Harmonic Drive YukonDrive-1021 User manual

Operating Manual
AC Servo Controller YukonDrive®
More information on our servo products
can be found HERE!
Contact us today!

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Content
1. General.................................................................................................................................4
1.1 Measures for your safety.............................................................................................................................................4
1.1.1 Read the Operation Manual first!....................................................................................................................4
1.2 Intended use.................................................................................................................................................................5
1.3 Responsibility...............................................................................................................................................................5
1.4 Product description......................................................................................................................................................6
2. Mechanical installation.......................................................................................................9
2.1 Notes for operation......................................................................................................................................................9
2.2 Wall mounting..............................................................................................................................................................9
3. Installation.........................................................................................................................12
3.1 Notes for Installation.................................................................................................................................................12
3.2 Layout.................................................................................................................................................................................13
3.3 Connection diagram ...................................................................................................................................................14
3.4 Eective EMC installation.........................................................................................................................................16
3.4.1 Interference immunity of drive controllers...................................................................................................16
3.4.2 Specimen setup..........................................................................................................................................................16
3.5 Protective conductor connection...............................................................................................................................19
3.6 Electrical isolation method....................................................................................................................................... 20
3.7 Connection of supply voltages...................................................................................................................................21
3.7.1 Connection of control supply (+24 V DC).......................................................................................................21
3.7.2 Connection of mains supply, BG2 and BG3....................................................................................................22
3.7.3 Mains supply connection, BG4.......................................................................................................................23
3.8 Control connections....................................................................................................................................................25
3.8.1 Specification of control connections .............................................................................................................26
3.8.2 Connection of motor brake X13..................................................................................................................... 28
3.9 Specification of Ethernet port.................................................................................................................................. 28
3.10 Option 1...................................................................................................................................................................... 28
3.11 Option 2...................................................................................................................................................................... 28
3.12 Motor- and Encoder connection................................................................................................................................29
3.12.1 Resolver connection X6.................................................................................................................................30
3.12.2 Connection for high-resolution encoders X7................................................................................................ 30
3.13 Motor connection .......................................................................................................................................................31
3.13.1 Connection of Harmonic Drive® Servo motors and -actuators.....................................................................32
3.13.2 Switching in the motor cable........................................................................................................................ 34
3.14 Braking resistor (RB)................................................................................................................................................. 34
3.14.1 Protection in case of braking chopper fault................................................................................................. 34
3.14.2 Design with integrated braking resistor (BG3+4)........................................................................................ 34
3.14.3 Connection of an external braking resistor...................................................................................................36
4. Commissioning............................................. ...................................................................37
4.1 Notes for operation....................................................................................................................................................37
4.2 Initial commissioning.................................................................................................................................................37
4.2.1 Switching on the control supply ....................................................................................................................37
4.2.2 Connecting the PC and drive controller ........................................................................................................38
4.2.3 Parameter setting.......................................................................................................................................... 38
4.2.4 Controlling the drive with DriveManager 5...................................................................................................38
4.3 Serial commissioning................................................................................................................................................40
4.4 Integrated operator control unit...............................................................................................................................40
4.4.1 Functions of buttons T1 and T2.....................................................................................................................41
4.4.2 Display.............................................................................................................................................................41
4.4.3 Parameters menu (PA)...................................................................................................................................42
4.4.4 Ethernet IP adress menu (IP).........................................................................................................................42
4.4.5 Field bus adress menu (Fb)...........................................................................................................................44

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The modularity of the YukonDrives® guarantees you optimum integration into the machine process. Whether in
high-speed field bus communication with the central multi-axis machine controller or with distributed programmable
Motion Control intelligence in the drive controller, the YukonDrive® is a master of both.
We reserve the right to make technical changes.
The content of our documentation was compiled with the greatest care and attention, and based on the latest
information available to us. We should nevertheless point out that this document cannot always be updated in line
with ongoing technical developments in our products. Information and specifications may be subject to change at any
time. For information on the latest version please visit www.harmonicdrive.de
5. Diagnostics........................................................................................................................45
5.1 Device states ............................................................................................................................................................. 45
5.2 Error display............................................................................................................................................................... 45
5.3 Error codes.................................................................................................................................................................46
5.4 Helpline/Support & Sevice........................................................................................................................................46
6. Safe Torque O (STO).......................................................................................................46
A. Appendix............................................................................................................................47
A.1 Current capacity of servocontrollers..........................................................................................................................47
A.2 YukonDrive® technical data....................................................................................................................................... 49
A.3 Ambient conditions................................................................................................................................................... 50
A.4 YukonDrive® UL certification .....................................................................................................................................52

