Lenze ETC Series User manual

EDSTCXX
./Y2
Ä./Y2ä
Hardware Manual
ETC Motion Control
l
ETCxxxxx
DIN rail modules and PCI card
L

© 2006 Lenze Drive Systems GmbH, Hans−Lenze−Straße 1, D−31 55 Aerzen
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive
Systems GmbH.
All information given in this documentation has been selected carefully and complies with the hardware and software
described. Nevertheless, deviations cannot be ruled out. We do not take any responsibility or liability for damages which might
possibly occur. Necessary corrections will be included in subsequent editions.

Contents i
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EDSTCXX EN 2.0
1 Preface and general information 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 About this Manual 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 For which products is the manual valid? 6 . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Legal regulations 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Technical data 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General data and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Rated data 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Standard device 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Power supply unit 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.3 Bus termination module 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.4 Input module 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.5 Output module 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.6 Analogue module 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Device description 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 System overview 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1 Examples for an automation system 14 . . . . . . . . . . . . . . . . . . . . .
3.1.2 Layout example for an ETC island 16 . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3 Set node address 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Control in top hat rail design (ETCHx) 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Serial interface 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 CAN interface 22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3 Ethernet interface 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.4 Watchdog (WDOG) 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Control as PCI insert card (ETCPx) 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Serial interface 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 CAN interface 29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Configuration and Watchdog 30 . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Module 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1 Power supply unit 32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2 Bus termination module 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.3 Input module 37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.4 Output module 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.5 Analogue module 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi
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4 Mechanical installation 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Control and module for top hat rail mounting (ETCHx) 47 . . . . . . . . . . . . . .
4.1.1 Control ETCHx 49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2 Module ETCHx 50 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.3 Dismantling of control and module ETCHx 51 . . . . . . . . . . . . . . . . .
4.2 Control in PCI design (ETCPx) 52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Installing the PCI card in the PC 52 . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Electrical installation 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Installation according to EMC (installation of a CE−typical drive system) 53
5.2 CAN installation instructions 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Cable types for the CAN Bus 56 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Relationship between cable length and transfer rate 56 . . . . . . . .
5.2.3 Stub cables 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Initial switch−on 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Troubleshooting and fault elimination 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Status display 59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Error management 62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Module replacement 64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Battery replacement 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Index 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preface and general information
About this Manual
1
1.1
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EDSTCXX EN 2.0
1 Preface and general information
The ETC Motion Control as the leading element of automation is together
with the Lenze drive controllers and motors an optimal system solution for
the control of movements.
In the ETC system both compact controls for installation on top hat rails and
PC insert cards are available. In both hardware designs either a NC or a MC
core can be supplied. The programming of the NC is carried out in accordance
with DIN 66025 (G code), that of MC in accordance with PLCOpen. Both
controls also include a PLC with is programmed in accordancd with 61131−3.
The control system is complemented by the corresponding I/O
subassemblies.
The communication with the drives via CAN or to the PC level via Ethernet
TCP/IP is also integrated into the ETC.
1.1 About this Manual
This manual is intended for all those who plan, install, program or
commission the ETC Motion Control System under the "NC" operating
system.
The ETC device manual contains information on the following topics:
ƒ Technical data
ƒ Structure and function of the system components including interface
description
ƒ Mounting, connecting and maintaining system components
This manual is complemented by the software manuals "MC operating
system" and "NC operating system", which provide important information
for the programmer and commissioner.
ITip!
Current documentation and software updates concerning Lenze
products can be found on the Internet in the "Services &
Downloads" area under
http://www.Lenze.com
Target group
Contents
Further information

Preface and general information
For which products is the manual valid?
1
1.2
l
6 EDSTCXX EN 2.0
1.2 For which products is the manual valid?

ETC xx 0 xx 1A 10
Product
Version
HM = top hat rail, MC core
PM = PCI insert card, MC core
HC = DIN rail, CNC core
PC = PCI insert card, CNC core
ETCHx0xx
Number of axes
02 = 2 axes
04 = 4 axes
0 = axes
12 = 12 axes
Hardware version
Software version ETCPx0xx

ETCH xxxx 1A 10
Product
N003 = power supply unit
T000 = bus termination module
I00 = dig. inputs
I016 = 16 dig. inputs
U00 = dig. outputs
U016 = 16 dig. outputs
A022 = 2 analogue inputs and outputs
each
ETCHxxxx
Hardware version
Software version
Standard device
Modules

