Motor controller MCP24

Transcription

1 Motor controller MCP24 Operating Instructions No portion of this documentation may be reproduced or made available to third parties without the express written permission of MTA-Systems GmbH. We have compiled all of the information in this documentation with utmost diligence and checked it for compliance with the described hardware and software. Nevertheless, we cannot completely rule out possible divergences. We shall assume no legal responsibility or liability for damages that may thereby arise. We will incorporate the necessary corrections in future editions. MTA Systems shall make no warranty that the products will work together with other selected products not made by MTA Systems. MTA Systems shall assume no liability for consequential damages that arise from combining the products with other products or based on improper handling on machinery or systems. This document may not be reproduced in whole or in part or transferred to any other natural or machine-readable language, whether electronically, mechanically, optically or in any other way without the express approval of the originator. Version 2.0 (05/2015) 1

2 Table of Contents Table of Contents... 2 List of Illustrations... 4 List of Tables General Information Documentation Terms used and explanation of symbols Legal Provisions Liability Warranty Directives Scope of Supply and Accessories Safety Information for Electric Drives and Controls General Information Risks due to Improper Use Safety Information General Safety Information Safety Information for Assembly and Maintenance Protection against Contact with Electrical Components Protection against Hazardous Movements Protection against Contact with Hot Components Product Description General Information Scope of Application Performance Characteristics Designs Model code MCP motor controller Technical Data Environmental Conditions and Certification Performance data MCP24 motor controller Installation Instructions Version 2.0 (05/2015) 2

3 6.1 Electrical Installation Housing dimensions model with M8 plug Option braking chopper / braking resistor Plug Accessories Information regarding safe EMC-compliant installation General Information on EMC EMC-compliant cabling Functions Overview Modes: Controller release Direction of rotation Analog mode ConstSpeed mode DigSpeed mode Stall timing Operational parameters: LED / error code: Installation Declaration List of changes Imprint Version 2.0 (05/2015) 3

4 List of Illustrations Diagram 1: Housing dimensions MCP motor controller Diagram 2: Pin assignment analog setpoint setting Diagram 3: Connection example ConstSpeed mode Diagram 4: Connection example DigSpeed mode List of Tables Table 1: Signal Words and Warnings... 5 Table 2: Model code MCP: Table 3: Technical Specifications: Environmental Conditions Table 4: Technical Specifications: Performance data MCP24 motor controller 15 Table 5: Pin assignment MCP motor controller Table 6: Plug Accessories Table 7: Overview Modes Table 8: Controller release Table 9: Direction of rotation Table 10: Voltage level analog input Table 11: Speed levels DigSpeed Table 12: Operational parameters Table 13: LED-error code Table 14: List of changes Version 2.0 (05/2015) 4

5 1 General Information 1.1 Documentation The following applicable documents are an integral part of this product description: 1.2 Terms used and explanation of symbols Table 1: Signal Words and Warnings Pictograms used Signal words Warning of personal injury High voltage warning Danger! Warns of an imminently threatening danger. Consequences if disregarded: death or extremely severe injury General hazard warning Warning! Warns of a possible, very dangerous situation. Consequences if disregarded: death or extremely severe injury Caution! Warns of a possible, dangerous situation. Possible consequences if disregarded: slight or minor injuries Warning of damage to property Stop! Warns of possible damage to property. Possible consequences if disregarded: damage to the drive unit or its environment Other information Tip! Designates a general, useful tip. If followed, you make handling of the drive system easier Version 2.0 (05/2015) 5

6 1.3 Legal Provisions Liability The information, data and tips provided in these instructions were up-to-date at the time of printing. No claims to make changes to already delivered components may be asserted from the information, illustrations or descriptions contained in these instructions. The procedural information and wiring extracts presented in these instructions are recommendations only, the transferability of which to the respective application must be reviewed. Their ability to be transferred to a respective application must first be examined. MTA Systems shall make no warranty as to the suitability of the procedures and wiring recommendations. No liability shall be assumed for damages or malfunctions that arise due to: Disregard of the operating instructions Arbitrary changes to the product Operating errors Warranty Warranty conditions: See the terms and conditions of sale and delivery of MTA Systems GmbH. Report any warranty claims to MTA Systems immediately upon determining the defect or error. The warranty shall expire in all cases in which no liability claims can also be asserted Directives Responsibility for meeting the EU guidelines for machine usage rests with the downstream user. The MCP24/48 motor controller is not a product within the context of the EC Machinery Directive. Proper use of the drives in machinery or systems is prohibited until the machine or system builder confirms the CE-conformity of the entire machine or system. Within the meaning of the EMC Directive, the specified devices are not products that can be independently operated. Compliance with the directive presupposes the correct installation of the products, observance of the specific installation information and product documentation. 1.4 Scope of Supply and Accessories Mating connector and communication cable are not part of the standard scope of supply. They can, however, be ordered as accessories. Version 2.0 (05/2015) 6

