ESA MINIECO User manual

MINIECO &MINIECOPLUS
TECHNICAL MANUAL

Production site:
ESA SpA
Drives & Motors Business Unit
Via Monari Sarde 3
40010 Bentivoglio (BO), Italy
Phone: [phone]
Email: [email protected]
http://www.esa-automation.com
Non-warranty clause
We checked the contents of this publication for compliance with
the associated hardware and software. We can, however, not
exclude discrepancies and do therefore not accept any liability for
the exact compliance. The information in this publication is
regularly checked, necessary corrections will be part of the
subsequent publications.

SUMMARY
miniECO & miniECOPlus.............................................................................................................................. 2
Technical Manual.......................................................................................................................................... 2
1Safety information ................................................................................................................................. 6
1.1 Terminology and symbols.............................................................................................................. 6
1.1.1 The terms and symbols used are the following:..................................................................... 6
2OVERVIEW ............................................................................................................................................ 8
3TECHNICAL FEATURES ........................................................................................................................ 9
3.1 Power supply - Electrical conditions of the service........................................................................ 9
3.2 Analog and digital input features .................................................................................................. 9
3.3 Digital output features ................................................................................................................... 9
3.4 Special input/output features. ..................................................................................................... 10
3.5 Protective devices and braking circuit. ........................................................................................ 10
3.6 Climatic service conditions and storage. ..................................................................................... 10
3.7 Transportation and mechanical conditions.................................................................................. 11
3.8 Losses due to Joules calculated on nominal current at Ta 25 C°. ............................................... 11
3.9 Standard references. .................................................................................................................... 11
3.10 Standard references and CE marking .......................................................................................... 11
4MODELS and OPTIONS...................................................................................................................... 13
4.1 Models according to output currents .......................................................................................... 13
4.2 Models according to the optional hardware boards on miniECO 9XECO2M0306 .................... 13
4.3 Models according to the optional hardware boards on miniECO Plus 9XECO2S0408 .............. 13
4.4 Driven motors............................................................................................................................... 14
5MECHANICAL INSTALLATION AND DIMENSIONS .......................................................................... 15
5.1 Mechanical dimensions ................................................................................................................ 16
5.1.1 miniECO Standard –9XECO2M0306 ................................................................................... 16
5.1.2 miniECO Plus –9XECO2S0408 ............................................................................................ 16
5.2 Braking resistor............................................................................................................................. 17
6ELECTRICAL INSTALLATION.............................................................................................................. 18
6.1 Description of electrical connections........................................................................................... 18
6.1.1 miniECO drive connections –9XECO2M0306 ..................................................................... 18
6.1.2 miniECO Plus drive connections –9XECO2S0408............................................................... 19
6.2 Connection diagram .................................................................................................................... 19
6.2.1 Description of M1 terminal block signals ............................................................................. 19
6.2.2 Description of miniECO Plus M2 terminal block signals: External DC-BUS and braking
resistor 21
6.2.3 Connections on terminal block/connector on the MOTOR side.......................................... 21
6.2.4 Description of CN1 terminal block signals ........................................................................... 22
6.2.5 Description of CN4 signals ................................................................................................... 25
6.2.6 Signal description of encoder connector on Drive side and 9MDSM connectors and
previous on motor side ....................................................................................................................... 27
6.2.7 CN5 connector: encoder or simulated Encoder outputs ..................................................... 28
6.2.8 Connectors CN7 - CN8: serial interface signals ................................................................... 29
6.3 SIZING OF POWER SUPPLY CIRCUITS........................................................................................ 30
6.3.1 Transformers and fuses ......................................................................................................... 31
7ELECTRICAL SAFETY and electromagnetic compatibility .................................................................. 32
7.1 Grounding connection ................................................................................................................. 32
7.1.1 ELECTRICAL SAFETY............................................................................................................ 32
7.2 Electromagnetic compatibility ..................................................................................................... 32
7.2.1 ELECTROMAGNETIC COMPATIBILITY................................................................................ 32
7.3 Emergency circuit......................................................................................................................... 33
7.3.1 Drive connection WITH STO function................................................................................... 33

