Rexroth IndraDrive Drive Controllers Edition 02 Control ... Rexroth/Drives/Indradrive... ·...

R911295012Edition 02

Rexroth IndraDriveDrive ControllersControl Sections

Project Planning Manual

IndustrialHydraulics

Electric Drivesand Controls

Linear Motion andAssembly Technologies Pneumatics

ServiceAutomation

MobileHydraulics

About this Documentation Rexroth IndraDrive

DOK-INDRV*-CSH********-PR02-EN-P

Rexroth IndraDrive

Drive Controllers

Control Sections

Project Planning Manual


Document number 120-2400-B302-02/EN

Description ReleaseDate

Notes

DOK-INDRV*-CHS********-PR01-EN-P 11.2003 first edition

DOK-INDRV*-CHS********-PR02-EN-P 04.2004 revision

Bosch Rexroth AG 2003

Copying this document, giving it to others and the use or communicationof the contents thereof without express authority, are forbidden. Offendersare liable for the payment of damages. All rights are reserved in the eventof the grant of a patent or the registration of a utility model or design(DIN 34-1).

The specified data only serve to describe the product. No statementsconcerning a certain condition or suitability for a certain application can bederived from our information. The given information does not release theuser from the obligation of own judgement and verification. It must beremembered that our products are subject to a natural process of wearand aging.

Bosch Rexroth AGBgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telephone +49 (0)93 52/40-0 • Tx 68 94 21 • Fax +49 (0)93 52/40-48 85

http://www.boschrexroth.de/

Dept. EDY1 (US)

This document has been printed on chlorine-free bleached paper.

Title

Type of Documentation

Document Typecode

Internal File Reference

Record of Revisions

Copyright

Validity

Published by

Note

Rexroth IndraDrive I


Contents

1 Introduction 1-1

1.1 Documentation .............................................................................................................................. 1-1

Purpose of this Documentation................................................................................................ 1-1

Documentations - Overview..................................................................................................... 1-1

1.2 Basic Structure of the Drive Controller Rexroth IndraDrive .......................................................... 1-2

1.3 Power Section ............................................................................................................................... 1-3

1.4 Control Section.............................................................................................................................. 1-3

2 Important Directions for Use 2-1

2.1 Appropriate Use ............................................................................................................................ 2-1

Introduction .............................................................................................................................. 2-1

Areas of Use and Application................................................................................................... 2-2

2.2 Inappropriate Use.......................................................................................................................... 2-2

3 Safety Instructions for Electric Drives and Controls 3-1

3.1 Introduction ................................................................................................................................... 3-1

3.2 Explanations.................................................................................................................................. 3-1

3.3 Hazards by Improper Use ............................................................................................................. 3-2

3.4 General Information ...................................................................................................................... 3-3

3.5 Protection Against Contact with Electrical Parts........................................................................... 3-5

3.6 Protection Against Electric Shock by Protective Low Voltage (PELV) ......................................... 3-6

3.7 Protection Against Dangerous Movements .................................................................................. 3-7

3.8 Protection Against Magnetic and Electromagnetic Fields During Operation andMounting ....................................................................................................................................... 3-9

3.9 Protection Against Contact with Hot Parts .................................................................................. 3-10

3.10 Protection During Handling and Mounting .................................................................................. 3-10

3.11 Battery Safety.............................................................................................................................. 3-11

3.12 Protection Against Pressurized Systems.................................................................................... 3-11

4 Identification of the Control Section 4-1

4.1 Type Plates ................................................................................................................................... 4-1

Control Section Type Plate ...................................................................................................... 4-1

4.2 Type Codes................................................................................................................................... 4-2

BASIC ...................................................................................................................................... 4-2

ADVANCED ............................................................................................................................. 4-6

5 Transport and Storage 5-1

5.1 Transporting the Devices .............................................................................................................. 5-1

Conditions ................................................................................................................................ 5-1

II Contents Rexroth IndraDrive


5.2 Storing the Devices ....................................................................................................................... 5-1

Conditions ................................................................................................................................ 5-1

In Case of Long Storage Periods............................................................................................. 5-1

6 Fixed Interfaces 6-1

6.1 Overview ....................................................................................................................................... 6-2

BASIC OPENLOOP ................................................................................................................. 6-2

BASIC SERCOS ...................................................................................................................... 6-3

BASIC PROFIBUS................................................................................................................... 6-4

BASIC ANALOG ...................................................................................................................... 6-5

BASIC UNIVERSAL................................................................................................................. 6-6

ADVANCED ............................................................................................................................. 6-7

6.2 X2, Serial Interface (RS232) ......................................................................................................... 6-8

6.3 X7, MultiMediaCard..................................................................................................................... 6-10

6.4 X8, ENS (Encoder Interface) ...................................................................................................... 6-11

6.5 X11/X12, Relay Contacts............................................................................................................ 6-16

6.6 X16, Encoder Emulation ............................................................................................................. 6-18

6.7 X31/X32, Digital and Analog Inputs/Outputs, Relay Contacts, Voltage Input (24V, 0V) ............ 6-24

Relay Rel1.............................................................................................................................. 6-27

Digital Inputs E1 ... E3 ........................................................................................................... 6-28

Digital Inputs E4 ... E7 ........................................................................................................... 6-29

Digital Inputs E/A8 ... E/A11................................................................................................... 6-30

Digital Outputs E/A8 ... E/A11................................................................................................ 6-31

Analog Inputs EAn+ and EAn- ............................................................................................... 6-32

Analog Inputs EAn1+, EAn1-, EAn2+ and EAn2- .................................................................. 6-33

Analog Outputs An1, An2 ...................................................................................................... 6-34

Voltage Input (+24V, 0V) ....................................................................................................... 6-37

6.8 X33/X34, Digital Inputs................................................................................................................ 6-38

6.9 X35/X36, Analog Inputs/Outputs; Voltage Output (24V, 0V) ...................................................... 6-39

Analog Inputs ......................................................................................................................... 6-40

Analog Outputs ...................................................................................................................... 6-40

Voltage Output (+24V, 0V)..................................................................................................... 6-40

6.10 X*, Master Communication ......................................................................................................... 6-41

SERCOS interface (X20, X21)............................................................................................... 6-41

PROFIBUS Interface (X30).................................................................................................... 6-44

Parallel Interface (X15) .......................................................................................................... 6-48

6.11 H1 (Control Panel) ...................................................................................................................... 6-51

7 Options 7-1

7.1 Overview ....................................................................................................................................... 7-1

BASIC SERCOS ...................................................................................................................... 7-1

BASIC PROFIBUS................................................................................................................... 7-2

BASIC ANALOG ...................................................................................................................... 7-3

BASIC UNIVERSAL................................................................................................................. 7-4

ADVANCED ............................................................................................................................. 7-5

Reference to Description of Options........................................................................................ 7-6

Rexroth IndraDrive Contents III


7.2 Encoder......................................................................................................................................... 7-7

EN1: HSF, Resolver................................................................................................................. 7-7

EN2: EnDat2.1, 1Vss, 5VTTL ................................................................................................ 7-11

ENS: 1Vpp; HIPERFACE®, IndraDyn ................................................................................... 7-18

MEM: Encoder Emulator Module........................................................................................... 7-19

7.3 Integrated Safety Technology ..................................................................................................... 7-20

L1: Starting Lockout ............................................................................................................... 7-20

S1: Safety Technology I/O ..................................................................................................... 7-22

7.4 MD1: Digital Input/Output Extension........................................................................................... 7-24

7.5 MA1: Analog Input/Output Extension.......................................................................................... 7-27

8 Service & Support 8-1

8.1 Helpdesk ....................................................................................................................................... 8-1

8.2 Service-Hotline.............................................................................................................................. 8-1

8.3 Internet .......................................................................................................................................... 8-1

8.4 Vor der Kontaktaufnahme... - Before contacting us...................................................................... 8-1

8.5 Kundenbetreuungsstellen - Sales & Service Facilities ................................................................. 8-2

9 Appendix 9-1

9.1 Power Consumption of Control Sections ...................................................................................... 9-1

9.2 Commissioning Aids Required in Preparation for Commissioning ............................................... 9-1

10 Index 10-1

IV Contents Rexroth IndraDrive


Rexroth IndraDrive Introduction 1-1


1 Introduction

1.1 Documentation

Purpose of this DocumentationThis documentation describes

• the planning the electrical construction

• the installation of the drive system

Documentations - Overview

Title Type of Documentation Document Typecode1)

Rexroth IndraDriveDrive ControllersControl Sections

Project Planning Manual DOK-INDRV*-CSH********-PRxx-EN-P

Rexroth IndraDrive MDrive ControllersPower Sections

Project Planning Manual DOK-INDRV*-HMS+HMD****-PRxx-EN-P

Rexroth IndraDrive CDrive ControllersPower Sections HCS02.1

Project Planning Manual DOK-INDRV*-HCS02.1****-PRxx-EN-P

Rexroth IndraDrive CDrive ControllersPower Sections HCS03.1

Project Planning Manual DOK-INDRV*-HCS03.1****-PRxx-EN-P

Rexroth IndraDriveSupply Units

Project Planning Manual DOK-INDRV*-HMV-*******-PRxx-EN-P

Electromagnetic Compatibility (EMC) inDrive and Control Systems

Project Planning Manual DOK-GENERAL-EMV********-PRxx-EN-P

Rexroth IndraDriveIntegrated Safety Technology

Functional and ApplicationDescription

DOK-INDRV*-SI*-**VRS**-FKxx-EN-P

Connecting cables Selection Data DOK-CONNEC-CABLE*STAND-AUxx-EN-P

Safety Instructions for Electrical Drives Safety Guidelines DOK-GENERAL-DRIVE-******-SVSx-MS-P

1) in the document type codes "xx" designates replacement charactersfor the update edition of the documentation (Example: "PR01" is thefirst edition of a project planning manual)

Fig. 1-1: Documentations - Overview

1-2 Introduction Rexroth IndraDrive


1.2 Basic Structure of the Drive Controller Rexroth IndraDrive

��

�

1: Power section2: Control section

Fig. 1-2: Basic structure of the drive controller Rexroth IndraDrive

The drive controller consists of two essential parts:

• Power section

• Control section



1.3 Power Section

Detailed informations: See Project Planning Manuals of RexrothIndraDrive Power Sections (see page 1-1).

1.4 Control Section

The control section is a separate section which is inserted into the powersection. The drive controller is supplied ex works complete with controlsection.

Note: The control section must only be replaced by a Rexrothservice engineer or by a trained user. Optional modules of thecontrol section must only be replaced by a Rexroth serviceengineer.

There are following control sections:

• BASIC OPENLOOP (single-axis; type code: CSB01.1N-FC-...)

• BASIC SERCOS (single-axis; type code: CSB01.1N-SE-...)

• BASIC PROFIBUS (single-axis; type code: CSB01.1N-PB-...)

• BASIC ANALOG (single-axis; type code: CSB01.1N-AN-...)

• BASIC UNIVERSAL (single-axis; type code: CSB01.1C-...;double-axis; type code: CDB01.1C-...)

• ADVANCED (type code: CSH01.1C-...)

Note: Complete type codes: see chapter 4

The control sections differ regarding their configurability, interfaces, cycletime, and pulse frequency. The following table shows an overview:



BA

SIC

OP

EN

LO

OP

(CS

B01

.1N

-FC

)

BA

SIC

S

ER

CO

S(C

SB

01.1

N-S

E)

BA

SIC

P

RO

FIB

US

(CS

B01

.1N

-PB

)

BA

SIC

AN

AL

OG

(CS

B01

.1N

-AN

)

BA

SIC

UN

IVE

RS

AL

(CS

B01

.1C

; S

ing

le-a

xis)

BA

SIC

UN

IVE

RS

AL

(CD

B01

.1C

; D

ou

ble

-axi

s)

AD

VA

NC

ED

(CS

H01

.1C

)

Configurable no no no no yes yes yes

Optional Modules:

Option 1 encoder[ENS] 3)

encoder[ENS]

encoder[ENS]

encoder[ENS]

o 1) o

Option 2 o o o

Option 3 o o

Option 4 o

Option Safety Technology I/O o 4) o 4) o 4) o 4) o o

Master Communication:

SERCOS x 1) o o o

PROFIBUS x o o o

Parallel o o o

Analog x o 5)

Standard Frequency Converter x

Serial Interface RS232 x x x x x x x

Inputs/Outputs:

Digital Inputs 8x 2) 5x 5x 5x 5x 14x 7x

thereof probe 1x 1x 1x 2x 2x

Digital Inputs/Outputs 3x 3x 4x 3x 8x 4x

Analog Inputs 2x 2x 1x 1x

Analog Outputs 2x 2x 2x

Relay Outputs 3x 1x 1x 1x 1x 1x 1x

Encoder systems:

IndraDyn, HIPERFACE®, 1Vss [ENS] 3) x x x x o o

HSF/RSF [EN1] o o o

EnDat2.1 / 1Vss / 5V TTL [EN2] o o o

Encoder Emulator [MEM] x o o o

Further Options:

Drive Interlock [L1] o o o o o o

Safety Technology I/O [S1] o o

Digital I/O Extension [MD1] o

Analog I/O Extension [MA1] o o o

MultiMediaCard o o o



BA

SIC

OP

EN

LO

OP

(CS

B01

.1N

-FC

)

BA

SIC

S

ER

CO

S(C

SB

01.1

N-S

E)

BA

SIC

P

RO

FIB

US

(CS

B01

.1N

-PB

)

BA

SIC

AN

AL

OG

(CS

B01

.1N

-AN

)

BA

SIC

UN

IVE

RS

AL

(CS

B01

.1C

; S

ing

le-a

xis)

BA

SIC

UN

IVE

RS

AL

(CD

B01

.1C

; D

ou

ble

-axi

s)

AD

VA

NC

ED

(CS

H01

.1C

)

Cycle time:

Current control 125 µs 125 µs 125 µs 125 µs 125 µs 125 µs 62,5 µs

Velocity control 250 µs 250 µs 250 µs 250 µs 250 µs 250 µs 125 µs

Position control 500 µs 500 µs 500 µs 500 µs 500 µs 500 µs 250 µs

Minimal SERCOS cycle time 500 µs 500 µs 500 µs 500 µs 500 µs 500 µs 250 µs

Pulse frequency:

4 kHz o o o o o o o

8 kHz o o o o o o o

12 kHz o

16 kHz o

1) x = standard; o = option2) the number before the x means die number of inputs/outputs present3) designation of options in brackets4) starting lockout only5) requires MEM option

Fig. 1-3: Overview of control sections



Notes

Rexroth IndraDrive Important Directions for Use 2-1


2 Important Directions for Use

2.1 Appropriate Use

IntroductionRexroth products represent state-of-the-art developments andmanufacturing. They are tested prior to delivery to ensure operating safetyand reliability.

The products may only be used in the manner that is defined asappropriate. If they are used in an inappropriate manner, then situationscan develop that may lead to property damage or injury to personnel.

Note: Rexroth, as manufacturer, is not liable for any damagesresulting from inappropriate use. In such cases, the guaranteeand the right to payment of damages resulting frominappropriate use are forfeited. The user alone carries allresponsibility of the risks.

Before using Rexroth products, make sure that all the pre-requisites foran appropriate use of the products are satisfied:

• Personnel that in any way, shape or form uses our products must firstread and understand the relevant safety instructions and be familiarwith appropriate use.

• If the product takes the form of hardware, then they must remain intheir original state, in other words, no structural changes are permitted.It is not permitted to decompile software products or alter sourcecodes.

• Do not mount damaged or faulty products or use them in operation.

• Make sure that the products have been installed in the mannerdescribed in the relevant documentation.

2-2 Important Directions for Use Rexroth IndraDrive


Areas of Use and ApplicationDrive controllers made by Rexroth are designed to control electricalmotors and monitor their operation.

Control and monitoring of the motors may require additional sensors andactors.

Note: The drive controllers may only be used with the accessoriesand parts specified in this document. If a component has notbeen specifically named, then it may not be either mounted orconnected. The same applies to cables and lines.

