System Manual MOVIAXIS Multi-Axis Servo Inverter

Transcription

1 Drive Techology \ Drive Automatio \ System Itegratio \ Services System Maual MOVIAXIS Multi-Axis Servo Iverter Editio 06/ / EN

2 SEW-EURODRIVE Drivig the world

3 Cotets Cotets 1 System Descriptio System overview of MOVIAXIS compoets Additioal system ad automatio compoets Beefits ad key features of MOVIAXIS Areas of applicatio ad automatio optios with MOVIAXIS Optio cards providig more fuctios ad flexibility for axis modules ad supply ad regeerative modules Istallatio variats, combiatio ad commuicatio optios Istallatio ad coectio accessories Techology ad uit fuctios Fuctioal safety / safety fuctios MOVITOOLS MotioStudio egieerig software "SEW WORKBENCH" project plaig software Techical Data CE markig ad UL approval Uit desigatio Geeral techical data Rear view of housig ad bore patters Techical data of the modules Techical data of optio cards for axis modules ad regeerative modules System accessories Power Cables for Sychroous Servomotors Structure of the motor cable ad brakemotor cables Power cable for CMP, CMDV, ad CMS50/63 motors Power cables for CFM ad CMS71 motors Cable specificatio of (brake)motor cables Power cables for SL2 liear motors Forced coolig fa cable for CMP ad CFM motors Power Cables for Asychroous Motors Descriptio of power cables for DR motors Cables for DR ad DRL motors Ecoder Cables Structure of ecoder cables for sychroous motors Ecoder ad extesio cables for sychroous motors Structure of ecoder cables for asychroous motors Ecoder ad extesio cables for asychroous motors Suitable Motors Sychroous servomotors Asychroous servomotors No-SEW motors System Maual MOVIAXIS Multi-Axis Servo Iverter 3

4 Cotets 7 Additioal System Compoets Suitable ecoder systems Gear uits from SEW-EURODRIVE MOVI-PLC, MOVI-PLC I/O Appedix Additioal documetatio from SEW-EURODRIVE Disposal of MOVIAXIS uits Cable dimesios to AWG MX Parameter Descriptio Parameter descriptio for display values Parameter descriptio of drive data Commuicatio parameter descriptio Ecoder parameter descriptio Parameter descriptio for FCB parameter settig Parameter descriptio for uit fuctios Project Plaig SEW Workbech Project plaig iformatio Cotrol characteristics of the axis modules Servomotor selectio Brakig resistor selectio Selectig the 24 V supply Geeral Iformatio Structure of the safety otes Rights to claim uder warraty Exclusio of liability MXR supply ad regeerative module Copyright Safety Notes Geeral iformatio Target group Desigated use Trasportatio ad storage Istallatio Electrical coectio Safe discoectio Operatio Uit temperature Uit Desig Axis system with CAN-based system bus Axis system with EtherCAT -compatible system bus Importat iformatio Nameplates ad type desigatios Stadard accessories System Maual MOVIAXIS Multi-Axis Servo Iverter

5 Cotets 13.6 Optioal accessories Accessories for two-row cofiguratio of the axis system Overview of a axis system Uit desig of MOVIAXIS MXP supply module Uit desig of MOVIAXIS MXR supply ad regeerative module Uit desig of MOVIAXIS MXA axis modules EtherCAT -compatible or CAN-based system bus Uit desig of MOVIAXIS MXM master module compoet Uit desig of the MOVIAXIS MXC capacitor module compoet Uit desig of the MOVIAXIS MXB buffer module compoet Uit desig of the MOVIAXIS MXS 24 V switched-mode power supply module compoet Uit desig of the MOVIAXIS MXZ DC lik discharge module compoet Combiable modules i case of two-row cofiguratio of the axis system Optio combiatios o delivery XGH11A, XGS11A multi-ecoder card optio Fieldbus iterface optio PROFIBUS XFP11A Optioal fieldbus iterface K-Net XFA11A XFE24A optio EtherCAT fieldbus iterface XSE24A optio EtherCAT -compatible system bus SBus plus Optioal iput/output card type XIO11A Optioal iput/output card type XIA11A Istallatio Mechaical Istallatio System bus cable for CAN-based system bus SBus with optioal master module System bus coectio cable for several axis systems CAN-based System bus coectio cable to other SEW uits CAN-based System bus cable for EtherCAT -compatible system bus SBus plus with master module System bus coectio cable for several axis systems EtherCAT -compatible System bus coectio cable to other SEW uits EtherCAT -compatible Covers ad touch guards Two-row cofiguratio of the axis system mechaical istallatio Electrical Istallatio Brakig resistors Wirig diagrams Termial assigmet Coectig ecoders to the basic uit Notes o electromagetic compatibility Iformatio regardig UL System Maual MOVIAXIS Multi-Axis Servo Iverter 5

6 Cotets 15 Startup Geeral iformatio Supply module settigs for CAN-based system bus SBus Commuicatio selectio CAN-based applicatio bus CAN2 iformatio ad settigs Commuicatio via CAN adapter Settigs for EtherCAT -compatible system bus SBus plus Descriptio of the startup software Sequece i case of ew startup MOVIAXIS startup sigle-motor operatio Applicatio examples MOVIAXIS startup multi-motor operatio PDO Editor Parameter list Operatio Geeral iformatio Displays of the supply ad axis modules Operatig displays ad errors of the MXP supply module Operatig displays ad errors of MXA axis module MXC capacitor module operatig displays MXB buffer module operatig displays V SMPS module operatig displays Service Geeral iformatio Removig/istallig a module Moutig the DC lik coectio i case of two-row cofiguratio of the axis system Exteded storage Disposal Appedix Cable dimesios to AWG List of abbreviatios Terms ad defiitios Declaratios of coformity Idex System Maual MOVIAXIS Multi-Axis Servo Iverter

7 I O F1 RUN ERR Lk IN Lk OUT EtherCAT I O F1 RUN ERR Lk IN Lk OUT EtherCAT I O LAM F1 RUN ERR Lk IN Lk OUT EtherCAT I O LAM F1 RUN ERR Lk IN Lk OUT EtherCAT System Descriptio System overview of MOVIAXIS compoets 1 1 System Descriptio 1.1 System overview of MOVIAXIS compoets Supply ad regeerative uits Supply uit: MXP supply module Descriptio: (page 12) Techical data: (page 116) Commuicatio of regeerative modules Supply ad regeerative uit: MXR siusoidal supply ad regeerative module XFE XSE EtherCAT fieldbus XFE24A Descriptio: (page 139) Descriptio: (page 16) Techical data: (page 121) X31 OUT X30 IN X31 OUT X30 IN EtherCAT -compatible system bus XSE24A Iverter series Optio cards for axis modules XGH XGS XGS11A, XGH11A multi-ecoder card Descriptio: (page 144) PROFIBUS fieldbus XFP11A Descriptio: (page 138) MXA axis module XFE XSE EtherCAT fieldbus XFE24A Descriptio: (page 18) Techical data: (page 124) X31 OUT X30 IN X31 OUT X30 IN Descriptio: (page 139) EtherCAT -compatible system bus XSE24A K-Net XFA11A Descriptio: (page 140) X21 X22 X26 X25 XIO11A, XIA11A iput/output module Descriptio: (page 141) XIO XIA System Maual MOVIAXIS Multi-Axis Servo Iverter 7

8 MOVIAXIS MXM UFR41B L14 X30-1 L13 L12 L11 T1 L5 X ON X L4 4 1 L3 X36 S1 X37 XM L L EURODRIVE X35 X32 X33 UFR41B/ UOH21B UFR41B L14 X30-1 L13 L12 L11 T1 L5 X ON X L4 4 1 L3 X36 S1 X37 XM L L H1 H2 X X35 X32 X33 X24 1 System Descriptio System overview of MOVIAXIS compoets Gateway ad motio cotrol uit Master module variats MXM gateway master module PROFIBUS/DeviceNet gateway UFE41B Descriptio: (page 22) Techical data: (page 129) MOVIAXIS PROFINET/Etheret gateway UFR41B Descriptio: (page 65) MXM motio cotrol master module Descriptio: (page 22) Techical data: (page 129) MOVI-PLC advaced - DHE41B, DHF41B, DHR41B Descriptio: (page 65) Additioal uits MXC capacitor module Descriptio: (page 25) Techical data: (page 131) MXS 24 V switched-mode power supply module Descriptio: (page 24) Techical data: (page 133) MXB buffer module Descriptio: (page 25) Techical data: (page 132) MXZ DC lik discharge module Descriptio: (page 26) Techical data: (page 135) Accessories Prefabricated motor ad ecoder cables Techical data: (page 166) Lie compoets for supply ad regeerative modules Techical data: (page 154) Lie compoets for supply ad regeerative modules Techical data: (page 154) Brakig resistors Techical data: (page 147) 8 System Maual MOVIAXIS Multi-Axis Servo Iverter

9 System Descriptio Additioal system ad automatio compoets Additioal system ad automatio compoets System ad automatio compoet Operator termials DOP The operator paels meet the requiremets for huma-machie commuicatio for process moitorig ad cotrol i various productio methods. Sigle-axis servo iverter MOVIDRIVE MDX The uiversally applicable iverter for asychroous motors ad servomotors. Servomotors CMP CMPZ Compact, highly dyamic servomotor, form-closed moutig to all SEW gear uits. The CMPZ has a icreased itrisic iertia for high exteral loads. Descriptio: (page 216) Techical data: (page 217) DRL Asychroous servomotors are the lik betwee the classical asychroous AC motors for supply system ad iverter operatio ad the highly dyamic sychroous servomotors. Descriptio: (page 234) Techical data: (page 236) Servo gear uits PS.F The low backlash PS.F plaetary servo gear uits are desiged for the torque rage from Nm. Variats: PSF, PSKF. PSBF. Techical data: (page 245) BS.F The low backlash BS.F helical-bevel servo gear uits are desiged for the torque rage from Nm. Variats: BSF, BSKF, BSBF, BSHF, BSAF. CMDV The ew compact servomotor series from SEW-EURODRIVE. Descriptio: (page 226) Techical data: (page 227) PS.C The low backlash PS.C plaetary servo gear uits are desiged for the torque rage from Nm. Variats: PSC, PSKC, PSCZ, PSKCZ. Techical data: (page 245) Techical data: (page 245) System Maual MOVIAXIS Multi-Axis Servo Iverter 9

10 1 System Descriptio Beefits ad key features of MOVIAXIS 1.3 Beefits ad key features of MOVIAXIS MOVIAXIS is the ame of the ew, modular servo iverter series from SEW- EURODRIVE Highly dyamic drive solutio Techology ad motio cotrol fuctios that meet the highest stadards, combied with maximum dyamics, itegrated eergy savig techology, ad global availability All this is provided by SEW-EURODRIVE s modular system of highly dyamic servo drives. MOVIAXIS is the perfect multi-axis servo iverter for drive ad automatio solutios that save time, costs ad effort. The powerful ad reliable MOVIAXIS hadles a variety of drive solutios ad offers a wide rage of commuicatio ad automatio optios for almost ay applicatio Flexible ad adaptable Its big advatage is its high degree of flexibility: Depedig o the desired machie ad system cocept, the MOVIAXIS multi-axis servo iverter ca be combied flexibly ad adapted to meet the specific requiremets of the automatio structures Itegrated i the SEW modular system MOVIAXIS has a cetral positio i the portfolio of servo drive systems. It is perfectly itegrated i the existig modular cocept of SEW-EURODRIVE, allowig for a multitude of drive ad automatio solutios Structure of a axis system The MOVIAXIS product series cosists of the followig modules: Supply modules Siusoidal supply ad regeerative modules Axis modules Buffer ad storage modules DC 24 V switched-mode power supply modules for iteral cosumptio DC lik discharge modules Cotrol ad commuicatio modules Good software support The etire system is supported by the "all-i-oe" software MOVITOOLS MotioStudio. This software ca be used for startup, parameterizatio, programmig, ad diagostics. The executio of these fuctios is quick, easy, ad graphically supported. 10 System Maual MOVIAXIS Multi-Axis Servo Iverter

11 System Descriptio Beefits ad key features of MOVIAXIS Applicatio area MOVIAXIS multi-axis servo iverters have bee desiged for compact machie ad plat automatio systems at the highest stage. Productivity ad itelligece are combied i a ideal way, allowig for a wide rage of applicatio Characteristic criteria of MOVIAXIS This is esured by the followig criteria: Optimum adaptatio to the applicatio ad maximum flexibility of the etire drive/automatio system i terms of: Product scalability (hardware ad software) Commuicatio ad etworkig optios Drive fuctioality ad automatio optios Egieerig, startup, cofiguratio ad diagostics usig MOVITOOLS Motio- Studio A variety of applicatio optios for variable machies ad systems: Power rage from 10 kw omial supply power, up to a peak power of 187 kw, A maximum peak curret of 250 A Eergy-optimized, siusoidal regeeratio Safety techology ca be itegrated Robust housig ad simple istallatio Support of all commo ecoder systems Guarateed solutios with a scalable ratio betwee costs/solutio/resources: With motio cotrol fuctios that rage from simple, graphically selectable techology fuctios to powerful 32-bit cotrol systems With widely applicable motor/gear uit rage With tiered motio cotrol that rages from simple positioig to support of customer-specific kiematics. System Maual MOVIAXIS Multi-Axis Servo Iverter 11

12 1 System Descriptio Beefits ad key features of MOVIAXIS MXP supply modules Uit data The supply module provides eergy to up to 8 axis modules as stadard. It cotrols the regeerated eergy via a brakig resistor or via DC lik storage to separate capacitor or buffer modules. You ca coect a maximum of 10 axis modules. I this case, please cotact SEW- EURODRIVE. Battery-powered supply modules are available for special applicatios. Cotact SEW- EURODRIVE i such cases. Customer beefits of the supply modules: Covers a wide rage of power ratigs with 4 fiely graded performace classes: 10/ 25/50/75 kw Wide rage of supply system voltages for uiversal applicatio: AC V, Hz High drive dyamics with smaller lie coectio compoets due to the high overload capacity of 250% of the omial power for maximum 1 s Miimized THD/harmoics values ad reactive power cosumptio due to optimized chargig currets ad high effective curret percetage Time-savig ad error-proof due to automatic address assigmet for all axes coected to the CAN1/EtherCAT system bus Iformative ad easy due to 7-segmet display for user-friedly visualizatio of operatig ad error states at the supply module 4-quadrat capability due to the stadard brake chopper itegrated i the supply module. Supply voltage 3 x 380 V -10 % up to 3 x 500 V +10 % Lie frequecy Hz ± 5 % Nomial DC lik voltage Overload capacity for max. 1 s DC 560 V 250 % Available types Nomial power kw Nomial DC lik curret A Maximum DC lik curret A Nomial lie curret A MXP80A MXP80A MXP80A MXP80A Size Techical data (page 116) 12 System Maual MOVIAXIS Multi-Axis Servo Iverter

13 System Descriptio Beefits ad key features of MOVIAXIS 1 Scope of delivery Touch guards DC lik coectios Electroics shield clamp Power shield clamp 24 V supply cable Coectio cable for CAN-based system bus/ethercat -compatible system bus CAN termiatig resistor Optioal accessories Brakig resistors Chokes Filters System bus coectio cable for CAN-based system bus Coectio cable for EtherCAT master module System bus coectio cable for EtherCAT -compatible system bus System bus coectio cable CAN Adapter cable master module to CAN-based applicatio bus CAN2 Coectio cable for CAN-based applicatio bus CAN2 CAN2 termiatig resistor Two-row cofiguratio kit System Maual MOVIAXIS Multi-Axis Servo Iverter 13

14 1 System Descriptio Beefits ad key features of MOVIAXIS MXP81 compact supply module 10 kw Uit data The compact supply module provides eergy to up to 8 axis modules as stadard. It cotrols the regeerated eergy via a itegrated brakig resistor or via a exteral brakig resistor ad DC lik storage to a itegrated eergy buffer. You ca coect a maximum of 10 axis modules. I this case, please cotact SEW- EURODRIVE. Customer beefits of the supply modules: Compact size due to the itegratio of the brakig resistor, brake chopper, ad eergy buffer i the housig. Saves eergy by storig up to 250 Ws ad dyamically re-usig this eergy. Optimized ad flexible istallatio due to the itegratio of all elemets that are importat for operatio. This meas additioal wirig of brakig resistors is o loger ecessary. If the iteral brakig resistor is used to capacity, you ca coect a larger, exteral brakig resistor as a optio Wide rage of supply system voltages for uiversal applicatio: AC V, Hz High drive dyamics with smaller lie coectio compoets due to the high overload capacity of 250% of the omial power for maximum 1 s Miimized THD/harmoics values ad reactive power cosumptio due to optimized chargig currets ad high effective curret percetage Time-savig ad error-proof due to automatic address assigmet for all axes coected to the CAN1/EtherCAT system bus Iformative ad easy due to 7-segmet display for user-friedly visualizatio of operatig ad error states at the supply module 4-quadrat capability due to the stadard brake chopper itegrated i the supply module. Supply voltage 3 x 380 V -10 % up to 3 x 500 V +10 % Lie frequecy Hz ± 5 % Nomial DC lik voltage Overload capacity for max. 1 s DC 560 V 250 % Available types Nomial power kw Nomial DC lik curret A Maximum DC lik curret A Nomial lie curret A Size Techical data MXP81A (page 117) 14 System Maual MOVIAXIS Multi-Axis Servo Iverter

15 System Descriptio Beefits ad key features of MOVIAXIS 1 Scope of delivery Touch guards DC lik coectios Electroics shield clamp Power shield clamp 24 V supply cable Coectio cable for CAN-based system bus/ethercat -compatible system bus CAN termiatig resistor Optioal accessories Brakig resistors Chokes Filters System bus coectio cable for CAN-based system bus Coectio cable for EtherCAT master module System bus coectio cable for EtherCAT -compatible system bus System bus coectio cable CAN Adapter cable master module to CAN-based applicatio bus CAN2 Coectio cable CAN2 CAN2 termiatig resistor Two-row cofiguratio kit System Maual MOVIAXIS Multi-Axis Servo Iverter 15

16 1 System Descriptio Beefits ad key features of MOVIAXIS MXR supply ad regeerative modules Uit data Supply voltage 3 x 380 V - 3 x 480 V ±10 % Lie frequecy Hz ±5 % Nomial DC lik voltage Overload capacity for max. 1 s Supply ad regeerative modules provide eergy to up to 8 axis modules as stadard. The regeerative eergy is cotrolled through siusoidal feedback to the supply system. A brake chopper is itegrated as stadard, e.g. for emergecy brakig operatios. You ca coect a maximum of 10 axis modules. I this case, please cotact SEW- EURODRIVE. Customer beefits of supply ad regeerative modules: Optimum logistics, because oe uit covers two performace classes (50 kw or 75 kw) Wide rage of supply system voltages for uiversal applicatio: AC V, Hz High drive dyamics with smaller lie coectio compoets due to the high overload capacity of 200 % of the omial power for maximum 1 s Oly effective power cosumptio i omial operatio, i.e. cosφ = 1 Miimal THD values ad reactive power cosumptio due to siusoidal curret cosumptio ad regeeratio Time-savig ad error-proof due to automatic address assigmet for all axes coected to the CAN1/EtherCAT system bus Iformative ad easy due to 7-segmet display for user-friedly visualizatio of operatig ad error states at the supply module Iformatio about the curret eergy flow ad regeerative eergy via service parameter Better utilizatio of the motor power due to icreased DC lik level of DC 750 V Necessary trasformer power is miimized by optioal EcoLie filter Itelliget ad commuicative due to optio cards for EtherCAT, PROFIBUS ad SBus plus for seamless system itegratio Safe i case of a power failure due to stadard itegrated brake chopper for coectig a emergecy brakig resistor. DC 750 V cotrolled 200 % 1) Available types Nomial power kw Nomial DC lik curret A Maximum DC lik curret A Nomial lie curret A Techical data 50 kw at 8 khz PWM MXR80A kw at 4 khz PWM 1) For a coectio voltage of DC V A at 8 khz PWM 110 A at 4 khz PWM (page 121) 16 System Maual MOVIAXIS Multi-Axis Servo Iverter

17 System Descriptio Beefits ad key features of MOVIAXIS 1 Scope of delivery DC lik coectios Electroics shield clamp Power shield clamp 24 V supply cable Coectio cable for CAN-based system bus/ethercat -compatible system bus Measuremet cable coector Necessary accessories Optioal accessories NFR lie filter NDR lie choke Brakig resistors Eco-Lie filter 1) System bus coectio cable for CAN-based system bus EtherCAT - master module coectio cable System bus coectio cable for EtherCAT -compatible system bus System bus coectio cable CAN Adapter cable master module to CAN2 Coectio cable for CAN-based applicatio bus CAN2 CAN2 termiatig resistor Two-row cofiguratio kit For the part umbers of the cables, see chapter "Istallatio ad coectio accessories" (page 77). 1) Madatory for 75 kw operatio System Maual MOVIAXIS Multi-Axis Servo Iverter 17

18 1 System Descriptio Beefits ad key features of MOVIAXIS MXA axis modules The axis modules either commuicate directly with a cotrol over the itegrated system buses or are cotrolled cetrally via a master module. The modules ca be equipped with up to two safety relays for implemetig safe stop i compliace with category 3 or 4 / performace level "d" or "e" ad SIL3, see also chapter "Fuctioal safety/ Safety fuctios" (page 98). Customer beefits ad key features of the axis modules: Fiely-graded axis sizes: At PWM 4 khz: 2 / 4 / 8 / 12 / 16 / 32 / 43 / 64 / 85 / 133 A At PWM 8 khz: 2 / 4 / 8 / 12 / 16 / 24 / 32 / 48 / 64 / 100 A At PWM 16 khz: 1.5 / 3 / 5 / 8 / 11 / 13 / 18 / - / - / - A High overload capacity of 250 % of the omial curret for a maximum of 1 s Up to three motors with their ow parameter sets ca be operated per axis module. Users ca switch betwee parameter sets. Very comprehesive techology ad motio cotrol fuctios are available free of charge, such as electroic cam, virtual ecoder, touch probe, evet cotrol, positioig, referecig Ca be cotrolled with user-defied uits Cetral data backup ad automatic reload i case of service via the master module CAN-based system bus SBus, CAN-based applicatio bus CAN2, or EtherCAT - compatible system bus SBus plus Firmware upload ad dowload via fieldbus, system bus, or parameterizatio iterface 7-segmet display for user-friedly visualizatio of operatig ad error states at the axis module No-liear torque ad speed characteristic curves are take ito accout Brake test fuctio for checkig the brakig capability of the motor regularly Digital iputs ad outputs at the axis module 9 isolated biary iputs; oe is set to the cotroller ihibit fuctio, 8 ca be programmed by the user, 4 touch probe iputs, 4 freely programmable biary outputs. Power shield clamps that ca be separated up to size 3 Electroics shield clamps ca be separated 3 optio card slots to expad the fuctioality Separate DC 24 V voltage supply for powerig the iverter electroics ad motor brakes. Cofiguratio, diagostics ad data storage eve whe the supply system is switched off. 18 System Maual MOVIAXIS Multi-Axis Servo Iverter

19 System Descriptio Beefits ad key features of MOVIAXIS 1 Stadard fuctioality of the axis modules Fieldbus/etwork commuicatio Motio cotrol PROFIBUS MOVI-PLC advaced DeviceNet IEC motio libraries PROFINET EtherNet/IP CAN2 Basic uit fuctios EtherCAT /SBus plus User-level password maagemet CAN1 / SBus Graphical fuctio coectio User-defied uits Double CAN system bus TCP/IP, UDP/IP EtherCAT -compatible system bus 9 digital iputs Motio cotrol/techology fuctios 4 digital outputs 40 electroic cams Olie curve calculatio Diagostics/service/moitorig Virtual ecoder Offlie scope Evet/sequece cotrol 8-chael scope Electroic gear uit Thermal motor maagemet Touch probe Thermal iverter maagemet Cam cotroller Electroic ameplate Sesor-based positioig Overload prevetio Jog mode Cetral data storage/sd card Referece travel Modulo fuctio Auto reload data record for replacemet Temperature-compesated torque cotrol for asychroous motors Direct cotrol of 24 V brakes Auto address settig Safety techology Ecoder/motor data STO PL d / category 3 Sychroous, asychroous, liear motor operatio STO PL e / category 4, SIL3 No-liear torque characteristics Hiperface, resolver, TTL, Edat 2.1 Calibratig the ecoder ad commutatio No-SEW motors Brake test fuctio Multi-motor operatio, max. 3 motors as stadard optioal Ecoders for the axis module See chapter "Additioal system compoets" (page 242). System Maual MOVIAXIS Multi-Axis Servo Iverter 19

20 I O LAM F1 Lk Lk RUN ERR IN OUT EtherCAT 1 System Descriptio Beefits ad key features of MOVIAXIS Uit data Nomial DC lik voltage 1) DC 560 V DC 750 V 2) Output voltage 0 - max. V mais Overload capacity for max. 1 s 250 % Available types Nomial output curret at 8 khz PWM A Nomial output curret at 4 khz PWM A Maximum output curret A Size Techical data MXA80A MXA81A MXA80A MXA81A MXA82A ) with U mais = 400 V (page 124) 2) For operatio with a MXR supply ad regeerative module Bus iterface/system bus variats [1] [2] XSE X31 OUT X30 IN [3] [3] [1] CAN-based system bus, SBus [2] EtherCAT -compatible system bus SBus plus [3] CAN-based applicatio bus CAN2 (stadard) Scope of delivery DC lik coectios 20 System Maual MOVIAXIS Multi-Axis Servo Iverter

21 System Descriptio Beefits ad key features of MOVIAXIS 1 Electroics shield clamp Power shield clamp 24 V supply cable Coectio cable for CAN-based system bus/ethercat -compatible system bus Optioal accessories Motor protectio coectio termial block System Maual MOVIAXIS Multi-Axis Servo Iverter 21

22 1 System Descriptio Beefits ad key features of MOVIAXIS MXM master modules The master module exteds the MOVIAXIS multi-axis servo system by various cotrol, commuicatio ad data maagemet fuctios. The master module is available as variat with MOVI-PLC advaced (32 bit motio cotroller) ad fieldbus gateway. The fieldbus gateways provide sophisticated ad trasparet commuicatio access to the etire axis system. They replace all fieldbus iterfaces i the idividual axis modules. This meas that the axis module type does ot have to be adjusted usig fieldbus iterfaces, which saves time ad optimizes the logistics ad storage processes. The axis module is equipped with a USB port for parameter settig as well as a TCP/IP etwork coectio ad a SD memory card for cetral data storage of all axis system data. Whe a axis is replaced, the etire data record, icludig the parameter settigs, is loaded to the ew axis. This feature makes it very easy to restart a system after the replacemet has bee made. The fieldbus gateways commuicate with the axis system either via the CAN1/CAN2 or the EtherCAT system bus coectio. All itegrated cotrollers are available with comprehesive libraries. The ready-made fuctio modules ca be programmed i IEC This meas that the user ca access the drive fuctios of the servo iverter directly from his or her usual PLC programmig eviromet. Cosequetly, all MOVI-PLC cotrollers speak the "laguage" of the servo iverter ad cotrol it much better tha o-sew cotrollers usig the process data iterface. Depedig o the cotrol class, additioal USB ad TCI/IP iterfaces, local I/O, ad cetral data storage for all data ad programs of the axis system ca be itegrated. Variats Due to flexible combiatio optios for hardware, fuctioality, techology ad cotrol egieerig, the MOVIAXIS multi-axis servo iverters ca be used i various automatio topologies. These structures differ primarily i where ad with which PLC ad motio cotrol fuctios they are processed. The use of differet master modules accordig to the automatio structure (cotrol/fieldbus gateway) is typical. Uit data Nomial iput voltage DC 24 V ± 25 % (EN 61131) Uit desig Techical data Available types MXM80A /DHP11B MXM80A / DH.41B MOVI-PLC advaced 1) DHE41B, DHF41B, DHR41B (page 129) PROFIBUS / DeviceNet gateway UFE41B PROFINET / EtherNet/IP / Modbus/TCP UFR41B 1) For techical data ad coectios of the cotrol module DH.41B, see the "MOVI-PLC advaced /DHE41B/DHF41B/DHR41B Cotroller" maual. 22 System Maual MOVIAXIS Multi-Axis Servo Iverter

23 System Descriptio Beefits ad key features of MOVIAXIS 1 Scope of delivery Electroics shield clamp 24 V supply cable CAN - master module coectio cable Cable lugs Optioal accessories System bus coectio cable for CAN-based system bus Coectio cable for EtherCAT master module System bus coectio cable for EtherCAT -compatible system bus System bus coectio cable CAN Adapter cable master module to CAN2 Coectio cable for CAN-based applicatio bus CAN2 CAN2 termiatig resistor For the part umbers of the cables, see chapter "Istallatio ad coectio accessories" (page 77). System Maual MOVIAXIS Multi-Axis Servo Iverter 23

24 1 System Descriptio Beefits ad key features of MOVIAXIS MXS 24 V switched-mode power supply optio Uit data Nomial DC lik voltage 1) The switched-mode power supply is fed from the DC lik voltage ad provides the 24 V voltage for supplyig the electroics i the axis system ad the motor brakes. The DC 24 V supply ca bridge a voltage dip i the DC lik for a short time (about 10 ms). The switched-mode power supply is protected agaist overload durig operatio i the defied DC lik voltage rage. The output voltage is led out i parallel o 3 differet output termials with a joit groud referece. Each output is separately moitored for a maximum output curret value of 10 A, which meas the power supply is curret limited ad short-circuit proof. If the DC lik voltage is ot available, operatio of the switched-mode power supply ca be cotiued via the exteral 24V supply, e.g. for settig the parameters of the axis system. This meas all moitorig fuctios ad the operatig display cotiue to operate. The same moitorig levels as for the output voltages, which are geerated from the DC lik, also apply to the 24 V supply. The curret overload at the output termials is idicated by a three-color diode. The switched-mode power supply uit ca be combied with all MOVIAXIS modules, except for the MXR supply ad regeerative module. If you pla to combie MXS ad MXR, please cotact SEW-EURODRIVE. DC 560 V Nomial iput backup voltage DC 24 V ± 25 % (EN 61131) Nomial output voltage DC 3 x 24 V (shared groud) tolerace for supply via DC lik: DC 24 V +10 % / -0 % Tolerace for supply via exteral 24 V: Depeds o the iput voltage ad the requiremets of the coected uits. Available types Nomial output curret A Nomial output power W Techical data MXS80A A 2) 600 (page 133) 1) With V lie = 400 V 2) Not possible at the same time because total power is limited to 600 W Scope of delivery DC lik coectios 24 V supply cable 24 System Maual MOVIAXIS Multi-Axis Servo Iverter

25 System Descriptio Beefits ad key features of MOVIAXIS MXC capacitor modules Capacitor modules are itelliget eergy buffers. I the capacitor module, the eergy supplied to the DC lik whe applyig the brake of a motor is activated through a chargig circuit ad quickly "stored". Durig a acceleratio process, this eergy is the supplied back to the mai DC lik ad utilized agai. Oly brakig eergy that exceeds the capacity of the capacitor modules is dissipated via a optioal brakig resistor. The capacitor module is a simple ad easily itegrated additioal compoet for savig or re-usig eergy. Whe desigig the applicatio accordigly, you ca save a remarkable amout of eergy. Depedig o the applicatio, oly the power losses are take from the supply system. I additio, you ca omit the brakig resistor, which meas o dissipated heat. Uit data MXC80A Techical data Nomial DC lik voltage U NZK DC 560 V 1) Storable eergy 1) 1000 Ws (page 131) Peak power capacity 1) With V lie = 400 V 50 kw Scope of delivery DC lik coectios 24 V supply cable MXB buffer modules Buffer modules are pure eergy storage devices. Buffer modules are charged with eergy from the DC lik irrespective of whether the motors are decelerated or accelerated. This meas buffer modules make available a guarateed amout of eergy i the DC lik. This amout of eergy ca be used to move drives to a safe positio (retur movemet), for example i the evet of a power failure i the system. Uit data MXB80A Techical data Nomial DC lik voltage DC 560 V U 1) NZK (page 132) Storable eergy 1) 1000 Ws 1) With V lie = 400 V Scope of delivery DC lik coectios 24 V supply cable System Maual MOVIAXIS Multi-Axis Servo Iverter 25

26 1 System Descriptio Beefits ad key features of MOVIAXIS MXZ DC lik discharge modules The DC lik discharge module shorts the voltage lik of the axis system by meas of a electroic switch via a special brakig resistor. This may oly take place if the supply of the DC lik has bee discoected, i.e. the MXP supply module or the MXR supply ad regeerative module is o loger coected to the supply system. Oce the discharge process is complete ad the discharge curret is approachig zero, the electroic switch will ope automatically. A sychroous servomotor coected to the DC lik via a axis module geerates a speed-depedet brakig torque. This meas a ucotrolled drive ca be decelerated electroically eve without servo iverter fuctio. At the same time, the kietic eergy is coverted ito heat eergy via the special brakig resistor. The maximum amout of eergy that ca be dissipated via the brakig resistor will have to be cofigured because the DC lik discharge module ad the brakig resistor will have to be of appropriate size. INFORMATION If a motor is drive mechaically, as is the case i a hoist, stadstill caot be accomplished. The DC lik discharge module is iteded for discharge of kietically stored eergy oly. Do ot use the DC lik discharge module for potetial eergy (hoist, sprig, accumulator). Uit data Nomial DC lik voltage DC 560 V 1) Available types Covertible eergy E J Discharge resistor 2) Ω Duratio of quick discharge s Size Techical data MXZ80A (page 135) 1) With V lie = 400 V 2) For the DC lik discharge module to fuctio correctly, you must choose a suitable dischargig resistor durig project plaig. Scope of delivery DC lik coectios Power shield clamp 24 V supply cable 26 System Maual MOVIAXIS Multi-Axis Servo Iverter

27 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS Areas of applicatio ad automatio optios with MOVIAXIS The MOVIAXIS multi-axis servo iverter was developed with the specific requiremet to create additioal value for the user, however differet the applicatios may be High degree of flexibility ad great user beefits MOVIAXIS offers a high degree of flexibility ad great user beefits. These are: Perfect adaptatio ad maximum flexibility of the etire drive ad automatio system. Hardware ad software ca be scaled Commuicatio ad etworkig optios Drive fuctioality ad automatio optios Egieerig, startup, cofiguratio ad diagostics usig MOVITOOLS Motio- Studio. A variety of applicatio optios for variable machies ad systems. Nomial supply power of 10 kw, peak power up to 187 kw Siusoidal eergy recovery techology Peak curret of 250 A Itegrated safety techology, up to performace level "e" Robust housig ad simple istallatio Support of all commo ecoder systems. Best effort/solutio/resources ratio. Motio cotrol fuctios that rage from simple, graphically selectable techology fuctios to powerful 32-bit cotrol systems Widely applicable motor/gear uit rage Tiered motio cotrol that rages from simple positioig to support of customerspecific kiematics. With these features, MOVIAXIS is perfect for a wide rage of applicatios i machie ad plat egieerig. I additio, MOVIAXIS ca be combied with the kow automatio structures ad hybrids thereof: Cetralized cotrol structure Structure 1 Classic machie ad system PLC with fieldbus or etwork coectio of the iverters. Here, a higher-level cotroller (PLC) coordiates the etire machie/plat ad cotrols all processes. I geeral, oly the positioig ad travel commads or very time-critical tasks are haded dow to the coected drive systems. System Maual MOVIAXIS Multi-Axis Servo Iverter 27

28 1 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS Modularizatio Structure 2 Higher-level machie ad system PLC with lower-level module ad segmet cotrollers or cotrol devices. Here, the higher-level PLC moitors ad cotrols oly the overall process, while lower-level module cotrollers, with a defied iterface to the higher-level PLC, cotrol the idividual modules ad segmets of a machie idepedetly. Ofte, the focus is o motio cotrol ad ecapsulatig a applicatio for re-use without much additioal effort Master module This high degree of adaptability is esured by the differet master module variats. The master module fuctios as the head of MOVIAXIS, see the system compoet descriptio for the master module (page 22). Das master module is available i two differet variats: 1. Fieldbus or etwork gateway for uiversal coectio to all commo fieldbus ad etwork systems. 2. Motio Cotrol MOVI-PLC advaced, as freely programmable motio cotroller o the basis of IEC or as purely parameterizable cotroller with pre-defied applicatio modules. These two variats are described below: MOVIAXIS with fieldbus or etwork gateway i combiatio with a classic machie or system PLC cetralized structure Motio ad Logic Cotrol System Maual MOVIAXIS Multi-Axis Servo Iverter

29 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS 1 Applicatio requiremets Target applicatios Customer beefits This variat of the MOVIAXIS master module is suitable for the followig machies ad systems: High demads o idividual, axis-related motio cotrol fuctios, o complex axis iterplay ad respective processig, Oly limited flexibility ad performace required from the motio cotroller, Machies that replace systems operated with frequecy iverter ad PLC, Machies for which a icrease i productio requires the use of at least some motio cotrol ad servo techology fuctios. Machies i which the use of a motio cotroller makes o sese techically ad ecoomically. Applicatio examples: Storage ad retrieval systems Simple packagig machies Hadlig equipmet Discharge ad uloadig systems Simple sheet metal formig machies. Machies ad systems with the above requiremets ca easily be implemeted with a combiatio of MOVIAXIS ad a classical PLC via a master module with fieldbus or etwork gateway. The followig features i particular offer sustaiable customer beefits: Motio cotrol fuctios itegrated i the axis, Cetralized commuicatio, Automatic data storage. Motio cotrol itegrated i the axis cotroller: fuctioal, simple, ad realized i the PLC program with very little effort. PLC remais uchaged Wizard support Oe of the essetial advatages of MOVIAXIS with a cetralized machie cotroller is the fact that the PLC ca remai almost uchaged. No program structures ad already implemeted fuctios must be trasferred to the ew system. The PLC programmer does ot have to become acquaited with the complex motio cotrol fuctios of MOVIAXIS. The servo ad motio cotrol fuctios are all cotrolled via process data iterfaces ad fuctios that ca be graphically liked. Stadard fuctios, such as sigle-axis positioig, ca easily be implemeted usig wizards ad startup editors. Pre-cofigured driver modules, e.g. for the S7 PLC, simplify the cotrol itegratio process further. System Maual MOVIAXIS Multi-Axis Servo Iverter 29

