Industrial Electric Drives Linear Motion And Service

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Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Rexroth IndraDrive Drive Controllers Control Sections Project Planning Manual Pneumatics Service Automation Mobile Hydraulics R911295012 Edition 02 About this Documentation Title Rexroth IndraDrive Rexroth IndraDrive Drive Controllers Control Sections Type of Documentation Document Typecode Internal File Reference Record of Revisions Copyright Project Planning Manual DOK-INDRV*-CSH********-PR02-EN-P Document number 120-2400-B302-02/EN Description Release Date Notes DOK-INDRV*-CHS********-PR01-EN-P 11.2003 first edition DOK-INDRV*-CHS********-PR02-EN-P 04.2004 revision  Bosch Rexroth AG 2003 Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1). Validity Published by The specified data only serve to describe the product. No statements concerning a certain condition or suitability for a certain application can be derived from our information. The given information does not release the user from the obligation of own judgement and verification. It must be remembered that our products are subject to a natural process of wear and aging. Bosch Rexroth AG Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main Telephone +49 (0)93 52/40-0 • Tx 68 94 21 • Fax +49 (0)93 52/40-48 85 http://www.boschrexroth.de/ Dept. EDY1 (US) Note This document has been printed on chlorine-free bleached paper. DOK-INDRV*-CSH********-PR02-EN-P Rexroth IndraDrive I Contents 1 Introduction 1.1 1-1 Documentation .............................................................................................................................. 1-1 Purpose of this Documentation................................................................................................ 1-1 Documentations - Overview..................................................................................................... 1-1 2 1.2 Basic Structure of the Drive Controller Rexroth IndraDrive .......................................................... 1-2 1.3 Power Section ............................................................................................................................... 1-3 1.4 Control Section.............................................................................................................................. 1-3 Important Directions for Use 2.1 2-1 Appropriate Use ............................................................................................................................ 2-1 Introduction .............................................................................................................................. 2-1 Areas of Use and Application................................................................................................... 2-2 2.2 3 Inappropriate Use.......................................................................................................................... 2-2 Safety Instructions for Electric Drives and Controls 3-1 3.1 Introduction ................................................................................................................................... 3-1 3.2 Explanations.................................................................................................................................. 3-1 3.3 Hazards by Improper Use ............................................................................................................. 3-2 3.4 General Information ...................................................................................................................... 3-3 3.5 Protection Against Contact with Electrical Parts ........................................................................... 3-5 3.6 Protection Against Electric Shock by Protective Low Voltage (PELV) ......................................... 3-6 3.7 Protection Against Dangerous Movements .................................................................................. 3-7 3.8 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting ....................................................................................................................................... 3-9 3.9 Protection Against Contact with Hot Parts .................................................................................. 3-10 3.10 Protection During Handling and Mounting .................................................................................. 3-10 3.11 Battery Safety.............................................................................................................................. 3-11 3.12 Protection Against Pressurized Systems .................................................................................... 3-11 4 Identification of the Control Section 4.1 4-1 Type Plates ................................................................................................................................... 4-1 Control Section Type Plate ...................................................................................................... 4-1 4.2 Type Codes................................................................................................................................... 4-2 BASIC ...................................................................................................................................... 4-2 ADVANCED ............................................................................................................................. 4-6 5 Transport and Storage 5.1 5-1 Transporting the Devices .............................................................................................................. 5-1 Conditions ................................................................................................................................ 5-1 DOK-INDRV*-CSH********-PR02-EN-P II Contents 5.2 Rexroth IndraDrive Storing the Devices ....................................................................................................................... 5-1 Conditions ................................................................................................................................ 5-1 In Case of Long Storage Periods............................................................................................. 5-1 6 Fixed Interfaces 6.1 6-1 Overview ....................................................................................................................................... 6-2 BASIC OPENLOOP ................................................................................................................. 6-2 BASIC SERCOS ...................................................................................................................... 6-3 BASIC PROFIBUS................................................................................................................... 6-4 BASIC ANALOG ...................................................................................................................... 6-5 BASIC UNIVERSAL................................................................................................................. 6-6 ADVANCED ............................................................................................................................. 6-7 6.2 X2, Serial Interface (RS232) ......................................................................................................... 6-8 6.3 X7, MultiMediaCard..................................................................................................................... 6-10 6.4 X8, ENS (Encoder Interface) ...................................................................................................... 6-11 6.5 X11/X12, Relay Contacts ............................................................................................................ 6-16 6.6 X16, Encoder Emulation ............................................................................................................. 6-18 6.7 X31/X32, Digital and Analog Inputs/Outputs, Relay Contacts, Voltage Input (24V, 0V) ............ 6-24 Relay Rel1.............................................................................................................................. 6-27 Digital Inputs E1 ... E3 ........................................................................................................... 6-28 Digital Inputs E4 ... E7 ........................................................................................................... 6-29 Digital Inputs E/A8 ... E/A11................................................................................................... 6-30 Digital Outputs E/A8 ... E/A11................................................................................................ 6-31 Analog Inputs EAn+ and EAn- ............................................................................................... 6-32 Analog Inputs EAn1+, EAn1-, EAn2+ and EAn2- .................................................................. 6-33 Analog Outputs An1, An2 ...................................................................................................... 6-34 Voltage Input (+24V, 0V) ....................................................................................................... 6-37 6.8 X33/X34, Digital Inputs................................................................................................................ 6-38 6.9 X35/X36, Analog Inputs/Outputs; Voltage Output (24V, 0V) ...................................................... 6-39 Analog Inputs ......................................................................................................................... 6-40 Analog Outputs ...................................................................................................................... 6-40 Voltage Output (+24V, 0V)..................................................................................................... 6-40 6.10 X*, Master Communication ......................................................................................................... 6-41 SERCOS interface (X20, X21)............................................................................................... 6-41 PROFIBUS Interface (X30).................................................................................................... 6-44 Parallel Interface (X15) .......................................................................................................... 6-48 6.11 H1 (Control Panel) ...................................................................................................................... 6-51 7 Options 7.1 7-1 Overview ....................................................................................................................................... 7-1 BASIC SERCOS ...................................................................................................................... 7-1 BASIC PROFIBUS................................................................................................................... 7-2 BASIC ANALOG ...................................................................................................................... 7-3 BASIC UNIVERSAL................................................................................................................. 7-4 ADVANCED ............................................................................................................................. 7-5 Reference to Description of Options........................................................................................ 7-6 DOK-INDRV*-CSH********-PR02-EN-P Rexroth IndraDrive 7.2 Contents III Encoder ......................................................................................................................................... 7-7 EN1: HSF, Resolver................................................................................................................. 7-7 EN2: EnDat2.1, 1Vss, 5VTTL ................................................................................................ 7-11 ENS: 1Vpp; HIPERFACE®, IndraDyn ................................................................................... 7-18 MEM: Encoder Emulator Module ........................................................................................... 7-19 7.3 Integrated Safety Technology ..................................................................................................... 7-20 L1: Starting Lockout ............................................................................................................... 7-20 S1: Safety Technology I/O ..................................................................................................... 7-22 8 9 7.4 MD1: Digital Input/Output Extension........................................................................................... 7-24 7.5 MA1: Analog Input/Output Extension.......................................................................................... 7-27 Service & Support 8-1 8.1 Helpdesk ....................................................................................................................................... 8-1 8.2 Service-Hotline.............................................................................................................................. 8-1 8.3 Internet .......................................................................................................................................... 8-1 8.4 Vor der Kontaktaufnahme... - Before contacting us...................................................................... 8-1 8.5 Kundenbetreuungsstellen - Sales & Service Facilities ................................................................. 8-2 Appendix 9-1 9.1 Power Consumption of Control Sections ...................................................................................... 9-1 9.2 Commissioning Aids Required in Preparation for Commissioning ............................................... 9-1 10 Index DOK-INDRV*-CSH********-PR02-EN-P 10-1 IV Contents Rexroth IndraDrive DOK-INDRV*-CSH********-PR02-EN-P Introduction 1-1 Rexroth IndraDrive 1 Introduction 1.1 Documentation Purpose of this Documentation This documentation describes • the planning the electrical construction • the installation of the drive system Documentations - Overview 1) Title Type of Documentation Document Typecode Rexroth IndraDrive Drive Controllers Control Sections Project Planning Manual DOK-INDRV*-CSH********-PRxx-EN-P Rexroth IndraDrive M Drive Controllers Power Sections Project Planning Manual DOK-INDRV*-HMS+HMD****-PRxx-EN-P Rexroth IndraDrive C Drive Controllers Power Sections HCS02.1 Project Planning Manual DOK-INDRV*-HCS02.1****-PRxx-EN-P Rexroth IndraDrive C Drive Controllers Power Sections HCS03.1 Project Planning Manual DOK-INDRV*-HCS03.1****-PRxx-EN-P Rexroth IndraDrive Supply Units Project Planning Manual DOK-INDRV*-HMV-*******-PRxx-EN-P Electromagnetic Compatibility (EMC) in Drive and Control Systems Project Planning Manual DOK-GENERAL-EMV********-PRxx-EN-P Rexroth IndraDrive Integrated Safety Technology Functional and Application DOK-INDRV*-SI*-**VRS**-FKxx-EN-P Description Connecting cables Selection Data DOK-CONNEC-CABLE*STAND-AUxx-EN-P Safety Guidelines DOK-GENERAL-DRIVE-******-SVSx-MS-P Safety Instructions for Electrical Drives 1) Fig. 1-1: DOK-INDRV*-CSH********-PR02-EN-P in the document type codes "xx" designates replacement characters for the update edition of the documentation (Example: "PR01" is the first edition of a project planning manual) Documentations - Overview 1-2 Introduction 1.2 Rexroth IndraDrive Basic Structure of the Drive Controller Rexroth IndraDrive 1 2 lt_rtf2.fh7 1: Power section 2: Control section Fig. 1-2: Basic structure of the drive controller Rexroth IndraDrive The drive controller consists of two essential parts: • Power section • Control section DOK-INDRV*-CSH********-PR02-EN-P Introduction 1-3 Rexroth IndraDrive 1.3 Power Section Detailed informations: See Project Planning Manuals of Rexroth IndraDrive Power Sections (see page 1-1). 