B1150 / B B

Transcription

1 Servo Drive Multi Axes System B0 / B00 B0 Servo Drive B0-ML Bus Module B00-ML 0 Edition

2 Servo Drives Multi-Axes System B0 / B00 Series B0 Servo Drives are compact axis drives, with -bit position resolution and an integrated power element, for LinMot P0 linear motors and rotary servo motors. B0 drives together with the bus modules B00 are designed for cost optimized, modular multi axes systems with the industrial Ethernet interfaces EtherCAT, Profinet, EthernetIP, Sercos III and Powerlink. B0 Connection to Machine Drive Process and sensor interfaces Logic and power supply The Series B0 Servo Drives can be actuated by machine controls from any manufacturer or brand, via industrial Ethernet. Fro complex motion sequences that run in an overarching positioning drive, the motor can be controlled by means of analog speed or force targets. The position signal from the measurement system integrated in the linear motor can be accessed at the encoder output to control position. Fast process interfaces for direct processing of sensor signals are available as freely programmable analog and digital inputs and fast trigger inputs. For high-accuracy applications, a freely configurable encoder interface is available. It analyzes the commutation signals from brushless, rotary servomotors as well. The Servo Drives have two separate power supplies for the logic and power elements. In an E-stop and safe stop of the drive, only the power element supply is cut off from the drive. The logic supply and the drive continue to run. This has the advantage that the drive and linear motor do not need to be reinitialized when the machine is restarted, since all process data, including the current position of the linear motor, are still up to date. Edition

3 Series B0 Fieldbusses and interfaces to the overlaid control Digital I/O s ±0V ProfiNet Sercos III Power Link Ethernet IP Ether CAT System Integration Flexible hardware enables control of any //- phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept. Supply and Safety Fast Prozess Inputs Logic Supply Motor Supply Trigger Inputs Capture Analog Inputs Servo Drive Series B0 Bus Module B00 Bit Position Value Resolution 0.µm Run Modes: VA Interpolated Moves Analog Position Two Point Trigger Moves Streaming P, PV Step, Direction,Zero Optional Limit and Home Switches LinMot Linear Motor or other // phase motor (Brushless DC, Voice Coil,...) Optional Brake Limit - Switch Home Switch External Position Sensor Limit + Switch Additionally, the drives can be equipped with optional peripherals, such as reference and end stop switches, high-precision external position sensors, or a mechanical holding brake. Series B0 Servo Drives have analog inputs and digital inputs and outputs, serial interfaces, and fieldbus connections. The user is therefore not dependent on the selection of the overarching drive. With flexibility and a compact form factor, LinMot Series B0 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axis applications, with linear motors and other actuators. Diverse Korrekturen im Deutschen, siehe Korrekturen von Dani Optional external Position Sensor Config. RS B0 Position Streaming Motor Interfaces Configuration With a cyclical target value, or "position streaming," the overarching NC or CNC drive communicates with the Servo Drive via industrial Ethernet. The position and velocity calculated in the overarching drive is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission. Using the cyclical target value, complex motions and interpolating multi-axis applications can be implemented. The series B0 Servo Drives allow control of,, or phase linear motors and brushless rotary servomotors. B0 Servo Drives provide all necessary interfaces to operate linear or rotary motors with optional external peripherals, such as end position and reference switches, a mechanical brake, or a high-resolution external position sensor. Parameterization and configuration of the Servo Drive is done via the RS interface on the front side. LinMot Talk user-friendly PC software is available for configuration. In addition to online documentation, LinMot Talk provides extensive debugging tools, such as an oscilloscope and an error inspector, for simple and rapid start-up of the axes. Fieldbus and Ethernet drives can also be configured directly by the overarching drive. Edition

4 Operating Modes Interpolated Moves Stroke [mm] For direct position targets, using absolute or relative positioning, the desired position is reached using an acceleration and velocity-limited motion profile (VA interpolator). Positioning commands can be invoked via industrial Ethernet, or a trigger input. Goto 00mm v max =,m/s a max =,0m/s Time[ms] Stroke range: ±00m Position Resolution: 0.µm (Bit) Velocity Resolution:.0µm/s (Bit) Velocity Resolution: 0.0µm/s (Bit) Setpoint Streaming Stroke [mm] Overlaid NC drives with industrial Ethernet interfaces communicate with the Servo Drives via "Position Streaming". The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission. Time[ms] Position Resolution: Velocity Resolution Interpolator: cycle times: Bit Bit khz -ms B0 Easy Steps Input Input Input Input Pos mm Pos 0mm Pos 0mm Pos -0mm With the Easy Steps function, up to positions or independent travel commands can be stored on the drive, and addressed via serial interfaces or industrial Ethernet. Digital inputs: max. Interface: X Scanning rate: 00µsec / µsec with Ethernet Easy Steps Parameter Scale Maximum Force [0...0V => %] 00% Easy Steps provide the ability to parameterize internal parameters using two analog inputs. If, for example, the maximum motor current is read at an analog input, then the maximum motor force can be provided as analog for freely programmable joining processes. 0% Force Max Time[ms] Inputs: Voltagvte range: Resolution: Scanning rate: Analog Inputs (X.0, X./X.) 0-0VDC (X.0) VDC (X./X.) 0 Bit 00µsec Edition

