Beckhoff AX2090-BW80-2000 Operating Instructions Manual

Type
Operating Instructions Manual
AX8000 | Multi-axis
servo system
Operating instructions | EN
4/24/2020 | Version 1.1
Order No.: TDmlAX-8000-0000-0201
Table of content
Version: 1.1 ─── 3AX8000
Table of content
Documentation notes .......................................................................................................................................... 5
Disclaimer ......................................................................................................................................................... 5
Version numbers............................................................................................................................................... 7
Scope of the documentation ............................................................................................................................. 7
Staff qualification............................................................................................................................................... 8
Safety and instruction ..................................................................................................................................... 10
Explanation of symbols ................................................................................................................................... 10
Beckhoff Services ........................................................................................................................................... 12
For your safety................................................................................................................................................... 13
Safety pictograms ........................................................................................................................................... 13
General safety instructions ............................................................................................................................. 14
Product overview............................................................................................................................................... 16
Power supply module...................................................................................................................................... 17
Axis module .................................................................................................................................................... 19
Capacitor module............................................................................................................................................ 21
Product characteristics.................................................................................................................................... 23
Ordering options ............................................................................................................................................. 24
Intended use ................................................................................................................................................... 26
Dual Use ......................................................................................................................................................... 27
Technical data.................................................................................................................................................... 28
Data for operation and environment ............................................................................................................... 28
Power supply modules.................................................................................................................................... 29
Axis modules................................................................................................................................................... 30
Capacitor module............................................................................................................................................ 31
Brake resistor [+]............................................................................................................................................. 31
Dimensional drawings..................................................................................................................................... 32
Scope of supply ................................................................................................................................................. 36
Packaging ....................................................................................................................................................... 37
Transport and storage....................................................................................................................................... 38
Conditions ....................................................................................................................................................... 38
Transport......................................................................................................................................................... 39
Long-term storage........................................................................................................................................... 39
Technical description........................................................................................................................................ 40
Installation position ......................................................................................................................................... 40
Residual current circuit breaker ...................................................................................................................... 40
Safe system stop ........................................................................................................................................... 40
Wide voltage range ......................................................................................................................................... 41
Dimensioning .................................................................................................................................................. 42
Display ............................................................................................................................................................ 45
Capacitor module............................................................................................................................................ 49
Mechanical installation ..................................................................................................................................... 50
Preparation ..................................................................................................................................................... 50
Modules .......................................................................................................................................................... 53
Electrical installation......................................................................................................................................... 56
Project planning .............................................................................................................................................. 56
Block diagrams ............................................................................................................................................... 58
Grounding ....................................................................................................................................................... 62
Power supply .................................................................................................................................................. 66
Voltage input ................................................................................................................................................... 67
Brake chopper................................................................................................................................................. 68
Table of content
4 ─── Version: 1.1AX8000
DC link ............................................................................................................................................................ 69
Fieldbus system .............................................................................................................................................. 70
Multi-feedback................................................................................................................................................. 71
Motor feedback OCT....................................................................................................................................... 74
Digital inputs ................................................................................................................................................... 75
Supply networks.............................................................................................................................................. 76
Fuse protection ............................................................................................................................................... 77
Commissioning.................................................................................................................................................. 81
Before commissioning..................................................................................................................................... 81
During commissioning..................................................................................................................................... 81
Prerequisites during operation ........................................................................................................................ 82
After operation ................................................................................................................................................ 82
Maintenance and cleaning ................................................................................................................................ 83
Intervals .......................................................................................................................................................... 83
Accessories........................................................................................................................................................ 84
Brake resistor.................................................................................................................................................. 84
Decommissioning.............................................................................................................................................. 85
Disassembly.................................................................................................................................................... 85
Disposal .......................................................................................................................................................... 86
Guidelines and Standards ................................................................................................................................ 87
Standards........................................................................................................................................................ 87
Guidelines ....................................................................................................................................................... 88
Test centers .................................................................................................................................................... 89
EU conformity ................................................................................................................................................. 89
UL certification ................................................................................................................................................ 90
Index ................................................................................................................................................................... 91
Documentation notes
Version: 1.1 ─── 5AX8000
1.1Disclaimer
Beckhoff products are subject to continuous further development.
