Groschopp RBD-325-4/6-S User manual

Product manual
RBD-325-4/6-S
Copyrights
2010 Groschopp BV Drives & More. All rights reserved.
The information and data in this document have been composed to the best of our knowledge.
However, deviations between the document and the product cannot be excluded entirely. For the
devices and the corresponding software in the version handed out to the customer, Groschopp BV
guarantees the contractual use in accordance with the user documentation. In the case of serious
deviations from the user documentation, Groschopp BV has the right and the obligation to repair,
unless it would involve an unreasonable effort. A possible liability does not include deficiencies caused
by deviations from the operating conditions intended for the device and described in the user
documentation.

Page 2
Manual “RBD-325-4/6-S“ Version 2.0.0
Groschopp BV does not guarantee that the products meet the buyer’s needs and purposes or that
they work together with other products selected by the buyer. Groschopp BV does not assume any
liability for damages resulting from the combined use of its products with other products or resulting
from improper handling of machines or systems.
Groschopp BV Drives & More reserves the right to modify, amend, or improve the document or the
product without prior notification.
This document may, neither entirely nor in part, be reproduced, translated into any other natural or
machine-readable language nor transferred to electronic, mechanical, optical or any other kind of data
media, without expressive authorization by the author.
Trademarks
Any product names in this document may be registered trademarks. The sole purpose of any
trademarks in this document is the identification of the corresponding products.
RBD-S ServoCommander™ is a registered Trademark.

Page 3
Manual“RBD-325-4/6-S“ Version 2.0.0
Revision log
Author: Groschopp BV, Drives & More
Manual name: Manual„ RBD-325-4/6-S“
File name: Manual_RBD-325-4-6-S_2p0_UL
File location: Handleidingen RBD-S
Series No. Description Revisions-Index Date of changing’s
002 Rev. 0.0 Release for distribution 0.0 01.02.2011 SR

Page 4
Manual “RBD-325-4/6-S“ Version 2.0.0
TABLE OF CONTENTS:
1 General...............................................................................................................12
1.1 Symbols used ....................................................................................................12
1.2 Area of applications and intended use................................................................12
1.2.1 Type description .................................................................................................12
1.2.2 Area of application and intended use .................................................................13
1.2.3 Features of RBD-S .............................................................................................14
1.3 Specifications of RBD-S ServoCommander
TM
....................................................15
1.3.1 Basic Information................................................................................................15
1.3.2 Specifications of RBD-S ServoCommander
TM
...................................................15
1.3.3 Hard- and Software-conditions ...........................................................................16
1.4 Documentation...................................................................................................16
1.5 Delivery and delivery package............................................................................16
2 Safety notes for electrical drives and controllers ..........................................19
2.1 General notes ....................................................................................................19
2.2 Danger resulting from use ..................................................................................20
2.3 Safety notes .......................................................................................................20
2.3.1 General safety notes ..........................................................................................20
2.3.2 Safety notes for assembly and maintenance .....................................................22
2.3.3 Protection against contact with electrical parts ..................................................23
2.3.4 Protection against electrical shock by means of protective extra-low voltage
(PELV) ................................................................................................................24
2.3.5 Protection against dangerous movement...........................................................24
2.3.6 Protection against contact with hot parts............................................................25
2.3.7 Protection during handling and assembly ..........................................................25
3 First commissioning of drive ...........................................................................27
3.1 System overview ................................................................................................27
3.2 Connection of RBD-S communication interface..................................................28
3.3 Installation and start up of RBD-S ServoCommander
TM
.....................................28
4 First commissioning of drive ...........................................................................29
4.1 First commissioning ...........................................................................................29
4.1.1 Parameter settings at delivery............................................................................29
4.1.2 Manual first commissioning ................................................................................29
4.2 Parameterization across motor data file list ........................................................30
4.3 Basic parameter of new motors..........................................................................31
4.3.1 Angle encoder.....................................................................................................31
4.3.2 Motor data...........................................................................................................34
4.3.3 Power stage........................................................................................................36
4.3.4 Current controller................................................................................................37
4.3.5 DC bus monitoring..............................................................................................38
4.3.6 Motor temperature monitoring ............................................................................39
4.4 Application parameters.......................................................................................40
4.4.1 General configuration .........................................................................................40
4.4.2 Adjustment of the display units...........................................................................41
4.5 Specify input limits ..............................................................................................43
4.6 Safety parameter selection.................................................................................44
4.7 Adjustment controller enable logic......................................................................45
4.8 Setting of the limit switch....................................................................................45
4.9 Set up the rotation direction................................................................................46
4.10 Ready for operation, enable the end stage.........................................................47