1.4 Control Section The control section is a separate section which is inserted into the power section. The drive controller is supplied ex works complete with control section. Note: The control section must only be replaced by a Rexroth service engineer or by a trained user. Optional modules of the control section must only be replaced by a Rexroth service engineer. There are following control sections: • BASIC OPENLOOP (single-axis; type code: CSB01.1N-FC-...) • BASIC SERCOS (single-axis; type code: CSB01.1N-SE-...) • BASIC PROFIBUS (single-axis; type code: CSB01.1N-PB-...) • BASIC ANALOG (single-axis; type code: CSB01.1N-AN-...) • BASIC UNIVERSAL (single-axis; type code: CSB01.1C-...; double-axis; type code: CDB01.1C-...) • ADVANCED (type code: CSH01.1C-...) Note: Complete type codes: see chapter 4 The control sections differ regarding their configurability, interfaces, cycle time, and pulse frequency. The following table shows an overview: DOK-INDRV*-CSH********-PR02-EN-P 1-4 Introduction BASIC SERCOS (CSB01.1N-SE) BASIC PROFIBUS (CSB01.1N-PB) BASIC ANALOG (CSB01.1N-AN) BASIC UNIVERSAL (CSB01.1C; Single-axis) BASIC UNIVERSAL (CDB01.1C; Double-axis) ADVANCED (CSH01.1C) Configurable BASIC OPENLOOP (CSB01.1N-FC) Rexroth IndraDrive no no no no yes yes yes encoder [ENS] 3) encoder [ENS] encoder [ENS] encoder [ENS] o 1) o o o o o o Optional Modules: Option 1 Option 2 Option 3 Option 4 o Option Safety Technology I/O o 4) o 4) o 4) o 4) o o o o o o o o o o o Master Communication: x 1) SERCOS PROFIBUS x Parallel Analog o 5) x Standard Frequency Converter x Serial Interface RS232 x x x x x x x 8x 2) 5x 5x 14x 7x 1x 2x 2x 3x 8x 4x 1x 1x 2x 2x Inputs/Outputs: Digital Inputs 5x 5x thereof probe 1x 1x Digital Inputs/Outputs 3x 3x Analog Inputs 2x Analog Outputs 2x Relay Outputs 3x 4x 2x 1x 1x 1x 1x 1x 1x x x x x o o HSF/RSF [EN1] o o o EnDat2.1 / 1Vss / 5V TTL [EN2] o o o x o o o o o o o o o Encoder systems: IndraDyn, HIPERFACE®, 1Vss [ENS] 3) Encoder Emulator [MEM] Further Options: Drive Interlock [L1] o o Safety Technology I/O [S1] Digital I/O Extension [MD1] o Analog I/O Extension [MA1] o o o MultiMediaCard o o o DOK-INDRV*-CSH********-PR02-EN-P Introduction 1-5 BASIC OPENLOOP (CSB01.1N-FC) BASIC SERCOS (CSB01.1N-SE) BASIC PROFIBUS (CSB01.1N-PB) BASIC ANALOG (CSB01.1N-AN) BASIC UNIVERSAL (CSB01.1C; Single-axis) BASIC UNIVERSAL (CDB01.1C; Double-axis) ADVANCED (CSH01.1C) Rexroth IndraDrive Current control 125 µs 125 µs 125 µs 125 µs 125 µs 125 µs 62,5 µs Velocity control 250 µs 250 µs 250 µs 250 µs 250 µs 250 µs 125 µs Position control 500 µs 500 µs 500 µs 500 µs 500 µs 500 µs 250 µs Minimal SERCOS cycle time 500 µs 500 µs 500 µs 500 µs 500 µs 500 µs 250 µs 4 kHz o o o o o o o 8 kHz o o o o o o o Cycle time: Pulse frequency: 12 kHz o 16 kHz o 1) 2) 3) 4) 5) Fig. 1-3: DOK-INDRV*-CSH********-PR02-EN-P x = standard; o = option the number before the x means die number of inputs/outputs present designation of options in brackets starting lockout only requires MEM option Overview of control sections 1-6 Introduction Rexroth IndraDrive Notes DOK-INDRV*-CSH********-PR02-EN-P Important Directions for Use 2-1 Rexroth IndraDrive 2 Important Directions for Use 2.1 Appropriate Use Introduction Rexroth products represent state-of-the-art developments and manufacturing. They are tested prior to delivery to ensure operating safety and reliability. The products may only be used in the manner that is defined as appropriate. If they are used in an inappropriate manner, then situations can develop that may lead to property damage or injury to personnel. Note: Rexroth, as manufacturer, is not liable for any damages resulting from inappropriate use. In such cases, the guarantee and the right to payment of damages resulting from inappropriate use are forfeited. The user alone carries all responsibility of the risks. Before using Rexroth products, make sure that all the pre-requisites for an appropriate use of the products are satisfied: • Personnel that in any way, shape or form uses our products must first read and understand the relevant safety instructions and be familiar with appropriate use. • If the product takes the form of hardware, then they must remain in their original state, in other words, no structural changes are permitted. It is not permitted to decompile software products or alter source codes. DOK-INDRV*-CSH********-PR02-EN-P • Do not mount damaged or faulty products or use them in operation. • Make sure that the products have been installed in the manner described in the relevant documentation. 2-2 Important Directions for Use Rexroth IndraDrive Areas of Use and Application Drive controllers made by Rexroth are designed to control electrical motors and monitor their operation. Control and monitoring of the motors may require additional sensors and actors. Note: The drive controllers may only be used with the accessories and parts specified in this document. If a component has not been specifically named, then it may not be either mounted or connected. The same applies to cables and lines. Operation is only permitted in the specified configurations and combinations of components using the software and firmware as specified in the relevant function descriptions. Every drive controller has to be programmed before starting it up, making it possible for the motor to execute the specific functions of an application. The drive controllers are designed for use in single or multiple-axis drive and control applications. To ensure an application-specific use, the drive controllers are available with differing drive power and different interfaces. Typical applications of drive controllers are: • handling and mounting systems, • packaging and foodstuff machines, • printing and paper processing machines and • machine tools. The drive controllers may only be operated under the assembly, installation and ambient conditions as described here (temperature, system of protection, humidity, EMC requirements, etc.) and in the position specified. 2.2 Inappropriate Use Using the drive controllers outside of the above-referenced areas of application or under operating conditions other than described in the document and the technical data specified is defined as “inappropriate use". Drive controllers may not be used if • they are subject to operating conditions that do not meet the above specified ambient conditions. This includes, for example, operation under water, in the case of extreme temperature fluctuations or extremely high maximum temperatures or if • Rexroth has not specifically released them for that intended purpose. Please note the specifications outlined in the general safety instructions! DOK-INDRV*-CSH********-PR02-EN-P Safety Instructions for Electric Drives and Controls 3-1 Rexroth IndraDrive 3 Safety Instructions for Electric Drives and Controls 3.1 Introduction Read these instructions before the initial startup of the equipment in order to eliminate the risk of bodily harm or material damage. Follow these safety instructions at all times. Do not attempt to install or start up this equipment without first reading all documentation provided with the product. Read and understand these safety instructions and all user documentation of the equipment prior to working with the equipment at any time. If you do not have the user documentation for your equipment, contact your local Rexroth representative to send this documentation immediately to the person or persons responsible for the safe operation of this equipment. If the equipment is resold, rented or transferred or passed on to others, then these safety instructions must be delivered with the equipment. WARNING 3.2 Improper use of this equipment, failure to follow the safety instructions in this document or tampering with the product, including disabling of safety devices, may result in material damage, bodily harm, electric shock or even death! Explanations The safety instructions describe the following degrees of hazard seriousness in compliance with ANSI Z535. The degree of hazard seriousness informs about the consequences resulting from noncompliance with the safety instructions. Warning symbol with signal word Degree of hazard seriousness according to ANSI Death or severe bodily harm will occur. DANGER Death or severe bodily harm may occur. WARNING Bodily harm or material damage may occur. CAUTION Fig. 3-1: DOK-INDRV*-CSH********-PR02-EN-P Hazard classification (according to ANSI Z535) 3-2 Safety Instructions for Electric Drives and Controls 3.3 Rexroth IndraDrive Hazards by Improper Use High voltage and high discharge current! Danger to life or severe bodily harm by electric shock! DANGER Dangerous movements! Danger to life, severe bodily harm or material damage by unintentional motor movements! DANGER High electrical voltage due to wrong connections! Danger to life or bodily harm by electric shock! WARNING Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electrical equipment! WARNING Surface of machine housing could be extremely hot! Danger of injury! Danger of burns! CAUTION CAUTION Risk of injury due to improper handling! Bodily harm caused by crushing, shearing, cutting and mechanical shock or incorrect handling of pressurized systems! Risk of injury due to incorrect handling of batteries! CAUTION DOK-INDRV*-CSH********-PR02-EN-P Safety Instructions for Electric Drives and Controls 3-3 Rexroth IndraDrive 3.4 General Information • Bosch Rexroth AG is not liable for damages resulting from failure to observe the warnings provided in this documentation. • Read the operating, maintenance and safety instructions in your language before starting up the machine. If you find that you cannot completely understand the documentation for your product, please ask your supplier to clarify. • Proper and correct transport, storage, assembly and installation as well as care in operation and maintenance are prerequisites for optimal and safe operation of this equipment. • Only persons who are trained and qualified for the use and operation of the equipment may work on this equipment or within its proximity. • The persons are qualified if they have sufficient knowledge of the assembly, installation and operation of the equipment as well as an understanding of all warnings and precautionary measures noted in these instructions. • Furthermore, they must be trained, instructed and qualified to switch electrical circuits and equipment on and off in accordance with technical safety regulations, to ground them and to mark them according to the requirements of safe work practices. They must have adequate safety equipment and be trained in first aid. • Only use spare parts and accessories approved by the manufacturer. • Follow all safety regulations and requirements for the specific application as practiced in the country of use. • The equipment is designed for installation in industrial machinery. • The ambient conditions given in the product documentation must be observed. • Use only safety features and applications that are clearly and explicitly approved in the Project Planning Manual. For example, the following areas of use are not permitted: construction cranes, elevators used for people or freight, devices and vehicles to transport people, medical applications, refinery plants, transport of hazardous goods, nuclear applications, applications sensitive to high frequency, mining, food processing, control of protection equipment (also in a machine). • The information given in the documentation of the product with regard to the use of the delivered components contains only examples of applications and suggestions. The machine and installation manufacturer must • make sure that the delivered components are suited for his individual application and check the information given in this documentation with regard to the use of the components, • make sure that his application complies with the applicable safety regulations and standards and carry out the required measures, modifications and complements. • Startup of the delivered components is only permitted once it is sure that the machine or installation in which they are installed complies with the national regulations, safety specifications and standards of the application. DOK-INDRV*-CSH********-PR02-EN-P 3-4 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive • Operation is only permitted if the national EMC regulations for the application are met. The instructions for installation in accordance with EMC requirements can be found in the documentation "EMC in Drive and Control Systems". The machine or installation manufacturer is responsible for compliance with the limiting values as prescribed in the national regulations. • Technical data, connections and operational conditions are specified in the product documentation and must be followed at all times. DOK-INDRV*-CSH********-PR02-EN-P Safety Instructions for Electric Drives and Controls 3-5 Rexroth IndraDrive 3.5 Protection Against Contact with Electrical Parts Note: This section refers to equipment and drive components with voltages above 50 Volts. Touching live parts with voltages of 50 Volts and more with bare hands or conductive tools or touching ungrounded housings can be dangerous and cause electric shock. In order to operate electrical equipment, certain parts must unavoidably have dangerous voltages applied to them. High electrical voltage! Danger to life, severe bodily harm by electric shock! DANGER DOK-INDRV*-CSH********-PR02-EN-P ⇒ Only those trained and qualified to work with or on electrical equipment are permitted to operate, maintain or repair this equipment. ⇒ Follow general construction and safety regulations when working on high voltage installations. ⇒ Before switching on power the ground wire must be permanently connected to all electrical units according to the connection diagram. ⇒ Do not operate electrical equipment at any time, even for brief measurements or tests, if the ground wire is not permanently connected to the points of the components provided for this purpose. ⇒ Before working with electrical parts with voltage higher than 50 V, the equipment must be disconnected from the mains voltage or power supply. Make sure the equipment cannot be switched on again unintended. ⇒ The following should be observed with electrical drive and filter components: ⇒ Wait five (5) minutes after switching off power to allow capacitors to discharge before beginning to work. Measure the voltage on the capacitors before beginning to work to make sure that the equipment is safe to touch. ⇒ Never touch the electrical connection points of a component while power is turned on. ⇒ Install the covers and guards provided with the equipment properly before switching the equipment on. Prevent contact with live parts at any time. ⇒ A residual-current-operated protective device (RCD) must not be used on electric drives! Indirect contact must be prevented by other means, for example, by an overcurrent protective device. ⇒ Electrical components with exposed live parts and uncovered high voltage terminals must be installed in a protective housing, for example, in a control cabinet. 3-6 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive To be observed with electrical drive and filter components: High electrical voltage on the housing! High leakage current! Danger to life, danger of injury by electric shock! DANGER 3.6 ⇒ Connect the electrical equipment, the housings of all electrical units and motors permanently with the safety conductor at the ground points before power is switched on. Look at the connection diagram. This is even necessary for brief tests. ⇒ Connect the safety conductor of the electrical equipment always permanently and firmly to the supply mains. Leakage current exceeds 3.5 mA in normal operation. ⇒ Use a copper conductor with at least 10 mm² cross section over its entire course for this safety conductor connection! ⇒ Prior to startups, even for brief tests, always connect the protective conductor or connect with ground wire. Otherwise, high voltages can occur on the housing that lead to electric shock. Protection Against Electric Shock by Protective Low Voltage (PELV) All connections and terminals with voltages between 0 and 50 Volts on Rexroth products are protective low voltages designed in accordance with international standards on electrical safety. High electrical voltage due to wrong connections! Danger to life, bodily harm by electric shock! WARNING ⇒ Only connect equipment, electrical components and cables of the protective low voltage type (PELV = Protective Extra Low Voltage) to all terminals and clamps with voltages of 0 to 50 Volts. ⇒ Only electrical circuits may be connected which are safely isolated against high voltage circuits. Safe isolation is achieved, for example, with an isolating transformer, an opto-electronic coupler or when battery-operated. DOK-INDRV*-CSH********-PR02-EN-P Rexroth IndraDrive 3.7 Safety Instructions for Electric Drives and Controls 3-7 Protection Against Dangerous Movements Dangerous movements can be caused by faulty control of the connected motors. Some common examples are: • improper or wrong wiring of cable connections • incorrect operation of the equipment components • wrong input of parameters before operation • malfunction of sensors, encoders and monitoring devices • defective components • software or firmware errors Dangerous movements can occur immediately after equipment is switched on or even after an unspecified time of trouble-free operation. The monitoring in the drive components will normally be sufficient to avoid faulty operation in the connected drives. Regarding personal safety, especially the danger of bodily injury and material damage, this alone cannot be relied upon to ensure complete safety. Until the integrated monitoring functions become effective, it must be assumed in any case that faulty drive movements will occur. The extent of faulty drive movements depends upon the type of control and the state of operation. DOK-INDRV*-CSH********-PR02-EN-P 3-8 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive Dangerous movements! Danger to life, risk of injury, severe bodily harm or material damage! DANGER ⇒ Ensure personal safety by means of qualified and tested higher-level monitoring devices or measures integrated in the installation. Unintended machine motion is possible if monitoring devices are disabled, bypassed or not activated. ⇒ Pay attention to unintended machine motion or other malfunction in any mode of operation. ⇒ Keep free and clear of the machine’s range of motion and moving parts. Possible measures to prevent people from accidentally entering the machine’s range of motion: - use safety fences - use safety guards - use protective coverings - install light curtains or light barriers ⇒ Fences and coverings must be strong enough to resist maximum possible momentum, especially if there is a possibility of loose parts flying off. ⇒ Mount the emergency stop switch in the immediate reach of the operator. Verify that the emergency stop works before startup. Don’t operate the machine if the emergency stop is not working. ⇒ Isolate the drive power connection by means of an emergency stop circuit or use a starting lockout to prevent unintentional start. ⇒ Make sure that the drives are brought to a safe standstill before accessing or entering the danger zone. Safe standstill can be achieved by switching off the power supply contactor or by safe mechanical locking of moving parts. ⇒ Secure vertical axes against falling or dropping after switching off the motor power by, for example: - mechanically securing the vertical axes - adding an external braking/ arrester/ clamping mechanism - ensuring sufficient equilibration of the vertical axes The standard equipment motor brake or an external brake controlled directly by the drive controller are not sufficient to guarantee personal safety! DOK-INDRV*-CSH********-PR02-EN-P Safety Instructions for Electric Drives and Controls 3-9 Rexroth IndraDrive ⇒ Disconnect electrical power to the equipment using a master switch and secure the switch against reconnection for: - maintenance and repair work - cleaning of equipment - long periods of discontinued equipment use ⇒ Prevent the operation of high-frequency, remote control and radio equipment near electronics circuits and supply leads. If the use of such equipment cannot be avoided, verify the system and the installation for possible malfunctions in all possible positions of normal use before initial startup. If necessary, perform a special electromagnetic compatibility (EMC) test on the installation. 