Digitaler Servoverstärker

AX2500

Assembly, Installation, Setup

Keep all product manuals as a product component
during the life span of the servo amplifier.
Pass all product manuals to future
users / owners of the servo amplifier.
Edition 02/06
Previous editions

Edition Comments
07/03 First edition
SSI emulation updated (Multiturn), UL/cUL information updated,
07/05
typographical changes, chapter 1 new sorted, several corrections
02/06 Chapter feedback updated, label updated, several small corrections

WINDOWS is a registered trademark of Microsoft Corp.

HIPERFACE is a registered trademark of Max Stegmann GmbH
EnDat is a registered trademark of Dr.Johannes Heidenhain GmbH

Technical changes to improve the performance of the equipment may be made without notice !
Printed in the Federal Republic of Germany
All rights reserved. No part of this work may be reproduced in any form (by printing, photocopying, microfilm
or any other method) or processed, copied or distributed by electronic means without the written permission
of Beckhoff.
Beckhoff 02/06 Contents
page

1 General
1.1 About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Symbols used in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 Abbreviations used in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Technical description
2.1 Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Use as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 European Directives and Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 CE Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.5 UL and cUL- Conformance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.6 Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.7 Equipment description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.7.1 Package as supplied . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.7.2 Digital servo amplifiers in the series AX2500 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.8 Components of a servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.9 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.9.1 Rated data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.9.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.9.3 Recommended tightening torques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.9.4 Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.9.4.1 Internal fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.9.4.2 External fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.9.5 Permissible ambient conditions, ventilation, mounting position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.9.6 Conductor cross-sections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.10 Motor holding brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.11 Regen circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.11.1 LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.12 Grounding system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.13 Switch-on/-off behaviour. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.13.1 Stop function as per EN 60204 (VDE 0113). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.13.2 Emergency stop methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3 Installation
3.1 Important notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Guide to installation / wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.3.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.4 Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.4.1 Connection diagram AX250x and AX251x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.4.2 Connection diagram AX252x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.4.3 Example of connections for multi-axis system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.4.4 Connector assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.4.5 Connection techniques. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.4.5.1 Shield connection on the front panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.4.5.2 Requirements to cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.5 Setup software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.5.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.5.1.1 Use as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.5.1.2 Software description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.5.1.3 Hardware requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.5.1.4 Operating systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.5.2 Installation under WINDOWS 98 / 2000 / ME / NT / XP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

AX2500 Installation Manual 3

Contents 02/06 Beckhoff
page

4 Interfaces
4.1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.2 Power supply, master only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.2.1 Mains supply connection (X0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.2.1.1 Three-phase supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.2.1.2 Single-phase supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.2.2 24V auxiliary voltage (X0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.3 DC Bus link/DC-bus (X0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.4 Motor connection with brake (X6). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.5 External regen resistor (X0), master only. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.6 Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.6.1 Resolver (X5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.6.2 ComCoder (X2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.6.3 Incremental or sine encoder with hall sensors (X2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.6.4 Sine Encoder with EnDat or HIPERFACE (X2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.6.5 Sine Encoder without data channel (X2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.6.6 Incremental Encoder (X4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.7 Digital and analog inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.7.1 Analog input (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.7.2 Digital inputs (X3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.7.3 Digital outputs (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.7.4 Digital I/O on the Master (X1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.8 Encoder emulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.8.1 Incremental encoder output - A quad B (X4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.8.2 SSI output (X4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.9 Master-slave operation, encoder master control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.9.1 Connection to a AX2500 master, 5V signal level (X4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.9.2 Connection to incremental encoder master with 24V signal level (X3) . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.9.3 Connection to a sine-cosine encoder master (X2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.10 Interface for stepper motor controllers (pulse/direction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.10.1 Connection to a stepper motor controller with 5V signal level (X4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.10.2 Connection to a stepper motor controller with 24V signal level (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.11 RS232 interface, PC connection (X8), master only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.12 Fieldbus connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.12.1 CANopen interface (X7). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.12.2 PROFIBUS interface (X7), option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.12.3 SERCOS interface (X7), option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.12.3.1 Light emitting diodes (LEDs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.12.3.2 Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5 Setup
5.1 Important notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.2 Guide to setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.3 Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
5.3.1 Multi-axis systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
5.3.2 Key pad controls and status displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.3.2.1 Operating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.3.2.2 Status display on the axis module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.3.2.3 Status display on the master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
5.4 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.5 Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
6 Accessories
6.1 External PSU 24V DC / 5A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.2 External PSU 24V DC / 20A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.3 External regen resistor BAR(U) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.4 Add-on fan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
7 Appendix
7.1 Transport, storage, maintenace, disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
7.2 Fault-finding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
7.3 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
7.4 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

4 AX2500 Installation Manual

Beckhoff 02/06 General

1 General

1.1 About this manual

This manual describes the digital servo amplifiers of the AX2500 series.
In this manual you can find information about:

l General Chapter 1
l Technical description Chapter 2
l Assembly / installation Chapter 3
l Interfaces Chapter 4
l Commissioning Chapter 5
l Accessories Chapter 6
l Transport, storage, maintenance, disposal Chapter 7

A more detailed description of the field bus interfaces and the digital connection to auto-
mation systems can be found on the accompanying CD-ROM in PDF format (system
requirements: WINDOWS, Internet browser, Acrobat Reader) in several language ver-
sions.
You can print out this documentation on any standard printer. A printed copy of the docu-
mentation is available from us at extra cost.

This manual makes the following demands on qualified personnel :

Transport: only by personnel with knowledge of handling
electrostatically sensitive components.
Installation: only by electrically qualified personnel
Commissioning: only by qualified personnel with extensive knowledge of
electrical engineering / drive technology

1.2 Symbols used in this Manual

Danger to personnel
Danger to maschinery, Important
from electricity and its
general warning notes
effects effects

ð p. see page l special emphasis

AX2500 Installation Manual 5

General 02/06 Beckhoff

1.3 Abbreviations used in this Manual

The abbreviations used in this manual are explained in the table below.

Abbrev. Meaning
AGND Analog ground
BTB/RTO Ready to operate
CAN Fieldbus (CANopen)
CE Communité Europeenne (=EC)
CLK Clock signal
COM Serial interface for a PC-AT
DGND Digital ground
DIN Deutsches Institut für Normung
Disk Magnetic storage (diskette, hard disk)
EEPROM Electrically erasable memory
EMC Electromagnetic compatibility
EMI Elektromagnetic interference
EN European standard
ESD Electrostatic discharge
F-SMA Fiber Optic Cable connector according to IEC 60874-2
IEC International Electrotechnical Commission
IGBT Insulated gate bipolar transistor
ISO International Standardization Organization
LED Light-emitting diode
MB Megabyte
NI Zero pulse
NSTOP Limit-switch input, rot. dir. CCW (left)
PC Personal Computer
PELV Protected low voltage
PLC Programmable logic controller
PSTOP Limit-switch input, rot. dir. CW (right)
PSU Power supply unit
PWM Pulse-width modulation
RAM Volatile memory
RBext External regen resistor
RBint Internal regen resistor
RES Resolver
ROD 426 A quad B Encoder
SRAM Static RAM
SSI Synchronous serial interface
UL Underwriter Laboratory
V AC AC voltage
V DC DC voltage
VDE Verein deutscher Elektrotechniker

6 AX2500 Installation Manual

Beckhoff 02/06 Technical description

2 Technical description

2.1 Safety Instructions

l Only properly qualified personnel are permitted to carry out activities such as
transport, installation, commissioning and maintenance. Properly qualified per-
sons are those who are familiar with the transport, assembly, installation, com-
missioning and operation of the product, and who have the appropriate qualifi-
cations for their job. The qualified personnel must know and observe the
following standards and regulations:
IEC 364 and CENELEC HD 384 or DIN VDE 0100
IEC Report 664 or DIN VDE 0110
national accident prevention regulations or BGV A3
l Read this documentation before carrying out the installation and commissio-
ning. Incorrect handling of the servo amplifier can lead to personal injury or
material damage. It is vital that you keep to the technical data and information
on connection requirements (nameplate and documentation).
l Discharge your body before touching the servo amplifier. The servo amplifiers
contain electrostatically sensitive components which may be damaged by in-
correct handling. Avoid contact with highly insulating materials (artificial fab-
rics, plastic film etc.). Place the servo amplifier on a conductive surface.

l The manufacturer of the machine must produce a hazard analysis for the ma-
chine and take appropriate measures to ensure that unforeseen movements do
not result in personal injury or material damage.
l Do not open or touch the equipment during operation. Keep all covers and ca-
binet doors closed during operation. Touching the equipment is allowed du-
ring installation and commissioning for properly qualified persons only. Other-
wise, there are deadly hazards, with the possibility of death, severe injury or
material damage.
— During operation, servo amplifiers may have uncovered live
components, depending on their level of enclosure protection.
— Control and power connections may be live, even though the
motor is not rotating.
— Servo amplifiers may have hot surfaces during operation.
Surface can reach temperatures above 80°C.
l Never undo any electrical connections to the servo amplifier while it is live.
There is a danger of electrical arcing with damage to contacts and personal in-
jury.
Wait at least five minutes after disconnecting the servo amplifier from the main
supply power before touching potentially live sections of the equipment (e.g.
contacts) or undoing any connections. Capacitors can still have dangerous
voltages present up to five minutes after switching off the supply power. To be
sure, measure the voltage in the DC Bus link and wait until it has fallen below
40V.

AX2500 Installation Manual 7

Technical description 02/06 Beckhoff

2.2 Use as directed

The servo amplifiers are components which are built into electrical equipment or machi-
nes, and can only be commissioned as integral components of such equipment.

The manufacturer of the machine must produce a hazard analysis for the machine
and take appropriate measures to ensure that unforeseen movements do not result
in personal injury or material damage.

The servo amplifier should only be used with power supplies with a maximum
symmetrical rated current of 5000A and a voltage of 115/230V AC (AX250x) or 400V
AC (AX251x).

Mains voltage Servo amplifier

1 x 115V AC only AX250x, unearthed operation is permissible
3 x 115V AC only AX250x, unearthed operation is permissible
1 x 230V AC only AX250x, unearthed operation is permissible
3 x 230V AC all types, unearthed operation is permissible
3 x 400V AC only AX251x, TN-system or TT-system with earthed neutral point

If the servo amplifiers are used in residential areas, or in business or commercial premi-
ses, then additional filter measures must be implemented by the user.
The AX2500 family of servo amplifiers is only intended to drive specific brushless syn-
chronous servomotors with closed-loop control of torque, speed and/or position. The
rated voltage of the motors must be at least as high as the DC Bus link voltage of the
servo amplifier.
The servo amplifiers may only be operated in a closed control cabinet, taking into
account the ambient conditions defined on page 17. Ventilation or cooling measures may
be required to keep the temperature below 45°C.
Use only copper-cored cables for wiring. The conductor cross-sections can be taken from
the European standard EN 60204 (or Table 310-16 of NEC for 60°C or 75°C in the
column for AWG cross-sections).
We can only guarantee that the system will conform to the standards cited on page 9 if
the components used are exclusively those supplied by us (servo amplifier, motor, cables
etc.).

