Indra Matt Dm Drives

8/11/2019 Indra Matt Dm Drives

1/186

MAC Servo Driveswith servo drive modules

Applications manual

DOK-ANAX**-TDM+KDS+MAC-AW02-EN-P
http://close/http://close/


2/186

2 TDM and KDS 9.552.268.4-01 18. Januar 1994


3/186

3 DOK-ANAX**-TDM+KDS+MAC-AW02-EN-P

MAC servo driveswith TDM and KDS servo drive modules

Applications manual

120-0001-B301-02

Sept. 1999

9.552.268.4-01

This documentation is used for: The definition of the range of applications Assembly and installation Commissioning and fault clearance

Title:

Type of documentation:

Document No.:

Date:

Replacement for:

About this documentation

Unless expressly agreed, transmission and reproduction of this docu-ment, exploitation and communication of its contents are not allowed.

Contraventions are liable to actions for damages. All rights to patents andregistered designs reserved. (DIN 34-1)

We reserve the right to make changes to the contents of the documentand the availability of the products.

Copyright:


4/186


Documentation overview

Documentation overview: MAC servo drives

MAC servo driveswith TDM and KDSservo drive modules

Servo drivesMAC

Fig.: Documentation overview: MAC servo drives

In

form

pre

select

CNC systemsand AC drives

CNC systemsandAC drives

70 028

MAC

MACMAC maintenance-freeAC servo drives

71 119

MAC 21

MAC 25

MAC 41

MAC 63

MAC 71

MAC 90

MAC 92

Applications data MAC 21 (71115)Applications data MAC 25 (71113)Applications data MAC 41 (71116)Applications data MAC 63 (71104)Applications data MAC 71 (71105)Applications data MAC 90 (71106)Applications data MAC 92 (71107)

Applications data MAC 93 (71108)Applications data MAC 112 (71109)Applications data MAC 114 (71110)Applications data MAC 115 (71112)Applications data MAC 117 (71114)Project planning MAC 132B (9.552.242.4)Applications doc. MAC 160 (9.552.144.4)

Fan units for fittingto MAC

servomotors

Fan unitsfor fitting to MAC

servomotorsApplications manual

9.575.002.4

AC servodrives

Electrical connections:MAC AC

servomotors

Cable doc.:connection

accessories forINDRAMAT drives

AC servo drives fordirect connection tothe mains via TVD,TVR, KVR power

supply modulesSelection data

9.552.266.4

SPplanet gears SP planet gears

Servicing notes

9.564.002.4

Wormgears Worm gears

Servicing notes

9.564.026.4

Electrical connections:

MAC AC servomotors

73101

Cable doc.:connectionaccessories for

INDRAMAT drivesProject planning

209-0050-4399

MAC 93

MAC 112

MAC114

MAC 115

MAC 117

MAC132B

MAC 160

Select

dimension,plan

(mordesign,assembly)

Assembly,

installationofservodrivem

odules,

commissioning,

troubleshootin

g,

drivesystemd

iagnostics

You have this documentation


5/186


Documentation overview

Asse

mbly,

installationofservodrivem

odules,

commissioning,

troubleshootin

g,

drivesystemd

iagnostics

Inform

preselect

AC servomotorswith integral

SP planet gears

Planet gearsProject planning- SP 140-IL (9.564.022.4)- SP 180 (9.564.008.4)- SP 210 (9.564.009.4)- SP 240 (9.564.010.4)- SP 350 (9.564.011.4)

Planet gearsProject planning- SP 060 (9.564.004.4)- SP 075 (9.564.005.4)- SP 100 (9.564.006.4)-SP 140 (9.564.007.4)

SP140100

075SP 060

350240

SP140 -IL180

210

MAC 63-1601016V

MAC 63-1605V

MAC servomotors with position feedback units,Applications- Add-on incremental encoder for MAC 63 to MAC 160, 5 volt squarewave signals (9.568.003.4)- Add-on incremental encoder for MAC 25 & MAC 41, 5 volt squarewave signals (9.568.004.4)- Add-on incremental encoder for MAC 63 to MAC 160, 10-16 volt squarewave signals (9.568.005.4)- Add-on incremental encoder for MAC 63 to MAC 160, 5 volt sinewave signals (9.568.006.4)- Add-on absolute-value encoder for MAC 63 to MAC 160 (9.568.013.4)

MAC 25+415V

MAC 63-1605V

MAC 63-160absolute value

Select

dimension,plan

(motordesign,assembly)

Safetydevices

Starting interlock functionfor TDM servo drivemodulesApplications

9.555.012.4

Safety devicesfor the protection of personnelin plant and machinery usingAC drivesApplications

9.552.263.4

AC servomotorswith integralSP planet gears,Project planning9.564.024.4

AC servomotorswith integralworm gears,Project planning9.564.025.4

AC servomotorswith integral

GST tandem gears

AC servomotors withintegral worm gears

AC servomotors

with integralGST tandem gears,Project planning9.564.023.4

Starting interlockfunction

TDM


6/186



7/186


Contents

Contents

1. Mode of operation of the MAC drive 11

1.1 Field of application ....................................................................11

1.2 Construction of the servo drive system.....................................12

1.3 Operation of the servo drive system .........................................15

1.4 MAC servomotor .......................................................................17

2. Functions for the user 18

2.1 Speed-controlled drive with speed set-point input .................... 18

2.2 Available torque M(max), M(KB), M(dN) ...................................20

2.3 Torque reduction via Ired input .................................................22

2.4 Torque-controlled drive (tandem drive, master-slave drive) ..... 232.5 Emergency-stop function .......................................................... 23

3. Handling the MOD programming module 37

3.1 Determining type of servo drive and motor ...............................37

3.2 Input weighting and speed set-point smoothing(matching to NC) ....................................................................... 37

3.3 Rating plates, labels and circuit diagrams ................................38

4. User inputs/output 52

5. Connections and installation 54

5.1 Protection of personnel and equipment ....................................54

5.2 Assembly ...................................................................................54

5.2.1Preferred arrangement of modular units in the control cabinet. 54

5.2.2Front view with accessories ...................................................... 55

5.2.3KDS servo drive module cold running technology .................... 62

5.2.4Power reduction for increased temperatureand installation altitude.............................................................. 63

5.2.5Dimensional drawing and installation dimensionsof servo drive modules .............................................................. 64

5.3 Connecting up and wiring the servo drive module .................... 76

5.3.1Mains connections..................................................................... 76

5.3.2Connection accessories as supplied......................................... 76

5.3.3Power connections ....................................................................76

5.3.4Motor power cables ................................................................... 77

5.3.5Evaluation of the motor thermostat contact .............................. 77

5.3.6Motor feedback cables .............................................................. 79

5.3.7Position feedback units ............................................................. 80


8/186


Contents

5.3.8Signal cables ............................................................................. 80

5.4 Earthing connections ................................................................. 81

5.5 Interference suppression measures.......................................... 81

5.5.1Interference sources in the control cabinet ............................... 81

5.5.2Use of radio equipment ............................................................. 815.5.3Radio interference suppression ................................................ 82

5.6 Connection and wiring diagrams...............................................82

6. Commissioning 96

6.1 Protection of personnel and machinery ....................................96

6.1.1Safety of personnel ................................................................... 96

6.1.2Protection of equipment and machinery ...................................98

6.2 Tools and equipment required for commissioning .................. 101

6.3 Checks with the equipment switched off .................................102

6.3.1Mains supply requirements ..................................................... 102

6.3.2Installed drive components ..................................................... 102

6.3.3Instructions for replacing the MOD programming module ...... 102

6.3.4Wiring and conductor cross-sections ......................................103

6.3.5Terminals and connecting points ............................................ 104

6.4 Power-up sequence (overview)...............................................106

6.5 Checks with the control voltage applied..................................1086.6 Checks after the power infeed has been connected............... 110

6.7 Check after the drive has been connected ............................. 111

6.8 Matching to the NC..................................................................113

6.9 Checking the drive configuration .............................................115

7. Troubleshooting and diagnostics 119

7.1 Construction of the monitoring system in the modules(Fig. 71) ................................................................................... 119

7.2 Effective troubleshooting .........................................................121

7.2.1Possible causes of malfunctions, general ............................... 121

7.2.2Fault messages at the terminal strips .....................................121

7.3 LED diagnostic displays .......................................................... 125

7.3.1Diagnostic displays on the power supply modules ................. 125

7.3.2Diagnostic displays on the drive modules ............................... 132

7.4 General faults and possible remedial measures ..................... 138

8. Notes on equipment replacement 140

9. Summary of diagnostic displays on modules 142


9/186


Contents

10. Summary of data 154

10.1 Important motor data ...............................................................154

10.2 Important data on servo drive modules ...................................157

11. Equipment fuses in the individual modules 158

12. Technical data of servo drive modules 159

13. Type designations of drive components (type codes) 173

14. Overview of the most important standards applicable to INDRAMAT drive components 179

15. List of key words 180


10/186



11/186


1. Mode of operation of the MAC drive

1. Mode of operationof the MAC drive

1.1. Applications The MAC drive is especially designed for high-accuracy servo applica-tions in NC machine tools for metal machining and wood working,transfer lines, automation systems, as well as in production machines in

the automotive industry.