Operation is only permitted in the specified configurations andcombinations of components using the software and firmwareas specified in the relevant function descriptions.

Every drive controller has to be programmed before starting it up, makingit possible for the motor to execute the specific functions of an application.

The drive controllers are designed for use in single or multiple-axis driveand control applications.

To ensure an application-specific use, the drive controllers are availablewith differing drive power and different interfaces.

Typical applications of drive controllers are:

• handling and mounting systems,

• packaging and foodstuff machines,

• printing and paper processing machines and

• machine tools.

The drive controllers may only be operated under the assembly,installation and ambient conditions as described here (temperature,system of protection, humidity, EMC requirements, etc.) and in theposition specified.

2.2 Inappropriate Use

Using the drive controllers outside of the above-referenced areas ofapplication or under operating conditions other than described in thedocument and the technical data specified is defined as “inappropriateuse".

Drive controllers may not be used if

• they are subject to operating conditions that do not meet the abovespecified ambient conditions. This includes, for example, operationunder water, in the case of extreme temperature fluctuations orextremely high maximum temperatures or if

• Rexroth has not specifically released them for that intended purpose.Please note the specifications outlined in the general safetyinstructions!

Rexroth IndraDrive Safety Instructions for Electric Drives and Controls 3-1


3 Safety Instructions for Electric Drives and Controls

3.1 Introduction

Read these instructions before the initial startup of the equipment in orderto eliminate the risk of bodily harm or material damage. Follow thesesafety instructions at all times.

Do not attempt to install or start up this equipment without first reading alldocumentation provided with the product. Read and understand thesesafety instructions and all user documentation of the equipment prior toworking with the equipment at any time. If you do not have the userdocumentation for your equipment, contact your local Rexrothrepresentative to send this documentation immediately to the person orpersons responsible for the safe operation of this equipment.

If the equipment is resold, rented or transferred or passed on to others,then these safety instructions must be delivered with the equipment.

WARNING

Improper use of this equipment, failure to followthe safety instructions in this document ortampering with the product, including disablingof safety devices, may result in materialdamage, bodily harm, electric shock or evendeath!

3.2 Explanations

The safety instructions describe the following degrees of hazardseriousness in compliance with ANSI Z535. The degree of hazardseriousness informs about the consequences resulting from non-compliance with the safety instructions.

Warning symbol with signalword

Degree of hazard seriousness accordingto ANSI

DANGER

Death or severe bodily harm will occur.

WARNING

Death or severe bodily harm may occur.

CAUTION

Bodily harm or material damage may occur.

Fig. 3-1: Hazard classification (according to ANSI Z535)

3-2 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive


3.3 Hazards by Improper Use

DANGER

High voltage and high discharge current!Danger to life or severe bodily harm by electricshock!

DANGER

Dangerous movements! Danger to life, severebodily harm or material damage byunintentional motor movements!

WARNING

High electrical voltage due to wrongconnections! Danger to life or bodily harm byelectric shock!

WARNING

Health hazard for persons with heartpacemakers, metal implants and hearing aids inproximity to electrical equipment!

CAUTION

Surface of machine housing could be extremelyhot! Danger of injury! Danger of burns!

CAUTION

Risk of injury due to improper handling! Bodilyharm caused by crushing, shearing, cutting andmechanical shock or incorrect handling ofpressurized systems!

CAUTION

Risk of injury due to incorrect handling ofbatteries!



3.4 General Information

• Bosch Rexroth AG is not liable for damages resulting from failure toobserve the warnings provided in this documentation.

• Read the operating, maintenance and safety instructions in yourlanguage before starting up the machine. If you find that you cannotcompletely understand the documentation for your product, please askyour supplier to clarify.

• Proper and correct transport, storage, assembly and installation aswell as care in operation and maintenance are prerequisites foroptimal and safe operation of this equipment.

• Only persons who are trained and qualified for the use and operationof the equipment may work on this equipment or within its proximity.

• The persons are qualified if they have sufficient knowledge of theassembly, installation and operation of the equipment as well as anunderstanding of all warnings and precautionary measures noted inthese instructions.

• Furthermore, they must be trained, instructed and qualified toswitch electrical circuits and equipment on and off in accordancewith technical safety regulations, to ground them and to mark themaccording to the requirements of safe work practices. They musthave adequate safety equipment and be trained in first aid.

• Only use spare parts and accessories approved by the manufacturer.

• Follow all safety regulations and requirements for the specificapplication as practiced in the country of use.

• The equipment is designed for installation in industrial machinery.

• The ambient conditions given in the product documentation must beobserved.

• Use only safety features and applications that are clearly and explicitlyapproved in the Project Planning Manual.For example, the following areas of use are not permitted: constructioncranes, elevators used for people or freight, devices and vehicles totransport people, medical applications, refinery plants, transport ofhazardous goods, nuclear applications, applications sensitive to highfrequency, mining, food processing, control of protection equipment(also in a machine).

• The information given in the documentation of the product with regardto the use of the delivered components contains only examples ofapplications and suggestions.The machine and installation manufacturer must

• make sure that the delivered components are suited for hisindividual application and check the information given in thisdocumentation with regard to the use of the components,

• make sure that his application complies with the applicable safetyregulations and standards and carry out the required measures,modifications and complements.

• Startup of the delivered components is only permitted once it is surethat the machine or installation in which they are installed complieswith the national regulations, safety specifications and standards of theapplication.



• Operation is only permitted if the national EMC regulations for theapplication are met.The instructions for installation in accordance with EMC requirementscan be found in the documentation "EMC in Drive and ControlSystems".The machine or installation manufacturer is responsible forcompliance with the limiting values as prescribed in the nationalregulations.

• Technical data, connections and operational conditions are specified inthe product documentation and must be followed at all times.



3.5 Protection Against Contact with Electrical Parts

Note: This section refers to equipment and drive components withvoltages above 50 Volts.

Touching live parts with voltages of 50 Volts and more with bare hands orconductive tools or touching ungrounded housings can be dangerous andcause electric shock. In order to operate electrical equipment, certainparts must unavoidably have dangerous voltages applied to them.

DANGER

High electrical voltage! Danger to life, severebodily harm by electric shock!⇒ Only those trained and qualified to work with or on

electrical equipment are permitted to operate, maintainor repair this equipment.

⇒ Follow general construction and safety regulations whenworking on high voltage installations.

⇒ Before switching on power the ground wire must bepermanently connected to all electrical units accordingto the connection diagram.

⇒ Do not operate electrical equipment at any time, evenfor brief measurements or tests, if the ground wire is notpermanently connected to the points of the componentsprovided for this purpose.

⇒ Before working with electrical parts with voltage higherthan 50 V, the equipment must be disconnected fromthe mains voltage or power supply. Make sure theequipment cannot be switched on again unintended.

⇒ The following should be observed with electrical driveand filter components:

⇒ Wait five (5) minutes after switching off power to allowcapacitors to discharge before beginning to work.Measure the voltage on the capacitors before beginningto work to make sure that the equipment is safe totouch.

⇒ Never touch the electrical connection points of acomponent while power is turned on.

⇒ Install the covers and guards provided with theequipment properly before switching the equipment on.Prevent contact with live parts at any time.

⇒ A residual-current-operated protective device (RCD)must not be used on electric drives! Indirect contactmust be prevented by other means, for example, by anovercurrent protective device.

⇒ Electrical components with exposed live parts anduncovered high voltage terminals must be installed in aprotective housing, for example, in a control cabinet.



To be observed with electrical drive and filter components:

DANGER

High electrical voltage on the housing!High leakage current! Danger to life, danger ofinjury by electric shock!⇒ Connect the electrical equipment, the housings of all

electrical units and motors permanently with the safetyconductor at the ground points before power isswitched on. Look at the connection diagram. This iseven necessary for brief tests.

⇒ Connect the safety conductor of the electricalequipment always permanently and firmly to thesupply mains. Leakage current exceeds 3.5 mA innormal operation.

⇒ Use a copper conductor with at least 10 mm² crosssection over its entire course for this safety conductorconnection!

⇒ Prior to startups, even for brief tests, always connectthe protective conductor or connect with ground wire.Otherwise, high voltages can occur on the housingthat lead to electric shock.

3.6 Protection Against Electric Shock by Protective LowVoltage (PELV)

All connections and terminals with voltages between 0 and 50 Volts onRexroth products are protective low voltages designed in accordance withinternational standards on electrical safety.

WARNING

High electrical voltage due to wrongconnections! Danger to life, bodily harm byelectric shock!⇒ Only connect equipment, electrical components and

cables of the protective low voltage type (PELV =Protective Extra Low Voltage) to all terminals andclamps with voltages of 0 to 50 Volts.

⇒ Only electrical circuits may be connected which aresafely isolated against high voltage circuits. Safeisolation is achieved, for example, with an isolatingtransformer, an opto-electronic coupler or whenbattery-operated.



3.7 Protection Against Dangerous Movements

Dangerous movements can be caused by faulty control of the connectedmotors. Some common examples are:

• improper or wrong wiring of cable connections

• incorrect operation of the equipment components

• wrong input of parameters before operation

• malfunction of sensors, encoders and monitoring devices

• defective components

• software or firmware errors

Dangerous movements can occur immediately after equipment isswitched on or even after an unspecified time of trouble-free operation.

The monitoring in the drive components will normally be sufficient to avoidfaulty operation in the connected drives. Regarding personal safety,especially the danger of bodily injury and material damage, this alonecannot be relied upon to ensure complete safety. Until the integratedmonitoring functions become effective, it must be assumed in any casethat faulty drive movements will occur. The extent of faulty drivemovements depends upon the type of control and the state of operation.



DANGER

Dangerous movements! Danger to life, risk ofinjury, severe bodily harm or material damage!⇒ Ensure personal safety by means of qualified and

tested higher-level monitoring devices or measuresintegrated in the installation. Unintended machinemotion is possible if monitoring devices are disabled,bypassed or not activated.

⇒ Pay attention to unintended machine motion or othermalfunction in any mode of operation.

⇒ Keep free and clear of the machine’s range of motionand moving parts. Possible measures to preventpeople from accidentally entering the machine’s rangeof motion:

- use safety fences

- use safety guards

- use protective coverings

- install light curtains or light barriers

⇒ Fences and coverings must be strong enough toresist maximum possible momentum, especially ifthere is a possibility of loose parts flying off.

⇒ Mount the emergency stop switch in the immediatereach of the operator. Verify that the emergency stopworks before startup. Don’t operate the machine if theemergency stop is not working.

⇒ Isolate the drive power connection by means of anemergency stop circuit or use a starting lockout toprevent unintentional start.

⇒ Make sure that the drives are brought to a safestandstill before accessing or entering the dangerzone. Safe standstill can be achieved by switching offthe power supply contactor or by safe mechanicallocking of moving parts.

⇒ Secure vertical axes against falling or dropping afterswitching off the motor power by, for example:

- mechanically securing the vertical axes

- adding an external braking/ arrester/ clampingmechanism

- ensuring sufficient equilibration of the vertical axes

The standard equipment motor brake or an externalbrake controlled directly by the drive controller arenot sufficient to guarantee personal safety!



⇒ Disconnect electrical power to the equipment using amaster switch and secure the switch againstreconnection for:

- maintenance and repair work

- cleaning of equipment

- long periods of discontinued equipment use

⇒ Prevent the operation of high-frequency, remotecontrol and radio equipment near electronics circuitsand supply leads. If the use of such equipment cannotbe avoided, verify the system and the installation forpossible malfunctions in all possible positions ofnormal use before initial startup. If necessary, performa special electromagnetic compatibility (EMC) test onthe installation.

3.8 Protection Against Magnetic and Electromagnetic FieldsDuring Operation and Mounting

Magnetic and electromagnetic fields generated near current-carryingconductors and permanent magnets in motors represent a serious healthhazard to persons with heart pacemakers, metal implants and hearingaids.

WARNING

Health hazard for persons with heartpacemakers, metal implants and hearing aids inproximity to electrical equipment!⇒ Persons with heart pacemakers, hearing aids and

metal implants are not permitted to enter the followingareas:

- Areas in which electrical equipment and parts aremounted, being operated or started up.

- Areas in which parts of motors with permanentmagnets are being stored, operated, repaired ormounted.

⇒ If it is necessary for a person with a heart pacemakerto enter such an area, then a doctor must beconsulted prior to doing so. Heart pacemakers thatare already implanted or will be implanted in thefuture, have a considerable variation in their electricalnoise immunity. Therefore there are no rules withgeneral validity.

⇒ Persons with hearing aids, metal implants or metalpieces must consult a doctor before they enter theareas described above. Otherwise, health hazards willoccur.



3.9 Protection Against Contact with Hot Parts

CAUTION

Housing surfaces could be extremely hot!Danger of injury! Danger of burns!⇒ Do not touch housing surfaces near sources of heat!

Danger of burns!⇒ After switching the equipment off, wait at least ten (10)

minutes to allow it to cool down before touching it.⇒ Do not touch hot parts of the equipment, such as

housings with integrated heat sinks and resistors.Danger of burns!

3.10 Protection During Handling and Mounting

Under certain conditions, incorrect handling and mounting of parts andcomponents may cause injuries.

CAUTION

Risk of injury by incorrect handling! Bodilyharm caused by crushing, shearing, cutting andmechanical shock!⇒ Observe general installation and safety instructions

with regard to handling and mounting.⇒ Use appropriate mounting and transport equipment.⇒ Take precautions to avoid pinching and crushing.⇒ Use only appropriate tools. If specified by the product

documentation, special tools must be used.⇒ Use lifting devices and tools correctly and safely.⇒ For safe protection wear appropriate protective

clothing, e.g. safety glasses, safety shoes and safetygloves.

⇒ Never stand under suspended loads.⇒ Clean up liquids from the floor immediately to prevent

slipping.



3.11 Battery Safety

Batteries contain reactive chemicals in a solid housing. Inappropriatehandling may result in injuries or material damage.

CAUTION

Risk of injury by incorrect handling!⇒ Do not attempt to reactivate discharged batteries by

heating or other methods (danger of explosion andcauterization).

⇒ Never charge non-chargeable batteries (danger ofleakage and explosion).

⇒ Never throw batteries into a fire.⇒ Do not dismantle batteries.⇒ Do not damage electrical components installed in the

equipment.

Note: Be aware of environmental protection and disposal! Thebatteries contained in the product should be considered ashazardous material for land, air and sea transport in the senseof the legal requirements (danger of explosion). Disposebatteries separately from other waste. Observe the legalrequirements in the country of installation.

3.12 Protection Against Pressurized Systems

Certain motors and drive controllers, corresponding to the information inthe respective Project Planning Manual, must be provided withpressurized media, such as compressed air, hydraulic oil, cooling fluidand cooling lubricant supplied by external systems. Incorrect handling ofthe supply and connections of pressurized systems can lead to injuries oraccidents. In these cases, improper handling of external supply systems,supply lines or connections can cause injuries or material damage.

CAUTION

Danger of injury by incorrect handling ofpressurized systems!⇒ Do not attempt to disassemble, to open or to cut a

pressurized system (danger of explosion).⇒ Observe the operation instructions of the respective

manufacturer.⇒ Before disassembling pressurized systems, release

pressure and drain off the fluid or gas.⇒ Use suitable protective clothing (for example safety

glasses, safety shoes and safety gloves)⇒ Remove any fluid that has leaked out onto the floor

immediately.

Note: Environmental protection and disposal! The media used in theoperation of the pressurized system equipment may not beenvironmentally compatible. Media that are damaging theenvironment must be disposed separately from normal waste.Observe the legal requirements in the country of installation.



Notes

Rexroth IndraDrive Identification of the Control Section 4-1


4 Identification of the Control Section

4.1 Type Plates

Each drive component is identified by a type designation.

A type plate is attached to all units, including the motor.