30 1 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS Customer beefits Customer beefits of the axis-itegrated motio cotrol applicatio: Simple ad miimal-effort solutio, established automatio structures ca usually be maitaied, Cost-optimized solutio: Servo iverter ad motio cotrol i oe solutio package, Miimal traiig period: Software-assisted implemetatio of all motio cotrol tasks, Safe ad fast solutios: Complete, tested, ad approved solutios ad implemetatio optios. Cetralized commuicatio, powerful ad flexible The UFx fieldbus/etwork gateway systems optimize a umber of bottleecks of moder machie/plat automatio. This provides for a ideal cost/beefit ratio. High-speed gateway Fieldbuses System buses TCP/IP, USB Customer beefits If you use high-speed gateways throughout, you ca keep the axes fieldbus-idepedet. The fieldbus/etwork fuctioality is set o site/at the customer's via DIP switch. This allows you to select flexibly betwee PROFIBUS / DeviceNet ad PROFINET, EtherNet/IP, Modbus/TCP. The followig scalable bus systems are available for coectig the axes: CAN-based system bus SBus, CAN-based applicatio bus CAN2, ad, as maximum expasio stage,ethercat -compatible system bus. I additio, TCP/IP commuicatio is o board for a coectio with a host system. This allows, for example, a maiteace computer to access the system directly to read system data ad make settigs. The USB iterface is available for fast access. Advatages of this cetralized commuicatio: Axis modules idepedet of the fieldbus: Optimized ad miimized storage, which meas reduced service complexity, Itegrated TCP/IP: Office commuicatio, remote maiteace ad stadard PC coectio always available, Three commuicatio performace classes: Costs ad commuicatio performace ca be scaled perfectly, High-speed gateways that ca be switched: Flexible coectio optio to all commo PLC maufacturers, such as Siemes, Scheider, Alle Bradley. Automatic data storage, cetralized ad always available Moder drive systems offer a variety of settig ad optimizatio optios for perfect adaptatio to the applicatio ad maximum productivity. These settigs are guarators of the machie performace. They refer to the machie ad ot to a drive cotroller, which is why they must remai with the machie. Savig the settigs SEW-EURODRIVE esures that these importat axis module settigs are saved by meas of a cetral data memory i the gateway. The data of all parameterizable axis modules is stored i the "data safe". If eeded, it ca be used for re-parameterizatio or recovery. 30 System Maual MOVIAXIS Multi-Axis Servo Iverter

31 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS 1 Whe replacig a uit, the "auto reload" fuctio ca write the data from the "data safe" directly to the ew uit, o actio of the user required. The data is also saved o a exchageable SD card i the gateway. Customer beefits Advatages of this data storage: Data stored cetrally i the gateway: All relevat settigs are always safely stored i a cetral locatio, idepedet of the axis, Data o the SD card: The settigs of the project ad of the machie are saved whe replacig a axis or a gateway, Auto reload: Miimal stadstill times i the evet of a failure, eve without specially traied service staff MOVIAXIS with itegrated MOVI-PLC motio cotrol i the master module as a lowerlevel modular cotroller i combiatio with a higher-level overall cotroller PLC Operator pael Fieldbus Motio ad logic cotrol I/O System Maual MOVIAXIS Multi-Axis Servo Iverter 31

32 1 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS Applicatio requiremets Target applicatios This variat of the master module is suited for the followig structures. Automatio structures with modular machie ad system compoets that require a itegrated MOVI-PLC cotroller are usually characterized as follows: Machie modules are automated idepedetly of each other ad started up i advace, Tasks of the motio cotroller, the PLC, ad the cotiuous path cotroller are to be solved o a shared platform. It must be possible to ecapsulate ad re-use modular solutios, Performace-critical motio cotrol tasks must be idepedet of the PLC programmig ad the PLC system, Machies are distributed worldwide ad work with differet cotrol systems, such as Siemes, Scheider, Alle Bradley, as requested by the ed customer. The effort for program modificatios i the ed customer PLC must be miimal. The machie is started up with a pre-defied program library. Applicatio examples: Robot cells, Cuttig, sortig, labelig, fillig, ad sealig uits, e.g. i bottlig ad packagig machies, Deep drawig ad blister machies, Very powerful ad flexible storage ad retrieval systems, Systems with processig statios. Oe platform for all MOVI-PLC high-ed motio cotrol, PLC, kiematic ad cotiuous path cotrol The higher-level machie cotroller ca be desiged i such a way that it oly performs additioal "coordiatio ad maagemet tasks" for the overall process. MOVI-PLC will cotiue to offer differet techology ad performace levels, which allows for perfect scalig ad adaptatio to the applicatio. The commuicatio ad data storage optios of MOVI-PLC ad of the high-speed gateway are exactly the same. Motio cotrol IEC stadard Cofigurable cotrol uits CCU Kiematics/robotics The decisive motio cotrol fuctios of the idividual statios or machie modules are implemeted completely i the MOVI-PLC cotroller that is matched perfectly to MOVIAXIS. I this way, the higher-level cotroller ca be adapted with miimum effort to regioal ed customer requiremets cocerig the maufacturer of the higher-level machie or system PLC. It is ot ecessary to develop the decisive motio cotrol programs aew i the respective, maufacturer-specific programmig laguages. MOVI-PLC supports the worldwide, stadardized programmig eviromet IEC 61131, icludig PLCope fuctios. Sophisticated applicatios ca be realized usig the cofigurable cotrol uits (CCU), which merely require the parameterizatio of pre-defied fuctios, e.g. for storage ad retrieval systems. Oe of the scalable expasio stages of MOVI-PLC offers, for example, a complete, itegrated cotiuous-path cotrol system that supports ad trasforms various kie- 32 System Maual MOVIAXIS Multi-Axis Servo Iverter

33 System Descriptio Areas of applicatio ad automatio optios with MOVIAXIS 1 matics. Simulatio tools for implemetig complete robotics ad hadlig systems are also itegrated. PLC ad motio cotrol I additio to modular ad sub-system cotrol, MOVI-PLC is powerful eough to offer complete machie cotrol with visualizatio, PLC ad motio cotrol tasks, ad data storage. I these cases, the overall machie cotroller ca be omitted, which leads to a lea ad cost-optimized solutio. Customer beefits Advatages of usig MOVI-PLC ad MOVIAXIS : Comprehesive periphery: MOVI-PLC I/O ad the DOPs provide for optimum operatio of almost ay applicatio ad itegratio of peripheral uits, Quick adaptatio to cotrollers from differet maufacturers: All critical motio cotrol ad machie fuctios ca be programmed idepedetly i MOVI-PLC, Short startup times: The modular desig allows for pre-tested modules ad sub-systems. MOVI-PLC ca also be used to completely automate machies without a classical PLC, Motio cotrol, PLC, kiematic or cotiuous-path cotrol: Oe platform with miimal complexity ad uiversal programmig, Ready-to-use ad tested IEC libraries: Easy ad fast programmig of all drives from SEW-EURODRIVE. Use of cofigurable cotrol uits (CCU): Applicatio modules for multi-axis applicatios that offer fast implemetatio without programmig ad protectio agaist maipulatio by the operator, Scalable motio cotrol fuctioality: Costs ad fuctios ca be adapted perfectly to the applicatio due to various techology levels; scalable hardware platforms: Differetiated use of "advaced" cotrollers allow for further, cost-optimizig price ad performace adaptatios, Trasparet ad uiversal data storage ad commuicatio: Idetical behavior throughout the etire MOVIAXIS system, irrespective of whether a high-speed gateway or a MOVI-PLC cotroller is used Summary Be it master modules i coectio with high-speed gateways or MOVI-PLC motio cotrollers MOVIAXIS ca almost always be adapted perfectly to the applicatio i terms of techology, fuctioality, commuicatio, ad uit cotrol. Costs ad effort are saved due to Simpler operatio, programmig, validated ready-to-use solutios ad product combiatios, Cosistecy ad reduced complexity, Optimized logistics, fewer modules, ad oe supplier. System Maual MOVIAXIS Multi-Axis Servo Iverter 33

34 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1.5 Optio cards providig more fuctios ad flexibility for axis modules ad supply ad regeerative modules MOVIAXIS offers a umber of differet optio cards to expad the fuctioality of the idividual axis modules or siusoidal supply ad regeerative modules ad/or to make them more flexible. The followig optio cards are available: Optio card Desigatio Descriptio Ecoder ad distace ecoder cards XGH11A XGS11A Multi-ecoder card for Motor ad distace ecoders TTL, ecoder, Hiperface, EDAT 2.1, SiCos Ecoder simulatio ±10V AE DC 24 V supply Like XGH, but with SSI as additioal ecoder system Istallatio i MXA x x Istallatio i MXR Iput/output cards XIA11A XIO11A I/O card with 4 DI, 4 DO 2 AI, 2 AO resolutio 12 bit 24 V supply I/O card with 8 DI, 8 DO 24 V supply x x System bus ad fieldbus iterfaces XFP11A PROFIBUS IO fieldbus iterface, up to 12 Mbaud x x XFE11A XSE11A Fieldbus iterface for coectio to EtherCAT etworks System bus optio card for expasio to EtherCAT -compatible system bus x x x x 34 System Maual MOVIAXIS Multi-Axis Servo Iverter

35 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad XGH11A, XGS11A multi-ecoder card optio The multi-ecoder card expads the MOVIAXIS system for evaluatio of additioal ecoders. Two differet multi-ecoder cards are available. Their selectio is based o the ecoder type that is to be evaluated, see ecoder list o the ext page. A aalog, differetial iput (±10 V) is available i additio. XGH XGS [X61] [X61] [X62] [X62] [X63] [X64] Overview of fuctios The followig fuctios ad ecoder types ca be evaluated with the multi-ecoder card: Fuctios XGH versio XGS versio SSI fuctioality -- x Hiperface fuctioality EDat 2.1 fuctioality Icremetal ecoder si/cos fuctioality Ecoder simulatio Temperature evaluatio Aalog, differetial iput ±10 V Optioal voltage supply 24 V Resolver x -- x -- HTL ecoders ca be operated usig a HTL TTL iterface adapter. The part umber of the iterface adapter is Sigle-eded HTL ecoders ca be operated usig a HTL TTL iterface adapter. The part umber of the iterface adapter is Resolvers caot be evaluated with the multi-ecoder card. System Maual MOVIAXIS Multi-Axis Servo Iverter 35

36 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad Coectio techology of the multi-ecoder card Suitable ecoders The ecoders listed i the followig tables are evaluated by the multi-ecoder card. SEW ecoder desigatio Ecoder system Maufacturer desigatio/maufacturer AL1H Hiperface liear ecoder L230 / SICK-Stegma EK0H Hiperface sigle-tur SKS36 / SICK-Stegma AS0H Absolute ecoder Hiperface multi-tur SRS36 / SICK-Stegma ES1H Hiperface sigle-tur SRS50 / SICK-Stegma ES3H/ES4H Hiperface sigle-tur absolute ecoder SRS64 / SICK-Stegma AK0H Hiperface multi-tur SKM36 / SICK-Stegma AS1H Hiperface multi-tur SRM50 / SICK-Stegma AS3H / AS4H Absolute ecoder Hiperface multi-tur SRM64 / SICK-Stegma AV1H Hiperface absolute ecoder SRM50C3 / SICK-Stegma EV1C HTL ROD / Heidehai EV1S Sie ROD / Heidehai EV2R Ecoder OG71-DN 1024R / Hüber AV1Y SSI absolute ecoder ROQ424SSI / Heidehai ES1S OG72S-DN1024R / Hüber ES2S OG72S-DN1024R / Hüber EV2S OG71S-DN1024R / Hüber EH1S HOG74-DN1024R / Hüber ES1R OG72-DN1024R / Hüber Ecoder ES2R OG72-DN1024R / Hüber EH1R HOG74-DN1024R / Hüber ES1T OG72-DN1024TTL / Hüber ES2T OG72-DN1024TTL / Hüber EH1T HOG74-DN1024TTL / Hüber EV1T TTL ROD / Heidehai EV2T OG71-DN 1024TTL / Hüber ES1T OG72-DN1024TTL / Hüber Ecoder ES2T OG72-DN1024TTL / Hüber EH1T HOG74-DN1024TTL / Hüber EV1R: TTL ROD / Heidehai 1) Ca oly be used with optio DWI11A Voltage supply 12 V 5 V 1) 36 System Maual MOVIAXIS Multi-Axis Servo Iverter

37 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1 Ecoder system Laser ecoder Laser ecoder SSI Hiperface sigle-tur absolute ecoder Absolute ecoder Hiperface multi-tur Sigle-tur absolute ecoder Multi-tur absolute ecoder SSI Maufacturer desigatio/maufacturer DME5000 / SICK-Stegma DME4000 / SICK-Stegma BTL5-S112-M1500-P-S32 / Balluf AMS200/200 / Leuze OMS1 / Leuze WCS2 LS 311 / Pepperl & Fuchs DME / Sick DME / Sick AG626 / Stegma LE100 / T&R EDM / Visolux OMS2 / Leuze WCS2A / Pepperl & Fuchs SRS60 / SICK-Stegma SRM60 / SICK-Stegma ECN1313 / Heidehai EQN1325 / Heidehai GM401 / IVO AG100 MSSI / Stegma CE58 / T&R Voltage supply 24 V 24 V 12 V 12 V System Maual MOVIAXIS Multi-Axis Servo Iverter 37

38 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad Restrictios for the evaluatio of iputs for axis modules equipped with I/O ad multi-ecoder cards INFORMATION If the axis module is equipped with two I/O ad oe multi-ecoder card or with oe I/O ad two multi-ecoder cards (see followig table), the followig restrictios apply for the evaluatio of iputs ad outputs: Evaluatio is oly possible for the iputs ad outputs (if applicable) of two cards. Variat Plugged card Plugged card Plugged card 1 I/O card I/O card Multi-ecoder card 2 I/O card Multi-ecoder card Multi-ecoder card Supply of the multiecoder card The table below shows the maximally permitted currets for supplyig the XGH ad XGS multi-ecoder cards via the MOVIAXIS basic uit. Number of multi-ecoder Maximum permitted curret I max cards 1 pc 500 ma 2 pc 800 ma 1) 1) MOVIAXIS caot provide more tha 800 ma i total for the supply of the multi-ecoder cards Wirig diagrams for ecoders with exteral voltage supply The followig wirig diagrams show the coectio of oe ad of two multi-ecoder cards with 12 V ad 24 V voltage supply. 12 V without supply Example: Wirig diagram of a multi-ecoder card with 12 V supplied to the ecoder via the basic uit: [1] X61 (DGND) 3 (+24 V) 4 X63 / X64 [2] [1] Multi-ecoder card [2] Ecoder 38 System Maual MOVIAXIS Multi-Axis Servo Iverter

39 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1 24 V with exteral supply Example: Wirig diagram of a multi-ecoder card with 24 V voltage supply ad I 500 ma: X61 (DGND) 3 (+24 V) 4 [2] F [1] GND +24 V X63 / X64 [3] [1] Voltage source [3] Ecoder [2] Multi-ecoder card System Maual MOVIAXIS Multi-Axis Servo Iverter 39

40 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 12 V / 24 V, total curret > 500 ma Example: Wirig diagram of a multi-ecoder card with 12 V/24 V voltage supply ad a total curret of > 500 ma: [2] [1] X61 (DGND) 3 (+24 V) 4 F GND +12 V / 24 V X63 / X64 [3] [2] X61 (DGND) 3 (+24 V) 4 X63 / X64 [4] [1] Voltage source [3] Ecoder 1 [2] Multi-ecoder card [4] Ecoder 2 INFORMATION Whe usig two multi-ecoder cards, a maximum curret of 800 ma ca be supplied to the ecoder via the basic uit. For a total curret of > 800 ma, a exteral voltage supply must be implemeted. Coectio ad termial descriptio of the card Coector assigmet X61 Termial Assigmet Brief descriptio Type of coector X61 1 AI 0+ Aalog, differetial 2 AI 0- iput.c DGND 4 24 V Referece for PIN 4 Optioal ecoder voltage supply Mii Combico 3.5, 5- pole. Cable cross sectio max: 0.5 mm 2 5.c. 40 System Maual MOVIAXIS Multi-Axis Servo Iverter

41 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1 Coector assigmet X62 ecoder emulator sigals ) Do ot coect a cable 1 Termial Assigmet Brief descriptio Type of coector X62 1 Sigal track A (cos+) 2 Sigal track B (si+) 3 Sigal track C 4.c. 1) 5 DGND 6 Sigal track A_N (cos-) 7 Sigal track B_N (si-) 8 Sigal track C_N 9.c. Ecoder emulator sigals Sub-D 9-pole (male) PIN assigmet X63 XGH X64 XGS with TTL ecoder, si/cos ecoder ) Do ot coect a cable 1 Termial Fuctio for TTL ecoder, si/cos ecoder Type of coector X63 (XGH) 1 Sigal track A (cos+) 2 Sigal track B (si+) 3 Sigal track C 4.c. 1) 5.c. 6 TF/TH/KTY- 7.c. 8 DGND 9 Sigal track A_N (cos-) 10 Sigal track B_N (si-) 11 Sigal track C_N 12.c. 13.c. 14 TF/TH/KTY+ 15 Us Sub-D 15-pole (female) System Maual MOVIAXIS Multi-Axis Servo Iverter 41

42 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad Coector assigmet X63 XGH X64 XGS with Hiperface ecoder ) Do ot coect a cable 8 1 Termial Fuctio for Hiperface ecoder Type of coector X63 (XGH) 1 Sigal track A (cos+) 2 Sigal track B (si+) 3.c. 1) 4 DATA+ 5.c. 6 TF/TH/KTY- 7.c. 8 DGND 9 Sigal track A_N (cos-) 10 Sigal track B_N (si-) 11.c. 12 DATA- 13.c. 14 TF/TH/KTY+ 15 Us Sub-D 15-pole (female) Coector assigmet X63 XGH X64 XGS with EDat ) Do ot coect a cable 1 Termial Fuctio for EDat 2.1 Type of coector X63 (XGH) 1 Sigal track A 2 Sigal track B 3 Pulse + 4 DATA+ 5.c. 1) 6 TF/TH/KTY- 7.c. 8 DGND 9 Sigal track A_N 10 Sigal track B_N 11 Cycle- 12 DATA- 13.c. 14 TF/TH/KTY+ 15 Us Sub-D 15-pole (female) 42 System Maual MOVIAXIS Multi-Axis Servo Iverter

43 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1 Coector assigmet X64 XGS with SSI ) Do ot coect a cable 8 1 Termial Fuctio for SSI Type of coector X64 (XGS) 1.c. 1) 2.c. 3 Pulse + 4 DATA+ 5.c. 6 TF/TH/KTY- 7.c. 8 DGND 9.c. 10.c. 11 Cycle- 12 DATA- 13.c. 14 TF/TH/KTY+ 15 Us Sub-D 15-pole (female) Coector assigmet X64 XGS with SSI (AV1Y) ) Do ot coect a cable 1 Termial Fuctio for SSI (AV1Y) Type of coector X64 (XGS) 1 Sigal track A (cos+) 2 Sigal track B (si+) 3 Pulse + 4 DATA+ 5.c. 1) 6 TF/TH/KTY- 7.c. 8 DGND 9 Sigal track A_N (cos-) 10 Sigal track B_N (si-) 11 Cycle- 12 DATA- 13.c. 14 TF/TH/KTY+ 15 Us Sub-D 15-pole (female) Coectio of TTL ecoder to XGH, XGS TTL ecoder The followig ecoders ca be coected at X63, X64 (exteral ecoder iput): DC 5 V TTL ecoder with DC 5 V voltage supply type ES1T, ES2T, EV1T, EV2T or EH1T via DWI11A optio or ecoder with sigal level to RS422 System Maual MOVIAXIS Multi-Axis Servo Iverter 43

44 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad DC 5 V voltage supply The TTL ecoders with a DC 5 V voltage supply (ES1T, ES2T, EV1T, EV2T or EH1T) must be coected via the "DC 5 V ecoder power supply type DWI11A" optio (part umber ) Fieldbus iterface optio PROFIBUS XFP11A Termial assigmet Frot view of XFP11A Descriptio DIP switch Termial Fuctio RUN: PROFIBUS operatio LED (gree) Idicates that the bus electroics are operatig correctly c BUS FAULT: PROFIBUS error LED (red) X31: PROFIBUS coectio X31:1 X31:2 X31:3 X31:4 X31:5 X31:6 X31:7 X31:8 X31:9 ADDRESS: DIP switch for settig the PROFIBUS statio address c Idicates PROFIBUS-DP error. Assigmet N.C. N.C. RxD / TxD-P CNTR-P DGND (M5V) VP (P5V/100 ma) N.C. RxD/TxD-N DGND (M5V) Sigificace: 1 Sigificace: 2 Sigificace: 4 Sigificace: 8 Sigificace: 16 Sigificace: 32 Sigificace: 64 Reserved Coector assigmet Coectio to the PROFIBUS etwork usig a 9-pi sub D plug accordig to IEC The T-bus coectio must be made usig a plug with the correspodig cofiguratio. [2] RxD/TxD-P RxD/TxD-N CNTR-P DGND (M5V) VP (P5V/100mA) DGND (M5V) [3] [1] [1] 9-pi sub D plug [2] Sigal lie, twisted [3] Coductive coectio over a large area betwee coector housig ad shield 44 System Maual MOVIAXIS Multi-Axis Servo Iverter

45 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1 MOVIAXIS PROFIBUS coectio As a rule, the XFP11A optio is coected to the PROFIBUS system usig a shielded twisted-pair cable. Observe the maximum supported trasmissio rate whe selectig the bus coector. The twisted-pair cable is coected to the PROFIBUS coector at pi 3 (RxD/TxD-P) ad pi 8 (RxD/TxD-N). Commuicatio takes place via these two cotacts. The RS-485 sigals RxD/TxD-P ad RxD/TxD-N must be coected to the same cotacts i all PROFIBUS statios. The PROFIBUS iterface seds a TTL cotrol sigal for a repeater or fiber optic adapter (referece = pi 9) via pi 4 (CNTR-P). INFORMATION If log bus cables are used, the bus statios must have a "hard" commo referece potetial. Baud rates greater tha 1.5 Mbaud The XFP11A optio with baud rates > 1.5 Mbaud ca oly be operated with special 12-Mbaud PROFIBUS coectors. System Maual MOVIAXIS Multi-Axis Servo Iverter 45

46 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad Settig the statio address The PROFIBUS statio address is set usig DIP switches o the optio card. MOVIAXIS supports the address rage The default settig for the PROFIBUS statio address is 4: c Sigificace: 1 0 = Sigificace: 2 0 = Sigificace: 4 1 = Sigificace: 8 0 = Sigificace: 16 0= Sigificace: 32 0 = Sigificace: 64 0 = 0 Ay chage made to the PROFIBUS statio address durig ogoig operatio does ot take effect immediately. The chage takes effect whe the servo iverter is switched o agai (power supply +24 V OFF/ON). Example: Settig the PROFIBUS statio address c Sigificace: 1 1 = Sigificace: 2 0 = Sigificace: 4 0 = Sigificace: 8 0 = Sigificace: 16 1 = Sigificace: 32 0 = Sigificace: 64 0 = 0 46 System Maual MOVIAXIS Multi-Axis Servo Iverter

47 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad Fieldbus iterface optio EtherCAT XFE24A The XFE24A fieldbus iterface is a slave module for coectio to EtherCAT etworks. Oly oe XFE24A fieldbus iterface ca be istalled per axis module. The XFE24A fieldbus iterface allows MOVIAXIS to commuicate with all EtherCAT master systems. All stadards of the ETG (EtherCAT Techology Group), such as wirig, are supported. This meas the cables must be wired at the frot by the customer. XFE I O F1 RUN ERR Lk IN Lk OUT EtherCAT [1] [2] [3] [4] [5] [1] LAM switch Switch positio 0: All axis modules except the last oe Switch positio 1: Last axis module i the system Switch F1 Switch positio 0: Delivery state Switch positio 1: Reserved for added fuctios [2] LED RUN; color: Gree/orage [3] LED ERR; color: Red [4] LED lik IN; color: Gree [5] LED lik OUT; color: Gree [6] Bus iput [7] Bus output X31 OUT X30 IN [6] [7] For more iformatio about the EtherCAT fieldbus card, refer to the "MOVIAXIS MX Multi-Axis Servo Iverter XFE24A EtherCAT Fieldbus Iterface" maual. Techical data XFE24A optio (MOVIAXIS ) Stadards IEC 61158, IEC Baud rate 100 Mbaud full duplex Coectio techology 2 RJ45 (8x8 modular jack) Bus termiatio Not itegrated because bus termiatio is automatically activated. OSI layer Etheret II Statio address Settig via EtherCAT master Vedor ID 0 x 59 (CANopeVedor ID) EtherCAT CoE (CANope over EtherCAT services ) VoE (Simple MOVILINK Protocol over EtherCAT ) Firmware status of MOVIAXIS Firmware status 21 or higher Tools for startup PC program MOVITOOLS MotioStudio from versio 5.40 System Maual MOVIAXIS Multi-Axis Servo Iverter 47

48 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad XSE24A EtherCAT -compatible system bus optio The EtherCAT -compatible system bus XSE24A is a optioal, axis-iteral expasio module. This module implemets the fuctioality of a EtherCAT -compatible highspeed system bus for MOVIAXIS. The XSE24A optio module is o fieldbus iterface. It caot be used for commuicatio with o-sew EtherCAT masters. Aalog to the wirig of the CAN system bus, the system is coected usig the RJ45 plug coectio o the top of the uit icluded i the stadard scope of delivery. The CAN system bus is ot available whe XSE24A is used. XSE LAM F1 Lk Lk I O RUN ERR IN OUT EtherCAT [1] [2] [3] [4] [5] [6] [1] LAM switch Switch positio 0: All axis modules except the last oe Switch positio 1: Last axis module i the system [2] Switch F1 Switch positio 0: Delivery state Switch positio 1: Reserved for added fuctios [3] LED RUN; color: Gree/orage [4] LED ERR; color: Red [5] LED lik IN; color: Gree [6] LED lik OUT; color: Gree X31 OUT X30 IN System Maual MOVIAXIS Multi-Axis Servo Iverter

49 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad Optioal iput/output card type XIO11A INFORMATION For iformatio about the groud desigatios used i the followig wirig diagrams, refer to sectio "Termial assigmet" o the ext page. Supply The logic of the module is supplied by MOVIAXIS. Biary iputs ad outputs are supplied via the DCOM ad 24 V termials o the frot. The supply voltage must be fused with 4 A, see also chapter "UL-compliat istallatio". The biary iputs ad outputs are electrically isolated from the logic supply. Module behavior Short circuit Switchig iductive loads Switchig biary outputs i parallel I the evet of a short circuit of a biary output, the driver will chage to pulse mode ad i this way protects itself. The status of the biary output does ot chage. Oce the short-circuit is elimiated, the status of the biary output is that which is output by MOVIAXIS at that momet. The module does ot cotai a iteral free-wheelig diode for receivig iductive eergies whe iductive loads are switched off. The iductive load per output is 100 mj at a frequecy of 1 Hz. The iductive eergy is coverted ito heat eergy i the switchig trasistor. A voltage of 47 V is preset. I this way, the eergy ca be reduced faster tha by usig a free-wheelig diode. The load capacity of the outputs through iductive loads ca be icreased by addig a exteral free-wheelig diode. However, switchig off will take cosiderably loger. Coectig two biary outputs i parallel doubles the omial curret. System Maual MOVIAXIS Multi-Axis Servo Iverter 49

50 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad Termial assigmet Desigatio Termial Plug Plug size DCOM V 2 DO 0 3 DO 1 4 DO 2 5 DO 3 6 DO 4 7 DO 5 8 DO 6 9 DO 7 10 DI 0 1 DI 1 2 DI 2 3 DI 3 4 DI 4 5 DI 5 6 DI 6 7 DI 7 8 X21 X22 COMBICON 5.08 Oe core per termial: mm 2 Two cores per termial: mm Coectio diagram Wirig the biary iputs +24V DCOM XIO11A +24V Voltage supply DCOM DCOM DI0 Logic DCOM DCOM DGND DGND System Maual MOVIAXIS Multi-Axis Servo Iverter

51 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1 Switchig the biary outputs +24V DCOM +24V XIO11A Load DCOM DCOM Logic DO0 DCOM DGND DGND INFORMATION It the 24 V supply for the outputs is discoected, the iputs will ot fuctio ay loger. System Maual MOVIAXIS Multi-Axis Servo Iverter 51

52 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad Optioal iput/output card type XIA11A INFORMATION For iformatio about the groud desigatios used i the followig wirig diagrams, refer to sectio "Termial assigmet" o the ext page. Supply The logic of the module is supplied by MOVIAXIS. Aalog iputs ad outputs are also supplied by MOVIAXIS. Biary iputs ad outputs are supplied via the DCOM ad 24 V termials o the frot. The supply voltage must be fused with 4 A, see chapter "UL-compliat istallatio". The biary iputs ad outputs are electrically isolated from the logic supply. Module behavior Short circuit I the evet of a short circuit of a biary output, the driver will chage to pulse mode ad i this way protects itself. The status of the biary output does ot chage. Oce the short-circuit is elimiated, the status of the biary output is that which is output by MOVIAXIS at that momet. Switchig iductive loads The module does ot cotai a iteral free-wheelig diode for receivig iductive eergies whe iductive loads are switched off. The iductive load per output is 100 mj at a frequecy of 1 Hz. The iductive eergy is coverted ito heat eergy i the switchig trasistor. A voltage of 47 V is preset. I this way, the eergy ca be reduced faster tha by usig a free-wheelig diode. The load capacity of the outputs through iductive loads ca be icreased by addig a exteral free-wheelig diode. However, switchig off will take cosiderably loger. Switchig biary outputs i parallel Coectig two biary outputs i parallel doubles the omial curret. 52 System Maual MOVIAXIS Multi-Axis Servo Iverter

53 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1 Termial assigmet Desigatio Termial DCOM 1 24 V 2 DO 0 3 DO 1 4 DO 2 5 DO 3 6 DI 0 7 DI 1 8 DI 2 9 DI 3 10 Al 0+ 1 Al 0-2 Al 1+ 3 Al 1-4 AO 0 5 AO 1 6 DGND 7 DGND 8 X25 X26 COMBICON 5.08 Oe core per termial: mm 2 Two cores per termial: mm Coectio diagram Wirig the biary iputs +24V DCOM XIA11A +24V Voltage supply DCOM DCOM DI0 Logic DCOM DCOM DGND DGND System Maual MOVIAXIS Multi-Axis Servo Iverter 53

54 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad Switchig the biary outputs +24V DCOM +24V XIA11A Load DCOM DCOM Logic DO0 DCOM DGND DGND INFORMATION The aalog/biary hybrid module XIA11A has o iteral free-wheelig diodes. Wirig the aalog iputs Sesor -10V<U<10V XIA11A + AI0 - ADC Logic DGND DGND DGND Groud bar DGND System Maual MOVIAXIS Multi-Axis Servo Iverter

55 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1 Switchig the aalog outputs Actuator XIA11A IN+ IN- AO0 DGND DGND DAC DGND Logic DGND DGND DGND Groud bar DGND INFORMATION The aalog/biary hybrid module XIA11A has o iteral free-wheelig diodes. System Maual MOVIAXIS Multi-Axis Servo Iverter 55

56 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad Istallatio ad fuctio combiatios of the optio cards MOVIAXIS axis module ca have up to three optio cards istalled. Depedig o the optio cards that you wat to istall, the followig combiatios must be cosidered. [1] [2] [3] A [4] [1-3] Slots 1-3, assigmet see followig table [4] Cotrol board compoet of the basic uit A geeral distictio is made betwee whether MOVIAXIS is used with the CAN-based system bus (SBus) or the EtherCAT -compatible SBus plus. CAN uit variats Whe usig the CAN-based SBus, all three slots ca be used accordig the followig table. The followig tables show the possible combiatios ad the fixed assigmet of cards to the slots. 56 System Maual MOVIAXIS Multi-Axis Servo Iverter

57 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1 Fieldbus combiatios The fieldbus optios ca be plugged i the followig combiatios: Combiatio Slot 1 Slot 2 Slot 3 1 Fieldbus optio 1) 2 3 XIA11A 4 5 XIO11A XGH XGS 6 Fieldbus optio XIO11A 7 8 XGH XIA11A 9 XGS 10 XIA11A 11 Fieldbus optio 12 XGS XGH Fieldbus optio 13 XGH 14 Fieldbus optio 15 XGS Fieldbus optio XGS 1) XFE24A: EtherCAT ; XFP11A: PROFIBUS; XFA11A: K-Net XIO combiatios The optios ca be combied as follows: Combiatio Slot 1 Slot 2 Slot XIA11A 3 XGH 4 XGS 5 XGH XIA11A 6 XGS XIO11A 7 XGS XGH 8 XGH 9 XGS XGS XIO11A XGH 12 XGS System Maual MOVIAXIS Multi-Axis Servo Iverter 57

58 1 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad XIA combiatios The optios ca be combied as follows: Combiatio Slot 1 Slot 2 Slot XGH 3 XGS 4 XGS 5 XIA11A XGH XGH 6 XGS XGS 7 8 XIA11A XGH 9 XGS Combiatios with XGH, XGS oly The optios ca be combied as follows: Combiatio Slot 1 Slot 2 Slot XGS XGH 3 XGH Combiatios with XGS oly The optios ca be combied as follows: Combiatio Slot 1 Slot 2 Slot 3 1 XGS 2 XGS 58 System Maual MOVIAXIS Multi-Axis Servo Iverter

59 System Descriptio Optio cards providig more fuctios ad flexibility for axis modules ad 1 EtherCAT - capable uits Whe usig SBus plus (EtherCAT -compatible high-speed system bus), the XSE optio must be istalled i slot 1. The followig table shows the possible combiatios ad the fixed assigmet of cards to the slots. Combiatios with EtherCAT -compatible system bus The optios ca be combied as follows: Combiatio Slot 1 Slot 2 Slot XIA11A 4 XIO11A XGH 5 XGS 6 XIO11A 7 8 XSE24A XGH XIA11A 9 XGS 10 XIA11A XGS XGH 13 XGH 14 XGS 15 XGS System Maual MOVIAXIS Multi-Axis Servo Iverter 59

60 1 System Descriptio Istallatio variats, combiatio ad commuicatio optios 1.6 Istallatio variats, combiatio ad commuicatio optios MOVIAXIS offers a high degree of flexibility for istallatio ad combiatios of the idividual system compoets. The mechaical istallatio optios ad the resultig commuicatio optios are described below Arragemet of idividual system elemets i the axis system (sigle-row cofiguratio) All MOVIAXIS system compoets must be arraged i a particular way. The followig figure shows the correct istallatio of the available MOVIAXIS modules (without DC lik discharge module). [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [1] Master module [6] Axis module size 4 [2] Capacitor or buffer module [7] Axis module size 3 [3] Supply module or supply ad regeerative module [8] Axis module size 2 [4] Axis module size 6 [9] Axis module size 1 [5] Axis module size 5 [10] 24 V switched-mode power supply module If oe of the modules is eeded for the applicatio solutio, the other modules must be moved to close the gap i the axis system. Axes with a height of 300 mm ad 400 mm ca be combied accordig to the performace ad supply project plaig. Separate operatio Separate operatio of idividual modules is ot permissible uder ay circumstaces. 60 System Maual MOVIAXIS Multi-Axis Servo Iverter

61 System Descriptio Istallatio variats, combiatio ad commuicatio optios 1 Hole itervals Number of modules i the axis system Two-row cofiguratio The bore holes of the axis modules are spaced out evely at itervals of 30 mm. This meas that the back walls of the cotrol cabiet ca easily be prepared with a patter of 30 mm. You ca mout the differet axes i ay place, as all axes have the same moutig hole patter. I geeral, you ca add up to 8 axis modules to a supply module. After cosultatio with SEW-EURODRIVE, it is possible to add more. With a special DC lik coectio, you ca istall the axis system i two rows, which is advatageous for arrow cotrol cabiets (e.g. i arrow SRS aisles). Cotact SEW- EURODRIVE i such cases Two-row cofiguratio of the axis system 1) A two-row cofiguratio of the axis system is particularly suited for "two-level" istallatio i a arrow cotrol cabiet. This cofiguratio ca oly be realized with a special DC lik coectio. A example for two-row cofiguratio is the istallatio i the arrow aisles of a highbay warehouse. If your applicatio requires two-row cofiguratio of your axis system, please cotact SEW-EURODRIVE. The followig figure shows a example of a two-row cofiguratio of MOVIAXIS modules. [3] [3] [1] [2] [4] [4] [4] [5] [6] ) Available as of 4th quarter 2010 System Maual MOVIAXIS Multi-Axis Servo Iverter 61

62 1 System Descriptio Istallatio variats, combiatio ad commuicatio optios The followig MOVIAXIS modules ca be combied: [1] Oe MXM master module, [2] Oe MXR supply ad regeerative uit, [3] A maximum of 4 MXA axis modules of size 1 or size 2, [4] MXA axis modules of size 1 6, [5] Oe lie choke for MXR, [6] Oe lie filter for MXR. The umber ad size of the modules are determied i project plaig. Accessories are listed i chapter "Istallatio ad coectio accessories" (page 74). Scope of delivery For the described two-row cofiguratio, a assembly kit is supplied. [3] [4] [2] [1] [6] The assembly kit cotais: [1] Three prefabricated cables for the DC lik coectio, [2] Two isulators, [3] Six coductor bars, [4] Oe sigal bus coectio, [5] Screws, small parts, [6] Two protectio caps. 62 System Maual MOVIAXIS Multi-Axis Servo Iverter

