Bosch Rexroth R911276248 User manual

DIAX03

Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

Functional Description: SSE 02VRS

mannesmann

Rexroth

engineering

Indramat

276248

DIAX 03

DKR DDS

DIGITALCOMPACTCONTROLLER DKR

2

220 VSteuer-

spannungAux.

Voltage

Netz/Mains

L3L2L1

Motor

A3A1 A2 B2B1N L L+L-

H1

X4

X2

U5

U2

S2

U4

U1 U3

H2

S1

X3X3

X9

1

6

1

7

X8

X7

1

10

1

11

SSE-02VRS

About this documentation DIAX03 Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

DIAX03 Drive With Servo Function 02VRS

Functional Description

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

• Mappe 51-02V-EN Register 3

• Based on: 02V20

• 209-0072-4332-01

The following documentation describes the functions of the firmware

FWA-DIAX03-SSE-02VRS.

This documentation serves trained maintenance personnel:

• as a working guide for installation of the digital AC servo drive via a

SERCOS-compatible control system

• for parameterization of the drive controller

• for data security of the drive parameter

• for error diagnosis and error removal

Document identification of

previous and present output Release

Date Remarks

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P 10.97 First edition

 INDRAMAT GmbH, 1997

Transmission as well as reproduction of this documentation, commercial

use or communication of its contents will not be permitted without

expressed written permission. Violation of these stipulations will require

registered design. (DIN 34-1)

All rights are reserved with respect to the content of this documentation

and the availability of the product.

INDRAMAT GmbH • Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main

Telephone 09352/40-0 • Tx 689421 • Fax 09352/40-4885

Dept. END (OS/WR)

Title

Type of Documentation

Documentation Type

Internal Filing Notation

What is the purpose of this

documentation?

Course of modifications

Copyright

Validity

Published by

DIAX03 Drive With Servo Function Contents I

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

Contents

1 System Overview 1-1

1.1 Range of Applications..........................................................................................................................1-1

1.2 Drive Controllers ..................................................................................................................................1-2

1.3 Motors..................................................................................................................................................1-3

1.4 Firmware Overview..............................................................................................................................1-4

1.5 Basic Operating Modes and General Features....................................................................................1-4

Basic Operating Modes.................................................................................................................1-4

General Features..........................................................................................................................1-4

1.6 Additional Firmware Features: Drive with Servo Feature.....................................................................1-5

2 Safety Instructions for Electrical Drives 2-1

2.1 General ................................................................................................................................................2-1

2.2 Protection against contact with electrical parts....................................................................................2-2

2.3 Protection by protective low voltage (PELV) against electrical shock ...........................................2-3

2.4 Protection against dangerous movements...........................................................................................2-4

2.5 Protection against magnetic and electromagnetic fields during operations and mounting..................2-5

2.6 Protection during handling and installation ..........................................................................................2-6

2.7 Battery safety .......................................................................................................................................2-6

3 General Instructions for Installation 3-1

3.1 Explanation of Terms...........................................................................................................................3-1

Parameter .....................................................................................................................................3-1

Operating Modes...........................................................................................................................3-5

Error ..............................................................................................................................................3-5

Warnings.......................................................................................................................................3-6

Commands....................................................................................................................................3-7

3.2 Commissioning Guidelines ..................................................................................................................3-9

3.3 Diagnostic Configurations..................................................................................................................3-15

Overview of Diagnostic Configurations.......................................................................................3-15

Drive-Internal Diagnostics...........................................................................................................3-15

Diagnostic Message Composition...............................................................................................3-16

Collection of Status .....................................................................................................................3-18

Configurable signal status word..................................................................................................3-21

3.4 Parameter Mode - Operation Mode...................................................................................................3-24

Monitoring in the Transition Check Command............................................................................3-25

4 Communication Through the SERCOS-interface 4-1

4.1 Overview of SERCOS Communication................................................................................................4-1

4.2 Data Transfer Cycle through SERCOS................................................................................................4-1

Master Control Word.....................................................................................................................4-2

Drive Status Word.........................................................................................................................4-3

4.3 Real-Time Control and Status Bits.......................................................................................................4-5

4.4 Transmission of non-cyclical Data through SERCOS..........................................................................4-5

4.5 Startup for the SERCOS Interface.......................................................................................................4-5