Page 5
Manual“RBD-325-4/6-S“ Version 2.0.0
5 Current- and speed controller..........................................................................49
5.1 Functions overview ............................................................................................49
5.2 Speed control command ....................................................................................51
5.2.1 Optimizing speed controller ................................................................................51
5.2.2 Strategy to optimization ......................................................................................52
5.3 Current controller optimization............................................................................54
5.4 Set point over set point selectors .......................................................................54
5.4.1 Speed controller application ...............................................................................55
5.4.2 Torque control command....................................................................................55
5.4.3 Settings via RS232 .............................................................................................56
5.4.4 Set point ramps ..................................................................................................56
5.4.5 Current controller with torque limitation..............................................................57
6 Position application ..........................................................................................58
6.1 Functions overview ............................................................................................58
6.2 Activate commands............................................................................................59
6.3 Positioning adjusting and optimizing...................................................................60
6.3.1 Optimizing the positioning controller ..................................................................61
6.4 General positioning settings ...............................................................................62
6.5 Destination parameters ......................................................................................63
6.6 Move to destination ............................................................................................65
6.7 Settings of digital outputs ...................................................................................66
6.8 Homing mode.....................................................................................................66
6.8.1 Homing movement .............................................................................................66
6.8.2 Setting homing movement..................................................................................70
7 Course program ................................................................................................73
7.1 Composing of course program ..........................................................................75
7.1.1 Options of the course program...........................................................................76
7.1.2 End of program...................................................................................................77
7.1.3 Position branch ...................................................................................................77
7.1.4 Branch (line) .......................................................................................................79
7.1.5 Level test ............................................................................................................80
7.2 Course program debug ......................................................................................81
8 Gear synchronization over X10........................................................................83
8.1 Introduction ........................................................................................................83
8.2 Incremental encoder emulation ..........................................................................83
8.2.1 Description of the function and application.........................................................83
8.2.2 Activating and altitude ........................................................................................84
8.3 Synchronization over [X10].................................................................................85
8.3.1 Description the function and application.............................................................85
8.3.2 Activating and altitude ........................................................................................89
9 Function of in- and outputs..............................................................................92
9.1 Digital inputs DIN0 to DIN9.................................................................................92
9.1.1 Attitude of the digital inputs ................................................................................93
9.2 Extended functions of digital inputs (jogging & Teach) .......................................94
9.2.1 Position Teaching ...............................................................................................95
9.3 Digital outputs DOUT0 to DOUT3.......................................................................97
9.3.1 Settings of digital outputs ...................................................................................97
9.3.2 Settings of messages for the digital outputs.......................................................98
9.4 Holding brake DOUT3 (BRAKE).......................................................................100
9.4.1 Brake functions.................................................................................................100
9.5 Analogue inputs AIN0 and AIN1.......................................................................101