7.3.2 Drive connection without STO function ............................................................................... 33
7.3.3 Emergency ramp enabling ................................................................................................... 34
7.4 Cabling criteria............................................................................................................................. 35
7.4.1 Power conductors, Motor cable ........................................................................................... 35
7.4.2 Control signal conductors..................................................................................................... 35
7.5 EMC components ........................................................................................................................ 35
7.5.1 Mains power filter ................................................................................................................. 36
7.5.2 Ferrite clamps ....................................................................................................................... 36
8Putting into service.............................................................................................................................. 37
8.1 Start-up and shut-down procedure.............................................................................................. 37
8.1.1 Start-up ................................................................................................................................. 37
8.1.2 Shutting down....................................................................................................................... 37
8.2 First switch-on - Preliminary checks ............................................................................................. 37
8.2.1 Preliminary checks ................................................................................................................ 37
8.2.2 Procedure ............................................................................................................................. 38
8.3 Maintenance ................................................................................................................................ 39
9parameters .......................................................................................................................................... 40
9.1 Parameters ................................................................................................................................... 40
9.1.1 d parameters......................................................................................................................... 40
9.1.2 E parameters......................................................................................................................... 40
9.1.3 F parameters......................................................................................................................... 40
9.1.4 c parameters ......................................................................................................................... 41
9.1.5 I parameters with “Pulse positioning or Electric axis” option .............................................. 41
9.1.6 P parameters with “Positioning and Pulse” option .............................................................. 42
9.1.7 H parameter (Homing) with “Electric axis” option ............................................................... 42
9.1.8 n parameters with “CANopen”, “S-CAN” options. ............................................................. 42
9.1.9 Oparameters........................................................................................................................ 42
9.1.10 n parameters......................................................................................................................... 42
9.2 Menu and operation from local keypad ...................................................................................... 42
9.2.1 miniECO main menu............................................................................................................. 44
9.2.2 Special menus....................................................................................................................... 45
10 Troubleshooting and Alarms ........................................................................................................... 48
10.1 Alarms .......................................................................................................................................... 49
10.2 How to reset the alarms: .............................................................................................................. 49
10.2.1 Possible causes which generate malfunctions...................................................................... 50
10.2.2 Malfunctions with no alarm................................................................................................... 52
11 Annex A - Label Description............................................................................................................ 54
12 Annex B - Motors Table................................................................................................................... 55
MANUAL REV. 6.0
Man. Code: 901MTMECO20613

1SAFETY INFORMATION
This manual contains the information required for correct product installation and maintenance of the
product. It is aimed at technically qualified personnel who have suitable knowledge about control
technology and suitable knowledge about safety in automation. For correct product use, refer to the
“Instructions Manual”, “Additional Information”, “Field Buses Information” and “Mechatronics
Functions”.
WARRANTY
At the time of purchase, the product complies with the general warranty/sales terms and
conditions provided by ESA SpA. This warranty is voided in the case of damage due to
negligence, tampering, incorrect installation or product application. To this end, it must be
pointed out that the Drive is a component of the kinematic system and it is, therefore, the
responsibility of the installer/user to assess the suitability of the product in the specific
application.
The manufacturer reserves the right to modify the contents of this manual and/or the product
specifications, without prior notice, without assuming any responsibility deriving for its INCORRECT use.
1.1 Terminology and symbols
By way of analogy to English, the Italian word “azionamento” that identifies the miniECO - miniECO Plus
product has been replaced in the original manual with the word “drive”, the meaning must be
considered exactly the same. In this manual, specific terms are used to highlight essential information to
which extra attention should be paid. These terms are used to ensure greater safety in the workplace
and prevent damage to the system.
1.1.1 The terms and symbols used are the following:
DANGER High voltage
The paragraphs marked in this way are indicated where serious conditions of risk for the
safety of personnel may arise in the event of non-compliance with safety regulations.
CAUTION: Read carefully
This term outlines important instructions to be carefully followed to avoid damaging the
product.
NOTE
The remarks contain useful information and suggestions for the correct operation of the
system.
Connection point for the grounding wire
CAUTION: FILTERS
The filters on the AC power supply must be permanently earthed and the operation of
the residual-current devices can also be compromised by filter leaks.