It is usually operated as a variable-speed drive in the position control loopof an NC. In this case a speed set-point is fed to the drive from the NC.

The MAC servo drive has the following application-specific functions:

High short-time acceleration moments

Torque reduction via I(red) input, which can be used for example

when running up to a fixed stop,

for reducing the load on the mechanical system coupled to the motorunder specific operating conditions,

for operating with controlled torque to load moving mechanical devices.

Torque-controlled drive for master/slave operation of two motors thatare solidly coupled together.

Reversal of direction of rotation for same set-point polarity.

Set-point input via a differential input or two summing inputs with zerovoltage reference.

Externally-adjustable drift offset via potentiometer.

Equipment ready state can be output via potential-free relay contact.

Rapid and clear diagnostics and easy troubleshooting via the frontpanel diagnostics and status lamps.

All adjustment parameters are set on the MOD programming module,so that the user of the servo drive does not need to carry out time-consuming adjustments and calibration procedures.Matching of the controller to the motor type by the user is thereforegenerally unnecessary since the control parameters are alreadyoptimized in the factory for the usual existing coupled masses.


12/186


1.2 Construction of theservo drive system

Fig. 1: Basic construction of the modular drive system with components marked.

Masterswitch/

fuse

Mains

contactor

Circuit-breaker/

fuse

Additionalmodule

(TBM,TCM)(*L)

Powersupplymodu

le

(e.g.

TVMo

rKDV)(

L)

Drive

module

formaindrive

(e.g.K

DA)(*L)

Motorbrake

control

Serv

odrivemodule

(TD

Mo

rKDS)(L)

Motorthermosta

t

contact

Motorcable

connection

Cableconnection

forfans(L)

BusconnectionX1

(ribboncable

)(L)

MODplug-in

programming

module(L)

Linkcircuit

busbarsL+,L-(L)

NC

controller

Mainsfeeder

Mains

Transformer

orm

ainscommutation

choke(L)

Controlcabinet

GLD(*L)

smoothingchoke

Twisted

individualcables

Mains

auxiliarysu

pply

Interface

terminalstrip

Feedback

connectorstrip

Motorfan(L)

Fancable

MACse

rvomotor

(L)

(withfan)

Gearbox(*L)

MACse

rvomotor

(L)

(with

outfan)

Tachofeedback(L)

Positionfeedback(*L)

M

otorpowercable(L)

Motorfeedbackcable(L)

Positionfeedback(*L)

encodercable(*L)

Fanassembly

TDM3,TDM4

Fanfuse

onfanplate

(L)

=driv

ecomponentsavailablefromINDRAMAT

(*L)=optional,notrequiredforeveryapplication

ENA3A-PrinzAufbau



13/186


Fig. 2: modular construction

The three-phase servo drive system consists of

the mains input components (master switch, contactor, transformer orcommutation inductor, power supply module, smoothing chokes, addi-tional capacitances),

the servo drive module (control unit)

the motor cable and

the MAC servo motor.

The power supply module is able to supply several different types of

servo drive units and a main drive if required.

M

3G M

3G

Programming module

Supply to signal

conditioning

circuits

Supply to

power circuits

Power supply module Servo drive module

Power control

Controlmonitoring, diagnostics

Controller enable

Speed set-point

Ready

Drive

torque

Analogue

Feed motor 1

Infeed

Speedactual-value

Feed driveSupplyAdditional

feed drives

Programming module

Servo drive module

Power control

Controlmonitoring, diagnostics

Controller enable

Speed set-point

Ready

Drive

torque

Analogue

Feed motor 2

Speedactual-value

ENA3A-ServoAufbau



14/186


For special applications the performance of the drive system can befurther extended by additional modules (additional bleeder, TBM, addi-tional capacitors, CZ or TCM). Further details of these can be obtainedfrom the documentation covering the power supply modules.

The specific characteristics of the various servo drive modules and

supply modules are summarized in the following table:

Servo drive Characteristicsmodule

TDM 1 Standard servo drive module for MAC 71 to MAC 160motors

TDM 2 Obsolescent special unit for MAC 63 to MAC 93motors

TDM 3 Standard servo drive module for MAC 63 to MAC112B motors

TDM 4 Servo drive module for MAC 21, MAC 25, MAC 41motors (feedback electronics built into drive moduleinstead of motor

TDM 6 Servo drive module for low-noise applications andwith interface for temperature monitor, brake andstarting interlock for MAC 63 to MAC 93 motors

TDM 7 Servo drive module for low-noise applications andwith interface for temperature monitor, brake andstarting interlock for MAC 21, MAC 25, MAC 41

motors (feedback electronics built into drive moduleinstead of motor)

KDS 1 Servo drive module using cold-running technologyfor MAC 90 to MAC 160 motors (due to built-onexternal heat exchanger no heat losses occur in thecontrol cabinet).

Fig. 3: Summary of the various servo drive modules



15/186


Power supply Characteristicsmodule

TVM 1 Power supply unit for connection of up to approximately4 servo drives of up to an average mechanical outputof 4.1 kW.

TVM 2 Standard power supply unit for connection of up toapproximately 6 servo drives of up to an averagemechanical output of 4.1 kW.

TVD 1 Power supply unit for direct connection to 3 x 380-460volt mains, with built-in power contactor.

KDV 1 Power supply unit using cold-running technology(due to external heatsink, no heat losses occur in thecontrol cabinet) for one main drive and 6 servo driveswith an average mechanical output of 28 kW.

KDV 2 As KDV 1, but no series resistors required in the

mains input for power-up. Controlled braking, espe-cially of an associated asynchronous main drive ispossible. Workpiece and tool can run free.

KDV 3 As KDV 2, but also has energy recovery for machineswith large load masses and short machining cycles.

KDV 4 As KDV 3, but with direct mains connection to 380-460 volt supplies, and controlled link circuit voltage.

Fig. 4: Summary of the various power supply modules

The power supply module generates the DC link circuit voltage from theAC input voltage. From this the servo drive module generates a three-phase system that is controlled according to amplitude, frequency andphase. This is applied to the MAC servo motor according to the currentrotor position and the desired speed.

The relationship between the controlled three-phase system and thecontrolled operating states of the servo motor is established according

to the following criteria:Torque:The current amplitude of the three-phase system in the stator of the servomotor determines the resulting torque via the field of the permanent-magnet-excited rotor. It results from the system deviation of the speedcontroller.

Speed:The frequency of the three-phase system determines the speed of theservo motor. The rotors position and frequency is derived from thesignals of the rotor position encoder (BLC signals), depending on therequired synchronism between the position of the magnetic field of therotor and the position of the stator current.

1.3. Operation of theservo drive system



16/186


Fig. 5: Block diagram of servo drive module signal conditioning circuits

Currentcontrol

with

pulse-widthmodulation

Directionalcurrentcontroller

Diagnosticand

monitoringdevice

Driverstagedisable

Topowersupplymodule

Brushless

analoguetacho

Rotor

position

detection

Stator

Pe

akcurrent

limiting

C

ontinuous

cu

rrentlimiting

Servo

drivemodule

Speed

controller

M

ACservomotor

"Ready"

state

Tach

ooutput

(speedactu

al-value)

Tsense

Maste

routput

Speeds

et-point

inputs

E1-E4

Controlle

renable

E

xt.peak

curren

tlimiting

Drivestage

Inputweighting

E3

E4

E1

E2

Ired

RF

MA

Bb

Bb

Faultmessages

MODprogrammingmodule

Tacho

Currentactual-

valuemeasurement

Rotor

A1

A2 A

3

BLC1

BLC2

BLC3

T

3

00ms

1s

ENA3A-Block



17/186


Direction of torque:The phase relationship between the three-phase system and the mag-netic field of the rotor determines the direction of the torque and is derivedfrom the polarity of the system deviation of the speed controller.

Control circuit signal conditioning:The speed controller compares the speed set-point and actual-value and

from them generates the current set-point that is fed to the directionalcurrent controller via a limiter circuit (see Fig. 5).

Depending on the rotor position (signalled via the BLC signals from therotor position encoder), the direction of the current for the three statorwindings is controlled so that the resulting current flow in the stator is atits most favourable in relation to the magnetic flux of the rotor. Thisrelationship ensures that the torque is proportional to the motor current.The motor current is controlled by a current controller. This is linked to thedirectional current controller in order to control the current in the threephases so as to obtain a three-phase system having controlled ampli-tude, frequency and phase.

The output signals of the current controller are timed in the pulse-widthmodulation stage and amplified via potential-free driver stages. Theamplified signals used for driving the three-phase bridge constructedfrom six power transistors.

