Electric Drives and Controls Hydraulics Linear Motion and Assembly Technologies Rexroth IndraDrive C Drive Controllers HCS02.1, HCS03.
About this Documentation Title Rexroth IndraDrive Rexroth IndraDrive C Drive Controllers HCS02.1, HCS03.1 Type of Documentation Document Typecode Internal File Reference Purpose of Documentation Record of Revisions Copyright Operating Instructions DOK-INDRV*-FU*********-IB01-EN-P Document Number, 120-2400-B327-01/EN; Mat. No.
Rexroth IndraDrive Contents I Contents 1 Introducing the Products 1.1 1-1 Introduction ................................................................................................................................... 1-1 Terms, Basic Principles ........................................................................................................... 1-1 1.2 Rexroth IndraDrive Hardware Platform ........................................................................................
II Contents Rexroth IndraDrive Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting .................................................................................................................................. 3-9 Protection Against Contact with Hot Parts ............................................................................ 3-10 Protection During Handling and Mounting.............................................................................
Rexroth IndraDrive Contents III Multiple-Line Arrangement of Drive Controllers .................................................................... 6-24 6.2 Electrical Installation ................................................................................................................... 6-25 Rules for Design of Installations with Drive Controllers in Compliance with EMC ................ 6-25 EMC-Optimal Installation in Facility and Control Cabinet.................................................
IV Contents 8 Rexroth IndraDrive Diagnostic and Service Functions 8.1 8-1 Diagnostic System ........................................................................................................................ 8-1 Diagnostic Status Messages ................................................................................................... 8-1 Diagnostic Command Messages............................................................................................. 8-1 Warnings...........................
Introducing the Products 1-1 Rexroth IndraDrive 1 Introducing the Products 1.1 Introduction Terms, Basic Principles Parameters Communication between master and drive takes place, with a few exceptions, by means of parameters.
1-2 Introducing the Products Parameter IDN Lists Loading Parameter Values Rexroth IndraDrive The drive supports master-side saving of parameter values by listing parameter identification numbers (IDNs). Using these lists guarantees complete storage of the application-specific parameter values. It is also possible to determine IDN lists defined by the customer.
Introducing the Products 1-3 Rexroth IndraDrive Commands Commands are used to activate and control complex functions or monitoring features in the drive. The higher-level master can start, interrupt or clear commands. Each command is assigned to a parameter by means of which the execution of the command can be controlled. During the execution of the command the display of the control panel reads "Cx", "C" representing the diagnostic command message and "x" representing the number of the command.
1-4 Introducing the Products Rexroth IndraDrive Warnings Depending on the active operating mode and the parameter settings, many monitoring functions are carried out. If a status is detected that still allows correct operation but in case this status persists will cause an error to occur and therefore cause the drive to be automatically switched off, the drive firmware generates a warning message. Note: Warning Classes Warnings do not cause automatic shutdown (exception: fatal warning).
Introducing the Products 1-5 Rexroth IndraDrive during firmware download. These errors are not displayed at the control panel with a diagnostic message number of the "Fxxxx" pattern, but with a short text. Boot errors and firmware download errors are separately described in the documentation "Troubleshooting Guide" (diagnostic message description).
1-6 Introducing the Products 1.
Introducing the Products 1-7 Rexroth IndraDrive Motors and Measuring Systems Supported Motors The table below contains an overview of the Rexroth motors which can be operated at IndraDrive controllers. Housing motors synchronous MHD 2AD MKD ADF MKE MAD (IndraDyn A) MSK (IndraDyn S) MAF (IndraDyn A) MAL SF (Bosch) Fig. 1-2: Third party motors Kit motors asynchronous synchronous asynchr.
1-8 Introducing the Products Rexroth IndraDrive Master Communication PROFIBUS Interface General Features • cyclic data exchange of command and actual value (max. 32 byte each direction; min. cycle time of 500 µs) • parameter channel for parameterization and diagnosing via field bus • safe process data channel (PROFIsafe), optional • free configuration of telegram contents possible (many cyclic configurable parameter IDN) 1.3 Rexroth IndraDrive Firmware Platform Type Code Fig.
Introducing the Products 1-9 Rexroth IndraDrive Functions Overview Supported Operating Modes The drive firmware supports the following operating modes: • torque/force control • velocity control • position control with cyclic command value input • drive-internal interpolation • drive-controlled positioning • positioning block mode • synchronization modes: • velocity synchronization with real/virtual master axis • phase synchronization with real/virtual master axis • electronic cam shaft with real/virtual m
1-10 Introducing the Products Rexroth IndraDrive • monitoring functions • limitations that can be parameterized • output of control signals • numerous diagnostic possibilities • drive-internal generation of diagnostic messages • analog output • status displays, status classes • oscilloscope function • monitoring function • patch function • code of optional card • parameter value check • operating hours counter, logbook function, error memory Performance Data Overview For the control performance of the I
Introducing the Products 1-11 Rexroth IndraDrive Selecting Performance via Parameter P-0-0556 For certain applications it is necessary to use the same clock rates in all axes so that the slowest drive sets the clock. It is therefore possible to specifically reduce the performance via bit 2 and bit 5 of parameter P-0-0556, Config word of axis controller. • For BASIC control sections it is possible to select the performance levels "Basic" or "Economy" via bit 5 of P-0-0556.
1-12 Introducing the Products 1.4 Rexroth IndraDrive Rexroth IndraDyn Motors Housing Motors Type Code S Motor size Motor length Windings code Housing design Encoder Electrical Connection Shaft Holding brake Other design MSK030B-0900-NN-S1-UG0-NNNN Product Example MSK 030 B 0900 NN S1 U G 0 NNNN Fig.
Introducing the Products 1-13 Rexroth IndraDrive Type Code IndraDyn H Motor size Motor length Mounting style Internal diameter of the rotor Other design MRS102B-1N-0046-NNNN Product Example 1 MRS 102 B 1N 0046 NNNN Fig. 1-10: Motor size Motor length Windings code Cooling mode Cooling connector Encoder Electrical connection Other design MSS102B-0800-FA-N0CN-NNNN Product Example 2 Basic structure of type code MSS 102 B 0800 F A N0 CN NNNN Fig. 1-11: 1.
1-14 Introducing the Products Rexroth IndraDrive to be carried out. The test of the drive system and compliance with the directives have to be guaranteed by the machine manufacturer. Third-Party Motors to be Controlled Motor Types The following motor types can be controlled: • asynchronous motors, rotary • asynchronous motors, linear • synchronous motors, rotary • synchronous motors, linear These motors can be operated within the scope of the technical data of the selected IndraDrive controller.
Introducing the Products 1-15 Rexroth IndraDrive • The cable parameters depending on cable design and length (determine the properties of the transmission distance, such as the attenuation). • The motor design regarding capacitive and inductive properties (form the end of the transmission distance). As a result of the variables, the insulation system of the third-party motor, as regards voltage, is loaded by the values • peak voltage Upp and • voltage change dv/dt.
1-16 Introducing the Products Rexroth IndraDrive Use a three-phase choke in the motor feed wire, if the inductance of the third-party motor is smaller than indicated in the table above. This choke has to increase the inductance that can be measured between two motor terminals to the minimum value. Note: When the inductance is measured, different inductance values can be determined at different rotor positions within one pole pair distance of the motor.
Introducing the Products 1-17 Rexroth IndraDrive Requirements on the Encoder of the Third-Party Motor Motor Encoder of Asynchronous Third-Party Motor Asynchronous motors can also be controlled by IndraDrive controllers in "open-loop" operation (without motor encoder). In "closed-loop" operation (with motor encoder) a relative measuring system is sufficient for asynchronous motors.
1-18 Introducing the Products 1.6 Rexroth IndraDrive Approval, Listing Conformities Declaration of Conformity For Rexroth IndraDrive components there are declarations of conformity available. These declarations confirm that the components are designed according to valid EC directives. If required, you can ask your sales representative for these declarations.
Introducing the Products 1-19 Rexroth IndraDrive Motors approved by the UL agency carry the following label: C-UL-US Listed Components Fig. 1-17: C-UR-US label Product Component HMS01.1N- W0020, W0036, W0054, W0070, W0150, E 134201 W0210 HMS02.1N- W0028, W0054 E 134201 HMD01.1N- W0012, W0020, W0036 E 134201 HCS02.1E- W0012, W0028, W0054, W0070 E 134201 HCS03.1E- W0070, W0100, W0150, W0210 Manufacturer REFU E254781 HMV01.1E- W0030-A-07, W0075-A-07, W0120-A-07 E 134201 HMV01.
1-20 Introducing the Products Rexroth IndraDrive DOK-INDRV*-FU*********-IB01-EN-P
Important Directions for Use 2-1 Rexroth IndraDrive 2 Important Directions for Use 2.1 Appropriate Use Introduction Rexroth products represent state-of-the-art developments and manufacturing. They are tested prior to delivery to ensure operating safety and reliability. The products may only be used in the manner that is defined as appropriate. If they are used in an inappropriate manner, then situations can develop that may lead to property damage or injury to personnel.
2-2 Important Directions for Use Rexroth IndraDrive Areas of Use and Application Drive controllers made by Bosch Rexroth are designed to control electrical motors and monitor their operation. Control and monitoring of the motors may require additional sensors and actors. Note: The drive controllers may only be used with the accessories and parts specified in this document. If a component has not been specifically named, then it may not be either mounted or connected. The same applies to cables and lines.
Safety Instructions for Electric Drives and Controls 3-1 Rexroth IndraDrive 3 Safety Instructions for Electric Drives and Controls 3.1 General Information Using the Safety Instructions and Passing them on to Others Do not attempt to install or commission this device without first reading all documentation provided with the product. Read and understand these safety instructions and all user documentation prior to working with the device.
3-2 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive • The devices have been designed for installation in industrial machinery. • The ambient conditions given in the product documentation must be observed. • Only use safety-relevant applications that are clearly and explicitly approved in the Project Planning Manual. If this is not the case, they are excluded. Safety-relevant are all such applications which can cause danger to persons and material damage.
Safety Instructions for Electric Drives and Controls 3-3 Rexroth IndraDrive Explanation of Warning Symbols and Degrees of Hazard Seriousness The safety instructions describe the following degrees of hazard seriousness. The degree of hazard seriousness informs about the consequences resulting from non-compliance with the safety instructions: Warning symbol with signal word Degree of hazard seriousness according to ANSI Z 535 Death or severe bodily harm will occur.
3-4 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive Hazards by Improper Use High electric voltage and high working current! Risk of death or severe bodily injury by electric shock! DANGER Dangerous movements! Danger to life, severe bodily harm or material damage by unintentional motor movements! DANGER High electric voltage because of incorrect connection! Risk of death or bodily injury by electric shock! WARNING Health hazard for persons with heart pacemakers, metal implants an
Safety Instructions for Electric Drives and Controls 3-5 Rexroth IndraDrive 3.2 Instructions with Regard to Specific Dangers Protection Against Contact with Electrical Parts Note: This section only concerns devices and drive components with voltages of more than 50 Volt. Contact with parts conducting voltages above 50 Volts can cause personal danger and electric shock. When operating electrical equipment, it is unavoidable that some parts of the devices conduct dangerous voltage.
3-6 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive section 5.3.2.3. USA: See National Electrical Code (NEC), National Electrical Manufacturers' Association (NEMA), as well as local engineering regulations. The operator must observe all the above regulations at any time.
Rexroth IndraDrive Safety Instructions for Electric Drives and Controls 3-7 Protection Against Dangerous Movements Dangerous movements can be caused by faulty control of connected motors.
3-8 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive Dangerous movements! Danger to life, risk of injury, severe bodily harm or material damage! ⇒ DANGER For the above reasons, ensure personal safety by means of qualified and tested higher-level monitoring devices or measures integrated in the installation. They have to be provided for by the user according to the specific conditions within the installation and a hazard and fault analysis.
Safety Instructions for Electric Drives and Controls 3-9 Rexroth IndraDrive ⇒ Disconnect electrical power to the equipment using a master switch and secure the switch against reconnection for: - maintenance and repair work - ⇒ cleaning of equipment - long periods of discontinued equipment use Prevent the operation of high-frequency, remote control and radio equipment near electronics circuits and supply leads.
3-10 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive Protection Against Contact with Hot Parts Hot surfaces at motor housings, on drive controllers or chokes! Danger of injury! Danger of burns! CAUTION ⇒ ⇒ ⇒ ⇒ ⇒ ⇒ ⇒ Do not touch surfaces of device housings and chokes in the proximity of heat sources! Danger of burns! Do not touch housing surfaces of motors! Danger of burns! According to operating conditions, temperatures can be higher than 60 °C, 140 °F during or after operation.
Safety Instructions for Electric Drives and Controls 3-11 Rexroth IndraDrive Protection During Handling and Mounting In unfavorable conditions, handling and assembling certain parts and components in an improper way can cause injuries. Risk of injury by improper handling! Bodily injury by bruising, shearing, cutting, hitting! CAUTION ⇒ ⇒ ⇒ ⇒ ⇒ ⇒ ⇒ ⇒ Observe the general construction and safety regulations on handling and assembly. Use suitable devices for assembly and transport.
3-12 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive Protection Against Pressurized Systems According to the information given in the Project Planning Manuals, motors cooled with liquid and compressed air, as well as drive controllers, can be partially supplied with externally fed, pressurized media, such as compressed air, hydraulics oil, cooling liquids, and cooling lubricating agents.
Identification, Transport, Storage, Installation Conditions 4-1 Rexroth IndraDrive 4 Identification, Transport, Storage, Installation Conditions 4.
4-2 Identification, Transport, Storage, Installation Conditions Rexroth IndraDrive Control Sections BASIC CSB01.1N CSB01.1.N-FC-NNN-NNN-NN-C-NN-FW Product Line Design Configuration option Master communication Option 1 Option 2 Safety option Display Other design Firmware (to be ordered extra) Example CSB 01 1 N FC NNN NNN NN C NN FW Fig.
Identification, Transport, Storage, Installation Conditions 4-3 Rexroth IndraDrive Motor Filter HMF Line Design Mounting style Filter class Motor frequency Switching frequency Nominal current Degree of protection Voltage rating Other design HMF01.1A-N1K5-E0070-A-500-NNNN Product Example HMF 01 1 A N 1K5 E 0070 A 500 NNNN Fig.
4-4 Identification, Transport, Storage, Installation Conditions Rexroth IndraDrive HAS02.1 Line Design Device assignment Other feature Other design HAS02.1-001-NNN-NN Product Example HAS 02 1 001 NNN NN Fig. 4-8: Basic structure of type code Type Plates Each drive component is marked by a type designation. There is a type plate attached to all devices. Type Plates at the Drive Controller 1 2 3 DG000023v01_nn.
Identification, Transport, Storage, Installation Conditions 4-5 Rexroth IndraDrive Type Plates at the Control Section Control Section Type Plate Type CSH01.1C-SE-EN1-EN2-MA1-L1-S-NN-FW MNR: R911293808 FD: 05W24 (7260) Part number Production week SN:CSH011-00123 0A01 0S01 Example: 05W24 means year 2005, week 24 Serial number Hardware index Barcode DG000022v01_de.FH9 Fig.
4-6 Identification, Transport, Storage, Installation Conditions 4.2 Rexroth IndraDrive Transport and Storage Transport of the Devices Conditions temperature -25…70 °C relative humidity 5…95%; climatic category 2K3 absolute humidity 1…60 g/m climatic category 2K3 moisture condensation not allowed icing not allowed shock test out of operation according to EN 60068-2-27 half sine in 3 axes: 10g / 11ms Fig.
Identification, Transport, Storage, Installation Conditions 4-7 Rexroth IndraDrive 4.3 Installation Conditions Ambient and Operating Conditions The drive controllers and their additional components are designed for control cabinet mounting! Note: The user must check that the ambient conditions, in particular the control cabinet temperature, are complied with by calculating the heat levels in the control cabinet and making the corresponding measurements.
4-8 Identification, Transport, Storage, Installation Conditions Rexroth IndraDrive Capacity Utilization Where installation conditions differ, the following performance data are reduced in accordance with the diagrams (see "Fig. 4-15: " and "Fig.
Identification, Transport, Storage, Installation Conditions 4-9 Rexroth IndraDrive 1 Load factor 0,9 0,8 0,7 0,6 0 1000 2000 3000 4000 Installation altitude above sea level in meters DK000074v01_en Fig. 4-16: Capacity utilization at higher installation altitude Compatibility with Foreign Matters All Rexroth controls and drives are developed and tested according to the state-of-the-art technology. As it is impossible to follow the continuing development of all materials (e.g.
4-10 Identification, Transport, Storage, Installation Conditions Rexroth IndraDrive DOK-INDRV*-FU*********-IB01-EN-P
Electrical Data 5-1 Rexroth IndraDrive 5 Electrical Data 5.1 Power Sections Unless otherwise specified, the following data apply to • Ta = Tamax • ULN = 3AC400V • use of HNL and HNK mains chokes Type Current and Connected Load Compact converter Type current Attached mains choke HNL, HNK Nominal motor power (2) Connected load Mains input contin. current Nominal fuse current / fuse type characteristic gL Contin.
