Installation Manual ECOMiniDual
Contents
1. Jenaer Antriebstechnik A GmbH Installation Manual ECOMiniDual Jonaer Antriebstechnik A GmbH Published editions Edition Comment July 2009 Preliminary English edition prototype deliveries March 2010 Series availability option protective housing May 2012 Modification of default cable set August 2012 Modfication concerning loop through of supply voltage XP1 XP2 All rights reserved Jenaer Antriebstechnik GmbH Buchaer Stra e 1 07745 Jena Installation Manual ECOMiniDual No parts of this documentation may be translated reprinted or reproducted on microfilm or in other ways without written permission by Jenaer Antriebstechnik GmbH The content of this document has been worked out and checked carefully Nevertheless differences from the real state of the hard and software can never be fully excluded Necessary corrections will be carried out in the next edition ECOVARIO is a registered trademark of Jenaer Antriebstechnik GmbH Jena CANopen is a registered community trademark of CAN in Automation e V Nuremberg Windows is a registered trademark of Microsoft Corporation in the United States and other countries Subject to change without notice Installation Manual ECOMiniDual Subject to change without notice Jenar Antriebstechnik A GmbH Installation Manual ECOMiniDual Contents 1 ADOUU THIS documenta siii 7 2 Saler TiS OOS ON laicos E E 7 a A E E E E A 7 22 General sale NSU OS soria 8 A E EE o C2. 4 pole socket housing XC1 XC2 Molex Micro Fit 3 0 ass 3 8 pole socket housing XI11 X12 XO1 Digital inputs and outputs Molex Micro Fit 3 0 holding brake control 2 10 pole socket housing XE1 XE2 Encoder connector axis 1 Molex Micro Fit 3 0 Encoder connector axis 2 55 Crimp socket AWG 20 24 XS1 XC1 XC2 XI1 XI2 for all socket housings Molex Molex Micro Fit 3 0 XO1 XE1 XE2 Micro Fit 3 0 1 Resistor 120 Q wired Terminating resistor for CAN bus 30 Subject to change without notice Jenar Antriebstechnik A GmbH Installation Manual ECOMiniDual 9 2 Cables The following table lists the standard cables available for connection of the ECOMiniDual The cables are further available in the lengths 5 m and 10 m All cables are equipped with the appropriate mating connec tors for the respective PCB plug connectors of the ECOMiniDual interfaces The insulated schield mesh of the cables must be connected to the device potential or the PE conductor resp If the grounding is improper or the mesh lies freely dangerous voltages may occur Table 9 3 ECOMiniDual accessories cable set for ECOSTEP motor series 17H 23S Cable type Use mm Wires Length min Customer m bending r connector MOT 43 826 721 003 000 Motor cable without brake G 64mm 5 lead l 3m r 35mm __ RSV1 66 pole ENC 47 845 495 003 000 Encoder cable 62mm 8 lead l 3m r 35mm a 9 pole DAT30 842 412 003 000 CAN bus 6 1mm 4lead l 3m r 46mm Sub D 9 pole male Po
3. CAN_V not used XC1 XC2 XC1 XC2 XC1 XC2 Master only looped through Device 1 Device 2 Device n Fig 6 5 Size terminating resistors R according to line impedance normal R 120 Q Subject to change without notice 21 Installation Manual ECOMiniDual 6 3 4 XS1 RS232 interface Table 6 7 Pin assignment connector XS 1 wire colours of mating conn Signal Pin Wire Description TxD 1 wh RS232 TxD to Pin 2 of the Sub D socket RxD 2 br RS232 RxD to Pin 3 of the Sub D socket GND 3 gn Reference ground to Pin 5 of the Sub D socket Jonaer Antriebstechnik A GmbH Via the RS232 interface a PC can be connected to the ECOMiniDual for set ting the parameters For RS232 communication with ECOMiniDual a 3 core connection to the host is needed On PC side the cable is equipped with a 9 pole Sub D socket COM port pin assignment Transmitter and receiver of the ECOMiniDual meet the specifications of E A 232E and CCITT V 28 and are EMC protected according to IEC 61000 4 2 The communication protocol allows network operation of up to 126 ECOMi niDual units as slaves in a mono master network For this option a ring struc ture of the RS232 network according to the scheme in fig 6 7 is necessary XS1 lt TxD rt gt 2 _ RxD bl 3 GND gn ECOMiniDual Fig 6 6 Circuit XS1 RS232 interface Ley Hostcomputer 3 132 432 XS1 el ER XS1 ID 1 ID 2 ID n ECOMiniDual ECO
4. DC voltage Take back ENABLE signal for the servo amplifier ENABLE input 0 V Measuring system that transforms the angular position of a shaft or the positi on of a linear system into coded data Electromagnetic compatibility enable signal for the compact servo drive 24 V pe signal Protection against electrostatic discharge here CAN Part of the software tha is stored to ROM read only memory the firmware contains the start up routines Here electrically conductive connection between a power system or motor phase and the PE conductor Identification number of a special device in a bus structure Part of the software that can be stored to the flash memory of the device Device connection in a bus structure Technical measure that prevents actuators safely by mechanical elements posi tively driven contacts from restarting indeliberately Subject to change without notice
