Lexium Integrated Drives

Transcription

1 Lexium Integrated Drives Catalogue June 8

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3 Contents Product offer b Presentation Page ILp for CANopen, PROFIBUS DP, RS85 b Presentation Page 6 b Schemes Page 7 b Functions Page b ILA with AC synchronous servo motor page 6 b ILE with brushless DC motor page b ILS with -phase stepper motor page ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink b Presentation Page 8 b Schemes Page 9 b Functions Page b ILA with AC synchronous servo motor page 8 b ILE with brushless DC motor page 5 b ILS with -phase stepper motor page 6 ILS with I/O interface for motion sequence b Presentation Page 7 b Schemes Page 7 b Functions Page b ILS with -phase stepper motor page 8 ILS with pulse/direction interface b Presentation Page 88 7 b Schemes Page 89 b Functions Page 9 b ILS with -phase stepper motor page 98 Accessories b Commissioning Software Lexium CT Page 6 b General installation accessories page 7 b Accessories for with printed circuit board connectors page b Accessories for with industrial connectors.... Page b GBX planetary gearbox Page Annex b Conversion tables Page 7 Contents-EN_Ver..indd version:.

4 Product offer Presentation Connections Electronics Pulse train (P/D, A/B, CW/CCW) Motor Product offer consist of a motor and control electronics. They are controlled via a fieldbus, pulse/direction or I/O interface ("motion sequence" operating mode). The are used as decentralised drives in machine building and automation technology. Together with a motion controller such as Lexium Motion Controller or a PLC, the systems allow for simple and economic implementation of complex automation task. Ready-to-be-used function blocks facilitate motion programming with a Schneider Electric motion controller. The from Schneider Electric excel with the following properties: Compactness Motor and electronics form a single, compact and small-footprint unit. No space at all is required for the control electronics in the control cabinet and only very little space in the machine. Simplicity Integration of motor and electronics reduces the installation costs and simplifies the EMC concept. The user-friendly PC commissioning software allows for rapid commissioning. Openness The with fieldbus interface are available in two versions: b for communication via CANopen, PROFIBUS DP, RS85 b for communication via DeviceNet, EtherCAT, Ethernet Powerlink, Modbus TCP/IP ILS with stepper motor with stepper motors are available with a pulse/direction interface or an I/O interface for motion sequence. This open communication concept allows for integration into existing system environments. CANopen Lexium Motion Controller Flexibility The can be equipped with various motor types: AC synchronous servo motor, brushless DC motor or stepper motor. Each motor type offers specific advantages so that the can be used in a large variety of different applications. ILA with servo motor ILE with brushless DC motor ILS with stepper motor Safety The integrated "Safe Torque Off" ("Power Removal") safety function enables a stop of category or as per IEC/EN 6- without external power contactors. This reduces the system costs and response times. The drive system fulfils the requirements of IEC 658 SIL as well as of ISO 89- perfomance level "d" (PL "d") and IEC/EN ("STO"). ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page 88 Page 6 version:. 6-EN_Ver..indd

5 Product offer (continued) Presentation Product offer ILAp ILEp ILSpp57 ILSpp85 ILp with fieldbus interface for CANopen, PROFIBUS DP, RS85 ILA with AC synchronous servo motor Torque range Range of speed of rotation ILAp Nm; peak torque: Nm (without gearing) Without gearing: up to 75 rpm Positioning resolution. (singleturn encoder, optional: multiturn encoder with positioning range of 96 revolutions) Interfaces Fieldbus interface: CANopen, PROFIBUS DP, RS85 V signal interface with freely programmable I/O signals; interface for "Safe Torque Off" safety function ("Power Removal") Operating modes Homing, jog, profile position, profile velocity, electronic gear () Configuration Via "Lexium CT" commissioning software or fieldbus ILE with brushless DC motor ILEp Torque range Without gearing:.7 Nm; with spur wheel gear:.... Nm Range of speed of rotation Without gearing: up to 8 rpm Detent torque.8 Nm (without gearing);... 8 Nm (with spur wheel gear) Positioning resolution (with spur wheel gear) Interfaces Fieldbus interface: CANopen, PROFIBUS DP, RS85 V signal interface with freely programmable I/O signals; interface for "Safe Torque Off" safety function ("Power Removal") Operating modes Homing, jog, profile position, profile velocity Configuration Via "Lexium CT" commissioning software or fieldbus ILS with -phase stepper motor ILSp57 ILSp85 Torque range Without gearing: Nm Without gearing:... 6 Nm Range of speed of rotation Without gearing: up to rpm Without gearing: up to rpm Positioning resolution.8 Interfaces Fieldbus interface: CANopen, PROFIBUS DP, RS85 V signal interface with freely programmable I/O signals; interface for "Safe Torque Off" safety function ("Power Removal") Operating modes Homing, jog, profile position, profile velocity Configuration Via "Lexium CT" commissioning software or fieldbus () "Electronic gear operating mode not with ILA with multiturn encoder Supply voltage ILp can be operated with a supply voltage of Vc or 6 Vc. ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page 88 Page 6 6-EN_Ver..indd version:.

6 Product offer (continued) Presentation ILp with fieldbus interface for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink () ILA with AC synchronous servo motor Torque range Range of speed of rotation ILAp Nm; peak torque Nm Without gearing: up to 7 rpm Positioning resolution. (singleturn encoder, optional: multiturn encoder with positioning range of 96 revolutions) Interfaces Fieldbus interface: DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink V signal interface with freely programmable I/O signals; interface for "Safe Torque Off" safety function ("Power Removal") Operating modes Profile velocity, jog, profile position, homing, electronic gear () Configuration Via "Lexium CT" commissioning software or fieldbus ILE with brushless DC motor ILEp Torque range Without gearing: Nm; with spur wheel gear:.... Nm; with worm gear: Nm Range of speed of rotation Without gearing: up to 6 rpm; with spur wheel gear: up to 8 rpm; with worm gear: up to rpm Detent torque Without gearing: Nm; with spur wheel gear: Nm; with worm gear: Nm Positioning resolution Without gearing: ; with spur wheel gear: ; with worm gear: Interfaces Fieldbus interface: DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink V signal interface with freely programmable I/O signals; interface for "Safe Torque Off" safety function ("Power Removal") Operating modes Profile velocity, jog, profile position, homing Configuration Via "Lexium CT" commissioning software or fieldbus ILS with -phase stepper motor ILSp57 ILSp85 Torque range Without gearing: Nm Without gearing:... 6 Nm Range of speed of rotation Without gearing: up to rpm Without gearing: up to rpm Positioning resolution.8 Interfaces Fieldbus interface: DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink V signal interface with freely programmable I/O signals; interface for "Safe Torque Off" safety function ("Power Removal") Operating modes Profile velocity, jog, profile position, homing Configuration Via "Lexium CT" commissioning software or fieldbus () "Electronic Gear operating mode not with ILA with multiturn encoder Supply voltage ILp can be operated with a supply voltage of Vc or 8 Vc. ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page 88 Page 6 version:. 6-EN_Ver..indd

7 Product offer (continued) Presentation ILp with I/O interface for motion sequence ILS with -phase stepper motor ILSM57 ILSM85 Torque range Without gearing: Nm Without gearing:... 6 Nm Range of speed of rotation Without gearing: up to rpm Without gearing: up to rpm Positioning resolution.6 Interfaces Operating modes Configuration Multifunction interface for motion sequence; RS85 commissioning interface; V signal interface; interface for "Safe Torque Off" safety function ("Power Removal") Motion sequence; jog, profile position, homing With "Lexium CT" commissioning software ILp with pulse/direction interface ILS with -phase stepper motor ILSp57 ILSp85 Torque range Without gearing: Nm Without gearing:... 6 Nm Range of speed of rotation Without gearing: up to rpm Without gearing: up to rpm Positioning resolution.6 Interfaces Multifunctional interface for pulse/direction or AB signals (encoder); service interface; V signal interface; interface for "Safe Torque Off" safety function ("Power Removal") Operating modes Current reduction, blocking detection, I/O signal assignment Configuration Via parameter switch: motor phase current, number of steps, phase current reduction, blocking detection, RS85 terminating resistor, I/O signal assignment Supply voltage ILp can be operated with a supply voltage of Vc or 6 Vc. ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page 88 Page 6 6-EN_Ver..indd version:. 5

8 Presentation ILp for CANopen, PROFIBUS DP, RS85 Presentation The comprise motor, control electronics and a fieldbus interface: b b b CANopen DS (ILpF) PROFIBUS DP (ILpB) RS85 (ILpR) ILA with AC synchronous servo motor The ILp product group includes: b ILA with AC synchronous servo motor b ILE with brushless DC motor b ILS with -phase stepper motor ILA the Integrated Drive System for dynamic processes ILA has an AC synchronous servo motor. This motor is characterised by high dynamics with the possibility of short-term overcurrent during acceleration. ILE the Integrated Drive System for automatic format adjustment ILE is fitted with a brushless DC motor. The brushless DC motors have high detent torque at zero current. This makes a holding brake unnecessary in most applications. In combination with the electronics, ILE has the characteristics of an absolute encoder. ILS the for short-distance positioning With its -phase stepper motor, ILS offers high torque at low speeds of rotation. ILS are ideally suited as drives in velocity mode with excellent constant velocity characteristics and also or for high-resolution positioning. Commissioning the stepper motor drives is simple because it is not necessary to adjust the control loop. Special features ILA with AC synchronous servo motor b High dynamics and high peak torque b High-resolution singleturn encoder with a resolution of 68 increments/ revolution (. ) b Optionally with multiturn encoder with a resolution of 68 increments/revolution (. ) with a positioning range of 96 revolutions b Optionally with integrated holding brake b Planetary gear available as accessory ILE with brushless DC motor b High detent torque b Quasi-absolute encoder, therefore, no homing required after switching off and on b Optionally available with spur wheel gear or worm gear; planetary gear available as accessory ILS with -phase stepper motor b High continuous stall torque b Good constant velocity characteristics b High positioning resolution (.8 ) b Optionally with holding brake ( ILSp85 only) b Planetary gear available as accessory Electronics The electronic system comprises control electronics and power amplifier. They have a common power supply. The can be parameterised and controlled via the fieldbus interface. Four different V signals are also available. They can be used as input or output. Supply voltage ILp can be operated with a voltage range of V to 6 V. Schemes: Page 7 Functions: Page ILA with servo motor: Page 6 ILE with brushless DC motor: Page ILS with stepper motor: Page 6 version:. 6-EN_Ver..indd

9 Schemes ILp for CANopen, PROFIBUS DP, RS85 Schemes ILp have the following connections: b Supply voltage... 6 Vc b Fieldbus interface: CANopen DS, PROFIBUS DP or RS85 b V signal interface for four inputs/outputs b Signal interface for "Safe Torque Off" safety function ("Power Removal") Fieldbus interface The following fieldbuses can be connected to the fieldbus interface depending on the device version: b b CANopen (DS protocol) PROFIBUS DP-V (data format as per Profidrive V. PPO Type ) RS85 (manufacturer-specific protocol) b The fieldbus interface is used to parameterise and control the Integrated Drive System. In addition, the Integrated Drive System can be commissioned with a PC connected to the fieldbus interface and the PC commissioning software. This requires a compatible fieldbus converter, such as USB-CAN, USB-RS85, RS-RS85 or USB-Profibus (see accessories). V signal interface Four V signals are available, which can be used either as an input or an output. The V signals are available to the master controller via the fieldbus. They can also be used for predefined functions, such as for connection of limit switches and reference switches. The V power supply to the outputs is internal via the supply voltage of the Integrated Drive System. Signal interface for "Safe Torque Off" safety function ("Power Removal") The integrated "Safe Torque Off" safety function ("Power Removal") enables a stop of category or as per IEC/EN 6- without external power contactors. The supply voltage does not have to be interrupted. This reduces the system costs and response times. The "Safe Torque Off" safety function ("Power Removal") is activated via two redundant V input signals (low active). Presentation: Page 6 Functions: Page ILA with servo motor: Page 6 ILE with brushless DC motor: Page ILS with stepper motor: Page 6-EN_Ver..indd version:. 7

10 Schemes (continued) ILp for CANopen, PROFIBUS DP, RS85 Connection technologies Printed circuit board connector Printed circuit board plug connectors are preferably used for cabling series machines with cable harnesses. b Fieldbus and I/O signal connection with connector "Molex Micro Fit" Power supply connection with "AMP Positive Lock" crimp contacts b Two cable entries are required for cabling the (see accessories) CN VDC VDC CN5 Integrated drive system with printed circuit board connectors 5 CN CN CN CN Printed circuit board connector, overview of connections Connection CN CN CN CN CN5 CN6 Assignment Supply voltage c V For all ILp: fieldbus interface for PROFIBUS DP For ILAp57 only: interface for PROFIBUS DP and "Electronic Gear" operating mode (reference signal) Fieldbus interface for CANopen DS or RS85 V signal interface Interface for "Safe Torque Off" safety function ("Power Removal") Jumper for disabling "Safe Torque Off" safety function ("Power Removal") Industrial connectors (optional) with industrial connectors are preferably used in special machines and small series. The device version with industrial connectors has a connector housing cover with two M circular connectors for the fieldbus connection and a Hirschmann STASEI connector for connection of the power supply. Integrated drive system with industrial connectors VDC + OUT IN Industrial connector, overview of connections Presentation: Page 6 Functions: Page ILA with servo motor: Page 6 ILE with brushless DC motor: Page ILS with stepper motor: Page 8 version:. 6-EN_Ver..indd

11 Schemes (continued) ILp for CANopen, PROFIBUS DP, RS85 I/O signal inserts One or two I/O signal inserts with industrial connectors can be ordered for connection of the I/O signals (see accessories). The V power supply to the outputs is internal. Different I/O signal inserts are available for this purpose. I/O signal insert without "Safe Torque Off" safety function ("Power Removal") IO IO IO Inserts for three I/O signals I/O signal inserts with "Safe Torque Off" safety function ("Power Removal") IO IO STO_A STO_B Insert for two I/O signals and STO signals for safety function STO_B STO_A STO_A STO _B IO IO IO IO Inserts for four I/O signals and STO signals for safety function Connection example I/O signal ~ Vc + - Vc Vc ILp CN LIMN UBC + CN. - LIMP CN. + CN. - REF CN.5 STO_A STO_B CN5. CN5. CN. Connection example with four I/O signals Presentation: Page 6 Functions: Page ILA with servo motor: Page 6 ILE with brushless DC motor: Page ILS with stepper motor: Page 6-EN_Ver..indd version:. 9

12 Functions ILp for CANopen, PROFIBUS DP, RS85 Configuration via parameter switches The following settings can be made at the Integrated Drive System via parameter switches: b v v b v v v v PROFIBUS DP Setting fieldbus address Activating terminating resistor CANopen DS and RS85 Setting fieldbus address Setting baud rate Activating terminating resistor Setting pulse input for "electronic gear" operating mode (pulse/direction or A/B signals), only with ILAp57 with singleturn encoder Operating modes Overview The following operating modes can be set via the fieldbus: b b b b b Electronic gear (only ILAp57 with singleturn encoder) Profile velocity Jog Profile position Homing Electronic gear (only ILAp57 with singleturn encoder) In "Electronic Gear" operating mode with singleturn encoder, the reference signals are supplied from an encoder (A/B signals) or a controller (pulse/direction signals) and a new position reference value is calculated using an adjustable gear ratio. Reference value setting The reference values are supplied as pulse/direction or A/B encoder signals (adjustable via parameter switch). In the case of ILAp57 with PROFIBUS DP, only pulse/direction signals can be used as reference values. Application example Synchronisation of motion sequences, e.g. cutting material on a conveyor belt. NC: Inc Z N = Z N = Z N = st drive system: Inc nd drive system: Inc rd drive system: 6 Inc "Electronic Gear" operating mode Presentation: Page 6 Schemes: Page 7 ILA with servo motor: Page 6 ILE with brushless DC motor: Page ILS with stepper motor: Page version:. 6-EN_Ver..indd

13 Functions (continued) ILp for CANopen, PROFIBUS DP, RS85 Profile velocity In operating mode "Profile velocity", a reference speed for the motor is set and a movement without a target position is started. This speed is maintained until a different reference speed is specified or the operating mode is changed. Reference value setting The reference value is set via fieldbus or PC. Application example Application of paint in CD manufacture v v v v t t t t t 5 t 6 t 7 Start Profile velocity t 8 t 9 Stop t t, t, t 5 t, t, t 6, t 8 t 7, t 9 = acceleration = constant movement = braking Jog mode The motor moves by one distance unit or at constant speed in continuous operation. The value of the distance unit, the speed levels and the change-over time in continuous operation can be adjusted manually. Reference value setting The reference value is set via fieldbus or PC. Application example Setting up a machine during commissioning Parameter startman, Bit Parameter startman, Bit n_fastman Motor M Stop n_slowman Parameter stateman, Bit Jog, slow and fast step_man t < time_man time_man Continuous operation Presentation: Page 6 Schemes: Page 7 ILA with servo motor: Page 6 ILE with brushless DC motor: Page ILS with stepper motor: Page 6-EN_Ver..indd version:.

14 Functions (continued) ILp for CANopen, PROFIBUS DP, RS85 Profile position In the operating mode "Profile Position", the motor is positioned from a point A to a point B with a positioning command. Settings The positioning path can be specified in two ways: b Absolute positioning, reference point is the zero point of the axis b Relative positioning, reference point is the current position of the motor Reference value setting The reference value is set via fieldbus or PC. Application example Pick-and-place with a linear robot 5 Inc. Inc 5 Inc 7 Inc Operating mode "Profile Position", absolute and relative Homing There are two types of the "Homing" operating mode: b Reference movement Specifying the dimension reference by approach to a limit or reference switch b Position setting Specifying the position reference relative to the current motor position Note: In the case of ILA with multiturn encoder, a valid actual motor position is available immediately after starting. Therefore, homing to external limit switches is not required. Reference movement During reference movement, the motor moves to a defined position on the axis. The position is defined by a mechanical switch: b LIMP, LIMN limit switches b REF reference switch Types of reference movements There are six standard reference movements: b Movement to negative limit switch LIMN b Movement to positive limit switch LIMP b Movement to REF reference switch with first movement counterclockwise b Movement to REF reference switch with first movement clockwise b Reference movement to index pulse with clockwise or counterclockwise rotation (not with ILE) b Reference movement to block = mechanical stop (ILE only) Presentation: Page 6 Schemes: Page 7 ILA with servo motor: Page 6 ILE with brushless DC motor: Page ILS with stepper motor: Page version:. 6-EN_Ver..indd

15 Functions (continued) ILp for CANopen, PROFIBUS DP, RS85 Example : reference movement to limit switch LIMN LIMP M R- p_dishome p_outhome v_home v_outhome Operating mode "Homing", reference movement to limit switch Movement to limit switch at search speed Movement to switching edge at clearance speed Movement to distance from switching edge at clearance speed Example : position setting Position setting can be used to execute a continuous motor movement without overtravelling the positioning limits. M M M Inc "" "" Inc Positioning by increments with position setting The motor is positioned Inc. The current motor position is set to position value by position setting to and the new zero point is defined at the same time. The new target position is Inc after triggering a new travel command by Inc. This procedure prevents overtravel of the absolute position limits during positioning, because the zero point is continuously made to follow. Reference value setting The reference value is set via fieldbus or PC. Application example Setting a reference before switching to "Profile Position" mode Additional operating modes Additional operating modes can be activated via fieldbus or PC: b Reversing direction of rotation of motor b Programming inputs/outputs. b Setting motion profile via profile generator b Triggering "Quick Stop" function b Fast position capture via signal input (Capture) Presentation: Page 6 Schemes: Page 7 ILA with servo motor: Page 6 ILE with brushless DC motor: Page ILS with stepper motor: Page 6-EN_Ver..indd version:.

