Hiwin D1-N Series Training manual

Assembly and
Commissioning Instructions
D1-N Servo Drive Amplifier
with EtherCAT® and
Safe Torque Off (STO) Safety Function
Version: 1.05
As of: 05.10.2015

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Assembly and Commissioning Instructions Servo amplifier D1-N
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HIWIN GmbH Tel.: +49 (0)781 / 9 32 78-0
Brücklesbünd 2 Fax: +49 (0)781 / 9 32 78-90
77654 Offenburg E-Mail: [e-mail]
Technical customer service Tel.: +49 (0)781 / 9 32 78-77
These assembly and commissioning instructions are protected by copyright. The
written consent of HIWIN GmbH is required for reproduction, publication in part or
in whole, modification or abridgement of these instructions.
Subject to technical changes.

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Contents
1 Content ...................................................................................................... 7
1.1 Version of this documentation..............................................................................7
1.2 Information about the document..........................................................................7
1.3 Requirements ........................................................................................................7
1.4 Availability..............................................................................................................8
1.5 Scope of validity for these assembly and commissioning instructions..............8
1.6 Depiction of safety notices ....................................................................................8
1.7 Symbols used.........................................................................................................9
1.8 Warranty and liability ............................................................................................9
1.9 Manufacturer's details........................................................................................10
1.10 Copyright............................................................................................................10
1.11 Product monitoring ...........................................................................................10
2 Safety ....................................................................................................... 11
2.1 Intended use ........................................................................................................11
2.2 Disclaimer in the event of modification or improper use .................................12
2.3 Qualified trained staff..........................................................................................12
2.4 General safety notices........................................................................................13
2.5 Safety notices regarding storing the drive amplifiers.......................................13
2.6 Safety notices regarding transporting the drive amplifiers..............................13
2.7 Safety notices regarding working with energised and live products ..............14
2.8 Safety notices regarding working with hot surfaces!........................................14
2.9 Technical support................................................................................................14
3 Product description .................................................................................. 15
3.1 Order code ...........................................................................................................16
3.2 Type plates...........................................................................................................17
3.3 Guidelines and standards ...................................................................................18
3.4 Scope of supply....................................................................................................18
3.5 Technical specification........................................................................................19
4 Assembly.................................................................................................. 21
4.1 Assembling the drive amplifier ..........................................................................21
4.2 Dimensions ..........................................................................................................22
4.3 Switch cabinet assembly.....................................................................................25
5 Electrical connection................................................................................ 26
5.1 Overview of electrical connections.....................................................................27
5.2 X1 – mains connection ........................................................................................29
5.2.1 1-phase mains connection with mains filter ..................................................29
5.2.2 3-phase mains connection with mains filter ..................................................30
5.3 X2 – brake resistor connection...........................................................................31
5.3.1 Brake resistor calculation ...............................................................................33
5.3.2 DCbus capacity of D1-N servo drives ..............................................................33
5.4 X3 – motor connection.........................................................................................34
5.5 X4 – control voltage and motor brake connection.............................................35
5.6 X5 – parameterisation interface .........................................................................36
5.7 X6 – Input and output connection .......................................................................37
5.7.1 Wiring variants for step/direction input on X6................................................38
5.7.2 Switching characteristics of digital inputs on the X6 .....................................39

