Bosch rexroth Servodyn-T User manual

Levante Sistemas de
Automatización y Control S.L.
Catálogos
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Automationstechnik
Antriebs- und Steuerungstechnik
EMC Manual Servodyn-T, -D
Servodyn-T / Servodyn-D
101
Version
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Servodyn-T / Servodyn-D
EMC Manual Servodyn-T, -D
1070 066 074-101 (96.07) GB
Reg. Nr. 16149-03
E1996
by Robert Bosch GmbH,
All rights reserved, including applications for protective rights.
Reproduction or handing over to third parties are subject to our written permission.
Discretionary charge 10.– DM
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EMC Manual ServodynT, D
Contents
I
1070 066 074101
Contents Page
1 Safety instructions
1.1 Markings on components 11. . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Hazard warnings in the manual 11. . . . . . . . . . . . . . . . . . . .
1.3 Qualified personnel 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Proper use 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Installing Servodyn drive systems
according to EMC 21. . . . . . . . . . . . . . . . . . . . . . .
3 Switch cabinet structure
3.1 Mains supply 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Basic configuration 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Information on installation for ServodynT 33. . . . . . . . . . .
3.3.1 General notes 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Configuration with VM 50, VM 60, VM 60/EB 34. . . . . . . .
3.3.3 Configuration with 60/R and VM 100/R 35. . . . . . . . . . . . .
3.4 Information on installation for ServodynD 36. . . . . . . . . .
3.4.1 VM...K with typical configuration 36. . . . . . . . . . . . . . . . . . .
3.4.2 VM...B,C,D 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Earthing 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6 Mains filters 314. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7 DC/DC filter for 24 V supply 315. . . . . . . . . . . . . . . . . . . . . . .
3.8 Filter terminal 315. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9 Filter for holding brake 315. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.10 DC link connection 316. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Motor lines, sensor lines
4.1 Basic procedures 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.1 Cable ducts 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2 Screen connections 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Lines for tool machines 42. . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Lines in special machines and in systems 43. . . . . . . . . .
5 Typical configuration
5.1 ServodynT 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 ServodynD 54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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EMC Manual ServodynT, D
Contents
II 1070 066 074101
6 EMC ambient conditions
6.1 Domestic, business, commercial sectors 61. . . . . . . . . . .
6.2 Industrial sector 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Other areas of application 62. . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Transportation and road traffic 62. . . . . . . . . . . . . . . . . . . .
6.3.2 Energy supply 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.3 Special 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.4 Informationtechnology apparatus 62. . . . . . . . . . . . . . . . .
7 Legal basis of EMC
7.1 EU guidelines 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 EMC guideline 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 EMC law 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Area of application
(extracts) 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Protection requirements
(extracts) 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.3 Certificate 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.4 Definition of terms
(extracts) 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4 Standardised European norms 76. . . . . . . . . . . . . . . . . . . .
7.4.1 Application 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.2 EMC norms for the industrial sector 77. . . . . . . . . . . . . . . .
7.4.3 EMC norm for domestic,
business and commercial sectors 78. . . . . . . . . . . . . . . . .
8 Recommendations of CEMEP 81. . . . . . . . . . . .
9 Order numbers 91. . . . . . . . . . . . . . . . . . . . . . . . . .
A Appendix
A.1 Safety notes 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.1 Dansk 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.2 Deutsch 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.3 EllhnikÜ 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.4 Español 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.5 Français 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.6 Italiano 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.7 Nederlands 1011. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.8 Português 1012. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.9 Suomi 1014. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1.10 Svenska 1015. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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EMC Manual ServodynT, D
Safety instructions
11
1070 066 074-101
1 Safety instructions
This manual contains information which is required for the correct use of
the products described here.
It is intended for technically qualified personnel who have beenspecifically
trained in or who have relevant knowledge of measuring technology and
automatic control engineering.
1.1 Markings on components
The following symbols are found on various components and are used as
warnings to point out possible danger, or to call your attention to important
information:
'Danger due to high voltage
'Electrostatically sensitive devices
'PE conductor
'Screen
1.2 Hazard warnings in the manual
Observe and comply with the safety notes and danger warnings given in
this manual (DANGER", CAUTION", and the highlighted information
provided under Note") in order to avoid serious injury and property dam
age.
All safety instructions are numbered sequentially in accordance with the
chapter in which they appear, for example 1.1. The Appendix provides
translations of the safety instructions in all official EU languages.
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EMC Manual ServodynT, D
Safety instructions
12 1070 066 074-101
1.3 Qualified personnel
! DANGER !
