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8/12/2019 Servo Drives Indramat
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Starting Lockout Function
in TDM Servo Drive Modules
DOK-ANAX**-TDM*ANL*FKT-ANW1-EN-P
Applications manual
258241
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Title:
Type of Documentation:
Doc. No.:
Internal File Ref.:
Replaces:
The purposeof this document
Copyright:
Validity:
Copying of this document, and giving it to others and the use orcommunication of the contents thereof without express authority areforbidden. Offenders are liable to the payment of damages. All rights
are reserved in the event of the grant of a patent or the registrationof a utility model or design.
We reserve the right to make changes to the documents and inproduct delivery.
About this Documentation
Starting Lockout Function in TDM Servo Drive Modules
Application Manual
9.555.012.4-05 EN / 4/94
File No. 4 / startinglockout TDM EN
9.555.012.4-03 DE / 3/93
This document serves:
to define possible application and operating conditions
to assist in project planning and installation
the commissioning and monitoring of the starting lockout function
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Please note the guidelines outlined in Section 3 prior tocommissioning the starting lockout!
Table of Contents
Table of Contents Page
1. Possible applications of the starting lockout 7
1.1. A safe way to power down separateworking areas in machinery or plant ................................... 7
1.2. Operating individual axes during installation ....................10
2. How the starting lockout works 11
2.1. The function of the motor control ......................................11
2.2. Using the starting lockout signal to safelypower down the motor ......................................................11
3. Installation and operating guidelines 14
3.1. Application guidelines for disconnecting the power mains,standstills and securing against unintentional start-ups ... 14
3.1.1. Using the master switch to disconnect the mains ............. 14
3.1.2. Using the mains contactor to disconnect the mains ......... 14
3.1.3. Using the starting lockout to secure against intentionalstart ups ............................................................................ 14
3.2. Connecting terminals .......................................................15
3.3. Sequence and procedures when using the startinglockout ............................................................................... 16
3.4. Testing ..............................................................................19
3.5. Examples of appliations ....................................................19
4. Controller types and related plans 23
4.1. Summary of the types of controllers ................................ 23
4.2. Frontal view.......................................................................24
4.3. Dimensional data .............................................................. 29
4.4. Installation dimensions......................................................31
4.5. Terminal interconnect diagrams ....................................... 34
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1.1. A safe way to power
down separate working areasin machinery or plant
1. Applications
Production systems, transfer lines and machine tools often consist of
spatially separated working areas, e.g., processing units, transport,handling and storage systems (see Figure 3).
It is frequently necessary for personnel to either work or accesssomething in one working area while machinery is running in anadjacent working area. This means that the drive axes within anindividuals working area must be secured against any uninten-tional motionsso that an individual is not at risk from dangerousdrive motions caused by a fault somewhere else in the facility.
If the drive axes in adjacent working areas and in the danger zone are
centrally connected to the power mains by a supply unit (e.g., supplymodules TVM, KDV, TVD, KVR), then each direct-drive motor mustbe individually secured against unintentional motions. The dangerzone is the area in which the individual is working.
The starting lockout built into every INDRAMAT drive module makesit easy to safely power down the motor of each axis with a simpleswitch. This switch disconnects the output stage from the controlelectronics with the use of a relay in the hardware. The user gains thefollowing advantages:
1. Savings in cost and space
A single power supply unit can feed the drive axes of severalworking areas. Individual power supply units are not needed foreach drive axes in every spatially separated working area.
In several applications, a large three-phase motor contactor withone or two axes is built into the motor supply lines. The motorcontactors make it possible to safely switch off these axis motors,and to use only one supply unit to operate all drives.
This function is now easy to perform without a power contactor onthe drive module by controlling the starting lockout input. This
represents a savings in cost and space in the control cabinet.
1. Possible applications of the starting lockout
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2. Increased safety and reliability:
Personnel safety and facility reliability are increased because amains contactor is not needed to disconnect the motor from thedrive module.
Eliminated are breakdowns caused by frequent switching, gum-ming or burning of the contacts of this contactor due to high loadcurrents.
The danger of damage to the motor mains contacts from improperhandling or commissioning is eliminated.
The motors no longer brake uncontrolled with a power failure.
A motor contactor without a mechanical locking mechanism isdropped in a power failure. This means the motor will idle and theDC bus energy cannot be used for braking.
The existing mains contactor is presently used to secure againstunintentional motions. It is switched on and off once during everyduty cycle. With a starting lockout in an INDRAMAT drive modulethe mains contactor does not need to be frequently switched, i.e.,with every cycle. It is only used with E-stops, for maintenance andinspection work throughout the plant, and with every total shut-down. There is less wear and tear, and failures occur lessfrequently.
If two faults occur simultaneously, then a motor can run upuncontrolled if a motor contactor is used to secure against uninten-
tional motions .Example:
speed command voltage at maximum due to fault in NC, and,
the motor contactor fails.
In the unlikely event that two faults occur simultaneously in thepower supply, then the motor will only jerk if an internal startinglockout is in the INDRAMAT drive amplifier.
The internal control circuits and the output stage control are
internally locked for additional safety. An external motor contactordoes not ensure an additional internal locking of the drive electron-ics.
1. Applications
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1. Applications
The drive is secured by applying powerto the starting lockoutinput. This meets the following safety requirements:
I. Quickest possible standstillThe drives must be brought to a standstill as quickly as possiblein an emergency, in other words, in a dangerous situation (VDE
Guidelines 0113/EN 60204, Part 1, Para. 5.6.1).