3.8 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting Magnetic and electromagnetic fields generated near current-carrying conductors and permanent magnets in motors represent a serious health hazard to persons with heart pacemakers, metal implants and hearing aids. Health hazard for persons with heart pacemakers, metal implants and hearing aids in proximity to electrical equipment! WARNING ⇒ Persons with heart pacemakers, hearing aids and metal implants are not permitted to enter the following areas: - Areas in which electrical equipment and parts are mounted, being operated or started up. - Areas in which parts of motors with permanent magnets are being stored, operated, repaired or mounted. ⇒ If it is necessary for a person with a heart pacemaker to enter such an area, then a doctor must be consulted prior to doing so. Heart pacemakers that are already implanted or will be implanted in the future, have a considerable variation in their electrical noise immunity. Therefore there are no rules with general validity. ⇒ Persons with hearing aids, metal implants or metal pieces must consult a doctor before they enter the areas described above. Otherwise, health hazards will occur. DOK-INDRV*-CSH********-PR02-EN-P 3-10 Safety Instructions for Electric Drives and Controls 3.9 Rexroth IndraDrive Protection Against Contact with Hot Parts Housing surfaces could be extremely hot! Danger of injury! Danger of burns! CAUTION ⇒ Do not touch housing surfaces near sources of heat! Danger of burns! ⇒ After switching the equipment off, wait at least ten (10) minutes to allow it to cool down before touching it. ⇒ Do not touch hot parts of the equipment, such as housings with integrated heat sinks and resistors. Danger of burns! 3.10 Protection During Handling and Mounting Under certain conditions, incorrect handling and mounting of parts and components may cause injuries. Risk of injury by incorrect handling! Bodily harm caused by crushing, shearing, cutting and mechanical shock! CAUTION ⇒ Observe general installation and safety instructions with regard to handling and mounting. ⇒ Use appropriate mounting and transport equipment. ⇒ Take precautions to avoid pinching and crushing. ⇒ Use only appropriate tools. If specified by the product documentation, special tools must be used. ⇒ Use lifting devices and tools correctly and safely. ⇒ For safe protection wear appropriate protective clothing, e.g. safety glasses, safety shoes and safety gloves. ⇒ Never stand under suspended loads. ⇒ Clean up liquids from the floor immediately to prevent slipping. DOK-INDRV*-CSH********-PR02-EN-P Safety Instructions for Electric Drives and Controls 3-11 Rexroth IndraDrive 3.11 Battery Safety Batteries contain reactive chemicals in a solid housing. Inappropriate handling may result in injuries or material damage. Risk of injury by incorrect handling! CAUTION Note: ⇒ Do not attempt to reactivate discharged batteries by heating or other methods (danger of explosion and cauterization). ⇒ Never charge non-chargeable batteries (danger of leakage and explosion). ⇒ Never throw batteries into a fire. ⇒ Do not dismantle batteries. ⇒ Do not damage electrical components installed in the equipment. Be aware of environmental protection and disposal! The batteries contained in the product should be considered as hazardous material for land, air and sea transport in the sense of the legal requirements (danger of explosion). Dispose batteries separately from other waste. Observe the legal requirements in the country of installation. 3.12 Protection Against Pressurized Systems Certain motors and drive controllers, corresponding to the information in the respective Project Planning Manual, must be provided with pressurized media, such as compressed air, hydraulic oil, cooling fluid and cooling lubricant supplied by external systems. Incorrect handling of the supply and connections of pressurized systems can lead to injuries or accidents. In these cases, improper handling of external supply systems, supply lines or connections can cause injuries or material damage. Danger of injury by incorrect handling of pressurized systems! CAUTION Note: DOK-INDRV*-CSH********-PR02-EN-P ⇒ Do not attempt to disassemble, to open or to cut a pressurized system (danger of explosion). ⇒ Observe the operation instructions of the respective manufacturer. ⇒ Before disassembling pressurized systems, release pressure and drain off the fluid or gas. ⇒ Use suitable protective clothing (for example safety glasses, safety shoes and safety gloves) ⇒ Remove any fluid that has leaked out onto the floor immediately. Environmental protection and disposal! The media used in the operation of the pressurized system equipment may not be environmentally compatible. Media that are damaging the environment must be disposed separately from normal waste. Observe the legal requirements in the country of installation. 3-12 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive Notes DOK-INDRV*-CSH********-PR02-EN-P Identification of the Control Section 4-1 Rexroth IndraDrive 4 Identification of the Control Section 4.1 Type Plates Each drive component is identified by a type designation. A type plate is attached to all units, including the motor. 1 2 lt_rt_typenschilderf2.fh7 1: Power section type plate 2: Control section type plate Fig. 4-1: Type plates on the drive controller Control Section Type Plate Type Part number CSH01.1N-SE-NNN-EN2NNN-NN-NN-FW/S200 MNR: R911293808 FD: 04W12 (7260) Production week SN:CSH011-00123 0A01 0S01 Example: 04W12 means week 12 in year 2004 Serial number Barcode Hardware index csh_typenschild.fh7 Fig. 4-2: DOK-INDRV*-CSH********-PR02-EN-P Control section type plate 4-2 Identification of the Control Section 4.2 Rexroth IndraDrive Type Codes Note: The figures below illustrate how the type codes are put together. Your sales representative will help with the current status of available versions. BASIC Single-Axis Designations of the control sections: • BASIC OPENLOOP (type code: CSB01.1N-FC-...); (internal designation: BASIC 1) • BASIC SERCOS (type code: CSB01.1N-SE-...); (internal designation: BASIC 2) • BASIC PROFIBUS (type code: CSB01.1N-PB-...); (internal designation: BASIC 3) • BASIC ANALOG (type code: CSB01.1N-AN-...); (internal designation: BASIC 4) • BASIC UNIVERSAL (single-axis; type code: CSB01.1C-...); (internal designation: BASIC 5) DOK-INDRV*-CSH********-PR02-EN-P Identification of the Control Section 4-3 Rexroth IndraDrive Abbrev. Column 1 2 3 4 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 Example: C S B 0 1 . 1 N - S E - E N S - N N N - N N - S - N N - F W 1. 1.1 Product CSB. . . . . . . . = CSB 2. 2.1 Line 1 . . . . . . . . . . . . . . . . = 01 3. 3.1 Design 1......................=1 4. 4.1 4.2 Configuration option configurable. . . . . . . . . . . . . . . = C fixed configurated . . . . . . . . . . = N 5. 5.1 5.2 5.3 5.4 Master communication Frequency converter interface. . . . = FC 1 Analogue interface. . . . . . . . . . . . . = AN 1 Profibus-DP interface. . . . . . . . . . . = PB SERCOS interface. . . . . . . . . . . . . = SE 6. 6.1 6.2 Option 1 Encoder IndraDyn / HIPERFACE® / 1Vss = ENS 2 not equipped . . . . . . . . . . . . . . . . . . . . . . = NNN 3 7. 7.1 7.2 7.3 7.4 7.5 7.6 Option 2 4 Encoder HSF / RSF . . . . . . . . . . . . . . . . . . . . . . . . = EN1 Encoder EnDat / 1Vss / TTL. . . . . . . . . . . . . . . . . . = EN2 Encoder IndraDyn / HIPERFACE® / 1Vss . . . . . . . = ENS Analogue I/O module . . . . . . . . . . . . . . . . . . . . . . . = MA1 Encoder emulator module . . . . . . . . . . . . . . . . . . . = MEM not equipped. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NNN 8. 8.1 8.2 Safety option Starting lock-out. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = L1 2 without . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NN 9. 9.1 Display Standard display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = S 10. Other design 10.1 none . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NN 11. Firmware 11.1 Denotes that firmware must be ordered as separate subposition. . . . . . . . . . . = FW Note: 1 only if configuration option "N" 2 not available if master communication "FC" 3 only available for master communication "FC" 4 "NNN" at option 2 is only available if configuration option "N" Fig. 4-3: DOK-INDRV*-CSH********-PR02-EN-P Type code control section BASIC (single-axis drive controller) 4-4 Identification of the Control Section Rexroth IndraDrive Double-Axis Designation of the control section: • BASIC UNIVERSAL (type code: CDB01.1C-...); (internal designation: BASIC 5) Abbrev. Column 1 2 3 4 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 Example: C D B 0 1 . 1 C - S E - N N N - N N N - N N N - E N 1 - N N - S - N N - F W 1. 1.1 Product CDB. . . . . . . . = CDB 2. 2.1 Line 1. . . . . . . . . . . . . . . . . = 01 3. 3.1 Design 1......................=1 4. 4.1 Configuration option configurable. . . . . . . . . . . . . . . = C 5. 5.1 5.2 Master communication Profibus-DP interface. . . . . . . . . . . = PB SERCOS interface. . . . . . . . . . . . . = SE 6. 6.1 6.2 6.3 6.4 Option 1 (X4.1) Encoder HSF / RSF. . . . . . . . . . . . . . . . . = EN1 Encoder EnDat / 1Vss / TTL . . . . . . . . . . = EN2 Encoder IndraDyn / HIPERFACE® / 1Vss = ENS not equipped . . . . . . . . . . . . . . . . . . . . . . = NNN 7. 7.1 7.2 7.3 7.4 Option 2 (X4.2) Encoder HSF / RSF . . . . . . . . . . . . . . . . . . . . . . . = EN1 Encoder EnDat / 1Vss / TTL . . . . . . . . . . . . . . . . . = EN2 Encoder IndraDyn / HIPERFACE® / 1Vss . . . . . . . = ENS not equipped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NNN Fig. 4-4: Type code control section BASIC UNIVERSAL (double-axis); (continuation on next page) DOK-INDRV*-CSH********-PR02-EN-P Identification of the Control Section 4-5 Rexroth IndraDrive Abbrev. Column 1 2 3 4 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 Example: C D B 0 1 . 1 C - S E - N N N - N N N - N N N - E N 1 - N N - S - N N - F W 8. 8.1 8.2 8.3 8.4 8.5 8.6 Option 3 (X8.1) Encoder HSF / RSF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = EN1 Encoder EnDat / 1Vss / TTL. . . . . . . . . . . . . . . . . . . . . . . . = EN2 Encoder IndraDyn / HIPERFACE / 1Vss. . . . . . . . . . . . . . . = ENS Analog I/O module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = MA1 Encoder emulator module. . . . . . . . . . . . . . . . . . . . . . . . . . = MEM not equipped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NNN 9. 9.1 9.2 9.3 9.4 9.5 9.6 Option 4 (X8.2) Encoder HSF / RSF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = EN1 Encoder EnDat / 1Vss / TTL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = EN2 Encoder IndraDyn / Hiperface / 1Vss . . . . . . . . . . . . . . . . . . . . = ENS Analogue I/O module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = MA1 Encoder emulator module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = MEM not equipped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NNN 10. 10.1 10.2 10.3 Safety option (X41.1 / X42.1) Starting lock-out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = L1 without. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NN Safety technology I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = S1 1 11. Display 11.1 comfort display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = C 11.2 standard display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = S 12. Other design 12.1 none. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NN 13. Firmware 13.1 Denotes that firmware must be ordered as separate subposition . . . . . . . . . . . . . . . . . . . . . . . . . = FW Note: 1 = only allowed if "Option 1" and "Option 2" have been equipped with an encoder Fig. 4-5: DOK-INDRV*-CSH********-PR02-EN-P Type code (continued) control section BASIC UNIVERSAL (double-axis) 4-6 Identification of the Control Section Rexroth IndraDrive ADVANCED Abbrev. Column 1 2 3 4 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 Example: C S H 0 1 . 1 C - S E - N N N - N N N - N N N - N N - S - N N - F W 1. 1.1 Product CSH . . . . . . . . . . = CSH 2. 2.1 Line 1 . . . . . . . . . . . . . . . . . . . = 01 3. 3.1 Design 1. . . . . . . . . . . . . . . . . . . . . . . . . = 1 4. 4.1 4.2 Configuration option configurable . . . . . . . . . . . . . . . . . . = C none. . . . . . . . . . . . . . . . . . . . . . . . = N 5. 5.1 5.2 5.3 Master communication SERCOS interface . . . . . . . . . . . . . . . . . . = SE PROFIBUS-DP interface . . . . . . . . . . . . . . = PB Parallel interface . . . . . . . . . . . . . . . . . . . = PL 6. 6.1 6.2 6.3 6.4 Option 1 (X4) Encoder HSF / RSF . . . . . . . . . . . . . . . . . . . . . . . Encoder EnDat / 1Vss / TTL . . . . . . . . . . . . . . . Encoder IndraDyn / Hiperface / 1Vss . . . . . . . . not equipped . . . . . . . . . . . . . . . . . . . . . . . . . . 7. 7.1 7.2 7.3 7.4 7.5 7.6 Option 2 (X8) Encoder HSF / RSF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = EN1 Encoder EnDat / 1Vss / TTL . . . . . . . . . . . . . . . = EN2 Encoder IndraDyn / Hiperface / 1Vss. . . . . . . . . . . . . . . . . .= ENS Analog E/A module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = MA1 Encoder emulator module . . . . . . . . . . . . . . . . . . . . . . . . . = MEM not equipped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NNN Fig. 4-6: = EN1 = EN2 = ENS = NNN Type code control section ADVANCED (continuation on next page) DOK-INDRV*-CSH********-PR02-EN-P Identification of the Control Section 4-7 Rexroth IndraDrive Abbrev. Column 1 2 3 4 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 Example: C S H 0 1 . 1 C - S E - N N N - N N N - N N N - N N - S - N N - F W 8. 8.1 8.2 8.3 8.4 8.5 8.6 Option 3 (X10) Encoder HSF / RSF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = EN1 Encoder EnDat / 1Vss / TTL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = EN2 Encoder IndraDyn / Hiperface / 1Vss . . . . . . . . . . . . . . . . . . . . = ENS Digital E/A module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = MD1 Encoder emulator module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = MEM not equipped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NNN 9. 9.1 9.2 9.3 Safety option (X41) Drive interlock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = L1 1 Safety technology I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = S1 1 without . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NN1 10. Display 10.1 comfort display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = C 10.2 standard display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = S 11. Other design 11.1 none . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . = NN 12. Firmware 12.1 Denotes that firmware must be ordered as separate subposition. . . . . . . . . . . . . . . . . . . . . . . . . . . . = FW Remark: 1 = allowed only, if "Option 1" is an encoder Example: CSH01.1 Option 1 (X4) Option 2 (X8) Option 4 (X41) Option 3 (X10) Fig. 4-7: DOK-INDRV*-CSH********-PR02-EN-P Type code control section ADVANCED (continued) 4-8 Identification of the Control Section Rexroth IndraDrive Notes DOK-INDRV*-CSH********-PR02-EN-P Transport and Storage 5-1 Rexroth IndraDrive 5 Transport and Storage 5.1 Transporting the Devices Conditions temperature -25 ... 70 °C relative humidity 5 ... 95%; climatic category 2K3 absolute humidity 1 ... 60 g/m climatic category 2K3 moisture condensation slight moisture condensation allowed icing not allowed Shock check not in operation according to EN 60068-2-27 Halve sine in 3 axis: 10g / 11ms Fig. 5-1: 5.2 3 Conditions for transport Storing the Devices Conditions temperature -25 ... 55 °C relative humidity 5 ... 95%; climatic category 1K3 absolute humidity 1 ... 29 g/m climatic category 1K3 moisture condensation not allowed icing not allowed Fig. 5-2: 3 Conditions for storage In Case of Long Storage Periods The devices contain sensitive electrolytic capacitors. Therefore, in the case of long storage periods, operate the devices once a year for at least 1 hour with powered on control voltage (control panel must be active) and powered on 24 V voltage supply of the isolated I/Os. DOK-INDRV*-CSH********-PR02-EN-P 5-2 Transport and Storage Rexroth IndraDrive Notes DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-1 Rexroth IndraDrive 6 Fixed Interfaces The control section interfaces are divided into optional and fixed interfaces. The optional interfaces are identified here as options. • the control section BASIC OPENLOOP has only fixed interfaces • the following control sections have fixed interfaces and can be equipped with options: • BASIC SERCOS • BASIC PROFIBUS • BASIC ANALOG • BASIC UNIVERSAL • ADVANCED In this chapter only the fixed interfaces are described. Description of options: see chapter 7 DOK-INDRV*-CSH********-PR02-EN-P 6-2 Fixed Interfaces 6.1 Rexroth IndraDrive Overview BASIC OPENLOOP X31 X32 X11 X12 X35 X36 X2 H1 basic_openloop_schnittstellen Fig. 6-1: BASIC OPENLOOP Interface Meaning Description on page X2 serial interface 6-8 X11/X12 relay contacts 6-16 X31/X32 digital and analog inputs/outputs; voltage input (24V, 0V) 6-24 X35/X36 analog inputs/outputs; voltage output (24V, 0V) 6-39 H1 interface for control panel 6-51 Fig. 6-2: Overview DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-3 Rexroth IndraDrive BASIC SERCOS X8 X31 X32 SERCOS: X20 TX X21 RX LED H20 X2 H1 basic_sercos_schnittstellen Fig. 6-3: BASIC SERCOS Interface Meaning Description on page X2 serial interface 6-8 X8 ENS (encoder interface) 6-11 X31/X32 digital inputs/outputs; relay contacts; voltage input (24V, 0V) 6-24 SERCOS master communication 6-41 H1 interface for control panel 6-51 Fig. 6-4: DOK-INDRV*-CSH********-PR02-EN-P Overview 6-4 Fixed Interfaces Rexroth IndraDrive BASIC PROFIBUS X8 X31 X32 PROFIBUS: X30 LED H30 X2 H1 basic_profibus_schnittstellen Fig. 6-5: BASIC PROFIBUS Interface Meaning Description on page X2 serial interface 6-8 X8 ENS (encoder interface) 6-11 X31/X32 digital inputs/outputs; relay contacts; voltage input (24V, 0V) 6-24 PROFIBUS master communication 6-44 H1 interface for control panel 6-51 Fig. 6-6: Overview DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-5 Rexroth IndraDrive BASIC ANALOG X8 X31 X32 X16 X2 H1 basic_analog_schnittstellen Fig. 6-7: BASIC ANALOG Interface Meaning Description on page X2 serial interface 6-8 X8 ENS (encoder interface) 6-11 X16 encoder emulation 6-18 X31/X32 digital and analog inputs/outputs; relay contacts; voltage input (24V, 0V) 6-24 H1 interface for control panel 6-51 Fig. 6-8: DOK-INDRV*-CSH********-PR02-EN-P Overview fixed interfaces 6-6 Fixed Interfaces Rexroth IndraDrive BASIC UNIVERSAL X7 X33 X34 X31 X32 X8 X32 X31 X7 X* X* X2 X2 H1 H1 basic_universal_schnittstellen Fig. 6-9: basic_universal_doppelachs_schnittstellen BASIC UNIVERSAL (left: single axis; right: double-axis) Interface Meaning Description on page X2 serial interface 6-8 X7 MultiMediaCard 6-10 X8 ENS (encoder interface) 6-11 X31/X32 digital and analog inputs/outputs; relay contacts; voltage input (24V, 0V) 6-24 X33/X34 digital inputs 6-38 X* master communication (different types possible) 6-41 H1 interface for control panel 6-51 Fig. 6-10: Overview DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-7 Rexroth IndraDrive ADVANCED X7 X32 X31 X* X2 H1 advanced_feste_ss Fig. 6-11: ADVANCED Interface Meaning Description on page X2 serial interface 6-8 X7 MultiMediaCard 6-10 X31/X32 digital and analog inputs/outputs; relay contacts; voltage input (24V, 0V) 6-24 X* master communication (different types possible) 6-41 H1 interface for control panel 6-51 Fig. 6-12: DOK-INDRV*-CSH********-PR02-EN-P Overview 6-8 Fixed Interfaces 6.2 Rexroth IndraDrive X2, Serial Interface (RS232) Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x x x x x The serial interface (RS232) is required for programming, parameterization and diagnosis during commissioning and servicing. The interface permits: • a maximum of one node • transmission length of up to 15 m • baud rates of 9600/19200 baud 5 8 2 7 1 4 6 3 PS2_stecker.fh7 Fig. 6-13: Design X2 terminal connector Type Number of poles Type of design 8 bushing on unit Cross section multiwire [mm²] Cross section in AWG Gauge No. MiniDIN Fig. 6-14: Design Connection cross section Cross section single-wire [mm²] Fig. 6-15: Connection -0.25 – 0.5 Connection cross section X2_UART_RTS 1 X2_UART_CTS 2 X2_UART_TxD 3 GND 4 X2_UART_RxD 5 Vcc 6 n.c. 7 n.c. 8 -- DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-9 Rexroth IndraDrive max. 15 m RKB0041 X2 RxD 2 3 TxD 3 5 GND 5 4 CTS 8 1 2 6 PC with 9-pin TxD RxD GND RTS CTS Vcc D-SUB connector max. 15 m X2 TxD 2 3 RxD 3 5 GND 7 4 CTS 5 1 2 PC with 25-pin 6 TxD RxD GND RTS CTS Vcc D-SUB connector RT_X2_anschlussf3.FH7 DOK-INDRV*-CSH********-PR02-EN-P Fig. 6-16: Connecting a PC to the RS232 interface Note: The interface does not have an electrical isolation. The electrode voltage between control section and connected data terminal equipment must not exceed 1 V. 6-10 Fixed Interfaces 6.3 Rexroth IndraDrive X7, MultiMediaCard Description Present at: BASIC OPENLOOP Note: BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x A MultiMediaCard (MMC) is not within scope of delivery. A MMC is available as option. X7 is for reading data (firmware, parameter, operating data) from resp. storing data on a MultiMediaCard (MMC). Note: You will find a description of how to handle the MMC in the documentation of the firmware. DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-11 Rexroth IndraDrive 6.4 X8, ENS (Encoder Interface) Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL x x x x ADVANCED Encoder with control voltage supply of 12 volt: • 1 Vpp with reference track • 1 Vpp with HIPERFACE® • IndraDyn (encoder interface of MSK motors) Design Type Number of poles Design D-SUBMINIATURE 15 bushing on unit 1 9 8 15 d-sub-15-buchsef1.FH7 Fig. 6-17: Connection Cross Section Cross section single-wire [mm²] Fig. 6-18: Connection DOK-INDRV*-CSH********-PR02-EN-P D-subminiature bushing Cross section multiwire [mm²] Cross section in AWG Gauge No. -0.25 - 0.5 Connection cross section -- 1 GND_Shield 2 A+ shield connection 3 A- 4 GND_Encoder 5 B+ 6 B- 7 EncData+ Data+ 8 EncData- Data- track A 1 Vss ground track B 1 Vss 9 R+ 10 R- 11 VCC_Encoder power supply 12 - n.c. 13 EncCLK+ clock+ 14 EncCLK+ clock- 15 - n.c. reference track 6-12 Fixed Interfaces Rexroth IndraDrive Terminal Connection Diagram Sine Encoder 15-pin D-sub. connector (screw mounting) encoder A+ AB+ BGND_Shield R+ R- GND_Encoder VCC_Encoder 1) 2 A+ 3 A- 5 B+ 6 B- 1 GND_Shield 9 R+ 10 R- 12 n.c. 15 n.c. 4 GND_Encoder 11 VCC_Encoder 7 EncData+ 8 EncData- 13 EncCLK+ 14 EncCLK- 2) 9 8 15 1 hfi03_sinus_anschluss.fh7 1) connect to connector housing 2) connect to shield connection XS1 at the drive controller Fig. 6-19: Terminal connection diagram sine encoder Terminal Connection Diagram HIPERFACE® 15-pin D-sub. connector (screw mounting) encoder A+ AB+ BGND_Shield R+ R- GND_Encoder VCC_Encoder EncData+ EncData- 1) 2 A+ 3 A- 5 B+ 6 B- 1 GND_Shield 9 R+ 10 R- 12 n.c. 15 n.c. 4 GND_Encoder 11 VCC_Encoder 7 EncData+ 8 EncData- 13 EncCLK+ 14 EncCLK- 9 8 15 1 hfi03_hiper_anschluss.fh7 2) 1) connect to connector housing 2) connect to shield connection XS1 at the drive controller Fig. 6-20: Terminal connection diagram HIPERFACE® DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-13 Rexroth IndraDrive Terminal Connection Diagram IndraDyn Encoder 15-pin D-sub. connector (screw mounting) encoder A+ AB+ BGND_Shield R+ R- GND_Encoder VCC_Encoder EncData+ EncDataEncCLK+ EncCLK- 1) 2 A+ 3 A- 5 B+ 6 B- 1 GND_Shield 9 R+ 10 R- 12 n.c. 15 n.c. 4 GND_Encoder 11 VCC_Encoder 7 EncData+ 8 EncData- 13 EncCLK+ 14 EncCLK- 2) 9 8 15 1 hfi03_indradyn_anschluss.fh7 1) connect to connector housing 2) connect to shield connection XS1 at the drive controller Fig. 6-21: Terminal connection diagram IndraDyn encoder VCC_Encoder Features of the encoder output amplifier stage VCC_Encoder: 11.6 V ±3% output voltage max. output current Fig. 6-22: 300 mA Features of the encoder output amplifier stage VCC_Encoder Input Circuit for Sine Signals A+, A- resp. B+, B- resp. R+, R-: E+ 120R E- hfi02_sin_ein_schalt.FH7 Block diagram Fig. 6-23: Input circuit for sine signals Features of the differential input: Sine Encoder Input voltage max. allowed amplitude encoder signal (USSencoder signal) (1.0 + 0.2) Vpp evaluation AD converter limit frequency (-3 dB) 12 bit to be defined input resistance Fig. 6-24: Features of the differential input (Sine encoder) DOK-INDRV*-CSH********-PR02-EN-P 120R 6-14 Fixed Interfaces Rexroth IndraDrive Signal Assignment to the Actual Position Value Signal assignment Signal designation Signal form Actual position value (with default setting) A+ AB+ B- sine (1Vpp) without absolute value decreasing sine (1 Vpp) with absolute value increasing R+ R- A+ AB+ B- Fig. 6-25: Signal assignment to the actual position value Note: Default setting: => see Functional Description of firmware DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-15 Rexroth IndraDrive Allowed Encoder Cable Lengths Selecting wire cross sections Note: The current consumption of the connected encoder systems generates a voltage drop due to the ohmic resistance of the wire (dependent upon the wire cross sections and lengths). This reduces the signal at the encoder input. To compensate the voltage drop, the drive controller can influence the encoder power source. Using a voltage sensor, the available voltage at the encoder is detected. ⇒ For a given wire length and encoder current consumption, a minimum cross section becomes necessary. This relationship is illustrated below. 2 • wire cross section: 0.5 mm • minimum allowed power supply: 9 V ±5% and 10 V ±5% 150 140 130 120 110 length [m] 100 90 9V 80 70 60 50 10 V 40 30 20 100 150 200 250 300 350 current consumption [mA] hfi03_kabellaenge.fh7 Fig. 6-26: Cable lengths DOK-INDRV*-CSH********-PR02-EN-P 6-16 Fixed Interfaces 6.5 Rexroth IndraDrive X11/X12, Relay Contacts Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x X11 X12 1 2 3 4 5 Design Connection cross section Type Number of poles Type of design spring tension 2x5 bushing on connector Cross section single-wire [mm²] Cross section multiwire [mm²] Cross section in AWG Gauge No. Fig. 6-27: Connection Assignment 1 2 3 4 5 Pin -0.08-1.5 Connection cross section 28-14 Function X11/1 n.c. X11/2 n.c. X11/3 Relay 3 NO X11/4 Relay 3 COM X11/5 Relay 3 NC X12/1 Relay 1 (a) X12/2 Relay 1 (b) X12/3 Relay 2 NO X12/4 Relay 2 COM X12/5 Relay 2 NC DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-17 Rexroth IndraDrive Circuit (Relay 2, Relay 3) a b +24V c Rel_On GND Rt_X3_Rel_basic.fh7 Fig. 6-28: Relay 2, relay 3 contacts (a: NO; b: NC; c: common contact) Data max. switching voltage DC 30 V AC 250 V max. continuous current DC 5 A AC 2 A minimum contact load 10 mA 10 mA 100.000 100.000 guaranteed number of switching operations at max. time constant of load < 50 ms Fig. 6-29: Data Circuit Relay 1 +24V Rel1(a) Rel1(b) GND Rt_X3_Bb1_Bb2.fh7 Fig. 6-30: Relay 1 Data max. switching voltage DC 30 V AC 250 V max. continuous current DC 5 A AC 2 A minimum contact load 10 mA 10 mA 100.000 100.000 guaranteed number of switching operations at max. time constant of load < 50 ms Fig. 6-31: DOK-INDRV*-CSH********-PR02-EN-P Data 6-18 Fixed Interfaces 6.6 Rexroth IndraDrive X16, Encoder Emulation Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x Emulation of absolute and incremental encoder. Only one encoder can be connected and be active at a time. The encoder signals are galvanically isolated from the printed circuit board. An external power supply is not required. Design Type Number of poles Type of design D-Sub 15 pins on unit 8 1 15 9 d-sub-15-stiftf2.FH7 Connection Cross Section Cross section single-core [mm²] Fig. 6-32: Cross section multi-core [mm²] -0.25-0.5 Connection cross section Cross section in AWG gauge No. -- DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-19 Rexroth IndraDrive Pin Configuration Pin Function I/O 1 n.c. - - 2 n.c. - - 3 encoder emulation (SSI) SSI_CLK+ I 4 encoder emulation (SSI) SSI_CLK- I 5 n.c. - - 6 n.c. - - 7 n.c. - - 8 n.c. - - 9 encoder emulation (incremental) UA0+ O SSI_Data+ O 0V - UA0- O SSI_Data- O encoder emulation (SSI) 10 ground 11 encoder emulation (incremental) encoder emulation (SSI) 12 encoder emulation (incremental) UA1+ O 13 encoder emulation (incremental) UA1- O 14 encoder emulation (incremental) UA2+ O 15 encoder emulation (incremental) UA2- O Fig. 6-33: Cable Symbol Pin configuration max. cable length: 40 m max. allowed capacitance per length unit – between the outputs – between output and 0 V 5 nF 10 nF double shield protected shielding Damaging potential by utilizing non and single shielded cables. ⇒ Utilize double shielded cables. CAUTION Note: DOK-INDRV*-CSH********-PR02-EN-P Refresh rate of the actual position value output: see documentation of firmware 6-20 Fixed Interfaces Rexroth IndraDrive Incremental Encoder Emulation Connection Incremental encoder emulation length l CNC positioning interface -incremental- 12 13 UA1+ UA1- 14 15 10 9 11 UA2+ UA20V UA0+ UA0- 0 Vext emu_inkr_anschluss_indrv.FH7 Fig. 6-34: Differential outputs incremental encoder emulation Connection of incremental actual position value output Output voltage: min. High 2.5 V 5V Low 0V 0.5 V max. max. output current Iout I20I mA max. load capacitance between output and 0 V 10 nF max. output frequency f 1 MHz Overload protection Fig. 6-35: Differential outputs Signal for incremental actual position value output present one line UA1 Square-wave pulse looking at the motor shaft and in clockwise direction UA2 UA0 t1 t1 t1 < 50 ns Fig. 6-36: SV0201F1.FH7 Signal for incremental actual position value output Output frequency f f= Line Quantity •n Revolution s f: output frequency n: velocity (rotary) Fig. 6-37: Calculating the output frequency f Note: The output frequency results from the parameter setting. => See also firmware functional description: "Encoder Emulation". DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-21 Rexroth IndraDrive Pass-band width of the controller-side signal filtering for UA1 and UA2 Note: Conditionally due to the internal signal processing the period duration and the duty cycle of the signals put out vary. Therefore the following requirements of the signal filtering for UA1 and UA2 arise. • f ≥ 500 kHz fPass ≥ 1 MHz • f < 500 kHz fPass ≥ 2 x f Note: The evaluation electronics of the control must be able to process the maximum output frequency of 1 MHz. Otherwise not all of the signal pulses can be evaluated. Note: The frequency measurement is not suitable for the RPM measurement derived from the incremental emulator signals. RPM Measurement DOK-INDRV*-CSH********-PR02-EN-P 6-22 Fixed Interfaces Rexroth IndraDrive Absolute Encoder-Emulation (SSI-format) Connection Absolute Encoder Emulation length l CNC 3 4 10 9 11 positioninginterface -absolute- SSIClk+ SSIClk0V SSIData+ SSIData- 0 Vext emu_absolut_anschluss_indrv.FH7 Fig. 6-38: Differential input circuit absolute encoder emulation Output of absolute actual position value in SSI format SSICLK+ R2 R1 C1 SSICLK- R3 Ap5321f1.fh7 Schematics R1: R2: R3: C1: Fig. 6-39: Differential inputs absolute encoder emulation 332R 100R 100R 1 nF Differential input circuit Input voltage: min. High 2.5 V 5V Low 0V 0.5 V max. Input resistance see circuit Pulse frequency (100 – 1000 kHz) Encoder signals are galvanically isolated from the printed circuit board Polarity protected within allowable input voltage range Fig. 6-40: Differential outputs absolute encoder emulation Differential inputs Output voltage: min. max. High 2.5 V 5V Low 0V 0.5 V