5-2 Electrical Data Rexroth IndraDrive Control Voltage Supply Note: The control sections are supplied via the terminal connectors 24V and 0V at the power section (24V supply). Note: The isolated inputs/outputs at X31 and X32 are not supplied via the connections of the 24V supply of the power section. A separate voltage supply is required for these inputs/outputs. Note: Overvoltage of more than 33 V has to be discharged by means of the appropriate electrical equipment of the machine or installation.
Electrical Data 5-3 Rexroth IndraDrive CSB01.1N-FC… IEIN3 A 1,5 (pulse width tEIN3lade ca. 120 ms) CSB01.1N-PB… IEIN3 A 5 (pulse width tEIN3lade ca. 40 ms) Power consumption of optional modules according to type code 3), 4) C PN3 W 1,0 EN1 PN3 W 6,0 EN2 PN3 W 5,5 ENS PN3 W 5,5 MA1 PN3 W 2,0 MD1 PN3 W 1,0 S PN3 W 1,0 1) 2) 3) 4) Fig. 5-2: plus control section with optional modules plus optional modules code from the control section type code at max.
5-4 Electrical Data Rexroth IndraDrive Limited Length of Motor Power Cables Keep in mind, that the allowed maximum motor cable length is depending on the switching frequency of the power output stage. On principle, the higher the switching frequency, the shorter the allowed cable length (in order to protect the drive controllers against overload). Note: Always use switching frequencies supported by the components of your drive system. Observe the technical data of the drive controllers and motors.
Electrical Data 5-5 Rexroth IndraDrive Third-Party Motor Power Cables Requirements on third-party motor power cables: Maximum allowed cable length at A1, A2, A3: • see description above Maximum allowed capacitance per unit length at A1, A2, A3: • against ground, each: 0.5 nF/m • against each other: 0.
5-6 Electrical Data 5.2 Rexroth IndraDrive Control Sections Relay Contact Type 1 Data Unit Min. Typ. Max. current load capacity A DC 1 AC 2 voltage load capacity V DC 30 AC 250 minimum contact load mA contact resistance at minimum current mOhm switching actions at max. time constant of load 10 1000 100.000 number of mechanical switching cycles 1 * 10 6 time constant of load ms 50 pick up delay ms 10 drop out delay ms 10 Fig.
Electrical Data 5-7 Rexroth IndraDrive Relay Contact Type 3 Data Unit Min. Typ. Max. current load capacity A DC 1 voltage load capacity V DC 30 minimum contact load mA contact resistance at minimum current mOhm 10 1000 switching actions at max. time constant of load 1 * 10 6 number of mechanical switching cycles 1 * 10 7 time constant of load ms pick up delay ms 10 drop out delay ms 10 Fig.
5-8 Electrical Data Rexroth IndraDrive Digital Outputs The digital outputs correspond to IEC 61131. Note: Do not operate digital outputs at low-resistance sources. Observe Functional Description of the firmware section "Notes on Commisioning" particularly parameter P-0-0302, Digital I/O, Direction. 1 DA000024v01_nn.FH9 Fig. 5-11: Symbol of digital output Data Unit Min. Typ. Max.
Electrical Data 5-9 Rexroth IndraDrive Analog Inputs/Outputs The analog inputs correspond to IEC 61 131. Analog Input Type 1 U+ U- Ru AD Ru GND DA000025v01_nn.FH9 AD: Fig. 5-13: analog/digital converter Analog voltage inputs Data allowed input voltage voltage inputs Unit Min. V -10 kOhm 180 input bandwidth kHz 6 common-mode range V common-mode rejection dB relative measuring error at 90% Uemax % converter width A/D converter incl.
5-10 Electrical Data Rexroth IndraDrive Analog Input Type 2 U+ U- Ru AD Ru GND DA000025v01_nn.FH9 AD: Fig. 5-15: analog/digital converter Analog voltage inputs Data Unit Min. V -10 input resistance voltage input kOhm 1000 input bandwidth kHz allowed input voltage voltage inputs V -50 common-mode rejection dB 70 relative measuring error at 90% Uemax % -0,3 converter width A/D converter incl. polarity sign Bit dynamic converter width with oversampling Max.
Electrical Data 5-11 Rexroth IndraDrive Analog Input Type 3 Ri I+ Rs Ri I- AD GND DA000026v01_nn.FH9 AD: Fig. 5-17: analog/digital converter Analog current inputs Data Unit Min. allowed input current mA 0 Ohm 200 input bandwidth kHz 3 common-mode range V common-mode rejection dB relative measuring error at 90% Uemax % converter width A/D converter incl. polarity sign Bit dynamic converter width with oversampling Max.
5-12 Electrical Data Rexroth IndraDrive Analog Input Type 4 U+ U- Ru AD Ru GND DA000025v01_nn.FH9 AD: Fig. 5-19: analog/digital converter Analog voltage inputs Data allowed input voltage voltage inputs Unit Min. V -10 Typ. +10 input resistance voltage input kOhm 2 input resistance voltage input CSH01.2C kOhm 160 kHz 10 input bandwidth common-mode range V common-mode rejection dB relative measuring error at 90% Uemax % converter width A/D converter incl.
Electrical Data 5-13 Rexroth IndraDrive Analog Output Type 1 Data Unit Min. V 0 kOhm 2 output current mA 0 converter width digital/analog converter incl. polarity sign Bit 10 mV/Ink 9,8 conversion time (incl. response time) us 10 cyclic conversion us depending on firmware output voltage output load resolution Typ. +10 +5 short circuit protection present overload protection present Fig. 5-21: Max. Analog outputs type 1 Analog Output Type 2 Data Unit Min.
5-14 Electrical Data Rexroth IndraDrive Analog Output Type 3 Data Unit Min. V -10 kOhm 1 output current mA 0 converter width digital/analog converter incl. polarity sign Bit 12 mV/Ink 5 accuracy at R = 1 kOhm % 1 of FMR accuracy at R = 10 kOhm % 0,2 of FMR conversion time (incl. response time) us 10 cyclic conversion us depending on firmware output voltage output load resolution Typ. +10 +1 short circuit protection present overload protection present FMR: Fig.
Electrical Data 5-15 Rexroth IndraDrive 5.3 Additional Components Mains Filter HNF Unit F240-E0051 M900-E0051 F240-E0125 M900-E0125 F240-E0202 M900-E0202 F240-R0026 M900-R0026 F240-R0065 M900-R0065 F240-R0094 M900-R0094 HNF01.
5-16 Electrical Data Rexroth IndraDrive Mains Filter (-Combination) HNK Mains filter HNK01.1A-A075 Unit E0050 E0080 E0106 E0146 Nominal voltage V Nominal current A 50 80 106 146 µH 571 362 240 170 mm² 16 (AWG 6) 25 (AWG 3) 25 (AWG 3) 50 (AWG 1/0) 20 28 Inductance Connection cross section Protection category Weight 3*AC400…500 - IP20 kg 15 Fig. 5-25: 20 Data HNK Mains Choke HNL01.
Electrical Data 5-17 Rexroth IndraDrive Mains Choke HNL01.1E-****-S (Current-Compensated) Unit E-5700-S0051 E-2800-S0125 E-3400-S0202 R-4200-S0026 R-6300-S0065 R-3000-S0094 HNL01.
5-18 Electrical Data Rexroth IndraDrive Braking Resistors for HCS03.1E-W0070 HLR01.
Electrical Data 5-19 Rexroth IndraDrive Braking resistors for HCS03 ... 0070 Peak power P_s and Energy absorption W 10000 W [kWs] Energy HLR01.1N-10K0-N18R0 1000 HLR01.1N-06K5-N18R0 HLR01.1N-04K5-N18R0 HLR01.1N-03K5-N19R0 P_s [kW] HLR01.1N-01K6-N18R0 100 10 Power HLR01.1N-10K0-N18R0 HLR01.1N-06K5-N18R0 HLR01.1N-04K5-N18R0 HLR01.1N-03K5-N19R0 HLR01.1N-01K6-N18R0 1 1 10 100 Duty cycle [s] Fig. 5-30: DOK-INDRV*-FU*********-IB01-EN-P Selection aid for braking resistors for HCS03.
5-20 Electrical Data Rexroth IndraDrive Braking Resistors for HCS03.1E-W0100 HLR01.
Electrical Data 5-21 Rexroth IndraDrive Braking resistors for HCS03 ... 0100 Peak power P_s and Energy absorption W 10000 W [kWs] Energy HLR01.1N-14K5-N13R0 HLR01.1N-09K5-N13R0 1000 HLR01.1N-07K0-N14R0 HLR01.1N-05K0-N15R0 P_s [kW] 100 Power HLR01.1N-14K5-N13R0 10 HLR01.1N-09K5-N13R0 HLR01.1N-07K0-N14R0 HLR01.1N-05K0-N15R0 1 1 10 100 Duty cycle [s] Fig. 5-32: DOK-INDRV*-FU*********-IB01-EN-P Selection aid for braking resistors for HCS03.
5-22 Electrical Data Rexroth IndraDrive Braking Resistors for HCS03.1E-W0150 HLR01.
Electrical Data 5-23 Rexroth IndraDrive Braking resistors for HCS03 ... 0150 Peak power P_s and Energy absorption W 10000 W Energy HLR01.1N-24K0-N07R2 HLR01.1N-15K0-N08R1 HLR01.1N-11K0-N07R3 HLR01.1N-08K5-N08R0 [kWs] 1000 HLR01.1N-04K5-N07R4 P_s [kW] 100 Power HLR01.1N-24K0-N07R2 HLR01.1N-15K0-N08R1 HLR01.1N-11K0-N07R3 HLR01.1N-08K5-N08R0 10 HLR01.1N-04K5-N07R4 1 1 10 100 Duty cycle [s] Fig. 5-34: DOK-INDRV*-FU*********-IB01-EN-P Selection aid for braking resistors for HCS03.
5-24 Electrical Data Rexroth IndraDrive Braking Resistors for HCS03.1E-W0210 HLR01.
Electrical Data 5-25 Rexroth IndraDrive Braking resistors for HCS03 ... 0210 Peak power P_s and Energy absorption W 10000 Energy HLR01.1N-36K0-N05R4 W [kWs] HLR01.1N-23K0-N05R5 HLR01.1N-17K0-N05R1 HLR01.1N-12K5-N05R5 HLR01.1N-06K5-N06R1 1000 P_s [kW] 100 Power HLR01.1N-36K0-N05R4 HLR01.1N-23K0-N05R5 HLR01.1N-17K0-N05R1 HLR01.1N-12K5-N05R5 10 HLR01.1N-06K5-N06R1 1 1 10 100 1000 Duty cycle [s] Fig. 5-36: Selection aid for braking resistors for HCS03.
5-26 Electrical Data Rexroth IndraDrive Motor Filter HMF Motor filter IN [A] PV [W] LM [µH] fout_max [Hz] fp_max [kHz] du/dt at output [kV / us] Uout_max [kV] HMF01.1A-N0K2-D0045-A-500-NNNN 45 120 3 x 160 200 4 <1 1,2 HMF01.1A-N0K2-D0073-A-500-NNNN 73 160 3 x 100 200 4 <1 1,2 HMF01.1A-N0K2-D0095-A-500-NNNN 95 190 3 x 78 200 4 <1 1,2 HMF01.1A-N0K2-D0145-A-500-NNNN 145 220 3 x 50 200 4 <1 1,2 Fig.
Mounting and Installation 6-1 Rexroth IndraDrive 6 Mounting and Installation 6.1 Mounting Dimensions – Power Sections Device Depths, Heights and Widths Device width [mm] Min. mounting width [mm] 1) HCS02.1E-W0012 65 70 290 HCS02.1E-W0028 65 70 352 HCS02.1E-W0054 105 110 352 HCS02.1E-W0070 105 110 352 HCS03.1E-W0070 125 125 440 HCS03.1E-W0100 225 225 440 HCS03.1E-W0150 225 225 440 HCS03.1E-W0210 350 350 440 Device 1) 2) 3) Fig.
6-2 Mounting and Installation Rexroth IndraDrive Drilling Pattern for the Mounting Plate M N K L P R K HNF_bohrbild.fh7 Fig. 6-2: Drilling pattern Note: The figure shows the back of the devices. K [mm] L [mm] M [mm] P [mm] R [mm] HCS02.1E-W0012 0 316 32,5 13 7 observe additional distance to lateral neighboring devices HCS02.1E-W0028 0 378 32,5 13 7 observe additional distance to lateral neighboring devices HCS02.
Mounting and Installation 6-3 Rexroth IndraDrive Distances for Drive Controllers In addition to the mounting dimensions, the components of the Rexroth IndraDrive range require additional mounting clearance • to ventilate the components • to mount accessories and connections • to take temperature limits of neighboring mounting parts, such as cable ducts etc.
6-4 Mounting and Installation Rexroth IndraDrive Distances on Top and Bottom of Components Owing to power dissipation in the components, the temperature of the cooling air current at the device outlet is rising to values higher than ambient temperature at device inlet.
Mounting and Installation 6-5 Rexroth IndraDrive Minimum distance for ventilation For sufficient ventilation of the components you have to comply with the minimum distances below. At components without integrated braking resistor, there will be temperatures of up to 105 °C at the air outlet (B) (with an air intake temperature of 45 °C). Component at the bottom (A) [mm] 1) at the top (B) [mm] 2) HCS02 80 80 HCS03 100 80 1) 2) Fig.
6-6 Mounting and Installation Rexroth IndraDrive Input value in the diagrams is the generated power of the braking resistors or the individual output current. See exemplary diagram below: 120 100 80 ∆T [K] 60 40 20 0 0 50 100 150 200 250 300 PBD [W] 350 400 450 500 ∆T @ d~0mm ∆T @ d~40mm ∆T @ d~80mm ∆T @ d~120mm PBD: d: Fig.
Mounting and Installation 6-7 Rexroth IndraDrive Dimensions – Mains Filter HNF Drilling Pattern M N K L P R K HNF_bohrbild.fh7 Note: Mains filter The figure shows the back of the devices. K [mm] L [mm] M [mm] N [mm] P [mm] R [mm] HNF01.1A-F240-E0051-A-480-NNNN HNF01.1A-M900-E0051-A-480-NNNN 50 466 25 7 13 6,5 HNF01.1A-F240-E0125-A-480-NNNN HNF01.1A-M900-E0125-A-480-NNNN 125 466 12,5 7 13 6,5 HNF01.1A-F240-E0202-A-480-NNNN 125 466 12,5 7 13 6,5 HNF01.
6-8 Mounting and Installation Rexroth IndraDrive Dimensions F G L1 L2 L3 E H D A X3 Netz Line H B G L1.1 L2.1 L3.1 Last Load X3.2 C HNF_abmessungen.fh7 Mains filter A [mm] B [mm] C [mm] D [mm] E [mm] F [mm] G [mm] H max. tightening torque [Nm] HNF01.1A-F240-R0026-A-480-NNNN 480 262 100 440 - - 26 M6x20 8.6 HNF01.1A-F240-E0051-A-480-NNNN HNF01.1A-M900-E0051-A-480-NNNN 480 262 100 440 - - 33 HNF01.1A-M900-R0026-A-480-NNNN 480 262 150 440 - - 26 HNF01.
Mounting and Installation 6-9 Rexroth IndraDrive Dimensions – Mains Choke HNL01.
6-10 Mounting and Installation Rexroth IndraDrive Dimensions Type 4: Mains choke Type Dim. [mm] A Weight [kg] B C D D1 E F 1) G H HNL01.1E-1000-N0012-A-500-NNNN 1 120 61 164 81 - 44 6,4 x 11 2,7 HNL01.1E-1000-N0020-A-500-NNNN 1 150 66,5 184 113 - 49,5 6,4 x 11 3,8 HNL01.1E-0600-N0032-A-500-NNNN 1 150 66,5 185 113 - 49,5 6,4 x 11 4,5 HNL01.1E-0571-N0050-A-500-NNNN 4 153 100 238 127 - 80 HNL01.1E-0400-N0051-A-480-NNNN 1 180 112 225 125 80 87 HNL01.
Mounting and Installation 6-11 Rexroth IndraDrive Mains Choke UN [V] IN [A] LN [µH] PV [W] Imax [A] Lmin at Imax Connection Cross Section [mm²] HNL01.1E-1000-N0012-A-500-NNNN 500 12 3 x 1000 40 25 50% of LN 4 (a, b: 4) HNL01.1E-1000-N0020-A-500-NNNN 500 20 3 x 1000 60 50 50% of LN 6 (a, b: 4) HNL01.1E-0600-N0032-A-500-NNNN 500 32 3 x 600 75 80 50% of LN 10 (a, b: 4) HNL01.1E-0571-N0050-A-500-NNNN 500 50 3 x 571 50 100 50% of LN 16 (a, b: -) AWG 8 HNL01.