If an external voltage failure should occur in the control circuit of theAS starting lockout while the motor is rotating, then the drive is notswitched off and cannot continue to run. If a drive is running orsomething is being processed at the time this happens, no tool orworkpiece will be damaged once the drive is cleared.There can be a controlled electrical shutdown of the drives via theNC and the drive module.
II. No automatic restartsThe drives cannot automatically restart when power is reapplied
to the starting lockout input (VDE 0113/EN 60204, Part 1, Para.5.4, VDI 2853, Sec. 3.1.2.3). The drives are blocked.
III. Remaining in a safe state with a faultA drive will remain in a safe state even with a fault, e.g., the controlvoltage drops off at the lockout input. This is in accordance with theGuidelines VDE 0113/EN 60204, Part 1, Para. 5.7.2 (Specialcurrent circuits that serve safety purposes must take on theirsecure state in the event of a failure.), and VDE 2853, Para.3.1.2.1.1.
This condition is met because the controller enable signal and the command input keep the drive
blocked, and,
once the fault has occurred, the mains contactor immediatelydisconnects the power supply unit from the mains via the mainscontactor by the acknowledgement contact on the drive controller.This completely switches all drives dead.
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1.2. Operating individual axesduring installation
Drives are frequently run individually during installation. In this caseas well, personnel is often found within the danger zone. Generally,the acknowledgement switch is used to switch on the mains contactorto operate the axes. The mains contactor is then switched off againif unwanted movement occurs, or at the end of an operation.
The safety of personnel within a danger zone is increased, if thestarting lockout is additionally built into INDRAMATs drive modules.It helps to secure against unwanted starts during installation. Thisis possible because the internal, forcibly-connected contacts meanthat the axes not being run can be additionally blocked.
In addition, using this relay to switch the motors on and off reduceswear and tear. In effect, it also increases reliability and safety.
1. Applications
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2.1. Motor controller function
2. How the StartingLockout Works
2. How the Starting Lockout Works
The power for motor current and thus the torque are advanced via thefinal output stage (driver) of the drive module. The extent of thecurrent in the three phases of the three-phase motor is transmitted by
the controller electronics to the final output stage in the form of aswitch-mode pulse-width modulated signal.
In this case, the controller electronics serve the following purpose:
The greater the width of the pulse or the switch-mode ratio, thegreater the motor current. The three currents in the three phases ofthe motor must additionally be adjusted, in terms of amount andphase position, to the rotor position given at that point in time, forsufficient torque to be produced.
There can be no motor revolutions at the motor shaft if there is nopulse-width modulated signal at the final output stage.
The signal at terminals AS1-AS2 of INDRAMATs drive moduleactivates an internal relay which has two forcibly-connected contacts(see Fig. 1). The relay has been quality controlled.
The first contact of this relay separates the internal controller voltageof the final output stage in the hardware.
The control and controller electronics are simultaneously and addi-tionally blocked. This achieves double redundancy.
The second contact (acknowledgement contact) signals the activa-tion of the first contact to the outside.
A disconnection of the output stage controller is signalled via thisadditional acknowledgement contact (contact) ASQ-ASQ, to verifywhether the relay has actually been activated or not. This contact isforcibly-connected to the primary contact.
A relay failure or a wire break in the conductors to the starting lockoutinputs AS1-AS2 is immediately recognized by this zero-potentialacknowledgement contact in the external control. The central mainscontactor is then immediately disconnected.
This means it is not possible, in the event of a fault and given allconceivable possibilities, that a switch-mode motor current (alternat-ing current) could be produced within the electrical facilities of themachine which could make the motor move.
It is also not possible for a current to flow through the motor even whena fault occurs in one of the six final output stages. The drive does notmove. This fault is immediately acknowledged
as soon as personnel has moved out of the danger zone, when the machine or sector of the facility has been properly
reblocked.
2.2. Using the starting lock-out signal to secure poweroff
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and the drive is reactivated
by disconnecting starting lockout inputs AS1-AS2,
by electronically enabling the controller amplifier, and,
by entering the speed set-point.
This fault causes an excessively high current which triggers aresponse from the fuses in the drive module. Then the mainscontactor disconnects all drives from the mains. Message BS on thedefective drive module also displays the fault overccurrent.
2. How the Starting Lockout Works
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M
S
upply
m
odule
Controller
Controllervoltag
e
UST
Drivemodule
Drivemodule
Linkcircuit
AS1
AS2
ASQ
ASQ
AS1
AS2
ASQ
ASQ
~
M~
~
Mains
Masterswitch
Mainscontactor(K1)
AS/Anwend
Applications
ofthestartinglockout
Controllervoltage
UST
M
Controllervoltage
UST
Drivemodule
AS1
AS2
ASQ
ASQ
Figure 1: How the starting lockout works
2. How the Starting Lockout Works
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It is not permitted in these cases to just disconnect the mainscontactor or activate the starting lockout.
3. Installation andOperating Guidelines
3.1. Guidelines fordisconnecting the mains,for shutdowns and securingagainst unwanted starts
The NC and the drive module cannot be used to operate thedrives once the starting lockout has been activated. Themotor is torque-free. A controlled operation of the axes is nolonger possible.
During the planning stage and at that time when the machineis commissioned it should be determined that the startinglockout can only be activated when the motor is standing
still. This applies to those cases where a torque-free operationof the drive can cause damage. It is therefore necessary withhanging axes to tightly clamp the axis before activating themechanical brake.
3. Installation and Operating Guidelines
The master switch must be used to disconnect all of the machineselectrical equipment from the mains in the following instances:
when cleaning the machine
for maintenance and repairs
prior to long breaks in operation
3.1.1. Using the master switchto disconnect the mains
The master switch must adhere to the guidelines outlined in EN60204/VDE 0113, Sec. 5.6.2. It is of extreme importance that it canbe locked into an off position.