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1.General
1.1Measuresfor your safety
Theinstructionsset out below should be readthrough prior to initial commissioning inordertopreventinjury and/
or damagetoproperty.The safetyinstructions must befollowedat alltimes.
1.1.1Read the OperationManualfirst!
• Follow the safety instructions!
• Refer to the user information!
Electric drivesare dangerous:
• Electricalvoltagesof230 Vto480V
Dangerously high voltages of ≥ 50 V may still be present 10 minutes after the power is cut (capacitor charge).
So check that the drive is de-energized!
• Rotating parts
• Hotsurfaces
Protection againstmagnetic and/orelectromagnetic fieldsduringinstallation andoperation.
• Persons fitted with heart pacemakers, metallic implants and hearing aids etc. must not be allowed access to the
following areas:
– Areas where drive systems are installed, repaired and operated.
– Areas where motors are installed, repaired and operated. Motors with permanent magnets pose a particular
hazard.
Note:
If it is necessarytoaccess such areas,suitabilitytodosomust be determinedbeforehand by adoctor.
Yourqualification:
• In order toprevent personalinjury and damage toproperty,only personnelwithelectrical engineering qualifica-
tionsmay workon thedevice.
• The saidqualified personnel must befamiliar withthe contents of the Operation Manual(cf.IEC364,
DINVDE 0100).
• Awareness of national accidentpreventionregulations(e.g.BGVA3 in Germany).
Duringinstallation observethe followinginstructions:
• Always complywiththe connectionconditions and technicalspecifications.
• Comply with the standards for electrical installations, such as regarding wire cross-section, grounding lead and
groundconnections.
• Do nottouchelectroniccomponents and contacts (electrostaticdischargemay destroy components).

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1.2Intended use
YukonDrive® drive controllers are components designed solely for vertical installation in stationary electrical systems
or machines.
When installed in machines the commissioning of the drive controller (i.e. start-up of intended operation) is prohibited,
unlessithasbeen ascertained thatthe machine fullycomplies withthe provisionsof theMachinery Directive2006/42/
EC;compliancewithEN60204 is mandatory.
Commissioning (i.e. start-up of intended operation) is only permitted when strictly complying with the EMC Directive
(2004/108/EC).
The YukonDrive® conforms to the Low Voltage Directive 2006/95/EC.
Thedrive controllers fulfill thedemandsofthe harmonized product standard EN 61800-5-1:2008.
If the drive controller is used for special applications, such as in areas subject to explosion hazard, the required stan-
dards and regulations (e.g. EN 50014, “General provisions” and EN 50018, “Flameproof housing”) must always be
observed.
Repairs may only be carried out by authorized repair workshops. Unauthorized opening and incorrect intervention
could lead to death, physical injury or material damage. The warranty provided by Harmonic Drive® would thereby be
renderedvoid.
Note:
Deployment of the drive controllers in non-stationary equipment is classed as non-standard ambient conditions, and
ispermissibleonlyby specialagreement.
1.3 Responsibility
Electronic devices are fundamentally not fail-safe. The company setting up and/or operating the machine or system
is itself responsible for ensuring that the drive is rendered safe if the device fails.
In the section on “Electrical equipment of machines” the standard EN 60204-1/DIN VDE 0113 “Safety of machines”
stipulates safety requirements for electrical controls. They are intended to protect personnel and machinery, and to
maintainthe function capabilityofthe machine or system concerned, and must beobserved.
The function of an emergency o system does not necessarily have to cut the power supply to the drive. To protect
against danger, it may be more beneficial to maintain individual drives in operation or to initiate specific safety se-
quences.
Execution of the emergency stop measure is assessed by means of a risk analysis of the machine or plant, including
the electrical equipment in accordance with EN ISO 14121 (previously DIN EN 1050), and is determined in accordance
with EN ISO 13849-1 (previously DIN EN 954-1), “Safety of machines - Safetyrelated parts of controls” by selecting
thecircuit category.