max. output current Iout I20I mA max. load capacitance between output and 0 V 10 nF max. output frequency f 1 MHz Overload protection Fig. 6-41: Differential outputs present DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-23 Rexroth IndraDrive Note: The differential outputs correspond to RS422 specs. A termination resistor is required an the controller side, if it is not present then add an external resistance of 150 - 180 Ohm. Pulse diagram for absolute actual position output (SSI format) resolution for 4096 rotations resolution for 1 rotations T Tp pulse 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 1 2 data 1 1 G23 G22 G21 G20 G19 G18 G17 G16 G15 G14 G13 G12 G11 G10 G9 G8 G7 G6 G5 G4 G3 G2 G1 G0 PFB 0 1 1 G23 G22 m Tp T pulse data 1 2 24 G23 G22 G0 25 PFB tv G0 G23 m T Tp tv PFB = = = = = = = least significant bit in gray code most significant bit in gray code stored parallel information pulse time pulse break > 20 µs delay time max. 650 ns power failure bit (not used and always logically LOW) SV0202F1.FH7 Fig. 6-42: DOK-INDRV*-CSH********-PR02-EN-P Pulse diagram for absolute actual position output (SSI format) 6-24 Fixed Interfaces 6.7 Rexroth IndraDrive X31/X32, Digital and Analog Inputs/Outputs, Relay Contacts, Voltage Input (24V, 0V) Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x x x x x X31 X32 1 2 3 4 5 6 7 8 9 Fig. 6-43: Design Connection Cross Section 1 2 3 4 5 6 7 8 9 X31/X32 Type Number of poles Type of design spring tension 2x9 bushing on connector Cross section single-wire [mm²] Cross section multiwire [mm²] Cross section in AWG Gauge No. Fig. 6-44: -0.08-1.5 Connection cross section 28-14 DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-25 Rexroth IndraDrive Connection BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL Single-Axis BASIC UNIVERSAL Double-Axis ADVANCED Pin BASIC OPENLOOP X31 /1 - Relay Rel1(a) Relay Rel1(a) Relay Rel1(a) Relay Rel1(a) Relay Rel1(a) Relay Rel1(a) X31 /2 - Relay Rel1(b) Relay Rel1(b) Relay Rel1(b) Relay Rel1(b) Relay Rel1(b) Relay Rel1(b) X31 /3 E1 (dig. input) E1 (dig. input; probe) E1 (dig. input; probe) E1 (dig. input) E1 (dig. input; probe) E1 (dig. input; probe, axis 1) E1 (dig. input; probe) X31 /4 E2 (dig. input) E2 (dig. input) E2 (dig. input) E2 (dig. input) E2 (dig. input) E2 (dig. input; probe, axis 2) E2 (dig. input; probe) X31 /5 E3 (dig. input) E3 (dig. input) E3 (dig. input) E3 (dig. input) E3 (dig. input) E3 (dig. input) E3 (dig. input) X31 /6 E4 (dig. input) E4 (dig. input) E4 (dig. input) E4 (dig. input) E4 (dig. input) E4 (dig. input) E4 (dig. input) X31 /7 E5 (dig. input) E5 (dig. input) E5 (dig. input) E5 (dig. input) E5 (dig. input) E5 (dig. input) E5 (dig. input) X31 /8 24V_ext input 24V_ext input 24V_ext input 24V_ext input 24V_ext input 24V_ext input 24V_ext input X31 /9 0V_ext input 0V_ext input 0V_ext input 0V_ext input 0V_ext input 0V_ext input 0V_ext input X32 /1 EAn2+ (analog input2 U+) - - EAn2+ (analog input2 U+) - An1 An1 (analog output1) (analog output1) X32 /2 EAn2(analog input2 U-) - - EAn2(analog input2 U-) - An2 An2 (analog output2) (analog output2) X32 /3 GND (analog_GND) - - GND (analog_GND) - GND (analog_GND) GND (analog_GND) X32 /4 EAn1+ (analog input1 U+) - - EAn1+ (analog input1 U+) - E6/EAn+ (dig./analog input) E6/EAn+ (dig./analog input) X32 /5 EAn1(analog input1 U-) - - EAn1(analog input1 U-) - E7/EAn(dig./analog input) E7/EAn(dig./analog input) X32 /6 E/A8 (dig. input) E/A8 (dig. input/output) E/A8 (dig. input/output) E/A8 (dig. input/output) E/A8 (dig. input/output) E/A8* (dig. input/output) E/A8* (dig. input/output) X32 /7 E/A9 (dig. input) E/A9 (dig. input/output) E/A9 (dig. input/output) E/A9 (dig. input/output) E/A9 (dig. input/output) E/A9** (dig. input/output) E/A9** (dig. input/output) X32 /8 E/A10 (dig. input) E/A10 (dig. input/output) E/A10 (dig. input/output) E/A10 (dig. input/output) E/A10 (dig. input/output) E/A10* (dig. input/output) E/A10* (dig. input/output) X32 /9 An1 (analog output) - - E/A11 (dig. input/output) - E/A11* (dig. input/output) E/A11* (dig. input/output) Pin BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL Single-Axis BASIC UNIVERSAL Double-Axis ADVANCED * The standard presetting is input Fig. 6-45: Connections Note: DOK-INDRV*-CSH********-PR02-EN-P Concerning the connections see also Parameter Description of the firmware (Parameter P-0-0300). 6-26 Fixed Interfaces Rexroth IndraDrive Reference to the Descriptions Relay Contacts/Inputs/Outputs see page Relay Rel1 6-27 Digital Inputs E1 ... E3 6-28 Digital Inputs E4 ... E7 6-29 Digital Inputs E/A8 ... E/A11 6-30 Digital Outputs E/A8 ... E/A11 6-31 Analog Inputs EAn+ and EAn- (ADVANCED) 6-32 Analog Inputs EAn1+, EAn1-, EAn2+ and EAn2- (BASIC) 6-33 Analog Outputs An1, An2 6-34 Voltage input (24V, 0V) 6-37 Fig. 6-46: Reference to the descriptions DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-27 Rexroth IndraDrive Relay Rel1 Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x x x x Relay Rel1 is a potential-free contact (NO). Circuit +24V Rel1(a) Rel1(b) GND Rt_X3_Bb1_Bb2.fh7 Fig. 6-47: Relay Rel1 Data max. switching voltage DC 30 V max. switching current DC 1 A max. continuous current DC 1 A minimum contact load 10 mA guaranteed number of switching operations at max. time constant of load < 50 ms 100.000 Fig. 6-48: Signal contact Bb ready to operate for Rexroth IndraDrive C drive controllers DOK-INDRV*-CSH********-PR02-EN-P Data The relay contact may be used as precondition for connecting the mains contactor. For detailed informations see Project Planning Manual Rexroth IndraDrive C Power Sections. 6-28 Fixed Interfaces Rexroth IndraDrive Digital Inputs E1 ... E3 Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x x x x x Circuit R1 R1 5V6 E R2 0 Vext Rt_X3_E1_E7.fh7 R1: 1k R2: 4k7 Fig. 6-49: Digital inputs E1 (not for BASIC OPENLOOP) R1 R1 E IC 0 VE 0 VE Rt_X3_E4_E7.fh7 R1: 1k Fig. 6-50: Digital input E2, E3 (all BASIC) and E1 (BASIC OPENLOOP) Connection Data: external supply Pin Item 31/3 E1 31/4 E2 31/5 E3 Voltage: min.: max.: 19 V 30 V min. max. - 1.2 A min.: max.: On 15 V 30 V Off -3 V 5V min.: max.: On 2 mA 5 mA Off - 15 mA Uext Current Iext Data: inputs Voltage: Current: DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-29 Rexroth IndraDrive Digital Inputs E4 ... E7 Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x (E4, E5) x (E4, E5) x (E4, E5) x (E4, E5) x (E4, E5) x Circuit R1 R1 E IC 0 VE 0 VE Rt_X3_E4_E7.fh7 R1: 1k Fig 6-51: Digital inputs: E4 ... E7 Connection Data: external supply Pin Item 31/6 E4 31/7 E5 32/4 E6 32/5 E7 Voltage: min.: max.: 19 V 30 V min. max. - 1.2 A min.: max.: On 15 V 30 V Off -3 V 5V min.: max.: On 2 mA 5 mA Off - 15 mA Uext Current Iext Data: inputs Voltage: Current: DOK-INDRV*-CSH********-PR02-EN-P 6-30 Fixed Interfaces Rexroth IndraDrive Digital Inputs E/A8 ... E/A11 Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x (E8, E9, E10) x (E8, E9, E10) x (E8, E9, E10) x single-axis: x (E8, E9, E10) double-axis: x x Circuit R1 R1 IC 0 VE 0 VE Rt_X3_E_A8_11_Ef2.fh7 R1: 1k Fig 6-52: Digital inputs E/A8 ... E/A11 Connection Data: external supply Pin Item 32/6 E8 32/7 E9 32/8 E10 32/9 E11 Voltage: min.: max.: 19 V 30 V min. max. - 1.2 A min.: max.: On 15 V 30 V Off -3 V 5V min.: max.: On 2 mA 5 mA Off - 15 mA Uext Current Iext Data: inputs Voltage: Current: DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-31 Rexroth IndraDrive Digital Outputs E/A8 ... E/A11 Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x (A8, A9, A10) x (A8, A9, A10) x single-axis: x (A8, A9, A10) double-axis: x x Circuit 24 Vext Out A In R1 C1 0 Vext R1 0 Vext 0 Vext Rt_X3_E_A8_11_Af2.fh7 R1: 10k C1: 1 nF Fig. 6-53: Digital outputs E/A8 ... E/A11 Connection Data: external supply Pin Item 32/6 A8 32/7 A9 32/8 A10 32/9 A11 Voltage: Uext Current Iext Data: outputs On Off inductive load* * DOK-INDRV*-CSH********-PR02-EN-P min.: max.: 19 V 30 V min. max. - 1.2 A Signal min. max. Uout on Uext n – 0.5 V Uext n Iout on (per pin) - 0.5 A Iout on (sum) - 1.0 A Uout off - 2.1 V Iout off - 50 uA EPuls - 400 mJ single pulse at one output 6-32 Fixed Interfaces Rexroth IndraDrive Analog Inputs EAn+ and EAnDescription Present at: BASIC OPENLOOP Circuit BASIC SERCOS R1 R1 R1 R1 BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x (doubleaxis) x An+ An- shielding Rt_X3_EA+_EA-f2.fh7 R1: 40k2 Fig 6-54: Analog inputs EAn+ and EAn- Connection Data Pin Item 32/4 EAn+ 32/5 EAn- Voltage: Current: Resistance Fig 6-55: min.: max.: -10 V +10 V min.: max.: 4 mA 20 mA 80.4 kOhm Data Shielding of the analog inputs: see page 6-36 DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-33 Rexroth IndraDrive Analog Inputs EAn1+, EAn1-, EAn2+ and EAn2Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG x BASIC UNIVERSAL ADVANCED x Circuit BASIC OPENLOOP Ru U+ IC Ru UU/I Ri I+ IC Rs Ri I- GND Rt_X11_basic1_in.fh7 Fig. 6-56: Analog inputs BASIC OPENLOOP The analog inputs I+ and I- are on interface X36. Circuit BASIC ANALOG Ri U+ IC Ri UGND Rt_X11_basic4_in.fh7 Fig. 6-57: Analog inputs BASIC ANALOG Connection Data Pin Function 32/1 EAn2+: analog input 2 U+ 32/2 EAn2-: analog input 2 U- 32/3 GND 32/4 EAn1+: analog input 1 U+ 32/5 EAn1-: analog input 1 U- Voltage: Current: Resistance: min.: max.: -10 V +10 V min.: max.: 0 mA 20 mA Ri: 80 kOhm Rs: 200 Ohm Resolution 12 Bit Oversampling Fig. 6-58: eight-fold Data Shielding of the analog inputs: see page 6-36 DOK-INDRV*-CSH********-PR02-EN-P 6-34 Fixed Interfaces Rexroth IndraDrive Analog Outputs An1, An2 Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x (doubleaxis) x x Circuit ADVANCED R1 An1 IC R1 An2 R2 An_GND GND GND Rt_X32_An1_An2_GND.fh7 R1: 150R R2: 1R Fig 6-59: Analog outputs An1, An2 (ADVANCED) Circuit BASIC I An1 I An2 IC An_GND An_GND GND GND Rt_X32_X35_An1_An2_GND.fh7 I: active current limiter Fig. 6-60: Analog outputs An1, An2 (BASIC) Connection BASIC OPENLOOP: Pin Item 32/3 An_GND 32/9 An1 35/3 An2 (see X35) 35/4 An_GND (see X35) BASIC UNIVERSAL (double-axis); ADVANCED: Pin Item 32/1 An1 32/2 An2 32/3 An_GND DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-35 Rexroth IndraDrive Data BASIC OPENLOOP: Voltage Current min.: max.: 0V 10 V min.: max.: 0 mA 5 mA Evaluation DA converter 10 Bit Resolution per Bit 9.8 mV Short circuit and overload protection present ADVANCED: Voltage Current Resistance max.: 0V 5V min.: max.: 0 mA 1 mA 150 Ohm DA converter 8 Bit Resolution per Bit 19.5 mV Short-circuit and overload protection present Note: DOK-INDRV*-CSH********-PR02-EN-P min.: You can use the analog outputs for debugging only. 6-36 Fixed Interfaces Rexroth IndraDrive Shielding the Analog Inputs and Outputs X32 analog outputs analog inputs 1b 2b 3b 4b 5b 6b 7b 8b 9b An1 An2 GND EAn+ EAn- XS1 RT_X32_A_anschluss.fh7 Fig. 6-61: Shielding the analog inputs and outputs DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-37 Rexroth IndraDrive Voltage Input (+24V, 0V) Description Connection Data Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x x x x x Pin Designation 31/8 +24V_ext input 31/9 0V_ext input Voltage: Uext Current Iext DOK-INDRV*-CSH********-PR02-EN-P min.: max.: 19 V 30 V min. max. - 1.2 A 6-38 Fixed Interfaces 6.8 Rexroth IndraDrive X33/X34, Digital Inputs Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x (doubleaxis) X33 X34 1 2 3 4 5 6 1 2 3 4 5 6 Fig. 6-62: X33, X34 Design Connection cross section Type Number of poles Type of design spring tension 2x6 bushings on connector Cross section single-wire [mm²] Cross section multiwire [mm²] Cross section in AWG Gauge No. Fig. 6-63: -0.08-1.5 Connection cross section Connection Assignment 28-14 X33 X34 E12 1 1 E18 E13 2 2 E19 E14 3 3 E20 E15 4 4 E21 E16 5 E17 6 Fig. 6-64: Connection Assignment Circuit R1 5 E22 6 0V_ext R1 E IC 0 VE 0 VE Rt_X3_E4_E7.fh7 R1: 1k Fig 6-65: Digital inputs E12 ... E22 Data Voltage: min.: max.: High 15 V 30 V Low -3 V 5V Current: min.: max.: High 2 mA 5 mA Low - 15 mA Fig 6-66: Data DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-39 Rexroth IndraDrive 6.9 X35/X36, Analog Inputs/Outputs; Voltage Output (24V, 0V) Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG X35 X36 BASIC UNIVERSAL ADVANCED x 1 2 3 4 Design Connection cross section Type Number of poles Type of design spring tension 2x4 bushings on connector Cross section single-wire [mm²] Cross section multiwire [mm²] Cross section in AWG Gauge No. Fig. 6-67: Connection assignment DOK-INDRV*-CSH********-PR02-EN-P 1 2 3 4 -0.08-1.5 Connection cross section Pin Function X35/1 voltage output (+24V) X35/2 voltage output (0V) X35/3 An2 (analog output 2) X35/4 analog GND X36/1 AI1+ (analog current input) X36/2 AI1- (analog current input) X36/3 AI2+ (analog current input) X36/4 AI2- (analog current input) 28-14 6-40 Fixed Interfaces Rexroth IndraDrive Analog Inputs Circuit Ru U+ IC Ru UU/I Ri I+ IC Rs Ri I- GND Rt_X11_basic1_in.fh7 Fig. 6-68: Analog inputs Data Current: min.: max.: 0 mA 20 mA Resistor: Ri: 80 kOhm Rs: 200 Ohm Fig. 6-69: Data Analog Outputs Data See interface X32 Circuit See interface X32 Voltage Output (+24V, 0V) Data Voltage Current min.: max.: 19 V 30 V - max.: 0.1 A Protection Note: against polarity reversal and short circuit Without an external 24V power supply the voltage outputs have to be bridged: • bridge X35/1 with X31/8 • bridge X35/2 with X31/9 DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-41 Rexroth IndraDrive 6.10 X*, Master Communication The asterisk at the X (X*) means, that different master communications have different interface designations (e.g. X20/X21, X30, X15, ...). SERCOS interface (X20, X21) Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED o o x o = as option X20 TX X21 RX LED H20 Fig. 6-70: LED H20 Connection SERCOS interface SERCOS interface distortion LED X20 X21 TX RX SERCOS interface device-external device-internal X20 fiber optic cable optical transmitter X21 fiber optic cable optical receiver AP5049F1.FH7 Fig. 6-71: Connection Data Rate, Transmission Power You can set the data rate and the transmission power via the control panel or via the serial interface X2. Fiber Optic Cable Drive controllers with a SERCOS interface are connected to higher-level control units by fiber optic cables. The fiber optic cables (cable, connector, or the entire ready-made cables) have to be ordered separately. For more detailed information on the subject of "fiber optic cables" please refer to the Application Manual "LWL (Fiber Optic Cable) - Handling" (DOK-CONNEC-CABLE*LWL**-AWxx-EN-P, Part. No.: 284755). DOK-INDRV*-CSH********-PR02-EN-P 6-42 Fixed Interfaces Rexroth IndraDrive The following points are dealt with in the “LWL (Fiber Optic Cable) Handling” manual: • General information on fiber optic cables • Basic planning information for optical transmission systems • Instructions for laying fiber optic cables • Measuring attenuation on ready-made fiber optic cable • Available fiber optic FSMA plug-in connectors and fiber optic cables • Instructions for assembling FSMA connectors • Tools for assembling fiber optic cables Order details for fiber optic cable for the entire system can be ascertained from the following illustration. CNC IKO0985 / . . . for external control cabinet installation) SERCOS interface length in meters fiber optic- ring ERROR ERROR H3 3 2 1 X10 TX X10 TX X10 TX X10 TX ø 2mm ø 6mm Selection of Fiber Optic Connections ERROR H3 3 2 1 IKO0982/ . . . IKO0982 / fiber optic plug-in connector (control cabinet bushing) Mat.