In an emergency off/emergency stop situation the mains contactormust be disconnected directly so that all main current circuits areswitched to zero potential. Those main current circuits that servesafety purposes must be disconnected first, but not until thesemeasures have been concluded.An emergency off situation is defined as danger to either personnelor machinery in the presence of several faults or problems.
The starting lockout exclusively serves to secure the attached motorsagainst unintentional starts caused by a fault. Activating it while themotor is running does not automatically guarantee that the drives willbe safely shutdown.
3.1.2. Using the mainscontactor to disconnect themains
3.1.3. Using the startinglockout to secure againstunwanted starts
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3.2. Connecting Terminals
Terminal Function Connected valuedesignation
AS1 - AS2 Controller for activating Voltage: 2030 volts DCthe starting lockout. Current: 20 mA DC at 24 voltsThe red light-emitting diode AS is lit up Power: 0,5 wattswhen the starting lockout is activated:
ASQ - ASQ Acknowledgement contact at zero Contact load: 24 volts, 1 amp.potential (make contact). It acknowledgesactivation to an externalcontroller/monitor.
TMI - TMI (1) Motor thermostat contact
connection. Evaluated in theservo drive module.
TMO - TMO (1) Output message Contact load: 24 volts, 1 amp.motor excess temperature.Relay contact opens if motortemperature too high.
BRI+ - BRI- (1) Input for controller voltage for 24 Volt 10%motor blocking brake.
BRO+ - BRO- (1) Motor blocking brake connection,in acc. with connection plan.
1) Not in TDM 1.3.
3. Installation and Operating Guidelines
It is not possible to use (only) the starting lock in the following cases:
for the purpose of electrically separating the motor from the powervoltage of the drive module, e.g., when exchanging motors;
for any other maintenance, repair or cleaning work on the machine.
A master switch is used to disconnect the mains (see Section 3.1.1).
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3. Installation and Operating Guidelines
The function and reliability of the starting lockout in its interaction withall other system components of the machine or facility are only asgood and as safe as the extent to which the following guidelines weretaken into consideration during planning and were checked duringthe commissioning of the machine.
Figure 2 outlines the chronological sequence:
1. Shutdown drives:
The drives which are to be shutdown must first be brought to restbefore the starting lockout can be activated.
The starting lockout can only be used where a torque-free slowingdown can cause damage, and can only be activated when the motoris standing still. It is otherwise not possible to electrically shutdown arunning drive with the use of a drive module.
A starting lockout should only be activated, even when the motor isrunning, if a safe slowing down without a brake via the drive moduleis guaranteed.
2. Drive electronically blocked:
The speed set-point input (terminals E1-E2, E3-OVM, E4-OVM)must be set to zero, and the controller enable input signal (terminalRF) of the drive amplifier must be connected to OVM. This increasesboth safety and redundancy.
3. Activating the starting lockout:
A voltage of 20 ... 30 volts must be placed between the input terminalsAS1-AS2 to activate the starting lockout (0.5 watts at 24 volts ofapplied voltage).The switching of the starting lockout relay in the drive amplifier ishereby confirmed to the external controller by closing the potential-free acknowledgement contact (output ASQ-ASQ).
The red diode AS on the front plate lights up simultaneously.
4. Commissioning operation:
If one or several axes are to be operated during the commissioningoperation with protective devices cancelled, then this should only bepossible if qualified personnel enable this type of operation with a keyswitch.
All drives must otherwise be disconnected from the mains via theemergency off circuit, in this case automatically. The respectivecommissioning guidelines must be followed.
5. Cancelling the protective devices
The protective devices for the drives defined danger zone can now
be cancelled. Guard doors can, for example, be opened, locks andcutoffs for the danger zone can be cancelled.
3.3. Sequence and cyclewhen using the starting lock-out
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3. Installation and Operating Guidelines
Once the protective devices have been cancelled, then the automaticemergency stop must be immediately activated if one of the followingfaults occur. All the drives connected to the central supply module arehalted and hereby disconnected from the mains via the mainscontactor:
Activation of the starting lockout is not acknowledged. The acknowl-edgement contact (output ASQ-ASQ) remains open. The emer-gency off circuit must open because it is necessary for the externalcontroller to definitely recognize this fault.Possible causes: The controller signal does not arrive at input AS1-AS2 of the drive amplifier, or the internal starting lockout relay isdefective.
There is a fault in the acknowledgement line between output ASQ-ASQ and the external controller, which evaluates the acknowledge-ment via this acknowledgement contact. Or there is a fault in thecontroller itself.
6. Access ready:
Once all the preceding steps have been performed and checked, thenall the drives in the disconnected working area have been securedagainst unwanted movement.It is now possible for personnel to enter this zone and access theequipment.
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Mechanical brakes jammed
E1
E2
RF
0VM
AS1
AS2
ASQ
ASQ
Controller
Emergency offcircuit, mainsdisconnect
Speed set-pointn(set-point) atinput E1 - E2
Controllerenable signal atterminal RF
Startinglockout inputsignal atterminalAS1 - AS2
t
t0.5 sec.
NC stop: end of operation
drives haltedn(set-point) = 0
Controller enablesignal RF off
Drives halted andelectronically locked
t
Starting lockout ASactivated
t
t
Doors open,protective device cancelled
AS/Ze
it
Servo drive module
n(set-point)
Set-point default(e.g. from NC)
max. 0.2 sec.
3. Installation and Operating Guidelines
Figure 2: Chronological sequence when using the starting lockout
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3.4. Test
3. Installation and Operating Guidelines
The following tests should be performed on each drive in sequenceafter each initial commissioning and at set intervals during operation.No personnel should be within the danger zone during these tests.