16 Functions (continued) ILp for CANopen, PROFIBUS DP, RS85 "Safe Torque Off" ("Power Removal") safety function The Lexium Integrated Drive integrates the "Safe Torque Off" ("Power Removal") safety function which prevents unintended operation of the motor. The motor no longer produces any torque if the safety function is active. This safety function: b Complies with the machine safety standard ISO 89-, perfomance level d (PL "d"). b Complies with the standard for functional safety IEC/EN 658, SIL capability (safety control-signalling applied to processes and systems). The SIL (Safety Integrity Level) capability depends on the connection diagram for the servo drive and for the safety function. Failure to observe the setup recommendations could inhibit the SIL capability of the "Safe Torque Off" safety function b Complies with product standard IEC/EN Adjustable speed electrical power drive systems Part 5-: Safety requirements Functional for both stop functions: v Safe Torque Off ("STO") corresponds to Category stop according to IEC/ EN 6. Standstill by immediate power shutdown to the machine drive elements (i.e. an uncontrolled stop). v Safe Stop ("SS") corresponds to Category stop according to IEC/EN 6-. A controlled stop in which the machine drive elements are retained to effect the standstill. The final shutdown is ensured by an external Emergency Stop module with safe time delay, e.g. Preventa XPS-AV. The "Safe Torque Off" ("Power Removal") safety function has a redundant electronic architecture (). This PL "d" and SIL safety function is certified as conforming to these standards by the TÜV certification body in the context of a voluntary certification. () Redundant: Consists of mitigating the effects of the failure of one component by means of the correct operation of another, assuming that faults do not occur simultaneously on both. Presentation: Page 6 Schemes: Page 7 ILA with servo motor: Page 6 ILE with brushless DC motor: Page ILS with stepper motor: Page version:. 6-EN_Ver..indd

17 Functions (continued) ILp for CANopen, PROFIBUS DP, RS85 Examples of applications of the safety function Emergency Stop V V ENABLE PLC/CNC ILp FAULT RESET STO_A STO _B Example of Category Stop V V V V V Preventa XPS-AV ENABLE PLC/CNC ILp Y+ FAULT RESET Emergency Stop Y6 Y7 Y8 delayed not delayed S S S S S S S S A A STO_A STO_B Example of Category Stop Presentation: Page 6 Schemes: Page 7 ILA with servo motor: Page 6 ILE with brushless DC motor: Page ILS with stepper motor: Page 6-EN_Ver..indd version:. 5

18 Description ILp for CANopen, PROFIBUS DP, RS85 ILA with AC synchronous servo motor Description ILA comprise control electronics with a fieldbus interface for CANopen DS, PROFIBUS DP or RS85 and an AC synchronous servo motor. ILA is optionally available with printed circuit board connectors or industrial connectors. A multiturn encoder is optionally available for ILA. A holding brake is optionally available for the ILA with a singleturn encoder Synchronous AC servo motor Holding brake (optional) Singleturn or multiturn encoder (optional) Electronics housing 5 Insert cable entry (accessory) 6 I/O insert with industrial connectors (accessory) 7 Settings via parameter switches 8 Cover for electronics housing 9 Cover for with option "PCB connector" Cover for supply voltage c V and fieldbus connection for with option "industrial connector" Electrical interfaces Characteristics: Page 7 References: Page Dimensions: Page Page 6 6 version:. 6-EN_Ver..indd

19 Characteristics ILp for CANopen, PROFIBUS DP, RS85 ILA with AC synchronous servo motor Certifications Conformity to standards e marking Product certifications TÜV certification EMC immunity Conducted and radiated EMC emissions have been developed to comply with the stringent international standards and with the recommendations for adjustable speed power drive systems, specifically: IEC/EN 68- (noise immunity to conducted and radiated high-frequency signals) and IEC/EN 578 (resistance of devices to vibration). EN 68-:, second environment EN 68-:-; IEC 68-, Ed. b Power supplies without external mains filter: v C up to m supply cable length b Power supplies with external mains filter: v C up to m supply cable length v C up to 5 m supply cable length The are CE marked in accordance with the European Machinery Directive (98/7/EEC) and the European EMC Directive (/8/EEC). UL (USA), cul (Canada) are TÜV-certified for device safety and medical devices. The certification includes: b Functional safety of electrical/electronic/programmable safety-related electronic systems (IEC 658; SIL ) b Safety of machinery functional safety of safety-related electrical and electronic and programmable electronic control systems (IEC 66:5; SILcl) b Safety of machinery safety-related parts of control systems Part : General principles for design (ISO 89-:6; PL "d" (Category )) Ambient conditions Ambient temperature () C... 65; power reduction by %/ C at Max. permissible temperature of the power amplifier C 5 Max. permissible temperature of the motor () C Transport and storage temperature C Installation height without power reduction m < m above mean sea level Relative humidity % (not condensing) Vibration load during Number of cycles operation as per Acceleration amplitude: m/s² IEC/EN Frequency range Hz... 5 Continuous shocks as per Number of shocks IEC/EN Peak acceleration m/s² 5 Shaft wobble and perpendicularity According to EN 57 (IEC 67-) Degree of protection as per DIN EN 6-5 Total except shaft bushing IP5, shaft bushing IP Electrical data Supply voltage (CN) Corresponds to PELV according to DIN 9, not protected against reverse polarity Supply voltage range (absolute limit values) c V 8... Nominal supply voltage c V... 6 Ripple at nominal voltage V PP y.6 ILAp57 Max. continuous current consumption b Winding type T A ILAp57 b Winding type P A 5 7 Peak current consumption b Winding type T A 9 b Winding type P A Inrush current Inrush current time-dependent by current incline function and depending on device capacitance C = 5 µf and resistance of connectivity External fuse A Fieldbus interfaces (CN and CN) CANopen Signal inputs/outputs According to ISO 898 standard, no galvanic isolation Transmission rate kbaud 5 / / 5 / 5 / 5 / 8 / Transmission protocol CANopen as per DS PROFIBUS DP Signal inputs/outputs According to RS85, galvanic isolation, -wire Transmission rate kbaud 9.6 / 9. / 5.5 / 9.75 / 87.5 / 5 / 5 / / 6 / Transmission protocol PROFIBUS DP-V (data format as per Profidrive V. PPO Type ) RS85 Signal inputs/outputs According to RS85, no galvanic isolation, -wire Transmission rate kbaud 9.6 / 9. / 8. Transmission protocol Manufacturer-specific () Limit values with flanged motor mounted on a steel plate x x mm () Measured at the surface Description: Page 6 References: Page Dimensions: Page Page 6 6-EN_Ver..indd version:. 7

20 Characteristics (continued) ILp for CANopen, PROFIBUS DP, RS85 ILA with AC synchronous servo motor Electrical data V signal interface (CN) signals, can each be used as input or output V signal inputs Galvanically connected to VDC, protected against reverse polarity Logic (U low ) V Logic (U high ) V Input current (typical at V) ma Debounce time IO and IO ms. IO and IO ms. V signal outputs Switching to plus, short-circuit protected, suitable for inductive load ( mh / ma) Supply voltage range c V... 5 Max. switching current (total) ma Max. switching current per output ma The internal power supply unit is protected against: b Short circuit of the output voltage b Overload of output voltage (limited to 6 W output power) Interface for safety function No galvanic isolation; corresponds to RS85 standard "Safe Torque Off" ("Power Removal") (CN5) Logic (U low ) V Logic (U high ) V Input current STO_A ma y (typical at V) STO_B ma y Debounce time ms Response time (until shutdown of power amplifier) ms < 5 Max. time offset until detection of signal differences between STO_A and STO_B S < Safety function "Safe Torque Off" ("Power Removal") Protection of machine Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard ISO 89-, performance level d of the system process (PL "d"), and standard IEC/EN Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard IEC/EN 658 level SIL and standard IEC/EN Description: Page 6 References: Page Dimensions: Page Page 6 8 version:. 6-EN_Ver..indd

21 Characteristics (continued) ILp for CANopen, PROFIBUS DP, RS85 ILA with AC synchronous servo motor Mechanical data ILAp57 ILAp57 Winding type T P T P Nominal supply voltage c V Nominal speed of rotation rpm Max. torque () M max Nm Continuous torque () M Nm Positioning resolution per Inc revolution Accuracy of positioning ±.5 ±.5 sensor Rotor inertia kg cm..8 Mass kg..7 Shaft load Max. radial force () N 89 7 Max. axial tensile force N Max. axial force pressure N Nominal bearing service life () h Holding brake (optional) (5) Holding torque Nm. Electrical pull-in power W Brake release time ms Brake application time ms Moment of inertia kg cm.7 Multiturn encoder (optional) (5) Measuring range absolute rpm 96 Positioning resolution per Inc. 68 revolution Accuracy of positioning ±.5 sensor () Max..5 s () At rpm; at rpm the continuous torque is reduced to 89% of the specified value () Point of application of radial force: mm distance to flange () Operating hours at a probability of failure of %; conditions for shaft load: speed rpm, % duty cycle at continuous torque, ambient temperature C (5) Holding brake and multiturn encoder cannot be used in combination. Torque characteristics ILAp57T (winding type T) ILAp57P (winding type P) Torque in Nm Torque in Nm,5,7 M max,, M,, Speed of rotation in rpm M max,5, M,, Speed of rotation in rpm ILAp57T (winding type T) ILAp57P (winding type P) Torque in Nm Torque in Nm,7 M max,5 M..,,, 6 8 Speed of rotation in rpm,8 M max,6,5.. M,,, 6 8 Speed of rotation in rpm. Max. torque at V Continuous torque. Max. torque at 6 V Description: Page 6 References: Page Dimensions: Page Page 6 6-EN_Ver..indd version:. 9

22 References ILp for CANopen, PROFIBUS DP, RS85 ILA with AC synchronous servo motor Order code Example: I L A B 5 7 P B A Motor type I L A B 5 7 P B A A = AC synchronous servo motor Supply voltage I L A B 5 7 P B A =... 6 V Communication interface I L A B 5 7 P B A B = PROFIBUS DP F = CANopen DS R = RS85 Flange size I L A B 5 7 P B A 57 = 57 mm Motor length I L A B 5 7 P B A = motor length = motor length Winding type I L A B 5 7 P B A P = medium speed of rotation, medium torque T = high speed of rotation, medium torque Connection technology I L A B 5 7 P B A B = printed circuit board connector C = industrial connector Measurement system I L A B 5 7 P B A = singleturn encoder = multiturn encoder () Holding brake A = no holding brake F = with holding brake () I L A B 5 7 P B A () Holding brake and multiturn encoder cannot be used in combination. Description: Page 6 Characteristics: Page 7 Dimensions: Page Page 6 version:. 6-EN_Ver..indd

23 Dimensions ILp for CANopen, PROFIBUS DP, RS85 ILA with AC synchronous servo motor Dimensions ILA without holding brake, dimensions in mm 7 9,5,6 Ø 5, 7, ±, 57, 9, Ø 9 j6 Ø 5( -,5 ) 7 5,5 7, ±, 5,8 5 57, L L (without multiturn encoder) L (with multiturn encoder) ILAp ILAp I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm 5 Centring hole DIN - DS M ILA with holding brake, dimensions in mm 7 7 9,5 5,5,6 Ø 5, 7, ±, 57, 9, Ø 9 j6 Ø 5( -,5 ) 7, ±, 57, L 5,8 5 L ILAp ILAp57 9. I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm 5 Centring hole DIN - DS M Description: Page 6 Characteristics: Page 7 References: Page Page 6 6-EN_Ver..indd version:.

24 Description ILp for CANopen, PROFIBUS DP, RS85 ILE with brushless DC motor Description ILE comprise control electronics with a fieldbus interface for CANopen DS, PROFIBUS DP or RS85 and a brushless DC motor. ILE is optionally available with spur wheel gear or worm gear and printed circuit board connectors or industrial connectors Brushless DC motor Electronics housing Insert cable entry (accessory) I/O insert with industrial connectors (accessory) Settings via parameter switches Cover for electronics housing Cover for with option "PCB connector" Cover for supply voltage c V and fieldbus connection for with option "industrial connector" Electrical interfaces Characteristics: Page References: Page 7 Dimensions: Page 8 Page 6 version:. 6-EN_Ver..indd

25 Characteristics ILp for CANopen, PROFIBUS DP, RS85 ILE with brushless DC motor Certifications Conformity to standards e marking Product certifications TÜV certification EMC immunity Conducted and radiated EMC emissions have been developed to comply with the stringent international standards and with the recommendations for adjustable speed power drive systems, specifically: IEC/EN 68- (noise immunity to conducted and radiated high-frequency signals) and IEC/EN 578 (resistance of devices to vibration). EN 68-:, second environment EN 68-:-; IEC 68-, Ed. b Power supplies without external mains filter: v C up to m supply cable length b Power supplies with external mains filter: v C up to m supply cable length v C up to 5 m supply cable length The are CE marked in accordance with the European Machinery Directive (98/7/EEC) and the European EMC Directive (/8/EEC). UL (USA), cul (Canada) are TÜV-certified for device safety and medical devices. The certification includes: b Functional safety of electrical/electronic/programmable safety-related electronic systems (IEC 658; SIL ) b Safety of machinery functional safety of safety-related electrical and electronic and programmable electronic control systems (IEC 66:5; SILcl) b Safety of machinery safety-related parts of control systems Part : General principles for design (ISO 89-:6; PL "d" (Category )) Ambient conditions Ambient temperature () C... 65; power reduction by %/ C at Max. permissible temperature of the power amplifier C 5 Max. permissible temperature of the motor () C Transport and storage temperature C Installation height without power reduction m < m above mean sea level Relative humidity % (not condensing) Vibration load during operation as per DIN EN Continuous shocks as per DIN EN Number of cycles Acceleration amplitude: m/s² Frequency range Hz... 5 Number of shocks Peak acceleration m/s² 5 Shaft wobble and perpendicularity According to EN 57 (IEC 67-) Degree of protection as per DIN EN 6-5 Total except shaft bushing IP5, shaft bushing IP Electrical data Supply voltage (CN) Corresponds to PELV according to DIN 9, not protected against reverse polarity Supply voltage range (absolute limit values) c V 8... Nominal supply voltage c V... 6 Ripple at nominal voltage V PP y.6 Max. continuous current consumption A 5,5 Peak current consumption A 7 Inrush current Inrush current time-dependent by current incline function and depending on device capacitance C = 5 µf and resistance of connectivity External fuse A Fieldbus interfaces (CN and CN) CANopen Signal inputs/outputs According to ISO 898 standard, no galvanic isolation Transmission rate kbaud 5 / / 5 / 5 / 5 / 8 / Transmission protocol CANopen as per DS PROFIBUS DP Signal inputs/outputs According to RS85, galvanic isolation, -wire Transmission rate kbaud 9.6 / 9. / 5.5 / 9.75 / 87.5 / 5 / 5 / / 6 / Transmission protocol PROFIBUS DP-V (data format as per Profidrive V. PPO Type ) RS85 Signal inputs/outputs According to RS85, no galvanic isolation, -wire Transmission rate kbaud 9.6 / 9. / 8. Transmission protocol Manufacturer-specific () Limit values with flanged motor mounted on a steel plate x x mm () Measured at the surface Description Page References: Page 7 Dimensions: Page 8 Page 6 6-EN_Ver..indd version:.

