Servo Drives Indramat

8/12/2019 Servo Drives Indramat

1/38

Starting Lockout Function

in TDM Servo Drive Modules

DOK-ANAX**-TDM*ANL*FKT-ANW1-EN-P

Applications manual

258241
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2 TDM Starting Lockout 9.555.012.4-05 4/94

Title:

Type of Documentation:

Doc. No.:

Internal File Ref.:

Replaces:

The purposeof this document

Copyright:

Validity:

Copying of this document, and giving it to others and the use orcommunication of the contents thereof without express authority areforbidden. Offenders are liable to the payment of damages. All rights

are reserved in the event of the grant of a patent or the registrationof a utility model or design.

We reserve the right to make changes to the documents and inproduct delivery.

About this Documentation

Starting Lockout Function in TDM Servo Drive Modules

Application Manual

9.555.012.4-05 EN / 4/94

File No. 4 / startinglockout TDM EN

9.555.012.4-03 DE / 3/93

This document serves:

to define possible application and operating conditions

to assist in project planning and installation

the commissioning and monitoring of the starting lockout function


3/38


Please note the guidelines outlined in Section 3 prior tocommissioning the starting lockout!

Table of Contents

Table of Contents Page

1. Possible applications of the starting lockout 7

1.1. A safe way to power down separateworking areas in machinery or plant ................................... 7

1.2. Operating individual axes during installation ....................10

2. How the starting lockout works 11

2.1. The function of the motor control ......................................11

2.2. Using the starting lockout signal to safelypower down the motor ......................................................11

3. Installation and operating guidelines 14

3.1. Application guidelines for disconnecting the power mains,standstills and securing against unintentional start-ups ... 14

3.1.1. Using the master switch to disconnect the mains ............. 14

3.1.2. Using the mains contactor to disconnect the mains ......... 14

3.1.3. Using the starting lockout to secure against intentionalstart ups ............................................................................ 14

3.2. Connecting terminals .......................................................15

3.3. Sequence and procedures when using the startinglockout ............................................................................... 16

3.4. Testing ..............................................................................19

3.5. Examples of appliations ....................................................19

4. Controller types and related plans 23

4.1. Summary of the types of controllers ................................ 23

4.2. Frontal view.......................................................................24

4.3. Dimensional data .............................................................. 29

4.4. Installation dimensions......................................................31

4.5. Terminal interconnect diagrams ....................................... 34


4/38



5/38


1.1. A safe way to power

down separate working areasin machinery or plant

1. Applications

Production systems, transfer lines and machine tools often consist of

spatially separated working areas, e.g., processing units, transport,handling and storage systems (see Figure 3).

It is frequently necessary for personnel to either work or accesssomething in one working area while machinery is running in anadjacent working area. This means that the drive axes within anindividuals working area must be secured against any uninten-tional motionsso that an individual is not at risk from dangerousdrive motions caused by a fault somewhere else in the facility.

If the drive axes in adjacent working areas and in the danger zone are

centrally connected to the power mains by a supply unit (e.g., supplymodules TVM, KDV, TVD, KVR), then each direct-drive motor mustbe individually secured against unintentional motions. The dangerzone is the area in which the individual is working.

The starting lockout built into every INDRAMAT drive module makesit easy to safely power down the motor of each axis with a simpleswitch. This switch disconnects the output stage from the controlelectronics with the use of a relay in the hardware. The user gains thefollowing advantages:

1. Savings in cost and space

A single power supply unit can feed the drive axes of severalworking areas. Individual power supply units are not needed foreach drive axes in every spatially separated working area.

In several applications, a large three-phase motor contactor withone or two axes is built into the motor supply lines. The motorcontactors make it possible to safely switch off these axis motors,and to use only one supply unit to operate all drives.

This function is now easy to perform without a power contactor onthe drive module by controlling the starting lockout input. This

represents a savings in cost and space in the control cabinet.

1. Possible applications of the starting lockout


6/38


2. Increased safety and reliability:

Personnel safety and facility reliability are increased because amains contactor is not needed to disconnect the motor from thedrive module.

Eliminated are breakdowns caused by frequent switching, gum-ming or burning of the contacts of this contactor due to high loadcurrents.

The danger of damage to the motor mains contacts from improperhandling or commissioning is eliminated.

The motors no longer brake uncontrolled with a power failure.

A motor contactor without a mechanical locking mechanism isdropped in a power failure. This means the motor will idle and theDC bus energy cannot be used for braking.

The existing mains contactor is presently used to secure againstunintentional motions. It is switched on and off once during everyduty cycle. With a starting lockout in an INDRAMAT drive modulethe mains contactor does not need to be frequently switched, i.e.,with every cycle. It is only used with E-stops, for maintenance andinspection work throughout the plant, and with every total shut-down. There is less wear and tear, and failures occur lessfrequently.

If two faults occur simultaneously, then a motor can run upuncontrolled if a motor contactor is used to secure against uninten-

tional motions .Example:

speed command voltage at maximum due to fault in NC, and,

the motor contactor fails.

In the unlikely event that two faults occur simultaneously in thepower supply, then the motor will only jerk if an internal startinglockout is in the INDRAMAT drive amplifier.

The internal control circuits and the output stage control are

internally locked for additional safety. An external motor contactordoes not ensure an additional internal locking of the drive electron-ics.