8 AX2500 Installation Manual

Beckhoff 02/06 Technical description

2.3 European Directives and Standards

Servo amplifiers are components that are intended to be incorporated into electrical plant
and machines for industrial use. When the servoamplifiers are built into machines or
plant, the intended operation of the amplifier is forbidden until it has been established that
the machine or plant fulfills the requirements of the EC Machinery Directive 98/37/EG and
the EC Directive on EMC (89/336/EEC) and the Low Voltage Directive 73/23/EEC.
To fulfill the EC Machinery directive 98/37/EG, the following standards have to be applied:
EN 60204-1 (Safety and electrical equipment of machines)
EN 292 (Safety of machines)

The manufacturer of the machine must produce a hazard analysis for the machine
and take appropriate measures to ensure that unforeseen movements do not result
in personal injury or material damage.

To fulfill the Low Voltage Directive 73/23/EEC, the following standards have to be applied:
EN 60204-1 (Safety and electrical equipment of machines)
EN 50178 (Equipment of high voltage plant with electronic devices)
EN 60439-1 (Low-voltage switchgear and controlgear assemblies)
To fulfill the EC EMC regulations 89/336/EEC, the following standards have to be applied:
EN 61000-6-1 or EN 61000-6-2 (noise immunity in the domestic range/industrial range)
EN 61000-6-3 or EN 61000-6-4 (noise emission in the domestic range/industrial range)
The manufacturer of the machine or plant is responsible for ensuring that they meet the
limits required by the EMC regulations. Advice on the correct installation for EMC – such
as shielding, grounding, arrangement of connectors and cable routing – can be found in
this documentation.

The machine / plant manufacturer must examine whether with its machine / plant
still further or other standards or EEC guidelines are to be used.

2.4 CE Conformity
Conformity with the EC Directive on EMC 89/336/EEC and the Low Voltage Directive
73/23/EEC is mandatory for servoamplifiers supplied within the European Union.
To fulfill the EMC directive, the standard EN 61800-3 is applied.
In the reference to noise immunity the servoamplifier fulfills the requirement to the cate-
gory second environment (industrial environment). For noise emission the amplifier meets
the requirement to a product of the category C2 (motor cable £ 25m).

Warning!
This product can cause high-frequency interferences in non industrial
environments which can require measures for interference suppression.

The servo amplifiers have been tested by an authorized testing laboratory in a defined
configuration with the system components which are described in this documentation.
Any divergence from the configuration and installation described in this documentation
means that you will be responsible for carrying out new measurements to ensure that the
regulatory requirements are fulfilled.
To fulfill the Low Voltage Directive, the standard EN 50178 has to be applied.

AX2500 Installation Manual 9

Technical description 02/06 Beckhoff

2.5 UL and cUL- Conformance

This servo amplifier is listed under UL file number E217428.
UL (cUL)-certified servo amplifiers (Underwriters Laboratories Inc.) fulfil the relevant U.S.
and Canadian standard (in this case UL 840 and UL 508C).
This standard describes the fulfilment by design of minimum requirements for electrically
operated power conversion equipment, such as frequency converters and servo ampli-
fiers, which is intended to eliminate the risk of fire, electric shock, or injury to persons,
being caused by such equipment.
UL(cUL) regulations also specify the minimum technical requirements of electrical devi-
ces, in order to take the necessary measures against the risk of fire, which can be trigge-
red by electrically operated devices. The technical conformance with the U.S. and Cana-
dian standard is determined by an independent UL (cUL) inspector through the type
testing and regular checkups.
Apart from the notes on installation and safety in the documentation, the customer does
not have to observe any other points in direct connection with the UL (cUL)-certification of
the equipment.
UL 508C
UL 508C describes the fulfilment by design of minimum requirements for electrically ope-
rated power conversion equipment, such as frequency converters and servo amplifiers,
which is intended to eliminate the risk of fire being caused by such equipment.
UL 840
UL 840 describes the fulfilment by design of air and insulation creepage spacings for
electrical equipment and printed circuit boards.

10 AX2500 Installation Manual

Beckhoff 02/06 Technical description

2.6 Nameplate
The nameplate depicted below is attached to the side of the servo amplifier.

Eiserstr. 5 Tel.: +49-(0)5246/963-0 C UL

® US
D-33415 Verl Fax: +49-(0)5246/963-149 E217428 LISTED
IND. CONT. EQ.
1VD4
Typenbezeichnung Model Number Ser. Nr Ser. No. Bemerkung Comment

Spannungsversorgung Power Supply Nennstrom Nom. Current Schutzart Encl.Rating

Umgebungstemp.
Ambient temp.

008102106842 5.76

max. Barcode Barcode

ambient temperature Serial Number Firmware

2.7 Equipment description

2.7.1 Package as supplied

If you order a AX2500 series amplifier from us, you will receive:
— AX250x or AX251x (Master)
— Mating connectors for X0, X1, X3, X6
— Protective cover for the axis-side (required only once per system)
— Assembly and Installation Instructions
— Setup software DRIVE.EXE and online documentation on CD-ROM
alternatively
— AX252x (axis module)
— Mating connector for X3, X6
— Short-form instructions

The mating SubD connectors are not part of the package supplied!

Accessories: (must be ordered separately if required)

— Electrical add-on fan (for max. 2 axes, required for AX25x6)
— Synchronous servomotor (linear or rotary)
— Motor lead (pre-assembled), or motor cable as cut-off length + loose connectors
(motor- and amplifier-side)
— Feedback cable (pre-assembled) or both feedback connectors, loose with
feedback cable as cut-off length
— External regen resistor BAR(U) (ð p.71)
— Communication cable to PC (ð p.56) for parameterizing the master and any
attached axis modules
— Power cable, control cables, fieldbus cables (as lengths)

AX2500 Installation Manual 11

Technical description 02/06 Beckhoff

2.7.2 Digital servo amplifiers in the series AX2500

Minimum complexity
l up to 8 axes in a single system
l only one power supply feed and one auxiliary voltage supply per system
l shield connection directly on the servo amplifier
l all axes in a system can be parameterized through a single interface
l strongly reduced wiring expenditure by modular structure
l simple mechanical structure on DIN rails

Standard version
l 2 supply voltage versions: AX250x up to 3x230VAC and
AX251x up to 3x400VAC
l one size for the master and axis modules each, see page 26
l analog input
l fieldbus interface is integrated (standard: CANopen)
l RS232 is integrated
l pulse-direction interface is integrated

Supply power
l directly off electrical supply input (master only, B6 rectifier bridge,
integral power input filter and inrush circuit):
1 x 115V AC (AX250x only, unearthed operation is permitted)
3 x 115V AC (AX250x only, unearthed operation is permitted)
1 x 230V AC (AX250x only, unearthed operation is permissible)
3 x 230V AC (all types, unearthed operation is permissible)
3 x 400V AC (AX251x only, TN-system or TT-system with
earthed neutral point)
l fusing (e.g. fusible cutout) provided by the user
l integrated interference suppression filter for the supply input (for category 2)
l integrated interference suppression filter for the 24V auxiliary supply (for category 2)
l all shielding connections directly on the amplifier
l output stage IGBT module with isolated current measurement
Clock frequency can be switched from 8 to 16 kHz with
ASCII command (with power reduction, please contact
our customer support)
l regen circuit internal regen resistor as standard,
external regen resistor if required
l DC Bus link voltage 160...310V DC for AX250x
310...560V DC for AX251x
160...560V DC for AX252x

12 AX2500 Installation Manual

Beckhoff 02/06 Technical description

Integrated safety
l safe electrical separation to EN 50178 between the power input / motor connections
and the signal electronics, provided by appropriate creepage distances and complete
electrical isolation
l Soft-start, overvoltage detection, short-circuit protection, phase-failure monitoring
l temperature monitoring of servo amplifier and motor (when using our motors with our
pre-assembled cables)

Auxiliary voltage 24V DC

l electrically isolated via an external 24V DC PSU, e.g. with isolating transformer

Operation and parameter setting

l with the comfortable setup software, via the serial interface of a PC to a single con-
nection for all axes in a system
l station address setting through two keys and a 3-digit LED status display on the
master
l fully programmable via RS232 interface

Completely digital control

l digital current controller (space vector pulse-width modulation, 62.5 µs)
l freely programmable digital speed controller (62.5 µs or 250 µs)
l integral position controller, with adaptation possibilities for every application (250 µs)
l integrated pulse direction interface, for connection of a servomotor to a
stepper-motor control
l evaluation of the resolver signals or sine/cosine signals from a high-resolution
encoder
l encoder emulation (incremental ROD 426-compatible or SSI)

Comfort functions
l 4 programmable digital inputs
(two are normally defined as limit-switch inputs)
l 2 programmable digital outputs
l freely programmable combinations of all digital signals

Options
l PROFIBUS DP interface instead of CANopen, see page 58
l SERCOS interface instead of CANopen, see page 59

AX2500 Installation Manual 13

Technical description 02/06 Beckhoff

2.8 Components of a servo system

PC

Control / PLC

24V supply

AX2500

fuses

drive contactor

terminals

motor

14 AX2500 Installation Manual

Beckhoff 02/06 Technical description

2.9 Technical data

2.9.1 Rated data

max. 230VAC max. 400VAC

AX25 AX25
Rated data DIM 03 06 23 26 13 16 23 26
1 x 115V-10% 3 x 230V-10%
Rated supply voltage V~ to — to —
3 x 230V+10% 3 x 400V+10%
Max. installed load for S1 operation
kVA 7 — 12 —
(in a multi-axis system)
Rated DC Bus link voltage V= 160 - 310 310 - 560
Rated output current
Arms 3 6* 3 6* 3 6* 3 6*
(rms value, ± 3%, @ 8kHz)
Peak output current
Arms 9 12* 9 12* 9 12* 9 12*
(max. ca. 5s, ± 3%, @ 8kHz)
8 (can be switched to 16, with power reduction,
Clock frequency of output stage kHz
please contact our customer support)
Overvoltage switch-off threshold V 450 — 750 —
maximum load inductance mH 75 40 75 40 75 40 75 40
minimum load inductance mH 12 7.5 12 7.5 12 7.5 12 7.5
Form factor of the output current (rated
— 1.01 1.01
conditions and min. load inductance)
Bandwidth of subordinate current
kHz > 1.2 > 1.2
controller
Residual voltage drop at rated current V <5 <5
Quiescent dissipation, output stage disabled W 12 15 12 15 12 15 12 15
Dissipation at rated current
W 35 60 30 40 35 60 30 40
(without regen dissipation)
Inputs/outputs
Analog input, 14-bit resolution V ±10 ±10
common-mode voltage max. V ±10 ±10
input resistance kW 20 20
low 0...7 / high 12...36V, low 0...7 / high 12...36V,
Digital control inputs
7mA 7mA
Digital control outputs, open emitter max. 30V, 10mA max. 30V, 10mA
DC max. 30, DC max. 30,
V
BTB/RTO output, relay contacts AC max 42 — AC max 42 —
mA 500 500
Auxiliary supply, electrically isolated, V 20...30 20...30
— —
without holding brake, without fan A 0.5 0.5
Auxiliary supply, electrically isolated, 24 24
V
with holding brake or fan (-0% +15%) — (-0% +15%) —
(check voltage drop !) A 2.5 2.5
Max. output current for holding brake A 1,5 1,5
Mechanical
Weight kg 3 1.7 3 1.7
Height, without connectors mm 230 267* 230 267* 230 267* 230 267*
Width mm 100 50 100 50
Depth, without connectors mm 240 240
* with add-on ventilation, see page 72

