Termination of UL Certificate (09/12/2018) · Termination of UL Certificate (09/12/2018) All devices described in this document are delivered without UL certificate from September

Termination of UL Certificate (09/12/2018) All devices described in this document are delivered without UL certificate from September 12, 2018 onwards. Any information on UL comprised in the document is obsolete as of this delivery date.

Title

sinudyn-36Hardware Description

0360520xxFront Connection Design

SIEB & MEYER AGAuf dem Schmaarkamp 21 * D-21339 Lüneburg * (Germany)

Telephone +49 - 4131 - 203 - 0 * Telefax: +49 - 4131 - 203 - 2000E-Mail: [email protected]

Internet: http://www.sieb-meyer.de

sinudyn-36 Hardware Description 0360520xx

WebAdresse http://www.sieb-meyer.de

Copyright

Translation of the original instructions, Copyright © 2012 SIEB & MEYER AG. All rights reserved.

This manual or extracts thereof may only be copied with the explicit authorization by SIEB & MEYER AG.

Trademarks

All product, font and company names mentioned in this manual may be trademarks or registered trademarksof their respective companies.

Identification Key

036-servo_tec_sinudyn36.05.xx/R009-SM-EN-hk/ez/ac/she/al/sli/uhDecember 12, 2012

Hardware Description 0360520xx sinudyn-36

Content

1 Symbols. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Safety Instructions and Application Advice. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72.2 Appropriate Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82.3 Transport and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82.4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82.5 Electrical Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92.6 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102.7 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102.8 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102.9 Legal Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3 Unit Assembly Complying EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133.1 Emission of Line and Field Interferences According to Category C3 . . . . . . . . . . . . . . . . . . . . . 13

4 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154.1 UL Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

5 Digital Servo Amplifier sinudyn-36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175.1 Block Diagram sinudyn-0360520xx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195.2 View of the sinudyn-0360520xx for Wall Mounting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

6 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216.1 Front Connection Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216.2 Type Plate sinudyn-0360520xx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236.3 Module Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

7 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257.1 Supply Voltage 230 VAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257.2 Supply Voltage 400 VAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

8 Functional Description of the Connectors/Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298.1 Connectors sinudyn-0360520. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298.2 Pin Assignment and Interfaces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308.2.1 X1 - Connection of the Motor Measuring System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308.2.1.1 Resolver Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308.2.1.2 Hall Effect Sensor Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328.2.1.3 Linear Hall Effect Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338.2.1.4 Sine/Cosine Evaluation with Optical EnDat Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348.2.1.5 Wiring Diagram for the Termal Motor Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358.2.2 X2 - Analog Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368.2.3 X3A - Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388.2.4 X3B - Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398.2.5 X4 - Angle Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418.2.6 X7 - Transducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428.2.7 X8 - COM 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438.2.8 X20 - Motor Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448.2.9 X30 and X31 - Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458.2.10 S1 - ID Coding Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468.2.11 X40 - Restart Lock according to Safety Category 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478.2.12 X40 - Restart Lock According to Safety Category 4 / SIL 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488.3 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498.3.1 Status Indication RON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508.3.2 Status Indication RIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508.3.3 Status Indication H0/H1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508.3.4 Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508.4 Test Pins. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

9 Specification of the Digital Inputs and Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539.1 Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Operating Mode: Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

sinudyn-36 Hardware Description 0360520xx 3

Content

Operating Mode: Nut Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559.2 Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Operating Mode: Servo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Operating Mode: Nut Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

10 Layout Plans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5910.1 Layout Plan of the Logic Card up to 036050021.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5910.2 Layout Plan of the Logic Card > 036050021.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6110.3 Layout Plan of the Output Stage 036050002 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6310.4 Layout Plan of the Output Stage 036050002.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6410.5 Layout Plan of the Output Stage 036050002.2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6510.6 Layout Plan of the Output Stage 036050002.3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6610.7 Layout Plan of the Restart Lock 036050062. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6710.8 Layout Plan of the Restart Lock 036050064. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