��

�

1: Power section type plate2: Control section type plateFig. 4-1: Type plates on the drive controller

Control Section Type Plate

��

��

�� Example: 04W12 means week 12 in year 2004

Production week

Barcode Hardware index

Type

Part number

Serial number

Fig. 4-2: Control section type plate

4-2 Identification of the Control Section Rexroth IndraDrive


4.2 Type Codes

Note: The figures below illustrate how the type codes are puttogether. Your sales representative will help with the currentstatus of available versions.

BASIC

Single-AxisDesignations of the control sections:

• BASIC OPENLOOP (type code: CSB01.1N-FC-...);(internal designation: BASIC 1)

• BASIC SERCOS (type code: CSB01.1N-SE-...);(internal designation: BASIC 2)

• BASIC PROFIBUS (type code: CSB01.1N-PB-...);(internal designation: BASIC 3)

• BASIC ANALOG (type code: CSB01.1N-AN-...);(internal designation: BASIC 4)

• BASIC UNIVERSAL (single-axis; type code: CSB01.1C-...);(internal designation: BASIC 5)



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��"&��=!=��%�� 5�� 55��=#�=��%�� 5�� 55��=#�==!!!=��%�� =!=

��

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�

Fig. 4-3: Type code control section BASIC (single-axis drive controller)



Double-AxisDesignation of the control section:

• BASIC UNIVERSAL (type code: CDB01.1C-...);(internal designation: BASIC 5)

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* �5�� ;

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Fig. 4-4: Type code control section BASIC UNIVERSAL (double-axis);(continuation on next page)



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� ) � � � � ( � * ( ! ! ! ( ! ! ! ( ! ! ! ( * ! ( ! ! ( � ( ! ! ( #<

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Fig. 4-5: Type code control section BASIC UNIVERSAL (double-axis)(continued)



ADVANCED

� � � � � � � ��

� � � � � � � � �

� � � � � � � � �

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Fig. 4-6: Type code control section ADVANCED (continuation on next page)



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./��0��

1��20 �� ;�/��4?�! �@'�(!��@�!2� ��/�$

Fig. 4-7: Type code control section ADVANCED (continued)



Notes

Rexroth IndraDrive Transport and Storage 5-1


5 Transport and Storage

5.1 Transporting the Devices

Conditions

temperature -25 ... 70 °C

relative humidity 5 ... 95%;climatic category 2K3

absolute humidity 1 ... 60 g/m3

climatic category 2K3

moisture condensation slight moisture condensation allowed

icing not allowed

Shock check not in operationaccording to EN 60068-2-27

Halve sine in 3 axis:10g / 11ms

Fig. 5-1: Conditions for transport

5.2 Storing the Devices

Conditions

temperature -25 ... 55 °C

relative humidity 5 ... 95%;climatic category 1K3

absolute humidity 1 ... 29 g/m3

climatic category 1K3

moisture condensation not allowed

icing not allowed

Fig. 5-2: Conditions for storage

In Case of Long Storage PeriodsThe devices contain sensitive electrolytic capacitors. Therefore, in thecase of long storage periods, operate the devices once a year for at least1 hour with powered on control voltage (control panel must be active) andpowered on 24 V voltage supply of the isolated I/Os.

5-2 Transport and Storage Rexroth IndraDrive


Notes

Rexroth IndraDrive Fixed Interfaces 6-1


6 Fixed InterfacesThe control section interfaces are divided into optional and fixedinterfaces. The optional interfaces are identified here as options.

• the control section BASIC OPENLOOP has only fixed interfaces

• the following control sections have fixed interfaces and can beequipped with options:

• BASIC SERCOS

• BASIC PROFIBUS

• BASIC ANALOG

• BASIC UNIVERSAL

• ADVANCED

In this chapter only the fixed interfaces are described.

Description of options: see chapter 7

6-2 Fixed Interfaces Rexroth IndraDrive


6.1 Overview

BASIC OPENLOOP

basic_openloop_schnittstellen

X2

X31 X32

H1

X11 X12

X35 X36

Fig. 6-1: BASIC OPENLOOP

Interface Meaning Description on page

X2 serial interface 6-8

X11/X12 relay contacts 6-16

X31/X32 digital and analog inputs/outputs; voltage input (24V, 0V) 6-24

X35/X36 analog inputs/outputs; voltage output (24V, 0V) 6-39

H1 interface for control panel 6-51

Fig. 6-2: Overview



BASIC SERCOS

basic_sercos_schnittstellen

X2

X8

X20 TXX21 RX

SERCOS:

LED H20

H1

X32X31

Fig. 6-3: BASIC SERCOS



X8 ENS (encoder interface) 6-11

X31/X32 digital inputs/outputs; relay contacts; voltage input(24V, 0V)

6-24

SERCOS master communication 6-41


Fig. 6-4: Overview



BASIC PROFIBUS

basic_profibus_schnittstellen

X2

X30

X8

PROFIBUS:

LED H30

H1

X32X31

Fig. 6-5: BASIC PROFIBUS




X31/X32 digital inputs/outputs; relay contacts; voltage input(24V, 0V)

6-24

PROFIBUS master communication 6-44


Fig. 6-6: Overview



BASIC ANALOG

basic_analog_schnittstellen

X2

X16

X8

H1

X32X31

Fig. 6-7: BASIC ANALOG




X16 encoder emulation 6-18

X31/X32 digital and analog inputs/outputs; relay contacts; voltageinput (24V, 0V)

6-24


Fig. 6-8: Overview fixed interfaces



BASIC UNIVERSAL

basic_universal_schnittstellen

X32

X2

X31

X8

X7

X*

H1

basic_universal_doppelachs_schnittstellen

X2

X31 X32

X7

X33 X34

H1

X*

Fig. 6-9: BASIC UNIVERSAL (left: single axis; right: double-axis)



X7 MultiMediaCard 6-10



6-24

X33/X34 digital inputs 6-38

X* master communication (different types possible) 6-41


Fig. 6-10: Overview



ADVANCED

advanced_feste_ss

X*

X2

X7

H1

X31 X32

Fig. 6-11: ADVANCED



X7 MultiMediaCard 6-10


6-24

X* master communication (different types possible) 6-41


Fig. 6-12: Overview



6.2 X2, Serial Interface (RS232)

Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x x x x x

The serial interface (RS232) is required for programming,parameterization and diagnosis during commissioning and servicing.

The interface permits:

• a maximum of one node

• transmission length of up to 15 m

• baud rates of 9600/19200 baud

PS2_stecker.fh7

1

2

3

4

5

6

7

8

Fig. 6-13: X2 terminal connector

Type Number of poles Type of design

MiniDIN 8 bushing on unitFig. 6-14: Design

Cross sectionsingle-wire

[mm²]

Cross sectionmultiwire

[mm²]

Cross sectionin AWG

Gauge No.

-- 0.25 – 0.5 --Fig. 6-15: Connection cross section

X2_UART_RTS 1

X2_UART_CTS 2

X2_UART_TxD 3

GND 4

X2_UART_RxD 5

Vcc 6

n.c. 7

n.c. 8

Description

Design

Connection cross section

Connection



RT_X2_anschlussf3.FH7

PC with 25-pin

D-SUB connector

PC with 9-pin

D-SUB connector

RxD

TxD

GND

3

2

7

max. 15 m

X2

TxD

RxD

GND

3

2

5

max. 15 m

TxD

RxD5

3

X2RKB0041

TxD

RxD5

3

6Vcc

6Vcc

2CTS

1RTS

GND4

CTS 8

CTS 5 1RTS

GND4

CTS2

Fig. 6-16: Connecting a PC to the RS232 interface

Note: The interface does not have an electrical isolation. Theelectrode voltage between control section and connected dataterminal equipment must not exceed 1 V.



6.3 X7, MultiMediaCard

Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x

Note: A MultiMediaCard (MMC) is not within scope of delivery.A MMC is available as option.

X7 is for reading data (firmware, parameter, operating data) from resp.storing data on a MultiMediaCard (MMC).

Note: You will find a description of how to handle the MMC in thedocumentation of the firmware.

Description



6.4 X8, ENS (Encoder Interface)

Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x x x

Encoder with control voltage supply of 12 volt:

• 1 Vpp with reference track

• 1 Vpp with HIPERFACE®

• IndraDyn (encoder interface of MSK motors)

Type Number of poles Design

D-SUBMINIATURE 15 bushing on unit

d-sub-15-buchsef1.FH7

1

8

9

15

Fig. 6-17: D-subminiature bushing


[mm²]


[mm²]

Cross sectionin AWG

Gauge No.

-- 0.25 - 0.5 --Fig. 6-18: Connection cross section

1 GND_Shield shield connection

2 A+

3 A-track A 1 Vss

4 GND_Encoder ground

5 B+

6 B-track B 1 Vss

7 EncData+ Data+

8 EncData- Data-

9 R+

10 R-reference track

11 VCC_Encoder power supply

12 - n.c.

13 EncCLK+ clock+

14 EncCLK+ clock-

15 - n.c.

Description

Design

Connection Cross Section

Connection



hfi03_sinus_anschluss.fh7

encoder

A+

A-B+

B-

R+R-

1) 2)

1

89

15

2

3

5

6

1

9

10

12

15

4

11

7

8

13

14

A+

A-

B+

B-

GND_Shield

R+

R-

n.c.

n.c.

GND_Encoder

VCC_Encoder

EncData+

EncData-

EncCLK+

EncCLK-

15-pin D-sub. connector(screw mounting)

GND_Encoder

VCC_Encoder

GND_Shield

1) connect to connector housing2) connect to shield connection XS1 at the drive controller

Fig. 6-19: Terminal connection diagram sine encoder

hfi03_hiper_anschluss.fh7

A+

A-B+

B-

R+R-

GND_Encoder

VCC_Encoder

1) 2)

1

89

15

2

3

5

6

1

9

10

12

15

4

11

7

8

13

14

EncData+

EncData-

A+

A-

B+

B-

GND_Shield

R+

R-

n.c.

n.c.

GND_Encoder

VCC_Encoder

EncData+

EncData-

EncCLK+

EncCLK-


encoder

GND_Shield


Fig. 6-20: Terminal connection diagram HIPERFACE®

Terminal Connection DiagramSine Encoder

Terminal Connection DiagramHIPERFACE®



hfi03_indradyn_anschluss.fh7

A+

A-B+

B-

R+R-

GND_Encoder

VCC_Encoder

1) 2)

1

89

15

2

3

5

6

1

9

10

12

15

4

11

7

8

13

14

EncData+

EncData-

A+

A-

B+

B-

GND_Shield

R+

R-

n.c.

n.c.

GND_Encoder

VCC_Encoder

EncData+

EncData-

EncCLK+

EncCLK-


encoder

GND_Shield

EncCLK+

EncCLK-


Fig. 6-21: Terminal connection diagram IndraDyn encoder

Features of the encoder output amplifier stage VCC_Encoder:

output voltage 11.6 V ±3%

max. output current 300 mA

Fig. 6-22: Features of the encoder output amplifier stage VCC_Encoder

hfi02_sin_ein_schalt.FH7

E+

E-120R

Block diagramFig. 6-23: Input circuit for sine signals

Features of the differential input:

Input voltage

max. allowed amplitude encoder signal(USSencoder signal)

(1.0 + 0.2) Vpp

evaluation AD converter 12 bit

limit frequency (-3 dB) to be defined

input resistance 120RFig. 6-24: Features of the differential input (Sine encoder)

Terminal Connection DiagramIndraDyn Encoder

VCC_Encoder

Input Circuit for Sine SignalsA+, A- resp. B+, B- resp. R+, R-:

Sine Encoder



Signal Assignment to the Actual Position Value

Signal assignment Signal designation Signal form Actual position value(with default setting)

A+

A-

B+

B-

R+

R-

sine (1Vpp)without absolute value decreasing

A+

A-

B+

B-

sine (1 Vpp)with absolute value increasing

Fig. 6-25: Signal assignment to the actual position value

Note: Default setting:=> see Functional Description of firmware



Allowed Encoder Cable LengthsSelecting wire cross sections

Note: The current consumption of the connected encoder systemsgenerates a voltage drop due to the ohmic resistance of thewire (dependent upon the wire cross sections and lengths).This reduces the signal at the encoder input.

To compensate the voltage drop, the drive controller caninfluence the encoder power source. Using a voltage sensor,the available voltage at the encoder is detected.

⇒ For a given wire length and encoder current consumption, a minimumcross section becomes necessary. This relationship is illustratedbelow.

• wire cross section: 0.5 mm2

• minimum allowed power supply: 9 V ±5% and 10 V ±5%

hfi03_kabellaenge.fh7

! ��&%"�!�%' -+"$�%�6-�7

0&%("1�6-

7

"�

��

��

��

�

��

:�

7�

�

-�

"�

��

��

�� "� �� "� �� "�

9 V

10 V

Fig. 6-26: Cable lengths



6.5 X11/X12, Relay Contacts

Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x

��"

��"

> >�


spring tension 2 x 5 bushing on connector


[mm²]


[mm²]

Cross sectionin AWG

Gauge No.

-- 0.08-1.5 28-14Fig. 6-27: Connection cross section

Pin Function

X11/1 n.c.

X11/2 n.c.

X11/3 Relay 3 NO

X11/4 Relay 3 COM

X11/5 Relay 3 NC

X12/1 Relay 1 (a)

X12/2 Relay 1 (b)

X12/3 Relay 2 NO

X12/4 Relay 2 COM

X12/5 Relay 2 NC

Description

Design


Connection Assignment



Rt_X3_Rel_basic.fh7

+24V

GND

b

Rel_On

a

c

Fig. 6-28: Relay 2, relay 3 contacts (a: NO; b: NC; c: common contact)

max. switching voltage DC 30 V AC 250 V

max. continuous current DC 5 A AC 2 A

minimum contact load 10 mA 10 mA

guaranteed number of switching operations atmax. time constant of load < 50 ms

100.000 100.000

Fig. 6-29: Data

Rt_X3_Bb1_Bb2.fh7

+24V

GND

Rel1(a)

Rel1(b)

Fig. 6-30: Relay 1

max. switching voltage DC 30 V AC 250 V

max. continuous current DC 5 A AC 2 A

minimum contact load 10 mA 10 mA

guaranteed number of switching operations atmax. time constant of load < 50 ms

100.000 100.000

Fig. 6-31: Data

Circuit (Relay 2, Relay 3)

Data

Circuit Relay 1

Data



6.6 X16, Encoder Emulation

Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x

Emulation of absolute and incremental encoder. Only one encoder can beconnected and be active at a time. The encoder signals are galvanicallyisolated from the printed circuit board. An external power supply is notrequired.


D-Sub 15 pins on unit

d-sub-15-stiftf2.FH7

8

1 9

15

Cross sectionsingle-core

[mm²]

Cross sectionmulti-core

[mm²]

Cross sectionin AWG

gauge No.

-- 0.25-0.5 --Fig. 6-32: Connection cross section

Description

Design




Pin Function Symbol I/O

1 n.c. - -

2 n.c. - -

3 encoder emulation (SSI) SSI_CLK+ I

4 encoder emulation (SSI) SSI_CLK- I

5 n.c. - -

6 n.c. - -

7 n.c. - -

8 n.c. - -

encoder emulation (incremental) UA0+ O9

encoder emulation (SSI) SSI_Data+ O

10 ground 0V -

encoder emulation (incremental) UA0- O11

encoder emulation (SSI) SSI_Data- O

12 encoder emulation (incremental) UA1+ O

13 encoder emulation (incremental) UA1- O

14 encoder emulation (incremental) UA2+ O

15 encoder emulation (incremental) UA2- O

Fig. 6-33: Pin configuration

max. cable length: 40 m

max. allowed capacitance per length unit– between the outputs– between output and 0 V

5 nF10 nF

shielding double shield protected

CAUTION

Damaging potential by utilizing non and singleshielded cables.⇒ Utilize double shielded cables.

Note: Refresh rate of the actual position value output: seedocumentation of firmware

Pin Configuration

Cable



Incremental Encoder Emulation

emu_inkr_anschluss_indrv.FH7

CNC

0 Vext

UA1+UA1-

UA2+UA2-0VUA0+UA0-

length l

positioninginterface-incremental-

12

13

1415

911

10

Fig. 6-34: Connection of incremental actual position value output

Output voltage:

High

Low

min.