The MAC three-phase servo motor is a permanently-excited synchro-nous motor that is made up of the following main sub-assemblies:

three-phase stator

permanently-excited rotor

optional electrically-released brake

optional separate axial fan for surface ventilation

1.4. MAC servo motor

Fig. 6: MAC servo motor

Brushless

tachogenerator with

rotor position encoder

Three-phase motor statorPermanent-magnet rotor

Electrically-releasedholding brakeENA3A-MACScan



18/186


2. Functions for the user

2. Functions forthe user

2.1. Speed-controlleddrive with speed set-pointinput

Programmiermodul MOD

The user features listed in section 1.1 are described in detail here.

After the mains voltage has been applied and the drive amplifiers signalthat they are ready, the servo drive can be run at controlled speed by

injecting the controller enabling signal at the RF input and applying an analogue set-point voltage, that is proportional to the motor

speed, across the inputs E1 and E2 or E3 and 0 VM or E4 and 0 VM.

The following settings are possible: (see basic circuit diagram of theservo drive module in Fig. 8).

Input E1-E2 is a differential input, inputs E3 and E4 are summing inputsthat are referred to 0 VM.

The speed weighting (input sensitivity) has already been set in thefactory on the MOD programming module. Two facilities are provided:

1. Fixed setting by resistors soldered in place on the programmingmodule

MOD 1 for TDM 1,MOD 5 for TDM 2,MOD 13 for TDM 3,

MOD 17 for TDM 4,MOD 19 for TDM 6,MOD 21 for TDM 7,MOD 3 for KDS 1.

In each case

R8 refers to differential input E1-E2R9 refers to summing input E3-0VMR10 refers to summing input E4-0VM

2. Input weighting adjustable via potentiometers P1, P2, P3 onprogramming module

MOD 2 for TDM 1,MOD 6 for TDM 2,MOD 14 for TDM 3,MOD 18 for TDM 4,MOD 20 for TDM 6,MOD 22 for TDM 7,MOD 4 for KDS 1.

The potentiometers are located on the programming module.

In each case

P1 and R8 refer to differential input E1-E2P2 and R9 refer to summing input E3-0VMP3 and R10 refer to summing input E4-0VM


19/186


The resistor and potentiometer values are incorporated into the MODprogramming module according to the input weighting required by theuser.

The last three digits of the programming module type designation specifythe input weighting (see Section 3.2).

If no user data are available, the MOD programming module is given theinput weighting of 10 volts per max. speed value (no adjustmentpotentiometer).

If necessary, the values R for R8, R9, R10 in MOD 1, MOD 3, MOD 5,MOD 13, MOD 17, MOD 19, MOD 21, and R8+P1, R9+P2, R10+P3 in


WhereR is the resistance value in kOhms

UE is the analogue input voltage in volts at E1-E2, E3-0VMorE4-0VMat the speed n used in the formula

n is the speed in rpm

Cw is the tacho voltage in volts at 1000 rpm, depending onmotor type in use and shown in the table in Section 10.1

Example for Cw = 3 V/ 1000 rpm:

UE 1R = 9230 - 5 in KOhm n Cw

9.5 1R = 9230 - 5 = 4.74 KOhm 3000 3

MOD 2, MOD 4, MOD 6, MOD 14, MOD 18, MOD 20, MOD 22 can becalculated:

The speed set-point output by the NC can be smoothed if the staircasefunction becomes noticeably disturbed. It should be noted that excessive

smoothing can reduce the dynamic response of the position control andthus slow the reaction time.

Set-point smoothing can be implemented only by using the differentialinput E1-E2. Smoothing is provided by soldering a capacitor C5 onto theMOD programming module (up to a maximum of 3uF is possible,corresponding to a smoothing time-constant of approximately 5 to 7 ms).

With the motor rotating clockwise, as viewed from the output shaft, thedirection of rotation is as follows:

Differential input E1-E2: voltage at E1 is positivewith respect to E2

Summing inputs E3, E4: voltage at E3 or E4 is negativewith respect to 0VMTacho measuring signal at T(sense): voltage is positive with respect

to 0VM

Set-point smoothing

Polarity of the speedset-point, reversal of thedirection of rotation


20/186



The following facilities are provided if another direction of rotation isdesired:

Interchange the connections at differential input E1-E2, if this is used,

Reverse the direction of all inputs by linking terminals X6/9 and X6/10at the control amplifier.

Reversing the direction of rotation by interchanging motor connectionsis not possible and causes the drive to malfunction.

The speed controller has an extremely low temperature drift. The zerodrift can be corrected on the ZERO ADJ potentiometer at the bottomright of the front panel (front view in Figs. 35 to 40 in Section 5.2.2).

The drift should always be checked at initial operation and after replacingthe servo drive module:If the axis moves with a zero speed set-point, the rotary motion of the axisshould be set to zero by means of the ZERO ADJ potentiometer on the

front panel when the control cabinet has reached its final temperature.

The following torque values are available:

M(max): acceleration torque

M(KB): short-time torque for (short-time) machining

M(dN): continuous motor torque for 100% cyclic duration factor

The values for the existing drive amplifier/motor combination can beobtained from the selection list in the MAC xxx servomotor documen-tation.

The torque values M(max) and M(KB) are permanently set on the MODprogramming module via the maximum current and the continuouscurrent and can be read from the Current line on the rating plate. Thefollowing applies:

M(max) peak Current = M(KB) cont Current

The interval during which maximum torque is available depends on the

difference between maximum and short-time duty torque. The time t1that is generally available for acceleration cycles can be read from Fig.7.

Drift compensation

2.2. Available torqueM

(max), M

(KB), M

(dN)

M(max) / M(KB)or

peak current / continuous current

t1 in s

2

5

ENA3A-Mp/MKB

1

3

4

0,3 0,4 0,5 0,6 0,7 0,8 0,9 1,0 1,5 2 2,5 3 3,5

Fig. 7: Time available for acceleration cycles in relation to the peak torque/short-timeduty torque ratio (in the standard version).


21/186


Fig. 8: Block diagram of servo drive module

&

ENA3A-RegelteilTDMKDS

20k

4k99

4k99

4k99

Rb

499k

1k82

15k

Ired

010

V

B

b

B

b

R

F

3,424V

E2

E

3

E

4

Tach

o

Tsens

e

M

A

Iist

1)

0V

M

0V

ME1

Offset

R11

R1

R2

C1

C2

R10

B3orR16P

3

R9

B2orR15P

2

R8

B1orR14P

1

C5

Ra

C4 R

7

C3

Ca

R5

R6

R3

R4

C6

R13

R12

Rc

Iist

FB

"Ready"

nsoll=0

1)

-10V

Externalterminals

300500ms

I(cont)

I(peak)

Reduced

peakcurrentlim

iting

"Ready"contact

Internal

controllerenable

Currentlimitin

g

Speedcontroller

Cu

rrentcontroller

Componentsongrey

backgroundare

locatedonMODprog

rammingmodule

1)TDM3andTDM4only

Differentialamplifier

Tachofilter

Inputweightings



22/186


If the peak torque of the drive has to be reduced for individual operatingconditions on the machine, the maximum torque can be limited externallyby the user via the Ired analogue input. In this case an analogue voltageis applied to the Ired input. The value of the voltage Ured depends on thedesired reduction factor k = reduced torque to maximum torque:

Ured = 10 volts (1 - k)

The value of the reduced motor current Ired can be obtained from thegraphs in Figs. 9 and 10. The torque can be calculated from the currenttorque constant km of the motor in use, which can be obtained from thetable in Section 10.1:

M = km Ired

The smallest adjustable torque is limited to a minimum value. The

associated minimum adjustable motor current can be obtained from thetable in Section 10.2.

If no analogue voltage is available for the Ired input, for a reduced torquevalue a resistor R(ex) can be connected between the Ired terminal andthe +15 VM terminal via a relay contact. The value of this in kilohms is:

150R(ex) = - 100 in kOhm 1 - k

Where:

reduction factor k = desired reduced torque to maximum torque.


2.3. Torque reductionvia Ired input

reduzierter Motorstrom

Fig. 9: External torque limiting for TDM 1

Where:Ired: reduced pea kcurrentUred: voltage applied to Ired terminal

TDM1.2-030

TDM1.2-050

I red

U red

I min = 15 A

30 A

50 A

100 A

U red

I redTDM

1.2-100

10 V5 V 15 V

ENA3A-Ired/TDM1


23/186



Fig. 10: External torque limiting for TDM 2 and TDM 1.2/SO 100, TDM 3, TDM 4,TDM 6, TDM 7, KDS 1.

I red/I peak

U red

I min

0,5

1,0

10 V5 V 15 VWhere:Ipeak: peak current set on MOD programming module

(see programming module rating plate)Ired: reduced peak currentUred: voltage applied to Ired terminal

The servo drive can also be operated as a torque-controlled drive.