11 General Information Regarding the Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6911.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6911.2 Difficulties of Ground Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7111.3 Motor Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7211.4 Cables for the Rotor Position Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7311.5 Cables for External Ballast Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

12 Safety Circuit / Restart Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7512.1 Functional Description of the Restart Lock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7712.2 Wiring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

13 Restart Lock acc. to Safety Concept K2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7913.1 Functional Description of the Restart Lock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Monitoring output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8213.2 Wiring Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8313.3 Requirements and Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

14 Electric Performance Dimensioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8514.1 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8514.1.1 Output Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8514.1.2 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8514.1.3 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8614.2 Power Consumption of a Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

15 Appendix: Manufacturers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8915.1 PHOENIX Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8915.1.1 Order Key for PHOENIX Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8915.1.2 Overvoltage Protection FLASHTRAB. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9015.1.3 Shield Terminal Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9115.2 SIBA fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9115.3 TOSHIBA - Fiber Optic Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

16 Appendix: Revisions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4 Hardware Description 0360520xx sinudyn-36

Symbols

1 Symbols

The following table explains the symbols used in this manual for describing purpo-ses. Technical symbols and signs are supposed to be known and therefore not ex-plained.

Symbol Meaning

Warning: danger

Warning: electrostatically sensitice devices (ESD)

Warning: dangerous voltage

Warning: hot surfaces

Indicates general notes, to which special attention should be paid to.

Indicates measures or steps to be taken by the user.

LEDs indicating the module status

LED on

LED off

LED flashes

Earthing

PE-connector (protective earth connector)

Ground (GND)

Symbols 5

Symbols

6 Symbols

Safety Instructions and Application Advice

2 Safety Instructions and Application Advice

2.1 General Information

Accordingto

Low-Voltage Directive 2006/95/ECMachine Guideline 2006/42/ECElectromagnetic Compatibility 2004/108/EC

WarningGenerally, the complete installation, the initial operation and themaintenance must only be carried out by trained staff!

Trained staff, according to this fundamental safety instruction, arepersons, familiar with the installation, mounting, initial and perma-nent operation of the product and, are qualified appropriately for thework. The standards DIN VDE 0100 and DIN VDE 0110 and alsothe legal national rules for prevention of accidents must be paidattention to.

WarningDuring operation the units can have hot surfaces according to theirprotection system.

When using ferrite rings temperatures may exceed 80°C in somecases. Only use wires suitable for temperatures over 80°C. This cor-responds to the flammability rating UL 94V-0, RTI 105°C.

Consider the relevant notes in the manual.

WarningThere is a risk of material damage and personal injury.

when covers are removed illegally,during any improper use,when either the installation or the operation is incorrect

WarningConsult SIEB & MEYER before carrying out any modificationswithin the unit.

WarningIncorrect or insufficient connection of the system to ground maycause dangerous currents.

Safety Instructions/Application Advice 7


2.2 Appropriate Use

Definition of the concepts acc. to DIN / EN 61800 - 3.

Before initial operation, make sure that the machine will not expose danger (e.g. un-controlled moves). The conformity according to the safety standard EN 60204-1 andEN 61800-5-1 must have been proven.

The manufacturer of the system or the machine has to meet the requirements of thelegal values regarding the Electromagnetic Compatibility (EMC). SIEB & MEYERunits can be operated in industrial areas, provided that the attached EMC informationhas been taken into consideration.

SIEB & MEYER takes care in its own EMC laboratory over their products to meet therespective standards, when they are installed properly.

Deviations of the construction and the installation, described in the documentationand in the manual "Unit Assembly Complying EMC" require new measurements ofthe system or machine by the machine manufacturer to meet the statutory require-ments.

Appropriate proceedings according to the EMC Product Standard (PDS) DIN/EN 61800-3 ensure the use in industrial areas.

Products, not equipped with an AC supply line filter must be operated with a se-ries connected mains filter! Detailed information can be found in the chapter"Unit Assembly Complying EMC".