5. brown Enable input green Positive limit pos yellow Negative limit pos grey Reference switch pink Holding brake ctrl output 24V 0 5A blue Ref potential GND The input and output signals provided on PCB plug connectors XI1 and X12 Molex MicroFit 2x4P are assigned to an individual axis each Jonaer Antriebstechnik A GmbH ECOMiniDual X11 X12 External circuit 24 V A 1 24 V 2 RESET IN11 21 3 ENABLE IN12 22 Enabl 4 CWI IN13 23 e limit 5 CCWI DIN14 24 Positive position 6 HOME DIN 15 25 Negative limit pos Reference switch ED 20 7 BRAKE_OUT_11 21 8 IGND Fig 6 3 Connector XI1 or X12 Circuit of the digital inputs holding brake control Subject to change without notice Jenar Antriebstechnik A GmbH Installation Manual ECOMiniDual 6 3 3 XC1 XC2 CAN interface S1 Device address Node ID Default 1 valid for axis 1 the node ID for axis 2 is always Node ID axis 1 1 Table 6 6 Pin assignment connector XC1 XC2 Note The node ID 0 is not allo Pin Wirecolour Signal Description wed AN operanon ofthe device is not possible in this case 1 white CAN_VP not used CAN interface is supplied internally 2 green CAN_H CAN data H 3 yellow CAN_L CAN data L 4
6. operation The ECOMiniDual is also suitable for the control of voice coil actuators with linear measuring systems 10 Subject to change without notice Jonaer Antriebstechnik A GmbH 4 2 Electrical Data Table 4 1 Electrical data power supply Symb Unit DC supply U oe Rated supply voltage at DC input XP1 or Voc XP2 Pi Rated supply power W P Rated losses W Vn Losses if diverging from nominal load P P o P Po Basic losses W ER Rated output current A PS Rated output power W ie Peak output current Nove UTA Rated DC link voltage V ee Max DC link voltage Mo U Overvoltage trip ve E DC link capacity UF E Regenerated capacity Ws Table 4 2 Electrical data control signals Qty Control signal Unit 1 24 V supply current consumption without V outputs A V 12 Digital control signal inputs mA 6 Digital control signal outputs Table 4 3 Electrical data external fuses DC supply 8 A time lag 24V supply 2 A time lag 4 3 Mechanical data Table 4 4 Mechanical data dimensions and weight Dimensions and weight Unit Dimensions W x H x D mm Weight of unit kg Subject to change without notice Installation Manual ECOMiniDual Value 48 24 60 260 20 2x 2 5 2x 120 7 5 5s 48 60 75 220 0 2 24 18 30 0 3 LOWO 7 HIGH 12 36 10 bei 24 V 24 0 5 PCB with protective housing approx 155 x 104 x 35 5 120 x 100 x 30 0 105 0 5 11 Installation Manual ECOMiniDual 12
7. 2 4 OUTO1 XO1 green Digital output 01 lo max 0 5 A OUTO2 XO1 5 yellow Digital output 02 Lo 0 5 A OUT03 XO1 6 grey Digital output 03 lo max 0 5 A OUTO4 XO1 7 pink Digital output 04 lo max 0 5 A GND XO1 8 blue Reference potential GND The digital inputs and outputs provided on PCB plug connector XO1 Mo lex MicroFit 2x4P are for free use and are not assigned to one axis ECOMiniDual XO1 External circuit 24 V A 4 24V 2 INO1 3 INO2 24 V j E 4 OUTO1 G 24 V E 5 JOUTO2 24 V Jr H H 6 OUTO3 24 V pl i 7 OUTO4 8 GND al Fig 6 2 Connector XO1 Circuit of the axis independent digital inputs and outputs Subject to change without notice 19 Installation Manual ECOMiniDual 6 3 2 XI X12 Digital inputs holding brake control Table 6 5 Pin assignment of the digital inputs wire colours mating cn Signal 24V RESET IN 11 21 ENABLE IN12 22 CWI IN 13 23 CCWI IN14 24 HOME IN15 25 BRAKE_OUT_11 BRAKE_OUT_21 GND Conn X11 X12 X11 X12 X11 X12 X11 X12 X11 X12 X11 X12 X11 X12 X11 X12 Pin Wire Description 1 N QDD WN A W N red Ref potential 24V white Reset input
8. 2 DC link voltage logic supply guest dee ineoo ie sterdo Isora 23 6o Motoranciencoder NUS EAC SS pr pic 24 oir AAA e ER O O AE OO 24 602 Incoder ACS hss cast awn sca acabe 24 7 COMMISSION estilos rindo poe rotando podios 25 Te cae toa conim ionia AAA O NU E oo ar ee aes 25 72 VWortkschedule COMMISSIONING crasas 26 LO EOE O gt OPC ctu O O 27 Subject to change without notice 5 Installation Manual ECOMiniDual Jonae Antriebstechnik MA GmbH 10 10 1 Parameter SOLIS oss ctescs apace coasts conan oli cdo ainis aaa 29 PESE Te Ce ECO Sdi Oboe 29 ACCOSSOLI S sissisrcic clic 30 Mating connector set ECOMiniDual 0 0 eee eeeeeseecesseceseseeseseeeeseeeseseeacsceacseeeseeeeaeeeeaceceassceeeseeeeaeeeeaces 30 PP E A 31 Establishing the Crimp connections ccceeessesessecessecesceeceseeeeseeeeseeeeacsceaeseeesceeeaceeeasseeaeeeeeeseeeeaeeeeases 32 Protective DOUS IE cuidese uniones 32 PRP OMNI A E E e ooo EAA EA E 34 E E E A A 34 Subject to change without notice Jenar Antriebstechnik A GmbH Installation Manual ECOMiniDual 1 About this documentation This installation manual describes the 2 axis servo amplifier ECOMiniDual It concerns all persons who project install and commission ECOMiniDual Further information Software commissioning ECO Studio Operation Manual ECOVARIO ECOSTEP ECOMPACT Parameterization ECO Studio Operation Manual ECOVARIO ECOSTEP ECOMPACT Programming Object Dictionary Manual ECOVARI