1. Applications


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1. Applications

The drive is secured by applying powerto the starting lockoutinput. This meets the following safety requirements:

I. Quickest possible standstillThe drives must be brought to a standstill as quickly as possiblein an emergency, in other words, in a dangerous situation (VDE

Guidelines 0113/EN 60204, Part 1, Para. 5.6.1).

If an external voltage failure should occur in the control circuit of theAS starting lockout while the motor is rotating, then the drive is notswitched off and cannot continue to run. If a drive is running orsomething is being processed at the time this happens, no tool orworkpiece will be damaged once the drive is cleared.There can be a controlled electrical shutdown of the drives via theNC and the drive module.

II. No automatic restartsThe drives cannot automatically restart when power is reapplied

to the starting lockout input (VDE 0113/EN 60204, Part 1, Para.5.4, VDI 2853, Sec. 3.1.2.3). The drives are blocked.

III. Remaining in a safe state with a faultA drive will remain in a safe state even with a fault, e.g., the controlvoltage drops off at the lockout input. This is in accordance with theGuidelines VDE 0113/EN 60204, Part 1, Para. 5.7.2 (Specialcurrent circuits that serve safety purposes must take on theirsecure state in the event of a failure.), and VDE 2853, Para.3.1.2.1.1.

This condition is met because the controller enable signal and the command input keep the drive

blocked, and,

once the fault has occurred, the mains contactor immediatelydisconnects the power supply unit from the mains via the mainscontactor by the acknowledgement contact on the drive controller.This completely switches all drives dead.


8/38


1.2. Operating individual axesduring installation

Drives are frequently run individually during installation. In this caseas well, personnel is often found within the danger zone. Generally,the acknowledgement switch is used to switch on the mains contactorto operate the axes. The mains contactor is then switched off againif unwanted movement occurs, or at the end of an operation.

The safety of personnel within a danger zone is increased, if thestarting lockout is additionally built into INDRAMATs drive modules.It helps to secure against unwanted starts during installation. Thisis possible because the internal, forcibly-connected contacts meanthat the axes not being run can be additionally blocked.

In addition, using this relay to switch the motors on and off reduceswear and tear. In effect, it also increases reliability and safety.

1. Applications


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2.1. Motor controller function

2. How the StartingLockout Works

2. How the Starting Lockout Works

The power for motor current and thus the torque are advanced via thefinal output stage (driver) of the drive module. The extent of thecurrent in the three phases of the three-phase motor is transmitted by

the controller electronics to the final output stage in the form of aswitch-mode pulse-width modulated signal.

In this case, the controller electronics serve the following purpose:

The greater the width of the pulse or the switch-mode ratio, thegreater the motor current. The three currents in the three phases ofthe motor must additionally be adjusted, in terms of amount andphase position, to the rotor position given at that point in time, forsufficient torque to be produced.

There can be no motor revolutions at the motor shaft if there is nopulse-width modulated signal at the final output stage.

The signal at terminals AS1-AS2 of INDRAMATs drive moduleactivates an internal relay which has two forcibly-connected contacts(see Fig. 1). The relay has been quality controlled.

The first contact of this relay separates the internal controller voltageof the final output stage in the hardware.

The control and controller electronics are simultaneously and addi-tionally blocked. This achieves double redundancy.

The second contact (acknowledgement contact) signals the activa-tion of the first contact to the outside.

A disconnection of the output stage controller is signalled via thisadditional acknowledgement contact (contact) ASQ-ASQ, to verifywhether the relay has actually been activated or not. This contact isforcibly-connected to the primary contact.

A relay failure or a wire break in the conductors to the starting lockoutinputs AS1-AS2 is immediately recognized by this zero-potentialacknowledgement contact in the external control. The central mainscontactor is then immediately disconnected.

This means it is not possible, in the event of a fault and given allconceivable possibilities, that a switch-mode motor current (alternat-ing current) could be produced within the electrical facilities of themachine which could make the motor move.

It is also not possible for a current to flow through the motor even whena fault occurs in one of the six final output stages. The drive does notmove. This fault is immediately acknowledged

as soon as personnel has moved out of the danger zone, when the machine or sector of the facility has been properly

reblocked.

2.2. Using the starting lock-out signal to secure poweroff


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and the drive is reactivated

by disconnecting starting lockout inputs AS1-AS2,

by electronically enabling the controller amplifier, and,

by entering the speed set-point.

This fault causes an excessively high current which triggers aresponse from the fuses in the drive module. Then the mainscontactor disconnects all drives from the mains. Message BS on thedefective drive module also displays the fault overccurrent.



11/38


M

S

upply

m

odule

Controller

Controllervoltag

e

UST

Drivemodule

Drivemodule

Linkcircuit

AS1

AS2

ASQ

ASQ

AS1

AS2

ASQ

ASQ

~

M~

~

Mains

Masterswitch

Mainscontactor(K1)

AS/Anwend

Applications

ofthestartinglockout

Controllervoltage

UST

M

Controllervoltage

UST

Drivemodule

AS1

AS2

ASQ

ASQ

Figure 1: How the starting lockout works



12/38


It is not permitted in these cases to just disconnect the mainscontactor or activate the starting lockout.

3. Installation andOperating Guidelines

3.1. Guidelines fordisconnecting the mains,for shutdowns and securingagainst unwanted starts

The NC and the drive module cannot be used to operate thedrives once the starting lockout has been activated. Themotor is torque-free. A controlled operation of the axes is nolonger possible.

During the planning stage and at that time when the machineis commissioned it should be determined that the startinglockout can only be activated when the motor is standing

still. This applies to those cases where a torque-free operationof the drive can cause damage. It is therefore necessary withhanging axes to tightly clamp the axis before activating themechanical brake.