6-12 Mounting and Installation Rexroth IndraDrive Dimensions – Standard Braking Resistors HLR01.1 Note: 123 The standard braking resistors are intended to be mounted above the drive controllers HCS03; otherwise, forced convection (blower) with a volume stream of 200 m³/hour is to be provided. 235 300 275 (M6) 75 19,5 1 2 1) 165 196 MBZU0032EN00.FH9 Fig. 6-12: Dimensional drawing braking resistor HLR01.
Mounting and Installation 6-13 Rexroth IndraDrive 223 175 235 275 300 (M6) 19,5 1 2 165 210 1) MBZU0033EN00.FH9 Fig. 6-13: Dimensional drawing braking resistor HLR01.1N-0470-N11R7-A-007-NNNN and HLR01.1N-0780-N07R0-A-007-NNNN 350 300 235 300 275 (M6) 19,5 1 2 1) 165 220 MBZU0048EN00.FH9 Fig. 6-14: Note: DOK-INDRV*-FU*********-IB01-EN-P Dimensional drawing braking resistor HLR01.
6-14 Mounting and Installation Rexroth IndraDrive Dimensions – Reinforced Braking Resistors HLR01.1 Fixed Resistors IP 20 Type A Fig. 6-15:Type A5 – A6 Type Dimensions in mm Weight in kg H B T H1 B1 D A5 586 185 120 526 150 M6 5,2 A6 686 185 120 626 150 M6 6,2 Fig.
Mounting and Installation 6-15 Rexroth IndraDrive Steel Grid Fixed Resistors IP 20 Type B Fig.: 6-17 Type Type B1 – B4 Dimensions in mm Weight in kg B T H B1 T1 D B1 490 300 270 380 270 M10 9,5 B2 490 400 270 380 370 M10 13 B3 490 600 270 380 570 M10 22 B4 490 800 270 380 770 M10 33 B5 490 1000 270 380 970 M10 44 Tab.
6-16 Mounting and Installation Rexroth IndraDrive Steel Grid Fixed Resistors IP 20 Type C Fig.: 6-18 Type Type C1 – C7 Dimensions in mm Weight in kg B T H B1 T1 D C2 595 490 710 570 380 M10 56 C3 795 490 710 770 380 M10 80 C4 995 490 710 970 380 M10 93 Tab.: 6-2 Dimensions table braking resistor type C Note: Under consideration of the technical data for the minimum braking resistance and the brake chopper, other braking resistors can be used alternatively.
Mounting and Installation 6-17 Rexroth IndraDrive Dimensions – Motor Filter HMF 104 270 305 U2 V2 W2 PE 330 277 75 125 MBZU0064EN00.FH9 Fig. 6-19: Dimensions motor filter HMF01.1A-N0K2-D0045-A-500-NNNN H B1 B T MBZU0056EN00.fh9 Fig. 6-20: Type Dimensions motor filter HMF01.1A-N0K2-D0073-A-500-NNNN, HMF01.1A-N0K2-D0095-A-500-NNNN and HMF01.
6-18 Mounting and Installation Rexroth IndraDrive 770 Arrangement of the Components HCS03.1 / Motor Filter HMF U2 V2 W2 PE 75 125 Fig. 6-22: MBZU0066EN00.FH9 Sample mounting HCS03.1E-W0070 / HMF01.
Mounting and Installation 6-19 Rexroth IndraDrive B B1 H MBZU0057EN00.FH9 Fig. 6-23: HCS03.1E- H B B1 W0100 720 225 175 W0150 720 225 175 W0210 780 350 250 Fig. 6-24: DOK-INDRV*-FU*********-IB01-EN-P Sample mounting HCS03.1E-W0100 0150 0210 / motor filter Dimensions table for sample mounting HCS03.
6-20 Mounting and Installation Rexroth IndraDrive 1075 770 Arrangement of the Components HCS03.1 / Motor Filter and Mains Filter U2 V2 W2 PE PE X3 L3 L2 L1 L1 L2 L3 PE PE PE 75 125 MBZU0067EN00.FH9 Fig. 6-25: Arrangement HCS03.1E-W0070 / motor filter and mains filter + HAS05.1-001 + HAS05.
Mounting and Installation 6-21 Rexroth IndraDrive B B1 H MBZU0068EN00.FH9 Fig. 6-26: HCS03.1E- H B1 B W0100 980 175 225 W0150 980 175 225 W0210 1090 250 350 Fig. 6-27: DOK-INDRV*-FU*********-IB01-EN-P Arrangement of device 0100, 0150, 0210 / motor filter and mains filter Dimensions table for sample mounting HCS03.1E-..
6-22 Mounting and Installation Rexroth IndraDrive Combination of Drive Controllers of the Rexroth IndraDrive C Product Range Fig. 6-28: Rexroth IndraDrive C components Note: Observe that using HAS04 accessory at the HCS arranged at the utmost left position requires additional space of 30 mm. Rexroth IndraDrive components are arranged in line to the right starting from the supplying device. Arrange the drive controllers with high capacity as close to the supplying unit as possible.
Mounting and Installation 6-23 Rexroth IndraDrive Dimension Z is significantly determined by the involved components. The table below contains the dimensions Z between the component arranged to the left and the component arranged to the right. Component left Component right HCS02.1E-W0012 HCS02.1E-W0012 HCS02.1E-W0028 HCS02.1E-W0028 HCS02.1E-W0054 HCS02.1E-W0054 HCS02.1E-W0070 HCS02.1E-W0070 HCS02.1E-W0070 HCS02.1E-W0028 HCS02.1E-W0054 HCS02.1E-W0012 HCS02.1E-W0070 HCS02.1E-W0028 HCS03.
6-24 Mounting and Installation Rexroth IndraDrive Multiple-Line Arrangement of Drive Controllers Control Cabinet with Multiple-Line Structure Note: Particular attention should be paid to the maximum allowed air intake temperature of components when they are arranged in multiple lines in the control cabinet. Where necessary, cooling air guides are to be provided with blowers specially used for this purpose.
Mounting and Installation 6-25 Rexroth IndraDrive 6.2 Electrical Installation Note: For successful project planning of the electrical installation with regard to EMC, also observe the Project Planning Manual on the drive system Rexroth IndraDrive. The explanations below will help you detect and remove malfunction. Rules for Design of Installations with Drive Controllers in Compliance with EMC The following rules are the basics for designing and installing drives in compliance with EMC.
6-26 Mounting and Installation Rexroth IndraDrive with low impedance, in order to avoid low-frequency interference current (in the mains frequency range) on the shield. Connection of Mains Choke to Drive Controller Keep connection lines of mains chokes as short as possible and twist them. Installation of Motor Power Cable • Preferably use the motor power cables with shield provided by Rexroth. If you use other motor power cables, they have to be run in shielded form.
Mounting and Installation 6-27 Rexroth IndraDrive Badly grounded control cabinet doors act as antennas. It is recommended to connect the doors to the control section on top, in the middle and on the bottom via short equipment grounding conductors with a cross section 2 of at least 6 mm or, even better, via grounding straps with the same cross section. Make sure connection points have good contact. Fig.
6-28 Mounting and Installation Rexroth IndraDrive Design and Installation in Interference-Free Area of Control Cabinet (Area A) Arranging the Components in the Control Cabinet When arranging the components in the control cabinet, it is recommended that you place the components and electrical elements (switches, pushbuttons, fuses, terminal connectors) in the interferencefree zone A with a distance of at least d1 = 200 mm to the components in both other zones B and C.
Mounting and Installation 6-29 Rexroth IndraDrive Shielding Mains Supply Lines in Control Cabinet Mains Filters for AC Drives If there is a high degree of interference injection to the power input line within the control cabinet, in spite of you having observed the above instructions (to be found out by standard EMC measurement), the lines in area A have to be routed in shielded form.
6-30 Mounting and Installation Rexroth IndraDrive Design and Installation in Strongly InterferenceSusceptible Area of Control Cabinet (Area C) Area C mainly concerns the motor cables, especially at the connection point at the device. Influence of the Motor Power Cable The discharge capacitance is limited to ensure compliance with the limit values. The calculation of the discharge capacitance can be found in the "Calculations" chapter.
Mounting and Installation 6-31 Rexroth IndraDrive Area B drive controllers Area C parallel routing: length max. 300 mm cable duct 1: mains connection lines cable duct 2: motor cable motor cable: shield contact via clips at least at one point: alternatively at device or on mounting plate at control cabinet outlet control cabinet outlet motor cables Fig.
6-32 Mounting and Installation Rexroth IndraDrive Ground Connections Housing and Mounting Plate By means of appropriate ground connections it is possible to avoid the emission of interference, because interference is discharged to earth on the shortest possible way.
Mounting and Installation 6-33 Rexroth IndraDrive Installing Signal Lines and Cables Line Routing For measures to prevent interference see the Project Planning Manuals of the respective device. In addition, observe the following recommendations: Signal and control lines have to be routed separately from the power cables with a minimum distance of d5 = 100 mm (see Fig. 6-31: ) or with a grounded separating sheet. The optimum way is to route them in separate cable ducts.
6-34 Mounting and Installation Rexroth IndraDrive General Measures of Radio Interference Suppression for Relays, Contactors, Switches, Chokes, Inductive Loads If, in conjunction with electronic devices and components, inductive loads, such as chokes, contactors, relays are switched by contacts or semiconductors, appropriate interference suppression has to be provided for them. In the case of d.c. operation, this is achieved by arranging freewheeling diodes and in the case of a.c.
Mounting and Installation 6-35 Rexroth IndraDrive Installing the 24V Supply HCS02 HMS HMD HCS02 HMV As a matter of principle, the 24V supply of the components of the drive system Rexroth IndraDrive has to be installed in star-shaped form, i.e. for each group of drive controllers or third-party components it is necessary to run separate supply lines. This, too, applies to multiple-line arrangement in the case of supply from a supply unit, for example. 24V 1) 2) PE DA000006v01_nn 1) 2) Fig.
6-36 Mounting and Installation Rexroth IndraDrive Connection Diagram HCS02 shield connection XS1 X1out 1-8 bus connection OUT X1:In bus connection IN X13:1 0V control voltage X1in X1:Out 1-8 X13:2 0V X13:3 +24V X13:4 +24V DC bus L+ L+ LLX3 mains connection L1 L1 L2 L2 L3 L3 X5 motor connection A1 A1 A2 A2 A3 A3 X6 1 MotTemp+ motor temperature monitoring 2 MotTemp- 3 +24VBr motor holding brake 4 0VBr X9 1 1 external braking resistor 2 2 XS2 shield connection ansc
Connection diagram (terminal bar) control voltage (terminal bar) DC bus power voltage ribbon cable bus connection .. .. 0V +24 V L- L+ X9 1 2 brakeresistor X3 L1 L2 L3 power connection X5 A1 A2 A3 drive controller holding brake U X6 0V +24 V L- L+ encoder connection optionaly AC - Motor shield support Motor cable control unit interface PTC / NTC / KTY84 (in dependence of motor type) 2 3 M D X1 A 3 B Fig.
6-38 Mounting and Installation Rexroth IndraDrive Connections and Connectors Power Sections HCS02.1E-W0012 1 2 3 4 XS1 X6 XS2 1 2 3 4 X5 X3 X13 hcs0012_front.fh7 X3: X5: X6: X13: XS1: XS2: Fig. 6-37: hcs0028_x3_x5_x6.fh7 Mains connection Motor connection Motor temperature monitoring and motor holding brake Control voltage connection Shield connection of signal cables Shield connection of motor cable HCS02.
Mounting and Installation 6-39 Rexroth IndraDrive Power Sections HCS02.1E-W0028, -W0054, -W0070 1 2 3 4 XS1 X6 XS2 X5 X1 in 1 2 3 4 X1 out X13 L+ X3 L- hcs0028_x3_x5_x6.fh7 1 2 3 4 hcs0028_front.fh7 X9 X6 XS2 X3 X5 hcs0054_x3_x5_x6_x9.fh7 X1: X3: X5: X6: X9: X13: XS1: XS2: Fig.
6-40 Mounting and Installation Rexroth IndraDrive Power Sections HCS03.1 9 1 1.1 2 24V 0V 3 PE 5 X5 A1 A2 X3 A3 L1 L2 L3 L+ L+ L- L- X6 4, 6 7 8 PE 1, 1.1: 2: 3: 4: 5: 6: 7: 8: Fig. 6-39: Module bus X1 Control voltage; +24 V and 0 V DC bus; L+ and LConnection of equipment grounding conductor Motor Shield connection of motor cable Motor temperature monitoring and motor holding brake (X6) Mains connection Connections at power section HCS03.
Mounting and Installation 6-41 Rexroth IndraDrive 1 2 3 4 X6 A1 A2 A3 PE X5 L1 L2 L3 PE X3: X5: X6: Fig. 6-40: X3 Mains connection Motor connection Connection of motor temperature, motor holding brake Connections at power section (bottom) HCS03.1E-W0070 X1, Module Bus The module bus permits data exchange between the drive controllers. Graphic Representation X1 out X1 in X1f2.FH7 Fig. 6-41: Design Type No.
6-42 Mounting and Installation Rexroth IndraDrive X3, Mains Connection High electrical voltage! Danger to life, severe bodily harm by electric shock! ⇒ Always operate the drive controller with plugged on connector! DANGER Design HCS02.1E- Type Number of poles Type of design W0012 Screw terminal block 4 Pins on device W0028 Screw terminal block 4 Pins on device W0054 Screw terminal block 4 Pins on device W0070 Screw terminal block 4 Pins on device HCS03.1E- Type No.
Mounting and Installation 6-43 Rexroth IndraDrive HCS03.1E- Cross section single-wire [mm²] Cross section multi-wire [mm²] Cross section in AWG W0070 16 - 6 W0100 35 - 2 W0150 50 2*25 0 W0210 95 2*50 4/0 Fig. 6-47: Connection cross section Tightening Torque HCS02.1E- Tightening torque [Nm] W0012, W0028 0,5 – 0,6 W0054, W0070 1,2 – 1,5 Fig. 6-48: Tightening torques HCS03.1E- Tightening torque [Nm] W0070 1,5 W0100, W0150 6 W0210 25 Fig.
6-44 Mounting and Installation Rexroth IndraDrive HCS03.1E- Type No. of poles Type of design W0070 Connector 4 Screw connection W0100, W00150 Terminal block 3 Screw connection for M6 ring cable lugs W0210 Terminal block 3 Screw connection for M10 ring cable lugs Fig. 6-51: Design Identification of the individual connections: Identification Significance A1 phase 1 A2 phase 2 A3 phase 3 (PE) Fig.
Mounting and Installation 6-45 Rexroth IndraDrive Connection of the Motor Power Cable For the connection between drive controller and motor, use Rexroth motor power cables (see documentation "Rexroth Connection Cables; Selection Data", DOK-CONNEC-CABLE*STAND-AUxx-EN-P). Damage to the drive controller! ⇒ CAUTION Strain relief for the motor power cables cannot be provided at the drive controller.
6-46 Mounting and Installation Alternative 1 Rexroth IndraDrive Connect cable shield to a ground bus. The maximum distance between ground bus and device connection is 100 mm. For this purpose take the given length of the single strands at the cable end into account for readymade Rexroth motor power cables. 1 6 5 4 3 2 7 motorkabel_schirmauflage_b.fh7 1: 2: 3: 4: 5: 6: 7: Fig.
Mounting and Installation 6-47 Rexroth IndraDrive Alternative 2 Connect cable shield to a ground bus. The cable length between device and ground bus mustn't be more than a max. of 1 m. For this purpose prepare the motor cable in accordance with the description below: 1 2 3 A 7 6 4 5 8 motorkabel_schirmauflage_a.fh7 1: 2: 3: 4: 5: 6: 7: 8: A: Fig.
6-48 Mounting and Installation Rexroth IndraDrive • In addition, make sure there is sufficient strain relief for the motor power cable as near as possible to the control cabinet outlet of the motor power cable (8). Note: Do not remove the shield of the motor cable between ground bus and device. If the motor cables are routed to the control cabinet via flange boxes, the shield is directly connected to the wall of the control cabinet over a large surface area via the housing of the flange box.
Mounting and Installation 6-49 Rexroth IndraDrive Connection Cross Section HCS02.1N-W0012, -W0028, -W0054, -W0070: Cross section single-wire [mm²] Cross section multi-wire [mm²] Cross section in AWG 0.14-1.5 0.14-1.5 28-16 Fig. 6-61: Connection cross section HCS03.1E-W0070: Cross section single-wire [mm²] Cross section multi-wire [mm²] Cross section in AWG 1,5 1,5 16 Fig. 6-62: Connection cross section X6 (HCS03.1E-W0070) HCS03.
6-50 Mounting and Installation Rexroth IndraDrive Maximum allowed braking current: • HCS02.1N-W0012…-W0070: 2.0 Aeff • HCS03.1N-W0070…-W0210: 2.0 Aeff CAUTION Where braking currents are higher, the motor holding brake must be activated by means of an external contact element. The contact elements used in the drive controller are subject to wear. Guaranteed number of switching actions at max. time constant of load < 50 ms (LBrake/(24V/IBrake)): 250.000. Maximum switching frequency: 0.