9. APO E E A E AA O E CO A E 8 ae D O OI se a cea E A E NE A E A G 8 2a P A ol UU o OO 8 3 A A o EE A E T EA 9 L so o ER O A E 9 A AO 9 Be UMNO ITS AINA CS ate on ee E E E iesdesontee tact tects 9 OM OG OO PPP AAA 9 4 Technical DATA sirina EEN S EEE EEE EOE 10 PLE E E E E A A 10 La PEE CAN AGA e O O A N E E T 11 A ici o er ee rer ee ee ee ee eee 11 Ad Ambient A PU O YR EENE EEEN TEE REE EEEE 12 5 Installation iaa E EA E T 13 Sl Mechanical Instala ON oc s seersenasenssicuacqnsdecasacaycessansaleqanacss teatgnsucsnnersnsesaassucgniecssseedecsasatheceetesseoisgapessitessemsees 13 ll TOPO GUAM OCS nit hoger toned cop teclat E tente 13 SM ATTICS ONS POP A oO stekatensoseanstaie hea E E ENE whens EEE E E 13 slic NO AU O E TA 14 De lt a A AN o 15 aL APO an Anto ipt tica pisaba cta 15 5 2 2 EMC compliant installation cccessessssesssscsseseeseseeseeecseeseeecseeaeeeeseesesesseeeeseeseeesesaeeesseeaeeeeseeeeeeeaeeees 15 12 OTM iON oa R 15 6 A O 17 C Avalablelnteriacos rip 17 02 Dedaworihe lel od 6 caren o nerertcr err errr tte A arr reer ne rernre are tent Tere 17 RV TS asii pad 18 E oo oil A E EE EP EE E 19 6 3 1 XO1 Digital outputs 24V and digital inputs axis independent occcicicnocicnnnnonennnnnanenncnnnonnanonnnnnonanes 19 6 3 2 XIL XI2 Digital inputs holding brake Control ssccsccssxcscsstssasescateasvsnasatasevenstscsnsansiatesessevanseataraaasracennaseies 20 Eo o DP OA O A e SEUA 21 E o UE CO 22 SL PO O sd papa 23 6 4 1 XP1 XP
10. Ambient conditions Table 4 5 General technical data ambient conditions Ambient conditions Symb Condition Unit T Ambient temperature during C operation with nominal load Storage temperature 1G Degree of humidity rel F not condensing p Air pressure mbar Cooling h Installation altitude m Installation position Protection class Table 4 6 General technical data applicable standards Noise immunity Noise emission CE safety Jonaer Antriebstechnik A GmbH 5 40 10 70 5 95 860 1060 the closed cubicle has to be sufficiently ven tilated up to 1000 without restriction of power any IPOO IP20 with optional protection housing no self contained device thus IEC 61800 is not applicable directly cf Chap 3 3 Subject to change without notice Jenar Antriebstechnik A GmbH Installation Manual ECOMiniDual 5 Installation 5 1 Mechanical Installation 5 1 1 Important notes Make sure that transport and storage did not damage the unit The ambient air must not be polluted by dust greases aggressive gas etc Eventually appropri ate countermeasures have to be taken installation of filters frequent cleaning Depending on the power losses an appropriate ventilation should be provided Observe the mounting spaces At installation locations with permanent vibrations or shocks damping measures should be taken into consideration The protection against accidental contact and the required protecti
11. MiniDual ECOMiniDual Fig 6 7 RS232 network as a ring structure 22 Subject to change without notice Jenar Antriebstechnik A GmbH Installation Manual ECOMiniDual 6 4 Power interfaces 6 4 1 XP1 XP2 DC link voltage logic supply Table 6 8 Pin assignment connector XP1 XP2 wire colours of mating conn Signal Pin Wirecolour Beschreibung GND 1 brown Reference ground DC 2 orange DC link power supply GND 3 black Reference ground XP 1 XP2 24V_Supply 4 red Logic supply The connector XP1 implementation Molex MiniFit 2x2P is used for direct DC supply 24 V 60 V Furthermore the logic circuit 24V which is separate from the power circuit is supplied here At connector XP2 the supply voltages of XP1 can be looped to another ECOMiniDual Dependent on the resulting power con sumption it is possible to supply several ECOMiniDual by means of one power supply module A concatenation of devices is possib le up to an overall power consumption of 480 W In case of direct DC supply of the DC link circuit the inrush cur rent is not limited by the servo drive Therefore special limitation measures have to be taken in the external power supply unit If energy is regenerated the power unit must be equipped with a bal last circuit in case the regenerated energy is higher than the energy consumed by all consumers connected to the DC bus Subject to change without notice 23 Installation Manual ECOMiniDual Jonae Antr
12. O ECOSTEP ECOMPACT Application Notes ECOVARIO This manual makes the following demands on qualified personnel Transport Personnel trained in handling electrostatic sensitive devices Installation Electrotechnically qualified personnel who know the security directives of electrical enginee ring and automation Setup Commissioning Qualified personnel with a broad knowlege of the fields of electrical engineering automation and drives 2 Safety instructions 2 1 Symbols Table 2 1 Symbols Pictogram Warning Consequences General warning about danger Disregarding this warning may lead to death or serious injuries Warning about dangerous electri Disregarding this warning may cal voltages lead to death or serious injuries Warning about hot surfaces Disregarding this warning may A lead to burns to the skin Subject to change without notice 7 Installation Manual ECOMiniDual Jonaer Antriebstechnik A GmbH 2 2 2 3 2 4 2 5 General safety instructions Tabelle 2 2 General safety instructions A The servo amplifiers are components which are built into machines and can only be used as integral components of such equipment Setting the servo amplifier into operation is forbid den until it has been established that the machine or plant fulfils the requirements of the EC Machinery Directive 2006 42 EC Only properly qualified personnel are permitted to perform activities such as transport in stallati