3. Installation and Operating Guidelines

The master switch must be used to disconnect all of the machineselectrical equipment from the mains in the following instances:

when cleaning the machine

for maintenance and repairs

prior to long breaks in operation

3.1.1. Using the master switchto disconnect the mains

The master switch must adhere to the guidelines outlined in EN60204/VDE 0113, Sec. 5.6.2. It is of extreme importance that it canbe locked into an off position.

In an emergency off/emergency stop situation the mains contactormust be disconnected directly so that all main current circuits areswitched to zero potential. Those main current circuits that servesafety purposes must be disconnected first, but not until thesemeasures have been concluded.An emergency off situation is defined as danger to either personnelor machinery in the presence of several faults or problems.

The starting lockout exclusively serves to secure the attached motorsagainst unintentional starts caused by a fault. Activating it while themotor is running does not automatically guarantee that the drives willbe safely shutdown.

3.1.2. Using the mainscontactor to disconnect themains

3.1.3. Using the startinglockout to secure againstunwanted starts


13/38


3.2. Connecting Terminals

Terminal Function Connected valuedesignation

AS1 - AS2 Controller for activating Voltage: 2030 volts DCthe starting lockout. Current: 20 mA DC at 24 voltsThe red light-emitting diode AS is lit up Power: 0,5 wattswhen the starting lockout is activated:

ASQ - ASQ Acknowledgement contact at zero Contact load: 24 volts, 1 amp.potential (make contact). It acknowledgesactivation to an externalcontroller/monitor.

TMI - TMI (1) Motor thermostat contact

connection. Evaluated in theservo drive module.

TMO - TMO (1) Output message Contact load: 24 volts, 1 amp.motor excess temperature.Relay contact opens if motortemperature too high.

BRI+ - BRI- (1) Input for controller voltage for 24 Volt 10%motor blocking brake.

BRO+ - BRO- (1) Motor blocking brake connection,in acc. with connection plan.

1) Not in TDM 1.3.


It is not possible to use (only) the starting lock in the following cases:

for the purpose of electrically separating the motor from the powervoltage of the drive module, e.g., when exchanging motors;

for any other maintenance, repair or cleaning work on the machine.

A master switch is used to disconnect the mains (see Section 3.1.1).


14/38



The function and reliability of the starting lockout in its interaction withall other system components of the machine or facility are only asgood and as safe as the extent to which the following guidelines weretaken into consideration during planning and were checked duringthe commissioning of the machine.

Figure 2 outlines the chronological sequence:

1. Shutdown drives:

The drives which are to be shutdown must first be brought to restbefore the starting lockout can be activated.

The starting lockout can only be used where a torque-free slowingdown can cause damage, and can only be activated when the motoris standing still. It is otherwise not possible to electrically shutdown arunning drive with the use of a drive module.

A starting lockout should only be activated, even when the motor isrunning, if a safe slowing down without a brake via the drive moduleis guaranteed.

2. Drive electronically blocked:

The speed set-point input (terminals E1-E2, E3-OVM, E4-OVM)must be set to zero, and the controller enable input signal (terminalRF) of the drive amplifier must be connected to OVM. This increasesboth safety and redundancy.

3. Activating the starting lockout:

A voltage of 20 ... 30 volts must be placed between the input terminalsAS1-AS2 to activate the starting lockout (0.5 watts at 24 volts ofapplied voltage).The switching of the starting lockout relay in the drive amplifier ishereby confirmed to the external controller by closing the potential-free acknowledgement contact (output ASQ-ASQ).

The red diode AS on the front plate lights up simultaneously.

4. Commissioning operation:

If one or several axes are to be operated during the commissioningoperation with protective devices cancelled, then this should only bepossible if qualified personnel enable this type of operation with a keyswitch.

All drives must otherwise be disconnected from the mains via theemergency off circuit, in this case automatically. The respectivecommissioning guidelines must be followed.

5. Cancelling the protective devices

The protective devices for the drives defined danger zone can now

be cancelled. Guard doors can, for example, be opened, locks andcutoffs for the danger zone can be cancelled.

3.3. Sequence and cyclewhen using the starting lock-out


15/38



Once the protective devices have been cancelled, then the automaticemergency stop must be immediately activated if one of the followingfaults occur. All the drives connected to the central supply module arehalted and hereby disconnected from the mains via the mainscontactor:

Activation of the starting lockout is not acknowledged. The acknowl-edgement contact (output ASQ-ASQ) remains open. The emer-gency off circuit must open because it is necessary for the externalcontroller to definitely recognize this fault.Possible causes: The controller signal does not arrive at input AS1-AS2 of the drive amplifier, or the internal starting lockout relay isdefective.

There is a fault in the acknowledgement line between output ASQ-ASQ and the external controller, which evaluates the acknowledge-ment via this acknowledgement contact. Or there is a fault in thecontroller itself.

6. Access ready:

Once all the preceding steps have been performed and checked, thenall the drives in the disconnected working area have been securedagainst unwanted movement.It is now possible for personnel to enter this zone and access theequipment.


16/38


Mechanical brakes jammed

E1

E2

RF

0VM

AS1

AS2

ASQ

ASQ

Controller

Emergency offcircuit, mainsdisconnect

Speed set-pointn(set-point) atinput E1 - E2

Controllerenable signal atterminal RF

Startinglockout inputsignal atterminalAS1 - AS2

t

t0.5 sec.