1. Shutdown all drives.
2. The starting lockout is activated by supplying voltage to terminalsAS1-AS2. Check whether the motor is now torque-free.
3. Cancel all protective devices, by opening the safety doors forexample.
4. As a test, clamp off the line at input AS1.
In this case, the mains contactor must immediately disconnect thecentral supply module with its attached drives from the mains.This function is guaranteed by the control circuit foreseen in thedesign.
5. All possible faults which could occur should be simulated individu-ally:
in the acknowledgement lines between input ASQ-ASQ and theexternal controller, and,
in the evaluation of this signal in this controler.
The following should be checked for each simulated fault:All drives running within the danger zone must be halted as quicklyas possible, and the mains contact has to disconnect the centralsupply module with its attached drives from the mains.
In those cases where this does not happen when there is a fault,appropriate measures need to be taken to exclude these faults tothe greatest possible extent, or trigger a sufficient emergency offrelease.
6. If it is possible to activate the starting lockout even with the drivesrunning (for example, at the control panel), then it needs to bechecked whether, by activating the starting lockout with runningdrives, a dangerous situation can develop if the drives run outtorque-free in every operating state.
Figure 3 outlines two spatially separated working areas equipped withtwo or three drive axes.
Figure 4 demonstrates the controller circuit principle with minimumeffort:
Acknowledgement contact ASQ-ASQ has been, like the door con-tact, integrated into the control circuit for the emergency off se-quence.
Auxiliary contact K3 signals that the drives are ready to operate and
ready for use.
3.5. Application Examples
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Figure 4: Examples of starting lockout applications: Controller circuitry of Fig. 3.
24V-
Starting
lockout
ofthe
drives
WorkingareaII
S
tartinglockout
ofthedrives
W
orkingareaII
Supplyunit
forfault
recognition
readyto
operate
Bb1
Driveslocked
inworking
areaII
Driveslocked
inworkingareaI
24V-
Door
contactfor
workingareaI
Door
contactfor
workingareaII
E
mergency-Stop
Off
On
M
ultichannel
a
uxiliary
relayswith
c
ontact
m
onitoring
Mains
contactorK1
230V~
AS/manuell
ASQ
ASQ
K4A
SQ
ASQ
ASQ
AS
2
AS2
AS2
AS2
AS2
AS
1
AS1
AS1
AS1
AS1
K3
K3
3. Installation and Operating Guidelines
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Kb
Kc
Ka
Kc
Kb
Ka
On
Emergency off
Off
Ka
On
Emergency off
Off
KbKc
AS/K4/A+B
Kc
Kb
Ka
Ka
Kb
Kc
Kc
Kb
Ka
Variant A:
Variant B (no contact in this design):
Figure 5: Examples of applications for the multichannel design of auxiliary relayK4 in Fig. 4.
3. Installation and Operating Guidelines
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4. Controller typesand related plans
The following servo drive modules with starting lockout are availablein addition to standard controllers (without starting lockout).
Standard controller Controller type
(without starting lockout) with starting lockout
TDM 1 TDM 1.3 (2)
TDM 3 TDM 3.3(1) (2)
TDM 4 TDM 4.3(1) (2)
--------- TDM 6.1(1)
--------- TDM 7.1(1)
(1) It is possible with these controllers to attach a motor thermostatcontact and the controller for the blocking brake (see Chapter
3.2).
(2) The additional plug-in terminal is plugged into the unit upondelivery and is, therefore, not a part of the connecting accessoriesE...-TDM. In other words, both the standard unit and the unitwith starting lockout have the same connecting accessories.
Related plansPlan Servo drive module with Figures
starting lockout
Front view TDM 1.3 Fig. 6
TDM 3.3 Fig. 7TDM 4.3 Fig. 8TDM 6.1 Fig. 9TDM 7.1 Fig. 10
Dimension TDM 1.3 Fig. 11sheet TDM 3.3 Fig. 12
TDM 4.3 Fig. 12TDM 6.1 Fig. 12TDM 7.1 Fig. 12
Mounting TDM 1.3 Fig. 13dimensions TDM 3.3 Fig. 14TDM 4.3 Fig. 14TDM 6.1 Fig. 14TDM 7.1 Fig. 14
Fan dimensions TDM 3.3 Fig. 15for TDM 4.3 Fig. 15
TDM 6.1 Fig. 15TDM 7.1 Fig. 15
Connection plan TDM 1.3 Fig. 16
TDM 3.3 Fig. 17TDM 4.3 Fig. 18TDM 6.1 Fig. 19TDM 7.1 Fig. 20
4. Controller types and related plans
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+15V
0VM
-15V
Tacho
BLC1
BLC2
BLC3
0VM
X5
X6
ZERO ADJ
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 ...-100-300-W0
236226 K39/91
CONTROLLERAC SERVO
SN240060-02029 A01
X1
X2
Servo drive module
Electrical connecting accessoriesand programming module
ACPOWEROUTPUT
DANGERHIGHVOLTAGE
Motoranschlu
WARNING300 VDC INPUT
DISCHARGE TIMEEntladezeit > 1 Min.
POWER SUPPLY OUTPUTVOLTAGE RATING, MUST
NOT EXCEED POWERINPUT VOLTAGE DATA
Nur mit Versorgungseinheitgleicher od. kleinerer POWER-Spannungsangabe betreiben
+24V
15V
BLC1
BLC2
BLC3
Tacho
POWER
RF
Bb
TS
BS
Offsetadjust
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
FrontanTDM13
Busbars
Bus terminal X1
Programming module MOD with rating plate
Plug-in terminals 1 2 3 4
AS1
AS2
ASQ
ASQ
X9
1 2 3 4
Contr.: TDM 1.3-100-300-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 derInstallation bereinstimmen, sonst Schdigungsgefahr.