13. ablish the connection to the required axis of the ECO MiniDual Note For each axis a separate ECO Studio session has to be started 5 Device configuration and mechanical configuration By means of the ECO Studio device configuration wizard and the mechanical configuration wizard carry out the basic settings for the operation of the axes of the ECOMiniDual For a detailed description of software commissioning please refer to the ECO Studio help system 6 Check safety equipment Before switching on the voltage it is vital to check if all safety equipment that protects from A touching live parts and from the consequences of indeliberate movements functions proper ly 7 Zero demand values Before switching on the power supply the demand values for position and speed should be zeroed 8 Switch on power supply The power supply should only be switched on with the on off switches of a contactor circuit 9 ENABLE 0 5 s after switching on the power supply the ENABLE signal can be switched to HIGH 24 V level at input XI1 ENABLE or XI2 ENABLE according to the connection scheme in chapter 6 2 1 If the motor vibrates or hums first the p gain of the velocity controller should be reduced ECO Studio in the navigation area under Controller Velocity Controller tab 10 Optimization The controller parameters are set to default values by the manufacturer However these values A have to be checked and adapted to the respective ap
14. and procedures in this manual are proposals Every user has to check the suitability for every special case Jenaer Antriebstechnik GmbH is not responsible for suitability Especially Jenaer Antriebstech nik is not responsible for the following damage causes disregarding the instructions of this manual or other documents concerning ECOMiniDual unauthorized modifications of drive motor or accessories operating or dimensioning faults Improper use of the ECOMiniDual components 3 3 Standards and directives ECOMiniDual servo amplifiers are components intended to be built into machines or plants for industrial purpose The manufacturer of the machine or plant has to make sure that the relevant standards and direc tives are met 3 3 1 CE conformity ECOMiniDual servo amplifiers are components that are intended to be built into electrical plant and ma chines for industrial use The manufacturer of the machine is responsible that the machine or plant fulfills the requirements of the EMC directive Subject to change without notice 9 Installation Manual ECOMiniDual Jonaer Antriebstechnik A GmbH 4 Technical Data 4 1 Equipment The 2 axis servo amplifier ECOMiniDual is implemented as a PCB solution for integration on customer side It provides the digital torque force velocity and position control for two axes independent from each other The two power stages are supplied by a voltage of max 60 V e The drive can be commissioned a
15. ble 9 1 Survey of the ECOMiniDual original accessories Order key Description Complementary parts VAK10 Mating connector set for details cf Chap 9 1 VAZ10 Shield set with mounting material for ECOMiniDual 007 DG BN xxx xxx VAZ20 Mounting bracket with mounting material for ECOMiniDual 007 DG BN xxx xxx Software tools CD with ECO software tools e g ECO Studio and docu mentation Power supplies SV24 1 phase power supply 24 Vc SV24 60 1 phase power supply 24 Ve 60 Vac SV60 1 phase power supply 60 Vc Cables cf table 9 3 9 1 Mating connector set ECOMiniDual A mating connector set for all interfaces of the ECOMiniDual is available All mating connectors are clearly labelled and designed in a way that there is no danger of mixing them up As an option the mating connec tor set is available with pre assembled 10 cm single wires The assignment of the wire colours can be found in the interface description tables in chapter 6 Table 9 2 Composition of mating connector set VAK10 for ECOMiniDual Quantity Part Mating connector for Function 2 4 pole socket housing XP1 XP2 Power supply max 60 V Molex Mini Fit Jr Logic supply 24 V 2 6 pole socket housing XM1 XM2 Motor connector axis 1 Molex Mini Fit Jr Motor connector axis 2 20 Crimp socket AWG 24 18 XP1 XP2 XM1 XM2 Power supply max 60 V Molex Mini Fit Jr Logic supply 24 V Motor connectors 1 3 pole socket housing XS1 Molex Micro Fit 3 0 Reiner 2
16. brown GND GND The connectors XC1 and XC2 Molex MicroFit 2x2P can be used equivalently The signals are looped through thus the CAN bus can be connected to another device The ECOMiniDual CAN interface is based on the communication profile CiA DS 301 and on the device profile CiA DSP 402 drives and motion control Terminating resistors are not built in the ECOMiniDual A CAN bus has to be terminated with a 120 Q resistor at the beginning and at the end If the ECOMiniDu al is operated as first or last participant at a CAN bus a 120 O terminating resistor as part of the mating connector set cf Chap 9 is used at XC1 or XC2 depends on which one is free between the pins 2 and 3 cf Fig 6 5 The device address Node ID is set via the binary coding of the DIL switch S1 see diagram above Further more the node ID offset and the Baud rate can be set via software e g ECO Studio The following Baud rates are supported 1000 kBit s 500 kBit s 250 kBit s 125 kBit s 100 kBit s 50 kBit s If point of sampling and scan rate 86 7 3 times sampling at all Baud rates do not meet the demands please get in touch with the technical service of Jenaer Antriebstechnik ECOMiniDual CAN_H O21 204 0211 204 O2 1 20 1 RR 2 oe o AR CAN_L 0 031130 0330 03130 CAN_V O ANIOS 3915 10 01 0 GND e 04 40 Og 40 gt 041 40 CAN bus