63 System Descriptio Istallatio variats, combiatio ad commuicatio optios Combiatio ad commuicatio optios with ad without master module MOVIAXIS ca be itegrated i automatio ad cotrol structures i two differet ways. 1. With optioal fieldbus iterfaces or the CAN-based applicatio bus CAN2, 2. Master modules with CAN-based system bus SBus or EtherCAT -compatible system bus SBus plus for coectio to the axis modules. Oe axis system with MOVIAXIS Several MOVIAXIS axis systems with each other Without master module MOVIAXIS coectio via fieldbus iterfaces or via CAN-based applicatio bus CAN2 Commuicatio paths This type of commuicatio offers commuicatio paths via PROFIBUS cards, EtherCAT fieldbus cards, or axis-itegrated CAN2 with DS301 profile. Fieldbus coectio MOVILINK The idividual fieldbuses are coected directly to the axis modules usig the specified plugs of the respective fieldbus. For PROFIBUS, for example, there are axis drivers / S7 fuctio blocks available for easy itegratio. This type of coectio is very lea ad eables the use of all axis-itegrated motio cotrol ad techology fuctios. MOVILINK, the SEW fieldbus profile, ca be used for all fieldbus types. MOVILINK always uses the same message format idepedet of the selected iterface (CAN2-Bus, RS232, RS485, fieldbus iterfaces). Hece the cotrol software does ot deped o the selected iterface. System Maual MOVIAXIS Multi-Axis Servo Iverter 63

64 1 System Descriptio Istallatio variats, combiatio ad commuicatio optios Variats without master module The followig table shows the idividual coectio variats with the mai criteria for applicatio adaptatio. Commuicatio cables are listed i chapter "System bus ad coectio cables optioal accessories" (page 77). Without optio card With axis-itegrated optio card Fields of applicatio Data backup Fieldbus commuicatio Axis commuicatio Without master module CAN-based applicatio bus CAN2 XFP PROFIBUS card XFE Etheret card Simple cotrol of MOVIAXIS, fieldbus operatio, use of itegrated techology fuctios Via higher-level cotroller or separate DHE i UOH housig DS301 profile accordig to CIA, drive cotrol via MOVILINK protocol Accordig to PROFIBUS specificatio, axis driver for S7 available Accordig to EtherCAT specificatio, drive cotrol via MOVILINK protocol Via CAN2 Via SBus (CAN1) for all axes or CAN2 Via SBus (CAN1) for all axes or CAN2 Without optio card With axis-itegrated optio card Parameterizatio access Cotrol Stadard cablig Optioal/additioal system bus cable CAN-based applicatio bus CAN2 Cetrally via D-sub 9 SBus (CAN1) access at supply module for all axes Via exteral CAN cotroller - Coectio cable CAN2 for 3 axes, for 4 axes, termiatig resistor CAN2 - Without master module XFP PROFIBUS card XFE Etheret card Cetrally via D-sub 9 SBus (CAN1) access at supply module for all axes or directly at each axis via CAN2 Cetrally via D-sub 9 SBus (CAN1) access at supply module for all axes or directly at each axis via CAN2 Via exteral PROFIBUS cotroller Via exteral EtherCAT cotroller All SBus (CAN 1) cables of the axes are icluded i the scope of delivery Coectio cable CAN2 for 3 axes, 4 axes, termiatig resistor CAN2 Coectio cable CAN2 for 3 axes, 4 axes, termiatig resistor CAN2 64 System Maual MOVIAXIS Multi-Axis Servo Iverter

65 System Descriptio Istallatio variats, combiatio ad commuicatio optios 1 With master module MOVIAXIS coectio fieldbus etwork gateway or MOVI-PLC motio cotrol The most powerful ad cost-effective way to itegrate MOVIAXIS i cotrol ad automatio structures is usig the master module ad the gateways. The master module itself offers differet variats ad commuicatio optios. The master module ca also be coected to higher-level cotrollers as "slave elemet" via commo etworks ad fieldbuses. Three types of system iteral commuicatio are described below. EtherCAT, CAN1, CAN2 SBus, SBus plus Variats with master module The system bus commuicatio with the axes is scalable. You ca either use the CANbased system bus SBus with a expasio optio via CAN2 or the optioal EtherCAT - compatible SBus plus. Due to the lea ad highly efficiet protocol structure of the system bus, the CAN-based system bus SBus is sufficiet i most cases. The EtherCAT -compatible system bus SBus plus is recommeded for all applicatios that place extremely high demads o the data volume, speed, ad cable legth. The master module variats offer commuicatio ad itegratio optios with differet price ad fuctio levels. Gate way MOVI- Fields of applicatio Data backup Fieldbus/etwork PLC commuicatio Axis module master module commuicatio With master module UFF UFR DHF DHR DHE Cetral fieldbus access for all coected axis modules, switchable for PROFIBUS ad DeviceNet Cetral etwork access for all coected axis modules, switchable for PROFINET, EtherNet/IP ad Modbus/ TCP Cotrol of all coected axes ad module fuctios (robotics, motio cotrol, kiematics, PLC) via DeviceNet/ PROFIBUS Cotrol of all coected axes ad module fuctios (robotics, motio cotrol, kiematics, PLC) via EtherNet/IP, Modbus/TCP, PROFINET Cotrol of all coected axes ad module fuctios (robotics, motio cotrol, kiematics, PLC) via TCP/IP, UDP/IP Cetrally to SD card i the master module with auto reload With max. 64 PD i 500 ms via gateway (for cotrol coectio) With max. 64 PD i 500 ms via MOVI-PLC cotroller (for cetral cotrol coectio) With max. 64 PD i 500 ms via MOVI-PLC cotroller (for cetral cotrol coectio) 1. SBus (CAN1), probably CAN2 i additio 2. SBus plus (EtherCAT -compatible, with optioal system bus card XSE) Gate way MOVI- PLC Parameterizatio access Cotrol Stadard cablig Optioal/additioal system bus cables With master module UFF UFR DHF DHR DHE USB or TCP/ IP to master module or CAN2 for each axis Cotrol via DeviceNet or PROFIBUS cotroller Cotrol via EtherNet/IP or Modbus/ TCP or PROFINET cotroller Cotrol of MOVIAXIS via MOVI- PLC, MOVI-PLC as idepedet module cotroller Cotrol of MOVIAXIS via MOVI- PLC, MOVI-PLC as idepedet module cotroller - All SBus (CAN1) cables of the axes are icluded i the scope of delivery - Stadard EtherCAT cables are automatically icluded whe order icludes XSE - A CAN1 cable from the master module to the supply module is always icluded with the master module - Adapter cable CAN2, master module** (for 3- way / 4-way adapter), Coectio cable 3-way CAN2 for 3 axes, 4-way CAN2, 4 axes. CAN2 termiatig resistor Three types of system iteral commuicatio are described below. System Maual MOVIAXIS Multi-Axis Servo Iverter 65

66 System Descriptio Istallatio variats, combiatio ad commuicatio optios 1. CAN-based system bus SBus The followig figure shows two coected axis systems. [1] [2] [3] 0 1 [4] [1] CAN - master module coectio cable [3] System bus coectio cable [2] Cable for CAN-based system bus SBus [4] Termiatig resistor 66 System Maual MOVIAXIS Multi-Axis Servo Iverter

67 System Descriptio Istallatio variats, combiatio ad commuicatio optios 1 Fast data exchage betwee the axes CAN1 is icluded i the scope of delivery The idividual axis modules are liked with the stadard CAN-based system bus (CAN1). This system bus eables fast data exchage betwee the idividual axes. The uit profile MOVILINK 3.0 (or higher) from SEW-EURODRIVE is used for commuicatio via the system bus. Optio cards are available for real-time data trasfer. The CAN-based system bus is ot optioal ad must always be used because of the data exchage via the sigalig bus. CAN1 is primarily iteded for exchagig egieerig data, such as scope data, loadig data sets, dowloadig firmware, etc. All system coectios for CAN1 commuicatio are icluded i the scope of delivery of the basic uit. I geeral, the followig commuicatio liks ca be established: MOVIAXIS with CAN-based system bus SBus MOVIAXIS with master module gateway MOVIAXIS with master module cotroller Cablig No. Desigatio Coectio Legth mm Grommet color Part umber [1] CAN - master module coectio cable MXM to MXP 750 Black [2] Cable for CAN-based system bus SBus 1) MXP to MXA MXA to MXA 1) Icluded i the stadard scope of delivery. Is listed here for service purposes Gree/red [3] System bus coectio cable MXA to MXP Gree/red [4] Termiatig resistor SBus System Maual MOVIAXIS Multi-Axis Servo Iverter 67

68 1 System Descriptio Istallatio variats, combiatio ad commuicatio optios System bus coectio cable to other SEW uits [1] [2] [6] [3] [5] [4] [1] System bus coectio cable [4] CAN H orage-white [2] Output plug black [5] Termiatig resistor [3] CAN L orage [6] Cotact shield coectio Cablig No. Desigatio Coectio [1] Coectio cable Axis system to SEW uits Legth mm Grommet color Part umber Black System Maual MOVIAXIS Multi-Axis Servo Iverter

69 System Descriptio Istallatio variats, combiatio ad commuicatio optios 1 2. CAN-based applicatio bus CAN2 [1] [3] [2] [1] CAN1 bus [2] CAN2 bus [3] Adapter cable master module to CAN2 CAN2 for additioal tasks The CAN2 bus, which is available as stadard o the frot of the axis module, ca be used to implemet various additioal fuctios. Oe possibility is to take load off the CAN1 bus whe it is heavily loaded by usig the CAN2 system bus simultaeously, e.g. i coectio with the master module variats with fieldbus gateway. This is also possible whe usig MOVI-PLC cotrollers. Additioally, it is possible to implemet targeted cross-commuicatio betwee idividual axis modules for special drive tasks such as master/slave operatio, electroic cam, ad so o. I additio, the idividual axes ca also be cofigured via CAN2 ad addressed directly via a CAN USB adapter. The system coectios for the CAN2 system bus are available as accessories. I geeral, the followig commuicatio liks ca be established: MOVIAXIS with CAN-based applicatio bus CAN2 MOVIAXIS with master module gateway MOVIAXIS with master module cotroller System Maual MOVIAXIS Multi-Axis Servo Iverter 69

70 1 System Descriptio Istallatio variats, combiatio ad commuicatio optios Cablig No. Desigatio Coectio Legth mm Grommet color Part umber Coectio cable for CAN-based applicatio bus CAN2 3 modules [2] MXA to MXA Coectio cable for CAN-based applicatio bus CAN2 4 modules [3] Adapter cable master module to CAN2 MXM to MXA CAN2 termiatig resistor System Maual MOVIAXIS Multi-Axis Servo Iverter

71 System Descriptio Istallatio variats, combiatio ad commuicatio optios 1 3. EtherCAT -compatible system bus SBUS plus The EtherCAT -compatible system bus SBUS plus (XSE24A) is a optioal, axis-iteral expasio module. This module implemets the fuctioality of a EtherCAT -compatible high-speed system bus for MOVIAXIS. The XSE24A optio module is o fieldbus iterface. It caot be used for commuicatio with o-sew EtherCAT masters. Aalog to the wirig of the CAN system bus, the system is coected usig the RJ45 plug coectio o the top of the uit icluded i the stadard scope of delivery. The CAN system bus is ot available whe XSE24A is used. The followig figure shows two coected axis systems. [2] [1] [1] System bus coectio cable [2] CAN - master module coectio cable Cablig No. Desigatio Coectio [1] Coectio cable MXA to MXP [2] Coectio cable for EtherCAT master module Legth mm Grommet color Part umber Yellow/gree MXM to MXP 750 Yellow/black System Maual MOVIAXIS Multi-Axis Servo Iverter 71

72 System Descriptio Istallatio variats, combiatio ad commuicatio optios System bus coectio cable to other SEW uits [1] [2] [3] [4] [1] System bus coectio cable [3] Iput plug gree, RJ45 [2] Output plug yellow [4] SEW statios with SEW EtherCAT iterface Cablig No. Desigatio Coectio [1] Coectio cable MXA (yellow) to SEW uits (gree) Legth mm Grommet color Part umber Yellow/gree System Maual MOVIAXIS Multi-Axis Servo Iverter

73 System Descriptio Istallatio variats, combiatio ad commuicatio optios Combiatios of MOVIAXIS axis systems with MOVIAXIS, MOVIDRIVE, MOVITRAC I additio to the combiatio optios ad flexibility withi the axis system, MOVIAXIS with the master module as the cetral elemet allows for further coectio ad istallatio optios: 1. Commuicatio ca be coected o the basis of the CAN-based system bus SBus ad optioally of the CAN-based applicatio bus CAN2 Several MOVIAXIS axis systems (page 66) MOVIAXIS axis systems with MOVIDRIVE ad MOVITRAC 07 (page 68) 2. Commuicatio is coected o the basis of the EtherCAT -compatible system bus SBus plus Several MOVIAXIS axis systems (page 71) MOVIAXIS axis systems with MOVIDRIVE ad MOVITRAC 07 (page 72) All istallatio variats ca itegrate existig SEW cotrol cabiet iverters, such as MOVIDRIVE ad MOVITRAC with the respective system buses (SBus, SBUS plus ) ad their commuicatio, data storage, ad cotrol. The required, additioal system bus ad coectio cables are assiged to the idividual istallatio variats. System Maual MOVIAXIS Multi-Axis Servo Iverter 73

74 1 System Descriptio Istallatio ad coectio accessories 1.7 Istallatio ad coectio accessories System cables stadard accessories Stadard accessories are icluded with the basic uit at delivery The correspodig matig coectors for all coectors are istalled at the factory. A exceptio are the D-sub coectors; they are supplied without matig coector. 74 System Maual MOVIAXIS Multi-Axis Servo Iverter

75 System Descriptio Istallatio ad coectio accessories 1 Assigmet table for stadard accessories Mechaical accessories Accessory pack ) Legth of the cables: Legth of the bulk cable without coector 2) MXP81A supply module with itegrated brakig resistor 3) Clamp with short support, 60 mm wide 4) Clamp with log support, 60 mm wide MXA i A Dimesios 1) M Z S 10 10E 2) XR C B MX MX MX MXP i kw M MX MX No. DC lik coectio [1] 76 mm 3x 3x 3x 3x [2] 106 mm 3x 3x 3x 3x 3x [3] 136 mm 2x 3x 3x [4] 160 mm 3x 3x 3x 3x 3x 3x [5] 226 mm 3x 3x Electroics shield clamp [6] 60 mm 1x 1x 1x 1x 1x [7] 90 mm 1x 1x 1x 1x 1x [8] 120 mm 1x 1x [9] 150 mm 1x 1x 1x 1x 1x [10] 210 mm 1x Power shield clamp [11] 60 mm 1x 1x 1x 1x 1x 1x 1x 1x [12] 60 mm 3) 1x [13] 60 mm 4) 1x [14] 105 mm 1x 1x 1x 1x [15] 105 mm 1x 1x 1x Cable lugs [16] 3x System Maual MOVIAXIS Multi-Axis Servo Iverter 75

76 1 System Descriptio Istallatio ad coectio accessories Assigmet table for stadard accessories Electric accessories Accessory pack ) Legth of the cables: Legth of the bulk cable without coector 2) MXP81A supply module with itegrated brakig resistor No. Dimesios M Z S 10 10E 2) XR C B MX MX MX MXP i kw M MXA i A MX MX 24 V supply cable [17] 40 mm 1x [18] 50 mm 1x 1x 1x 1x [19] 80 mm 1x 1x 1x 1x 1x 1x [20] 110 mm 1x 1x 1x [21] 140 mm 1x 1x 1x 1x 1x [22] 200 mm 1x 1x Coectio cable for CAN-based system bus SBus/EtherCAT -compatible system bus SBus plus [23] 200 mm 1x 1x 1x [24] 230 mm 1x 1x 1x 1x 1x 1x [25] 260 mm 1x 1x [26] 290 mm 1x 1x 1x [27] 350 mm 1x 1x CAN - master module coectio cable [28] 750 mm 1x CAN termiatig resistor [29] 1x 1x 1x 1x 1x Touch guard [30] 2x 2x 2x 2x 2x Measuremet cable coector [31] 1x Accessories for two-row cofiguratio of the axis system Module Part umber Two-row cofiguratio System Maual MOVIAXIS Multi-Axis Servo Iverter

77 System Descriptio Istallatio ad coectio accessories System bus ad coectio cables optioal accessories [1] [6] [2] [7] [3] [8] [4] [9] [5] [10] [11] Assigmet table for optioal accessories No. Dimesios / desigatio / coector type Part umber System bus coectio cable for CAN-based system bus SBus (axis system with other SEW uits) [1] 750 mm RJ45 / ope ed [2] 3000 mm RJ45 / ope ed Coectio cable for EtherCAT master module [3] 750 mm 2 RJ System bus coectio cable for EtherCAT -compatible system bus SBus plus (axis system to other SEW uits) [4] 750 mm 2 RJ45 (special assigmet) [5] 3000 mm 2 RJ45 (special assigmet) System bus coectio cable CAN (axis system to axis system) [6] 750 mm 2 RJ45 (special assigmet) [7] 3000 mm 2 RJ45 (special assigmet) Adapter cable master module to CAN2 [8] 500 mm Weidmüller to Sub-D9 w Coectio cable for CAN-based applicatio bus CAN2 [9] 3 modules Sub-D9 m/w [10] 4 modules Sub-D9 m/w CAN2 termiatig resistor [11] Sub-D System Maual MOVIAXIS Multi-Axis Servo Iverter 77

78 1 System Descriptio Techology ad uit fuctios 1.8 Techology ad uit fuctios Cotrol modes, machie cotrol, ad auto-tuig CFC cotrol mode (curret-mode flux cotrol) Characteristics MOVIAXIS uses a high-performace, curret-cotrolled cotrol mode for sychroous ad asychroous servomotors. This cotrol mode was optimized ad further developed particularly for highly dyamic servo applicatios. Ecoder feedback is ecessary to esure this performace. This cotrol mode offers the followig features: Advatages Torque up to the permitted maximum motor torque, eve at stadstill. Maximum precisio ad cocetric ruig characteristics right dow to stadstill. Maximum servo characteristics ad torque cotrol eve for stadard asychroous AC motors. Highest dyamic properties of the speed ad positio cotrol loops due to short samplig itervals up to 250 μs ad maximum, effective badwidth. Machie cotrol 32-bit CPU This results i higher positioig dyamics for the user with very low lag error. The cotrol values for the torque, speed ad positio cotrol loops are exactly calculated by the iteral profile geerators with the accuracy of a 32-bit floatig poit system. This is a decisive factor for precise travel to the target positio with maximum dyamic properties. Reactios to load variatios withi millisecods provide optimal cotrol of the drive alog the setpoit curves. The "floatig poit" fuctio ca calculate curve trasitios betwee cams durig the ru time to esure optimal trasitios. Torque ad speed precotrol Precotrol values for speed ad torque setpoits are itegrated for very fast resposes to cotrol deviatios that do ot ru through the etire cotrol loop. No-liear torque characteristic curve ad stadardizatio to omial motor data Cosideratio of o-liear torque characteristics of highly utilized servomotors is aother importat feature. Advatage: Maximum stiffess of the motor over the etire torque rage. All torque settigs ad actual torque values refer to the omial motor torque, ad thus directly to the applicatio. Whe usig a larger iverter, the right motor values would still be selected. 78 System Maual MOVIAXIS Multi-Axis Servo Iverter

79 System Descriptio Techology ad uit fuctios 1 Motor iductace compesatio I moder, tooth-woud servomotors with high utilizatio (e.g. CMP series), the iductace is chaged via the impressed motor curret. I case of high overload, this ca lead to suboptimal motor cotrol uless this behavior is compesated by the iverter. MOVIAXIS compesates this chage i real-time, esurig extreme cotrol performace ad dyamics eve i the limit rage of motor operatio. The advatages are a higher degree of motor utilizatio, more power, ad safe operatio i limit rages with maximum stiffess. Temperature compesatio durig operatio of asychroous motors Temperature compesatio is possible to icrease the torque accuracy whe operatig asychroous motors. A KTY sesor evaluates the motor temperature ad refies the parameters that map the copper heatig. Advatage: Very exact torque cotrol for asychroous motors ca be implemeted very easily. Applicatio ad system limits For optimum protectio of the applicatio or the processed goods ad the machie/system, you ca set limit values for speed, acceleratio, ad jerk separately i MOVIAXIS. This allows you to costatly adapt the applicatio limits to differet processed goods while the system limits reflect the maximum permissible load limits of the mechaical compoets. Switched itegrators The freely parameterizable, precotrolable, ad switched itegrators provide optimal cotrol results especially i case of chagig loads, or load take-over i hoists, for example. As a result, the drive ca be started up with optimal stiffess right after it is switched o. Active cotrol value maagemet Active cotrol value maagemet further optimizes the positioig times. Whe the drive reaches the cotrol value limit, it uses the acceleratio that is just possible to reach the target positio without overshoots. I ormal cotrol loops, deviatios would occur due to the I-compoet i the cotroller, which would have to be compesated with a trasiet motio. This eeds more time tha positioig at the cotrol limits. Advatage: MOVIAXIS uses this fuctio wheever loads greater tha the projected values ca occur, which would overload the cotrol rages of the servo iverter. Eve i such cases, positioig times are optimized ad log trasiet processes are preveted. Torque cotrol with speed rage limitig Eve with torque cotrol, this fuctio esures that certai speed limits are ot exceeded. The drive ca be kept i a target speed rage without overspeedig. System Maual MOVIAXIS Multi-Axis Servo Iverter 79

80 1 System Descriptio Techology ad uit fuctios 4-quadrat operatio The torque limits for all 4 quadrats ca be set or specified idepedetly of each other, depedig o the selected FCB. This meas possible acceleratios ca be realized separately for each movemet cycle, e.g. for critical storage ad retrieval operatios or special removal operatios. Automated startup ad cotroller optimizatio Auto-tuig / easy-tuig Two easily adjustable sliders are used to set a optimum cotroller settig for each axis. Usig two advaced algorithms, the two cotrollers ifluece various parameters of the cotrol loops. To put it simply: The first slider, "Clearace of load", iflueces all relevat parameters for the load clearace, e.g. how "stiffly" the load is coupled mechaically to the drive motor. The secod cotroller, "Stiffess", iflueces the stiffess of the cotroller, e.g how strogly the system reacts to cotrol deviatios. I this way, the desired behavior ca be set easily ad without i-depth cotrol techology kowledge. 80 System Maual MOVIAXIS Multi-Axis Servo Iverter

81 System Descriptio Techology ad uit fuctios 1 Expert tuig Based o the schematic represetatio, the cotrol loops ca also be set maually for very sophisticated drive tasks. Graphical settig aids ad iteractive meus that are selected directly i the illustratio plus settig diagrams that visualize the made settigs allow experts to access ad modify all relevat cotroller data Motio cotrol ad techology fuctios Geeral target positioig moitorig MOVIAXIS checks a target positio before movemet starts to determie whether it is i the permitted (software limit switch) travel rage. If the positio is ot withi the rage, a error is issued (the error respose correspods to the respose of the software limit switch set i the parameters). The positioig process is ot started. System Maual MOVIAXIS Multi-Axis Servo Iverter 81

82 1 System Descriptio Techology ad uit fuctios Dual drive The "dual drive" fuctio is a special form of sychroous operatio. Its objective is to distribute the load uder special basic coditios, e.g. positio sychroicity, crash safety. See from the outside, the drives operated i a system are give a speed setpoit. Withi the axis system, the drives are all sychroous i terms of positio. The followig features are offered: Parallel speed setpoit specificatio by the cotroller to all coected axes Esurig positio sychroicity of 2, 3, or 4 drives (motors), which are ru i this operatig mode together. Esurig sychroicity eve i case of Overload of oe or more axes whe the torque cotrol limit is reached or whe the lag error builds up for the specified torque setpoit, or Failure of a axis due to a error. This feature was developed for special cases of applicatio without rigid couplig of the axis mechaics. No rigid couplig ca lead to tesio ad damage to the mechaical compoets if this fuctio is ot used. For this reaso, special positio balacig cotrollers are itegrated i all MOVIAXIS axis modules, which costatly calculate ad balace the positio deviatio betwee them ad all other axes whe the "dual drive" fuctio is activated. The maximum cotrol limit of the weakest drive or of the drive with the heaviest load is used as a limit value for the drive group. This offers the followig user beefits: Operatio of several motors o a o-rigidly coupled mechaical system, absolutely positio-sychroous ad getle o the mechaics. Uder certai coditios, critical mechaical systems ca be desiged smaller ad lighter, as they o loger have to be dimesioed for crash cases. High degree of crash protectio of machies ad tools. Failure of a drive ad the sychroous cosequeces for all other drives are detected almost i real time. This esures almost o strai i the drive trai, which meas o uiteded machie load or damage. Maximum acceleratio ad dyamics of coupled systems, as the itelliget cotrol limit maagemet esures maximum utilizatio without riskig a overload of the idividual axes. The drive performace of a machie ca be precisely scaled by usig several smaller drives, compared to usig correspodig larger motors. 82 System Maual MOVIAXIS Multi-Axis Servo Iverter

83 System Descriptio Techology ad uit fuctios 1 Jerk-limited profile geerator MOVIAXIS has a jerk-limited profile geerator. This jerk-limitatio feature is required i particular with highly-dyamic positioig processes to positio the axes with the relevat dyamic properties ad to protect the mechaical machie compoets. I cotrast to MOVIDRIVE, the jerk ca be etered as a direct value with the uit "rpm/ s 2 " (revolutios per miute/s 2 ). This value is the coverted iterally ito the correspodig filter time ad used to limit the icrease i acceleratio. The followig formula applies: Filter time = MAX (acceleratio, deceleratio) / jerk value. The legth of the acceleratio is exteded to iclude this filter time ad therefore also the speed icrease ad positioig time. This superficial disadvatage is more tha compesated for i most applicatios thaks to the protectio of the mechaical compoets ad the reduced vibratios. The followig values ca be chaged durig a positioig process without havig to adjust the jerk value: New target / overwrite positio / sesor-based positioig, New maximum/miimum speed. The acceleratio ad deceleratio values ca also be chaged, but because the jerk time remais costat i this case, the actual jerk will chage. This fuctio should oly be used whe compatibility with the mechaical compoets has bee checked. If the value "0" is etered as the jerk, jerk limitatio is deactivated ad liear ramps are used for movemet. I positio sigal Hysteresis for positio widow The "i positio" sigal ca oly be activated as a subfuctio of the FCB "Positioig" i positioig mode (FCB 09 "Positioig is activated"). The "I positio" moitor uses two widows to activate ad deactivate the "I positio" sigal. If the actual positio is i the ier widow whe the moitorig fuctio is active, this sigal is activated. The sigal is oly revoked whe the drive leaves the outer widow. If the drive with the same target positio eters the ier positio widow agai, the sigal is activated agai. Thaks to this hysteresis, a small widow ca be used to activate the "I positio" sigal eve for whe the drive overshoots the actual positio. 4 khz operatio for all axes 400 mm high I the scope of the further developmet of MOVIAXIS, axis modules with a height of 400 mm have bee qualified for operatio with a PWM of 4 khz. If MOVIAXIS is operated i this way, all axes ca be ru with 33% higher cotiuous curret up to a rotatioal frequecy of 0.1 Hz. Below a rotatioal frequecy of 0.1 Hz, the cotiuous output curret must be reduced liearly to 100% of the omial uit curret. Example: Axis module MXA80A Nomial uit curret = 100 A at 8 khz. Cotiuous uit curret = 133 A at 4 khz. Reductio for rotatioal frequecy < 0.1 Hz to 100% omial uit curret = 100 A. System Maual MOVIAXIS Multi-Axis Servo Iverter 83

84 1 System Descriptio Techology ad uit fuctios Software ad hardware limit switches A certai travel rage of a drive ca be moitored usig hardware limit switches. If hardware limit switches are ot istalled, or if, for example, a early warig alarm is to be activated whe a specific positio is exceeded, the software limit switches itegrated i MOVIAXIS ca be activated. Each limit switch (left or right software limit switch) ca be activated/deactivated idepedetly of oe aother. Furthermore, the source of the software limit switches (ecoder 1 - ecoder 3) ca also be set. If the drive hits oe of the two software or hardware limit switches, it reacts usig oe of the resposes set by the user. Software ad hardware limit switches basically react i the same way. I order to eable the moitorig fuctio, the appropriate ecoder must be refereced. Referece travel I the same way as MOVIDRIVE B, MOVIAXIS offers a umber of optios for referece travel. The referece travel type "Referece to fixed stop" is ew. The aim of referece travel is to referece / match the drive ad its positio data with the machie desig. Referecig is used to idetify the real zero poit of the drive. This value is the used to defie distaces ecessary for positioig processes, for example. MOVIAXIS offers the followig referece travel types: Left zero pulse Left ed referece cam Right ed referece cam Limit switch right. Limit switch left. No referece travel I Referece cam flush with right limit switch. Referece cam flush with left limit switch. No referece travel II. High-precisio referecig to right fixed stop. High-precisio referecig to left fixed stop. The referece travel types differ accordig to the first search directio or the switchig cotact (referece cam, limit switch or fixed stop) used for referecig. Referece travel ca apply to all three ecoders. Usig the referece poit determied by referece travel, the machie zero poit ca be chaged usig the referece offset accordig to the followig equatio. Machie zero = referece positio - referece offset 84 System Maual MOVIAXIS Multi-Axis Servo Iverter

85 System Descriptio Techology ad uit fuctios 1 Basic cotrol modes Torque cotrol MOVIAXIS usually operates with the CFC cotrol mode for asychroous ad sychroous motors with ecoder feedback. MOVIAXIS ca be operated i the basic cotrol modes torque, speed ad positio cotrol. This meas that the customer ca activate closed-loop cotrol circuits where they are most suitable for the applicatio. MOVIAXIS ca be implemeted i a wide rage of applicatios ad, i may cases, ca take o all the tasks of a motio cotroller. MOVIAXIS ca be ru as a torque-cotrolled axis. The user ca specify limit values for speed, acceleratio ad jerk as the basic coditios for torque cotrol. The actual torque setpoit for the drive cotroller is geerated i the cotroller cycle by a ramp geerator itegrated i MOVIAXIS usig the specified limit values. The maximum speed ca be limited durig torque cotrol. The speed limit ca be chaged dyamically usig process data. Iterpolated torque cotrol For applicatios with a higher-level (motio cotrol) cotroller, this cotroller usually calculates a track profile (x, y, z) for several drive axes. The axis is the assiged oe setpoit (positio, speed, torque) that it has to follow. MOVIAXIS oly limits the setpoits usig the uit's iteral system limits. The applicatio limits for speed, acceleratio ad jerk must be take from the track curve ad are the cotrolled by the cotroller. The cycle i which the cotroller seds the setpoits to the axes does ot usually correspod with the setpoit processig cycle of MOVIAXIS (500 µs). If MOVIAXIS were to "see" the same cotroller setpoit for several cycles, a step-shaped actual torque value would result. To prevet this from happeig, the axis ca calculate itermediate values (iterpolate) if it kows the cotroller cycle. MOVIAXIS ca be set to differet cycle times of higher-level cotrollers. Speed cotrol MOVIAXIS ca be ru as a speed-cotrolled axis. The user ca specify limit values for acceleratio, deceleratio ad jerk as the basic coditios for speed cotrol. The actual speed setpoit for the drive cotroller is geerated i the cotroller cycle by a ramp geerator itegrated i MOVIAXIS usig the specified limit values. You ca cofigure several data sets (istaces, ad therefore "speed cotrollers" with differet settigs) for the "Speed cotrol" fuctio. You ca switch betwee the istaces usig process data or parameter access. I this way, for example, a process, i which speed cotrollers with differet settigs are used, is simple to implemet usig the istace switchover fuctio. System Maual MOVIAXIS Multi-Axis Servo Iverter 85

86 1 System Descriptio Techology ad uit fuctios Iterpolated speed cotrol For applicatios with a higher-level (motio cotrol) cotroller, this cotroller usually calculates a track profile (x, y, z) for several drive axes. The axis is the assiged oe setpoit (positio, speed, torque) that it has to follow. MOVIAXIS oly limits the setpoits usig the uit's iteral system limits. The applicatio limits for speed, acceleratio ad jerk must be take from the track curve ad are the cotrolled by the cotroller. However, torque limitatio at the drive is desirable, e.g. to protect the machie ad for applicatios that use the speed cotrol to move to a stop ad that have to geerate clampig pressure. The cotroller ca specify the torque limit usig process data or parameters. A lag error ca occur whe the track curve requires a higher torque ratig. The user ca cofigure the torque limitatio: 1. Oe limit value for all the quadrats of the N-M diagram. 2. Oe value each for the regeerative ad motor rage. 3. A limit value is set for each quadrat. The cycle i which the cotroller seds the setpoits to the axes does ot usually correspod with the setpoit processig cycle of MOVIAXIS (500 µs). If MOVIAXIS were to "see" the same cotroller setpoit for several cycles, a step-shaped actual speed value would result. To prevet this from happeig, the axis ca calculate itermediate values (iterpolate) if it kows the cotroller cycle. MOVIAXIS ca be set to differet cycles of higher-level cotrollers. Positio cotrol (ormal or modulo mode) MOVIAXIS has a umber of positioig mode. These modes are described briefly i the followig sectio. FCB "Positioig" ca be istaced to a maximum of 64 times. Absolute positioig Relative positioig Modulo i positive directio with absolute positio setpoit The positio setpoit i user-defied uits is iterpreted as a absolute target ad is coverted ad executed i system uits. The travel rage i system uits is ± (2 31-2). If this travel rage is exceeded after the coversio, the FCB issues a error. The positio setpoit i user uits is iterpreted as the offset for the last setpoit that was trasferred. After it has bee coverted ito system uits, it is added to the last setpoit. If the target calculated i system uits is outside the travel rage of ± (2 31-2), the FCB issues a error. The positio setpoit i user-defied uits is iterpreted as the absolute positio. It must be withi the modulo rage of the active drive: Lower limit = "Modulo uderflow" Upper limit = "Modulo overflow" If the positio setpoit is outside this rage, a error is issued. The drive always turs i a positive directio to reach the specified positio. 86 System Maual MOVIAXIS Multi-Axis Servo Iverter

87 System Descriptio Techology ad uit fuctios 1 Modulo i positive directio with relative positio setpoit Modulo i egative directio with absolute positio setpoit Modulo i egative directio with relative positio setpoit Modulo with shortest possible route ad absolute positio setpoit Modulo with relative positio setpoit The positio setpoit i user uits is iterpreted as the offset to the last setpoit that was trasferred. After it has bee coverted ito system uits, it is added to the last setpoit. The positio setpoit must be positive, otherwise a error is issued. The drive always turs i a positive directio to reach the ew positio. The positio setpoit i user-defied uits is iterpreted as the absolute positio. It must be withi the modulo rage of the active drive: Lower limit = "Modulo uderflow" Upper limit = "Modulo overflow" If the positio setpoit is outside this rage, a error is issued. The drive always turs i a egative directio to reach the ew positio. The positio setpoit i user uits is iterpreted as the offset to the last setpoit that was trasferred. After it has bee coverted ito system uits, it is added to the last setpoit. The positio setpoit must be egative, otherwise a error is issued. The drive always turs i a egative directio to reach the ew positio. The positio setpoit i user-defied uits is iterpreted as the absolute positio. It must be withi the modulo rage of the active drive: Lower limit = "Modulo uderflow" Upper limit = "Modulo overflow" If the positio setpoit is outside this rage, a error is issued. The directio of the drive is determied usig the last setpoit positio ( = curret actual positio after activatio without a "I positio" message) ad the curret setpoit positio. This value is used to determie the shortest possible route ad, therefore, the directio of rotatio for positioig. The positio setpoit i user uits is iterpreted as the offset to the last setpoit that was trasferred. After it has bee coverted ito system uits, it is added to the last setpoit. The sig of the positio setpoit determies the directio of rotatio of the drive. Iterpolated positio cotrol For applicatios with a higher-level (motio cotrol) cotroller, this cotroller usually calculates a track profile (x, y, z) for several drive axes. The axis is the assiged oe setpoit (positio, speed, torque) that it has to follow. MOVIAXIS oly limits the setpoits usig the uit's iteral system limits. The applicatio limits for speed, acceleratio ad jerk must be take from the track curve ad are the cotrolled by the cotroller. The cycle i which the cotroller seds the setpoits to the axes does ot usually correspod with the setpoit processig cycle of MOVIAXIS (500 µs). If MOVIAXIS were to "see" the same cotroller setpoit for several cycles, a step-shaped actual positio value would result. To prevet this from happeig, the axis ca calculate itermediate values (iterpolate) if it kows the cotroller cycle. MOVIAXIS ca be set to differet cycles of higher-level cotrollers. System Maual MOVIAXIS Multi-Axis Servo Iverter 87

88 1 System Descriptio Techology ad uit fuctios Jog mode Hold cotrol MOVIAXIS has a positio-cotrolled jog mode fuctio; this meas it is possible to move a axis i positive or egative directio, for example, for aligmet purposes i positio cotrol mode usig two adjustable speeds for each directio. The advatage of this fuctio is that it ca be used with hoist applicatios for which the positio is ot permitted to chage whe a chage i load occurs whe the drive is at a stadstill. The hold cotrol fuctio itegrated i MOVIAXIS eables the axis to be held subject to positio cotrol oce it has come to a stadstill. The actual positio reached at speed "0" (capture positio) is used as the "setpoit positio" for hold cotrol. The hold cotrol fuctio ca be activated from "ay" motio state. FCB hold cotrol Speed cotrol Positio cotrol setpoit Xactual Hold cotrol requiremets Capture positio User-defied uits for all process data I cotrast to MOVIDRIVE B, MOVIAXIS offers customers the optio of usig the cotroller to sed process output data for positio, speed, acceleratio, ad torque to MOVIAXIS i user-defied uits. I the axis, this process data is coverted ito iteral uits (basis: icremets) i the setpoit cycle of a miimum of 500 µs. The same process applies to the process iput data retured from MOVIAXIS to the cotroller. The data for positio, speed, or acceleratio are coverted ito the customer's user uits. The big advatage for customers ad PLC programmers is that they do ot have to covert the complex physical coditios i the machie ito SEW-specific uits i their programs. Customers ca simply select the uits most suitable for their applicatios ad sed them as specificatios to MOVIAXIS. For example, customers ca specify the followig: For the positio: Compartmets, packages, bottles For the speed: Bottles/miutes, bags/secod For the acceleratio: Bags/secod 2, compartmets/mi s 88 System Maual MOVIAXIS Multi-Axis Servo Iverter

