between the acceleration and the set travel speed Please contact the technical support team Incorrect operating mode The operating mode has been changed while the power stage is on General arithmetic error Internal error Please contact the technica
85. n parameterise whether warnings will be displayed or not gt Display The error will be displayed but no other measures will be taken gt No display The error will be ignored completely Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Page 110 Table 44 Error overview CAN Possible causes measures Response Reaction error code time ol c e w 4310 Motor Check the configuration of the lt 100 ms overtemperature temperature monitoring system Is the temperature sensor wired correctly Is the movement of the mechanical system impaired or is the motor too hot Undertemperature Temperature of the electronic power lt 100 ms X X overtemperature of system lt 40 C or gt 85 C the electronic system Has the DIS 2 been heated up by the motor If necessary decouple the DIS 2 thermally Check improve the installation and cooling conditions SINCOS supply Is the angle encoder connected error Is the angle encoder cable defective Is the angle encoder defective Check the configuration of the angle encoder interface SINCOS RS485 Is the angle encoder connected communication error Is the angle encoder cable defective Is the angle encoder defective Check the configuration of the angle encoder interface Is a new or unknown SINCOS encoder being used 7 7390 SINCOS track Is the angle encoder connected lt 5ms
86. nd safe torque switch off SS1 Safe Stop 1 Indication of the type of servo drive and extended status window eenneeneen General Status window and Safety module Status window with the state Normal operation 4srsnnennsennnnnnnnnnennnnnnnn General Status window Safety module Status window and Error messages warnings window with the state Error General Status window and Safety module Status window with the state Safe state reached rsnnennennsennnnnnnennnnnnnnnn Safety module Parameters window usensssssennnnneennnnnnneennnnnneennnnnnennensnnnenennenn Arrangement of the connectors DIS 2 310 2 FB FS STO Top view Of the device uuenenneenessnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnennnnennennsnnnennsannesnn Dimensions of the housing 4u44240ennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrn anne Mounting example without STO synchronous servo motor mounting plate Wwith brak amp tesistorn za e en rn A E T Mounting example without STO servo drive mounting plate motor DIS 2 310 2 FB FS STO mounting example with STO synchronous servo motor mounting plate with brake resistor and servo drive DIS 2 FB FS STO Example of a mounting plate universal 0ueeneennnennnnnn DIS 2 FB FS STO Example of a realised mounting plate 0
87. nes the length in m The following lengths are available Xxx 0 3 0 5 1 0 2 0 5 0 10 0 15 0 Length in metres Order number 0 3 1518106 0 5 1518119 1 0 1518122 2 0 1518135 Terminating resistor PROFIBUS M12 1507803 AM M12 female X402 M12 male j X401 JUUUUUUUU Loo M8 female f NN 01 30 a f XS Length in metres Order number 5 1518148 10 1518151 15 1518164 Figure 34 Table 42 Position and connection PROFIBUS interface Pin assignment X401 and X402 Internally connected with the common reference potential for the logic system Contact for cable shield in the DIS 2 310 2 FB FS STO connected with the housing Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 99 8 3 4 Connection EtherCAT X401 and X402 The EtherCAT interface at the servo drive DIS 2 310 2 FB FS STO is configured according to IEC 61076 2 101 as a 4 pole M12 socket shielded and D coded at the technology module Configuration on the device X401 M12 flush type plug 4 pin type D coded X402 M12 flush type plug 4 pin type D coded Counterplug Assembled M12 Bus cable for example made by Phoenix Contact shielded M12 D coded 4 pin type cable pre fabricated lengths order number Length in metres Order numb
88. ng brakes In the Safe Torque Off STO state the standstill position will not be monitored The machine must be stopped in a safe manner e g via a safety switching device This applies particularly to vertical axes without a self locking mechanism arresting device or weight compensation The Safe Torque Off STO function requires a configuration with two channels i e a restart must be safely prevented via two completely independent separate channels These two channels for interrupting the energy supply to the drive with the safe pulse inhibitor are called disconnection paths Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 56 1 disconnection path Via STO1 X40 1 the PWM signals from the DSP are inhibited by setting the enabling pin of the 8 pin line driver to high As a result the output stage drivers will no longer be actuated by pulse patterns 2 disconnection path The input voltage for the DCDC converter is disconnected via STO2 X40 5 This also disconnects the 15 V TR supply voltage for the power module and the 5 V TR supply voltage for the output stage drivers There are so called feedback paths for both channels Feedback for the STO1 disconnection path is realised via the eighth channel of the PWM line driver When the signals are blocked the channel will assume a high resistance at the output so that the PMW signal feedback signal assumes the logi
89. nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 102 9 2 Tools material unnnasnnensn anne 102 9 3 Connecting the DIS 2 310 2 FB FS STO servo drive to the motor 102 9 4 Connecting the DIS 2 310 2 FB FS STO servo drive to the power supply and to the control panel or control unit uuesseennnnnnnnnnnnnnn 103 9 5 Connecting ine P GC a a Fa a ae 103 9 6 Checking whether the system is ready for operation 00 104 SERVICE FUNCTIONS AND ERROR MESSAGES uuuusuunnnnnnnnnnnnnnnnnnnnnn 105 10 1 Protection and service functions uuuusssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 105 10 121 QVGRVWIOW p een 105 10 1 2 Overcurrent and short circuit monitoring r44 4 106 10 1 3 Monitoring of the intermediate circuit voltage 106 10 1 4 Logic supply monitoring eet ttre ete ee 106 10 1 5 Monitoring of the heat sink housing temperature 106 10 1 6 Motor monitoring ns kennen 107 10 1 7 Monitoring of the motion sequence eessssssssssessserrrnressseeree 107 10 1 8 Additional internal monitoring functions 0 107 10 1 9 Monitoring of the STO functionality 22440000snnn ernennen 108 10 1 10 Operating hour meter cece eee e cette eeeeeeeeeneeeeeeeeeeeteee 108 10 2 Error MCSSAQCS AREBERERERFBEREREREREHEEERENERERERFEEHEETEEGERERERERERERERERERERERERERERBEERERERERETR 109 Product Manual Servo drive DIS 2
90. of these devices will inevitably carry dangerous voltages DANGER High electrical voltage Danger to life danger due to electrical shock or serious personal injury The appropriate DIN VDE EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system The plant engineer or the operator is responsible for compliance with these regulations Before switching on the device install the appropriate covers and protections against accidental contact Rack mounted devices must be protected against accidental contact by means of a housing for example a switch cabinet The national regulations for safety accident prevention must be complied with gt Always connect the ground conductor of the electrical equipment and devices securely to the mains supply Comply with the minimum copper cross section for the ground conductor over its entire length see for example EN 60800 5 1 Prior to the initial operation even for short measuring or testing purposes always connect the ground conductor of all electrical devices as per the terminal diagram or connect it to the ground wire Otherwise the housing may carry high voltages which can cause electrical shock gt D Do not touch electrical connections of the components when switched on Prior to accessing electrical parts carrying voltages exceeding 50 Volts disconnect the devic
91. oltage lt 1000 V 8 4 4 EMC compliant cabling The following must be considered for an EMC compliant setup of the drive system The mains end PE connection must be connected to the PE connection point of the supply connection X1 The PE conductor of the motor cable must be connected to the PE connection point of the motor connection X6 The signal lines must be as far away from the power cables as possible They should not be placed parallel If intersections cannot be avoided they should be perpendicular that is at a 90 angle if possible Unshielded signal and control lines should not be used If their use is inevitable they should at least be twisted Even shielded cables will inevitably have short unshielded ends unless shielded connector housings are used In general the following applies gt Connect the inner shields to the corresponding pins of the connectors maximum length 40 mm gt Length of the unshielded cores 35 mm maximum gt Connect the total shield on the servo drive plane to the PE terminal maximum length 40 mm DANGER For safety reasons all PE ground conductors must be connected prior to initial operation The regulations of EN 61800 5 1 concerning protective grounding must be complied with during installation Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Start up Page 102 9 Start up 9 1 General connection notes Since the way
92. oning start Figure 3 Positioning control block diagram O Contrary to many competitor products the DIS 2 310 2 FB FS STO recalculates the ji entire movement during every control cycle With this concept positioning processes can be changed or aborted at any time even during the movement This concept can be realised thanks to the high level of performance of the Motion Control DSP that is used for the control process in the DIS 2 310 2 FB FS STO Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Function overview Page 49 The high performance positioning control system in the DIS 2 310 2 FB FS STO has numerous parameters and position data sets Up to 64 position sets can be stored in the DIS 2 310 2 FB FS STO in a non volatile manner and performed by way of the trajectory generator Each of the 64 position sets includes a separate target position The other parameters of the 64 position sets are divided into 4 groups The following parameters can be set for each of the 4 position groups Accelerations Speed of movement Selection of the type of acceleration Jerk limited speed profile or time optimal constant acceleration Relative or absolute positioning Waiting for the end of the current positioning process or rejecting it Start delay The target position can be parameterised individually for every position set A remaining distance message can be set for all of the 64 positions se
93. plus Bench mark for ZK Intermediate circuit voltage minus Pe Protective earth 230V AC 10 Input power supply N Product Manual Servo drive DIS 2 310 2 FB FS STO 230V AC 10 Input power supply L Version 3 0 Electrical installation Page 87 8 2 2 Connection Motor X6 Configuration on the device X6 JST No B5P VH B Counterplug X6 JST No VHR 5N with 4 contacts JST No SVH 41T P1 1 Figure 26 Position and connection motor cable Table 32 Pin assignment X6 3 x 0 V 300 V 2 Aetf nom 6 Aeff max PHASE_U 0 Hz 300 Hz PHASE_V Connection of the three motor phases Safety clearance between PE and motor phase Protective earth 8 2 3 Connection Angle encoder X2 Configuration on the device X2 Molex No 87832 1614 Counterplug X2 Molex No 51110 1651 with up to 16 contacts Molex No 50394 8051 Figure 27 Position and connection angle encoder Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 88 Table 33 Pin assignment X2 Reference potential for incremental encoder analogue Hall sensors Stegmann HIPERFACE encoder Reference potential for Hall sensors and or motor temperature sensor i i l 45 V 100 mA 5 V supply for linear Hall sensors or incrementa encoder 5 V 100 mA 5 V supply for Hall sensors 1 5 Vams itt Connec