AX2500 Installation Manual 15

Technical description 02/06 Beckhoff

2.9.2 Connections

Function Connector type

Control signals Combicon spring terminal
Power supply Power Combicon
Motor Combicon
Resolver input SubD 9pol. (socket)
Incremental encoder input SubD 15pol. (socket)
PC interface SubD 9pol. (plug)
Encoder emulation, ROD/SSI SubD 9pol. (plug)

2.9.3 Recommended tightening torques

Connector Tightening torque

X1, X3, X6 0.3 Nm
X0 1.3 Nm
Earthing bolts 3.5 Nm
lower mounting bolt 3.5 Nm

2.9.4 Fusing

2.9.4.1 Internal fusing

Function
Auxiliary supply 24V 20 AM
Regen resistor electronical

2.9.4.2 External fusing

Function Fusible cutouts or similar

AC supply FN1/2/3 16 A slow
24V supply FH1/2 20 A slow
regen resistor FB1/2 6 A slow

16 AX2500 Installation Manual

Beckhoff 02/06 Technical description

2.9.5 Permissible ambient conditions, ventilation, mounting position

Storage temp. /humidity/duration ð p.73

Transport temperature/humidity ð p.73
Supply voltage tolerances
main power
AX250x min 1x115V-10% AC / max 1x230V+10%, 50/60 Hz
min 3x115V-10% AC / max 3x230V+10%, 50/60 Hz
AX251x min 3x230V-10% AC / max 3x400V+10%, 50/60 Hz

auxiliary supply
w/o brake and w/o fan 20 VDC ... 30 VDC
with brake or with fan 24 VDC (-0% +15%), check voltage drop
0...+45oC at rated conditions
Ambient temperature in operation
+45...+55°C with power derating 2.5% / K
Humidity in operation rel. humidity 85%, no condensation
up to 1000m amsl without restrictions
Site altitude
1000...2500m amsl with derating 1.5% / 100m
Pollution level Pollution level 2 as per EN 60204 / EN 50178
Enclosure rating IP 20
Mounting position normally vertical ð p.25
AX25x3: free convection
Ventilation
AX25x6: add-on fan (ð p.72)

Make sure that there is adequate forced ventilation

within the closed control cabinet.

2.9.6 Conductor cross-sections

Technical requirements to cables ð p.33.

Following EN 60204-1, we recommend :
AC connection 1.5 mm², depending on the system fusing
Motor cables, max. 25m 1 mm², shielded, capacitance <150pF/m
Resolver, motor thermostat, 4x2x0.25 mm², twisted pairs, shielded,
max.100m capacitance <120pF/m
Encoder, motor thermostat, 7x2x0.25 mm², twisted pairs, shielded,
max. 50m capacitance <120pF/m
Analog signals 0.25 mm² , twisted pairs, shielded
Control signals, BTB, DGND 0.5 mm²
Holding brake (motor) 0.75 mm², shielded, check voltage drop
+24 V / XGND max. 2.5 mm², check voltage drop

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Technical description 02/06 Beckhoff

2.10 Motor holding brake control

A motor holding brake (max.1.5A) can be controlled directly by the servo amplifier.

Check voltage drop, measure the voltage at brake input and check brake function
(brake and no brake).
This function does not ensure personnel safety!

The brake function must be enabled through the BRAKE parameter (on the screen page
for Motor): the setting is WITH.
In the diagram below you can see the timing and functional relationships between the
ENABLE signal, speed setpoint, speed and braking force.

During the internal enable delay time of 100ms the speed setpoint of the servo amplifier is
internally driven down a 10ms ramp to 0V. The brake output is switched on when 3% of
the final speed is reached, at the latest after 1 second.
The rise (fbrH) and fall (fbrL) times of the holding brakes that are built into the motors vary
for the different types of motor (see motor manual).
A description of the interface can be found on page 39.
Personnel-safe operation of the holding brake requires an additional “make” contact in
the brake circuit and a spark suppressor device (e.g. a varistor) in the recommended
brake circuit:

AX25

18 AX2500 Installation Manual

Beckhoff 02/06 Technical description

2.11 Regen circuit

During braking with the aid of the motor, energy is fed back to the servo amplifier. This
energy is converted into heat in the regen resistor. The regen resistor is switched in and
out by the regen circuit. The switching thresholds for the regen circuit are adjusted to suit
the supply voltage with the aid of the setup software.
Our customer support can help you with the calculation of the regen power which is requi-
red. A description of the interface can be found on page 39 .

Internal regen resistor 33 W

External regen resistor (ð p.71) 33 W
Functional description
The regen circuit starts to respond when the DC Bus link voltage reaches the set value.
If the energy which is fed back from the motor, as an average over time or as a peak
value, is higher than the preset regen power, then the servo amplifier will output the sta-
tus regen power exceeded and the circuit will be switched off.
At the next internal check of the DC Bus link voltage (after a few milliseconds) an overvol-
tage will be detected and the servo amplifier will be switched off, with the error message
overvoltage (ð p.66).
The BTB/RTO contact (terminals X1/1,2) will be opened simultaneously (ð p.49).
Technical data

Supply voltage Rated data DIM Value

Upper switch-on threshold for regen circuit V 400
Switch-off threshold for regen circuit V 380
Continuous int. power in regen circuit (RBint) W 55
3 x 230 V Continuous ext. power in circuit (RBext) max. kW 0,4
Pulse power, internal (RBint max. 1s) kW 4.8
Pulse power, external (RBext max. 1s) kW 4.8
External regen resistor W 33
Upper switch-on threshold for regen circuit V 720
Switch-off threshold for regen circuit V 680
Continuous int. power in regen circuit (RBint) W 80
3 x 400 V Continuous ext. power in circuit (RBext) max. kW 0,6
Pulse power, internal (RBint max. 1s) kW 16
Pulse power, external (RBext max. 1s) kW 16
External regen resistor W 33

2.11.1 LED display

A 3-digit LED display indicates the amplifier status after switching on the 24V supply
(ð p.65).

2.12 Grounding system

AGND – ground reference for analog signals, internal analog ground
DGND – ground reference for digital signals and auxiliary supply voltage,
optically isolated
PGND — ground reference for position output
The electrical isolation is indicated in the block diagram (ð p.37).

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Technical description 02/06 Beckhoff

2.13 Switch-on/-off behaviour

The diagram below illustrates the correct functional sequence for switching the servo
amplifier on and off.

2.13.1 Stop function as per EN 60204 (VDE 0113)

If a fault occurs (ð p.66), the output stage of the servo amplifier is switched off and the
BTB/RTO contact is opened. In addition, a global error signal can be given out at one of
the digital outputs (terminals X3/8 and X3/9) (see the Online help in the setup software).
These signals can be used by the higher-level control to terminate the current PLC cycle
or to shut down the drive (through an additional brake or similar means).
Instruments with a selected Brake function use a special sequence for switching off the
output stage (ð p.18). The Stop functions are defined in EN 60204 (VDE 0113), Paras.
9.2.2 and 9.2.5.3.
Categories of Stop functions
Category 0: Shut down by immediate switch-off of the supply of energy to the
drive machinery (i.e. an uncontrolled shut-down)
Category 1: A controlled shut-down, during which the supply of energy to the
drive machinery is maintained to perform the shut-down, and where
the supply is only interrupted when standstill has been reached
Category 2: A controlled shut-down, where the supply of energy to the drive
machinery is maintained
Every machine must be equipped with a Stop function to Category 0.
Categories 1 and/or 2 must be provided if the safety or functional requirements of the
machine make this necessary.
Implementation of the Stop function :
You can find wiring recommendations in our application note
“Stop and Emergency Stop functions"

20 AX2500 Installation Manual

Beckhoff 02/06 Technical description

2.13.2 Emergency stop methods

The Emergency Stop function is defined in EN 60204 (VDE 0113), Para. 9.2.5.4.
In addition to the requirements for Stop, the Emergency Stop must fulfill the following
requirements:
l it must have priority over all other functions and controls in all operating situations
l the energy supply to any drive machinery that could cause dangerous situations
must be switched off as fast as possible, without causing any further hazards (e.g. by
using
mechanical latching devices that do not require an external supply of energy, by
counter-current braking in Stop Category 1)
l the reset must not initiate a restart

If necessary, provision must be made for the additional connection of emergency stop
devices (see EN 60204 Requirements for emergency stop devices).
The Emergency Stop must be effective as a stop of either Category 0 or Category 1.
The Emergency Stop Category must be determined by a risk evaluation of the machine.
Category 0
Only hard-wired electromechanical components may be used for an Emergency Stop
function to Category 0. The action must not depend on switching logic (hardware or soft-
ware) or on the transmission of commands through a communications network or a data
connection.
In multi-axis systems using a coupled DC Bus link the motor cable must also be discon-
nected by a changeover switch (a contactor, such as Siemens type 3RT1516-1BB40) and
short-circuited by resistors wired in a star configuration.
Category 1
For Emergency Stop Category 1 the final disconnection of the energy supply to the drive
machinery must be ensured by electromechanical components. Supplementary Emer-
gency Stop devices may be plugged in.

Implementation of the Emergency Stop function :

You can find wiring recommendations in our application note
“Stop and Emergency Stop functions"

AX2500 Installation Manual 21

Technical description 02/06 Beckhoff

This page has been deliberately left blank.

22 AX2500 Installation Manual

Beckhoff 02/06 Installation

3 Installation

3.1 Important notes

l Protect the servo amplifier from impermissible stresses. In particular, do not let any
components become bent or any insulation distances altered during transport and
handling. Avoid contact with electronic components and contacts.
l Check the combination of servo amplifier and motor. Compare the rated voltage and
current of the units. Carry out the wiring according to the instructions on page 27.
l Make sure that the maximum permissible rated voltage at the terminals for L1, L2, L3
and +RBext, –DC is not exceeded by more than 10%, even in the most unfavourable
conditions (see EN 60204-1 Section 4.3.1). An excessive voltage on these terminals
can lead to destruction of the regen circuit and the servo amplifier.
Use the AX251x only on an earthed 3-phase supply system. Use the amplifier only to
drive a synchronous servomotor.
l The fusing of the AC supply input and the 24V supply is installed by the user
(ð p.16).
l Take care that the servo amplifier and motor are properly earthed. Do not use pain-
ted (non-conductive) mounting plates.
l Route power and control cables separately. We recommend a separation of at least
20 cm. This improves the interference immunity required by EMC regulations. If a
motor power cable is used which includes cores for brake control, the brake control
cores must be separately shielded. Earth the shielding at both ends (ð p.28).
l Install all heavy-current cables with an adequate cross-section, as per EN 60204-1
(ð p.17) and use the requested cable material (ð p. 33) to reach max. cable length.
l Wire the BTB/RTO contact in series into the safety circuit of the installation.
Only in this way is the monitoring of the servo amplifier assured.
l Install all shielding with large area (low impedance) connections, with metallised con-
nector housings or shield connection clamps where possible.
Notes on connection techniques can be found on page 32.
l Ensure that there is an adequate flow of cool, filtered air into the bottom of the control
cabinet or use heat exchanger. Note the conditions on page 17 .
l It is permissible to alter the servo amplifier settings by using the operator software.
Any other alterations will invalidate the warranty.

Caution
Never disconnect the electrical connections to the servo amplifier while it is live.
Residual charges in the capacitors can have dangerous levels up to 300 seconds
after switching off the mains supply voltage. Measure the voltage in the DC Bus
link (+RBext/-DC) and wait until the voltage has fallen below 40V.
Control and power connections can still be live, even when the motor is not
rotating.