If using the drive systems in residential areas, in business and commercial areas aswell as in small trade, the user has to take additional and larger filter measurements.

All SIEB & MEYER products meet the requirements of the Low-Voltage Directive2006/95/EC. The coordinated standards of the series IEC / EN 50178 and IEC / EN60 204-1 in combination with IEC / EN 60 947 and IEC / EN 61800-5-1 are strictlyused for the products.

Technical data and the connection specification can be found in the respective prod-uct documents.

2.3 Transport and Storage

Make sure, that the unit is correctly used. The following points must especially be tak-en into consideration:

Protection against mechanical damage (transport, handling, etc.)!Protection against dirt and humidity!Dry and well-ventilated storage area!No storage in the open!Storage temperature between -25°C to +55°C (-13°F to +131°F)! Shortly it maybe +70°C (+158°F).Protection against contact with electronic components (electrostatic discharge)!No modification of insulating distances!

2.4 Installation

The drive components are designed for fulfilling the degree of pollution 2 accordingto IEC 61800-1 / DIN EN 50178.

8 Safety Instructions/Application Advice


The units can be loaded to their maximum up to a height of 1,000 m M.S.L(3,281 ft M.S.L.) For an operation in areas higher than 1000 m M.S.L. (3281 ft M.S.L.) the capac-ity must be reduced by 15% per 1000 m (3281 ft).The ambient air must not contain aggressive, electrically conductive or flamma-ble substances and must not contain any amount of dust.The maximum relative humidity is approx. 95 % (no condensation).The admissible ambient temperature during operation is between +5°C and+40°C (+41°F and +104°F).For devices that are permitted to be operated at ambient temperatures between+40°C (+104°F) and +60°C (+140°F) the capacity must be reduced. The follow-ing applies: -1.5% per 1°C. Annotation: F = C × 9/5+ 32; C=(F-32)×5/9In addition the service life of the device is probably reduced due to increasedwear of the components.Devices with polyester film at the front panel: The polyester films must not beexposed to direct sunlight for extended periods of time. In conditions of high hu-midity (>80%) the ambient temperature must not exceed +40°C (+104°F). Thepolyester films must not come in contact with benzyl alcohol or methylene chlo-ride.Make sure that the fans installed in the units have sufficient space to take in andexhaust the cooling air! In addition pay attention to the direction of air flowthrough internally installed fans! Do not touch electronic components.

2.5 Electrical Connection

The electrical installation must be carried out according to the relevant electricalcodes (e.g. appropriate wire gauges, fuse protection and connections of ground con-ductors must be considered).

Recommendations for the installation according to the EMC (e.g. shields, connectionto earth and line installations) can be found in the technical documents of the unit(only for machine manufacturers). The manufacturer of the system or machine hasto meet the requirements of the legislation regarding the EMC.

All work at and within the units must only be carried out, when the units areturned off, the mains supply is cut and the DC bus is completely discharged!The mains supply must be protected via an overload release with restricted guid-ance for each mains phase.The mains line should only be connected, when the work is completed!Before turning on the unit the first time, make sure that the connected machinewill not have runaway axes!After turning off the unit hazardous voltages may still exist for up to 3 minutesin the power supply (due to capacitors).

SIEB & MEYER products contain electrostatically sensitivecomponents that may easily be damaged by improper han-dling.

The valid rules for prevention of accidents (e.g. VBG 1 andVBG 4) should be paid attention to, when working at current-carrying units.



Capacitive loads must not be connected to the output phases of the servo am-plifiers and frequency converters.Prevent cable loops. Therefore, the units must only be connected to earth at theprovided PE connection for the mains supply line and the racks only at the pro-vided earth screw.