II Contents DIAX03 Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

Adjustments of the SERCOS Interface.........................................................................................4-6

Connecting the Fiber Optic Cables of the SERCOS Interface......................................................4-7

Setting the Drive Address of the SERCOS Interface....................................................................4-7

Checking the Distortion Indicator of the SERCOS Interface.........................................................4-8

Using the Distortion Indicator........................................................................................................4-8

Transmission Rate of the SERCOS interface...............................................................................4-9

Setting the optical Transmission Power........................................................................................4-9

Checking the Fiber Optics.............................................................................................................4-9

4.6 SERCOS Telegram Configuration.....................................................................................................4-10

Configuration of the Telegram Send and Receive Times...........................................................4-10

Configuration of Telegram Contents...........................................................................................4-11

4.7 SERCOS Interface Error....................................................................................................................4-12

Diagnostic of the interface Status ...............................................................................................4-12

Error Count for Telegram Interrupts............................................................................................4-12

5 Motor Configuration 5-1

5.1 Characteristics of the Different Motor Types........................................................................................5-1

Motor Feedback-Data Memory ..................................................................................................... 5-2

Linear-Rotational...........................................................................................................................5-2

Synchronous-Asynchronous .........................................................................................................5-3

Temperature Monitoring................................................................................................................5-3

Load Default Feature ....................................................................................................................5-4

5.2 Setting the Motor Type.........................................................................................................................5-4

Automatic Setting of the Motor Type for Motors with Feedback Memory .....................................5-4

Setting of the Motor Type through P-0-4014, Motor Type.............................................................5-5

5.3 Synchronous Motors............................................................................................................................5-6

5.4 Asynchronous Motors ........................................................................................................................5-10

Basics for the Asynchronous Motor ............................................................................................5-11

Torque Evaluation.......................................................................................................................5-12

User-defined Settings for the Asynchronous Motor ....................................................................5-12

5.5 Motor Holding Brake ..........................................................................................................................5-15

Connection of the Motor Holding Brake......................................................................................5-15

Setting the Motor Brake Type......................................................................................................5-16

Setting the Brake Control Delay..................................................................................................5-16

Setting the Motor Brake Current .................................................................................................5-17

6 Operating Modes 6-1

6.1 Operating Modes - Definition ...............................................................................................................6-1

6.2 Basic Operating Modes........................................................................................................................6-1

Torque/Force Control....................................................................................................................6-1

Velocity Control.............................................................................................................................6-2

Position Control.............................................................................................................................6-5

Drive Internal Interpolation............................................................................................................6-9

Relative drive-internal interpolation.............................................................................................6-12

6.3 Setting the Operating Mode Parameters ...........................................................................................6-14

6.4 Determining the Active Operating Mode............................................................................................6-15

7 Basic Drive Functions 7-1

DIAX03 Drive With Servo Function Contents III

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

7.1 Physical Values Display Format...........................................................................................................7-1

Adjustable Scaling for Position, Velocity, and Acceleration Data..................................................7-1

Display Format of Position Data....................................................................................................7-3

Velocity Data Display Format........................................................................................................7-4

Acceleration Data Display Format.................................................................................................7-5

Command Polarities and Actual Value Polarities..........................................................................7-6

Mechanical Transmission Elements .............................................................................................7-7

Modulo Feature.............................................................................................................................7-8

7.2 Setting the Measurement System......................................................................................................7-11

Limiting Conditions for Encoder Evaluation ................................................................................7-13

Motor Encoder.............................................................................................................................7-14

External encoder.........................................................................................................................7-18

Actual Feedback Values of Non-Absolute Measurement Systems After Initialization ................7-24

Drive-internal format of position data..........................................................................................7-25

7.3 Other Settings for Absolute Measurement Systems..........................................................................7-29

Conditions for absolute encoder evaluation................................................................................7-31

Set Absolute Measuring..............................................................................................................7-32

Absolute Encoder Monitoring......................................................................................................7-35

Modulo Analysis of Absolute Measurement Systems.................................................................7-36

Actual Feedback Values of Absolute Measurement Systems After Initialization........................7-36

7.4 Drive Limitations.................................................................................................................................7-37

Current Limit................................................................................................................................7-37

Torque/Force Limiting.................................................................................................................7-41

Limiting Velocity ..........................................................................................................................7-43

Travel Range Limits....................................................................................................................7-44