Maintenance and installation of the components to be carried out only by electrotechnicians
(VDE 100010) under observation of the accident prevention regulations
and installation regulations (EN 60204part1, prEN 50178).
Tampering with the drive components, ignoring warning signs attached
to the components, or noncompliance with the warning notes given in this
manual can result in serious bodily injury or property damage.
For this reason, only electrotechnicians as recognized under
VDE100010 who are familiar with the contents of this manualmay perform
the procedures as authorized in this manual.
Such personnel are
-those who, being well trained and experienced in their field and famil
iar with the relevant norms, are able to analyse the jobs being carried
out and recognise any hazards which may have arisen.
-those who have acquired the same amount of expert knowledge
through years of experience that would normally be acquired through
formal technical training.
Please note that we offer a comprehensive training program. You will find
an overview of our seminar program on the inside back page.
Our training centre will be pleased to provide you with further information.
!
1.1
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EMC Manual ServodynT, D
Safety instructions
13
1070 066 074-101
1.4 Proper use
Drive inverters are components to be installed in metal machines and sys
tems for industrial use.
With the appropriate adjustments and extensions they can also be used
for commercial use.
-Before putting the drive inverters into operation, ensure that the ma
chine which the inverters are to be installed in meets the stipulations
of the machine guideline (89/392/EEC) and the EMV guideline
(89/336/EEC).
-The inverters themselves meet the protection standard goals of the
undervoltage guideline (73/23/EEC) and the coordinated norms
prEN 50178 (VDE 0160) and EN 6014611 (VDE 055811).
These products pose no danger to persons or property if they are used
in accordance with the handling stipulations and safety notes prescribed
for their configuration, mounting, and proper operation.
! DANGER !
The safe and reliable operation of this product requires its proper transport,
storage, setup and assembly as well as conscientious operation and use.
Ensure that no components are bent and no insulation distances are
changed at the inverters. Do not touch any electronic components and
contacts.
CAUTION !
Drive inverters contain electrostactically sensitive components
which can easily destroyed if handled improperly.
! DANGER !
Do not allow the housings of electrical components to be destroyed, as this could
cause personal injury.
!
1.2
1.3
!
1.4
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EMC Manual ServodynT, D
Safety instructions
14 1070 066 074-101
Your notes:
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EMC Manual ServodynT, D
Introduction
211070 066 074101
2 Installing Servodyn drive systems according to EMC
The Electromagnetic compatibility (EMC)" of a unit means that the unit
concerned meets certain protection requirements:
-Basic protection requirements
hThe generation of electromagnetic interference must be limited
to a point where it is possible to realise proper operation of radio
and telecommunications units as well as other units.
hThe resistance to electrical interference must be designed to en
able proper operation.
-Secondary protection requirements
hThe interference immunity of units in an EMC surrounding area
must be high enough that their operation will not be impaired by
the interference emitted by other units within this area.
In order to meet the requirements of the EMC law, machines and systems
must be designed and constructed so as to be electromagnetically com
patible.
-Chapter 3of this manual explains the basic construction of the switch
cabinet in accordance with EMC.
-Chapter 4describes special features of motor and sensor lines.
-Chapter 5contains typical configurations which meet the require
ments of the EMC law.
-Chapter 6describes the EMC environments with their requirements
and measurement conditions. Information here may help if EMC
related problems arise.
-Chapter 7provides an overview of the guidelines, laws and norms
related to EMC.
-Chapter 8expands on the information in the CEMEP recommenda
tion, the European committee of the manufacturers of electronic ma
chines and the power electronics industry.
.Note This manual includes general information concerning EMCoriented
installation of Bosch Servodyn drive systems.
It should not, however, be seen as a substitute for productspecific
books, which should be read in addition to this manual.
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EMC Manual ServodynT, D
Introduction
22 1070 066 074101
This manual corresponds to the latest developments in the applica
ble EMC stipulations relating to Bosch Servodyn drive systems.
Although this manual was produced with the utmost care, Bosch
does not accept any responsibility or liability for individual applica
tions on the part of the user, particularly in those cases where ne
glect, nonobservance, error, misunderstanding or misinterpretation
are involved.
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EMC Manual ServodynT, D
Switch cabinet structure
311070 066 074-101
3 Switch cabinet structure
3.1 Mains supply
Only a TNS system should be installed inside the switch cabinet of a ma
chine or system. A TNS system is a 5conductor system with separate
lines for Nconductors and PEconductors.