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Universal servo controller
The YukonDrive® is designed to operate with superimposed CNC controls featuring cyclic set point selection via bus
systems. At all times, the modularity of the YukonDrive® family ensures optimum integration of the servo axis
into the machine process. Whether in high speed field bus communication with a central machine controller or with
distributed motion control intelligence in the servo controller – the YukonDrive® is a master of both. Optimised for the
lower power range, the YukonDrive® oers maximum capacity in four compact designs.
The integration of high speed field bus systems and the latest encoder interfaces such as the digital EnDat 2.2 or
HIPERFACE DSL interface ensure that future security and flexibility continue to be at the forefront of development.
Comprehensive motion control functions provide a variety of possible solutions. Complete plug connections ensure
fast installation and commissioning.
We have also considered the safety of your machine. Its SIL3-certified STO function means that the YukonDrive® can
be integrated into your safety concept.
1.4. Product Description

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Ordering code
Table 7.5
Table 7.2
Table 7.1
Table 7.3
Table 7.4
Data valid for: 4 kHz switchg frequenz, motot cable length ≤ 10 m,
1 x 230 V AC when used with recommended mains choke
Series Size Supply voltage Peak current Option 1
Feld bus Option 2 Technology Special design
YukonDrive
102
1
A
A
B
C
D
E
F
A
B
C
O
According to customer
requirements
103 C
104 E
102
2
B
103 D
104 F
1051) G
H1)
Ordering Code
YukonDrive 1022 B E O SP
Supply voltage
Size Ordering Code Description
102
1 1/3 x 230 VAC103
104
102
2 3 x 400 … 480 VAC
103
104
1051)
Peak current [Ae]
Supply voltage
Ordering Code 1 x 230 VAC 3 x 230 VAC 3 x 400 VAC
A 9 9 -
C 11,8 17,7 -
E 16 24 -
B - - 6
D - - 10,5
F - - 19,5
G1) - - 36
H1) - - 48
Feld bus
Ordering Code Description
A EtherCAT®
B Sercos II
C Sercos III
D CANopen
E PROFIBUS
F PROFINET IRT
Technology
Ordering Code Description
A TTL Encoder simulation / master encoder
B TTL Encoder with commutation signals
C 2nd SIN/COS Encoder input
O without
1) preparation
Variations in bold print are available at short notice,subject to prior sale.
EtherCAT® is a registered trademark and patented technology,
licensed by the Beckho Automation GmbH, Germany
1) preparation

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Table 8.1
Standard mapping Application dependant – Not available
Actuator Feed back
Size &Versions
-1021-Axx -1031-Cxx -1041-Exx -1022-Bxx -1032-Dxx -1042-Fxx -1052-Hxx -10xx-xxB -10xx-xxC
FHA-C Mini D200 — — — — — — 
CHA-C-H
SIE   —   — — 
MGS   —   — — 
ROO   —   — — 
SIE-EC   —   — — —
RCO-EC   —   — — —
FHA-C-H M512P — — —  ———
M512P-EC — — —  — — — —
FHA-C-L M512P   — — — — — — 
M512P_EC   — — — — — — 
CHA-A-H
M512P   —   — — 
M128P   —   — — 
RES   —   — — 
M512P-EC   —   — — 
RES-EC   —   — — 
CHA-A-N
M128S   —   — — 
D2048   —   — — 
RES   —   — — 
M128S-EC   —   — — 
D2048-EC   —   — — 
RES-EC   —   — — 
LynxDrive®MGH    — — 
MKE    — — 
CHM-H CDO        —
TorkDrive®auf Anfrage      
Combinations