7.5 Drive Interlock Open..........................................................................................................................7-49

Activating the Drive Interlock.......................................................................................................7-50

7.7 Drive Error Reaction...........................................................................................................................7-51

Best Possible Deceleration .........................................................................................................7-52

Power Supply Shutdown in Error Situation..................................................................................7-58

NC Response in Error Situation..................................................................................................7-59

Emergency stop feature..............................................................................................................7-60

7.8 Control Loop Settings.........................................................................................................................7-62

General Information for Control Loop Settings............................................................................7-62

Load Default................................................................................................................................7-64

Setting the Current Controller......................................................................................................7-66

Setting the Velocity Controller.....................................................................................................7-66

Setting the position controller......................................................................................................7-71

Position Control Loop Monitoring................................................................................................7-72

Setting the Acceleration Feed Forward.......................................................................................7-74

Setting the Velocity Mix Factor....................................................................................................7-76

Setting the Frictional Torque Compensation...............................................................................7-77

7.9 Drive Stop ..........................................................................................................................................7-78

Drive Halt Feature Description....................................................................................................7-78

7.10 Drive-Controlled Homing..................................................................................................................7-79

Setting the referencing parameters............................................................................................. 7-80

Overview about Type and Configuration of Homing Marks in the Measurement System...........7-80

IV Contents DIAX03 Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

Functional principle of drive-controlled referencing.....................................................................7-82

Sequence control "Drive-Controlled Homing" .............................................................................7-83

Commissioning with "Evaluation of reference marker/home switch edge".................................7-85

Commissioning with "Evaluation of distance-coded reference marker"......................................7-94

Functions of the Control During "Drive-Controlled Homing" .......................................................7-97

Possible Error Messages During "Drive-Controlled Homing"......................................................7-97

Homing of Gantry axis.................................................................................................................7-98

7.11 Language Selection .......................................................................................................................7-104

8 Extended Drive Functions 8-1

8.1 Analog Output......................................................................................................................................8-1

Possible output functions..............................................................................................................8-1

Direct analog outputs ....................................................................................................................8-1

Analog output of existing parameters............................................................................................8-2

Outputting pre-set signals.............................................................................................................8-2

Bit and byte outputs of the data memory.......................................................................................8-3

Terminal assignment - analog output............................................................................................8-4

8.2 Analog Inputs.......................................................................................................................................8-5

Functional principle of the analog inputs.......................................................................................8-5

8.3 Digital Input/Output ..............................................................................................................................8-7

Digital I/O Functional Principle......................................................................................................8-7

Allocating ID Number - Parallel I/O...............................................................................................8-9

8.4 Oscilloscope Feature.........................................................................................................................8-13

Main Functions of the Oscilloscope Feature...............................................................................8-13

Parameterizing the Oscilloscope Feature...................................................................................8-14

8.5 Probe Input Feature...........................................................................................................................8-20

Main Function of the Probe Analysis...........................................................................................8-21

Signal Edge Selection for the Probe Inputs.................................................................................8-23

Signal Selection for the Probe Inputs..........................................................................................8-23

Connecting the Probe Inputs.......................................................................................................8-24

8.6 Positive stop drive procedure.............................................................................................................8-25

8.7 Axis Error Correction..........................................................................................................................8-26

Reversal error correction.............................................................................................................8-27

Precision Axis Error Correction...................................................................................................8-28

Temperature Correction..............................................................................................................8-33

Control Side Axis Error Correction..............................................................................................8-40

8.8 Command - detect marker position....................................................................................................8-41

Functional principle of command detect marker position............................................................8-41

8.9 Command Parking Axis .....................................................................................................................8-42

The functional principle of the command parking axis................................................................8-42

9 Glossary 9-1

10 Index 10-1

Supplement A: Parameter Description

Supplement B: Diagnostic Message Description

Customer Service Locations

DIAX03 Drive With Servo Function System Overview 1-1

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

1 System Overview

1.1 Range of Applications

DIAX03 is a family of digital, intelligent drives. DIAX03 offers solutions for

applications in the following markets:

• Tool machines

• Converting

• Printing

• Packaging

• General industrial Automation

DIAX03 consists of:

• A standardized digital drive SERCOS interface

• Operation with the complete line of INDRAMAT motors

• Complete power range from 1kW to 100kW

• User-friendly software features

• Adaptability to various applications by configuring the drive with

optional plug-in cards

1-2 System Overview DIAX03 Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

1.2 Drive Controllers

The DIAX03 family consists of five drive controllers:

Modular Digital Servo Drives (Drive Controllers):

• DDS2.2

• DDS3.2

Digital Vector Drives for with integrated power input (rectifier) and

regenerative power feedback:

• DKR2.1

• DKR3.1

• DKR4.1

Fig. 1-1: Drive controllers

The type of the digital drive used is stored in parameter S-0-0140,

Controller type.