26 Characteristics (continued) ILp for CANopen, PROFIBUS DP, RS85 ILE with brushless DC motor Electrical data V signal interface (CN) signals, can each be used as input or output V signal inputs Galvanically connected to VDC, protected against reverse polarity Logic (U low ) V Logic (U high ) V Input current (typical at V) ma Debounce time IO and IO ms. IO and IO ms. V signal outputs Switching to plus, short-circuit protected, suitable for inductive load ( mh / ma) Supply voltage range c V... 5 Max. switching current (total) ma Max. switching current per output ma The internal power supply unit is protected against: b Short circuit of the output voltage b Overload of output voltage (limited to 6 W output power) Interface for safety function No galvanic isolation; corresponds to RS85 standard "Safe Torque Off" ("Power Removal") (CN5) Logic (U low ) V Logic (U high ) V Input current STO_A ma y (typical at V) STO_B ma y Debounce time ms Response time (until shutdown of power amplifier) ms < 5 Max. time offset until detection of signal differences between STO_A and STO_B S < Safety function "Safe Torque Off" ("Power Removal") Protection of machine Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard ISO 89-, performance level d of the system process (PL "d"), and standard IEC/EN Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard IEC/EN 658 level SIL and standard IEC/EN Mechanical data ILE without gear Nominal supply voltage c V 6 Nominal current A.7 5. Nominal speed of rotation rpm 8 Nominal output power W 7 7 Nominal torque Nm.75. Max. torque M max Nm.6.6 Max. current with power stage disabled A..6 Detent torque (at zero current) Nm.8 Moment of inertia kg cm.9 Max. speed of rotation rpm 5 Positioning resolution per revolution Inc. Accuracy of positioning sensor ± Mass kg. Shaft load Max. radial force () N 8 Max. axial tensile force N Max. axial force pressure N Nominal bearing service life () h () Point of application of radial force:.5 mm distance to flange () Operating hours at a probability of failure of % Description Page References: Page 7 Dimensions: Page 8 Page 6 version:. 6-EN_Ver..indd

27 Characteristics (continued) ILp for CANopen, PROFIBUS DP, RS85 ILE with brushless DC motor Mechanical data ILEp66 with spur wheel gear G G G G Ratio 8: (6:9) 8: (75:) 5: (9:9) 5: (675:) Number of gear stages Nominal supply voltage c V Nominal current A Nominal speed of rotation of motor rpm Nominal output speed of rotation rpm Nominal output torque Nm Nominal output power W Max. current with power stage disabled A Detent torque (at zero current) Nm Moment of inertia output kg cm 8 96 Max. speed of rotation rpm 8 9 Positioning resolution of motor per revolution Inc. Positioning accuracy motor Inc. ± Positioning resolution of output Torsional backlash y Mass kg.85 Shaft load (short-term operation) Shaft load (long-term operation) Max. radial force () N Max. axial force N 8 Nominal bearing service life () h 5 Max. radial force () N Max. axial force N Nominal bearing service h () 5 () life () Mechanical data ILEp66 with worm gear G5 G6 G7 G8 Ratio : (55:) 5: (75:) 9: (75:5) 5: (675:) Number of gear stages Nominal supply voltage c V Nominal current A Nominal speed of rotation of motor rpm Nominal output speed of rotation rpm Nominal output torque Nm Nominal output power W Max. current with power stage disabled A. Detent torque (at zero current) Nm Moment of inertia output kg cm Max. speed of rotation rpm Positioning resolution of motor per revolution Inc. Positioning accuracy motor Inc. ± Positioning resolution of output Torsional backlash y.5 y. y. y. Mass kg. Shaft load Max. radial force () N Max. axial force N 8 Nominal bearing service h life () () Point of application of radial force:.5 mm distance to flange () Operating hours at a probability of failure of % () With reduced nominal output torque M N = 6 Nm; 5 h at maximum torque () With reduced nominal output torque M N = 8 Nm; 5 h at maximum torque Description Page References: Page 7 Dimensions: Page 8 Page 6 6-EN_Ver..indd version:. 5

28 Characteristics (continued) ILp for CANopen, PROFIBUS DP, RS85 ILE with brushless DC motor Torque characteristics ILE without gearing ILEp66 with spur wheel gear G ILEp66 with worm gear G5 Torque in Nm,,5,,5,,5.. 5 Speed of rotation in rpm Torque in Nm,5.,5,5.,5,5 5 Speed of rotation of motor in rpm Speed of rotation of gearing in rpm ILEp66 with spur wheel gear G Torque in Nm Speed of rotation of motor in rpm Speed of rotation of gearing in rpm ILEp66 with spur wheel gear G Torque in Nm Speed of rotation of motor in rpm Speed of rotation of gearing in rpm ILEp66 with spur wheel gear G Torque in Nm. Max. torque at V. Max. torque at 6 V Speed of rotation of motor in rpm 8,7 7, 6 5 Speed of rotation of gearing in rpm Torque in Nm,5.,5,5.,5,5 5 Speed of rotation of motor in rpm,6 8,8 5,7 67,6 9,5 Speed of rotation of gearing in rpm ILEp66 with worm gear G6 Torque in Nm Speed of rotation of motor in rpm 8,6 7, 56 7,6 9, Speed of rotation of gearing in rpm ILEp66 with worm gear G7 Torque in Nm Speed of rotation of motor in rpm,9,8,6,5 5, Speed of rotation of gearing in rpm ILEp66 with worm gear G8 Torque in Nm Speed of rotation of motor in rpm 8,7 7, 6,,8,5 Speed of rotation of gearing in rpm Description Page References: Page 7 Dimensions: Page 8 Page 6 6 version:. 6-EN_Ver..indd

29 References ILp for CANopen, PROFIBUS DP, RS85 ILE with brushless DC motor Order code Example: I L E B 6 6 P B A Motor type I L E B 6 6 P B A E = brushless DC motor Supply voltage I L E B 6 6 P B A =... 6 V Communication interface I L E B 6 6 P B A B = PROFIBUS DP F = CANopen DS R = RS85 Flange size I L E B 6 6 P B A 66 = 66 mm Motor length I L E B 6 6 P B A = motor length Winding type I L E B 6 6 P B A P = medium speed of rotation, medium torque Connection technology I L E B 6 6 P B A B = printed circuit board connector C = industrial connector Measurement system I L E B 6 6 P B A = BLDC encoder Holding brake I L E B 6 6 P B A A = no holding brake Gearing () I L E B P B A Spur wheel gear = ratio 8: (6:9) = ratio 8: (75:) = ratio 5: (9:9) = ratio 5: (675:) Worm gear 5 = ratio : (55:) 6 = ratio 5: (75:) 7 = ratio 9: (75:5) 8 = ratio 5: (675:) () Without gearing: leave out gearing identification in order code (specify characters only). Description Page Characteristics: Page Dimensions: Page 8 Page 6 6-EN_Ver..indd version:. 7

30 Dimensions ILp for CANopen, PROFIBUS DP, RS85 ILE with brushless DC motor Dimensions ILE without gearing, dimensions in mm 7 7 5,5 9,5 5 Ø, 5 ±, 66 Ø h8 Ø 8 j6 5 ±, 66 6 I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm ILE with spur wheel gear, dimensions in mm 7 7 9,5 5,5 Ø, ±, 5 ±, 66 5 ±, Ø h8 Ø 6 h8 66 I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description Page Characteristics: Page References: Page 7 Page 6 8 version:. 6-EN_Ver..indd

31 Dimensions (continued) ILp for CANopen, PROFIBUS DP, RS85 ILE with brushless DC motor ILE with worm gear, dimensions in mm 6 (6x) 6,9 ØF8,8 7 5,5 P9 (6x) 9,5 7 Ø 6 h8 8, ± 6,6 ±,5 76,5 ±,5 6 9 ± Optional: industrial connectors I/O signal insert with industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description Page Characteristics: Page References: Page 7 Page 6 6-EN_Ver..indd version:. 9

32 Description ILp for CANopen, PROFIBUS DP, RS85 ILS with -phase stepper motor Description ILS comprise control electronics with a fieldbus interface for CANopen DS, PROFIBUS DP or RS85 and a -phase stepper motor. ILS is optionally available with printed circuit board connectors or industrial connectors. A holding brake is optionally available for ILSp phase stepper motor Electronics housing Insert cable entry (accessory) I/O insert with industrial connectors (accessory) Settings via parameter switches Cover for electronics housing Cover for with option "PCB connector" Cover for supply voltage c V and fieldbus connection for with option "industrial connector" Electrical interfaces Characteristics: Page References: Page 5 Dimensions: Page 6 Page 6 version:. 65-EN_Ver..indd

33 Characteristics ILp for CANopen, PROFIBUS DP, RS85 ILS with -phase stepper motor Certifications Conformity to standards e marking Product certifications TÜV certification EMC immunity Conducted and radiated EMC emissions have been developed to comply with the stringent international standards and with the recommendations for adjustable speed power drive systems, specifically: IEC/EN 68- (noise immunity to conducted and radiated high-frequency signals) and IEC/EN 578 (resistance of devices to vibration). EN 68-:, second environment EN 68-:-; IEC 68-, Ed. b Power supplies without external mains filter: v C up to m supply cable length b Power supplies with external mains filter: v C up to m supply cable length v C up to 5 m supply cable length The are CE marked in accordance with the European Machinery Directive (98/7/EEC) and the European EMC Directive (/8/EEC). UL (USA), cul (Canada) are TÜV-certified for device safety and medical devices. The certification includes: b Functional safety of electrical/electronic/programmable safety-related electronic systems (IEC 658; SIL ) b Safety of machinery functional safety of safety-related electrical and electronic and programmable electronic control systems (IEC 66:5; SILcl) b Safety of machinery safety-related parts of control systems Part : General principles for design (ISO 89-:6; PL "d" (Category )) Ambient conditions Ambient temperature () C... 65; power reduction by %/ C at Max. permissible temperature of the power amplifier C 5 Max. permissible temperature of the motor () C Transport and storage temperature C Installation height without power reduction m < m above mean sea level Relative humidity % (not condensing) Vibration load during Number of cycles operation as per Acceleration amplitude: m/s² DIN EN Frequency range Hz... 5 Continuous shocks as per Number of shocks DIN EN Peak acceleration m/s² 5 Shaft wobble and perpendicularity According to EN 57 (IEC 67-) Degree of protection as per DIN EN 6-5 Total except shaft bushing IP5, shaft bushing IP Electrical data Power supply connection (CN) Corresponds to PELV according to DIN 9, not protected against reverse polarity Supply voltage range (absolute limit values) c V 8... Nominal supply voltage c V... 6 Ripple at nominal voltage V PP y.6 Max. current consumption ILSp57 A.5 ILSp85, ILSp85 A 5 ILSp85: b Winding type P A 5 b Winding type T A 6 Inrush current Inrush current time-dependent by current incline function and depending on device capacitance C = 5 µf and resistance of connectivity External fuse A Fieldbus interfaces (CN and CN) CANopen Signal inputs/outputs According to ISO 898 standard, no galvanic isolation Transmission rate kbaud 5 / / 5 / 5 / 5 / 8 / Transmission protocol CANopen as per DS PROFIBUS DP Signal inputs/outputs According to RS85, galvanic isolation, -wire Transmission rate kbaud 9.6 / 9. / 5.5 / 9.75 / 87.5 / 5 / 5 / / 6 / Transmission protocol PROFIBUS DP-V (data format as per Profidrive V. PPO Type ) RS85 Signal inputs/outputs According to RS85, no galvanic isolation, -wire Transmission rate kbaud 9.6 / 9. / 8. Transmission protocol Manufacturer-specific () Limit values with flanged motor mounted on a steel plate x x mm () Measured at the surface Description Page References: Page 5 Dimensions: Page 6 Page 6 65-EN_Ver..indd version:.

34 Characteristics (continued) ILp for CANopen, PROFIBUS DP, RS85 ILS with -phase stepper motor Electrical data V signal interface (CN) signals, can each be used as input or output V signal inputs Galvanically connected to VDC, not protected against reverse polarity Logic (U low ) V Logic (U high ) V Input current (typical at V) ma Debounce time IO and IO ms. IO and IO ms. V signal outputs Switching to plus, short-circuit protected, suitable for inductive load ( mh / ma) Supply voltage range c V... 5 Max. switching current (total) ma Max. switching current per output ma The internal power supply unit is protected against: b Short circuit of the output voltage b Overload of output voltage (limited to 6 W output power) Interface for safety function No galvanic isolation; corresponds to RS85 standard "Safe Torque Off" ("Power Removal") (CN5) Logic (U low ) V Logic (U high ) V Input current STO_A ma y (typical at V) STO_B ma y Debounce time ms Response time (until shutdown of power amplifier) ms < 5 Max. time offset until detection of signal differences between STO_A and STO_B S < Safety function "Safe Torque Off" ("Power Removal") Protection of machine Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard ISO 89-, performance level d of the system process (PL "d"), and standard IEC/EN Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard IEC/EN 658 level SIL and standard IEC/EN Description Page References: Page 5 Dimensions: Page 6 Page 6 version:. 65-EN_Ver..indd

35 Characteristics (continued) ILp for CANopen, PROFIBUS DP, RS85 ILS with -phase stepper motor Mechanical data ILSp57 ILSp57 ILSp57 ILSp57 Winding type P P P Max. torque M max Nm Holding torque Nm.5..7 Moment of inertia kg cm...8 Positioning resolution per revolution Inc. Systematic angle tolerance per step () ±6 Mass kg..6. Shaft load () Max. radial force () N 5 Max. axial tensile force N Max. axial force pressure N 8. Nominal bearing service life () h Mechanical data ILSp85 ILSp85 ILSp85 ILSp85 Winding type P P P T Max. torque M max Nm Holding torque Nm Moment of inertia kg cm... Positioning resolution Inc. Systematic angle tolerance per step () ±6 Mass kg Shaft load () Max. radial force () N Max. axial tensile force N 7 Max. axial force pressure N Nominal bearing service h life () Holding brake Holding torque Nm 6 Electrical pull-in power W Brake release time ms Brake application time ms Moment of inertia kg cm. Mass kg.8 () Measured at steps/revolution () Conditions for shaft load: speed of rotation 6 rpm, % duty cycle at continuous torque, ambient temperature C () Point of application of radial force:.5 mm distance to flange () Operating hours at a probability of failure of % Description Page References: Page 5 Dimensions: Page 6 Page 6 65-EN_Ver..indd version:.

36 Characteristics (continued) ILp for CANopen, PROFIBUS DP, RS85 ILS with -phase stepper motor Torque characteristics ILSp57 ILSp57P (winding type P) ILSp57P (winding type P) ILSp57P (winding type P) Torque in Nm,5,. Torque in Nm,8 Torque in Nm,6,,6.,,., Speed of rotation in rpm,,. Speed of rotation in rpm,8.., Speed of rotation in rpm Torque characteristics ILSp85 ILSp85P (winding type P) ILSp85P (winding type P) Torque in Nm Torque in Nm 5,5,5,5.... Speed of rotation in rpm Speed of rotation in rpm ILSp85P (winding type P) ILSp85T (winding type T) Torque in Nm Speed of rotation in rpm Torque in Nm Speed of rotation in rpm. Max. torque at V. Max. torque at 6 V Description Page References: Page 5 Dimensions: Page 6 Page 6 version:. 65-EN_Ver..indd

37 References ILp for CANopen, PROFIBUS DP, RS85 ILS with -phase stepper motor Order code Example: I L S B 5 7 P B A Motor type I L S B 5 7 P B A S = -phase stepper motor Supply voltage I L S B 5 7 P B A =... 6 V Communication interface I L S B 5 7 P B A B = PROFIBUS DP F = CANopen DS R = RS85 Flange size I L S B 5 7 P B A 57 = 57 mm 85 = 85 mm Motor length I L S B 5 7 P B A = motor length = motor length = motor length Winding type I L S B 5 7 P B A P = medium speed of rotation, medium torque T = high speed of rotation, medium torque () Connection technology I L S B 5 7 P B A B = printed circuit board connector C = industrial connector Measurement system I L S B 5 7 P B A = index pulse Holding brake A = no holding brake F = with holding brake () I L S B 5 7 P B A () Winding type T only with ILSp85 (motor length ) () Holding brake only with ILSp85 Description Page Characteristics: Page Dimensions: Page 6 Page 6 65-EN_Ver..indd version:. 5

38 Dimensions ILp for CANopen, PROFIBUS DP, RS85 ILS with -phase stepper motor Dimensions ILSp57, dimensions in mm 7 9,5,6 Ø 5, 7, ±, ØD -, 57, 9, Ø8, ±,5 7 5,5 7, ±, 57, L 5 L D ILSp ILSp ILSp I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description Page Characteristics: Page References: Page 5 Page 6 6 version:. 65-EN_Ver..indd

39 Dimensions (continued) ILp for CANopen, PROFIBUS DP, RS85 ILS with -phase stepper motor ILSp85 without holding brake, dimensions in mm 7 7 9,5 5,5 ±,5 Ø6,5 7 ±, 85 Ø6 h8 9,6 ØD h6 7 ±, 85 L L D ILSp85.6 ILSp ILSp85.6 ILSp85 with holding brake, dimensions in mm 7 7 9,5 5,5 ±,5 Ø 6,5 7 ±, 85 Ø 6 h8 9,6 ØD h6 7 ±, 85 L L D ILSp ILSp85 7. ILSp85 7. I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description Page Characteristics: Page References: Page 5 Page 6 65-EN_Ver..indd version:. 7

40 Presentation ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink Presentation ILp comprise motor, control electronics and a fieldbus interface for DeviceNet, EtherCAT, Modbus TCP/IP and Ethernet Powerlink. ILA with AC synchronous servo motor The ILp product group includes: b ILA with AC synchronous servo motor b ILE with brushless DC motor b ILS with -phase stepper motor ILA the Integrated Drive System for dynamic processes ILA has an AC synchronous servo motor. This motor is characterised by high dynamics with the possibility of short-term overcurrent during acceleration. ILE the Integrated Drive System for automatic format adjustment ILE is fitted with a brushless DC motor. The brushless DC motors have high detent torque at zero current. This makes a holding brake unnecessary in most applications. In combination with the electronics ILE has the characteristics of an absolute value encoder. ILS the Integrated Drive System for short-distance positioning With its -phase stepper motor, ILS offers high torque at low speeds of rotation. ILS are ideally suited as drives in velocity mode with excellent constant velocity characteristics and also or for high-resolution positioning. Commissioning the stepper motor drives is simple because it is not necessary to adjust the control loop. Special features ILA with AC synchronous servo motor b High dynamics and high peak torque b High-resolution singleturn encoder with a resolution of 68 increments/ revolution b Optionally with multiturn encoder with a resolution of 68 increments/revolution with a positioning range of 96 revolutions b Optionally with integrated holding brake b Planetary gear available as accessory ILE with brushless DC motor b High detent torque b Quasi-absolute encoder, therefore, no homing required after switching off and on b Optionally available with spur wheel gear or worm gear; planetary gear available as accessory ILS with -phase stepper motor b High continuous stall torque b Good constant velocity characteristics b High positioning resolution (.8 ) b Optionally with holding brake (ILSp85 only) b Planetary gear available as accessory Electronics The electronic system comprises control electronics and power amplifier. They have a common power supply. The can be parameterised and controlled via the fieldbus interface. Four different V signals are also available. They can be used as input or output. Supply voltage These can be operated with a supply voltage from V up to 8 V. Schemes: Page 9 Functions: Page ILA with servo motor: Page 8 ILE with brushless DC motor Page 5 ILS with stepper motor: Page 6 8 version:. 66-EN_Ver..indd