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2.Mechanical installation
2.1Notesforoperation
Please be sure to avoid:.
• penetrationofdamp into thedevice;
• aggressive or conductive substancesin theimmediate vicinity;
• drillchippings,screwsorforeign bodies droppinginto the device;
• ventilation openings being coveredover, asotherwisethe devicemay be damaged.
Note the following points:
• Cooling air mustbeable to flowthrough the device without restriction.
• For mounting in switch cabinets with convection (= heat loss is discharged to the outside via the cabinet walls),
always fit an internalaircirculation fan.
• Thebacking plate must be wellgrounded.
• The device is designed only for vertical installation in switch cabinets.
• Theswitchcabinet mustas a minimum provide IP4xprotection.
Attention!
According to EN ISO 13849-2, when using the STO (Safe Torque OFF) safety function the switch cabinet must have
IP54 protection or higher.
• To attain the best result for EMC-compatible installation you should use a chromated or galvanized backing plate. If
backing plates are varnished, remove the coating from the contact area. The devices themselves have an aluminium
back panel.
• Max. pollution severity 2.
Further information on environmentalconditions can be foundin theappendix.
2.2Wall mounting
Step Action Comment
1Mark outthe position ofthe tappedholesonthe backing plate.
Cutatap foreach fixingscrew in thebackingplate.
Fordimensional drawings/holepitchsee table2,figure1
and figure 2. The tapping area will provide you with good,
full-area contact.
2Mount theservocontroller vertically on thebacking plate. Observe themountingclearances!Thecontact areamust
be metallically bright.
3Mount theother components, such as themains filter,linereactor
etc., onthe backingplate.. The cable between mainsfilterand servocontroller may be max. 30cmlong.
4Continuewiththeelectricalinstallationinsection 3.
Table9.1 Mechanicalinstallation

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YukonDrive® BG2 BG3 BG4
-1021
-1022 -1031 -1032 -1041 -1042
Weight [kg] 1.0 1.5 2.8
B(width) 55
H(height)1) 210 290
T(depth)1) 142 189 235.5
A27.5
A1 – – 40
C225 305
C1 5
D4.8
Edirect end-to-end mounting (see note)
F2) ≥100 ≥150
G2) ≥235 ≥280
H1 235 315
Screws 2xM4 4xM4
all dimensionsin mm
1) withoutterminals/connectors
2) thebend radius ofthe connectingcablesmust be takeninto account
Note :
Theminimum distancespecifiedinthetable for sizes2-4 applies for devicesofthesame power.When butt mounting
devices withdierent drive power you shouldarrange thedevices accordingtotheir power (e.g., viewedfromtheleft,
BG4-BG3-BG2). Thisminimizes the thermalinfluenceamong eachother.
When buttmounting YukonDrive®controllerstogetherwithotherdevices,you must make surethat thesedevicesdo
notaectone another thermally.
Dimensions
Note:
Forallsizes of theYukonDrive® forcedcoolingby externalairflow
is necessary.The air must be abletoflow unhindered throughthe
device. If atemperaturecut-out occurs,the cooling conditions must
beimproved.
Airflow:min.1.2 m/s
Table10.2
Illustration10.1

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Illustration11.1 Dimensions (in mm)BG2, BG3, BG4
Illustration11.2 Mountingclearances (inmm)
C
C
C1
A
B
C1
H1
H1
A
B
A1
T
H
D
D
BG2 + BG3
BG2+BG3+BG4
BG4
E
G
F
F