In general, the operation can be made with residual current operated devices. Nev-ertheless, like all clocked units of the power electronics, also SIEB & MEYER prod-ucts can lead leakage currents via the earth system. Depending on the sensitivity ofthe residual current operated device and the installation type, the operation alongwith the device may arise problems. The following points should be taken into con-sideration:

Use the shortest connection and motor cables possible.Do not connect additional consumers to the same residual current operated de-vice.Use residual current operated devices with high response threshold and time-lag response time.

2.6 Operation

Systems, into which servo amplifiers and frequency converters are mounted, possi-bly must be equipped with additional protective devices according to the valid safetyinstructions (e.g. law about technical material, rules for prevention of accidents, etc.).

All doors and covers must be closed during the operation.

2.7 Maintenance

The unit, especially the fan, must be checked regularly for cleanness and functiondepending on the ambient pollution.

2.8 Disposal

SIEB & MEYER products fulfill the requirements covered in the Directive 2002/95/EC on the restriction of the use of hazardous substances in electrical andelectronic equipment (RoHS Directive)

Make sure that the country-specific waste and disposal laws and statutes are con-sidered for the disposal of packing material and irreparable devices.

WarningTo ensure a trouble-free operation of the installation, the fixingscrews of all front panels device parts must always be tightened!



2.9 Legal Warranty

SIEB & MEYER products are liable to a legal warranty of at least one year. Anyclaims for a product beyond this warranty shall be declared between in an additionalcontractual agreement between SIEB & MEYER and the customer.

This Safety Instruction and Application Advice does not assure any features.

WarningA first programming carried out by SIEB & MEYER does not releasethe user from his duty to check programmed values for their correct-ness!

These safety instructions must be kept!




Unit Assembly Complying EMC

3 Unit Assembly Complying EMC

The manual “Unit Assembly Complying EMC“ is available in German and Englishand comprises

the EMC guidelinesInformation regarding the professional grounding and wiringSafety-Relevant AspectsExtracts from the EMC product standardPossibilities for the connection to different supply system types

Availability:Hard copy version directly from SIEB & MEYERPDF file in the Internet under www.sieb-meyer.de

3.1 Emission of Line and Field Interferences According to Category C3

According to the EMC product standard DIN EN 61800-3, chapter 6 (emission of lineinterferences), this device meets the restrictions towards interference values of thecategory C3. More detailed information on the installation and the use of line filterscan be found in the manuals “Unit Assembly Complying EMC“.

WarningThe EC guidelines for the electromagnetic compatibility (EMC) mustbe taken into consideration for the initial operation of all SIEB & MEY-ER units!

WarningThis type of PDS is not intended for use in a public mains which sup-plies residential areas. If this device is operated in such mains, high-frequency interferences may occur.

EMC 13

http://www.sieb-meyer.de

Unit Assembly Complying EMC

14 EMC

General Information

4 General Information

Thia manual describes the digital servo amplifiers of the series sinudyn-36 (standarddesign). The following information is provided:

Safety Instruction and Application AdviceCategory of electromagnetic compatibilityPossible connection possibilitiesTechnical data, dimensional drawings, type plateDescription of the device (general information, scope of supply, block diagram)Assembly (module exchange)General information regarding the wiring (cables and line cross-sections)External protection, ballast circuitWiring examplesPin assignmentsof the connectorsStatus and error messages

Information on the initial operation and parameterization of the digital servo amplifiercan be found in the manual "sinudyn-36 Software Description".

This manual is available in German and English as PDF file on CD ROM and printedversion or it can be downloaded from the Internet. The PDF files can be printed onstandard printers.

This manual has the following demands on the trained staff of machine manufactur-ers:

Transport → only by skilled employees familiar withhandling electrostatically sensitivecomponents.