AS
1 2 3 4 5 6 7 8 9 10
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ATTENTION!
NEVER REMOVE OR INSTALL THISPLUG WHILE VOLTAGE IS APPLIED.BLACK CABLE ON THE BOTTOM!Verbindung nie unter Spannunglsen bzw. stecken.Schwarze Leitung immer unten!
Figure 6: Front view of TDM 1.3
4. Controller types and related plans
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Figure 7: Front view of TDM 3.3
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 3.3-020-300-W0
236226 K39/91
SN240060-02029 A01
DANGERHIGHVOLTAGE
DONOTOPERATE
WITHOUTPOWER
Spannungs- und
isolationsgeprft
nach DIN VDE 0160
+24V
15V
BLC1
BLC2
BLC3
Tacho
PWR
RF
Bb
TS
BS
Offset
adjust
FrontanTDM33
Inputs and outputs
Feedback
Inputs and outputs
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
FB
MA
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
BLC
2
BLC
1
BLC
3
Tacho
X41
X42
X43
Contr.: TDM 3.3-020-300-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 MODULE
ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREEWITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCE
AND DANGER OF DAMAGE MAY OCCURBetriebsdaten-Programmierungsmodul
Achtung:Motor- und Verstrkertypenangaben mssen mit derInstallation bereinstimmen, sonst S chdigungsgefahr.
MOTORPOWER
Motoranschlu
300VDCINPUT
DISCHARGETIME
Entladezeit
>1Min.
AS
Busbars
Bus terminal X1
Programming module MOD with rating plate
Plug-in terminals
1 2 3 4 5 6 7 8 9 10 11 12 13
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ASQ
ASQ
AS2
AS1
frei
TMO
TMO
BRI+
BRI-
BRO
-
BRO
+
TMI
TMI
Plug-in terminals
ATTENTION!
NEVER REMOVE OR INSTALL THISPLUG WHILE VOLTAGE IS APPLIED.BLACK CABLE ON THE BOTTOM!Verbindung nie unter Spannunglsen bzw. stecken.Schwarze Leitung immer unten!
4. Controller types and related plans
8/12/2019 Servo Drives Indramat
24/38
24 TDM Starting Lockout 9.555.012.4-05 4/94
Figure 8: Front view of TDM 4.3
ZERO ADJ
RESETS1
X8
L+
L-
A3
A2
A1
POSITION
FOR
OPERATINGP
ARAMETER
PROGRAMMINGM
ODULE,PLUGI
N
CORRECTMODULE,BEFORESTARTUP
PlatzfrBetriebsdaten-Programmierungs-
modul.VordemE
inschaltenkorrektes
Moduleinstecken.
CONTROLLERAC SERVO
X1
Servo drive module
Electrical connection accessoriesand programming module
TDM 4.3-020-300-W0
236226 K39/91
SN241060-02030 A01
DANGERHIGHVOLTAGE
DONOTOPERATE
WITHOUTPOWER
Spannungs- und
isolationsgeprft
nach DIN VDE 0160
+24V
15V
BLC1
BLC2
BLC3
Tacho
PWR
RF
BbTS
BS
Offset
adjust
FrontanTDM43
Inputs and outputs
Feedback
Inputs and outputs1 2 3 4 5 6 7 8 9 10 11 12 13E1E2
E3E4
+15VM
+15VM
Ired
0VM
FBMAIist
T
Tsense
1 2 3 4 5 6 7 8 9Bb
-15VM
0VM
RF
Bb
24VL
0VL
1 2 3 4 5 6 7 8 9 10T0
T2
T1
0VM
HS2
HS1
HS3
X48
X50
X49
MOTORPOWER
Motoranschlu
300VDCINPUT
DISCHARGE
TIME
Entladezeit>1Min.
ASBusbars
Bus terminal X1
Programming module MOD with rating plate
Plug-in terminals
T3
+15VM
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ASQASQAS2AS1frei
TMOTMOBRI+
BRI-
BRO
-
BRO
+
TMITMI
Plug-in terminals
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
Contr.: TDM 4.3-020-300-W0Motor: MAC 025C-.-QS-.-ECurrent (A): peak/cont.: 14/7Operating rpm: 10000 MA: 0,375 V/AInput rpm/V: E1/E2: 10000/10E3: 10000/10 E4: ----------
MOD 17/1X001-193
OPERATING PARAMETER: PROGRAMMING MODULE
ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREEWITH THE DEVISES IN USE. OTHERWISE LACK OF PERFORMANCEAND DANGER OF DAMAGE MAY OCCUR
Betriebsdaten-ProgrammierungsmodulAchtung:Motor- und Verstrkertypenangaben mssen mit derInstallation bereinstimmen, sonst Schdigungsgefahr.
ATTENTION!NEVER REMOVE OR INSTALL THISPLUG WHILE VOLTAGE IS APPLIED.BLACK CABLE ON THE BOTTOM!Verbindung nie unter Spannunglsen bzw. stecken.Schwarze Leitung immer unten!
4. Controller types and related plans
8/12/2019 Servo Drives Indramat
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25 TDM Starting Lockout 9.555.012.4-05 4/94
Figure 9: Front view of TDM 6.1
ZERO ADJ
RESETS1
X8
L+
L-
A3
A2
A1
POSITION
FOR
OPERATINGP
ARAMETER
PROGRAMMINGM
ODULE,PLUGI
N
CORRECTMODULE,BEFORESTARTUP
PlatzfrBetriebsdaten-Programmierungs-
modul.VordemE
inschaltenkorrektes
Moduleinstecken.