2.5 V

0 V

max.

5 V

0.5 V

max. output current Iout I20I mA

max. load capacitancebetween output and 0 V 10 nF

max. output frequency f 1 MHz

Overload protection presentFig. 6-35: Differential outputs

one line

t1

UA1

UA0

UA2

Square-wave pulselooking at the motorshaft and inclockwise direction

SV0201F1.FH7t1 < 50 ns

t1

Fig. 6-36: Signal for incremental actual position value output

nsRevolution

QuantityLinef •=

f: output frequencyn: velocity (rotary)

Fig. 6-37: Calculating the output frequency f

Note: The output frequency results from the parameter setting.

=> See also firmware functional description: "EncoderEmulation".

ConnectionIncremental encoder emulation

Differential outputs incrementalencoder emulation

Signal for incremental actualposition value output

Output frequency f



Note: Conditionally due to the internal signal processing the periodduration and the duty cycle of the signals put out vary.Therefore the following requirements of the signal filtering forUA1 and UA2 arise.

• f ≥ 500 kHz fPass ≥ 1 MHz

• f < 500 kHz fPass ≥ 2 x f

Note: The evaluation electronics of the control must be able toprocess the maximum output frequency of 1 MHz. Otherwisenot all of the signal pulses can be evaluated.

Note: The frequency measurement is not suitable for the RPMmeasurement derived from the incremental emulator signals.

Pass-band width of thecontroller-side signal filtering for

UA1 and UA2

RPM Measurement



Absolute Encoder-Emulation (SSI-format)

emu_absolut_anschluss_indrv.FH7

0VSSIData+SSIData-

SSIClk-SSIClk+

CNC

0 Vext

positioning-interface-absolute-

length l

10

3

911

4

Fig. 6-38: Output of absolute actual position value in SSI format

Ap5321f1.fh7

R2

SSICLK-R3

R1

C1

SSICLK+

SchematicsR1: 332RR2: 100RR3: 100RC1: 1 nF

Fig. 6-39: Differential input circuit

Input voltage:

High

Low

min.

2.5 V

0 V

max.

5 V

0.5 V

Input resistance see circuit

Pulse frequency (100 – 1000 kHz)

Encoder signals are galvanically isolated from the printed circuit board

Polarity protected within allowable input voltage range

Fig. 6-40: Differential inputs

Output voltage:

High

Low

min.

2.5 V

0 V

max.

5 V

0.5 V

max. output current Iout I20I mA

max. load capacitancebetween output and 0 V 10 nF

max. output frequency f 1 MHz

Overload protection presentFig. 6-41: Differential outputs

ConnectionAbsolute Encoder Emulation

Differential input circuitabsolute encoder emulation

Differential inputsabsolute encoder emulation

Differential outputs absoluteencoder emulation



Note: The differential outputs correspond to RS422 specs. A termination resistor is required an the controller side, if it isnot present then add an external resistance of 150 - 180 Ohm.

Pulse diagram for absolute actual position output (SSI format)

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24

G23 G22 G21 G20 G19 G18 G17 G16 G15 G14 G13 G12 G11 G10 G9 G8 G7 G6 G5 G4 G3 G2 G1 G0

25

PFB 0 111

pulse

T

data1 2

G23 G221

Tp

G23 G22 G0 PFB

T

m

tv

pulse break > 20 µs

=======

G0G23mTTp

tv

PFBSV0202F1.FH7

resolution for 4096 rotations resolution for 1 rotations

1 2 2524data

pulse

Tp

least significant bit in gray codemost significant bit in gray codestored parallel informationpulse time

delay time max. 650 nspower failure bit (not used and always logically LOW)

Fig. 6-42: Pulse diagram for absolute actual position output (SSI format)



6.7 X31/X32, Digital and Analog Inputs/Outputs, RelayContacts, Voltage Input (24V, 0V)

Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x x x x x

>� >��

��"-7:

��"-7:

Fig. 6-43: X31/X32


spring tension 2 x 9 bushing on connector


[mm²]


[mm²]

Cross sectionin AWG

Gauge No.


Description

Design




Pin BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSALSingle-Axis

BASICUNIVERSALDouble-Axis

ADVANCED

X31/1

- Relay Rel1(a) Relay Rel1(a) Relay Rel1(a) Relay Rel1(a) Relay Rel1(a) Relay Rel1(a)

X31/2

- Relay Rel1(b) Relay Rel1(b) Relay Rel1(b) Relay Rel1(b) Relay Rel1(b) Relay Rel1(b)

X31/3

E1(dig. input)

E1(dig. input;

probe)

E1(dig. input;

probe)

E1(dig. input)

E1(dig. input;

probe)

E1(dig. input;

probe, axis 1)

E1(dig. input;

probe)

X31/4

E2(dig. input)

E2(dig. input)

E2(dig. input)

E2(dig. input)

E2(dig. input)

E2(dig. input;

probe, axis 2)

E2(dig. input;

probe)

X31/5

E3(dig. input)

E3(dig. input)

E3(dig. input)

E3(dig. input)

E3(dig. input)

E3(dig. input)

E3(dig. input)

X31/6

E4(dig. input)

E4(dig. input)

E4(dig. input)

E4(dig. input)

E4(dig. input)

E4(dig. input)

E4(dig. input)

X31/7

E5(dig. input)

E5(dig. input)

E5(dig. input)

E5(dig. input)

E5(dig. input)

E5(dig. input)

E5(dig. input)

X31/8

24V_extinput

24V_extinput

24V_extinput

24V_extinput

24V_extinput

24V_extinput

24V_extinput

X31/9

0V_extinput

0V_extinput

0V_extinput

0V_extinput

0V_extinput

0V_extinput

0V_extinput

X32/1

EAn2+(analog input2

U+)

- - EAn2+(analog input2

U+)

- An1(analog output1)

An1(analog output1)

X32/2

EAn2-(analog input2

U-)

- - EAn2-(analog input2

U-)

- An2(analog output2)

An2(analog output2)

X32/3

GND(analog_GND)

- - GND(analog_GND)

- GND(analog_GND)

GND(analog_GND)

X32/4

EAn1+(analog input1

U+)

- - EAn1+(analog input1

U+)

- E6/EAn+(dig./analog

input)

E6/EAn+(dig./analog

input)

X32/5

EAn1-(analog input1

U-)

- - EAn1-(analog input1

U-)

- E7/EAn-(dig./analog

input)

E7/EAn-(dig./analog

input)

X32/6

E/A8(dig. input)

E/A8(dig.

input/output)

E/A8(dig.

input/output)

E/A8(dig.

input/output)

E/A8(dig.

input/output)

E/A8*(dig.

input/output)

E/A8*(dig.

input/output)

X32/7

E/A9(dig. input)

E/A9(dig.

input/output)

E/A9(dig.

input/output)

E/A9(dig.

input/output)

E/A9(dig.

input/output)

E/A9**(dig.

input/output)

E/A9**(dig.

input/output)

X32/8

E/A10(dig. input)

E/A10(dig.

input/output)

E/A10(dig.

input/output)

E/A10(dig.

input/output)

E/A10(dig.

input/output)

E/A10*(dig.

input/output)

E/A10*(dig.

input/output)

X32/9

An1(analog output)

- - E/A11(dig.

input/output)

- E/A11*(dig.

input/output)

E/A11*(dig.

input/output)

Pin BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSALSingle-Axis

BASICUNIVERSALDouble-Axis

ADVANCED

* The standard presetting is inputFig. 6-45: Connections

Note: Concerning the connections see also Parameter Description ofthe firmware (Parameter P-0-0300).

Connection



Reference to the Descriptions

Relay Contacts/Inputs/Outputs see page

Relay Rel1 6-27

Digital Inputs E1 ... E3 6-28

Digital Inputs E4 ... E7 6-29

Digital Inputs E/A8 ... E/A11 6-30

Digital Outputs E/A8 ... E/A11 6-31

Analog Inputs EAn+ and EAn- (ADVANCED) 6-32

Analog Inputs EAn1+, EAn1-, EAn2+ and EAn2- (BASIC) 6-33

Analog Outputs An1, An2 6-34

Voltage input (24V, 0V) 6-37

Fig. 6-46: Reference to the descriptions



Relay Rel1Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x x x x

Relay Rel1 is a potential-free contact (NO).

Rt_X3_Bb1_Bb2.fh7

+24V

GND

Rel1(a)

Rel1(b)

Fig. 6-47: Relay Rel1

max. switching voltage DC 30 V

max. switching current DC 1 A

max. continuous current DC 1 A

minimum contact load 10 mA

guaranteed number of switching operations at max.time constant of load < 50 ms

100.000

Fig. 6-48: Data

The relay contact may be used as precondition for connecting the mainscontactor. For detailed informations see Project Planning ManualRexroth IndraDrive C Power Sections.

Description

Circuit

Data

Signal contact Bb ready tooperate for Rexroth IndraDrive C

drive controllers



Digital Inputs E1 ... E3Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x x x x x

Rt_X3_E1_E7.fh7

R1 5V6

0 Vext

ER1

R2

R1: 1kR2: 4k7

Fig. 6-49: Digital inputs E1 (not for BASIC OPENLOOP)

Rt_X3_E4_E7.fh7

R1

0 VE

ER1

IC

0 VE

R1: 1kFig. 6-50: Digital input E2, E3 (all BASIC) and E1 (BASIC OPENLOOP)

Pin Item

31/3 E1

31/4 E2

31/5 E3

Voltage:

Uext

min.:

19 V

max.:

30 V

Current

Iext

min.

-

max.

1.2 A

Voltage:

On

Off

min.:

15 V

-3 V

max.:

30 V

5 V

Current:

On

Off

min.:

2 mA

-

max.:

5 mA

15 mA

Description

Circuit

Connection

Data: external supply

Data: inputs



Digital Inputs E4 ... E7Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x(E4, E5)

x(E4, E5)

x(E4, E5)

x(E4, E5)

x(E4, E5)

x

Rt_X3_E4_E7.fh7

R1

0 VE

ER1

IC

0 VE

R1: 1kFig 6-51: Digital inputs: E4 ... E7

Pin Item

31/6 E4

31/7 E5

32/4 E6

32/5 E7

Voltage:

Uext

min.:

19 V

max.:

30 V

Current

Iext

min.

-

max.

1.2 A

Voltage:

On

Off

min.:

15 V

-3 V

max.:

30 V

5 V

Current:

On

Off

min.:

2 mA

-

max.:

5 mA

15 mA

Description

Circuit

Connection


Data: inputs



Digital Inputs E/A8 ... E/A11Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x (E8, E9,E10)

x (E8, E9,E10)

x (E8, E9,E10)

x single-axis:x (E8, E9,

E10)double-axis:

x

x

Rt_X3_E_A8_11_Ef2.fh7

R1

0 VE

R1

IC

0 VE

R1: 1kFig 6-52: Digital inputs E/A8 ... E/A11

Pin Item

32/6 E8

32/7 E9

32/8 E10

32/9 E11

Voltage:

Uext

min.:

19 V

max.:

30 V

Current

Iext

min.

-

max.

1.2 A

Voltage:

On

Off

min.:

15 V

-3 V

max.:

30 V

5 V

Current:

On

Off

min.:

2 mA

-

max.:

5 mA

15 mA

Description

Circuit

Connection


Data: inputs



Digital Outputs E/A8 ... E/A11Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x (A8, A9,A10)

x (A8, A9,A10)

x single-axis:x (A8, A9,

A10)double-axis:

x

x

InOut

0 Vext Rt_X3_E_A8_11_Af2.fh7

A

24 Vext

R1

0 Vext

R1

0 Vext

C1

R1: 10kC1: 1 nF

Fig. 6-53: Digital outputs E/A8 ... E/A11

Pin Item

32/6 A8

32/7 A9

32/8 A10

32/9 A11

Voltage:

Uext

min.:

19 V

max.:

30 V

Current

Iext

min.

-

max.

1.2 A

Signal min. max.

Uout on Uext n – 0.5 V Uext n

Iout on (per pin) - 0.5 AOn

Iout on (sum) - 1.0 A

Uout off - 2.1 VOff

Iout off - 50 uA

inductive load* EPuls - 400 mJ

* single pulse at one output

Description

Circuit

Connection


Data: outputs



Analog Inputs EAn+ and EAn-Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x (double-axis)

x

Rt_X3_EA+_EA-f2.fh7

R1 R1

R1 R1

An+

An-

shielding

R1: 40k2Fig 6-54: Analog inputs EAn+ and EAn-

Pin Item

32/4 EAn+

32/5 EAn-

Voltage: min.:

-10 V

max.:

+10 V

Current: min.:

4 mA

max.:

20 mA

Resistance 80.4 kOhm

Fig 6-55: Data

Shielding of the analog inputs: see page 6-36

Description

Circuit

Connection

Data



Analog Inputs EAn1+, EAn1-, EAn2+ and EAn2-Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x

Rt_X11_basic1_in.fh7

GND

RuU+

RuU-

IC

RiI+

RiI-

ICRs

U / I

Fig. 6-56: Analog inputs BASIC OPENLOOP

The analog inputs I+ and I- are on interface X36.


RiU+

RiU-

IC

GND

Fig. 6-57: Analog inputs BASIC ANALOG

Pin Function

32/1 EAn2+: analog input 2 U+

32/2 EAn2-: analog input 2 U-

32/3 GND

32/4 EAn1+: analog input 1 U+

32/5 EAn1-: analog input 1 U-

Voltage: min.:

-10 V

max.:

+10 V

Current: min.:

0 mA

max.:

20 mA

Resistance: Ri: 80 kOhm

Rs: 200 Ohm

Resolution 12 Bit

Oversampling eight-fold

Fig. 6-58: Data

Shielding of the analog inputs: see page 6-36

Description

CircuitBASIC OPENLOOP

CircuitBASIC ANALOG

Connection

Data



Analog Outputs An1, An2Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x (double-axis)

x

Rt_X32_An1_An2_GND.fh7

An1R1

R1IC

An2

GND

R2An_GND

GND

R1: 150RR2: 1R

Fig 6-59: Analog outputs An1, An2 (ADVANCED)

Rt_X32_X35_An1_An2_GND.fh7

An1

IC

An2

GND

An_GND

GND

I

I

An_GND

I: active current limiterFig. 6-60: Analog outputs An1, An2 (BASIC)

BASIC OPENLOOP:

Pin Item

32/3 An_GND

32/9 An1

35/3 An2 (see X35)

35/4 An_GND (see X35)

BASIC UNIVERSAL (double-axis); ADVANCED:

Pin Item

32/1 An1

32/2 An2

32/3 An_GND

Description

CircuitADVANCED

CircuitBASIC

Connection



BASIC OPENLOOP:

Voltage min.:

0 V

max.:

10 V

Current min.:

0 mA

max.:

5 mA

Evaluation DA converter 10 Bit

Resolution per Bit 9.8 mV

Short circuit andoverload protection

present

ADVANCED:

Voltage min.:

0 V

max.:

5 V

Current min.:

0 mA

max.:

1 mA

Resistance 150 Ohm

DA converter 8 Bit

Resolution per Bit 19.5 mV

Short-circuit andoverload protection

present

Note: You can use the analog outputs for debugging only.

Data



Shielding the Analog Inputs and Outputs

analog inputs

analog outputs

RT_X32_A_anschluss.fh7

EAn+

An1An2

EAn-

XS1

X32

1b

3b4b5b6b7b8b9b

2b

GND

Fig. 6-61: Shielding the analog inputs and outputs



Voltage Input (+24V, 0V)Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x x x x x

Pin Designation

31/8 +24V_ext input

31/9 0V_ext input

Voltage:

Uext

min.:

19 V

max.:

30 V

Current

Iext

min.

-

max.

1.2 A

Description

Connection

Data



6.8 X33/X34, Digital Inputs

Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x (double-axis)

>�� >��

��"-

��"-

Fig. 6-62: X33, X34


spring tension 2 x 6 bushings on connector


[mm²]


[mm²]

Cross sectionin AWG

Gauge No.