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5.7.3 Wiring of encoder output on X6 .......................................................................41
5.7.4 Wiring of analogue input on X6........................................................................41
5.8 X7 and X8 – STO safety function connection ......................................................42
5.9 X9 – motor temperature sensor .........................................................................43
5.10 X10, X11, X12 – encoder connection .................................................................44
5.11 X13 - EtherCAT ..................................................................................................45
6 STO safety function .................................................................................. 46
6.1 Definition STO ......................................................................................................46
6.2 Functional principle of the STO function on the D1-N ......................................47
6.3 Connections of STO function on D1-N................................................................47
6.4 Activation of the STO function.............................................................................50
6.4.1 Timing diagram for activating the STO function.............................................52
6.4.2 Timing diagram for releasing the STO function .............................................53
6.5 Preconditions for using the safety function.......................................................53
6.5.1 Category 0 stop 0..............................................................................................54
6.5.2 Category 1 stop.................................................................................................54
6.5.3 Parking brake behaviour..................................................................................54
6.5.4 Vertical axes and/or external application of force .........................................54
6.5.5 Unintended restart ...........................................................................................54
6.5.6 Degree of contamination when using the safety function..............................54
6.5.7 Protected cable routing ...................................................................................55
6.5.8 Data for maintenance plans and safety calculations .....................................55
6.5.9 Risk analysis .....................................................................................................56
6.6 Examples of circuits for the STO function..........................................................56
6.7 Safety function certified by TÜV..........................................................................58
7 EtherCAT.................................................................................................. 59
7.1 D1-N EtherCAT with CoE protocol......................................................................59
7.1.1 Integration of a D1-N in a TwinCAT project ....................................................59
7.1.2 Installing the ESI file ........................................................................................59
7.1.3 Adding devices by scan ....................................................................................60
7.1.4 Setting the axis resolution ...............................................................................61
7.1.5 Setting the maximum speed............................................................................62
8 “Lightening” commissioning software...................................................... 63
8.1 Installation of the software.................................................................................63
8.2 Initial launch of the "Lightening" software ........................................................65
8.2.1 Establishing connection with device ...............................................................65
8.3 Operating interface..............................................................................................67
8.3.1 The “Conf./Tune” menu....................................................................................69
8.3.2 The “Tools” menu.............................................................................................70
8.3.3 The shortcut bar ...............................................................................................71
8.3.4 Reset .................................................................................................................71
8.3.5 Status ................................................................................................................72
8.3.6 Errors and warnings ........................................................................................72
8.3.7 Variable rapid access .......................................................................................72

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8.4 “Configuration center” without/with EtherCAT .................................................73
8.4.1 AC servo motor parameterisation ...................................................................74
8.4.2 Linear motor parameterisation .......................................................................82
8.4.3 TM motor parameterisation.............................................................................91
8.4.4 Motor parameterisation with EnDat 2.2 encoder .........................................100
8.5 “Application center” ..........................................................................................101
8.5.1 Homing............................................................................................................101
8.5.2 Backlash .........................................................................................................109
8.5.3 Error map........................................................................................................110
8.5.4 “Resolver”.......................................................................................................112
8.6 “Protection center” (limitations) ......................................................................113
8.6.1 Protection........................................................................................................ 113
8.6.2 HW limit protection ........................................................................................114
8.6.3 “Brake”............................................................................................................114
8.7 Digital inputs and outputs / “I/O center”..........................................................116
8.7.1 Inputs ..............................................................................................................116
8.7.2 Outputs............................................................................................................117
9 Commissioning........................................................................................119
9.1 Commissioning ..................................................................................................119
9.2 “Auto phase center” ..........................................................................................120
9.2.1 Servo motors ..................................................................................................122
9.2.2 Linear and torque motors..............................................................................124
9.2.3 “Frequency analysis” – automatically adapting control parameters..........128
9.2.4 “Phase initialisation” – first commutation....................................................133
9.2.5 “SMCL tool” ...................................................................................................133
9.2.6 LM and TM with EnDat 2.2 .............................................................................135
9.3 "Performance center", controller parameter optimisation............................137
9.4 First travel subject to control ...........................................................................139
9.4.1 “Debounce time” and “Target radius” in the “Performance center” ..........140
9.5 Using the “scope” functions..............................................................................141
9.6 Controller tuning ...............................................................................................148
9.7 “Advanced gains” – filter...................................................................................150
9.7.1 Setting filters ..................................................................................................151
9.7.2 “Advanced gains” – “Acc feedforward” .........................................................152
9.7.3 “Advanced gains” – “Schedule Gains + vpg”.................................................154
9.7.4 “Advanced gains” – “Analog input” ...............................................................155
9.7.5 “Advanced gains” – “current loop”................................................................156
9.7.6 “Advanced gains” – “VSF” (velocity suppression function)..........................157
9.7.7 “Advanced gains” – “Friction Compens.”......................................................158
9.8 Error history ......................................................................................................160
10 mega-ulink protocol ..............................................................................161
10.1 Features of the MPI library .............................................................................161
10.2 PDL (Process Description Language) programming ....................................162
10.3 Features of PDL programming.......................................................................162