DANGER HIGH VOLTAGE
Different parts of the product have high voltage which may constitute a serious risk for
safety of personnel. Do not touch exposed connections when the power supply is
connected. Always disconnect the power and wait 5 minutes before carrying out any work
on the connections or accessing the internal parts.
Installation must be carried out by qualified technicians who have considerable
knowledge of the source of risks involved and relevant safety and accident-prevention
regulations to observe.
It is the user’s responsibility to ensure that the installation is compliant with the safety
provisions currently in force.
The device must be connected to a suitable grounding. Failure to implement this
connection entails risk of electric shock.
CAUTION: Protection rating
The product is compliant with protection rating IP20; the site installation conditions must
be considered for safe and reliable operation.
Unusual service conditions must be specified by the purchaser, as they may require special
manufacturing or protection features
CAUTION: MARKETING
For unrestricted marketing: “Not suitable for use on low-voltage public network which
feeds residential households. May cause radio frequency interference”.

2OVERVIEW
The miniECO comes in two Drive series which differ in performance and price. The miniECO2M range
(code 9XECO2Mxxx) is the entry level range while the miniECO2S range (code 9XECO2Sxxx)
implements all the functions of the previous line plus a further increase in current, additional software
functions, RJ45 connectors for field networks, the STO function, external DC bus, automatic
management of the parking brake, digital feedbacks with BiSS absolute encoder.
Given the high number of functions and parameters, the Drive Watcher software suite
must be used for programming and fine-tuning, while the modification of the individual
parameters can also be done in a simple and interactive way via the local keypad, on-
board the drive. The local display also provides information on the operating status and
any alarms that have been triggered.
This manual only covers in detail the sections on product installation, the relevant
electrical connections, safety requirements and motor set-up. The other functions are
dealt with in a concise manner to allow rapid consultation.
Detailed information on all the functions is dealt with in the following manuals:
•Additional Information
•Field Buses Information
•Mechatronics Functions

3TECHNICAL FEATURES
Refer to the following tables for correct storage and drive use. The drive MUST operate within the
following operating conditions indicated in the tables. Failure to comply with the data indicated below
may lead to malfunctions or limit the operating life (M.T.B.F.) of the drive.
3.1 Power supply - Electrical conditions of the service.
Power supply
•miniECOM 230Vac Three-phase RMS 10%, 50/60Hz
•miniECOS 230Vac Three-phase RMS 10%, 50/60Hz
Control section power supply
and digital inputs + outputs
Isolated +24Vdc 15%;
0.5 A + 250mA if coupled with fan-cooled vector motors. + 10 mA
each digital input used + absorption of the load connected to each
output.
Voltage unbalance, Power
supply impedance, Voltage
harmonics, Power switching
voltage drops
Compliant with IEC EN 61800-2: 1999-09.
Nominal current output/Nominal
power output
•3A RMS/0.8 kW for miniECO2M
•4A RMS/1.05 kW for miniECO2S
Nominal features of the short
circuit on power outputs
miniECO2M = 15 A
miniECO2S = 20 A
Output frequency
From 0 to 300 Hz.
Switching frequency
8 kHz PWM
Drive leakage current
Max 3 mA
3.2 Analog and digital input features
Analog inputs
N° 2, Resolution 1:5000,
•REF, REF\ differential 10V Impedance 47 k.
•EXTREF 0 10V Impedance 15 k.
Isolated digital inputs
N° 2 isolated DIR , PULSE Impedance = 10 k
Input
0V24
Digital input reference circuit, protected against inversion.
•Input signal at +24Vdc -> logic level 1 input.
•Input signal at 0Vor disconnected -> logic level 0 input.
3.3 Digital output features
Digital outputs
N° 3 isolated OK , EOJ, BRAKE: PNP type 0.5A/ per output
The sum of all the outputs cannot exceed 1A