X33 X34

E12 1 1 E18

E13 2 2 E19

E14 3 3 E20

E15 4 4 E21

E16 5 5 E22

E17 6 6 0V_extFig. 6-64: Connection Assignment

Rt_X3_E4_E7.fh7

R1

0 VE

ER1

IC

0 VE

R1: 1kFig 6-65: Digital inputs E12 ... E22

Voltage:

High

Low

min.:

15 V

-3 V

max.:

30 V

5 V

Current:

High

Low

min.:

2 mA

-

max.:

5 mA

15 mA

Fig 6-66: Data

Description

Design



Circuit

Data



6.9 X35/X36, Analog Inputs/Outputs; Voltage Output (24V, 0V)

Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x

>�" >�-

��

��


spring tension 2 x 4 bushings on connector


[mm²]


[mm²]

Cross sectionin AWG

Gauge No.


Pin Function

X35/1 voltage output (+24V)

X35/2 voltage output (0V)

X35/3 An2 (analog output 2)

X35/4 analog GND

X36/1 AI1+ (analog current input)

X36/2 AI1- (analog current input)

X36/3 AI2+ (analog current input)

X36/4 AI2- (analog current input)

Description

Design


Connection assignment



Analog Inputs


GND

RuU+

RuU-

IC

RiI+

RiI-

ICRs

U / I

Fig. 6-68: Analog inputs

Current: min.:

0 mA

max.:

20 mA

Resistor: Ri: 80 kOhm

Rs: 200 Ohm

Fig. 6-69: Data

Analog OutputsSee interface X32

See interface X32

Voltage Output (+24V, 0V)Voltage min.:

19 V

max.:

30 V

Current - max.:

0.1 A

Protection against polarity reversal and short circuit

Note: Without an external 24V power supply the voltage outputshave to be bridged:

• bridge X35/1 with X31/8

• bridge X35/2 with X31/9

Circuit

Data

Data

Circuit

Data



6.10 X*, Master Communication

The asterisk at the X (X*) means, that different master communicationshave different interface designations (e.g. X20/X21, X30, X15, ...).

SERCOS interface (X20, X21)Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x o o

o = as option

X20 TX

X21 RX

LED H20

Fig. 6-70: SERCOS interface

SERCOS interface distortion LED

X20 X21

TX RX

AP5049F1.FH7

optical transmitter

X20fiber optic

cable

optical receiver

X21

SERCOS interface

fiber opticcable

device-external device-internal

Fig. 6-71: Connection

You can set the data rate and the transmission power via the controlpanel or via the serial interface X2.

Fiber Optic Cable

Drive controllers with a SERCOS interface are connected to higher-levelcontrol units by fiber optic cables.

The fiber optic cables (cable, connector, or the entire ready-made cables)have to be ordered separately.

For more detailed information on the subject of "fiber optic cables" pleaserefer to the Application Manual "LWL (Fiber Optic Cable) - Handling"(DOK-CONNEC-CABLE*LWL**-AWxx-EN-P, Part. No.: 284755).

Description

LED H20

Connection

Data Rate, Transmission Power



The following points are dealt with in the “LWL (Fiber Optic Cable) -Handling” manual:

• General information on fiber optic cables

• Basic planning information for optical transmission systems

• Instructions for laying fiber optic cables

• Measuring attenuation on ready-made fiber optic cable

• Available fiber optic FSMA plug-in connectors and fiber optic cables

• Instructions for assembling FSMA connectors

• Tools for assembling fiber optic cables

Order details for fiber optic cable for the entire system can be ascertainedfrom the following illustration.

H3ERROR

321

X10

TX

H3ERROR

321

X10

TX

H3ERROR

321

X10

TX

H3ERROR

321

X10

TX

AP5127F1.FH7

fiber

opt

ic-

ring

CNC

SERCOSinterface

fiber optic plug-in connector(control cabinet bushing)Mat.-Nr. 252 524

ø 6

mm

ø 2mm

IKO0985 / . . . for external control cabinet installation)

length in meters

IKO0982/ . . . dependent on how the devices are arrangedIKO0982 /

length in meters

Fig. 6-72: Selection of ready-made fiber optic cables

Selection of Fiber OpticConnections



To interconnect drive controllers of different width there are suitablecables available:

Cable Combinations of HMS, HMD and HCS03

(The width of the right drive controller determines the cablelength)

Combinations of HCS02

(The width of the left drivecontroller determines the cablelength)

50 m

m

75 m

m

100

mm

125

mm

150

mm

200

mm

225

mm

350

mm

65 m

m

105

mm

IKO0982/000,15 x x

IKO0982/000,25 x x x x

IKO0982/000,30 x

IKO0982/000,50 x x x

Fig. 6-73: Cable length

• Combination of HCS02 right besides HMS or HMD:

lwl_hcs02_hms_l

H3ERROR

321

H3ERROR

321

0��06�06)

Fig. 6-74: HCS02 right besides HMS or HMD

Cable length = 15 cm (independent from the width of the drive controllers)

Cable: IKO0982/000,15

• Combination of HCS02 left besides HMS or HMD:

lwl_hcs02_hms_r

H3ERROR

321

H3ERROR

321

0��06�06)

Abb. 6-75: HCS02 left besides HMS or HMD

Cable length = Width of HCS02 + Width of HMS/HMD + 10 cm



PROFIBUS Interface (X30)Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x o o

o = as option

profibus_schnittstelle

X30PROFIBUS:

LED H30

1

5

6

9

Fig. 6-76: PROFIBUS Interface


D-SUB 9 Bushing on unitFig. 6-77: Design

Cross sectionssingle wire

[mm²]

Cross sectionsmulti core wire

[mm²]

Cross sectionsin AWG

gauge no.:

-- 0.08-0.5 --Fig. 6-78: Connection cross sections

n.c.n.c.BCNTRBUSGNDVPn.c.A

Repeater control signalBusground

Receive/transmit data P

Repeater supply 5 V

Receive/transmit data N

123456789

profibus_anschl.fh7

device-external device-internal

BUSGNDBusground

Fig. 6-79: Connection PROFIBUS Interface

Description

Design

Connection Cross Sections

Connection



Pin DIR Signal Function1 -- n.c.

2 -- n.c.

3 I/O RS485+ receive/transmit data plus

4 O CNTR-P Repeater control signal

5 0 V 0 V

6 O +5 V Repeater supply

7 -- n.c.

8 I/O RS485- receive/transmit data minus

9 0V 0 V

Fig. 6-80: Signal assignment

Via D-subminiature screws and metal connector housing.

As per DIN EN 50 170

As per DIN EN 50 170 – 2, cable type A

Signal Specification

+5 V

Repeater supply

+5 V (±10%)

max. 75 mA

Repeater control signal TTL compatible 1: transmit 0: receiveOutput resistance: 350 RVOL <= 0.8 V at IOL <= 2 mAVOH >= 3.5 V at IOH <= 1 mA

Receive/transmit data EIA-RS485 standardFig. 6-81: Signal specification

CAUTION

Danger of destroying output"+5V Repeater supply" by overload!⇒ Do not short-circuit!⇒ Do not exceed maximum current!

For the meaning of the diagnostic displays please see the FunctionalDescription of the respective firmware.

The PROFIBUS connectors each have a connectable terminatingresistor. The terminating resistor must always be active at both the firstand last bus stations. Do not interchange the A and B wires. Perform theconnection as shown in the figures below.

Plug-In Connector Assignment

Shield Connection

Interface Compatibility

Recommended Cable Type

Signal Specification

Diagnostic Display

Bus Connector



AP5069f1.fh7

OF

F

ON

OF

F

ON

Bus connection and switchposition for the first and last stations

Bus connection and switchposition for all other stations

shield

A1 B1 A2 B2

5 16 5

A1 B1 A2 B2

Fig. 6-82: Preparing a cable for connecting a bus connector

To prepare a bus cable, proceed as follows:

• Use cable DIN EN50170 / 2 edition 1996

• Strip cable (see previous illustration)

• Insert both cores into screw terminal block

Note: Do not interchange the cores for A and B.

• Press cable sheath between both clamps

• Screw both strands into screw terminals

Ap5074f1.fh7

1

2

1

2

A BA B

A BA B

Siem

ens

onof

f

Siem

ens

Switch connection for the first and final slave in the Profibus-DP

The cable shield must be placed bare on the metal guide

Fig. 6-83: Bus connection for the first and last slave, bus connector with 9-pinD-SUB socket, INS 0541



Sie

men

s

Sie

men

s

Ap5075f1.fh7

1

2

1

2

A BA B

A BA B

Sie

men

s

onof

f

Sie

men

s

Terminating resistor is offThe cable shield must be placed bare on the metal guide

Fig. 6-84: Bus connection for all other slaves, bus connector with 9-pin D-SUBsocket, INS 0541

Ap5076f1.fh7

2

1

2

A BA B

A BA B

Siem

ens

Siem

ens

1

onoff

Switch connection for the first and final slave in the Profibus-DP

The cable shield must be placed bare on the metal guide

Fig. 6-85: Bus connection for the first and last slave without 9-pin D-SUBsocket, INS 0540

Sie

men

s

Sie

men

s

Ap5077f1.fh7

1

2

1

2

A BA B

A BA B

Sie

men

s

onoff

Sie

men

s

Terminating resistor is offThe cable shield must be placed bare on the metal guide

Fig. 6-86: Bus connection for all other slaves without 9-pin D-SUB socket, INS0540

Connect the drive controller to a control unit using a shielded two-wireconductor in accordance with DIN 19245/ section 1.



Parallel Interface (X15)Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

o o

o = as option

(Internal designation of this master communication card: HCC01)


19

1 20

37

Fig. 6-87: Interface


D-SUB 37 pins on deviceFig. 6-88: Design


[mm²]


[mm²]

Cross sectionin AWG

gauge No.

-- 0.08-0.5 --Fig. 6-89: Connection cross section

Description

Design




Pin I/O Function Pin I/O Function

1 I Input 0.0 20 I Input 0.1








9 PWR GNDext 28 O Output 0.0

10 O Output 0.1 29 O Output 0.2

11 O Output 0.3 30 PWR Uext 0



14 PWR Uext 1 33 O Output 2.0


16 O Output 2.3 35 PWR Uext 2



19 - Uext 3

Fig. 6-90: Signal assignment

• Uext 0 supplies Output 0.0 to 0.3 and Input 0.0 to 0.3




• Ground GNDext is common for all I/Os

• Shield connection via metallized connector housing

• Inputs and outputs are electrically isolated from the control section

• Inputs are protected against inverse-polarity

• Outputs are short-circuit proof

Voltage:

Uext n

min.:

19 V

max.:

30 V

Current

Iext n

min.

-

max.

1.2 A

Fig. 6-91: Data: supply

The external supply is also necessary, when only the digital inputs areused.

Assignment

Features

Data: External Supply



Signal min. max.

Uin n.m on 15 V 30 VOn

Iin n.m on 2 mA 5 mA

Uin n.m off -3 V 5 VOff

Iin n.m off - 15 mA

Fig. 6-92: Data: inputs

Signal min. max.

Uout n.m on Uext n – 0.5 V Uext n

Iout n.m on (per pin) - 0.5 AOn

Iout n on (per pin) - 1.0 A

Uout n.m off - 2.1 VOff

Iout n.m off - 50 uA

Inductive load* EPuls - 400 mJ

* single pulse at one outputFig. 6-93: Data: outputs

The outputs are High-Side Switches. They are current-sourcing and notcurrent-sinking.

Data: Inputs

Data: Outputs



6.11 H1 (Control Panel)

The control panel is plugged into the H1 interface on the control section.

1

2

3

4

5

6

7

8

H1

Fig. 6-94: H1

�5��

Fig. 6-95: Control panel at drive controller

Connection



Esc Enter

01.F4002

Fig. 6-96: Standard control panel with sample display and control elements

• Operating status, command and error diagnoses, and warnings forproblems requiring attention are shown in the display.

• Using the four buttons, the commissioning operator or serviceengineer can opt, in addition to master communication using thecommissioning tool or NC control, to display further diagnoses on thedrive controller and to activate simple commands.

Using the control panel you can:

• set the drive address

• SERCOS: set the transmitting power

• SERCOS Autodetect: set field bus transmission rate

• establish reference dimension

• look at the error memory

• start basic load defaults procedure

• set analog outputs

Note: For detailed information refer to your firmware documentation.

Design

Overview of Functions

Rexroth IndraDrive Options 7-1


7 Options

7.1 Overview

BASIC SERCOS

basic_sercos_optionen

X41

X41: L1 Starting LockoutFig. 7-1: BASIC SERCOS

7-2 Options Rexroth IndraDrive


BASIC PROFIBUS

basic_profibus_optionen

X41

X41: L1 Starting LockoutFig. 7-2: BASIC PROFIBUS



BASIC ANALOG

basic_analog_optionen

X41

X41: L1 Starting LockoutFig. 7-3: BASIC ANALOG



BASIC UNIVERSAL

basic_universal_optionen

X41

X4

basic_universal_doppelachs_optionen.fh7

X8.1

X4.2

X8.2

X4.1

X41.2X41.1

Single-axis:X4: Option 2X41 Safety option

Double-axis:X4.1: Option 1X4.2: Option 2X8.1: Option 3X8.2: Option 4X41.1, X41.2: Safety option

Fig. 7-4: BASIC UNIVERSAL

Concerning the designations "Option 1...4" and "Safety option" seechapter 4.2.



ADVANCED

advanced_optionen

X10

X41

X8 X4

X4: Option 1X41: Safety optionX8: Option 2X10: Option 3

Fig. 7-5: ADVANCED

Concerning the designations "Option 1...3" and "Safety option" seechapter 4.2.



Reference to Description of Options

Encoder Interface• EN1: HSF, Resolver:

see page 7-7

• EN2: EnDat2.1, 1Vss, 5VTTL:see page 7-11

• ENS: IndraDyn, HIPERFACE®, 1Vss:see page 7-18

• MEM: Encoder emulator module:see page 7-19

Integrated Safety Technology• L1: starting lockout:

see page 7-20

• S1: safety technology I/O:see page 7-22

I/O Extension• MD1: digital input/output extension:

see page 7-24

• MA1: analog input/output extension:see page 7-27

Note: Your sales representative will help with the current status ofavailable options.



7.2 Encoder

EN1: HSF, ResolverPresent at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x


• HSF (Digital servo feedback)

• Resolver

(Internal designation of the option: HFI01)

BASIC UNIVERSAL: X4 resp.X4.1 (1. axis)X4.2 (2. axis)

ADVANCED: X4, X8 or X10


D-SUBMINIATURE 15 Bushing on unit


1

8

9

15

Fig. 7-6: D-SUBMINIATURE bushing


[mm²]


[mm²]

Cross sectionin AWG

Gauge No.