89 System Descriptio Techology ad uit fuctios 1 Applicatio ad system limit values The etry of applicatio ad system limits i user-defied uits allows the user to set limits for acceleratio ad velocities separately. They are set oce accordig to the maximum load of the mechaics of machiery (machie limit value) ad accordig to the product (applicatio limit value). This protects the product ad the machie ad/or system i the best way possible. These limits ca be set usig the graphical user iterface of MOVITOOLS MotioStudio For more iformatio o this topic, refer to the operatig istructios, chapter "Descriptio of the startup software". For detailed iformatio about the techology fuctios, refer to the maual "MOVIAXIS Techology Fuctios". Electroic cam A high-performace electroic cam fuctioality is itegrated i MOVIAXIS. Basic data: A max. of curve poits ca be distributed betwee a max. of 40 curves. User-defied sequece of curves (this meas curve poits ca be located closer to oe aother if required). Parameterizable curve trasitio evets, e.g. C-track, iput termials, timer-cotrolled, cotrol word, which ca also be used as startup sigals. Trasitio fuctios betwee curves calculated durig the rutime (e.g. 5th degree polyomial). Modulo cam (ifiite gear ratios). Differet curve types ca be selected (e.g. speed curves ad torque curves are also possible). System Maual MOVIAXIS Multi-Axis Servo Iverter 89

90 1 System Descriptio Techology ad uit fuctios Sychroous operatio/electroic gear uit The fuctioality of a electroic gear uit is available as a idepedet, easy-to-use fuctio outside the cam. It offers the followig features: The slave legth ca be defied by the user. Startup curves with a 5th degree polyomial are possible. There are sigificatly more optios for itervetio ad overlappig. Virtual ecoder Touch probe The virtual ecoder itegrated i MOVIAXIS offers the followig operatig types ad basic fuctios: Edless operatig mode. Positioig operatig mode. Modulo operatig mode. Jerk limitatio. MOVIAXIS offers a touch probe fuctio that has sigificatly more recordig optios for evets ad data tha the stadard touch probe fuctioality. The followig basic fuctios are icluded: Edge chages (pos./eg.) ad the duratio of a sigal ca be used for evaluatio/ evet recogitio. The specified evets ca be stored i a rig buffer with 4 differet chaels ad max. 4 storage positios per chael. I this way, sigals ca occur i quick successio ad be stored i a itermediate buffer for further processig. The depedecies of the evet recogitio (edge, duratio) ca be combied with oe aother, e.g. the evet is oly recogized whe a specific edge chage ad sigal duratio are preset. All positios are saved for each evet Basic fuctios, istallatio, ad wirig Brake cotrol system Possible up to size CMP63. After that the brake must be cotrolled via a brake rectifier due to the higher brake curret. The brake rectifiers for cotrollig three-wire brakes are activated via the switchig output, e.g. i CM/DS/DY/CT/CV motors. Note that the operatio of o-sew brakes must be icluded i project plaig ad must be cleared with SEW-EURODRIVE. Direct brake cotrol MOVIAXIS ca cotrol the DC 24 V holdig brake of the CMP servomotors directly, i.e. without a brake rectifier, usig a itegrated solid-state switch. 90 System Maual MOVIAXIS Multi-Axis Servo Iverter

91 System Descriptio Techology ad uit fuctios 1 Brake cotrol with brake rectifier Recommeded brake rectifiers: BST supplied with DC 560 V voltage. BMK BME BMV Biary iputs ad outputs MOVIAXIS has 9 biary iputs ad 4 biary outputs. Oe of the biary outputs is assiged as the output stage eable, ad all outputs ca be used as touch probes. Electroic motor ameplate The electroic ameplate of SEW motors with relevat motor ad gear uit data is supported (if implemeted). Ecoder evaluatios i the basic uit The followig ecoders ca be evaluated usig the ecoder evaluatio fuctio itegrated i the MOVIAXIS basic uit: Hiperface ecoder Si/cos ecoder TTL ecoder Resolver (2 12 pole pairs) Stadards ad approvals The followig approvals have bee grated for the MOVIAXIS modules: See chapter "Techical data" (page 109). Safe discoectio of power ad electroic coectios accordig to EN Compliace with all the requiremets for CE certificatio of machies ad plat equipped with MOVIAXIS o the basis of the EC Low Voltage Directive 2006/96/EC ad the EMC Directive 2004/108/EC. Complies with the EMC product stadard EN Meets the followig safety categories: See chapter "Fuctioal safety / "Safety techology" (page 98). System Maual MOVIAXIS Multi-Axis Servo Iverter 91

92 1 System Descriptio Techology ad uit fuctios Commuicatio profiles Depedig o the used system buses "CAN-based" or "EtherCAT -compatible", the followig commuicatio profiles are possible: Profile CAN-based system bus, SBus EtherCAT -compatible system bus SBus plus CAN-based applicatio bus CAN2 MOVILINK x x x EtherCAT axis profile x CANope x MOVILINK MOVILINK always uses the same message format idepedet of the selected iterface (CAN-based system bus, RS232, RS485, fieldbus iterfaces). Hece the cotrol software does ot deped o the selected iterface Eergy savig fuctios ad grid compatibility Savig eergy I additio to eergy cosumptio, which is already optimized i sychroous servomotors due to their operatig priciple, the hadlig of the brakig eergy is key. Durig the developmet of MOVIAXIS, this topic was paid special attetio. Optios for re-usig the brakig eergy were developed i order to sigificatly improve the overall eergy balace of a drive solutio ad to save costs. MOVIAXIS offers differet modules with differet purposes, which are defied by the applicatio. Decisive criteria are the repetitio rate of a movemet (cycle, dyamics) ad the size of the load (iertia). Accordig to this, there are differet applicatio areas with a recommedatio for the idividual eergy-savig modules, see table below. Lower axis output Large servo axes, medium loads (Cotiuously operated) power axes, heavy loads 1) 10 kw compact supply module 2) Supply ad regeerative module 3) Optioal capacitor module Very dyamic applicatios with fast cycle times Savig eergy MXP81 1) Savig eergy MXC 3) Savig eergy MXC Dyamic applicatios Savig eergy MXC / MXP81 Savig eergy MXC Regeeratig eergy MXR Reduced dyamics Regeeratig eergy MXR 2) Regeeratig eergy MXC / MXR Regeeratig eergy MXR 92 System Maual MOVIAXIS Multi-Axis Servo Iverter

93 System Descriptio Techology ad uit fuctios 1 The followig compariso gives a overview of the MOVIAXIS eergy savig modules with their mai applicatio data ad customer beefits: Product Product purpose Power ratig Eergy storage Brakig resistor Applicatio Customer beefits MXP81A-010 Supply module 10 kw omial 25 kw peak 200 Ws 220 W omial 25 kw peak Very dyamic servo applicatio Compact automatio Less istallatio effort All-i-oe uit Eergy efficiet Low heat build-up MXC Active eergy storage module Ws - Itermediate eergy storage Applicatios with medium power Modular uit that ca be adapted Eergy efficiet Low heat build-up MXR80A-075 Supply ad regeerative module 75 kw omial 150 kw peak Eergy feedback ito the grid optioal Eergy recyclig Applicatios with medium ad high power High mass momet of iertia Start/stop applicatios Eergy regeeratio Low heat build-up Miimized harmoics Grid compatibility ad harmoics reductio The quality of the supply system is becomig more ad more importat due to a icreasig umber of electroic cosumers. This is critical i the automatio plats themselves with their may electroic uits o the oe had, ad o the other had for the eergy providers ad the grids they supply. Iterferece, harmoics, ad reactive power must be compesated or filtered additioally i critical cases, which ca lead to complex requiremets (space, maiteace, ivestmets). MOVIAXIS offers a ideal solutio for this with its siusoidal supply ad regeerative module MXR. Miimized harmoics (THDi < 10%) Siusoidal curret cosumptio No heatig of cables, chokes, etc. (smaller dimesioig of lie compoets) Greatly reduced ifluece o sesitive systems coected to the supply system Cosφ = 1, pure active power cosumptio, siusoidal curret cosumptio Depedig o the uit operatig mode, a optioal EcoLie filter ca be used for additioal, maximum reductio of harmoics i very sesitive applicatios. The positive side effect, i additio to optimal grid compatibility, is the reductio of the ecessary trasformer power, which also lowers costs. System Maual MOVIAXIS Multi-Axis Servo Iverter 93

94 1 System Descriptio Techology ad uit fuctios Diagostics ad scope fuctio Diagostics Eergy meter The MXR supply ad regeerative module of the MOVIAXIS series ca aalyze the eergy flow betwee the axis system ad the supply system, ad uses a eergy feedback meter to determie the amout of eergy that has bee saved. 8-chael olie scope All uit parameters of MOVIAXIS ca be displayed i the scope of the egieerig software MOVITOOLS MotioStudio. This allows for a 360 view of every relevat system ad process variable to detect ad remedy errors as quickly as possible. Per axis, 8 chaels are available with max values per chael at a resolutio of 500 µs. Whe usig fewer chaels, the umber of values per chael ca be icreased. Advatage: Eve system-iteral variables are accessible for detailed uit diagostics; they ca be displayed comprehesively with a high resolutio. Multi-axis scope Furthermore, several axes ca be displayed olie i a time-sychroized represetatio i the diagostic software of MOVI-PLC (trace fuctio of multi motio). Advatage: A sychroized represetatio of the time-related iteractio betwee several axes allows for optimal diagostics. 8-chael offlie scope It is also possible to parameterize a offlie scope fuctio that processes preset scope characteristics ad saves the results i the axis. Advatage: User oly has to load a pre-programmed scope file o site. Idepedet moitorig ad recordig is possible irrespective of coected PCs ad qualified persoel o site. The diagostic fuctioality is completed by a multi-stage error memory with buffer i which the most recet errors are saved ad made accessible via a log system. Error patters ca be made visible ad used i this way. 94 System Maual MOVIAXIS Multi-Axis Servo Iverter

95 System Descriptio Techology ad uit fuctios Moitorig, protectio, ad test fuctios Process safety ad plaable productivity ca oly be esured if the drive is ruig reliably ad "thikig ahead". The cosequeces of a uiteded system stadstill ca be dramatic. To prevet this, MOVIAXIS offers a umber of moitorig ad check fuctios. Thermal olie moitorig of all SEW motors All SEW motors have a thermal motor model stored i the iverter that is predicated o a KTY-based iitial value. Thermal motor protectio is o loger esured by a switch or sesor, but via the motor load that is calculated olie i the iverter i parallel. This safely prevets a bur-out or medium-term overheatig of smaller motors, for example, which would ot be detected by a slow sesor. Advatage: Maximum utilizatio of SEW motors with optimal protectio. KTY-based motor models ca be realized for o-sew motors (depedig o the o- SEW motor, calibratio subject to charge might be required). I summary, MOVIAXIS offers the followig four methods for thermal motor protectio: TF/TH coectio KTY that trips after reachig a adjustable limit temperature KTY with I 2 t trip (based o motor data that has to be provided for o-sew motors) KTY with olie calculated motor model (SEW motor oly) Prevetive overload detectio of the iverter system MOVIAXIS detects a immiet overload of the iverter usig a iteral, olie calculated simulatio of the load situatio ad offers the user a chace to react before the uit shuts dow. Such overload situatios ca be caused, for example, by a blockage or mechaical stiffess. Oe of the followig resposes to such faults ca be selected: 1. Drive cotiues to execute the cycle util a thermal trip occurs, or 2. Automatic reductio of the output curret. Advatage: The drive does ot simply shut dow, but critical processes ca be completed despite the overload (if possible i terms of thermal utilizatio), or the process ca be cotiued at a slower speed i favor of productio safety. I this, ot oly the output stage, but all critical system areas are costatly moitored, simulated, ad evaluated. Heat sik Chip temperature Temperature rise of the chip Overcurret Electromechaical compoets (cables, termials, etc.) The moitorig fuctios are completed by phase failure ad short circuit detectio, DC lik ad brake curret moitorig, ad ecoder coectio moitorig. System Maual MOVIAXIS Multi-Axis Servo Iverter 95

96 1 System Descriptio Techology ad uit fuctios Brake test Brake moitorig This fuctio is used to check the brakig capability of a brake coected to MOVIAXIS. A test torque is applied electrically via the motor whe the brake is applied. Eve whe the brake has passed the brake test, it does ot take o ay safety fuctios as far as machie safety is cocered i combiatio with MOVIAXIS. The brake is oly tested i accordace with the set brake test torque. The actual "brake breakaway torque" is ot measured. MOVIAXIS supports four test modes: 1. A higher-level cotroller provides the setpoits ad moitorig fuctio for the test. 2. MOVIAXIS performs a check i both directios compared to the set limit torques. 3. MOVIAXIS performs a check i positive directio compared to the set limit torques. 4. MOVIAXIS performs a check i egative directio compared to the set limit torques. The test torque, test time ad the directio of rotatio of the test ca be set. If a test is ot passed, the breakaway torque is documeted. The brake is cosidered to be "ok" whe the motor shaft does ot move more tha 10. This is a fixed value. IMPORTANT: The fuctio does ot check whether a brake is actually istalled. If the brake test is activated whe a brake is ot istalled, the drive will move depedig o the brake test mode. If the MOVIAXIS axis modules cotrol the brakes of the SEW motors directly, the brake voltage ad curret are moitored. MOVIAXIS sigals a error if the brakes caot be operated correctly due to isufficiet curret or voltage. Axis-itegrated commutatio detectio/ecoder aligmet Commutatio detectio of permaet-field sychroous motors MOVIAXIS ca detect the commutatio of a permaet-field sychroous motor ad set the respective offsets ad commutatio agles for further operatio automatically. This is recommeded for Motors with pure icremetal ecoders without absolute iformatio per revolutio, Disassembly of the ecoder i the field or ecoder fault (brake or ecoder replacemet). There are two possible methods: Both variats ca be activated idepedetly of each other as separate fuctio blocks (FCB): Commutatio detectio with rotor movemet MOVIAXIS impresses a rotatig field for a short time, detects the directio of rotatio with a small rotor movemet, ad based o this data determies the rotor positio ad the commutatio agle. This method is recommeded for motors i which the rotor ca move freely for at least oe mechaical revolutio. The load must be disegaged before activatig commutatio. Prior to activatig this fuctio, you must make sure that the ecessary movemet caot cause ay damage or dager. 96 System Maual MOVIAXIS Multi-Axis Servo Iverter

97 System Descriptio Techology ad uit fuctios 1 Commutatio detectio without rotor movemet MOVIAXIS determies the positio of the rotor of the motor o the basis of the available motor parameters, without movemet. I this case, special values must be available for the motor. For may SEW motors, these values have already bee determied. They are stored i the SEW motor data base. This fuctio is recommeded for directly coupled loads that caot be disegaged via a adapter, or ot without difficulty. If you wat to make use of this fuctio, please cotact SEW-EURODRIVE. Cotrolled stop i case of power failure I case of a power failure, the stadard applicatio of a workig brake ca cause excessive strai i critical applicatios or sesitive mechaical systems. To prevet this, MOVIAXIS ca detect a power failure ad switch to brakig mode depedig o the applicatio (hoist ad/or travel drive). I such cases, MOVIAXIS is powered either by the brakig eergy that accumulates i the DC lik ad via the DC 24 V switched-mode power supply uit, or by a exteral DC 24 V backup voltage that is idepedet of the supply system. MOVIAXIS stops all drives alog a adjustable ramp almost to a stadstill ad the applies the motor brake. A hoist is slowed dow by the gravitatioal acceleratio, ad at stadstill, whe the hoist is at the highest poit, the brake is applied. This allows for a lighter ad leaer desig or mechaical systems, ad critical goods or tools are ot damaged. This fuctio requires additioal compoets ad project plaig. Please cotact SEW-EURODRIVE. Ecoder moitorig With resolvers, si/cos, ad TTL ecoders, MOVIAXIS moitors the failure of track sigals caused by faults or cable problems (amplitude moitorig). If MOVIAXIS detects a error, the output stage ihibit ad brake are activated. Password admiistratio for graded access protectio MOVIAXIS offers a rage of access levels for access to the uit parameters. These levels iclude write ad read authorizatio or, for example, read oly authorizatio. The differet levels ca be protected by passwords. The passwords ca be chaged, for example, to allow ed customers access to specific parameters oly. At preset, the followig access levels are available: 1. Observer: The parameters ca oly be read ad observed. 2. Plaig egieer: A "plaig egieer" is a specialist who has complete access to all uit fuctios (delivery state). 3. OEM: The authorizatio level OEM-SERVICE ca be used, for example, to reset iteral couters or program serial umbers. System Maual MOVIAXIS Multi-Axis Servo Iverter 97

98 1 System Descriptio Fuctioal safety / safety fuctios 1.9 Fuctioal safety / safety fuctios Fuctios itegrated i the uit Safety techology ca be itegrated i the basic uit of the MOVIAXIS multi-axis servo iverter. Depedig o the uit variat, PL "d" or "e" are met. The MOVIAXIS axis modules are available i the followig fuctioal variats: Safety cocept MOVIAXIS is characterized by the coectio optios via a 24 V cotrol voltage (X7, X8) to a higher-level safety cotrol system, a safety relay. Iteral relays ad a electroic logic discoect all active elemets that geerate the pulse trais to the power output stage (IGBT) whe the DC 24 V cotrol voltage is discoected. Cocept for category 3 accordig to EN ad performace level d accordig to EN ISO : Oe iteral relay (tested accordig to EN with positively-drive cotact set) ad a electroic logic esure that the supply voltages required for operatig the servo iverter ad cosequetly for geeratig a rotatig field of pulse patters (which allow the geeratio of a torque) are safely iterrupted, prevetig automatic restart. Cocept for protectio type III accordig to EN 201, category 4 accordig to EN 954-1, performace level e accordig to EN ISO ad SIL3 accordig to IEC : Two iteral relays (tested accordig to EN with positively-drive cotact set) esure that the supply voltages required for operatig the servo iverter ad cosequetly for geeratig a rotatig field of pulse patters (which allow the geeratio of a torque) are safely iterrupted, prevetig automatic restart. The circuit state has to be trasmitted by the respective relay via a NC cotact to a higher-level cotrol system for evaluatio. Istead of separatig the drive galvaically from the power supply usig cotactors or switches, the discoectio procedure described here prevets the power semicoductors i the servo iverter from beig activated, thus esurig safe discoectio. This process discoects the torque for the respective motor. The idividual motor caot develop ay torque i this state eve though the lie voltage is still preset. 98 System Maual MOVIAXIS Multi-Axis Servo Iverter

99 System Descriptio Fuctioal safety / safety fuctios 1 Safety fuctios The followig, drive-related safety fuctios ca be realized with the axis-itegrated safety fuctios: Safe Torque Off (STO) Safe Torque Off accordig to IEC via discoectio of the safety-related 24 V supply If the STO fuctio is activated, the frequecy iverter o loger supplies power to the motor for geeratig torque. This safety fuctio correspods to a o-cotrolled stop accordig to EN , stop category 0. The safety-related 24 V power supply must be switched off by a suitable exteral safety cotroller or a suitable exteral safety relay. The followig figures applies to the safe torque off STO: V t t 1 Velocity Time Poit of time whe STO is triggered Normal operatio Discoectio rage System Maual MOVIAXIS Multi-Axis Servo Iverter 99

100 1 System Descriptio Fuctioal safety / safety fuctios Safe Stop 1 (SS1(c)) Safe Stop 1, fuctio variat c accordig to IEC via suitable exteral cotrol (e.g. safety relay with delayed discoectio) The followig procedure must be observed for this safety fuctio: Decelerate the drive usig a appropriate brake ramp specified via setpoits Discoect the safety-related 24 V power supply (= triggerig the STO fuctio) after a specified safety-related time delay. The followig figure illustrates the discoectio accordig to SSI: V t t 1 t 2 t Velocity Time Poit of time whe the motor deceleratio is triggered Poit of time whe STO is triggered Applicatio-specific delay Normal operatio Rage of the safety fuctio Discoectio rage This safety fuctio correspods to the cotrolled stop of a drive accordig to EN , stop category 1. Restrictios Note: Whe usig the SS1(c) fuctio as described above, the brake ramp of the drive is ot moitored with respect to safety. I case of a fault, the drive might ot be decelerated after the delay time, or it might be accelerated i the worst case. I this case, the STO fuctio (see above) is oly activated after the set time delay has passed. You have to take the resultig dager ito accout whe you perform the risk aalysis for the plat/machie, ad you have to provide for suitable precautioary measures if required. Note: A system/machie-specific risk aalysis must be carried out through the system/machie maufacturer ad take ito accout for the use of the drive system with MOVIAXIS. Importat: The safety cocept is oly suitable for performig mechaical work o system/machie compoets. Dager of fatal ijury: If the 24 V supply voltage is discoected, the mais supply voltage is still preset at the frequecy iverter DC lik. Importat: If work is carried out o the electrical sectio of the drive system, the power supply must be discoected usig a exteral maiteace switch. 100 System Maual MOVIAXIS Multi-Axis Servo Iverter

101 System Descriptio Fuctioal safety / safety fuctios 1 Uits with oe safety relay The followig axis modules meet category 3 to EN or performace level d to EN ISO if the safety guidelies (coditios) are observed: Uit desigatio MXA81A MXA81A MXA81A MXA81A MXA81A MXA81A MXA81A Nomial curret i A Size MXA81A MXA81A MXA81A Uits with two safety relays Observig the safety regulatios (coditios), the followig axis modules comply with protectio type III accordig to EN 201, category 4 accordig to EN 954-1, performace level e accordig to EN ISO or SIL3 accordig to IEC : Uit desigatio MXA82A MXA82A MXA82A MXA82A Nomial curret i A Size MXA82A MXA82A MXA82A Optioal expasio fuctios For applicatios that require higher safety fuctios, e.g. "Safely Reduced Speed", the expasio fuctios described below ca be used. MOVISAFE safety moitor, UCS series The UCS safety moitors are a modular system with fiely graded prices ad fuctios. The safety moitors are istalled close to the iverter. They always work together with a MXA81 or MXA82 axis module. Depedig o the selected moitor module (UCS10B,11B,12B,14B 1) ), you ca moitor sigle axes, double axes, up to the complete axis system. I additio to the safe drive fuctios, you ca also read i ad program safe peripheral uits, e.g. I/O, buttos, light grids. This ca be used to safely desig ad program complete machie or system modules i parallel with the MOVI-PLC motio cotrol solutios. A parameter ad commuicatio chael betwee MOVI-PLC ad the master module allows for the coectio of both uits to oly oe PROFIBUS/PROFINET port with PROFIsafe protocol. MOVI-PLC ad the MOVISAFE moitor commuicate via a itegrated diagostic chael, which esures itegrated ad well-liked applicatios. 1) I preparatio System Maual MOVIAXIS Multi-Axis Servo Iverter 101

102 1 System Descriptio Fuctioal safety / safety fuctios Safety fuctios The followig drive safety fuctios of IEC are covered by the UCS safety moitors: Safety fuctio Safe Torque Off Safe Stop 1 Safe Stop 2 Safe Operatioal Stop Safe Directio Safely Limited Speed Safely Limited Acceleratio Safe Speed Moitor Safely Limited Icremet Safely Limited Positio Safe Brake Cotrol Safe Cam Abbreviatio STO SS1 SS2 SOS SDI SLS SLA SSM SLI SLP SBC SCA Customer beefits The combiatio of MOVIAXIS ad MOVISAFE safety moitors of the UCS series offers the followig advatages: All ecessary drive safety fuctios i oe system Up to performace level "e" for speed-based fuctios Up to performace level "d" for positio-based fuctios System ca be expaded optioally by addig expasio modules Hiperface ad SSI ecoder processig Ca be used for sigle ad multi-axis systems Miimal logistic effort, because the combiatio of a i-stock axis module ad a optioal UCS safety moitor ca solve a multitude of drive tasks. 102 System Maual MOVIAXIS Multi-Axis Servo Iverter

103 System Descriptio MOVITOOLS MotioStudio egieerig software MOVITOOLS MotioStudio egieerig software MOVITOOLS MotioStudio is the ew egieerig software from SEW-EURODRIVE for use with MOVIAXIS. The ew MOVITOOLS MotioStudio is a cosistet modular software system for all drive electroics products from SEW-EURODRIVE. The advatage for the system maufacturer ad operator is that oly oe software package is required for comprehesive egieerig. System Maual MOVIAXIS Multi-Axis Servo Iverter 103

104 1 System Descriptio MOVITOOLS MotioStudio egieerig software Desigatio Screeshot Descriptio Startup Cofiguratio ad startup: To adapt the iverter to the coected motor ad to optimize the curret, speed ad positio cotrollers. PDO Editor A process data object editor for graphic cofiguratio of the MOVIAXIS multi-axis servo iverter. Parameter tree A stadardized editor to set parameters for various device types. Applicatio Builder Editor for creatig user-specific visualizatios ad applicatio-specific diagostics. Visualizatio is coected via file dowload with the iverter program IPOS ad the parameter settigs. Scope Diagostics usig a oscilloscope program for all SEW-EURO- DRIVE iverters. Techology editor for sigleaxis positioig Simple cofiguratio of the MOVIAXIS multi-axis servo iverter for positioig applicatios. Motio techology editor Editor for easy adaptatio of the techology fuctios to user-specific requiremets. 104 System Maual MOVIAXIS Multi-Axis Servo Iverter

105 System Descriptio MOVITOOLS MotioStudio egieerig software Overview of features Applicatio programs to IEC ca be used for all products based o the PLC Editor Differet commuicatio media ad fieldbus systems ca be used. Hadlig of projects with several differet uits (multi-uit perspective). Uiform multi-product editors for programmig ad parameter settig. Coordiated IEC libraries cocept: Basic library, Motio library, Applicatio library. SEW applicatio modules for a large umber of applicatios for parameter settig. Editor for creatig customer-specific visualizatios ad applicatio-specific diagostics. Cotiuity ad dowward compatibility Tools ad fuctioality PLC Editor Programmig the MOVI-PLC cotroller series usig applicatio programs that are writte oce ad ca be used idepedet of the uit. SEW commuicatio server Commuicatio via a server eables Free selectio of commuicatio paths, Local ad cetral storage of project data, Diagostics ad egieerig, Use of moder remote maiteace techologies. FCB cocept ad PDO Editor Techology editor The techology editor is a kid of "startup software iterface" to startup stadard applicatio fuctios such as sigle-axis positioig, electroic cam, etc. A special feature of this editor is that the user is guided through all the settigs ad oly has to make the settigs required for the specific fuctioality. Commet ad help fuctios are icluded. As a result, the user is offered a complete stadard applicatio fuctioality without a lot of cofiguratio. If users wat to make more detailed settigs, they ca do so at ay time by ruig through the techology editor usig the PDO editor. System Maual MOVIAXIS Multi-Axis Servo Iverter 105

106 1 System Descriptio "SEW WORKBENCH" project plaig software PDO Editor Process Data Object Editor FCB Fuctio Cotrol Block The PDO Editor is the cetral, graphical software tool for editig ad cofigurig FCBs ad the etire uit fuctioality. The tool ca be used to determie where ad which data packages should be retrieved from buses or I/O, how they should be iterpreted (cotrol/process data), how they are used i the uit fuctios, ad how this data is the output agai (via bus or I/O). This esures maximum flexibility whe usig the MOVIAXIS fuctios without ay programmig. The graphical structure makes it easy for users to familiarize themselves with the tool usig the ituitive iterface. The term "FCB cocept" describes the modular firmware desig of MOVIAXIS. This feature esures that a wide rage of fuctios ca be selected or deselected quickly ad easily usig cotrol words, o programmig required. All primary fuctios, i.e. fuctios that move or cotrol the motors, are desiged as idividual FCBs that oly have to be selected, for example, to perform positioig tasks. The user ca switch betwee FCBs at ay time depedig o the requested fuctio "SEW WORKBENCH" project plaig software "SEW Workbech" provides the user with a cetral iterface to compile complex drive systems from idividual SEW compoets. It allows the user to create complex drive systems for "switch cabiet techology" or "decetralized techology" from SEW compoets such as drives, servo iverters, cables, field distributors, etc. usig the drag ad drop fuctio. Key features of "SEW Workbech": Applicatio selectio Calculatio of gear uit ad motor Price-optimized project plaig Compariso of differet solutios Recommedatio of "best drive" solutio Iverter calculatio Multi-axis optimizatio Cofiguratio of cables ad accessories Cofiguratio error check Parts list geeratio Electroic catalog with all products 106 System Maual MOVIAXIS Multi-Axis Servo Iverter

107 System Descriptio "SEW WORKBENCH" project plaig software 1 The user has the optio to access existig fuctios ad programs such as EKAT, SAP Cofigurator ad ProDrive as well as to use ew fuctios. ProDrive Servo project plaig DocuFider DriveCAD Determiig oil amouts Electroic catalog Pritig Office iterface "SEW Workbech" allows you to perform a iitial compatibility check of differet compoets, i.e. to determie whether a servo iverter, cable ad drive ca be cofigured ad desiged for this combiatio. System Maual MOVIAXIS Multi-Axis Servo Iverter 107

108 1 System Descriptio "SEW WORKBENCH" project plaig software SEW Workbech fuctios Differet catalog fuctios ad project plaig fuctios are available for selectig idividual compoets. Each compoet is represeted i the work area by a graphical object. The result of the total of the objects together is the drive system. A complete check is performed for all products after the user has created the complete drive system. The "SEW Workbech" geerates a drive system icludig a product list tested ad approved accordig to SEW rules. The drive systems (product lists) created i the "SEW Workbech" ca be saved as a project file ad called up agai. This allows data exchage ad further processig by aother "Workbech user". 108 System Maual MOVIAXIS Multi-Axis Servo Iverter

109 Techical Data CE markig ad UL approval 2 2 Techical Data 2.1 CE markig ad UL approval The MOVIAXIS MX multi-axis servo iverters comply with the followig directives ad guidelies: CE markig Low Voltage Directive 2006/95/EC. Electromagetic Compatibility 2004/108/EC. MOVIAXIS servo iverters ad supply modules are desiged as compoets for istallatio i machies ad systems. They comply with the EMC product stadard EN "Variable-speed electrical drives". Provided the istallatio istructios are complied with, they satisfy the relevat requiremets for the CE markig for the etire machie/system i which they are istalled, o the basis of the EMC Directive 2004/108/EC. Compliace with limit class "C2" accordig to EN has bee tested o a specified test setup. SEW-EURODRIVE ca provide detailed iformatio o request. The CE mark o the ameplate idicates coformity with the Low Voltage Directive 2006/95/EC ad the EMC Directive 2004/108/EC. We ca provide a declaratio of coformity o request Approvals The followig approvals have bee grated for the MOVIAXIS modules: MOVIAXIS module UL / cul c-tick MXP supply module 10 kw x x MXP81 supply module 10 kw x x MXP supply module 25 kw x x MXP supply module 50 kw x x MXP supply module 75 kw x x MXR supply ad regeerative module x x MXA axis module x x MXM master module x x MXS 24 V switched-mode power supply module x x MXB buffer module x x MXC capacitor module x x MXZ DC lik discharge module x x Two-row cofiguratio of the axis system 1) x x 1) I preparatio cul is equivalet to CSA approval. C-Tick certifies coformity with ACA (Australia Commuicatios Authority) stadards. System Maual MOVIAXIS Multi-Axis Servo Iverter 109

110 2 kva i P f Hz Techical Data Uit desigatio 2.2 Uit desigatio Example: Type desigatio for MOVIAXIS basic uits MX A 80 A = = Stadard desig Special desig 3 = 3-phase coectio type 50 = U = AC V supply voltage Variats: 004 = 050 = 010 = 050 = 060 = For axis modules the omial curret, such as 004 = 4 A For DC lik discharge modules the eergy quatity that ca be dissipated, such as 050 = 5000 Ws For supply modules the omial power, such as 010 = 10 kw For capacitor, buffer ad dampig modules the capacity, such as 050 = 5,000 µf For 24 V switched-mode power supply the power, such as 060 = 600 W Versio 80 = 81 = 81 = 82 = Stadard desig Type with oe safety relay i the axis module Compact supply module (itegrated BW ad capacitor) Type with two safety relays i the axis module Uit type: A = B = C = M = P = R = S = Z = MOVIAXIS Axis module Buffer module Capacitor module Master module Supply module with brake chopper Supply ad regeerative module 24 V switched-mode power supply module DC lik discharge module Uit desigatio for the axis module: MXA80A = Axis module with 4 A omial curret Uit desigatio for the buffer module compoet MXB80A = Buffer module with a capacity of 5000 µf Uit desigatio for the capacitor module compoet MXC80A = Capacitor module with a capacity of 5000 µf 110 System Maual MOVIAXIS Multi-Axis Servo Iverter

111 Techical Data Uit desigatio kva i P f Hz 2 Type desigatio for master module with fieldbus gateway compoet: MXM80A /UFF41B = Master module with PROFIBUS/DeviceNet MXM80A /UFR41B = Master module with EtherNet/IP / PROFINET Modbus/TCP Type desigatio for master module with cotroller compoet: MXM80A /DHF41B/OMH41B = Master module with PROFIBUS/DeviceNet MXM80A /DHR41B/OMH41B = Master module with EtherNet/IP / PROFINET Modbus/ TCP Variats: T0 T25 Uit desigatio for the supply module: MXP81A = 10 kw compact supply module with itegrated C ad BW MXP80A = 10 kw supply module MXR80A = 50 kw supply ad regeerative module Uit desigatio for the 24 V switched-mode power supply module compoet MXS80A = 24 V switched-mode power supply module Uit desigatio DC lik discharge module compoet: MXZ80A = DC lik discharge module with a eergy quatity of 5000 Ws that ca be dissipated MOVIAXIS MX commuicatio module optio X 11 A Versio Versio status 11 = PROFIBUS 24 = EtherCAT Variat: FP = IO = IA = FA = GH, GS= FE = SE = PROFIBUS DP V1 Biary iput/output compoet Aalog iput/output compoet K-Net Multi-ecoder card EtherCAT fieldbus EtherCAT -compatible system bus Optioal compoets for MOVIAXIS System Maual MOVIAXIS Multi-Axis Servo Iverter 111

112 2 kva i P f Hz Techical Data Geeral techical data 2.3 Geeral techical data The followig tables lists the techical data for all MOVIAXIS MX multi-axis servo iverters idepedet of Type, Desig, Size, Power MOVIAXIS MX Iterferece immuity Complies with EN Iterferece emissio with EMC-compliat istallatio Category "C2" accordig to Ambiet temperature ϑ U 0 C to +45 C Climate class EN , class 3K3 Storage temperature ϑ L -25 C to +70 C Storage life Up to 2 years without special measures Coolig type (DIN 41751) Degree of protectio EN (NEMA1) 1) Axis module size 1-3 Axis module size 4-6 Power supply module size 1, 2 MXP81 supply module Supply module size 3 MXR supply ad regeerative module Master module Switched-mode power supply module Capacitor module Buffer module Two-row cofiguratio of the axis system Forced coolig ad covectio coolig, depedig o size IP20 IP10 IP20 IP20 IP10 IP10 IP20 IP10 IP10 IP10 IP10 Operatig mode DB (EN ) Pollutio class 2 accordig to IEC (VDE ) Overvoltage category III accordig to IEC (VDE ) Istallatio altitude h Up to h 1000 m without restrictios. The followig restrictios apply to heights > 1000 m: From 1000 m to max m: I N reductio by 1% per 100 m 1) - The covers o the left ad right ed of the uit system must be equipped with touch guard covers. - All cable lugs must be isulated. 112 System Maual MOVIAXIS Multi-Axis Servo Iverter

113 Techical Data Rear view of housig ad bore patters kva i P f Hz Use of stadard biary iputs INFORMATION It is ot permitted to cotrol the stadard biary iputs with safety-related (pulsed) voltages (except X7 ad X8 at MXA) V supply For projectig the 24 V supply, see system maual, chapter "Project plaig". 2.4 Rear view of housig ad bore patters Rear view dimesios of MOVIAXIS MX housig MOVIAXIS MX A B C D mm mm mm mm MXA axis module size 1 (2 A, 4 A, 8 A) MXA axis module size 2 (12 A, 16 A) MXA axis module size 3 (24 A, 32 A) MXA axis module size 4 (48 A) MXA axis module size 5 (64 A) MXA axis module size 6 (100 A) MXP supply module size MXP81 supply module MXP supply module size MXP supply module size MXR supply ad regeerative module MXM master module MXC capacitor module MCB buffer module MXS 24 V switched-mode power supply module MXZ DC lik discharge module (page 115) System Maual MOVIAXIS Multi-Axis Servo Iverter 113

114 2 kva i P f Hz Techical Data Rear view of housig ad bore patters Rear view of MOVIAXIS MX axis ad supply module housig 2) 2) 2) 2) ) Positio of tapped hole 2) See table with dimesios (page 113) 114 System Maual MOVIAXIS Multi-Axis Servo Iverter

115 Techical Data Rear view of housig ad bore patters kva i P f Hz Rear view of MOVIAXIS MX DC lik discharge module housig ) Positio of tapped hole System Maual MOVIAXIS Multi-Axis Servo Iverter 115

116 2 kva i P f Hz Techical Data Techical data of the modules 2.5 Techical data of the modules Techical data of MXP supply modules MOVIAXIS supply module 1) 2) Size MXP80A Type INPUT Supply voltage AC V supply U V V V ±10 Nomial lie curret AC I lie I A Nomial power P N P kw Lie frequecy f lie f Hz ±5% Cross sectio ad cotacts o coectios Cross sectio ad cotacts o shield clamp OUTPUT (DC LINK) mm 2 COMBICON PC4 pluggable, max. 4 COMBICON PC16 pluggable, max. 10 Screw bolt M8 max. 70 mm 2 max. 4 4 max max shielded Nomial DC lik voltage 3) U NZK U V DC 560 Nomial DC lik curret 4) DC I NZK I A Max. DC lik curret DC I ZK max I max A Overload capacity for max. 1 s 250 % Brake chopper power kw Peak power: 250 % P N ; cotiuous power: 0.5 P N Mea regeerative power capacity kw 0.5 x P N Cross sectio 5) ad cotacts mm CU bars 3 14 mm, M6 screw fittig BRAKING RESISTOR Miimum permitted brakig resistor value R (4-Q operatio) Cross sectio ad cotacts o coectios Cross sectio ad cotacts o shield clamp GENERAL INFORMATION Ω mm 2 COMBICON PC4 pluggable, max. 4 COMBICON PC16 pluggable, max. 10 M6 screw bolts max. 35 mm 2 max. 4 4 max max Power loss at omial capacity W No. of times power may be switched o/off rpm < 1/mi Miimum switch-off time for power s > 10 off Mass kg W mm Dimesios: H mm D mm 254 1) Nameplate iformatio 2) Uit 3) The system ad output currets must be reduced by 20 % from the omial values for V lie = 3 AC 500 V. 4) Decisive value for plaig the assigmet of supply ad axis modules 5) Material thickess [mm] width [mm] 116 System Maual MOVIAXIS Multi-Axis Servo Iverter

