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.