Afag SE-24 User manual

Servo Controller
SE-24
▪Operating Instructions
Operating manual
© Copyright by Afag Automation AG

2 –66 Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5
These operating instructions apply to:
Servo Controller
Order No.
SE-24 I/O
50315434
SE-24 Profibus
50315435
SE-24 EtherCAT
50315436
SE-24 CANopen
50315437
Accessories
Order No.
Programming cable SE-24, 3m
50315431
SE-24 Stick
50315432
I/O cable SE-24, 5m
50312913
Power cable SE-24/SE-48, 5m
50118124
Brake release switch SE-24
50315438
Assembly and initial start-up may be carried out by qualified personnel only and
according to these operating instructions.
Version of this
documentation:
SE-24-OI-vers. 1.5 en.01.06.2022
CAUTION
Complementary documents are available for the different models.
Please pay attention to the notes in
2.1 Documentation

Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5 3–66
Symbols:
DANGER
Indicates imminent danger.
Disregard of this information can result in death or serious personal
injuries (invalidity).
WARNING
Indicates a possible dangerous situation.
Disregard of this information can result in death or serious personal
injuries (invalidity).
CAUTION
Indicates a possibly dangerous situation.
Disregard of this information can result in damage to property or light
to medium personal injuries.
NOTE
Indicates general notes, useful operator tips and operating
recommendations which don't affect safety and health of the
personnel.

4 –66 Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5
Inhaltsverzeichnis
1Declaration of Incorporation....................................................................... 7
2General...................................................................................................... 8
2.1 Documentation........................................................................................... 8
3Safety instructions for electrical drives and controllers............................ 10
3.1 General instructions................................................................................. 10
3.2 Dangers from improper use..................................................................... 12
3.3 Safety instructions ................................................................................... 13
3.3.1 General safety instructions ...................................................................... 13
3.3.2 Safety instructions for installation and maintenance................................ 15
3.3.3 Protection through protective low voltage (PELV) against electrical
shocks ..................................................................................................... 18
3.3.4 Protection against dangerous movements............................................... 18
3.3.5 Protection against touching hot parts....................................................... 19
3.3.6 Protection during handling and installation .............................................. 20
4Product description.................................................................................. 21
4.1 Basic information..................................................................................... 21
4.2 Field of application and proper use.......................................................... 22
4.3 SE-24 performance features.................................................................... 23
5Technical data ......................................................................................... 24
5.1 Ambient conditions and qualification........................................................ 24
5.2 Dimensions and weight............................................................................ 24
5.3 Power data .............................................................................................. 25
5.4 Protective devices.................................................................................... 25
5.5 Motor temperature monitoring.................................................................. 25
5.6 Emitter evaluation and analog input [X6]................................................. 26
5.7 Parameterization interface (CAN) [X4]..................................................... 27
5.8 Digital inputs and outputs [X2]................................................................. 27
6Mechanical installation............................................................................. 28
6.1 Important information............................................................................... 28
7Electrical connection................................................................................ 29
7.1 Connections on the input side (IN)........................................................... 29
7.1.1 Power supply connection [X1] ................................................................. 30
7.1.2 Input and output connections [X2] ........................................................... 31
7.1.3 Profibus connection................................................................................. 32
7.1.4 Bus cable for PROFIBUS ........................................................................ 33

Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5 5–66
7.1.5 Termination and bus terminating resistors............................................... 34
7.1.6 EtherCAT connection............................................................................... 35
7.1.7 Bus cable for EtherCAT........................................................................... 36
7.1.8 CANopen connection............................................................................... 37
7.1.9 Bus cable for CANopen........................................................................... 38
7.1.10 Termination and bus terminating resistors............................................... 39
7.1.11 Parameterization connection [X4]............................................................ 40
7.2 Connections on the output side (OUT) .................................................... 41
7.2.1 Motor connection [X5].............................................................................. 42
7.2.2 Encoder connection [X6].......................................................................... 43
7.2.3 Reference sensor connection [X7]........................................................... 44
8Electrical installation of the SE-24 in the system ..................................... 45
8.1 Connection to the power supply and the controller.................................. 45
8.2 Emergency off / Emergency stop............................................................. 46
9Functional description.............................................................................. 49
9.1 Basic functions......................................................................................... 49
9.1.1 Position mode.......................................................................................... 49
9.1.2 Current mode........................................................................................... 49
9.2 Dynamic current limitation ....................................................................... 51
9.3 SE-24 I/O signal diagram......................................................................... 52
9.4 SE-24 fieldbus signal diagram................................................................. 53
10 Error messages/fault diagnosis chart....................................................... 54
10.1 Overview of faults.................................................................................... 54
11 Instructions for safe and EMC compatible installation ............................. 59
11.1 Explanations and terminology.................................................................. 59
11.2 General information on EMC ................................................................... 59
11.3 EMC categories: first and second environments ..................................... 60
11.4 Connection between SE-24 and motor.................................................... 60
11.5 Connection between SE-24 and mains adapter....................................... 61
12 Accessories ............................................................................................. 62
12.1 Programming cable SE-24, 3m (50315431) ............................................ 62
12.2 SE-24 Stick (50315432)........................................................................... 62
12.3 I/O cable SE-24, 5m (50312913)............................................................. 63
12.4 Power cable SE-24/SE-48, 5 m (50118124)............................................ 63
12.5 Brake release switch SE-24 (50315438) ................................................. 64

6 –66 Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5
List of Figures
Figure 1: Type code............................................................................................................................... 21
Figure 2: Dimensions and fastening points ........................................................................................... 28
Figure 3: View of the connections on the input side (IN), I/O type (left) and fieldbus (right)................. 29
Figure 4: View of the connection [X1].................................................................................................... 30
Figure 5: View of the connection [X2].................................................................................................... 31
Figure 6: View of the connection [X2b].................................................................................................. 32
Figure 7: View of the connection [X3b].................................................................................................. 32
Figure 8: View of the connection [X2d].................................................................................................. 35
Figure 9: View of the connection [X3d].................................................................................................. 35
Figure 10: View of the connection [X2a]................................................................................................ 37
Figure 11: View of the connection [X3a]................................................................................................ 37
Figure 12: View of the connection [X4].................................................................................................. 40
Figure 13: View of the connections on the output side (OUT), all types............................................... 41
Figure 14: View of the connection [X5].................................................................................................. 42
Figure 15: View of the connection [X6].................................................................................................. 43
Figure 16: View of the connection [X7].................................................................................................. 44
Figure 17: Example of a circuit diagram of the SE-24 I/O..................................................................... 47
Figure 18: Example of a circuit diagram of the SE-24 fieldbus............................................................. 48
Figure 19: Position mode....................................................................................................................... 50
Figure 20: Current mode ....................................................................................................................... 50
Figure 21: Dynamic current limitation.................................................................................................... 51
Figure 22: Programming cable SE-24................................................................................................... 62
Figure 23: SE-24 Stick........................................................................................................................... 62
Figure 24: I/O cable SE-24.................................................................................................................... 63
Figure 25: Power cable SE-24 / SE-48 ................................................................................................. 63
Figure 26: Brake release switch SE-24................................................................................................. 64
List of Tables
Table 1: Error Register .......................................................................................................................... 55

Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5 7–66
1 Declaration of Incorporation
Manufacturer:
Afag Automation AG
Luzernstrasse 32
CH-6144 Zell
Schweiz
Person established within the Community
who is authorised to compile the relevant
technical documents:
Niklaus Röthlisberger
Produkte-Manager
Afag Automation AG
Luzernstrasse 32
CH-6144 Zell
Schweiz
Description and identification of the partly complete machinery:
Product
Servo controller SE-24
Types
SE-24 I/O / SE-24 Profibus /
SE-24 EtherCAT / SE-24 CANopen
The designated products are in conformance with the regulations of the following
European Directives.
Number
2004/108/EC
Text
Electromagnetic Compatibility
Applied harmonized standards
IEC / EN 61000-6-2
IEC / EN 61000-6-4
Important information
Servo controllers are no products in the sense of the EC Machinery Directive.
The servo controllers may only be used in machines or systems after the manufacturer of the
machine or system has guaranteed the CE conformity of the overall machine or system.
According to the EMC Directive, the devicesmentioned are no products which can be operated
as stand-alone products. Compliance with the directive requires correct installation of the
products, adherence to the specific installation notes and the product documentation.
Place / Date:
Zell / June 2022
Afag Automation AG (automatic manufacturing technology)
Siegfried Egli
Managing Director Afag Automation AG
Niklaus Röthlisberger
Product Manager Afag Automation AG

8 –66 Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5
2 General
2.1 Documentation
For the Servo Controllers of the SE-24 series are considerably documentations
available. There are main documents and complementary documents.
The documents contain safety instructions that must be followed
Main document:
present
documentation / description
☒
▪SE-24 Operating Manual
Description of the technical data and the functions of the device as well
as notes on the plug assignment, installation and operation of the SE-
24 servo controller.
It is meant for persons who want to get familiar with the SE-24 servo
controller.
CAUTION
The operating manual is the main document and must be read
by all means before installation and start-up of all devices of the
SE-24 series independent of the respective model.

Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5 9–66
Complementary documents to the operating manual:
present
documentation / description
☐
▪SE-24 Software Manual
Description of the “afagTools” parameterization program.
☐
▪SE-24 IO Manual
Description of the I/O control of the SE-24 servo controller.
☐
▪SE-24 Profibus Manual
Description of the fieldbus control of the SE-24 servo controller under
PROFIBUS-DP.
☐
▪SE-24 programming example Siemens S7 V5.5
Description to the programming example for Siemens S7 V5.5.
☐
▪SE-24 programming example Siemens TIA V12.0
Description to the programming example for Siemens TIA V12.0.
☐
▪SE-24 EtherCAT Manual
Description of the fieldbus control of the SE-24 servo controller under
EtherCAT.
☐
▪SE-24 programming example Beckhoff TwinCAT 2
Description to the programming example for Beckhoff TwinCAT 2.
☐
▪SE-24 CANopen Manual
Description of the fieldbus control of the SE-24 servo controller under
CANopen.
These documents are available for download on our homepage:
www.afag.com

10 –66 Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5
3 Safety instructions for electrical drives and controllers
3.1 General instructions
NOTE
In the case of damage owing to disregard of the warning notices in
this operating manual Afag will not accept any liability.
If the documentation in the language that has been supplied is not easily understood,
please ask and inform the supplier.
The faultless and safe operation of the servo controller presupposes an appropriate
and professional transport, storage, mounting and installation as well as careful
operation and servicing. Only educated and trained personnel must be deployed for
handling electrical equipment:
EDUCATED AND QUALIFIED PERSONNEL in the meaning of this product manual or
the warning instructions on the product itself, are those persons who are familiar with
the installation, the assembly, commissioning and operation of the product as well as
with all the warnings and precautionary measures according to the operating
instructions in this product manual and have the necessary qualifications
corresponding to their activity:
▪Training and instruction or authorization to switch on and off devices/systems in
accordance with the standards of safety engineering, to ground them and to mark
them meaningfully according to the work instructions.
▪Training or instruction according to the standards of safety engineering in the
maintenance and use of the proper safety equipment.
▪Training in First Aid.
The following notes must be read before the initial start-up of the system for avoiding
bodily injuries and/or damage to property:
WARNING
These safety instructions must be complied with at all times.

Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5 11–66
NOTE
Do not attempt to install or commission the servo controller before
you have carefully read all the safety instructions for electrical drives
and controllers in this document. These safety instructions and all
other user instructions must be read before any work on the servo
controller.
NOTE
Should you not have access to any of the user instructions for the
servo controller, please contact the responsible sales representative.
Demand immediate dispatch of these documents to the person(s)
responsible for the safe operation of the servo controller.
NOTE
In case of sale, lending and/or other form of transfer of the servo
controller, these safety instructions must also be handed over.
NOTE
Opening of the servo controller by the owner/operator is not
permitted for reasons of safety and warranty.
NOTE
The precondition for trouble-free working of the servo controller is a
technically sound planning.