NC stop: end of operation

drives haltedn(set-point) = 0

Controller enablesignal RF off

Drives halted andelectronically locked

t

Starting lockout ASactivated

t

t

Doors open,protective device cancelled

AS/Ze

it

Servo drive module

n(set-point)

Set-point default(e.g. from NC)

max. 0.2 sec.


Figure 2: Chronological sequence when using the starting lockout


17/38


3.4. Test


The following tests should be performed on each drive in sequenceafter each initial commissioning and at set intervals during operation.No personnel should be within the danger zone during these tests.

1. Shutdown all drives.

2. The starting lockout is activated by supplying voltage to terminalsAS1-AS2. Check whether the motor is now torque-free.

3. Cancel all protective devices, by opening the safety doors forexample.

4. As a test, clamp off the line at input AS1.

In this case, the mains contactor must immediately disconnect thecentral supply module with its attached drives from the mains.This function is guaranteed by the control circuit foreseen in thedesign.

5. All possible faults which could occur should be simulated individu-ally:

in the acknowledgement lines between input ASQ-ASQ and theexternal controller, and,

in the evaluation of this signal in this controler.

The following should be checked for each simulated fault:All drives running within the danger zone must be halted as quicklyas possible, and the mains contact has to disconnect the centralsupply module with its attached drives from the mains.

In those cases where this does not happen when there is a fault,appropriate measures need to be taken to exclude these faults tothe greatest possible extent, or trigger a sufficient emergency offrelease.

6. If it is possible to activate the starting lockout even with the drivesrunning (for example, at the control panel), then it needs to bechecked whether, by activating the starting lockout with runningdrives, a dangerous situation can develop if the drives run outtorque-free in every operating state.

Figure 3 outlines two spatially separated working areas equipped withtwo or three drive axes.

Figure 4 demonstrates the controller circuit principle with minimumeffort:

Acknowledgement contact ASQ-ASQ has been, like the door con-tact, integrated into the control circuit for the emergency off se-quence.

Auxiliary contact K3 signals that the drives are ready to operate and

ready for use.

3.5. Application Examples


18/38


19/38


Figure 4: Examples of starting lockout applications: Controller circuitry of Fig. 3.

24V-

Starting

lockout

ofthe

drives

WorkingareaII

S

tartinglockout

ofthedrives

W

orkingareaII

Supplyunit

forfault

recognition

readyto

operate

Bb1

Driveslocked

inworking

areaII

Driveslocked

inworkingareaI

24V-

Door

contactfor

workingareaI

Door

contactfor

workingareaII

E

mergency-Stop

Off

On

M

ultichannel

a

uxiliary

relayswith

c

ontact

m

onitoring

Mains

contactorK1

230V~

AS/manuell

ASQ

ASQ

K4A

SQ

ASQ

ASQ

AS

2

AS2

AS2

AS2

AS2

AS

1

AS1

AS1

AS1

AS1

K3

K3



20/38


Kb

Kc

Ka

Kc

Kb

Ka

On

Emergency off

Off

Ka

On

Emergency off

Off

KbKc

AS/K4/A+B

Kc

Kb

Ka

Ka

Kb

Kc

Kc

Kb

Ka

Variant A:

Variant B (no contact in this design):

Figure 5: Examples of applications for the multichannel design of auxiliary relayK4 in Fig. 4.



21/38


4. Controller typesand related plans

The following servo drive modules with starting lockout are availablein addition to standard controllers (without starting lockout).

Standard controller Controller type

(without starting lockout) with starting lockout

TDM 1 TDM 1.3 (2)

TDM 3 TDM 3.3(1) (2)

TDM 4 TDM 4.3(1) (2)

--------- TDM 6.1(1)

--------- TDM 7.1(1)

(1) It is possible with these controllers to attach a motor thermostatcontact and the controller for the blocking brake (see Chapter

3.2).

(2) The additional plug-in terminal is plugged into the unit upondelivery and is, therefore, not a part of the connecting accessoriesE...-TDM. In other words, both the standard unit and the unitwith starting lockout have the same connecting accessories.

Related plansPlan Servo drive module with Figures

starting lockout

Front view TDM 1.3 Fig. 6

TDM 3.3 Fig. 7TDM 4.3 Fig. 8TDM 6.1 Fig. 9TDM 7.1 Fig. 10

Dimension TDM 1.3 Fig. 11sheet TDM 3.3 Fig. 12

TDM 4.3 Fig. 12TDM 6.1 Fig. 12TDM 7.1 Fig. 12

Mounting TDM 1.3 Fig. 13dimensions TDM 3.3 Fig. 14TDM 4.3 Fig. 14TDM 6.1 Fig. 14TDM 7.1 Fig. 14

Fan dimensions TDM 3.3 Fig. 15for TDM 4.3 Fig. 15

TDM 6.1 Fig. 15TDM 7.1 Fig. 15

Connection plan TDM 1.3 Fig. 16

TDM 3.3 Fig. 17TDM 4.3 Fig. 18TDM 6.1 Fig. 19TDM 7.1 Fig. 20

4. Controller types and related plans


22/38


+15V

0VM

-15V

Tacho

BLC1

BLC2

BLC3

0VM

X5

X6

ZERO ADJ

RESET

S1

X8

L+

L-

A3

A2

A1

POSITION FOR OPERATING PARAMETERPROGRAMMING MODULE, PLUG INCORRECT MODULE, BEFORE START UPPlatz fr Betriebsdaten-Programmierungs-modul. Vor dem Einschalten korrektesModul einstecken.

