Mini Motor DBS Series User manual

Installation, Use and
Maintenance Manual
DBS
Rev 15
*** DBS Firmware ≥v4.035 ***

Table of contents
1 General information................................................................................................................................... 5
1.1 Introduction....................................................................................................................................... 5
1.2 Safety warnings ................................................................................................................................. 5
1.3 Storage and Installation Environment............................................................................................... 5
1.4 Transport, installation and wiring ..................................................................................................... 5
1.5 Operation and adjustments............................................................................................................... 6
1.6 Maintenance and inspection............................................................................................................. 6
1.7 UR Requirement (For motor with UR marking)................................................................................. 7
1.8 Product checks................................................................................................................................... 7
1.9 Label Checks ...................................................................................................................................... 7
1.9.1 CE Label.......................................................................................................................................... 7
1.9.2 UR label.......................................................................................................................................... 9
1.10 Product technical specification ....................................................................................................... 10
1.11 Optionals ......................................................................................................................................... 12
1.12 Torque Speed Characteristic ........................................................................................................... 13
1.13 S3 Service......................................................................................................................................... 15
2 Installation................................................................................................................................................ 16
2.1 Dimensions DBS50........................................................................................................................... 16
2.2 Dimensions DBS 80.......................................................................................................................... 17
2.3 Electric connections......................................................................................................................... 17
2.4 Power supply connector CN1 –DBS 55........................................................................................... 18
2.5 Connettore di alimentazione CN1 –DBS 80.................................................................................... 18
2.6 I/O connector CN2........................................................................................................................... 19
2.7 USB service connector CN4 ............................................................................................................. 19
2.8 Fieldbus connection......................................................................................................................... 20
2.8.1 CanOpen/Modbus RTU (55/---/C) ............................................................................................... 20
2.8.2 CanOPEN over EtherCAT (55/---/ETH)......................................................................................... 20
2.8.3 Ethernet IP (55/---/EIP)................................................................................................................ 21
2.8.4 Powerlink (55/---/EPL) ................................................................................................................. 21
2.8.5 Profinet (55/---/EPN) ................................................................................................................... 22
2.9 Protective device installation .......................................................................................................... 23
3 Parametrization interface ........................................................................................................................ 24
3.1 Software installation........................................................................................................................ 24
3.2 Software .......................................................................................................................................... 25
3.2.1 Status........................................................................................................................................... 26
3.2.2 Alarm list...................................................................................................................................... 27

3.2.3 Event List...................................................................................................................................... 28
3.2.4 Parameter.................................................................................................................................... 28
3.2.5 Monitoring................................................................................................................................... 30
4 Parameters............................................................................................................................................... 32
4.1 Appl.................................................................................................................................................. 32
4.1.1 User.............................................................................................................................................. 32
4.1.2 Input Output................................................................................................................................ 33
4.1.3 Accelerometer ............................................................................................................................. 34
4.1.4 MultiTrq....................................................................................................................................... 34
4.1.5 MultiSpeed .................................................................................................................................. 35
4.1.6 MultiPos....................................................................................................................................... 35
4.1.7 Homing ........................................................................................................................................ 35
4.1.8 Fieldbus........................................................................................................................................ 36
4.2 Motor............................................................................................................................................... 37
4.2.1 Temperature................................................................................................................................ 38
4.2.2 Control......................................................................................................................................... 38
4.2.3 Encoder........................................................................................................................................ 38
4.3 System ............................................................................................................................................. 38
4.4 Alarm ............................................................................................................................................... 38
5 LED status................................................................................................................................................. 40
5.1 Fieldbus Board CanOpen\Modbus .................................................................................................. 40
5.2 Fieldbus Board EtherCAT................................................................................................................. 41
5.3 Fieldbus Board Ethernet IP.............................................................................................................. 43
5.4 Fieldbus Board Ethernet PowerLink................................................................................................ 45
5.5 Fieldbus Board Ethernet ProfiNet IO............................................................................................... 47
6 Alarm........................................................................................................................................................ 49
6.1 Events .............................................................................................................................................. 50
7 Modbus register....................................................................................................................................... 51
7.1 Read and write register ................................................................................................................... 51
7.2 Read only register............................................................................................................................ 52
7.3 Homing register............................................................................................................................... 54
8 CiA402 –Servodrive application profile................................................................................................... 56
8.1.1 Supported modes ........................................................................................................................ 56
8.1.2 State machine.............................................................................................................................. 56
8.1.3 Position/speed/torque scaling .................................................................................................... 59
8.1.4 Profile position ............................................................................................................................ 60
8.1.5 Profile velocity............................................................................................................................. 62
8.1.6 Profile torque............................................................................................................................... 63
8.1.7 Homing ........................................................................................................................................ 63
8.1.8 Touch probe (optional)................................................................................................................ 63
8.1.9 Interpolated mode (optional)...................................................................................................... 64
8.1.10 Cyclic synchronous position mode (optional) –Only on EtherCAT/Powerlink ....................... 65
8.1.11 Cyclic synchronous velocity mode........................................................................................... 66