Page 6
Manual “RBD-325-4/6-S“ Version 2.0.0
9.6 Analogue output AMON ...................................................................................103
10 Communication interfaces .............................................................................104
10.1 Control of the CAN-Bus....................................................................................104
10.1.1 Function overview.............................................................................................104
10.1.2 Processing of CAN-messages..........................................................................104
10.1.3 Attitudes of the CAN open communications parameters .................................105
10.2 Controlling over the serial interface. .................................................................106
10.2.1 Functions overview...........................................................................................106
10.2.2 Serial communication via RBD-S ServoCommander
TM
...................................107
10.2.3 Settings via RS232 communication parameters ..............................................107
10.2.4 Transfer window ...............................................................................................108
10.2.5 Communication window via RS232 transfer.....................................................108
10.3 Controlling by technologic interface..................................................................109
11 Error message/Error management ................................................................110
11.1 Error control by RBD-S.....................................................................................110
11.1.1 Over current- and short-circuit control ..............................................................110
11.1.2 Monitoring DC-bus voltage ...............................................................................110
11.1.3 Monitoring logic supply .....................................................................................111
11.1.4 Monitoring of the heat sink temperature...........................................................111
11.1.5 Monitoring of the motor.....................................................................................111
11.1.6 Monitoring course of motion .............................................................................111
11.1.7 Additional internal monitoring functions............................................................112
11.1.8 Operating time counter .....................................................................................112
11.2 Error message overview...................................................................................112
11.3 Error signals on RBD-S....................................................................................116
11.4 Error window in RBD-S ServoCommander
TM
....................................................116
11.5 Error management ...........................................................................................117
12 Appendix..........................................................................................................118
12.1 Working description for RBD-S ServoCommander
TM
........................................118
12.1.1 Standard buttons ..............................................................................................118
12.1.2 Numeric input field............................................................................................118
12.1.3 Control units......................................................................................................119
12.1.4 Representation of settings and actual values...................................................119
12.1.5 Actual window...................................................................................................120
12.1.6 Listings..............................................................................................................121
12.1.7 Communication across communications objects .............................................121
12.1.8 Finishing the program.......................................................................................121
12.2 Renew the serial communication......................................................................122
12.3 Info-Window .....................................................................................................124
12.4 Quick access via symbol .................................................................................125
12.5 Use of the oscilloscope functions .....................................................................126
12.5.1 Oscilloscope settings........................................................................................126
12.5.2 Oscilloscope window ........................................................................................128
12.6 Serial communication protocol .........................................................................131
12.7 Use of communication objects..........................................................................133
12.7.1 Basic units ........................................................................................................141
12.7.2 Bit allocation commandword / controlword / errorword ....................................142
12.7.3 RS232-command word / overview important orders ........................................146
12.8 Apendix possibilities diplay units ......................................................................147
12.8.1 Settings of user specified display units ............................................................147
12.8.2 Decimal places .................................................................................................148
12.8.3 Direct input position-, speed- and acceleration units .......................................148
12.9 Course program: Example ...............................................................................150