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3.Installation
3.1NotesforInstallation
Attention!
Qualified personnel
• Installation must only be carried out by qualified electricians who have undergone instruction in the necessary
accident prevention measures.
During installation
• be sure to avoid ...
– screws, cable residues or other foreign bodiesdropping into the device;
–penetration of damp intothe device.
Danger from electrical tension!
• Danger to life!
– Never wire or disconnect electrical connections while they are live! Disconnect the device from the mains
supply (230/400/460/480 V AC) before working on it. Dangerously high voltages of ≥ 50 V may still be pre-
sent 10 minutes after the power is cut (capacitor charge). Work on the device only once the DC link voltage has
fallen below 50 V residual voltage (indicated by monitoring LED H1 and measured at terminals X1/L- and L+).
– Even if the device does not emit any visual or audible signals or show other indications, dangerous voltage
maybeconnected to the device (such as with mains voltage to terminal X3switched on and no +24V DC control
supply on X2)!
Installation of drive controllers is subjecttothe following basicrules:
• Compliance with EMC product standard
Commissioning (i.e. starting intended operation) is only permitted when strictly complying with EMC product
standardEN61800-3:2004.Theinstaller/operatorofamachineand/or item ofplantmustprovideproofofcompli-
ance withthe protectiontargetsstipulated in the standard.
• Cable type
Useshielded mains,motorand signalcableswithdoublecopperbraiding,providing60to70 %coverage.
• Cable laying
– Laymains, motor and signalcablesisolatedfromeach other.Maintain aminimum clearance of 0.2 metreswher-
ever possible. They should not run in parallel. If crossovers are unavoidable, they should wherever possible be
configuredperpendicular(ata90°angle).
– Always route the motor cable without interruptions and by the shortest route out of the switch cabinet. If a
motor contactor is used, for example, the component should be directly mounted to the drive controller and the
shield ofthe motor cableshouldnot bestripped too soon.
– As far as possibleroute signalcablesinto theswitchcabinet fromone side only.
– Cables of the samecircuit mustbetwisted.
– Avoidunnecessarycablelengths and loops.
• Grounding measures
The grounding measures of relevance to the drive controller are detailed in section 3.5 “Protective conductor
connection”.
• Shielding
Do not strip the cable shields too soon, and lay them across wide areas both on the component and on the backing
plate and PE rail(mainground) of thebacking plate.
• External components
– Placelargerconsumersnear the supply..
– Contactors, relays, solenoid valves (switched inductors) must be wired with fuses. The wiring must be directly-
connectedtothe respectivecoil.
– Switched inductorsshouldbeatleast0.2 metresawayfromprocesscontrolled assemblies.
Supplementary information can also be found inthe relevant connection description. If youneedmore detailson
installation please contact our TechnicalSupportService (see page 47).

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3.2Layout
Thefollowingshowsthe layout, with the corresponding positions of plugsand terminals.Toaidorientation, the
connectors andterminalsare labelledbyabbreviations.
No. Designation
D1, D2 7-segment display
H1 DC link voltage indicator LED
OP1 Installationspaceforoption1 (Communication)
PE Protectiveconductorconnection
T1, T2 Pushbuttons
X1 Powerconnection
X2 Connection ofcontrol supply UV
X3 ACmainsconnection
X4 Control terminals
X5 Motor temperature monitoring (see page 31)
X6 Resolver connection
X7 Connectionfor high-resolutionencoders
X8 Option 2(Technology)
X9 Ethernetinterface
X13 Connectionofmotorbrake
Table 13.2 Key toYukonDrive® layout
Illustration 13.1 YukonDrive®layout
H1
X8
X1
X7
X6
D1, D2
T1, T2
X9
X2
X5
X13
X3
X4
Software
ratig plate
PE
Hardware
rating plate
OP1

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3.3Connection diagram
Illustration 14.2 Connection diagram
Ethernet
ISD00
ISD01
ISD02
OSD02
Relay
ENPO (STO)
Motor
3
Option 2
Control
Service
interface
ISDSH (STO)
ISA00+
ISA00-
ISA01+
ISA01-
Analog setpoint 1
Analog setpoint 2
+24V DC against
I/O-GND
+24 V (UH)
3
4
5
6
10
15
16
17
9
23
24
22
RSH
Diagnosis
STO
12
11
1
2,14
13
I/O-GND
Relay
Digital2
RB
L+
L-
Braking
resistor
U
V
W
6
n
n
ISD03
ISD04
ISD05
18
19
20
ISD0621
OSD01
8
Digital1
OSD00
7
Digital0
GND
GND
V+
OSD03 2
3
4
1
5
9
10
9
DC link
OSD04
54321
10 9876
15 14 13 12 11
DGND
DGND
43 21
9876
~
1+
1-
1+
1-
+
-
(-)(+)
D1, D2
T1, T2
L1
K1
L2
L3
FN
L1
L2
L3
3-phase system
X3
X2
X9
X4
X8
X7
X6
X5
X13
X1
Front
Option 1
+24V DC supply for
control electronics (UV)
Communication
Field buses
Brake (+)
+24V DC supply
for brake
Brake (-)
Resolver
-
+
Encoder
+
–
TOP
BOTTOM

