KEBCO F5 Series User manual
COMBIVERT
GB Instruction Manual Encoder Interface
Channel 1 EnDat
Channel 2 variabel
Mat.No. Rev.
DEF5ZEM-K001 1F
Table of Contents
GB - 3
1. Safety Instructions ........................................................................................ 4
1.1 Validity................................................................................................................4
1.2 Qualication........................................................................................................4
2. Product Description....................................................................................... 5
2.1 General...............................................................................................................5
2.2 Material number .................................................................................................5
2.3 Scope of delivery (option or replacement delivery) ............................................5
2.4 Mechanical installation .......................................................................................6
3. Description of the Interface........................................................................... 6
3.1 Voltage supply....................................................................................................6
3.2 Channel 2 ...........................................................................................................6
3.3 Channel 1 ...........................................................................................................7
3.3.1 Specications .....................................................................................................7
3.3.2 Description of X3A..............................................................................................7
3.3.3 Input signals channel 1.......................................................................................8
3.3.3.1 Process data channel.........................................................................................8
3.3.3.2 Description of encoder signals ...........................................................................8
3.3.3.3 Encoder breakage recognition ...........................................................................8
3.3.4 Connection of the encoder .................................................................................9
3.3.4.1 Encoder cabel at SUB-D15 ................................................................................9
3.3.5 Encoder cable ....................................................................................................9
3.3.6 Encoder line length...........................................................................................10
3.3.7 Tested encoders...............................................................................................10
4. Start-up ....................................................................................................... 10
4.1 EnDat® parameter ...........................................................................................10
4.1.1 Encoder 1 status (Ec.37)..................................................................................11
4.1.2 Error message from EnDat encoder.................................................................12
4.1.3 Read/write Encoder 1 (Ec.38) ..........................................................................12
GB - 4
1. Safety Instructions
Prior to performing any work on the unit the user must familiarize himself with the unit. This includes especially
the knowledge and observance of the safety and warning directions. The pictographs used in this Instruction
Manual have following meaning:
Danger Refers to danger of life by electric current.
Warning Refers to possible danger of injury or life.
Note Refers to tips and additional information.
1.1 Validity
Theinformationcontainedinthetechnicaldocumentation,aswellasanyuser-specicadviceinspokenand
written and through tests, are made to best of our knowledge and information about the application. However,
they are considered for information only without responsibility. This also applies to any violation of industrial
property rights of a third-party.
Inspection of our units in view of their suitability for the intended use must be done generally by the user.
Inspections are particulary necessary, if changes are executed, which serve for the further development or
adaption of our products to the applications (hardware, software or download lists). Inspections must be re-
peatedcompletely,evenifonlypartsofhardware,softwareordownloadlistsaremodied.
Controlling by
the user
Application and use of our units in the target products is outside of our control and
therefore lies exclusively in the area of responsibility of the user.
Use under spe-
cial conditions
The used semiconductors and components of KEB are developed and dimensio-
ned for the use in industrial products. If the KEB COMBIVERT is used in machi-
nes, which work under exceptional conditions or if essential functions, life-sup-
portingmeasuresoranextraordinarysafetystepmustbefullled,thenecessary
reliability and security must be ensured by the machine builder.
1.2 Qualication
All operations serving transport, installation and commissioning as well as maintenance are to be carried out
by skilled technical personnel (observe IEC 364 or CENELEC HD 384 or DIN VDE 0100 and national accident
preventionrules!).Accordingtothismanualqualiedstameans:
- those who are able to recognise and judge the possible dangers based on their technical training and experience
-thosewithknowledgeoftherelevantstandardsandwhoarefamiliarwiththeeldofpowertrasmission(VDE
0100, VDE 0160 (EN 50178), VDE 0113 (EN 60204) as well as the approporiate regulations for your area.
Danger by high
voltage
KEB electronics components contain dangerous voltages which can cause
death or serious injury. In operation, drive converters, depending on their degree
of protection, may have live, uninsulated, and possibly also moving and hot
surfaces.
In case of inadmissible removal of the required covers, of improper use, wrong
installation or maloperation, there is the danger of serious personal injury and
damage to property.