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10.4 Programming examples (no liability accepted).............................................163
10.5 Writing PDL program to D1-N and saving .....................................................166
10.6 Stopping PDL program, allowing it to run on and deleting it .......................169
11 Troubleshooting ....................................................................................172
11.1 Error codes and troubleshooting ...................................................................172
11.2 Warnings and troubleshooting .......................................................................175
11.3 Other errors and troubleshooting ..................................................................178
12 Repair and replacement ........................................................................178
13 Parts numbers and accessories ............................................................179
13.1 Item number for drive amplifier set...............................................................179
13.2 Item number for connector kit .......................................................................180
13.3 Motor cables ....................................................................................................181
13.4 Cables for encoder systems ...........................................................................182
14 Declaration of Conformity......................................................................183

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1
Content
1.1
Version of this documentation
Version
Date
Remark
1.05 05/10/2015 Endat 2.2, homing procedures, errors and warnings, new
article numbers
1.04 21/01/2014 EtherCAT integration, motor shield, mega_ulink, PDL,
STO
1.03 16/01/2014 Type plate, EMC standards, Technical data adapted
1.02 07/11/2013 Format adjustments, Technical data adapted
1.01a 01/10/2013 General corrections
1.01 02/08/2013 General corrections, addition of chapters STO safety
function and EtherCAT
1.00 01/07/2013 First edition
Table 1.1: Versions of this document
1.2
Information about the document
These assembly and commissioning instructions are intended for planners, devel-
opers and operators of machines and equipment in which Hiwin D1-N servo drive
amplifiers are already integrated or are to be used. They are also intended for peo-
ple who perform the following work on or with the D1-N:
•transport
•assembly
•electrical connection, including linking to a superordinate controller
•integration in a safety system
•conversion or upgrading
•set-up
•commissioning
•operation
•maintenance
•troubleshooting
•taking out of operation, dismantling and disposal
1.3
Requirements
It is assumed that operating staff are trained in safe operating practices and have
read and understood these assembly and commissioning instructions in full.

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1.4
Availability
These assembly and commissioning instructions must be available at all times to
everyone working with or on the D1-N servo drive amplifier.
1.5
Scope of validity for these assembly and commissioning instructions
These assembly and commissioning instructions apply to servo drive amplifiers
from HIWIN with the following product designations:
•D1-N-09-xx-x-x-xx
•D1-N-18-xx-x-x-xx
•D1-N-36-xx-x-x-xx
•D1-N-90-xx-x-x-xx
They also apply if two or more of the drive amplifiers listed above are combined.
1.6
Depiction of safety notices
Safety notices are always indicated using a signal word and sometimes also a sym-
bol for the specific risk (see section 1.7).
The following signal words and risk levels are used in these instructions:
DANGER!
Direct danger!
Non-compliance with the safety notices will result in serious injury or death!
WARNING!
Potentially dangerous situation!
Non-compliance with the safety notices runs the risk of serious injury or death!
CAUTION!
Potentially dangerous situation!
Non-compliance with the safety notices runs the risk of moderate to slight injury!
ATTENTION!
Potentially dangerous situation!
Non-compliance with the safety notices runs the risk of damage to property or
environmental pollution!