-Nr. 252 524 Fig. 6-72: ERROR H3 H3 3 2 1 3 2 1 dependent on how the devices are arranged length in meters AP5127F1.FH7 Selection of ready-made fiber optic cables DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-43 Rexroth IndraDrive To interconnect drive controllers of different width there are suitable cables available: IKO0982/000,15 IKO0982/000,25 x 105 mm 65 mm 350 mm 225 mm 200 mm 150 mm (The width of the left drive controller determines the cable length) 125 mm (The width of the right drive controller determines the cable length) 100 mm Combinations of HCS02 75 mm Combinations of HMS, HMD and HCS03 50 mm Cable x x x x IKO0982/000,30 x x IKO0982/000,50 x Fig. 6-73: x x Cable length • Combination of HCS02 right besides HMS or HMD: HMS HMD HCS02 ERROR ERROR H3 H3 3 2 1 3 2 1 lwl_hcs02_hms_l Fig. 6-74: HCS02 right besides HMS or HMD Cable length = 15 cm (independent from the width of the drive controllers) Cable: IKO0982/000,15 • Combination of HCS02 left besides HMS or HMD: HCS02 HMS HMD ERROR ERROR H3 H3 3 2 1 3 2 1 lwl_hcs02_hms_r Abb. 6-75: HCS02 left besides HMS or HMD Cable length = Width of HCS02 + Width of HMS/HMD + 10 cm DOK-INDRV*-CSH********-PR02-EN-P 6-44 Fixed Interfaces Rexroth IndraDrive PROFIBUS Interface (X30) Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED o o x o = as option PROFIBUS: X30 LED H30 1 5 6 9 profibus_schnittstelle Fig. 6-76: Design Type Fig. 6-77: Connection Cross Sections Number of poles Design 9 Bushing on unit Cross sections multi core wire [mm²] Cross sections in AWG gauge no.: D-SUB Design Cross sections single wire [mm²] Fig. 6-78: Connection PROFIBUS Interface -0.08-0.5 Connection cross sections device-external Receive/transmit data P Repeater control signal Busground Repeater supply 5 V Receive/transmit data N Busground -- device-internal 1 2 3 4 5 6 7 8 9 n.c. n.c. B CNTR BUSGND VP n.c. A BUSGND profibus_anschl.fh7 Fig. 6-79: Connection PROFIBUS Interface DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-45 Rexroth IndraDrive Plug-In Connector Assignment Pin Signal Function 1 DIR -- n.c. 2 -- n.c. 3 I/O RS485+ receive/transmit data plus 4 O CNTR-P Repeater control signal 0V 0V +5 V Repeater supply -- n.c. RS485- receive/transmit data minus 5 6 O 7 8 I/O 9 Fig. 6-80: Shield Connection Interface Compatibility Recommended Cable Type Signal Specification 0V 0V Signal assignment Via D-subminiature screws and metal connector housing. As per DIN EN 50 170 As per DIN EN 50 170 – 2, cable type A Signal Specification +5 V +5 V (±10%) Repeater supply max. 75 mA Repeater control signal TTL compatible 1: transmit 0: receive Output resistance: 350 R VOL <= 0.8 V at IOL <= 2 mA VOH >= 3.5 V at IOH <= 1 mA Receive/transmit data EIA-RS485 standard Fig. 6-81: Signal specification Danger of destroying output "+5V Repeater supply" by overload! CAUTION ⇒ ⇒ Do not short-circuit! Do not exceed maximum current! Diagnostic Display For the meaning of the diagnostic displays please see the Functional Description of the respective firmware. Bus Connector The PROFIBUS connectors each have a connectable terminating resistor. The terminating resistor must always be active at both the first and last bus stations. Do not interchange the A and B wires. Perform the connection as shown in the figures below. DOK-INDRV*-CSH********-PR02-EN-P 6-46 Fixed Interfaces Rexroth IndraDrive 5 16 5 shield A1 B1 A2 B2 ON OFF Bus connection and switch position for all other stations ON OFF Bus connection and switch position for the first and last stations A1 B1 A2 B2 AP5069f1.fh7 Fig. 6-82: Preparing a cable for connecting a bus connector To prepare a bus cable, proceed as follows: • Use cable DIN EN50170 / 2 edition 1996 • Strip cable (see previous illustration) • Insert both cores into screw terminal block Note: Do not interchange the cores for A and B. • Press cable sheath between both clamps • Screw both strands into screw terminals on 1 B off A A B A B A B Sie me ns Sie me ns 2 1 Switch connection for the first and final slave in the Profibus-DP 2 The cable shield must be placed bare on the metal guide Ap5074f1.fh7 Fig. 6-83: Bus connection for the first and last slave, bus connector with 9-pin D-SUB socket, INS 0541 DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-47 Rexroth IndraDrive on 1 B off A A B A B A B Siemens Siemens Siemens Siemens 2 1 Terminating resistor is off 2 The cable shield must be placed bare on the metal guide Ap5075f1.fh7 Fig. 6-84: Bus connection for all other slaves, bus connector with 9-pin D-SUB socket, INS 0541 1 on off A A B B A B A B Sie me Sie ns me ns 2 1 Switch connection for the first and final slave in the Profibus-DP 2 The cable shield must be placed bare on the metal guide Ap5076f1.fh7 Fig. 6-85: Bus connection for the first and last slave without 9-pin D-SUB socket, INS 0540 1 on off A A B B A B A B Siemens Siemens Siemens Siemens 2 1 Terminating resistor is off 2 The cable shield must be placed bare on the metal guide Ap5077f1.fh7 Fig. 6-86: Bus connection for all other slaves without 9-pin D-SUB socket, INS 0540 Connect the drive controller to a control unit using a shielded two-wire conductor in accordance with DIN 19245/ section 1. DOK-INDRV*-CSH********-PR02-EN-P 6-48 Fixed Interfaces Rexroth IndraDrive Parallel Interface (X15) Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED o o o = as option (Internal designation of this master communication card: HCC01) 19 37 20 1 d-sub-37-stiftf2.FH7 Fig. 6-87: Design Type Fig. 6-88: Connection Cross Section Interface D-SUB Design Cross section single-core [mm²] Fig. 6-89: Number of poles Type of design 37 pins on device Cross section multi-core [mm²] Cross section in AWG gauge No. -0.08-0.5 Connection cross section -- DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-49 Rexroth IndraDrive Assignment Pin Function Pin I/O Function 1 I Input 0.0 20 I Input 0.1 2 I Input 0.2 21 I Input 0.3 3 I Input 1.0 22 I Input 1.1 4 I Input 1.2 23 I Input 1.3 5 I Input 2.0 24 I Input 2.1 6 I Input 2.2 25 I Input 2.3 7 I Input 3.0 26 I Input 3.1 8 I Input 3.2 27 I Input 3.3 9 PWR GNDext 28 O Output 0.0 10 O Output 0.1 29 O Output 0.2 11 O Output 0.3 30 PWR 12 O Output 1.0 31 O Output 1.1 13 O Output 1.2 32 O Output 1.3 14 PWR Uext 1 33 O Output 2.0 15 O Output 2.1 34 O Output 2.2 16 O Output 2.3 35 PWR 17 O Output 3.0 36 O Output 3.1 18 O Output 3.2 37 O Output 3.3 19 Fig. 6-90: Features I/O Uext 0 Uext 2 Uext 3 Signal assignment • Uext 0 supplies Output 0.0 to 0.3 and Input 0.0 to 0.3 • Uext 1 supplies Output 1.0 to 1.3 and Input 1.0 to 1.3 • Uext 2 supplies Output 2.0 to 2.3 and Input 2.0 to 2.3 • Uext 3 supplies Output 3.0 to 3.3 and Input 3.0 to 3.3 • Ground GNDext is common for all I/Os • Shield connection via metallized connector housing • Inputs and outputs are electrically isolated from the control section • Inputs are protected against inverse-polarity • Outputs are short-circuit proof Data: External Supply Voltage: min.: max.: Uext n 19 V 30 V Current min. max. Iext n - 1.2 A Fig. 6-91: Data: supply The external supply is also necessary, when only the digital inputs are used. DOK-INDRV*-CSH********-PR02-EN-P 6-50 Fixed Interfaces Rexroth IndraDrive Data: Inputs On Off Fig. 6-92: Signal min. max. Uin n.m on 15 V 30 V Iin n.m on 2 mA 5 mA Uin n.m off -3 V 5V Iin n.m off - 15 mA min. max. Uext n – 0.5 V Uext n Iout n.m on (per pin) - 0.5 A Iout n on (per pin) - 1.0 A Uout n.m off - 2.1 V Iout n.m off - 50 uA EPuls - 400 mJ Data: inputs Data: Outputs Signal Uout n.m on On Off Inductive load* * Fig. 6-93: single pulse at one output Data: outputs The outputs are High-Side Switches. They are current-sourcing and not current-sinking. DOK-INDRV*-CSH********-PR02-EN-P Fixed Interfaces 6-51 Rexroth IndraDrive 6.11 H1 (Control Panel) Connection The control panel is plugged into the H1 interface on the control section. 5 8 2 7 1 4 6 3 H1 Fig. 6-94: H1 hms_persp_bediengeraet.fh7 Fig. 6-95: Control panel at drive controller DOK-INDRV*-CSH********-PR02-EN-P 6-52 Fixed Interfaces Rexroth IndraDrive Design 01.F4002 Esc Fig. 6-96: Enter Standard control panel with sample display and control elements • Operating status, command and error diagnoses, and warnings for problems requiring attention are shown in the display. • Using the four buttons, the commissioning operator or service engineer can opt, in addition to master communication using the commissioning tool or NC control, to display further diagnoses on the drive controller and to activate simple commands. Overview of Functions Using the control panel you can: • set the drive address • SERCOS: set the transmitting power • SERCOS Autodetect: set field bus transmission rate • establish reference dimension • look at the error memory • start basic load defaults procedure • set analog outputs Note: For detailed information refer to your firmware documentation. DOK-INDRV*-CSH********-PR02-EN-P Options 7-1 Rexroth IndraDrive 7 Options 7.1 Overview BASIC SERCOS X41 basic_sercos_optionen X41: L1 Starting Lockout Fig. 7-1: BASIC SERCOS DOK-INDRV*-CSH********-PR02-EN-P 7-2 Options Rexroth IndraDrive BASIC PROFIBUS X41 basic_profibus_optionen X41: L1 Starting Lockout Fig. 7-2: BASIC PROFIBUS DOK-INDRV*-CSH********-PR02-EN-P Options 7-3 Rexroth IndraDrive BASIC ANALOG X41 basic_analog_optionen X41: L1 Starting Lockout Fig. 7-3: BASIC ANALOG DOK-INDRV*-CSH********-PR02-EN-P 7-4 Options Rexroth IndraDrive BASIC UNIVERSAL X8.1 X8.2 X4 X4.1 X4.2 X41 X41.1 X41.2 basic_universal_optionen basic_universal_doppelachs_optionen.fh7 Single-axis: X4: Option 2 X41 Safety option Double-axis: X4.1: Option 1 X4.2: Option 2 X8.1: Option 3 X8.2: Option 4 X41.1, X41.2: Safety option Fig. 7-4: BASIC UNIVERSAL Concerning the designations "Option 1...4" and "Safety option" see chapter 4.2. DOK-INDRV*-CSH********-PR02-EN-P Options 7-5 Rexroth IndraDrive ADVANCED X8 X4 X41 X10 advanced_optionen X4: X41: X8: X10: Fig. 7-5: Option 1 Safety option Option 2 Option 3 ADVANCED Concerning the designations "Option 1...3" and "Safety option" see chapter 4.2. DOK-INDRV*-CSH********-PR02-EN-P 7-6 Options Rexroth IndraDrive Reference to Description of Options Encoder Interface • EN1: HSF, Resolver: see page 7-7 • EN2: EnDat2.1, 1Vss, 5VTTL: see page 7-11 • ENS: IndraDyn, HIPERFACE®, 1Vss: see page 7-18 • MEM: Encoder emulator module: see page 7-19 Integrated Safety Technology • L1: starting lockout: see page 7-20 • S1: safety technology I/O: see page 7-22 I/O Extension • MD1: digital input/output extension: see page 7-24 • MA1: analog input/output extension: see page 7-27 Note: Your sales representative will help with the current status of available options. DOK-INDRV*-CSH********-PR02-EN-P Options 7-7 Rexroth IndraDrive 7.2 Encoder EN1: HSF, Resolver Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x Encoder with control voltage supply of 8 volt: • HSF (Digital servo feedback) • Resolver (Internal designation of the option: HFI01) Slot BASIC UNIVERSAL: X4 resp. X4.1 (1. axis) X4.2 (2. axis) ADVANCED: X4, X8 or X10 Design Type Number of poles Design D-SUBMINIATURE 15 Bushing on unit 1 9 8 15 d-sub-15-buchsef1.FH7 Fig. 7-6: Connection Cross Section Cross section single-wire [mm²] Fig. 7-7: DOK-INDRV*-CSH********-PR02-EN-P D-SUBMINIATURE bushing Cross section multiwire [mm²] -0.25 - 0.5 Connection cross section Cross section in AWG Gauge No. -- 7-8 Options Rexroth IndraDrive Connection 1 GND_Shield 2 A+ 3 B+ 4 GND_Encoder 5 6 7 I2C_SCLK 8 I2C_SDAout 9 A- 10 B- 11 12 VCC_Encoder 13 14 I2C_Fsample 15 I2C_SDAin Terminal Connection Diagram 15-pin D-sub. connector (screw mounting) encoder A+ AB+ B- 2 A+ 9 A- 3 B+ 10 B- 1 GND_Shield 5 free 6 11 free free 13 free 4 GND_Encoder VCC_Encoder 12 I2C_SCLK I2C_SDAin I2C_SDAout I2C_Fsample 1) 9 8 15 1 GND_Encoder VCC_Encoder 7 I2C_SCLK 15 I2C_SDAin 8 I2C_SDAout 14 I2C_Fsample 2) hfi01_anschluss.fh7 1) connect to connector housing 2) connect to shield connection XS1 at the drive controller Fig. 7-8: Terminal connection diagram G1SCLK G1SDA0, G1SDAI G1Sample Clock lead for I²C interface Data lead for I²C interface Control signal for encoder initialization DOK-INDRV*-CSH********-PR02-EN-P Options 7-9 Rexroth IndraDrive Input Circuit A+, A- resp. B+, B- C1 R3 R1 - E+ E- + R2 R4 C2 AP5296F1.FH7 Schematics R1: R2: R3: R4: C1: C2: Fig. 7-9: 5k 5k 20k (HSF) resp. 2k5 (resolver) 20k (HSF) resp. 2k5 (resolver) no data no data Input circuit Features of the differential input circuit: max. allowed amplitude encoder signal evaluation AD converter limit frequency (-3 dB) Digital servo feedback Resolver (1.0 + 0.1) Vpp 9.0 Vpp 12 bit 12 bit 100 kHz -- input resistance 10k ±5% Fig. 7-10: Features of the differential input circuit VCC_Encoder Features of the encoder output amplifier stage VCC_Encoder: Digital servo feedback Resolver output voltage 8 VDC ± 0.2V 18.2 Vpp (sine with 4 kHz) max. output current DC 250 mA AC 70 mA eff. min. DC resistance of -the load Fig. 7-11: Features of the encoder output amplifier stage DOK-INDRV*-CSH********-PR02-EN-P 35R 7-10 Options Rexroth IndraDrive Signal Assignment to the Actual Position Value Signal assignment Signal designation Signal form Actual position value (with default setting) A+ AB+ HSF (sine 1 Vpp without 120 Ohm matching resistor, I²C bus) increasing B- A+ Aresolver increasing B+ Bamplitude-modulated signal Fig. 7-12: Signal assignment to the actual position value DOK-INDRV*-CSH********-PR02-EN-P Options 7-11 Rexroth IndraDrive EN2: EnDat2.1, 1Vss, 5VTTL Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x Encoder with control voltage supply of 5 volt: • EnDat2.1 with sensor connection • sine encoder (1 Vpp) with reference track • square-wave encoder (TTL) with reference track (Internal designation of the option: HFI02) Slot BASIC UNIVERSAL: X4 X4.1 (1. axis) X4.2 (2. axis) ADVANCED: X4, X8 or X10 Design Type Number of poles Design D-SUBMINIATURE 15 pins on unit 8 15 9 1 d-sub-15-stiftf2.FH7 Fig. 7-13: Connection Cross Section Cross section single-wire [mm²] Fig. 7-14: DOK-INDRV*-CSH********-PR02-EN-P D-subminiature connector Cross section multiwire [mm²] -0.25 - 0.5 Connection cross section Cross section in AWG Gauge No. -- 7-12 Options Rexroth IndraDrive Connection 1 Sense+ 2 Sense- 3 R- 4 R+ 5 B- 6 B+ 7 A+ 8 A- 9 EncData+ 10 GND_Encoder 11 EncCLK+ 12 VCC_Encoder 13 EncCLK- 14 GND_Shield 15 EncData- Terminal Connection Diagram EnDat 15-pin D-sub. bushing (screw mounting) encoder 7 7 A+ 8 8 A- 6 6 B+ B- 5 5 B- GND_shield 14 14 4 4 R+ 3 3 R- Sense- 2 2 Sense- Sense+ 1 1 Sense+ GND_Encoder 10 10 GND_Encoder VCC_Encoder 12 12 VCC_Encoder EncData- 15 15 EncData- EncData+ 9 9 EncData+ EncCLK- 13 13 EncCLK- EncCLK+ 11 11 EncCLK+ A+ AB+ R+ R- 1) GND_Shield 9 1 15 8 2) hfi02_endat_anschluss.fh7 1) connect to connector housing 2) connect to shield connection XS1 at the drive controller Fig. 7-15: Terminal connection diagram EnDat encoder DOK-INDRV*-CSH********-PR02-EN-P Options 7-13 Rexroth IndraDrive Terminal Connection Diagram Square-Wave Encoder 15-pin D-sub. bushing (screw mounting) encoder A+ AB+ BR+ R- GND_Encoder VCC_Encoder 1) 7 7 A+ 8 8 A- 6 6 B+ 5 5 B- 14 14 4 4 R+ 3 3 R- 2 2 Sense- 1 1 Sense+ 10 10 GND_Encoder 12 12 VCC_Encoder 15 15 EncData- 9 9 EncData+ 13 13 EncCLK- 11 11 EncCLK+ GND_Shield 9 1 15 8 2) hfi02_rechteck_anschluss.fh7 1) connect to connector housing 2) connect to shield connection XS1 at the drive controller Fig. 7-16: Terminal connection diagram square-wave encoder Terminal Connection Diagram Sine Encoder 15-pin D-sub. bushing (screw mounting) encoder 7 7 A+ 8 8 A- 6 6 B+ B- 5 5 B- GND_Shield 14 14 4 4 R+ 3 3 R- 2 2 Sense- 1 1 Sense+ 10 10 GND_Encoder 12 12 VCC_Encoder 15 15 EncData- 9 9 EncData+ 13 13 EncCLK- 11 11 EncCLK+ A+ AB+ R+ R- GND_Encoder VCC_Encoder 1) 2) 1) connect to connector housing 2) connect to shield connection XS1 at the drive controller Fig. 7-17: Terminal connection diagram sine encoder EncData+, EncData- Differential signal of the encoder data lead. EncCLK+, EncCLK- Differential signal of the encoder pulse lead. DOK-INDRV*-CSH********-PR02-EN-P 9 1 15 8 GND_Shield hfi02_sinus_anschluss.fh7 7-14 Options Rexroth IndraDrive Input Circuit for Sine Signals A+, A- resp. B+, B- resp- R+, R- E+ 120R E- hfi02_sin_ein_schalt.FH7 Block diagram Fig. 7-18: Input Circuit for Square-Wave Signals Input circuit for sine signals A E+ 120R E- B hfi02_recht_ein_schalt.FH7 Block diagram Fig. 7-19: Input circuit for square-wave signals Features of the differential input: Sine Encoder Input voltage max. allowed amplitude encoder signal (USSencoder signal) (1.0 + 0.2) Vpp evaluation AD converter 12 bit limit frequency (-3 dB) 500 kHz input resistance Fig. 7-20: Features of the differential input (Sine encoder) Square-Wave Encoder 120R Input voltage Signal amplitude nominal: (referencing unit ground) min. max. High > 2.4 V 5V Low 0V < 0.8 V limit frequency 500 kHz input resistance 120R Fig. 7-21: Features of the differential input (square-wave encoder) Sense+, Sense- VCC_Encoder Returning encoder supply to amplifier so that the voltage drop in the encoder cable can be regulated and 5 V are always present in the encoder independent of the cable length. Features of the encoder output amplifier stage VCC_Encoder: output voltage 5 VDC max. output current 300 mA Fig. 7-22: Features of the encoder output amplifier stage DOK-INDRV*-CSH********-PR02-EN-P Options 7-15 Rexroth IndraDrive Signal Assignment to the Actual Position Value Signal assignment Signal designation Signal form Actual position value (with default setting) A+ Asine (1Vpp) without absolute value B+ decreasing BR+ RA+ Asquare (TTL) without absolute value B+ decreasing BR+ R- A+ A- sine (1 Vpp) with absolute value B+ B- Fig. 7-23: Signal assignment to the actual position value Note: DOK-INDRV*-CSH********-PR02-EN-P Default setting: => see Functional Description of firmware increasing 7-16 Options Rexroth IndraDrive Allowed Encoder Cable Lengths Selecting wire cross sections Note: The current consumption of the connected encoder systems generates a voltage drop due to the ohmic resistance of the wire (dependent upon the wire cross sections and lengths). This reduces the signal at the encoder input. To compensate the voltage drop, the drive controller can influence the encoder power source. Using a voltage sensor, the available voltage at the encoder is detected. ⇒ For a given wire length and encoder current consumption, a minimum cross section becomes necessary. This relationship is illustrated below. Note: When you use original Heidenhain cables the allowed cable length is much shorter. 