EnDat at Channel 1
GB - 5
2. Product Description
Figure 1: EnDat at channel 1
2MF5280-2030 /-2032 / -2033 1MF5280-2040 /-2042 / -2043
X3A
Channel 1
X3B
Channel 2
X3A
Channel 1
X3B
Channel 2
X3B X3A
channel 2 channel 1
variable see material number EnDat
2.1 General
Each of the interface cards delivered by KEB include two interfaces. As there are numerous
dierent combinations available each interface will be described by means of separate
instructions. The instruction covers the installation of the interface card, the connection as
well as the start-up of a suitable encoder. Further information and the parameter adjust-
ments are described in the application manual for the inverter/servo.
2.2 Material number
xM F5 K8G X X X X
Term of deli-
very 0 installed Z Option, spare part
P TTL-Output 2033
2043 3 SSI-Input 2030
2040
Q TTL-Input 2032
2042
F5 Series
applicable for housing size 1M D, E (circuit board 1MF5280-xxxx see above)
2M G…U (circuit board 2MF5280-xxxx see above)
2.3 Scope of delivery (option or replacement delivery)
•Encoder Interface
•Two instruction manuals
• Fixing bolt
•Packing material
EnDat at Channel 1
GB - 6
2.4 Mechanical installation
All kind of works on the inverter may be carried out by authorized personnel in accordance
with the EMC and safety rules only.
•Switch inverter de-energized and await capacitor discharge time
• Pullooperator
• Remove plastic cover
• Removexingbolt
•Fix interface board beginning from the socket connector straightly
• Screwinxingbolt
•Attach plastic cover
3. Description of the Interface
3.1 Voltage supply
Figure 3.1 Voltage supply of control and encoder interfaces
Uint 24 VDC Internal voltage supply of COMBIVERT. X2A
X3A
X3B
5,2V
24V
5V
24V
5V
U
int
Uext
Iint 120 mA at Hiperface, Sin/Cos, EnDat, SSI-Sin/Cos
and UVW.
Uext Control terminal strip (X2A) of the COMBIVERT with
external voltage supply 24…30 DCV.
24 V Voltage output of encoder interfaces X3A and X3B for
encoder supply.
I24V
Current Iint reduces itself by draw current at the 5 V-out-
put, as well as at the 7,5V-output in accordance with the
following formula:
5,2 V x I5V
I24V = Iint - –––––––––
Uint
I5V 300 mA at Hiperface, Sin/Cos, EnDat, SSI-Sin/Cos
and UVW.
3.2 Channel 2
The description of input X3B is depending on the used encoder interface. It is described in
a separate manual.
EnDat at Channel 1
GB - 7
3.3 Channel 1
3.3.1 Specications
X3A Socket SUB-D15
Interface type EnDat Version 2.1
Parameter channel EIA RS485 half duplex, synchronous serial
Process data channel 1 Vss typical (0,6…1,2V)
Limiting frequency 200 kHz
Increments per revolution 1…2048 Inc (Recommendation: 1024Inc at rotary speed
< 4500 rpm
Input resistance 120Ω
Clock signal output EIA RS485
3.3.2 Description of X3A
Figure 3.3.2 Socket X3A
5 4 3 2 1
10 9 8 7 6
15 14 13 12 11
Attention ! Plug connector only
when COMBIVERT and supply
voltageareswitchedo!
PIN Name Description
1 – –
2 – –
3 A- SignalinputA-(dierencesignaltoA+)
4 B- SignalinputB-(dierencesignaltoB+)
5 – –
6Clock+ Clock signal RS485
7 Clock- Clock signal RS485
8A+ Incremental signals A for counter and direction detection
9B+ Incremental signals B for counter and direction detection
11 +24V Voltage output
12 +5,25V Power supply for encoder
13 COM Reference potential for supply voltage
14 Data- Data channel RS485-
15 Data+ DatachannelRS485+
– GND Connection for shield at connector housing - is directly connected
with the inverter earth. Connect-up external shield at the respec-
tive connector housing.