117 Techical Data Techical data of the modules kva i P f Hz 2 Power sectio of MXP81 compact supply module The techical data of the MXP81 supply module with itegrated brakig resistor correspod to those of the supply module size 1. Deviatig data is listed below: MOVIAXIS supply module MXP81A ) 2) Size 1 ADDITIONAL CAPACITY OF DC LINK Nomial DC lik voltage U V DC 560 Storable eergy W Ws 250 Peak power capacity P kw 20 Nomial capacity C µf 1000 INTERNAL BRAKING RESISTOR Effective brakig power P eff W 220 Maximum brakig power P max kw 26 BRAKING RESISTOR (exteral) Miimum permitted brakig resistor value R (4-Q operatio) Cross sectio ad cotacts o coectios Cross sectio ad cotacts o shield clamp 1) Nameplate iformatio 2) Uit Ω 26 mm 2 COMBICON PC4 pluggable, max. 4 mm 2 max. 4 4 GENERAL INFORMATION Power loss at omial capacity W 30 Mass kg 4.2 W mm 120 Dimesios: H mm 300 D mm 254 System Maual MOVIAXIS Multi-Axis Servo Iverter 117

118 2 kva i P f Hz Techical Data Techical data of the modules Cotrol sectio of supply module MOVIAXIS MX supply module 1) Oly for CAN-based system bus Geeral electroics data CAN bus to CAN specificatio 2.0, parts A ad B, trasmissio techology to ISO 11898, max. 64 statios, CAN iterface 1) Termiatig resistor (120 Ω) has to be implemeted exterally, CAN: 9-pi D-sub coector Baud rate ca be set from 125 kbaud 1Mbaud, Expaded MOVILINK protocol, DC 24 V voltage supply DC 24 V ± 25 % (EN 61131) Cross sectio ad cotacts Decouplig of EtherCAT -compatible system bus from 9-pi D-sub coector Shield clamps Maximum cable cross sectio that ca be coected to the shield clamp COMBICON 5.08 Oe core per termial: mm 2 Two cores per termial: mm 2 DIP switch, 4-pole Shield clamps for cotrol lies available 10 mm (with isulatig sheath) 118 System Maual MOVIAXIS Multi-Axis Servo Iverter

119 Techical Data Techical data of the modules kva i P f Hz 2 Dimesio sheet size 1, MXP , ,5 42, System Maual MOVIAXIS Multi-Axis Servo Iverter 119

120 2 kva i P f Hz Techical Data Techical data of the modules Dimesio sheet size 2, size , ,5 42, System Maual MOVIAXIS Multi-Axis Servo Iverter

121 Techical Data Techical data of the modules kva i P f Hz Techical data of MXR supply ad regeerative modules Nameplate iformatio Uit MXR supply ad regeerative module INPUT Supply voltage AC V supply U V V V ±10 % Nomial lie voltage U V 400 Nomial lie curret 1) 75 kw 2) I A 110 (@ 4 khz PWM) 50 kw I A 73 (@ 8 khz PWM) Nomial power 75 kw 2) P kw 75 (@ 4 khz PWM) (motor/regeerative) 50 kw P kw 50 (@ 8 khz PWM) Lie frequecy f lie f Hz ±5% Permitted voltage systems - - TT ad TN Cross sectio ad cotacts o coectios Cross sectio ad cotacts o shield clamp LINE VOLTAGE MEASUREMENT 1) Applies whe omial supply system voltage is 400 V 2) EcoLie filter is madatory - mm 2 Screw bolt M8 max mm 2 max shielded Measuremet - All 3 phases are picked off betwee lie filter ad choke Cross sectio ad cotacts mm 2 Combico pole / oe core max. 2.5; OUTPUT (DC LINK) DC lik U ZK 1) U ZK Nomial DC lik curret 1) DC I ZK I ZK A Max. omial DC lik curret 1) DC I ZK max I max A V U lie up to 400 V: U ZK = 750 V cotrolled 400 V < U lie < 480 V: U ZK icreases liearly from 750 V to 800 V 100 at 4 khz 67 at 8 khz 250 at 4 khz 168 at 8 khz Overload capacity for max. 1s % BRAKING RESISTOR / EMERGENCY BRAKING RESISTOR Brake chopper power - kw Miimum permitted brakig resistor value R (4-Q operatio) Cross sectio 3) ad cotacts o shield clamp Cross sectio 4) ad cotacts o shield clamp 3) Material thickess [mm] width [mm] 4) Material thickess [mm] width [mm] Peak power: 250 % P N Cotiuous power: kw - Ω mm 2 M6 screw bolts max mm 2 max. 4 x 16 System Maual MOVIAXIS Multi-Axis Servo Iverter 121

122 2 kva i P f Hz Techical Data Techical data of the modules Cotrol sectio of MXR supply ad regeerative module MOVIAXIS MX Regeerative power module Geeral electroics data INPUT DC 24 V voltage supply DC 24 V ± 25 % (EN 61131) COMBICON 5.08 Cross sectio ad cotacts Oe core per termial: max. 1.5 mm 2 (with coductor ed sleeve) INPUTS/OUTPUTS 4 biary iputs Iteral resistace Isolated (optocoupler), PLC compatible (EN 61131), samplig iterval 1 ms R i 3.0 kω, I I 10 ma Sigal level +13 V +30 V = "1" = cotact closed -3 V +5 V = "0" = cotact ope accordig to EN Fuctio DIØ1 - DIØ4: Fixed assigmet 2 biary outputs PLC compatible (EN ), respose time 1 ms, short-circuit proof, I max = 50 ma Sigal level "0"=0 V, "1"=+24 V, Importat: Do ot apply exteral voltage. Fuctio Cross sectio ad cotacts Shield clamps Maximum cable cross sectio that ca be coected to the shield clamp DOØØ ad DOØ1: Fixed assigmet DOØ2: User-programmable DOØ3: Not coected COMBICON 5.08 Oe core per termial: mm 2 Two cores per termial: mm 2 Shield clamps for cotrol lies available 10 mm (with isulatig sheath) Eable cotact for lie cotactor (Lie cotactor cotrol) Cross sectio ad cotacts Pickup curret: Relay Relay cotact (NO cotact) AC 230 V (max. 300 VA pickup power of lie cotactor) At AC 230 V At DC 24 V Permitted cotiuous curret: At AC 230 V At DC 24 V Number of switchig cycles Oe core per termial: 2 A 0.5 A 0.5 A COMBICON 5.08 max. 1.5 mm 2 (with coductor ed sleeve) 122 System Maual MOVIAXIS Multi-Axis Servo Iverter

123 Techical Data Techical data of the modules kva i P f Hz 2 Dimesio sheet of MXR.. supply ad regeerative module System Maual MOVIAXIS Multi-Axis Servo Iverter 123

124 2 kva i P f Hz Techical Data Techical data of the modules Techical data of MXA axis modules MOVIAXIS axis module 1) 2) Size MXA80A Type ) INPUT (DC lik) Nomial DC lik voltage U NZK U V DC 560 4) Nomial DC lik curret I NZK I A Cross sectio 5) ad cotacts mm CU bars 3 14, M6 screw fittig OUTPUT Output voltage U U V 0 max. U lie Cotiuous output curret AC I N PWM = 4 khz 6) I A ) Cotiuous output curret AC I N PWM = 8 khz 6) I A Cotiuous output curret AC I N PWM = 16 khz 6) I A ) Max. uit output curret I max I max A Overload capacity for max. 1 s 250 % 9) Apparet output power S NAus S kva PWM frequecy f PWM khz Settig optios: 4/8/16; Settig o delivery: f PWM =8 khz Maximum output frequecy f max f Hz 600 Cross sectio ad cotacts o motor coectios Cross sectio ad cotacts o motor shield clamp Brake coectio Brake coectio cotacts Shield clamps Maximum cable cross sectio that ca be coected to the shield clamp mm 2 U BR / I BR V / A COMBICON PC4 pluggable, max. 4 COMBICON PC16 pluggable, max. 10 Screw bolts M6 max. 35 Screw bolts M8 max. 70 mm 2 max. 4 4 max max max biary output brake cotrol Suitable for direct operatio of brake, short-circuit proof. Exteral 24 V required. Tolerace depeds o the used brake type, see project plaig maual. See example for maximum load below the foototes. Sigal level: "0" = 0 V "1" = +24 V Importat: Do ot apply exteral voltage! Fuctio: "/Brake" fixedly assiged COMBICON 5.08 mm 2 Oe core per termial: mm 2 Two cores per termial: mm 2 Shield clamps for brake lies available 10 mm (with isulatig sheath) Table cotiued o ext page. Foototes o ext page. 124 System Maual MOVIAXIS Multi-Axis Servo Iverter

125 Techical Data Techical data of the modules kva i P f Hz 2 MOVIAXIS axis module MXA80A GENERAL INFORMATION 1) 2) Size Power loss at omial capacity W Mass kg W mm Dimesios: H mm D mm 254 1) Nameplate iformatio 2) Uit 3) Whe used uder UL coditios, the uit caot be operated at 4 khz due to the limited cable cross sectio 4) with simplificatio: I NZK = I N (typical motor applicatio) 5) Material thickess [mm] width [mm] 6) The system ad output currets must be reduced by 20 % from the omial values for V lie = 3 AC 500 V. 7) For a 32 A axis used i lie with UL ad with a PWM of 4 khz, the maximum cotiuous output curret is 35 A. 8) Idicated values apply to motor operatio. Motor ad regeerative have the same peak performace. 9) Applies to a lie voltage of 400 V ad 50 Hz/PWM = 8 khz. System Maual MOVIAXIS Multi-Axis Servo Iverter 125

126 2 kva i P f Hz Techical Data Techical data of the modules Notes o brake cotrol INFORMATION Note o tolerace requiremet for the brake voltage! The brake voltage has to be cofigured. See MOVIAXIS system maual. Permitted load of brake cotrol ad brake Oe complete switchig sequece (opeig ad closig) must ot be repeated more ofte tha a maximum of every two secods. The brake must remai switched off for at least 100 ms before it ca be switched o agai. Cotrol sectio of axis module MOVIAXIS MX axis module Geeral electroics data DC 24 V voltage supply DC 24 V ± 25 % (EN 61131) Cross sectio ad cotacts COMBICON 5.08 Oe core per termial: mm 2 Two cores per termial: mm 2 X10:1 ad X10:10 biary iputs Iteral resistace Sigal level Isolated (optocoupler), PLC compatible (EN 61131), samplig iterval 1 ms R i 3.0 kω, I I 10 ma +13 V V = "1" = cotact closed -3 V - +5 V = "0" = cotact ope accordig to EN Fuctio DIØØ: "Output stage eable" fixedly assiged DIØ1 - DIØ8: Selectio optio, see parameter meu DIØ1 ad DIØ2 suitable for touch probe fuctio (latecy period < 100 µs) 4 biary outputs PLC compatible (EN ), respose time 1 ms, short-circuit proof, I max = 50 ma Sigal level "0"=0 V, "1"=+24 V, Importat: Do ot apply exteral voltage. Fuctio DOØØ - DOØ3: Selectio optio, see parameter meu Cross sectio ad cotacts Shield clamps Maximum cable cross sectio that ca be coected to the shield clamp COMBICON 5.08 Oe core per termial: mm 2 Two cores per termial: mm 2 Shield clamps for cotrol lies available 10 mm (with isulatig sheath) X7 ad X8: Coectio cotacts for safety fuctios Cross sectio ad cotacts Safety relay itegrated i uit as optio Suitable for operatio as device of stop category 0 or 1 accordig to EN with prevetio of restart for safety applicatios i: Category 3 accordig to EN Protectio type III accordig to EN 201 Mii COMBICON 3.5 Oe core per termial: mm 2 Two cores per termial: mm 2 CAN2 iterface (Frot ed CAN) CAN: 9-pi D-sub coector CAN bus to CAN specificatio 2.0, parts A ad B, trasmissio techology to ISO 11898, max. 64 statios, 126 System Maual MOVIAXIS Multi-Axis Servo Iverter

127 Techical Data Techical data of the modules kva i P f Hz 2 Dimesio sheet size 1, size , ,5 42, System Maual MOVIAXIS Multi-Axis Servo Iverter 127

128 2 kva i P f Hz Techical Data Techical data of the modules Dimesio sheet size 3, size 4, size 5, size ,5 42, , System Maual MOVIAXIS Multi-Axis Servo Iverter

129 Techical Data Techical data of the modules kva i P f Hz Techical data of MXM master module compoet MOVIAXIS MX master module 1) 2) MXM80A Size 1 Type 000 Supply voltage V U V DC 24 V ± 25 % accordig to EN COMBICON 5.08 Cross sectio ad cotacts (X5a) Oe core per termial: mm 2 Two cores per termial: mm 2 COMBICON 5.08 Oe core per termial: mm 2 Cross sectio ad cotacts (X5b) Two cores per termial: mm 2 Maximum outer diameter of the cable: 3.5 mm. Recommeded coector: MSTB 2.5/4-ST-5.08 BK (Phoeix) (COMBICON 5.08 with frot-ed cable output) GENERAL INFORMATION Mass kg 2.3 W mm 60 Dimesios: H mm 300 D mm 254 Shield clamps Maximum cable cross sectio that ca be coected to the shield clamp Shield clamps for cotrol lies available 10 mm (with isulatig sheath) 1) Nameplate iformatio 2) Uit INFORMATION For additioal techical data, refer to the mauals "MOVI-PLC advaced DH..41B Cotroller", "UFR41B Fieldbus Gateway for EtherNet/IP, Modbus/TCP ad PROFINET IO", ad "UFF41B Fieldbus Gateway for DeviceNet ad PROFIBUS DP". System Maual MOVIAXIS Multi-Axis Servo Iverter 129

130 2 kva i P f Hz Techical Data Techical data of the modules Dimesio sheet , ,5 42, System Maual MOVIAXIS Multi-Axis Servo Iverter

131 Techical Data Techical data of the modules kva i P f Hz Techical data of MXC capacitor module compoet MOVIAXIS capacitor module MXC80A ) 2) Type 050 INPUT Nomial DC lik voltage U NZK U V DC 560 Storable eergy 3) W Ws 1000 Peak power capacity kw 50 Cross sectio ad cotacts mm CU bars 3 14, M6 screw fittig GENERAL INFORMATION Capacity C mf 4920 Time from switchig the uit o util it is ready for operatio s 10 Mass kg 12.6 W mm 150 Dimesios: H mm 400 D mm 254 1) Nameplate iformatio 2) Uit 3) At V lie = 3 AC 400 V System Maual MOVIAXIS Multi-Axis Servo Iverter 131

132 2 kva i P f Hz Techical Data Techical data of the modules Cotrol sectio of capacitor module MOVIAXIS MXC capacitor module Geeral electroics data DC 24 V voltage supply DC 24 V ± 25 % (EN 61131) Cross sectio ad cotacts COMBICON 5.08 Oe core per termial: mm 2 Two cores per termial: mm Techical data of MXB buffer module compoet MOVIAXIS buffer module MXB80A ) 2) Type 050 INPUT Nomial DC lik voltage 3) U NZK U V DC 560 Cross sectio ad cotacts mm CU bars 3 14, M6 screw fittig GENERAL INFORMATION Capacity C mf 4920 Time from switchig the uit o util it is ready for operatio s 10 Mass kg 11 W mm 150 Dimesios: H mm 400 D mm 254 1) Nameplate iformatio 2) Uit 3) At V lie = 3 AC 400 V 132 System Maual MOVIAXIS Multi-Axis Servo Iverter

133 Techical Data Techical data of the modules kva i P f Hz Techical data of MXS 24 V switched-mode power supply module compoet MOVIAXIS 24 V switched-mode power supply 1) 2) module MXS80A Type 060 INPUT via DC lik Nomial DC lik voltage U NZK U V DC 560 Cross sectio 3) ad cotacts CU bars 3 14, M6 screw fittig INPUT via exteral 24 V Nomial iput voltage U N U V DC 24-0 % / +10 % - with direct brake cotrol DC 24 ±25 % (EN 61131) - with brake cotrol via brake switchgear Cross sectio ad cotacts mm 2 PC6 Oe core per termial: Two cores per termial: OUTPUT Nomial output voltage V U V DC 3 x 24 (shared groud) Tolerace for supply via DC lik: DC 24 0 % / +10 % tolerace for supply via exteral 24 V: Accordig to iput voltage Nomial output curret I I A 3 x 10 4) Nomial output power P P W 600 Cross sectio ad cotacts mm 2 Oe core per termial: mm 2 COMBICON 5.08 Two cores per termial: mm 2 GENERAL INFORMATION Bridgig resistace for U Z drop 5) t s Nomial power for 10 ms Efficiecy approx. 80 % Mass kg 4.3 W mm 60 Dimesios: H mm 300 D mm 254 1) Nameplate iformatio 2) Uit 3) Material thickess [mm] width [mm] 4) Not possible at the same time because total power is limited to 600 W 5) Applies to the followig measurig poit: 10 ms are guarateed for a edge steepess of the fallig DC lik voltage of (du ZK / dt) > (200 V / 1 ms). Applies for a lie voltage U ZK of 3 AC 380 V. System Maual MOVIAXIS Multi-Axis Servo Iverter 133

134 2 kva i P f Hz Techical Data Techical data of the modules Dimesio sheet , ,5 42, System Maual MOVIAXIS Multi-Axis Servo Iverter

135 Techical Data Techical data of the modules kva i P f Hz Techical data of MXZ DC lik discharge module compoet Power sectio of DC lik discharge module MOVIAXIS MX DC lik discharge module 1) 2) MXZ80A Size 1 Type 050 INPUT (DC lik) Nomial DC lik voltage 3) U NZK U V DC 560 Cross sectio 4) ad cotacts CU bars 3 14, M6 screw fittig Covertible eergy E E J 5000 OUTPUT Brakig resistor R R Ω 1 Discharge coectio Specific screw fittig by SEW Cross sectio ad cotacts mm 2 M6 screw bolts, max Coectio to power shield clamp mm 2 max GENERAL INFORMATION Ready for operatio after switchig o the mais power ad the 24 V supply 1) Nameplate iformatio 2) Uit 3) The lie ad output currets must be reduced by 20% from the omial values for V lie = 3 AC 500 V. 4) Material thickess [mm] width [mm] s 10 Ready for operatio after short circuit s Depeds o applicatio Repeatability of quick discharge s 60 Duratio of quick discharge s 1 Shutdow temperature C 70 Mass kg 3.8 W mm 120 Dimesios: H mm 235 D mm 254 Cotrol sectio of DC lik discharge module MOVIAXIS MX DC lik discharge module 1) Geeral electroics data Ihibit Cotrol sigal for discharge process DC 24 V voltage supply V DC 24 ± 25 % (EN ) COMBICON 5.08 Cross sectio ad cotacts mm 2 Oe core per termial: mm 2 Two cores per termial: mm 2 1) Uit System Maual MOVIAXIS Multi-Axis Servo Iverter 135

136 2 kva i P f Hz Techical Data Techical data of the modules Dimesio sheet , ,5 42, System Maual MOVIAXIS Multi-Axis Servo Iverter

137 Techical Data Techical data of the modules kva i P f Hz Techical data of two-row cofiguratio of the axis system 1) The followig table lists oly the data that deviates from the techical data listed above due to two-row cofiguratio. MOVIAXIS MX Eclosure EN IP10 Coectio cross sectio of the DC lik coectio 35 mm 2 Screw fittig at cable lug M8 Tighteig torques Retaiig screws of the cover Nm Retaiig screws of coductor bars at isulator Nm Retaiig screws of the DC lik coectios 3 4 Nm 1) Available as of 4th quarter 2010 System Maual MOVIAXIS Multi-Axis Servo Iverter 137

138 2 kva i P f Hz Techical Data Techical data of optio cards for axis modules ad regeerative modules 2.6 Techical data of optio cards for axis modules ad regeerative modules Techical data of XFP11A commuicatio optio Descriptio The XFP11A commuicatio module is a PROFIBUS slave module for direct itegratio ito MOVIAXIS axis modules. The XFP11A PROFIBUS card is used for directly coectig axis modules to PROFIBUS-capable cotrol systems. Oly oe XFP11A PROFIBUS card ca be istalled per axis module. XFP11A optio Part umber Power cosumptio P = 2.5 W PROFIBUS protocol variats PROFIBUS DP ad DP-V1 to IEC Automatic baud rate detectio 9.6kBd 12MBd Coectio techology Via 9-pi D-sub coector Pi assigmet acc. to IEC Bus termiatio Not itegrated, implemet usig suitable PROFIBUS plug with termiatig resistors that ca be switched o. Statio address 0 125, ca be set via DIP switch Name of GSD file DP ID umber 6006 hex = dec Applicatio-specific parameterizatio data (Set-Prm-UserData) SEW_6006.GSD (PROFIBUS DP) SEWA6003.GSD (PROFIBUS DP-V1) Legth: 9 bytes Hex parameter settigs 00,00,00,06,81,00,00,01,01 = DP diagostics alarm = OFF Hex parameter settigs 00,00,00,06,81,00,00,01,00 = DP diagostics alarm = ON Diagostics data Stadard diagostics: 6 bytes Tools for startup PC program MOVITOOLS MotioStudio 138 System Maual MOVIAXIS Multi-Axis Servo Iverter

139 Techical Data Techical data of optio cards for axis modules ad regeerative modules kva i P f Hz Techical data of EtherCAT fieldbus iterface optio Descriptio The XFE24A fieldbus iterface is a slave module for coectio to EtherCAT etworks. Oly oe XFE24A fieldbus iterface ca be istalled per axis module. The XFE24A fieldbus iterface allows MOVIAXIS to commuicate with all EtherCAT master systems. All stadards of the ETG (EtherCAT Techology Group), such as wirig, are supported. This meas the cables must be wired at the frot by the customer. XFE Lk Lk X31 OUT X30 IN F1 I O RUN ERR IN OUT EtherCAT XFE24A optio (MOVIAXIS ) Stadards IEC 61158, IEC Baud rate 100 Mbaud full duplex Coectio techology 2 RJ45 (8x8 modular jack) Bus termiatio Not itegrated because bus termiatio is automatically activated. OSI layer Etheret II Statio address Settig via EtherCAT master Vedor ID 0x59 (CANopeVedor ID) EtherCAT CoE (CANope over EtherCAT services ) VoE (simple MOVILINK protocol over EtherCAT ) Firmware status of MOVIAXIS Firmware status 21 or higher Tools for startup PC program MOVITOOLS MotioStudio from versio 5.40 System Maual MOVIAXIS Multi-Axis Servo Iverter 139

140 2 kva i P f Hz Techical Data Techical data of optio cards for axis modules ad regeerative modules Techical data of K-Net commuicatio optio Descriptio The XFA11A (K-Net) commuicatio module is a slave module for coectio to a serial bus system for high-speed data trasfer. No more tha oe XFA11A (K-Net) commuicatio module may be istalled per MOVIAXIS MXA axis module. Termial assigmet Termial Assigmet Brief descriptio X31: K-Net coectio (RJ-45 socket) X32: K-Net coectio (RJ-45 socket) INFORMATION You ca select either coector X31 or X32 as iput or output. Techical data K-Net Power cosumptio Electrical isolatio Bus badwidth Coectio techology Max. cable legth per sectio Trasmissio medium 2 W o Max. 50 Mbit/s 2xRJ m CAT7 cable Iterfaces K-Net: Frot K-Net properties Card properties INFORMATION Serial bus No electrical isolatio Bus badwidth with max. 50 Mbit/s Coectio techology with two RJ-45 sockets Trasmissio medium CAT7 cable Istallatio i MOVIAXIS MX servo iverter with housig widths as of 60 mm The power ad curret data refer to DC 24 V. The losses of the iteral switched-mode power supply uits have bee take ito accout. 140 System Maual MOVIAXIS Multi-Axis Servo Iverter

141 Techical Data Techical data of optio cards for axis modules ad regeerative modules kva i P f Hz Techical data of XIO11A, XIA11A iput/output optio Descriptio X21 X22 X26 X25 The iput/output modules XIO11A/XIA11A are digital ad digital/aalog hybrid optio modules. They ca be used to read or sed both digital ad aalog sigals from the servo iverter. XIO XIA XIO11A biary hybrid module Geeral iformatio Supply voltage DC 24 V ± 25 %, 4 A 1) (EN ) Supply of IOs from the frot Addressig via 16-digit address switch (positios 1 ad 3 oly) COMBICON 5.08 Coectio cotacts Oe core per termial: mm 2 Two cores per termial: mm 2 Iverter power cosumptio 0.6 W Biary iputs Number of iputs 8 Iput type Type 1 accordig to EN Filter 500 Hz Voltage rage for "1" 15 V UH 30 V Voltage rage for "0" -3 V UL 5 V Processig time 1 ms Electrical isolatio yes Biary outputs Number of outputs 8 Output type Biary outputs accordig to EN Nomial voltage DC 24 V Processig time 1 ms Nomial curret 0.5 A Power loss 0.1 W with omial curret (R o max : 400 mω) Iductive load capacity 100 mj at max. 1 Hz Protectio device Short circuit ad overload protectio Electrical isolatio yes 1) Maximum curret of 4 A must be fused exterally. System Maual MOVIAXIS Multi-Axis Servo Iverter 141

142 2 kva i P f Hz Techical Data Techical data of optio cards for axis modules ad regeerative modules XIA11A aalog/ biary hybrid module Geeral iformatio Supply voltage DC 24 V ± 25 %, 2 A (EN ) Supply of IOs from the frot Addressig via 16-digit address switch (positios 1 ad 3 oly) COMBICON 5.08 Coectio cotacts Oe core per termial: mm 2 Two cores per termial: mm 2 Iverter power cosumptio 0.7 W Aalog iputs Number of iputs 2 Iput rage ±10 V Iput type differetial Coversio cycle 1 ms Resolutio 12 bit Electrical isolatio o Ecoder resistace Mi. 1 kω Maximum permitted permaet overload +30 V agaist GND Iput impedace > 20 kω (ΕΝ 61131) Accuracy (at 25 C) ± 0.2 % Measurig error temperature coefficiet 100 ppm SKE 1) / C Iput filter limit frequecy 250 Hz Aalog outputs Number of outputs 2 Output rage ±10 V Coversio cycle 1 ms Resolutio 12 bit Electrical isolatio o Output load Mi. 1 kω Accuracy (at 25 C) ± 0.1 % Measurig error temperature coefficiet 100 ppm SKE 1) / C Miimum rise time (0 10 V) 100 µs Biary iputs Number of iputs 4 Iput type Type 1 accordig to EN Filter 500 Hz Voltage rage for "1" 15 V UH 30 V Voltage rage for "0" -3 V UL 5 V Processig time 1 ms Electrical isolatio yes Table cotiued o ext page. 142 System Maual MOVIAXIS Multi-Axis Servo Iverter

143 Techical Data Techical data of optio cards for axis modules ad regeerative modules kva i P f Hz 2 Biary outputs Number of outputs 4 Output type Biary outputs accordig to EN Nomial voltage DC 24 V Processig time 1 ms Nomial curret 0.5 A Power loss 0.1 W with omial curret (R o max : 400 mω) Iductive load capacity 100 mj at max. 1 Hz Protectio device Short circuit ad overload protectio Electrical isolatio yes 1) SKE = maximum scale value System Maual MOVIAXIS Multi-Axis Servo Iverter 143

144 2 kva i P f Hz Techical Data Techical data of optio cards for axis modules ad regeerative modules Techical data of XGS11A, XGH11A multi-ecoder card optio Descriptio XGH XGS XGS, XGH multi-ecoder card 1) Power cosumptio via itegrated supply SBus (without coected ecoder) W 2 Output curret for supplyig coected ecoders ma 500 Peak output curret I max for 400 ms ma 650 Whe usig 2 ecoder cards, the total curret must be limited to 800 ma. 1) Uit Techical data ad characteristics of the differetial iput X61: Tolerace: ± 10 V. Resolutio: 12 bits. Update every 250 ms. The iput ca be used as or M setpoit iput, Geeral iput for measured values, Torque limit value. Techical data ad characteristics of X62: RS422. Maximum frequecy: 200 khz. Simulatio output is based o the motor or optio ecoder, ca be selected via uit parameters. PPR cout ca be freely selected i powers of two from [pulses per revolutio]. Ecoder sigals ca be multiplied. The maximum possible speed depeds o the emulatio PPR cout set: Set PPR cout Maximum possible speed i mi No limit System Maual MOVIAXIS Multi-Axis Servo Iverter

145 Techical Data Techical data of optio cards for axis modules ad regeerative modules kva i P f Hz Techical data of DWI11A Coectio of TTL ecoder to XGH, XGS multi-ecoder cards TTL ecoder The followig ecoders ca be coected at X63, X64 (exteral ecoder iput): DC 5 V TTL ecoder with DC 5 V voltage supply type ES1T, ES2T, EV1T, EV2T or EH1T via DWI11A optio or ecoder with sigal level to RS422 DC 5 V voltage supply The TTL ecoders with a DC 5 V voltage supply (ES1T, ES2T, EV1T, EV2T or EH1T) must be coected via the "DC 5 V ecoder power supply type DWI11A" optio (part umber ). Coectig TTL ecoders via DWI11A to XGH, XGS as a motor ecoder: XGH, X63/64: max. 5 m ES1T / ES2T / EV1T/ EV2T / EH1T YE GN RD BU PK GY WH BN VT* YE GN RD BU PK GY WH BN BK VT max. 100 m * X2: Ecoder X1: DWI11A * Coect the sesor cable (VT) o the ecoder to UB, do ot jumper o the DWI11A! Part umbers of the prefabricated cables: Hiperface optio, type XGH, XGS X63 / 64: DWI11A X1: For fixed istallatio: Ecoders ES1T, ES2T, EV1T, EV2T, EH1T DWI11A X2: Ecoder For fixed istallatio: For cable carriers X System Maual MOVIAXIS Multi-Axis Servo Iverter 145

146 2 kva i P f Hz Techical Data Techical data of optio cards for axis modules ad regeerative modules DC 5 V ecoder supply type DWI11A The part umber of the DC 5 V ecoder power supply optio type DWI11A is: Descriptio If you are usig a icremetal ecoder with a DC 5 V ecoder power supply, istall the DC 5 V ecoder power supply optio type DWI11A betwee the iverter ad the icremetal ecoder. This optio provides a regulated DC 5 V power supply for the ecoder. For this purpose, the DC 12 V power supply for the ecoder iputs is coverted to DC 5 V by meas of a voltage cotroller. A sesor lie is used to measure the supply voltage at the ecoder ad compesate the voltage drop alog the ecoder cable. Icremetal ecoders with DC 5 V ecoder power supply must ot be coected directly to the ecoder iputs X14 ad X15. This would cause irreparable damage to the ecoder. INFORMATION Note that if a short circuit occurs i the sesor cable, the coected ecoder may be exposed to a voltage higher tha permitted. Recommedatio Dimesio drawig Use prefabricated cables from SEW-EURODRIVE for the ecoder coectio (page 213). SEW-EURODRIVE offers a prefabricated cable for coectig DWI11A to MOVIAXIS. This cable ca be used for both asychroous ad sychroous motors. All dimesios i mm (i) X2: Ecoder X1: MOVIDRIVE DWI 75 (3.0) 5 (0.2) 68 (2.7) 22.5 (0.886) 73 (2.9) The DWI11A optio is mouted o a support rail (EN ) i the cotrol cabiet. Techical data DC 5 V ecoder power supply optio type DWI11A Part umber Voltage iput DC V, I max = DC 120 ma Ecoder power supply DC +5 V (up to V max +10 V), I max = DC 300 ma Max. lie legth that ca be coected 100 m (328 ft) total Use a shielded twisted-pair cable (A ad A, B ad B, C ad C) for coectig the ecoder to the DWI11A ad the DWI11A to MOVIAXIS. 146 System Maual MOVIAXIS Multi-Axis Servo Iverter

147 Techical Data System accessories kva i P f Hz System accessories Techical data of optioal brakig resistors Geeral iformatio The BW... brakig resistors are tailored to the techical characteristics of MOVIAXIS multi-axis servo iverters. INFORMATION Whe usig a DC lik discharge module, you must istall brakig resistors with ceter tap. These brakig resistors are marked i the table o the followig page. Wire ad grid resistors Perforated sheet cover (IP20) ope to moutig surface. The short-time load capacity of the wire ad grid resistors is greater tha i the flattype brakig resistors. SEW-EURODRIVE recommeds protectig the wire ad grid resistors agaist overload usig a thermal overload relay or a thermal circuit breaker. Set the trip curret to the value I F except whe usig the brakig resistor type BW...-P, see the followig tables. Do ot use electroic or electromagetic fuses because these ca be triggered eve i case of short-term excess currets that are still withi the tolerace rage. The resistor surfaces reach high temperatures uder load with P N. Make sure that you select a istallatio site that will accommodate these high temperatures. As a rule, therefore, brakig resistors are mouted o the cotrol cabiet roof. The performace data listed i the followig tables idicate the load capacity of the brakig resistors depedig o their cyclic duratio factor. The cyclic duratio factor cdf of the brakig resistor is idicated i % ad refers to a cycle duratio of 120 s. UL ad cul approval BW... type brakig resistors are UL ad cul approved i cojuctio with the MOVIAXIS multi-axis servo iverter. SEW-EURODRIVE will provide certificatio o request. The followig brakig resistors have cruus approval idepedet of the MOVIAXIS multi-axis servo iverter: BW BW BW BW SEW-EURODRIVE will provide certificatio o request. System Maual MOVIAXIS Multi-Axis Servo Iverter 147

148 2 kva i P f Hz Techical Data System accessories Techical data Brakig resistor type 1) BW BW ) Uit 2) cdf = Cyclic duratio factor of the brakig resistor i relatio to a cycle duratio T D 120 s. BW247 BW247-T BW347 BW347-T BW Brakig resistor type 1) BW Part umber Power class of the supply module kw 10, 25, 50, 75 Load capacity at 100 % cdf 2) kw Resistace value R BW Ω 27 ±10 % 47 ±10 % 39 ±10 % Trip curret (of F16) I F A RMS Desig Wire-woud tube resistor Grid resistor Coectios mm 2 Ceramic termials 2.5 Permitted electric loadig of the termials at 100% A DC 20 cdf Permitted electric loadig of the termials at 40 % A DC 25 cdf Amout of eergy that ca be absorbed kws Degree of protectio IP20 (whe istalled) Ambiet temperature ϑ U C -20 to +45 Type of coolig KS = self-coolig BW012- BW ) 025 BW P BW BW T BW915-T Part umber Power class of the supply module kw 25, 50, 75 Load capacity at 100 % cdf 3) kw Resistace value R BW Ω 12 ±10 % 15 ±10 % Trip curret (of F16) I F A RM S Desig Wire-woud tube resistor Grid resistor Coectios mm 2 Ceramic termials 2.5 Permitted electric loadig of the termials at 100% A DC 20 cdf Permitted electric loadig of the termials at 40 % A DC 25 cdf Amout of eergy that ca be absorbed kws Degree of protectio IP20 (whe istalled) Ambiet temperature ϑ U C -20 to +45 Type of coolig KS = self-coolig 1) Uit 2) Brakig resistors have a 1 Ω tap 3) cdf = Cyclic duratio factor of the brakig resistor i relatio to a cycle duratio T D 120 s. 148 System Maual MOVIAXIS Multi-Axis Servo Iverter

149 Techical Data System accessories kva i P f Hz 2 Brakig resistor type 1) BW ) BW BW106-T BW206-T BW Part umber Power class of the supply module kw 50, Load capacity at 100 % cdf 3) kw Resistace value R BW Ω 5.8 ±10 % 6 ±10 % 3.6 ±10 % Trip curret (of F16) I F A RMS Desig Grid resistor Coectios M8 stud Permitted electric loadig of the termial stud at A DC % cdf Permitted electric loadig of the termial stud at 40% A DC 143 cdf Amout of eergy that ca be absorbed kws Degree of protectio IP20 (whe istalled) Ambiet temperature ϑ U C -20 to +45 Type of coolig KS = self-coolig 1) Uit 2) Brakig resistors have a 1 Ω tap 3) cdf = Cyclic duratio factor of the brakig resistor i relatio to a cycle duratio T D 120 s. System Maual MOVIAXIS Multi-Axis Servo Iverter 149

150 2 kva i P f Hz Techical Data System accessories Dimesio drawig of BW.. brakig resistors Dimesio drawig of BW brakig resistors, [2] grid resistor / [3] wire resistor [2] d B a A c C [3] B e a A Flat-desig resistors: The coectig lead is 500 mm log. The scope of delivery icludes four M4 threaded bushes each of type 1 ad 2. x1 d c C Type Mai dimesios mm Fasteig mm Mass kg BW.. A B C a c/e x1 d BW BW BW BW247-T BW BW347-T BW BW BW BW BW P 295/ BW BW T BW915-T BW BW BW106-T BW206-T BW System Maual MOVIAXIS Multi-Axis Servo Iverter

151 Techical Data System accessories kva i P f Hz Techical data of lie filter optio for supply module The lie filters listed here ca be combied with the respective supply modules accordig to the project plaig iformatio i order to suppress iterferece from the grid. Techical data NF.. lie filters have a compoet approval idepedet of the MOVIAXIS multi-axis servo iverter. SEW-EURODRIVE will provide certificatio o request. Lie filter type 1) NF NF NF NF Part umber Supply module Size 1 Size 2 Size 3 Size 3 Nomial voltage V N V AC %, 50/60 Hz Nomial curret I N A AC Power loss at I N P V W Earth-leakage curret at V N ma < 25 < 40 < 30 < 30 Ambiet temperature ϑ U C -25 to +40 Degree of protectio IP20 (EN 60529) Coectios L1-L3/L1'-L3' mm PE M5 stud M5/M6 stud M8 M10 1) Uit System Maual MOVIAXIS Multi-Axis Servo Iverter 151

152 2 kva i P f Hz Techical Data System accessories Dimesio drawig of NF.. lie filter A a C C L3 L2 L1 Iput B b Output L3' L2' L1' Ay moutig positio Mai dimesios mm Moutig dimesios mm Hole dimesio mm Lie filter type A B C a b c PE coectio Mass kg NF M NF M6 2.1 NF M NF M System Maual MOVIAXIS Multi-Axis Servo Iverter