94. pport lt 1s charging time exceeded Limit switch Have the limit switches been wired error correctly Are the limit switches defective Check the configuration of the limit switches Power supply Interruption failure of the mains failure during power supply controller enabling Check the power supply Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Possible causes measures Response Page 115 Reaction Timeout at quick stop Has an angle encoder error occurred Has the motor identification not been successful Is the parameterised acceleration too high The homing run could not be completed successtully Check the configuration of the homing run Is the parameterisation of the controllers including the angle encoder setting OK Error EtherCAT bus monitoring There is no signal on the bus Error EtherCAT piggy Error Motor and angle encoder identification Has the correct FW been loaded Please contact the technical support team Is the angle encoder connected Is the angle encoder cable defective Is the angle encoder defective Check the configuration of the angle encoder interface Path program unknown command Path program invalid jump destination Please contact the technical support lt 5 ms The digital inputs for START1 and START2 are set simultaneously A
95. re limit switches that are parameterised via the DIS 2 ServoCommander 5 3 7 Brake management The DIS 2 310 2 FB FS STO servo drive can directly control a holding brake The holding brake is operated with programmable delays via the DIS 2 ServoCommander A start and stop delay can be adjusted separately In the positioning mode an additional automatic braking function can be activated This automatic braking function switches the power stage of the DIS 2 310 2 FB FS STO servo drive off after a parameterised idle time and engages the brake 5 4 Synchronisation electronic gear unit The DIS 2 310 2 FB FS STO servo drive can be used in a master slave configuration hereinafter referred to as synchronisation The servo drive can be a master or a slave If the DIS 2 310 2 FB FS STO servo drive is a master it provides the slave with an encoder signal A and B single ended signal on the 24 V level If the DIS 2 310 2 FB FS STO servo drive is used as a slave A B and N single ended signals can be processed on the 24 V level This applies to the speed control and positioning modes The synchronisation input can be weighted with a gear factor In addition the line count of the incremental encoder emulation and of the incremental encoder input can be configured 5 4 1 Pulse direction interface As an alternative to the synchronisation the A and B track signals can be interpreted as pulse direction signals so that the servo drive can b
96. required by national regulations is the responsibility of the manufacturer of the machine or system The technical data and the connection and installation conditions for the servo drive are to be found in this product manual and must be met DANGER The general setup and safety regulations for work on power installations for example DIN VDE EN IEC or other national and international regulations must be complied with Non compliance may result in death personal injury or serious property damages Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 21 Without claiming completeness the following regulations and others apply o VDE 0100 Erection of power installations with nominal voltages up to 1000 V EN 1037 Safety of maschinery Prevention of unexpected start up EN 60204 1 Safety of machinery Electrical equipment of machines Part 1 General requirements EN 61800 3 Adjustable speed electrical power drive systems Part 3 EMC requirements and specific test methods EN 61800 5 1 Adjustable speed electrical power drive systems Part 5 1 Safety requirements Electrical thermal and energy EN 61800 5 2 Adjustable speed electrical power drive systems Part 5 2 Safety requirements Functional EN ISO 12100 Safety of machinery General principles for design Risk assessment and risk reduction EN ISO 13849 1 Safety of machinery Safety related pa
97. rives and controllers Page 20 2 4 2 4 1 gt b gt gt gt gt Safety notes General safety notes The servo drive corresponds to IP54 degree of protection as well as pollution degree 2 Make sure that the environment corresponds to this degree of protection and pollution degree Only use replacement parts and accessories approved by the manufacturer The devices must be connected to the mains supply as per EN regulations and VDE regulations so that they can be cut off the mains supply by means of corresponding separation devices for example main switch contactor power switch The servo drive may be protected using an AC DC sensitive 300 mA fault current protection switch type B RCD Residual Current protective Device Gold contacts or contacts with a high contact pressure should be used to switch the control contacts Preventive interference rejection measures should be taken for control panels such as connecting contactors and relays using RC elements or diodes The safety rules and regulations of the country in which the device will be operated must be complied with The environment conditions defined in the product documentation must be kept Safety critical applications are not allowed unless specifically approved by the manufacturer For notes on installation corresponding to EMC please refer to section 8 4 Notes concerning the safe and EMC compliant installation The compliance with the limits