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1.7
Symbols used
The following signal symbols are used in these instructions:
Warning signs
Warning of dangerous, electrical voltage!
Warning of magnetic fields!
Warning of hot surfaces!
Substance hazardous to the environment!
Table 1.2: Warning signs
Signs giving orders
Wear protective gloves!
Isolate before work!
Table 1.3: Signs giving orders
Information

Note
Describes general information and recommendations.
Table 1.4: Information
1.8
Warranty and liability
The “General conditions of sale and delivery” of HIWIN GmbH apply.

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1.9
Manufacturer's details
Address
HIWIN GmbH
Brücklesbünd 2
77654 Offenburg
Tel. +49 (0) 781 / 9 32 78 - 0
Technical customer service
+49 (0) 781 / 9 32 78 - 77
Fax +49 (0) 781 / 9 32 78 - 90
Technical customer service fax
+49 (0) 781 / 9 32 78 - 97
E-mail [e-mail]
Internet www.hiwin.de
Table 1.5: Manufacturer's details
1.10
Copyright
These instructions are protected by copyright. The written consent of HIWIN GmbH
is required for reproduction, publication in part or in whole, modification or
abridgement of these instructions.
•Windows is a registered trademark of the Microsoft Corp.
•EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
•Beckhoff®, TwinCAT® and EtherCAT® are registered and licenced trade-
marks of Beckhoff Automation GmbH.
1.11
Product monitoring
As the manufacturer of the D1-N servo drive amplifier, please inform HIWIN about:
•accidents
•potential sources of risk
•misunderstandings in these assembly instructions

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2
Safety
DANGER!
This chapter serves to ensure the safety of everyone working in the vicinity of
the D1-N servo drive amplifier and who fits, installs, connects, operates,
maintains or disassembles it. Non-compliance with the following information
results in dangerous working conditions.
2.1
Intended use
The servo drive amplifiers of the D1-N range are suitable for operating brushless
synchronous servo motors, torque and linear motors in force and/or torque control
and speed and/or position control.
Please note that the rated voltage of the motors must be greater than or at least
the same as the intermediate circuit voltage supplied by the drive amplifier.
All drive amplifiers may only be used for the stated intended purpose.
The drive amplifiers are fitted as components in electrical equipment or machines
and may only be started up as integrated system components.
The machine manufacturer is
obligated
to produce a risk assessment for the ma-
chine. This is used as the basis for determining appropriate measures to prevent
injury and damage to property resulting from unforeseeable movements.
The drive amplifiers of the D1-N series can be connected directly to single-phase
or three-phase, earthed industrial networks (110- 230 V). They must not be operat-
ed in non-earthed networks or networks with unsymmetrical earthing with a volt-
age of more than 230V.
If the drive amplifiers are used in residential or commercial areas and small
plants, the user must take additional EMC filter measures.
The drive amplifiers may
only
be operated in a closed switch cabinet under the
permissible ambient conditions. For details, see Table 3.3 Technical specification
on page 20.
Only use copper cables for wiring in the switch cabinet.
The drive amplifiers of the D1-N series must not be used in unprotected outdoor
areas or areas at risk of explosion.
The D1-N servo drive amplifier can only be declared to be conforming if operated
with the accessories supplied and the other HIWIN components required (motor,
cables).

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2.2
Disclaimer in the event of modification or improper use
Modifications not described in this assembly and commissioning instructions must
not be undertaken on the drive amplifier. If a modified construction is needed,
please contact HIWIN GmbH directly.
The manufacturer assumes no liability in the event of modifications or improper
assembly, installation, commissioning, use, maintenance or repairs.
Only genuine parts from HIWIN are approved as spare parts and accessories.
Spare parts and accessories not supplied by HIWIN are not checked for operation
with HIWIN drive amplifiers and may restrict operational safety. HIWIN assumes no
liability for damage caused through use of non-approved spare parts and accesso-
ries.
2.3
Qualified trained staff
The drive amplifiers may only be fitted, integrated in superordinate systems, start-
ed up, operated and maintained by qualified trained staff. Staffs are considered
qualified and trained if:
•they have appropriate technical training and
•have been instructed by the machine operator in operation and the valid
safety guidelines and
•can assess the anticipated risks and
•have read and understood these assembly and commissioning instructions
in full and have access to them at all times.