153 Techical Data System accessories kva i P f Hz Techical data of lie choke optio for supply module Lie chokes are used to smooth the lie curret that the MX system cosumes. This miimizes power supply disturbaces, reduces load o weaker grids, ad dampes curret fluctuatios. Techical data ND.. lie chokes have a compoet approval idepedet of the MOVIAXIS multi-axis servo iverter. SEW-EURODRIVE will provide certificatio o request. Lie choke type 1) ND ND ND ND Part umber Supply module Size 1 Size 2 Size 3 Size 3 Nomial voltage V N V AC %, 50/60 Hz Nomial curret I N A AC Power loss at I N P V W Iductace L N mh Ambiet temperature ϑ U C -25 to +40 Degree of protectio IP00 (EN 60529) Coectios L1-L3/L1'-L3' mm M10 stud PE: M8 PE Termial strips Termial strips Termial strips stud 1) Uit (1) Space for termial strips (touch-safe) Ay moutig positio Lie choke type Mai dimesios mm Moutig dimesios mm Hole dimesio mm A B C a b c kg ND ND ND ND Weight System Maual MOVIAXIS Multi-Axis Servo Iverter 153

154 2 kva i P f Hz Techical Data System accessories Techical data of the optioal lie compoets for supply ad regeerative modules The lie compoets NK50 ad NK75 are madatory for the operatio of the supply ad regeerative module. They caot be replaced by other choke/filter combiatios. The NK.. lie compoets always comprise a matched combiatio of filter ad choke. They ca be ordered as a package uder the specified part umber, see followig table: NK lie compoets Part umber Icluded lie choke Icluded lie filter NK NDR NFR NK NDR NFR Techical data of lie choke optio for supply ad regeerative modules The two lie chokes NDR 110 ad NDR 075 are tailored to the MXR ad NFR filters. They caot be replaced by "ormal" lie chokes. These lie chokes are the core of the boost coverter fuctio, which is essetial for siusoidal eergy feedback ito the grid. Each operatig mode (50 kw or 75 kw operatio) requires a separate choke. Wirig diagram l U1 U2 V1 V2 W1 W2 PE Techical data NDR.. lie chokes have a compoet approval idepedet of the MOVIAXIS multiaxis servo iverter. SEW-EURODRIVE will provide certificatio o request. Uit Lie choke NDR (50 kw) NDR (75 kw) Coectio voltage AC 1) V lie V AC V V ±10 % Nomial lie voltage 2) U N V AC 3 x 500 V, 50 Hz 3 x 500 V, 50 Hz Nomial curret I N A Power loss at 0 % I N W % I N 270 Operatig temperature at 0 % I N C % I N Ambiet temperature C 0 to to +45 Iductace mh 3 x x 0.55 Degree of protectio accordig to EN IP00 IP00 Table cotiued o ext page. Foototes o ext page. 154 System Maual MOVIAXIS Multi-Axis Servo Iverter

155 Techical Data System accessories kva i P f Hz 2 Weight kg Dimesios Moutig dimesios Uit 1) Max. operatig voltage i cojuctio with MXR 2) Max. operatig voltage of the choke Lie choke NDR (50 kw) NDR (75 kw) A mm B mm C mm a mm b mm Dimesio drawig NDR (50 kw) 50 C 11x15 a A b B W2 V2 U2 W1 V1 U System Maual MOVIAXIS Multi-Axis Servo Iverter 155

156 2 kva i P f Hz Techical Data System accessories Dimesio drawig NDR (75 kw) 50 C 11x15 a A b B W2 V2 U2 W1 V1 U System Maual MOVIAXIS Multi-Axis Servo Iverter

157 Techical Data System accessories kva i P f Hz 2 Techical data of lie filter optio for supply ad regeerative modules Structure 3-coductor filter Metal housig Features Desig accordig to UL1283, IEC 60939, CSA 22.2 No. 8 Applicatios Frequecy iverter for motor drives Frequecy iverter with regeerative operatio Coectios Touch-safe coectio termials Techical data NFR.. lie filters have a compoet approval idepedet of the MOVIAXIS multi-axis servo iverter. SEW-EURODRIVE will provide certificatio o request. Lie filter Uit NFR (50 kw) NFR (75 kw) Coectio voltage AC 1) V lie V AC V V ±10 % Nomial lie voltage 2) U N V AC Nomial curret I N A AC Power loss 3) W Regeerative cycle frequecy f khz 8 4 Discharge curret I Abl ma < 60 ma at AC 500 V 50 Hz i omial operatio < 20 ma at AC 500 V 50 Hz i omial operatio Ambiet temperature C 0 to to +45 Degree of protectio EN IP20 IP20 Coectios L1 - L3 ; L1' - L3' mm 2 Up to 50 (screw termials) Up to 50 (screw termials) Coectios U, V, W (Lie voltage measuremet) mm 2 Screw termials Screw termials PE Weight kg Dimesios Coectio dimesios 1) Max. operatig voltage i cojuctio with MXR 2) Max. operatig voltage of the filters 3) Rule of three applied for partial loads A mm B mm C mm a mm b mm System Maual MOVIAXIS Multi-Axis Servo Iverter 157

158 2 kva i P f Hz Techical Data System accessories Dimesio drawig NFR (50 kw) Dimesio drawig of lie filter for 3-phase systems A a 6.5 B b C [1] Termials for lie phase measuremet 158 System Maual MOVIAXIS Multi-Axis Servo Iverter

159 Techical Data System accessories kva i P f Hz 2 Dimesio drawig NFR (75 kw) Dimesio drawig of lie filter for 3-phase systems B 42.5 A a b C [1] Termials for lie phase measuremet System Maual MOVIAXIS Multi-Axis Servo Iverter 159

160 2 kva i P f Hz Techical Data System accessories Techical data of the EcoLie filter for supply ad regeerative modules Every regeerative uit, be it block-shaped or siusoidal, affects the grid to which it is coected. To limit these feedback effects o other cosumers coected to the grid, ad to keep them withi a safe rage uder all circumstaces, the trasformer must be overdimesioed or the grid must be sufficietly strog. This is due to the basic mode of operatio of eergy feedback systems ad the structure of electric power grids. These project plaig requiremets are easily fulfilled by the vast majority of applicatios. However, you ca use a EcoLie filter if the followig coditios apply to your applicatio: Special requiremets for o feedback effects caused by the regeerative uit i the grid, Overdimesioig / strog grid is ot possible. The EcoLie filter decouples the grid almost completely from possible feedback effects of the regeerative uit. The techical advatages for the customers are: Almost o overdimesioig required Required trasformer size is reduced by factor 3 Regeerative uit ca be used i combiatio with very weak grids Regeerative uit ca be combied/itegrated with existig system ad grid coditios Easy retrofittig of systems with regeerative uits Techical data I cojuctio with MXR uits, the NFH lie filter is a UL-listed accessory. EcoLie filter Uit NFH (50 kw) NFH (75 kw) Coectio voltage AC 1) V lie V AC V V ±10 % Nomial lie voltage U N V AC Nomial curret I N A AC Power loss W Regeerative cycle frequecy f khz 8 4 Ambiet temperature C 0 to to +45 Degree of protectio EN (NEMA1) - IP20 to EN IP20 to EN Coectios L1 - L3 ; L1' - L3' mm 2 Up to 50 (screw termials) Up to 50 (screw termials) Weight kg ) Max. operatig voltage i cojuctio with MXR 160 System Maual MOVIAXIS Multi-Axis Servo Iverter

161 Techical Data System accessories kva i P f Hz 2 Dimesio drawig of NFH EcoLie filter A a B b C Dimesios Moutig dimesios EcoLie filter Uit NFH (50 kw) NFH (75 kw) A mm B mm C mm a mm b mm System Maual MOVIAXIS Multi-Axis Servo Iverter 161

162 2 kva i P f Hz Techical Data System accessories Moutig positios The preferred moutig positios are suspeded ad horizotal, see the followig schematic diagrams: Suspeded Horizotal INFORMATION For istallatio, observe the required miimum clearace of 100 mm above ad below the coectig termials ad the vetilatio opeigs. 162 System Maual MOVIAXIS Multi-Axis Servo Iverter

163 Techical Data System accessories kva i P f Hz Cables for supply system coectio, motor, motor brake, brakig resistor, ad fuses Special regulatios Comply with the regulatios issued by specific coutries ad for specific machies regardig fusig ad the selectio of cable cross sectios. If required, also adhere to the otes o UL compliat istallatio. Prescribed motor cable legth The maximum motor cable legth is 50 m shielded, 100 m ushielded. A exceptio from this rule is the 2 A axis module. Its maximum motor cable legth is 25 m shielded, 50 m ushielded. Motor brake cable The listed toleraces for direct brake supply (without brake rectifier) refer to a maximum cable legth of 25 m ad a miimum cross sectio of 1 mm 2. Cable cross sectios ad fusig SEW-EURODRIVE proposes the followig lie cross-sectios ad fusig for sigle-core copper cables with PVC isulatio laid i cable ducts, a ambiet temperature of 40 C ad omial system currets of 100 % of the omial uit curret: MOVIAXIS MXP supply modules: MOVIAXIS MXP Size 1 MXP81 Size 2 Size 3 Nomial output power kw Power supply Nomial lie curret AC A Fuses F11/F12/F13 I N Desig accordig to omial lie curret Supply system cable L1/L2/L mm mm mm mm mm 2 PE coductor 1 10 mm mm mm mm mm 2 Cross sectio ad cotacts of supply system coectio COMBICON PC4 pluggable, max. 4 COMBICON PC4 pluggable, max. 4 COMBICON PC6 pluggable, max. 6 Screw bolt M8 max. 50 mm 2 Brakig resistor coectio Brake lie +R/-R Cross sectio ad cotacts o coectios Cross-sectio ad cotacts at the brakig resistor Desig accordig to rated curret of brakig resistor COMBICON PC4 pluggable, max. 4 COMBICON PC4 pluggable, max. 4 COMBICON PC6 pluggable, max. 6 See techical data of brakig resistors M6 screw bolts max. 16 mm 2 System Maual MOVIAXIS Multi-Axis Servo Iverter 163

164 2 kva i P f Hz Techical Data System accessories MOVIAXIS MXA axis modules: MOVIAXIS MXA Size 1 Size 2 Cotiuous AC output curret i A PWM = 4 khz Nomial AC output curret i A PWM = 8 khz Motor cable U/V/W mm 2 Cross sectio ad cotacts of motor coectio COMBICON PC4 pluggable, max. 4 mm 2 MOVIAXIS MXA Size 3 Size 4 Size 5 Size 6 Cotiuous AC output curret i A PWM = 4 khz Nomial AC output curret i A , 32 (special 64 PWM = 8 khz 64 (special desig) desig) Motor cable U/V/W 4 6 mm 2 6 mm mm 2 16 mm mm 2 Cross sectio ad cotacts of motor coectio COMBICON PC6 Oe core per termial: mm 2 ; two coductors per termial: mm 2 M6 screw bolts max. 25 mm 2 max mm 2 MOVIAXIS MXZ DC lik discharge module: MOVIAXIS MXZ Size 1 Brakig resistor coectio Brake lie +R/-R Desig accordig to rated curret of brakig resistor Cross sectio ad cotacts M6 screw bolts, max Coectio to power shield clamp max Cross-sectio ad cotacts at the brakig resistor See techical data of brakig resistors 164 System Maual MOVIAXIS Multi-Axis Servo Iverter

165 Techical Data System accessories kva i P f Hz 2 Voltage drop The cable cross sectio of the motor cable should be selected so the voltage drop is as small as possible. A excessively large voltage drop meas that the full motor torque is ot achieved. The expected voltage drop ca be determied with referece to the followig tables (the voltage drop ca be calculated i proportio to the legth if the cables are shorter or loger). This iformatio applies whe usig cores made of copper with PVC isulatio at 40 C ambiet temperature ad istallatio type "E" accordig to EN table 5. Cable Load with I i A = cross sectio Copper Voltage drop U [V] with legth = 100 m (330 ft) ad ϑ = 70 C 1.5 mm ) 1) 1) 1) 1) 1) 1) 1) 1) 1) 2.5 mm ) 1) 1) 1) 1) 1) 1) 1) 1) 4 mm ) 1) 1) 1) 1) 1) 1) 1) 6 mm ) 1) 1) 1) 1) 1) 1) 10 mm ) 1) 1) 1) 1) 16 mm ) 1) 1) 25 mm ) 1) 35 mm mm ) Not recommeded dimesioig rage, excessive voltage drop Lie Load with I i A = cross sectio Copper Voltage drop U [V] with legth = 100 m (330 ft) ad ϑ = 70 C AWG ) 1) 1) 1) 1) 1) 1) 1) 1) 1) 1) 1) 1) 1) AWG ) 1) 1) 1) 1) 1) 1) 1) 1) 1) 1) AWG ) 1) 1) 1) 1) 1) 1) 1) 1) AWG ) 1) 1) 1) 1) 1) 1) AWG ) 1) 1) 1) 1) 1) AWG ) 1) 1) AWG ) AWG AWG AWG AWG1/ AWG2/ ) More tha 3% voltage drop i relatio to U lie = AC 460 V (ot recommeded) System Maual MOVIAXIS Multi-Axis Servo Iverter 165

166 3 kva i P f Hz Power Cables for Sychroous Servomotors Structure of the motor cable ad brakemotor cables 3 Power Cables for Sychroous Servomotors 3.1 Structure of the motor cable ad brakemotor cables SEW-EURODRIVE offers pre-fabricated cables with plugs for straightforward ad reliable motor coectio. Cable ad cotact are coected usig the crimp techique. The followig cables are available i 1 m steps: Motor power Motor power + brake Resolver/motor protectio, Absolute ecoder motor protectio, Forced coolig fa. INFORMATION For cable specificatios, such as approval ad temperature rage, please refer to chapter "Cable specificatio" (page 182). The size of the plug coector depeds o the curret level ad the maximum cable legth i relatio to the speed. Hybrid cables are divided ito Power cables (motor cable, brakemotor cable, extesio cable), Feedback cables (resolver cable, ecoder cable, extesio cable). 166 System Maual MOVIAXIS Multi-Axis Servo Iverter

167 Power Cables for Sychroous Servomotors Structure of the motor cable ad brakemotor cables kva i P f Hz Plug thread INFORMATION The D-sub coectors are equipped with a commo UNC thread Note o the wirig diagrams All plugs are show with view oto the pis! Motor cables/brakemotor cables for CMP servomotors [1] [5] [2] [6] X [3] 500 ±5 [4] [1] [2] [3] [4] [5] [6] Coector: Itercotec BSTA 078 SEW-EURODRIVE logo prited o cable Nameplate Cable legth 10 m: Tolerace +200 mm. Cable legth > 10 m: Tolerace +2%. Permitted lie legth accordig to the techical documets. Pre-fabricated cable ed for iverter. Required loose parts are supplied with the cable. Shieldig pulled back approx. 20 mm +5 mm. Motor side Prefabricatio o iverter ed The power cables o the motor side cosist of a 8-pi plug coector ad socket cotacts. The shield is coected i the coector housig accordig to EMC requiremets. All plug coectors seal the plug o the cable ed with a lamellar seal ad esure cable relief accordig to EN The idividual cable cores of the motor ad brakemotor cables are exposed ad the shield is prepared for coectio i the cotrol cabiet. The cable for the iverter ed still has to be prefabricated. The loose parts required are supplied with the cable i a separate bag. System Maual MOVIAXIS Multi-Axis Servo Iverter 167

168 3 kva i P f Hz Power Cables for Sychroous Servomotors Structure of the motor cable ad brakemotor cables Loose parts The followig loose parts are supplied i accordace with the core cross sectios for coectio to the power termials o the iverter: Bag o. 1 Cotets 4 x coductor ed sleeves 1.5 mm 2, isulated 4 x M6 U-shaped cable lugs 1.5 mm 2 4 x coductor ed sleeves 2.5 mm 2, isulated 2 4 x M6 U-shaped cable lugs 2.5 mm x coductor ed sleeves 4 mm 2, isulated 4 x M6 U-shaped cable lugs 4 mm System Maual MOVIAXIS Multi-Axis Servo Iverter

169 Power Cables for Sychroous Servomotors Structure of the motor cable ad brakemotor cables kva i P f Hz Motor cables/brakemotor cables for CFM servomotors [1] [2] [5] X [3] [6] [4] [1] [2] [3] [4] [5] [6] Coector: Ampheol SEW-EURODRIVE logo prited o cable Nameplate Cable legth 10 m: Tolerace +200 mm. Cable legth > 10 m: Tolerace +2%. Permitted lie legth accordig to the techical documets. Pre-fabricated cable ed for iverter. Required loose parts are supplied with the cable. Shieldig pulled back approx. 20 mm +5 mm. Motor side Iverter side Loose parts The power cables o the motor ed have a 6-pi EMC Ampheol plug coector ad socket cotacts. The shield is coected i the coector housig accordig to EMC requiremets. All plug coectors seal the plug o the cable ed with a lamellar seal ad esure cable relief accordig to EN The idividual cable cores of the power ad brake power cables are exposed ad the shield is prepared for coectio i the cotrol cabiet. The cable for the iverter ed has yet to be assembled. The loose parts required are supplied with the cable i a separate bag. The followig loose parts are supplied i accordace with the core cross sectios for coectio to the power termials o the iverter: Bag o. Cotets 1 4 x coductor ed sleeves 1.5 mm 2, isulated 4 x M6 U-shaped cable lugs 1.5 mm x coductor ed sleeves 2.5 mm 2, isulated 4 x M6 U-shaped cable lugs 2.5 mm x coductor ed sleeves 4 mm 2, isulated 4 x M6 U-shaped cable lugs 4 mm 2 4 x M10 U-shaped cable lugs 4 mm x M6 U-shaped cable lugs 6 mm 2 4 x M10 U-shaped cable lugs 6 mm x M6 U-shaped cable lugs 10 mm 2 4 x M10 rig-type cable lugs 10 mm 2 System Maual MOVIAXIS Multi-Axis Servo Iverter 169

170 3 kva i P f Hz Power Cables for Sychroous Servomotors Power cable for CMP, CMDV, ad CMS50/63 motors 3.2 Power cable for CMP, CMDV, ad CMS50/63 motors Motor cable Motor cable illustratio X Pi assigmet of the motor cable W1 PE V1 U1 Plug coector Pi Cable core color Assiged Extra BSTA (BK) Black U 2 3 D 4 1 A C B 2 (GN/YE) Gree/Yellow PE 3 (BK) Black W 4 (BK) Black V Bag of loose parts View X Motor cable types Plug coector type Number of cores ad cable cross sectio Part umber Istallatio Cable type SM mm Fixed istallatio SM mm Cable carrier istallatio SM mm Fixed istallatio SM mm Cable carrier istallatio SM mm Fixed istallatio SM mm Cable carrier istallatio Low capacitace Low capacitace 170 System Maual MOVIAXIS Multi-Axis Servo Iverter

171 Power Cables for Sychroous Servomotors Power cable for CMP, CMDV, ad CMS50/63 motors kva i P f Hz 3 Illustratio of motor extesio cable X Y Types of motor extesio cables Plug coector type Number of cores ad cable cross sectio SM mm SM mm SM mm Part umber Istallatio Cable type Cable carrier istallatio Cable carrier istallatio Cable carrier istallatio Low capacitace Low capacitace Low capacitace Pi assigmet of motor extesio cable Plug coector Pi Cable core color Assiged Pi Plug coector BSTA D PE C 2 4 V/2 B 1 A U/1 BK/ (BK/WH) Black with white letterig U, V, W U V W BKUA (GR/YE) Gree/Yellow PE 2 W/3 BK/- BK/- BK/+ C D B A W/3 PE V/2 U/1 View X View Y System Maual MOVIAXIS Multi-Axis Servo Iverter 171

172 3 kva i P f Hz Power Cables for Sychroous Servomotors Power cable for CMP, CMDV, ad CMS50/63 motors Brakemotor cable Illustratio of brakemotor cable X 500 ± Types of brakemotor cables Plug coector type Number of cores ad cable cross sectio Part umber Istallatio Cable type SB mm mm Fixed istallatio SB mm mm Cable carrier istallatio SB mm mm Fixed istallatio SB mm mm Cable carrier istallatio SB mm mm Fixed istallatio SB mm mm Cable carrier istallatio Low capacitace Pi assigmet of brake motor cable W1 PE V1 U1 Low capacitace Plug coector Pi Cable core color Assiged Extra BSTA U (BK/WH) Black with 4 BK/- white letterig U, V, W V 3 W BK/+ 3 D 2 (GN/YE) Gree/Yellow PE C Bag of loose 4 2 A -. c. parts B -. c. B 1 A C (BK/WH) Black with 2 D white letterig 1, 2, 3 1 View X 172 System Maual MOVIAXIS Multi-Axis Servo Iverter

173 Power Cables for Sychroous Servomotors Power cable for CMP, CMDV, ad CMS50/63 motors kva i P f Hz 3 Illustratio of brakemotor extesio cable X Y Types of brake motor extesio cables Plug coector type Number of cores ad cable cross sectio SB mm mm SM mm mm SM mm mm Part umber Istallatio Cable type Cable carrier istallatio Cable carrier istallatio Cable carrier istallatio Low capacitace Low capacitace Low capacitace Pi assigmet of brake motor extesio cable Plug coector Pi Cable core color Assiged Pi Plug coector BSTA D PE C 2 4 V/2 B 1 A U/1 BK/ (BK/WH) Black with white letterig U, V, W U V W (GN/YE) Gree/Yellow PE 2 A -. c. A B -. c. B BKUA 199 W/3 BK/- BK/- W/ C (BK/WH) Black with 2 C View X white letterig 1, 2, 3 View Y D 1 D BK/+ D C B A PE V/2 U/1 System Maual MOVIAXIS Multi-Axis Servo Iverter 173

174 3 kva i P f Hz Power Cables for Sychroous Servomotors Power cable for CMP, CMDV, ad CMS50/63 motors Cable specificatio of (brake)motor cables Fixed istallatio Motor cable Istallatio Cable cross sectios 4 x 1.5 mm 2 4 x 2.5 mm 2 4 x 4 mm 2 4 x 6 mm 2 4 x 10 mm 2 Fixed (AWG 16) (AWG 14) (AWG 12) (AWG 10) (AWG 8) Maufacturer HELUKABEL Maufacturer desigatio LI9YCY Operatig voltage U 0 / U AC V 600 / 1000 Temperature rage C Fixed istallatio -40 to +80 (-40 to +176) Max. temperature C +80 Mi. bedig radius mm Diameter D mm 9.0 ± ± ± ± ± 0.6 Core idetificatio BK with letterig WH + GN/YE Sheath color Orage, similar to RAL 2003 Approval(s) DESINA/VDE/UL Capacitace core/shieldig F/km Capacitace core / core F/km Haloge-free o silico-free yes CFC-free yes Ier isulatio (core) PP Outer isulatio (sheath) PVC Flame-retardat/self-extiguishig o Coductor material Cu Shieldig Tied Cu Weight (cable) kg/km Brakemotor cable Istallatio Fixed Cable cross sectios 4 x 1.5 mm 2 (AWG 16) + 3 x 1 mm 2 (AWG 18) 4 x 2.5 mm 2 (AWG 14) + 3 x 1 mm 2 (AWG 18) 4 x 4 mm 2 (AWG 12) + 3 x 1 mm 2 (AWG 18) 4 x 6 mm 2 (AWG 10) + 3 x 1.5 mm 2 (AWG 16) 4 x 10 mm 2 (AWG 8) + 3 x 1.5 mm 2 (AWG 16) Maufacturer HELUKABEL Maufacturer desigatio LI9YCY Operatig voltage U 0 / U AC V 600 / 1000 Temperature rage C Fixed istallatio: -40 to +80 Max. temperature C +80 Mi. bedig radius mm Diameter D mm 11.8 ± ± ± ± ± 1.0 Core idetificatio BK with letterig WH + GN/YE Sheath color Orage similar to RAL 2003 Approval(s) DESINA/VDE/UL Capacitace core/shieldig F/km Capacitace core / core F/km System Maual MOVIAXIS Multi-Axis Servo Iverter

175 Power Cables for Sychroous Servomotors Power cable for CMP, CMDV, ad CMS50/63 motors kva i P f Hz 3 Istallatio Fixed Cable cross sectios 4 x 1.5 mm 2 (AWG 16) + 3 x 1 mm 2 (AWG 18) 4 x 2.5 mm 2 (AWG 14) + 3 x 1 mm 2 (AWG 18) 4 x 4 mm 2 (AWG 12) + 3 x 1 mm 2 (AWG 18) 4 x 6 mm 2 (AWG 10) + 3 x 1.5 mm 2 (AWG 16) 4 x 10 mm 2 (AWG 8) + 3 x 1.5 mm 2 (AWG 16) Maufacturer HELUKABEL Haloge-free o silico-free yes CFC-free yes Ier isulatio (core) PP Outer isulatio (sheath) PVC Flame-retardat/self-extiguishig yes Coductor material Cu Shieldig Tied Cu Weight (cable) kg/km Cable carrier istallatio Motor cable Istallatio Cable carrier Cable cross sectios 4 x 1.5 mm 2 4 x 2.5 mm 2 4 x 4 mm 2 4 x 6 mm 2 4 x 10 mm 2 (AWG 16) (AWG 14) (AWG 12) (AWG 10) (AWG 8) Maufacturer Nexas Maufacturer desigatio PSL(LC)C11Y-J 4 x... mm 2 PSL11YC11Y-J 4 x... mm 2 Operatig voltage U 0 / U AC V 600 / 1000 Temperature rage C -20 to +60 Max. temperature C +90 (o coductor) Mi. bedig radius mm Diameter D mm / ± ± ± ± 0.5 Maximum acceleratio m/s 2 20 Max. velocity m/mi 200 at max. travel distace of 5 m Core idetificatio BK with letterig WH + GN/YE Sheath color Orage similar to RAL 2003 Approval(s) DESINA/VDE/UL/cRUus Capacitace core/shieldig F/km Capacitace core / core F/km Haloge-free yes silico-free yes CFC-free yes Ier isulatio (core) Polyolefi TPM Outer isulatio (sheath) TPU (PUR) Flame-retardat/self-extiguishig yes Coductor material E-Cu blak Shieldig Braided tied Cu shield (optically covered > 85 %) Weight (cable) kg/km Mi. bedig cycles Mi. 5 millio System Maual MOVIAXIS Multi-Axis Servo Iverter 175

176 3 kva i P f Hz Power Cables for Sychroous Servomotors Power cable for CMP, CMDV, ad CMS50/63 motors Brakemotor cable Istallatio Cable carrier Cable cross sectios 4 x 1.5 mm 2 (AWG 16) + 3 x 1 mm 2 (AWG 18) 4 x 2.5 mm 2 (AWG 14) + 3 x 1 mm 2 (AWG 18) 4 x 4 mm 2 (AWG 12) + 3 x 1 mm 2 (AWG 18) 4 x 6 mm 2 (AWG 10) + 3 x 1.5 mm 2 (AWG 16) 4 x 10 mm 2 (AWG 8) + 3 x 1.5 mm 2 (AWG 16) Maufacturer Nexas Maufacturer desigatio PSL(LC)C11Y-J 4x... +3A.../C PSL11YC11Y-J 4x... +3A.../C Operatig voltage U 0 / U AC V 600 / 1000 Temperature rage C -20 to +60 Max. temperature C +90 (coductor) Mi. bedig radius mm Diameter D mm 15.0 ± ± ± ± ± 0.5 Maximum acceleratio m/s 2 20 Max. velocity m/mi 200 at max. travel distace of 5 m Core idetificatio BK with letterig WH + GN/YE Sheath color Orage similar to RAL 2003 Approval(s) DESINA/VDE/UL/cRUus Capacitace core/shieldig F/km Capacitace core / core F/km Haloge-free yes silico-free yes CFC-free yes Ier isulatio (cable) TPM Outer isulatio (sheath) Polyolefi TPU (PUR) Flame-retardat/self-extiguishig yes Coductor material E-Cu blak Shieldig Braided tied Cu shield (optically covered > 85 %) Weight (cable) kg/km Mi. bedig cycles Mi. 5 millio 176 System Maual MOVIAXIS Multi-Axis Servo Iverter

177 Power Cables for Sychroous Servomotors Power cables for CFM ad CMS71 motors kva i P f Hz Power cables for CFM ad CMS71 motors Motor cable Motor cable illustratio X Motor cable types The cables are equipped with a coector for motor coectio ad coductor ed sleeves for iverter coectio. Plug coector type Number of cores ad cable cross sectio Istallatio Part umber SM 51 / SM mm 2 (AWG 16) SM 52 / SM mm 2 (AWG 12) SM 54 / SM mm 2 (AWG 10) Fixed istallatio SM 56 / SM mm 2 (AWG 10) X SM 59 / SM mm 2 (AWG 8) SM 51 / SM mm 2 (AWG 16) SM 52 / SM mm 2 (AWG 12) SM 54 / SM mm 2 (AWG 10) Cable carrier istallatio SM 56 / SM mm 2 (AWG 10) SM 59 / SM mm 2 (AWG 8) Pi assigmet of the motor cable Plug coector Pi Core idetificatio Assiged Cotact type Extra C148U coector U1 with socket cotacts V1 W1 Black with white letterig U, V, W U V W Cut-off, legth ca. 250 mm PE Gree/yellow (protective earth) With Phoeix plug coector GMVSTBW 2.5/3 ST Bag of loose parts View X System Maual MOVIAXIS Multi-Axis Servo Iverter 177

178 3 kva i P f Hz Power Cables for Sychroous Servomotors Power cables for CFM ad CMS71 motors Illustratio of motor extesio cable X Y Types of motor extesio cables The cables are equipped with a plug ad adapter for extedig the CFM motor cable. Plug coector type Number of cores ad cable cross sectio Istallatio Part umber SM 51 / SM mm 2 (AWG 16) SM 52 / SM mm 2 (AWG 12) SM 54 / SM mm 2 (AWG 10) Fixed istallatio SM 56 / SM mm 2 (AWG 10) SM 59 / SM mm 2 (AWG 8) X SM 51 / SM mm 2 (AWG 16) SM 52 / SM mm 2 (AWG 12) SM 54 / SM mm 2 (AWG 10) Cable carrier istallatio SM 56 / SM mm 2 (AWG 10) SM 59 / SM mm 2 (AWG 8) System Maual MOVIAXIS Multi-Axis Servo Iverter

179 Power Cables for Sychroous Servomotors Power cables for CFM ad CMS71 motors kva i P f Hz 3 Pi assigmet of motor extesio cable Plug coector Pi Core idetificatio Pi Plug coector C148U adapter with pi cotacts U1 V1 W1 Black with white letterig U, V, W U1 V1 W1 PE Gree/yellow PE 3 Black with white letterig 3 4 1, 2, C148U coector with socket cotacts The motor extesio cable is a 1:1 coectio of all pis Brakemotor cable Illustratio of brakemotor cable X 500 ± Types of brakemotor cables Plug coector type, complete SB 51 / SB 61 SB 52 / SB 62 SB 54 / SB 64 SB 56 / SB 66 SB 59 / SB 69 Number of cores ad cable cross sectio Istallatio Part umber mm 2 (AWG 16) mm 2 (AWG 17) mm 2 (AWG 12) mm 2 (AWG 17) 4 4 mm 2 (AWG 10) mm 2 (AWG 17) 4 6 mm 2 (AWG 10) mm 2 (AWG 17) 4 10 mm 2 (AWG 10) mm 2 (AWG 17) Fixed istallatio System Maual MOVIAXIS Multi-Axis Servo Iverter 179

180 3 kva i P f Hz Power Cables for Sychroous Servomotors Power cables for CFM ad CMS71 motors Plug coector type, complete SB 51 / SB 61 SB 52 / SB 62 SB 54 / SB 64 SB 56 / SB 66 SB 59 / SB 69 Number of cores ad cable cross sectio Istallatio Part umber mm 2 (AWG 16) mm 2 (AWG 17) mm 2 (AWG 12) mm 2 (AWG 17) 4 4 mm 2 (AWG 10) mm 2 (AWG 17) 4 6 mm 2 (AWG 10) mm 2 (AWG 16) 4 10 mm 2 (AWG 10) mm 2 (AWG 17) Cable carrier istallatio CFM brakemotor cable pi assigmet The brakemotor cable is prefabricated for the followig brake resistors: BME BMP BMH BMK BMV For the BSG cotrol uit, the customers have to assemble the cable themselves. Plug coector Pi Core idetificatio Assiged Cotact type Extra C148U coector U1 with socket cotacts V1 W1 PE Black with white letterig U, V, W Gree/yellow U V W (protective earth) Cut-off, legth ca. 250 mm 3 Black with 1 with Phoeix plug coector 4 white letterig 2 5 1, 2, 3 3 GMVSTBW 2,5/3ST Bag of loose parts 5 4 View X System Maual MOVIAXIS Multi-Axis Servo Iverter

181 Power Cables for Sychroous Servomotors Power cables for CFM ad CMS71 motors kva i P f Hz 3 Illustratio of brakemotor extesio cable X Y Types of brake motor extesio cables Plug coector type, complete SK 51 / SK 61 SK 52 / SK 62 Number of cores ad cable cross sectio mm 2 (AWG 16) mm 2 (AWG 17) mm 2 (AWG 12) mm 2 (AWG 17) Istallatio Part umber X SK 54 / SK mm 2 (AWG 10) mm 2 (AWG 17) Fixed istallatio SK 56 / SK mm 2 (AWG 10) mm 2 (AWG 17) SK 59 / SK 69 SK 51 / SK 61 SK 52 / SK 62 SK 54 / SK 64 SK 56 / SK mm 2 (AWG 10) mm 2 (AWG 17) mm 2 (AWG 16) mm 2 (AWG 17) mm 2 (AWG 12) mm 2 (AWG 17) 4 4 mm 2 (AWG 10) mm 2 (AWG 17) 4 6 mm 2 (AWG 10) mm 2 (AWG 16) Cable carrier istallatio X SK 59 / SK mm 2 (AWG 10) mm 2 (AWG 17) Pi assigmet of brake motor extesio cable Plug coector Pi Core idetificatio Pi Plug coector C148U adapter with pi cotacts U1 V1 W1 Black with white letterig U, V, W U1 V1 W1 PE Gree/yellow PE 3 Black with 3 4 white letterig 4 5 1, 2, 3 5 C148U coector with socket cotacts The brakemotor extesio cable is a 1:1 coectio of all pis. System Maual MOVIAXIS Multi-Axis Servo Iverter 181

182 3 kva i P f Hz Power Cables for Sychroous Servomotors Cable specificatio of (brake)motor cables 3.4 Cable specificatio of (brake)motor cables See chapter "Cable specificatio" (page 182). 3.5 Power cables for SL2 liear motors Power cables SL2-050 ad AVX0 desig X 500 ± The customer assembles the cable with a Phoeix plug coector. The coector ca be cut off because it is ot required for the TF coectio. W P V U Plug coector Pi Core idetificatio Assiged Cotact type Extra BSTA U 4 Black with white letterig U, V, W V TF2/KTY-K 3 W D 2 Gree/yellow PE 3 C TF1/KTY-A Bag of loose 2 4 A Black 1 TF1/KTY-A B Cut off Phoeix parts 1 A B Black 2 TF2/KTY-K coector View X C Black 3.c. D.c. Groud i cotrol cabiet Plug coector type No. of cores ad cable cross-sectio Part o. Istallatio type LC 1) SB71 / SB81 SB72 / SB82 SB74 / SB84 4 x 1.5 mm 2 (AWG 16) 3 x 1 mm 2 (AWG 17) 4 x 2.5 mm 2 (AWG 14) 3 x 1 mm 2 (AWG 12) 4 x 4 mm 2 (AWG 12) 3 x 1 mm 2 (AWG 17) 1) Cable with low capacitace characteristics (LC = low capacity) Cable carrier istallatio Cable carrier istallatio Cable carrier istallatio X X Alterative plugs at customer ed Plug coectors for power supply with socket cotacts (complete). Type Number of cores ad cable cross-sectio Part o. SB71 / SB81 SB72 / SB82 SB74 / SB84 4 x 1.5 mm 2 (AWG 16) 3 x 1 mm 2 (AWG 17) 4 x 2.5 mm 2 (AWG 14) 3 x 1 mm 2 (AWG 12) 4 x 4 mm 2 (AWG 12) 3 x 1 mm 2 (AWG 17) System Maual MOVIAXIS Multi-Axis Servo Iverter

183 Power Cables for Sychroous Servomotors Power cables for SL2 liear motors kva i P f Hz Power cable for SL-100 ad SL2-150 X 500 ± The cable is fitted with a Phoeix plug coector at the cotrol cabiet ed. The coector ca be cut off because it is ot required for the TF coectio. Plug coector Pi Core idetificatio Assiged Cotact type Extra C148U coector with socket cotacts U1 V1 W1 Black with white letterig U, V, W U V W Cut-off, legth ca. 250 mm PE Gree/yellow (protective earth) 3 Black 1.c. Groud i cotrol cabiet 4 Black 2 TF1/KTY-A Bag of loose parts Black 3 TF2/KTY-K Cut off Phoeix coector View X Power cable type Plug coector type, complete SB51/SB61 SB52/SB62 SB54/SB64 SB56/SB66 SB59/SB69 Number of cores ad cable cross-sectio 4 x 1.5 mm 2 (AWG 16) + 3 x 1.0 mm 2 (AWG 17) 4 x 2.5 mm 2 (AWG 12) + 3 x 1.0 mm 2 (AWG 17) 4 x 4 mm 2 (AWG 10) + 3 x 1.0 mm 2 (AWG 17) 4 x 6 mm 2 (AWG 10) + 3 x 1.5 mm 2 (AWG 16) 4 x 10 mm 2 (AWG 10) + 3 x 1.5 mm 2 (AWG 17) Part umber Istallatio type LC 1) X Cable carrier istallatio X 1) Cable with low capacitace characteristics (LC = low capacity). System Maual MOVIAXIS Multi-Axis Servo Iverter 183