Mounting and Installation 6-51 Rexroth IndraDrive HCS03.1E- Type No. of poles Type of design W0070 Connector 2 Screw connection W0100..0210 Screw terminal block 2 Screw connection Fig. 6-66: Design Identification of the individual connections:: Identification 1 Phase 1 2 Phase 2 Fig. 6-67: Connection Cross Section Significance Identification of the individual connections HCS02.
6-52 Mounting and Installation Rexroth IndraDrive X13, Control Voltage (+24 V, 0 V) The external 24V supply is applied via connection X13 for • the power section of the drive controller • brake control via X6 and • the control section of the drive controller With regard to control voltage supply, the HCS02.1 drive controllers are available in two different designs. • Standard design HCS02.1E-W****-***N: The control voltage is supplied by an external 24V power supply unit. • Optional design HCS02.
Mounting and Installation 6-53 Rexroth IndraDrive Design Type Number of poles Type of design Spring power 4 Pins on connector Cross section single-wire [mm²] Cross section multi-wire [mm²] Cross section in AWG 0.14-1.5 0.14-1.5 28-16 Fig. 6-72: Connection Cross Section Design Fig. 6-73: Connection Connection Cross Section 3, 4 +24 V 1, 2 0V Fig. 6-74: Load Capacity Lines +24 V and 0 V Identification of the individual connections looping through the power supply up to max.
6-54 Mounting and Installation Rexroth IndraDrive The control voltage supply is routed to the connection X13 from above (see following figure). 1: lines to control voltage supply Fig. 6-77: Control voltage supply at X13 Optional Control Voltage (HCS03) Control voltage is supplied by an external 24V power supply unit.
Mounting and Installation 6-55 Rexroth IndraDrive Cable Routing to the Left: device 1 (control voltage connection) device 2 (control voltage connection) device 1 (control voltage connection) device 2 (control voltage connection) correct incorrect steuerspg nach links Fig.
6-56 Mounting and Installation Rexroth IndraDrive DC Bus (L+, L-) By means of the DC bus connection, the following components are linked: • several drive controllers to one another, and • drive controllers to additional components in order to • increase the stored power by means of DC bus capacitor unit • increase the permissible braking resistor continuous output by means of DC bus resistor unit Design Tightening Torque DC Bus Wiring The DC bus is connected via contact bars and screws (M6) at the front
Mounting and Installation 6-57 Rexroth IndraDrive Cable Routing to the Left: Damage caused by voltage arcing! ⇒ CAUTION Insulate ring terminals and connecting lines with a heat-shrinkable sleeve. Afterwards only strip the insulation of the contact surface of the ring terminal. Realize connections according to figure. device 1 (DC bus connection) device 2 (DC bus connection) device 1 (DC bus connection) device 2 (DC bus connection) correct incorrect DC bus nach links_1f4 Fig.
6-58 Mounting and Installation Rexroth IndraDrive Cable Routing to the Right: Damage caused by voltage arcing! ⇒ CAUTION Insulate ring terminals and connecting lines with a heat-shrinkable sleeve. Afterwards only strip the insulation of the contact surface of the ring terminal. device 1 (DC bus connection) device 2 (DC bus connection) device 1 (DC bus connection) device 2 (DC bus connection) correct incorrect DC bus nach rechts_1f4.fh7 Fig.
Mounting and Installation 6-59 Rexroth IndraDrive XS1, Shield Connection (Control Wires) XS1 hcs_xs1.fh7 Fig. 6-82: Shield connection XS1 Connection for shields of lines connected to the control section (only for lines with connectors, which do not have their own shield connection). Note: Always connect shields of control lines with a large metal-tometal contact surface.
6-60 Mounting and Installation Rexroth IndraDrive XS2, Shield Connection HCS02 (Motor Cable) XS2 XS2 hcs0054_XS2.fh7 hcs0028_XS2.fh7 Fig. 6-83: XS2 XS2 is used for mounting the accessory HAS02.1 for shield connection of the motor cable.
Mounting and Installation 6-61 Rexroth IndraDrive Control Sections BASIC OPENLOOP - CSB01.1N-FC Front View with Connections at Basic Circuit Board: Front view Connec tion point Strande d wire [mm²] AWG X31 / X32 0,08-1,5 28-14 Tighte Description ning torque [Nm] - digital and analog inputs/outputs; voltage input (24V, 0V) Figure 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 DA000051v01_nn.
6-62 Mounting and Installation Rexroth IndraDrive Functions Note: Factory settings depend on the firmware. Following settings are valid for firmware MPx04. Function relay contact Rel 3 Connec tion Factory setting Nominal data Technical data no Rel 3 X11.3 com Rel 3 X11.4 "speed reached", S-0-0013 AC250V /2A DC30V /1A nc Rel 3 X11.5 no Rel 2 X12.3 com Rel 2 X12.4 "Ready", P-0-0115 AC250V /2A DC30V /1A nc Rel 2 X12.5 no Rel 1 X12.
Mounting and Installation 6-63 Rexroth IndraDrive Function Connec tion voltage input EAn1+ X32.4 EAn1- X32.5 EAn2+ X32.1 EAn2- X32.2 AI1+ X36.1 AI1- X36.2 AI2+ X36.3 AI2- X36.4 voltage output AN1 X32.9 reference potential for analog voltage output A_GND X32.3 voltage output AN2 X35.3 reference potential for analog voltage output A_GND X35.4 +24V X31.8 0V X31.9 +24V X35.1 0V X35.
6-64 Mounting and Installation Rexroth IndraDrive BASIC PROFIBUS - CSB01.1N-PB Front View with Connections at Basic Circuit Board Front view Connec tion point Strande d wire [mm²] AWG X8 0,25-0,5 - Tighte Description ning torque [Nm] - Figure encoder evaluation ENS 1 9 8 15 DA000053v01_nn.FH9 X31 / X32 0,08-1,5 28-14 - digital inputs/outputs; voltage input (24V, 0V) 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 DA000051v01_nn.
Mounting and Installation 6-65 Rexroth IndraDrive Functions Note: Factory settings depend on the firmware. Following settings are valid for firmware MPx04. Note: Observe that the connections X32.6, X32.7 and X32.8 can be configured as digital input (E8, E9, E10) or digital output (A8, A9, A10).
6-66 Mounting and Installation Serial Interface (RS232) Rexroth IndraDrive The serial interface (RS232) is required for programming, parameterization and diagnosis during commissioning and servicing. Connection point Type No. of poles Stranded wire [mm²] Description X2 MiniDin, female (device) 8 0,25-0,5 serial interface Figure 5 2 1 4 3 8 7 6 DA000049v01_nn.FH9 Fig.
Mounting and Installation 6-67 Rexroth IndraDrive Accessories HAS Overview DOK-INDRV*-FU*********-IB01-EN-P Fig. 6-92: Accessories HAS01 Fig.
6-68 Mounting and Installation Rexroth IndraDrive Basic Accessories HAS01 Accessories for mounting and installation of drive controllers in combination, i.e. next to each other. Type Code: Fig. 6-94: Type code HAS01.1 As adjusted to the device widths, the basic accessories are supplied with or without contact bars. HAS01 without contact bars and HAS01 with contact bars. • Example 1: Without contact bars (-NNN). • Example 2: With contact bars to interconnect the DC buses (e.g.
Mounting and Installation 6-69 Rexroth IndraDrive Note: Please observe that the contact bars of the basic accessories HAS01 are used for connection to the drive controller to the left side.
6-70 Mounting and Installation Rexroth IndraDrive Accompanying Note The accessories will be delivered with a accompanying note. The accompanying note shows the parts of the accessories. Fig.
Mounting and Installation 6-71 Rexroth IndraDrive Mounting the Parts "Bar" and "End Piece" from the HAS01 Accessories The parts "bar" and "end piece" increase the current carrying capacity of the DC bus connection by reducing the involved contact resistances. 1: 2: 3:: Fig. 6-96: bar end pieces (right end) end pieces (left end) Mounting bar and end piece from HAS01 • Ad 1: Use the bars contained in all HAS01.1-***-072-** at L+ and L- as illustrated above.
6-72 Mounting and Installation Rexroth IndraDrive Shield Connection HAS02 Accessories for appropriate connection of the motor cable to the drive controller, especially the shield connection of the motor cable. There are appropriate HAS02 available for the different connection cross sections of the drive controllers. Type Code Fig. 6-97: Type code HAS02.
Mounting and Installation 6-73 Rexroth IndraDrive Applications The HAS02 accessories are used to • provide the motor connection cables with a strain relief, • connect the shield of the motor connection cables to the drive controller. Scope of Supply The HAS02 accessories are available as an option, they are not part of the standard scope of supply.
6-74 Mounting and Installation Rexroth IndraDrive Fig.
Mounting and Installation 6-75 Rexroth IndraDrive Fig.
6-76 Mounting and Installation Rexroth IndraDrive Fig.
Mounting and Installation 6-77 Rexroth IndraDrive Fig.
6-78 Mounting and Installation Rexroth IndraDrive Mounting the HAS02 Accessories The sheet metal of the accessories is screwed to the bottom of the drive controller (see also figure below): • Unscrew bottom or bottom left fixing screw of drive controller. • Put sheet metal of accessories to bottom of drive controller and screw down fixing screw of drive controller again.
Mounting and Installation 6-79 Rexroth IndraDrive Mounting Shield Connection HAS02.1-004-NNN-NN to Drive Controller HCS03.1E-W0070: 1. By means of supplied screws, fasten shield angle steel to bottom of drive controller. 2. Fix support to shield angle steel as required. PE shield angle steel hrau support clip methode of installation, for the motor cable selectable MZZU0012EN00.FH9 Fig. 6-103: Shielding plate HAS02.1-004-NNN-NN at the bottom of the drive controller HCS03.1E-W0070 3.
6-80 Mounting and Installation Rexroth IndraDrive PE PE install the support on guide rail with 2 screws angle plate Installation 2 Installation 1 clip MZZU0009EN00.FH9 Fig. 6-104: Shielding plate HAS02.1-005-NNN-NN at the bottom of the drive controller HCS03.1E-W0100 / 0150 3. Fix shield of motor cable to shielding plate with a clip. Note: Mounting Shield Connection HAS02.1-008-NNN-NN to Drive Controller HCS03.1E-W0210: Adapt the size of the clip to the motor cable cross section. 1.
Mounting and Installation 6-81 Rexroth IndraDrive According to required power supply cable and motor cable routing, it is possible to mount shielding plate for shield connection in different positions. 3. Fix shield of power supply cable and motor cable to shielding plate with a clip. Fig. 6-105: Shielding plate HAS02.1-008-NNN-NN at the bottom of the drive controller HCS03.1E-W0210 Note: Adapt the size of the clip to the power supply cable and motor cable cross sections.
6-82 Mounting and Installation Rexroth IndraDrive PE X3 L3 L2 L1 L1 L2 L3 PE PE PE shielding plate support clip MBZU0013EN01.FH9 Fig. 6-106: Shielding plate HAS02.1-006-NNN-NN at the bottom of the mains filter (nominal current 50 A) 3. Fix shield of motor cable to shielding plate with a clip. Note: Shield Connection of Power Supply Cable HAS02.1-007-NNNNN with Mains Filter Mounted The shield terminals must not be used to provide strain relief. 1.
Mounting and Installation 6-83 Rexroth IndraDrive Fig. 6-107: Shielding plate HAS02.1-007-NNN-NN at the bottom of the mains filter (nominal current 80 A / 106 A) 3. Fix shield of power supply cable to front side of mains filter with a clip. For shield connection of the power supply cable at the mains filter, clips of various sizes are available according to cross sections and number of cables, which are hung up to the punched holes.
6-84 Mounting and Installation Rexroth IndraDrive Accessories HAS05.1 Type code HAS05.1: Fig. 6-108: Type code HAS05.
Mounting and Installation 6-85 Rexroth IndraDrive Applications: HAS05-Typ Application HAS05.1-001-NNN-NN is used for electrical connection between motor filter HMF01.1A-D0K2-D0045 and HCS03.1E-W0070, as well as between mains filter HNK01.1A-A075-E0050 and HCS03.1E-W0070 HAS05.1-002-NNN-NN is used for electrical connection between mains filter HNK01.1A-A075-E0050 and HCS03.1E-W0070, if a motor filter has been mounted between HCS03.1 and mains filter Fig. 6-109: HAS05 type Scope of Supply: The HAS05.
6-86 Mounting and Installation Rexroth IndraDrive HCS03.1E-W0070 HAS05.1-001 HMF01.1A-D0K2-D0045 MZZU0016EN00.FH9 Fig. 6-111: Arrangement HCS / HAS / HMF When mounting the motor filter HMF01.1 to HCS03.1, connection from filter to drive controller is established via connector X5 of HAS05.1-001. When mounting the mains filter HNK01.1 to HCS03.1, connection from filter to drive controller is established via connector X3 of HAS05.1-001. Accessories HAS05.1-002-NNN-NN HNK01.1 HMF01.
Commissioning and Parameterization 7-1 Rexroth IndraDrive 7 Commissioning and Parameterization 7.1 Basics Control Panels IndraDrive controllers are equipped with a control panel; its front consists of a display and keys located underneath it. The display shows operating states, command and error diagnoses, as well as present warnings. By means of the keys you can make settings, call information and trigger some commands.
7-2 Commissioning and Parameterization Rexroth IndraDrive application-specific parameter values can be stored in the working memory (volatile memory), too.
Commissioning and Parameterization 7-3 Rexroth IndraDrive Master Communication Interfaces The basic functions of master communication apply to each type of master communication, in the case of IndraDrive devices to SERCOS interface, field bus interface, parallel and analog interface.
7-4 Commissioning and Parameterization Rexroth IndraDrive Parameterization Mode / Operating Mode Communication Phases According to SERCOS Specification Note: For drives of the IndraDrive range the communication phases according to SERCOS specification are valid for all kinds of master communication. The only restriction is that for field bus and parallel/analog interface only the communication phases 2, 3 and 4 are supported.
Commissioning and Parameterization 7-5 Rexroth IndraDrive • all factory-specific settings (can only be changed via master password) • P3: When changing from P2 → P3 only the parameters that can be changed in phase 2 (see above) are checked.
7-6 Commissioning and Parameterization Rexroth IndraDrive The procedure comprises several steps and is controlled by the master by presetting communication phases –1 to 4 and starting/completing the following commands: • S-0-0127, C0100 Communication phase 3 transition check • S-0-0128, C0200 Communication phase 4 transition check . When the drive has reached communication phase 4 without error, the display reads "bb".
Commissioning and Parameterization 7-7 Rexroth IndraDrive • C0110 Length of MDT (S-0-0010) odd • C0111 ID9 + Record length - 1 > length MDT (S-0-0010) • C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) error • C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error • C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005) • C0115 T2 too small • C0116 T3 (S-0-0008) within MDT (S-0-0089 + S-0-0010) • C0139 T2 (S-0-0089) + length MDT (S-0-0010) > TScyc (S-00002) • If necessary, checking parameters for field bus communica
7-8 Commissioning and Parameterization Rexroth IndraDrive • C0285 Type of construction of motor P-0-4014 incorrect • C0286 Several motor encoders connected • C0287 Error during initialization of motor data (->S-0-0022) • C0288 Rotary scaling not allowed • C0289 Error at init. of synchr. motor with reluctance torque • C0290 Error when reading encoder data => measuring encoder • C0291 Incorr. prarmeterization of measuring enc.
Commissioning and Parameterization 7-9 Rexroth IndraDrive Default Settings in the Motor Encoder Data Memory ("Load Defaults Procedure") Loading Basis Parameter The following Rexroth housing motors are equipped with an encoder data memory: • MHD, MKE, MKD • MSK, MSH, MAD, MAF, MAL Note: The Bosch motor with the type designation "SF..." that can be operated with IndraDrive controllers is equipped with an encoder data memory, too.
7-10 Commissioning and Parameterization Diagnostic Messages Rexroth IndraDrive • While the default control loop parameter values and the motor type parameter is loaded the controller signals: C07_0 Load defaults procedure com. (load controller param.) • If the parameter values in the encoder data memory cannot be read: C0706 Error when reading the controller parameters • If the motor type connected to the controller has changed: F2008 RL The motor type has changed.
Commissioning and Parameterization 7-11 Rexroth IndraDrive Note: DOK-INDRV*-FU*********-IB01-EN-P In the majority of cases, the controller settings stored in the motor encoder data memory provide a useful and reliable control loop setting. In exceptional cases, however, it may be necessary to make the settings with regard to the specific application.
7-12 Commissioning and Parameterization 7.2 Rexroth IndraDrive Parameterization Control Panels Standard Control Panel Can be used with control sections CSB01, CSH01, CDB01. Fig.