17. e strong mechanical powers and high accelerations Avoid staying in the danger zone of the machine Never switch off safety equipment not even for test operation Malfunctions should be repaired by qualified personnel immediately All notes about technical data and ambient conditions have to be observed Using the unit in hazardous locations and in ambients containing oil gas vapours dusts radiations etc is prohibited if it is not explicitly allowed due to special measures Subject to change without notice Jonaer Antriebstechnik A GmbH Installation Manual ECOMiniDual The manufacturer of the machine must generate a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property If one or more ECOMiniDual are built into machines or plants the intended operation of the whole ma chine or plant is forbidden until it has been established that the machine or plant fulfills the requirements of the EC Machinery Directive 2006 42 EC and the EMC Directive 2004 108 EC Further EN 60204 and EN ISO 12100 parts 1 and 2 have to be observed 3 Legal notes 3 1 Terms of delivery Our terms of delivery are based on the Ihe General Terms of Delivery for Products and Services of the Elec trical Industry German ALB ZVEI of the Central Association of the Electrical and Electronics Industry ZVEI e V in their current version 3 2 Liability The circuits
18. ee interface PE to another to another CAN participant ECOMiniDual Control lt Digital output 1 lt Digital output 2 gt Digital input 1 gt Digital input 2 gt Digital input 3 gt Digital input 4 Axis 1 ee a ef Encoder 1 DIN11 Digital output DIN12 ENA Digital output Enable A E A DIN13 Digital output 38M z DIN14 Digital output de B DIN15 Digital output phe gt pjs Axis 2 ep Encoder 2 DIN21 Digital output DIN22 ENA Digital output Enable T DIN23 Digital output A DIN24 Digital output B DIN25 Digital output eB Fig 5 3 Connection diagram ECOMiniDual with SV24 60 16 Subject to change without notice Jenar Antriebstechnik A GmbH Installation Manual ECOMiniDual 6 Interfaces 6 1 Available interfaces By default the ECOMiniDual provides interfaces for 12 digital inputs 6 digital outputs a CAN bus inter face RS232 interface power supply 24 60 V logic supply 24 V DC 6 2 Design of the interfaces The interfaces of the ECOMiniDual are by default designed as PCB plug connectors Fig 6 1 shows the view to the connectors Observe that the connectors have to be unlocked before removing Unlock by pressing the locking lever Grip the connectors only at their housing not at the cable Not observing these precautions can result in injuries or damages Danger of injury when unplugging the PCB plug connectors For the PCB plug connectors a mating connecto
19. her the axis is freely movable Check if axis is freely movable Check whether the commutation settings are correctly If error reoccurs send in device to manufacturer If error reoccurs send in device to manufacturer Check encoder and supply cables for wire breakage if no encoder is configurated select encoder If error reoccurs send in device to manufacturer Check encoder and supply cables for wire breakage Check parameters overall soeed of the motor Error reason might be contamination or damage of the encoder disk or of the cog wheels of the revolution counter Check configuration enter appropriate encoder type Check encoder and supply cables and configuration if the error reoccurs send in encoder Subject to change without notice Jonaer Antriebstechnik A GmbH Installation Manual ECOMiniDual 8 Parameter setting By setting the parameters the ECOMiniDual is adjusted to the application The parameters are set in the PC The user interface ECO Studio is menu driven and easy to handle The connection PC ECOMiniDual is established via the RS232 interface or vie the CAN interface with CAN dongle For each axis a separate ECO Studio session has to be started 8 1 PC user interface ECO Studio How to work with the user interface ECO Studio is described in detail in the ECO Studio help system Subject to change without notice 29 Installation Manual ECOMiniDual Jonaer Antriebstechnik A GmbH 9 Accessories Ta
20. ice Jonaer Antriebstechnik A GmbH Installation Manual ECOMiniDual 5 2 Electrical Installation 5 2 1 Important notes All installation work may only be carried out if the machine or plant is not live and protected against restart Never exceed the maximum rated voltage of 60 V_ 10 at the connector XP1 or XP2 Fusing of the DC supply and of the 24 V logic supply should be carried out by the user 5 2 2 EMC compliant installation The supply connection of the machine should be equipped with an appropriate RFI suppression filter Al ways use shielded cables Metal parts in the cabinet have to be interconnected extensively and conductive regarding HF Used relays contactors solenoids etc have to be protected against overvoltage Supply cables and motor cables must be laid in a proper distance of control cables 5 2 3 Connection diagram The following diagram shows a connection example of the ECOMiniDual with external logic supply 24 V and power supply 60 V pe In this example power supply module SV 24 60 is used Dependent on the resulting power consumption it is possible to supply several ECOMiniDual by means of one power supply module A concatenation of devices is possible up to an overall power consumption of 480 W Subject to change without notice 15 Installation Manual ECOMiniDual Jonaer Antriebstechnik A GmbH ECOMiniDual SV24 60 PO L1 i Parameterization N Ete keto ae Y