5 Multi Axes Configuration -Axes -Axes -Axes -Axes B0 -Axes -Axes -Axes -Axes Edition

6 B0-ML Servo Drive B0-ML B0-ML B0-ML-HC B0-ML-XC Setpoint Easy Easy Encoder Interpolated Moves Setpoint Streaming P Streaming PV Setpoint Streaming PVT Step Steps Parameter Scale Simulation S: MC-Link Termination PE X: Motor Supply X: Motor Phases X: Motor Signal X: External Position Sensor Diff Hall Switch X: Configuration RS LED: State Display B0-ML X: I/O s, VDC Supply X: MC-Link OUT X: MC-Link IN Industrial Ethernet Modular Multi Axes Systems Interfaces LinMot B0-ML series Servo Drives together with the bus modules B00-ML support the following industrial Ethernet Interfaces: EtherCat Ethernet IP Powerlink Profinet Sercos III The modular B0/B00 system is designed for multi axes applications and integration in industrial Ethernet communication from different PLC or NC manufacturers over a single bus node. Up to B0-ML drives may be connected to a bus module B00 and controlled over industrial Ethernet interfaces. B00 Servo Drives provide all necessary interfaces to operate linear or rotary motors with optional external peripherals, such as end position and reference switches or a mechanical brake. Using digital inputs, the linear motor can move to up to six freely programmable positions. The resolution of the high resolution A/B/Z encoder input or A/B encoder simulation output is adjustable. Edition

7 B0-ML B0-ML (-HC/XC) SUPPLY x00vac 0VAC VAC MOTOR SUPPLY X...0V DC A/A/A PHASECURRENT X X PH+ PH- PH+ PH- PH+ PH- PH+ PH- SIN COS TEMP. +V LINEAR MOTOR BRUSHLESS DC MOTOR MACHINE CONTROLLER PLC, IPC LOGIC SUPPLY RS INTERFACE CONFIGURATION RS:, - kbaud X STEP/DIR/ZERO 0...0V INPUTS - 0V OUTPUTS - +VDC X RS X A+ SIN+ A- SIN- B+ COS+ B- COS- Z+ ZERO+ Z- ZERO- U+ U- V+ V- W+ W- ENC ALARM +VDC OPTIONAL EXTERNAL POSITION SENSOR B0-ML MC-LINK X MC-LINK IN X MC-LINK OUT MC-LINK Item Description Part Number B0-ML MC-Link Drive (V/A) 00- B0-ML-HC MC-Link Drive (V/A) 00- B0-ML-XC MC-Link Drive (V/A) 00- Edition

8 ABCDEF0 ABCDEF0 B00-ML Bus Module B00-ML B00-ML-EC B00-ML-IP B00-ML-PL B00-ML-PN B00-ML-SC Industrial Ethernet Interfacing Multi Axes Interfacing EtherCAT Ethernet IP Powerlink Profnet Sercos III PE X: RT ETH Out X: RT ETH In LED: RT Bus S: ID High S: ID Low LED: State Display X: RS Config X: Supply B00-ML X X X X X: MC-Link X: MC-Link X: MC-Link X: MC-Link Modular Multi Axes Systems Industrial Ethernet Motion Commands The modular B0/B00 system is designed for multi axes applications and integration in industrial Ethernet communication from different PLC or NC manufacturers over a single bus node. Up to B0-ML drives may be connected to a bus module B00 and controlled over industrial Ethernet interfaces. LinMot B00-ML bus modules support the following industrial Ethernet Interfaces: EtherCat Ethernet IP Powerlink Profinet Sercos III Motion commands for the B0/B00 multi axes systems are identical to the B00 motion commands. For simple positioning tasks, relative and absolute position commands with velocity and acceleration limitation are available. For more complex motions or synchronization, the motion profiles are calculated in the overlaid drive and transmitted via setpoint streaming. 0 Edition