Installation → only by experts with electrotechnicalexperience

Initial Operation → only by experts with experience in thefields of electrical engineering / drivetechnology


General Information

4.1 UL Requirements

The project is tested and certified accoring to UL 508C:December 12, 2005POWER CONVERTER, CONVERTERFile NMMS.E227899 Power Conversion EquipmentFile NMMS7.E227899 Power Conversion Equipment Certified for Canada

Technical regulations (not subject for UL representative):CNL – check in accordance with the Canadian standards C22.2 No. 14-M05.USL – check in accordance with the standards of the United States for technical control systems and converters UL 508C

Note:CNL = Canadian National Standards USL = United States Standards

The following UL requirements apply to the connectors X20; X30 and X31:

Only use copper lines designed for 60/75°C.

Suitable for the wiring on site only in combination of the connector PC 4HV/4-ST(F)-7.62, rated values 600 V, 30 A or PC 4HV/6-ST(F)-7, PC 6-16/ 4-STF-10,16, rated values 600 V, 50 A or PC 6-16/ 4-STF-10,16, MC 1,5/ 6-ST-3,81,rated values 300 V, 8 A or MC 1,5/ 6-ST-3,81, MC 1,5/ 10-ST-3,81, rated values300 V, 8 A or MC 1,5/ 10-ST-3,81, MC 1,5/ 4-ST-3,81, rated values 300 V, 8 Aor MC 1,5/ 4-ST-3,81, manufactured by PHOENIX Contact, rated values 600 V,30 A

Tightening torque of 0.5 Nm for field wiring terminals.

Use in an environment with the degree of pollution 2.

Use lines of class 1 or equivalents.

Suitable for the use in a circuit releasing a power value not higher than 5 kA(effective value of the symmetric current in ampere) at a maximum voltage of480 VAC.

16 Hardware Description0360520xx sinudyn-36

http://database.ul.com/cgi-bin/XYV/template/LISEXT/1FRAME/showpage.html?name=NMMS.E227899&ccnshorttitle=Power+Conversion+Equipment&objid=1076162463&cfgid=1073741824&version=versionless&parent_id=1073990282&sequence=1

http://database.ul.com/cgi-bin/XYV/template/LISEXT/1FRAME/showpage.html?name=NMMS7.E227899&ccnshorttitle=Power+Conversion+Equipment+Certified+for+Canada&objid=1076162468&cfgid=1073741824&version=versionless&parent_id=1073990284&sequence=1

Digital Servo Amplifier sinudyn-36

5 Digital Servo Amplifier sinudyn-36

Suitable for the following motor typesSynchronous rotatory AC servo motors- with integrated resolver- with Hall effect sensor- with high-resolution sine-cosine encoder as motor measuring system

Performance ranges

Servo amplifiers in front connection design (60 A, 100 A) with intermediate volt-ages up to 325 VDCServo amplifiers in front connection design (40 A, 80 A) with intermediate volt-ages up to 565 VDCAll servo amplifiers provide high rated current ranges

See also "Technical Data“, page 25.

Power supply3-phase power supply of 230 VAC -33 %/+10 %, 50 Hz/60 Hz3-phase power supply directly at the grounded mains, 400 VAC -10 %/+20 %,50Hz/60Hz

Protection must be ensured by the user.

Logic supplySupply of AC voltage- 2-phase, same potential as main supply

power unitPotential-isolated power supply unitIGBT output stage with an operating frequency of 8 kHz or 16 kHzCompact amplifiers with- integrated mains supply- integrated ballast circuit

Operation and parameterizationThe parameters are set in the comfortable setup software via the serial interfaceof a PCStatus indication directly at the servo amplifierThe servo amplifier can also be controlled via the serial interface.

The mentioned currents are peak currents (sine crest values).



Complete digital controlAll-digital current control (sampling time 62.5 µs)All-digital speed control (sampling time 250 µs)Integrated position control (sampling time 250 µs)All-digital evaluation of the motor measuring system (sine-cosine signals of ahigh-resolution encoder, resolver or Hall effect sensors)Encoder emulation (compatible to ROD 426), max. 1 MHz signal frequency pertrackResolver evaluation up to 40,000 RPM for a 2-pole resolver

Open architectureSlots for the expansion with- various motor measuring systems- various ref. value interfaces- user-specific connections and extension unitsSoftware can easily be expanded for user-specific functions.