Commissioning and Parameterization 7-13 Rexroth IndraDrive Comfort Control Panel Fig. 7-3: Comfort control panel Note: The comfort control panel • can be used with control sections CSB01.1N-FC • requires firmware FWA-INDRV*-MPB-04V12 at least • only supports voltage controlled operation (V/f control) • must have been plugged in when the drive controller is switched on so that it can be recognized • is suited for hot plug, i.e.
7-14 Commissioning and Parameterization Rexroth IndraDrive The comfort control panel in particular supports the commissioning of asynchronous third-party motors – another commissioning tool is not required for this purpose. The required steps are given by the display, the corresponding input is made by means of the keys of the control panel. Editing Mode The editing mode is the status in which you can enter or change values by pressing the key Prog+ or Mon at the control panel.
Commissioning and Parameterization 7-15 Rexroth IndraDrive Display Mask The figure below illustrates a typical display mask of the comfort control panel. 1: 2: 3: 4: 5: Fig.
7-16 Commissioning and Parameterization Rexroth IndraDrive Menu Structure The diagram below shows the complete menu structure of the control panel. The individual modes (monitor, operating and parameter modes) are described in the next sections. Level 1 Level 2 Level 3 Main screen Clear error DE / EN / … (Language setting) Mode selection Mode selection Monitor Motor potentiometer Torque/Force limit value Parameterization Parameter management Monitor Single parameter display Cycl.
Commissioning and Parameterization 7-17 Rexroth IndraDrive Level 1 Level 2 Parameterization Guided parameterization Change single parameter (see description of "Parameterization") Parameter management Load basic parameters Save/Load parameters (see description of "Parameter management") Fig.
7-18 Commissioning and Parameterization Start Screen When you switch the drive controller on, the following start screen appears after a boot sequence with various displays: Fig. 7-7: Main Screen Rexroth IndraDrive Start screen After the start screen, the control panel automatically displays the main screen: Fig. 7-8: Main screen On the main screen you can: • With Clear error, clear errors which are present: First remove cause of error. Then press Esc key.
Commissioning and Parameterization 7-19 Rexroth IndraDrive • Go to Mode selection: Press key . Selection list is displayed: ► Fig. 7-9: Mode selection ▲ ▼ ► With key or select desired menu item. Symbol ">" in left-most position marks selected menu item. Then press key . • Go directly to Monitor: Press Mon key. Monitor Go to Monitor • Starting point: main screen; several times you get to main screen. By means of By pressing key Esc key, you might possibly have to exit editing mode before.
7-20 Commissioning and Parameterization Single Parameter Display Rexroth IndraDrive With Single parameter display it is possible to display the value of any parameter. How to select the parameter: • Select Single parameter display. ► • Press key . Last selected parameter is displayed. ◄► • With keys Prog+, Mon, Enter, , , enter desired parameter (see also example below): Prog+, Mon: change setting Enter, , : move cursor to the left or to the right ◄► Fig. 7-11: Enter parameter • Press Enter key.
Commissioning and Parameterization 7-21 Rexroth IndraDrive Cyclic Parameter List Display Up to 8 arbitrary parameters can be displayed. The parameters can be displayed successively. Parameter P-0-4024 contains the IDNs of the parameters which can be selected for cyclic parameter display.
7-22 Commissioning and Parameterization History, Error Memory Rexroth IndraDrive • Error memory (P-0-0192) with indication of time during which error is present (P-0-0193) • Press ► key. • Diagnostic message memory (S-0-0375) with indication of time during which diagnostic message is present (P-0-0105) • Press ► key. • Operating hours: Control section (P-0-0190) Power section (P-0-0191) The operating hours are displayed as seconds.
Commissioning and Parameterization 7-23 Rexroth IndraDrive Bipolar Torque/Force Limit Value • Starting point: main screen several times you get to main screen. By means of By pressing key Esc key, you might possibly have to exit editing mode before. ◄ ► • Press key. Mode selection is displayed. • Select Bipol. torque/force limit val. ► key. • Press Following display appears. Enter desired value for "bipolar torque/force limit value" (parameter S-0-0092). Fig.
7-24 Commissioning and Parameterization Rexroth IndraDrive Parameterization • Go to main screen. several times you get to main screen. By means of By pressing key Esc key, you might possibly have to exit editing mode before. ◄ ► • Press key . Mode selection is displayed. • Select Parameterization ► • Press key . Parameter mode is automatically displayed. Following display appears: Fig.
Commissioning and Parameterization 7-25 Rexroth IndraDrive Guided Parameterization • Select Guided Parameterization. ► • Press key.
7-26 Commissioning and Parameterization Level 1 Rexroth IndraDrive Level 2 Level 3 Enter scaling (P-0-0214) Enter offset (P-0-0215) Enter dead zone (P-0-0216) Enter time constant input filter (P-0-0217) continue with Positive velocity limit value (S-0-0038) Motor potentiometer Enter step size (P-0-1217) Enter acceleration (P-0-1215) Enter deceleration (P-0-1216) Fixed cmd value (P-0-1206) (see description below) Enter positive velocity limit value (S-0-0038) Enter negative velocity limit value (
Commissioning and Parameterization 7-27 Rexroth IndraDrive Enter Motor Data: At the beginning of parameterization you must enter the motor data (see type plate of motor). Fig. 7-19: Data field in which you can make inputs is highlighted in black.
7-28 Commissioning and Parameterization Rexroth IndraDrive Fixed Command Value (P-0-1206): After selecting Fixed cmd value the following display appears (example): Fig. 7-21: Data field in which you can make inputs is highlighted in black (editing mode). Fixed command value (example) • To display all fixed command values: • In editing mode: Press • Else: Press Prog+ ▲ or ▼ key or Mon key • To modify fixed command values (in editing mode only): Press Prog+ or Mon key.
Commissioning and Parameterization 7-29 Rexroth IndraDrive Change Single Parameter • Go to main screen. several times you get to main screen. By means of By pressing key Esc key, you might possibly have to exit editing mode before. ◄ ► • Press key . Mode selection is displayed. • Select Parameterization. ► • Press key . Parameter mode is automatically displayed. Following display appears: Fig.
7-30 Commissioning and Parameterization Rexroth IndraDrive • Select Change single parameter ► • Press key. The following display appears: Fig. 7-24: Select parameter ◄► • With keys Prog+, Mon, Enter, , , enter desired parameter (see also example below): Prog+, Mon: change setting Enter, , : move cursor to the left or to the right ◄► Fig. 7-25: Enter parameter • After desired parameter has been entered: Press Enter key. • Press Esc key. ► • Press key . Value of parameter is displayed.
Commissioning and Parameterization 7-31 Rexroth IndraDrive ▼ • Press key. Name and unit of parameter are displayed. Parameter Management • Go to main screen. several times you get to main screen. By means of By pressing key Esc key, you might possibly have to exit editing mode before. ◄ ► • Press key . Mode selection is displayed. • Select Parameter management ► • Press key . Parameter mode is automatically displayed. Following display appears: PM: Fig.
7-32 Commissioning and Parameterization Rexroth IndraDrive • Press Prog+ key. Basic parameters are loaded. • If you don't want to load basic parameters: key. Press ◄ Save/Load Parameters (Copying Parameter Sets) You can save the parameter set of a drive controller on the comfort control panel and then the load the parameter set which was saved to another drive controller. The parameter set which was saved contains the parameters from the list of backup parameters.
Commissioning and Parameterization 7-33 Rexroth IndraDrive Fig. 7-30: Parameter management When drive controller was in status AF (drive enable), following display appears: Fig. 7-31: Error message when switching operating mode/parameter mode Switch off drive enable and repeat procedure. • Select Save/load parameters. ► • Press key . Following display appears: Fig.
7-34 Commissioning and Parameterization Rexroth IndraDrive • Press Mon key. At start of process, Start Save is displayed (see following figure) and parameter set is copied to comfort control panel. At the same time, number of bytes already copied is displayed. By means of numbers, Progress shows you current status of process (on the right there is the end number; to the left of the end number there is the current number). Data Saved indicates successful end of process.
Commissioning and Parameterization 7-35 Rexroth IndraDrive Fig. 7-35: Error message when switching operating mode/parameter mode Switch off drive enable and repeat procedure. • Select Save/Load parameters ► • Press key . Following display appears: Fig. 7-36: Parameter management • Press Prog+ key. At start of process, Start Restore is displayed (see following figure) and parameter set is loaded to drive controller. At the same time, number of bytes already loaded is displayed.
7-36 Commissioning and Parameterization 7.3 Rexroth IndraDrive Overview of Parameters – Base Package This chapter contains the parameters of firmware MPx-04 which are relevant for open-loop or closed-loop applications. S-0-0000 – S-0-0100 S-0-0030, Manufacturer version MPB: Function Input min/max: Default value: Unit: --- / --- --- -- This parameter contains the drive firmware version in the form of a text (ASCII format).
Commissioning and Parameterization 7-37 Rexroth IndraDrive • the secondary operating mode 2 was selected in the master control word (bits 8 and 9 = "10"), • control and power sections are ready for operation and • drive enable "RF" was set.
7-38 Commissioning and Parameterization Rexroth IndraDrive MPB: Function --- S-0-0044 Depending on the application, this parameter indicates the value for the maximum allowed positive velocity command value of the motor.
Commissioning and Parameterization 7-39 Rexroth IndraDrive • regenerative operation at negative velocity See also Functional Description "Torque/Force Limitation" S-0-0083, Torque/force limit value negative Input min/max: Default value: Unit: --- S-0-0086 MPB: Function This parameter allows determining a torque or force limit value for negative torque/force command values.
7-40 Commissioning and Parameterization Rexroth IndraDrive See also Functional Description "Scaling of Physical Data" S-0-0086, Torque/force data scaling type MPB: Function Input min/max: Default value: Unit: --- / --- 0 -- The unit and reference of the torque/force data of a drive are set by this parameter: • percentage-based scaling (% of reference value, see below) • rotary scaling (Nm, inlbf) • linear scaling (N, lbf) See also Functional Description "Scaling of Physical Data" S-0-0091, Bipol
Commissioning and Parameterization 7-41 Rexroth IndraDrive See also Functional Description "Torque/Force Control" S-0-0094, Torque/force data scaling exponent Input min/max: Default value: Unit: --- / --- --- -- MPB: Function This parameter is always adapting itself to the selected preferred scaling.
7-42 Commissioning and Parameterization Rexroth IndraDrive S-0-0106, Current loop proportional gain 1 MPB: Function Input min/max: Default value: Unit: 0,00 / 500,00 8,00 V/A This parameter is used to define the P-gain for the current loop (for the Id and Iq control loop). Parameterization of the current loop proportional gain depends on the control performance (current loop clock TA,i) and the selected switching frequency (cf. P-0-0001).
Commissioning and Parameterization 7-43 Rexroth IndraDrive Function This parameter displays the maximum possible continuous current of the drive. Note: In the case of rotary field frequencies smaller than 3 Hz, the possible amplifier continuous current is reduced by means of a temperature model (see Technical Data in hardware Project Planning Manual!).
7-44 Commissioning and Parameterization Rexroth IndraDrive There is important control information defined in the master control word, like for example: • drive enable • Drive Halt • selection of command operating mode See also Functional Description "Device Control (Status Machine)" See also Functional Description "System Overview - Master Communication - SERCOS interface" See also Functional Description "Drive Functions – Drive Halt" S-0-0135, Drive status word MPB: Function Input min/max: Default va
Commissioning and Parameterization 7-45 Rexroth IndraDrive Function A descriptive name (text) for the drive or the axis (e.g. swiveling axis) can be stored in this parameter. Note: It does not have any influence on the function. S-0-0144, Signal status word MPB: Function Input min/max: Default value: Unit: --- / --- --- -- By means of the signal status word it is possible to transmit signals in real time from the drive to the control unit.
7-46 Commissioning and Parameterization Rexroth IndraDrive See also Functional Description "Motor Temperature Monitoring" S-0-0204, Motor shutdown temperature Input min/max: Default value: Unit: 155,0 S-0-0208 MPB: Function If the motor temperature exceeds the motor shutdown temperature, the drive sets bit 2 (motor overtemperature shutdown) in S-0-0011, Class 1 diagnostics and the error F2019 Motor overtemperature shutdown is generated.
Commissioning and Parameterization 7-47 Rexroth IndraDrive S-0-0301 – S-0-0400 S-0-0328, Assign list signal status word MPB: Function Input min/max: Default value: Unit: 0 / 31 --- -- In this list parameter the assignment is made which bit of the respective parameter entered in S-0-0026, Configuration list signal status word is to be mapped to S-0-0144,Signal status word.
7-48 Commissioning and Parameterization Rexroth IndraDrive S-0-0333, Message 'T >= Tx' MPB: Function Input min/max: Default value: Unit: --- / --- --- -- This parameter indicates whether the actual torque or force value has exceeded a threshold value ("T >= Tx" message) that can be set.
Commissioning and Parameterization 7-49 Rexroth IndraDrive S-0-0349, Jerk limit bipolar Input min/max: MPB: Function Default value: Unit: 0 S-0-0160 The bipolar jerk limit value, in the operating modes listed below, describes the maximum allowed acceleration change per time (= jerk), symmetrically in both directions (acceleration and deceleration).
7-50 Commissioning and Parameterization Rexroth IndraDrive S-0-0383, Motor temperature MPB: Function Input min/max: Default value: Unit: --- / --- --- S-0-0208 This parameter indicates the measured value of the winding temperature of the motor, if the temperature sensor incorporated in the motor allows analog temperature evaluation! Note: In the case of MHD, MKD, MKE and LSF motors, the values indicated by S-0-0383 do not allow, due to the temperature sensor characteristic (switching performance)
Commissioning and Parameterization 7-51 Rexroth IndraDrive Note: Parameter S-0-0822 replaces the previously available filtering by means of the PT1 filter (cf.
7-52 Commissioning and Parameterization Rexroth IndraDrive HCS04 (as of MPx04) X X X X O HMS01 O X X X X HMS02 (as of MPx04) O X X O O HMD01 O X X O O O X Fig. 7-39: not allowed allowed Switching frequency Note: Only set such switching frequencies which are supported by the involved components! Observe the Technical Data for drive controllers and motors.
Commissioning and Parameterization 7-53 Rexroth IndraDrive Function This parameter is used for activating the E-Stop input and selecting a reaction for the shutdown of the drive.
7-54 Commissioning and Parameterization Note: Rexroth IndraDrive The phase currents of the three-phase AC motor are measured. The resulting torque-generating content of the total current is calculated internally and displayed by means of this parameter. P-0-0044, Flux-generating current, actual value MPB: Function Input min/max: Default value: Unit: --- / --- --- A eff Display parameter for the content of the measured actual current value that generates the magnetic flux in the motor.
Commissioning and Parameterization 7-55 Rexroth IndraDrive See also the functional description: "Velocity Loop" See also the functional description: "Synchronization Modes" P-0-0051, Torque/force constant MPB: Function Input min/max: Default value: Unit: 0,01 / 21474836,47 1,00 P-0-4014 The torque/force constant indicates the relation of the motor torque/force and the associated torque-generating current of the motor, if the motor is not in the field weakening range.
7-56 Commissioning and Parameterization Rexroth IndraDrive See also Functional Description "Position Control with Cyclic Command Value Input" P-0-0063, Torque-generating voltage, actual value MPB: Function Input min/max: Default value: Unit: --- / --- --- V eff Display parameter for the torque-generating component of the voltage output by the current loop. The value is updated with the current loop cycle time.
Commissioning and Parameterization 7-57 Rexroth IndraDrive P-0-0081, Parallel output 1 MPB: Function Input min/max: Default value: Unit: --- / --- --- -- The content of P-0-0081, Parallel output 1 is output at the digital outputs of the optional cards "MD1" (7 outputs) or "MD2" (16 outputs). Note: By writing P-0-0081 (e.g. by means of MLD) the digital outputs can be directly addressed.
7-58 Commissioning and Parameterization Fig. 7-41: Rexroth IndraDrive P-0-0101, Configuration for starting lockout selector P-0-0102, Oper. hours power section at last activat. of start. lockout MPB: Function Input min/max: Default value: Unit: --- / --- 0,0 s Parameter P-0-0102, Oper. hours power section at last activat. of start. lockout displays the operating hours of the power section since the last time the starting lockout function was deselected.
Commissioning and Parameterization 7-59 Rexroth IndraDrive Function With this parameter it is possible to determine and activate an individual undervoltage threshold, differing from the standard value, for the DC bus voltage. P-0-0115, Device control: status word MPB: Function Input min/max: Default value: Unit: --- / --- --- -- By means of this parameter it is possible to read the drive status ( device control) independent of the master communication that is used.