Page 7
Manual“RBD-325-4/6-S“ Version 2.0.0
12.9.1 Example 1: Linear connected positions............................................................150
12.9.2 Example 2: Linear connected of positions with switching of a digital output....151
12.9.3 Example 3: Settings and checking of digital in- and outputs; continuous loop 152
12.10 Timing overview ...............................................................................................152
12.10.1 Switching sequence..........................................................................................153
12.10.2 Positioning / destination reached .....................................................................154
12.10.3 Speed message................................................................................................154
12.10.4 Error reset.........................................................................................................155
12.10.5 Limit switch .......................................................................................................155
12.11 Parameter set administration............................................................................156
12.11.1 General .............................................................................................................156
12.11.2 Load and save parameters...............................................................................157
12.11.3 Print parameter settings ...................................................................................158
12.12 Offline parameterization ...................................................................................160
12.13 Loading software into the RBD-S / Software Update ......................................161
12.13.1 Loading software ..............................................................................................162
12.14 Technical specifications ...................................................................................164
12.14.1 Site conditions and qualification .......................................................................164
12.14.2 Dimensions and weight ....................................................................................164
12.14.3 Power data [X6], [X2A] .....................................................................................165
12.14.4 Motor temperature control [X2A] ......................................................................165
12.14.5 Motor phases [X6] ............................................................................................165
12.14.6 Resolver [X2A]..................................................................................................166
12.14.7 Analogue Hall sensing [X2A]............................................................................166
12.14.8 Incremental encoder output [X10] ....................................................................166
12.14.9 Incremental encoder input [X10].......................................................................167
12.14.10 RS232 [X5] .......................................................................................................167
12.14.11 CAN-Bus [X4] ...................................................................................................167
12.14.12 Analogue in- and output [X2B]..........................................................................167
12.14.13 Digital in- and output [X2B]...............................................................................168
12.14.14 Warning and status LED RBD-S ......................................................................168
12.15 Mechanical installation .....................................................................................169
12.15.1 Important notes for mounting............................................................................169
12.15.2 Front side – dimensions – position connectors ................................................170
12.15.3 Back side – position of the connector...............................................................171
12.15.4 Side view – dimensions – position of the connectors when using small mounting
plate ..................................................................................................................173
12.15.5 Smallest mounting distance..............................................................................173
12.16 Connectors on the RBD-S................................................................................175
12.16.1 Pin configuration: Analogue and digital I/Os [X2B]...........................................175
12.16.2 Pin configuration: Angle encoder and holding brake [X2A]..............................176
12.16.3 Pin configuration: Motor and power supply [X6]...............................................177
12.16.4 Pin configuration: Internal technologic module connection [X8].......................178
12.16.5 Pin configuration: CAN-Bus [X4] .....................................................................180
12.16.6 Optional: connection: CAN-Bus in- and output |X401, X402]...........................180
12.16.7 Pin configuration: PROFIBUS [X401, X402] ....................................................181
12.16.8 Pin configuration: EtherCAT [X401, X402] .......................................................181
12.16.9 Pin configuration: Serial parameterization interface [X5] .................................182
12.16.10 Pin configuration: Incremental encoder in- and output [X10] ..........................183
12.17 Electrical installation of the RBD-S...................................................................184
12.17.1 Connecting to supply [X6] and motor [X6], [X2B] .............................................184
12.17.2 Detail view – connection of motor with resolver [X6], [X2A].............................187
12.17.3 Detail view – connection of motor with Hallsensing system [X6], [X2A] ..........189
12.17.4 Connection of analogue and digital in- and output [X2B] .................................191
12.17.5 Connection: CAN – Bus [X4] ............................................................................192
12.18 Notes concerning safe and EMC-compliant installation....................................193
12.18.1 Definitions and terminology ..............................................................................193
12.18.2 General information concerning EMC ..............................................................194

Page 8
Manual “RBD-325-4/6-S“ Version 2.0.0
12.18.3
EMC ranges: first and second environment .....................................................194
12.18.4 Connection between RBD-S and Motor ...........................................................194
12.18.5 Connection between RBD-S and power- also logic - supply............................194

Page 9
Manual“RBD-325-4/6-S“ Version 2.0.0
TABLE OF FIGURES:
Figure 1: Overview RBD 325-4/6-S........................................................................................................27
Figure 2: Overshoot current controller....................................................................................................38
Figure 3: Control scheme of the controller cascade...............................................................................50
Figure 4: Speed controller - to light .......................................................................................................53
Figure 5: Speed controller - to hard.......................................................................................................53
Figure 6: Speed controller - right adjustment ........................................................................................53
Figure 7: Positioning control block diagram ...........................................................................................58
Figure 8: Optimised positioncontroller....................................................................................................61
Figure 9: Time optimum and jerkfree positioning ...................................................................................65
Figure 10: Homing with negative limit switch and zero pulse.................................................................67
Figure 11: Homing with positive limit switch and zero pulse ..................................................................67
Figure 12: Homing on negative limit switch............................................................................................68
Figure 13: Homing on positive limit switch .............................................................................................68
Figure 14: Homing only with zero pulse .................................................................................................68
Figure 15: Homing with negative stop and zero pulse ...........................................................................69
Figure 16: Homing with positive stop and zero pulse.............................................................................69
Figure 17: Homing with negative stop ....................................................................................................69
Figure 18: Homing with positive stop .....................................................................................................70
Figure 19: Course program - Position branch ........................................................................................78
Figure 20: Timing diagram Position branch............................................................................................78
Figure 21: Course program - branch (line).............................................................................................79
Figure 22: Timing diagram branch (line) ................................................................................................80
Figure 23: Course program level test .....................................................................................................81
Figure 24: Timing diagram level test ......................................................................................................81
Figure 25: Connection Incremental encoder emulation .........................................................................83
Figure 26: Synchronisation – leveling setpoints speed- and position cotroller ......................................86
Figure 27: Synchronisation – Minimum times for A / B / N Signals........................................................88
Figure 28: Synchronisieren – Minimum times for CLK / DIR Signals.....................................................88
Figure 29: Learning a destination...........................................................................................................96
Figure 30: Time functions Holding brake..............................................................................................101
Figure 31: Safety zero ..........................................................................................................................102
Figure 32: Online-Parametering ...........................................................................................................156
Figure 33: Offline-Parametering ...........................................................................................................160
Figure 34: Front side RBD 325-4/6S ....................................................................................................170
Figure 35: Back side RBD 325-4/6S ....................................................................................................172
Figure 36: Side view RBD 325-4/6S.....................................................................................................173
Figure 37: Smallest mounting distance ...............................................................................................174