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No. Designation Function Page
D1, D2 7-Segmentanzeige Device status display see p.42
T1, T2 Pushbuttons Service functions see p. 42
X1 Power connection
Motor, braking resistor and connection for measurement of DC
linkvoltage seep.27
X2 Connection of control supplyUV+24 V DC supply voltage for control electronics of drive
controller see p. 15
X3 ACmainsconnection Mains supply seep.15
X4 Control terminals Digital inputs/outputs, analog inputs, STO request incl.
feedback see p. 24
X5 Motortemperature monitorconnection PTC, based on DIN44082, Klixon automaticcutout see p. 31
X6 Resolver connection Resolver,incl.motor temperature monitor see p. 29
X7 High-resolution encoderinterface Sin/Cos encoder, TTL encoder, EnDat 2.1 encoder, HIPERFACE® encoder,SSIencoder,incl.motortemperature
monitor
seep.30
Option 1 Communication Factory installedmodulefor field buses,e.g. SERCOS, EtherCAT see p. 27
Protective conductor connection Connectiondiagramsee section3.5 seep.16
X8 Option 2 Technology Factory installed module e.g for TTL encoder simulation,
secondSIN/COSencoder orEnDat2.1 see p.27
X9 Ethernetinterface Serviceport,connectiontoPC see p. 27
X13 Connectionof motorbrake Poweroutput with cable breakdetector see p. 31
Table 15.1 Keyto Connectiondiagram
Note:
The temperature sensor of the motor winding can be optionally connected via the encoder cables (X6 or X7) or to
terminal X5.

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3.4Eective EMCinstallation
3.4.1Interferenceimmunity of drivecontrollers
Attention!
This is a restricted availability product in accordance with IEC 61800-3. This product may cause radio interference in
domestic environments; in such cases the operator may need to take appropriate countermeasures. External radio
frequency interference (RFI)suppression filters(EMCxxx)are available for the drivecontrollers. With themeasure-
ment method specified and the external mains filter,these drive controllers conform to the EMC product standard
IEC 61800-3 for “First environment” (residentialC2) and “Second environment” (industrial C3).
3.4.2 Specimen setup
The specimen setup presented on the following pages is intended to illustrate the key measures necessary to ensure
EMC-compatible setup.
Note:
The specimen setup merely presents a recommendation, and does not automatically guarantee compliance with ap-
plicable EMC directives. The installer/operator of a machine and/or item of plant must provide proof of compliance
with the protection targets stipulated in the standard.
Overview
Illustration 16.1 presents an overview of the minimum components required:
A. Backing plate with cable ducts
B. YukonDrive®
C. Mains filter
D. Line reactor
E. Distributor rail for AC power supply and control supply (+24 V DC)
Thelayout andcabling arebased onthe instructionsset outin section3.1,„Notes forinstallation“, onpage9.The numbe-
red redarrows referto four very importantdetailed noticespresented onthe followingpages.
Illustration 16.1 Specimen setup - Overview
A
B
C
D
E
1
4
2
3

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Detail 1: Motor cable
At the motor connection (X1) of the YukonDrive® note the
following points:
• Secureoneofthetwosuppliedshield connectionplatesby
the screw to the mount on the top of the unit. Ensure the
plate contactsacrossa widearea withtheheat sink ofthe
YukonDrive® and with the backing plate. Use a toothed
ring.
• Stripback the shieldofthemotorcable onthe motorcon-
nection (X1)of the YukonDrive®aslittle asabsolutely nec-
essary.
• Connect the motor cable shield across a wide area to the
shield connectionplatebythe clampsupplied.
Note:
Ready made-up motor cables are available for Harmonic
Drive® servomotors.
Detail 2: Control supply (+24 V DC)
At the control supply connection (X2):
• Secure the second of the two supplied shield connection
plates by the screw to the mount on the bottom of the
unit.Ensure theplatecontactsacrossa wideareawiththe
heat sink of the YukonDrive® and with the
backing plate. Use a toothed ring.
• Slot a shield tube over the control supply cable and strip it
back only as short as necessary before the control supply
connection (X2).
• Connect the shielding tube of the control supply cable
across a wide area to the shield connection plate by the
clamp supplied.
Illustration 17.1 Specimen setup - Detail 1:
Motorcable
X1
Illustration 17.2 Specimen setup - Detail 2: Control supply
X2