12 –66 Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5
CAUTION
Improper handling of the servo controller and disregard of the
warning instructions given in this manual or improper interventions
in the safety devices can result in damage to property and personal
injuries.
3.2 Dangers from improper use
CAUTION
The surfaces of the machine housing may be hot.
Danger of injury! Danger of burns!
CAUTION
Movements that cause danger!
Danger to life, serious bodily injury or damage to property from
unintentional movements of the motors!

Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5 13–66
3.3 Safety instructions
3.3.1 General safety instructions
CAUTION
The servo controller corresponds to protection class IP65.
Make sure that the environment corresponds to this protection class.
CAUTION
Use only accessories and spare parts that have been approved by
the manufacturer.
CAUTION
It must be possible to connect the servo controller and the power
supplies used to the mains supply according to the EN-standards
and VDE specifications in such a way that they can be isolated from
the mains using suitable isolating devices (e.g. main switch,
contactors, power circuit breakers).
NOTE
As a precaution, interference suppression measures must be taken
for the switchgear, e.g. contactors and relays with RC-elements or
diodes.
NOTE
The safety specifications and regulations of the country in which the
device is to be used must be followed.

14 –66 Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5
CAUTION
The ambient conditions specified in the product documentation must
be complied with. Safety-critical applications are not allowed until
they are expressly approved by the manufacturer.
NOTE
The notes for EMC-compliant installation can be taken from chapter
11Notes on the safe and EMC-compliant installation inthis operating
manual. The compliance with the limiting values specified by the
national specifications is the responsibility of the manufacturer of the
system or machine.
CAUTION
The technical data, the connection and installation conditions for the
servo controller can be taken from this operating manual and must
be complied with by all means.
CAUTION
The general installation and safety specifications for the work on
power installations (e.g. DIN, VDE, EN, IEC or other national or
international specifications) must be observed.
Disregard can result in death, bodily injuries or considerable damage
to property.

Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5 15–66
NOTE
Without any claims to completeness, the following specifications
shall apply:
▪VDE 0100 Regulation for the mounting of power
installations up to 1,000 volt
▪EN 60204 Electrical equipment of machines
▪EN 50178 Electronic equipment for use in power
installations
3.3.2 Safety instructions for installation and maintenance
For the installation and maintenance of the system, the relevant DIN, VDE, EN and
IEC specifications, as well as all national and local safety and accident prevention
regulations apply in any case. The system manufacturer or the owner/operator must
ensure compliance with these regulations:
CAUTION
The operation, maintenance and/or repairs to the servo controller
may only be carried out by personnel who are trained and qualified
to work on electrical devices.

16 –66 Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5
Avoiding accidents, bodily injuries and/or damage to property:
CAUTION
Additionally secure vertical axes against dropping or lowering after
switching off the motor, such as by:
▪mechanical interlocking of the vertical axis,
▪external braking/ catching/ clamping device or
▪sufficient weight balancing of the axis.
The motor brake installed or an external motor brake controlled by
the drive control unit alone is not suitable for personnel safety!
CAUTION
Render the electrical equipment free of voltage via the main switch
and secure it against being switched on again, wait until the
intermediate circuit has been discharged during:
▪maintenance work and repairs
▪cleaning work
▪long operational downtimes
Before carrying out any maintenance work, it must be ensured that
the power supply has been switched off, locked and that the
intermediate circuit has been discharged.
NOTE
It must also be ensured that the external voltage supply of the
controller (24 V) is switched off.
NOTE
The intermediate circuit or the mains voltage must always be
switched off before the 24V voltage supply of the controller is
switched off.

Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5 17–66
CAUTION
Work in the vicinity of the machine must always be carried out with
the AC or DC voltage supply switched off and the switches locked.
Output stages or controller releases that are switched off are no
suitable locking devices. In case of a fault, this may result in an
unintended movement of the drive.
CAUTION
The commissioning must be carried out with coasting motors to
avoid mechanical damage, e.g. owing to a wrong direction of
rotation.
CAUTION
Electronic devices are basically not fail-safe. It is the responsibility of
the user to ensure that upon failure of the electrical device, his
system is taken into a safe state.
CAUTION
The servo controller can reach high temperatures and may cause
heavy burns when touched.

18 –66 Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5
3.3.3 Protection through protective low voltage (PELV) against electrical
shocks
All connections and terminals with voltages from 0 to 50 V at the servo controller are
protective low voltages that are made with safe contacts according to the following
standards:
▪International: IEC 60364-4-41
▪European countries in the EC: EN 50178/1998, Section 5.2.8.1
WARNING
High electrical voltage owing to wrong connection!
Danger to life, danger of injury from an electrical shock!
The connection values for the voltages at the connections for the
electronics Uesupply voltage and the UPpower specified in the
technical data must not be exceeded.
Only those devices, electrical components and cables, which have a protective low
voltage (PELV = Protective Extra Low Voltage) may be connected to all connections
and terminals with voltages from 0 to 50 volt. Connect or apply only such voltages or
electrical circuits that are safely isolated from dangerous voltages. Safe isolation is
achieved, for example, by isolation transformers, safe opto-couplers or mains-free
battery operation.
3.3.4 Protection against dangerous movements
Dangerous movements can be caused by erroneous control of the connected motors.
The causes can be of the most varied kinds:
▪untidy or faulty wiring or cabling
▪error during the operation of the components
▪error in the measuring and signal transmitters
▪faulty or non-EMC conformant components
▪error in the software in the higher-level control system

Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5 19–66
These faults can occur immediately after switching on, or after an indefinite time during
operation. The monitoring devices in the drive components exclude the possibility of a
malfunction in the connected drives to a great extent. With regard to the personnel
protection, particularly the danger of bodily injury, and/or property damage, however,
all trust must not be placed in this fact alone. Until such time as the built-in monitoring
devices become active, however, faulty drive movements must be expected, the
magnitude of which depends on the type of the controller and the operating state.
CAUTION
Movements that cause danger!
Danger of injury or damage to property.
Protection of persons must be ensured by means of monitoring devices or measures
that are set up at the plant site. These are provided according to the specific conditions
of the system and a danger and fault analysis by the system manufacturer. The safety
regulations applicable for the system are also included thereby. Switching off,
bypassing or missing activation of safety devices can result in random unwanted
movements of the machine or other malfunctions.
3.3.5 Protection against touching hot parts
CAUTION
The surfaces of the machine housing may be hot!
Danger of injury! Danger of burns!
▪Do not touch the housing surface in the vicinity of hot heat
sources! Danger of burns!
▪Before access, allow the devices to cool for 10 minutes after
switching off.
▪If hot parts of the equipment, like machine housings, in which
radiators and resistors are located are touched, burns may
result!

20 –66 Operating instructions EN ◼SE-24 ◼01.06.2022 ◼V1.5
3.3.6 Protection during handling and installation
The handling and installation of certain parts and components in an unsuitable manner
can result in injury under certain circumstances.
WARNING
Danger of injury from improper handling!
Bodily injury from crushing, shearing, cutting, impacts!
General safety instructions apply in this context:
CAUTION
Follow the general installation and safety specifications on handling
and installation.
▪Use suitable installation and transportation equipment.
▪Prevent squeezing and crushing by taking suitable
precautionary measures.
▪Only use suitable tools. If prescribed, use special tools.
▪Use hoists and tools in a technically sound manner.
▪If required, use suitable protective equipment (for example:
safety goggles, safety shoes, protective gloves).
▪Do not stay under suspended loads.
▪Immediately wipe off any liquids which have escaped since
there is a danger of slipping.