41 Schemes ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink Schemes ILp have the following connections: b Supply voltage c V b Fieldbus interface: DeviceNet, EtherCAT, Ethernet Powerlink, Modbus TCP/IP b RS85 commissioning interface b V signal interface for four inputs/outputs b Signal interface for "Safe Torque Off" safety function ("Power Removal") Fieldbus interface The following fieldbuses can be connected to the fieldbus interface depending on the device version: b b b DeviceNet (DeviceNet Standard) EtherCAT (as per IEEE 8. standard) Ethernet Powerlink (as per IEEE 8. standard) Modbus TCP/IP (as per IEEE 8. standard) b The fieldbus interface is used to parameterise and control the Integrated Drive System. ILp with DeviceNet interface support the ADR function (Automatic Device Replacement). This function enables easy replacement of drive systems with automatic parameterisation. In addition, the Integrated Drive System can be commissioned with a PC connected to the fieldbus interface and the PC commissioning software. This requires an appropriate fieldbus converter. RS85 commissioning interface An RS85 commissioning interface is available in addition to the fieldbus interface. The RS85 commissioning interface is also used for commissioning the drive system. The drive system can also be monitored during operation with the RS85 commissioning interface and the "Lexium CT" commissioning software. Simultaneous fieldbus and RS85 connections are possible. V signal interface Four V signals are available, which can be used either as an input or an output. The V signals are available to the master controller via the fieldbus. They can also be used for predefined functions, such as for connection of limit switches and reference switches. The V power supply to the signal outputs is internal via the supply voltage of the Integrated Drive System. Signal interface for "Safe Torque Off" safety function ("Power Removal") The integrated "Safe Torque Off" safety function ("Power Removal") enables a stop of category or as per IEC/EN 6- without external power contactors. The supply voltage does not have to be interrupted. This reduces the system costs and response times. The safety function is activated via two redundant V input signals (low active). Presentation Page 8 Functions: Page ILA with servo motor: Page 8 ILE with brushless DC motor Page 5 ILS with stepper motor: Page 6 66-EN_Ver..indd version:. 9

42 Schemes (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink Connection technologies Printed circuit board connector Printed circuit board plug connectors are preferably used for cabling series machines with cable harnesses. b Fieldbus and I/O signal connection with connector "Molex Micro Fit" Power supply connection with "AMP Positive Lock" crimp contacts b Two cable entries are required for cabling the (see accessories) CN VDC VDC CN5 Integrated drive system with printed circuit board connectors 5 CN CN CN CN Printed circuit board connector, overview of connections Connection CN CN CN CN CN5 CN6 Assignment Supply voltage c V Fieldbus interface RS85 commissioning interface V signal interface Interface for "Safe Torque Off" safety function ("Power Removal") Jumper for disabling "Safe Torque Off" safety function ("Power Removal") Industrial connectors (optional) with industrial connectors are preferably used in special machines and small series. The device version with industrial connectors has a connector housing with M circular connectors (5 poles) for the fieldbus connection and a Hirschmann STASEI connector for connection of the power supply. VDC + OUT IN Integrated drive system with industrial connectors Industrial connector, overview of connections Note: DeviceNet and Modbus TCP/IP: circular connector for IN and OUT signals EtherCAT and Ethernet Powerlink: circular connectors ( circular connector each for IN and OUT signals) Presentation Page 8 Functions: Page ILA with servo motor: Page 8 ILE with brushless DC motor Page 5 ILS with stepper motor: Page 6 version:. 66-EN_Ver..indd

43 Schemes (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink I/O signal inserts One or two I/O signal inserts with industrial connectors can be ordered for connection of the I/O signals (see accessories). The V power supply to the signal outputs is internal. Different I/O signal inserts are available for this purpose. I/O signal inserts without "Safe Torque Off" safety function ("Power Removal") IO IO IO Inserts for three I/O signals I/O signal inserts with "Safe Torque Off" safety function ("Power Removal") IO IO STO_A STO_B Insert for two I/O signals and STO signals for safety function STO_B STO_A STO_A STO _B IO IO IO IO Inserts for four I/O signals and STO signals for safety function Connection example I/O signal ~ Vc + - Vc Vc ILp CN LIMN UBC + CN. - LIMP CN. + CN. - REF CN.5 STO_A STO_B CN5. CN5. CN. Connection example with four I/O signals Presentation Page 8 Functions: Page ILA with servo motor: Page 8 ILE with brushless DC motor Page 5 ILS with stepper motor: Page 6 66-EN_Ver..indd version:.

44 Functions ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink Configuration via parameter switches The following settings can be made at the Integrated Drive System via parameter switches: b v b v Ethernet Setting IP address DeviceNet Setting fieldbus address Operating modes Overview The following operating modes can be set via the fieldbus: b b b b b Electronic gear (only ILA with singleturn encoder) Profile velocity Jog Profile position Homing Electronic gear (only ILA with singleturn encoder) In "Electronic Gear" operating mode with singleturn encoder, the reference signals are supplied from an encoder (A/B signals) or a controller (pulse/direction signals) and a new position reference value is calculated using an adjustable gear ratio. Reference value setting The reference value are supplied as pulse/direction or A/B encoder signals. Application example Synchronisation of motion sequences, e.g. cutting material on a conveyor belt. NC: Inc Z N = Z N = Z N = st drive system: Inc nd drive system: Inc rd drive system: 6 Inc "Electronic Gear" operating mode Presentation Page 8 Schemes: Page 9 ILA with servo motor: Page 8 ILE with brushless DC motor Page 5 ILS with stepper motor: Page 6 version:. 67-EN_Ver..indd

45 Functions (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink Profile velocity In operating mode "Profile velocity", a reference speed for the motor is set and a movement without a target position is started. This speed is maintained until a different reference speed is specified or the operating mode is changed. Reference value setting The reference value is set via fieldbus or PC. Application example Application of paint in CD manufacture v v v v t t t t t 5 t 6 t 7 Start Profile velocity t 8 t 9 Stop t t, t, t 5 t, t, t 6, t 8 t 7, t 9 = acceleration = constant movement = braking Jog mode The motor moves by one distance unit or at constant speed in continuous operation. The value of the distance unit, the speed levels and the change-over time in continuous operation can be adjusted manually. Reference value setting The reference value is set via fieldbus or PC. Application example Setting up a machine during commissioning Parameter startman, Bit Parameter startman, Bit n_fastman Motor M Stop n_slowman Parameter stateman, Bit Jog, slow and fast step_man t < time_man time_man Continuous operation Presentation Page 8 Schemes: Page 9 ILA with servo motor: Page 8 ILE with brushless DC motor Page 5 ILS with stepper motor: Page 6 67-EN_Ver..indd version:.

46 Functions (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink Profile position In the operating mode "Profile Position", the motor is positioned from a point A to a point B with a positioning command. Settings The positioning path can be specified in two ways: b Absolute positioning, reference point is the zero point of the axis b Relative positioning, reference point is the current position of the motor Reference value setting The reference value is set via fieldbus or PC. Application example Pick-and-place with a linear robot 5 Inc. Inc 5 Inc 7 Inc Operating mode "Profile Position", absolute and relative Homing There are two types of the "Homing" operating mode: b Reference movement Specifying the dimension reference by approach to a limit or reference switch b Position setting Specifying the position reference relative to the current motor position Note: In the case of ILA with multiturn encoder, a valid actual motor position is available immediately after starting. Therefore, homing to external limit switches is not required. Reference movement During reference movement, the motor moves to a defined position on the axis. The position is defined by a mechanical switch: b LIMN, LIMP limit switches b REF reference switch Types of reference movements There are six standard reference movements: b Movement to negative limit switch LIMN b Movement to positive limit switch LIMP b Movement to REF reference switch with first movement counterclockwise b Movement to REF reference switch with first movement clockwise b Reference movement to index pulse with clockwise or counterclockwise rotation (not with ILE) b Reference movement to block = mechanical stop (ILE only) Presentation Page 8 Schemes: Page 9 ILA with servo motor: Page 8 ILE with brushless DC motor Page 5 ILS with stepper motor: Page 6 version:. 67-EN_Ver..indd

47 Functions (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink Example : reference movement to limit switch LIMN LIMP M R- p_dishome p_outhome v_home v_outhome Operating mode "Homing", reference movement to limit switch Movement to limit switch at search speed Movement to switching edge at clearance speed Movement to distance from switching edge at clearance speed Example : position setting Position setting can be used to execute a continuous motor movement without overtravelling the positioning limits. M M M Inc "" "" Inc Presentation Page 8 Schemes: Page 9 Positioning by increments with position setting The motor is positioned Inc. The current motor position is set to position value by position setting to and the new zero point is defined at the same time. The new target position is Inc after triggering a new travel command by Inc. This procedure prevents overtravel of the absolute position limits during positioning, because the zero point is continuously made to follow. Reference value setting The reference value is set via fieldbus or PC. Application example Prior to absolute positioning in "Profile Position" mode. Additional operating modes Additional operating modes can be activated via fieldbus or PC: b Brake function b Reversing direction of rotation of motor b Setting motion profile via profile generator b Setting motor phase current b Triggering "Quick Stop" function b Fast position capture via signal input (Capture) b Programming signal inputs/outputs. b Translation of user-defined units (scaling) b Monitoring functions ILA with servo motor: Page 8 ILE with brushless DC motor Page 5 ILS with stepper motor: Page 6 67-EN_Ver..indd version:. 5

48 Functions (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink "Safe Torque Off" ("Power Removal") safety function The Lexium Integrated Drive integrates the "Safe Torque Off" ("Power Removal") safety function which prevents unintended operation of the motor. The motor no longer produces any torque if the safety function is active. This safety function: b Complies with the machine safety standard ISO 89-, perfomance level d (PL "d"). b Complies with the standard for functional safety IEC/EN 658, SIL capability (safety control-signalling applied to processes and systems). The SIL (Safety Integrity Level) capability depends on the connection diagram for the servo drive and for the safety function. Failure to observe the setup recommendations could inhibit the SIL capability of the "Safe Torque Off" safety function b Complies with product standard IEC/EN Adjustable speed electrical power drive systems Part 5-: Safety requirements Functional for both stop functions: v Safe Torque Off ("STO") corresponds to Category stop according to IEC/ EN 6. Standstill by immediate power shutdown to the machine drive elements (i.e. an uncontrolled stop). v Safe Stop ("SS") corresponds to Category stop according to IEC/EN 6-. A controlled stop in which the machine drive elements are retained to effect the standstill. The final shutdown is ensured by an external Emergency Stop module with safe time delay, e.g. Preventa XPS-AV. The "Safe Torque Off" ("Power Removal") safety function has a redundant electronic architecture (). This PL "d" and SIL safety function is certified as conforming to these standards by the TÜV certification body in the context of a voluntary certification. () Redundant: Consists of mitigating the effects of the failure of one component by means of the correct operation of another, assuming that faults do not occur simultaneously on both. Presentation Page 8 Schemes: Page 9 ILA with servo motor: Page 8 ILE with brushless DC motor Page 5 ILS with stepper motor: Page 6 6 version:. 67-EN_Ver..indd

49 Functions (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink Examples of applications of the safety function Emergency Stop V V ENABLE PLC/CNC ILp FAULT RESET STO_A STO _B Example of Category Stop V V V V V Preventa XPS-AV ENABLE PLC/CNC ILp Y+ FAULT RESET Emergency Stop Y6 Y7 Y8 delayed not 58 delayed S S S S S S S S A A STO_A STO_B Example of Category Stop Presentation Page 8 Schemes: Page 9 ILA with servo motor: Page 8 ILE with brushless DC motor Page 5 ILS with stepper motor: Page 6 67-EN_Ver..indd version:. 7

50 Description ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILA with AC synchronous servo motor Description ILA comprise control electronics with a fieldbus interface for DeviceNet, EtherCAT, Modbus TCP/IP or Ethernet Powerlink and an AC synchronous servo motor. ILA is optionally available with printed circuit board connectors or industrial connectors. A multiturn encoder is optionally available for ILA. A holding brake is optionally available for the ILA with a singleturn encoder Synchronous AC servo motor Holding brake (optional) Singleturn or multiturn encoder (optional) Electronics housing 5 Insert cable entry (accessory) 6 I/O insert with industrial connectors (accessory) 7 Settings via parameter switches 8 Cover for electronics housing 9 Cover for with option "PCB connector" Cover for supply voltage c V and fieldbus connection for with option "industrial connector" Electrical interfaces Note: DeviceNet and Modbus TCP/IP: circular connector for IN and OUT signals EtherCAT and Ethernet Powerlink: circular connectors ( circular connector each for IN and OUT signals) Characteristics: Page 9 References: Page 5 Dimensions: Page 5 Page 6 8 version:. 68-EN_Ver..indd

51 Characteristics ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILA with AC synchronous servo motor Certifications Conformity to standards e marking Product certifications TÜV certification EMC immunity Conducted and radiated EMC emissions have been developed to comply with the stringent international standards and with the recommendations for adjustable speed power drive systems, specifically: IEC/EN 68- (noise immunity to conducted and radiated high-frequency signals) and IEC/EN 578 (resistance of devices to vibration). EN 68-:, second environment EN 68-:-; IEC 68-, Ed. b Power supplies without external mains filter: v C up to m supply cable length b Power supplies with external mains filter: v C up to m supply cable length v C up to 5 m supply cable length The are CE marked in accordance with the European Machinery Directive (98/7/EEC) and the European EMC Directive (/8/EEC). UL (USA), cul (Canada) are TÜV-certified for device safety and medical devices. The certification includes: b Functional safety of electrical/electronic/programmable safety-related electronic systems (IEC 658; SIL ) b Safety of machinery functional safety of safety-related electrical and electronic and programmable electronic control systems (IEC 66:5; SILcl) b Safety of machinery safety-related parts of control systems Part : General principles for design (ISO 89-:6; PL "d" (Category )) Ambient conditions Ambient temperature () C... 55; power reduction by %/ C at Max. permissible temperature of the power amplifier C 5 Max. permissible temperature of the motor () C Transport and storage temperature C Installation height without power reduction m < m above mean sea level Relative humidity % (not condensing) Vibration load during Number of cycles operation as per Acceleration amplitude: m/s² DIN EN Frequency range Hz... 5 Continuous shocks as per Number of shocks DIN EN Peak acceleration m/s² 5 Shaft wobble and perpendicularity According to EN 57 (IEC 67-) Degree of protection as per DIN EN 6-5 Total except shaft bushing IP5, shaft bushing IP Electrical data Supply voltage (CN) Supply voltage range (absolute limit values) Nominal supply voltage c V / 8 Ripple at nominal voltage V PP y.6 ILAp57 Max. continuous current consumption Corresponds to PELV according to DIN 9, protected against reverse polarity c V b Winding type T A ILAp57 b Winding type P A 5 7 Peak current consumption b Winding type T A 9 b Winding type P A Inrush current Inrush current time-dependent by current incline function and depending on device capacitance C = 5 µf and resistance of connectivity External fuse A 6 Fieldbus interface (CN) DeviceNet Signal inputs/outputs According to OVDA, galvanic isolation Transmission rate kbaud 5 / 5 / 5 Transmission protocol DeviceNet Position Controller Profile EtherCAT Signal inputs/outputs According to IEEE 8. standard, no galvanic isolation Transmission rate MBit Transmission protocol EtherCAT Modbus TCP/IP Signal inputs/outputs According to IEEE 8. standard, no galvanic isolation Transmission rate MBit / Transmission protocol Modbus TCP/IP Ethernet Powerlink Signal inputs/outputs According to IEEE 8. standard, no galvanic isolation Transmission rate MBit Transmission protocol Ethernet Powerlink () Limit values with flanged motor mounted on a steel plate x x mm () Measured at the surface Description Page 8 References: Page 5 Dimensions: Page 5 Page 6 68-EN_Ver..indd version:. 9

52 Characteristics (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILA with AC synchronous servo motor Electrical data RS85 commissioning interface (CN) RS85 Signal inputs/outputs According to RS85, no galvanic isolation, -wire Transmission rate kbaud 9.6 / 9. / 8. Transmission protocol Modbus TCP/IP V signal interface (CN) signals, can each be used as input or output V signal inputs Galvanically connected to VDC, protected against reverse polarity Logic (U low ) V Logic (U high ) V Input current (typical at V) ma Debounce time LIO... LIO ms V signal outputs Switching to plus, short-circuit protected, suitable for inductive load ( mh / ma) Nominal voltage c V Supply voltage range c V... 5 Max. switching current (total) ma Max. switching current per output ma Voltage drop at 5 ma load V y The internal power supply unit is protected against: b Short circuit of the output voltage b Overload of output voltage (limited to 6 W output power) Interface for safety function No galvanic isolation; corresponds to RS85 standard "Safe Torque Off" ("Power Removal") (CN5) Logic (U low ) V Logic (U high ) V Input current (typical at V) ma Debounce time ms... 5 Response time (until shutdown of power amplifier) ms < 5 Max. time offset until detection of signal differences between STO_A and STO_B () S < Safety function "Safe Torque Off" ("Power Removal") Protection of machine Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard ISO 89-, performance level d of the system process () Switching process must be simultaneous for both signal inputs (time offset < s). (PL "d"), and standard IEC/EN Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard IEC/EN 658 level SIL and standard IEC/EN Description Page 8 References: Page 5 Dimensions: Page 5 Page 6 5 version:. 68-EN_Ver..indd

53 Characteristics (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILA with AC synchronous servo motor Mechanical data ILAp57 ILAp57 Winding type T P T P Nominal supply voltage c V Nominal speed of rotation rpm Max. torque () M max Nm Continuous torque () M Nm Positioning resolution per revolution Inc Accuracy of positioning sensor ±.5 ±.5 Rotor inertia kg cm.95.7 Mass kg..7 Shaft load Max. radial force () N 89 7 Max. axial tensile force N Max. axial force pressure N Nominal bearing service life () h Holding brake (optional) (5) Holding torque Nm. Electrical pull-in power W Brake release time ms Brake application time ms Moment of inertia kg cm.7 Multiturn encoder (optional) (5) Measuring range absolute rpm 96 Positioning resolution per revolution Inc. 68 Accuracy of positioning sensor ±.5 () Max..5 s () At rpm; at rpm the continuous torque is reduced to 89% of the specified value () Point of application of radial force: mm distance to flange () Operating hours at a probability of failure of %; conditions for shaft load: speed rpm, % duty cycle at continuous torque, ambient temperature C (5) Holding brake and multiturn encoder cannot be used in combination. Torque characteristics ILAp57T (winding type T) ILAp57P (winding type P) Torque in Nm,5 M max, M.,. Torque in Nm,7 M max,5 M..,, Speed of rotation in rpm,,, 5 7 Speed of rotation in rpm ILAp57T (winding type T) ILAp57P (winding type P) Torque in Nm,9 M max,8,7..,6 M,5,,,, 5 7 Speed of rotation in rpm. Max. torque at V Continuous torque Torque in Nm,8 M max,5,.,9 M,6,. 5 Speed of rotation in rpm. Max. torque at 8 V Description Page 8 References: Page 5 Dimensions: Page 5 Page 6 68-EN_Ver..indd version:. 5