Page 10
Manual “RBD-325-4/6-S“ Version 2.0.0
Figure 38: Wiring connection cable RBD-S [X5] from COM-interface to the PCs................................182
Figure 39: Connection power- and Logic voltage - principal connection ............................................184
Figure 40: Connection of motor with resolver and holding brake.........................................................187
Figure 41: Motor connection – pin configuration ..................................................................................188
Figure 42: Connection motor with analogue hall sensing system and holding brake ..........................189
Figure 43: Motor connection – pin configuration ..................................................................................190
Figure 44: Connection of analogue and digital in- and outputs............................................................191
Figure 45: CAN-connection for RBD-S.................................................................................................192
Figure 46: Wiring example CAN-Bus ...................................................................................................193
Table of tables:
Table 1: Scope of supply RBD-S 325 4/6S ...........................................................................................16
Table 2: Additional parts.........................................................................................................................17
Table 3: Additional parametering program .............................................................................................17
Table 4: Overview total system RBD 325-4/6-S.....................................................................................28
Table 5: Parameter encoder (grey = not supported) ..............................................................................33
Table 6: Display units .............................................................................................................................42
Table 7: Error reset speed controller......................................................................................................48
Table 8: Course program: Pin configuration digital inputs (Standard) ...................................................73
Table 9: Course program: Pin configuration digital inputs (New I/O lay out) .........................................74
Table 10: Available position sets of activated course program and input WEG = 0 ..............................75
Table 11: RBD-S Digital inputs – possible combinations .......................................................................92
Table 12: Digital input – layout ...............................................................................................................93
Table 13: Jogging & Learning: Layout of digital input ............................................................................95
Table 14: Error overview ......................................................................................................................113
Table 15: Control elements ..................................................................................................................119
Table 16: Listing structure ....................................................................................................................121
Table 17: Problem solving of serial communication.............................................................................123
Table 18: Command syntax OK’s.........................................................................................................131
Table 19: Letter description in the command syntax............................................................................131
Table 20: Command syntax RS232 .....................................................................................................132
Table 21: Letter description in the command syntax............................................................................132
Table 22: List of all OK's.......................................................................................................................133
Table 23: List of display units ...............................................................................................................141
Table 24: List of RS232- Send command (RS232-command word) ....................................................146

Page 11
Manual“RBD-325-4/6-S“ Version 2.0.0
Table 25: Online-Offline-Activation.......................................................................................................160
Table 26: Front side RBD 325-4/6-S (Position of connectors) .............................................................171
Table 27: Back side RBD 325-4/6-S (Position of connectors) .............................................................171
Table 28: Pin configuration [X2B] – Send command (analogue / digital).............................................175
Table 29: Pin configuration [X2A] – Encoder interface and logic supply .............................................176
Table 30: Pin configuration [X6] – motor- and power supply ...............................................................177
Table 31: Connection of connector [X8] ...............................................................................................178
Table 32: Pin configuration [X4] – CAN - Bus ......................................................................................180
Table 33: Connection of connector [X401, X402] ................................................................................180
Table 34: Connection of connector [X401, X402] ................................................................................181
Table 35: Connection of connector [X401, X402] ................................................................................181
Table 36: Pin configuration [X5] – serial interface................................................................................182
Table 37: Pin configuration [X10] – Incremental encoder in- and output .............................................183
Table 38: Pin configuration motor connector with resolver ..................................................................188
Table 39: Pin configuration motor connector with analogue hall sensing system................................190