Interfaces3 analog ref. value interfaces (update rate 250 µs with a resolution of 12 bits)2 analog monitor outputs (update rate 125 µs with a resolution of 10 bits)8 programmable digital inputs (reaction time 1 ms)4 programmable digital outputs (reaction time 1 ms)RS232/485 interface

Monitoring FunctionsConfiguration check of the hardware and drive dataMonitoring- of the short circuit of the power output stage- of the temperature of the output stage- of the l2t of the motor and output stage- of the motor temperature via PTC/NTC contacts- excessive speed of the motor- of the motor measuring system (resolver, Hall effect sensors, sine-cosine en-

coder)- of the intermediate circuit voltage (undervoltage and overvoltage)- of the activation of the power supply (in the case of compact amplifiers)- of the power supply- I²t of the brake chopperDetection of broken motor cables

line filter

The compact modules 03605xx are equipped with an integrated linefilter.



5.1 Block Diagram sinudyn-0360520xx

Status Display6 x LED

12 Bit

AD+

20 K

20 K

10 Bit MP1

10 Bit

24 V

MP0

4 Digital Out

DA

DA

X3B – Relay Output

X2 – Analog Outputs

X3B – 24V Digital Outputs

1 K

1 K

2 Analog Out

X3A Digital Inputs

18 K

18 K

8 Digital In

Device Control

RS232 / RS485X8 – COM

=

=InternalLogic Voltages

X30L1 / L2 / L3 – Main Supply

X30LL1 / LL2 – Logic Supply AC

Expansion SocketBus Systems

=

AD

AD

AD

FResolverHall SensorsSineCosine Encoder

Encoder Emulation

BA

UVW

X4 – Encoder

X1 – Feedback

Fully DigitalControl

X7 – Transducer

X2 – N Ref.

Vtrans+ +5 V

Vtrans- 5 V

12 Bit

AD+

20 K

20 K

12 Bit

AD+

33 K

33 K

X2 – I Ref.3 Analog In /

Analog Ref. Values

Thermal Contact

6

Evaluation Motor Meas. System

Z

Expansion SocketUser-SpecificConnections

+UB

UB

REX

Open Collector

X1

X30

X20

Bridge for internal R (X31)

X40 Restart lockRL



5.2 View of the sinudyn-0360520xx for Wall Mounting


Dimensions

6 Dimensions

6.1 Front Connection Design

Acc. to DIN 7168

Side view from the right sideFront view

211.00

276.007.00

10.30

6.0

0

7.00

14.00

94.50

49.00

98.00

105.002

77

.5

0

28

0.0

0

31

0.0

0

24

2.0

0


Dimensions

X40

X3B

X3AX31

X30

X9U

X10

X20

W

V

PE

Top view Bottom view

Acc. to DIN 7168


Dimensions

6.2 Type Plate sinudyn-0360520xx

Nach DIN 7168

211.00

276.00

242

.0

0

No. Meaning

Module designation (0360520KF) with indication of the option module (4000), see page 24

Mains voltage

rated current/peak current

serial number


Dimensions

6.3 Module Designation

036XXXX-XX

Current Rangesee “Technical Data”

Option XXXX

Voltage RangeC = up to 325 VDC

F = up to 565 V DC

Module Width Code10 = 10 TE module type 01 12 TE module type 03

65 mm module type 05

11 = 12 TE module type 01 14 TE module type 03

13 = 12 TE module type 03

14 = 14 TE module type 03

20 = 105 mm module type 05

Module Type01 = multi-axis 6 HE03 = compact 6 HE05 = compact amplifier, front connection design

Special Design0 = SIEB & MEYER standard

Communication Module (H)0 = not available1 = RS232/RS485

Reference Value Module (S)0 = not available1 = CAN-Bus module 036.01.00332 = D-Link module 036.01.00343 = ServoLink 036.01.00355 = RS232 interface 036.01.0036