7 2 Safety Information for Electric Drives and Controls 2.1 General Information MTA Systems GmbH shall assume no liability for damages caused by failure to observe the precautions in these operating instructions. Prior to initial operation, the chapter 2 titled Safety Guidelines for Electrical Drive Units and Controllers as well as the chapter 6.3 Information regarding Safe and EMC-Compliant Installation must be read. Correct and safe operation requires proper and professional transportation, storage, assembly, and installation as well as careful operation and maintenance. Only trained and qualified personnel may be utilized to work with electrical equipment. Improper handling of the drives and non-observance of the precautions specified herein as well as improper intervention in the safety device may result in damage to property or bodily injury Risks due to Improper Use High voltage and high working current! Danger to life or serious bodily injury due to electric shock! High voltage due to incorrect connection! Danger to life or serious bodily injury due to electric shock! Safety Information Risk of injury! Risk of burning! Version 2.0 (05/2015) 7

8 2.2 Safety Information General Safety Information The drive units comply with protection class IP20. Ensure that the environment complies with this protection or contamination class. The drive units and the utilized power supplies must be connected to the grid in accordance with the EN standards and VDE regulations such that they can be disconnected from the grid with suitable releasing devices (e.g. main switch, safety switch, circuit breaker). As a precaution, prevention measures must be taken for switch panels, e.g. contactors and relays wired with RC elements or diodes. Safety instructions and regulations of the country in which the device is to be used must be observed. The environmental conditions specified in the product documentation must be adhered to. Safety-critical applications are not permitted unless expressly approved by the manufacturer. Information regarding EMC-compliant installation can be found in the chapter 6.3 Information regarding Safe and EMC-Compliant Installation. Compliance with the limit values required by the national regulations is the responsibility of the manufacturer of the system or machine Safety Information for Assembly and Maintenance The respective DIN, VDE, EN, and IEC regulations as well as all state and local safety and accident prevention regulations shall apply in all cases for the assembly and maintenance of the system. The system builder or the operator shall be responsible for ensuring compliance with these regulations: Version 2.0 (05/2015) 8

9 The operation, maintenance and/or repair of the drives may only be carried out by personnel who are trained and qualified for working on or with electrical equipment. Prevention of accidents, bodily injury and/or damage to property: The holding torque of the motorized roller is not suitable for personal protection! Disconnect the electrical equipment from the power supply using the main switch and ensure that it is not turned back on during: Maintenance and repair work Cleaning procedures Long interruptions of operation Before undertaking maintenance work, it is important to ensure that the power supply is turned off. Electronic devices are generally not fail-safe. The user shall be responsible for ensuring that his system is put into safe mode if the electrical device fails. The motorized roller is capable of assuming high temperatures, which may cause bodily burns if touched Protection against Contact with Electrical Components This section pertains only to devices and drive components with voltages over 50 volts. If components with voltages over 50 volts are touched, they can be very dangerous to persons and result in electric shock. When operating electrical equipment, certain components of this equipment must by necessity be under dangerous voltage. High voltage! Danger to life, risk of injury due to electric shock or serious bodily injury! Version 2.0 (05/2015) 9

10 The respective DIN, VDE, EN, and IEC regulations as well as all state and local safety and accident prevention regulations shall apply in all cases of operation. The system builder/contractor and/or the operator shall be responsible for ensuring compliance with these regulations: Before start-up, attach the covers and safety devices provided for this purpose to the devices for contact protection. For built-in devices, protection against direct contact with electrical components must be ensured by means of an exterior housing, such as a control cabinet. Always connect the earth wire of the electrical equipment and the devices tightly to the power supply. In accordance with Standard EN 60617, observe the prescribed minimum copper profile for the protective earth connection over its entire extent! Before start-up, always connect the earth wire to all electrical devices according to the wiring diagram or connect using an earth conductor, even for short-term measurement and testing purposes. Otherwise, high voltages may occur on the housing, which cause electric shock. Do not touch electrical connectors of the components when they are turned on. Disconnect the device from the network or from the voltage source before accessing the electrical components with voltages greater than 50 volts. Ensure that they are not turned back on. During installation, the intermediate circuit voltage must be taken into account, particularly with respect to insulation and precautionary measures. Provisions must be made for proper grounding, line sizing, and corresponding short-circuit protection Protection against Hazardous Movements Hazardous movements may be caused by faulty activation of connected motors. The various reasons for this might include: Version 2.0 (05/2015) 10