In the master-slave drive or tandem drive the speed controller of themaster drive determines the speed of the slave drive. In such anoperating mode the torque set-point is transferred to the set-point inputof the slave drive from the speed-controlled master drive.

It should be noted that the motor shafts of the master and slave drivesmust be mechanically coupled together without backlash to prevent theslave drive accelerating without load torque when torque is applied. Thiscoupling must be as rigid and as torsionally stiff as possible to preventoscillations in the mechanical system.

Connections between the master drive and the slave drive are shown inFigs. 12 to 16. The MOD programming module should be speciallyconfigured for the slave drive.

A malfunction in the system or servo drive cannot be eliminated in anemergency-stop situation. It is therefore necessary in this case to isolate

the power section of the drive from the mains supply via the mainscontactor in order to stop the servo drive safely (by opening theemergency-stop circuit).

Until the servo drive is stopped it must always be assumed that faulty anddangerous drive movement can occur, the extent of which depends onthe type of fault and the operating state of the drive at the time it occurs.

A higher-level safety measure must be provided to ensure that the drivedisconnected via the emergency-stop circuit in the event of a generalmalfunction.

For this reason, danger to personnel resulting from a malfunc-tion must be eliminated by high-level protection at systemlevel.

2.4. Torque-controlleddrive (tandem drive,master-slave drive)

Personenschutz

2.5. Emergency-stopfunction


24/186


In order to render the electrical shutdown of the drive as independent ofthe controller as possible, after the external controller enabling signalhas been removed the drive moduless set-point, which is injected at theE1-E2 input is set to zero internally, so that the drive can brake. The motoris then only free of torque after about 300 ms (see Fig. 11).


Fig. 11: Delayed disconnection of motor controller after the external controllerenabling signal is removed.

Set-point setinternally to 0 rpm

300 ms

3 30V

0V

0V

ENA7A-verzAb

Drive freeof torque

Drive on

Ext. set-point at E1 - E2 terminal

Internal enable

Set-point conditioning

Input at RF terminal(external controllerenabling signal)


25/186




26/186


M

3

M

3

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

1 2 3 4 5 6 7 8 9 10

11 125 6 10

1 2 3 4 5 6 7 8 9 10

11 125 6 10

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15X5 X5

A1

A2

A3

A1

A2

A3

L-

L+

L-

L+

Bus connection

(black conductor always underneath)

End connector

MasterTDM 1

76

5

E1E2E3E4BbBbRF0VM

+15VM

0VM

-15VM

Ired

MATsense

E1E2E3E4BbBbRF0VM

+15VM

0VM

-15VM

Ired

MATsense

+15VM

0VM

-15VM

BLC

1

BLC

2

BLC

3

0VM

Tacho

3

4

2 2

U1 V1 W1 U1 V1 W1

X6 X6

X1X1

+15VM

0VM

-15VM

BLC

1

BLC

2

BLC

3

0VM

Tacho 1

1

12AENA3A-MS/TDM1

Polarizingpin

Thermostat

contact

Polarizingpin

Comoncontroller

enablingsignal

Set-point

in

put

Thermostat

contact

Programming module

MOD 1/XXXXX-064

Programming module

MOD 1/XXXXX-...

Motor feedbackMotor feedback

Torsionally stiff mechanical coupling

Remarks 1 .... see sheet 2

SlaveTDM 1

8

1 4 7 8 9 2 31 4 7 8 9 2 3

Fig. 12: Connection diagram for master-slave drive with TDM 1



27/186


-+ -

+

-+

12BENA3A-MS/TDM1

R7C3

Speed

controller Continuous

current

Peak

current

10k

R9

4k99

R7

C3

Speed


current

Peak

current

10k

5k62

0VM

Br.

78k7

82k5E3

MA

MA

On MOD programming module

- Master -

- Slave -

Set-pointinput

Tacho (slave drive)

R84k99

TachoTacho (master drive)R1 R2

C1 C2

5k62

Tacho

monitor

499k

R1 R2

C1 C2

499k

E2

E1

C4

C4

C5

7

1 Reversing the direction of rotation

The directions of rotation of the master and slave drives can be identical or opposite, depending on the type of mechanical coupling.

The direction of rotation can be matched to these requirements with the jumper 1 .

2 Evaluation in the Emergency-stop circuit

3 Power supply via DC link circuit

4 Bus connection: connecting cable for unit's own power supply and monitoring

5 To central earthing point on power supply module

6 Number as per motor/amplifier combination

7 Slave module component set

Current limiting as per master; R1=R2=C1=C2=C4=not used; R7=78k7; C3=jumper;

input weighting -064 without potentiometer

Directions of rotation of masterand slave drives

are identical

With

jumper between X6/9 and X6/10

on slave


are opposite

Without


on slave

8 Use 9-core connecting cable only.

Tacho Tacho

monitor



28/186


M3

M3

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

*

11125 6 10

A1

A2

A3

A1

A2

A3

L-

L+

L-

L+

Bus connection


End connector

MasterTDM 3

76

5

3

4

2 2

U1 V1 W1 U1 V1 W1

X1X1

1

1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9 10 11 12 13X42

E1E2

Iist

0VM

+15VM

Ired

Tsense

+15VM

0VM

-15VM

BLC1

BLC2

BLC3

0VM

Tacho

E3E40VM

FBMA

1 2 3 4 5 6 7 8 9 10

BbBbRF+24VL

0VL

+15VM

0VM

-15VM

T

1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9 10 11 12 13X42E1E2

0VM

Tsense

+15VM

0VM

-15VM

BLC1

BLC2

BLC3

0VM

Tacho

E3E4

1 2 3 4 5 6 7 8 9 10

BbBbRF+24VL

0VL

+15VM

0VM

-15VM

T

X43

X41X41

X43

13AENA3A-MS/TDM3

Iist

0VM

+15VM

Ired

FBMA

1

Polarizingpin

Thermostat

contact

Polarizingpin

Commoncontroller

enablingsignal

Set-point

input

Thermostat

contact

Programming module

MOD 13/XXXXX-064

Programming module

MOD 13/XXXXX-...




SlaveTDM 3

8

1 4 7 8 9 2 3 11 125 6 10 1 4 7 8 9 2 3

Fig. 13: Master-slave drive with TDM 3



29/186


-+ -

+

-+

13BENA3A-MS/TDM3

R7 C3

Speed


current

Peak

current

270R

R9

4k99

R7 C3

Speed


current

Peak

current

270R

270R

0VM

9k0978k7

82k5E3

MA

MA


- Master -

- Slave -

Set-point

input

Tacho (slave drive)

R8

4k99

TachoTacho (master drive)R1 R2

C1 C2

270R

Tacho

monitor

499k

R1 R2

C1 C2

499k

E2

E1

C4

C4

C5

7









7 Slave module component set

Current limiting as per master; R1=R2=not used; C1=C2=C4=not used; R7=78k7; C3=9k09;


Directions of rotation ofmaster and slave drives

are identical

*Connect this conductor toX41/9 (0VM)

Directions of rotation ofmaster and slave drives

are opposite


*Do not connect this conductor!

Tacho Tacho

monitor



30/186


M

3

M

3

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

11 125 6 10

A1

A2

A3

A1

A2

A3

L-

L+

L-

L+

Bus connection


End connector

MasterKDS

76

5

3

4

2 2

U1 V1 W1 U1 V1 W1

X1X1

1

1

14AENA3A-MS/KDS

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13X26

E1E2

0VM

0VM

Ired

Tsense

+15VM

0VM

-15VM

BLC1

BLC2

BLC3

0VM

Tacho

E3E4

MA

1 2 3 4 5 6 7 8 9 10 11

BbBbRF+24VL

0VL

+15VM

0VM

-15VM

TT

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13X26

E1E2

0VM

0VM

Ired

Tsense

+15VM

0VM

-15VM

BLC1

BLC2

BLC3

0VM

Tacho

E3E4

MA

1 2 3 4 5 6 7 8 9 10 11

BbBbRF

+24VL

0VL

+15VM

0VM

-15VM

TTX25

X24X24

X25

Polarizingpin

Thermostat

contact

Polarizingpin

Commoncontroller

enablingsig

nal

Set-point

input

Thermostat

contact

Programming moduleMOD 3/XXXXX-064

Programming moduleMOD 3/XXXXX-...




SlaveKDS

8

1 4 7 8 9 2 3 11 125 6 10 1 4 7 8 9 2 3

Fig. 14: Master-slave drive with KDS 1



31/186


32/186


Fig. 15: Master-slave drive with TDM 1.2.../S102

M

3

M

3

.

.

.

.

.

..

.

.

.

.

.

..

.

.

.

.

.

..