We reserve the right to revise the operating instructions at any time
and without prior announcement. No claims for the modification of
products that have already been supplied may be made on the basis
of the data, diagrams and descriptions in these operating instruc-
tions.
1.1.1Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCAT G®, EtherCAT
G10®, EtherCAT P®, Safety over EtherCAT®, TwinSAFE®, XFC®,
XTS® and XPlanar® are registered and licensed trademarks of
Beckhoff Automation GmbH.
The use of other brand names or designations by third parties may
lead to an infringement of the rights of the owners of the corre-
sponding designations.
1.1.2Patents
The EtherCAT technology is protected by patent rights through the
following registrations and patents with corresponding applications
and registrations in various other countries:
• EP1590927
• EP1789857
• EP1456722
• EP2137893
• DE102015105702
EtherCAT
®
is a registered trademark and patented technology, li-
censed by Beckhoff Automation GmbH & Co. KG, Germany.
Documentation notes
6 ─── Version: 1.1AX8000
1.1.3Limitation of liability
All components in this product as described in the operating instruc-
tions are delivered in a specific configuration of hardware and soft-
ware, depending on the application regulations. Modifications and
changes to the hardware and/or software configuration that go be-
yond the documented options are prohibited and nullify the liability
of Beckhoff Automation GmbH & Co. KG.
The following is excluded from the liability:
• Failure to observe these operating instructions
• Improper use
• Use of untrained personnel
• Use of unauthorized spare parts
1.1.4Copyright
© Beckhoff Automation GmbH & Co. KG, Germany
The copying, distribution and utilization of this document as well as
the communication of its contents to others without express autho-
rization is prohibited. Offenders will be held liable for the payment of
damages.
We reserve all rights in the event of registration of patents, utility
models and designs.
Documentation notes
Version: 1.1 ─── 7AX8000
1.2Version numbers
Provision of revision levels
On request, you can obtain a list of revision levels for changes in
the operating instructions.
• Send your request to: [email protected]
Origin of the document
These operating instructions were originally written in German. All
other languages are derived from the German original.
Product features
Only the product properties specified in the current operating in-
structions are valid. Further information given on the product pages
of the Beckhoff homepage, in emails or in other publications is not
authoritative.
1.3Scope of the documen-
tation
Apart from these operating instructions, the following documents are
part of the overall documentation:
AX8000 Definition
Translation of the original instruc-
tions;
this documentation
Description of the mechanical
and electrical parameters as well
as all information necessary for
the use, installation and mount-
ing of the AX8000 multi-axis
servo system
Commissioning under TwinCAT3 Commissioning tutorial under
TwinCAT3 including user infor-
mation on the TCDriveManager
2 and a description of the safety
function STO (Safe Torque Off)
over FSoE (Safety over Ether-
CAT)
CoE object description Documentation of the CAN over
EtherCAT objects with attribute
tables
Diagnostic messages Documentation of the error mes-
sages of the AX8000 multi-axis
servo system with attribute ta-
bles, problem descriptions and
possible solutions
AX2090-BW80-xxxx brake resis-
tors
Operating instructions for the use
and installation of the AX2090-
BW80 brake resistors as acces-
sories for the AX8000 multi-axis
servo system
Documentation notes
8 ─── Version: 1.1AX8000
1.4Staff qualification
1.4
These operating instructions are intended for trained control and au-
tomation specialists with knowledge of the applicable and required
standards and directives.
Qualified personnel must have knowledge of drive technology and
electrical equipment as well as knowledge of safe working on electri-
cal systems and machines. This includes knowledge of proper setup
and preparation of the workplace as well as securing the working
environment for other persons.
The operating instructions published at the respective time of each
installation and commissioning is to be used. The products must be
used in compliance with all safety requirements, including all appli-
cable laws, regulations, provisions and standards.