11 Soiled or faulty wiring or cabling. Error in the operation of components. Error in the measuring transducers or signal generators. Defective components or components not in compliance with EMC. Software errors in the higher-level control system. These errors may occur directly after start-up or after an undetermined period of time in operation. The monitoring systems in the drive components largely rule out a malfunction in the connected drives. With respect to personal protection, in particular the risk of bodily injury and/or damage to property, one cannot trust in these facts and circumstances alone. Until the installed monitoring systems are up and running, faulty drive movement will occur without a doubt, the extent of which will depend on the type of control and operating condition. Dangerous movements! Danger to life, risk of injury, serious bodily injury or damage to property! Personal protection must be ensured by means of monitoring systems or superseding measures on the part of the system for the reasons mentioned above. They are provided by the system builder according to the specific circumstances of the system risk and error analysis. The safety regulations applicable for the system will also be included. Random movements of the machine or other malfunctions may occur due to any shut-off, circumvention or failure to activate the safety devices Protection against Contact with Hot Components Hot surfaces are possible on the device housing! Risk of injury! Risk of burning! Do not touch housing surface in the vicinity of hot heat sources! Risk of burning! Before accessing the devices after shutoff, wait 10 minutes for them to cool down. Version 2.0 (05/2015) 11

12 Touching any hot components of the equipment, such as the device housing in which the cooling elements and resistors are located, may result in burns! Version 2.0 (05/2015) 12

13 3 Product Description 3.1 General Information Scope of Application The MCP24 motorized controller is designed for use in various conveyor systems. The MCP24 is used for continuous regulation of the speed of synchronous motors Performance Characteristics The MCP has the following performance features: Sensorless speed regulation High torque already when idle and at low speeds 5-pin connection line between electronics and motorized roller Connection to a higher-level controller, e. g. to an SPS via digital and analog signals. 1x 0-10V analog input for speed setpoint and holding torque 1x 24VDC digital input for controller release 1x 24VDC digital input for clockwise rotation 1x 24VDC digital input for counterclockwise rotation 3x 24VDC digital inputs (binary coded) for speed setpoint (alternatively to an analog speed setpoint setting) Braking chopper outlet for connection to braking resistor Version 2.0 (05/2015) 13

14 4 Designs 4.1 Model code MCP motor controller Example: MCP xx-xx Table 2: Model code MCP: Model code MCP V1 V1 Motor controller MCC central MCD...decentral MCP board Voltage 24 24VDC Nominal output current 0 6A Motor outputs (quantity) 01 Hardware status Software status Continuous number Continuous number Version 2.0 (05/2015) 14

15 5 Technical Data 5.1 Environmental Conditions and Certification Table 3: Technical Specifications: Environmental Conditions Area Ambient temperature at nominal capacity Protection class Value 0 C to 40 C (optionally -30 C to +55 C) IP20 (optional IP54) 5.2 Performance data MCP24 motor controller Table 4: Technical Specifications: Performance data MCP24 motor controller Parameters MCP24 Limit Values Supply voltage 24VDC Upper limit value 30VDC Lower limit value 18VDC Max. Current supply 6A Design with M8 plug 12A Design with terminal Speed control sensorless - Analog input speed setpoint 0 10VDC Upper limit value 30VDC Input impedance 10kOhm Digital input clockwise / counterclockwise 24VDC Low 0 to 3VDC High 9 to 30VDC Input impedance 10kOhm Digital input controller release 24VDC Low 0 to 3VDC High Input impedance 9 to 30VDC 10kOhm Digital inputs target speed setting 24VDC Low 0 to 3VDC High Input impedance 9 to 30VDC 10kOhm Version 2.0 (05/2015) 15

16 Braking chopper outlet Yes Max. current 2.5A Switching threshold adjustable Monitoring Short circuit Overcurrent Overvoltage Undervoltage Overtemperature I²xt deactivation Stall timing Dimensions (without plug and housing) 80x40mm - Monitoring functionalities or deactivations are confirmed as soon as the error is no longer present by restarting (signal change on the stop/start input or by turning the power supply on/off). Version 2.0 (05/2015) 16

