power automation PA 9000 User manual

PA 9000
ETC Drive Micro
Installaon instrucons

Original installation instructions
© 2017 Power Automation GmbH
Power Automation GmbH
CNC-Automatisierungstechnik
Gottlieb-Daimler-Str. 17/2
74385 Pleidelsheim
Germany
Telephone: [phone]
Fax: [phone]
E-mail: [email protected]
Internet: www.powerautomation.com
Version 2.0
2 21.02.2017

Table of contents
1 General information............................................................. 7
1.1 Information on this manual.......................................... 7
1.2 Explanation of symbols................................................ 7
1.3 Limitation of liability...................................................... 9
1.4 Copyright..................................................................... 9
1.5 Warranty terms............................................................ 9
1.6 Customer service....................................................... 10
1.7 Glossary..................................................................... 11
2 Safety.................................................................................. 13
2.1 Customer's responsibility........................................... 13
2.2 Personnel requirements............................................. 14
2.2.1 Qualifications........................................................... 14
2.2.2 Unauthorized persons............................................. 14
2.3 Intended use.............................................................. 15
2.4 Unintended use.......................................................... 16
2.5 Safety instructions..................................................... 17
2.6 Personal protective gear............................................ 18
2.7 Conduct in a dangerous situation and in case of
accidents.................................................................... 19
2.8 Environmental protection........................................... 20
2.9 Labels........................................................................ 20
3 PA ETC-Drives MC Overview............................................ 23
3.1 Supported Motor-Sensor Configurations................... 27
4 Technical Data.................................................................... 35
4.1 General Specification................................................. 35
4.2 Operating Conditions................................................. 36
4.3 Specific Data.............................................................. 38
4.4 Logic Supply Input (+VLOG)........................................ 39
4.5 Motor Supply Input (+VMOT)....................................... 40
4.6 Motor Outputs (A/A+, B/A-, C/B+, BR/B-).................. 42
4.7 Enable circuit inputs (ENA1, ENA2).......................... 46
4.8 Digital Inputs.............................................................. 47
4.9 Digital Outputs........................................................... 51
4.10 Digital Hall Inputs (Hall1, Hall2, Hall3)....................... 55
4.11 Encoder Inputs........................................................... 56
4.12 Linear Hall Inputs (LH1, LH2, LH3)............................ 59
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4.13 Sin-Cos Encoder Inputs (Sin+, Sin-, Cos+, Cos-)...... 60
4.14 Analog 0 - 5V Inputs (REF, FDBK)............................ 61
4.15 Axis ID Inputs (AxisID 0, AxisID 1, Axis ID 2)............ 63
4.16 RS-232....................................................................... 63
4.17 EtherCATâ................................................................ 64
4.18 Supply Output (+5V).................................................. 66
4.19 Graphical presentation............................................... 67
4.20 Conformance with European directives and UL-
standards................................................................... 71
4.21 Installation guidelines................................................ 72
5 Installation.......................................................................... 75
5.1 Important instructions................................................ 75
5.2 PA MC x04 ETC-Drive............................................... 76
5.2.1 Interfaces................................................................ 76
5.2.2 Mechanical construction and mounting................... 81
5.2.3 Connector properties............................................... 82
5.2.4 External Fusing....................................................... 83
5.3 Linear Feedback Types............................................. 84
5.4 Switchgear cabinet assembly.................................... 85
6 Interface.............................................................................. 91
6.1 PA MC x04 ETC-Drive............................................... 91
6.1.1 24V Digital I/O Connection...................................... 91
6.1.2 5V Digital I/O Connection........................................ 92
6.1.3 Analog Inputs Connection....................................... 93
6.1.4 Motor connections................................................... 94
6.1.5 Feedback connections............................................ 97
6.1.6 Power Supply Connection..................................... 100
6.1.7 Serial RS-232 connection..................................... 105
7 Transport, packaging, storage and disposal................. 107
7.1 Transport................................................................. 107
7.2 Packaging................................................................ 108
7.3 Storage.................................................................... 109
7.4 Disposal................................................................... 110
8 Maintenance...................................................................... 111