1. Cable length with sensor connection in the encoder lead • wire cross section: 0.5 mm 2 • power supply: 5 V ±5% 75 70 65 60 55 length [m] 50 45 40 35 30 25 20 15 10 5 0 0 50 100 150 200 250 300 350 current consumption [mA] hfi02_kabel_5_m_sense.fh7 L: cable length I: current A: wire cross sections Fig. 7-24: Cable lengths with sensor connection DOK-INDRV*-CSH********-PR02-EN-P Options 7-17 Rexroth IndraDrive 2. Cable length without sensor connection in the encoder lead • wire cross section: 0.5 mm 2 • power supply: 5 V ±5% 50 45 40 length [m] 35 30 25 20 15 10 5 0 100 150 200 250 300 350 current consumption [mA] hfi02_kabel_5_o_sense.fh7 Fig. 7-25: Cable lengths without sensor connection DOK-INDRV*-CSH********-PR02-EN-P 7-18 Options Rexroth IndraDrive ENS: 1Vpp; HIPERFACE®, IndraDyn Description Present at: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x Encoder with control voltage supply of 12 volt: • 1 Vppwith reference track • 1 Vpp with HIPERFACE® • IndraDyn (encoder interface of MSK motors) (Internal designation of the option: HFI03) Slot Further information BASIC UNIVERSAL: X4 X4.1 (1. axis) X4.2 (2. axis) ADVANCED: X4, X8 or X10 see chapter 6.4 X8, ENS (Encoder Interface) DOK-INDRV*-CSH********-PR02-EN-P Options 7-19 Rexroth IndraDrive MEM: Encoder Emulator Module Description Possible with: BASIC OPENLOOP 1) BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x 1) x x Designed as fixed interface X16 (Internal designation of the option: HFE01) Slot Further information DOK-INDRV*-CSH********-PR02-EN-P BASIC: X4 resp. X8.1 (1. axis) X8.2 (2. axis) ADVANCED: X8 or X10 See chapter 6.6 X16, Encoder Emulation 7-20 Options 7.3 Rexroth IndraDrive Integrated Safety Technology The options of Integrated Safety Technology allow operation of drives in safe conditions according to EN954-1 category 3. Note: The Integrated Safety Technology is described in detail in an extra documentation (see page 1-1). L1: Starting Lockout Description Possible with: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x x x x The Starting Lockout meets stop category 0 according to EN 60204-1. (Internal designation of the option: HSI01) Slot X41 Design Type Number of poles Type of design D-SUB 9 bushing on unit 1 5 6 9 d-sub9-buchsef1.FH7 Fig. 7-26: Connection Cross Section D-SUB socket Cross section single-core [mm²] Fig. 7-27: Cross section multi-core [mm²] -0.25 – 0.5 Connection cross section Cross section in AWG gauge No. -- DOK-INDRV*-CSH********-PR02-EN-P Options 7-21 Rexroth IndraDrive Connection Assignment Function Meaning Signal Pin Controlling signal for starting lockout assignment A AS-A 1 Inverted controlling signal for starting lockout ASn 2 Controlling signal for starting lockout assignment B AS-B 3 Supply for acknowledgment potential ASQ 4 Acknowledgment ASQ1 5 Inverted acknowledgment ASQ2 6 not used - 7 24 V supply voltage +24 VE 8 Reference potential of the 24 V supply voltage 0VE 9 ASQ1 ASQ2 = ASQ open AS ASn Status 1 0 Starting lockout active 0 1 Starting lockout not active open = ASQ 0 0 Error when selecting starting lockout open = ASQ 1 1 Data min. typ. max. Input voltage: On +15 V +30 V Off -3 V +5 V Switching threshold Note acc. to EN61131 +8 V Input current Inputs AS, ASn 5 mA 1000 mA Load capacity of relay contact ASQ, ASQ1, ASQ2 Supply voltage Fig. 7-28: DOK-INDRV*-CSH********-PR02-EN-P Data 24 V +22.8 V +24 V +25.2 V not shortcircuit proof acc. to EN61131 7-22 Options Rexroth IndraDrive S1: Safety Technology I/O Description Possible with: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x This module allows different application related safety functions like safety related standstill, safety related drive interlock, safety related reduced speed, safety related direction of motion and further functions. Note: This module can only be used in connection with an encoder. (Internal designation of the option: HSI11) Slot X41 Design Type Number of poles Type of design D-SUB 9 bushing on unit 1 6 9 5 d-sub9-buchsef1.FH7 Fig. 7-29: Connection Cross Section Cross section single-core [mm²] Fig. 7-30: Connection Assignment D-SUB socket Cross section multi-core [mm²] Cross section in AWG gauge No. -0.25 - 0.5 Connection cross section -- Pin Signal Meaning 1 EA30 Input/output for forced dynamization 2 EA20 Input/output for acknowledgment 3 EA10n Input/output for diagnostic message/safety door locking device 4 E1n 5 E2n 6 E3n 7 E4n 8 +24VE 9 0 VE Inputs for operating mode selection 24 V supply voltage Reference potential of the 24 V supply voltage DOK-INDRV*-CSH********-PR02-EN-P Options 7-23 Rexroth IndraDrive Data min. typ. max. Note Inputs/outputs Input voltage: On +15 V +30 V Off -3 V +5 V Switching threshold acc. to EN61131 +8 V Input current Inputs E1n, E2n, E3n, E4n 3 mA Input current Input/output EA10n, EA30 EA20 3 mA 6 mA Load capacity of relay contact EA10 1000 mA not shortcircuit proof 24 V Driver output current Input/output 500 mA short-circuit proof 2V at IOUT = 500 mA +25.2 V acc. to EN61131 EA10n, EA20, EA30 Internal voltage drop high-side driver Supply voltage +22.8 V +24 V Dynamization pulse EA30 tW 100 ms tP 1000 ms tD 50 ms Toggle frequency EA20 programma ble (firmware) 500 Hz programma ble (firmware) fTOGGEL Interrupting circuit for voltage supply of the control optocouplers Dynamization pulse tWK2 2 us 20 us tPK2 1000 us tDK2 tWK2 30 us Encoder evaluation Additional load resistance of encoder signals 20 kOhm Resolution of AD converter Converting time of AD converter per channel 10 bit 10 us Input frequency Minimum edge distance between active edges 500 kHz 250 ns General Number of drives in a drive system Fig. 7-31: DOK-INDRV*-CSH********-PR02-EN-P Data 25 programma ble (firmware) 7-24 Options 7.4 Rexroth IndraDrive MD1: Digital Input/Output Extension Description Possible with: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x 8 digital 24V outputs and 12 digital 24V inputs according to IEC61131. (Internal designation of the option: HEA01) Slot X10 13 25 14 1 d-sub-25-stiftf2.FH7 Fig. 7-32: Design Type Fig. 7-33: Connection Cross Section Interface D-SUB Design Cross sections single wire [mm²] Fig. 7-34: Number of poles Design 25 Pins on unit Cross sections multi core wire [mm²] Cross sections in AWG gauge no.: -0.08-0.5 Connection cross sections -- DOK-INDRV*-CSH********-PR02-EN-P Options 7-25 Rexroth IndraDrive Plug-In Connector Assignment Pin I/O Function Pin I/O 1 O Output 0.0 14 I Input 2.0 2 O Output 0.1 15 I Input 2.1 3 PWR Uext 0 16 I Input 2.2 4 O Output 0.2 17 I Input 2.3 5 O Output 0.3 18 I Input 2.4 6 PWR GNDext 19 I Input 2.5 7 PWR Uext 2 20 I Input 2.6 8 PWR GNDext 21 I Input 2.7 9 O Output 1.0 22 I Input 2.8 10 O Output 1.1 23 I Input 2.9 11 PWR Uext 1 24 I Input 2.10 12 O Output 1.2 25 I Input 2.11 13 Fig. 7-35: Features Function O Output 1.3 Signal assignment • Uext 0 supplies Output 0.0 to 0.3 • Uext 1 supplies Output 1.0 to 1.3 • Uext 2 supplies Input 2.0 to 2.11 • Ground GNDext (2 Pins) is common for all I/Os • Shield connection via metallized connector housing • Inputs and outputs are electrically isolated from the control section • Inputs are protected against inverse-polarity • Outputs are short-circuit proof Data: External Supply Voltage: min.: max.: 19 V 30 V min. max. Iext 0, Iext 1 - 1.2 A Iext 2 - 0.1 A min.: max.: On 15 V 30 V Off -3 V 5V min.: max.: On 2 mA 5 mA Off - 15 mA Uext Current Fig. 7-36: Data: Inputs Data: external supply Voltage: Current: Fig. 7-37: DOK-INDRV*-CSH********-PR02-EN-P Data: Inputs 7-26 Options Rexroth IndraDrive Data: Outputs Signal min. max. Uext n – 0.5 V Uext n Iout n.m on (per pin) - 0.5 A Iout n on (per group) - 1.0 A Uout n.m off - 2.1 V Iout n.m off - 50 uA EPuls - 400 mJ Uout n.m on On Off Inductive load* * Fig. 7-38: single pulse at one output Data: outputs The outputs are High-Side Switches, which are only current-sourcing and not current-sinking. DOK-INDRV*-CSH********-PR02-EN-P Options 7-27 Rexroth IndraDrive 7.5 MA1: Analog Input/Output Extension Description Possible with: BASIC OPENLOOP BASIC SERCOS BASIC PROFIBUS BASIC ANALOG BASIC UNIVERSAL ADVANCED x x 2 analog input channels (12 bit); 2 analog output channels (12 bit) (Internal designation of the option: HAS01) Slot X10 1 9 8 15 d-sub-15-buchsef1.FH7 Fig. 7-39: Design Type Fig. 7-40: Connection Cross Section D-SUB Design Cross sections single wire [mm²] Fig. 7-41: DOK-INDRV*-CSH********-PR02-EN-P Interface Number of poles Design 15 Bushing on unit Cross sections multi core wire [mm²] Cross sections in AWG gauge no.: -0.08-0.5 Connection cross sections -- 7-28 Options Connector Assignment Rexroth IndraDrive Pin Signal I/O Function 1 GND100 - Shield analog input AE1 2 +AE1 I Analog input 1 (+) 3 GND100 - Shield analog input AE2 4 +AE2 I Analog-input 2 (+) 5 AA1 O Analog output 1 (+) 6 GNDA - Shield analog output AA1 (to be used optionally in case of extreme interferences) 7 GND100 - Shield analog input AA2 8 Earth - Connector housing 9 -AE1 I Analog input 1 (-) 10 GNDA - Shield analog input AE1 (to be used optionally in case of extreme interferences) 11 -AE2 I Analog input 2 (-) 12 GNDA - Shield analog output AE2 (to be used optionally in case of extreme interferences) 13 GND100 - Shield analog output AA1 14 AA2 O Analog output 2 (+) 15 GNDA - Shield analog output AA2 (to be used optionally in case of extreme interferences) 8 15 7 14 6 13 5 12 4 11 3 10 2 9 1 Fig. 7-42: 8 15 7 14 6 13 5 12 4 11 3 10 2 9 1 Housing GNDA GND100 +AA2 GNDA GND100 +AA1 GNDA +AE2 - AE2 GND100 GNDA +AE1 - AE1 GND100 Connector assignment DOK-INDRV*-CSH********-PR02-EN-P Options 7-29 Rexroth IndraDrive Data: Inputs Voltage min.: max.: -10 V +10 V A/D converter 12 bit Increments Fig. 7-43: 5 mV / increment Data: inputs MA1 Analog Input: Possibility of Connection external source of signals 100R optional (in case of extreme interferences) Fig. 7-44: Data: Outputs Analog input: possibility of connection Voltage min.: max.: -10 V +10 V D/A converter 12 bit Increments Fig. 7-45: Analog Output: Possibility of Connection 5 mV / increment Data: outputs external receiver MA1 100R optional (in case of extreme interferences) DOK-INDRV*-CSH********-PR02-EN-P NT 7-30 Options Rexroth IndraDrive Notes DOK-INDRV*-CSH********-PR02-EN-P Service & Support 8-1 Rexroth IndraDrive 8 Service & Support 8.1 Helpdesk Unser Kundendienst-Helpdesk im Hauptwerk Lohr am Main steht Ihnen mit Rat und Tat zur Seite. Sie erreichen uns - telefonisch - by phone: über Service Call Entry Center - via Service Call Entry Center Our service helpdesk at our headquarters in Lohr am Main, Germany can assist you in all kinds of inquiries. Contact us 49 (0) 9352 40 50 60 Mo-Fr 07:00-18:00 Mo-Fr 7:00 am - 6:00 pm +49 (0) 9352 40 49 41 - per Fax - by fax: - per e-Mail - by e-mail: [email protected] 8.2 Service-Hotline Außerhalb der Helpdesk-Zeiten ist der Service direkt ansprechbar unter After helpdesk hours, department directly at contact our service +49 (0) 171 333 88 26 oder - or +49 (0) 172 660 04 06 8.3 Internet Unter www.boschrexroth.com finden Sie ergänzende Hinweise zu Service, Reparatur und Training sowie die aktuellen Adressen *) unserer auf den folgenden Seiten aufgeführten Vertriebsund Servicebüros. Verkaufsniederlassungen sales agencies Niederlassungen mit Kundendienst offices providing service Außerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mit unserem für Sie nächstgelegenen Ansprechpartner auf. *) Die Angaben in der vorliegenden Dokumentation können seit Drucklegung überholt sein. 8.4 At www.boschrexroth.com you may find additional notes about service, repairs and training in the Internet, as well as the actual addresses *) of our sales- and service facilities figuring on the following pages. Please contact our sales / service office in your area first. *) Data in the present documentation may have become obsolete since printing. Vor der Kontaktaufnahme... - Before contacting us... Wir können Ihnen schnell und effizient helfen wenn Sie folgende Informationen bereithalten: For quick and efficient help, please have the following information ready: 1. detaillierte Beschreibung der Störung und der Umstände. 1. Detailed description circumstances. 2. Angaben auf dem Typenschild der betreffenden Produkte, insbesondere Typenschlüssel und Seriennummern. 2. Information on the type plate of the affected products, especially type codes and serial numbers. 3. Tel.-/Faxnummern und e-Mail-Adresse, unter denen Sie für Rückfragen zu erreichen sind. 3. Your phone/fax numbers and e-mail address, so we can contact you in case of questions. DOK-INDRV*-CSH********-PR02-EN-P of the failure and 8-2 Service & Support 8.5 Rexroth IndraDrive Kundenbetreuungsstellen - Sales & Service Facilities Deutschland – Germany vom Ausland: from abroad: (0) nach Landeskennziffer weglassen! don’t dial (0) after country code! Vertriebsgebiet Mitte Germany Centre SERVICE SERVICE SERVICE Rexroth Indramat GmbH Bgm.-Dr.-Nebel-Str. 2 / Postf. 1357 97816 Lohr am Main / 97803 Lohr CALL ENTRY CENTER MO – FR von 07:00 - 18:00 Uhr HOTLINE MO – FR von 17:00 - 07:00 Uhr from 5 pm - 7 am + SA / SO Tel.: +49 (0)172 660 04 06 oder / or Tel.: +49 (0)171 333 88 26 ERSATZTEILE / SPARES verlängerte Ansprechzeit - extended office time ♦ nur an Werktagen - only on working days - Kompetenz-Zentrum Europa Tel.: Fax: +49 (0)9352 40-0 +49 (0)9352 40-4885 from 7 am – 6 pm Tel. +49 (0) 9352 40 50 60 [email protected] ♦ von 07:00 - 18:00 Uhr - from 7 am - 6 pm Tel. +49 (0) 9352 40 42 22 Vertriebsgebiet Süd Germany South Vertriebsgebiet West Germany West Gebiet Südwest Germany South-West Bosch Rexroth AG Landshuter Allee 8-10 80637 München Bosch Rexroth AG Regionalzentrum West Borsigstrasse 15 40880 Ratingen Bosch Rexroth AG Service-Regionalzentrum Süd-West Siemensstr.1 70736 Fellbach Tel.: +49 (0)89 127 14-0 Fax: +49 (0)89 127 14-490 Tel.: Fax: Tel.: +49 (0)711 51046–0 Fax: +49 (0)711 51046–248 Vertriebsgebiet Nord Germany North Vertriebsgebiet Mitte Germany Centre Vertriebsgebiet Ost Germany East Vertriebsgebiet Ost Germany East Bosch Rexroth AG Walsroder Str. 93 30853 Langenhagen Bosch Rexroth AG Regionalzentrum Mitte Waldecker Straße 13 64546 Mörfelden-Walldorf Bosch Rexroth AG Beckerstraße 31 09120 Chemnitz Bosch Rexroth AG Regionalzentrum Ost Walter-Köhn-Str. 4d 04356 Leipzig Tel.: +49 (0) 61 05 702-3 Fax: +49 (0) 61 05 702-444 Tel.: Fax: Tel.: Fax: Tel.: +49 (0) 511 72 66 57-0 Service: +49 (0) 511 72 66 57-256 Fax: +49 (0) 511 72 66 57-93 Service: +49 (0) 511 72 66 57-783 +49 (0)2102 409-0 +49 (0)2102 409-406 +49 (0)2102 409-430 +49 (0)371 35 55-0 +49 (0)371 35 55-333 +49 (0)341 25 61-0 +49 (0)341 25 61-111 DOK-INDRV*-CSH********-PR02-EN-P Service & Support 8-3 Rexroth IndraDrive Europa (West) - Europe (West) vom Ausland: (0) nach Landeskennziffer weglassen, from abroad: don’t dial (0) after country code, Italien: 0 nach Landeskennziffer mitwählen Italy: dial 0 after country code Austria - Österreich Austria – Österreich Belgium - Belgien Denmark - Dänemark Bosch Rexroth GmbH Electric Drives & Controls Stachegasse 13 1120 Wien Tel.: +43 (0)1 985 25 40 Fax: +43 (0)1 985 25 40-93 Bosch Rexroth GmbH Electric Drives & Controls Industriepark 18 4061 Pasching Tel.: +43 (0)7221 605-0 Fax: +43 (0)7221 605-21 Bosch Rexroth NV/SA Henri Genessestraat 1 1070 Bruxelles BEC A/S Zinkvej 6 8900 Randers Tel: +32 (0) 2 582 31 80 Fax: +32 (0) 2 582 43 10 [email protected] [email protected] Tel.: Fax: Great Britain – Großbritannien Finland - Finnland France - Frankreich France - Frankreich Bosch Rexroth Ltd. Electric Drives & Controls Broadway Lane, South Cerney Cirencester, Glos GL7 5UH Bosch Rexroth Oy Electric Drives & Controls Ansatie 6 017 40 Vantaa Tel.: +44 (0)1285 863000 Fax: +44 (0)1285 863030 [email protected] [email protected] Tel.: Fax: Bosch Rexroth SAS Electric Drives & Controls Avenue de la Trentaine (BP. 74) 77503 Chelles Cedex Tel.: +33 (0)164 72-70 00 Fax: +33 (0)164 72-63 00 Hotline: +33 (0)608 33 43 28 Bosch Rexroth SAS Electric Drives & Controls ZI de Thibaud, 20 bd. Thibaud (BP. 1751) 31084 Toulouse Tel.: +33 (0)5 61 43 61 87 Fax: +33 (0)5 61 43 94 12 France – Frankreich Italy - Italien Italy - Italien Italy - Italien Bosch Rexroth SAS Electric Drives & Controls 91, Bd. Irène Joliot-Curie 69634 Vénissieux – Cedex Tel.: +33 (0)4 78 78 53 65 Fax: +33 (0)4 78 78 53 62 Bosch Rexroth S.p.A. Via G. Di Vittorio, 1 20063 Cernusco S/N.MI Hotline: +39 02 92 365 563 Tel.: +39 02 92 365 1 Service: +39 02 92 365 326 Fax: +39 02 92 365 500 Service: +39 02 92 365 503 Bosch Rexroth S.p.A. Via Paolo Veronesi, 250 10148 Torino Bosch Rexroth S.p.A. Via Mascia, 1 80053 Castellamare di Stabia NA Tel.: Fax: Tel.: Fax: Italy - Italien Italy - Italien Netherlands - Niederlande/Holland Netherlands – Niederlande/Holland Bosch Rexroth S.p.A. Via del Progresso, 16 (Zona Ind.) 35020 Padova Bosch Rexroth S.p.A. Via Isonzo, 61 40033 Casalecchio di Reno (Bo) Bosch Rexroth B.V. Kruisbroeksestraat 1 (P.O. Box 32) 5281 RV Boxtel Tel.: Fax: Tel.: Fax: Bosch Rexroth Services B.V. Technical Services Kruisbroeksestraat 1 (P.O. Box 32) 5281 RV Boxtel Tel.: +31 (0) 411 65 16 40 +31 (0) 411 65 17 27 Fax: +31 (0) 411 67 78 14 +31 (0) 411 68 28 60 [email protected] +39 049 8 70 13 70 +39 049 8 70 13 77 +358 (0)9 84 91-11 +358 (0)9 84 91-13 60 +39 051 29 86 430 +39 051 29 86 490 +39 011 224 88 11 +39 011 224 88 30 +45 (0)87 11 90 60 +45 (0)87 11 90 61 +39 081 8 71 57 00 +39 081 8 71 68 85 Tel.: +31 (0) 411 65 19 51 Fax: +31 (0) 411 65 14 83 