17 6 Installation Instructions 6.1 Electrical Installation Housing dimensions model with M8 plug X1 X2* X3 X2* X3 X1 Diagram 1: Housing dimensions MCP motor controller Version 2.0 (05/2015) 17

18 Table 5: Pin assignment MCP motor controller Plug Pin Signal Function Connection X1 1 24VDC Supply External power supply 2 GND Ground External power supply 3 24VDC Supply Loop through supply voltage 4 GND Ground Loop through supply voltage X2* (terminal design) 1 Ground 2 U Motor phase U 3 V Motor phase V 4 W Motor phase W 5 Neutral point Neutral point X2* (design M8 plug 5-pin) 1 Ground Grey 2 U Motor phase U Black 3 V Motor phase V Brown 4 W Motor phase W White 5 Neutral point Neutral point Blue X3 1 BRCH- Braking chopper outlet Connection braking resistor 2 BRCH+ Braking chopper outlet Connection braking resistor 3 DO0 24VDC Error output (sum error) 4 DI5 24VDC Digital input controller release 5 DI4 24VDC Digital input clockwise rotation 6 DI3 24VDC Digital input counterclockwise rotation 7 GND Ground analog input 8 AI0 / DI0 0 to 10VDC / 24VDC Speed setpoint analog / speed setpoint digital Bit0 9 DI1 24VDC Speed setpoint digital Bit1 10 DI2 24VDC Speed setpoint digital Bit2 *The X2 connection is optionally available as a 5-pin M8 plug connection or with terminal connection. Version 2.0 (05/2015) 18

19 The assignment of the X3:8 (AI0 / DI0) input depends on the set mode. In this connection, see chapter Option braking chopper / braking resistor Depending on the load application and type of deceleration of the motor, kinetic energy will be re-released. In 4Q operation, the released kinetic energy is returned to the interim circuit of the power supply as electrical energy. If no other consumers withdraw this energy, the voltage in the interim circuit may reach a level that can do damage to electrical circuits. Since slight fluctuations are normal, it is important that the drive controller can tolerate a higher voltage than the maximum amount delivered by the power supply. If the maximum allowable voltage is exceeded despite everything, our motor controller is equipped with a corresponding overvoltage cut-off. The motor controller is equipped with an internal braking chopper. The braking chopper threshold is adjustable. 6.3 Plug Accessories The mating connectors are not included in the standard scope of delivery of the MCP and can be purchased as accessories at MTA Systems. Table 6: Plug Accessories Connection X1 (supply) Mating Plug Terminal strip, pluggable, 4-pin, RM5.08mm Type: Screw terminal Type: socket Design: angled Mating direction toward conductor axis RoHS-compliant Version 2.0 (05/2015) 19

20 X2 (motor) M8 (pre-assembled on motor) Optional: Terminal strip, pluggable, 5-pin, RM3.81mm Type: Screw terminal Type: socket Design: angled Mating direction toward conductor axis RoHS-compliant X3 (inputs/outputs) Terminal strip, pluggable, 10-pin, RM3.81mm Type: Screw terminal Type: socket Design: angled Mating direction toward conductor axis RoHS-compliant 6.4 Information regarding safe EMC-compliant installation General Information on EMC The interference radiation and interference immunity of a drive unit always depends on the overall design of the drive, which consists of the following components: Voltage supply Motor control Motor Electromechanics Type and design of wiring Overlaid control system EMC-compliant cabling Signaling lines must be spaced as far apart as possible from the power cables. They should not be laid in parallel. If junctions are unavoidable, then they must be made vertically (e.g. at a 90 angle) to the extent possible. Version 2.0 (05/2015) 20

21 For safety reasons, it is essential that all PE ground wires and earth conductors be connected before start-up. It is essential that the regulations in EN for protective grounding be observed at the time of installation! Version 2.0 (05/2015) 21