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2.4
General safety notices
DANGER!
The following safety notices must be observed. Non-compliance with safety
notices may put life and limb at risk.
•The drive amplifiers should be de-energised before and during all assem-
bly, disassembly or repair work. Ensure that no-one can re-establish the
mains connection. Otherwise there is a risk of death and injury.
•Discharge your body before you touch the drive amplifier.
•
Avoid contact with highly insulating materials (plastic fibres, plastic films
etc.). Place the drive amplifier on a conductive surface. The drive amplifi-
ers contain components at risk from electrostatic which may
be damaged
if handled incorrectly.
•The drive amplifiers must not be used in areas at risk of explosion.
•The drive amplifiers may only be used and operated indoors.
•The drive amplifiers should always be operated in conjunction with appro-
priate safety equipment (zero-
contact protective equipment, mechanical
protective equipment etc.). This protective equipment must be designed,
installed and regularly checked in accordance with applicable national
and international legislation and specifications.
2.5
Safety notices regarding storing the drive amplifiers
ATTENTION!
The drive amplifiers are delivered in packaging. If the drive amplifiers are to
be put into storage, they must be kept in this packaging. They must be stored
in a dry location with protection from impact.
2.6
Safety notices regarding transporting the drive amplifiers
ATTENTION!
Drive amplifiers may only be transported by qualified staff in the original re-
cyclable packaging. Severe impact should be avoided and the following ambi-
ent conditions should be observed:
•Permissible temperature during transport:
–20 to +65 °C, max. 20 K/hour fluctuating
•Permissible air humidity during transport:
relative humidity 20 % to 85 %, non-condensing

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2.7
Safety notices regarding working with energised and live products
DANGER!
Always ensure that the drive amplifiers are correctly earthed using the PE
bar in the switch cabinet as reference potential. Safety is not guaranteed if
there is no low-ohm earthing.
Power connections may be live even if the motor is not moving. Never discon-
nect the electrical connections of motors and drive amplifiers when live. In
the worst case scenario, electric arcs may form, causing personal injury and
damage to contacts.
After disconnecting the drive amplifiers from the supply voltages, wait at
least five minutes before touching live parts (e.g. contacts, threaded bolts
etc.) or breaking connections. For your own safety measure the voltage in the
intermediate circuit and wait until it has fallen below 40 VDC.
2.8
Safety notices regarding working with hot surfaces!
WARNING!
The surface of the drive amplifier may reach temperatures in excess of
50 °C. There is therefore a risk of burns.
The housing must not be touched during or shortly after operation. Leave the
drive amplifier to cool for at least 15 minutes after switching off.
2.9
Technical support
If you have any questions, please contact the technical support team at HIWIN:
HIWIN Technical Support
Tel.: +49 (0) 781 / 9 32 78-77
Fax: +49 (0) 781 / 9 32 78-97
E-Mail: [e-mail]
If you have any questions relating to documentation, any suggestions or im-
provements please send a fax to the above fax number.
Table 2.1: Technical support at HIWIN