www.boschrexroth.nl Norway - Norwegen Spain - Spanien Spain – Spanien Sweden - Schweden Bosch Rexroth AS Electric Drives & Controls Berghagan 1 or: Box 3007 1405 Ski-Langhus 1402 Ski Bosch Rexroth S.A. Electric Drives & Controls Centro Industrial Santiga Obradors s/n 08130 Santa Perpetua de Mogoda Barcelona Tel.: +34 9 37 47 94 00 Fax: +34 9 37 47 94 01 Goimendi S.A. Electric Drives & Controls Parque Empresarial Zuatzu C/ Francisco Grandmontagne no.2 20018 San Sebastian Bosch Rexroth AB Electric Drives & Controls - Varuvägen 7 (Service: Konsumentvägen 4, Älfsjö) 125 81 Stockholm Tel.: +34 9 43 31 84 21 - service: +34 9 43 31 84 56 Fax: +34 9 43 31 84 27 - service: +34 9 43 31 84 60 [email protected] Tel.: Fax: Sweden - Schweden Switzerland East - Schweiz Ost Switzerland West - Schweiz West Bosch Rexroth AB Electric Drives & Controls Ekvändan 7 254 67 Helsingborg Tel.: +46 (0) 42 38 88 -50 Fax: +46 (0) 42 38 88 -74 Bosch Rexroth Schweiz AG Electric Drives & Controls Hemrietstrasse 2 8863 Buttikon Tel. +41 (0) 55 46 46 111 Fax +41 (0) 55 46 46 222 Bosch Rexroth Suisse SA Av. Général Guisan 26 1800 Vevey 1 Tel.: +47 (0) 64 86 41 00 Fax: +47 (0) 64 86 90 62 Hotline: +47 (0)64 86 94 82 [email protected] DOK-INDRV*-CSH********-PR02-EN-P Tel.: Fax: +41 (0)21 632 84 20 +41 (0)21 632 84 21 +46 (0)8 727 92 00 +46 (0)8 647 32 77 8-4 Service & Support Rexroth IndraDrive Europa (Ost) - Europe (East) vom Ausland: (0) nach Landeskennziffer weglassen from abroad: don’t dial (0) after country code Czech Republic - Tschechien Czech Republic - Tschechien Hungary - Ungarn Poland – Polen Bosch -Rexroth, spol.s.r.o. Hviezdoslavova 5 627 00 Brno Tel.: +420 (0)5 48 126 358 Fax: +420 (0)5 48 126 112 DEL a.s. Strojírenská 38 591 01 Zdar nad Sázavou Tel.: +420 566 64 3144 Fax: +420 566 62 1657 Bosch Rexroth Kft. Angol utca 34 1149 Budapest Tel.: +36 (1) 422 3200 Fax: +36 (1) 422 3201 Bosch Rexroth Sp.zo.o. ul. Staszica 1 05-800 Pruszków Tel.: +48 22 738 18 00 – service: +48 22 738 18 46 Fax: +48 22 758 87 35 – service: +48 22 738 18 42 Poland – Polen Romania - Rumänien Romania - Rumänien Russia - Russland Bosch Rexroth Sp.zo.o. Biuro Poznan ul. Dabrowskiego 81/85 60-529 Poznan Tel.: +48 061 847 64 62 /-63 Fax: +48 061 847 64 02 East Electric S.R.L. Bdul Basarabia no.250, sector 3 73429 Bucuresti Tel./Fax:: +40 (0)21 255 35 07 +40 (0)21 255 77 13 Fax: +40 (0)21 725 61 21 [email protected] Bosch Rexroth Sp.zo.o. Str. Drobety nr. 4-10, app. 14 70258 Bucuresti, Sector 2 Tel.: +40 (0)1 210 48 25 +40 (0)1 210 29 50 Fax: +40 (0)1 210 29 52 Bosch Rexroth OOO Wjatskaja ul. 27/15 127015 Moskau Tel.: +7-095-785 74 78 +7-095 785 74 79 Fax: +7 095 785 74 77 [email protected] Russia - Russland Turkey - Türkei Turkey - Türkei Slowenia - Slowenien ELMIS 10, Internationalnaya 246640 Gomel, Belarus Tel.: +375/ 232 53 42 70 +375/ 232 53 21 69 Fax: +375/ 232 53 37 69 [email protected] Bosch Rexroth Otomasyon San & Tic. A..S. Fevzi Cakmak Cad No. 3 34630 Sefaköy Istanbul Servo Kontrol Ltd. Sti. Perpa Ticaret Merkezi B Blok Kat: 11 No: 1609 80270 Okmeydani-Istanbul DOMEL Otoki 21 64 228 Zelezniki Tel.: +90 212 413 34 00 Fax: +90 212 413 34 17 www.boschrexroth.com.tr Tel: +90 212 320 30 80 Fax: +90 212 320 30 81 [email protected] www.servokontrol.com Tel.: +386 5 5117 152 Fax: +386 5 5117 225 [email protected] DOK-INDRV*-CSH********-PR02-EN-P Service & Support 8-5 Rexroth IndraDrive Africa, Asia, Australia – incl. Pacific Rim Australia - Australien Australia - Australien China China AIMS - Australian Industrial Machinery Services Pty. Ltd. 28 Westside Drive Laverton North Vic 3026 Melbourne Bosch Rexroth Pty. Ltd. No. 7, Endeavour Way Braeside Victoria, 31 95 Melbourne Shanghai Bosch Rexroth Hydraulics & Automation Ltd. Waigaoqiao, Free Trade Zone No.122, Fu Te Dong Yi Road Shanghai 200131 - P.R.China Shanghai Bosch Rexroth Hydraulics & Automation Ltd. 4/f, Marine Tower No.1, Pudong Avenue Shanghai 200120 - P.R.China Tel.: +61 3 93 14 3321 Fax: +61 3 93 14 3329 Hotlines: +61 3 93 14 3321 +61 4 19 369 195 [email protected] Tel.: +61 3 95 80 39 33 Fax: +61 3 95 80 17 33 [email protected] Tel.: Fax: Tel: Fax: China China China China Bosch Rexroth China Ltd. 15/F China World Trade Center 1, Jianguomenwai Avenue Beijing 100004, P.R.China Bosch Rexroth China Ltd. Guangzhou Repres. Office Room 1014-1016, Metro Plaza, Tian He District, 183 Tian He Bei Rd Guangzhou 510075, P.R.China Bosch Rexroth (China) Ltd. A-5F., 123 Lian Shan Street Sha He Kou District Dalian 116 023, P.R.China Melchers GmbH BRC-SE, Tightening & Press-fit 13 Floor Est Ocean Centre No.588 Yanan Rd. East 65 Yanan Rd. West Shanghai 200001 Tel.: +86 10 65 05 03 80 Fax: +86 10 65 05 03 79 Tel.: Tel.: Fax: Tel.: Fax: +86 20 8755-0030 +86 20 8755-0011 +86 20 8755-2387 Fax: +86 21 58 66 30 30 +86 21 58 66 55 23 +86 21 68 86 15 88 +86 21 58 40 65 77 [email protected] [email protected] +86 411 46 78 930 +86 411 46 78 932 +86 21 6352 8848 +86 21 6351 3138 Hongkong India - Indien India - Indien India - Indien Bosch Rexroth (China) Ltd. 6th Floor, Yeung Yiu Chung No.6 Ind Bldg. 19 Cheung Shun Street Cheung Sha Wan, Kowloon, Hongkong Bosch Rexroth (India) Ltd. Electric Drives & Controls Plot. No.96, Phase III Peenya Industrial Area Bangalore – 560058 Bosch Rexroth (India) Ltd. Electric Drives & Controls Advance House, II Floor Ark Industrial Compound Narol Naka, Makwana Road Andheri (East), Mumbai - 400 059 Bosch Rexroth (India) Ltd. S-10, Green Park Extension New Delhi – 110016 Tel.: Fax: Tel.: Fax: Tel.: +91 22 28 56 32 90 +91 22 28 56 33 18 Fax: +91 22 28 56 32 93 Tel.: [email protected] [email protected] [email protected] Japan Japan Korea +852 22 62 51 00 +852 27 41 33 44 [email protected] Indonesia - Indonesien +91 80 51 17 0-211...-218 +91 80 83 94 345 +91 80 83 97 374 Fax: +91 11 26 56 65 25 +91 11 26 56 65 27 +91 11 26 56 68 87 PT. Bosch Rexroth Building # 202, Cilandak Commercial Estate Jl. Cilandak KKO, Jakarta 12560 Bosch Rexroth Automation Corp. Service Center Japan Yutakagaoka 1810, Meito-ku, NAGOYA 465-0035, Japan Bosch Rexroth Automation Corp. Electric Drives & Controls 2F, I.R. Building Nakamachidai 4-26-44, Tsuzuki-ku YOKOHAMA 224-0041, Japan Bosch Rexroth-Korea Ltd. Electric Drives and Controls Bongwoo Bldg. 7FL, 31-7, 1Ga Jangchoong-dong, Jung-gu Seoul, 100-391 Tel.: +62 21 7891169 (5 lines) Fax: +62 21 7891170 - 71 [email protected] Tel.: +81 52 777 88 41 +81 52 777 88 53 +81 52 777 88 79 Fax: +81 52 777 89 01 Tel.: +81 45 942 72 10 Fax: +81 45 942 03 41 Tel.: Fax: Korea Malaysia Singapore - Singapur South Africa - Südafrika Bosch Rexroth-Korea Ltd. 1515-14 Dadae-Dong, Saha-gu Electric Drives & Controls Pusan Metropolitan City, 604-050 Bosch Rexroth Sdn.Bhd. 11, Jalan U8/82, Seksyen U8 40150 Shah Alam Selangor, Malaysia Bosch Rexroth Pte Ltd 15D Tuas Road Singapore 638520 TECTRA Automation (Pty) Ltd. 71 Watt Street, Meadowdale Edenvale 1609 Tel.: +82 51 26 00 741 Fax: +82 51 26 00 747 [email protected] Tel.: +60 3 78 44 80 00 Fax: +60 3 78 45 48 00 [email protected] [email protected] Tel.: +65 68 61 87 33 Fax: +65 68 61 18 25 sanjay.nemade @boschrexroth.com.sg Tel.: +27 11 971 94 00 Fax: +27 11 971 94 40 Hotline: +27 82 903 29 23 [email protected] Taiwan Taiwan Thailand Bosch Rexroth Co., Ltd. Taichung Branch 1F., No. 29, Fu-Ann 5th Street, Xi-Tun Area, Taichung City Taiwan, R.O.C. Bosch Rexroth Co., Ltd. Tainan Branch No. 17, Alley 24, Lane 737 Chung Cheng N.Rd. Yungkang Tainan Hsien, Taiwan, R.O.C. NC Advance Technology Co. Ltd. 59/76 Moo 9 Ramintra road 34 Tharang, Bangkhen, Bangkok 10230 Tel : +886 - 4 -23580400 Fax: +886 - 4 -23580402 [email protected] [email protected] Tel : +886 - 6 –253 6565 Fax: +886 - 6 –253 4754 [email protected] Tel.: DOK-INDRV*-CSH********-PR02-EN-P +66 2 943 70 62 +66 2 943 71 21 Fax: +66 2 509 23 62 Hotline +66 1 984 61 52 [email protected] +82 234 061 813 +82 222 641 295 8-6 Service & Support Rexroth IndraDrive Nordamerika – North America USA Headquarters - Hauptniederlassung Bosch Rexroth Corporation Electric Drives & Controls 5150 Prairie Stone Parkway Hoffman Estates, IL 60192-3707 Tel.: +1 847 6 45 36 00 Fax: +1 847 6 45 62 01 [email protected] [email protected] USA Central Region - Mitte USA Southeast Region - Südwest Bosch Rexroth Corporation Electric Drives & Controls Central Region Technical Center 1701 Harmon Road Auburn Hills, MI 48326 Bosch Rexroth Corporation Electric Drives & Controls Southeastern Technical Center 3625 Swiftwater Park Drive Suwanee, Georgia 30124 Tel.: Fax: Tel.: Fax: +1 248 3 93 33 30 +1 248 3 93 29 06 - 7 days x 24hrs - +1-800-REX-ROTH +1 770 9 32 32 00 +1 770 9 32 19 03 +1 800 739 7684 USA East Region – Ost USA Northeast Region – Nordost USA West Region – West Bosch Rexroth Corporation Electric Drives & Controls Charlotte Regional Sales Office 14001 South Lakes Drive Charlotte, North Carolina 28273 Bosch Rexroth Corporation Electric Drives & Controls Northeastern Technical Center 99 Rainbow Road East Granby, Connecticut 06026 Bosch Rexroth Corporation 7901 Stoneridge Drive, Suite 220 Pleasant Hill, California 94588 Tel.: Tel.: Fax: Tel.: Fax: +1 704 5 83 97 62 +1 704 5 83 14 86 +1 860 8 44 83 77 +1 860 8 44 85 95 USA SERVICE-HOTLINE +1 925 227 10 84 +1 925 227 10 81 Canada East - Kanada Ost Canada West - Kanada West Mexico Mexico Bosch Rexroth Canada Corporation Burlington Division 3426 Mainway Drive Burlington, Ontario Canada L7M 1A8 Bosch Rexroth Canada Corporation 5345 Goring St. Burnaby, British Columbia Canada V7J 1R1 Bosch Rexroth Mexico S.A. de C.V. Calle Neptuno 72 Unidad Ind. Vallejo 07700 Mexico, D.F. Bosch Rexroth S.A. de C.V. Calle Argentina No 3913 Fracc. las Torres 64930 Monterrey, N.L. Tel.: +1 905 335 5511 Fax: +1 905 335 4184 Hotline: +1 905 335 5511 [email protected] Tel. +1 604 205 5777 Fax +1 604 205 6944 Hotline: +1 604 205 5777 [email protected] Tel.: Fax: Tel.: +52 55 57 54 17 11 +52 55 57 54 50 73 [email protected] x Fax: +52 81 83 65 22 53 +52 81 83 65 89 11 +52 81 83 49 80 91 +52 81 83 65 52 80 [email protected] Südamerika – South America Argentina - Argentinien Argentina - Argentinien Brazil - Brasilien Brazil - Brasilien Bosch Rexroth S.A.I.C. "The Drive & Control Company" Rosario 2302 B1606DLD Carapachay Provincia de Buenos Aires NAKASE Servicio Tecnico CNC Calle 49, No. 5764/66 B1653AOX Villa Balester Provincia de Buenos Aires Bosch Rexroth Ltda. Av. Tégula, 888 Ponte Alta, Atibaia SP CEP 12942-440 Bosch Rexroth Ltda. R. Dr.Humberto Pinheiro Vieira, 100 Distrito Industrial [Caixa Postal 1273] 89220-390 Joinville - SC Tel.: Tel.: +54 11 4768 36 43 Fax: +54 11 4768 24 13 Hotline: +54 11 155 307 6781 [email protected] [email protected] [email protected] (Service) Tel.: Tel./Fax: +55 47 473 58 33 Mobil: +55 47 9974 6645 [email protected] +54 11 4756 01 40 +54 11 4756 02 40 +54 11 4756 03 40 +54 11 4756 04 40 Fax: +54 11 4756 01 36 +54 11 4721 91 53 [email protected] +55 11 4414 56 92 +55 11 4414 56 84 Fax sales: +55 11 4414 57 07 Fax serv.: +55 11 4414 56 86 [email protected] Columbia - Kolumbien Reflutec de Colombia Ltda. Calle 37 No. 22-31 Santafé de Bogotá, D.C. Colombia Tel.: +57 1 368 82 67 +57 1 368 02 59 Fax: +57 1 268 97 37 [email protected] [email protected] DOK-INDRV*-CSH********-PR02-EN-P Appendix 9-1 Rexroth IndraDrive 9 Appendix 9.1 Power Consumption of Control Sections Module BASIC OPENLOOP 18 BASIC SERCOS 18 BASIC PROFIBUS 18 BASIC ANALOG 18 BASIC UNIVERSAL single-axis 24 BASIC UNIVERSAL double-axis 34 ADVANCED 26 Fig. 9-1: 9.2 Power [W] Maximum power consumption of control sections Commissioning Aids Required in Preparation for Commissioning The following commissioning aids are required for commissioning the drive system: • PC: The PC is required for programming, parameterization and diagnosis during commissioning and servicing. The PC must match at least the system requirements of the commissioning program "DriveTop". • Connecting Cable RKB 041 (PC ↔ Drive Controller) • Commissioning Program: Commissioning program "DriveTop" • Measuring instruments: The following measuring instruments are necessary in order to be able to measure torque, current and speed as analog signals at the analog outputs: • multimeter for commissioning) measuring voltage (sufficient for series • oscilloscope or recorder (only necessary for writing a protocol of signaling sequences when commissioning prototypes), if you don’t use the 4 channel oscilloscope function of the firmware DOK-INDRV*-CSH********-PR02-EN-P 9-2 Appendix Rexroth IndraDrive Notes DOK-INDRV*-CSH********-PR02-EN-P Index 10-1 Rexroth IndraDrive 10 Index 1 1 Vpp 6-11, 7-18 2 24V voltage input X31 6-37 24V voltage output X35 6-39 A ADVANCED 1-3 Type Code 4-6 An1, An2 6-34 Analog Input/Output Extension 7-27 Analog inputs EAn+ and EAn- 6-32 EAn1+, EAn1-, EAn2+ and EAn2- 6-33 X35 6-40 Analog inputs/outputs X35 6-39 X36 6-39 Analog outputs An1, An2 6-34 X35 6-40 Appropriate use 2-1 B BASIC ANALOG 1-3 BASIC 1...5 4-2 OPENLOOP 1-3 PROFIBUS 1-3 SERCOS 1-3 Type Code 4-2 UNIVERSAL 1-3 Basic structure 1-2 Battery safety 3-11 Bb 6-27 C CDB Type Code 4-4 Commissioning aids 9-1 preparation 9-1 Component designation 4-1 Conditions storing 5-1 transporting 5-1 Configurability 1-3 Control panel 6-51 Control section 1-3 documentation 1-1 overview 1-3 power consumption 9-1 type code 4-2 type plate 4-1 CSB Type Code 4-2 CSH DOK-INDRV*-CSH********-PR02-EN-P 10-2 Index Rexroth IndraDrive Type Code 4-6 D Digital Input/Output Extension 7-24 Digital inputs E/A8 ... E/A11 6-30 E1…E3 6-28 E12...22 6-38 Digital inputs E4 ... E7 6-29 Digital inputs X33/X34 6-38 Digital outputs E/A8 ... E/A11 6-31 Documentation overview 1-1 purpose 1-1 Drive controller basic structure 1-2 E E/A8 ... E/A11 6-30, 6-31 E1 ... E3 6-28 E12...22 6-38 E4 ... E7 6-29 EAn+ and EAn- 6-32 EAn1+, EAn1-, EAn2+ and EAn2- 6-33 Electrical data power consumption 9-1 Emulation encoder 6-18 EN1 7-7 EN2 7-11 Encoder 1Vpp 7-18 1Vpp (sine) 7-11 5VTTL 7-11 EN1 7-7 EN2 7-11 EnDat2.1 7-11 ENS 7-18 ENS 6-11 HIPERFACE® 7-18 HSF 7-7 IndraDyn 7-18 Resolver 7-7 Encoder emulation option MEM 7-19 X16 6-18 Encoder Interface Standard 6-11 EnDat2.1 7-11 ENS 6-11, 7-18 F Fiber optic cable 6-41 Fixed Interfaces 6-1 H H1 6-51 HAS01 7-27 Hazards by Improper Use 3-2 HEA01 7-24 HFE01 7-19 HFI01 7-7 HFI02 7-11 HFI03 7-18 HIPERFACE® 6-11, 7-18 DOK-INDRV*-CSH********-PR02-EN-P Index 10-3 Rexroth IndraDrive HSF 7-7 HSI01 7-20 HSI11 7-22 I Identification of components 4-1 Improper use hazards 3-2 Inappropriate use 2-2 Consequences, Discharge of liability 2-1 IndraDrive documentation 1-1 IndraDyn 6-11, 7-18 Input/Output Extension analog 7-27 digital 7-24 Inputs analog EAn+ and EAn- 6-32 analog EAn1+, EAn1-, EAn2+ and EAn2- 6-33 digital E/A8 ... E/A11 6-30 digital E1…E3 6-28 digital E4…E7 6-29 digital X33/X34 6-38 Inputs/outputs analog, digital (X31/X32) 6-24 X35 (analog) 6-39 X36 (analog) 6-39 Integrated safety technology 7-20 Safety Technology I/O 7-22 Starting lockout 7-20 Interfaces fixed 6-1 optional 7-1 L L1 7-20 LWL (Fiber Optic Cable) - Handling 6-42 M MA1 7-27 Master communication Parallel interface 6-48 PROFIBUS interface 6-44 SERCOS interface 6-41 MD1 7-24 MEM 7-19 MMC 6-10 MSK motors 6-11, 7-18 MultiMediaCard 6-10 O Option Analog Input/Output Extension 7-27 Digital Input/Output Extension 7-24 Encoder 7-7 Encoder emulator 7-19 MA1 7-27 MD1 7-24 MEM 7-19 Safety technology 7-20 Options 7-1 overview 1-3 Outputs analog An1, An2 6-34 digital E/A8 ... E/A11 6-31 DOK-INDRV*-CSH********-PR02-EN-P 10-4 Index Rexroth IndraDrive P Panel 6-51 Parallel interface 6-48 Power consumption control section 9-1 Power section 1-3 type plate 4-1 PROFIBUS interface 6-44 Protection against contact with electrical parts 3-5 against contact with hot parts 3-10 against dangerous movements 3-7 against electric shock by protective low voltage (PELV) 3-6 against magnetic and electromagnetic fields during operation and mounting 3-9 against pressurized systems 3-11 during handling and mounting 3-10 R Rating plates 4-1 Rel1 6-27 Relay Contacts 6-16 Relay Rel1 6-27 Resolver 7-7 RS232 6-8 S S1 7-22 Safety Instructions for Electric Drives and Controls 3-1 Safety option 7-20 Safety technology 7-20 Safety Technology I/O 7-22 SERCOS interface 6-41 serial interface 6-8 Service & Support 8-1 sine encoder 7-11 Slave 6-47 square-wave encoder 7-11 Standard control panel 6-52 Standard Encoder Interface 6-11 Starting lockout 7-20 Storing 5-1 Support 8-1 T Technical data power consumption 9-1 Transporting 5-1 TTL 7-11 Type Code ADVANCED 4-6 BASIC 4-2 CDB 4-4 CSB 4-2 CSH 4-6 Type plates 4-1 U Use directions for use 2-1 hazards by improper use 3-2 inappropriate 2-2 DOK-INDRV*-CSH********-PR02-EN-P Index 10-5 Rexroth IndraDrive V Voltage input X31 6-37 W Warning symbols 3-1 X X* 6-41 X10 7-5 X11 6-16 X12 6-16 X15 6-48 X16 6-18 X2 6-8 X20, X21 6-41 X20/X21 6-41 X30 6-44 X31/X32 6-24 X33 6-38 X34 6-38 X36 6-39 X7 6-10 X8 6-11 DOK-INDRV*-CSH********-PR02-EN-P 10-6 Index Rexroth IndraDrive Notes DOK-INDRV*-CSH********-PR02-EN-P Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Phone +49 93 52-40-50 60 Fax +49 93 52-40-49 4 1 [email protected] www.boschrexroth.com R911295012 Printed in Germany DOK-INDRV*-CSH********-PR02-EN-P