54 References ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILA with AC synchronous servo motor Order code Example: I L A D 5 7 P B A Motor type I L A D 5 7 P B A A = AC synchronous servo motor Supply voltage I L A D 5 7 P B A =... 8 V Communication interface I L A D 5 7 P B A D = DeviceNet E = EtherCAT P = Ethernet Powerlink T = Modbus TCP/IP Flange size I L A D 5 7 P B A 57 = 57 mm Motor length I L A D 5 7 P B A = motor length = motor length Winding type I L A D 5 7 P B A P = medium speed of rotation, medium torque T = high speed of rotation, medium torque Connection technology I L A D 5 7 P B A B = printed circuit board connector C = industrial connector Measurement system I L A D 5 7 P B A = singleturn encoder = multiturn encoder () Holding brake A = no holding brake F = with holding brake () I L A D 5 7 P B A () Holding brake and multiturn encoder cannot be used in combination. Description Page 8 Characteristics: Page 9 Dimensions: Page 5 Page 6 5 version:. 68-EN_Ver..indd

55 Dimensions ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILA with AC synchronous servo motor Dimensions ILA without holding brake, dimensions in mm 7 9,5,6 Ø 5, 7, ±, 57, 9, Ø 9 j6 Ø 5( -,5 ) 7 5,5 7, ±, 5,8 5 57, L L (without multiturn encoder) L (with multiturn encoder) ILAp ILAp I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm 5 Centring hole DIN - DS M ILA with holding brake, dimensions in mm 7 7 9,5 5,5,6 Ø 5, 7, ±, 57, 9, Ø 9 j6 Ø 5( -,5 ) 7, ±, 57, L 5,8 5 L ILAp ILAp57 9. I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm 5 Centring hole DIN - DS M Description Page 8 Characteristics: Page 9 References: Page 5 Page 6 68-EN_Ver..indd version:. 5

56 Description ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILE with brushless DC motor Description ILE comprise control electronics with a fieldbus interface for DeviceNet, EtherCAT, Modbus TCP/IP or Ethernet Powerlink and a brushless DC motor. ILE is optionally available with spur wheel gear or worm drive and printed circuit board connectors or industrial connectors Brushless DC motor Electronics housing Insert cable entry (accessory) I/O insert with industrial connectors (accessory) Settings via parameter switches Cover for electronics housing Cover for with option "PCB connector" Cover for supply voltage c V and fieldbus connection for with option "industrial connector" Electrical interfaces Characteristics: Page 55 References: Page 59 Dimensions: Page 6 Page 6 5 version:. 69-EN_Ver..indd

57 Characteristics ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILE with brushless DC motor Certifications Conformity to standards e marking Product certifications TÜV certification EMC immunity Conducted and radiated EMC emissions have been developed to comply with the stringent international standards and with the recommendations for adjustable speed power drive systems, specifically: IEC/EN 68- (noise immunity to conducted and radiated high-frequency signals) and IEC/EN 578 (resistance of devices to vibration). EN 68-:, second environment EN 68-:-; IEC 68-, Ed. b Power supplies without external mains filter: v C up to m supply cable length b Power supplies with external mains filter: v C up to m supply cable length v C up to 5 m supply cable length The are CE marked in accordance with the European Machinery Directive (98/7/EEC) and the European EMC Directive (/8/EEC). UL (USA), cul (Canada) are TÜV-certified for device safety and medical devices. The certification includes: b Functional safety of electrical/electronic/programmable safety-related electronic systems (IEC 658; SIL ) b Safety of machinery functional safety of safety-related electrical and electronic and programmable electronic control systems (IEC 66:5; SILcl) b Safety of machinery safety-related parts of control systems Part : General principles for design (ISO 89-:6; PL "d" (Category )) Ambient conditions Ambient temperature () C... 55; power reduction by %/ C at Max. permissible temperature of the power amplifier C 5 Max. permissible temperature of the motor () C Transport and storage temperature C Installation height without power reduction m < m above mean sea level Relative humidity % (not condensing) Vibration load during Number of cycles operation as per Acceleration amplitude: m/s² DIN EN Frequency range Hz... 5 Continuous shocks as per Number of shocks DIN EN Peak acceleration m/s² 5 Shaft wobble and perpendicularity According to EN 57 (IEC 67-) Degree of protection as per DIN EN 6-5 Total except shaft bushing IP5, shaft bushing IP Electrical data Supply voltage (CN) Corresponds to PELV according to DIN 9, protected against reverse polarity Supply voltage range (absolute limit values) c V Nominal supply voltage c V / 8 Ripple at nominal voltage V PP y.6 Max. continuous current consumption A 5,5 Peak current consumption A 7 Inrush current Inrush current time-dependent by current incline function and depending on device capacitance C = 5 µf and resistance of connectivity External fuse A 6 Fieldbus interface (CN) DeviceNet Signal inputs/outputs According to OVDA, galvanic isolation Transmission rate kbaud 5 / 5 / 5 Transmission protocol DeviceNet Position Controller Profile EtherCAT Signal inputs/outputs According to IEEE 8. standard, no galvanic isolation Transmission rate MBit Transmission protocol EtherCAT Modbus TCP/IP Signal inputs/outputs According to IEEE 8. standard, no galvanic isolation Transmission rate MBit / Transmission protocol Modbus TCP/IP Ethernet Powerlink Signal inputs/outputs According to IEEE 8. standard, no galvanic isolation Transmission rate MBit Transmission protocol Ethernet Powerlink () Limit values with flanged motor mounted on a steel plate x x mm () Measured at the surface Description: Page 5 References: Page 59 Dimensions: Page 6 Page 6 69-EN_Ver..indd version:. 55

58 Characteristics (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILE with brushless DC motor Electrical data RS85 commissioning interface (CN) RS85 Signal inputs/outputs According to RS85, no galvanic isolation, -wire Transmission rate kbaud 9.6 / 9. / 8. Transmission protocol Modbus TCP/IP V signal interface (CN) signals, can each be used as input or output V signal inputs Galvanically connected to VDC, protected against reverse polarity Logic (U low ) V Logic (U high ) V Input current (typical at V) ma Debounce time LIO... LIO ms V signal outputs Switching to plus, short-circuit protected, suitable for inductive load ( mh / ma) Supply voltage range c V... 5 Max. switching current (total) ma Max. switching current per output ma The internal power supply unit is protected against: b Short circuit of the output voltage b Overload of output voltage (limited to 6 W output power) Interface for safety function No galvanic isolation; corresponds to RS85 standard "Safe Torque Off" ("Power Removal") (CN5) Logic (U low ) V Logic (U high ) V Input current (typical at V) STO_A ma y STO_B ma y Debounce time ms Response time (until shutdown of power amplifier) ms < 5 Max. Time offset until detection of signal differences between STO_A and STO_B S < Safety function "Safe Torque Off" ("Power Removal") Protection of machine Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard ISO 89-, performance level d of the system process Mechanical data of ILE without gear (PL "d"), and standard IEC/EN Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard IEC/EN 658 level SIL and standard IEC/EN ILEp66 ILEp66 Nominal supply voltage c V 8 8 Nominal current A Nominal speed of rotation rpm Nominal output power W Nominal torque Nm.6.5 Max. torque M max Nm..8 Max. current with power stage disabled A. Detent torque (at zero current) Nm.8.6 Moment of inertia kg cm.7. Max. speed of rotation rpm Positioning resolution per revolution Inc. Accuracy of positioning sensor ±.5 Mass kg..75 Shaft load Max. radial force () N 8 Max. axial tensile force N Max. axial force pressure N Nominal bearing service life () h () Point of application of radial force:.5 mm distance to flange () Operating hours at a probability of failure of % Description: Page 5 References: Page 59 Dimensions: Page 6 Page 6 56 version:. 69-EN_Ver..indd

59 Characteristics (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILE with brushless DC motor Mechanical data of ILEp66 with spur wheel gear G G G G Ratio 8: (6:9) 8: (75:) 5: (9:9) 5: (675:) Number of gear stages Nominal supply voltage c V Nominal current A Nominal speed of rotation of motor rpm Nominal output speed of rotation rpm Nominal output torque Nm.5 7, Nominal output power W Max. current with power stage disabled A. Detent torque (at zero current) Nm Moment of inertia output kg cm 8 96 Max. speed of rotation rpm 8 9 Positioning resolution of motor per revolution Inc. Positioning accuracy motor Inc. ±.5 Positioning resolution of output Torsional backlash y Mass kg.85 Shaft load (short-term operation) Shaft load (long-term operation) Max. radial force () N Max. axial force N 8 Nominal bearing service life () h 5 Max. radial force () N Max. axial force N Nominal bearing service h () 5 () life () Mechanical data of ILEp66 with worm gear G5 G6 G7 G8 Ratio : (55:) 5: (75:) 9: (75:5) 5: (675:) Number of gear stages Nominal supply voltage c V Nominal current A Nominal speed of rotation of motor rpm Nominal output speed of rotation rpm Nominal output torque Nm Nominal output power W Max. current with power stage disabled A. Detent torque (at zero current) Nm Moment of inertia output kg cm Max. speed of rotation rpm Positioning resolution of motor per revolution Inc. Positioning accuracy motor Inc. ± Positioning resolution of output Torsional backlash y.5 y. y. y. Mass kg. Shaft load Max. radial force () N Max. axial force N 8 Nominal bearing service h life () () Point of application of radial force:.5 mm distance to flange () Operating hours at a probability of failure of % () With reduced nominal output torque M N = 6 Nm; 5 h at maximum torque () With reduced nominal output torque M N = 8 Nm; 5 h at maximum torque Description: Page 5 References: Page 59 Dimensions: Page 6 Page 6 69-EN_Ver..indd version:. 57

60 Characteristics (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILE with brushless DC motor Torque characteristics ILEp66 ILEp66 without gearing ILEp66 with spur wheel gear G ILEp66 with worm gear G5 Torque in Nm,,5,,5,, Speed of rotation in rpm Torque in Nm,5.,5,5.,5,5 5 Speed of rotation of motor in rpm Speed of rotation of gearing in rpm Torque in Nm,5.,5,5.,5,5 5 Speed of rotation of motor in rpm,6 8,8 5,7 67,6 9,5 Speed of rotation of gearing in rpm ILEp66 without gearing ILEp66 with spur wheel gear G ILEp66 with worm gear G6 Torque in Nm,7,6,5,,,, Speed of rotation in rpm Torque in Nm Speed of rotation of motor in rpm Speed of rotation of gearing in rpm ILEp66 with spur wheel gear G Torque in Nm Speed of rotation of motor in rpm Speed of rotation of gearing in rpm ILEp66 with spur wheel gear G Torque in Nm. Max. torque at V. Max. torque at 8 V Speed of rotation of motor in rpm 8,7 7, 6 5 Speed of rotation of gearing in rpm Torque in Nm Speed of rotation of motor in rpm 8,6 7, 56 7,6 9, Speed of rotation of gearing in rpm ILEp66 with worm gear G7 Torque in Nm Speed of rotation of motor in rpm,9,8,6,5 5, Speed of rotation of gearing in rpm ILEp66 with worm gear G8 Torque in Nm Speed of rotation of motor in rpm 8,7 7, 6,,8,5 Speed of rotation of gearing in rpm Description: Page 5 References: Page 59 Dimensions: Page 6 Page 6 58 version:. 69-EN_Ver..indd

61 References ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILE with brushless DC motor Order code Example: I L E D 6 6 P B A Motor type I L E D 6 6 P B A E = brushless DC motor Supply voltage I L E D 6 6 P B A =... 8 V Communication interface I L E D 6 6 P B A D = DeviceNet E = EtherCAT P = Ethernet Powerlink T = Modbus TCP/IP Flange size I L E D 6 6 P B A 66 = 66 mm Motor length I L E D 6 6 P B A = motor length = motor length Winding type I L E D 6 6 P B A P = medium speed of rotation, medium torque Connection technology I L E D 6 6 P B A B = printed circuit board connector C = industrial connector Measurement system I L E D 6 6 P B A = BLDC encoder Holding brake I L E D 6 6 P B A A = no holding brake Gearing () () I L E D P B A Spur wheel gear = ratio 8: (6:9) = ratio 8: (75:) = ratio 5: (9:9) = ratio 5: (675:) Worm gear 5 = ratio : (55:) 6 = ratio 5: (75:) 7 = ratio 9: (75:5) 8 = ratio 5: (675:) () Gearing only with ILEp66 (motor length ) () Without gearing: leave out gearing identification in order code (specify characters only). Description: Page 5 Characteristics: Page 55 Dimensions: Page 6 Page 6 69-EN_Ver..indd version:. 59

62 Dimensions ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILE with brushless DC motor Dimensions ILE without gearing, dimensions in mm 7 5,5 7 9,5 5 Ø, 5 ±, 66 Ø h8 Ø 8 j6 5 ±, 66 L 6 L ILEp66 ILEp66 I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm ILE with spur wheel gear, dimensions in mm 7 5,5 7 9,5 Ø, ±, 5 ±, 66 5 ±, Ø h8 Ø 6 h8 66 I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description: Page 5 Characteristics: Page 55 References: Page 59 Page 6 6 version:. 69-EN_Ver..indd

63 Dimensions (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILE with brushless DC motor ILE with worm gear, dimensions in mm 6 (6x) 6,9 ØF8,8 7 5,5 P9 (6x) 9,5 7 Ø 6 h8 8, ± 6,6 ±,5 76,5 ±,5 6 9 ± I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description: Page 5 Characteristics: Page 55 References: Page 59 Page 6 69-EN_Ver..indd version:. 6

64 Description ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILS with -phase stepper motor Description ILS comprise control electronics with a fieldbus interface for DeviceNet, EtherCAT, Modbus TCP/IP or Ethernet Powerlink and a -phase stepper motor. ILS is optionally available with printed circuit board connectors or industrial connectors. A holding brake is optionally available for ILSp phase stepper motor Electronics housing Insert cable entry (accessory) Insert with industrial connectors (accessory) Settings via parameter switches Cover for electronics housing Cover for with option "PCB connector" Cover for supply voltage c V and fieldbus connection for with option "industrial connector" Electrical interfaces Characteristics: Page 6 References: Page 67 Dimensions: Page 68 Page 6 6 version:. 6-EN_Ver..indd

65 Characteristics ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILS with -phase stepper motor Certifications Conformity to standards e marking Product certifications TÜV certification EMC immunity Conducted and radiated EMC emissions have been developed to comply with the stringent international standards and with the recommendations for adjustable speed power drive systems, specifically: IEC/EN 68- (noise immunity to conducted and radiated high-frequency signals) and IEC/EN 578 (resistance of devices to vibration). EN 68-:, second environment EN 68-:-; IEC 68-, Ed. b Power supplies without external mains filter: v C up to m supply cable length b Power supplies with external mains filter: v C up to m supply cable length v C up to 5 m supply cable length The are CE marked in accordance with the European Machinery Directive (98/7/EEC) and the European EMC Directive (/8/EEC). UL (USA), cul (Canada) are TÜV-certified for device safety and medical devices. The certification includes: b Functional safety of electrical/electronic/programmable safety-related electronic systems (IEC 658; SIL ) b Safety of machinery functional safety of safety-related electrical and electronic and programmable electronic control systems (IEC 66:5; SILcl) b Safety of machinery safety-related parts of control systems Part : General principles for design (ISO 89-:6; PL "d" (Category )) Ambient conditions Ambient temperature () C... 55; power reduction by %/ C at Max. permissible temperature of the power amplifier C 5 Max. permissible temperature of the motor () C Transport and storage temperature C Installation height without power reduction m < m above mean sea level Relative humidity % (not condensing) Vibration load during Number of cycles operation as per Acceleration amplitude: m/s² DIN EN Frequency range Hz... 5 Continuous shocks as per Number of shocks DIN EN Peak acceleration m/s² 5 Shaft wobble and perpendicularity According to EN 57 (IEC 67-) Degree of protection as per DIN EN 6-5 Total except shaft bushing IP5, shaft bushing IP Electrical data Supply voltage (CN) Corresponds to PELV according to DIN 9, protected against reverse polarity Supply voltage range (absolute limit values) c V Nominal supply voltage c V / 8 Ripple at nominal voltage V PP y.6 Max. current consumption ILSp57 A.5 ILSp85, ILSp85 A 5 ILSp85: b Winding type P A 5 b Winding type T A 6 External fuse A 6 Fieldbus interface (CN) DeviceNet Signal inputs/outputs According to ODVA, galvanic isolation Transmission rate kbaud 5 / 5 / 5 Transmission protocol DeviceNet Position Controller Profile EtherCAT Signal inputs/outputs According to IEEE 8. standard, galvanic isolation Transmission rate MBit Transmission protocol EtherCAT Modbus TCP/IP Signal inputs/outputs According to IEEE 8. standard, galvanic isolation Transmission rate MBit / Transmission protocol Modbus TCP/IP Ethernet Powerlink Signal inputs/outputs According to IEEE 8. standard, galvanic isolation Transmission rate MBit Transmission protocol Ethernet Powerlink () Limit values with flanged motor mounted on a steel plate x x mm () Measured at the surface Description: Page 6 References: Page 67 Dimensions: Page 68 Page 6 6-EN_Ver..indd version:. 6

66 Characteristics (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILS with -phase stepper motor Electrical data RS85 commissioning interface (CN) RS85 Signal inputs/outputs According to RS85, no galvanic isolation, -wire Transmission rate kbaud 9.6 / 9. / 8. Transmission protocol Modbus TCP/IP V signal interface (CN) signals, can each be used as input or output V signal inputs Galvanically connected to VDC, protected against reverse polarity Logic (U low ) V Logic (U high ) V Input current (typical at V) ma Debounce time IO... IO ms IO and IO () ms. Jitter IO and IO () µs < V signal outputs Switching to plus, short-circuit protected, suitable for inductive load ( mh / ma) Supply voltage range c V... 5 Max. switching current (total) ma Max. switching current per output ma Voltage drop at 5 ma load V y The internal power supply unit is protected against: b Short circuit of the output voltage b Overload of output voltage (limited to 6 W output power) Interface for safety function No galvanic isolation; corresponds to RS85 standard "Safe Torque Off" ("Power Removal") (CN5) Logic (U low ) V Logic (U high ) V Input current (typical at V) ma Debounce time ms Response time (until shutdown of power amplifier) ms < 5 Max. Time offset until detection of signal differences between STO_A and STO_B S < Safety function "Safe Torque Off" ("Power Removal") Protection of machine Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard ISO 89-, performance level d of the system process () When the "Fast position capture" function is used (PL "d"), and standard IEC/EN Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard IEC/EN 658 level SIL and standard IEC/EN Description: Page 6 References: Page 67 Dimensions: Page 68 Page 6 6 version:. 6-EN_Ver..indd