98. rts of control systems Part 1 General principles for design EN ISO 13849 2 Safety of machinery Safety related parts of control systems Part 2 Validation Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Safety notes for electrical drives and controllers Page 22 2 4 2 Safety notes for assembly and maintenance The appropriate DIN VDE EN and IEC regulations as well as all national and local safety regulations and rules for the prevention of accidents apply for the assembly and maintenance of the system The plant engineer or the operator is responsible for compliance with these regulations The servo drive must only be operated maintained and or repaired by personnel trained and qualified for working on or with electrical devices Prevention of accidents injuries and or damages Additionally secure vertical axes against falling down or lowering after the motor has been switched off for example by means of gt gt Mechanical locking of the vertical axle gt External braking catching or clamping devices or gt Sufficient balancing of the axle The motor holding brake supplied by default or an external motor holding brake driven by the servo drive alone is not suitable for personal protection Keep the electrical equipment voltage free using the main switch and protect it from being switched on again until the DC bus circuit is discharged in the case of gt gt gt Maintenance and repair work
99. rvoltage in the intermediate circuit Intermediate circuit voltage gt 440 V lt 1 ms Is the intermediate circuit supply too high during idling Check the rating The braking energy is too high when the axes are decelerated The capacity in the intermediate circuit is too low Install an additional capacitor approx 10 000 uF for every 10 A of motor current x Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Page 113 CAN Possible causes measures Response Reaction error code 7385 Hall encoder error Is the angle encoder connected Is the angle encoder cable defective Is the angle encoder defective Check the configuration of the angle encoder interface 1 Have the angle encoder number of motor It at 100 pairs of poles and direction been adjusted correctly Has an automatic motor identification been performed Is the motor blocked Check the power rating of the drive package It error of the See error 19 servo drive I t at 100 Faulty internal The low time of the OSSD input STO1 plausibility signals is not in the permissible check range Please contact the technical support team Electronic error in the DIS 2 device The error cannot be eliminated by the user Return the servo drive to the distributor Faulty internal The low time of the OSSD input STO2 plausibility signals is not in the permiss
100. s of conformity for the products described in this manual can be found at http www metronix de The functions described in this product manual refer to the firmware version 3 4 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 General Page 13 1 2 Scope of supply The DIS 2 310 2 FB FS STO servo drive is available in the following three versions The corresponding technology modules CAN PROFIBUS EtherCAT are factory integrated and are not designed for an exchange by the user Table 1 Scope of supply DIS 2 310 2 FB FS STO CANopen Servo drive DIS 2 310 2 FB FS STO CANopen Metronix part number 9019 3103 10 STO connection cable pre fabricated on both sides with the device interface M12 circular connector for rear panel installation Table 2 Scope of supply DIS 2 310 2 FB FS STO PROFIBUS Metronix part number 9019 3103 14 STO connection cable pre fabricated on both sides with the device interface M12 circular connector for rear panel installation Table 3 Scope of supply DIS 2 310 2 FB FS STO EtherCAT Servo drive DIS 2 310 2 FB FS STO EtherCAT Metronix part number 9019 3103 15 STO connection cable pre fabricated on both sides with the device interface M12 circular connector for rear panel installation Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 General Page 14 Counterplugs control panel mains filter communication cables brake resistor and param
101. safety feedback PLC output servo drive enabling E a Q al oa Ya A222 22770 S1 Safety switching device Metronix DIS 2 310 2 FB FS STO Only the relevant connections are shown Without crossfault detection 1 Servo drive with a safety module only the relevant connections are shown Emergency stop switch 2 3 Protective door 4 Light curtain 5 Safety switching device Figure 10 Circuit example Safe Torque Off STO The Safe Torque Off STO safety function can be requested by various devices The switch S1 can be for example an emergency stop switch a switch of a protective door a light curtain or a safety switching device The safety request is realised via two channels and via the switch S1 As a result the output stage will be switched off via two channels Once the output stage has been switched off this is output by the floating contact REL1 REL2 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 66 Notes concerning the circuit example The servo drive with a safety module does not include any crossfault detection In the case of a direct wiring of light grids the crossfault detection will be performed by the light grid provided that it is suitable for this purpose f safety switching devices are used the contacts REL1 and REL2 can be integra
102. sation is performed by way of the parameterisation software DIS 2 ServoCommander However it can also be used to control the DIS 2 310 2 FB FS STO servo drive 3 4 2 CAN bus The CANopen interface is implemented with the application profile DSP402 in accordance with the CAN in Automation CiA protocol DS301 3 4 3 PROFIBUS The PROFIBUS communication is realised in accordance with DP VO For drive applications the functions are available based on PROFIDRIVE version 3 1 The functionality includes functions in accordance with application class 1 speed control and application class 3 point to point positioning In addition it is possible to integrate the device into a control system by way of an I O image via PROFIBUS As far as the control is concerned this option has the same functionality as a standard PLC coupling via parallel wiring of the digital I Os A specific Metronix telegram can be used to go beyond the functionality that is defined by PROFIDRIVE and to access all of the device specific functions 3 4 4 EtherCAT The EtherCAT interface of the DIS 2 310 2 FB FS STO servo drive supports the CoE protocol CANopen over EtherCAT with the FPGA image ESC10 Performance characteristics EtherCAT in accordance with IEEE 802 3u 100Base TX with 100 Mbps full duplex Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Product description Page 34 3 4 5 I O functions and device control A maximum of ten di