Instructed person
Instructed persons have a clearly defined task area and have been
informed about the work to be carried out. Instructed persons are fa-
miliar with:
• The necessary protective measures and protective devices
• The intended use and risks that can arise from use other than for
the intended purpose
Trained person
Trained persons meet the requirements for instructed persons.
Trained persons have additionally received training from the ma-
chine manufacturer or vendor:
• Machine-specific or
• Plant-specific
Trained specialists
Trained specialists have received specific technical training and
have specific technical knowledge and experience. Trained special-
ists can:
• Apply relevant standards and directives
• Assess tasks that they have been assigned
• Recognize possible hazards
• Prepare and set up workplaces
Documentation notes
Version: 1.1 ─── 9AX8000
Qualified electricians
Qualified electricians have comprehensive technical knowledge
gained from a course of study, an apprenticeship or technical train-
ing. They have an understanding of control technology and automa-
tion. They are familiar with relevant standards and directives. Quali-
fied electricians can:
• Independently recognize, avoid and eliminate sources of danger
• Implement specifications from the accident prevention regula-
tions
• Assess the work environment
• Independently optimize and carry out their work
Customer service
Customer service personnel and service personnel are verifiably
trained and authorized by Beckhoff or the machine manufacturer for
the work on the machine or plant.
Documentation notes
10 ─── Version: 1.1AX8000
1.5Safety and instruction
Read the contents that refer to the activities you have to perform
with the product. Always read the chapter For your safety in the op-
erating instructions. Observe the warning notes in the chapters so
that you can handle and work properly and safely with the product.
1.6Explanation of symbols
Various symbols are used for a clear arrangement:
â–º The triangle indicates instructions that you should execute
• The bullet point indicates an enumeration
[…] The square parentheses indicate cross-references to other
text passages in the document
[+] The plus sign in square brackets indicates ordering options
and accessories
1.6.1Pictograms
Pictograms and signal words are used in warning notices to make it
easier for you to find text passages:
DANGER
Failure to observe will result in serious or fatal injuries.
WARNING
Failure to observe may result in serious or fatal injuries.
CAUTION
Failure to observe may result in minor or moderate injuries.
Documentation notes
Version: 1.1 ─── 11AX8000
Notes
Notes are used for important information on the product.
The possible consequences of failure to observe these include:
• Malfunctions of the product
• Damage to the product
• Damage to the environment
Informations
This sign indicates information, tips and notes for dealing with the
product or the software.
Examples
This symbol shows examples of how to use the product or soft-
ware.
QR codes
This symbol shows a QR code, via which you can watch videos or
animations. Internet access is required in order to use it.
You can read the QR code, for example, with the camera of your
Smartphone or Tablet PC. If your camera doesn't support this func-
tion you can download a free QR code reader app for your Smart-
phone. Use the Appstore for Apple operating systems or the
Google Playstore for Android operating systems.
If you cannot read the QR code on paper, make sure that the light-
ing is adequate and reduce the distance between the reading de-
vice and the paper. In the case of documentation on a monitor
screen, use the zoom function to enlarge the QR code and reduce
the distance.
Documentation notes
12 ─── Version: 1.1AX8000
1.7Beckhoff Services
Beckhoff and the worldwide partner companies offer comprehensive
support and service.
1.7.1Support
The Beckhoff Support offers technical advice on the use of individ-
ual Beckhoff products and system planning. Staff provide assistance
for programming and commissioning complex automation systems
and offer a comprehensive training program.
Hotline: +49(0)5246/963-157
Fax: +49(0)5246/963-199
Web: www.beckhoff.de/support
1.7.2Training
Training in Germany takes place in our training center at the Beck-
hoff headquarters in Verl, at branch offices or, by arrangement, at
the customer's premises.
Hotline: +49(0)5246/963-5000
Fax: +49(0)5246/963-95000
Web: www.beckhoff.de/training
1.7.3Service
The Beckhoff Service Center supports you with after-sales services
such as on-site service, repair service or spare parts service.