8.1.12 Cyclic synchronous torque mode ............................................................................................ 66
8.2 Default PDO mapping...................................................................................................................... 66
8.3 EMCY codes ..................................................................................................................................... 67
8.4 DBS touch-probe extensions (optional) .......................................................................................... 67
8.4.1 Touch-probe positioning ............................................................................................................. 68
8.4.2 Touch-probe modulo positioning................................................................................................ 69
9 CanOpen / EtherCAT / PowerLink............................................................................................................ 71
9.1 Overview.......................................................................................................................................... 71
9.2 DS301 Communication layer ........................................................................................................... 71
9.2.1 Physical layer ............................................................................................................................... 71
9.2.2 SDO protocol................................................................................................................................ 71
9.2.3 TIME protocol .............................................................................................................................. 72
9.2.4 PDO protocol ............................................................................................................................... 72
9.2.5 EMCY protocol............................................................................................................................. 72
9.2.6 NMT protocol............................................................................................................................... 72
9.2.7 HEARTBEATING............................................................................................................................ 72
9.3 Object dictionary ............................................................................................................................. 73
9.3.1 Communication area ................................................................................................................... 73
9.3.2 Manufacturer parameter area .................................................................................................... 74
9.3.3 Manufacturer specific area.......................................................................................................... 75
9.3.4 Profiled objects............................................................................................................................ 76
10 Ethernet IP........................................................................................................................................... 79
10.1 Overview.......................................................................................................................................... 79
10.2 CIP Objects....................................................................................................................................... 79
10.2.1 COM object –0x64 .................................................................................................................. 80
10.2.2 PAR object –0x65.................................................................................................................... 80
10.2.3 MISC object –0x66.................................................................................................................. 81
10.2.4 CIA402 object –0x67............................................................................................................... 81
10.3 Process data..................................................................................................................................... 83
10.4 Layout Default ................................................................................................................................. 83
10.5 Layout A........................................................................................................................................... 84
10.6 Layout B........................................................................................................................................... 86
10.7 Layout C........................................................................................................................................... 87
10.8 Layout D........................................................................................................................................... 89
11 ProfiNET............................................................................................................................................... 92
11.1 Overview.......................................................................................................................................... 92
11.2 Device identity................................................................................................................................. 92
11.3 Process Data .................................................................................................................................... 92
11.4 Process data –Default layout.......................................................................................................... 92
11.5 Process data –Layout A................................................................................................................... 94
11.6 Process data –Layout B................................................................................................................... 95