TDM ...-100-300-W0

236226 K39/91

CONTROLLERAC SERVO

SN240060-02029 A01

X1

X2

Servo drive module

Electrical connecting accessoriesand programming module

ACPOWEROUTPUT

DANGERHIGHVOLTAGE

Motoranschlu

WARNING300 VDC INPUT

DISCHARGE TIMEEntladezeit > 1 Min.

POWER SUPPLY OUTPUTVOLTAGE RATING, MUST

NOT EXCEED POWERINPUT VOLTAGE DATA

Nur mit Versorgungseinheitgleicher od. kleinerer POWER-Spannungsangabe betreiben

+24V

15V

BLC1

BLC2

BLC3

Tacho

POWER

RF

Bb

TS

BS

Offsetadjust

E3

E1

E4

E2

Bb

Bb

RF

+15V

-15V

Ired

MA

Tsense

0VM

0VM

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

1 2 3 4 5 6 7 8 9 10

FrontanTDM13

Busbars

Bus terminal X1

Programming module MOD with rating plate

Plug-in terminals 1 2 3 4

AS1

AS2

ASQ

ASQ

X9

1 2 3 4

Contr.: TDM 1.3-100-300-W1Motor: MAC 112D-.-FD-.-CCurrent (A): peak/cont.: 100/75Operating rpm: 2000 MA: 0,05 V/A

MOD 1/1X077-002Input rpm/VE1/E2 2000/10E3 2000/10E4 2000/10

OPERATING PARAMETER: PROGRAMMING MODULE

ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THE MODULE MUST AGREE

WITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCE

AND DANGER OF DAMAGE MAY OCCUR

Betriebsdaten-Programmierungsmodul

Achtung:Motor- und Verstrkertypenangaben mssen mit derInstallation bereinstimmen, sonst Schdigungsgefahr.

AS

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

ATTENTION!

NEVER REMOVE OR INSTALL THISPLUG WHILE VOLTAGE IS APPLIED.BLACK CABLE ON THE BOTTOM!Verbindung nie unter Spannunglsen bzw. stecken.Schwarze Leitung immer unten!

Figure 6: Front view of TDM 1.3



23/38



ZERO ADJ

RESETS1

X8

L+

L-

A3

A2

A1

POSITIONFOROPERATINGPARAMETER

PROGRAMMINGMODULE,PLUGIN

CORRECTMODULE,BEFORESTARTUP

PlatzfrBetriebsdaten-Programmierungs-

modul.VordemEinschaltenkorrektes

Moduleinstecken.

CONTROLLERAC SERVO

X1

Servo drive module


TDM 3.3-020-300-W0

236226 K39/91

SN240060-02029 A01

DANGERHIGHVOLTAGE

DONOTOPERATE

WITHOUTPOWER

Spannungs- und

isolationsgeprft

nach DIN VDE 0160

+24V

15V

BLC1

BLC2

BLC3

Tacho

PWR

RF

Bb

TS

BS

Offset

adjust

FrontanTDM33

Inputs and outputs

Feedback

Inputs and outputs

1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13

E1E2

E3E4

+15VM

+15VM

Ired

0VM

FB

MA

Iist

T

Tsense

1 2 3 4 5 6 7 8 9 10

Bb

-15VM

0VM

RF

Bb

+24VL

0VL

1 2 3 4 5 6 7 8 9+15VM

-15VM

0VM

0VM

BLC

2

BLC

1

BLC

3

Tacho

X41

X42

X43

Contr.: TDM 3.3-020-300-W0Motor: MAC 090A-.-ZD-.-CCurrent (A): peak/cont.: 20/15Operating rpm: 2000 MA: 0,375 V/AInput rpm/V: E1/E2: 2000/10E3: 3000/10 E4: 1500/10

MOD 13/1X012-002


ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREEWITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCE

AND DANGER OF DAMAGE MAY OCCURBetriebsdaten-Programmierungsmodul

Achtung:Motor- und Verstrkertypenangaben mssen mit derInstallation bereinstimmen, sonst S chdigungsgefahr.

MOTORPOWER

Motoranschlu

300VDCINPUT

DISCHARGETIME

Entladezeit

>1Min.

AS

Busbars

Bus terminal X1


Plug-in terminals

1 2 3 4 5 6 7 8 9 10 11 12 13

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

ASQ

ASQ

AS2

AS1

frei

TMO

TMO

BRI+

BRI-

BRO

-

BRO

+

TMI

TMI

Plug-in terminals

ATTENTION!




24/38



ZERO ADJ

RESETS1

X8

L+

L-

A3

A2

A1

POSITION

FOR

OPERATINGP

ARAMETER

PROGRAMMINGM

ODULE,PLUGI

N



modul.VordemE

inschaltenkorrektes

Moduleinstecken.

CONTROLLERAC SERVO

X1

Servo drive module

Electrical connection accessoriesand programming module

TDM 4.3-020-300-W0

236226 K39/91

SN241060-02030 A01

DANGERHIGHVOLTAGE

DONOTOPERATE

WITHOUTPOWER

Spannungs- und

isolationsgeprft

nach DIN VDE 0160

+24V

15V

BLC1

BLC2

BLC3

Tacho

PWR

RF

BbTS

BS

Offset

adjust

FrontanTDM43

Inputs and outputs

Feedback

Inputs and outputs1 2 3 4 5 6 7 8 9 10 11 12 13E1E2

E3E4

+15VM

+15VM

Ired

0VM

FBMAIist

T

Tsense

1 2 3 4 5 6 7 8 9Bb

-15VM

0VM

RF

Bb

24VL

0VL

1 2 3 4 5 6 7 8 9 10T0

T2

T1

0VM

HS2

HS1

HS3

X48

X50

X49

MOTORPOWER

Motoranschlu

300VDCINPUT

DISCHARGE

TIME

Entladezeit>1Min.