15A-MS/TDM1/S102

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

1 2 3 4 5 6 7 8 9 101 2 3 4 5 6 7 8 9 10

11 125 6 10

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15X5 X5

A1

A2

A3

A1

A2

A3

L-

L+

L-

L+

Bus connection


End connector

MasterTDM 1.2.../S102

76

5

E1E2E3E4BbBbRF0VM

+15VM

0VM

-15VM

Ired

MATsense

E1E2E3E4BbBbRF0VM

+15VM

0VM

-15VM

Ired

MATsense

+

15VM

0

VM

-

15VM

B

LC

1

B

LC

2

B

LC

3

0

VM

T

acho

3

4

2 2

U1 V1 W1 U1 V1 W1

X6 X6

X1X1

+

15VM

0

VM

-

15VM

B

LC

1

B

LC

2

B

LC

3

0

VM

T

acho 1

1

Thermostat

contact

Commoncontroller

enablingsignal

Set-point

input

Thermostat

contact

Programming module

MOD 1/XXXXX-064Programming module

MOD 1/XXXXX-...




SlaveTDM 1.2.../S102

8

1 4 7 8 9 2 3

Plarizingpin

11 125 6 10 1 4 7 8 9 2 3

Polarizingpin



33/186


-+ -

+

-+

15B-MS/TDM1/S102

R7C3

Speed


current

Peak

current

2

70R

R9

4k99

R7 C3

Speed


current

Peak

current

270R

270R

0VM

9k0978k7

82k5E3

MA

MA


- Master -

- Slave -

Set-point

input

Tacho (slave drive)

R8

4k99

TachoTacho (master drive) R1

4k42 4k75

R2

C1 C2

270R

Tacho

monitor

499k

R1 R2

C1 C2

499k

E2

E1

C4

C4

C5









7 Slave module component set:

Current limiting as per master; R1=R2=not used; C1=C2=C4=not used; R7=78k7; C3=9k09;



are identical

with


on slave


are opposite

without


on slave


7

Tacho

monitor

Tacho



34/186


Fig. 16: Master-slave drive with KDS 1.1.../S102 and S104

M

3

M

3

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

.

11 125 6 10

A1

A2

A3

A1

A2

A3

L-

L+

L-

L+

Bus connection


End connector

MasterKDS1.1.../S102KDS1.1.../S104

76

5

3

4

2 2

U1 V1 W1 U1 V1 W1

X1X1

1

1

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13X26

E1E2

0VM

0VM

Ired

Tsense

+15VM

0VM

-15VM

BLC1

BLC2

BLC3

0VM

Tacho

E3E4

MA

1 2 3 4 5 6 7 8 9 10 11

BbBbRF+24VL

0VL

+15VM

0VM

-15VM

TT

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13X26

E1E2

0VM

0VM

Ired

Tsense

+15VM

0VM

-15VM

BLC1

BLC2

BLC3

0VM

Tacho

E3E4

MA

1 2 3 4 5 6 7 8 9 10 11

BbBbRF+24VL

0VL

+15VM

0VM

-15VM

TT

X25

X24X24

X25

16A-MS/KDS/S102/S104

Thermostat

contact

Commoncont

roller

enablingsig

nalS

et-point

input

Thermostat

contact

Programming module

MOD 3/XXXXX-064

Programming module

MOD 3/XXXXX-...




SlaveKDS1.1.../S102KDS1.1.../S104

8

Polarizingpin

1 4 7 8 9 2 3 11 125 6 10

Polarizingpin

1 4 7 8 9 2 3



35/186


-+ -

+

-+

16B-MS/KDS/S102/S104

R7C3

Speed


current

Peak

current

270R

R9

4k99

R7 C3

Speed


current

Peak

current

270R

270R

0VM

9k0978k7

82k5E3

MA

MA


- Master -

- Slave -

Set-pointinput

Tacho (slave drive)

R84k99

TachoTacho (master drive) R1 R2

C1 C2

270R

Tacho

monitor

499k

R1 R2

C1 C2

499k

E2

E1

C4

C4

C5









7 Slave module component set:

Current limiting as per master; R1=R2=not used;C1=C2=C4=not used; R7=78k7; C3=9k09;



are identical

with


on slave


are opposite

without


on slave


7

Tacho Tacho

monitor



36/186




37/186


38/186


3.3. Rating plates, labelsand circuit diagrams

Summary of diagramsrelating to theMOD programming module

3. Handling the MOD programming module

On programming modules MOD 2, MOD 4, MOD 6, MOD 14, MOD 18,MOD 20, MOD 22 with potentiometer:

differential input E1-E2: R8 and trimpot. P1(or installed wire jumper B1),

summing input E3: R9 and trimpot. P2(or installed wire link B2),

summing input E4: R10 and trimpot(or installed wire jumper B3).

set-point smoothingat input E1-E2: C5

Fig. 17 Rating plate of MOD programming module

Fig. 18 Type code of MOD programming module

Fig. 19 Rating plate of MAC motor

Fig. 20 Rating plate of servo drive module

Fig. 21 Module labels : MOD 1, MOD 2 for TDM 1 drive module

Fig. 22 Circuit diagram: MOD 1, MOD 2 for TDM 1 drive module

Fig. 23 Module labels: MOD 5, MOD 6 for TDM 2 drive module

Fig. 24 Circuit diagram: MOD 5, MOD 6 for TDM 2 drive moduleFig. 25 Module labels: MOD 13, MOD 14 for TDM 3 drive module

and MOD 19, MOD 20 for TDM 6

Fig. 26 Circuit diagram: MOD 13, MOD 14 for TDM 3 drive moduleand MOD 19, MOD 20 for TDM 6

Fig. 27 Module labels: MOD 17, MOD 18 for TDM 4 drive moduleand MOD 21, MOD 22 for TDM 7

Fig. 28 Circuit diagram: MOD 17, MOD 18 for TDM 4 drive moduleand MOD 21, MOD 22 for TDM 7

Fig. 29 Module labels: MOD 3, MOD 4 for KDS 1 drive module


39/186


Programming modulerating plate

Contr.: TDM 1.2-100-300-W1Motor: MAC 112D-.-FD-.-C

Current (A): peak/cont.: 100/75

Operating rpm: 6000 MA: 0,05 V/A

Input rpm/VE1/E2 2000/10

E3 3000/10

E4 1500/10

MOD 1/1X077-002MOD 14/1X012-016

Contr.: TDM 3.2-020-300-W0

Motor: MAC 090A-.-ZD-.-CCurrent (A): peak/cont.: 20/15


Input rpm/V: E1/E2: 2000/10

E3: 3000/10 E4: 1500/10

The following indicate:

MOD./.....-... Type designation of the programming module(see following figure for meaning)

Contr. Type designation of the servo drive module

Motor Part of the type designation of the motor which determines the configurationof the programming module.

Parts of the type designation not affecting the configuration of the programmingmodule are identified by full stops.

Current (A) Set peak current/continuous current in ampspeak/cont.

Operating rpm Rated speed of motor in rpm(the maximum useful speed of the drive cannot differ from this)

MA Voltage/current ratio in V/A or mV/A at output terminal MA MA

E1/E2 Speed / set-point voltage ratio between differential input E1 and E2 in rpm/V.

E3 Speed / set-point voltage ratio between input E3 and 0VM in rpm/V

E4 Speed / set-point voltage between input E4 and 0VM in rpm/V.

Fig. 17: Rating plate of MOD programming module



40/186


Type code fields: Example:

1. Brief description of unit: MOD

2. Classification according to controller type and potentiometerin the set-point input:TDM 1. .. 01TDM 1. with potentiometer in set-point input ...02KDS 1. ...03KDS 1. with potentiometer in set-point input 04TDM 2. ...05TDM 2. with potentiometer in set-point input ...06TWM 1. ..07KDW 1. ..09TDM 3.1 Replaced by MOD 13/14 11TDM 3.1 as of June 1986 12TDM 3.2 .13TDM 3.2 with potentiometer in set-point input .14DSC 3. ... 15DSC 3. with potentiometer in set-point input 16TDM 4. ... 17

TDM 4. with potentiometer in set-point input 18TDM 6. ... 19TDM 6. with potentiometer in set-point input 20TDM 7. ... 21TDM 7. with potentiometer in set-point input 22

3. Classification according to feedback unit on MAC motor:with built-in INDRAMAT incremental encoder .."0"with tacho feedback (without incremental encoder) ..."1"independent of feedback unit "."(for slave modules and current interface modules)

4. Motor cooling code:natural convection .... 0surface-cooled....... 1

module configuration suitable for both types of cooling..X5. Code for motor/amplifier combination

Is specified and recorded by INDRAMAT z.B. 0005

6. Input weighting codeIs specified and recorded by INDRAMAT . ...z.B. 001

Fig. 18: Type designation of MOD programming module

MOD 01 / 1 x 0005 - 001



41/186


Fig. 20: Rating plate of servo drive module

Fig. 19: Rating plate of MAC motor

The following indicate:MAC...: Type designation of servomotor (see Section 13 for details)

Continuous Md; MdN: Continuous torque of motor in Nm

Continuous current; IdN: Continuous current of motor in amps

Peak current: Max. peak current of motor in amps

Motor EMF; km: Current/torque constant in Nm/A or Vs

Tacho EMF; tacho const: Tacho voltage in Vs, or V/rpm

nmax;n: Rated speed of motor in rpm

(the maximum useful speed of the drive cannot differ from this)

Serial numbers

MAC:

Serien Nr.:

Dauer-Md

Dauerstrom

Motor-EMK

n

Tacho-EMK

Bremse: Md

max

Nm

A

VS/rad

min -1

VS/rad

Nm UN V IN

Kom.-Nr.