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3.2 Guide to installation / wiring

The following notes should assist you to carry out the installation in a sensible sequence,
without overlooking anything important:

In a closed control cabinet. Observe page 17.

Site The site must be free from conductive or corrosive materials.
For the mounting position within the cabinet ð p.25

Check that the ventilation of the servo amplifier is unimpeded

and keep within the permitted ambient temperature ð p.17 .
Ventilation
Keep the required space clear above and below the
servo amplifier ð p.25.

Mount the servo amplifier on mounting rails (DIN-rails) on the

Mounting conductive, earthed mounting plate in the control cabinet and
mount the necessary add-on fans (ð p.72)

Cable selection Select cables according to EN 60204-1, ð p.17

EMC-conform shielding and grounding (ð p.28) Earth the moun-

Grounding,
ting plate, motor housing and CNC-GND of the controls. Notes
Shielding
on connection techniques are on page 32

Wiring — Route power leads separately from control cables

— Wire the BTB/RTO contact in series into the safety loop
— Connect the digital control inputs to the servo amplifier
— Connect up AGND
— Connect the analog setpoint, if required
— Connect the feedback unit (resolver or encoder)
— If required, connect the encoder emulation
— If required, connect the fieldbus
— Connect the motor cable
Connect shielding to EMC connectors at the motor end, and
the shielding lug at the amplifier end
— Connect motor-holding brake, with shielding to EMC
connector at the motor end, and to shielding lug at the
amplifier end
— If required, connect the external regen resistor (with fusing)
— Connect the auxiliary supply
(maximum permissible voltages ð p.17)
— Connect main power supply
(maximum permissible voltages ð p.17)
— Connect PC (ð p.56).

Make a final check of the wiring carried out against the wiring
Check
diagrams that have been used

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3.3 Mounting
Material: 2 mounting rails to EN60715, min. length = system width + 40mm,
make sure there is a conductive connection to the mounting plate
Mount the protective cover (7mm) on the left side of the system.
Tools required: Screwdriver with approx. 5 mm blade width

AX2500

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3.3.1 Dimensions

AX250x and AX251x

AX252x

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3.4 Wiring
Only professional staff who are qualified in electrical engineering are allowed to
install the servo amplifier.
The installation procedure is described as an example. A different procedure may be
appropriate or necessary, depending on the application of the equipment.
We provide further know-how through training courses (on request).

Caution !
Only install and wire up the equipment when it is not live, i.e. when neither the
mains power supply nor the 24 V auxiliary voltage nor the operating voltages of
any other connected equipment is switched on.
Take care that the cabinet is safely disconnected (lock-out, warning signs etc.).
The individual voltages will be switched on for the first time during commissioning.

The ground symbol X , which you will find in all the wiring diagrams, indicates
that you must take care to provide an electrically conductive connection with the
largest possible area between the unit indicated and the mounting plate in the
control cabinet. This connection is for the effective grounding of HF interference,
and must not be confused with the PE symbol W (protective earth to EN 60204).

Use the following wiring and connection diagrams :

Overview:
Master module : Page 28
Axis module : Page 29
Multiaxis systems : Page 30
Mains : Page 38
Motor : Page 39
Feedback:
Resolver : Page 40
ComCoder : Page 41
Incremental encoder with Hall : Page 42
Encoder with EnDat/HIPERFACE : Page 43
Encoder without data channel : Page 44
Incremental encoder : Page 45
Digital&Analog I/Os : Page 46ff
Encoder emulation:
ROD (AqB) : Page 50
SSI : Page 51
Master/slave interface : Page 52
Pulse/direction interface : Page 54
RS232 / PC : Page 56
Fieldbus:
CAN interface : Page 57
PROFIBUS interface : Page 58
SERCOS interface : Page 59

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3.4.1 Connection diagram AX250x and AX251x

Follow the safety instructions (ð p.7)

and the use as directed (ð p.8) !
AX250x/AX251x

ð p.43

ð p.46

ð p.46
ð p.40

ð p.48

ð p.39
ð p.49

ð p.52 ð p.38

ð p.39

ð p.57

ð p.38

ð p.56

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3.4.2 Connection diagram AX252x

Follow the safety instructions (ð p.7)

and the use as directed (ð p.8) ! AX252x

ð p.43
ð p.46

ð p.46
ð p.40

ð p.48

ð p.39

ð p.52

ð p.57

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3.4.3 Example of connections for multi-axis system

Follow the safety instructions (ð p.7)

and the use as directed (ð p.8) !

M
AX250x/AX251x

M
AX252x

AX252x

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3.4.4 Connector assignments

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3.4.5 Connection techniques

3.4.5.1 Shield connection on the front panel

The pre-assembled cables for

AX2500 are provided with an over-
all metal ferrule at the amplifier end
that is electrically
connected to the shielding.

Thread a cable tie through each slot

in the shielding strip (front panel) of
the servo amplifier.

00
X25
A
Tighten up the cable ties so that the
shielding ferrule and the sheathing
of the cable is pressed down tightly
against the shielding strip.

00
25
AX

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3.4.5.2 Requirements to cables

Further information on the chemical, mechanical and electrical characteristics of the

cables can be obtained from our customer support.

Observe the restrictions in the chapter "Conductor cross-sections" on page 17.

To operate the amplifier with the max. permitted cable length, you must use cable
material which meets the requirements on the capacity given below.

Insulation material
Sheathing PUR (polyurethane, code 11Y)
Core insulation PETP (polyesteraphthalate, code 12Y)
Capacitance
Motor cable less than 150 pF/m
RES/encoder cable less than 120 pF/m
Technical data
— The brackets in the cable designation indicate the shielding.
— All cables are suitable for use as trailing cables.
— The technical data refer to the use as moveable cables.
— Operating life : 1 million bending cycles

Operation-
max. Outside Bending
Cores used for Temperature
length diameter radius
range
[mm²] [m] [°C] [mm] [mm]
(4x1,0) 25 Motor / power -30 / +80 10 100
(4x1.0+(2x0.75)) 25 Motor incl. brake -30 / +80 10.5 105
(4x2x0,25) 100 Resolver -30 / +80 7,7 70
(7x2x0,25) 50 Encoder -30 / +80 9,9 90

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3.5 Setup software

3.5.1 General

This chapter describes the installation of the setup software DRIVE.EXE for the AX2500
digital servo amplifiers.
We offer training and familiarization courses on request.

3.5.1.1 Use as directed

The operator software is intended to be used for altering and storing the operating para-
meters for the AX2500 series of servo amplifiers. The attached servo amplifier is commis-
sioned with the assistance of the software - during this process the drive can be control-
led directly by the service functions.

Only professional personnel who have the relevant expertise described on page 5
are permitted to carry out online parameter setting for a drive which is running.
Sets of data which are stored on data media are not safe against unintended
alteration by other persons. After loading a set of data you must therefore check all
parameters thoroughly before enabling the servo amplifier.

3.5.1.2 Software description

The servo amplifiers must be adapted to the requirements of your installation. Usually you
will not have to carry out this parameter setting yourself on the amplifier, but on a PC,
with the assistance of the operator software. The PC is connected to the servo amplifier
by a null-modem (serial, ð p.56) cable. The setup software provides the communication
between the PC and AX2500.
You will find the setup software on the accompanying CD-ROM and in the download sec-
tion of our website.
With very little effort you can alter parameters and immediately observe the effect on the
drive, since there is a continuous (online) connection to the amplifier. At the same time,
important actual values are read out from the amplifier and displayed on the PC monitor
(oscilloscope function).
Any interface modules which may be built into the amplifier are automatically recognized,
and the additional parameters which are required for position control or motion-block defi-
nition are made available.
Sets of data can be stored on data media (archived) and loaded again. You can also print
out the data sets.
We provide you with motor-specific default sets of data for all the reasonable combina-
tions of servo amplifier and motor. In most applications you will be able to use these
default values to get your drive running without any problems.

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3.5.1.3 Hardware requirements

The PC interface (X6, RS232) of the master is connected to a serial interface on the PC
by a null-modem cable (not a null-modem link cable !) (ð p.56).

Connect / disconnect the interface cable only when the supply is switched off for
both the PC and the servo amplifier.

The interface in the servo amplifier is electrically isolated by an optocoupler, and is at the
same potential as the CANopen interface.
Minimum requirements for the PC:
Processor : Pentium I or higher
Operating system : WINDOWS 98 / 2000 / ME / NT4.0 / XP
Graphica adapter : Windows compatible, color
Drives : Hard disk (10 MB free space)
CD-ROM drive
Main memory : at least 8MB
Interface : one free serial interface (COM1:, 2:, 3: or 4:)

3.5.1.4 Operating systems

WINDOWS 98 / 2000 / ME / NT / XP
DRIVE.EXE can work under WINDOWS 98 / 2000 / ME / XP or WINDOWS NT 4.0.
Emergency operation is possible with an ASCII terminal-emulation.
Interface setting: 9600 bps, databit 8, stopbit 1,no parity, no handshake
Unix, Linux
DRIVE.EXE does not work under Unix and Linux.

3.5.2 Installation under WINDOWS 98 / 2000 / ME / NT / XP

The CD-ROM includes an installation program called SETUP.EXE that makes it easier to
install the setup software on your PC.
Connection to the serial interface of the PC
Connect the interface cable to a serial interface on your PC and the PC interfaces (X8) of
the AX2500 (ð p.56).
Installation
Insert the CD-ROM into a free drive.
Autostart activated:
The start screen of the CD-ROM pops up. Click on the link to the Setup Software and
follow the instructions.
Autostart deactivated:
Click on START (task bar), then on Run. Enter the program call x:\start.exe (where x= is
the drive letter for the CD drive). Click on OK and follow the instructions.

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This page has been deliberately left blank.

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4 Interfaces
This chapter presents all the important interfaces, divided between master and axis
module. The precise location of the connectors and terminals can be seen on page 31.

4.1 Block diagram

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4.2 Power supply, master only

4.2.1 Mains supply connection (X0)

4.2.1.1 Three-phase supplies

Directly to earthed supply, filter is integrated, fusing (e.g. fusible cut-outs) to be provided
by the user (ð p.16).

AX2500

for AX250x

for AX251x

4.2.1.2 Single-phase supplies

Directly to supply, filter is integrated, fusing (e.g. fusible cut-outs) to be provided by the
user (ð p.16).

AX2500

for AX250x

4.2.2 24V auxiliary voltage (X0)

— Electrically isolated supply from an external 24V DC PSU, e.g. with isolating
transformer
— Required current rating (ð p.15)
— Integrated EMC filter for the 24V auxiliary supply

AX2500

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4.3 DC Bus link/DC-bus (X0)

Can be connected in parallel with further, identical masters (via terminals -DC and RBext).

Only servo amplifiers with mains supply from the same mains (identical mains
supply voltage) may be connected by the DC bus link.

4.4 Motor connection with brake (X6)

Max. admisible length of the motor cable is 25 m.

AX2500

4.5 External regen resistor (X0), master only

Remove the plug-on link between terminals X0/5 (-RB) and X0/4 (+Rbint).