DIAX03 Drive With Servo Function System Overview 1-3

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

1.3 Motors

Rotary and linear motors can be driven with the DIAX03 drive family.

Rotary motors: Linear motors:

MDD LAR

MKD LAF

2AD LSF

ADF

1MB

MBW

MBS

Fig. 1-2: Rotary motors

Fig. 1-3: Linear motors

The motor type used is stored in parameter S-0-0141, Motor type.

1-4 System Overview DIAX03 Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

1.4 Firmware Overview

Within the DIAX03 family, there are three user-specific firmware

variations:

• Drive with servo functionality

• Drive with main spindle functionality

• Drive with electronic line shafting functionality

The drive with electronic line shafting function (servo feature) is

described in the following documentation.

The software version used is stored in the parameter S-0-0030,

Manufacturer version.

1.5 Basic Operating Modes and General Features

Basic Operating Modes

• Torque mode

• Velocity mode

• Position mode

• Drive-interpolated position mode

• Relative drive-internal interpolation

General Features

• Diagnostic possibilities

• Setting of torque/force limits

• Current limit

• Limiting the velocity

• Travel range limit

• Drive error reaction:

P-0-0119, Best Possible Deceleration

Velocity command switched to zero

Best possible deceleration (torque disable)

P-0-0119, Best Possible Deceleration

Velocity command switched to zero with ramp (slope) and filter

NC Response on Error

Emergency stop feature

• Control loop settings

Load default feature

Acceleration feed forward

Velocity mix factor

Velocity preset control

• Language selection

DIAX03 Drive With Servo Function System Overview 1-5

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

• Drive interlock

• Drive halt

• Drive-controlled homing procedure

• Evaluating absolute measurement systems by setting the absolute

measurement

• Analog output

• Oscilloscope feature

• Measuring feature with:

Measuring signal actual feedback value 1/2

Measuring signal time

• Modulo feature

• Error storage and operating hour counter

• Configurable signal status word

• Customer password

• Command parking axis

• Settable drive-internal position resolution

1.6 Additional Firmware Features: Drive with Servo Feature

• Axis error compensation

• Consideration of reversal clearance

• Positive stop drive procedure

• Frictional torque compensation

1-6 System Overview DIAX03 Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

Notes

DIAX03 Drive With Servo Function Safety Instructions for Electrical Drives 2-1

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

2 Safety Instructions for Electrical Drives

2.1 General

These instructions must be read and understood before the equipment is

used to minimize the risk of personal injury and /or property damage.

Follow these safety instructions at all times.

Do not attempt to install, use or service this equipment without first

reading all documentation provided with the product. Please read and

understand these safety instructions, and all user documentation for the

equipment, prior to working with the equipment at any time. You must

contact your local Indramat representative if you cannot locate the user

documentation for your equipment. A listing of Indramat offices is

supplied in the back of this manual. Request that your representative

send this documentation immediately to the person(s) responsible for the

safe operation of this equipment.

If the product is resold, rented and/or otherwise transferred or passed on

to others, these safety instructions must accompany it.

WARNING

Improper use of this equipment, failure to follow the

attached safety instructions, or tampering with the

product, including disabling of safety device, may

result in personal injury, severe electrical shock,

death, or property damage!

INDRAMAT GmbH is not liable for damages resulting from failure to

observe the warnings given in these instructions.

• Operating, maintenance and safety instruction in the appropriate

language must be ordered and received before initial start-up, if the

instructions in the language provided are not understood perfectly.

• Proper and correct transport,storage, assembly, and installation as

well as care in operation and maintenance are prerequisites for

optimal and safe operation of this equipment.

• Trained and qualified personnel:

Only trained and qualified personnel may work on this equipment or in

its vicinity. Personnel is qualified if they have sufficient knowledge of

the assembly, installation, and operation of the product as well as of

all warnings and precautionary measures noted in these instructions.