9 B00-ML Axes System TOP Termination Settings BOTTOM Axis Axis Axis Axis Bus Axis Axis Axis Axis Module Axes System TOP Termination Settings B00-ML BOTTOM Axis Axis Axis Axis Bus Axis Axis Axis Axis Module Item Description Part Number B00-ML-EC -Axes Bus Module Etercat 00- B00-ML-IP -Axes Bus Module Ethernet IP 00- B00-ML-PL -Axes Bus Module Powerlink 00- B00-ML-PN -Axes Bus Module Profinet 00-0 B00-ML-SC -Axes Bus Module Sercos III 00- Edition

10 Interfaces X Motor Supply PWR+ P Screw Terminals. mm² (AWG) PWR + P 0/AT...VDC internally connected to controller housing, which is connected to PE Motor Supply: Motor Supply Voltage...VDC. Absolute max. Rating VDC + 0% External fusing: 0AT for LC (Apeak Servos), AT for HC and XC (/Apeak) Servos If motor supply voltage is exceeding 0VDC, the drive will go into error state X Motor Phases + u - v + w - x SCRN Nr. Designation LinMot Linear Motor Color -Phase-Motor PH+ /U Motor Phase + red Motor Phase U PH- /V Motor Phase - pink Motor Phase V PH+ /W Motor Phase + blue Motor Phase W PH- Motor Phase - grey SCRN Shield B0 Screw Terminals.-.mm² (AWG-) The motor phases on X and X are internally connected. If the RMS current is higher than A RMS, the phases must be connected to X and not to X. X Motor DSUB- Nr LinMot Linear Motor -Phase-Motor Motor Phase + Motor Phase U Motor Phase + Motor Phase W +VDC Sine Hall U Temperature Hall W Motor Phase - Motor Phase V Motor Phase - A Cosine Hall V Case Shield - Use X for motor phase wiring if phase current does not exceed Arms or Apeak - X. (+VDC) may be used only to supply motor hall-effect sensors (max. 00mA). - X. (A) may be used only to supply motor hall-effect sensors, and must not be connected to externally Edition

11 Series B0 Motor Motor wiring + u - v + w - x SCRN OUTER SHIELD GREY BLUE PHASE - PHASE + PHASE - PHASE + X: Screw Terminals X: DSUB- (f) PINK RED WHITE INNER SHIELD YELLOW GREEN BLACK For LinMot Linear Motors only use original LinMot double shielded motor cable K, KS, or KR +VDC A SINE COSINE TEMP k k 0k +VDC Motor Motor wiring for phase current below Arms and below Apeak X: DSUB- (f) RED PHASE + PINK PHASE - BLUE PHASE + GREY PHASE - WHITE +VDC INNER SHIELD A YELLOW SINE GREEN COSINE BLACK TEMP. Outer shield connected to connector housing k k 0k +VDC B0 For LinMot Linear Motors only use original LinMot double shielded motor cable K, KS, or KR S MC-Link Termination S Switch S Switch : Bootstrap Switch : Termination A on/off Switch : Termination B on/off Switch : Not used Factory settings: Switch on all other switches off Edition

12 Interfaces X Motor DSUB- (m) Nr (Do not connect) RS_Tx RS_Rx (Do not connect) (Do not connect) (Do not connect) (Do not connect) (Do not connect) Case Shield RS: Configuration on all drives: use : connection cable to PC with only, and connected. Use LinMot RS Config Cable (Art.-No. 00-0) LED State Display Green: Green VDC Logic Supply OK Red: Red State: Error Blinking: Fatal Error X-X MC-Link RJ- Nr ML + ML- ML+ Cable Select ML- ML+ ML- Case Shield Use MC-Link cables (Art.-No. 00-0) Edition