Description

Slot

Design




1 GND_Shield

2 A+

3 B+

4 GND_Encoder

5

6

7 I2C_SCLK

8 I2C_SDAout

9 A-

10 B-

11

12 VCC_Encoder

13

14 I2C_Fsample

15 I2C_SDAin

hfi01_anschluss.fh7

1

89

15

2

9

3

10

1

5

6

A+

A-

B+

B-

GND_Shield

free

free

11

13

encoder

free

4 GND_EncoderGND_Encoder

A+

A-

B+

B-

I2C_Fsample14 I2C_Fsample

I2C_SDAin15 I2C_SDAin

VCC_Encoder 12 VCC_Encoder

I2C_SDAout8 I2C_SDAout

I2C_SCLK7 I2C_SCLK


free

1) 2)


Fig. 7-8: Terminal connection diagram

Clock lead for I²C interface

Data lead for I²C interface

Control signal for encoder initialization

Connection

Terminal Connection Diagram

G1SCLK

G1SDA0, G1SDAI

G1Sample



AP5296F1.FH7

R1

R4R2

R3

-

+

E+E-

C2

C1

SchematicsR1: 5kR2: 5kR3: 20k (HSF) resp. 2k5 (resolver)R4: 20k (HSF) resp. 2k5 (resolver)C1: no dataC2: no data

Fig. 7-9: Input circuit

Features of the differential input circuit:

Digital servofeedback

Resolver

max. allowed amplitudeencoder signal

(1.0 + 0.1) Vpp 9.0 Vpp

evaluationAD converter

12 bit 12 bit

limit frequency (-3 dB) 100 kHz --

input resistance 10k ±5%Fig. 7-10: Features of the differential input circuit


Digital servofeedback

Resolver

output voltage 8 VDC ± 0.2V 18.2 Vpp(sine with 4 kHz)

max. output current DC 250 mA AC 70 mA eff.

min. DC resistance ofthe load

-- 35R

Fig. 7-11: Features of the encoder output amplifier stage

Input Circuit A+, A- resp. B+, B-

VCC_Encoder





A+

A-

B+

B-

HSF(sine 1 Vpp without

120 Ohm matching resistor,I²C bus)

increasing

amplitude-modulated signal

A+

A-

B+

B-

resolver increasing




EN2: EnDat2.1, 1Vss, 5VTTLPresent at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x


• EnDat2.1 with sensor connection

• sine encoder (1 Vpp) with reference track

• square-wave encoder (TTL) with reference track


BASIC UNIVERSAL: X4X4.1 (1. axis)X4.2 (2. axis)



D-SUBMINIATURE 15 pins on unit


8

1 9

15

Fig. 7-13: D-subminiature connector


[mm²]


[mm²]

Cross sectionin AWG

Gauge No.


Description

Slot

Design




1 Sense+

2 Sense-

3 R-

4 R+

5 B-

6 B+

7 A+

8 A-

9 EncData+

10 GND_Encoder

11 EncCLK+

12 VCC_Encoder

13 EncCLK-

14 GND_Shield

15 EncData-

hfi02_endat_anschluss.fh7

7

8

6

5

14

4

3

2

1

10

12

15

9

13

11

8

19

15

7

8

6

5

14

4

3

2

1

10

12

15

9

13

11

15-pin D-sub. bushing(screw mounting)

encoder

A+

A-B+

B-

GND_shield

R+R-

1) 2)

A+

A-

B+

B-

GND_Shield

R+

R-

Sense-

Sense+

GND_Encoder

VCC_Encoder

EncData-

EncData+

EncCLK-

EncCLK+

Sense-

Sense+

GND_Encoder

VCC_Encoder

EncData-

EncData+

EncCLK-

EncCLK+


Fig. 7-15: Terminal connection diagram EnDat encoder

Connection

Terminal Connection DiagramEnDat



hfi02_rechteck_anschluss.fh7

7

8

6

5

14

4

3

2

1

10

12

15

9

13

11

8

19

15

7

8

6

5

14

4

3

2

1

10

12

15

9

13

11

encoder

A+

A-B+

B-

R+R-

GND_Encoder

VCC_Encoder


1) 2)

A+

A-

B+

B-

GND_Shield

R+

R-

Sense-

Sense+

GND_Encoder

VCC_Encoder

EncData-

EncData+

EncCLK-

EncCLK+


Fig. 7-16: Terminal connection diagram square-wave encoder

hfi02_sinus_anschluss.fh7

7

8

6

5

14

4

3

2

1

10

12

15

9

13

11

8

19

15

7

8

6

5

14

4

3

2

1

10

12

15

9

13

11

encoder

A+

A-B+

B-

R+R-

GND_Encoder

VCC_Encoder


GND_Shield

1) 2)

A+

A-

B+

B-

GND_Shield

R+

R-

Sense-

Sense+

GND_Encoder

VCC_Encoder

EncData-

EncData+

EncCLK-

EncCLK+


Fig. 7-17: Terminal connection diagram sine encoder

Differential signal of the encoder data lead.

Differential signal of the encoder pulse lead.

Terminal Connection DiagramSquare-Wave Encoder

Terminal Connection DiagramSine Encoder

EncData+, EncData-

EncCLK+, EncCLK-



hfi02_sin_ein_schalt.FH7

E+

E-120R

Block diagramFig. 7-18: Input circuit for sine signals

hfi02_recht_ein_schalt.FH7

E+

E-120R

A

B

Block diagramFig. 7-19: Input circuit for square-wave signals

Features of the differential input:

Input voltage

max. allowed amplitude encoder signal(USSencoder signal)

(1.0 + 0.2) Vpp

evaluation AD converter 12 bit

limit frequency (-3 dB) 500 kHz

input resistance 120RFig. 7-20: Features of the differential input (Sine encoder)

Input voltage

Signal amplitude nominal:(referencing unit ground)

High

Low

min.

> 2.4 V

0 V

max.

5 V

< 0.8 V

limit frequency 500 kHz

input resistance 120RFig. 7-21: Features of the differential input (square-wave encoder)

Returning encoder supply to amplifier so that the voltage drop in theencoder cable can be regulated and 5 V are always present in theencoder independent of the cable length.


output voltage 5 VDC

max. output current 300 mAFig. 7-22: Features of the encoder output amplifier stage

Input Circuit for Sine SignalsA+, A- resp. B+, B- resp- R+, R-

Input Circuit for Square-WaveSignals

Sine Encoder

Square-Wave Encoder

Sense+, Sense-

VCC_Encoder





A+

A-

B+

B-

R+

R-

sine (1Vpp)without absolute value decreasing

A+

A-

B+

B-

R+

R-

square (TTL)without absolute value

decreasing

A+

A-

B+

B-

sine (1 Vpp)with absolute value increasing


Note: Default setting:=> see Functional Description of firmware



Allowed Encoder Cable Lengths

Note: The current consumption of the connected encoder systemsgenerates a voltage drop due to the ohmic resistance of thewire (dependent upon the wire cross sections and lengths).This reduces the signal at the encoder input.

To compensate the voltage drop, the drive controller caninfluence the encoder power source. Using a voltage sensor,the available voltage at the encoder is detected.

⇒ For a given wire length and encoder current consumption, a minimumcross section becomes necessary. This relationship is illustratedbelow.

Note: When you use original Heidenhain cables the allowed cablelength is much shorter.

1. Cable length with sensor connection in the encoder lead


• power supply: 5 V ±5%

hfi02_kabel_5_m_sense.fh7

�

"

�

"

��

�"

��

�"

��

�"

"�

""

-�

-"

�

"

� "� �� "� �� "� �� "�

! ��&%"�!�%' -+"$�%�6-�7

0&%("1�6-

7

L: cable lengthI: currentA: wire cross sections

Fig. 7-24: Cable lengths with sensor connection

Selecting wire cross sections



2. Cable length without sensor connection in the encoder lead


• power supply: 5 V ±5%

hfi02_kabel_5_o_sense.fh7

�

"

�

"

��

�"

��

�"

��

�"

"�

�� "� �� "� �� "�

! ��&%"�!�%' -+"$�%�6-�7

0&%("1�6-

7

Fig. 7-25: Cable lengths without sensor connection



ENS: 1Vpp; HIPERFACE®, IndraDyn

Present at:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x


• 1 Vppwith reference track

• 1 Vpp with HIPERFACE®

• IndraDyn (encoder interface of MSK motors)


BASIC UNIVERSAL: X4X4.1 (1. axis)X4.2 (2. axis)


see chapter 6.4 X8, ENS (Encoder Interface)

Description

Slot

Further information



MEM: Encoder Emulator ModulePossible with:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x 1) x x

1) Designed as fixed interface X16

(Internal designation of the option: HFE01)

BASIC: X4 resp.X8.1 (1. axis)X8.2 (2. axis)

ADVANCED: X8 or X10

See chapter 6.6 X16, Encoder Emulation

Description

Slot

Further information



7.3 Integrated Safety Technology

The options of Integrated Safety Technology allow operation of drives insafe conditions according to EN954-1 category 3.

Note: The Integrated Safety Technology is described in detail in anextra documentation (see page 1-1).

L1: Starting Lockout

Possible with:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x x x x

The Starting Lockout meets stop category 0 according to EN 60204-1.

(Internal designation of the option: HSI01)

X41


D-SUB 9 bushing on unit

d-sub9-buchsef1.FH7

"

-

:

Fig. 7-26: D-SUB socket


[mm²]


[mm²]

Cross sectionin AWG

gauge No.

-- 0.25 – 0.5 --Fig. 7-27: Connection cross section

Description

Slot

Design




Meaning Signal Pin

Controlling signal for starting lockout assignment A AS-A 1

Inverted controlling signal for starting lockout ASn 2

Controlling signal for starting lockout assignment B AS-B 3

Supply for acknowledgment potential ASQ 4

Acknowledgment ASQ1 5

Inverted acknowledgment ASQ2 6

not used - 7

24 V supply voltage +24 VE 8

Reference potential of the 24 V supply voltage 0VE 9

AS ASn Status ASQ1 ASQ2

1 0 Starting lockout active = ASQ open

0 1 Starting lockout not active open = ASQ

0 0

1 1

Error when selecting starting lockout open = ASQ

min. typ. max. Note

Input voltage:

On

Off

Switching threshold

+15 V

-3 V

+8 V

+30 V

+5 V

acc. toEN61131

Input current

Inputs AS, ASn 5 mA

Load capacity of relaycontact ASQ, ASQ1,ASQ2

1000 mA

24 V

not short-circuit proof

Supply voltage +22.8 V +24 V +25.2 V acc. toEN61131

Fig. 7-28: Data


Function

Data



S1: Safety Technology I/O

Possible with:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x

This module allows different application related safety functions like safetyrelated standstill, safety related drive interlock, safety related reducedspeed, safety related direction of motion and further functions.

Note: This module can only be used in connection with an encoder.

(Internal designation of the option: HSI11)

X41


D-SUB 9 bushing on unit

d-sub9-buchsef1.FH7

"

-

:

Fig. 7-29: D-SUB socket


[mm²]


[mm²]

Cross sectionin AWG

gauge No.


Pin Signal Meaning

1 EA30 Input/output for forced dynamization

2 EA20 Input/output for acknowledgment

3 EA10n Input/output for diagnostic message/safety door lockingdevice

4 E1n

5 E2n

6 E3n

7 E4n

Inputs for operating mode selection

8 +24VE 24 V supply voltage

9 0 VE Reference potential of the 24 V supply voltage

Description

Slot

Design



udo0stei

S. 7-22 Connection assignment: Statt EAx und Ex besser englisch IOx und Ix



min. typ. max. Note

Inputs/outputs

Input voltage:

On

Off

Switching threshold

+15 V

-3 V

+8 V

+30 V

+5 V

acc. toEN61131

Input current

Inputs E1n, E2n, E3n, E4n

3 mA

Input current

Input/output EA10n, EA30 EA20

3 mA6 mA

Load capacity of relay contactEA10

1000mA

24 V

not short-circuit proof

Driver output currentInput/output

EA10n, EA20, EA30

500 mA short-circuitproof

Internal voltage drop high-sidedriver

2 V at IOUT =500 mA

Supply voltage +22.8 V +24 V +25.2 V acc. toEN61131

Dynamization pulse EA30

tW

tP

tD

100 ms

1000 ms

50 ms

programmable

(firmware)

Toggle frequency EA20

fTOGGEL

500 Hz programmable

(firmware)

Interrupting circuit for voltage supply of the control optocouplers

Dynamization pulse

tWK2

tPK2

tDK2

2 us 20 us

1000 us

tWK2

30 us

programmable

(firmware)

Encoder evaluation

Additional load resistance ofencoder signals

20kOhm

Resolution of AD converter 10 bit

Converting time of AD converterper channel

10 us

Input frequency 500 kHz

Minimum edge distance betweenactive edges

250 ns

General

Number of drives in a drivesystem

25

Fig. 7-31: Data

Data



7.4 MD1: Digital Input/Output Extension

Possible with:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x

8 digital 24V outputs and 12 digital 24V inputs according to IEC61131.

(Internal designation of the option: HEA01)

X10


13

1 14

25



D-SUB 25 Pins on unitFig. 7-33: Design


[mm²]


[mm²]


gauge no.:


Description

Slot

Design




Pin I/O Function Pin I/O Function

1 O Output 0.0 14 I Input 2.0


3 PWR Uext 0 16 I Input 2.2



6 PWR GNDext 19 I Input 2.5


8 PWR GNDext 21 I Input 2.7





13 O Output 1.3Fig. 7-35: Signal assignment

• Uext 0 supplies Output 0.0 to 0.3

• Uext 1 supplies Output 1.0 to 1.3

• Uext 2 supplies Input 2.0 to 2.11

• Ground GNDext (2 Pins) is common for all I/Os

• Shield connection via metallized connector housing

• Inputs and outputs are electrically isolated from the control section

• Inputs are protected against inverse-polarity

• Outputs are short-circuit proof

Voltage:

Uext

min.:

19 V

max.:

30 V

Current

Iext 0, Iext 1

Iext 2

min.

-

-

max.

1.2 A

0.1 A

Fig. 7-36: Data: external supply

Voltage:

On

Off

min.:

15 V

-3 V

max.:

30 V

5 V

Current:

On

Off

min.:

2 mA

-

max.:

5 mA

15 mA

Fig. 7-37: Data: Inputs

Plug-In Connector Assignment

Features

Data: External Supply

Data: Inputs



Signal min. max.

Uout n.m on Uext n – 0.5 V Uext n

Iout n.m on (per pin) - 0.5 AOn

Iout n on (per group) - 1.0 A

Uout n.m off - 2.1 VOff

Iout n.m off - 50 uA

Inductive load* EPuls - 400 mJ

* single pulse at one outputFig. 7-38: Data: outputs

The outputs are High-Side Switches, which are only current-sourcing andnot current-sinking.

Data: Outputs



7.5 MA1: Analog Input/Output Extension

Possible with:

BASICOPENLOOP

BASICSERCOS

BASICPROFIBUS

BASICANALOG

BASICUNIVERSAL

ADVANCED

x x

2 analog input channels (12 bit); 2 analog output channels (12 bit)

(Internal designation of the option: HAS01)

X10


1

8

9

15



D-SUB 15 Bushing on unitFig. 7-40: Design


[mm²]


[mm²]


gauge no.:


Description

Slot

Design




Pin Signal I/O Function

1 GND100 - Shield analog input AE1

2 +AE1 I Analog input 1 (+)

3 GND100 - Shield analog input AE2

4 +AE2 I Analog-input 2 (+)

5 AA1 O Analog output 1 (+)

6 GNDA - Shield analog output AA1(to be used optionally in case of extremeinterferences)

7 GND100 - Shield analog input AA2

8 Earth - Connector housing

9 -AE1 I Analog input 1 (-)

10 GNDA - Shield analog input AE1(to be used optionally in case of extremeinterferences)

11 -AE2 I Analog input 2 (-)

12 GNDA - Shield analog output AE2(to be used optionally in case of extremeinterferences)

13 GND100 - Shield analog output AA1

14 AA2 O Analog output 2 (+)

15 GNDA - Shield analog output AA2(to be used optionally in case of extremeinterferences)

8 Housing15 GNDA7 GND100

14 +AA26 GNDA13 GND100

5 +AA112 GNDA4 +AE211 - AE23 GND100

10 GNDA2 +AE19 - AE11 GND100

815 714 613 512 411 310 29 1

Fig. 7-42: Connector assignment

Connector Assignment



Voltage min.:

-10 V

max.:

+10 V

A/D converter 12 bit

Increments 5 mV / increment

Fig. 7-43: Data: inputs

external source ofsignals

MA1

NT

100R

optional (in case ofextreme interferences)

Fig. 7-44: Analog input: possibility of connection

Voltage min.:

-10 V

max.:

+10 V

D/A converter 12 bit

Increments 5 mV / increment

Fig. 7-45: Data: outputs

external receiverMA1

100R

optional (in case ofextreme interferences)

Data: Inputs

Analog Input:Possibility of Connection

Data: Outputs

Analog Output:Possibility of Connection



Notes

Rexroth IndraDrive Service & Support 8-1


8 Service & Support

8.1 Helpdesk

Unser Kundendienst-Helpdesk im Hauptwerk Lohram Main steht Ihnen mit Rat und Tat zur Seite.Sie erreichen uns

Our service helpdesk at our headquarters in Lohr amMain, Germany can assist you in all kinds of inquiries.Contact us

- telefonisch - by phone: 49 (0) 9352 40 50 60über Service Call Entry Center Mo-Fr 07:00-18:00- via Service Call Entry Center Mo-Fr 7:00 am - 6:00 pm

- per Fax - by fax: +49 (0) 9352 40 49 41

- per e-Mail - by e-mail: [email protected]

8.2 Service-Hotline

Außerhalb der Helpdesk-Zeiten ist der Servicedirekt ansprechbar unter

After helpdesk hours, contact our servicedepartment directly at

+49 (0) 171 333 88 26

oder - or +49 (0) 172 660 04 06

8.3 Internet

Unter www.boschrexroth.com finden Sieergänzende Hinweise zu Service, Reparatur undTraining sowie die aktuellen Adressen *) unsererauf den folgenden Seiten aufgeführten Vertriebs-und Servicebüros.