Furthermore, they should be trained, instructed, and qualified to

switch electrical circuits and equipment on and off, to ground them,

and to mark them according to the requirements of safe work

practices and common sense. They must have adequate safety

equipment and be trained in first aid.

• Use only spare parts approved by the manufacturer.

• All safety regulations and requirements for the specific application

must be followed as practiced in the country of use.

• The equipment is designed for installation on commercial machinery.

• Start-up is only permitted once it is sure that the machine in which the

products are installed complies with the requirements of national

safety regulations and safety specifications of the application.

European countries: see Directive 89/392/EEC (Machine Guideline);

2-2 Safety Instructions for Electrical Drives DIAX03 Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

• Operation is only permitted if the national EMC regulations for the

application are met.

The instructions for installation in accordance with EMC requirements

can be found in the INDRAMAT document "EMC in Drive and Control

Systems“.

The machine builder is responsible for the adherence of the limiting

values as prescribed in the national regulations and specific

regulations for the application concerning EMC.

European countries: see Directive 89/336/EEC (EMC Guideline);

U.S.A.: See National Electrical Codes (NEC), National Electrical

Manufacturers Association (NEMA), and local building codes. The

user of this equipment must consult the above noted items at all

times.

• Technical data, connections, and operational conditions are specified

in the product documentation and must be followed.

2.2 Protection against contact with electrical parts

Note: This section pertains to equipment and drive components with

voltages over 50 Volts.

Touching live parts with potentials of 50 Volts and higher applied to them

can be dangerous and cause severe electrical shock. In order for

electrical equipment to be operated, certain parts must have dangerous

voltages applied to them.

DANGER

High Voltage!

Danger to life, severe electrical shock and risk of injury!

⇒ Only those trained and qualified to work with or on

electrical equipment are permitted to operate,

maintain and/or repair this equipment.

⇒ Follow general construction and safety regulations

when working on electrical installations.

⇒ Before switching on power, the ground wire must be

permanently connected to all electrical units

according to the connection diagram in the Project

Planning Manual.

⇒ At no time may electrical equipment be operated if

the ground wire is not permanently connected, even

for brief measurements or tests.

⇒ Before beginning any work, disconnect mains or the

voltage source from the equipment. Lock the

equipment against being switched on while work is

being performed.

⇒ Wait 5 minutes after switching off power to allow

capacitors to discharge before beginning work.

Measure the voltage on the capacitors before

beginning work to make sure that the equipment is

safe to touch.

⇒ Never touch the electrical connection points of a

component while power is turned on.

⇒ Before switching the equipment on covers and

DIAX03 Drive With Servo Function Safety Instructions for Electrical Drives 2-3

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

guards provided with the equipment must be installed

to prevent contact with live parts. Before operating

cover and guard live parts properly so they cannot be

touched.

⇒ A leakage current protective device must not be used

for an AC drive! Indirect contact must be prevented

by other means, for example, by an overcurrent

protective device.

European countries: according to EN 50178/ 1994;

⇒ Electrical components with exposed live parts must

be installed in a control cabinet to prevent direct

contact.

European countries: according to EN 50178/ 1994;

⇒ U.S.A: See National Electrical Codes (NEC), National

Electrical Manufacturers Association (NEMA), and

local building codes. The user of this equipment must

consult the above noted items at all times.

DANGER

High discharge current!

Danger to life, risk of severe electrical shock and risk of

injury!

⇒ All units and the motors must be connected to a

grounding point with the ground wire or must be

grounded themselves before switching on power.

⇒ The discharge current is greater than 3.5 mA. A

permanent connection to the supply system is

therefore required for all units.

European countries: according to EN 50178/1994,

section 5.3.2.3;

⇒ U.S.: See National Electrical Codes (NEC), National

Electrical Manufacturers Association (NEMA), and

local building codes. The user of this equipment

must consult the above noted items at all times.

⇒ The ground wire must always be connected before

start-up, even during the performance of tests.

Otherwise, high voltages may be present at the unit

housing, which can result in severe electrical shock

and personal injury.

2.3 Protection by protective low voltage (PELV) against

electrical shock

All connections and terminals with voltages ranging between 5 and 50

volts on INDRAMAT products are protective low voltages designed in

accordance with the following standards on contact safety:

• International: IEC 364-4-411.1.5

• European countries within the EU: see EN 50178/1994,

section 5.2.8.1.

