Jenaer ECOVARIO 114 D User manual

Installation and Operating Instructions
ECOVARIO®114 D
PROCESS FIELD BUS

Subject to change without notice!
Installation and Operating Instructions ECOVARIO®114 D
3
Edition Comment
April 2011 First English edition
Nov. 2011 Modifications: STO interface assignment, key operation, Node ID assignment
June 2012 Revised version: EtherCAT® interface and marking; connection of 2 encoders per axis
January 2013 Revised version: remarks of UL file review
April 2013 Modification: Option 9-pole encoder interfaces
Published editions:
All rights reserved:
Jenaer Antriebstechnik GmbH
Buchaer Straße 1
07745 Jena
No parts of this original instructions may be translated, reprinted or reproducted on microlm or in other
ways without written permission by Jenaer Antriebstechnik GmbH.
e content of this document has been worked out and checked carefully. Nevertheless dierences from the
real state of the hard and soware can never be fully excluded. Necessary corrections will be carried out in
the next edition.
ECOSTEP®, ECOVARIO® und ECOLIN® are registered trademarks of Jenaer Antriebstechnik GmbH, Jena.
BISS® is a registered trademark of iC-Haus GmbH, Bodenheim.
CANopen® is a registered community trademark of CAN in Automation e.V., Nuremberg.
EnDat® is a registered trademark of Dr. Johannes Heidenhain GmbH, Traunreut
EtherCAT® is a registered trademark and patented technology, licensed by Beckho Automation GmbH,
Germany.
HIPERFACE® is a registered trademark of SICK STEGMANN GmbH, Donaueschingen.
Windows® is a registered trademark of Microso Corporation in the United States and other countries.

Installation and Operating Instructions ECOVARIO®114 D
4Subject to change without notice!

Subject to change without notice!
Installation and Operating Instructions ECOVARIO®114 D
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Inhalt
1 About ............................................................................................................................................. 7
2 Safety instructions ......................................................................................................................... 7
2.1 Symbols .........................................................................................................................................................7
2.2 General notes................................................................................................................................................8
2.3 Dangerous voltages ......................................................................................................................................8
2.4 Danger by hot surfaces................................................................................................................................8
2.5 Danger by unintentional mechanical movements...................................................................................8
2.6 Prescribed use............................................................................................................................................... 9
3 Legal notes.................................................................................................................................... 9
3.1 Terms of delivery.......................................................................................................................................... 9
3.2 Liability..........................................................................................................................................................10
3.3 Standards and directives..............................................................................................................................10
3.3.1 UL/CSA conformity..................................................................................................................................... 10
3.3.2 CE conformity .............................................................................................................................................. 11
4 Technical Data.............................................................................................................................. 12
4.1 Rated data of the power stage ....................................................................................................................12
4.2 General technical data................................................................................................................................. 12
4.3 Order key.......................................................................................................................................................14
4.4 Suitable types of motors ..............................................................................................................................15
4.4.1 ECOSPEED motors .....................................................................................................................................15
4.4.2 ECOSTEP® motors....................................................................................................................................... 15
4.4.3 Direct linear motors..................................................................................................................................... 16
4.4.4 DC servo motors..........................................................................................................................................16
5 Installation................................................................................................................................... 16
5.1 Mounting....................................................................................................................................................... 16
5.1.1 Important notes ...........................................................................................................................................16
5.1.2 Dimensions ...................................................................................................................................................17
5.1.3 Assembly .......................................................................................................................................................18
5.2 Electrical installation ................................................................................................................................... 19
5.2.1 Important notes............................................................................................................................................19
5.2.2 EMC compliant installation........................................................................................................................ 19
5.2.3 Connection diagram.................................................................................................................................... 20
6 Interfaces...................................................................................................................................... 21
6.1 Overview .......................................................................................................................................................21
6.2 Control signals..............................................................................................................................................22
6.2.1 X1A: Digital inputs and outputs, 24 V ......................................................................................................22
6.2.2 X2: Digital Inputs......................................................................................................................................... 24
6.3 Power interfaces ...........................................................................................................................................25
6.3.1 X4IN, X4OUT: DC link voltage and ballast resistor ...............................................................................25
6.3.2 X5A, X5B: Motor..........................................................................................................................................26
6.3.3 X7A, X7B: Brake...........................................................................................................................................27
6.4 Safety functions ............................................................................................................................................28
6.4.1 X8: Restart lock / Safe torque o (STO).................................................................................................... 28
6.5 Encoders........................................................................................................................................................ 32
6.5.1 X11: Encoder Axis 1, X12: Encoder Axis 2 (all types except ECOVARIO 114 Dx xL xxx xxx)........33
6.5.2 X11: Encoder Axis 1, X12: Encoder Axis 2 (ECOVARIO 114 Dx xL xxx xxx) ...................................35