AX2500

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4.6 Feedback

Feedback system Conn. See Remarks

Resolver X2 p.40 2 to 36 poles
ComCoder X1 p.41 A, B, Zero, Hall
Incremental with Hall or A, B, Zero, Hall or
X1 p.42
sine Encoder with Hall Sine, Cosine, Zero, Hall
Sine Encoder with EnDat / HIPERFACE X1 p.43 Sine, Cosine, Clock, Data
Sine Encoder without Data channel X1 p.44 Sine, Cosine, Zero
Incremental encoder (A quad B) X5 p.45 A, B, Zero

4.6.1 Resolver (X5)

Our rotary servomotors have 2-pole hollow-shaft resolvers built in as a standard.

It is possible to connect 2- to 32-pole resolvers to AX2500. If lead lengths of more than
25m are planned, please consult our customer support.
The thermostat contact in the motor is connected via the resolver cable to the AX2500
and evaluated there.

AX2500 SubD9 12-pin round

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4.6.2 ComCoder (X2)

As an option our motors can be equipped with a ComCoder as feedback unit. For the
commutation hall sensors are used and for the resolution an incremental encoder.
The thermostat contact in the motor is connected via the ComCoder cable to X2 and
evaluated there.
If cable lengths of more than 25m are planned, please consult our customer service.
Frequency limit (A,B): 350 kHz

AX2500 SubD15 round, 17pin

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4.6.3 Incremental or sine encoder with hall sensors (X2)

Feedback devices (incremental or sine-cosine), which don't deliver an absolute informa-

tion for commutation, can be used as complete feedback system combined with an addi-
tional Hall encoder. All signals are connected to X2.
If cable lengths of more than 25m are planned, please consult our customer service.
Frequency limit (A, B): 350 kHz

AX2500 SubD15

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4.6.4 Sine Encoder with EnDat or HIPERFACE (X2)

As an option, the motors can be fitted with a single-turn or multiturn sine-cosine encoder.
Preferred types are the ECN1313 and EQN1325 encoders.
The encoder is used by the AX2500 as a feedback device for drive tasks that require
highly precise positioning or extremely smooth running.
The thermostat contact in the motor is connected via the encoder cable to the AX2500
and evaluated there.
If lead lengths of more than 25m are planned, please consult our customer support.
Frequency limit (A, B): 350 kHz

AX2500 SubD15 17-pin round

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4.6.5 Sine Encoder without data channel (X2)

A sine-cosine encoder without data channel can be used as standard motor feedback.
Select feedback type 7 "SinCos 5V with W&S". Drive executes wake&shake to calculate
the necessary start-up information for the position controller every time the 24V auxiliary
voltage is switched on.
If lead lengths of more than 50m are planned, please consult our customer service.
The thermostat contact in the motor is connected via the encoder cable to X2 and evalua-
ted there.
Frequency limit: 350 kHz

Don't use this feedback type with vertical load (hanging load).

AX2500 SubD 15

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4.6.6 Incremental Encoder (X4)

An incremental encoder can be used as standard motor feedback.

Select feedback type 19 "ROD 5V mit W&S". Drive executes wake&shake to calculate the
necessary start-up information for the position controller every time the 24V auxiliary vol-
tage is switched on.
If lead lengths of more than 50m are planned and for questions concerning the power
supply of the encoder, please consult our customer service.
The thermostat contact in the motor is connected to X2 (see p.43) or X5 (see p.40).
Frequency limit: 1.5 MHz

Don't use this feedback type with vertical load (hanging load).

AX2500 SubD 9

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4.7 Digital and analog inputs and outputs

4.7.1 Analog input (X3)

The servo amplifier has a programmable input for analog setpoints.

AGND (X3/1) must always be joined to the CNC-GND of the controls to provide a ground
reference.
Technical data
— Input voltage max. ± 10 V
— Resolution 1.25 mV
— Ground reference AGND, terminal X3/1
— Input resistance 20 kW
— Common mode voltage range for both inputs ± 10 V supplementary
— Update rate: 62,5 µs

AX2500

Input Analog-IN (terminals X3/2-3)

Input voltage max. ± 10 V, 14-bit resolution, scalable
Standard setting: Speed Setpoint
Fixing the direction of rotation
Standard setting: clockwise rotation of the motor shaft (looking at shaft end)
with positive voltage on terminal X3/3 (+ ) against X3/2 ( - )
To reverse the direction of rotation you can swap the connections to terminals X3/2-3 or
change the DIRECTION parameter in the SPEED screen.

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4.7.2 Digital inputs (X3)

All digital inputs are electrically isolated through optocouplers.

Technical data
— Reference ground is digital-GND (DGND, terminal X1/4,5 on the master)
— The logic is dimensioned for +24V / 7mA (PLC-compatible)
— H-level from +12...36V / 7mA, L-level from 0...7V / 0 mA
— Update rate: Software:250 µs / Hardware: 2µs

AX2500

You can use the digital inputs PSTOP / NSTOP / DIGITAL-IN1 and DIGITAL-IN2 to
initiate pre-programmed functions that are stored in the servo amplifier.
You will find a list of the pre-programmed functions in the Online Help.
If an input has to be re-assigned to a pre-programmed function, then the data set must be
stored in the EEPROM of the servo amplifier, and the 24V auxiliary supply for the servo
amplifier must be switched off and then on again (to reset the amplifier software).
Limit-switches PSTOP / NSTOP
Terminals X3/6 and X3/7 are used to connect limit switches. They are deactivated upon
delivery. If these inputs are not needed for the connection of limit switches, then they can
be used for other input functions.
Limit-switch positive/negative (PSTOP / NSTOP, terminals X3/6 and X3/7), high level in
normal operation (fail-safe for cable break). A low signal (open) inhibits the corresponding
direction of rotation.
DIGITAL-IN 1 / DIGITAL-IN 2
You can link the digital inputs at terminals X3/4 (DIGITAL-IN 1) and X3/5 (DIGITAL-IN2)
with a pre-programmed function.

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4.7.3 Digital outputs (X3)

Technical characteristics
— Ground reference is Digital-GND (DGND, terminal X1/4,5 on the master)
— Alle digital outputs are floating
— DIGITAL-OUT1 and 2 : Open-collector, max. 30V DC, 10mA
— Update rate: 250 µs

AX2500

Programmable digital outputs DIGITAL-OUT 1 / 2:

You can use the digital outputs DIGITAL-OUT1 (terminal X3/8) and DIGITAL-OUT2
(terminal X3/9) to output messages from pre-programmed functions that are stored in the
servo amplifier.
A list of the pre-programmed functions can be found in the Online Help.
If an input is freshly assigned to a pre-programmed function, then the data set must be
stored in the EEPROM of the servo amplifier, and the 24V auxiliary supply of the servo
amplifier must be switched off and on again (to reset the amplifier software).

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4.7.4 Digital I/O on the Master (X1)

Technical characteristics
— Ground reference is Digital-GND (DGND, terminal X1/4,5)
— The logic is dimensioned for +24V / 7mA (PLC-compatible)
— H-level from +12...36V / 7mA, L-level from 0...7V / 0 mA
BTB/RTO: Relay output, max. 30V DC or 42V AC, 0.5A

AX2500

ENABLE input
The output stage of the servo amplifier is activated by the enable signal
(terminal X1/3, input 24V, active-high).
In the inhibited state (low signal) the motor which is attached does not have any torque.
Ready-to-operate contact BTB/RTO
Operational readiness (terminals X1/1 and X1/2 ) is signalled via a floating relay contact.
The contact is closed when all servo amplifiers in the system are ready for operation.
This signal is not influenced by the enable signal, the I²t- limit, or the regen threshold.

All faults cause the BTB/RTO contact to open and the switch-off of the output
stage (if the BTB contact is open, the output stage is disabled -> no power). A list
of the error messages can be found on page 66.

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4.8 Encoder emulations

4.8.1 Incremental encoder output - A quad B (X4)

The incremental-encoder interface is part of the package supplied. Select the encoder
function ROD (screen page “Encoder”, funktion ENCMODE). In the servo amplifier, the
position of the motor shaft is calculated from the cyclic-absolute signals of the resolver or
encoder.
Incremental-encoder compatible pulses are generated from this information. Pulses are
output as two signals, A and B, with 90° phase difference and a zero pulse. The resolu-
tion (lines before quadrature) can be changed with the RESOLUTION parameter:

Encoder function Feedback system Resolution Zero position

one per revolution
Resolver 16...1024
(only if A=B=1)
ROD (1)
16...4096 and one per revolution
EnDat / HIPERFACE
8192...524288 (2n) (only if A=B=1)
Incremental encoders w/o 4...128 (2n) TTL analog pass
ROD interpolation (3)
absolute data channel lines per sine line through X2 to X4
You can also adjust and store the position of the zero pulse within one mechanical turn
(parameter NI-OFFSET). The ground reference for the interface is PGND.

PGND must always be connected to the control ground. The max. admissible cable
length is 10 m.

Connections and signal description for the incremental-encoder interface :

The count direction is UP when the motor shaft is rotating clockwise (looking at the end of
the motor shaft).

AX2500

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4.8.2 SSI output (X4)

The SSI interface (synchronous serial absolute-encoder emulation) is part of the package
supplied. Select encoder function ROD (“Encoder” screen page).
The servo amplifier calculates the motor shaft position from the cyclic-absolute signals of
the resolver or encoder. From this information a SSI date (after Stegmann patent specifi-
cation DE 3445617C2) is provided.
28 bits are transferred. The 12 leading data bits contains the number of revolutions. The
following max. 16 bits contain the resolution and are not variable.
The following table shows the allocation of the SSI date:
Revolution Resolution
11 10 9 8 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

The signal sequence can be output in Gray code or in Binary (standard) code (parameter
SSI-CODE). The servo amplifier can be adjusted to the clock frequency of your SSI-eva-
luation through the SSI-TIMEOUT parameter (cycle time 1.3 µs or 10 µs).
The ground reference for the interface is PGND.

PGND must always be connected to the control ground.

Connection and signals for the SSI interface :

The count direction is UP when the motor shaft is rotating clockwise (looking at the end of
the motor shaft).

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4.9 Master-slave operation, encoder master control

This interface can be used to link several AX2500 amplifiers in master-slave operation.
The parameters for the slave amplifier are set up with the aid of the setup software (elec-
trical gearing). The resolution (no. of pulses/turn) can be adjusted. The analog setpoint
input is inactive.

AGND (terminal X3/1) must be connected to the ground of the control system!
Observe the limit frequency!

Please contact our customer support for information on connecting external SSI enco-
ders.
Signal diagram (for encoders with RS422 or 24V outputs)

4.9.1 Connection to a AX2500 master, 5V signal level (X4)

This interface can be used to link several AX2500 amplifiers in master-slave operation.
Up to 16 slave amplifiers can be controller by the master via the encoder output. The
SubD connector X4 is used for this purpose.

Limit frequency: 1 MHz, transition speed tv £ 0.1µsec

AGND (terminal X3/1) must be connected to the ground of the control system!

AX2500 AX2500

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4.9.2 Connection to incremental encoder master with 24V signal level (X3)

You can use this interface to set up the AX2500 as a slave following an encoder with a
24V signal level (master-slave operation). This application uses the digital inputs DIGI-
TAL-IN 1 and 2 on connector X3.

Limit frequency: 100 kHz, transition speed tv £ 0.1µsec

AGND (terminal X3/1) must be connected to the ground of the control system!