Use only one 4conductor system without an Nconductor for the 400V∼
three phase connection.
Employ 400V∼/230V∼isolating transformers to supply the ultimate con
sumers with 230V∼nominal voltage. The Nconductor should only be
earthed on the 230V∼side, preferably at the transformer.
Use 400V∼/18V∼threephase safety transformers with rectifiers in three
phase bridge connection for the supply of the ultimate consumers with
24V nominal voltage, or install 24V power supply units with 400V∼nominal
voltage on the mains side.
3.2 Basic configuration
The introduction of voltagesource converters driven directly from the
mains power supply and used for the highdynamic speed control of fee
drate and main spindle motors, as well as of the accompanying deploy
ment of modern capacity transistors has led to an increase in the signifi
cance of interference.
Only a screening laid on both sides in connection with a strongly meshed
earthing can offer sufficient protection against major interference for mea
surement and control lines!
The following points must be considered in the layout of the drive compo
nents:
dAll drive components should be arranged so as to be mounted practi
cally adjacent to each other and spatially separated from other
electronic components such as CNC or PLC control units (distance
>100 mm).
The switch cabinet area, affected by a high rate of interference from
the drives, is separated from the surrounding area by filters. The fil
ters are mounted as EMC barriers along an imaginary line.
dIf present, a mains line reactor should be mounted close to the supply
module. The shorter the connection, the lower the level of interfer
ence.
dAll drive inverters on a DC link are to be configured in series. A two
row structure is, however, also possible. Observe section 3.10 as well
as other information in the drive manuals.
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EMC Manual ServodynT, D
Switch cabinet structure
32 1070 066 074-101
dMotor lines and control lines must be routed separately (distance
>100 mm).
The following scheme can be adopted in the case of larger cabinets:
Motor
lines
Control
lines
Switch
cabinet
Mains
lines
Filter Drive
inverter
Drive
inverter
dWhen mounting the inverter system or the motors, be sure to take into
account the information in the relevant manuals.
dThe presence of strong magnetic fields means that components
which are sensitive to magnetic interference (Inductosyn measuring
systems) may not be installed near the motors.
Place the motor lines between the switch cabinet and the motor in the
metal cable channels.
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EMC Manual ServodynT, D
Switch cabinet structure
331070 066 074-101
3.3 Information on installation for ServodynT
3.3.1 General notes
.Note Take into account the required EMC environment when configuring
the switch cabinet. 6).
dThe mains line reactor and startup switching module are to be
installed in close proximity to the supply module. This has the advan
tage of a cooling effect through the air emitted from the top of the
module while at the same time creating no more than a slight amount
of interference through the short connections.
dRetain a distance of y500 mm between the mains line to the mains
filter and the motor lines. This prevents the entry of interference from
the motor lines into the mains line.
.Note The presence of ferrite annular cores on the motor lines can
prevent interference with a distance of < 500 mm.
dType KMT capacitor modules are necessary to support the DC link.
At the same time they provide, in conjunction with the mains line reac
tor, protection against overvoltages in accordance with DIN VDE
0160. They should therefore be connected with the copper strips in
cluded in the connection accessories to the DC link.
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EMC Manual ServodynT, D
Switch cabinet structure
34 1070 066 074-101
3.3.2 Configuration with VM 50, VM 60, VM 60/EB
Mains line
3 x 400 V
VM
Motor
lines
Signal
lines and
motor
encoder
(screened)
PLC and CNC
24 V control line
SM SM SM
Mains
filter
Starting
circuit
+24V brake
X
=
+24V load
+24V logic
230VX
Filter
terminals
Command values,
(screened) Direct
measuring
system
(screened)
Relay
24V DC
Braking resistors
Braking contactors
EMC barriers
DC/DC
filter
DC/DC
filter
FBr
+24 V
FBr = Filter for
holding brake
Fig. 2.1: Basic configuration of switch cabinet for ServodynT
for small to medium capacity up to SM 25/50 (ASM 25; SPM 25)
with VM 50, VM 60, and VM 60/EB
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EMC Manual ServodynT, D
Switch cabinet structure
351070 066 074-101
3.3.3 Configuration with 60/R and VM 100/R
Mains line
3 x 400 V
KM
Motor
lines
Signal
lines and
motor
encoder
(screened)
NC
PLC
24 V control
line
SM SM SPM VM
Mains
line re
actor
Starting
circuit
Mains
filter
Command values,
screened
Direct
measuring
system
(screened)
Relay
24V DC
Braking resistors
Braking contactors
+24 V
X
=
+24V load
+24V logic
230VX230VX
DC/DC
filter
Mains
filter
DC/DC
filter
Filter
terminals
EMC barriers
+24V brake
FBr
FBr = Filter for
holding brake
Fig. 2.2: Basic configuration of switch cabinet for ServodynT for
medium to high capacity with VM 60/R, VM 100/R
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EMC Manual ServodynT, D
Switch cabinet structure
36 1070 066 074-101
3.4 Information on installation for ServodynD
.Note Take into account the required EMC environment when configuring
the switch cabinet (see chapter 6).