Installation and Operating Instructions ECOVARIO®114 D
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6.6 Serial interfaces ............................................................................................................................................36
6.6.1 X13: RS485/RS232 interface (at ECOVARIO®114 D with 2 capture inputs)........................................ 36
6.7 X21: CAN interface...................................................................................................................................... 40
6.8 Optional interfaces.......................................................................................................................................41
6.8.2 X22: Designs with PROFIBUS DP-V0 interface......................................................................................42
6.8.3 X22: Designs with Ethernet interface........................................................................................................ 44
6.8.4 X22: Designs with EtherCAT® interface....................................................................................................47
7 Commissioning............................................................................................................................ 49
7.1 Notes before commissioning ......................................................................................................................49
7.2 Control and display elements ..................................................................................................................... 49
7.3 Work schedule commissioning ..................................................................................................................50
7.3.1 State display...................................................................................................................................................51
7.3.2 Error messages..............................................................................................................................................52
7.3.3 Key operation................................................................................................................................................54
7.3.4 Bootloader mode..........................................................................................................................................55
8 Parameter setting......................................................................................................................... 55
8.1 User interface ECO Studio..........................................................................................................................55
9 Accessories ................................................................................................................................... 56
9.1 Supplementary parts.................................................................................................................................... 57
9.1.1 Shield set........................................................................................................................................................57
9.1.2 Mating connector set ECOVARIO® 114 D ...............................................................................................58
9.2 Cables............................................................................................................................................................. 58
10 Annex ........................................................................................................................................... 59
10.1 Glossary......................................................................................................................................................... 59
10.2 Index of standards and directives .............................................................................................................. 61

Subject to change without notice!
Installation and Operating Instructions ECOVARIO®114 D
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1 About
ese original instructions describe the servo amplier range ECOVARIO® 114 D. ey concern to all per-
sons who project, install and commission ECOVARIO® 114 D drives.
Further information:
Soware commissioning: „ECO Studio Operation Manual ECOVARIO®, ECOSTEP®, ECOMPACT®“
Programming: manual „Object Dictionary ECOVARIO® and ECOSTEP®“, soware tool ECO Studio
Application Notes ECOVARIO® and ECOSTEP®
Motor data: Product catalogue „ECOSTEP®/ECOVARIO®/ECOLIN® Drives“.
is manual makes the following demands on qualied personnel:
Transport: Personnel trained in handling electrostatic sensitive devices
Installation: Electrotechnically qualied personnel who know the security directives of electrical enginee-
ring and automation
Setup/Commissioning: Qualied personnel with a broad knowlege of the elds of electrical engineering,
automation and drives.
Knowledge of machine safety legislation is compulsory.
2 Safety instructions
2.1 Symbols
Table 2.1: Symbols
Pictogram Warning Consequences
General warning about danger Disregarding this warning may
lead to death or serious injuries.
Warning about dangerous electri-
cal voltages
Disregarding this warning may
lead to death or serious injuries.
Warning about hot surfaces Disregarding this warning may
lead to burns to the skin.

Installation and Operating Instructions ECOVARIO®114 D
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2.2 General notes
Only properly qualied personnel are permitted to perform activities such as transport, in-
stallation, setup and maintenance. Properly qualied persons are those who are familiar with
the transport, assembly, installation, setup and operation of the product and who have the
appropriate qualications of their job.
For commissioning, operation and maintenance of the servo amplier this original instruc-
tions and a translation into the language of the country of use has to be delivered. Responsible
for the translation is the importer of the product.
In case of modications or retrots with components of manufacturers other than Jenaer An-
triebstechnik, please contact us to clarify that those components are suitable to be assembled
with our devices.
Emergency-o equipment must be workable in all operation modes, especially during setup
and maintenance.
2.3 Dangerous voltages
Never open the units during operation. Covers and cabinet doors have to be kept closed du-
ring operation.
e protective earth conductor has to be properly applied before applying a voltage.
During operation logic and power conductors are live. Never undo electrical connections
while they are live!
Aer disconnecting the device wait at least six minutes before touching contacts. Capacitors
can still have dangerous voltages present up to six minutes aer switching o the supply vol-
tage. To be sure measure the DC link circuit and wait till it has fallen below 40 V.
2.4 Danger by hot surfaces
Hot surfaces may cause burns to the skin. As the housing of the ECOVARIO® 114 D serves
also as heat sink during operation the surface temperature may rise to more than 70 °C.
2.5 Danger by unintentional mechanical movements
Unintentional movements of motors, tools or axes may lead to death or serious injuries.
ECOVARIO® 114 D drives can produce strong mecanical powers and high accelerations.
Avoid staying in the danger zone of the machine. Never switch o safety equipment! Malfunc-
tions should be repaired by qualied personnel immediately.