AX2500

4.9.3 Connection to a sine-cosine encoder master (X2)

You can use this interface to set up the AX2500 as a slave following a sine/ cosine enco-
der (master-slave operation). This application uses the SubD connector X2.
Limit frequency: 350 kHz

AGND (terminal X3/1) must be connected to the ground of the control system!

AX2500

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4.10 Interface for stepper motor controllers (pulse/direction)

This interface can be used to connect the servo amplifier to a third-party stepper-motor
controller. The parameters for the servo amplifier are set up with the aid of the setup soft-
ware (electrical gearing). The number of steps can be adjusted, so that the servo ampli-
fier can be adjusted to the pulse/direction signals of any stepper-motor controller. Various
monitoring signals can be output. The analog input is inactive.

AGND (terminal X3/1) must be connected to the ground of the control system!
Observe the limit frequency!

Speed profile and signal diagram

Note:
Connecting an A quad B encoder offers more EMI supression.

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4.10.1 Connection to a stepper motor controller with 5V signal level (X4)

You can use this interface to connect the servo amplifier to a stepper motor control with a
5V signal level. The SubD connector X4 is used for this purpose.
Limit frequency: 1 MHz

AGND (terminal X3/1) must be connected to the ground of the control system!

AX2500

4.10.2 Connection to a stepper motor controller with 24V signal level (X3)

You can use this interface to connect the servo amplifier to a stepper motor control with a
24V signal level. The digital inputs DIGITAL-IN 1 and 2 on connector X3 are used for this
purpose.
Limit frequency: 100 kHz

AGND (terminal X3/1) must be connected to the ground of the control system!

AX2500

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4.11 RS232 interface, PC connection (X8), master only

The setting of the operating, position control, and motion-block parameters, can be car-
ried out by using the setup software on an ordinary commercial PC.
Connect the PC interface (X8) of the servo amplifier while the supply to the equipment
is switched off via a null-modem cable to a serial interface on the PC (do not use a
null-modem link cable!).
The interface has the same potential as the internal logic, and uses AGND as the ground
reference.
The interface is selected and set up in the setup software.
Further notes can be found on page 34 .

AX2500

Interface cable between the PC and servo amplifiers of the AX2500 series:
(View: front view of the built-in SubD connectors, this corresponds to looking at the solder
side of the SubD connector on the cable.)

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4.12 Fieldbus connection

4.12.1 CANopen interface (X7)

The interface for connection to the CAN bus (default: 500 kbps). The master is fitted with
a CAN input. All axis modules in the system are connected to this through the internal
bus. The last axis module has a CAN output, where the CAN bus either continues to
other bus participants or is terminated by a termination resistor.
The integrated profile is based on the communication profile CANopen DS301 and the
drive profile DS402. The following functions are available in connection with the integra-
ted position controller: Jogging with variable speed, homing, start motion task, start direct
task, digital setpoint provision, data transmission functions and many others.
Detailed information can be found in the CANopen manual.
The interface is at the same potential as the internal logic, and uses AGND as the ground
reference.

AGND must be connected to the control system ground for potential equalization!

AX2500

CAN bus cable

To meet ISO 11898 you should use a bus cable with a 120 W characteristic impedance.
The maximum usable cable length for reliable communication decreases with increasing
transmission speed. As a guide, you can use the following values which we have measu-
red, but they must not be assumed to be limits:
Cable data: Characteristic impedance 100-120 W
Cable capacitance max. 60 nF/km
Conductor loop resistance 159.8 W/km
Cable length, depending on the transmission rate
Transmission rate / kbps max. cable length / m
1000 20
500 70
250 115

Lower cable capacitance (max. 30 nF/km) and lower lead resistance (loop: 115 W/km)
make it possible to transmit over longer distances.
(Characteristic impedance 150 ± 5W Þ terminating resistance 150 ± 5W).
For EMC reasons, the SubD connector housing must fulfill the following conditions:
— metal or metallized housing
— provision for connecting the cable shielding within the housing,
large-area connections

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4.12.2 PROFIBUS interface (X7), option

This section describes the PROFIBUS interface for AX2500.

Information on the range of functions and the software protocol can be found in the
manual “Communication profile PROFIBUS-DP”.
The selection of cables, cable routing, shielding, bus connectors, bus termination and
propagation times are described in the “Setup guidelines for PROFIBUS-DP/FMS” from
PNO, the PROFIBUS User Organization.

AX2500

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4.12.3 SERCOS interface (X7), option

This section describes the SERCOS interface of the AX2500. Information on the range of
functions and the software protocol can be found in the manual “IDN Reference Guide
SERCOS”.
For the fiber optic cable connection, only use SERCOS components to the SERCOS
Standard IEC 61491.

4.12.3.1 Light emitting diodes (LEDs)

RT: indicates whether SERCOS telegrams are being correctly received. In the final
Communication Phase 4 this LED should flicker, since cyclical telegrams are being
received.
TT: indicates that SERCOS telegrams are being transmitted. In the final Communi-c
ation Phase 4 this LED should flicker, since cyclical telegrams are being trans-
mitted. Check the stations addresses for the controls and the servo amplifier if:
- the LED never lights up in SERCOS Phase 1 or
- the axis cannot be operated, although the RT LED is lighting up cyclically.
Err: indicates that SERCOS communication is faulty or suffering from interference.
If this LED is very bright, then communication is suffering strong interference, or is
non-existent. Check the SERCOS transmission speed for the controls and the
servo amplifier (BAUDRATE) and the fibre-optic connection. If this LED flickers,
this indicates a low level of interference for SERCOS communication, or the optical
transmitting power is not correctly adjusted to suit the length of cable.
Check the transmitting power of the (physically) previous SERCOS station.
The transmitting power of the servo amplifier can be adjusted in the setup software
DRIVE.EXE on the SERCOS screen page, by altering the parameter
for the cable length.

4.12.3.2 Connection diagram

Layout of the SERCOS bus system in ring topology, with optical fibre cables (schematic).

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5 Setup

5.1 Important notes

Only professional personnel with extensive knowledge in the fields of electrical
engineering and drive technology are allowed to setup the servo amplifier.

The procedure for commissioning is described as an example. Depending on the applica-

tion, a different procedure may be appropriate or necessary. In multi-axis systems, com-
mission each servo amplifier individually.

Before setting up, the manufacturer of the machine must produce a hazard
analysis for the machine and take appropriate measures to ensure that unforeseen
movements do not result in personal injury or material damage.

Check that all connection components that are live in operation are safely
protected against bodily contact. The equipment produces potentially lethal
voltages up to 800V.
Never undo the electrical connections to the servo amplifier while it is live.
Capacitors can still have dangerous residual charges up to 300 seconds after
switching off the supply voltage.
The heat sink and front panel of the amplifier can reach temperatures up to 80°C in
operation. Check the heat sink temperature. Wait until the heat sink has cooled
down to 40°C before touching it

If the servo amplifier has been stored for longer than 1 year, then the DC Bus link
capacitors will have to be re-formed.
To do this, disconnect all the electrical connections.
Supply the servo amplifier for about 30 min. from single-phase 230V AC to the
terminals L1 / L2. This will re-form the capacitors.

Further information on commissioning:

The adaptation of parameters and their effects on the control loop behaviour are
described in the online help of the setup software.
The commissioning of the fieldbus interface is described in the corresponding
manual.
We can provide further know-how through training courses (on request).

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5.2 Guide to setup

The following instructions should help you to carry out the commissioning in a sensible
order, without any hazards to people or machinery:
See Chapter 3. Disconnect the servo amplifier from
Check installation
the supply.

Negate enable signal 0V on terminal X1/3 (Enable)

24V DC on terminal 0/1, ground on terminal X0/2

Switch on 24V
After the initialization procedure (about 0.5 sec.) the sta-
aux. supply
tus is shown in the LED display (ð p.64

Select the interface to which the servo amplifier is con-

Switch on PC, start
nected. The parameters which are stored in the SRAM of
setup SW
the servo amplifier are transferred to the PC.

Check the displayed Check the parameters described below especially

parameters, correct carefully. If you ignore these basic data, system com-
them if necessary ponents may be damaged or destroyed.
Supply voltage: set to the actual mains supply voltage (vlimits ð p.15)
Rated motor voltage: at least as high as the nominal voltage of the amplifier
Motor pole-no.: must match the feedback unit in the motor
IRMS: maximum is the motor standstill current I0 (nameplate)
IPEAK: maximum is 4 x motor standstill current I0
Limit speed: maximum is the rated motor speed (nameplate)
Regen power: maximum is the rated dissipation for the regen resistor
Station address: unique address on the master

Make sure that any unintended movement of the drive

Check safety devices
cannot cause danger to machinery or personnel.

Switch on power through the ON/OFF button of the contactor control

Apply 0V setpoint apply 0V to terminals X3/2-3

(500 msec after switching on the supply power) 24V DC

Enable amplifier on terminal X1/3 (Enable), motor is at rest with standstill
torque M0

apply a small analog setpoint (about 0.5V is recommen-

ded) to terminals X3/2-3.
Setpoint If the motor oscillates, the Kp parameter in the screen
page Speed controller must be reduced – the motor is
in danger !

Optimization optimize the speed, current and position controllers

see commissioning instructions in the corresponding

Commission fieldbus
manual on the CD-ROM

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5.3 Parameterization
A default parameter set is loaded into your servo amplifier at the factory. This contains
valid and safe parameters for the current and speed controllers.
A database for motor parameters is stored in the servo amplifier. During commissioning
you must select the data set for the motor that is connected and store it in the servo
amplifier. For most applications these settings will already provide good to very good con-
trol loop characteristics.
An exact description of all parameters and the options for optimizing the control loop cha-
racteristics can be found in the online help of the setup software.

5.3.1 Multi-axis systems

All the axes in a system can be parameterized through the RS232 interface in the master.
To do this, there is an internal connection between the master and the axis modules. The
PC cable only has to be connected to the master.
The internal address assignment is carried out automatically, so that it is only necessary
to set up the basic station address for the master.

PC
Axismodule 1

Axismodule 2

Axismodule 3

Master

COMx
X8 / PC RS232
After changing the station address it is necessary to turn off the 24V auxiliary
supply, and then turn it on again.
Starting at the master, descending addresses are assigned automatically to the axis
modules. The following table shows an example with one master and three axis modules:

Axis Address Remark

Master 10 Master address, set by user
Axis module 3 9
Axis module 2 8 assigned automatically
Axis module 1 7

The highest permitted master address is 128. When choosing the master address,
please consider that at least address 1 will be assigned to the last (leftmost) axis
module.
In CAN and PROFIBUS field bus systems the automatically assigned addresses
must not match the address of other nodes.

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5.3.2 Key pad controls and status displays

Two keys are fitted in the operating panel of the master. Here you can enter the basic
address for the system and call up status information on all the axes that are connected.

5.3.2.1 Operating

The two keys can be used to perform the following functions:

Key symbol Functions

press once : go up one menu item, increase number by one
press twice in rapid succession : increase number by ten
press once : go down one menu item, decrease number by one
press twice in rapid succession : decrease number by ten
press and hold right key, then press left key as well :
enters a number, return function

5.3.2.2 Status display on the axis module

Each axis module is fitted with 2 LEDs that provide a quick indication of the instrument
status.

LED
red green Interpretation
lit off axis is not ready for operation (fault)
blinking off a warning has been generated
off lit axis is ready for operation, and enabled
off blinking axis is ready for operation, but not enabled
blinking blinking axis is selected for editing by the master
A detailed display of the warnings and faults can be called up in the display on the master
( ð p.65).