103. se you must read chapter 2 Safety notes for electrical drives and controllers and section 8 4 Notes concerning the safe and EMC compliant installation If the documentation in the language at hand is not understood accurately please contact and inform your supplier Sound and safe operation of the servo drive requires proper and professional transportation storage assembly and installation as well as proper operation and maintenance Only trained and qualified personnel is authorised to handle electrical devices and systems TRAINED AND QUALIFIED PERSONNEL in the sense of this product manual or the safety notes on the product itself are persons who are sufficiently familiar with the project the setup assembly commissioning and operation of the product as well as all warnings and precautions as per the instructions in this manual and who are sufficiently qualified in their field of expertise Education and instruction or authorisation to switch devices systems on and off and to ground them as per the standards of safety engineering and to efficiently label them as per the job demands Education and instruction as per the standards of safety engineering regarding the maintenance and use of adequate safety equipment First aid training The following notes must be read prior to the initial operation of the system to prevent personal injuries and or property damages These safety notes must be complied with
104. sing the risk This checklist does not replace an education in safety matters We cannot accept any liability for the completeness of the checklist Table 30 Questions for a validation in accordance with EN ISO 13849 1 and 2 example emm O i iee l 1 Has a risk assessment been performed Yes O No O O 2 Have an error list and validation plan been created Yes O No O O 3 Have the steps of the validation plan including an analysis and Yes O No O test been performed and has a validation report been created At least the following tests must be performed for a validation a Check of the components Is the DIS 2 310 2 FB FS STO Yes O being used check against the type plates b Is the wiring correct check against the circuit diagram No O No O No O No O Have any jumpers been removed Yes O Has a safety switching device been connected to X40 Yes O Yes O Has the safety switching device been certified and wired in accordance with the requirements of the application No O No O c Functional tests Yes O Yes O Actuation of the emergency stop of the system Is the drive being stopped a O If only STO1 is activated is the drive being stopped Yes O No O immediately and is the error Discrepancy time STO1 and STO2 exceeded being signalled display 24 in the DIS 2 FB FS STO after the discrepancy time has elapsed Product Manual Servo drive DI
105. stinguished In the case of time optimal positioning the maximum set acceleration is used for starting and braking The drive reaches the target as quickly as possible The speed profile is trapezoidal while the acceleration profile is block shaped In the case of jerk limited positioning the acceleration profile is trapezoidal and the speed profile is of third order Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Function overview Page 51 Since the acceleration changes steadily the drive movement is particularly gentle with regard to the mechanical system time optimal jerk limited jerk limited a t a t a t t t t v t v t v t t t t Figure 4 Motion profiles of the DIS 2 310 2 FB FS STO 5 3 5 Positioning sequences Positioning sequences consist of a series of position sets These are completed one after the other A standard position set can become part of a path program The result is an interlinked list of positions Eee ac en Figure 5 Path program The DIS 2 310 2 FB FS STO servo drive supports this type of linking of position sets to form a path program A detailed description concerning the creation of a path program can be found in the DIS 2 310 2 FB FS STO software manual Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Function overview Page 52 5 3 6 Software limit switches The positioning range of the DIS 2 310 2 FB FS STO can be limited by way of softwa
106. t is realised via two channels and via the switch S1 towards the safety switching device The safety switching device switches the servo drive enabling off When the servo drive enabling is switched off the movement will be automatically decelerated If a brake is configured the system waits for the activation of the brake Then the control circuit will be switched off After a certain time that is set in the safety switching device the output stage will be switched off Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 68 via two channels via STO1 2 Once the output stage has been switched off this is output by the floating contact REL1 REL2 Notes concerning the circuit example The safety switching device that is used must switch the servo drive enabling X1 A5 DIN9 off without delay and the inputs STO1 and STO2 X40 1 X40 5 with a delay The necessary delay depends on the application and must be determined specifically for the application The delay must be chosen so that even at top speed the drive is decelerated to zero speed by way of the quick stop ramp in the DIS 2 FB FS STO before STO1 2 are switched off The illustration shows the pin assignment of the STO connector X40 directly on the board and not the pin assignment of the circular connector in the mounting plate Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology
107. tal encoder input track B AIN1 DIN3 10 V 10 V 0 V 24 V Inverted analogue input 1 Differential analogue input with AIN1 or Digital input Positioning destination selector Bit 3 Ding o v 24 v Digital input Power stage activation o nz o v 24 v Digital input Limit switch 0 blocks n lt 0 DIN4 0 V 24 V Digital input Positioning group selector Bit 0 Incremental encoder input track A AIN1 DIN2 10 V 10 V 0 V 24 V Analogue input 1 Differential analogue input with AIN1 or Digital input Positioning destination selector Bit 2 AINO DIN1 10 V 10 V Inverted analogue input 0 Differential analogue input with AINO or Digital input Positioning destination selector Bit 1 o v 24 v Digital output programmable encoder output track B 0 V 10 V 2mA Analogue output 0 A Reference potential for the control signals 10 V 10 V Analogue input 0 Differential analogue input with AINO or Digital input Positioning destination selector Bit 0 0 V 24 V Digital output programmable encoder output track A 0 V 24 V Digital input Positioning start Incremental encoder track N 24 V liogic 200 mA 1000 mA 24 V power supply for the internal logic and the lOs Pe Protective earth 310 v Intermediate circuit voltage
108. ted in the feedback loop of the safety switching device The illustration shows the pin assignment of the STO connector X40 directly on the board and not the pin assignment of the circular connector in the mounting plate Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 67 6 5 2 Delays and safe torque switch off SS1 Safe Stop 1 L 230V AC N 230V AC PE i 24V DC ov DC 5 Bee gt iS1 2 8 5 a3 a2 lt lt gt ac Q Safety switching 4 device Os 2 oO 8 8 ie a 3 gt E oc a 3 eee 0 Canaan ane S1 O O transmitter e receiver r mi gt 71 5 2 4 6 A5 C6 C5 C4 B8 B4 Z I 5 ea5 2 sz 28 7 E N B b sei 38 gt 2 Metronix DIS 2 310 2 FB FS STO 4 Only the relevant connections are shown 1 Servo drive with a safety module only the relevant connections are shown 2 Safety switching device 3 Light curtain 4 Protective door 5 Emergency stop switch Figure 11 Circuit example Delays and safe torque switch off SS1 Safe Stop 1 The safety function Safe Stop 1 SS1 type C can be requested by various devices gt Figure 11 The switch S1 in Figure 11 can be for example an emergency stop switch a switch of a protective door or a light curtain The safety reques
109. that can be used based on a risk analysis Table 25 Stop categories Stop category 0 Uncontrolled stop by an immediate EMERGENCY OFF or removal of power EMERGENCY STOP Stop category 1 Controlled stop and removal of power EMERGENCY STOP supply when the machine has come to a standstill Stop category 2 Controlled stop without the removal of Not suitable for EMERGENCY power when the machine is at a standstill OFF or EMERGENCY STOP 6 2 Integrated Safe Torque Off STO function DANGER The Safe Torque Off function does not protect against electric shock It only protects against dangerous rotary movements 6 2 1 General information concerning the STO function Performance characteristics Realisation of the Safe Torque Off STO function Floating feedback contact for the operating status and diagnosis The STO function is integrated in the basic device The Safe Stop 1 SS1 function can be realised with a suitable external safety switching device and a suitable wiring of the DIS 2 310 2 FB FS STO basic device There are three suitable measures for realising the STO function Contactor between the mains power supply and drive system mains contactor Contactor between the power unit and drive motor motor contactor Safe pulse inhibitor blocking of the pulses of the power semiconductors integrated in the DIS 2 310 2 FB FS STO The integrated solution safe pulse inh
110. tion holding brake Table 34 Pin assignment X3 OV 24V Digital output high active for the holding brake max 500 mA internal supply via the 24 V logic supply OV Reference potential for the holding brake Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 90 8 2 5 Connection Brake resistor X300 Configuration on the device X300 JST No B2P VH B Counterplug X300 JST No VHR 2N with 2 contacts JST No SVH 41T P1 1 Configuration brake resistor see accessories in section 1 2 Table 4 Figure 29 Position and connection brake resistor Table 35 Pin assignment X300 Pre penainston faves __ Specification 390 V 4 Anom Connection for brake resistor to intermediate voltage 0 V 390V Connection for brake resistor to brake chopper Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 91 8 2 6 Connection Extension port X8 Configuration on the device X8 2 x 26 RM 1 27 mm pin row with protective collar Counterplug X8 2 x 26 RM 1 27 mm socket row ee8 8068606680 es Figure 30 Position and connection technology module interface Table 36 Pin assignment X8 All signals with 3 3 V CMOS Not used logic level 24V Withdrawal of the protected logic supply of 24 V for max 100 mA future applications device variants o V 24V Digital 24 V input for limit switches paral
111. tion of errors during the motor identification process Monitoring of the motion sequence Detection of internal errors Monitoring of the STO functionality Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Service functions and error messages Page 106 10 1 2 Overcurrent and short circuit monitoring Overcurrent and short circuit monitoring The overcurrent and short circuit monitoring system responds as soon as the current in the intermediate circuit exceeds two times the maximum current of the servo drive It detects short circuits between two motor phases and short circuits at the motor output terminals against the positive and negative reference potential of the intermediate circuit and against PE If the error monitoring system detects an overcurrent the power output stage will be shut down immediately to guarantee resistance against short circuits In addition a short circuit of the braking resistor while the brake chopper is active will also be detected It current monitoring with a warning of the servo drive The DIS 2 310 2 FB FS STO servo drive has an I t monitoring system to limit the average power loss in the power output stage Since the power loss in the electronic power system and in the motor increases in a square manner with the current in the worst case the squared current value is taken as the measure for the power loss When 80 of the maximum integrated value is reached a warning parameterisabl