7-60 Commissioning and Parameterization Rexroth IndraDrive P-0-0119, Best possible deceleration MPB: Function Input min/max: Default value: Unit: 0/3 0 -- This parameter determines the way the drive is shut down in case • non-fatal errors occur • interface errors occur • communication phase is reset • drive enable is disabled See also Functional Description "Best Possible Deceleration" P-0-0139, Analog output 1 MPB: Function Input min/max: Default value: Unit: 0,000 / 10,000 0,000 V This
Commissioning and Parameterization 7-61 Rexroth IndraDrive • double differentiated position command value (cyclic position control) • differentiated velocity command value (velocity control) st with a 1 order low pass in order to realize an acceleration feedforward which avoids an unduly high excitation of the system even in the case of poor position or velocity resolution.
7-62 Commissioning and Parameterization Rexroth IndraDrive P-0-0192, Error memory of diagnostic numbers MPB: Function Input min/max: Default value: Unit: --- / --- --- -- When the drive diagnoses a class 1 diagnostics error, a bit is set in parameter S-0-0011, Class 1 diagnostics. Bit 13 for "Error in class 1 diagnostics" is then set in the drive status word.
Commissioning and Parameterization 7-63 Rexroth IndraDrive P-0-0199 to establish an axis-comprehensive time reference in the case of error. Note: In the case of drive errors, the drive stores the system time in parameter P-0-0198, System time error memory.
7-64 Commissioning and Parameterization Rexroth IndraDrive P-0-0209, Analog input 6 MPB: Function Input min/max: Default value: Unit: --- / --- --- V The input voltage currently provided at the analog input 6 can be read and displayed in Volt by means of this parameter.
Commissioning and Parameterization 7-65 Rexroth IndraDrive MPB: Function --- / --- 0 -- In this parameter the IDN of that parameter is entered to which a value corresponding to the voltage at the respective analog input is to be written. The scaling is made via P-0-0214, Analog input, assignment A, scaling per 10V full scale! Note: Only such IDNs can be entered in P-0-0213 that are contained in P-0-0212, Analog input, list of assignable parameters.
7-66 Commissioning and Parameterization Rexroth IndraDrive See also Functional Description "Analog Inputs" P-0-0217, Analog input 1, time constant input filter MPB: Function Input min/max: Default value: Unit: 0,250 / 60,000 0,250 ms The analog input 1 can be read by the drive firmware via a digital lowpass filter. The limit frequency of this filter is set by this parameter, if necessary the filter can also be deactivated. flimit = 1000 / (2 * π * Tinput.) flimit: Tinput.: Fig.
Commissioning and Parameterization 7-67 Rexroth IndraDrive Function This parameter makes available a defined command value for determining the values of • P-0-0214, Analog input, assignment A, scaling per 10V full scale or • P-0-0237, Analog input, assignment B, scaling per 10V full scale See also Functional Description "Analog Interface" See also Functional Description "Analog Inputs" P-0-0220, C2800 Analog input adjust command MPB: Function Input min/max: Default value: Unit: --- / --- --- --
7-68 Commissioning and Parameterization Rexroth IndraDrive See also Functional Description "Analog Inputs" P-0-0229, Analog input 4 MPB: Function Input min/max: Default value: Unit: --- / --- --- V The input voltage currently provided at the analog input 4 can be read and displayed in Volt by means of this parameter.
Commissioning and Parameterization 7-69 Rexroth IndraDrive Function The analog input can be uploaded/downloaded by the drive firmware via a digital low-pass filter. The limit frequency of this filter is set by this parameter, if necessary the filter can also be deactivated. fgrenz = 1000 / (2 * π * TEing.) flimit: limit frequency in Hz Tinput: time constant of input filter in ms Fig.
7-70 Commissioning and Parameterization Note: Rexroth IndraDrive Only such IDNs can be entered in P-0-0213 that are contained in P-0-0212, Analog input, list of assignable parameters.
Commissioning and Parameterization 7-71 Rexroth IndraDrive Note: Apart from the IDN, the bit number desired for the input or output (cf. P-0-0301, Digital I/Os, bit numbers) and the output direction (cf.
7-72 Commissioning and Parameterization Function Rexroth IndraDrive This parameter displays the current states of the digital inputs. This means that the current signal level or switch status (only for MP*02VRS!) is displayed.
Commissioning and Parameterization 7-73 Rexroth IndraDrive Note: Analog output 5 is only available in conjunction with a doubleaxis device with configuration of 2 optional cards MA1! See also Functional Description "Analog Outputs" P-0-0417, Analog Output 6 MPB: Function Input min/max: Default value: Unit: -10,000 / 10,000 0,000 V This parameter displays the voltage value that is output via the analog output 6 of the drive controller.
7-74 Commissioning and Parameterization Function Rexroth IndraDrive By means of this parameter it is possible to assign a parameter IDN to the analog outputs 1 and 3 of the drive controller. The current parameter value is output as voltage at the analog output, if the mode of the analog output in P-0-0427, Control parameter of analog output has been set to output of assignment A. The output voltage can be made visible with an oscilloscope, for example.
Commissioning and Parameterization 7-75 Rexroth IndraDrive See also Functional Description "Analog Outputs" P-0-0426, Analog output IDN list of assignable parameters MPB: Function Input min/max: Default value: Unit: --- / --- --- -- This parameter contains a list of all parameter IDNs that can be assigned via • P-0-0420, Analog output, assignment A, signal selection and • P-0-0423, Analog output, assignment B, signal selection See also Functional Description "Analog Outputs" P-0-0427, Control pa
7-76 Commissioning and Parameterization Rexroth IndraDrive P-0-0442, Actual value torque limit positive (stationary) MPB: Function Input min/max: Default value: Unit: --- / --- --- S-0-0086 Display parameter for the effective positive torque limit value.
Commissioning and Parameterization 7-77 Rexroth IndraDrive P-0-0445, Status word torque/current limit MPB: Function Input min/max: Default value: Unit: --- / --- --- -- This parameter contains the status messages (bits) for the torque/current limitation. See also Functional Description "Torque/Force and Current Limitation" P-0-0512, Temperature sensor MPB: Function Input min/max: Default value: Unit: 0 / var.
7-78 Commissioning and Parameterization Rexroth IndraDrive See also Functional Description "Motor Holding Brake" P-0-0528, Flux control loop proportional gain MPB: Function Input min/max: Default value: Unit: 0,00 / 100,00 1,00 -- For asynchronous motors, the gain of the flux loop is entered in this parameter.
Commissioning and Parameterization 7-79 Rexroth IndraDrive Function By means of this parameter the proportional gain of the voltage loop is entered. The voltage loop is used to control the motor voltage in the fieldweakening range. Note: Writing the correct value to this parameter: • In the case of MAD and MAF with encoder data memory automatically during initial commissioning. • In the case of 2AD, ADF, linear and rotary kit motors, by loading the motor parameters with the commissioning software (e.g.
7-80 Commissioning and Parameterization MPB: Function Rexroth IndraDrive 50,0 / 100,0 90,0 % This parameter defines the command voltage of the voltage loop. It is indicated in percent of the maximum converter output voltage. Note: Writing the correct value to this parameter: • In the case of MAD and MAF with encoder data memory automatically during initial commissioning. • In the case of 2AD, ADF, linear and rotary kit motors, by loading the motor parameters with the commissioning software (e.g.
Commissioning and Parameterization 7-81 Rexroth IndraDrive of holding system. When P-0-0547, Nominal load of holding system is exceeded, the error message F3116 Nominal load torque of holding system exceeded is output.
7-82 Commissioning and Parameterization Function Rexroth IndraDrive This parameter presets the P-gain of the stall protection loop. The enable signal of the stall protection loop is controlled via bit 12 in P-0-0045, Control word of current controller. P-0-0571, Stall protection loop integral action time MPB: Function Input min/max: Default value: Unit: 0,0 / 6500,0 1,0 ms By means of this parameter it is possible to set the integral action time of the stall protection loop.
Commissioning and Parameterization 7-83 Rexroth IndraDrive P-0-0576, Search mode: finding point slip factor MPB: Function Input min/max: Default value: Unit: -320,00 / 320,00 100,00 % The search mode function is selected via P-0-0045, Control word of current controller. As soon as the machine has been found the rated slip is added to the speed at the "finding point". 100% are corresponding to the rated slip of the machine.
7-84 Commissioning and Parameterization Function Rexroth IndraDrive This parameter only takes effect in conjunction with field-oriented current control without encoder. Together with P-0-0590, Motor model frequency loop proportional gain, parameter P-0-0591 is used to parameterize the "frequency loop". By means of the differences between motor model and measured currents, the frequency loop determines the current rotational frequency of the motor shaft.
Commissioning and Parameterization 7-85 Rexroth IndraDrive • improved nat. cooling • reduced nat. cooling See also Functional Description "Motor, Mechanical Axis System, Measuring Systems" and "Current and Torque Limitation (Closed-Loop)" P-0-0690 – P-0-0899 (Synchronization Mode) P-0-0690, Additive velocity command value, process loop Input min/max: MPB: Function Default value: Unit: 0 S-0-0044 In addition to S-0-0037, parameter P-0-0690 is used to set an additive velocity command value.
7-86 Commissioning and Parameterization Rexroth IndraDrive P-0-0815, Nominal mains voltage crest value MPB: Function Input min/max: Default value: Unit: --- / --- --- V This parameter for HCS converters displays the mains voltage crest value that was measured when the mains voltage was switched in the first time.
Commissioning and Parameterization 7-87 Rexroth IndraDrive P-0-0859, Data of internal braking resistor MPB: Function Input min/max: Default value: Unit: --- / --- --- -- For converters the type data of the device-internal braking resistor are displayed in this list parameter. The parameter is stored in non-volatile form in the power section.
7-88 Commissioning and Parameterization Rexroth IndraDrive P-0-1122, Velocity control loop filter: bandwidth of bandstop filter MPB: Function Input min/max: Default value: Unit: 10,0 / 1000,0 --- Hz This parameter is used to parameterize the bandwidth of the 4 band-stop filters that can be selectively activated via P-0-1120 [n] = 2. The input value is in Hz, i.e. the actual frequency (f=1/T) is input. Notes on how to parameterize the band-stop filter are contained in the Functional Description.
Commissioning and Parameterization 7-89 Rexroth IndraDrive Function This parameter is used for activating and setting a variable acceleration feedforward in the "velocity control" mode.
7-90 Commissioning and Parameterization Function Rexroth IndraDrive This parameter is used for setting the direct component (offset) for the selected signal (sine, square-wave, noise). The display, i.e. unit and scaling of the parameter, are set according to the assigned parameter. P-0-1155, Command value generator, amplitude MPB: Function Input min/max: Default value: Unit: 0,0001 / 214748,3647 10,0000 -- This parameter is used for setting the amplitude (double crest value, peak-to-peak value).
Commissioning and Parameterization 7-91 Rexroth IndraDrive • channel for velocity command value input (memory of fixed values or S-0-0036) • behavior of ramp generator (run-up stop) • command value generator (motor potentiometer) Note: The control word can be cyclically written, the assignment of individual bits from signal control word or digital inputs is possible, too.
7-92 Commissioning and Parameterization Rexroth IndraDrive If the function "speed masking in command value channel" is used (P-0-1207, P-0-1208, P-0-1209), the content of P-0-1201 is multiplied with the content of P-0-1209 and this influences the effective acceleration. Note: If the value in parameter P-0-1203, Ramp 2 pitch = 0, the ramp 2 is not active.
Commissioning and Parameterization 7-93 Rexroth IndraDrive Function The list parameter "P-0-1208", in conjunction with the parameter "P-0-1207" (lower limit of velocity masking window), defines four velocity ranges (velocity windows). The ranges apply to positive and negative velocities, the definitions of the ranges are mirrored with regard to speed zero. Note: • The function "velocity masking window" is only effective in the "velocity control" mode.
7-94 Commissioning and Parameterization Rexroth IndraDrive With the deceleration entered in this parameter, the deceleration takes place from the last effective velocity command value to the new velocity command value as soon as the velocity at the ramp output is smaller than the value in P-0-1202, Final speed ramp 1.
Commissioning and Parameterization 7-95 Rexroth IndraDrive parameter) until the effective positive velocity limit value, i.e. minimum value (S-0-0091, S-0-0038), has been reached.
7-96 Commissioning and Parameterization Rexroth IndraDrive potentiometer. This value is then processed in the ramp generator and transmitted to P-0-0048, Effective velocity command value. Note: The value of parameter P-0-1218 is stored in case the control voltage fails so that it is possible to reuse the value.
Commissioning and Parameterization 7-97 Rexroth IndraDrive P-0-3600 – P-0-4095 (General Device Parameters) P-0-4004, Magnetizing current MPB: Function Input min/max: Default value: Unit: 0,000 / var. 1,000 A eff In the case of asynchronous motors, the nominal magnetizing current defined by Bosch Rexroth is entered in this parameter. The actually flowing magnetizing current in the base speed range results by multiplication of the value of P-0-4004 with P-0-0532, Premagnetization factor.
7-98 Commissioning and Parameterization Rexroth IndraDrive P-0-4014, Type of construction of motor MPB: Function Input min/max: Default value: Unit: --- / --- --- -- By this parameter the controller is informed of control-relevant features of the connected motor, such as • functional principle • type of construction • encoder data memory See also Functional Description "General Information on the Operation of Motors with IndraDrive" P-0-4022, Drive address of serial interface MPB: Function Inpu
Commissioning and Parameterization 7-99 Rexroth IndraDrive Function This parameter is used to control the drive in the following cases: • for devices with analog or parallel master communication • When the drive is switched to the "easy startup mode" via the control panel.
7-100 Commissioning and Parameterization MPB: Function Rexroth IndraDrive --- / --- --- -- For asynchronous third-party motors it is possible via C3200 Command Calculate motor data to calculate the values for motor parameters from the type plate data and then the values of the motor control parameters. The activation of C3200 first requires manual input of the motor data from the type plate of the asynchronous motor in the list parameter P-0-4032, Motor type plate data.
Commissioning and Parameterization 7-101 Rexroth IndraDrive P-0-4040, Rotor leakage inductance MPB: Function Input min/max: Default value: Unit: 0,001 / 4294967,295 5,000 mH This parameter is only used for operating asynchronous motors and takes effect for current control of the motor. For Rexroth motors this value is stored in the DriveBase. For third-party motors this parameter is calculated via the command C3200 Command Calculate data for asynchronous motor that is started with P-0-4033.
7-102 Commissioning and Parameterization Note: Rexroth IndraDrive "Slip" is the difference of the rotational frequency of the electric rotary field in the stator divided by the number of pole pairs of the motor and the mechanical rotational frequency of the rotor. The value for P-0-4043 is motor-specific and for asynchronous Rexroth motors is made available via the commissioning software (e.g.
Commissioning and Parameterization 7-103 Rexroth IndraDrive Function The parameter P-0-4068, Field bus: control word IO is used as field bus control word (16 bits) in the I/O mode.
7-104 Commissioning and Parameterization Note: Rexroth IndraDrive If you make an attempt of phase progression without the drive having been rebooted, either a switching command error will occur or a system error (F8xxx) entered before the firmware update will be displayed.
Commissioning and Parameterization 7-105 Rexroth IndraDrive Function The content of P-0-4076, Field bus: cycle time (Tcyc) defines the time intervals in which the cyclic real-time data (command values and actual values) are processed in the field bus drive.
7-106 Commissioning and Parameterization Rexroth IndraDrive See also Functional Description "PROFIBUS-DP" See also Functional Description "PROFInet" See also Functional Description "CANopen" See also Functional Description "DeviceNet" P-0-4080, Field bus: config. list of cyclic actual value data ch. MPB: Function Input min/max: Default value: Unit: --- / --- --- -- With this parameter the process input data channel (slave-master, i.e. "AT") is configured independent of the field bus used.
Commissioning and Parameterization 7-107 Rexroth IndraDrive parameters that are not linked to a real-time cycle. In the case of PROFIBUS, for which not all control units are supporting acyclic access, these data can be exchanged via a parameter channel.
7-108 Commissioning and Parameterization Function Rexroth IndraDrive The effects of the command S-0-0262, C07_x Load defaults procedure command depend on the configuration available in P-0-4090 at the command start.
Commissioning and Parameterization 7-109 Rexroth IndraDrive parameters, for replacing the firmware, for locating errors and for other services. The physical standard used is RS232 (with accessory HAS05.1-005 "RS232/RS485 converter", RS485 is possible, too).
7-110 Commissioning and Parameterization Rexroth IndraDrive When switching on the 24 V supply voltage an automatic protocol detection is activated when receiving signals via the serial interface. A soon as either • a valid ASCII start sequence - or • a valid SIS telegram was received the drive internally switches to the respective kind of protocol.
Commissioning and Parameterization 7-111 Rexroth IndraDrive drive controller cmd. value adjustment (depending on oper. mode) open-loop drive control open-loop motor control (U/f) oper. mode 2 oper. mode 1 master - without encoder - limitation torque/current DF000090v01_en.fh7 Fig.
7-112 Commissioning and Parameterization Rexroth IndraDrive • double-axis BASIC UNIVERSAL (CDB01.1C) The following communication channels are distinguished: • cyclic data channel (PROFIBUS-DP) The field bus provides data containers in which useful data can be cyclically transmitted. This section is called cyclic data channel.