EnDat at Channel 1
GB - 8
3.3.3 Input signals channel 1
3.3.3.1 Process data channel
Figure3.3.3.1 SignalformAandBrespectivelytodierentialoperation
360°mechanical
Increments per revolution
A
B
0
0
typically 1 Vss
typically 1 Vss
3.3.3.2 Description of encoder signals
During start-up and then all 30 ms an inquiry is transmitted to the encoder and the absolute
position is serial read out. Thus a reference point search is not necessary.
As the increments per revolution are stored in the encoder, error Ec.37 = 70 is triggered
immediately, if a deviating value is entered in Ec.1.
Apositiondierenceistrackedafterlterwithramptime.Ifthisdierenceincreasestoquic-
kly, so that it cannot keep tracked or a max. value is exceeded (e.g.at encoder breakage),
theinterfacestateEc.37changesto„69“andtheinverterswitcheso.
The clock signal is used for synchronization.
3.3.3.3 Encoder breakage recognition
The recognition of encoder breakage is a software function and dependent on the encoder
type. Encoder breakage is noticeable only during encoder rotation.By writing on Ec.0 the
initialization starts. After fault-free initialization the correct position will be send.
The incremental track is monitored approx. all 16 ms. An error is triggered, if the permissi-
ble signal levels are fallen below. Also the absolute track, i.e. the serial communication to
the encoder is monitored. If the encoder gives not an answer, or a communication is not
possible, the respective state message will be transmitted to the inverter. Dependent on the
encoder type the response time can be 100 ms and more.
EnDat at Channel 1
GB - 9
3.3.4 Connection of the encoder
3.3.4.1 Encoder cabel at SUB-D15
•Encodercabledouble-shieldedandtwistedinpairs
•ConnectexteriorshieldingatbothendstoPE/GND
•ConnectinteriorshieldingsatonesidetoCOM
•Don´tinterconnectexteriorandinteriorshielding
Figure 3.3.4.1 Connection of the encoder
Motor encoder plug Socket X3A
5 4 3 2 1
10 9 8 7 6
15 14 13 12 11
Name PIN PIN Core color
GND – – exterior shielding
A+ 15 8 green
A- 16 3 yellow
B+ 12 9 blue
B- 13 4 red
Data+ 14 15 gray
Data- 17 14 pink
Clock+ 8 6 black
Clock- 9 7 purple
COM 10 13 white
+5,25V 7 12 brown
3.3.5 Encoder cable
KEBencodercablesarecorrespondingtothefollowingspecication:
Signal lines 4 x (2 x 0,14 mm²)
Supply lines 2 x (0,5 mm²)
Particularities trailing capable, oil resistant
Temperature range constant up to 80 °C
Color green RAL 6018
Material number 00.F5.0C1-4xxx
EnDat at Channel 1
GB - 10
3.3.6 Encoder line length
The maximum line length is 50 m. It results from the voltage drop of the supply line. The
value is calculated as follows:
Encoder cable length = U - Umin
––––––––––
Imax•2•R
max. encoder current Imax: see encoder description
Supply voltage U: 5,25 V
min. supply voltage Umin:4,75 V
KEB encoder cable resistance R: 0,036Ω/mat0,5mm²
3.3.7 Tested encoders
The following EnDat encoder have been tested by KEB on it application:
Encoder description EnDat-reference (Ec.36)
ECN 1313 single-turn 49 EnDat single-turn
ECI 1317 Singleturn 49 EnDat single-turn
ROQ 425 multi-turn 50 EnDat multi-turn
EQI 1329 Multiturn 50 EnDat multi-turn
Linear measurement system LC 481 51 EnDat linear
However,thisdoesnotrestricttheuseofrotaryencoderwithsamespecicationsofother
manufacturers.
4. Start-up
After the installation or exchange of an encoder interface some adjustments of the inverter/
servo software have to be done before operation:
•Switch on inverter
•Select application mode
•When using synchronous motors set ud.2 to F5-S
•Select parameter Ec.0 and control whether „EnDat“ is entered. The displayed value
hastobeconrmedby„ENTER“inanycase.
•Select parameter Ec.10 and carry out the same for the 2. encoder interface
•Select parameter Ec.1 and control/adjust the increments per revolution
•Select parameter Ec.38; if automatic read in is not adjusted in Bit 2, read out encoder
data with Bit 0.