67 Characteristics (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILS with -phase stepper motor Mechanical data ILSp57 ILSp57 ILSp57 ILSp57 Winding type P P P Max. torque M max Nm Holding torque Nm Moment of inertia kg cm...8 Positioning resolution per revolution Inc. Systematic angle tolerance per step () ±6 Mass kg..6. Shaft load () Max. radial force () N 5 Max. axial tensile force N Max. axial force pressure N 8. Nominal bearing service life () h Mechanical data ILSp85 ILSp85 ILSp85 ILSp85 Winding type P P P T Max. torque M max Nm Holding torque Nm Moment of inertia kg cm... Positioning resolution Inc. Systematic angle tolerance per step () ±6 Mass kg Shaft load () Max. radial force () N Max. axial tensile force N 7 Max. axial force pressure N Nominal bearing service h life () Holding brake Holding torque Nm 6 Electrical pull-in power W Brake release time ms Brake application time ms Moment of inertia kg cm. Mass kg.8 () Measured at steps/revolution () Conditions for shaft load: speed of rotation 6 rpm, % duty cycle at continuous torque, ambient temperature C () Point of application of radial force:.5 mm distance to flange () Operating hours at a probability of failure of % Description: Page 6 References: Page 67 Dimensions: Page 68 Page 6 6-EN_Ver..indd version:. 65

68 Characteristics (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILS with -phase stepper motor Torque characteristics ILSp57 ILSp57P (winding type P) ILSp57P (winding type P) ILSp57P (winding type P) Torque in Nm,5,. Torque in Nm,8. Torque in Nm,6,.,, Speed of rotation in rpm,6,., Speed of rotation in rpm,.,8,. Speed of rotation in rpm Torque characteristics ILSp58 ILSp85P (winding type P) ILSp85P (winding type P) Torque in Nm,5,5.,5. Speed of rotation in rpm Torque in Nm 5.. Speed of rotation in rpm ILSp85P (winding type P) ILSp85T (winding type T) Torque in Nm Speed of rotation in rpm Torque in Nm Speed of rotation in rpm. Max. torque at V. Max. torque at 8 V Description: Page 6 References: Page 67 Dimensions: Page 68 Page 6 66 version:. 6-EN_Ver..indd

69 References ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILS with -phase stepper motor Order code Example: I L S D 5 7 P B A Motor type I L S D 5 7 P B A S = -phase stepper motor Supply voltage I L S D 5 7 P B A =... 8 V Communication interface I L S D 5 7 P B A D = DeviceNet E = EtherCAT P = Ethernet Powerlink T = Modbus TCP/IP Flange size I L S D 5 7 P B A 57 = 57 mm 85 = 85 mm Motor length I L S D 5 7 P B A = motor length = motor length = motor length Winding type I L S D 5 7 P B A P = medium speed of rotation, medium torque T = high speed of rotation, medium torque () Connection technology I L S D 5 7 P B A B = printed circuit board connector C = industrial connector Measurement system I L S D 5 7 P B A = index pulse Holding brake A = no holding brake F = with holding brake () I L S D 5 7 P B A () Winding type T only with ILSp85 (motor length ) () Holding brake only with ILSp85 Description: Page 6 Characteristics: Page 6 Dimensions: Page 68 Page 6 6-EN_Ver..indd version:. 67

70 Dimensions ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILS with -phase stepper motor Dimensions ILSp57, dimensions in mm 7 9,5,6 Ø 5, 7, ±, ØD -, 57, 9, Ø8, ±,5 7 5,5 7, ±, 57, L 5 L D ILSp ILSp ILSp I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description: Page 6 Characteristics: Page 6 References: Page 67 Page 6 68 version:. 6-EN_Ver..indd

71 Dimensions (continued) ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink ILS with -phase stepper motor ILSp85 without holding brake, dimensions in mm 7 7 9,5 5,5 ±,5 Ø6,5 7 ±, 85 Ø6 h8 9,6 ØD h6 7 ±, 85 L L D ILSp85.6 ILSp ILSp85.6 ILSp85 with holding brake, dimensions in mm 7 7 9,5 5,5 ±,5 Ø 6,5 7 ±, 85 Ø 6 h8 9,6 ØD h6 7 ±, 85 L L D ILSp ILSp85 7. ILSp85 7. I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description: Page 6 Characteristics: Page 6 References: Page 67 Page 6 6-EN_Ver..indd version:. 69

72 Presentation ILS with I/O interface for motion sequence Presentation The ILS with I/O interface for motion sequence consist of a -phase stepper motor and integrated electronics. The drive system has integrated interfaces, control electronics, holding brake (optional) and power amplifier. Application areas with -phase stepper motors offer high torque at low speed of rotation. These are ideally suited as drives in velocity mode with excellent constant velocity characteristics and also or for highresolution positioning. Commissioning the stepper motor drives is simple because it is not necessary to adjust the controller. ILS with -phase stepper motor Special features b High continuous stall torque b Good constant velocity characteristics b High positioning resolution (.8 ) b Optionally with holding brake Control Up to 6 movement commands can be selected and started directly or sequentially via digital signal inputs. The movement commands can include reference movements or positioning commands. This way, motion sequences can be saved in the drive system and controlled via a master PLC. The PC commissioning software is used to enter data sets and parameterise the drive system. Electronics The electronic system comprises control and power electronics. They have a common power supply and are not galvanically isolated. Four V signals are also available. The assignment of the signal inputs and outputs can be set via parameters. The electronics are thermally decoupled from the motor by a plastic element. Supply voltage These can be operated with a supply voltage of Vc or 6 Vc. Schemes: Page 7 Functions: Page 7 ILS with stepper motor: Page 8 7 version:. 6-EN_Ver..indd

73 Schemes ILS with I/O interface for motion sequence Schemes ILS with I/O interface for motion sequence have the following connections: b Supply voltage cv b Multifunction interface b RS85 commissioning interface b V signal interface b Signal interface for "Safe Torque Off" safety function ("Power Removal") Printed circuit board connectors are used for cabling. Multifunction interface Up to 6 data sets with movement commands can be selected and started via digital signals of the multifunctional interface. In addition two additional signal outputs can be parameterised with special functions. RS85 commissioning interface The RS85 commissioning interface is used to connect the RS85 bus for commissioning purposes. A PC can be connected to the commissioning interface via an RS85-RS converter. The "Lexium CT" commissioning software can be used for tasks such as reading the error memory or monitoring the temperature. V signal interface Four digital V signals are available. They can be used as signal input or output. The V signals are available to the master controller. However, they can also be parameterised for special functions, e.g. for connection of limit switches. The V power supply is internal via the supply voltage of the Integrated Drive System. Signal interface for "Safe Torque Off" safety function ("Power Removal") The integrated "Safe Torque Off" safety function ("Power Removal") enables a stop of category or as per IEC/EN 6- without external power contactors. The supply voltage does not have to be interrupted. This reduces the system costs and response times. The "Safe Torque Off" safety function ("Power Removal") is activated via two redundant V input signals (low active). Presentation Page 7 Functions: Page 7 ILS with stepper motor: Page 8 6-EN_Ver..indd version:. 7

74 Schemes (continued) ILS with I/O interface for motion sequence Connection technology Printed circuit board connector Printed circuit board connectors are preferably used for cabling series machines with cable harnesses. b Fieldbus and I/O signal connection with connector "Molex Micro Fit" Power supply connection with "AMP Positive Lock" crimp contacts b Two cable entries are required for cabling the (see accessories) CN VDC VDC CN5 Integrated drive system with printed circuit board connectors 5 CN CN CN CN Printed circuit board connector, overview of connections Connection CN CN CN CN CN5 CN6 Assignment Supply voltage c V Multifunction interface RS85 commissioning interface V signal interface Interface for "Safe Torque Off" safety function ("Power Removal") Jumper for disabling "Safe Torque Off" safety function ("Power Removal") I/O signal inserts The signals for the "Safe Torque Off" safety function ("Power Removal") and the freely usable signal input and outputs use industrial connectors. The V power supply to the signal outputs is internal. Different I/O signal inserts are available for this purpose. I/O signal insert without "Safe Torque Off" safety function ("Power Removal") IO IO IO Inserts for three I/O signals I/O signal insert with "Safe Torque Off" safety function ("Power Removal") IO IO STO_A STO_B Insert for two I/O signals and STO signals for safety function Presentation Page 7 Functions: Page 7 ILS with stepper motor: Page 8 7 version:. 6-EN_Ver..indd

75 Schemes (continued) ILS with I/O interface for motion sequence Connection example I/O signal connection UBC ILp ~ + - /6Vc VDC VDC +VDC_OUT VDC + - LIMN IO + - LIMP IO Vc Vc CN. CN. CN.6 CN. CN. CN. CN.8 CN.9 CN. CN.5 CN.6 +VDC_ NO_FAULT_OUT FUNCT_OUT FUNCT_OUT DATA_ DATA_ DATA_ + IO CN. CN. CN. DATA_8/SEL_DATA START + IO CN.5 CN. ENABLE STO_A CN5. STO_B CN5. Connection example with four I/O signals PLC Galvanic isolation Presentation Page 7 Functions: Page 7 ILS with stepper motor: Page 8 6-EN_Ver..indd version:. 7

76 Functions ILS with I/O interface for motion sequence START "Motion Sequence" operating mode General In the "Motion Sequence" operating mode, up to 6 data sets with movement commands can be activated directly or sequentially with a PC, fieldbus or digital inputs. The movement commands can include reference movements or positioning commands. This way, a motion sequence can be saved in the drive system and controlled via a master PLC. The Lexium CT PC commissioning software or the fieldbus is used to enter data sets and parameterise the drive system. DataSet_ Ref.LIMN Direct selection of movement commands The direct selection of movement commands is used if a master controller (e.g. PLC) controls the time coordination of the various data sets. The data set to be processed is selected via signal inputs and then activated by a start signal. DataSet_ START = DataSet_ START = DataSet_ START = Pos.absolut Pos.absolut Pos.relativ Sequential selection of movement commands The sequential selection of movement commands is used to process simple motion sequences. The time coordination is programmed in the individual data sets via specification of a wait time, a transition condition and the subsequent data set. A transition condition can be, for instance, a rising edge at the START signal input. A motion sequence can also be executed cyclically with or without return to the initial position. Processing status of a movement command The processing status of a movement command can be output via the handshake output. In addition, an internal processing status such as "drive system in motion" can be output via an additional signal output. Selection of the motion profile Speeds and accelerations are saved in motion profiles. One of the motion profiles can be assigned to every movement command data set. Example of sequential selection of movement commands Presentation Page 7 Schemes: Page 7 ILS with stepper motor: Page 8 7 version:. 6-EN_Ver..indd

77 Functions (continued) ILS with I/O interface for motion sequence Operating modes Overview The following operating modes can be set via the fieldbus: b b b Jog Profile position Homing Jog mode The motor moves by one distance unit or at constant speed in continuous operation. The value of the distance unit, the speed levels and the change-over time in continuous operation can be adjusted manually. Reference value setting The reference value is set via PC. Application example Setting up a machine during commissioning Parameter startman, Bit Parameter startman, Bit n_fastman Motor M Stop n_slowman Parameter stateman, Bit Jog, slow and fast step_man t < time_man time_man Continuous operation Profile position In the operating mode "Profile Position", the motor is positioned from a point A to a point B with a positioning command. Settings The positioning path can be specified in two ways: b Absolute positioning, reference point is the zero point of the axis b Relative positioning, reference point is the current position of the motor Reference value setting The reference value is set via PC. Application example Pick-and-place with a linear robot 5 Inc. Inc 5 Inc 7 Inc Operating mode "Profile Position", absolute and relative Presentation Page 7 Schemes: Page 7 ILS with stepper motor: Page 8 6-EN_Ver..indd version:. 75

78 Functions (continued) ILS with I/O interface for motion sequence Homing There are two types of homing: b Reference movement Specifying the dimension reference by approach to a limit or reference switch b Position setting Specifying the position reference relative to the current motor position Reference movement During reference movement, the motor moves to a defined position on the axis. The position is defined by a mechanical switch: b LIMN, LIMP limit switches b REF reference switch Types of reference movements There are five standard reference movements: b Movement to negative limit switch LIMN b Movement to positive limit switch LIMP b Movement to REF reference switch with first movement counterclockwise b Movement to REF reference switch with first movement clockwise b Reference movement to index pulse with clockwise or counterclockwise rotation These standard reference movements can be executed without and with index pulse. Example : reference movement to limit switch LIMN LIMP M R- p_dishome p_outhome v_home v_outhome Operating mode "Homing", reference movement to limit switch Movement to limit switch at search speed Movement to switching edge at clearance speed Movement to distance from switching edge at clearance speed Presentation Page 7 Schemes: Page 7 ILS with stepper motor: Page 8 76 version:. 6-EN_Ver..indd

79 Functions (continued) ILS with I/O interface for motion sequence Example : position setting Position setting can be used to execute a continuous motor movement without overtravelling the positioning limits. M M M Inc "" "" Inc Positioning by increments with position setting The motor is positioned by Inc. The current motor position is set to position value by position setting to and the new zero point is defined at the same time. The new target position is Inc after a new movement command by Inc is triggered. This procedure prevents overtravel of the absolute position limits during positioning, because the zero point is continuously made to follow. Reference value setting The reference value is set via PC. Application example Prior to absolute positioning in "Profile Position" mode. Additional operating modes Additional operating modes can be activated via PC. b Reversing direction of rotation of motor b Setting motion profile via profile generator b Triggering Quick Stop function b Function of holding brake b Programming inputs/outputs. Presentation Page 7 Schemes: Page 7 ILS with stepper motor: Page 8 6-EN_Ver..indd version:. 77

80 Functions (continued) ILS with I/O interface for motion sequence "Safe Torque Off" ("Power Removal") safety function The Lexium Integrated Drive integrates the "Safe Torque Off" ("Power Removal") safety function which prevents unintended operation of the motor. The motor no longer produces any torque if the safety function is active. This safety function: b Complies with the machine safety standard ISO 89-, perfomance level d (PL "d"). b Complies with the standard for functional safety IEC/EN 658, SIL capability (safety control-signalling applied to processes and systems). The SIL (Safety Integrity Level) capability depends on the connection diagram for the servo drive and for the safety function. Failure to observe the setup recommendations could inhibit the SIL capability of the "Safe Torque Off" safety function b Complies with product standard IEC/EN Adjustable speed electrical power drive systems Part 5-: Safety requirements Functional for both stop functions: v Safe Torque Off ("STO") corresponds to Category stop according to IEC/ EN 6. Standstill by immediate power shutdown to the machine drive elements (i.e. an uncontrolled stop). v Safe Stop ("SS") corresponds to Category stop according to IEC/EN 6-. A controlled stop in which the machine drive elements are retained to effect the standstill. The final shutdown is ensured by an external Emergency Stop module with safe time delay, e.g. Preventa XPS-AV. The "Safe Torque Off" ("Power Removal") safety function has a redundant electronic architecture (). This PL "d" and SIL safety function is certified as conforming to these standards by the TÜV certification body in the context of a voluntary certification. () Redundant: Consists of mitigating the effects of the failure of one component by means of the correct operation of another, assuming that faults do not occur simultaneously on both. Presentation Page 7 Schemes: Page 7 ILS with stepper motor: Page 8 78 version:. 6-EN_Ver..indd

81 Functions (continued) ILS with I/O interface for motion sequence Examples of applications of the safety function Emergency Stop V V ENABLE PLC/CNC ILp FAULT RESET STO_A STO _B Example of Category Stop V V V V V Preventa XPS-AV ENABLE PLC/CNC ILp Y+ FAULT RESET Emergency Stop Y6 Y7 Y8 delayed not 58 delayed S S S S S S S S A A STO_A STO_B Example of Category Stop Presentation Page 7 Schemes: Page 7 ILS with stepper motor: Page 8 6-EN_Ver..indd version:. 79

82 Description ILS with I/O interface for motion sequence ILS with -phase stepper motor Description ILS with I/O interface for motion sequence consist of control electronics and a -phase stepper motor. ILS for motion sequence is available with printed circuit board connectors. A holding brake is optionally available for ILSp phase stepper motor Electronics housing Insert cable entry (accessory) I/O insert with industrial connectors (accessory) Cover for electronics housing Cover for connector housing Electrical interfaces Characteristics: Page 8 References: Page 8 Dimensions: Page 85 Page 6 8 version:. 6-EN_Ver..indd

83 Characteristics ILS with I/O interface for motion sequence ILS with -phase stepper motor Certifications Conformity to standards e marking Product certifications TÜV certification EMC immunity Conducted and radiated EMC emissions have been developed to comply with the stringent international standards and with the recommendations for electronic control systems in the industry (IEC, EN), specifically: low-voltage switchgear, IEC/EN 68-5-, IEC/EN 578, IEC/EN 68- (noise immunity to conducted and radiated highfrequency signals) EN 68-:, second environment EN 68-:-; IEC 68-, Ed. b Power supplies without external mains filter: v C up to m supply cable length b Power supplies with external mains filter: v C up to m supply cable length v C up to 5 m supply cable length The are CE marked in accordance with the European Low Voltage Directive (7//EEC and 9/68/EEC) and the European EMC Directive (89/6/EEC). UL (USA), cul (Canada) are TÜV-certified for device safety and medical devices. The certification includes: b Functional safety of electrical/electronic/programmable safety-related electronic systems (IEC 658; SIL ) b Safety of machinery functional safety of safety-related electrical and electronic and programmable electronic control systems (IEC 66:5; SILcl) b Safety of machinery safety-related parts of control systems Part : General principles for design (ISO 89-:6; PL "d" (Category )) Ambient conditions Ambient temperature () C... 65; power reduction by %/ C at Max. permissible motor temperature C Installation height without power reduction m < m above mean sea level Transport and storage temperature C Relative humidity % (not condensing) Vibration load during Number of cycles operation as per Acceleration amplitude: m/s² DIN EN Frequency range Hz... 5 Continuous shocks as per Number of shocks DIN EN Peak acceleration m/s² 5 Thermal class as per DIN EN 6-55 (F) Shaft wobble and perpendicularity According to EN 57 (IEC 67-) Degree of protection as per DIN EN 6-5 Total except shaft bushing IP5, shaft bushing IP Electrical data Power supply connection (CN) Corresponds to PELV according to DIN 9, not protected against reverse polarity Supply voltage range c V 8... Nominal supply voltage c V / 6 Ripple at nominal voltage V PP y.6 Max. current consumption ILSM57 A.5 ILSM85, ILSM85 A 5 ILSM85 b Winding type P A 5 b Winding type T A 6 Inrush current Inrush current time-dependent by current incline function and depending on device capacitance C = 5 µf and resistance of connectivity External fuse A Multifunction interface (CN) Galvanically isolated from supply voltage VDC; suitable for inductive load ( mh) Voltage supply range c V... Max. switching current per output ma 5 RS85 commissioning interface (CN) No galvanic isolation; corresponds to RS85 standard Transmission rate kbaud 9.6 / 9. / 8. V signal interface (CN) signals, each usable as input or output, galvanically connected to VDC, not protected against reverse polarity V signal inputs Logic (U low ) V Logic (U high ) V Input current (typical at V) ma Debounce time IO..IO ms....5 () Limit values with flanged motor mounted on a steel plate x x mm Description: Page 8 References: Page 8 Dimensions: Page 85 Page 6 6-EN_Ver..indd version:. 8