13 Series B0 X External Position Sensor Commutation DSUB- (f) 0 Nr Description +V DC A+ Encoder A- Encoder 0 B+ Encoder B- Encoder Z+ Encoder Z- Encoder Encoder Alarm U+ Commutation U- Commutation V+ Commutation V- Commutation W+ Commutation W- Commutation case Shield Max. Input Frequency: Sensor Supply Current: MHz (incremental RS), 0ns edge separation max. 00mA Position Encoder Inputs: RS, Max Input Frequency: MHz, M counts/s with quadrature decoding, 0ns edge separation Encoder Simulated Outputs:RS, Max Output Frequency:.MHz, M counts/s with quadrature decoding, 00ns edge separation Differential Hall Switch Inputs: RS, Max Input Frequency: <khz Enc. Alarm In: V / ma B0 Sensor Supply: VDC, max 00mA X-X RealTime Ethernet 0/00 Mbit/s X in Nr X X Bez. Internal -Porto 0BASE-TX Ethernet Switch with Auto MDIX. X out RJ- Specification depends on RT-Bus Type. Please refer to according documentation X Supply Nr Bez. +VDC Supply (-VDC). Supply Supply V / typ. 0mA Stripping Length: 0mm, Connection in acc. with standard:en-vde, Use 0/ C Copper Conductors only, Conductor cross-section max..mm Edition

14 Interfaces X Digital I/O B0 0 0 X: DSUB- (f) +V INPUTS OUTPUTS (MAX. 00mA) DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL INPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT DIGITAL OUTPUT ANALOG INPUT 0...0V DIFF ANALOG INPUT - DIFF ANALOG INPUT + SHIELD STEP + STEP - DIR + DIR - ZERO + ZERO - AT +VDC 0 0 ** * * * * * k k k k k k 00k 0k 0k *** *** *** *** *** *** 00mA RS RS RS 00mA 00mA 00mA 00mA 00mA *** INTERNAL PULLDOWN 0K TO +V DC +V DC * INTERNAL PULLDOWN K TO ** INTERNAL PULLDOWN K TO Logic Supply: All Digital Inputs: All Digital Outputs: Switch Mode Power Supply:VDC (...VDC) External Fuse: AT Direct interfacing to digital VDC PLC outputs. Input Current: ma Sample Rate: 00us Short circuit and overload protected high side switches Voltage: VDC Max. Current: 00mA/00mA (X.) Update Rate: 00us Outputs may directly drive inductive loads. Analog Input on X.0: Range: Sample Rate: 0V..+0V 0Bit ADC 00us Differential Analog Input Range: -0V..+0V 0Bit ADC on X. X. X. Sample Rate: 00us Shield: Differential Step Dir Zero: Indexer Inputs: RS Max. Input Frequency: MHz M counts/s with quadrature decoding, 0ns edge separation Edition

15 ABCDEF0 ABCDEF0 Dimensions Centers B0-ML 0 Centers B00-ML Dimensions in mm Servo Drive Series B0/00 Width mm (in) (.) Hight mm (in) (.) Hight without fixings mm (in) 0 (.) Depth mm (in) 0 (.) Weight g (lb) 00 (.) IP Protection class IP 0 Storage temperature C Transport temperature C Operating temperture C at rated date with power derating Max. case temperature C 0 Max. power dissipation W 0 Min. distance between drives mm (in) 0 (0.) left/right 0 () top/bottom B0 Item Description Part Number B0-ML MC-Link Drive (V/A) 00- B0-ML-HC MC-Link Drive (V/A) 00- B0-ML-XC MC-Link Drive (V/A) 00- B00-ML-EC -Axes Bus Module EtherCAT 00- B00-ML-IP -Axes Bus Module Ethernet IP 00- B00-ML-PL -Axes Bus Module Powerlink 00- B00-ML-PN -Axes Bus Module Profinet 00-0 B00-ML-SC -Axes Bus Module Sercos III 00- Edition

16 Accessories B0/B00 Switched-Mode Power Supplies VAC / 0VAC SPH00-0 CSA.-00 CSA.-0 UL 00 UL 0 SPH0- SPH00-0 Item Description Part Number S0-/00 Switched-Mode Power Supply V/00W 00- S0-/000 Switched-Mode Power Supply V/000W 00- Transformer Supply T0 x0/0/00/0vac E00/B0 Accessories Item Description Part Number T0-/ Multi Transformer Supply x0/0/00/0vac, 0/0Hz, W see page Control Box B0-E00 Item Description Part Number B0-E00 Control Box for E00 (incl. cable and connectors) 00-0 B0-B0 Control Box for B0 (incl. cable and connectors) Edition

17 Accessories B0 Connector Cable and USB-Converter Item Description Part Number RS PC config. cabel m for E00/E00/E00/B USB-Serial Converter USB to -pin Serial Converter 00-0 RJ/RJ-0.-ML MC-Link Cable, 0.m 00-0 Option: External High Resolution Encoder E00/B0 Accessories Item Description Part Number MS0-/D Linear Encoder um, A/B (for mm magnetic band) 00-0 MB0-000 Magnetic Band mm pitch, per cm 00- Edition