112. tion to resolver signal S1 or R gt 10 kQ connection to incremental encoder track A OV 5V Phase U Hall sensor for commutation R 5 kQ Input with 4 7 KQ pull up at 5 V 1 5 Vams itt Connection to resolver signal S3 or R gt 10 kQ connection to incremental encoder track A OV 5V Phase V Hall sensor for commutation R 5 kQ Input with 4 7 KQ pull up at 5 V 1 5 Vams itt Connection to resolver signal S2 or R gt 10 kQ connection to incremental encoder track B OV 5V Phase W Hall sensor for the commutation R 5 kQ Input with 4 7 KQ pull up at 5 V 1 5 Vams itt Connection to resolver signal S4 or R gt 10 kQ connection to incremental encoder track B Motor temperature sensor normally closed contact 0V 3 3V PTC or analogue sensor of KTY series connected to Rj 2 kQ GND 3 Vams ditt Connection to resolver signal R1 or max 50 mArms connection to incremental encoder track N DATA TEE 12 V power supply for Stegmann HIPERFACE encoder 3 Vrms dift Connection to resolver signal R2 or max 50 mArgus I connection to incremental encoder track N DATA Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 89 8 2 4 Connection Holding brake X3 Configuration on the device X3 JST No BO2B XASK 1 Counterplug X3 JST No XAP 02V 1with 2 contacts JST No SXA 001T P0 6 Figure 28 Position and connec
113. tions around the power supply can destroy the servo drive DIS 2 310 2 FB FS STO when the power is switched on This is particularly true for the connection of the mains the protection earth the motor phases and the brake resistor Also high voltages lead to the destruction of the device A high power can occur if the neutral conductor is not loadable or a neutral conductor interruption occurs in the wiring cabinet or externally Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 85 8 2 Connectors on the basic device DIS 2 310 2 FB FS STO 8 2 1 Connection Power supply and I O X1 Configuration on the device X1 Phoenix PLUSCON VARIOCON Counterplug X1 Phoenix PLUSCON VARIOCON kit consisting of 1x VC TFS6 2x VC TFS8 1x VC TR2 3M 1x VC MEMV T2 Z 1x VC EMV KV PG21 11 5 15 5 13 5 Dimensions approximately H x W x DH 86 mm x 80 mm x 32 mm Figure 25 Connection and pin numbering X1 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Table 31 Pin assignment X1 Page 86 DOUTO READY Ready for operation o v 24 v Digital input Limit switch 1 blocks n gt 0 DIN5 0 V 24 V Digital input Positioning group selector Bit 1 Incremen
114. troller Synchronisation mode possible via the digital I O interface Integrated positioning control with extensive functionality Jerk free or time optimal positioning relative or absolute with regard to a reference point Point to point positioning with or without smooth position transitions Speed and angle synchronous operation with an electronic gear unit Numerous homing methods Integrated path program to create simple positioning sequences with or without dependence on digital inputs Jogging mode Teach in mode Short cycle times 100 us in the current control circuit 200 us in the speed control circuit and 400 us in the position control circuit Programmable digital outputs High resolution 12 bit analogue input User friendly parameterisation with the DIS 2 ServoCommander parameterisation software Automatic motor identification let monitoring to limit the average power loss in the power output stage and motor Integrated brake chopper the braking resistor is mounted on a mounting plate between the motor and servo drive see chapter 7 Mechanical installation Integrated functional safety feature Safe Torque Off STO see chapter 6 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Product description Page 32 3 2 Power supply 3 2 1 Single phase AC power supply Nominal voltage 230V AC Nominal frequency range 50 60 Hz 10 3 2 2 Intermediate circuit link DC supply An intermediate circu
115. ts as a whole As an alternative the DIS 2 310 2 FB FS STO offers the option to save all of the parameters of a position set individually for every position set This enables a higher level of flexibility for the various motion profiles As a result the maximum number of available position sets is reduced to 16 In this case too a remaining distance message can be set for all of the 64 positions sets as a whole The maximum number of available position sets i e 16 or 64 can be set via the DIS 2 ServoCommander software In addition there are position data sets for fieldbus based positioning processes and for homing The positioning control thus supports point to point movements with zero final speed standstill at target Positioning processes can be aborted during the movement and the next position can be approached directly The groups and positions are selected via the digital inputs Alternatively this selection can also be performed via the RS232 interface or partly also via a fieldbus For homing or if positioning via a fieldbus is desired the corresponding position data sets are fed directly into the trajectory generator 5 3 1 Homing For most applications every positioning control needs a defined zero point for start up This zero point is determined by way of a homing process The DIS 2 310 2 FB FS STO servo drive can perform this homing process autonomously It evaluates several inputs e g the limit switch inputs as the