22 7 Functions The motor controller is delivered pre-parametrized. Subsequent adaption of the parameters is not necessary. To ensure this, it is necessary to coordinate details and define all software functionality prior to shipment. 7.1 Overview Modes: Table 7: Overview Modes Mode Designation Description Analog value Analog Speed setpoint via analog input 0, direction of rotation via digital inputs Fixed speed ConstSpeed Speed setpoint via permanently set software parameters, direction of rotation via digital inputs Digital SSP (speed setpoint preselection) DigSpeed Speed setpoint selection from preset speed levels via digital inputs, direction of rotation via digital inputs Serial RS232 Serial Speed setpoint and direction of rotation via PC program Controller release A HIGH signal of the controller release is necessary for the operation of a motor or for the activation in all modes. The motor will not operate and is thus free of torque with a LOW level. Table 8: Controller release Level Action 0 Controller locked / motor free of torque 1 Controller released / motor mode If the controller release is set to 0V during operation, the motor will run down to a standstill and is free of torque. Version 2.0 (05/2015) 22

23 7.1.2 Direction of rotation In the Analog, ConstSpeed, and DigSpeed modes, both inputs DI3 and DI4 act as a rotational direction preset (see table). Table 9: Direction of rotation Level R Level L Action 0 0 Brakes / motor in holding torque Motor clockwise rotation Motor clockwise rotation 0 1 Motor counterclockwise rotation Motor changes direction from clockwise rotation to counterclockwise rotation 7.2 Analog mode Circuit diagram through speed specification via an analog potentiometer or via analog signal from a higher-level SPS. Version 2.0 (05/2015) 23

24 power supply ~ = 24VDC GND 24VDC_MCPxx X GND_MCPxx motor-controller MRAxx GND DO1 DO0 DI5 DI4 DI3 GND AI0 / DI0 DI1 DI2 X X ge/gn U V W R 0-10V PLC PE M motor roller MRA50 star brake resistor error output controller enable clockwise Start/ Stopp counter clockwise analog-input speed [0 10VDC GND Diagram 2: Pin assignment analog setpoint setting 3 different motor modes are achieved by graduating the analog signal level: Motor free of torque, Holding torque, and Speed mode The maximum speed / nominal speed (at 10V) is set as a parameter. Table 10: Voltage level analog input Motor mode Analog level Description Motor free of torque 0V 0.5V Motor free of torque Holding torque 0.5V 2.5V Holding torque, holding the position on the actual position (= position to current position) Speed mode 2.5V 10V Speed mode from 0 RPMs to nominal speed (analog value dissolved linearly) Version 2.0 (05/2015) 24

25 Both threshold values of the individual levels (torqueless holding torque and holding torque speed range) can be adjusted via parameters. Default settings are specified in the table. Motor operation (controller release) and direction of rotation occur dependent upon the description (see chapter or 0) If the motor is intended to be operated without torque depending on the analog level, it will be free of torque even if both rotation direction signals in the lower voltage range of the analog input signal are not applied. 7.3 ConstSpeed mode In the fixed speed mode, the target speed is set by means of a permanently set software parameter. Motor operation (controller release) and direction of rotation occur dependent upon the description (see chapter or 0) Circuit diagram through speed setting via permanently set speed Version 2.0 (05/2015) 25

26 Diagram 3: Connection example ConstSpeed mode 7.4 DigSpeed mode Circuit diagram through speed setting via digital inputs Version 2.0 (05/2015) 26

27 power supply ~ = 24VDC GND X motor-controller MCPxx GND DO1 DO0 DI5 DI4 DI3 GND AI0 / DI0 DI1 DI2 X X ge/gn PE U V W M motor roller star brake chopper GND brake chopper output error output controller enable clockwise counter clockwise analog setpoint GND speed setpoint Bit0 Speed setpoint Bit1 speed setpoint Bit2 Diagram 4: Connection example DigSpeed mode In the case of the speed selection, a preset target speed is selected dependent upon the signals of the 3 digital inputs (DI0, DI1, and DI2). The individual speed levels are preconfigured via parameters. The parameters are graduated in specifically defined steps from the set nominal speed Nn. Motor operation (controller release) and direction of rotation occur dependent upon the description (see chapter or 0) Version 2.0 (05/2015) 27