Commissioning and Parameterization 7-113 Rexroth IndraDrive • supported DPV0 services: • Slave_Diag (read diagnostic data) • Get_Cfg (read configuration data) • Set_Prm (send parameterization data) • Chk_Cfg (check configuration data) • Data Exchange (transfer I/O data) • Global Control (synchronization) • RD_Outp (read output data) • RD_Inp (read input data) • parameter access with DPV1-class-1 services • DDLM_Initiate (establishment of connection) • DDLM_Read (acyclic read access) • DDLM_Write (acyclic
7-114 Commissioning and Parameterization Rexroth IndraDrive Profile Types IO Mode - Supported Profile Types When a field bus interface is used for master communication, IndraDrive controllers support the following profile types (modes): • I/O mode positioning • I/O mode preset velocity • freely configurable mode (Rexroth profile type) The table below contains an overview of the most important properties and features of the 3 profile types: Content of P-0-4084, Profile type Master communication Field bus
Commissioning and Parameterization 7-115 Rexroth IndraDrive By selecting a profile type, the commissioning of field bus drives becomes very easy for the user. The advantage of the profile selection is that all important basic settings for the desired drive function are thereby made automatically in the drive. As the profile types are defined independently of the bus, the transfer of applications from one field bus to the other is also facilitated. Status Machine Abbreviations A status (e.g.
7-116 Commissioning and Parameterization Note: Features of "I/O Mode Positioning" Rexroth IndraDrive The respective default settings are activated by selecting the profile type and subsequent action "load default communication parameters" (see also P-0-4090 and S-0-0262). Specific features of "I/O mode positioning": • The drive is operated in "positioning block mode, lagless, encoder 1" (see also "Positioning Block Mode" in chapter "Operating Modes").
Commissioning and Parameterization 7-117 Rexroth IndraDrive P-0-4080, Field bus: config. list of cyclic actual value data ch. are transmitted between master and drive.
7-118 Commissioning and Parameterization Rexroth IndraDrive 250 µs 2000 62,5 µs 1) MPH MPB 0 Basic 16000 MPH 1 Advanced 83,3 µs 12000 MPH 1 Advanced 62,5 µs 8000 MPH 1 Advanced 125 µs 4000 MPH 1 Advanced TA_current: sampling time of current loop P-0-0001: Switching frequency of power output stage (in Hz) P-0-0556: Configuration of axis controller 1): only with power section HCS04.1… and MAD/MAF Fig.
Commissioning and Parameterization 7-119 Rexroth IndraDrive • temperature Preferred Scaling/ Parameter Scaling To simplify the scaling definition so-called "preferred scalings" were predefined. But physical data can also be exchanged in the controlinternal format, i.e. without concrete reference to physical units. To do this, the scaling for certain data can be freely set ("parameter scaling").
7-120 Commissioning and Parameterization WARNING Rexroth IndraDrive Danger of incorrect actual position value of encoders evaluated in absolute form after switching the drive on, when the mechanical drive system, with the drive switched off, was moved in the case of modulo scaling! ⇒ Temperature Scaling Make sure that the mechanical drive system, with the drive switched off, is as a maximum moved by a distance or angle corresponding to half the absolute encoder range (S-0-0378, Absolute encoder range
Commissioning and Parameterization 7-121 Rexroth IndraDrive Mechanical system Encoder Useful scaling type settings Motorr Load gear Feed spindle Motor encoder External encoder Motor reference Load reference Modulo rotary available not available rotary no rotary rotary possible rotary available/ not available available rotary no rotary --- possible rotary available/ not available available rotary no --- linear possible rotary available not available rotary rotary rot
7-122 Commissioning and Parameterization Rexroth IndraDrive • stall protection loop (PI loop that can be optionally activated to prevent breakdown of the machine when the torque limits are attained) • slip compensation (feedforward of estimated slip of the machine by means of slip compensation factor) • calculation of output voltage by means of a U/f characteristic based on motor model data • subsequent trimming of magnetization via premagnetization factor, as well as linear or square characteristic to be
Commissioning and Parameterization 7-123 Rexroth IndraDrive 2. calculating the values to be set for the motor control parameters • C3600 Command Motor data identification 1. identifying (or optimizing) the motor parameter values for asynchronous motors Note: Appropriate start values already have to be available! 2.
7-124 Commissioning and Parameterization Rexroth IndraDrive third-party motors motor data on type plate motor data from data sheet 1. manual input of data from type plate in parameter P-0-4032 2.
Commissioning and Parameterization 7-125 Rexroth IndraDrive Motor parameters Synchronous motor Asynchronous motor P-0-4014, Type of construction of motor S-0-0109, Motor peak current S-0-0111, Motor current at standstill S-0-0113, Maximum motor speed P-0-0018, Number of pole pairs/pole pair distance P-0-0051, Torque/force constant P-0-0510, Rotor inertia P-0-4048, Stator resistance P-0-4013, Current limit value of demagnetization P-0-0530, Slip increase P-0-4016, Direct-axis inductance of motor P-0-4
7-126 Commissioning and Parameterization Rexroth IndraDrive Voltage-controlled operation (U/f) S-0-0106, Current loop proportional gain 1 S-0-0107, Current loop integral action time 1 P-0-0532, Premagnetization factor P-0-0568, Voltage boost P-0-0569, Maximum stator frequency change P-0-0570, Stall protection loop proportional gain P-0-0571, Stall protection loop integral action time P-0-0572, Slip compensation factor P-0-0573, IxR boost factor P-0-0574, Oscillation damping factor P-0-0575, Search mode: s
Commissioning and Parameterization 7-127 Rexroth IndraDrive third-party motors (asynchronous) motor data on type plate 1. manual input of data from type plate in parameter P-0-4032 2. automatic calculation of motor parameters via command C3200 motor parameters (S-0-0109, P-0-4016, P-0-4039, P-0-4048, ...) automatic calculation of motor control parameters via already activated command C3200 motor control parameters (S-0-0106, S-0-0107, P-0-0532, ...) DF000162v01_en.
7-128 Commissioning and Parameterization Rexroth IndraDrive • Input in parameter P-0-4032 is irrelevant unless the command C3200 has been started. • When the command was processed without error, the calculated values of motor and motor control parameters are operational.
Commissioning and Parameterization 7-129 Rexroth IndraDrive • motor control parameters for field-oriented current control (FOC) of asynchronous motors • motor control parameters for voltage-controlled operation (U/f) of asynchronous motors without encoder Annotations As regards the operating principle of the command C3600, observe the following points: • Motor motion is not required; the motor holding brake possibly applied at "Ab" remains applied. The motor does not generate torque.
7-130 Commissioning and Parameterization Rexroth IndraDrive calculated values for the motor control parameters thereby might possibly be more exact! It is easier, however, to use the commands C3200 and C3600 (see above) for asynchronous motors. Annotations As regards the operating principle of the command C4600, observe the following points: • When the command was processed without error, the calculated values of motor and motor control parameters are operational.
Rexroth IndraDrive Commissioning and Parameterization 7-131 Diagnostic and Status Messages If the command execution cannot be carried out successfully, diagnostic messages will be signaling the respective errors. The description of the respective command error contains information on the causes and suggests measures for remedy.
Performance (Controller Cycle Times) S-0-0081 S-0-0037 actual position S-0-0051 S-0-0053 S-0-0104 IPO S-0-0091 F8079 - actual velocity velocity loop P-0-1119 S-0-0082 S-0-0083 P-0-0109 S-0-0092 J,t P-0-0001 S-0-0109 P-0-0640 S-0-0110 S-0-0111 1/P-0-0051 - PWM act. current P-0-0043 S-0-0106 P-0-0001 S-0-0380 S-0-0107 current loop current control loop DF0001v2.
Commissioning and Parameterization 7-133 Rexroth IndraDrive • P-0-0556, Config word of axis controller (bits 2 and 5) With IndraDrive and ADVANCED control sections (and firmware) the following cycle and switching times can be obtained: • PWM switching frequency max. 16 kHz • current loop clock TA_current = 62.
7-134 Commissioning and Parameterization Rexroth IndraDrive • S-0-0081, Additive torque/force command value In current control: • S-0-0081, Additive torque/force command value master multiple-axis interpolation position cmd value compensation or feedforward algorithm additive position cmd val. additive current cmd val. additive velocity cmd val.
Commissioning and Parameterization 7-135 Rexroth IndraDrive Notes on Commissioning for Control Loop Setting The control loop settings in a digital drive controller are very important for the features of the servo axis. To optimize the control loop setting, application-specific controller parameters are available for all digital Rexroth drives. Order of Manual Control Loop Setting Due to the cascade structure of the control loops it is necessary to parameterize them "from the inside to the outside".
7-136 Commissioning and Parameterization Rexroth IndraDrive During the load defaults procedure, the following control loop parameters are set to their default values optimized for the respective motor: • S-0-0100, Velocity loop proportional gain • S-0-0101, Velocity loop integral action time • S-0-0104, Position loop Kv-factor • S-0-0106, Current loop proportional gain 1 • S-0-0107, Current loop integral action time 1 • P-0-0004, Velocity loop smoothing time constant Note: The default settings for the cu
Commissioning and Parameterization 7-137 Rexroth IndraDrive • oscillation movement/unipolar movement • absolute travel limits/relative movement around the starting position 7.7 Positioning Block Mode In the "positioning block mode" it is possible to run up to 64 programmed positioning blocks. The drive moves to the target position in position control, while maintaining velocity, acceleration, deceleration and jerk limits as defined in the respective positioning block.
7-138 Commissioning and Parameterization Rexroth IndraDrive • There are quick reaction times or block advances required. The required motion profiles can be represented in the drive by the maximum possible 64 positioning blocks.
Diagnostic and Service Functions 8-1 Rexroth IndraDrive 8 Diagnostic and Service Functions 8.1 Diagnostic System Diagnostic Status Messages The diagnostic status messages display the phases of communication build-up and initialization (boot phase), operating states or the currently active operating mode. Note: In the case of some diagnostic status messages the diagnostic message number contained in parameter S-0-0390, Diagnostic message number differs from the display at the drive controller.
8-2 Diagnostic and Service Functions Warning Classes Rexroth IndraDrive Warnings can be divided into two classes: • without drive reaction (diagnostic message numbers E1xxx .. E7xxx) • with drive reaction (diagnostic message number E8xxx) Warnings cannot be cleared externally. Warnings (E2xxx) In the case of warnings of category E2xx, the drive normally does not carry out any drive reaction, unless the warning was generated due to a mains or undervoltage error.
Diagnostic and Service Functions 8-3 Rexroth IndraDrive Non-Fatal Errors (F2xxx) Non-fatal errors are errors that are still allowing a freely definable, variable error reaction. Drive Behavior Putting the Drive into Operation The user can define the drive behavior for the case of non-fatal errors occurring via the setting of the parameters P-0-0117, Activation of NC reaction on error and P-0-0119, Best possible deceleration. The drive can only be put into operation again when: 1.
8-4 Diagnostic and Service Functions Putting the Drive into Operation Rexroth IndraDrive The drive can only be put into operation again when: 1. the error reaction has been completed, i.e. the drive has stopped (v=0!). 2. the error message was cleared by the error clearing command (cf. S-0-0099, C0500 Reset class 1 diagnostics). 3. the cause of the error was removed. 4. the drive is in the operating mode again and power was switched on ("Ab"). 5. drive enable was switched on again (0-1 edge).
Diagnostic and Service Functions 8-5 Rexroth IndraDrive Fatal System Errors (F9xxx and E-xxxx) In the case of fatal system errors there is a grave problem in the drive system (e.g. watchdog error, processor crash, ...) which does no longer allow regular operation of the drive. Due to a hardware or firmware error, the drive firmware is no longer operable; clearing an error is no longer possible. In this case the drive reacts automatically as follows: Drive Behavior • All digital outputs are set to "0".
P0 A0000 Communication phase 0 1 P1 A0001 Communication phase 1 1 P2 A0002 Communication phase 2 1 P3 A0003 Communication phase 3 1 P -1 A0009 Automatic baud rate detection for SERCOS interface 1 AH A0010 Drive HALT 1 AS A0011 Starting lockout active 1 Ab A0012 Control and power sections ready for operation 1 bb A0013 Ready for power on 1 ASP A0014 Drive interlock active 1 SH A0015 Safety related standstill active 1 SBH A0016 Safety related operational stop active 1 SBB
A0112 Phase synchronization, encoder 1, 1 virtual master axis AF A0113 Phase synchronization, encoder 2, 1 virtual master axis AF A0114 Phase synchronization, encoder 1, 1 real master axis AF A0115 Phase synchronization, encoder 2, 1 real master axis AF A0116 Phase synchr. lagless, encoder 1, virtual master axis 1 AF A0117 Phase synchr. lagless, encoder 2, virtual master axis 1 AF A0118 Phase synchr. lagless, encoder 1, real master axis 1 AF A0119 Phase synchr.
AF A0155 Position mode drive controlled, encoder 2 1 AF A0156 Position mode lagless, encoder 1 drive controlled 1 AF A0157 Position mode lagless, encoder 2 drive controlled 1 AF A0206 Positioning block mode, encoder 1 1 AF A0207 Positioning block mode lagless, encoder 1 AF A0210 Positioning block mode, encoder 2 1 AF A0211 Positioning block mode lagless, encoder 2 1 AC A4000 Automatic drive check and adjustment 1 AE A4001 Drive deceleration to standstill 1 AU A4002 Drive in automati
C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005) 1 3 2 C0115 C0115 T2 too small 1 3 2 C0116 C0116 T3 (S-0-0008) within MDT (S-00089 + S-0-0010) 1 3 2 C0119 C0119 Max. travel range too large 1 3 2 C0120 C0120 Error when reading encoder data => motor encoder C0121 C0121 Incorrect parameterization of motor encoder (hardware) 1 3 2 C0122 C0122 Incorr. parameteriz. of motor enc.
C0153 C0153 Error at init. of synchr. motor with reluctance torque 1 3 2 C0154 C0154 Field bus: IDN for cycl. command val. not configurable 1 3 2 C0155 C0155 Field bus: max. length for cycl. command val. exceeded 1 3 2 C0156 C0156 Field bus: IDN for cycl. actual val. not configurable 1 3 2 C0157 C0157 Field bus: length for cycl. actual values exceeded 1 3 2 C0158 C0158 Field bus: Tcyc (P-0-4076) incorrect 1 3 2 C0159 C0159 Field bus: P-0-4077 missing for cycl.
C0228 Initialization velocity measuring encoder too high 1 2 C0242 C0242 Multiple configuration of a parameter (->S-0-0423) 1 3 C0243 Brake check function not possible 1 3 2 C0244 C0244 Act. modulo value cycle greater than max. travel range 1 3 2 C0245 C0245 Operating mode configuration (>S-0-0423) not allowed 1 3 2 C0246 C0246 Trav. range lim. switch not ass. to dig. input 1 3 2 C0247 C0247 Dig. output already assigned to other axis 1 3 2 C0248 C0248 Dig.
1 C0501 C0501 Error clearing only in parameter mode C06 C0600 Drive-controlled homing procedure 1 command C0601 C0601 Homing only possible with drive enable 1 3 2 C0602 C0602 Distance home switch - reference mark erroneous 1 3 2 C0604 C0604 Homing of absolute encoder not possible 1 3 2 Check mechanical system (stiffness, loose connection,...
C1216 Commutation determination not selected 1 2 C1217 C1217 Setting only possible in 'Ab' 1 2 C1218 C1218 Automatic commutation: current too low 1 2 C1219 C1219 Automatic commutation: overcurrent 1 2 C1220 C1220 Automatic commutation: timeout 2 3 C1221 C1221 Automatic commutation: iteration without result 3 4 2 1 C1222 C1222 Error when writing offset parameters 4 5 2 2 C13 C1300 Positive stop drive procedure command 1 C1301 C1301 Class 1 diagnostics error at command start
C2202 C2202 Error when writing data to nonvolatile memory 1 C23 C2300 Load working memory command 1 C2301 C2301 Error when reading non-volatile memory 1 C2302 C2302 Error when converting parameters 1 2 C24 C2400 Selectively backup working memory procedure command 1 2 C2402 C2402 Error when saving parameters 1 2 C25 C2500 Copy IDN from optional memory to internal memory 1 C2502 C2502 Error when accessing the MMC 1 2 C2504 C2504 Error when writing data to internal memory 1 2 C2
C3205 Incorrect input for power factor 1 3 2 C3206 C3206 Incorrect input for power 1 3 2 C3207 C3207 Type plate list incomplete 1 3 2 C3208 C3208 Error when writing parameters 1 2 C33 C3300 Set coordinate system procedure command 1 C34 C3400 Shift coordinate system procedure 1 command C35 C3500 Command Determine encoder correction values 1 C3501 C3501 Acquisition velocity not allowed 1 3 2 C3502 C3502 Motor encoder not available 1 3 2 C3503 C3503 Optional encoder not ava
E2051 E2051 Motor overtemp. prewarning 3 4 E2053 E2053 Target position out of travel range 1 3 E2054 E2054 Not homed 1 3 2 E2055 E2055 Feedrate override S-0-0108 = 0 1 3 2 E2056 E2056 Torque limit = 0 1 3 2 E2058 E2058 Selected process block is not programmed. 1 3 2 E2061 E2061 Device overload prewarning 3 2 E2063 E2063 Velocity command value > limit value 3 2 E2064 E2064 Target position out of num.