2-4 Safety Instructions for Electrical Drives DIAX03 Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

WARNING

High electrical voltages due to incorrect

connections!

Danger to life and limb, severe electrical shock and/or

serious bodily injury!

⇒ Only that equipment or those electrical components

and cables may be connected to all terminals and

clamps with 0 to 50 volts if these are of the protective

low voltage type (PELV = Protective Extra Low

Voltage).

⇒

Only connect those voltages and electrical circuits

that are safely isolated. Safe isolation is achieved, for

example, with an isolating transformer, an

optoelectronic coupler or when battery-operated.

2.4 Protection against dangerous movements

Dangerous movements can be caused when units have bad interfaces or

motors are connected incorrectly.

There are various causes of dangerous movements:

• Improper or incorrect wiring or cable connections

• equipment is operated incorrectly

• probe parameters or encoder parameters are set incorrectly

• broken components

• errors in software or firmware

Dangerous movements can occur immediately after equipment is

switched on or even after an unspecified time of trouble-free operation.

Although the monitoring circuits in the drive components make improper

operation almost impossible, personnel safety requires that proper safety

precautions be taken to minimize the risk of electrical shock, personal

injury and/or property damage. This means that unexpected motion must

be anticipated since safety monitoring built into the equipment might be

defeated by incorrect wiring or other faults.

DANGER

Dangerous movements!

Danger to life, electrical shock and risk of injury or

equipment damage!

⇒ In the drive component monitoring units, every effort

is made to avoid the possibility of faulty operation in

connected drives. Unintended machine motion or

other malfunction is possible if monitoring units are

disabled, by-passed or not activated.

⇒ Safe requirements of each individual drive application

must be considered on a case-by-case basis by

users and machine builders.

Avoiding accidents, electrical shock, personal injury

and/or property damage:

⇒ Keep free and clear of the machine’s range of motion

and moving parts. Prevent people from accidentally

entering the machine’s range of movement:

- use protective fences

- use protective railings

DIAX03 Drive With Servo Function Safety Instructions for Electrical Drives 2-5

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

- install protective coverings

- install light curtains

⇒ Fences should be strong enough to withstand

maximum possible momentum.

⇒ Mount the Emergency Stop (E-Stop) switch in the

immediate reach of the operator. Verify that the

Emergency Stop works before start-up. Do not use if

not working.

⇒ Isolate the drive power connection by means of an

Emergency Stop circuit or use a safe lock-out system

to prevent unintentional start-up.

⇒ Make sure that the drives are brought to standstill

before accessing or entering the danger zone.

⇒ Disconnect electrical power to the equipment using a

master lock-out and secure against reconnection for:

- maintenance and repair work

- cleaning of equipment

- long periods of discontinued equipment use

⇒ Avoid operating high-frequency, remote control, and

radio equipment near equipment electronics and

supply leads. If use of such equipment cannot be

avoided, verify the system and the plant for possible

malfunctions at all possible positions of normal use

before the first start-up. If necessary, perform a

special Electromagnetic Compatibility (EMC) test on

the plant.

2.5 Protection against magnetic and electromagnetic fields

during operations and mounting

Magnetic and electromagnetic fields in the vicinity of current-carrying

conductors and permanent motor magnets represent a serious health

hazard to persons with heart pacemakers, metal implants and hearing

aids.

WARNING

Health hazard for persons with heart pacemakers,

metal implants and hearing aids in proximity to

electrical equipment!

⇒ Persons with pacemakers and metal implants are not

permitted to have access to the following areas:

− Areas in which electrical equipment and parts are

mounted, operating or are being commissioned.

− Areas in which parts of motors with permanent

magnets are being stored, repaired or mounted.

⇒ If it is necessary for a person wearing a heart

pacemaker to enter into such an area then a

physician must be consulted prior to doing so.

⇒ Persons with metal implants or hearing aids must

take care prior to entering into areas described

above. It is assumed that metal implants or hearing

aids will be affected by such areas and a physician

must be consulted prior to doing so.

2-6 Safety Instructions for Electrical Drives DIAX03 Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

2.6 Protection during handling and installation

All INDRAMAT products should be handled and assembled according to

the instructions in the documentation.

CAUTION

Risk of injury due to incorrect handling!