Md Konst.

Spitzenstrom

Isolationsklasse F

Schutzart IP 65 IP 24

GmbH

Lohr / Main

Permanentmagnet-

Drehstromservomotor

112B-0-PD-2-C/130-A-0/SO5

37

89

38449 R1

18.2

21.0

0.91

1500

0.0286

14 24 0.75A

97

5011 25

Nm/A

A1

1

1

1 oberflchenbelftet

ENA3A-TypschMAC

From delivery date March 1993

typsch.tif



42/186


Fig. 21: Module labels: MOD 1, MOD 2 for TDM 1 drive module

Example of MOD 1programming module labelling


MOD 1 and MOD 2 programming module board layouts

Contr.: TDM 1.2-100-300-W1

Motor: MAC 112D-.-FD-.-C



Input rpm/V

E1/E2 2000/10

E3 3000/10

E4 1500/10

MOD 1/1X077-002

OPERATING PARAMETER: PROGRAMMING MODULEATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THE

MODULE MUST AGREE WITH THE DEVICES IN USE OTHERWISE LACK OFPERFORMANCE AND DANGER OF DAMAGE MAY OCCUR

Betriebsdaten-ProgrammierungsmodulAchtung: Motor- und Verstrkertypenangabenmssen mit der Installation bereinstimmensonst Schdigungsgefahr

Contr.: TDM 1.2-100-300-W1

Motor: MAC 112D-.-FD-.-C



Input rpm/V

E1/E2 2000/10

E3 3000/10

E4 1500/10

MOD 2/1X077-016

P1(E1/E2)

P2(E3)

P3(E4)

OPERATING PARAMETER: PROGRAMMING MODULEATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THE

MODULE MUST AGREE WITH THE DEVICES IN USE OTHERWISE LACK OFPERFORMANCE AND DANGER OF DAMAGE MAY OCCUR

Betriebsdaten-ProgrammierungsmodulAchtung:Motor- und Verstrkertypenangabenmssen mit der Installation bereinstimmensonst Schdigungsgefahr

C3

R4

C2

C1

R3

C5

R2R1

C4

R5

R6

R7

R8

B1

P1 B3 P3P2

B2

R10

R9

X2



43/186


Fig. 22: Circuit diagram: MOD 1, MOD 2 for TDM 1 drive module

R3 R4

R5 R6

R1 R2

C1 C2

R7C3

C4

R8

P1

C5

Plug connector X2

2

3

-15VM

0VM

4

1

5

-15V

7

6

8

9

10

11

13

12

Tacho filter

Differential inputE1/E2

Summing inputE3

Speed controllerP-I circuit

Continuous

current limiting

Peak currentlimiting

R9

P2

B1

15

14

Summing inputE4

R10

P3

B3

B2

Potentiometers P1, P2, P3 are not fitted to MOD 1 but shunted by B1, B2, B3



44/186


Fig. 23: Module labels: MOD 5, MOD 6 for TDM 2 drive module

Example of MOD 5programming module labelling Example of MOD 6programming module labelling


Contr.: TDM 2.1-30-300-W0

Motor: MAC 063D-.-RS-.-C



Input rpm/V

E1/E2 3500/9

E3 3000/10

E4 1500/10

MOD 5/1X026-185

OPERATING PARAMETER: PROGRAMMING MODULEATTENTION:MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREE WITH THE DEVICES IN USE OTHERWISE LACK OFPERFORMANCE AND DANGER OF DAMAGE MAY OCCUR

Betriebsdaten-ProgrammierungsmodulAchtung: Motor- und Verstrkertypenangabenmssen mit der Installation bereinstimmensonst Schdigungsgefahr

Contr.: TDM 2.1-30-300-W0

Motor: MAC 063A-.-RS-.-C



Input rpm/V

E1/E2 3500/9

E3 3000/10

E4 1500/10

MOD 6/1X026-031

P1(E1/E2)

P2(E3)

P3(E4)

OPERATING PARAMETER: PROGRAMMING MODULEATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREE WITH THE DEVICES IN USE OTHERWISE LACK OFPERFORMANCE AND DANGER OF DAMAGE MAY OCCUR


C3

R4

C2

C1

R3

C5

R2R1

C4

R5

R6

R7

R8

B1

P1 B3 P3P2

B2

R10

R9

X2



45/186


Fig. 24: Circuit diagram: MOD 5, MOD 6 for TDM 2 drive module

R3 R4

R5 R6

R1 R2

C1 C2

R7C3

C4

R8

P1

C5

Plug connector X2

2

3

-15VM

0VM

4

1

5

-15V

7

6

8

9

10

11

13

12

Tacho filter


Summing inputE3

Speed controller

P-I circuit

Continuouscurrent limiting

Peak currentlimiting

R9

P2

B1

15

14

Summing inputE4

R10

P3

B3

B2

Potentiometers P1, P2, P3 are not fitted to MOD 5but shunted by B1, B2, B3



46/186




MOD 13/1X012-002Contr.: TDM 3.2-020-300-W0

Motor: MAC 090A-.-ZD-.-C




E3: 3000/10 E4:

1500/10

MOD 14/1X012-016Contr.: TDM 3.2-020-300-W0

Motor: MAC 090A-.-ZD-.-C




E3: 3000/10 E4: 1500/10

OPERATING PARAMETER-PROGRAMMING MODULEATTENTION: MOTOR AND CONTROLLER-TYPEINDICATED ON THE MODULE MUST AGREE WITH THEDEVICES IN USE. OTHERWISE LACK OF PERFORMANCE

AND DANGER OF DAMAGE.Betriebsdaten-ProgrammierungsmodulAchtung:Motor- und Verstrkertypenangaben mssenmit der Installationbereinstimmen, sonstSchdigungsgefahr P2

(E3)

P3(E4)

P1(E1/E2)

X2a

b

1 16

P1

P2

P3

[ ] [ ] [ ] [ ]

R15

R16

R14

R2

R1

[]

[]

[]

[]

[][][]

[][][]

[][][]C7

[

][][][]

[

]

C6

C1

C2

[]

[]

[]

[]

C3

C4

[ ] [ ] [ ][ ]C5

R7

R8

R9

R10

R11

R12

R13


OPERATING PARAMETER-PROGRAMMING MODULE

ATTENTION: MOTOR AND CONTROLLER-TYPEINDICATED ON THE MODULE MUST AGREE WITH THEDEVICES IN USE. OTHERWISE LACK OF PERFORMANCEAND DANGER OF DAMAGE.

Betriebsdaten-ProgrammierungsmodulAchtung:Motor- und Verstrkertypenangaben mssen mit derInstallation bereinstimmen, sonst Schdigungsgefahr

[][][

][][][]

[][][

][][][]

R6

R5

R4

R3

Fig. 25: Module labels: MOD 13, MOD 14 for TDM 3 drive moduleMOD 19, MOD 20 for TDM 6



47/186


R7C3

C4Speed controllerP-I circuit 7b

7a

Potentiometers P1 - P3 are not fitted to MOD 13Resistors R14, R15, R16 are not fitted to MOD 14


Summing input

E3

Summing inputE4

R8

P1

C5 5R11

R9

P2

5R11

R10

P3

5R11

3ab

1ab

2ab

4ab

6ab

5ab

R14

R16

R15

C1 C2

R1 R2

C7

R11

9ab

11ab

10ab

Tacho filter

R3 R4

-15VM

R5 R6

15ab


14ab

12ab

13abPeak currentlimiting

C6

R12

R138b

8a

Current control-ler P-I circuit

0VM 16ab

Fig. 26: Circuit diagram: MOD 13, MOD 14 for TDM 3 drive module,MOD 19, MOD 20 for TDM 6



48/186




MOD 17/1X001-193Contr.: TDM 4.1-020-300-W0

Motor: MAC 025C-.-QS-.-E



Input rpm/V: E1/E2: 10000/10

E3: 10000/10 E4: --------

MOD 18/1X001-083Contr.: TDM 4.1-020-300-W0

Motor: MAC 025C-.-QS-.-E



Input rpm/V: E1/E2: 10000/10

E3: 10000/10 E4: -------

OPERATING PARAMETER-PROGRAMMING MODULEATTENTION: MOTOR AND CONTROLLER-TYPEINDICATED ON THE MODULE MUST AGREE WITH THE

DEVICES IN USE. OTHERWISE LACK OF PERFORMANCEAND DANGER OF DAMAGE.