Check mechanical system (stiffness, loose connection,...) Check control circuit for mains connection Check connection of master communication Check wiring of inputs and outputs and their 24V power supply Check motor cabling Check encoder cabling Check encoder function and mounting (motor encoder and external encoder)) Switch supply unit off and on again Check motor incl.
F2037 F2037 Excessive position command difference 1 3 2 F2039 F2039 Maximum acceleration exceeded 2 4 3 F2040 F2040 Device overtemperature 2 shutdown 3 2 F2042 F2042 Encoder 2: encoder signals incorrect 4 3 2 1 F2043 F2043 Measuring encoder: encoder signals incorrect 4 3 2 1 F2044 F2044 External power supply X15 error F2048 F2048 Low battery voltage 2 3 F2050 F2050 Overflow of target position preset memory 1 3 2 F2051 F2051 No sequential block in target position preset
F2110 F2110 Error in non-cyclical data communic.
F8013 F8013 Automatic commutation: current too low 2 3 F8014 F8014 Automatic commutation: overcurrent 1 2 F8015 F8015 Automatic commutation: timeout 2 3 F8016 F8016 Automatic commutation: iteration without result 3 4 2 F8022 F8022 Enc. 1: enc. signals incorr. (can be cleared in ph.
Diagnostic and Service Functions 8-21 Rexroth IndraDrive 8.3 Troubleshooting Check Drive Components Motor • brake • battery of encoder • cooling system • cable Supply Unit • wiring • 24V supply voltage • mains voltage 3 * 400V Drive Controller • note down error number • wiring • 24V supply voltage • mains voltage 3 * 400V Encoder • You can check the encoder signals by means of the oscilloscope function of the firmware Cables • encoder cable • motor cable • input and output cables incl.
8-22 Diagnostic and Service Functions Note: Rexroth IndraDrive When replacing the motor, cover the open mating sites of power lines with protective caps if sprinkling with cooling liquid/lubricant or soiling may occur (allowed degree of soiling according to EN50178: 2). • replace motor Note: To mechanically replace the AC servo motor, observe the instructions of the machine manufacturer.
Diagnostic and Service Functions 8-23 Rexroth IndraDrive 8. Reconnect the unit as per the terminal diagram of the machine manufacturer. 9. If vertical axes have been mechanically secured prior to replacement, then remove these devices at this point. 10. While reading out the fault memories of the connected drive controllers make sure that the device fault has not been triggered by the drive controllers. The unit replacement is completed. The system can be put back into operation.
8-24 Diagnostic and Service Functions Note: Rexroth IndraDrive When replacing cables, cover the open mating sites of power lines with protective caps if sprinkling with cooling liquid/lubricant or soiling may occur (allowed degree of soiling according to EN50178: 2). • replace cable Property damage caused by bad power connectors! ⇒ CAUTION Only separate or connect clean and dry power connectors.
Diagnostic and Service Functions 8-25 Rexroth IndraDrive General Notes on How to Carry Out Firmware Replacement You have to observe the following points when carrying out the firmware replacement: • Do not switch off the 24 V control voltage while replacing the firmware. • Firmware replacement always must be carried out completely, i.e. firmware on optional safety technology module must be replaced, too. • For firmware replacement we distinguish between release update and version upgrade.
8-26 Diagnostic and Service Functions Rexroth IndraDrive Control section type ? CSH0x.x CDB0x.x MMC as active memory? yes MMC plugged in operation ® MMC with old firmware Request new firmware (ibf file)! CSB0x.x no Firmware update without PC? no yes Request MMC with new firmware! Request new firmware (ibf file)! Load new firmware to MMC! MMC with new firmware Variant 1 Variant 2 Release Update with MMC Release Update with IndraWorks D DC000032v01_en.fh CSH0x.
Diagnostic and Service Functions 8-27 Rexroth IndraDrive Note: Only one firmware file may be stored in the folder "Firmware" on the MMC. With several firmware files, the message "MMC not correct" appears on the display of the drive after booting. 5. Remove MMC from MMC reader after writing process has been completed.
8-28 Diagnostic and Service Functions Rexroth IndraDrive 3. Check safety technology parameters (only when safety technology has been activated in drive) In the case of a release update, safety technology parameters are retained. With safety technology activated, the following steps are additionally required: ⇒ Check whether correct safety technology parameters for drive are still available.
Diagnostic and Service Functions 8-29 Rexroth IndraDrive 3. Check safety technology parameters (only when safety technology has been activated in drive) In the case of a firmware release update, safety technology parameters are retained. With safety technology activated, the following steps are additionally required: ⇒ Check whether correct safety technology parameters for drive are still available.
8-30 Diagnostic and Service Functions Rexroth IndraDrive Save parameters! Control section type? CSH0x.x CDB0x.x MMC as active memory? CSB0x.x no yes MMC plugged in operation ® MMC with old firmware Request new firmware (ibf file)! Request MMC with new firmware! Request new firmware (ibf file)! Load new firmware to MMC! MMC with new firmware Option "safety technology I/O" (S1)? no yes Variant 1 Version Upgrade with MMC (with safety techn.
Diagnostic and Service Functions 8-31 Rexroth IndraDrive Saving Parameters Before firmware upgrade all application-specific parameters must be saved on a data carrier.
8-32 Diagnostic and Service Functions Firmware Upgrade with MMC (without Safety Technology) Rexroth IndraDrive Carrying out the firmware version upgrade with MMC requires the following steps (without safety technology): 1. Load firmware ⇒ ⇒ ⇒ ⇒ Switch drive off. Plug MMC with new firmware into corresponding slot at controller. Restart drive with MMC plugged. After drive has been booted, the following message appears: • "Firmware update?" Acknowledge this message by pressing "Enter" key of control panel.
Diagnostic and Service Functions 8-33 Rexroth IndraDrive ⇒ Acknowledge this message by pressing "Enter" key of control panel. By doing this, firmware is loaded from plugged MMC to controller. If drive before firmware replacement was operated without MMC plugged, the following message appears: • "Load new param.?" → Switch drive off, remove MMC and restart drive. 2.
8-34 Diagnostic and Service Functions Rexroth IndraDrive Variant 3: Version Upgrade with IndraWorks D Selection Criterion The following requirements should have been fulfilled in order that carrying out the firmware version upgrade with IndraWorks D makes sense: • Controller has been equipped with BASIC single-axis control section. • Current parameter setting of axis was saved.
Diagnostic and Service Functions 8-35 Rexroth IndraDrive Possible Problems during Firmware Replacement Problematic Situations Firmware replacement is carried out incompletely if one of the following situations occurs during the sequence of firmware replacement: • 24V supply of control section is switched off • connection to drive is interrupted (e.g.
8-36 Diagnostic and Service Functions 8.4 Rexroth IndraDrive Service and Maintenance Deactivation In the case of malfunctions, maintenance measures or to deactivate the motors, proceed as follows: 1. Observe the instructions of the machine documentation. 2. Use the machine-side control commands to bring the drive to a controlled standstill. 3. Switch off the power and control voltage of the drive controller. 4. Only at motors with fan unit: Switch off the motor protection switch for the motor fan. 5.
Diagnostic and Service Functions 8-37 Rexroth IndraDrive Disposal Products Our products can be returned to us free of charge for disposal. It is a precondition, however, that the products are free of oil, grease or other dirt. In addition, when returned the products mustn't contain any undue foreign matter or foreign component. Please send the products free domicile to the following address: Bosch Rexroth AG Electric Drives and Controls Bürgermeister-Dr.
8-38 Diagnostic and Service Functions Rexroth IndraDrive DOK-INDRV*-FU*********-IB01-EN-P
Service & Support 9-1 Rexroth IndraDrive 9 Service & Support 9.1 Helpdesk Unser Kundendienst-Helpdesk im Hauptwerk Lohr am Main steht Ihnen mit Rat und Tat zur Seite. Sie erreichen uns - telefonisch - by phone: Our service helpdesk at our headquarters in Lohr am Main, Germany can assist you in all kinds of inquiries.
9-2 Service & Support 9.5 Rexroth IndraDrive Kundenbetreuungsstellen - Sales & Service Facilities Deutschland – Germany Vertriebsgebiet Mitte Germany Centre Bosch Rexroth Electrice Drives and Controls GmbH Bgm.-Dr.-Nebel-Str. 2 / Postf. 1357 97816 Lohr am Main / 97803 Lohr Kompetenz-Zentrum Europa Tel.
Service & Support 9-3 Rexroth IndraDrive Europa (West) - Europe (West) vom Ausland: (0) nach Landeskennziffer weglassen, from abroad: don’t dial (0) after country code, Italien: 0 nach Landeskennziffer mitwählen Italy: dial 0 after country code Austria - Österreich Austria – Österreich Belgium - Belgien Denmark - Dänemark Bosch Rexroth GmbH Electric Drives & Controls Stachegasse 13 1120 Wien Tel.
9-4 Service & Support Rexroth IndraDrive Europa (Ost) - Europe (East) vom Ausland: (0) nach Landeskennziffer weglassen from abroad: don’t dial (0) after country code Czech Republic - Tschechien Czech Republic - Tschechien Hungary - Ungarn Poland – Polen Bosch -Rexroth, spol.s.r.o. Hviezdoslavova 5 627 00 Brno Tel.: +420 (0)5 48 126 358 Fax: +420 (0)5 48 126 112 Tightening & Press-fit: Bosch -Rexroth, spol.s.r.o. Stetkova 18 140 68 Praha 4 Bosch Rexroth Kft. Angol utca 34 1149 Budapest Tel.
Service & Support 9-5 Rexroth IndraDrive Asien - Asia (incl. Pacific Rim) China China China China Shanghai Bosch Rexroth Hydraulics & Automation Ltd. No.122, Fu Te Dong Yi Road Waigaoqiao, Free Trade Zone Shanghai 200131 - P.R.China Shanghai Bosch Rexroth Hydraulics & Automation Ltd. 4/f, Marine Tower No.1, Pudong Avenue Shanghai 200120 - P.R.China Bosch Rexroth (China) Ltd. Satellite Service Office Changchun Rm. 1910, Guangming Building No.336 Xi’an Rd., Chao Yang Distr. Changchun 130061 - P.R.
9-6 Service & Support Rexroth IndraDrive Nordamerika – North America USA Headquarters - Hauptniederlassung USA Central Region - Mitte USA Southeast Region - Südost Bosch Rexroth Corporation Electric Drives & Controls 1701 Harmon Road Auburn Hills, MI 48326 Bosch Rexroth Corporation Electric Drives & Controls 2810 Premiere Parkway, Suite 500 Duluth, GA 30097 Tel.: +1 847 645-3600 Fax: +1 847 645-6201 servicebrc@boschrexroth-us.com repairbrc@boschrexroth-us.com Tel.: Fax: Tel.
Index 10-1 Rexroth IndraDrive 10 Index 2 24V supply 5-2 installation 6-35 A Absolute voltage value, actual value 7-56 Acceleration data scaling type 7-45 Acceleration factors for velocity masking window 7-93 Acceleration feedforward smoothing time constant 7-60 accessories HAS01 6-68 HAS02 6-72 HAS05 6-84 Activation E-Stop function 7-52 Activation of NC reaction on error 7-59 Active functional packages 7-96 Actual output current value (absolute value) 7-75 Actual value peak torque limit 7-76 Actual val
10-2 Index Rexroth IndraDrive Analog output, assignment A, scaling [1/V] 7-74 Analog output, assignment A, signal selection 7-73 Analog output, assignment A, signal value at 0V 7-73 Analog output, assignment B, scaling [1/V] 7-74 Analog output, assignment B, signal selection 7-74 Analog output, assignment B, signal value at 0V 7-73 Analog outputs technical data 5-13 type 1 5-13 type 2 5-13 type 3 5-14 Application type 7-44 appropriate use 2-1 areas (zones) of control cabint 6-26 ASCII protocol propertie
Index 10-3 Rexroth IndraDrive basic parameters 7-31 bipolar torque/force limit value 7-23 change single parameter 7-29 clear error 7-18 current configuration 7-22 cyclic parameter list display 7-21 diagnostic message memory 7-22 display mask 7-15 editing mode 7-14 enter motor data 7-27 enter parameter 7-20 error memory 7-22 fixed command value 7-28 guided parameterization 7-25 keys 7-14 language setting 7-18 load basic parameters 7-31 main screen 7-18 menu structure 7-16 mode selection 7-19 monitor mode 7
10-4 Index Rexroth IndraDrive HCS02.
Index 10-5 Rexroth IndraDrive Digital I/Os, bit numbers 7-71 Digital I/Os, direction 7-71 Digital I/Os, outputs 7-72 Digital I/Os, status display 7-71 Digital inputs technical data 5-7 Digital outputs technical data 5-8 Dimensions 6-1 Display text of diagnostic message 7-52 disposal 8-37 distances for drive controllers 6-3 minimum 6-3 Drive address of master communication 7-98 Drive address of serial interface 7-98 drive control commands 1-3 drive controller distances 6-3 replace 8-23 drive controller
10-6 Index Rexroth IndraDrive fatal system errors putting into operation 8-5 Field bus baud rate 7-105 config. list of cyclic actual value data ch. 7-106 config. list of cyclic command value data ch.
Index 10-7 Rexroth IndraDrive interference suppression elements 6-25 interference-susceptible area 6-26 IxR boost factor 7-82 J Jerk limit bipolar 7-49 K kinds of commands 1-3 L L+, L- 6-56 language setting 7-18 Language selection 7-46 line routing 6-25 List of all operating modes 7-46 List of diagnostic numbers 7-49 load basic parameters 7-31 load defaults procedure 7-9, 7-10, 7-135 loading parameter values, general 1-2, 7-2 Lower limit of velocity masking window 7-92 M Magnetizing current 7-97 main
10-8 Index Rexroth IndraDrive monitoring commands 1-3 motor motor inductance 1-15 replace 8-21 requirements on third-party motors 1-14 temperature evaluation of third-party motor 1-16 third-party, encoder of third-party motor 1-17 third-party, notes on commissioning 1-17 third-party, notes on selection 1-17 third-party, selecting connection technique 1-17 third-party, selecting controller 1-17 voltage load 1-14 Motor cables 6-45 connection 6-43 holding brake 6-48 temperature monitoring 6-48 Motor cable
Index 10-9 Rexroth IndraDrive operating conditions 4-7 operating hours 7-22 Operating hours control section 7-61 Operating hours power section 7-61 operating mode 7-4, 7-5 operating modes basics 1-3 positioning block mode 7-137 Oscillation damping factor 7-82 overall structure of control loop (illustration) 7-132 Overload warning 7-75 Overview of device addresses 7-99 P packaging materials 8-37 Parallel input 1 7-57 Parallel output 1 7-57 parameter handling, general 1-1, 7-1 parameter management 7-31 p
10-10 Index Rexroth IndraDrive Relay contacts type 1 5-6 type 2 5-6 type 3 5-7 release update 8-24 replace cable 8-23 drive controller 8-23 motor 8-21 replacing the firmware 8-24 basic principles, terms 8-24 Rotor leakage inductance 7-101 Rotor time constant 7-101 RS-232/485 Parity 7-108 S safety instructions for electric drives and controls 3-1 saving parameter values, general 1-1, 7-2 Scaling of stall current limit 7-78 Search mode finding point slip factor 7-83 search current factor 7-82 Secondary
Index 10-11 Rexroth IndraDrive analog inputs 5-9 analog outputs 5-13 digital inputs 5-7 digital outputs 5-8 temperature ambient 4-7 storage 4-6 transport 4-6 Temperature data scaling type 7-46 Temperature sensor 7-77 Temperature sensor characteristic 7-77 Thermal drive load 7-60 third-party motors 1-13 directives 1-13 third-party motors to be controlled 1-14 Time stamp for list of diagnostic message numbers 7-58 Torque/force constant 7-55 Torque/force data scaling exponent 7-41 Torque/force data scalin
10-12 Index Rexroth IndraDrive Voltage boost 7-81 voltage load of the motor 1-14 Voltage loop integral action time 7-79 Voltage loop proportional gain 7-78 W warning classes 1-4, 8-2 warnings 1-4 X X1 6-41 X13 6-52 X3 6-42 X5 6-43 X6 6-48 X9 6-50 XS1 6-59 XS2 6-60 Z Zubehör Übersicht 6-67 DOK-INDRV*-FU*********-IB01-EN-P
Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Phone +49 (0)93 52-40-50 60 Fax +49 (0)93 52-40-49 41 service.svc@boschrexroth.de www.boschrexroth.