Output
+24V
Digital output reference circuit.
3.4 Special input/output features.
Motor encoder inputs
The inputs are 5V differential line receivers to be connected to a 5V
encoder line driver (the inputs have an impedance of 1 k)
Encoder outputs
(found on motors with Encoders
only)
0 - 5V CMOS differential line driver outputs.
Impedance = 100(Max = 1k);
Resolution: the same as the encoder on the motor.
Programmable if the DIVENC board is used (option 12)
Encoder outputs
0 - 5V CMOS differential line driver outputs.
Impedance = 10
Resolution: the same as the encoder on the motor.
Serial port
N° 1 RS 422 full duplex/RS485 optically-isolated
Pulse input positioner
Pulse signal: active high from 12 to 24 Vdc, impedance 2.2 k,
Should be used with PNP open drain or push-pull controls
CAN port
In accordance with the CAN Physical Layer CIA-DS 303-1 standard
3.5 Protective devices and braking circuit.
Protective devices
Motor over temperature: dependent on the motor thermal switch
Radiator over temperature: 75C 5°C.
IGBT over temperature: TJ = 105°C 5°C.
Short circuit between phases.
Short circuit to ground.
Motor over temperature: depends on the model.
Power over temperature: 400 Vdc on internal DC BUS (+/-
3%).
Insufficient power: 180 Vdc, on internal DC BUS (+/- 3%).
Braking circuit
Dissipation on internal or external resistor. Trip threshold = 390 Vdc
(+/- 3%) on internal DC BUS.
The dissipation on the braking resistor depends solely on the
application; the resistor supplied is for standard applications.
Refer to the calculations in paragraph 5.2 for applications with
particularly demanding cycles.
3.6 Climatic service conditions and storage.
Temperature, when operating
From 0°C to +40C, max 0 ÷ 55 °C; from 40 to 55°C
downgrade.
At 55 °C, consider a 50% downgrading of the Inom of the
drive and subsequently, set the d5 parameter to 50.

Relative humidity, when operating
From 5% to 85% not condensing.
Altitude, in service
Up to 1,000 metres a.s.l.
Temperature, in storage
From -25°C to +85 C.
Relative humidity, in storage
From 5% to 95% not condensing.
3.7 Transportation and mechanical conditions.
Climate conditions, in transportation
Compliant with paragraph 4.3 of IEC EN 61800-2: 1999-09.
Mechanical conditions
Compliant with IEC EN 61800-2: 1999-09.
IP rating
IP 20.
3.8 Losses due to Joules calculated on nominal current at Ta 25 C°.
Typical power loss.
9XECO2M0306 -> 12 W
9XECO2S0408 -> 16W
3.9 Standard references.
Electromagnetic compatibility
The product complies with the international technical standard:
IEC EN 61800-3 2005-04 “Adjustable speed electrical power drive
systems”. Part 3: “EMC requirements and specific test methods”;
it is, therefore, compliant with the Directive relating to
electromagnetic compatibility [89/336/ EEC and subsequent
modifications 92/31/EEC and 93/68/EEC].
Product compliance is ensured only if installed by strictly following
all the instructions outlined in the “Electrical Installation” chapter
of this manual.
Low voltage and safety
The product complies with the requirements of the following
international standards in terms of safety and functionality:
IEC EN 61800-2 1999-09 “Adjustable speed electrical power drive
systems. Part 2: General requirements and rating specifications for
low voltage adjustable speed AC power drive systems”, IEC EN
61800-5-1 of 2005-03 “Adjustable speed electrical power drive
systems - part 5-1: Safety Requirements - Electrical, Thermal and
Energy”, it is, therefore, compliant with the European Low Voltage
Directive 73/23/EEC and subsequent modifications 93/68/CEE and
2006/95/CE
3.10 Standard references and CE marking
CE marking
Since the product covered in this manual complies with the
European Directives for Low Voltage and Electromagnetic
Compatibility outlined in this table, it fulfils all the requirements of
the CE marking.