3.4.1 VM...K with typical configuration
+24V
brake
Mains line
3 x 400 V
Mains
filter
Supply
module
VM...K
Motor lines
Signal lines
motor encoder and
direct measur
ing system
(screened)
NC PLC
EMC barriers
24 V control
lines
Mains
contac
tor
Three
phase
modules
DM...K
FBr
Relay
24V DC
Mains line
3 x 400 V
X
=
+24V load
+24V logic
DC/DC
filter
FBr = Filter for
holding brake
Fig. 2.3: Basic switch cabinet configuration for ServodynD for
small to medium capacity with VM...K
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EMC Manual ServodynT, D
Switch cabinet structure
371070 066 074-101
3.4.2 VM...B,C,D
dMount the mains filter as close as possible to the mains connecting
module.
dMount the mains line reactor as close as possible to the mains con
nection module.
Shorten the line ends of the mains line reactor to the necessary
length, as short connections mean less interference.
+24V
brake
Mains line
3 x 400 V
Mains
filter
Mains line
reactor
(Ground
installation)
Mains
con
nec
tion
mod
ule
NA
Threephase
modules
DM...A,B,D
Motor lines
Signal lines
motor encoder and
direct measur
ing system
(screened)
NC PLC
24 V control
line
Supply
module
VM...B,C
,D
EMC barriers
Relay
24V DC
Mains line
3 x 400 V
X
=
+24V load
+24V logic
DC/DC
filter
FBr = Filter for
holding brake
FBr
Fig. 2.4: Basic switch cabinet configuration for ServodynD for
medium to high capacity with VM...B,C,D
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EMC Manual ServodynT, D
Switch cabinet structure
38 1070 066 074-101
3.5 Earthing
The following are taken into account as a part of the earthing plan:
-protective earth as protection against dangerous shock currents
-functional earthing as protection for sensitive electrical equipment
! DANGER !
Dangerous shock currents due to insufficient PE conductor connections.
Do not allow PE conductor connections to be impaired by mechanical, chemical or electrochemi
cal influences. The connection should be permanently fixed.
The equipotential bonding should be configured in mesh or surface form
as it then has a smaller impedance than a pointtopoint equipotential
bonding. Loops in the earthing system have a reducing effect with mesh
type equipotential bonding, as the magnetic field of the induced currents
is inverse to the exciting magnetic field.
Surfacetype equipotential bonding is:
dthe mounting plate in the switch cabinet
dthe surface of the metallic machine frames which the motors are
attached to.
To prevent circulating currents at system frequency, all system parts
should, if possible, be supplied from one connecting point of the supply
system.
!
3.1
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EMC Manual ServodynT, D
Switch cabinet structure
391070 066 074-101
Equivalent circuit diagram for highfrequency interference currents ( )
Highfrequency interference currents are created by coupling capaci
tances in the inverter, in the motor lines and in the motor.
LFLL
LL
Artificial
mains network
LM
LM
CYF CKU CKU CKL CKL CKM CKM
Mains filter Inverter MotorMotor line
50 W,
50 mH + 5 W
PE PE PE
Coupling
capacitance:
not screened CKL
screened CKLS
Coupling
capacitance
CKM
Coupling
capacitance
CKU
CYF
IGBT
Range CYF CKU
per inverter CKL per motor
and 10 m
length
CKLS
per motor
and 10 m
length
CKM
per motor
16  25 A 125  240 nF 0,5 nF 0,7 nF 2,2 nF 1 nF
50 A 800 nF 1 nF 0,6 nF 1,8 nF 4 nF
80 A 1350 nF 2 nF 0,6 nF
.Note The PE conductors must be continuously wired from the motors via
the PE buses of the inverter housings to the PE terminal of the mains
filter. This prevents stray interference currents.
The majority of interference in the system (machine) depends essen
tially on the version of this PE connection.
LSA Control S.L. www.lsa-control.com [email protected] ([phone]