Page 12
Manual RBD-325-4/6-S“ Version 2.0.0
1 General
1.1 Symbols used
Information
Important information and references.
Caution!!
Non observance may result in severe property damage.
DANGER!
Non observance may result in property damage and personal injury.
Caution! Dangerous voltages.
The safety note indicates a possible perilous voltage.
1.2 Area of application and intended use
1.2.1 Type description
The Servo positioning controller series RBD-S (Regulator for Brushless motors with permanent
magnet rotor, Digital) are intelligent servo inverters with extensive parameterization options. Due to
this flexibility, they can be adapted to numerous areas of application.
Key type:

Page 13
Manual “RBD-325-4/6-S“ Version 2.0.0
1.2.2 Area of application and intended use
The servo positioning controller RBD-S was designed for the centralized control of three-phase
magneto-electric synchronous machines. Thanks to numerous options for feedback like resolver and
price inexpensive analogue hall sensing system methods with current controlling with "sinus
commutation", the controller can be adapted optimally to the motor characteristics.
The RBD-S is designed for fixed mounting in a control cubicle. The motor is connected to the servo
controller via a single cable which is constructed with screened motor wiring. Also the separately
screened encoder cable carries the holding brake and temperature sensor. More information about
mechanical installation can be found in the table of contents 12.15. Information about electrical
installation can be found in table of contents.
The power supply of the RBD-S servo positioning controller requires 230 V AC power. At the controller
connection, it supplies the synchronous machine with a pulse-width-modulated, symmetrical, 3-phase
rotating field with variable frequency, current and voltage.
The controller unit is supplied with 24 V DC through a power supply unit.
The DC bus voltage will be loaded directly from the 230V power supply. An electric rectifier and a
current regulator with thermistor are integrated in the controller. Additionally, a filter must be used in
the power line to the controller to reduce electrical emissions in accordance with EMC rules.
The RBD-S was designed as a continuous torque, speed and position control for typical industrial
applications such as:
•Positioning and feeding drives in machines
•Palletizing and packaging machines
•Wood-processing machines
•Reeling drives, wire drawing drives etc.
•Drives in tightening and press-fitting applications
•Conveying applications
Prior to using the RBD-S controller in specialist areas of application e.g. medical technology or
avionics, requiring particularly high levels of device safety, the user should check whether the RBD-S
meets the required standards. In case of doubt, please contact your local distributor.
The RBD-S may only be used in the environment described and with the technical data of the
controller stated in the appendix in chapter 12.14.

Page 14
Manual RBD-325-4/6-S“ Version 2.0.0
1.2.3 Features of RBD-S
The RBD-S has the following features:
Compact design, enclosed on all sides with protection class IP20 and ideal for mounting in
control cubicles.
Highly precise control thanks to a high quality sensor system.
Full integration of all components for the controller and power sections including RS232 interface
for PC communication and CAN open interface for integration with PLC’s.
RS232 interface for PC communication and a field bus interface (CAN open, Profibus or
EtherCAT) are realized with an integrated interface which is plugged in and connected to the
main board.
Integrated driver stage for 24 V Holding brake (750 mA)
Integrated universal rotary encoder evaluation for the following encoder types:
Resolvers
Analogue Hall sensors (Groschopp Volksservo
®
)
Mounting plate with double function - strain relief and screen connection of cable
Compliance with current CE and EN standards with an additional external line filter. Other filters
e.g. filters for 24V-supply as well as inputs and outputs
Can be used as a torque controller, speed controller or position controller
Operation for synchronization with use of the digital I/O-interface
Integrated positioning control with extensive functionality in accordance with CAN in automation
(CiA) DSp402 and many more extended functionalities
Jerk-free or time-optimal positioning, relative or absolute with regard to a reference point.
Point-to-point positioning with and without spot tracing
Speed and angle synchronous connection with electrical gears over field bus
Pulse direction input for direct connection with stepper motors
Incremental encoder emulation with programmable pulse quantity and more output options –
differential 5 V Signal (RS422 Standard) or 24 V HTL-Signal output
Several reference methods
Integrated course program to implement easier destination movements with or without digital
inputs
Programmable outputs
High intensive 12-Bit analogue output
User friendly parameterization with PC-Program RBD-S ServoCommander
TM
Motor auto detect
Easy connecting to a PLC and possible to use I/O or field bus.
Technologic additional place for Profibus or Ethercat.