Hotline: +49(0)5246/963-460
Fax: +49(0)5246/963-479
Web: www.beckhoff.de/service
1.7.4Download area
In the download area you will find product information, software up-
dates, the TwinCAT automation suite, documentation and much
more.
Web: www.beckhoff.de/download
1.7.5Headquarters
Beckhoff Automation GmbH & Co. KG
Hülshorstweg 20
33415 Verl
Germany
Phone: +49(0)5246/963-0
Fax: +49(0)5246/963-198
Web: www.beckhoff.de
The addresses of the international Beckhoff branch offices can be
found on the Beckhoff website: http://www.beckhoff.de
For your safety
Version: 1.1 ─── 13AX8000
Read this chapter containing general safety information. The chap-
ters in these operating instructions also contain warning notices. Al-
ways observe the safety instructions for your own safety, the safety
of other persons and the safety of the product.
When working with control and automation products, many dangers
can result from careless or incorrect use. Work particularly thor-
oughly, not under time pressure and responsibly towards other peo-
ple.
2.1Safety pictograms
On Beckhoff products you will find attached or lasered safety pic-
tograms, which vary depending on the product. They serve to pro-
tect people and to prevent damage to the products. Safety pic-
tograms must not be removed and must be legible for the user.
Warning of high voltage!
The DC link capacitors and test contacts on all modules can carry
life-threatening voltages of over 875V
DC
.
For your safety
14 ─── Version: 1.1AX8000
2.2General safety instruc-
tions
This chapter provides you with instructions on safety when handling
the product. This product is not capable of stand-alone operation
and is therefore categorized as an incomplete machine. The product
must be installed in a machine/plant by the machine manufacturer.
Read the documentation prepared by the machine manufacturer.
2.2.1Before operation
Keep the surroundings clean
Keep your workplace and the surrounding area clean. Ensure safe
working.
Secure the control cabinet
When working on machines, secure the control cabinet against inad-
vertent power-up.
Do not use damaged components
Observe the specifications in the technical data during storage,
transport and operation. Do not use damaged components.
Check safety pictograms
Check whether the designated pictograms are on the product. Re-
place missing or illegible stickers.
Observe tightening torques
Install connections and components in compliance with the specified
tightening torques and check them regularly.
Earth electrical components or modules correctly
Do not touch electrical components or modules unless you are
wearing protective ESD clothing. Only walk on conductive floors.
Only use original packaging for further processing
When shipping, transporting, storing and packing, use the original
packaging or conductive materials.
For your safety
Version: 1.1 ─── 15AX8000
2.2.2During operation
Avoid contact with DC link DC+ and DC-
Measure the voltage on the DC link test contacts DC+ und DC-. Ob-
serve the following delay times after disconnecting from the mains
supply:
• AX8620 and AX8640 30 minutes
• AX8108, AX8118 and AX8206 30 minutes
Do not work on live electrical parts
Do not open the multi-axis servo system when it is live. Ensure that
the protective conductor is properly connected. Never disconnect
electrical connections while they are live. Only work on the multi-
axis servo system when the voltage has dropped to < 50V. Discon-
nect all components from the mains and secure against reconnec-
tion.
Do not touch hot surfaces
Check cooling of the surfaces with a thermometer. Do not touch the
components during operation. Allow the components to cool down
for at least 15 minutes after switching off.
Avoid overheating
Operate the components according to the technical specifications.
Refer here to the chapter: "Technical data". Provide for adequate
cooling and switch the components off immediately if the tempera-
ture is too high.
Do not touch moving or rotating components
Do not touch moving or rotating parts during operation. Ensure that
all parts / components on the machine / plant are firmly seated.
2.2.3After operation
De-energize and switch off components before working on
them
Carry out a voltage test and check all safety-relevant devices for
functionality. Secure the working environment and the control cabi-
net against inadvertent power-up. See chapter: "Decommissioning".