21. iebstechnik QUA GmbH 6 5 Motor and encoder interfaces 6 5 1 Motor interfaces Table 6 9 Pin assignment connector XM 1 XM2 wire colours mating connector Signal Pin Wirecolour 2 phase motor M1_A 1 black Phase A M2_A M1_A 2 orange Phase A M2_A M1_B 3 red Phase B Axis1 Axis 2 M2_B M1_B 4 brown Phase B M2_B GND 5 Ground shield GND 6 The motor connectors are implemented as PCB plug connectors XM1 and XM2 Molex MiniFit 2x3P and are assigned to one axis each ECOMiniDual supports the operation of 2 phase ECOSTEP motors up to series 23S 6 5 2 Encoder interfaces Each encoder interface provided on the PCB plug connectors XE1 and XE2 Molex MicroFit 2x5P is assig ned to one axis The interfaces support incremental standard encoders with rectangular signals Table 6 9 Pin assignment connectors XE1 XE2 Signal Pin Wirecolour Description HVEN 1 red 5V A 2 white track A 3 green track B N 4 grey track N GND 5 GND GND 6 blue GND Axis 1 Axis 2 A 7 brown track A B 8 yellow track B N 9 pink track N GND 10 GND 24 Subject to change without notice Jenar Antriebstechnik JA GmbH Installation Manual ECOMiniDual 7 1 A Commissioning Notes before commissioning Only qualified personnel with a broad knowlege of the fields of electrical engineering auto mation and drives are allowed to commission the servo amplifier ECOMiniDual If required Jenaer Antriebstechnik GmbH offers trai
22. ion can occur in the mounting space Let motor cool down Reset if an error message is raised Reset if an error message is raised Check motor and supply cables Check whether the shield wires are connected correctly Check parameters and operating conditions Check if axis is freely movable Check 24 V power supply Are there disturbances on the supply line Check output power specification of power supply whether it is dimensioned sufficiently Check supply voltage might be too high Py Installation Manual ECOMiniDual 28 Error D22 DC link voltage too low D24 Exceeding charging time of DC link D25 Short circuit or overload of the digital outputs or of the brake control D30 Following error too high D31 Commutation not found D32 Internal software reset D33 Error controller watchdog Group E Encoder errors EOO 1 Antivalence error of incremental encoder 2 No encoder has been selected E01 Capture error incremental encoder E03 Too high speed of encoder or cannot be read E14 Selected encoder type is wrong or not suppor ted E16 Error during reading user data Jonaor Antriebstechnik MA GmbH Measure Check power supply and connections Check output power spe cification of power supply whether it is dimensioned sufficient ly Check voltage Check digital outputs and brake Check whether the shield wire of the motor cable is connected correctly Check axis parameters and operating conditions Check whet
23. nd parameterized by means of a CANopen or RS232 interface Via CANopen an interpolated mode is possib le t n 1 ms For control purposes there are furthermore 12 digital 24 V inputs and 6 digital outputs available All connections are established via PCB connectors Molex The evaluation of limit position switches and reference switches is possible as well as using homing methods with index pulse evaluation As an option the ECOMiniDual is available with a mechanical protection housing Supported motor types and encoders The ECOMiniDual is suitable for driving 2 phase low power ECOSTEP motors e g series 17H and 23S As feedback systems incremental encoders can be used The encoders are monitored for counter error There is an intelligent control for two holding brakes with automatic current reduction implemented The technical data and precautions in this manual exclusively refer to the motor series mentioned above If you want to drive other motors with ECOMiniDual please contact our technical service see www jat gmbh de under Service and Support Applications In the first place the ECOMiniDual is designed for the 2 axes servo operation closed loop If a second measuring system should be connected or master slave operation is necessary the ECOMiniDual can be operated as 1 axis servo amplifier as well If required the ECOMiniDual can also be used as 2 axes stepper motor amplifier open loop also in master slave