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3
Product description
The D1-N supports rotary servo motors, linear and torque motors and therefore
the entire range of HIWIN motor types. The wide range of supported encoder inter-
faces (digital, analogue 1 VPP, EnDat 2.2, resolver) and analogue and digital Hall
sensors allow the D1-N to be used in many different ways, especially with linear
motors in conjunction with various position measuring systems. External motors
with the named encoder interfaces can also be easily controlled with the D1-N.
The D1-N servo drive amplifier supports the Ethernet-based EtherCAT field bus
system. EtherCAT is an open technology which is regulated in international stand-
ards IEC 61158, IEC 61784 and ISO 15745-4. EtherCAT is a very fast industrial
Ethernet system, also suited to use in time-critical motion control applications.
The D1-N supports the CoE (CANoverEthernet) protocol and can therefore be inte-
grated in any EtherCAT master controller which supports this protocol. Further-
more, the D1-N works according to the standardised drive profile CiA 402 and can
therefore be easily integrated into the TwinCAT control software of Beckhoff as an
NC axis.
In addition, the proprietary protocol “mega-ulink” under EtherCAT is supported
too.
Because manufacturers are increasingly focusing on machine safety, the STO
(Safe-Torque-Off) safety function has been integrated directly in the D1-N in ac-
cordance with IEC61800-5-2 (certified by TÜV Nord). In the event of an error, the
motor current and therefore the torque on the motor can therefore be safely cut off
via the D1-N without having to interrupt the supply voltage on the drive. Elaborate
hardware for cutting off the supply voltage is not needed, and even the process of
switching back on again is considerably faster and smoother.

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3.1
Order code
Figure 3.1: Order code for D1-N

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3.2
Type plates
There are two type plates on the device. The complete type plate is fitted on the
right-hand side of the device and contains all relevant information. There is also
another type plate on the front of the device which states the type designation and
the device's serial number.
Figure 3.2: Type plate, right-hand side of device
Figure 3.3: Type plate, front
Number
Description
1
Type designation of drive amplifier
2
HIWIN item number
3
Serial number of device
4
Barcode
5
Electrical properties of the device
6
CE compliant
7
Compliance Functional Safety STO
8
QR code
Table 3.1: Content of type plates

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3.3
Guidelines and standards
EMC
EN 55011
EN 61000-6-2
EN 61800-3: 2004 (Category C3)
Emission:
IEC CISPR 11: 2009/A1: 2010
(Radiation & Conduction)
EN61000-3-2: 2006/A1: 2009/A2: 2009
(Harmonics)
EN61000-3-3: 2008 (Flicker)
EN61000-6-2: 2005
(Immunity for industrial environment)
Immunity:
IEC 61000-4-2: 2008 (ESD)
IEC 61000-4-3: 2006/A1: 2007/A2: 2010 (RF)
IEC 61000-4-4: 2004 (EFT)
IEC 61000-4-5: 2005 (Surge)
IEC 61000-4-6: 2008(RF)
IEC 61000-4-8: 2009 (MS)
Note: IEC 61000-4-11 & IEC 61000-2-4 &
IEC 61000-2-1 not evaluated.
Low-Voltage Directives
EN 61800-5-1
Machinery Directives
ISO 13849-1: 2006; PL e (Cat.3)
Functional safety
IEC 61508: 2010; SIL 3
IEC 62061: 2005; SILcl 3
IEC 61800-5-2(STO)
UL Standard
UL508C (E164620)
CSA Standards
C22.2 No. 14
Table 3.2: Guidelines and standards
3.4
Scope of supply
The scope of supply may vary depending on the configuration ordered. Before in-
stallation, please check whether all the ordered components have been supplied
and whether the goods are damaged. If the goods are damaged, please contact the
transport company immediately and document the damage.
Standard scope of delivery
•D1-N in the performance class ordered
•Plug connectors for all connections
•The latest documentation, commissioning software “Lightening” and other
valuable tools are free to download from www.hiwin.de.
Accessories
Please refer to chapter 13 of this document or the current HHIWIN D1-N catalogue
for the extensive range of accessories. For more information, you can also visit
www.hiwin.de.