8.1 Safety notes............................................................. 111
8.2 Maintenance schedule............................................. 111
8.3 Measures after maintenance................................... 113
9 Troubleshooting............................................................... 115
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9.1 Safety notes............................................................. 115
9.2 Malfunction indicators.............................................. 117
10 Dismounting and decommissioning.............................. 119
11 Service and return process............................................. 121
11.1 Service..................................................................... 121
11.1.1 Service addresses................................................. 122
11.2 Spare parts.............................................................. 123
11.3 Return policy and procedure.................................... 124
11.4 Training.................................................................... 126
12 EC Declaration of Conformity......................................... 127
13 Proof of change................................................................ 129
14 Index.................................................................................. 131
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1 General information
1.1 Information on this manual
The manual describes the EtherCATâ drives of the PA ETC-Drive
Micro serie.
1.2 Explanation of symbols
Warnings are identified by pictures. These warnings are introduced
by signal words, which express the severity of a danger.
Pay attention to these warnings and act cautiously in order to avoid
accidents, personal injuries and damage to property.
DANGER!
… indicates an imminently hazardous situation
which, if unavoidable, will result in death or serious
injury.
WARNING!
… indicates a potentially hazardous situation
which, if unavoidable, could result in death or
serious injury.
CAUTION!
… indicates a potentially hazardous situation
which, if unavoidable, may result in minor or mod-
erate injury.
NOTICE!
… indicates a potentially hazardous situation
which, if unavoidable, may result in property
damage.
… emphasizes useful hints and recommendations
as well as information for efficient and trouble-free
operation.
The following symbols are used in connection with the safety notes
to highlight particular dangers:
Content
Warnings
Special Safety Notes
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DANGER!
… highlights hazards caused by electric current.
There is a danger of serious injury or death if the
safety notes are not complied with.
The following symbols and highlights are used to distinguish
instructions, descriptions of results, cross-references and other ele-
ments inside this manual.
.. Highlights a step as part of a procedure of instructions.
ð.. Highlights a state or an automatic process as a result of
an instruction.
n.. Highlights single or unordered instructions and lists.
Ä “Additional symbols and highlighting” on page 8.. Highlights
cross-references to chapters or sections of this manual.
[Key].. Highlights captions of buttons, fields and other elements of
the software's graphical user interface.
“Menu è Submenu è ”.. Highlights a path to access a menu or
submenu in the software's graphical user interface.
Example/Extract.. Highlights verbatim examples and extracts
from configuration files.
Additional symbols and high-
lighting
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1.3 Limitation of liability
All information and notes in this installation manual were compiled
under due consideration of valid standards and regulations, the
present status of technology and our years of knowledge and
experience.
Power Automation can not be held liable for damage resulting
from:
ndisregarding this installation manual
nunintended use
nemployment of untrained personnel
nunauthorized conversions
nunauthorized modifications to the software
ntechnical modifications
nuse of unapproved spare parts
nuse in conjunction with machines not deemed compatible by
Power Automation
In case of customized versions the actual scope of delivery can
vary from the explanations and representations in this installation
manual, because of the utilization of additional options or due to
the latest technical changes.
Apart from this, the obligations agreed upon in the delivery con-
tract, the general terms and conditions, and the delivery conditions
of Power Automation and the legal regulations valid at the time of
contract apply.
We reserve the right to make technical modifications in order to
improve usability.
1.4 Copyright
This installation manual is protected by copyright law.
Passing this installation manual on to third parties, duplication of
any kind – even in form of excerpts – as well as the use and/or dis-
closure of the contents without the written consent of Power Auto-
mation is not permitted.
Violations oblige to compensation. The right for further claims
remains reserved.
1.5 Warranty terms
The material warranty terms are provided in Power Automation's
terms and conditions as well as inside the sales documents.
Liability
Copyright
Material Warranty
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1.6 Customer service
Our Customer Service is always available for technical information.
For information on whom to contact by phone, fax, e-mail or via the
internet, see Power Automation's address on page 2.
Additionally, Power Automation staff is always interested in
receiving new information and experiences resulting from the use
of our products, which could be of great value for future improve-
ments.
Service
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