•Select parameter Ec.37 and control encoder status.
4.1 EnDat® parameter
The following parameters are stored in the EnDat® encoder and automatically read in
e.g.manually read/write by Ec.38:
Synchronous motors: dr.23…dr.28, dr.30…32
Asynchronous motors: dr.0…dr.7
Encoder parameter: Ec.1…3, In.31…32
Controller parameter: cS.19
EnDat at Channel 1
GB - 11
4.1.1 Encoder 1 status (Ec.37)
Thisparameterdisplays,bymeansofdierentstatusmessages,thestatusofencoderand
interface. Dependent on the encoder only special messages are possible. All errors are only
set at control release, although they are already displayed in Ec.37.
Value Description
The following value is displayed at correct operation:
16 Position values are being transferred, encoder and interface are working
The following status messages triggers „Error Encoder Change“ (E.EncC) because the
correct evaluation of the position is no longer guaranteed .
Error E.EncC can only be reset via parameter Ec.0. Exception ! An error due to wrong
increments per revolution (value 70) is reset immediately, if the correct increments per
revolution are adjusted (from software 2.7).
Attention, the modulation is released, when the control release is still set!
64 Encoder is unknown and will not be supported
67 The signals of the incremental track are not correct, e.g. no encoder is con-
nected or the encoder cable is defective.
68 The signals of the absolute track are not correct. The absolute track at Endat,
Hiperface and SSI-Sin/Cos is digital. The absolute track at Sin/Cos is analog.
69 Position deviation too high. The position determined by the incremental signals
and the absolute position (of absolute track, zero signal or serial selected) does
no longer correspond or cannot be corrected.
70 Increments per revolution adjusted in the inverter does not correspond with en-
coder increments per revolution.
71 Interface type is unknown: Interface has not been recognized.
75 Encoder temperature too high (message from encoder)
76 Rotary speed is too high (message from encoder)
77 Encodersignalsareoutsidethespecication(messagefromencoder)
78 Encoder has internal defect (message from encoder)
92 Encoder will be formatted. When writing an encoder with memory structures
dierentfromtheKEB-denition,theirmemorieswillbere-organizedinsucha
manner that they can be written. This procedure can take some seconds, depen-
ding on the respective memory structure.
96 New value detected, because an another encoder is attached.
98 Interface is busy
The following status messages triggers „Error Encoder 1“ (E.Enc1), if encoder data is
read:
97 KEB-referenceisundened.Memorystructureoftheencoderdoesnotcorre-
spondtotheKEB-denitionandthereforedatacannotberead.Theencoderis
denedbywritingdata.AtF5-Stheerrorisresetasfollow:
•Writing a position to Ec.2.
•Perform a system position trimming
further on next page
EnDat at Channel 1
GB - 12
Value Description
Following status messages trigger error „Error Hybrid“ (E.HYb):
0,255 No communication between interface and control card.
The following error messages are directly displayed by the encoder.
>128 Evaluation of the errors in accordance with chapter 4.1.2.
4.1.2 Error message from EnDat encoder
Errormessages,whicharereleasedbytheEnDatencoder(Ec.37>128),canbedened
indirectly.
EnDat error message = Ec.37 - 128
The bit-coded error messages (address 0 in the memory range „operating condition") are
denedintheEnDatprotocoldescription.
Example: Ec.37 = 132; EnDat error message = 132 - 128 = 4
This value means (according to the protocol description) bit 2 = 1 „position value incor-
rect“.
Followingerrormessagesaredened:
Bit Meaning, if set
0 Failure of the lightening
1 Failure of the signal amplitude
2 Position value incorrect
3 Overvoltage
4 Undervoltage of the supply
5 Overcurrent
6 Battery change neccessary
7-15 reserved
4.1.3 Read/write Encoder 1 (Ec.38)
With Ec.38 the parameter are read/write from/to the encoder.
Bit Value Function
0 1 Reading out of the parameters. Then the parameter is reset.
1 2 Storing of the parameters in the encoder (only with supervisor-password
and in nOP status)
2 4 Automatic reading out of the parameters when connecting a new encoder
(loading after acknowledgement with Ec.0 and default values)
At F5-S bit 2 is default-moderately set, not at F5-M and F5-G. Thus at F5-S encoder data
are reading out after default loading.