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3.5
Technical specification
HIWIN D1-N servo drive amplifier
09
18
36
90
Supply voltage
Voltage
220 to 240 VAC
±10 %
220 to 4
00 VAC
±
10 %
Frequency
50 to 60Hz (±5 %)
Number of phases
1 or 3
3
Control voltage
24 VDC ±10 %
Maximum control current
1.5 A
Output
current
Continuous current (effective)
2.1 A
4.2
A
8.5
A
21
A
Peak current (effective)
6.4 A
12.7
A
25.5
A
63,6
A
Maximum duration of peak current
1 second
Type of control
IGBT PWM vector control
Switching frequency
16 kHz
8
kHz
Motor types supported
Linear motors, torque motors,
AC servo motors,
Encoder
interface
Supply voltage of encoders
+5 VDC ±5 %, 500 mA
Analogue encoder
Sin/Cos 1 VPP, Z, /Z (differential)
(max. input frequency <1 MHz)
Digital encoder
TTL (A, /A ,B, /B, Z, /Z, differential),
only for 13bit encoder
(max. input frequency <5 MHz)
HIWIN resolver
Option
EnDat2.2
Standard
Hall sensors
Digital (A, B, C), 120° offset,
Encoder
output
Encoder output (buffered)
Forwarding of incoming encoder signals, incl.
quadrupling (max. 18,000,000 Incr/s, RS422 differ-
ential)
Encoder emulation
Forwarding of incoming encoder signals, can be
scaled in any way (max. 18,000,000 Incr/s, RS422
differential)
Nominal value inputs
Position
regulation
Digital
Function
Step/direction, CW/CCW, AB signals
Input frequency
Differential: 4.000.000 Inc./s
Single End: 500.000 Inc./s
Speed regulation
Analogue
Input resistance
10 kΩ
Input voltage
±10 VDC
Resolution
12 bit
Digital
Function
Step/direction, CW/CCW
PWM frequency
Min. 36.5k Hz, max. 100 kHz
Min. pulse duration
220 ns

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HIWIN D1-N servo drive amplifier
09
18
36
90
Nominal value inputs
Torque regulation
Analogue
Input resistance
10 kΩ
Input voltage
±10 VDC
Resolution
12 bit
Digital
Function
Step/direction, CW/CCW
PWM frequency
Min. 36.5 kHz, max. 100 kHz
Min. pulse duration
220 ns
EtherCAT
Functions
PDO communication (flexible mapping)
SDO communication
Distributed clocks
CiA402 Modes
Profile Position Mode (1)
Profile Velocity Mode (2)
Cyclic Synchronous Position Mode (8)
Cyclic Synchronous Velocity Mode (9)
Homing (6)
Inputs / outputs
which can be pa-
rameterised
10 digital inputs
Function can be freely selected
3 digital outputs
Function can be freely selected
Brake control
24 VDC, max. 1 A
Capture input
Reaction time <7 ns (Input PCP)
CAM output
Reaction time <7 ns (Output PT), 5 VDC
DC-Bus
Overvoltage
+HV >404 VDC
+HV >800
VDC
Undervoltage
+HV <60 VDC
+HV <158
VDC
Brake
resistor
Connection
Internal (50 Ω/150 W)
and/or external
External only
Activation threshold
+HV >390 VDC
+HV >735
VDC
Deactivation threshold
+HV <380 VDC
+HV
<695 VDC
Tolerance
±5 %
Cooling
External heatsink
No
No
Yes
Yes
Integrated fan
No
Yes
Yes
Yes
EMC filter
No EMC filter integrated
Safety function
STO (Safe Torque Off)
User interface
LCD
Parameterisation interface
USB 2.0
Weight
2,05 kg
2,2
kg
3
kg
5,8
kg
Ambient conditions
Ambient temperature
Operation: 0 to 50 °C (above 50 °C with air
conditioning)
Transport / storage: –25 to 65 °C
Air humidity
0 to 90 %, non-condensing
Operating altitude
Up to 1000 m above sea level
Vibrations
1G (10 to 500 Hz)
Protection class
IP20
Pollution
Degree 2
Table 3.3: Technical specification