28 Table 11: Speed levels DigSpeed DI0 DI1 DI2 Target Speed % of Nn % of Nn % of Nn % of Nn % of Nn % of Nn % of Nn % of Nn 7.5 Stall timing If the motor becomes obstructed in the case of a pending speed setpoint, the stall timing device will be automatically activated. In the process, the motor will be started in 3-second cycle for respectively 1 second (active acceleration attempt). If the obstruction is still present after 10 start attempts, a malfunction signal will be activated and the motorized roller will attempt respectively one restart in a 60-second cycle to eliminate the obstruction. The motorized roller may be operated in 60-second mode continuously without damaging the motor. 7.6 Operational parameters: Table 12: Operational parameters Operational parameters Current limitation motor holding torque Current limitation motor with Description Maximum permissible motor current at speed zero Maximum permissible motor current in speed mode speed mode / acceleration Overcurrent shutdown Current limitation Active Braking Braking chopper threshold Adjustable limit value, from which an overcurrent error is issued and shut off. Maximum permissible current with counter-current braking Adjustable voltage value for switching through braking chopper Version 2.0 (05/2015) 28

29 Commutation Inverting digital inputs Threshold torqueless holding torque Threshold torqueless holding torque Scaling maximum speed Acceleration ramp Switching between sinusoidal and trapezoidal commutation Switching high/low active Example inverting start/stop signal. The motor will start at 0V in low active. At 24VDC in high active. The threshold of the analog value between the transition of torqueless to holding torque (standstill torque) in the ADC Value or Digital Inputs mode is adjustable The threshold of the analog value between the transition of holding torque (standstill torque) to speed in the ADC Value mode is adjustable. Maximum speed at maximum setpoint. With ADC Value =10V or Digital Inputs = all inputs HIGH. Input of the time, in which the speed achieves the maximum value. Brake ramp Input of the time, in which the speed achieves the value 0. Control parameter PID controller speed controller Control parameters P controller The PID values are coordinated to the MR50A. The P value is coordinated on the MR50A. Speed regulator in hold mode 7.7 LED / error code: A green LED is available for the fault diagnosis. To read the flash code of the LED, the housing cover of the electronics must be removed. The housing cover can be removed without a tool. The LED for fault diagnosis is located in the center of the electronics. In fault-free state, the green LED flashing in a short cycle. In case of failure, the clock alternates between short and long. The following flash frequencies mean following error condition. Table 13: LED-error code code state of error short long 1x short / 1x long 2x short / 1x long No Error Overvoltage Undervoltage Overcurrent Version 2.0 (05/2015) 29

30 3x short / 1x long 4x short / 1x long 5x short / 1x long 6x short / 1x long 7x short / 1x long 8x short / 1x long 9x short / 1x long 10x short / 1x long Overtemperature Driver Kommunikation to DRV8301 failure Motor startup error Not specified error I²t Overload The Position couldn t be reached The N/S couldn t be detected Direction of Motor <> Direction of output If the fault is corrected, the error by once clocking the controller enable can be reset (power off / on). Version 2.0 (05/2015) 30

31 8 Installation Declaration Manufacturer: Company name: MTA Systems GmbH Street: Pem-Straße 2 City: 4310 Mauthausen Country: Austria Authorized person for the compilation of technical documents: Pankraz Dietmar, MTA Systems GmbH: Street: Pem-Straße 2 City: 4310 Mauthausen Country: Austria Product Description Motor controller MCP24 The manufacturer declares that the above-named product is an incomplete machine within the meaning of Machinery Directive 2006/42/EC. The above-named product is only intended for installation in a machine or incomplete machine. For this reason, the product does not yet comply with all of the requirements of the Machinery Directive. The special technical documents in accordance with Appendix VII Part B were created. The person authorized for compiling the technical documents can present the documents within a suitable period of time upon request. The incomplete machine may only be put into operation when it has been determined that the machine in which the incomplete machine is to be installed corresponds to the Machinery Directive. The above-named product meets the requirements of the directives and harmonized standards mentioned below: Applied EC Directives Machinery Directive 2006/42/EC EMC Directive 2004/108/EC -RoHS Applied harmonized standards: EN ISO 12100:2010 Safety of Machinery General Principles for the Design of Machinery and Risk Assessment and Risk Reduction Perg, 07/28/2014 Dietmar Pankraz Managing Director Version 2.0 (05/2015) 31

32 9 List of changes Table 14: List of changes Version Date Change / annotation V0.1 12/13/2014 Initial preparation V1.0 07/28/2014 Expansion of the digital inputs and by the DigSpeed mode V2.0 05/15/2015 General revision V Error codes Version 2.0 (05/2015) 32

33 10 Imprint MTA-Systems GmbH Pem-Straße 2 A-4310 Mauthausen office@mta-sys.com Phone: Fax: Web: Commercial register number: FN y Commercial register court: Regional Court in Linz Business ID: ATU Version 2.0 (05/2015) 33