11.7 Process data –Layout C.................................................................................................................... 97
11.8 Process data –Layout D .................................................................................................................. 98
12 Homing types..................................................................................................................................... 101
12.1 Type 1: Homing on anticlockwise limit switch and index pulse (resolver zero)........................... 101
12.2 Type 2: Homing on clockwise limit switch and index pulse (resolver zero) ................................. 101
12.3 Type 3 and 4: homing on the positive Home Switch and Index Pulse (resolver zero) .................. 102
12.4 Type 5 and 6: homing on the negative Home Switch and Index Pulse (resolver zero)................. 103
12.5 Type 7, 8, 9, 10, 11, 12, 13, 14: homing on the Home Switch and Index Pulse (resolver zero) .... 104
12.6 Types 33 and 34: Homing on Index Pulse (resolver zero). ............................................................ 105
12.7 Type 37: homing in current position. ............................................................................................ 105
13 Warranty Conditions ......................................................................................................................... 106
14 Disclaimer.......................................................................................................................................... 107
APPENDIX A - Wirings.................................................................................................................................... 108
A.1 –Analogic Input................................................................................................................................... 108
A.1.1 0÷10V Wiring................................................................................................................................ 108
A.1.2 Collegamento -10V÷+10V ............................................................................................................. 109
A.1.2 Collegamento 4-20mA .................................................................................................................. 109
APPENDIX B –Fieldbus Examples.................................................................................................................. 110
APPENDIX C –PIV tuning............................................................................................................................... 111
APPENDIX D –Accelerometer ....................................................................................................................... 114
RMS filter setting....................................................................................................................................... 114
General knowledge on Vibrations............................................................................................................. 115

1 - General information
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1General information
1.1 Introduction
Thank you for choosing this product. This document is an integral part of the product, as it contains the
procedures and parameters necessary for the assembly, installation, wiring, commissioning and support of
the product.
The buyer and/or qualified person with knowledge of electrical and/or electronic systems who will use the
product need the use and maintenance manual and must keep it available for reference at any moment.
1.2 Safety warnings
Closely follow the precautions given (with warning symbols), as they are crucial for safety:
General danger symbol
Dangerous electrical voltage symbol
1.3 Storage and Installation Environment
Do not store or use the product in the following environments:
Exposed to direct sunlight
Exposed to higher levels of temperature, condensation and relative humidity than ones indicated in
the specifications table
Exposed to dust, salinity, water, oil, chemicals, corrosive or inflammable gases, fuels
Pollution degree higher than 3
When subject to impact or vibrations
1.4 Transport, installation and wiring
Do not drop the product
Grasp the product by the motor, always checking first to ensure it is not hot –burn danger!
Do not install the product if there are damage signs on the packaging or on the product itself
Wiring must be performed by qualified personnel, with the power supply disconnected
During the installation and wiring operations, protect any product openings with appropriate guards
in order to avoid that any kind of conductive metallic object is able to get in
Ensure the connectors are firmly tightened
Install appropriate safety components (fused disconnect switch) up line of the power supply
Use shielded cables in locations subject to static electricity, strong magnetic fields or in the presence
of electrical lines
Use suitable and appropriately sized cables for connection of the power supply, motor and control
signals connections;

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For control signal connections longer than 1m, it is recommended to use shielded cables with the
shielding connected to an available earth signal;
Make sure that the power supply voltage complies with the one on the rating plate;
Ensure that there is sufficient ventilation to dissipate the heat produced by the product.
1.5 Operation and adjustments
At first power on or after a period of more than two months of inactivity, it’s recommended to keep
fed the logical part for at least 24 hours;
Activate the product only after checking the compatibility of the load and of the machine in which it
will be installed;
Stay away from the machine when the product is in reboot phase from an error (if the automatic
reboot is enabled), because the machine could restart suddenly;
Do not place body parts near the rotating parts;
Use appropriate personal protective equipment during the work near to the axis ends (presence of sharp
edges in the tongue seat);
Before performing the machine test, provide adequate protections around the rotating parts (joints,etc.);
Never activate the device or its switches with wet hands
1.6 Maintenance and inspection
The product is equipped with a backup battery used for the multi turn position retain. To guarantee
the life performance and expected life it is necessary to perform a complete charge cycle for a
minimum time of 24 consecutive hours every 6 months.
Ensure that all safety precautions have been taken before performing maintenance or inspection
operations
Do not touch the heatsink and the motor as these components heat up when the product is
operational and remain hot even after it is switched off
Do not uninstall the product when it is powered, switch it off then wait at least two minutes before
doing so
Do not change the wiring, the supply voltages, etc. while the product is powered
Do not repair or modify the product
The product does not require any particular preventive maintenance. However, we recommend
performing the following checks regularly:
Check the condition and tightening of the connections
Check that the heatsink is clean and ventilated
Do not treat the product as normal domestic waste: it must be taken to an appropriate collection
point for electrical and electronic waste. Failure to observe this requirement can lead to civil and/or
criminal penalties, and could have damaging consequences for the environment and human health