CONTROLLERAC SERVO
X1
Servo drive module
Electrical connection accessoriesand programming module
TDM 6.1-020-300-W0236226 K39/91
SN240060-02029 A01
DANGERHIGHVOLTAGE
DONOTOPERATE
WITHOUTPOWER
Spannungs- undisolationsgeprft
nach DIN VDE 0160
+24V
15V
BLC1
BLC2
BLC3
Tacho
PWR
RF
BbTS
BS
Offset
adjust
FrontanTDM6
Inputs and outputs
Feedback
Inputs and outputs
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
FBMAIist
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 6.1-020-300-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 19/1X012-002
OPERATING PARAMETER: PROGRAMMING MODULE
ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREEWITH 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
DISCHARG
ETIME
Entladezeit>1Min.
AS
Busbars
Bus terminal X1
Programming module MOD with rating plate
Plug-in terminals
1 2 3 4 5 6 7 8 9 10 11 12 13
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ASQASQAS2AS1frei
TMOTMOBRI+
BRI-
BRO
-
BRO
+
TMITMI
Plug-in terminals
ATTENTION!
NEVER REMOVE OR INSTALL THISPLUG WHILE VOLTAGE IS APPLIED.BLACK CABLE ON THE BOTTOM!Verbindung nie unter Spannunglsen bzw. stecken.Schwarze Leitung immer unten!
4. Controller types and related plans
8/12/2019 Servo Drives Indramat
26/38
26 TDM Starting Lockout 9.555.012.4-05 4/94
Figure 10: Front view of TDM 7.1
ZERO ADJ
RESETS1
X8
L+
L-
A3
A2
A1
POSITION
FOR
OPERATINGP
ARAMETER
PROGRAMMINGM
ODULE,PLUGI
N
CORRECTMODULE,BEFORESTARTUP
PlatzfrBetriebsdaten-Programmierungs-
modul.VordemE
inschaltenkorrektes
Moduleinstecken.
CONTROLLERAC SERVO
X1
Servo drive module
Electrical connecting accessoriesand programming module
TDM 7.1-020-300-W0
236226 K39/91
SN241060-02030 A01
DANGERHIGHVOLTAGE
DONOTOPERATE
WITHOUTPOWER
Spannungs- und
isolationsgeprft
nach DIN VDE 0160
+24V
15V
BLC1
BLC2
BLC3
Tacho
PWR
RF
BbTS
BS
Offset
adjust
FrontanTDM7
Inputs and outputs
Feedback
Inputs and outputs1 2 3 4 5 6 7 8 9 10 11 12 13E1E2
E3E4
+15VM
+15VM
Ired
0VM
FBMAIist
T
Tsense
1 2 3 4 5 6 7 8 9Bb
-15VM
0VM
RF
Bb
24VL
0VL
1 2 3 4 5 6 7 8 9 10T0
T2
T1
0VM
HS2
HS1
HS3
X48
X50
X49
MOTORPOWER
Motoranschlu
300VDCINPUT
DISCHARGE
TIME
Entladezeit>1Min.
ASBusbars
Bus terminal X1
Programming module MOD with rating plate
Plug-in terminals
T3
+15VM
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ASQASQAS2AS1frei
TMOTMOBRI+
BRI-
BRO
-
BRO
+
TMITMI
Plug-in terminals
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
Contr.: TDM 7.1-020-300-W0Motor: MAC 025C-.-QS-.-ECurrent (A): peak/cont.: 14 / 7Operating rpm: 10000 MA: 0,375 V/AInput rpm/V: E1/E2: 10000/10E3: 10000/10 E4: ----------
MOD 21/1X005-123
OPERATING PARAMETER: PROGRAMMING MODULE
ATTENTION: MOTOR AND CONTROLLER-TYPE INDICATED ON THEMODULE MUST AGREEWITH THE DEVISES IN USE. OTHERWISE LACK OF P ERFORMANCEAND DANGER OF DAMAGE MAY OCCUR
Betriebsdaten-ProgrammierungsmodulAchtung:Motor- und Verstrkertypenangaben mssen mit derInstallation bereinstimmen, sonst Schdigungsgefahr.
ATTENTION!NEVER REMOVE OR INSTALL THISPLUG WHILE VOLTAGE IS APPLIED.BLACK CABLE ON THE BOTTOM!Verbindung nie unter Spannunglsen bzw. stecken.Schwarze Leitung immer unten!
4. Controller types and related plans
8/12/2019 Servo Drives Indramat
27/38
8/12/2019 Servo Drives Indramat
28/38
28 TDM Starting Lockout 9.555.012.4-05 4/94
Figure 12: Dimension sheets for TDM 3.3, TDM 4.3, TDM 6.1 and TDM 7.1
325
Outletforcoolingair
He
atsink
min.80mmfor
coolingairoutlet
355Safetyguard
min.80mmfor
coolingairoutlet
326
Accessforcoolingair
TighteningtorqueM
(Nm)forterminalboltX8:M6=5Nm
TighteningtorqueM
(Nm)forterminalboltX8:M5=3Nm
TighteningtorqueM
(Nm)forterminalbolt
:M5=3
Nm
A A
S1
A1
A2
A3
L-
L+
X8
X1
Programming
module
ZERO-ADJ
712
373
390
70
7
9+1
Zeroadj.
speedcontrol
Setpoin
t
max.1.5mm
Readytooperateand
controllervoltages
max.1.5mm
Feedback
max.1.5mm
Controller
voltagesupply
Load-directvoltage
(2xM5)
LED
Display
RESET
M5
Motorconnection
(3xM6)
View
withoutsafetyguard
Mablatt/TDM33/43/6/7
A
128
48
Safetyguard
Functioninput,
signals
15poles,max.1.5m
m2
5
Fa
nbaffleonlyrequired
if
theunit
-ismountedon
theleftsideofthe
d
rivepackage,or,
-ismountedata
d
istancegreaterthan
1
00mmfromanadjacentunit
o
ntheleftside.