184 3 kva i P f Hz Power Cables for Sychroous Servomotors Power cables for SL2 liear motors Extesio cable for SL2-100 ad SL2-150 X Y The extesio cable coects all cotacts 1:1. Pi assigmet for extesio cables Plug coector Pi Core idetificatio Pi Plug coector C148U adapter with pi cotacts U1 V1 W1 Black with white letterig U, V, W U1 V1 W1 PE Gree/yellow PE.c. Black 1.c. 4 TF1/KTY-A Black 2 4 TF1/KTY-A C148U coector with socket cotacts TF1/KTY-K Black 3 5 TF1/KTY-K View Y View X Power extesio cable types Plug coector type, complete Number of cores ad cable cross-sectio Part umber Istallatio type LC 1) SK51 / SK61 4 x 1.5 mm 2 (AWG 16) + 3 x 1.0 mm 2 (AWG 17) X SK52 / SK62 4 x 2.5 mm 2 (AWG 12) + 3 x 1.0 mm 2 (AWG 17) X SK54 / SK64 4 x 4 mm 2 (AWG 10) + 3 x 1.0 mm 2 (AWG 17) X Cable carrier istallatio SK56 / SK66 4 x 6 mm 2 (AWG 10) + 3 x 1.5 mm 2 (AWG 16) SK59 / SK69 4 x 10 mm 2 (AWG 10) + 3 x 1.5 mm 2 (AWG 17) ) Cable with low capacitace characteristics (LC = low capacity). Alterative plug coector at customer ed Plug coectors for power supply with socket cotacts (complete). Type Cross sectios Part o. SB51/SB61 4 x 1.5 mm 2 (AWG 16) + 3 x 1.0 mm 2 (AWG 17) SB52/SB62 4 x 2.5 mm 2 (AWG 12) + 3 x 1.0 mm 2 (AWG 17) SB54/SB64 4 x 4 mm 2 (AWG 10) + 3 x 1.0 mm 2 (AWG 17) SB56/SB66 4 x 6 mm 2 (AWG 10) + 3 x 1.5 mm 2 (AWG 16) SB59/SB69 4 x 10 mm 2 (AWG 10) + 3 x 1.5 mm 2 (AWG 17) System Maual MOVIAXIS Multi-Axis Servo Iverter

185 Power Cables for Sychroous Servomotors Forced coolig fa cable for CMP ad CFM motors kva i P f Hz Forced coolig fa cable for CMP ad CFM motors Cable for motors with VR forced coolig fa [1] [3] [2] [3] X [4] [1] [2] [3] [4] Coector: STAK 200 Prited o coector: SEW-EURODRIVE Nameplate Cable legth 5 m: Tolerace +200 mm Cable legth > 5 m: Tolerace +2% Permitted lie legth accordig to the techical documets Cable types for motors with VR forced coolig fa Type Cross sectio Istallatio Part umber CFM / CMP 3 1 mm 2 Fixed istallatio (AWG 18) CFM / CMP Cable carrier istallatio X Pi assigmet of cables for motors with VR forced coolig fa Plug coector STAK 200 Pi Core idetificatio Assiged Pi Coectio type Coector with two socket cotacts 1 Digit 1 24 V + Cut-off, legth ca. 2 Digit 2 0 V 250 mm Coductor ed sleeves View X Alterative coector for cable for the VR forced coolig fa Sigal plug coector with socket cotacts (complete) Type Cross sectios that ca be coected VR 3 x 1 mm 2 (AWG 18) Istallatio Fixed istallatio / cable carrier istallatio Part umber System Maual MOVIAXIS Multi-Axis Servo Iverter 185

186 3 kva i P f Hz Power Cables for Sychroous Servomotors Forced coolig fa cable for CMP ad CFM motors Extesio cable for motors with VR forced coolig fa [1] [3] [2] [3] [5] X Y [4] [1] [2] [3] [4] [5] Coector: STAS 200 Prited o coector: SEW-EURODRIVE Nameplate Cable legth 5 m: Tolerace +200 mm Cable legth > 5 m: Tolerace +2% Permitted lie legth accordig to the techical documets. Socket: STAK Extesio cable types for motors with VR forced coolig fa Type Cross sectio Istallatio Part umber CFM / CMP 3 1 mm 2 Fixed istallatio (AWG 18) CFM / CMP Cable carrier istallatio Pi assigmet of extesio cables for motors with VR forced coolig fa Plug coector STAS 200 Coector with two pi cotacts Pi Core idetificatio 1 Digit 1 24 V Digit 2 0 V 2 Assiged Pi Coectio type STAK 200 Coector with two socket cotacts View X View Y The extesio cable has the same pi assigmet as all other cotacts Alterative coector for cable for the VR forced coolig fa Sigal plug coector with pis (complete) Type Cross sectios that ca be coected Part o. VR 3 x 1 mm System Maual MOVIAXIS Multi-Axis Servo Iverter

187 Power Cables for Asychroous Motors Descriptio of power cables for DR motors kva i P f Hz 4 4 Power Cables for Asychroous Motors 4.1 Descriptio of power cables for DR motors Brakemotor cable with IS Motor side O the motor ed, all 12 cotacts of the itegrated plug coector are used for coectig motor, brake, ad motor protectio. The cables are available with variable termial lik i star or delta coectio. The brakemotor ca the be supplied i ISU desig. Cotrol cabiet/ field distributor More coector combiatios For wirig i the cotrol cabiet ad field distributors, the cores are fitted with rig-type cable lugs or coductor ed sleeves. More coectio optios are described i the "AC Motors" catalog. System Maual MOVIAXIS Multi-Axis Servo Iverter 187

188 kva i P f Hz Power Cables for Asychroous Motors Cables for DR ad DRL motors 4.2 Cables for DR ad DRL motors Power cable Motor ad brakemotor cables with IS Brakemotor types Motor type Brake type Plug DR.71 DR.80 DR.90 DR.100 DR.112 DR.132 BE05, BE1 BE05, BE1, BE2 BE1, BE2, BE5 BE2, BE5 BE5, BE11 BE5, BE11 /ISU Cable drawig, wirig Fig. 1: IS brakemotor cable with motor protectio, coductor ed sleeves ad rig-type cable lugs BK W1 BK V1 BK U1 BK W1 BK V1 BK U GNYE (PE) GNYE (PE) BK 2 BK 1 BK 2 BK 1 BU RD WH BU RD WH Star coectio Delta coectio Part umbers Variable termial lik Star coectio Delta coectio Fixed istallatio System Maual MOVIAXIS Multi-Axis Servo Iverter

189 Power Cables for Asychroous Motors Cables for DR ad DRL motors kva i P f Hz Cable specificatios of the power cables Istallatio Supply cores: Fixed Cotrol core pair Cable cross sectios 7 x 1.5 mm 2 2 x 0.75 mm 2 Maufacturer (AWG 16) (AWG 14) Operatig voltage U 0 / U AC V Coductor resistace at 20 C Ω/km Isulatio resistace at 20 C MΩ/km 20 Temperature rage for operatio C -30 to +90 Temperature rage for trasportatio, C storage -40 to +90 Mi. bedig radius mm 5 diameter Diameter D mm Sheath color Black Haloge-free yes silico-free yes CFC-free Isulatio TPE-U (polyurethae) Flame-retardat Yes Oil-resistat Yes Fuel-resistat Yes Resistace to acids, alkalis, cleaig agets Yes Dust-resistat Yes Coductor material Bare E-Cu strad, extra-fie idividual wires 0.1 mm Shieldig Tied E-Cu wire System Maual MOVIAXIS Multi-Axis Servo Iverter 189

190 5 kva i P f Hz Ecoder Cables Structure of ecoder cables for sychroous motors 5 Ecoder Cables 5.1 Structure of ecoder cables for sychroous motors SEW-EURODRIVE offers pre-fabricated cables with plugs for straightforward ad reliable motor coectio. Cable ad cotact are coected usig the crimp techique. The followig cables are available i 1 m steps: Motor power Motor power + brake Resolver/motor protectio, Absolute ecoder motor protectio, Forced coolig fa. INFORMATION For cable specificatios, such as bedig radius, approval ad temperature rage, please refer to chapter "Cable specificatio" (page 182). The size of the plug coector depeds o the curret level ad the maximum cable legth accordig to the speed. Hybrid cables are divided ito Power cables (motor cable, brakemotor cable, extesio cable), Feedback cables (resolver cable, ecoder cable, extesio cable) Plug thread INFORMATION The D-sub coectors are equipped with a commo UNC thread Note o the wirig diagrams All plugs are show with view oto the pis! 190 System Maual MOVIAXIS Multi-Axis Servo Iverter

191 Ecoder Cables Structure of ecoder cables for sychroous motors kva i P f Hz Structure of the feedback cable [1] [2] [5] X [3] Y [4] [1] [2] [3] [4] [5] Coector: Itercotec ASTA Prited o coector: SEW-EURODRIVE Nameplate Cable legth 10 m: Tolerace +200 mm Cable legth > 10 m: Tolerace +2% Permitted lie legth accordig to the techical documets. D-sub plug Motor side A 12-pi EMC sigal plug coector from Itercotec with socket cotacts is used o the motor ed for RH.M / AS1H / ES1H. The shield is coected i the coector housig accordig to EMC requiremets. All plug coectors seal the plug o the cable ed with a lamellar seal. Prefabricatio o iverter ed Hybrid cables A commercial D-sub EMC coector with pi cotacts is used o the iverter ed. A 9- pi or 15-pi coector to suit the iverter is used. The outer cable sheath o the motor ad iverter ed bears a ameplate with part umber ad logo of the prefabricated cable maufacturer. The ordered legth ad permitted tolerace are iterrelated as follows: Cable legth 10 m: Tolerace 200 mm. Cable legth > 10 m: +2% tolerace INFORMATION Refer to the system maual of the servo iverter for iformatio o how to determie the maximum cable legth. Make sure that a EMC-compliat eviromet is maitaied durig project plaig. System Maual MOVIAXIS Multi-Axis Servo Iverter 191

192 5 kva i P f Hz Ecoder Cables Structure of ecoder cables for sychroous motors Structure of AL1H ecoder cables for SL2 motors [4] 500 [1] [2] X [3] Y [1] [2] [3] [4] Coector: Itercotec ASTA Nameplate D-sub plug Screw termial Prefabricatio o iverter ed With MOVIAXIS, the temperature sesor of the liear motor ca also be coected via screw termials ad evaluated via the ecoder iput. 192 System Maual MOVIAXIS Multi-Axis Servo Iverter

193 Ecoder Cables Ecoder ad extesio cables for sychroous motors kva i P f Hz Ecoder ad extesio cables for sychroous motors Resolver Illustratio of RH.M resolver cable X Y Types of RH.M resolver cables Istallatio Part umber Fixed istallatio Cable carrier istallatio Pi assigmet of resolver cable RH.M Motor coectio side Coectio MOVIAXIS MX Plug coector Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector ASTA 021FR R1 (referece +) S1 (cosie +) (PK) Pik (RD) Red R1 (referece +) S1 (cosie +) R2 (referece -) S3 (cosie -) (GY) Gray (BU) Blue R2 (referece -) S3 (cosie -) pole with socket cotacts S2 (sie +) S4 (sie -). c. (YE) Yellow (GN) Gree - S2 (sie +) S4 (sie -). c c. -. c TF/KTY + (BN) Brow/(VT) Violet 1) 8 1 TF/KTY + 14 E TF/KTY - (WH) White/(BK) Black 1) 3 TF/KTY c. -. c c. -. c c. 11 View X - -. c c. 15 1) Double assigmet to icrease cross sectio All coectors are show with view oto the pis. D-sub 15-pole 9 15 View Y 1 8 System Maual MOVIAXIS Multi-Axis Servo Iverter 193

194 5 kva i P f Hz Ecoder Cables Ecoder ad extesio cables for sychroous motors Extesio cable for RH.M resolver X Y Types of extesio cables for RH.M resolvers Istallatio Part umber Fixed istallatio Cable carrier istallatio Pi assigmet of extesio cable for RH.M resolver Plug coector Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector ASTA 021FR pole with socket cotacts E View X 1 R1 (referece +) 1) Double assigmet to icrease cross sectio (PK) Pik R1 (referece +) 2 R1 (referece -) (GY) Gray R1 (referece -) 2 3 S1 (cosie +) (RD) Red S1 (cosie +) 3 4 S3 (cosie -) (BU) Blue S3 (cosie -) 4 5 S2 (sie +) (YE) Yellow S2 (sie +) 5 6 S4 (sie -) (GN) Gree S4 (sie -) 6 7. c. -. c c. -. c. 8 9 TF/KTY + (BN) Brow/(VT) Violet 1) TF/KTY TF/KTY - (WH) White/(BK) Black 1) TF/KTY c. -. c c. -. c. 12 The extesio cable has the same pi assigmet as all other cotacts. 1 AKUA 020MR pi with pi cotacts P View Y Alterative plug coectors Sigal plug coector with socket cotacts (complete) Type Cross sectio Istallatio Part umber RH.M/RH.L mm 2 (AWG 29 AWG 18) Fixed istallatio / cable carrier istallatio Sigal plug coector with pis (complete) Type Cross sectio Istallatio Part umber RH.M/RH.L mm 2 (AWG 29. AWG 18) Fixed istallatio / cable carrier istallatio System Maual MOVIAXIS Multi-Axis Servo Iverter

195 Ecoder Cables Ecoder ad extesio cables for sychroous motors kva i P f Hz 5 Illustratio of RH.M/RH.L resolver cable termial box X Y Types of RH.M/RH.L resolver cables termial box Type Cross sectio Istallatio Part umber DFS Fixed istallatio DFS mm 2 Cable carrier istallatio (AWG 24) CFM Fixed istallatio CFM Cable carrier istallatio Pi assigmet of RH.M/RH.L resolver cables termial box MOVIAXIS MXA with DFS/CFM motors RH.M/RH.L resolver cable for termial box coectio Motor coectio side Coectio MOVIAXIS MX Termial strip Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector View X 1 R1 (REF +) Pik (PK) R1 (referece +) 5 2 R2 (REF -) Gray (GY) R2 (referece -) 13 3 S1 (COS +) Red (RD) S1 (cosie +) 2 4 S3 (COS -) Blue (BU) S3 (cosie -) 10 5 S2 (SIN +) Yellow (YE) S2 (sie +) 1 6 S4 (SIN -) Gree (GN) S4 (sie -) 9 7. c -. c 3 8. c -. c 4 9 TF/TH/KTY+ Brow (BN) / violet (VT) TF/TH/KTY TF/TH/KTY- White (WH) / black (BK) TF/TH/KTY c c c c c 15 D-sub 15-pole 9 15 View Y 1 8 System Maual MOVIAXIS Multi-Axis Servo Iverter 195

196 5 kva i P f Hz Ecoder Cables Ecoder ad extesio cables for sychroous motors Absolute ecoder Illustratio of Hiperface ecoder cable X Y Types of Hiperface ecoder cables Istallatio Part umber Fixed istallatio Cable carrier istallatio Pi assigmet of Hiperface cables for AK0H / EK0H / AS1H / ES1H ecoders Motor coectio side Coectio MOVIAXIS MX Plug coector Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector ASTA 021FR c. S1 (cosie +). c. (RD) Red. c. S1 (cosie +) c. S3 (cosie -). c. (BU) Blue. c. S3 (cosie -) pole with socket cotacts S2 (sie +) S4 (sie -) DATA- (YE) Yellow (GN) Gree (VT) Violet S2 (sie +) S4 (sie -) DATA DATA+ (BK) Black DATA TF/KTY + (BN) Brow TF/KTY + 14 E TF/KTY - (WH) White TF/KTY GND (GY/PK) Gray/Pik 1) GND 8 12 U s (RD/BU) Red/Blue 1) U s c. 7 View X - -. c c. 13 1) Double assigmet to icrease cross sectio D-sub 15-pole 9 15 View Y System Maual MOVIAXIS Multi-Axis Servo Iverter

197 Ecoder Cables Ecoder ad extesio cables for sychroous motors kva i P f Hz 5 Illustratio of extesio cable for Hiperface ecoders AK0H / EK0H / AS1H / ES1H X Y Types of extesio cables for Hiperface ecoders AK0H / EK0H / AS1H / ES1H Istallatio Part umber Fixed istallatio Cable carrier istallatio Pi assigmet of extesio cables for Hiperface ecoders AK0H / EK0H / AS1H / ES1H Plug coector Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector ASTA 021FR 1. c. -. c. 1 AKUA 020MR pole with socket cotacts E c. -. c. 2 3 S1 (cosie +) (RD) Red S1 (cosie +) 3 4 S3 (cosie -) (BU) Blue S3 (cosie -) 4 5 S2 (sie +) (YE) Yellow S2 (sie +) 5 6 S4 (sie -) (GN) Gree S4 (sie -) 6 7 DATA- (VT) Violet DATA- 7 8 DATA+ (BK) Black DATA+ 8 9 TF/KTY + (BN) Brow TF/KTY TF/KTY - (WH) White TF/KTY pi with pi cotacts P View X 11 GND (GY/PK) Gray/Pik / (PK) Pik GND U s (RD/BU) Red/Blue / (GY) Gray U s 12 The extesio cable has the same pi assigmet as all other cotacts. View Y Alterative plug coectors for AK0H / EK0H / AS1H / ES1H Hiperface ecoder cables Sigal plug coector with socket cotacts (complete) Type Cross sectios that ca be coected Part o. AK0H EK0H AS1H ES1H 6 x 2 x mm System Maual MOVIAXIS Multi-Axis Servo Iverter 197

198 5 kva i P f Hz Ecoder Cables Ecoder ad extesio cables for sychroous motors Illustratio of termial box ecoder cable X Y Types of termial box ecoder cables Type Cross sectio Istallatio Part umber CFM mm 2 Fixed istallatio (AWG 24) CFM Cable carrier istallatio Pi assigmet of termial box ecoder cable Hiperface cable for termial box coectio MOVIAXIS MX with CFM motors Motor coectio side MOVIAXIS M coectio Termial strip Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector Data + Black (BK) Data Data - Violet (VT) Data S1 (COS +) Red (RD) S1 (COS +) 1 2 S3 (COS -) Blue (BU) S3 (COS -) 9 3 S2 (SIN +) Yellow (YE) S2 (SIN +) 2 4 S4 (SIN -) Gree (GN) S4 (SIN -) 10 7 GND Gray-pik (GYPK) / pik (PK) GND 8 8 Us Red blue (RDBU) Us 15 9 TF/TH/KTY+ Brow (BN) TF/TH/KTY TF/TH/KTY- White (WH) TF/TH/KTY View X View Y 198 System Maual MOVIAXIS Multi-Axis Servo Iverter

199 Ecoder Cables Ecoder ad extesio cables for sychroous motors kva i P f Hz SL2 liear motors Cable for AL1H ecoder MOVIAXIS Usig the followig cable, also the temperature switch of the liear motor ca be coected to the ecoder iput. X Y Type Istallatio Part umber SL2 Cable carrier istallatio Cable pi assigmet for feedback cables Ecoder ed MOVIAXIS coectio Plug coector Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector ASTA021FR pole with socket cotacts View X S3 (cosie -) Blue (BU) S3 (cosie -) 9 2 Data (+) Black (BK) Data (+) 4 3. c.. c c.. c. 5 5 S2 (sie +) Yellow (YE) S2 (sie +) 2 6 S4 (sie -) Gree (GN) S4 (sie -) 10 7 Data (-) Violet (VT) Data (-) 12 8 S1 (cosie +) Red (RD) S1 (cosie +) 1 9. c.. c GND Grey/pik (GY-PK ) / pik GND 8 (PK) 11. c.. c U s red/blue (RD-BU) / gray U s 15 (GY). c.. c.. c. 11. c.. c.. c. 13. c. 1 TF/TH/KTY+ BN TF/TH/KTY TF/TH/KTY- WH TF/TH/KTY- 6 3 Shieldig PE Sub-D 15-pi View Y System Maual MOVIAXIS Multi-Axis Servo Iverter 199

200 5 kva i P f Hz Ecoder Cables Ecoder ad extesio cables for sychroous motors Extesio cable for AL1H ecoders X Y Type Istallatio Part umber SL2 Cable carrier istallatio Cable pi assigmet for feedback cables Ecoder ed MOVIAXIS coectio Plug coector Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector ASTA021FR pole with socket cotacts View X 1 S3 (cosie -) Blue (BU) S3 (cosie -) 1 2 Data (+) Black (BK) Data (+) 2 3. c.. c c.. c. 4 5 S2 (sie +) Yellow (YE) S2 (sie +) 5 6 S4 (sie -) Gree (GN) S4 (sie -) 6 7 Data (-) Violet (VT) Data (-) 7 8 S1 (cosie +) Red (RD) S1 (cosie +) 8 9. c.. c GND Grey/pik (GY-PK ) / pik GND 10 (PK) 11. c.. c U s red/blue (RD-BU) / gray U s 12 (GY). c.. c.. c.. c.. c.. c.. c. AKUA020 MR 12-pole View Y Alterative plug coector at customer ed Type Cross sectios Part o. ALH1 6 x 2 x 0.25 mm System Maual MOVIAXIS Multi-Axis Servo Iverter

201 Ecoder Cables Ecoder ad extesio cables for sychroous motors kva i P f Hz Cable specificatio of ecoder cables Fixed istallatio of feedback cables Accessory desigatio AS1H/ES1H RH.M/RH.L Cable cross sectios 6 x 2 x 0.25 mm 2 5 x 2 x 0.25 mm 2 Maufacturer HELUKABEL Maufacturer desigatio Operatig voltage V 0 / V AC V 230 / 350 Temperature rage C Fixed istallatio -40 to +80 Max. temperature C + 80 Mi. bedig radius mm Diameter D mm 8.6 ± 0,2 7.3 ± 0,2 Core idetificatio DIN Sheath color Gree, similar to RAL 6018 Approval(s) DESINA / VDE / Capacitace core/shieldig F/km 110 Capacitace core / core F/km 70 Haloge-free o Silicoe-free yes CFC-free yes Ier isulatio (core) PP Outer isulatio (sheath) PVC Flame-retardat/self-extiguishig o Coductor material Cu blak Shieldig Braided tied Cu Weight (cable) kg/km Cable carrier istallatio of feedback cables Accessory desigatio AS1H/ES1H RH.M/RH.L Cable cross sectios 6 x 2 x 0.25 mm 2 5 x 2 x 0.25 mm 2 Maufacturer Nexas Maufacturer desigatio SSL11YC11Y... x 2 x 0.25 Operatig voltage V 0 / V AC V 300 Temperature rage C -20 to +60 Max. temperature C +90 (o coductor) Mi. bedig radius mm Diameter D mm 9.8 ± 0.2 9,5 ± 0.2 Maximum acceleratio m/s 2 20 Max. velocity m/mi 200 Core idetificatio WH/BN, GN/YE, GY/PK, BU/ RD, BK/VT, GY-PK/RD-BU Sheath color Gree similar to RAL 6018 Approval(s) DESINA / VDE / Capacitace core/shieldig F/km 100 Capacitace core / core F/km 55 Haloge-free yes Silicoe-free yes CFC-free yes Table cotiued o ext page WH/BN, GN/YE, GY/ PK, BU/RD, BK/VT System Maual MOVIAXIS Multi-Axis Servo Iverter 201

202 5 kva i P f Hz Ecoder Cables Ecoder ad extesio cables for sychroous motors Accessory desigatio AS1H/ES1H RH.M/RH.L Cable cross sectios 6 x 2 x 0.25 mm 2 5 x 2 x 0.25 mm 2 Maufacturer Nexas Ier isulatio (core) PP Outer isulatio (sheath) TPE-U Flame-retardat/self-extiguishig yes Coductor material E-Cu blak Shieldig Braided tied Cu Weight kg/km Mi. bedig cycles Mi. 5 millio 202 System Maual MOVIAXIS Multi-Axis Servo Iverter

203 Ecoder Cables Structure of ecoder cables for asychroous motors kva i P f Hz Structure of ecoder cables for asychroous motors Ecoder cable with D-sub Variat with coectio cover: Variat with M23 coector Variat with coductor ed sleeves System Maual MOVIAXIS Multi-Axis Servo Iverter 203

204 5 kva i P f Hz Ecoder Cables Structure of ecoder cables for asychroous motors Prefabricatio o ecoder/motor ed The prefabricated ecoder cables for the add-o ecoders o the DR motor are available with three differet desigs o the ecoder/motor ed. With coectio cover: If the ecoder o the motor is ordered ad delivered without a coectio cover, the prefabricated cable is fitted with a coectio cover o the ecoder ed. With M23 coector: Prefabricated ecoder cables for add-o ecoders o the motor are available with a M23 couplig coector with socket cotacts o the ecoder/ motor ed. Coductor ed sleeves: If the ecoder o the motor is ordered ad delivered with a coectio cover, the prefabricated cable is fitted with coductor ed sleeves o the ecoder ed. The customer is resposible for coectig the termial strip i the coectio cover. The cable glad i the coectio cover is icluded i the scope of delivery of the ecoder. Prefabricatio o MOVIAXIS / iverter ed A commercial D-sub EMC coector with pi cotacts is used o the iverter ed of the prefabricated ecoder cable for coectio to MOVIAXIS (X13). 204 System Maual MOVIAXIS Multi-Axis Servo Iverter

205 Ecoder Cables Ecoder ad extesio cables for asychroous motors kva i P f Hz Ecoder ad extesio cables for asychroous motors The temperature protectio sigals must be fed to the ecoder coectio via the luster termials. This is the oly way to esure thermal motor protectio Ecoder cables for DR. motors With coectio cover Prefabricated cables for ecoders Ecoder types ES7S, EG7S, ES7R, EG7R, AS7W, AG7W Cable drawig, wirig C A B B B Sub-D 15-pis male B-B Part umbers Cable type Coectio cover, D-sub 15 Fixed istallatio Cable carrier istallatio System Maual MOVIAXIS Multi-Axis Servo Iverter 205

206 5 kva i P f Hz Ecoder Cables Ecoder ad extesio cables for asychroous motors With M23 coector Prefabricated cables for ecoders Ecoder types ES7S, EG7S, ES7R, EG7R, AS7W, AG7W Cable drawig, wirig A C A A B B B ASTA 021 FR pis female Sub-D 15-pis male A-A B-B Part umbers Cable type M23, D-sub 15 Fixed istallatio Cable carrier istallatio System Maual MOVIAXIS Multi-Axis Servo Iverter

207 Ecoder Cables Ecoder ad extesio cables for asychroous motors kva i P f Hz 5 With litz coectio Prefabricated cables for ecoders Ecoder types E.7., A.7. Cable drawig, wirig C A B B B Sub-D 15-pis male B-B Part umbers Cable type Litz coectio, D-sub 15 Fixed istallatio Cable carrier istallatio System Maual MOVIAXIS Multi-Axis Servo Iverter 207

208 5 kva i P f Hz Ecoder Cables Ecoder ad extesio cables for asychroous motors Ecoder extesio cables for DR. motors Extesios with oe M23 Cable drawig, wirig X Coector assigmet A Sigal Cable Sigal B Cotact Core color MDX Cotact 360 cotact A-side Stradig Shieldig 360 cotact B-side A (cos+) Red (RD) A (cos+) A (cos-) Blue (BU) A (cos-) B (si+) Yellow ( YE) B (si+) B (si-) Gree (GN) B (si-) C + Brow (BN) C + C - White (WH) C - D + Black(BK) D + D - Violet (VT) D - UB Red-blue-gray (RD-BU+GY) UB GND Gray-pik-pik (GY-PK+PK) GND Shieldig X Cable drawig, wirig Y Cotact Coector assigmet Cable Core color Cotact 360 cotact A-side Stradig Shieldig Red Blue Yellow Gree 360 cotact B-side Brow White Black Violet Red-blue-gray Gray-pik-pik Shieldig AKUA Part umbers Cable type Coectio cover or coductor ed sleeves, M23 Fixed istallatio Cable carrier istallatio System Maual MOVIAXIS Multi-Axis Servo Iverter

209 Ecoder Cables Ecoder ad extesio cables for asychroous motors kva i P f Hz 5 Extesios with two M23 Cable drawig, wirig A B X Y X Pi assigmet: A Sigal Cable Sigal B Cotact Core color MDX Cotact 360 cotact A-ed Stradig Shieldig 360 cotact B-ed 3 A (cos+) Red (R D) A (cos+) 3 4 A (cos-) Blue (BU) A (cos-) 4 5 B (si+) Yellow (YE) B (si+) 5 6 B (si-) Gree (GN) B (si-) 6 1 C + Brow (BN) C C - White (WH) C D + Black (BK) D D - Purple (VT) D UB Red+blue+gray (RD-BU+GY) UB GND Gray+pik+pik (GY-PK+PK) GND 11 Shieldig Y Part umbers Cable type M23 M23 Fixed istallatio Cable carrier istallatio System Maual MOVIAXIS Multi-Axis Servo Iverter 209

210 5 kva i P f Hz Ecoder Cables Ecoder ad extesio cables for asychroous motors Ecoder ad extesio cables for CT/CV motors Illustratio of the Hiperface ecoder cable MOVIAXIS X Y The temperature protectio sigals must be fed to the ecoder coectio via the luster termials. This is the oly way to esure thermal motor protectio. Types of feedback cables Type Cross sectio Part umber Istallatio DT/DV, CT/CV 6 x 2 x 0.25 mm x 0.25 mm Fixed istallatio Cable carrier istallatio Extesio cable Type Cross sectio Part umber Istallatio DT/DV, CT/CV 6 x 2 x 0.25 mm x 0.25 mm Fixed istallatio Cable carrier istallatio 210 System Maual MOVIAXIS Multi-Axis Servo Iverter

211 Ecoder Cables Ecoder ad extesio cables for asychroous motors kva i P f Hz 5 Pi assigmet Motor coectio side Pi assigmet for Hiperface ecoder cables Coectio MOVIAXIS MXA Plug coector Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector ASTA021FR pole with socket cotacts E View X 1. c.. c.. c c.. c.. c. - 3 S1 (cosie +) Red (RD) S1 (cosie +) 1 4 S3 (cosie -) Blue (BU) S3 (cosie -) 9 5 S2 (sie +) Yellow (YE) S2 (sie +) 2 6 S4 (sie -) Gree (GN) S4 (sie -) 10 7 DATA- Violet (VT) DATA DATA+ Black (BK) DATA+ 4 9.c..c c..c GND gray/pik (GY/PK) GND 8 Pik (PK) 12 U s Red/blue (RD/BU) / Gray (GY) U s 15 D-sub 15-pole 9 15 View Y TF/TH/KTY+ Brow (BN) TF/TH/KTY TF/TH/KTY- White (WH) TF/TH/KTY- 6 3 Shieldig System Maual MOVIAXIS Multi-Axis Servo Iverter 211

212 5 kva i P f Hz Ecoder Cables Ecoder ad extesio cables for asychroous motors Illustratio of the TTL ecoder cable MOVIAXIS X Y The temperature protectio sigals must be fed to the ecoder coectio via the luster termials. This is the oly way to esure thermal motor protectio. Types of feedback cables Type Cross sectio Part umber Istallatio DT/DV, CT/CV 6 x 2 x 0.25 mm x 0.25 mm Fixed istallatio Cable carrier istallatio Pi assigmet Pi assigmet for TTL ecoder cables Motor coectio side Coectio MOVIAXIS MXA Plug coector Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector - A / K1 Yellow (YE) A / K1 1 - B / K2 Red (RD) B / K2 2 - C / K0 Pik (PK) C / K0 3 - DGND Violet (VT) DGND 8 - DGND Brow (BN) DGND 8 - A / K1 Gree (GN) A / K1 9 - B / K2 Blue (BU) B / K C / K0 Gray (GY) C / K V White (WH) + 24 V V Black (BK) + 24 V 15 D-sub 15-pole TF/TH/KTY+ Brow (BN) TF/TH/KTY TF/TH/KTY- White (WH) TF/TH/KTY- 6 3 Shieldig View Y 212 System Maual MOVIAXIS Multi-Axis Servo Iverter

213 Ecoder Cables Ecoder ad extesio cables for asychroous motors kva i P f Hz DC 5 V ecoder power supply type DWI11A Illustratio of the DWI11A TTL 5 V ecoder cable MOVIAXIS X Y Types of feedback cables Type Cross sectio Part umber Istallatio DT/DV, CT/CV 6 x 2 x 0.25 mm Fixed istallatio 2 x 0.25 mm Pi assigmet Pi assigmet for TTL ecoder cables DWI coectio side Coectio MOVIAXIS MXA Plug coector Pi o. Descriptio Cable core color Descriptio Pi o. Plug coector D-sub 1 A / K1 Yellow (YE) A / K1 1 D-sub 9-pole 2 B / K2 Red (RD) B / K pole 3 C / K0 Pik (PK) C / K0 3 5 DGND Violet (VT) DGND DGND Brow (BN) DGND 8 6 A / K1 Gree (GN) A / K B / K2 Blue (BU) B / K C / K0 Gray (GY) C / K V White (WH) V 15 View X V Black (BK) V 15 View Y 1 TF/TH/KTY+ Brow (BN) TF/TH/KTY TF/TH/KTY- White (WH) TF/TH/KTY- 6 3 Shieldig System Maual MOVIAXIS Multi-Axis Servo Iverter 213

214 5 kva i P f Hz Ecoder Cables Ecoder ad extesio cables for asychroous motors Cable specificatios Fixed istallatio of ecoder cables Accessory desigatio ES7S / EG7S / ES7R / EG7R / ES7C / EG7C / AS7W / AG7W / EH7S / AH7Y / EI7C AH7Y / AS7Y / AG7Y Cable cross sectios 6 x 2 x 0.25 mm 2 5 x 2 x 0.25 mm 2 Maufacturer HELUKABEL Maufacturer desigatio LI9YCY Operatig voltage V 0 / V AC V 230 / 350 Temperature rage C Fixed istallatio -40 to +80 Max. temperature C + 80 Mi. bedig radius mm Diameter D mm 8.6 ± 0,2 7.3 ± 0,2 Core idetificatio DIN Sheath color Gree, similar to RAL 6018 Approval(s) DESINA / VDE / Capacitace core/shieldig F/km 110 Capacitace core / core F/km 70 Haloge-free o Silicoe-free yes CFC-free yes Ier isulatio (core) PP Outer isulatio (sheath) PVC Flame-retardat/self-extiguishig o Coductor material Cu blak Shieldig Braided tied Cu Weight (cable) g/km Cable carrier istallatio of ecoder cables Accessory desigatio ES7S / EG7S / ES7R / EG7R / ES7C / EG7C / AS7W / AG7W / AH7Y / AS7Y / EH7S / AH7Y EI7C AG7Y Cable cross sectios 6 x 2 x 0.25 mm 2 5 x 2 x 0.25 mm 2 4 x 2 x 0.25 mm 2 Maufacturer Nexas Maufacturer desigatio SSL18YC11Y 6 x 2 x 0.25/ SSL11YC11Y 5 x 2 x 0.25 Operatig voltage V 0 / V AC V 300 Temperature rage C -20 to to +80 Max. temperature C +90 (o coductor) +80 Mi. bedig radius mm Diameter D mm 9.8??±?? ??±?? ??±?? 0.2 Maximum acceleratio m/s 2 20 Max. velocity m/mi 200 Core idetificatio WH/BN, GN/YE, GY/PK, BU/ RD, BK/VT, GY-PK/RD-BU WH/BN, GN/YE, GY/PK, BU/RD, BK/VT WH/BN, GN/YE, GY/PK Sheath color Gree similar to RAL 6018 Approval(s) DESINA / VDE / Capacitace core/shieldig F/km Capacitace core / core F/km Table cotiued o ext page 214 System Maual MOVIAXIS Multi-Axis Servo Iverter

215 Ecoder Cables Ecoder ad extesio cables for asychroous motors kva i P f Hz 5 Accessory desigatio ES7S / EG7S / ES7R / EG7R / ES7C / EG7C / AS7W / AG7W / AH7Y / AS7Y / EH7S / AH7Y EI7C AG7Y Cable cross sectios 6 x 2 x 0.25 mm 2 5 x 2 x 0.25 mm 2 4 x 2 x 0.25 mm 2 Maufacturer Nexas Haloge-free yes Silicoe-free yes CFC-free yes Ier isulatio (core) PP TPE-EE Outer isulatio (sheath) TPE-U PUR Flame-retardat/self-extiguishig yes Coductor material E-Cu blak Shieldig Braided tied Cu Weight kg/km Mi. bedig cycles 5 millio System Maual MOVIAXIS Multi-Axis Servo Iverter 215

216 6 kva i P f Hz Suitable Motors Sychroous servomotors 6 Suitable Motors 6.1 Sychroous servomotors Product descriptio CMP sychroous servomotors The CMP servomotor series combies high dyamics, high torques, ad precisio i a compact desig. Their iovative desig with the latest i widig ad maget techology offers a motor system with optimum dyamics ad the best cotrol characteristics at the smallest space. The cast stator protects the motor agaist vibratios ad humidity Characteristics of CMP motors: Static torque from 0.5 to 47 Nm High dyamics (ratio betwee omial torque ad mass momet of iertia of the motor) High degree of protectio (IP65) Robust ecoder system (resolver) The optimal ecoder system with sie/cosie ecoder allows for a very wide settig rage ad absolute positio detectio High cotiuous torque at low speeds ad at stadstill, without forced coolig fa High overload capability NeFeB magets, permaet magets with high magetic flux desity. The CMP servomotors ca be combied with the MOVIAXIS multi-axis servo iverter ad the MOVIDRIVE iverter Product descriptio CMPZ sychroous servomotors CMPZ sychroous servomotors are equipped with a iteral additioal flywheel mass. These motors combie high torques ad precisio i a compact desig ad provide particularly favorable cotrol characteristics with high exteral masses. Furthermore, the iteral higher momet of iertial allows for a smaller gear ratio. I additio to the above metioed features of the CMP motors, CMPZ motors are optioally available with a powerful workig brake with high workig capacity ad optioal maual brake release. 216 System Maual MOVIAXIS Multi-Axis Servo Iverter

217 Suitable Motors Sychroous servomotors Techical data CMP sychroous servomotors Key to the data tables The followig table lists the short symbols used i the "Techical data" table. N M 0 I 0 M pk I max M 0VR I 0VR J mot J bmot M B1 M B2 L 1 R 1 U p0 cold Rated speed Stadstill torque (thermal cotiuous torque at low speeds) Stadstill curret Maximum limit torque of the servomotor Maximum permitted motor curret Stadstill torque with forced coolig fa Stadstill curret with forced coolig fa Mass momet of iertia of the motor Mass momet of iertia of the brakemotor Stadard brakig torque Optioal brakig torque Iductace betwee coectio phase ad star poit Resistace betwee coectio phase ad star poit Iteral voltage at 1000 rpm System Maual MOVIAXIS Multi-Axis Servo Iverter 217