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5.3.2.3 Status display on the master

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5.4 Error messages

Any errors that occur are shown in coded form by an error number in the LED display on
the front panel. All error messages result in the BTB/RTO contact being opened, and the
output stage of the amplifier being switched off (motor loses all torque). The motor-hol-
ding brake is activated.

Number Designation Explanation

A/I/P/E Status message status message, no error, see page 65
... Status Message amplifier is updating the startup configuration
F00 no error no error in the selected axis module
heat sink temperature too high
F01* heat sink temperature
limit is set by manufacturer to 80°C
overvoltage in DC Bus link
F02* overvoltage
limit depends on the mains supply voltage
F03* following error message from the position controller
F04 feedback cable break, short circuit, short to ground
undervoltage in DC Bus link
F05* undervoltage
limit is set by manufacturer to 100V
motor temperature too high (or temp. sensor defect)
F06 motor temperature
limit is set by manufacturer to145°C
F07 aux. voltage internal aux. voltage not OK
F08* overspeed motor runs away, speed is too high
F09 EEPROM checksum error
F10 Flash-EPROM checksum error
F11 brake cable break, short circuit, short to ground
F12 motor phase motor phase missing (cable break or similar)
F13* internal temperature internal temperature too high
F14 output stage fault in the output stage
F15 I²t max. I²t max value exceeded
F16* supply BTB/RTO 2 or 3 phases missing in the supply feed
F17 A/D converter error in the analog-digital conversion
F18 regen regen circuit faulty or incorrect setting
F19* supply phase a phase is missing in the supply power feed
F20 slot error slot error
F21 handling error software error on the expansion card
F22 earth/ground fault not valid for this device
F23 CAN bus off severe CAN bus communication error
F24 warning warning display is evaluated as fault
F25 commutation error commutation error
F26 limit-switch homing error (drove onto hardware limit-switch)
F27 AS-option not valid for this device
F28 reserve reserve
F29 SERCOS error only in SERCOS systems
F30 timeout timeout, leads to emergency stop
F31 reserve reserve
F32 system error system software nor responding correctly
* = these error messages can be cleared without a reset, by using the ASCII command
CLRFAULT. If only one of these errors is present and the RESET button or the I/O
RESET function is used, only the CLRFAULT command will be executed.

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5.5 Warning messages

Faults which occur, but which do not cause a switch-off of the amplifier output stage
(BTB/RTO contact remains closed), are indicated in the LED display on the front panel by
a coded warning number.

Number Designation Explanation

A/I/P/E Status message status message, no error, see page 65
... Status Message amplifier is updating the startup configuration
n01 I²t I²t threshold exceeded
n02 regen power reached preset regen power limit
n03* S_fault exceeded preset following error limit
response monitoring (fieldbus) has been
n04* response monitoring
activated
n05 supply phase supply phase missing
n06* Sw limit-switch 1 passed software limit-switch 1
n07* Sw limit-switch 2 passed software limit-switch 2
n08 motion task error a faulty motion task was started
n09 no reference point no reference point set at start of motion task
n10* PSTOP PSTOP limit-switch activated
n11* NSTOP NSTOP limit-switch activated
only for HIPERFACE® :
n12 default values
motor default values loaded
n13* expansion card expansion card not operating correctly
n14 SinCos feedback SinCos commutation failure
n15 table fault fault as per speed/current table INXMODE 35
n16 Summarized warning Summarized warning for n17 to n31
n17 Fieldbus-Sync Fieldbus not synchronized
n18 Multiturn overflow Max. number of motor turns exceeded
n19-n31 reserve reserve
n32 firmware beta version firmware version has not been released
* = these warning messages result in a controller shut-down of the drive (braking by
emergency stop ramp)

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6 Accessories

6.1 External PSU 24V DC / 5A

Technical data
Input voltage 120 / 230V
Input current 0.9 / 0.6A
Frequency 50/60Hz
Primary fusing 3.15AT
Output voltage 24V ± 1%
Max. output current 5A
Residual ripple <150mVss
Switching peaks <240mVss
Output fusing short-circuit proof
Temperature range 0 to +60°C
DIN-rail, vertical mounting
Mounting method
50mm free space required above and below the instrument
Weight 0.75kg

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6.2 External PSU 24V DC / 20A

Mounting plate

Mounting plate

Technical data
Input voltage 3 x 400V AC ± 10%
Input current approx. 1.1A
Frequency 50/60Hz
Primary fusing none
Output voltage 24V ± 1%
Max. output current 20A
Residual ripple <0.1%
Output fusing short-circuit proof
Test voltage to VDE 0550
Temperature range -20 to +60°C
on mounting plate
Mounting method (supplied)
Keep space free
Weight 3.5kg

Keep space free!

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6.3 External regen resistor BAR(U)

Caution:
Surface temperature may exceed 200°C.
Observe the requested free space.
Do not mount to combustible surface.

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6.4 Add-on fan

Electrical add-on fan for two axes to achieve rated power even under unfavourable
ambient conditions, required for AX25x6.

To mount the fan, just hook it in the designated slots at the bottom of the AX25 and screw
the fixing bolt into the thread in the housing. The electrical connection takes place auto-
matically when mounting the fan.

Please consider that a mounted fan increases the required space underneath the
amplifier! (Þ p. 25)

The drawing below shows, how the fan should be mounted. With an odd number of axes
(master included), the fan must also cover the power supply unit at the master.

Single master Master with 1 Axis module Master with 2 Axis modules

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7 Appendix

7.1 Transport, storage, maintenace, disposal

Transport: — only by qualified personnel
— only in the manufacturer’s original recyclable packaging
— avoid shocks
— temperature -25 to +70°C, max. rate of change 20°C/hour
— humidity max. 95% relative humidity, no condensation
— the servo amplifiers contain electrostatically sensitive components
— which can be damaged by incorrect handling. Discharge yourself
— before touching the servo amplifier. Avoid contact with highly
— insulating materials (artificial fabrics, plastic films etc.).
— Place the servo amplifier on a conductive surface.
— if the packaging is damaged, check the unit for visible damage.
— In such a case, inform the shipper and the manufacturer.
Packaging: — recyclable cardboard with inserts
— dimensions AX252x (HxWxD) 100x300x270 mm
AX250x/AX251x (HxWxD) 150x300x270 mm
— labelling instrument label on outside of box
Storage : — only in the manufacturer’s original recyclable packaging
— the servo amplifiers contain electrostatically sensitive components
— which can be damaged by incorrect handling. Discharge yourself
— before touching the servo amplifier. Avoid contact with highly
— insulating materials (artificial fabrics, plastic films etc.).
— Place the servo amplifier on a conductive surface.
— max. stacking height: 8 cartons
— storage temp. –25 to +55°C, max. rate of change 20°C/hr
— humidity relative humidity max. 5...95%, no condensation
— storage duration < 1 year without restriction
> 1 year: capacitors must be re-formed before
the servo amplifier is commissioned.
To do this, remove all electrical connections and
supply the servo amplifier for about 30 min. from
230V AC, single-phase, on terminals L2 / L3.
Maintenance: — the instruments do not require any maintenance
— opening the instruments invalidates the warranty
Cleaning : — if the casing is dirty : cleaning with Isopropanol or similar
do not immerse or spray
— if there is dirt inside the unit : to be cleaned by the manufacturer
— dirty protective grill (fan) : clean with a dry brush
Disposal : — you can dismantle the servo amplifier into its principal components
— by screwing it apart (aluminium heat sink, steel housing sections,
— electronics boards)
— disposal should be carried out by a certified disposal company.
— We can give you suitable addresses on request.

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7.2 Fault-finding
The table below should be regarded as a “First-aid” box. Depending on the conditions in
your installation, there may be a wide variety of reasons for the fault. In multi-axis sys-
tems there may be further hidden causes of a fault. Our customer support can give you
further assistance with problems.

Fault possible causes Measures to remove the fault

— wrong cable used — use null-modem cable
HMI message: — cable plugged into wrong posi- — plug cable into the correct so-
communication tion in ckets on the servo amplifier
fault servo amplifier or PC and PC
— wrong PC interface selected — select correct interface
F01 message: — permissible heat sink tempera- — improve ventilation
heat sink ture exceeded
temperature
— regen power is insufficient. re- — shorten the braking time RAMP
gen power limit was reached or use an external regen resis-
and the regen resistor was tor with a higher power rating
F02 message:
switched off. This causes ex- and adjust the regen power pa-
overvoltage
cessive voltage in the DC Bus rameter
link circuit.
— supply voltage too high — use mains transformer
— feedback connector not inser- — check connector
F04 message:
ted — check cable
feedback unit
— feedback cable is damaged
— supply voltage not present or — only enable the servo amplifier
F05 message: too low when servo amplifier is when the mains supply voltage
undervoltage enabled has been switched on delay >
500 ms
— motor thermostat has been ac- — wait until motor has cooled
F06 message: tivated down, then check why it beca-
motor tempera- me so hot
ture — feedback connector is loose or — tighten connector or new feed-
break in feedback cable back cable
F07 message: — the aux. voltage produced by — return the servo amplifier to the
aux. voltage the servo amplifier is incorrect manufacturer for repair
F08 message: — motor phases swapped — correct motor phase sequence
motor runs — feedback set up incorrectly — set up correct offset angle
away — faulty connection to feedback — check connector
(overspeed) unit
— short-circuit in the supply cable — remove short-circuit
for the motor-holding brake
— motor-holding brake is faulty — replace motor
F11 message:
— fault in brake cable — check shielding of brake cable
brake
— no brake connected, although — brake parameter set to "WIT-
the brake parameter is set to HOUT"
"WITH"
F13 message: — permissible internal temperatu- — improve ventilation
int. temperature re exceeded

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Fault possible causes Measures to remove the fault

— motor cable: short-circuit/ — replace cable
ground short
— motor has short-circuit / ground — replace motor
F14 message: short
output stage — output module is overheated — improve ventilation
fault — output stage is faulty — return the servo amplifier to the
manufacturer for repair
— short-circuit / short to ground in — remove short-circuit / ground
the external regen resistor short
— enable was applied, although — only enable the servo amplifier
the supply voltage was not pre- when the mains supply voltage
F16 message:
sent. is switched on
mains BTB/RTO
— at least 2 supply phases are — check electrical supply
missing
— error in the analog-digital con- — reduce EMI, check screening
F17 message:
version, usually caused by ex- and grounding
A/D converter
cessive EMI
— wrong cable — check wiring
F25 message:
— wrong phasing — check resolver poles (RESPO-
Commutation
LES) + motor poles (MPOLES)
error
+ offset (MPHASE)
— servo amplifier not enabled — apply enable signal
— break in setpoint cable — check setpoint cable
— motor phases swapped — correct motor phase sequence
motor does not — brake not released — check brake control
rotate — drive is mechanically blocked — check mechanism
— no. of motor poles set incor- — set no. of motor poles
rectly
— feedback set up incorrectly — set up feedback correctly
— gain too high (speed controller) — reduce Kp (speed controller)
motor oscilla- — shielding in feedback cable has — replace feedback cable
tes a break — join AGND to CNC-GND
— AGND not wired up
— Irms or Ipeak is set to low — increase Irms or Ipeak (keep
drive reports
within motor data !)
following error
— setpoint ramp is too long — shorten setpoint ramp +/-
motor overhea- — Irms/Ipeak set too high — reduce Irms/Ipeak
ting
— Kp (speed controller) too low — increase Kp (speed controller)
— Tn (speed controller) too high — use motor default value for Tn
drive too soft (speed controller)
— PID-T2 too high — reduce PID-T2
— T-Tacho too high — reduce T-Tacho
— Kp (speed controller) too high — reduce Kp (speed controller)
— Tn (speed controller) too low — use motor default value for Tn
drive runs
(speed controller)
roughly
— PID-T2 too low — increase PID-T2
— T-Tacho too low — increase T-Tacho