ASBusbars

Bus terminal X1


Plug-in terminals

T3

+15VM

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

ASQASQAS2AS1frei

TMOTMOBRI+

BRI-

BRO

-

BRO

+

TMITMI

Plug-in terminals

1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13

Contr.: TDM 4.3-020-300-W0Motor: MAC 025C-.-QS-.-ECurrent (A): peak/cont.: 14/7Operating rpm: 10000 MA: 0,375 V/AInput rpm/V: E1/E2: 10000/10E3: 10000/10 E4: ----------

MOD 17/1X001-193


ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREEWITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCEAND DANGER OF DAMAGE MAY OCCUR

Betriebsdaten-ProgrammierungsmodulAchtung:Motor- und Verstrkertypenangaben mssen mit derInstallation bereinstimmen, sonst Schdigungsgefahr.

ATTENTION!NEVER REMOVE OR INSTALL THISPLUG WHILE VOLTAGE IS APPLIED.BLACK CABLE ON THE BOTTOM!Verbindung nie unter Spannunglsen bzw. stecken.Schwarze Leitung immer unten!



25/38



ZERO ADJ

RESETS1

X8

L+

L-

A3

A2

A1

POSITION

FOR

OPERATINGP

ARAMETER

PROGRAMMINGM

ODULE,PLUGI

N



modul.VordemE

inschaltenkorrektes

Moduleinstecken.

CONTROLLERAC SERVO

X1

Servo drive module

Electrical connection accessoriesand programming module

TDM 6.1-020-300-W0236226 K39/91

SN240060-02029 A01

DANGERHIGHVOLTAGE

DONOTOPERATE

WITHOUTPOWER

Spannungs- undisolationsgeprft

nach DIN VDE 0160

+24V

15V

BLC1

BLC2

BLC3

Tacho

PWR

RF

BbTS

BS

Offset

adjust

FrontanTDM6

Inputs and outputs

Feedback

Inputs and outputs

1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13

E1E2

E3E4

+15VM

+15VM

Ired

0VM

FBMAIist

T

Tsense

1 2 3 4 5 6 7 8 9 10

Bb

-15VM

0VM

RF

Bb

+24VL

0VL

1 2 3 4 5 6 7 8 9+15VM

-15VM

0VM

0VM

BLC2

BLC1

BLC3

Tacho

X41

X42

X43

Contr.: TDM 6.1-020-300-W0Motor: MAC 090A-.-ZD-.-CCurrent (A): peak/cont.: 20/15Operating rpm: 2000 MA: 0,375 V/AInput rpm/V: E1/E2: 2000/10E3: 3000/10 E4: 1500/10

MOD 19/1X012-002


ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREEWITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCEAND DANGER OF DAMAGE MAY OCCUR


MOTORPOWER

Motoranschlu

300VDCINPUT

DISCHARG

ETIME

Entladezeit>1Min.

AS

Busbars

Bus terminal X1


Plug-in terminals

1 2 3 4 5 6 7 8 9 10 11 12 13

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

ASQASQAS2AS1frei

TMOTMOBRI+

BRI-

BRO

-

BRO

+

TMITMI

Plug-in terminals

ATTENTION!




26/38



ZERO ADJ

RESETS1

X8

L+

L-

A3

A2

A1

POSITION

FOR

OPERATINGP

ARAMETER

PROGRAMMINGM

ODULE,PLUGI

N



modul.VordemE

inschaltenkorrektes

Moduleinstecken.

CONTROLLERAC SERVO

X1

Servo drive module


TDM 7.1-020-300-W0

236226 K39/91

SN241060-02030 A01

DANGERHIGHVOLTAGE

DONOTOPERATE

WITHOUTPOWER

Spannungs- und

isolationsgeprft

nach DIN VDE 0160

+24V

15V

BLC1

BLC2

BLC3

Tacho

PWR

RF

BbTS

BS

Offset

adjust

FrontanTDM7

Inputs and outputs

Feedback

Inputs and outputs1 2 3 4 5 6 7 8 9 10 11 12 13E1E2

E3E4

+15VM

+15VM

Ired

0VM

FBMAIist

T

Tsense

1 2 3 4 5 6 7 8 9Bb

-15VM

0VM

RF

Bb

24VL

0VL

1 2 3 4 5 6 7 8 9 10T0

T2

T1

0VM

HS2

HS1

HS3

X48

X50

X49

MOTORPOWER

Motoranschlu

300VDCINPUT

DISCHARGE

TIME

Entladezeit>1Min.