116. ty sensors e g light curtains with OSSD signals and switching contacts safety switching devices with relay outputs passive safety sensors e g positively driven position switches gt see for example section 6 5 In order to request the STO safety function Safe Torque Off the 24 V control voltage is switched off at both control inputs STO1 and STO2 0 V If both control inputs are switched off simultaneously or within a predefined discrepancy time and if the feedback signals have the state 1 see Table 26 the STO function is active Section 4 6 describes the technical data for the control inputs in the specified operating range The requirements concerning the time behaviour result from the technical data in section 4 6 The time behaviour itself is described in section 6 4 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 58 6 2 3 1 Discrepancy time The transition between the safe and unsafe state is initiated by level changes at the control inputs STO1 and STO2 In accordance with the specification of the safety function both levels must be identical Otherwise an error message will be generated Usually these level changes do not occur exactly at the same time e g due to component tolerances or bouncing outputs of safety control systems The firmware tolerates this as long as the second input follows within a predefined time the so called discrepancy
117. typical maximum 30 mA Input voltage threshold Switching on approx 17 V Switching off approx 15 5 V Switch on time STO1 from Low 5 ms typical maximum 10 ms to High tsto1 on Switch on time STO2 from Low 10 ms typical maximum 15 ms to High tsto1 on Switch off time STO1 from High 5 ms typical maximum 10 ms to Low tsto1 oFF Switch off time STO2 from High 55 ms typical maximum 60 ms to Low tsto2 0FF Maximum test impulse length 28 8 V STO1 2 for OSSD signals max 4 ms max 4 ms Table 21 Technical data Feedback contact X40 REL1 REL2 Version Floating relay contact normally open Voltage range contacts lt 30 V overvoltage proof up to 60 V DC Nominal current lt 200 mA not short circuit proof Voltage drop lt 200 mV Residual current contact opened Switching time closing Switching time opening Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Technical data Page 44 4 7 Fieldbus interfaces One of the following technology modules can be integrated in the DIS 2 310 2 FB FS STO basic device The modules will be integrated into the servo drive at the factory depending on what has been ordered 4 7 1 CAN Bus X401 402 Table 22 Technical data CAN Bus X401 X402 Communication interface Values CAN controller TJA 1050 Full CAN Controller 1MBit s adjustable max 500kBit s C
118. ved by the manufacturer The used brake resistor must have a high pulse loading capacity to be able to permanently withstand the short peak loads Unsuitable brake resistors will fail prematurely they can cause fires and even electrical hazards Consecutively the user is at risk of being harmed too If the analogue inputs are used to assign setpoints we recommend using shielded and twisted cables for AINx AINx even if the control does not provide any differential signal Connection of AINx to the OV reference potential at the control system prevents common mode interferences which are caused by high currents flowing through the power stage and the external cables The shield prevents the penetration of interferences and should be connected on both ends to the housing of the DIS 2 310 2 FB FS STO servo drive and to the housing of the control system The wiring of the fieldbus should be done in the same way as the wiring of the analogue inputs At both ends of the network for example for the CAN bus 120 Q 1 a termination resistor is needed The fieldbus is looped through the DIS 2 310 2 FB FS STO via the fieldbus connectors X401 und X402 The DIS 2 310 2 FB FS STO has a separate connector X5 for the serial service interface to be connected to a PC This enables the parameterisation and analysis using the DIS 2 Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Electrical installation Page 84 ServoCo
119. y a superordinated control system at least once a week if such process related testing is not provided anyway and test at every switch on of the machine system see the note in section 6 2 2 The machine stop must be initiated and ensured by the control system of the machine This applies particularly to vertical axes without a self locking mechanism or weight compensation Vertical axes require further safety measures Following a hazard analysis risk assessment in accordance with the machinery directive 2006 42 EC the machine manufacturer must plan the safety system for the entire machine whilst taking into account all of the integrated components This also includes the electric drives The requirements that must be fulfilled by the control system i e the performance level that must be selected depend on the actual risk The Safe Torque Off STO function is not the same as an electrical isolation As a result it cannot protect against an electric shock This is why in the sense of the standard an EMERGENCY OFF device cannot be realised with the Safe Torque Off STO function since an EMERGENCY OFF requires the disconnection of the entire system from the mains power supply via the mains power disconnection system main switch or mains contactor Product Manual Servo drive DIS 2 310 2 FB FS STO Version 3 0 Functional safety technology Page 54 For stopping the standard EN 60204 1 describes three stop categories
120. yan z b N you sdo _ _ _ b uoroun kl PEN JJUOD BA P29 sngplel gt gEssu NZ HUW u oO O o ZNIG JJUOS 9A 2 sngp el ze 4J9 O4JUODJUBIIND AYOL d 191104 UO9 UBIIND BI Id O O7_gE3SH qulod jas a O7__ NIV 07 __ONIV OF olezpexiy 419 04 U09 U9UND10 9 9S _Y e a 0 ulod jes vu LNIV ONIV xew gt a xew WWI anb0 10 09 9S U09 Sod sngplel c amp 2SY LNIV 8 ONIY fee IINN 83s9 julodjes6 2 UNDS10I10P8I9S oukS 1uU09 sod Naz sngplel Sod jos u julod jas N JO OUOIAPOO BAI enia O O yu u 5 g a dues julodjas a gEssu LNIV ONIV Test kes amp wu 0192 pax y 49 O4JUODAY0 9A10 99 9S Controller cascade block diagram Figure 2 Version 3 0 Product Manual Servo drive DIS 2 310 2 FB FS STO Function overview Page 48 5 3 Positioning mode In the positioning mode a positioning control is superimposed on the speed control In the positioning mode a certain position is specified The motor has to move to this position automatically i e w

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