24. ng bracket Shield set i 2 x cylindric head screws 3 mm 15014580 SPZ A2 M3x5 BECI O Lt pete Ue Fig 9 3 Shield set VAZ10 mounted The shield set has a strain relief function Therefore the cables are secured to the lugs of the shield set by means of cable ties Subject to change without notice 33 Installation Manual ECOMiniDual 10 Appendix 10 1 Glossary Baud rate Bit rate Bootloader mode CCWI Circuit breaker CWI DC link voltage Disable Encoder EMC Enable ESD protection Fieldbus interface Firmware Ground fault ID number Loadware Node Restart lock 34 Jonaer Antriebstechnik A GmbH Unit of measure for the transmission rate of data in serial interfaces The baud rate indicates the number of possible changes of state of the transmitted signal per second 1 baud 1 state change s The baud rate can be lower than the bit rate one bit is coded in several signal states Baud rate in this document refers to signals in which one bit is defined with the two signal states HIGH and LOW In this case the bit rate equals the baud rate Transmission rate of information in bit second State of the servo amplifier in which a new loadware can be transmitted into the servo amplifier s memory Counter Clockwise Inhibit Negative limit position Switch that cuts the power if an error current limit is exceeded Clockwise Inhibit Positive limit position Smoothed
25. nings The manufacturer of the machine must generate a hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property Check the wiring for completeness short circuit and ground fault All live parts must be protected safely against touching Never pull the connectors while they are live If there are several axes in one machine commission one axis after the other The axes already commisioned should be switched off During operation the temperature of the components on the PCB may rise up to over 85 C Before touching these parts after switching off the unit wait until the temperature has fallen down to 40 C Subject to change without notice 25 Installation Manual ECOMiniDual Jonaer Antriebstechnik A GmbH 7 2 Work schedule commissioning 1 Check installation The servo amplifier is disconnected from the supply Check the wiring for completeness short circuits and ground faults according to the connection scheme in chapter 6 2 1 2 Enable deactivated For the required axis connect the signal input ENABLE at the connector XI1 or X12 respectively to 0 V 3 Switch on 24 V logic supply Apply the 24 V logic supply to the connector XP1 pins GND and 24 V 4 Start setup software Connect a PC to the RS232 interface XS1 of the ECOMiniDual or via CAN dongle to the CAN interface XC1 or XC2 and start the ECO Studio software Est
26. on setup and maintenance of the product The qualified personnel must know and observe all relevant safety standards In case of modifications or retrofits with components of manufacturers other than Jenaer Antriebstechnik please contact us to clarify that those components are suitable to be as sembled with our devices The operating conditions have to accord to the data on the nameplate Emergency off equipment must be workable in all operation modes especially during setup and maintenance Electrical connection Table 2 3 Safety instructions electrical connection During operation The servo amplifiers are not intended for direct connection to the power supply system but have to be driven with extra low voltage ELV of an appropriate voltage supply Observe the maximum connection voltages according to the nameplate Connecting the motor directly to the power supply system leads to the destruction of the motor A protection against contact with live parts has to be foreseen on machine side Never plug or loosen power or logic supply connections if they are live Table 2 4 Safety instructions operation A Prescribed use The surfaces of the motors can get hotter than 85 C Therefore they have to be protected against touching No temperature sensitive parts may touch the surface or be fastened to them Unintentional movements of motors tools or axes may lead to death or serious injuries ECOMiniDual drives can produc
27. on against dust and mois ture has to be implemented by the machine manufacturer protection class of the ECOMini Dual IP00 with optional mechanical protection housing IP20 6 000 00 5 1 2 Dimensions E a po 3 a de AS Hd LUOT oad a 3 5 mm distance ty vis NC ie E to edge 5 i ae eee po be RE Fig 5 1 Dimensions of the ECOMiniDual Dimensions with optional mechanical protection housing cf chapter 4 3 Subject to change without notice 13 Installation Manual ECOMiniDual Jonaor Antriebstechnik QA GmbH 5 1 3 Mounting The ECOMiniDual is implemented as a single PCB solution and can be mounted into a device in any moun ting position A sufficient heat dissipation has to be observed The surface temperature on the PCB must not exceed 85 C Preferential mounting position however is the vertical mounting position because here the best convection can be achieved The PCB is mounted by means of 4 screws M3 The arrangement of the holes can be seen from Fig 5 1 The manufacturer of the machine has to ensure that cabling of the ECOMiniDual is done in conformance with the EMC requirements To calculate the minimal mounting space the minimum bending radii of the connecting cables cf Chap 9 2 have to be regarded For mounting of the ECOMiniDual with optional protective housing ECOMiniDual 007 DG BN xxx xxx please refer to Chap 9 4 14 Subject to change without not