84 Characteristics (continued) ILS with I/O interface for motion sequence ILS with -phase stepper motor V signal outputs Switching to plus, short-circuit protected, suitable for inductive load ( mh / ma) Supply voltage range c V... Max. switching current (total) ma Max. switching current per output ma Interface for safety function "Safe Torque Off" (CN5) No galvanic isolation; corresponds to RS85 standard Logic (U low ) V Logic (U high ) V Input current STO_A ma y (typical at V) STO_B ma y Debounce time ms Response time (until shutdown of power amplifier) ms < 5 Max. Time offset until detection of signal differences between STO_A and STO_B S < Safety function "Safe Torque Off" ("Power Removal") Protection of machine Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard ISO 89-, performance level d Mechanical data ILSp57 of the system process (PL "d"), and standard IEC/EN Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard IEC/EN 658 level SIL and standard IEC/EN ILSp57 ILSp57 ILSp57 Winding type P P P Max. torque M max Nm Holding torque Nm.5..7 Rotor inertia kg cm...8 Positioning resolution per revolution Systematic angle tolerance per step () ` ±6 ±6 ±6 Mass kg..6. Shaft load () Max. radial force () N 5 Max. axial tensile force N Max. axial force pressure N 8. Nominal bearing service life () h Mechanical data ILSp85 ILSp85 ILSp85 ILSp85 Winding type P P P T Max. torque M max Nm Holding torque Nm Rotor inertia kg cm... Positioning resolution per revolution Systematic angle tolerance per step () ` ±6 Mass kg Shaft load () Max. radial force () N Max. axial tensile force N 7 Max. axial force pressure N Nominal bearing service h life () Holding brake Holding torque Nm 6 Electrical pull-in power W Brake release time ms Brake application time ms Moment of inertia kg cm. Mass kg.8 () Measured at steps/revolution, unit: minutes of arc () Conditions for shaft load: speed of rotation 6 rpm, duty cycle at torque, ambient temperature C () Point of application of radial force:.5 mm distance to flange () Operating hours at a probability of failure of % Description: Page 8 References: Page 8 Dimensions: Page 85 Page 6 8 version:. 6-EN_Ver..indd

85 Characteristics (continued) ILS with I/O interface for motion sequence ILS with -phase stepper motor Torque characteristics ILSp57 ILSp57P (winding type P) ILSp57P (winding type P) ILSp57P (winding type P) Torque in Nm Torque in Nm Torque in Nm,5.,,8,6,,6.,,,. Speed of rotation in rpm,,. Speed of rotation in rpm,8,.. Speed of rotation in rpm Torque characteristics ILSp85 ILSp85P (winding type P) ILSp85P (winding type P) Torque in Nm Torque in Nm 5,5,5,5.... Speed of rotation in rpm Speed of rotation in rpm ILSp85P (winding type P) ILSp85T (winding type T) Torque in Nm Torque in Nm Speed of rotation in rpm Speed of rotation in rpm. Max. torque at V. Max. torque at 6 V Description: Page 8 References: Page 8 Dimensions: Page 85 Page 6 6-EN_Ver..indd version:. 8

86 References ILS with I/O interface for motion sequence ILS with -phase stepper motor Order code Example: I L S M 5 7 P B A Motor type I L S M 5 7 P B A S = -phase stepper motor Supply voltage I L S M 5 7 P B A =... 6 V Communication interface I L S M 5 7 P B A M = I/O interface for motion sequence Flange size I L S M 5 7 P B A 57 = 57 mm 85 = 85 mm Motor length I L S M 5 7 P B A = motor length = motor length = motor length Winding type I L S M 5 7 P B A P = medium speed of rotation, medium torque T = high speed of rotation, medium torque () Connection technology I L S M 5 7 P B A B = printed circuit board connector C = industrial connector Measurement system I L S M 5 7 P B A = index pulse Holding brake A = no holding brake F = with holding brake () I L S M 5 7 P B A () Winding type T only with ILSM85 (motor length ) () Holding brake only with ILSM85 Description: Page 8 Characteristics: Page 8 Dimensions: Page 85 Page 6 8 version:. 6-EN_Ver..indd

87 Dimensions ILS with I/O interface for motion sequence ILS with -phase stepper motor Dimensions ILSp57, dimensions in mm 7 9,5,6 Ø 5, ØD -, 7, ±, 57, 9, Ø8, ±,5 7 5,5 7, ±, 57, L 5 L D ILSp ILSp ILSp I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description: Page 8 Characteristics: Page 8 References: Page 8 Page 6 6-EN_Ver..indd version:. 85

88 Dimensions (continued) ILS with I/O interface for motion sequence ILS with -phase stepper motor ILSp85 without holding brake, dimensions in mm 7 7 9,5 5,5 ±,5 Ø6,5 7 ±, 85 Ø6 h8 9,6 ØD h6 7 ±, 85 L L D ILSp85.6 ILSp ILSp85.6 I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description: Page 8 Characteristics: Page 8 References: Page 8 Page 6 86 version:. 6-EN_Ver..indd

89 Dimensions (continued) ILS with I/O interface for motion sequence ILS with -phase stepper motor ILSp85 with holding brake, dimensions in mm 7 7 5,5 9,5 ±,5 Ø 6,5 7 ±, 85 Ø 6 h8 9,6 ØD h6 7 ±, 85 L L D ILSp ILSp85 7. ILSp85 7. I/O signal insert with industrial connectors Option: industrial connectors Earth (ground) terminal cable entries Ø =... 9 mm Description: Page 8 Characteristics: Page 8 References: Page 8 Page 6 6-EN_Ver..indd version:. 87

90 Presentation ILS with pulse/direction interface Presentation ILS contain a -phase stepper motor and control electronics with pulse/direction interface. Pulse/direction signals of a master controller, e.g. a motion controller, or A/B signals of an encoder are converted directly into motion. Application areas with -phase stepper motors offer high torque at low speed of rotation. These are ideally suited as drives in velocity mode with excellent constant velocity characteristics and also or for highresolution positioning. Commissioning the stepper motor drives is simple because it is not necessary to adjust the controller. ILSp57 with -phase stepper motor Special features b High continuous stall torque b Good constant velocity characteristics b High positioning resolution (.8 ) b Holding brake (option for ILSp85) Control ILS moves the stepper motor according to a reference value. The reference value signal is generated by a controller or an encoder and is sent to the multifunction interface as a pulse signal. The number of steps (steps per revolution) is set with a parameter switch. Electronics The electronic system comprises control and power electronics. They have a common power supply and are not galvanically isolated. Four V signals are also available. The assignment of the signal inputs and outputs can be adjusted via parameter switches. The electronics are thermally decoupled from the motor by a plastic element. Schemes: Page 89 Functions: Page 9 ILS with stepper motor: Page version:. 6-EN_Ver..indd

91 Schemes ILS with pulse/direction interface Schemes ILS have the following connections: b Power supply b Multifunction interface b Service interface b V signal interface for four signal inputs/outputs b Signal interface for safety function "Safe Torque Off" ("Power Removal") Printed circuit board connectors are used for cabling. Multifunction interface The multifunction interface operates at one of the following signal levels depending on the device model: b b V signals opto-isolated (ILSU) 5 V signals opto-isolated (ILSV) 5 V differential signals without galvanic isolation (ILSW) b The reference pulses are supplied via two of the signal inputs, either as pulse/ direction signals or as A/B signals. The other signal inputs have the functions "power amplifier enable/pulse blocking" and "step size switching/pwm motor current control". NC + 5V, V - Circuit of signal inputs of ILSU and ILSV NC RS + - Circuit of signal inputs of ILSW Presentation Page 88 Functions: Page 9 ILS with stepper motor: Page 98 6-EN_Ver..indd version:. 89

92 Schemes (continued) ILS with pulse/direction interface Service interface The service interface is used to connect the RS85 bus for service purposes. A PC can be connected to the service interface via an RS85-RS converter. The "Lexium CT" commissioning software can be used for tasks such as reading the error memory or monitoring the temperature. V signal interface Two signal inputs and two signal outputs are available. The signal inputs have the functions "step size switching" and "power amplifier enable/pulse blocking". The signal outputs have the functions "power amplifier standby" and "fault output/index pulse". The V power supply to the signal outputs is internal via the supply voltage of the Integrated Drive System. Signal interface for "Safe Torque Off" safety function ("Power Removal") The integrated "Safe Torque Off" safety function ("Power Removal") enables a stop of category or as per IEC/EN 6- without external power contactors. The supply voltage does not have to be interrupted. This reduces the system costs and response times. The "Safe Torque Off" safety function ("Power Removal") is activated via two redundant V input signals (low active). Presentation Page 88 Functions: Page 9 ILS with stepper motor: Page 98 9 version:. 6-EN_Ver..indd

93 Schemes (continued) ILS with pulse/direction interface Connection technology Printed circuit board connector Printed circuit board connectors are preferably used for cabling series machines with cable harnesses. b Fieldbus and I/O signal connection with connector "Molex Micro Fit" Power supply connection with "AMP Positive Lock" crimp contacts b Two cable entries are required for cabling the (see accessories) CN VDC VDC CN5 Integrated drive system with printed circuit board connectors CN6 5 6 CN CN CN Printed circuit board connector, overview of connections Connection CN CN CN CN CN5 CN6 Assignment Supply voltage c V Multifunction interface Service interface V signal interface Interface for safety function "Safe Torque Off" Jumper for disabling "Safe Torque Off" safety function ("Power Removal") Presentation Page 88 Functions: Page 9 ILS with stepper motor: Page 98 6-EN_Ver..indd version:. 9

94 Functions ILS with pulse/direction interface Functions Overview The following functions can be set on ILS with the parameter switches: b b b b v v v v v b v v v b b b Number of steps: / / 5 / / / / 5 / Motor phase current (5%... % of nominal current) Idle current reduction to 7% of specified motor phase current Functions of signal inputs Reference pulses supplied as pulse/direction or A/B encoder signals (PULSE/ DIR / A/B signal input) Enable or block power amplifier (ENABLE / GATE signal input) Enable or block reference pulse (ENABLE / GATE signal input) Control motor phase current with PWM signal (PWM / STEP_INV signal input) Increase or reduce number of steps by a factor of, e. g. / (PWM / STEP_INV signal input) Functions of signal outputs Output error signal (FAULT / INDEXPULSE signal output) Output index pulse signal (FAULT / INDEXPULSE signal output) The operating readiness is signalled via the ACTIVE signal output. Activate blocking detection. If the actual position deviates more than one revolution from the reference position, an error is generated and the compact drive system is de-energised. The motor has no torque in this operating status. Switch on RS85 terminating resistor Switch on/off safety function "Safe Torque Off" Setting the number of steps The number of steps per axis revolution can be set via the number of steps function. Example: At a number of steps of, the Integrated Drive System executes exactly one complete motor revolution at pulses. At a pulse frequency of khz this corresponds to a speed of s - = 6 rpm. The STEP_INV setting at the parameter switch can be inverted via the input signal STEP_INV of the multifunction interface or the V signal interface. Settings via parameter switch Number of steps: / / 5 / / / / 5 / per revolution Setting the motor phase current The motor phase current is set with a rotary switch. A high motor phase current generates a high motor torque. Settings via rotary switch Motor phase current (5%... % (in increments of 5%) of nominal current Activating the motor phase reduction If the full holding torque is not required, the motor phase current reduction can be used to reduce the holding torque. Advantage: motor and electronics heat up less and efficiency is improved. The motor phase current is reduced to approximately 7% of the set motor phase current value ms after the last pulse edge is received. The motor phase current is set with a rotary switch. A high motor phase current generates a high motor torque. Settings via parameter switch Activate/deactivate motor phase current reduction Presentation Page 88 Schemes: Page 89 ILS with stepper motor: Page 98 9 version:. 65-EN_Ver..indd

95 Functions (continued) ILp with pulse/direction interface Setting the function of the ENABLE/GATE signal input The ENABLE/GATE signal is available at the following interfaces: b V signal interface b Multifunction interface The ENABLE/GATE signal can have two functions: ENABLE function: enable/block power amplifier The ENABLE function enables the power amplifier so that the motor can be controlled. GATE function: enable/block the pulse input The GATE function blocks the pulses at the reference input without switching off the operating readiness. In a multi-axis system, individual axes can be selected with the GATE function. +GATE +PULSE u,5 ms u,5 ms u,5 ms u,5 ms Signal sequences when the Integrated Drive System is switched on with the GATE function Motor step No motor steps Motor steps The diagram shows the motor movement with activated GATE function. No pulse may be applied for.5 ms before and after the GATE signal changes to ensure that the Integrated Drive System can follow the preset pulse step by step. If the time interval is not kept, the LED signals a warning. The warning does not affect the operating readiness of the Integrated Drive System. Settings via parameter switch Set the function of the ENABLE/GATE signal input Presentation Page 88 Schemes: Page 89 ILS with stepper motor: Page EN_Ver..indd version:. 9

96 Functions (continued) ILS with pulse/direction interface Setting the function of the STEP_INV / PWM signal input The STEP_INV/PWM signal is available at the following interfaces: b Multifunction interface b V signal interface (only STEP_INV) The STEP_INV/PWM signal can have two functions: STEP_INV function The STEP_INV function can be used if a high positioning accuracy is required but the output frequency of the master controller is limited. The number of steps can be increased or reduced by a factor of with the STEP_ INV / PWM signal. If the STEP_INV function is activate, the setting of the parameter switch. is inverted. STEP_INV +PULSE u,5 ms u,5 ms u,5 ms u,5 ms Signal sequences when the STEP_INV signal changes Large motor step Motor steps decreased by a factor of Large motor steps PWM function The PWM (pulse width modulation) function can be used to reduce the motor phase current and, by implication, the torque to a value between % and % of the motor phase current that is set at the HEX rotary switch. At constant level HIGH, motor phase current does not flow (current set to zero). At constant level LOW, the motor operates with the adjusted maximum motor phase current. If rectangular pulse signals are supplied, the motor phase current can be set using the pulse-pause ratio. Settings via parameter switch Set the function of the STEP_INV / PWM signal input Presentation Page 88 Schemes: Page 89 ILS with stepper motor: Page 98 9 version:. 65-EN_Ver..indd

97 Functions (continued) ILS with pulse/direction interface Setting the function of the FAULT/INDEX PULSE signal output The index pulse signal can be made available at the FAULT / INDEXPULSE signal output. The FAULT/INDEX PULSE signal is available at the following interfaces: b V signal interface The FAULT/INDEX PULSE signal can have two functions: FAULT function The FAULT function displays an error status. An error can be reset by blocking and enabling the power amplifier (ENABLE: LOW HIGH signal). INDEXPULSE function If the integrated Drive System is equipped with the optional internal Hall sensor at the motor shaft, the Hall sensor sends the INDEXPULSE signal per revolution. Settings via parameter switch Set the function of the FAULT/INDEX PULSE signal output Activating blocking detection. The blocking detection responds if the actual position of the axis deviates from the reference position by more than one revolution. When the blocking detection responds, the Integrated Drive System is de-energised and the FAULT signal output is set. Settings via parameter switch Activate/deactivate blocking detection Setting the function of the DIR/A and PULSE/B signal inputs The reference position values can be supplied to the multifunction interface as pulse/direction signals or as A/B encoder signals. The Integrated Drive System converts the input signals into a motor movement. Two interface modes are available: PULSE/DIR interface mode The motor executes an angle step with the rising edge of the PULSE signal. The direction of rotation is controlled by the DIR signal. PULSE DIR u,µs u,5µs u,5µs u,5µs Pulse/direction signals A/B interface mode In A/B interface mode, A/B encoder signals are supplied as reference values. A B + A/B encoder signals Settings via parameter switch Set the function of the DIR / A and PULSE / B signal inputs Presentation Page 88 Schemes: Page 89 ILS with stepper motor: Page EN_Ver..indd version:. 95

98 Functions (continued) ILS with pulse/direction interface "Safe Torque Off" ("Power Removal") safety function The Lexium Integrated Drive integrates the "Safe Torque Off" ("Power Removal") safety function which prevents unintended operation of the motor. The motor no longer produces any torque if the safety function is active. This safety function: b Complies with the machine safety standard ISO 89-, perfomance level d (PL "d"). b Complies with the standard for functional safety IEC/EN 658, SIL capability (safety control-signalling applied to processes and systems). The SIL (Safety Integrity Level) capability depends on the connection diagram for the servo drive and for the safety function. Failure to observe the setup recommendations could inhibit the SIL capability of the "Safe Torque Off" safety function b Complies with product standard IEC/EN Adjustable speed electrical power drive systems Part 5-: Safety requirements Functional for both stop functions: v Safe Torque Off ("STO") corresponds to Category stop according to IEC/ EN 6. Standstill by immediate power shutdown to the machine drive elements (i.e. an uncontrolled stop). v Safe Stop ("SS") corresponds to Category stop according to IEC/EN 6-. A controlled stop in which the machine drive elements are retained to effect the standstill. The final shutdown is ensured by an external Emergency Stop module with safe time delay, e.g. Preventa XPS-AV. The "Safe Torque Off" ("Power Removal") safety function has a redundant electronic architecture (). This PL "d" and SIL safety function is certified as conforming to these standards by the TÜV certification body in the context of a voluntary certification. () Redundant: Consists of mitigating the effects of the failure of one component by means of the correct operation of another, assuming that faults do not occur simultaneously on both. Presentation Page 88 Schemes: Page 89 ILS with stepper motor: Page version:. 65-EN_Ver..indd

99 Functions (continued) ILS with pulse/direction interface Examples of applications of the safety function Emergency Stop V V ENABLE PLC/CNC ILp FAULT RESET STO_A STO _B Example of Category Stop V V V V V Preventa XPS-AV ENABLE PLC/CNC ILp Y+ FAULT RESET Emergency Stop Y6 Y7 Y8 delayed not 58 delayed S S S S S S S S A A STO_A STO_B Example of Category Stop Presentation Page 88 Schemes: Page 89 ILS with stepper motor: Page EN_Ver..indd version:. 97