ASBusbars

Bus terminal X1


Plug-in terminals

T3

+15VM

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

ASQASQAS2AS1frei

TMOTMOBRI+

BRI-

BRO

-

BRO

+

TMITMI

Plug-in terminals

1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13

Contr.: TDM 7.1-020-300-W0Motor: MAC 025C-.-QS-.-ECurrent (A): peak/cont.: 14 / 7Operating rpm: 10000 MA: 0,375 V/AInput rpm/V: E1/E2: 10000/10E3: 10000/10 E4: ----------

MOD 21/1X005-123


ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREEWITH THE DEVISES IN USE. OTHERWISE LACK OF P ERFORMANCEAND DANGER OF DAMAGE MAY OCCUR


ATTENTION!NEVER REMOVE OR INSTALL THISPLUG WHILE VOLTAGE IS APPLIED.BLACK CABLE ON THE BOTTOM!Verbindung nie unter Spannunglsen bzw. stecken.Schwarze Leitung immer unten!



27/38


28/38


Figure 12: Dimension sheets for TDM 3.3, TDM 4.3, TDM 6.1 and TDM 7.1

325

Outletforcoolingair

He

atsink

min.80mmfor

coolingairoutlet

355Safetyguard

min.80mmfor

coolingairoutlet

326

Accessforcoolingair

TighteningtorqueM

(Nm)forterminalboltX8:M6=5Nm

TighteningtorqueM

(Nm)forterminalboltX8:M5=3Nm

TighteningtorqueM

(Nm)forterminalbolt

:M5=3

Nm

A A

S1

A1

A2

A3

L-

L+

X8

X1

Programming

module

ZERO-ADJ

712

373

390

70

7

9+1

Zeroadj.

speedcontrol

Setpoin

t

max.1.5mm

Readytooperateand

controllervoltages

max.1.5mm

Feedback

max.1.5mm

Controller

voltagesupply

Load-directvoltage

(2xM5)

LED

Display

RESET

M5

Motorconnection

(3xM6)

View

withoutsafetyguard

Mablatt/TDM33/43/6/7

A

128

48

Safetyguard

Functioninput,

signals

15poles,max.1.5m

m2

5

Fa

nbaffleonlyrequired

if

theunit

-ismountedon

theleftsideofthe

d

rivepackage,or,

-ismountedata

d

istancegreaterthan

1

00mmfromanadjacentunit

o

ntheleftside.

(F

anbafflewithscrews

IN

DRAMATmat.No.:224869

mustbeorderedseparately)



29/38


min.400

min.2

325

min.80 355

Completelyclo

sed

housingorcab

inet

TVM

TDM

T

DM

TDM

TDM

105

m

in.80

min.80

105

TDM1/Einbau

min.80

60

7

373

390


Figure 13: Mounting dimensions for TDM 1.3


30/38


min.400

min.2

325

min.80 355

Complete

lyclosed

housingo

rcabinet

TVM

740,5

min.80

min.80

70

TDM3/4/6/7Einb

au

min.80

7

373

390

TDM

TD

M

TDM

TDM

TDM

920,5

105

60


Figure 14: Mounting dimensions for TDM 3.3, TDM 4.3, TDM 6.1 and TDM 7.1


31/38


32/38


Figure 16: Connection plan for TDM 1.3

1 12

A1

A2

A3

X8

M

black

X1

M

AC

220V

X13

Special

3-polecable(1)

M3

MAC

Servo

Motor

F

G

H

E

A

B

C

D

>

Blocking

brake

The

rmostat

contact

Moto

rfeedback

+24VL

0VL

L-

L+

L-

L+

X8

X6

-15VM0VM

+15VMBLC 3BLC 2BLC 1Tacho

0VM

1

UD

2

BB

3

+15VM

4,5,6,7

0VM

8,9

-15VM

10

0VL

11

+24VL

12

X8

X14

AC

220V

AC

220V

E1E2E3E4BbBbRF0VM

+15VM0VM-15VMIredMATsense

X5

X1

F5

Anschlpl/TDM13

Busbars

Supplymodule

Signal

processin

g

(12polebus

cable)

Supplyfor

additional

drive

modules

using

electrical

connecting

accessories

Power

DC

300volts

(busbars)

Motorpower

connection

ServoantriebsmodulTDM1.3

Unitfan

AC

220vo

lts

(3polespe

cial

cable)

Motor

fan

Busconnection

cable

Drivecomponent

feedinviaelectrical

connecting

accessories

internal

unitfan

(1)

Programmingmodules

MOD 1 / MOD 2

Noteonthecontrollerfan:

ControllerswithserialnumbersfromS

N2

34....

containacontrollerfaninternallyconnecte

d

to24voltsandfusedwithoutfuseF5.

TheexternalconnectionX13viathespecial3-pole

cableisinthatcasenecessaryifadjacent

controllers

orcontrollersthataretobeaddedlaterco

ntain

anAC

220voltorAC

115voltfan.

(1)

123456789101112131415

Differential input

Summing inputSumming input

Ready to operate

Controller enable signalReference potential

ShieldController voltagefor external

useExt. current peak limitation

Current set-pointTacho signal for

ext. use

32187

651094

12111098

74325

Supply voltage

Rotor position acknowledgement



Tacho voltageavail.

Reference potentialShield

ControllerStarting lockoutAcknowledgementStarting lockout

+24VL0VL

X9

AS1AS2ASQASQ

1234



33/38



1 12

black

X1

M

L-

L+

L-

L+

X8

1

UD

2

BB

3

+15VM

4,5,6,7

0VM

8,9

-15VM

10

0VL

11

+24VL

12

X8

X1

X42

X43

F7

X

73

X74

Anschlpl/TDM33

Busbars

Supplymodule

Signa

l

process

ing

(12pole

bus

cable

)

Supplyfor

additional

drive

modules

usingthe

electrical

connecting

accessories

Power

DC300v

olts

(busbar

s)


AC220volts

fromsupply

ordrive

moduleX14

Busconnection

cable

D

rivecomponent

feedinviaelectrical

connecting

accessories

AC220volt

supplyof

additional

drive

modules

ext.unit

fan(1)

BbBbRF+24VL0VL

+15VM0VM-15VMT

Programmingmodule

MOD 13 / MOD 14

12345678910

Ready to operate

Controller enable signal

Controller voltage

for external

use

Temperature monitoring

12345678910111213

Differential input

ShieldSumming inputSumming input

Reference potentialController voltage

ext. current peak limitationavail.