Bodily injury caused by crushing, shearing, cutting, and

thrusting movements!

⇒ Observe installation instructions and safety

regulations before handling and working on the

product.

⇒

Use suitable installation in using lifting or moving

equipment. Refer to the user manual for the product.

⇒ Take precautions to avoid pinching and crushing.

⇒ Only use suitable tools specified in the user manuals

and use them according the instructions.

⇒ Use lifting devices and tools correctly and safely.

⇒ Wear appropriate protective clothing, e.g., protective

goggles, safety shoes, protective gloves.

⇒ Never stand under suspended loads.

⇒ Clean up liquids form the floor to prevent personnel

from slipping.

2.7 Battery safety

Batteries contain reactive chemicals. Incorrect handling can result in

injury or equipment damage.

CAUTION

Risk of injury due to incorrect handling!

⇒ Do not attempt to reactivate dead batteries by heating

or other methods (danger of explosion and

corrosion).

⇒

Never charge batteries (danger from leakage and

explosion).

⇒ Never throw batteries into a fire.

⇒ Do not take batteries apart.

⇒ Handle carefully. Incorrect extraction or installation of

a battery can damage equipment.

Note: Environmental protection and disposal! The batteries contained

in the product should be considered as hazardous material for

land, air, and sea transport in the sense of the legal requirements

(Danger of explosion). Dispose of batteries separately from other

refuse. Observe the legal requirements in the country of

installation.

DIAX03 Drive With Servo Function General Instructions for Installation 3-1

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

3 General Instructions for Installation

3.1 Explanation of Terms

It is helpful to explain the terms used in this document so that they will be

better understood.

Parameter

Communication with the drive occurs (with a few exceptions) with the

help of parameters. They can be used for

• Setting the configuration

• Parameterizing the control/drive settings

• Accessing control/drive functions and commands

• Configuring the cyclic telegrams

A parameter is identified with

its ID numbers

All of the drive's operating data are identified by ID numbers.

All the parameter ID numbers available in the drive are listed in

parameter

S-0-0017, IDN List of all Operation Data.

The Data Status

Each parameter is provided with a data status, which can also be read. It

serves the following purposes:

• Identifying the validity/invalidity of the parameter

• Contains the command acknowledgment if the parameter acts as a

command (see Commands)

Data Block Structure

Each parameter has 7 different data block elements that can be read or

written by a SERCOS control system.

Data Block

Structure:

Element No.: Designation: Remarks:

1 ID Number Parameter identification

2 Name can be changed in language

selection

3 Attribute contains data length, type and

decimal places

4 Unit can be changed in language

selection

5 Minimum Input Value contains the minimum input

value of the operating data

6 Maximum Input Value contains the maximum input

value of the operating data

7 Operating Data actual parameter value

Fig. 3-1: Data Block Structure

3-2 General Instructions for Installation DIAX03 Drive With Servo Function

DOK-DIAX03-SSE-02VRS**-FKB1-EN-P

Changing the operating data

depends on the

communication phase

Only the operating data can be changed; all other elements can only be

read. The operating data can be write-protected either continuously or

temporarily.

Possible Error Messages when Reading and Writing the

Operating Data

Error: Reason:

0x7004, Data not changeable The operating data is write-protected

0x7005, Data currently write-

protected The operating data cannot be written to in

this communication phase (see Supplement

A: Writing to Parameters)

0x7006, Data smaller than

minimum value The operating data is smaller than its

minimal input value

0x7007, Data larger than

maximum value The operating data is larger than its

maximum input value

0x7008, Data is not correct The value could not be accepted as written

because internal tests lead to a negative

result

0x7009, data write protected

with password The parameter cannot be write accessed as

customer password has been activated S-0-

0267, Password. All parameters in S-0-

0192, IDN-List of backup operation data

can be conducted.

Fig. 3-2: Error messages while reading/writing operating data

Non-Volatile Parameter Storage Registers

All configuration and control

settings are stored

Various non-volatile parameter storage registers that buffer operating

data are contained in the drive. The operating data apply to:

• setting the configuration, or

• parameterizing the control drive settings

Each time operating data is written to it is stored.

Memory is available in the following structural component groups:

• Control drive

• Motor feedback (optional)

• Software module

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Bosch Rexroth R911276248 User manual

Bosch Rexroth R911276248 User manual

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