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Detail 3: Mains filter and mains connection
At the outputofthe mains filter and at the AC mainscon-
nection (X3):
• Connect the wire strands at the output of the mains
filter directly to the AC mains connection (X3) of the
YukonDrive®. The strands must not be extended, so the
mains filter should be installed correspondingly close to
the YukonDrive®.But be sure to maintain the necessary
minimum clearance (see table 2 on page 6).
• Fix the strands to the shield connection plate using a
cable tie asnecessary.
• The leakage current of the YukonDrive® is >3.5 mA. So:
– Connect the protective conductor from the output of
themains filtertothe connection(X3) of the Yukon-
Drive® and
– one of the PE connections on the heatsink ofthe Yu-
konDrive® via a cable of at least the same cross-section
to the main ground of the distributor rail.
Detail 4: Control cables
At the control terminals (X4) of the YukonDrive® note the
following points:
• Strip the shielding of the control cables back only as
shortas absolutelynecessary.
• Connect the control cable shields across a wide area to
the shield connection tab of the mains filter by the clamp
supplied. If this is not possible, lay the control cable
shielding directly across a wide area on the backing plate
directly adjacent to theYukonDrive®.
Illustration18.1 Specimensetup -Detail 3:
mainsfilterandmainsconnection
Illustration 18.2 Specimen setup - Detail 4: Control cables
X3
X4

19
V01 05/2016 1003370
3.5Protective conductorconnection
Step Action PE-mainsconnection
to DIN EN61800-5-1
1. Ground each of the drive controllers! Connect terminal in star configuration and across a
wide area to the PE rail (main ground) in the switch cabinet.
Rules for the PE terminal as leakage current >3.5
mA): Use protective conductors with the same
cross-section as the mains power cables, though at
least 10mm².
Also comply withlocalandnationalregulationsand
conditions..
2.
Also connect the protectiveconductor terminalsof all other
components, such aslinereactors, filtersetc. in star
configuration and across a wide area on the PE rail (main
ground) in the switchcabinet.
Illustration19.2 Star configuration layout ofthePE conductor
Table19.1

20 1003370 05/2016 V01
3.6Electrical isolationmethod
The control electronics, with its logic (μP), the encoder terminals and the inputs and outputs, are electrically isolated
from the power section (power supply/DC-link). All control terminals are designed as safety extra-low voltage/
protective extra-low voltage (SELV/PELV) circuits and must only be operated with such SELV/PELV voltages, as per
the relevant specification. This provides reliable protection against electric shock on the control side.
A separate control supply, compliant with the requirements of a SELV/PELV, is therefore needed. The opposite over-
view shows the potential supplies for the individual terminals in detail. This concept also delivers higher operational
safetyandreliabilityofthe drive controller.
SELV =SafetyExtra LowVoltage
PELV= Protective Extra LowVoltage
Illustration20.1 ElectricalisolationmethodYukonDrive®
PE GNDµP DGND Complex
non-linear
impedance
RC
element
Polyswitch
GNDµP
GNDµP
GNDµP
X4/15
ISD00
ISD01
ILIM
X4/21
ISD06 ILIM
X4/10
ENPO ILIM
X4/22
ISDSH ILIM
X4/7
OSD00
X4/3 ISA00+
Motor-PTC
X4/4 ISA00-
ISD02
ISD03
ISD04
ISD05
A/D
A/D
ISA01+
X4/5
X4/6
ISA01-
X4/14
GNDµP
GNDµP
GNDµP
GNDµP
GNDµP
DGND
DGND
DGND
DGND
DGND
DGND
DGND
DGND
X4/2

F1

F2
X4/13
DGND X4/1

F3
VµP
VµP
VµP
VµP
µP
X4/8
OSD01
OSD03
Motor brake
GND
X4/9
OSD02
54321
9876
54321
10 9876
15 14 13 12 11
X5/ +
X5/ −
RSH
X13/2
X13/1
X4/12
X4/11
OSD04
X4/23
X4/24
Ethernet
X9
Resolver
X6
Encoder
X7
PE
UV
UV
X2/+
X2/-
UH
24V DC
control
supply
24 V DC
supply
for brake
GND
X13/3
X13/4