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Fault possible causes Measures to remove the fault

— offset not correctly adjusted for — adjust setpoint-offset (analog
axis drifts at analog setpoint provision I/O)
setpoint = 0V — AGND not joined to the — join AGND and CNC-GND
CNC-GND of the controls
— Motor number stored in sine — If n12 is displayed, default valu-
n12 message: encoders EEPROM different es for the motor are loaded.
Motor default than what drive is configured Motor number will be automati-
values loaded for cally stored in EEPROM with
SAVE.
n14 message: — Wake & shake not executed — Enable the drive
Wake & shake
active

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7.3 Glossary
C clock Clock signal
common-mode voltage The maximum amplitude of a disturbance (on both
inputs) which a differential input can eliminate
continuous power of regen circuit Mean power which can be dissipated in the
regen circuit
counts Internal count pulses, 1 pulse = 1/220 turn-1
current controller Regulates the difference between the current
setpoint and the actual value to 0
Output : power output voltage
D DC Bus link Rectified and smoothed power voltage
disable Removal of the enable signal (0V or open)
E earth short electrical connection between a phase and
the protective earth (PE)
enable Enable signal for the servo amplifier (+24V)
F fieldbus interface CANopen, PROFIBUS, SERCOS
free convection Free movement of air for cooling
G GRAY-code Special format for representing binary numbers
H holding brake Brake in the motor, which should only be used
when the motor is at standstill
I I²t threshold Monitoring of the r.m.s. current that is actually
required
incremental encoder interface Position signalling by 2 signals with 90° phase
difference, not an absolute position output
input drift Temperature and age-dependent alteration of an
analog input
Ipeak, peak current The effective value of the peak current
Irms, effective current The r.m.s. value of the continuous current
K Kp, P-gain Proportional gain of a control loop
L limit speed Maximum value for speed normalization at ±10V
limit-switch Switch limiting the traverse path of the machine;
implemented as n.c. (break) contact
M machine The complete assembly of all connected parts or
devices, of which at least one is movable
motion-block Set of all the position control parameters
which are required for a motion task
multi-axis system Machine with several driven axes
N natural convection Free movement of air for cooling
O optocoupler Optical connection between two electrically
independent systems

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P P-controller Control loop with purely proportional behaviour

phase shift Compensation for the lag between the electro-
magnetic and magnetic fields in the motor
PID-controller Control loop with proportional, integral and
differential behaviour
PID-T2 Filter time constant for the speed controller output
position controller Regulates the difference between the position
setpoint and the actual position to 0
Output : speed setpoint
potential isolation electrically decoupled
power contactor System protection device with phase monitoring
pulse power of the regen circuit Maximum power which can be dissipated in the
regen circuit
R regen circuit Converts superfluous energy, which is fed back
during braking, into heat in the regen resistor
reset New start of the microprocessor
reversing mode Operation with a periodic change of direction
ROD-interface Incremental position output
S servo amplifier Control device for regulating the speed, torque
and position of a servomotor
setpoint ramps Limits for the rate of change of the speed
setpoint
short-circuit here: electrically conductive connection between
two phases
speed controller Regulates the difference between the speed
setpoint and the actual value to 0
Output : current setpoint
SSI-interface Cyclic-absolute, serial position output
supply filter Device to divert interference on the power supply
cables to PE
T T-tacho, tachometer time constant Filter time constant in the speed feedback of
the control loop
tachometer voltage Voltage proportional to the actual speed
thermostat Temperature-sensitive switch built into the
motor winding
Tn, I-integration time Integral section of a control loop
Z zero pulse Output once per turn from incremental encoders,
used to zero the machine

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7.4 Index

! 24V aux. supply, interface . . . . . . . . 38 K key operation. . . . . . . . . . . . . . . 64

A abbreviations . . . . . . . . . . . . . . . 6 L LED display . . . . . . . . . . . . . . . 64
accessories . . . . . . . . . . . . . . . 69 limit-switch inputs . . . . . . . . . . . . 47
AGND . . . . . . . . . . . . . . . . . . 19 M maintenance . . . . . . . . . . . . . . . 73
ambient conditions . . . . . . . . . . . . 17 master-slave . . . . . . . . . . . . . . . 52
ambient temperature . . . . . . . . . . . 17 motor, interface . . . . . . . . . . . . . 39
B block diagram . . . . . . . . . . . . . . 37 mounting . . . . . . . . . . . . . . . . . 25
brake . . . . . . . . . . . . . . . . . . . 18 mounting position . . . . . . . . . . . . 17
BTB/RTO. . . . . . . . . . . . . . . . . 49 multi-axis systems
connection example . . . . . . . . . 30
C CANopen interface . . . . . . . . . . . . 57 Multi-axis systems
CE conformity . . . . . . . . . . . . . . . 9 parameterization . . . . . . . . . . . 63
ComCoder, interface . . . . . . . . . . . 41
commissioning . . . . . . . . . . . . . . 61 N nameplate . . . . . . . . . . . . . . . . 11
conductor cross-sections. . . . . . . . . 17 NSTOP, interface . . . . . . . . . . . . 47
connection techniques . . . . . . . . . . 32 O operating systems . . . . . . . . . . . . 35
connector assignments. . . . . . . . . . 31 options . . . . . . . . . . . . . . . . . . 13
control signals . . . . . . . . . . . . . . 46 outputs
D DC Bus link, interface . . . . . . . . . . 39 BTB/RTO . . . . . . . . . . . . . . . 49
DGND . . . . . . . . . . . . . . . . . . 19 DIGI-OUT 1/2 . . . . . . . . . . . . 48
dimensions . . . . . . . . . . . . . . . . 26 encoder emulations . . . . . . . . . 50
display, LED . . . . . . . . . . . . . . . 19 P package supplied . . . . . . . . . . . . 11
disposal . . . . . . . . . . . . . . . . . 73 packaging . . . . . . . . . . . . . . . . 73
E earthing parameterization . . . . . . . . . . . . . 63
installation . . . . . . . . . . . . . . 24 PC connection . . . . . . . . . . . . . . 56
wiring diagram . . . . . . . . . . . . 28 PC interface cable . . . . . . . . . . . . 56
emergency stop methods . . . . . . . . 21 PGND . . . . . . . . . . . . . . . . . . 19
enclosure rating . . . . . . . . . . . . . 17 pollution level. . . . . . . . . . . . . . . 17
encoder PROFIBUS interface . . . . . . . . . . . 58
interface . . . . . . . . . . . . . . . 43 PSTOP, interface . . . . . . . . . . . . 47
master-slave interface . . . . . . . . 52 PSU 24V
encoder emulations . . . . . . . . . . . 50 20A . . . . . . . . . . . . . . . . . . 70
equipment description . . . . . . . . . . 11 5A . . . . . . . . . . . . . . . . . . 69
error messages . . . . . . . . . . . . . 66 pulse/direction, interface . . . . . . . . . 54
F fault-finding. . . . . . . . . . . . . . . . 74 R regen circuit . . . . . . . . . . . . . . . 19
fieldbus interface . . . . . . . . . . . . . 57 regen resistor
forming . . . . . . . . . . . . . . . . . . 61 dimensions . . . . . . . . . . . . . . 71
fusing. . . . . . . . . . . . . . . . . . . 16 external interface. . . . . . . . . . . 39
techn. data . . . . . . . . . . . . . . 19
G glossary . . . . . . . . . . . . . . . . . 77 resolver. . . . . . . . . . . . . . . . . . 40
ground symbol . . . . . . . . . . . . . . 27 ROD, interface . . . . . . . . . . . . . . 50
grounding system . . . . . . . . . . . . 19 RS232/PC, interface . . . . . . . . . . . 56
guide
installation / wiring . . . . . . . . . . 24
setup . . . . . . . . . . . . . . . . . 62
H Hall, interface . . . . . . . . . . . . . . 42
hardware requirements. . . . . . . . . . 35
humidity . . . . . . . . . . . . . . . . . 73
I incremental encoder, interface . . . . . . 45
inputs
ANALOG IN . . . . . . . . . . . . . 46
DIGI-IN 1/2 . . . . . . . . . . . . . . 47
enable . . . . . . . . . . . . . . . . 49
encoder. . . . . . . . . . . . . . . . 43
encoder for master-slave . . . . . . . 52
NSTOP . . . . . . . . . . . . . . . . 47
power supply . . . . . . . . . . . . . 38
PSTOP . . . . . . . . . . . . . . . . 47
resolver. . . . . . . . . . . . . . . . 40
installation
hardware . . . . . . . . . . . . . . . 27
software . . . . . . . . . . . . . . . 35
interfaces. . . . . . . . . . . . . . . . . 37

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S safety instructions . . . . . . . . . . . . . 7
SERCOS interface . . . . . . . . . . . . 59
setpoint input . . . . . . . . . . . . . . . 46
setup software . . . . . . . . . . . . . . 34
SETUP.EXE . . . . . . . . . . . . . . . 35
shield connection. . . . . . . . . . . . . 32
shielding
installation . . . . . . . . . . . . . . 24
wiring diagram . . . . . . . . . . . . 28
sine-cosine encoder, interface . . . . . . 44
site altitude . . . . . . . . . . . . . . . . 17
SSI, interface. . . . . . . . . . . . . . . 51
stacking height . . . . . . . . . . . . . . 73
standards . . . . . . . . . . . . . . . . . 9
status display. . . . . . . . . . . . . . . 64
stop function . . . . . . . . . . . . . . . 20
storage . . . . . . . . . . . . . . . . . . 73
storage duration . . . . . . . . . . . . . 73
storage temperature . . . . . . . . . . . 73
supply connection, interface . . . . . . . 38
supply voltage . . . . . . . . . . . . . . 17
switch on/off behaviour. . . . . . . . . . 20
symbols . . . . . . . . . . . . . . . . . . 5
system components, summary. . . . . . 14
T technical data . . . . . . . . . . . . . . 15
ambient conditions . . . . . . . . . . 17
cables . . . . . . . . . . . . . . . . 33
conductor cross sections . . . . . . . 17
connections. . . . . . . . . . . . . . 16
fusing . . . . . . . . . . . . . . . . . 16
rated data . . . . . . . . . . . . . . 15
tightening torques . . . . . . . . . . 16
tightening torques, connectors . . . . . . 16
transport . . . . . . . . . . . . . . . . . 73
transport temperature . . . . . . . . . . 17
U use as directed
servo amplifier . . . . . . . . . . . . . 8
setup software . . . . . . . . . . . . 34
V ventilation
installation . . . . . . . . . . . . . . 24
techn. data . . . . . . . . . . . . . . 17
W warning messages . . . . . . . . . . . . 67
wiring. . . . . . . . . . . . . . . . . . . 24
wiring diagram
axis module. . . . . . . . . . . . . . 29
master . . . . . . . . . . . . . . . . 28

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