GB - 13
Notes
GB - 14
Notes
KEB Antriebstechnik Austria GmbH
Ritzstraße 8 • A-4614 Marchtrenk
fon: +43 7243 53586-0 • fax: +43 7243 53586-21
KEB Antriebstechnik
Herenveld 2 • B-9500 Geraadsbergen
fon: +32 5443 7860 • fax: +32 5443 7898
mail: [email protected]
KEB Power Transmission Technology (Shanghai) Co.,Ltd.
No. 435 Qianpu Road, Chedun Town, Songjiang District,
CHN-Shanghai 201611, P.R. China
fon: +86 21 37746688 • fax: +86 21 37746600
KEB Antriebstechnik Austria GmbH
Organizační složka
K. Weise 1675/5 • CZ-370 04 České Budějovice
fon: +420 387 699 111 • fax: +420 387 699 119
KEB Antriebstechnik GmbH
Wildbacher Str. 5 • D–08289 Schneeberg
fon: +49 3772 67-0 • fax: +49 3772 67-281
mail: [email protected]
KEB España
C/ Mitjer, Nave 8 - Pol. Ind. LA MASIA
E-08798 Sant Cugat Sesgarrigues (Barcelona)
fon: +34 93 897 0268 • fax: +34 93 899 2035
mail: [email protected]
Société Française KEB
Z.I. de la Croix St. Nicolas • 14, rue Gustave Eiffel
F-94510 LA QUEUE EN BRIE
fon: +33 1 49620101 • fax: +33 1 45767495
KEB (UK) Ltd.
6 Chieftain Buisiness Park, Morris Close
Park Farm, Wellingborough GB-Northants, NN8 6 XF
fon: +44 1933 402220 • fax: +44 1933 400724
KEB Italia S.r.l.
Via Newton, 2 • I-20019 Settimo Milanese (Milano)
fon: +39 02 3353531 • fax: +39 02 33500790
KEB Japan Ltd.
15–16, 2–Chome, Takanawa Minato-ku
J–Tokyo 108-0074
fon: +81 33 445-8515 • fax: +81 33 445-8215
mail: [email protected]
KEB Korea Seoul
Room 1709, 415 Missy 2000
725 Su Seo Dong, Gang Nam Gu
ROK-135-757 Seoul/South Korea
fon: +82 2 6253 6771 • fax: +82 2 6253 6770
mail: [email protected]
KEB RUS Ltd.
Lesnaya Str. House 30, Dzerzhinsky (MO)
RUS-140091 Moscow region
fon: +7 495 550 8367 • fax: +7 495 632 0217
KEB Sverige
Box 265 (Bergavägen 19)
S-43093 Hälsö
fon: +46 31 961520 • fax: +46 31 961124
mail: [email protected]
KEB America, Inc.
5100 Valley Industrial Blvd. South
USA-Shakopee, MN 55379
fon: +1 952 224-1400 • fax: +1 952 224-1499
© KEB
Mat.No. DEF5ZEM-K001
Rev. 1F
Date 08/2012
More and newest addresses at http://www.keb.de
Karl E. Brinkmann GmbH
Försterweg 36-38 • D-32683 Barntrup
fon: +49 5263 401-0 • fax: +49 5263 401-116
net: www.keb.de • mail: [email protected]
KEB worldwide…
This manual suits for next models
6
Table of contents
Other KEBCO Recording Equipment manuals
KEBCO
KEBCO COMBIVERT F5 User manual
KEBCO
KEBCO COMBIVERT F5 User manual
KEBCO
KEBCO COMBIVERT F5 User manual
KEBCO
KEBCO COMBIVERT F5 User manual
KEBCO
KEBCO COMBIVERT F5 User manual
KEBCO
KEBCO COMBIVERT F5 User manual
KEBCO
KEBCO ACOMBIVERT F5 X3A User manual
KEBCO
KEBCO COMBIVERT F5 User manual
KEBCO
KEBCO COMBIVERT F5 User manual
KEBCO
KEBCO COMBIVERT F5 User manual