Verkaufsniederlassungen

Niederlassungen mit Kundendienst

Außerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mitunserem für Sie nächstgelegenen Ansprechpartner auf.

*) Die Angaben in der vorliegenden Dokumentation könnenseit Drucklegung überholt sein.

At www.boschrexroth.com you may findadditional notes about service, repairs and trainingin the Internet, as well as the actual addresses *) ofour sales- and service facilities figuring on thefollowing pages.

sales agencies

offices providing service

Please contact our sales / service office in your area first.

*) Data in the present documentation may have becomeobsolete since printing.

8.4 Vor der Kontaktaufnahme... - Before contacting us...

Wir können Ihnen schnell und effizient helfen wennSie folgende Informationen bereithalten:

1. detaillierte Beschreibung der Störung und derUmstände.

2. Angaben auf dem Typenschild derbetreffenden Produkte, insbesondereTypenschlüssel und Seriennummern.

3. Tel.-/Faxnummern und e-Mail-Adresse, unterdenen Sie für Rückfragen zu erreichen sind.

For quick and efficient help, please have thefollowing information ready:

1. Detailed description of the failure andcircumstances.

2. Information on the type plate of the affectedproducts, especially type codes and serialnumbers.

3. Your phone/fax numbers and e-mail address,so we can contact you in case of questions.

8-2 Service & Support Rexroth IndraDrive


8.5 Kundenbetreuungsstellen - Sales & Service Facilities

Deutschland – Germany vom Ausland: (0) nach Landeskennziffer weglassen!from abroad: don’t dial (0) after country code!

Vertriebsgebiet Mitte Germany Centre

Rexroth Indramat GmbHBgm.-Dr.-Nebel-Str. 2 / Postf. 135797816 Lohr am Main / 97803 Lohr

Kompetenz-Zentrum Europa

Tel.: +49 (0)9352 40-0Fax: +49 (0)9352 40-4885

S E R V I C E

C A L L E N T R Y C E N T E RMO – FR

von 07:00 - 18:00 Uhr

from 7 am – 6 pm

Tel. +49 (0) 9352 40 50 [email protected]

S E R V I C E

HOTLINEMO – FR

von 17:00 - 07:00 Uhrfrom 5 pm - 7 am

+ SA / SOTel.: +49 (0)172 660 04 06

oder / o rTel.: +49 (0)171 333 88 26

S E R V I C E

ERSATZTEILE / SPARESverlängerte Ansprechzeit- extended office time -

♦ nur an Werktagen- only on working days -

♦ von 07:00 - 18:00 Uhr- from 7 am - 6 pm -

Tel. +49 (0) 9352 40 42 22

Vertriebsgebiet Süd Germany South

Bosch Rexroth AGLandshuter Allee 8-1080637 München

Tel.: +49 (0)89 127 14-0Fax: +49 (0)89 127 14-490

Vertriebsgebiet West Germany West

Bosch Rexroth AGRegionalzentrum WestBorsigstrasse 1540880 Ratingen

Tel.: +49 (0)2102 409-0Fax: +49 (0)2102 409-406

+49 (0)2102 409-430

Gebiet Südwest Germany South-West

Bosch Rexroth AGService-Regionalzentrum Süd-WestSiemensstr.170736 Fellbach

Tel.: +49 (0)711 51046–0Fax: +49 (0)711 51046–248

Vertriebsgebiet Nord Germany North

Bosch Rexroth AGWalsroder Str. 9330853 Langenhagen

Tel.: +49 (0) 511 72 66 57-0Service: +49 (0) 511 72 66 57-256Fax: +49 (0) 511 72 66 57-93Service: +49 (0) 511 72 66 57-783

Vertriebsgebiet Mitte Germany Centre

Bosch Rexroth AGRegionalzentrum MitteWaldecker Straße 1364546 Mörfelden-Walldorf

Tel.: +49 (0) 61 05 702-3Fax: +49 (0) 61 05 702-444

Vertriebsgebiet Ost Germany East

Bosch Rexroth AGBeckerstraße 3109120 Chemnitz

Tel.: +49 (0)371 35 55-0Fax: +49 (0)371 35 55-333

Vertriebsgebiet Ost Germany East

Bosch Rexroth AGRegionalzentrum OstWalter-Köhn-Str. 4d04356 Leipzig

Tel.: +49 (0)341 25 61-0Fax: +49 (0)341 25 61-111



Europa (West) - Europe (West)

vom Ausland: (0) nach Landeskennziffer weglassen, Italien: 0 nach Landeskennziffer mitwählenfrom abroad: don’t dial (0) after country code, Italy: dial 0 after country code

Austria - Österreich

Bosch Rexroth GmbHElectric Drives & ControlsStachegasse 131120 Wien

Tel.: +43 (0)1 985 25 40Fax: +43 (0)1 985 25 40-93

Austria – Österreich

Bosch Rexroth GmbHElectric Drives & ControlsIndustriepark 184061 Pasching

Tel.: +43 (0)7221 605-0Fax: +43 (0)7221 605-21

Belgium - Belgien

Bosch Rexroth NV/SAHenri Genessestraat 11070 Bruxelles

Tel: +32 (0) 2 582 31 80Fax: +32 (0) 2 582 43 10 [email protected] [email protected]

Denmark - Dänemark

BEC A/SZinkvej 68900 Randers

Tel.: +45 (0)87 11 90 60Fax: +45 (0)87 11 90 61

Great Britain – Großbritannien

Bosch Rexroth Ltd.Electric Drives & ControlsBroadway Lane, South CerneyCirencester, Glos GL7 5UH

Tel.: +44 (0)1285 863000Fax: +44 (0)1285 863030 [email protected] [email protected]

Finland - Finnland

Bosch Rexroth OyElectric Drives & ControlsAnsatie 6017 40 Vantaa

Tel.: +358 (0)9 84 91-11Fax: +358 (0)9 84 91-13 60

France - Frankreich

Bosch Rexroth SASElectric Drives & ControlsAvenue de la Trentaine(BP. 74)77503 Chelles Cedex

Tel.: +33 (0)164 72-70 00Fax: +33 (0)164 72-63 00Hotline: +33 (0)608 33 43 28

France - Frankreich

Bosch Rexroth SASElectric Drives & ControlsZI de Thibaud, 20 bd. Thibaud(BP. 1751)31084 Toulouse

Tel.: +33 (0)5 61 43 61 87Fax: +33 (0)5 61 43 94 12

France – Frankreich

Bosch Rexroth SASElectric Drives & Controls91, Bd. Irène Joliot-Curie69634 Vénissieux – Cedex

Tel.: +33 (0)4 78 78 53 65Fax: +33 (0)4 78 78 53 62

Italy - Italien

Bosch Rexroth S.p.A.Via G. Di Vittorio, 120063 Cernusco S/N.MI

Hotline: +39 02 92 365 563Tel.: +39 02 92 365 1Service: +39 02 92 365 326Fax: +39 02 92 365 500Service: +39 02 92 365 503

Italy - Italien

Bosch Rexroth S.p.A.Via Paolo Veronesi, 25010148 Torino

Tel.: +39 011 224 88 11Fax: +39 011 224 88 30

Italy - Italien

Bosch Rexroth S.p.A.Via Mascia, 180053 Castellamare di Stabia NA

Tel.: +39 081 8 71 57 00Fax: +39 081 8 71 68 85

Italy - Italien

Bosch Rexroth S.p.A.Via del Progresso, 16 (Zona Ind.)35020 Padova

Tel.: +39 049 8 70 13 70Fax: +39 049 8 70 13 77

Italy - Italien

Bosch Rexroth S.p.A.Via Isonzo, 6140033 Casalecchio di Reno (Bo)

Tel.: +39 051 29 86 430Fax: +39 051 29 86 490

Netherlands - Niederlande/Holland

Bosch Rexroth Services B.V.Technical ServicesKruisbroeksestraat 1(P.O. Box 32)5281 RV Boxtel

Tel.: +31 (0) 411 65 16 40+31 (0) 411 65 17 27

Fax: +31 (0) 411 67 78 14+31 (0) 411 68 28 60

[email protected]

Netherlands – Niederlande/Holland

Bosch Rexroth B.V.Kruisbroeksestraat 1(P.O. Box 32)5281 RV Boxtel

Tel.: +31 (0) 411 65 19 51Fax: +31 (0) 411 65 14 83 www.boschrexroth.nl

Norway - Norwegen

Bosch Rexroth ASElectric Drives & ControlsBerghagan 1 or: Box 30071405 Ski-Langhus 1402 Ski

Tel.: +47 (0) 64 86 41 00

Fax: +47 (0) 64 86 90 62

Hotline: +47 (0)64 86 94 82 [email protected]

Spain - Spanien

Bosch Rexroth S.A.Electric Drives & ControlsCentro Industrial SantigaObradors s/n08130 Santa Perpetua de MogodaBarcelona

Tel.: +34 9 37 47 94 00Fax: +34 9 37 47 94 01

Spain – Spanien

Goimendi S.A.Electric Drives & ControlsParque Empresarial ZuatzuC/ Francisco Grandmontagne no.220018 San Sebastian

Tel.: +34 9 43 31 84 21- service: +34 9 43 31 84 56Fax: +34 9 43 31 84 27- service: +34 9 43 31 84 60 [email protected]

Sweden - Schweden

Bosch Rexroth ABElectric Drives & Controls- Varuvägen 7(Service: Konsumentvägen 4, Älfsjö)125 81 Stockholm

Tel.: +46 (0)8 727 92 00Fax: +46 (0)8 647 32 77

Sweden - Schweden

Bosch Rexroth ABElectric Drives & ControlsEkvändan 7254 67 Helsingborg

Tel.: +46 (0) 42 38 88 -50Fax: +46 (0) 42 38 88 -74

Switzerland East - Schweiz Ost

Bosch Rexroth Schweiz AGElectric Drives & ControlsHemrietstrasse 28863 ButtikonTel. +41 (0) 55 46 46 111Fax +41 (0) 55 46 46 222

Switzerland West - Schweiz West

Bosch Rexroth Suisse SAAv. Général Guisan 261800 Vevey 1

Tel.: +41 (0)21 632 84 20Fax: +41 (0)21 632 84 21



Europa (Ost) - Europe (East)

vom Ausland: (0) nach Landeskennziffer weglassen from abroad: don’t dial (0) after country code

Czech Republic - Tschechien

Bosch -Rexroth, spol.s.r.o.Hviezdoslavova 5627 00 Brno

Tel.: +420 (0)5 48 126 358Fax: +420 (0)5 48 126 112

Czech Republic - Tschechien

DEL a.s.Strojírenská 38591 01 Zdar nad SázavouTel.: +420 566 64 3144Fax: +420 566 62 1657

Hungary - Ungarn

Bosch Rexroth Kft.Angol utca 341149 Budapest

Tel.: +36 (1) 422 3200Fax: +36 (1) 422 3201

Poland – Polen

Bosch Rexroth Sp.zo.o.ul. Staszica 105-800 Pruszków

Tel.: +48 22 738 18 00– service: +48 22 738 18 46Fax: +48 22 758 87 35– service: +48 22 738 18 42

Poland – Polen

Bosch Rexroth Sp.zo.o.Biuro Poznanul. Dabrowskiego 81/8560-529 Poznan

Tel.: +48 061 847 64 62 /-63Fax: +48 061 847 64 02

Romania - Rumänien

East Electric S.R.L.Bdul Basarabia no.250, sector 373429 Bucuresti

Tel./Fax:: +40 (0)21 255 35 07+40 (0)21 255 77 13

Fax: +40 (0)21 725 61 21 [email protected]

Romania - Rumänien

Bosch Rexroth Sp.zo.o.Str. Drobety nr. 4-10, app. 1470258 Bucuresti, Sector 2

Tel.: +40 (0)1 210 48 25+40 (0)1 210 29 50

Fax: +40 (0)1 210 29 52

Russia - Russland

Bosch Rexroth OOOWjatskaja ul. 27/15127015 Moskau

Tel.: +7-095-785 74 78+7-095 785 74 79

Fax: +7 095 785 74 77 [email protected]

Russia - Russland

ELMIS10, Internationalnaya246640 Gomel, Belarus

Tel.: +375/ 232 53 42 70+375/ 232 53 21 69

Fax: +375/ 232 53 37 69 [email protected]

Turkey - Türkei

Bosch Rexroth OtomasyonSan & Tic. A..S.Fevzi Cakmak Cad No. 334630 Sefaköy Istanbul

Tel.: +90 212 413 34 00Fax: +90 212 413 34 17 www.boschrexroth.com.tr

Turkey - Türkei

Servo Kontrol Ltd. Sti.Perpa Ticaret Merkezi B BlokKat: 11 No: 160980270 Okmeydani-Istanbul

Tel: +90 212 320 30 80Fax: +90 212 320 30 81 [email protected] www.servokontrol.com

Slowenia - Slowenien

DOMELOtoki 2164 228 Zelezniki

Tel.: +386 5 5117 152Fax: +386 5 5117 225 [email protected]



Africa, Asia, Australia – incl. Pacific Rim

Australia - Australien

AIMS - Australian IndustrialMachinery Services Pty. Ltd.28 Westside DriveLaverton North Vic 3026Melbourne

Tel.: +61 3 93 14 3321Fax: +61 3 93 14 3329Hotlines: +61 3 93 14 3321

+61 4 19 369 195 [email protected]

Australia - Australien

Bosch Rexroth Pty. Ltd.No. 7, Endeavour WayBraeside Victoria, 31 95Melbourne

Tel.: +61 3 95 80 39 33Fax: +61 3 95 80 17 33 [email protected]

China

Shanghai Bosch RexrothHydraulics & Automation Ltd.Waigaoqiao, Free Trade ZoneNo.122, Fu Te Dong Yi RoadShanghai 200131 - P.R.China

Tel.: +86 21 58 66 30 30Fax: +86 21 58 66 55 [email protected][email protected]

China

Shanghai Bosch RexrothHydraulics & Automation Ltd.4/f, Marine TowerNo.1, Pudong AvenueShanghai 200120 - P.R.China

Tel: +86 21 68 86 15 88Fax: +86 21 58 40 65 77

China

Bosch Rexroth China Ltd.15/F China World Trade Center1, Jianguomenwai AvenueBeijing 100004, P.R.China

Tel.: +86 10 65 05 03 80Fax: +86 10 65 05 03 79

China

Bosch Rexroth China Ltd.Guangzhou Repres. OfficeRoom 1014-1016, Metro Plaza,Tian He District, 183 Tian He Bei RdGuangzhou 510075, P.R.China

Tel.: +86 20 8755-0030+86 20 8755-0011

Fax: +86 20 8755-2387

China

Bosch Rexroth (China) Ltd.A-5F., 123 Lian Shan StreetSha He Kou DistrictDalian 116 023, P.R.China