Page 15
Manual “RBD-325-4/6-S“ Version 2.0.0
I²t-control for reduction of power looses in end stage and motor.
Integrated brake chopper with connection of an external brake resistor.
Extended RS 232 connection by PS2 female.
Basic controller with CAN-bus connection
1.3 Specifications of RBD-S ServoCommander
TM
1.3.1 Basic Information
The parameter program gives a user friendly interface to parameterize the servo positioning controller
RBD-S with the parameter software to optimize your application.
The software of the servo positioning controller RBD-S and the parameter software must be related to
each other. In this way you can realise the best and latest modifications during parameterization.
With this parameter software it is not possible to program other Groschopp devices!
1.3.2 Specifications of RBD-S ServoCommander
TM
The parameter program has the following options:
Parameterization of the servo position controller RBD-S
Parameter settings across the PC
Display units
Loading of new software-version
Load and save parameter sets
Print parameter sets
Offline parameterization
Oscilloscope functions
Languages: English, German, French (no manual), Dutch
Windows-conforming user interface
Course program

Page 16
Manual RBD-325-4/6-S“ Version 2.0.0
1.3.3 Hard- and Software Requirements
Requirements before the installation of the parameter program:
IBM-compatible PC-AT, from Pentium II-Processor with min. 32 MB main memory and
min. 10 MB free hard disk memory
Available for Windows
®
95, Windows
®
98, Windows NT
®
, Windows 2000, Windows XP
®,
Windows 7
CD-ROM-drive
Free serial interface or high speed USB converter
1.4 Documentation
These manuals are for use with the parameter program RBD-S ServoCommander
TM
for the servo
position controller RBD-S.
Additional information can be found in this manual for the RBD-S device:
CAN open manual “CanOpen_manual_DIS-2”:
Description to implement CAN open protocol in accordance of DSP402, only for RBD-S with
exception of collection allocation
The servo position controller works with the FLASH-program memory. With the software program you
can after delivery and commissioning of the machine parameterise the controller. This functional
software will be developed continuously by the supplier so we have a greater solution for client
applications.
In these manuals the information described is based on the following versions of the
parameter software and functional software of the RBD-S controller:
Servo position controller RBD-S-Software CAN: Version 3.3.4000.1.3
Profibus: Version 3.3.14000.2.1
EtherCAT: Version 3.3.24000.3.6
Parameterization / RBD-S ServoCommander: Version 2.4.0.5.1
1.5 Delivery and delivery package
The servo position controller RBD-S is within a CAN-Bus interface. Also available are devices with
Profibus-Interface or with EtherCAT-Bus interface.
Table 1: Basic device package options
1x Servo position controller RBD-325-4/6-S
Basic with CAN-Bus interface
incl. mounting angle plate and screen cage clamp.
Basic default settings for resolver motors.
Groschopp no.
RBD-S Can (Basic device)