Betriebsdaten-ProgrammierungsmodulAchtung:Motor- und Verstrkertypenangaben mssenmit der Installationbereinstimmen, sonstSchdigungsgefahr P2

(E3)

P3(E4)

P1(E1/E2)

X2a

b

1 16

P1

P2

P3

[ ] [ ] [ ] [ ]

R15

R16

R14

[]

[]

[]

[]

[][][]

[][][]

[][][]C7

[]

[][][]

[]

C6

C1

C2

[]

[]

[]

[]

C3

C4

[ ] [ ] [ ][ ]C5

R7

R8

R9

R10

R11

R12

R13


OPERATING PARAMETER-PROGRAMMING MODULEATTENTION: MOTOR AND CONTROLLER-TYPEINDICATED ON THE MODULE MUST AGREE WITH THEDEVICES IN USE. OTHERWISE LACK OF PERFORMANCEAND DANGER OF DAMAGE.

Betriebsdaten-ProgrammierungsmodulAchtung:Motor- und Verstrkertypenangaben mssen mit derInstallation bereinstimmen, sonst Schdigungsgefahr

[][][]

[][][]

[][][]

[][][]

R6

R2

R1

R3

R4R5

Fig. 27: Module labels: MOD 17, MOD 18 for TDM 4 drive module,MOD 21, MOD 22 for TDM 7



49/186


R7C3

C4

R8

P1

C5

Speed controllerP-I circuit


5R11

R9

P2

5R11

R10

P3

5R11

Summing input

E3 3ab

1ab

2ab

4ab

6ab

5ab

7b

7a

Summing inputE4

R14

R16

R15

C1 C2

R1 R2

C7

R11

9ab

11ab

10ab

Tacho filter

R3 R4

-15VMR5 R6

15ab


14ab

12ab

13abPeak currentlimiting

C6

R12

R138b

8a

Current controllerP-I circuit

16ab0VM

Potentiometers P1 - P3 are not fitted to MOD 17Resistors R14, R15, R16 are not fitted to MOD 18

Fig. 28: Circuit diagram: MOD 17, MOD 18 for TDM 4 drive module,MOD 21, MOD 22 for TDM 7



50/186


Fig. 29: Module labels: MOD 3, MOD 4 for KDS 1 drive module

R

10

R

9

R

8

R

6

R

5

P3P2

C7

R

7

C6B3 B2B1

C4

C5

C1C3

C2

P1

R11

X2


Contr.: KDS 1.1-150-300-W1

Motor: MAC 112D-.-FD-.-CCurrent (A): peak/cont.: 130/55


Input rpm/V

E1/E2 2000/10E3 3000/10

E4 1500/10

MOD 4/1X022-016

P1(E1/E2)

P2(E3)



Contr.: KDS 1.1-150-300-W1

Motor: MAC 112D-.-FD-.-CCurrent (A): peak/cont.: 130/55


Input rpm/V

E1/E2 2000/10E3 3000/10

E4 1500/10

MOD 3/1X022-002

R3

R1

R4

R2

P3(E4)







51/186


52/186


4. User inputs/outputs

4. Userinputs/outputs

Fig. 32: Delayed disconnection of controller enabling signal

Set-point switchedinternally to 0 rpm

300 ms

3 30V

0V

0V

ENA7A-verzAb

Drivefree of torque

Drive on

Ext. set-point at terminal E1 - E2

Internal enable

Set-point conditioning

Terminal on servo drive module: Maximum valuesof applied

TDM 1 TDM 3 TDM 4 KDS1 Input Function DC voltage

TDM 2 TDM 6 TDM 7

X5/1 X42/1 X50/1 X26/1 E1-E2 Differential input for - 10 to + 10 volts-X5/2 -X42/2 -X50/2 -X26/2 set-point

X5/3 X42/4 X50/4 X26/4 E3 Summing input for - 10 to + 10 voltsset-point with respect to 0VM

X5/4 X42/5 X50/5 X26/5 E4 Summing input for - 10 to + 10 voltsset-point with respect to 0VM

X5/7 X43/3 X49/3 X25/3 RF Controller enable not active. 0 to 3 Volt orAfter controller enabling signal open input

is disconnected only differentialinput is immediately set to zerointernally. The drive still remainsunder active control for about300 ms after the controller enablingsignal is switched off.

Controller enabling signal active. 3 to 30 voltsDrive under control (0,3 to 3 mA)

X5/13 X42/8 X50/8 X26/8 Ired External torque and currentlimiting by applying an analoguevoltage 0 to 10 volts(see Section 2.3)

Fig. 31: Servo drive module inputs

Input at RF terminal(external controllerenable)


53/186


Fig. 33: Servo drive module outputs

4. User inputs/outputs

Terminal on servo drive module:

TDM 1 TDM 3 TDM 4 KDS1 Output Function Maximum values ofTDM 2 TDM 6 TDM 7 DC voltage/current

X5/5 X43/1 X49/1 X25/1 Bb - Bb Signals ready state of Relay contact-X5/6 -X43/2 -X49/2 -X25/2 drive if contact is closed. rated for

Servo drive is OK. 24 V/1 A max.

(Do not confusethis message with theBb1 contact of thepower supply module)

X5/10 X43/7 X49/6 X25/7 + 15 VM Control voltage 15 mA max.X5/12 X43/9 X49/8 X25/9 - 15 VM for external use

X5/11, X43/8 X49/7 X25/8 0 VM Reference potentialfor all inputs/outputsexcept E1-E2 and Bb-Bb

X5/14 X42/10 X50/10 X26/10 MA Master output, Max. outputtorque of current 0 to 10 V, 1 mAset-point for (See footnote (1)Measurement of drive for kMA weighting)

performance or as set-pointoutput signal for slave drivein a master/slave drive system(see Section 2.4)

X5/15 X42/13 X50/13 X26/13 Tsense Speed actual-value (tacho) Max. output0 to 10 V(See footnote (2)for weighting)

X25/10 T-T Output signals unit Relay contact-X25/11 is overheating rated for

(Temperature pre-warning), 24 V, 1 A max.if contact is open.

X43/10 X49/9 T Output signals unit Weightingis overheating values(temperature pre-warning) 24V, 100 mA max.if open-collector outputis low resistance at 0 V.Drive package is switched offafter 30 seconds.

(1) Weighting kMA of this output MA can beobtained from the rating plate of the programming moduleunder MA in V/A or the table in Section 10.2.The torque can be can calculated from this as follows:

U(MA) M = km * in Nm

kMA km: current torque constant in Nm/A from

Section 10.1 U(MA): voltage V measured at MA output

(2) The internal resistance of the output is 20 kilohms.The weighting of this output depends on the rated speed of the motor(obtainable from Section 10.1 or rating plate):

Max. Rating plate details Tacho voltage at motor speed (Motor) Tsense outputin in rpm in Vs/ rad volts per 1000 rpm

1600 0,0572 6 3200 0.0286 36400 0.0143 1.5

12000 0.00715 0.75


54/186


5. Connectionsand Installation

5.1. Protection ofPersonnel andEquipment

The guidelines as listed in Chapter 6.1 on protection ofpersonnel, equipment and machinery when connecting,

assembling and testing the drives must be followed.

Both the servo drive module and its supply module are flush mountingequipment, as outlined in DIN VDE 0160, Sections 5.5.1.3 and 6.5.1.3.This means that they are intended for mounting in a control cabinet. IP10 is their protection category.

The control cabinet housing should, in accordance with those safetyguidelines valid for this application, guarantee sufficient protection

against hazards in areas where the general public has access. (Forindustrial applications, e.g, see EN 60204/DIN VDE 0113, Section 1.)Only properly trained personnel with proper tools or keys should haveaccess to the interior of the control cabinet.

The modular units should, if possible, be arranged as depicted in Figure34. The drives with high power and voltages should be located as closeas possible to the supply unit.

If the ventilated servo drive modules TDM3 and TDM 4 (type designationTDM 3.2-030-300-W1, or TDM 4.1-030-300-W1) or TDM 6 and TDM 7(type designation TDM 6.1-025-300-W1, or TDM 7.1-025-300-W1)

are arranged on the left side of the drive packet, or,

are mounted on the left side at a distance greater than 10 mm from anadjacent module,

then a cooling baffle (INDRAMAT mat. no. 224 869) must be screwedonto the heatsink on the left side of the unit. (Also see the dimensionssheet for the servo-drive module.) Only this arrangement guaranteesthat the fan will provide sufficient cooling.

The end plug, found in the accessories set of the supply module, isplugged into contact strip X1 located in the unit farthest away from the

supply module.It monitors the line connection X1.

It is also possible to arrange the drive module with supply modules on theright and line up the drive modules on the left.