Tel.: +86 411 46 78 930Fax: +86 411 46 78 932

China

Melchers GmbHBRC-SE, Tightening & Press-fit13 Floor Est Ocean CentreNo.588 Yanan Rd. East65 Yanan Rd. WestShanghai 200001

Tel.: +86 21 6352 8848Fax: +86 21 6351 3138

Hongkong

Bosch Rexroth (China) Ltd.6th Floor,Yeung Yiu Chung No.6 Ind Bldg.19 Cheung Shun StreetCheung Sha Wan,Kowloon, Hongkong

Tel.: +852 22 62 51 00Fax: +852 27 41 33 44

[email protected]

India - Indien

Bosch Rexroth (India) Ltd.Electric Drives & ControlsPlot. No.96, Phase IIIPeenya Industrial AreaBangalore – 560058

Tel.: +91 80 51 17 0-211...-218Fax: +91 80 83 94 345

+91 80 83 97 374

[email protected]

India - Indien

Bosch Rexroth (India) Ltd.Electric Drives & ControlsAdvance House, II FloorArk Industrial CompoundNarol Naka, Makwana RoadAndheri (East), Mumbai - 400 059

Tel.: +91 22 28 56 32 90+91 22 28 56 33 18

Fax: +91 22 28 56 32 93

[email protected]

India - Indien

Bosch Rexroth (India) Ltd.S-10, Green Park ExtensionNew Delhi – 110016

Tel.: +91 11 26 56 65 25+91 11 26 56 65 27

Fax: +91 11 26 56 68 87

[email protected]

Indonesia - Indonesien

PT. Bosch RexrothBuilding # 202, CilandakCommercial EstateJl. Cilandak KKO, Jakarta 12560

Tel.: +62 21 7891169 (5 lines)Fax: +62 21 7891170 - [email protected]

Japan

Bosch Rexroth Automation Corp.Service Center JapanYutakagaoka 1810, Meito-ku,NAGOYA 465-0035, Japan

Tel.: +81 52 777 88 41+81 52 777 88 53+81 52 777 88 79

Fax: +81 52 777 89 01

Japan

Bosch Rexroth Automation Corp.Electric Drives & Controls2F, I.R. BuildingNakamachidai 4-26-44, Tsuzuki-kuYOKOHAMA 224-0041, Japan

Tel.: +81 45 942 72 10Fax: +81 45 942 03 41

Korea

Bosch Rexroth-Korea Ltd.Electric Drives and ControlsBongwoo Bldg. 7FL, 31-7, 1GaJangchoong-dong, Jung-guSeoul, 100-391

Tel.: +82 234 061 813Fax: +82 222 641 295

Korea

Bosch Rexroth-Korea Ltd.1515-14 Dadae-Dong, Saha-guElectric Drives & ControlsPusan Metropolitan City, 604-050

Tel.: +82 51 26 00 741Fax: +82 51 26 00 747 [email protected]

Malaysia

Bosch Rexroth Sdn.Bhd.11, Jalan U8/82, Seksyen U840150 Shah AlamSelangor, Malaysia

Tel.: +60 3 78 44 80 00Fax: +60 3 78 45 48 00 [email protected] [email protected]

Singapore - Singapur

Bosch Rexroth Pte Ltd15D Tuas RoadSingapore 638520

Tel.: +65 68 61 87 33Fax: +65 68 61 18 25 sanjay.nemade

@boschrexroth.com.sg

South Africa - Südafrika

TECTRA Automation (Pty) Ltd.71 Watt Street, MeadowdaleEdenvale 1609

Tel.: +27 11 971 94 00Fax: +27 11 971 94 40Hotline: +27 82 903 29 23 [email protected]

Taiwan

Bosch Rexroth Co., Ltd.Taichung Branch1F., No. 29, Fu-Ann 5th Street,Xi-Tun Area, Taichung CityTaiwan, R.O.C.

Tel : +886 - 4 -23580400Fax: +886 - 4 -23580402 [email protected] [email protected]

Taiwan

Bosch Rexroth Co., Ltd.Tainan BranchNo. 17, Alley 24, Lane 737Chung Cheng N.Rd. YungkangTainan Hsien, Taiwan, R.O.C.

Tel : +886 - 6 –253 6565Fax: +886 - 6 –253 4754 [email protected]

Thailand

NC Advance Technology Co. Ltd.59/76 Moo 9Ramintra road 34Tharang, Bangkhen,Bangkok 10230

Tel.: +66 2 943 70 62 +66 2 943 71 21Fax: +66 2 509 23 62Hotline +66 1 984 61 52 [email protected]



Nordamerika – North AmericaUSAHeadquarters - Hauptniederlassung

Bosch Rexroth CorporationElectric Drives & Controls5150 Prairie Stone ParkwayHoffman Estates, IL 60192-3707

Tel.: +1 847 6 45 36 00Fax: +1 847 6 45 62 [email protected] [email protected]

USA Central Region - Mitte

Bosch Rexroth CorporationElectric Drives & ControlsCentral Region Technical Center1701 Harmon RoadAuburn Hills, MI 48326

Tel.: +1 248 3 93 33 30Fax: +1 248 3 93 29 06

USA Southeast Region - Südwest

Bosch Rexroth CorporationElectric Drives & ControlsSoutheastern Technical Center3625 Swiftwater Park DriveSuwanee, Georgia 30124

Tel.: +1 770 9 32 32 00Fax: +1 770 9 32 19 03

USA SERVICE-HOTLINE

- 7 days x 24hrs -

+1-800-REX-ROTH+1 800 739 7684

USA East Region – Ost

Bosch Rexroth CorporationElectric Drives & ControlsCharlotte Regional Sales Office14001 South Lakes DriveCharlotte, North Carolina 28273

Tel.: +1 704 5 83 97 62+1 704 5 83 14 86

USA Northeast Region – Nordost

Bosch Rexroth CorporationElectric Drives & ControlsNortheastern Technical Center99 Rainbow RoadEast Granby, Connecticut 06026

Tel.: +1 860 8 44 83 77Fax: +1 860 8 44 85 95

USA West Region – West

Bosch Rexroth Corporation7901 Stoneridge Drive, Suite 220Pleasant Hill, California 94588

Tel.: +1 925 227 10 84Fax: +1 925 227 10 81

Canada East - Kanada Ost

Bosch Rexroth Canada CorporationBurlington Division3426 Mainway DriveBurlington, OntarioCanada L7M 1A8

Tel.: +1 905 335 5511Fax: +1 905 335 4184Hotline: +1 905 335 5511 [email protected]

Canada West - Kanada West

Bosch Rexroth Canada Corporation5345 Goring St.Burnaby, British ColumbiaCanada V7J 1R1

Tel. +1 604 205 5777Fax +1 604 205 6944Hotline: +1 604 205 5777 [email protected]

Mexico

Bosch Rexroth Mexico S.A. de C.V.Calle Neptuno 72Unidad Ind. Vallejo07700 Mexico, D.F.

Tel.: +52 55 57 54 17 11Fax: +52 55 57 54 50 [email protected]

Mexico

Bosch Rexroth S.A. de C.V.Calle Argentina No 3913Fracc. las Torres64930 Monterrey, N.L.

Tel.: +52 81 83 65 22 53+52 81 83 65 89 11+52 81 83 49 80 91

Fax: +52 81 83 65 52 [email protected]

Südamerika – South AmericaArgentina - Argentinien

Bosch Rexroth S.A.I.C."The Drive & Control Company"Rosario 2302B1606DLD CarapachayProvincia de Buenos Aires

Tel.: +54 11 4756 01 40+54 11 4756 02 40+54 11 4756 03 40+54 11 4756 04 40

Fax: +54 11 4756 01 36+54 11 4721 91 53

[email protected]

Argentina - Argentinien

NAKASEServicio Tecnico CNCCalle 49, No. 5764/66B1653AOX Villa BalesterProvincia de Buenos Aires

Tel.: +54 11 4768 36 43Fax: +54 11 4768 24 13Hotline: +54 11 155 307 6781 [email protected] [email protected] [email protected] (Service)

Brazil - Brasilien

Bosch Rexroth Ltda.Av. Tégula, 888Ponte Alta, Atibaia SPCEP 12942-440

Tel.: +55 11 4414 56 92+55 11 4414 56 84

Fax sales: +55 11 4414 57 07Fax serv.: +55 11 4414 56 86 [email protected]

Brazil - Brasilien

Bosch Rexroth Ltda.R. Dr.Humberto Pinheiro Vieira, 100Distrito Industrial [Caixa Postal 1273]89220-390 Joinville - SC

Tel./Fax: +55 47 473 58 33Mobil: +55 47 9974 6645 [email protected]

Columbia - Kolumbien

Reflutec de Colombia Ltda.Calle 37 No. 22-31Santafé de Bogotá, D.C.Colombia

Tel.: +57 1 368 82 67+57 1 368 02 59

Fax: +57 1 268 97 [email protected]@007mundo.com

Rexroth IndraDrive Appendix 9-1


9 Appendix

9.1 Power Consumption of Control Sections

Module Power [W]

BASIC OPENLOOP 18

BASIC SERCOS 18

BASIC PROFIBUS 18

BASIC ANALOG 18

BASIC UNIVERSAL single-axis 24

BASIC UNIVERSAL double-axis 34

ADVANCED 26

Fig. 9-1: Maximum power consumption of control sections

9.2 Commissioning Aids Required in Preparation forCommissioning

The following commissioning aids are required for commissioning thedrive system:

• PC:The PC is required for programming, parameterization and diagnosisduring commissioning and servicing. The PC must match at least thesystem requirements of the commissioning program "DriveTop".

• Connecting Cable RKB 041 (PC ↔ Drive Controller)

• Commissioning Program:Commissioning program "DriveTop"

• Measuring instruments:The following measuring instruments are necessary in order to be ableto measure torque, current and speed as analog signals at the analogoutputs:

• multimeter for measuring voltage (sufficient for seriescommissioning)

• oscilloscope or recorder (only necessary for writing a protocol ofsignaling sequences when commissioning prototypes), if you don’tuse the 4 channel oscilloscope function of the firmware

9-2 Appendix Rexroth IndraDrive


Notes

Rexroth IndraDrive Index 10-1


10 Index

11 Vpp 6-11, 7-18

224V voltage input

X31 6-3724V voltage output

X35 6-39

AADVANCED 1-3

Type Code 4-6An1, An2 6-34Analog Input/Output Extension 7-27Analog inputs

EAn+ and EAn- 6-32EAn1+, EAn1-, EAn2+ and EAn2- 6-33X35 6-40

Analog inputs/outputsX35 6-39X36 6-39

Analog outputsAn1, An2 6-34X35 6-40

Appropriate use 2-1

BBASIC

ANALOG 1-3BASIC 1...5 4-2OPENLOOP 1-3PROFIBUS 1-3SERCOS 1-3Type Code 4-2UNIVERSAL 1-3

Basic structure 1-2Battery safety 3-11Bb 6-27

CCDB

Type Code 4-4Commissioning

aids 9-1preparation 9-1

Component designation 4-1Conditions

storing 5-1transporting 5-1

Configurability 1-3Control panel 6-51Control section 1-3

documentation 1-1overview 1-3power consumption 9-1type code 4-2type plate 4-1

CSBType Code 4-2

CSH

10-2 Index Rexroth IndraDrive


Type Code 4-6

DDigital Input/Output Extension 7-24Digital inputs

E/A8 ... E/A11 6-30E1…E3 6-28E12...22 6-38

Digital inputs E4 ... E7 6-29Digital inputs X33/X34 6-38Digital outputs

E/A8 ... E/A11 6-31Documentation

overview 1-1purpose 1-1

Drive controllerbasic structure 1-2

EE/A8 ... E/A11 6-30, 6-31E1 ... E3 6-28E12...22 6-38E4 ... E7 6-29EAn+ and EAn- 6-32EAn1+, EAn1-, EAn2+ and EAn2- 6-33Electrical data

power consumption 9-1Emulation

encoder 6-18EN1 7-7EN2 7-11Encoder

1Vpp 7-181Vpp (sine) 7-115VTTL 7-11EN1 7-7EN2 7-11EnDat2.1 7-11ENS 7-18ENS 6-11HIPERFACE® 7-18HSF 7-7IndraDyn 7-18Resolver 7-7

Encoder emulationoption MEM 7-19X16 6-18

Encoder InterfaceStandard 6-11

EnDat2.1 7-11ENS 6-11, 7-18

FFiber optic cable 6-41Fixed Interfaces 6-1

HH1 6-51HAS01 7-27Hazards by Improper Use 3-2HEA01 7-24HFE01 7-19HFI01 7-7HFI02 7-11HFI03 7-18HIPERFACE® 6-11, 7-18



HSF 7-7HSI01 7-20HSI11 7-22

IIdentification

of components 4-1Improper use

hazards 3-2Inappropriate use 2-2

Consequences, Discharge of liability 2-1IndraDrive

documentation 1-1IndraDyn 6-11, 7-18Input/Output Extension

analog 7-27digital 7-24

Inputsanalog EAn+ and EAn- 6-32analog EAn1+, EAn1-, EAn2+ and EAn2- 6-33digital E/A8 ... E/A11 6-30digital E1…E3 6-28digital E4…E7 6-29digital X33/X34 6-38

Inputs/outputsanalog, digital (X31/X32) 6-24X35 (analog) 6-39X36 (analog) 6-39

Integrated safety technology 7-20Safety Technology I/O 7-22Starting lockout 7-20

Interfacesfixed 6-1optional 7-1

LL1 7-20LWL (Fiber Optic Cable) - Handling 6-42

MMA1 7-27Master communication

Parallel interface 6-48PROFIBUS interface 6-44SERCOS interface 6-41

MD1 7-24MEM 7-19MMC 6-10MSK motors 6-11, 7-18MultiMediaCard 6-10

OOption

Analog Input/Output Extension 7-27Digital Input/Output Extension 7-24Encoder 7-7Encoder emulator 7-19MA1 7-27MD1 7-24MEM 7-19Safety technology 7-20

Options 7-1overview 1-3

Outputsanalog An1, An2 6-34digital E/A8 ... E/A11 6-31



PPanel 6-51Parallel interface 6-48Power consumption

control section 9-1Power section 1-3

type plate 4-1PROFIBUS interface 6-44Protection

against contact with electrical parts 3-5against contact with hot parts 3-10against dangerous movements 3-7against electric shock by protective low voltage (PELV) 3-6against magnetic and electromagnetic fields during operation and mounting 3-9against pressurized systems 3-11during handling and mounting 3-10

RRating plates 4-1Rel1 6-27Relay Contacts 6-16Relay Rel1 6-27Resolver 7-7RS232 6-8

SS1 7-22Safety Instructions for Electric Drives and Controls 3-1Safety option 7-20Safety technology 7-20Safety Technology I/O 7-22SERCOS interface 6-41serial interface 6-8Service & Support 8-1sine encoder 7-11Slave 6-47square-wave encoder 7-11Standard control panel 6-52Standard Encoder Interface 6-11Starting lockout 7-20Storing 5-1Support 8-1

TTechnical data

power consumption 9-1Transporting 5-1TTL 7-11Type Code

ADVANCED 4-6BASIC 4-2CDB 4-4CSB 4-2CSH 4-6

Type plates 4-1

UUse

directions for use 2-1hazards by improper use 3-2inappropriate 2-2



VVoltage input

X31 6-37

WWarning symbols 3-1

XX* 6-41X10 7-5X11 6-16X12 6-16X15 6-48X16 6-18X2 6-8X20, X21 6-41X20/X21 6-41X30 6-44X31/X32 6-24X33 6-38X34 6-38X36 6-39X7 6-10X8 6-11



Notes

Printed in GermanyDOK-INDRV*-CSH********-PR02-EN-PR911295012

Bosch Rexroth AGElectric Drives and ControlsP.O. Box 13 5797803 Lohr, GermanyBgm.-Dr.-Nebel-Str. 297816 Lohr, GermanyPhone +49 93 52-40-50 60Fax +49 93 52-40-49 [email protected]

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