Page 17
Manual “RBD-325-4/6-S“ Version 2.0.0
1x Servo position controller RBD-325-4/6-S Profibus
Basic with Profibus-Bus interface
incl. mounting angle plate and screen cage clamp.
Basic default settings for resolver motors.
Groschopp no.
RBD-S PB
1x Servo position controller RBD-325-4/6-S
EtherCAT
Basic with Ethercat-Bus interface
incl. mounting angle plate and screen cage clamp.
Basic default settings for resolver motors.
Groschopp nr.
RBD-S EC
The connectors for power, I/Os and encoder are not part of the contents. Also a line filter is required.
Brake resistor or testing equipment (small box) can be purchased additionally.
Table 2: Additional parts RBD-S
1x Connector set:
Connector set RBD-S
Groschopp no.:
RBDS connector set
contents: 1x 1 x 4 and 1 x 5-pole Phoenix
COMBICON MSTB 2,5/9-ST-
5,08
2x 12-polig Phoenix
MINICOMBICON
MC 1,5/12-ST-3,81
1x Cage Clamp and angle mounting plate Included with controller
1x Testing equipment RBD-S Groschopp no.
On request!
1x RS232 communication cable RBD-S,
150 cm Length; PS2 male connector to DSUB9
Groschopp no.
RBDS RS232 cable
1x Power line filter for RBD-S general type Groschopp no.
Small RBDS line filter
1 x Fan RBDS fan with connection cable
1 x Fan is also available for direct mounting on the end
stage for better cooling and higher power output.
Groschopp no.
On request!
1x Brake resistor for RBD-S
100 Ω/ 100 W / 450 V
Groschopp no.
RBDS brake resistor 100W/100Ohm

Page 18
Manual RBD-325-4/6-S“ Version 2.0.0
Table 3: Additional parameter program
1x RBD-S ServoCommander
Windows
®
-Parameter program
D eutsch/English/France/Dutch
First delivery of RBD-S includes paper
manual for first commissioning

Page 19
Manual “RBD-325-4/6-S“ Version 2.0.0
2 Safety notes for electrical drives
and controllers
2.1 General notes
Information
In case of damage resulting from non-compliance with the safety notes in this manual
Groschopp BV do not assume any liability
If the documentation in the language at hand is not understood accurately, please contact and inform
your supplier.
Sound and safe operation of the servo drive controller requires proper and professional transportation,
storage, assembly and installation as well as proper operation and maintenance. Only trained and
qualified personnel may handle electrical devices.
TRAINED AND QUALIFIED PERSONNEL
In the sense of this product manual or the safety notes on the product itself are such persons who are
sufficiently familiar with the project, the setup, assembly, commissioning and operation of the product
as well as all warnings and precautions as per the instructions in this manual and who are sufficiently
qualified in their field of expertise:
Education and instruction concerning the standards and accident prevention regulations for the
application, or authorization to switch devices/systems on and off and to ground them as per the
standards of safety engineering and to efficiently label them as per the job demands.
Education and instruction as per the standards of safe engineering practice and the maintenance
and use of adequate safety equipment.
First aid training.
The following notes must be read prior to the initial operation of the system to prevent personal injury
and/or property damage:
These safety notes must be complied with at all times.
Do not try to install or commission the servo drive controller before carefully reading all
safety notes for electrical drives and controllers contained in this document. These safety
instructions and all other user notes must be read prior to any work with the servo drive
controller.
In case you do not have any user notes for the servo drive controller, please contact
your sales representative and immediately request that these documents are sent to the

Page 20
Manual RBD-325-4/6-S“ Version 2.0.0
person responsible for the safe operation of the servo drive controller.
If you sell, rent and/or otherwise make this device available to others, these safety notes
must also be included.
The user must not open the servo drive controller for safety and warranty reasons.
Professional control process design is a prerequisite for sound functioning of the servo
drive controller!
DANGER!
Inappropriate handling of the servo drive controller and non-compliance of the
warnings as well as inappropriate intervention in the safety features may result in
property damage, personal injury, electric shock or, in extreme cases, even death.
2.2 Danger resulting from use
DANGER!
High electrical voltages and high load currents!
Danger to life or serious personal injury from electrical shock!
DANGER!
High electrical voltage caused by wrong connections!
Danger to life or serious personal injury from electrical shock!
DANGER!
Surfaces of device housing may be hot!
Risk of injury! Risk of burning!
DANGER!
Dangerous movements!
Danger to life, serious personal injury or property damage due to unintentional
movements of the motors!
2.3 Safety notes
2.3.1 General safety notes
The servo drive controller corresponds to IP20 class of protection as well as pollution
level 1. Make sure that the environment corresponds to this class of protection and
pollution level.