Product overview
16 ─── Version: 1.1AX8000
3
Number Explanation
1 Housing
2 Display; in case of 2-channel modules: left channel 1, right channel 2
3 Digital inputs X15, channel A and X25, channel B
4 Feedback connection X21 and X22; optional
5 Quick coupling 24V
DC
; AX bridge
6 EtherCAT connection
7 Quick coupling, DC link and protective earth PE; AX bridge
8 8-pin motor connector X23, channel B; U, V, W, PE, T+ / OCT+, T- / OCT-, B+
and B-
9 8-pin motor connector X13, channel A; U, V, W, PE, T+ / OCT+, T- / OCT-, B+
and B-
10 AX-Bridge: DC link, FE
11 AX-Bridge: 24V
DC
12 Fieldbus EtherCAT input X04
13 Fieldbus EtherCAT output X05
14 10-pin input terminal X01; DC, 24V, supply network, PE and external brake re-
sistor
15 Earthing bolt
16 Test contact DC link DC-
17 Test contact DC link DC+
18 Test contact GND
19 Test contact +24V
DC
Product overview
Version: 1.1 ─── 17AX8000
3.1Power supply module
3.1.1Name plate
3.1.1
Number Explanation
1 Order number
2 Serial number
3 Rated input voltage
4 Rated input current
5 Input frequency
6 Maximum ambient temperature
7 Rated output voltage
8 Rated output current
9 Date of manufacture
10 QR code
11 EtherCAT conformity
12 cULus approval
13 EAC conformity
14 CE approval
Product overview
18 ─── Version: 1.1AX8000
3.1.2Type key
AX 8x yz-a b c d-0000 Explanation
AX Product line
Servo drive
8 Series
AX8000
x Supply
6
In combination with "a"
yz Rated output current
20 = 7A
DC
- single-phase supply
20 = 20A
DC
- three-phase supply
40 = 40A
DC
- three-phase supply
a Supply
0 = three-phase 200 to 480V
AC
1 = single-phase or three-phase 100 to 240V
AC
b Reserved
0 = Standard
c Hardware features
0 = Standard
d Execution
0 = Standard
Product overview
Version: 1.1 ─── 19AX8000
3.2Axis module
3.2.1Name plate
3.2.1
9 10
12
11
13
1
2
3
4
5
6
8
7
Input rated voltage : 680 V ( )DC UL
: 875 V ( -Link max.)DC DC
Max. amb. temp. : 55 °C
Catalog No. : 8206-0000-0000 AX
Serial # : 000000100
Output rated voltage : 3 0V - mains voltage PH AC
Output rated current : 2 x 6 A
Output frequency range : 0 - 599 Hz
Manufacturing date : 2017 / 02
Made in Germany
Ind. Cond. E.q.
41GE
BECKHOFF
Phone: + 49 52 46 / 9 63 - 0
Fax. : + 49 52 46 / 9 63 - 198
www.beckhoff.com [email protected]
Huelshorstweg 20
D-33415 Verl
Germany
Automation GmbH & Co. KG
Number Explanation
1 Order number
2 Serial number
3 Rated input voltage
4 Maximum ambient temperature
5 Rated output voltage
6 Rated output current
7 Output frequency range
8 Date of manufacture
9 QR code
10 EtherCAT conformity
11 cULus approval
12 EAC approval
13 CE conformity
Product overview
20 ─── Version: 1.1AX8000
3.2.2Type key
AX 8x yz-a b c d-0000 Explanation
AX Product line
Servo drive
8 Series
AX8000
x Axis module
1 = single-channel servo axis
2 = two-channel servo axis
yz Rated channel current
08 = 1 x 8A
18 = 1 x 18A
06 = 2 x 6A
a DC link voltage
0 = 0 to 875V
DC
b Safety function
0 = No safety function
1 = Safety functions, see "Ordering options", [Page24]
2 = Safety functions, see "Ordering options", [Page24]
c Hardware features
0 = OCT
1 = EnDat 2.2, BiSS C; Multi-Feedback Interface
d Execution
0 = Standard
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Beckhoff AX2090-BW80-2000 Operating Instructions Manual

Type
Operating Instructions Manual

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