Current set pointCurrent actual valueReference potential

Tacho signal forext. use

E1E2

E3E40VM+15VMIredFBMAIist0VMTsense

M

ext.24voltunitfan

Connectionfor

optional

AC115/220volt

unitfan:

(1)

+24VL

0VL

X43/4

X43/5

A1A2A3

X8

M3

MAC

ServoMotor

G

F

H

E

A

B

C

D

>

X3

Motorpower

connection

Blocking

brakes

Thermostat

contact

X41

Motorfeedback

AC220V

M

otor

fan

M

321876594

31211109874256

-15VM0VM

+15VMBLC 3BLC 2BLC 1Tacho

0VM

Supply voltage




Tacho voltageReference potential

Shield

TMI

TMIBRO+

BRO-

BRI-BRO+TMO

TMO

freiAS1AS2ASQASQ

14

1312

11151098

7654321

Controllermotor blocking brake

Evaluationmotor thermostat contact

Controllerstarting lockout

Acknowledgementstarting lockout

0VL+24VL

+24VL0VL

Obsoletetype



34/38



1 12

black

X1

L-

L+

L-

L+

X8

1

UD

2

BB

3

+15VM

4,5,6,7

0VM

8,9

-15VM

10

0VL

11

+24VL

12

X8

X1

Anschlpl/TDM43Busbars

Supplymodule

Signa

l

process

ing

(12pole

bus

cable

)

Supplyfor

additional

drive

modulesvia

electrical

connecting

accessories

Power

DC

300v

olts

(busbar

s)


Busconnection

cable

D

rivecomponent

fe

edinviaelectrical

connecting

accessories

Programmingmodule

MOD 17 / MOD 18

X5

0

X49

BbBbRF+24VL0VL+15VM0VM-15VMT

123456789


Controller voltagefor external

use


12345678910111213

Differential input





Tacho signal forext. use

E1E2

E3E40VM+15VMIredFBMAIist0VMTsense

A1

A2

A3

X8

M3

MAC

ServoMotor

G

F

H

E

A

B

CD

X48

>

X3

Motorpowe

r

connection

Blocking

brakes

Thermostat

contact

Motorfeedback

TMI

TMIBRO+

BRO-

BRI-BRI+TMO

TMO

freiAS1AS2ASQASQ

14

1312

111510987

654321


Evaluation

motor thermostat contact



0VL+24VL

+24VL0VL

210987654111231

10987643215

0VM+15VM

HS 3HS 2HS 1

T3T2T1T0




Tacho signal

Shield

Supply voltage

AC

220V

Motor

fan

M

Ready to operate

M

F7

X

73

X74

AC

220volts

fromsupply

ordrive

moduleX14

AC220volt

supplyof

additional

drive

modules

ext.unitfan(1)

M

ext.

24voltunitfan

Connection

foroptional

AC

115/220volt

unitfan:

(1)

+24

VL

0VL

X49/4

X49/5 O

bsoletetype



35/38


36/38



1 12

A1

A2

A3

X8

M3

MAC

ServoMotor

G

F

H

E

A

B

C

D

black

X1

L-

L+

L-

L+

X8

X48

>

1

UD

2

BB

3

+15VM

4,5,6,7

0VM

8,9

-15VM

10

0VL

11

+24VL

12

X8

X1

X50

X49

Anschlpl/TDM7

X3

Busbars

Supplymodule

Signal

processing

(12pole

buscable)

Supplyfor

additional

drivemodules

using

theelectrical

connecting

accessories

Power

DC

300volts

(busbars)

Motorp

ower

connec

tion

ServoantriebsmodulTDM7

Blocking

brakes

Thermostat

contact

Motorfeedback

Busconnection

cable

Programmingmodule

MOD 21 / MOD 22

Drivecomponent

fe

edinviaelectrical

connecting

accessories

123456789


Controller voltagefor external

use


BbBbRF+24VL0VL+15VM0VM-15VMT

TMI

TMIBRO+

BRO-

BRI-BRI+TMOTMO

freiAS1AS2ASQASQ

14

1312

1115109876

54321


Evaluationmotor thermostat contact



0VL+24VL

+24VL0VL





Tacho signal for

ext. use

Differential input E1E2

E3E40VM+15VMI redFBMAI ist0VMT sense

Ready to operate

12345678910111213

210987654111231

10987643215

0VM+15VM

HS 3HS 2HS 1

T3T2T1T0




Tacho signal

Shield

Supply voltage

AC

220V

Motor

fan

M

M

F7

X73

X74

AC

220volts

fromsupply

ordrive

moduleX14

AC

220volt

Supplyof

additional

drive

modules

ext.

unitfan(1)

M

ext.24volt

unitfan

Connection

foroptional

AC

115/220volt

unitfan:

(1)

+24VL

0VL

X49/4

X49/5

Obsolete

type



37/38



38/38

Servo Drives Indramat

Documents

Transcript of Servo Drives Indramat