(F
anbafflewithscrews
IN
DRAMATmat.No.:224869
mustbeorderedseparately)
4. Controller types and related plans
8/12/2019 Servo Drives Indramat
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29 TDM Starting Lockout 9.555.012.4-05 4/94
min.400
min.2
325
min.80 355
Completelyclo
sed
housingorcab
inet
TVM
TDM
T
DM
TDM
TDM
105
m
in.80
min.80
105
TDM1/Einbau
min.80
60
7
373
390
4. Controller types and related plans
Figure 13: Mounting dimensions for TDM 1.3
8/12/2019 Servo Drives Indramat
30/38
30 TDM Starting Lockout 9.555.012.4-05 4/94
min.400
min.2
325
min.80 355
Complete
lyclosed
housingo
rcabinet
TVM
740,5
min.80
min.80
70
TDM3/4/6/7Einb
au
min.80
7
373
390
TDM
TD
M
TDM
TDM
TDM
920,5
105
60
4. Controller types and related plans
Figure 14: Mounting dimensions for TDM 3.3, TDM 4.3, TDM 6.1 and TDM 7.1
8/12/2019 Servo Drives Indramat
31/38
8/12/2019 Servo Drives Indramat
32/38
32 TDM Starting Lockout 9.555.012.4-05 4/94
Figure 16: Connection plan for TDM 1.3
1 12
A1
A2
A3
X8
M
black
X1
M
AC
220V
X13
Special
3-polecable(1)
M3
MAC
Servo
Motor
F
G
H
E
A
B
C
D
>
Blocking
brake
The
rmostat
contact
Moto
rfeedback
+24VL
0VL
L-
L+
L-
L+
X8
X6
-15VM0VM
+15VMBLC 3BLC 2BLC 1Tacho
0VM
1
UD
2
BB
3
+15VM
4,5,6,7
0VM
8,9
-15VM
10
0VL
11
+24VL
12
X8
X14
AC
220V
AC
220V
E1E2E3E4BbBbRF0VM
+15VM0VM-15VMIredMATsense
X5
X1
F5
Anschlpl/TDM13
Busbars
Supplymodule
Signal
processin
g
(12polebus
cable)
Supplyfor
additional
drive
modules
using
electrical
connecting
accessories
Power
DC
300volts
(busbars)
Motorpower
connection
ServoantriebsmodulTDM1.3
Unitfan
AC
220vo
lts
(3polespe
cial
cable)
Motor
fan
Busconnection
cable
Drivecomponent
feedinviaelectrical
connecting
accessories
internal
unitfan
(1)
Programmingmodules
MOD 1 / MOD 2
Noteonthecontrollerfan:
ControllerswithserialnumbersfromS
N2
34....
containacontrollerfaninternallyconnecte
d
to24voltsandfusedwithoutfuseF5.
TheexternalconnectionX13viathespecial3-pole
cableisinthatcasenecessaryifadjacent
controllers
orcontrollersthataretobeaddedlaterco
ntain
anAC
220voltorAC
115voltfan.
(1)
123456789101112131415
Differential input
Summing inputSumming input
Ready to operate
Controller enable signalReference potential
ShieldController voltagefor external
useExt. current peak limitation
Current set-pointTacho signal for
ext. use
32187
651094
12111098
74325
Supply voltage
Rotor position acknowledgement
Rotor position acknowledgement
Rotor position acknowledgement
Tacho voltageavail.
Reference potentialShield
ControllerStarting lockoutAcknowledgementStarting lockout
+24VL0VL
X9
AS1AS2ASQASQ
1234
4. Controller types and related plans
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33 TDM Starting Lockout 9.555.012.4-05 4/94
Figure 17: Connection plan for TDM 3.3
1 12
black
X1
M
L-
L+
L-
L+
X8
1
UD
2
BB
3
+15VM
4,5,6,7
0VM
8,9
-15VM
10
0VL
11
+24VL
12
X8
X1
X42
X43
F7
X
73
X74
Anschlpl/TDM33
Busbars
Supplymodule
Signa
l
process
ing
(12pole
bus
cable
)
Supplyfor
additional
drive
modules
usingthe
electrical
connecting
accessories
Power
DC300v
olts
(busbar
s)
ServoantriebsmodulTDM3.3
AC220volts
fromsupply
ordrive
moduleX14
Busconnection
cable
D
rivecomponent
feedinviaelectrical
connecting
accessories
AC220volt
supplyof
additional
drive
modules
ext.unit
fan(1)
BbBbRF+24VL0VL
+15VM0VM-15VMT
Programmingmodule
MOD 13 / MOD 14
12345678910
Ready to operate
Controller enable signal
Controller voltage
for external
use
Temperature monitoring
12345678910111213
Differential input
ShieldSumming inputSumming input
Reference potentialController voltage
ext. current peak limitationavail.