100 Description ILS with pulse/direction interface ILS with -phase stepper motor Description ILS consist of control electronics with pulse/direction interface and a -phase stepper motor. ILS is optionally available with printed circuit board connectors or industrial connectors. A holding brake is optionally available for ILSp phase stepper motor Electronics housing Insert cable entry (accessory) Settings via parameter switches Cover for electronics housing Cover for connector housing Electrical interfaces Characteristics: Page 99 References: Page Dimensions: Page Page 6 98 version:. 66-EN_Ver..indd

101 Characteristics ILS with pulse/direction interface ILS with -phase stepper motor Certifications Conformity to standards e marking Product certifications TÜV certification EMC immunity Conducted and radiated EMC emissions have been developed to comply with the stringent international standards and with the recommendations for adjustable speed power drive systems, specifically: IEC/EN 68- (noise immunity to conducted and radiated high-frequency signals) and IEC/EN 578 (resistance of devices to vibration). EN 68-:, second environment EN 68-:-; IEC 68-, Ed. b Power supplies without external mains filter: v C up to m supply cable length b Power supplies with external mains filter: v C up to m supply cable length v C up to 5 m supply cable length The are CE marked in accordance with the European Machinery Directive (98/7/EEC) and the European EMC Directive (/8/EEC). UL (USA), cul (Canada) are TÜV-certified for device safety and medical devices. The certification includes: b Functional safety of electrical/electronic/programmable safety-related electronic systems (IEC 658; SIL ) b Safety of machinery functional safety of safety-related electrical and electronic and programmable electronic control systems (IEC 66:5; SILcl) b Safety of machinery safety-related parts of control systems Part : General principles for design (ISO 89-:6; PL "d" (Category )) Ambient conditions Ambient temperature () C... 65; power reduction by %/ C at Max. permissible temperature of the power amplifier C 5 Max. permissible temperature of the motor () C Transport and storage temperature C Installation height without power reduction m < m above mean sea level Relative humidity % (not condensing) Vibration load during Number of cycles operation as per Acceleration amplitude: m/s² DIN EN Frequency range Hz... 5 Continuous shocks as per Number of shocks DIN EN Peak acceleration m/s² 5 Shaft wobble and perpendicularity According to EN 57 (IEC 67-) Degree of protection as per DIN EN 6-5 Total except shaft bushing IP5, shaft bushing IP Electrical data Power supply connection (CN) Corresponds to PELV according to DIN 9, not protected against reverse polarity Supply voltage range c V 8... Nominal supply voltage c V / 6 Ripple at nominal voltage V PP y.6 Max. current consumption ILSp57 A.5 ILSp85, ILSp85 A 5 ILSp85 b with winding type T A 6 b with winding type P A 5 Inrush current Inrush current time-dependent by current incline function and depending on device capacitance C = 5 µf and resistance of connectivity External fuse A Multifunction interface (CN) ILSU ( V) ILSV (5 V) ILSW (5 V RS) Signal inputs Galvanically isolated yes yes no Logic (U low ) V RS Logic (U high ) V RS Permissible voltage range V () Input resistance Ω 5 PULSE/DIR frequency input khz y y y Frequency input PWM current reduction khz Signal outputs Short-circuit protected, protected against reverse polarity up to ma, suitable for inductive load ( mh / ma) Galvanically isolated yes yes no Max. switching voltage V Max. switching current ma Internal voltage drop at ma / ma V y.6 /.9 y.6 /.9 y. /. () Limit values with flanged motor mounted on a steel plate x x mm () Measured at the surface () Voltage relating to Vc Description Page 98 References: Page Dimensions: Page Page 6 66-EN_Ver..indd version:. 99

102 Characteristics (continued) ILS with pulse/direction interface ILS with -phase stepper motor Electrical data V signal interface (CN) signals, can each be used as input or output GND galvanically connected to GND supply voltage, not protected against reverse polarity V signal inputs Logic (U low ) V Logic (U high ) V Permissible voltage range V -... Input resistance Ω Debounce time IO..IO ms. Debounce time IO, IO with capture function ms. V signal outputs Switching to plus, short-circuit protected, suitable for inductive load ( mh / ma) Supply voltage range c V... 5 Max. switching current (total) ma Max. switching current per output ma The internal power supply unit is protected against: b Short circuit of the output voltage b Overload of output voltage (limited to 6 W output power) Interface for safety function No galvanic isolation; corresponds to RS85 standard "Safe Torque Off" (CN5) Logic (U low ) V Logic (U high ) V Input current (typical at V) ma Debounce time ms... 5 Response time (until shutdown of power amplifier) ms < 5 Max. Time offset until detection of signal differences between STO_A and STO_B () S < Safety function "Safe Torque Off" ("Power Removal") Protection of machine Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard ISO 89-, performance level d of the system process () Switching process must be simultaneous for both signal inputs (time offset < s). (PL "d"), and standard IEC/EN Safe Torque Off safety function which forces stopping and/or prevents unintended operation of the motor, conforming to standard IEC/EN 658 level SIL and standard IEC/EN Description Page 98 References: Page Dimensions: Page Page 6 version:. 66-EN_Ver..indd

103 Characteristics (continued) ILS with pulse/direction interface ILS with -phase stepper motor Mechanical data ILSp57 ILSp57 ILSp57 ILSp57 Winding type P P P Max. torque M max Nm Holding torque Nm.5..7 Rotor inertia kg cm...8 Number of steps / / 5 / / / / 5 / Step angle.8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 Systematic angle tolerance per step () ` ±6 ±6 ±6 Mass kg..6. Shaft load () Max. radial force () N 5 Max. axial tensile force N Max. axial force pressure N 8. Nominal bearing service life () h Mechanical data ILSp85 ILSp85 ILSp85 ILSp85 Winding type P P P T Max. torque M max Nm Holding torque Nm Rotor inertia kg cm... Number of steps / / 5 / / / / 5 / Step angle.8 /.9 /.7 /.6 /.8 /.9 /.7 /.6 Systematic angle tolerance per step () ` ±6 Mass kg Shaft load () Max. radial force () N Max. axial tensile force N 7 Max. axial force pressure N Nominal bearing service h life () Holding brake Holding torque Nm 6 Electrical pull-in power W Brake release time ms Brake application time ms Moment of inertia kg cm. Mass kg.8 () Measured at steps/revolution, unit: minutes of arc () Conditions for shaft load: speed of rotation 6 rpm, duty cycle at torque, ambient temperature C () Point of application of radial force:.5 mm distance to flange () Operating hours at a probability of failure of % Description Page 98 References: Page Dimensions: Page Page 6 66-EN_Ver..indd version:.

104 Characteristics (continued) ILS with pulse/direction interface ILS with -phase stepper motor Torque characteristics ILSp57 ILSp57P (winding type P) ILSp57P (winding type P) ILSp57P (winding type P) Torque in Nm,5,. Torque in Nm,8. Torque in Nm,6,,6,.,.,.,8,, Frequency in khz Speed of rotation in rpm,, Frequency in khz Speed of rotation in rpm,., Frequency in khz Speed of rotation in rpm Torque characteristics ILSp85 ILSp85P (winding type P) ILSp85P (winding type P) Torque in Nm Torque in Nm 5,5,5...,5.,, Frequency in khz Frequency in khz Speed of rotation in rpm Speed of rotation in rpm ILSp85P (winding type P) ILSp85T (winding type T) Torque in Nm Torque in Nm ,, Frequency in khz Frequency in khz Speed of rotation in rpm Speed of rotation in rpm. Max. torque at V. Max. torque at 6 V (measured at steps/revolution) Description Page 98 References: Page Dimensions: Page Page 6 version:. 66-EN_Ver..indd

105 References ILS with pulse/direction interface ILS with -phase stepper motor Order code Example: I L S U 5 7 P B A Motor type I L S U 5 7 P B A S = -phase stepper motor Supply voltage I L S U 5 7 P B A =... 6 V Communication interface I L S U 5 7 P B A U = pulse/direction V opto-isolated V = pulse/direction 5 V opto-isolated W = pulse/direction 5 V RS Flange size I L S U 5 7 P B A 57 = 57 mm 85 = 85 mm Motor length I L S U 5 7 P B A = motor length = motor length = motor length Winding type I L S U 5 7 P B A P = medium speed of rotation, medium torque T = high speed of rotation, medium torque () Connection technology I L S U 5 7 P B A B = printed circuit board connector C = industrial connector Measurement system I L S U 5 7 P B A = index pulse Holding brake A = no holding brake F = with holding brake () I L S U 5 7 P B A () Winding type T only with ILSp85 (motor length ) () Holding brake only with ILSp85 Description Page 98 Characteristics: Page 99 Dimensions: Page Page 6 66-EN_Ver..indd version:.

106 Dimensions ILS with pulse/direction interface ILS with -phase stepper motor Dimensions ILSp57, dimensions in mm 7 9,5,6 Ø 5, 7, ±, ØD -, 57, 9, Ø8, ±,5 7, ±, 57, L 5 L D ILSp ILSp ILSp Earth (ground) terminal cable entries Ø =... 9 mm Description Page 98 Characteristics: Page 99 References: Page Page 6 version:. 66-EN_Ver..indd

107 Dimensions (continued) ILS with pulse/direction interface ILS with -phase stepper motor ILSp85 without holding brake, dimensions in mm 7 9,5 ±,5 Ø 6,5 7 ±, 85 Ø6 h8 9,6 ØD h6 7 ±, 85 L L D ILSp85.6 ILSp ILSp85.6 Earth (ground) terminal cable entries Ø =... 9 mm ILSp85 with holding brake, dimensions in mm 7 9,5 ±, ø 6,5 7 ±, 85 Ø6 h8 9,6 ØD h6 7 ±, 85 L L D ILSp ILSp85 7. ILSp85 7. Earth (ground) terminal cable entries Ø =... 9 mm Description Page 98 Characteristics: Page 99 References: Page Page 6 66-EN_Ver..indd version:. 5

108 "Lexium CT" commissioning software Accessories Commissioning software Lexium CT Functions b Input and display device parameters b Archive and duplicate device parameters b Display status and device information b Position the motor with the PC b Trigger reference movements b Access all documented parameters b Diagnostics of malfunctions b Controller optimisation (ILA only) Requirements and interfaces "Lexium CT" commissioning software runs on a PC under Microsoft Windows /XP/Vista. The are connected via the CN interface for commissioning. Standard RS85 fieldbus converters, e.g. NuDAM ND-65 and ND-65 from acceed, can be used. The RS85 programming cable for the RS85 fieldbus converter (order number VWLRR) has the following cable assignment: Cable assignment of RS85 programming cable D+/TX+ Brown D-/TX- White FGND Green with EtherCAT, Ethernet Powerlink and Modbus TCP/IP Ethernet fieldbuses can also be configured directly via the Ethernet connection. The following converters are available on the market. Please contact your commercial agency for more information Supported fieldbus converters Integrated Drive System interface RS85 CAN PROFIBUS DP PC interface USB RS USB parallel PCMCIA PCI USB Source The latest version of the Lexium CT PC commissioning software is available for download on the internet at References Designation Description Order number CD-ROM CD-ROM, multilingual; Contents: b Technical documentation, multilingual b Commissioning software Lexium CT b EPlan macros b CAD drawings b EDS and GSD files VWM87 Product offer: Page ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page 88 6 version:. 67-EN_Ver..indd

109 General installation accessories Accessories General Installation Accessories Designation Description Quantity Order no. Cable entries For up to cables with a diameter of to 9 mm. Two cable entries per Integrated Drive System are required. The cable entries are for sealing, strain relief and shield connection. VWLN VWLN Insert for sealing Insert for closing the cutouts for the inserts. VWLN VWLN 5 VWLN5 Cable entry IP 5 insert for variable use for signals and power supply via x M6 cable entries and insert for sealing (IP5). For two cables with a diameter of 5 to 9 mm. VWL Insert for commissioning interface insert for connection of RS85 (IN/OUT) with circular connector and insert for sealing (IP5). Contents: b insert v M socket (5 poles) v M plug (5 poles) b insert for sealing Suitable accessories: CAN/RS85 connector kit VWLR VWL5F Installation kit Installation kit for customised cabling of fieldbus, power supply and "Safe Torque Off" safety function ("Power Removal") Contents: b Cable entries b Crimp contacts b Crimp connectors b Connector housings b Shielding foil VWL Product offer: Page ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page EN_Ver..indd version:. 7

110 Accessories for Lexium Integrated Drives with printed circuit board connectors Accessories Accessories for with printed circuit board connectors Cable kit for ILS with pulse/direction interface Designation Description Length Order no. Cable kit for with pulse/direction interface Drive end of cable pre-assembled and with strain relief. For power supply and pulse/direction signals or A/B signals. Other cable end open. m VWLUR 5 m VWLUR5 m VWLUR 5m VWLUR5 m VWLUR Cable kits for fieldbus interfaces Designation Description Length Order no. Cable kit (power supply, CANopen, PROFIBUS DP, RS85, DeviceNet) Drive end of cable preassembled and with strain relief. For power supply and fieldbus. Other cable end: power supply open, fieldbus with SubD (9 poles) CAN m VWLFR PROFIBUS DP m VWLBR RS85 m VWLRR DeviceNet m VWLDR Cable kit (power supply, EtherCAT, Ethernet Powerlink, Modbus TCP/IP) Drive end of cable preassembled and with strain relief. For power supply and fieldbus. Other cable end: power supply open, fieldbus with RJ5 EtherCAT m VWLE Ethernet m VWLP Powerlink Modbus TCP/IP m VWLT Product offer: Page ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page 88 8 version:. 67-EN_Ver..indd

111 Accessories for Lexium Integrated Drives with printed circuit board connectors Accessories Cable kits for ILS with I/O interface for motion sequence Designation Description Length Order no. Cable kit for with motion sequence Drive end of cable pre-assembled and with strain relief, for data set mode. For power supply and I/O signals. Other cable end open. m VWLMR 5 m VWLMR5 m VWLMR 5m VWLMR5 m VWLMR Cable kit for with motion sequence and insert with I/O, STO Drive end of cable pre-assembled and with strain relief, for data set mode. For power supply and I/O signals. Other cable end open. Additional insert for I/O and "Safe Torque Off" via M8 circular connector. m VWLMR 5 m VWLMR5 m VWLMR 5m VWLMR5 m VWLMR Inserts with industrial connectors Designation Description Order no. Insert for I/O Inserts for I/O signals VWL Contents: b insert with M8 sockets ( poles) for connection of I/O signals b blind insert Suitable accessories Connector kit I/O VWL5 Insert with I/O, STO Inserts for I/O signals and signals for "Safe Torque Off" safety function ("Power Removal") Contents: b insert v M8 sockets ( poles) for connection of I/O signals v M8 plug ( poles) for connection of signals for Safe Torque Off b insert for sealing Suitable accessories: Connector kit I/O Cable (STO M8x) VWL VWL5 VWLRpp Product offer: Page ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page EN_Ver..indd version:. 9

112 Accessories for Lexium Integrated Drives with printed circuit board connectors Accessories Inserts with industrial connectors (continued) Designation Description Order no. Insert with STO Inserts for signals for "Safe Torque Off" safety function ("Power Removal") VWL Contents: b M8 plugs ( poles) for connection of signals for Safe Torque Off b blind insert Suitable accessories Cable for STO VWLRppp Connector kits Designation Description Order no. Connector kit I/O Connector kit for assembly of cables for I/O signals VWL5 Contents: b M8 circular connector ( pin) Connector kit I/O Connector kit for assembly of cables for I/O signals Contents: b M8 circular connector ( poles) VWL5 Connector STO output Connector kit for assembly of cables for transmitting the signals for the "Safe Torque Off" safety function ("Power Removal") Contents: b M8 circular connector ( pin) VWL5 Product offer: Page ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page 88 version:. 67-EN_Ver..indd

113 Accessories for Lexium Integrated Drives with industrial connectors Accessories Accessories for with industrial connectors Cable Designation Description Length Order no. Cable (power supply, STAK) For connection of power supply; for drag chain applications; complies with DESINA standard This cable is suitable only for Lexium Integrated Drives with fieldbus interface. m VWLR 5 m VWLR5 m VWLR 5m VWLR5 m VWLR Cable (STO M8x) Cable with M8 socket ( poles) for connection of m VWLR signals for "Safe Torque Off" safety function ("Power 5 m VWLR5 Removal") m VWLR 5m VWLR5 m VWLR Connector kits for ILp for CANopen, PROFIBUS DP, RS85 Designation Description Order no. Connector kit PROFIBUS DP M For assembly of PROFIBUS DP cables VWL5B Contents: b M circular connector (B-coded) b M circular socket (B-coded) b M protective cap Connector kit CAN / RS85 M For assembly of CAN cables or RS85 cables Contents: b M circular connector (A-coded) b M circular socket (A-coded) b M protective cap VWL5F Product offer: Page ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page EN_Ver..indd version:.

114 Accessories for Lexium Integrated Drives with industrial connectors Accessories Sockets for ILp for DeviceNet, EtherCAT, Modbus TCP/IP, Ethernet Powerlink Designation Description Order no. Connector kit EtherCAT For assembly of EtherCAT cables VWL5E Contents: b x M circular connector (D-coded, poles) b M protective cap Connector kit Ethernet Powerlink For assembly of Ethernet Powerlink cables Contents: b x M circular connector (D-coded, poles) b M protective cap VWL5P Socket DeviceNet M Socket DeviceNet M, 5 poles, female, A coded VWL5D Socket Modbus TCP/IP M Socket Modbus TCP/IP M (D-coded, poles), female VWL5T Inserts Designation Description Order no. Insert with I/O, STO Inserts for I/O signals and signals for "Safe Torque Off" safety function ("Power Removal") VWL Contents: b insert v M8 sockets ( poles) for connection of I/O signals v M8 plug ( poles) for connection of signals for "Safe Torque Off" b insert v M8 sockets ( poles) for connection of I/O signals v M8 socket ( poles) for transmitting the signals for "Safe Torque Off" Suitable accessories: Connector kit I/O (x) STO connector Cable (STO M8x) VWL5 VWL5 VWLRppp Product offer: Page ILp for CANopen,...: Page 6 ILp for DeviceNet,...: Page 8 ILp for motion sequence: Page 7 ILp with pulse/direction: Page 88 version:. 67-EN_Ver..indd