Preface and general information
Legal regulations
1
1.3
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EDSTCXX EN 2.0
1.3 Legal regulations
The components of the ETC Motion Control System are clearly marked by the
contents of the nameplate.
Lenze Drive Systems GmbH, Postfach 101352, D−31763 Hameln
Compliant with EC Directive "Electromagnetic compatibility"
Components of the ETC Motion Control System
ƒ must only be operated under the operating conditions described in the
ETC Hardware Manual.
ƒ are not approved for the use in explosive environments.
ƒ comply with the protection requirements of the EC Directive "Low
voltage".
ƒ are no machines in the sense of the EC Directive "Machines".
ƒ are no household appliances, as components they are intended for
industrial use only.
The downstream user is responsible for ensuring that the EC Directives are
complied with in machine use.
Any other use shall be deemed inappropriate!
The information, data and notes in this manual were up to date at the time
of printing. No claims for the modification of systems and components that
have already been supplied may be made on the basis of the specifications,
illustrations and descriptions in this manual.
No liability is accepted by Lenze as to the suitability of any of the procedures
or circuit recommendations included here.
The information in this manual describe the properties of the products
without guaranteeing them. No liability will be accepted for damage or
disturbance caused by:
ƒ ignoring this manual
ƒ unauthorised alterations to the components of the ETC Motion Control
System
ƒ operating errors and incorrect working on or with the ETC Motion
Control System
See terms of sales and delivery of Lenze Drive Systems GmbH.
Report any claims under warranty to Lenze immediately on discovery of the
defect or fault. The warranty is void in all cases where liability cannot be
established.
Marking
Manufacturer
CE conformity
Application as intended
Liability
Warranty

Technical data
General data and operating conditions
2
2.1
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8 EDSTCXX EN 2.0
2 Technical data
2.1 General data and operating conditions
Type ETCHx ETCPx
Labelling and approval CE (compliance with the EMC Directive)
Climatic conditions
Storage 1 K3 per IEC/EN 60721−3−2
Temperature −20 °C ... +60 °C; Dmax = 20 K/h
Transport 2 K3 per IEC/EN 60721−3−2
Temperature −20 °C ... +60 °C; Dmax = 20 K/h
Operation 1) 3 K3 per IEC/EN 60721−3−2
Temperature −0 °C ... +50 °C; Dmax = 10 K/h
above 1000 m site altitude permissible temperature reduced by 1 K/300 m
Atmospheric pressure 60 hPa to 1060 hPa
Rel. humidity % ... 0 % (non condensing)
Vibration resistance
Shock (10 ms) max. 5 G
Vibration (5 ... 100 Hz) max. 0.5 G
Noise immunity EN500 2−1 = severity 3
Noise emission EN500 2−2 = limit value B
Packaging Dustproof packaging
Protection category IP20 IP00
Installation position vertical −
Installation clearances top and bottom 0 mm −
1) At maximum load, vertical installation and sufficient convection

Technical data
Rated data
Standard device
2
2.2
2.2.1
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EDSTCXX EN 2.0
2.2 Rated data
2.2.1 Standard device
Type ETCHx ETCPx
Use Control (top hat rail design) Control (PCI insert card)
Weight 235 g 300 g
Dimensions (W x H x D) 100 x 45 x 115 mm 130 x 23 x 190 mm
Supply voltages:
Feed (external) typ. 24 V DC
5 V DC output on ME bus typ. 5.0 V, min. 4.75 V, max. 5.25 V DC
24 V DC output on ME bus typ. 24 V, min. 1 V, max. 32 V DC
Power loss max. 3 W
Power recovery up to max. ±32 V possible at the connection terminals
Potential isolation:
to CAN via optocoupler
to process level via optocoupler
Fuse:
24 V DC output on ME bus Front panel fuse
5 V DC output Short−circuit proof via DC/DC converter
Protection:
Feed against polarity reversal
5 V and 24 V supply against short circuit and polarity reversal

Technical data
Rated data
Power supply unit
2
2.2
2.2.2
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10 EDSTCXX EN 2.0
2.2.2 Power supply unit
Type ETCHN003
Use Power supply module
Weight 150 g
Dimensions (H x W x D) 99 mm x 22.5 mm x 114.5 mm
Supply voltages:
Feed (external) typ. 24 V DC
5 V DC output on ME bus typ. 5.0 V DC (4.75 ... 5.25 V DC)
24 V DC output on ME bus typ. 24 V DC (1 ... 32 V DC)
Power cunsumption at max.
output current:
Feed 1 V DC max. 3.2 A
Feed 24 V DC max. 2.9 A
Feed 32 V DC max. 2.7 A
Output current
5 V DC output on ME bus max. 3.0 A
24 V DC output on ME bus max. 2.0 A
Power loss max. 3 W
Power recovery up to max. ±32 V possible at the connection terminals
Potential isolation
between 5 V DC output and
24 V DC input
500 V
Fuse:
24 V DC output on ME bus Front panel fuse
5 V DC output Short−circuit proof via DC/DC converter
Protection
Feed against polarity reversal
5 V and 24 V supply against short circuit and polarity reversal
2.2.3 Bus termination module
Type ETCHT000
Use Termination module or transfer module for internal CAN Bus (CAN1)
Weight 90 g
Dimensions (H x W x D) 99 x 17.5 x 114.5 mm