28. plication if required Wrong parameter settings can lead to damages of machine parts A detailed description of the parameterization of the velocity controller and of the position controller can be found in the ECO Studio help system 26 Subject to change without notice Jonaer Antriebstechnik A GmbH 7 3 Error messages Installation Manual ECOMiniDual If a device error is detected it is displayed by ECO Studio in the Device Errors list The error messages of groups D and E are related to the axis which is connected to the individual ECO Studio session Table 7 1 Error messages Error Group A General errors A00 A01 A02 A03 A04 A10 A11 A20 A21 A23 Incorrect checksum of a bootloader section or overall checksum Error during deleting a flash section Error during activating the flash memory Error during programming the flash memory Error during addressing the flash memory Error during reading writing the EEPROM Incorrect checksum of an EEPROM section Incorrect calibration data Watchdog error of standard loadware Loadware does not support this unit Group B Bus errors BOO B01 Group D DOO DO1 D03 D04 D06 DO7 D10 D11 D12 D13 D20 D21 CAN Nodeguarding error No messages are sent Synchronisation window in interpolated mode exceeded CAN bus parameters not available incorrect sa ving of parameters No messages are sent Device and axis errors Res
29. r set is available cf table 9 1 Original accessories ECOMi niDual if required also pre assembled with 10 cm single wires The assignment of the wire colours can be found in the interface description tables To simplify the handling all mating connectors are labelled Subject to change without notice 17 Installation Manual ECOMiniDual Jonaa Antriebstechnik MA GmbH 6 2 1 Overview of all connectors XM1 Motor connector axis 1 XP1 Voltage supply power logic XP2 Voltage supply power logic XM2 Motor connector axis 2 120 mm si s1 DIP switch for setting the device ID CAN ID XE2 Encoder interface axis 2 XS1 RS232 interface XE1 Encoder interface axis 1 HPH XI1 Digital inputs axis 1 Brake control axis 1 XO1 Digital inputs outputs axis independent XC1 CAN bus in xC2 CAN bus out XI2 Digital inputs axis 2 Brake control axis 2 Fig 6 1 Arrangement of the PCB plug connectors 18 Subject to change without notice Jenar Antriebstechnik A GmbH Installation Manual ECOMiniDual 6 3 Control signals 6 3 1 XO1 Digital outputs 24V and digital inputs axis independent Table 6 4 Pin assignment of the digital inputs and outputs wire colours mating connector Signal Conn Pin Wirecolour Description 24V XO1 1 red Reference potential 24V INO1 XO1 2 white Digital input 01 INO2 XO1 3 brown Digital input 0
30. tart lock blocks switch on No external enable Device temperature gt 85 C Temperature error motor Negative limit position reached Positive limit positon reached Short circuit of motor phases or ground fault of the power stage resp Overcurrent in the motor phases Exceeding i xt limitation of device Exceeding i xt limitation of motor External 24 V supply at XP1 XP2 has fallen be low 17 V DC link voltage too high Subject to change without notice Measure Repeat action if the error reoccurs send in device to manufac turer Repeat action if the error reoccurs send in device to manufac turer Ifthe error reoccurs send in device to manufacturer Repeat action if the error reoccurs send in device to manufac turer Repeat action if the error reoccurs send in device to manufac turer If the error reoccurs send in the device to manufacturer Communication and or application parameters have not yet been stored This behaviour is normal with new devices and has been implemented for signalling this to the user Send in device to manufacturer If the error reoccurs send in the device to manufacturer Contact service hotline of Jenaer Antriebstechnik GmbH Check bus connection and device function check CAN bus po wer supply Enter parameters again check node ID and Baud rate Check function of the restart lock Check ENABLE signal Switch off unit and let it cool down Make sure that no heat accu mulat
31. wer supply max 60 V 64mm 4 lead l 3m r 35mm connector Logic supply 24 V sleeves e Fe DR T T AAA NET43 825 100 003 000 ca 60 mm All cables are trailing cables The PUR sheath is temperature resistant up to 80 C 31 Subject to change without notice Installation Manual ECOMiniDual Jonaor Antriebstechnik QUA GmbH 9 3 Establishing the Crimp connections If cable assembly is done by the customer the following tool is required for establishing the crimp connec tions Crimping tool for MOLEX Mini Fit Jr 16 24 AWG Crimping tool for MOLEX Micro Fit 3 0 20 30 AWG Insertion of the 120 Q resistor into the mating connector of XC1 XC2 4 pole Micro Fit 3 0 socket R1 120 Ohm V isolate resistor with a shrinkable tube arrange resistor vertically eckseitig 9 4 Protective housing ECOMiniDual is as an option order designation ECOMiniDual 007DG BN xxx xxx equipped with a housing for mechanical protection of the PCB and the components Mounting brackets for horizontal or vertical mounting of the ECOMiniDual VAZ20 with housing option are available as accessories A shield set VAZ10 is provided as well E Fig 9 1 Horizontal mounting of the ECOMiniDual with protective housing and mounting bracket 32 Subject to change without notice Installation Manual ECOMiniDual 156 5 Fig 9 2 Vertical mounting of the ECOMiniDual with protective housing and mounti
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