1 - General information
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1.7 UR Requirement (For motor with UR marking)
For UR compliance this conditions MUST be met
Surrounding air temperature range: 0°C ÷40°C
Use in Pollution degree 3 Environment
Must Use an external protection fuse with the following characteristics
Integral solid state short circuit protection does not provide branch circuit protection. Branch
circuit protection must be provided in accordance with the Manufactirer Instructions, National
Electrical Code and any additional local codes
The Drive does not provide Motor Overload protection. External or remote Motor Overload
protection shall be provided in the end-use applications
The Drive is intended to be used with motors that must have integral thermal protection: the
integral thermal protection signal shall be connected to the equipment, on terminal 3 of U17 and
U18. Signal was rated maximum 3.3Vdc.
1.8 Product checks
Upon delivery of the product, we recommend checking that it corresponds to that ordered and is complete.
Keep in mind that only the connectors to wire the device (power, signals and bus) are included in the package.
Contact the supplier's technical support service for any problems relating to the product. For UR products
check accettability conditions and end user advice, which can be found on UL database at the file number
503911.
1.9 Label Checks
1.9.1 CE Label
Example of label applied to the product:
Figure 1
Motor Size
Cathegory
Class
Voltage Rating
Current Rating (A)
Simmetrica A.I.C. (KA)
55/50 –55/100
JDDZ/JDDZ7
Class CC
300 Vdc
20A
20KA
80/50 –80/100
JDDZ/JDDZ7
T
160 Vdc
50A
20KA

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Type
Product Name
S/n
Serial Number
DRIVE
DRIVE IN
DRIVE OUT
Voltage
Drive Input Voltage [Vdc]
Drive output Voltage [VRMS]
Current
Driver Input Current [A]
Drive Output Current [Arms]
Stall Cur.
Stall Current
Freq
Drive input frequency
Drive output frequency
Phases
Drive input phases
Drive output phases
Fieldbus
Fieldbus protocol and optionals CSP/TP/DP/STO/MA
MOTOR
Tn
Nominal motor torque [Nm]
Tmax
Peak torque [Nm]
Pout
Output motor power [kW]
Cl
Insulation class
IP
IP protection code
S3
Duty Service according to IEC 34-1 with on and off times. If absent, assume S1 service
Brake
Brake Voltage and operation mode, if present
GEARBOX
Ratio
Gearbox ratio
Rpm
Nominal output speed [rpm]
Nm
Nominal output torque [Nm]
Table 1

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1.9.2 UR label
Figure 2
Type
Product Name
S/n
Serial Number
DRIVE
DRIVE IN
DRIVE OUT
Voltage
Drive Input Voltage [Vdc]
Drive output Voltage [VRMS]
Current
Driver Input Current [A]
Drive Output Current [Arms]
Stall Cur.
Stall Current
Freq
Drive input frequency
Drive output frequency
Phases
Drive input phases
Drive output phases
Fieldbus
Fieldbus protocol and optionals CSP/TP/DP/STO/MA
MOTOR
Tn
Nominal motor torque [Nm]
Tmax
Peak torque [Nm]
Pout
Output motor power [kW]
Cl
Insulation class
IP
IP protection code
S3
Duty Service according to IEC 34-1 with on and off times. If absent, assume S1 service
Brake
Brake Voltage and operation mode, if present
GEARBOX
Ratio
Gearbox ratio
Rpm
Nominal output speed [rpm]
Nm
Nominal output torque [Nm]