5.2. Assembly

5.2.1.Preferred arrangementof modular units withinthe control cabinet

5. Connections and Installation


55/186



Figure 34: The preferred drive module arrangement

5.2.2. Front View withAccessories

TBMor

TCM

KDVor

TVMKDA KDS TDM

1TDM

2TDM

3TDM

4TCM

TCM TCM

TDM3

2 twisted lines

MOD MOD MODMOD

MOD

MOD

ENA3A-Anordnung

Figures 35 through 40 depict a front view of the individual servo drivemodules with electrical connecting accessories and programming mod-ule MOD.

The components needed for the electrical connections are a part of the

electrical connecting accessories supplied by INDRAMAT.


56/186


Figure 35: Front view of servo drive modules TDM1 and TDM2 with accessories

+15V

0VM

-15V

Tacho

BLC1

BLC2

BLC3

0VM

X5

X6

ZERO ADJ

Input - Output

Feedback

RESET

S1

X8

L+

L-

A3

A2

A1

POSITION FOR OPERATING PARAMETERPROGRAMMING MODULE, PLUG INCORRECT MODULE, BEFORE START UPPlatz fr Betriebsdaten-Programmierungs-modul. Vor dem Einschalten korrektesModul einstecken.

TDM ...-30-300-W0236226 K39/91

CONTROLLERAC SERVO

SN240060-02029 A01

X1

X2

Servo drive module

Electrical connecting accessoriesand programming module

ATTENTION!NEVER REMOVE OR INSTALL THIS

PLUGS WHILE VOLTAGE IS APPLIED.BLACK CABLE ON THE BOTTOM!Verbindung nie unter Spannunglsen bzw. stecken.Schwarze Leitung immer unten!

ACPOWEROUTPUT

DANGERHIGHVOLTAGE

Motoranschlu

WARNING300 VDC INPUT

DISCHARGE TIMEEntladezeit > 1 Min.

POWER SUPPLY OUTPUTVOLTAGE RATING, MUST

NOT EXCEED POWERINPUT VOLTAGE DATA

Nur mit Versorgungseinheitgleicher od. kleinererPOWER-Spannungs-

angabe betreiben

Spannungs- undisolationsgeprft

nach DIN VDE 0160

+24V15VBLC1BLC2BLC3

TachoPOWER

RFBbTS

BS

Offset

adjust-

ment

E3

E1

E4

E2

Bb

Bb

RF

+15V

-15V

Ired

MA

Tsense

0VM

0VM

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

1 2 3 4 5 6 7 8 9 10

Contr.: TDM 1.2-100-300-W1Motor: MAC 112D-.-FD-.-CCurrent (A): peak/cont.: 100/75Operating rpm: 2000 MA: 0,05 V/A

MOD 1/1X077-002Input rpm/VE1/E2 2000/10E3 2000/10E4 2000/10

OPERATING PARAMETER: PROGRAMMING MODULE

ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THE MODULE MUST AGREE

WITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCE

AND DANGER OF DAMAGE MAY OCCUR

Betriebsdaten-Programmierungsmodul

Achtung:Motor- und Verstrkertypenangaben mssen mit der

Installation bereinstimmen, sonst S chdigungsgefahr.

ENA3A-FrontanTDM1/2

Busbar

Bus connection X1

Programming Module MOD with Rating Plate

Plug-in terminal



57/186


Figure 36: Front view of servo drive module TDM 3 with accessories

ZERO ADJ

RESETS1

X8

L+

L-

A3

A2

A1

POSITIONFOROPERATINGPARAMETER

PROGRAMMINGMODULE,PLUGIN

CORRECTMODULE,BEFORESTARTUP

PlatzfrBetriebsdaten-Programmierungs-

modul.VordemEinschaltenkorrektes

Moduleinstecken.

CONTROLLERAC SERVO

X1

Servo drive module

Electrical connecting accessoriesand programming module

TDM 3.2-020-300-W0

236226 K39/91

SN240060-02029 A01

ATTENTION!NEVER REMOVE OR INSTALL THISPLUGS WHILE VOLTAGE IS APPLIED.BLACK CABLE ON THE BOTTOM!Verbindung nie unter Spannunglsen bzw. stecken.Schwarze Leitung immer unten!

DANGERHIGHVOLTAGE

DONOTOPERATE

WITHOUTPOWER


nach DIN VDE 0160

+24V15V

BLC1

BLC2BLC3TachoPWRRFBbTS

BS

Offset

adjust-ment

ENA3A-FrontanTDM3

Input - Output

Feedback

Input - Output1 2 3 4 5 6 7 8 9 10 11 12 13

1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13

E1E2

E3E4

+15VM

+15VM

Ired

0VM

FBMA

Iist

T

Tsense

1 2 3 4 5 6 7 8 9 10

Bb

-15VM

0VM

RF

Bb

+24VL

0VL

1 2 3 4 5 6 7 8 9

+15VM

-15VM

0VM

0VM

BLC2

BLC1

BLC3

Tacho

X41

X42

X43

Contr.: TDM 3.2-020-300-W0Motor: MAC 090A-.-ZD-.-CCurrent (A): peak/cont.: 20/15Operating rpm: 2000 MA: 0,375 V/AInput rpm/V: E1/E2: 2000/10E3: 3000/10 E4: 1500/10

MOD 13/1X012-002

OPERATING PARAMETER: PROGRAMMING MODULEATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREE

WITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCEAND DANGER OF DAMAGE MAY OCCUR

Betriebsdaten-ProgrammierungsmodulAchtung:Motor- und Verstrkertypenangaben mssen mit derInstallation bereinstimmen, sonst Schdigungsgefahr.

MOTORPOWER

Motoranschlu

300VDCINPUT

DISCHARGE

TIME

Entladezeit>

1Min.

AS

Busbar

Bus connection X1


Plug-in terminals



58/186



ZERO ADJ

RESETS1

X8

L+

L-

A3

A2

A1


PROGRAMMINGMODULE

,PLUGIN

CORRECTMODULE

,BEFORESTARTUP

Platzfr

Be

triebs

da

ten-Programm

ierungs-

mo

du

l.Vor

dem

Einsc

ha

lten

korre

ktes

Mo

du

le

ins

tec

ken.

CONTROLLERAC SERVO

X1

Servo Drive Module

Electrical Connecting Accessoriesand Programming Module

TDM 4.1-020-300-W0

236226 K39/91

SN241060-02030 A01


DANGERHIGHVOLTAGE

DONOTOPERATE

WITHOUTPOWER


nach DIN VDE 0160

+24V15V

BLC1

BLC2BLC3TachoPWR

RFBbTS

BS

Offset

adjustment

ENA3A-FrontanTDM4

Input - Output

Feedback

Input - Output1 2 3 4 5 6 7 8 9 10 11 12 13

1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13

E1

E2

E3

E4

+15VM

+15VM

Ire

d0VM

FB

MA

Iis

t

T

Tsense

1 2 3 4 5 6 7 8 9

Bb

-15VM

0VM

RF

Bb

24VL

0VL

1 2 3 4 5 6 7 8 9 10

T0

T2

T1

0VM

HS2

HS1

HS3

X48

X50

X49

Contr.: TDM 4.1-020-300-W0Motor: MAC 025C-.-QS-.-ECurrent (A): peak/cont.: 14/7Operating rpm: 10000 MA: 0,375 V/A

Input rpm/V: E1/E2: 10000/10E3: 10000/10 E4: ----------

MOD 17/1X001-193

OPERATING PARAMETER: PROGRAMMING MODULEATTENTION : MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREEWITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCE

AND DANGER OF DAMAGE MAY OCCURBetriebsdaten-ProgrammierungsmodulAchtung:Motor- und Verstrkertypenangaben mssen mit derInstallation bereinstimmen, sonst Schdigungsgefahr.

MOTORPOWER

Motoranschlu

300VDCINPUT

DISCHARGETIME

Entladezeit>1

Min.

ASBusbar

Bus connection X1


Plug-in terminals

T3

+15VM



59/186



ZERO ADJ

RESETS1

X8

L+

L-

A3

A2

A1


PROGRAMMINGMODULE,PLUGIN

CORRECTMODULE,BEFORESTARTUP

PlatzfrBetriebsdaten-Programmierungs-

modul.VordemEinschaltenkorrektes

Moduleinstecken.

CONTROLLERAC SERVO

X1

Servo drive module

Electrical Connecting Accessoriesand Programming Module

TDM 6.1-020-300-W0

236226 K39/91

SN240060-02029 A01


DANGERHIGHVOLTAGE

DONOTOPERATE

WITHOUTPOWER


nach DIN VDE 0160

+24V15V

BLC1

BLC2BLC3TachoPWR

RFBbTS

BS

Offset

adjustment

FrontanTDM6

Input - Output

Feedback

Input - Output

1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9 10

1 2 3 4 5 6 7 8 9 10 11 12 13

E1E2

E3E4

+15VM

+15VM

Ired

0VM

FBMA

Iist

T

Tsense

1 2 3 4 5 6 7 8 9 10

Bb

-15VM

0VM

RF

Bb

+24VL

0VL

Documents

Indra Matt Dm Drives