Current set pointCurrent actual valueReference potential
Tacho signal forext. use
E1E2
E3E40VM+15VMIredFBMAIist0VMTsense
M
ext.24voltunitfan
Connectionfor
optional
AC115/220volt
unitfan:
(1)
+24VL
0VL
X43/4
X43/5
A1A2A3
X8
M3
MAC
ServoMotor
G
F
H
E
A
B
C
D
>
X3
Motorpower
connection
Blocking
brakes
Thermostat
contact
X41
Motorfeedback
AC220V
M
otor
fan
M
321876594
31211109874256
-15VM0VM
+15VMBLC 3BLC 2BLC 1Tacho
0VM
Supply voltage
Rotor position acknowledgement
Rotor position acknowledgement
Rotor position acknowledgement
Tacho voltageReference potential
Shield
TMI
TMIBRO+
BRO-
BRI-BRO+TMO
TMO
freiAS1AS2ASQASQ
14
1312
11151098
7654321
Controllermotor blocking brake
Evaluationmotor thermostat contact
Controllerstarting lockout
Acknowledgementstarting lockout
0VL+24VL
+24VL0VL
Obsoletetype
4. Controller types and related plans
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34/38
34 TDM Starting Lockout 9.555.012.4-05 4/94
Figure 18: Connection plan for TDM 4.3
1 12
black
X1
L-
L+
L-
L+
X8
1
UD
2
BB
3
+15VM
4,5,6,7
0VM
8,9
-15VM
10
0VL
11
+24VL
12
X8
X1
Anschlpl/TDM43Busbars
Supplymodule
Signa
l
process
ing
(12pole
bus
cable
)
Supplyfor
additional
drive
modulesvia
electrical
connecting
accessories
Power
DC
300v
olts
(busbar
s)
ServoantriebsmodulTDM4.3
Busconnection
cable
D
rivecomponent
fe
edinviaelectrical
connecting
accessories
Programmingmodule
MOD 17 / MOD 18
X5
0
X49
BbBbRF+24VL0VL+15VM0VM-15VMT
123456789
Controller enable signal
Controller voltagefor external
use
Temperature monitoring
12345678910111213
Differential input
ShieldSumming inputSumming input
Reference potentialController voltage
ext. current peak limitationavail.
Current set pointCurrent actual valueReference potential
Tacho signal forext. use
E1E2
E3E40VM+15VMIredFBMAIist0VMTsense
A1
A2
A3
X8
M3
MAC
ServoMotor
G
F
H
E
A
B
CD
X48
>
X3
Motorpowe
r
connection
Blocking
brakes
Thermostat
contact
Motorfeedback
TMI
TMIBRO+
BRO-
BRI-BRI+TMO
TMO
freiAS1AS2ASQASQ
14
1312
111510987
654321
Controllermotor blocking brake
Evaluation
motor thermostat contact
Controllerstarting lockout
Acknowledgementstarting lockout
0VL+24VL
+24VL0VL
210987654111231
10987643215
0VM+15VM
HS 3HS 2HS 1
T3T2T1T0
Rotor position acknowledgement
Rotor position acknowledgement
Rotor position acknowledgement
Tacho signal
Shield
Supply voltage
AC
220V
Motor
fan
M
Ready to operate
M
F7
X
73
X74
AC
220volts
fromsupply
ordrive
moduleX14
AC220volt
supplyof
additional
drive
modules
ext.unitfan(1)
M
ext.
24voltunitfan
Connection
foroptional
AC
115/220volt
unitfan:
(1)
+24
VL
0VL
X49/4
X49/5 O
bsoletetype
4. Controller types and related plans
8/12/2019 Servo Drives Indramat
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36/38
36 TDM Starting Lockout 9.555.012.4-05 4/94
Figure 20: Connection plan for TDM 7.1
1 12
A1
A2
A3
X8
M3
MAC
ServoMotor
G
F
H
E
A
B
C
D
black
X1
L-
L+
L-
L+
X8
X48
>
1
UD
2
BB
3
+15VM
4,5,6,7
0VM
8,9
-15VM
10
0VL
11
+24VL
12
X8
X1
X50
X49
Anschlpl/TDM7
X3
Busbars
Supplymodule
Signal
processing
(12pole
buscable)
Supplyfor
additional
drivemodules
using
theelectrical
connecting
accessories
Power
DC
300volts
(busbars)
Motorp
ower
connec
tion
ServoantriebsmodulTDM7
Blocking
brakes
Thermostat
contact
Motorfeedback
Busconnection
cable
Programmingmodule
MOD 21 / MOD 22
Drivecomponent
fe
edinviaelectrical
connecting
accessories
123456789
Controller enable signal
Controller voltagefor external
use
Temperature monitoring
BbBbRF+24VL0VL+15VM0VM-15VMT
TMI
TMIBRO+
BRO-
BRI-BRI+TMOTMO
freiAS1AS2ASQASQ
14
1312
1115109876
54321
Controllermotor blocking brake
Evaluationmotor thermostat contact
Controllerstarting lockout
Acknowledgementstarting lockout
0VL+24VL
+24VL0VL
ShieldSumming inputSumming input
Reference potentialController voltage
ext. current peak limitationavail.
Current set pointCurrent actual valueReference potential
Tacho signal for
ext. use
Differential input E1E2
E3E40VM+15VMI redFBMAI ist0VMT sense
Ready to operate
12345678910111213
210987654111231
10987643215
0VM+15VM
HS 3HS 2HS 1
T3T2T1T0
Rotor position acknowledgement
Rotor position acknowledgement
Rotor position acknowledgement
Tacho signal
Shield
Supply voltage
AC
220V
Motor
fan
M
M
F7
X73
X74
AC
220volts
fromsupply
ordrive
moduleX14
AC
220volt
Supplyof
additional
drive
modules
ext.
unitfan(1)
M
ext.24volt
unitfan
Connection
foroptional
AC
115/220volt
unitfan:
(1)
+24VL
0VL
X49/4
X49/5
Obsolete
type
4. Controller types and related plans
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37 TDM Starting Lockout 9.555.012.4-05 4/94
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