Subject to change without notice!
Installation and Operating Instructions ECOVARIO®114 D
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2.6 Prescribed use
e servo ampliers ECOVARIO® 114 D are components which are built into electrical equipment or ma-
chines and can only be used as integral components of such equipment. e leakage current of ECOVARIO®
114 D is higher than 3.5 mA. All notes about technical data and ambient conditions have to be observed.
Using the unit in hazardous locations and in ambients containing oil, gas, vapours, dusts, radiations etc. is
prohibited if it is not explicitly allowed.
e manufacturer of the machine must generate a hazard analysis for the machine and take appropriate
measures to ensure that unforeseen movements cannot cause injury or damage to any person or property.
ECOVARIO®114 D must not be connected to the mains power supply but must be driven
by a power supply unit! Connecting the servo amplier directly to the mains will result
in destruction.
If one or more servo ampliers ECOVARIO® are built into machines or plants the intended
operation of the servo amplier is forbidden until it has been established that the machine or
plant fullls the requirements of the EC Machinery Directive 2006/42/EC and the EMC Di-
rective 2004/108/EC. Further EN 60204 and EN ISO 12100 parts 1 and 2 have to be observed.
Restart lock option (Safety function „Safe Torque O“, STO, Chapter 6.4.1)
e restart lock must be integrated into a safety circuit that meets the demands of the safety
standards of EN 60204, EN ISO 12100-1 and -2 and EN ISO 13849-1.
It must only be activated when the motor is not longer rotating. Drives with a suspended load
must have an additional safe mechanical blocking.
2.7 Foreseeable misuse of the safety function STO
e restart lock must not be used if the drive is to be made inactive for the following re-
asons:
cleaning, maintenance and repair operations
long inoperative periods
In such cases the entire system should be disconnected from the supply by the personnel,
and secured (main switch).
in emergency-stop situations
In emergency-stop situations the main contactor is switched o (by the emergency-stop
button or the BTB-contact in the safety circuit).
3 Legal notes
3.1 Terms of delivery
Our terms of delivery are based on the „e General Terms of Delivery for Products and Services of the Elec-
trical Industry“ (German: ALB ZVEI) of the Central Association of the Electrical and Electronics Industry
(ZVEI e.V.) in their current version.

Installation and Operating Instructions ECOVARIO®114 D
10 Subject to change without notice!
3.2 Liability
e circuits and procedures in this manual are proposals. Every user has to check the suitability for every
special case. Jenaer Antriebstechnik GmbH is not responsible for suitability. Especially Jenaer Antriebstech-
nik is not responsible for the following damage causes:
disregarding the instructions of this manual or other documents concerning ECOVARIO®
unauthorized modications of drive, motor or accessories
operating or dimensioning faults
Improper use of the ECOVARIO® 114 D components
3.3 Standards and directives
ECOVARIO® are components intended to be built into machines or plants for industrial purpose.
e units meet the following standards:
DINEN61800-5-1: Adjustable speed electrical power drive systems – Part 5-1: Safety requirements; Elec-
trical, thermal and energy
DIN EN 61800-5-2: Adjustable speed electrical power drive systems - Part 5-2: Safety requirements; Func-
tional safety
DINEN61800-3: Adjustable speed electrical power drive systems – Part 3: EMC requirements and specic
test methods
DIN EN 60204: Safety of machinery - electrical equipment of machines - Part 1: General requirements.
3.3.1 UL/CSA conformity
If ECOVARIO® servo ampliers are to be used in countries where UL (Underwriters Laboratories Inc.) or
cUL conformity resp. is required the appropriate type has to be selected (cf. chapter 4.3 „Order key“).
For further information see UL le number E244038 at www.ul.com.
e UL(cUL) certication (UL 840 and UL 508C in this case) is related exclusively to the mechanical and
electrical design of the device. UL(cUL) certied servo ampliers are in accordance with the respective
american and canadian re regulations.
e installation and safety precautions in this documentaion have to be observed.