218 6 Suitable Motors Sychroous servomotors Techical data - CMP, CMP/BP sychroous servomotors System voltage: 400 V N M Motor 0 I 0 M pk I max M 0VR I 0VR m J mot rpm Nm A Nm A Nm A kg 10-4 kgm 2 CMP40S CMP40M CMP50S CMP50M CMP50L CMP63S CMP63M CMP63L CMP71S CMP71M CMP71L CMP80S CMP80M CMP80L CMP100S CMP100M CMP100L CMP40S CMP40M CMP50S CMP50M CMP50L CMP63S CMP63M CMP63L CMP71S CMP71M CMP71L CMP80S CMP80M CMP80L CMP100S CMP100M CMP100L CMP40S CMP40M CMP50S CMP50M CMP50L CMP63S CMP63M CMP63L CMP71S CMP71M CMP71L CMP80S CMP80M CMP80L System Maual MOVIAXIS Multi-Axis Servo Iverter

219 Suitable Motors Sychroous servomotors 6 N L 1 R 1 U p0 cold m bmot J bmot M B1 M B2 Motor rpm mh Ω V kg 10-4 kgm 2 Nm CMP40S CMP40M CMP50S CMP50M CMP50L CMP63S CMP63M CMP63L CMP71S CMP71M CMP71L CMP80S CMP80M CMP80L CMP100S CMP100M CMP100L CMP40S CMP40M CMP50S CMP50M CMP50L CMP63S CMP63M CMP63L CMP71S CMP71M CMP71L CMP80S CMP80M CMP80L CMP100S CMP100M CMP100L CMP40S CMP40M CMP50S CMP50M CMP50L CMP63S CMP63M CMP63L CMP71S CMP71M CMP71L CMP80S CMP80M CMP80L System Maual MOVIAXIS Multi-Axis Servo Iverter 219

220 6 Suitable Motors Sychroous servomotors Techical data - CMPZ, CMPZ/BY sychroous servomotors System voltage: 400 V N M Motor 0 I 0 M pk I max M 0VR I 0VR m J mot rpm] Nm A Nm A Nm A kg 10-4 kgm 2 CMPZ71S CMPZ71M CMPZ71L CMPZ80S CMPZ80M CMPZ80L CMPZ100S CMPZ100M CMPZ100L CMPZ71S CMPZ71M CMPZ71L CMPZ80S CMPZ80M CMPZ80L CMPZ100S CMPZ100M CMPZ100L CMPZ71S CMPZ71M CMPZ71L CMPZ80S CMPZ80M CMPZ80L System Maual MOVIAXIS Multi-Axis Servo Iverter

221 Suitable Motors Sychroous servomotors 6 N L 1 R 1 U p0 cold m bmot J bmot M B1 M B2 Motor rpm mh Ω V kg 10-4 kgm 2 Nm CMPZ71S CMPZ71M CMPZ71L CMPZ80S CMPZ80M CMPZ80L CMPZ100S CMPZ100M CMPZ100L CMPZ71S CMPZ71M CMPZ71L CMPZ80S CMPZ80M CMPZ80L CMPZ100S CMPZ100M CMPZ100L CMPZ71S CMPZ71M CMPZ71L CMPZ80S CMPZ80M CMPZ80L System Maual MOVIAXIS Multi-Axis Servo Iverter 221

222 6 Suitable Motors Sychroous servomotors Product descriptio CFM sychroous servomotors CRM servomotors feature a wide torque rage, good cotrol characteristics with high exteral masses, the use of powerful workig brakes, ad a wide rage of optios Characteristics of CFM motors: Up to 4 x overload capacity Stator with pull-i widig Moutig of stadard ad servo gear uits possible Direct moutig of gear uit possible Resolver or high-resolutio absolute ecoder possible Coectors or termial box Optioal forced coolig fa Optioal brake with workig capacity TF or KTY sesor for thermal motor protectio Optioal secod shaft ed Optioal reiforced bearigs The CFM servomotors ca be combied with the MOVIAXIS multi-axis servo iverter ad the MOVIDRIVE iverter. 222 System Maual MOVIAXIS Multi-Axis Servo Iverter

223 Suitable Motors Sychroous servomotors Techical data CFM sychroous servomotors Key to the data tables The followig table lists the short symbols used i the "Techical data" table. N Rated speed M 0 Stadstill torque (thermal cotiuous torque at low speeds). I 0 Stadstill curret M DYN Dyamic limit torque of the servomotor I max Maximum permitted motor curret M 0VR Static torque with forced coolig fa I 0VR Stadstill curret with forced coolig fa J mot Mass momet of iertia of the motor J bmot Mass momet of iertia of the brake motor M B1 Stadard brakig torque M B2 Optioal brakig torque W max1 Maximum permitted brakig work per brakig operatio for M B1. W max2 Maximum permitted brakig work per brakig operatio for M B2. L 1 Iductace of the widig R 1 Ohmic resistace of the widig U p0 Iteral voltage at 1000 rpm m mot Weight of the motor m bmot Weight of the brakemotor System Maual MOVIAXIS Multi-Axis Servo Iverter 223

224 6 Suitable Motors Sychroous servomotors Techical data CFM sychroous servomotors with 400 V system voltage N M 0 I 0 M DYN I max M 0VR I 0VR J mot J bmot M B1 M B2 W max1 W max2 Motor rpm Nm A Nm A Nm A 10-4 kgm 2 Nm kj CFM71S CFM71M CFM71L CFM90S CFM90M CFM90L CFM112S CFM112M CFM112L CFM112H CFM71S CFM71M CFM71L CFM90S CFM90M CFM90L CFM112S CFM112M CFM112L CFM112H CFM71S CFM71M CFM71L CFM90S CFM90M CFM90L CFM112S CFM112M CFM112L CFM112H CFM71S CFM71M CFM71L CFM90S CFM90M CFM90L System Maual MOVIAXIS Multi-Axis Servo Iverter

225 Suitable Motors Sychroous servomotors 6 N L 1 R 1 U p0 m mot Motor rpm mh mω V/1000 rpm kg m bmot CFM71S CFM71M CFM71L CFM90S CFM90M CFM90L CFM112S CFM112M CFM112L CFM112H CFM71S CFM71M CFM71L CFM90S CFM90M CFM90L CFM112S CFM112M CFM112L CFM112H CFM71S CFM71M CFM71L CFM90S CFM90M CFM90L CFM112S CFM112M CFM112L CFM112H CFM71S CFM71M CFM71L CFM90S CFM90M CFM90L System Maual MOVIAXIS Multi-Axis Servo Iverter 225

226 6 Suitable Motors Sychroous servomotors Product descriptio CMDV sychroous servomotors 1) The compact CMDV servomotors come without housig ad are covectio cooled; they offer stadstill torques from 0.3 to 32 Nm with a overload capacity of factor six. The strog bearigs ad the low-vibratio desig make these motors the ideal compoet for applicatios with small istallatio spaces ad directly powered servo applicatios Characteristics of CMDV motors: High dyamics Compact desig Six-fold overload capacity High rotatioal accuracy Low mass Suitable for direct drive Degree of protectio IP65 Covectio-cooled Miimal projectig edges 24 V holdig brake HIPERFACE ecoder for all motors Hollow shaft variat CMDH possible UL ad CSA approval 1) I preparatio 226 System Maual MOVIAXIS Multi-Axis Servo Iverter

227 Suitable Motors Sychroous servomotors Techical data CMDV compact sychroous servomotors 1) Key to the data tables The followig table lists the short symbols used i the "Techical data" table. N M 0 I 0 M max I max R 1 L 1 U p0 cold J mot J bmot M B1 M B2 Rated speed Stadstill torque (thermal cotiuous torque at low speeds) Stadstill curret Maximum limit torque of the servomotor Maximum permitted motor curret Ohmic resistace of the widig Iductace of the widig Iteral voltage at 1000 rpm Mass momet of iertia of the motor Mass momet of iertia of the brakemotor Stadard brakig torque Optioal brakig torque 1) I preparatio System Maual MOVIAXIS Multi-Axis Servo Iverter 227

228 6 Suitable Motors Sychroous servomotors Techical data CMDV compact sychroous servomotors System voltage: 400 V Motor type 1) N M 0 I 0 M max I max m J 2) mot max m bmot J bmot M B1 M B2 L 1 R 1 U p0 rpm Nm A Nm A kg kgcm 2 rpm kg kgcm 2 Nm Nm mh Ω rpm CMDV55S ) CMDV55M ) CMDV55L ) CMDV70S CMDV70M CMDV70L CMDV70S CMDV70M CMDV70L CMDV93K CMDV93S CMDV93M CMDV93L CMDV93K CMDV93S CMDV93M CMDV93L CMDV93K CMDV93S CMDV93M CMDV93L CMDV138K CMDV138S CMDV138M CMDV138L CMDV138K CMDV138S CMDV138M CMDV138L CMDV138K CMDV138S CMDV138M CMDV138L CMDV162K CMDV162S CMDV162M CMDV162L CMDV162K CMDV162S CMDV162M CMDV162L System Maual MOVIAXIS Multi-Axis Servo Iverter

229 Suitable Motors Sychroous servomotors 6 Motor type N 1) CMDV162K M 0 I 0 M max I max m J mot 2) max m bmot J bmot M B1 M B2 L 1 R 1 U p CMDV162S CMDV162M CMDV162L ) N = rated speed [rpm] 2) Whe istallig the ecoders AK0H / EK0H, the specified mass momet of iertia is reduced by kgcm 2 i compariso with the resolver variat 3) For CMDV55 with brake, max = 6000 rpm INFORMATION M 0 is the thermal cotiuous torque for speeds betwee 5 ad 200 revolutios per miute. The permitted cotiuous torque at stadstill is 90 % of M 0. System Maual MOVIAXIS Multi-Axis Servo Iverter 229

230 6 Suitable Motors Sychroous servomotors Product descriptio CMS electric cyliders Applicatios with liear movemet place high demads o the travel profile. Covetioal solutios cosistig of peumatic ad hydraulic cyliders will quickly reach their system limits i terms of performace. Combiig electric cyliders with the iverters from SEW-EURODRIVE results i itelliget drive systems that offer a high degree of flexibility ad positioig accuracy, ew optios i programmig, power cotrol ad diagostic fuctios. These traslate ito ew ad reliable cocepts that ca be itegrated ito a variety of productio processes The electric cyliders of the CMS series are precise, powerful, ad fast. Whe combied with drive electroics from SEW-EURODRIVE, they form ecoomical, eergy-efficiet drive solutios that esure a high level of process reliability i system operatio ad are easy to itegrate ito existig automatio systems Techical data CMS electric cylider Techical data CMS50 Note: Stroke legth 300 mm epk = 2500 rpm (max. mechaical speed) Stroke legths 70 ad 150 mm epk = 4500 rpm (max. mechaical speed) 50S Spidle N Stroke M 0 I 0 M pk I max J mot J bmot J zusatz J bzusatz M B L 1 R 1 U p0kalt F F pk m m bmot legth DxP rpm mm Nm A Nm A kgcm 2 Nm mh [Ω] V kn kg KGT 15x System Maual MOVIAXIS Multi-Axis Servo Iverter

231 Suitable Motors Sychroous servomotors 6 Techical data CMS63 Note: Stroke legths 100, 200, 400 ad 600 mm epk = 4500 rpm (max. mechaical speed) 63S Spidle N Stroke M 0 I 0 M pk I max J mot J bmot J zusatz J bzusatz M B L 1 R 1 U p0kalt F F pk m m bmot legth DxP rpm mm Nm A Nm A kgcm 2 Nm mh Ω V kn kg KGT 25x6 PGT 20x Spidle N Stroke M 0 I 0 M pk I max J mot J bmot J zusatz J bzusatz M B L 1 R 1 U p0kalt F F pk m m bmot legth DxP rpm mm Nm A Nm A kgcm 2 Nm mh [Ω] V kn kg ) 7.9 2) (21.4) (21.6) KGT ) ) x6 400 (21.4) (32.4) M ) ) (21.4) (41.4) ) 7.9 2) (21.4) (21.6) PGT ) ) x5 200 (21.4) (32.4) ) ) (21.4) (41.4) ) Max. permitted torque 2) Max. permitted curret System Maual MOVIAXIS Multi-Axis Servo Iverter 231

232 6 Suitable Motors Sychroous servomotors Techical data CMS71 Note: Stroke legth 200 mm epk = 3000 rpm (max. mechaical speed) Stroke legth 350 mm epk = 2000 rpm (max. mechaical speed) 71L Stroke Spidle N M legth 0 I 0 M pk I max J mot J bmot J zusatz J bzusatz M B L 1 R 1 U p0kalt F F pk m m bmot DxP rpm mm Nm A Nm A kgcm 2 Nm mh Ω V kn kg KGT 32x6 KGT 32x10 PGT 24x ) (31.4) ) (31.4) 9.2 2) (16.8) 7.3 2) (16.8) ) ) (31.4) (25) ) ) (31.4) (25) ) ) (31.4) (38) ) ) (31.4) (38) ) (31.4) 1) Max. permitted torque 2) Max. permitted curret ) ) ) ) ) (31.4) (16.8) ) ) (31.4) (25) ) (38) ) I case of tesile loads, a peak feed force Fpk of 20 kn is possible 232 System Maual MOVIAXIS Multi-Axis Servo Iverter

233 Suitable Motors Sychroous servomotors Product descriptio SL2 series liear motors SEW-EURODRIVE SL2 liear motors are desiged as short stator motors. This techology achieves maximum forces i combiatio with small sizes ad low weight Motors of the SL2 series are used wheever there is a eed for precisio, dyamics, repeat accuracy ad high traverse rates. This motor series is characterized by the optimum force-desity ratio accomplished by usig oe of the latest widig techologies ad the lamiated iro core. This motor system is perfectly suited for may applicatios, icludig highly dyamic ad flexible processig machies, material hadlig eviromets as well as pick-adplace applicatios. Criteria for the selectio of a SL2 iclude the followig: excellet positioig behavior eve at high traversig rates of up to 6 m/s (also with absolute ecoder) High stiffess of the cotrol system i coectio with MOVIDRIVE ad MOVIAXIS There is o backlash or sprig effects associated with mechaical trasmissio compoets No wear due to cotactless eergy trasfer Low oise developmet Miimum dowtimes whe system faults occur High sychroous operatio accuracy High level of eclosure, IP65 Low-overhead system through covectio coolig optimized hadlig for operator due to motor coolig uit (additioal iformatio o motor coolig uit i sectio 2.8). Advatages for the user: SL2-Advace System: Fast ad simple task hadlig through optimized, highly dyamic motor coolig uit for flexible moutig of compoets by the customer. SL2-Power System: I additio to the SL2-Advace System, the omial power (omial thrust) is icreased by istallatio of forced coolig fas without a icrease i weight. SL2-Advace System / SL2 -Power System Allow for optimum ad fast itegratio of the drive system i the plat. The performace characteristics of the systems eable excellet machie performace System Maual MOVIAXIS Multi-Axis Servo Iverter 233

234 6 Suitable Motors Asychroous servomotors 6.2 Asychroous servomotors Product descriptio DRL asychroous servomotors Asychroous servomotors are the lik betwee the classical asychroous AC motors for supply system ad iverter operatio ad the highly dyamic sychroous servomotors with permaet magets DRL motors Asychroous servomotors of the DRL series are a drive package made up from the may optios of the modular DR motor system. I its basic variat, the drive package always cotais A ecoder, sie sigals, ad electroic ameplate Thermal motor protectio Dyamics package Various coectio optios Widig optimized with respect to speed Depedig o the applicatio ad requiremets, the followig elemets ca be added: Forced coolig fa Coectio via plug coectors istead of termials Temperature sesig Ad may more Alteratives ca be selected istead of the elemets of the basic variat, e.g. a absolute ecoder istead of the sie ecoder. Dyamics AC motors operated o the supply system usually have a overload capacity of 160% 180% of the omial torque durig startup. If the motor is operated o a iverter of the same power, the iverter usually provides 150% curret, ad thus roughly 150% torque, for 60 secods durig startup. If a larger iverter is selected, the iverter ca provide a higher curret ad theoretically a greater torque as well. I this case, the mechaical resistace of the motor agaist the overload, which might reach or exceed the permitted limit values, must be checked. As a rule, the sychroous servomotors ad the correspodig iverters are desiged for a high short-time overload. 400% of the omial torque ca usually be reached ad are permitted. 234 System Maual MOVIAXIS Multi-Axis Servo Iverter

235 Suitable Motors Asychroous servomotors 6 The mechaical desig of asychroous servomotors of the DRL series is of such a high quality that dyamic overload values ca be reached which exceed the classical values of a asychroous motor operated o a supply system or iverter ad almost match the values of a sychroous servomotor. SEW-EURODRIVE offers the DRL motors i two dyamics packages: Package Overload capacity to omial torque Dyamics 1 (D1) 190 % 220 % Dyamics 2 (D2) 300 % 350 % The ameplate of the motor specifies the respective dyamics package. Speeds SEW-EURODRIVE offers the DRL servomotors with 4 rated speeds: 1200 rpm 1700 rpm 2100 rpm 3000 rpm I iverter operatio, field weakeig begis at the rated speed. System Maual MOVIAXIS Multi-Axis Servo Iverter 235

236 6 Suitable Motors Asychroous servomotors Techical data DRL asychroous servomotors Key to the data tables The followig table lists the short symbols used i the "Techical data" tables. N Rated speed M N Rated torque I N Rated curret I q_ Torque geeratig omial curret I d_ Magetizig omial curret k T Torque costat J Mot Mass momet of iertia of the motor M pk Dy1 Maximum limit torque (dyamics package 1) M pk Dy2 Maximum limit torque (dyamics package 2) m Weight of the motor BE.. Brake used m B Weight of the brakemotor J MOT_BE Mass momet of iertia of the brakemotor M B Dy1 Brakig torque (dyamics package 1) M B Dy2 Brakig torque (dyamics package 2) 236 System Maual MOVIAXIS Multi-Axis Servo Iverter

237 Suitable Motors Asychroous servomotors 6 Techical data DRL asychroous servomotors System voltage: 400 V N Motor type M pk M pk M N I N I q_ I d_ k T m J Mot Dy1 Dy2 Nm A A A Nm/A Nm Nm kg 10-4 kgm 2 DRL71S DRL71M DRL80S DRL80M DRL90L DRL100L DRL132S DRL132MC DRL160M DRL160MC DRL180S DRL180M DRL180L DRL180LC DRL200L DRL225S DRL225MC DRL71S DRL71M DRL80S DRL80M DRL90L DRL100L DRL132S DRL132MC DRL160M DRL160MC DRL180S DRL180M DRL180L DRL180LC DRL200S DRL225S DRL225MC DRL71S DRL71M DRL80S DRL80M DRL90L DRL100L DRL132S DRL132MC DRL160M DRL160MC DRL180S DRL180M DRL180L DRL180LC DRL200L DRL225S DRL225MC System Maual MOVIAXIS Multi-Axis Servo Iverter 237

238 6 Suitable Motors Asychroous servomotors N Motor type M M N I N BE.. B M B m B J Dy1 Dy2 Mot_BE Nm A Nm Nm kg 1) 10-4 kgm 2 DRL71S BE ,2 DRL71M BE ,6 8,4 DRL80S BE DRL80M BE ,9 26 DRL90L BE ,5 49,5 DRL100L BE DRL132S BE DRL132MC BE DRL160M BE DRL160MC BE DRL180S BE DRL180M BE DRL180L BE DRL180LC BE DRL200L BE DRL225S BE DRL225MC BE DRL71S BE ,2 DRL71M BE ,6 8,4 DRL80S BE DRL80M BE ,9 26 DRL90L BE ,5 49,5 DRL100L BE DRL132S BE DRL132MC BE DRL160M BE DRL160MC BE DRL180S BE DRL180M BE DRL180L BE DRL180LC BE DRL200S BE DRL225S BE DRL225MC BE DRL71S BE ,2 DRL71M BE ,6 8,4 DRL80S BE DRL80M BE ,9 26 DRL90L BE ,5 49,5 DRL100L BE DRL132S BE DRL132MC BE DRL160M BE DRL160MC BE DRL180S BE DRL180M BE DRL180L BE DRL180LC BE DRL200L BE DRL225S BE DRL225MC BE ) Applies to foot-mouted motor with brake (DRL...BE../FI..) 238 System Maual MOVIAXIS Multi-Axis Servo Iverter

239 Suitable Motors Asychroous servomotors 6 N 3000 Motor type M M N I N I q_ I d_ k pk M pk T m J Dy1 Dy2 Mot Nm A A A Nm/A Nm Nm kg 10-4 kgm 2 DRL71S DRL71M DRL80S DRL80M DRL90L DRL100L DRL132S DRL132MC DRL160M DRL160MC DRL180S DRL180M DRL180L DRL180LC DRL200S DRL225S DRL225MC System Maual MOVIAXIS Multi-Axis Servo Iverter 239

240 6 Suitable Motors Asychroous servomotors N 3000 Motor type M M N I N BE.. B M B m B J Dy1 Dy2 Mot_BE Nm A Nm Nm kg 1) 10-4 kgm 2 DRL71S BE ,2 DRL71M BE ,6 8,4 DRL80S BE DRL80M BE ,9 26 DRL90L BE ,5 49,5 DRL100L BE DRL132S BE DRL132MC BE DRL160M BE DRL160MC BE DRL180S BE DRL180M BE DRL180L BE DRL180LC BE DRL200S BE DRL225S BE DRL225MC BE ) Applies to foot-mouted motor with brake (DRL...BE../Fl..) 240 System Maual MOVIAXIS Multi-Axis Servo Iverter

241 Suitable Motors No-SEW motors No-SEW motors MOVIAXIS ca basically operate ay asychroous or sychroous servomotor with feedback. Depedig o the motor ad the specific applicatio, startup ca be performed o site usig the startup fuctio for o-sew motors that is itegrated i MotioStudio. For more complex applicatios (e.g. asychroous motors), SEW-EURODRIVE offers to measure o-sew motors ad create a startup file for them (which is the itegrated i the SEW motor data base) subject to charge Permissible ecoder iterfaces MOVIAXIS supports the followig iterfaces, which ca be used to operate o-sew ecoder systems i geeral. Note: No-SEW ecoders must ot be operated without approval by or cosultatio with SEW-EURODRIVE. Failure to do so will void ay product liability ad warraty claims. 1. Hiperface iterfaces A Accordig to the Hiperface specificatio of the compay SICK STEGMANN 2. SiCos ecoder A Voltage 1 Vss B C 3. TTL ecoders A Specificatio to RS422, 5 V TTL level 4. Resolver A Number of poles: 2-12 pole pairs B Trasmissio ratio: 0.5 C Voltage: D Frequecy: Special motors/torque motors Torque motors of all types (rig, built-i, separate housig) ca be operated with MOVIAXIS. Stepper motors ad reluctace motors caot be operated. Please cotact SEW-EURODRIVE if you wat to operate liear motors without iro. Classic liear motors (with iro core/idepedet of the moutig positio) ca be operated. System Maual MOVIAXIS Multi-Axis Servo Iverter 241

242 7 Additioal System Compoets Suitable ecoder systems 7 Additioal System Compoets 7.1 Suitable ecoder systems Maufacturer Desigatio Iterface Commet Uits SEW AF1H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AG7W Hiperface ROTATIONAL MDN, XGH, XGS, SEW AK0H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AK1H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AL1H Hiperface LINEAR MDN, XGH, XGS, SEW AS0H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AS1H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AS1H AV1H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AS3H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AS4H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AS7H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AS7W Hiperface ROTATIONAL MDN, XGH, XGS, SEW AV1H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AV6H Hiperface ROTATIONAL MDN, XGH, XGS, SEW AV7W Hiperface ROTATIONAL MDN, XGH, XGS, SEW EF1H Hiperface ROTATIONAL MDN, XGH, XGS, SEW EK0H Hiperface ROTATIONAL MDN, XGH, XGS, SEW EK1H Hiperface ROTATIONAL MDN, XGH, XGS, SEW ES0H Hiperface ROTATIONAL MDN, XGH, XGS, SEW ES1H Hiperface ROTATIONAL MDN, XGH, XGS, SEW ES1H ES2H EV1H Hiperface ROTATIONAL MDN, XGH, XGS, SEW ES2H Hiperface ROTATIONAL MDN, XGH, XGS, SEW ES3H Hiperface ROTATIONAL MDN, XGH, XGS, SEW ES4H Hiperface ROTATIONAL MDN, XGH, XGS, SEW ES7H Hiperface ROTATIONAL MDN, XGH, XGS, SEW EV1H Hiperface ROTATIONAL MDN, XGH, XGS, SEW RH1L Resolver ROTATIONAL MDN, SEW RH1M Resolver ROTATIONAL MDN, SEW EG7S SIN/COS ROTATIONAL MDN, XGH, XGS, SEW EH1S SIN/COS ROTATIONAL MDN, XGH, XGS, SEW EH1S ES1S ES2S EV1S EV2S SIN/COS ROTATIONAL MDN, XGH, XGS, SEW EH7S SIN/COS ROTATIONAL MDN, XGH, XGS, SEW ES1S SIN/COS ROTATIONAL MDN, XGH, XGS, SEW ES2S SIN/COS ROTATIONAL MDN, XGH, XGS, SEW ES7S SIN/COS ROTATIONAL MDN, XGH, XGS, SEW EV1S SIN/COS ROTATIONAL MDN, XGH, XGS, SEW EV2S SIN/COS ROTATIONAL MDN, XGH, XGS, SEW EV7S SIN/COS ROTATIONAL MDN, XGH, XGS, SEW AH7Y SSI ROTATIONAL XGS, SEW AG7Y SSI combo ROTATIONAL XGS, SEW AS7Y SSI combo ROTATIONAL XGS, SEW AV1Y SSI combo ROTATIONAL XGS, SEW AV2Y SSI combo ROTATIONAL XGS, SEW AV7Y SSI combo ROTATIONAL XGS, SEW EG7C TTL ROTATIONAL MDN, XGH, XGS, 242 System Maual MOVIAXIS Multi-Axis Servo Iverter

243 Additioal System Compoets Suitable ecoder systems 7 Maufacturer Desigatio Iterface Commet Uits SEW EG7R TTL ROTATIONAL MDN, XGH, XGS, SEW EG7T TTL ROTATIONAL MDN, XGH, XGS, SEW EH1C TTL ROTATIONAL MDN, XGH, XGS, SEW EH1R TTL ROTATIONAL MDN, XGH, XGS, SEW EH1R EH1T ESxR ESxT EVxR EVxT TTL ROTATIONAL MDN, XGH, XGS, SEW EH1T TTL ROTATIONAL MDN, XGH, XGS, SEW EH7C TTL ROTATIONAL MDN, XGH, XGS, SEW EH7R TTL ROTATIONAL MDN, XGH, XGS, SEW EH7T TTL ROTATIONAL MDN, XGH, XGS, SEW EI71 TTL ROTATIONAL SEW EI72 TTL ROTATIONAL MDN, XGH, XGS, SEW EI76 TTL ROTATIONAL MDN, XGH, XGS, SEW EI7C TTL ROTATIONAL MDN, XGH, XGS, SEW ES1R TTL ROTATIONAL MDN, XGH, XGS, SEW ES1T TTL ROTATIONAL MDN, XGH, XGS, SEW ES2R TTL ROTATIONAL MDN, XGH, XGS, SEW ES2T TTL ROTATIONAL MDN, XGH, XGS, SEW ES7C TTL ROTATIONAL MDN, XGH, XGS, SEW ES7R TTL ROTATIONAL MDN, XGH, XGS, SEW EV1C TTL ROTATIONAL MDN, XGH, XGS, SEW EV1R: TTL ROTATIONAL MDN, XGH, XGS, SEW EV1T TTL ROTATIONAL MDN, XGH, XGS, SEW EV2R TTL ROTATIONAL MDN, XGH, XGS, SEW EV2T TTL ROTATIONAL MDN, XGH, XGS, SEW EV7C TTL ROTATIONAL MDN, XGH, XGS, SEW EV7R TTL ROTATIONAL MDN, XGH, XGS, Balluff BTL5-S112-Mxxxx-P-xxx SSI LINEAR XGS, Balluff BTL5-S112B-Mxxxx-P-xxx SSI LINEAR XGS, Elgo LIMAX2 SSI LINEAR XGS, Heidehai ECN113 EDat2.1 ROTATIONAL XGH, XGS, Heidehai ECN1313 EDat2.1 ROTATIONAL XGH, XGS, Heidehai EQN1125 EDat2.1 ROTATIONAL XGH, XGS, Heidehai EQN1325 EDat2.1 ROTATIONAL XGH, XGS, Heidehai EQN425 EDat2.1 ROTATIONAL XGH, XGS, Heidehai ROQ424 SSI combo ROTATIONAL XGS, Hüber HMG161 S24 H2048 SSI ROTATIONAL XGS, Hüber AMG73 S24 S2048 SSI combo ROTATIONAL XGS, Hüber AMG83 S24 S2048 SSI combo ROTATIONAL XGS, IVO GM 401 SSI ROTATIONAL XGS, Kuebler Kueb 9081xxxx2003 SSI ROTATIONAL XGS, Kuebler Kueb 9081xxxx2004 SSI ROTATIONAL XGS, Leuze AMS 200/xxx-11-x SSI LINEAR XGS, Leuze BPS 37 SSI LINEAR XGS, Leuze OMS1 0,1mm SSI LINEAR XGS, Leuze OMS1 1mm SSI LINEAR XGS, Leuze OMS2 0,1mm SSI LINEAR XGS, MTS Sesors RD mm SSI LINEAR XGS, System Maual MOVIAXIS Multi-Axis Servo Iverter 243

244 7 Additioal System Compoets Suitable ecoder systems Maufacturer Desigatio Iterface Commet Uits MTS Sesors RF mm SSI LINEAR XGS, MTS Sesors RH mm SSI LINEAR XGS, MTS Sesors RP mm SSI LINEAR XGS, Pepperl+Fuchs WCS3B LS410 CANope LINEAR Pepperl+Fuchs VDM mm SSI LINEAR XGS, Pepperl+Fuchs VDM mm SSI LINEAR XGS, Pepperl+Fuchs WCS2(A)-LS311 SSI LINEAR XGS, Pepperl+Fuchs WCS3(A)-LS311 SSI LINEAR XGS, Pepperl+Fuchs WCS3B-LS311 SSI LINEAR XGS, Pepperl+Fuchs AVM58X-1212 SSI combo ROTATIONAL XGS, Sick DME4000-x mm CANope LINEAR Sick DME4000-x19 1mm CANope LINEAR Sick DME4000-x17 Hiperface LINEAR MDN, XGH, XGS, Sick DME5000-x17 Hiperface LINEAR MDN, XGH, XGS, Sick DME3000-x11 SSI LINEAR XGS, Sick DME4000-x11 0,1mm SSI LINEAR XGS, Sick DME4000-x11 1mm SSI LINEAR XGS, Sick DME5000-x11 0,1mm SSI LINEAR XGS, Sick DME5000-x11 1mm SSI LINEAR XGS, Sick/Stegma LiCoder L 230 Hiperface LINEAR MDN, XGH, XGS, Sick/Stegma SKM 36 Hiperface ROTATIONAL MDN, XGH, XGS, Sick/Stegma SKS 36 Hiperface ROTATIONAL MDN, XGH, XGS, Sick/Stegma SRM 50 Hiperface ROTATIONAL MDN, XGH, XGS, Sick/Stegma SRM 60 Hiperface ROTATIONAL MDN, XGH, XGS, Sick/Stegma SRM 64 Hiperface ROTATIONAL MDN, XGH, XGS, Sick/Stegma SRS 50 Hiperface ROTATIONAL MDN, XGH, XGS, Sick/Stegma SRS 60 Hiperface ROTATIONAL MDN, XGH, XGS, Sick/Stegma SRS 64 Hiperface ROTATIONAL MDN, XGH, XGS, Stegma AG 100 MSSI SSI ROTATIONAL XGS, Stegma AG 626 SSI ROTATIONAL XGS, Stegma ARS60 SSI ROTATIONAL XGS, Stegma ATM60 SSI ROTATIONAL XGS, Stegma ATM90 SSI ROTATIONAL XGS, Stegma POMUX KH53 SSI LINEAR XGS, TR Electroic CE 58M CANope ROTATIONAL TR Electroic LE200 CANope LINEAR TR Electroic CE 58M SSI ROTATIONAL XGS, TR Electroic CE 65M SSI ROTATIONAL XGS, TR Electroic LA41K SSI LINEAR XGS, TR Electroic LE mm SSI LINEAR XGS, TR Electroic LE100 1mm SSI LINEAR XGS, TR Electroic LE mm SSI LINEAR XGS, Visolux EDM SSI LINEAR XGS, 244 System Maual MOVIAXIS Multi-Axis Servo Iverter

245 Additioal System Compoets Gear uits from SEW-EURODRIVE Gear uits from SEW-EURODRIVE All gear uits from SEW-EURODRIVE ca be mouted directly to the sychroous ad asychroous SEW servomotors Axially parallel gear uits Gear uit type RX.. R.. F.. PS.C.. PS.F.. Techical data Peak torque M apk Nm Max. cotiuous torque M amax Nm Max. iput speed epk rpm Up to 4500 Up to 4500 Up to 4500 Up to 7000 Up to 8000 Peak overhug load F rapk N Gear ratio rage i Optio with red. backlash /R x x x - x Optio with mi. backlash /M x Mechaical data Hollow shaft - - x - - Flage moutig x x x x x Foot moutig x x Flage block x B5 flage x x x x x B14 flage - x x x Right-agle gear uits Gear uit type K.. S.. W.7 BS.F.. Techical data Peak torque M apk Nm Max. cotiuous torque M amax Nm Max. iput speed epk rpm Peak overhug load F rapk N Gear ratio rage i Optio with red. backlash /R x x - x Optio with mi. backlash /M Mechaical data Hollow shaft x x x x Flage moutig x x x x Foot moutig x x x x Flage block x B5 flage x x x x B14 flage x x - - System Maual MOVIAXIS Multi-Axis Servo Iverter 245

246 7 Additioal System Compoets MOVI-PLC, MOVI-PLC I/O 7.3 MOVI-PLC, MOVI-PLC I/O MOVI-PLC is a series of cotrollers available from SEW-EURODRIVE. MOVI-PLC ca be programmed by users accordig to IEC ad PLCope Freely programmable motio ad logic cotroller (MOVI-PLC ) The cotroller ca be operated as freely programmable motio ad logic cotroller MOVI-PLC whe usig SD cards of the type OMH41B. MOVI-PLC is a series of programmable motio ad logic cotrollers. It allows drive solutios, logic processes ad sequece cotrols to be automated simply ad efficietly usig IEC compliat programmig laguages. MOVI-PLC is a uiversal solutio because it is able to cotrol the etire portfolio of SEW iverters ad offers a simple upgrade to a more powerful MOVI-PLC variat, thaks to its uiversal executio of the programs. MOVI-PLC is scalable due to several differet hardware platforms (advaced, etc.) ad modular software cocepts (libraries for umerous applicatios). MOVI-PLC is powerful due to extesive techologies (such as electroic cam, sychroous operatio) ad the cotrol of demadig applicatios (such as material hadlig). MOVI-PLC advaced performace class The DH.41B cotroller is characterized by a greater variety of iterfaces ad a higher performace level, which allows complex calculatios ad iterpolated movemets, for example. The DH.41B optio is therefore suitable for the automatio of cells ad machies. The itegrated Etheret iterface eables direct coectio of the DH.41B cotroller to the cotrol level. 246 System Maual MOVIAXIS Multi-Axis Servo Iverter

247 Additioal System Compoets MOVI-PLC, MOVI-PLC I/O Cofigurable applicatio cotroller (CCU) The cotroller ca be used as cofigurable applicatio cotroller (CCU) by usig SD cards of the type OMC41B. Oly stadardized applicatio modules created by SEW-EURODRIVE ca be executed. The applicatio modules ca be started up quickly ad coveietly by graphical cofiguratio. A defied process data iterface provides this fuctioality to a higher-level cotroller. A process data moitor with cotrol mode is available to support the startup procedure. CCU advaced performace class The "CCU advaced" performace class is iteded for applicatio modules with sigleaxis ad multi-axis fuctioality ad fast respose times. The followig applicatio modules are available: Sigle-axis fuctioality: Speed specificatio Cam positioig Bus positioig with 6 process data words Sigle-axis uiversal module Multi-axis fuctioality: SycCrae Eergy-efficiet SRS System Maual MOVIAXIS Multi-Axis Servo Iverter 247

248 8 Appedix Additioal documetatio from SEW-EURODRIVE 8 Appedix 8.1 Additioal documetatio from SEW-EURODRIVE For further iformatio about MOVIAXIS, refer to the followig documetatio: "MOVIAXIS Multi-Axis Servo Iverter" operatig istructios "Supply ad regeerative module" maual "MOVIAXIS Techology Fuctios" maual "Fuctioal Safety" maual "Techology Editor for Sigle-Axis Positioig" maual For additioal iformatio, refer to the followig documetatio: "Sychroous Servomotors" catalog: CMP40 CMP100, CMPZ71 CMPZ100, CFM71 CFM112 "Sychroous servo gearmotors" catalog: CMP ad CFM servomotors i combiatio with BSF, PSF, PSC, R, F, K, S, W gear uits "AC Motors" catalog: DRL71 DRL225MC, DRS, DRE, DRP "AC Motors" maual: DRL motor-iverter assigmets, dyamic ad thermal limit characteristic curves of the DRL motors "DOP11B Operator Termials" system maual "MOVI-PLC advaced DH.41B Cotroller" maual "MOVI-PLC I/O System" maual For the complete rage of available documetatio, go to our website at System Maual MOVIAXIS Multi-Axis Servo Iverter

249 Appedix Disposal of MOVIAXIS uits Disposal of MOVIAXIS uits Please dispose of MOVIAXIS uits accordig to their material properties ad i lie with applicable regulatios. 8.3 Cable dimesios to AWG AWG stads for America Wire Gauge ad refers to the size of the wires. This umber specifies the diameter or cross sectio of a wire i code. This type of cable desigatio is usually oly used i the USA. However, the desigatios ca also be see i catalogs or data sheets i Europe. AWG desigatio Cross sectio i mm (6/0) (5/0) (4/0) (3/0) (2/0) 70 0 (1/0) System Maual MOVIAXIS Multi-Axis Servo Iverter 249