Sensor Module (M)0 = not available2 = sin/cos, EnDat, Hyperface 036.01.00123 = Hall-effect sensor evaluation 036.01.00134 = resolver (S&M evaluation 12 bits) 036.01.00146 = incremental encoder 036.01.00157 = 12 bits analog Hall-effect sensor 036.01.0016

Performance Range

Version of the device XXXXSerial counter. If no version is indicated, the version of the device is 0000. If deviceswith different versions are to be changed, the compatibility of the devices must be clearedup with S & M before.

0360520 DC 4000 0001Module type Option Version of the device


Technical Data

7 Technical Data

7.1 Supply Voltage 230 VAC

Module Type 0360520xx1

Current range/voltage range OC QC

Main supply2 3 x 230 VAC -33% / +10%, 50Hz / 60Hz

Logic supply two-phase, up to 230 VAC -33% / +10%, 50 Hz / 60 Hzsame potential as main supply

resultant intermediate circuit voltage 325 VDC -33%/+10 %

Rated current of the output stage when ventilated6.7

30 AS21 Aeff.

40 AS28 Aeff.

Maximum values of the output stage when the rated current flows

3 x 230 VAC at 0 to 1600 Hz

Peak current of the output stage for max. 5 s 60 AS 100 AS

Switch-off temperature of the output stage 75° C

rated d. c. of the integrated power module, three-phase supply

20 A

Continuous peak current of the integrated power supply, three-phase power supply f > 15 Hz

50 A max. 1 s

Mains power of the integrated power module, 230 VAC three-phase supply

4.6 kVA

power consumption logical unit max. 20 W

power unit max. 5 % of the electrical rated power of the motor, but minimum 20 W

external protection 10 A gL/gG

Internal ballast resistor internal 50 Ω/100 W

Min. external ballast resistor 15 Ω

Max. activation time of the ballast circuit 750 ms

Overvoltage threshold4 410 VDC

Undervoltage threshold4 40 VDC

Chopper threshold4 380 VDC

temperature range 5°C to 60°C at a maximum of 95 % relative humidity (no moisture conden-sation) 100 % rated current up to 40°C

System of protection IP20

nominal current reduction:at ambient temperatures >40° Cat heights from 1,000 m above mean sealevel

-1.5% per 1° C-15% per 1,000 m

Dimensions (mounting device included)

Weight 5.1 kg

Width 105.00 mm

Height (mounting device included) 318.00 mm

Depth 276.00 mm

1 xx is replaced by the respective code letter of the current range and voltage range (e.g. OC)2 only three-phase supply is possible (see documentation "Unit Assembly Complying EMC and Supply System Types“)


Technical Data

4 Switch-on monitoring for overvoltage and undervoltage6 Chopper not active7 at heights under 1,000 m above mean sea level

Rated and peak currents are sine crest values. Specifications applyfor 8 kHz operating frequency of the output stage.

The device must be mounted vertically!


Technical Data

7.2 Supply Voltage 400 VAC

Module Type 0360520xx1

Current range/voltage range KF IF

Main supply2 3 x 400 VAC -10% / +20%, 50Hz / 60Hz

Logic supply two-phase, same potential as main supply

resultant intermediate circuit voltage 565 VDC -10%/+20 %

Rated current of the output stage when ventilated6.7

22 AS16 Aeff.

22 AS16 Aeff.

Maximum values of the output stage when the rated current flows

3 x 400 VAC +20% at 0 to 1600 Hz

Peak current of the output stage for max. 5 s 40 AS 80 AS

Switch-off temperature of the output stage 75° C

rated d. c. of the integrated power module, three-phase supply

15A

Continuous peak current of the integrated power supply, three-phase power supply f > 15 Hz

50 A max. 1 s

Mains power of the integrated power module, 400 VAC three-phase supply

6 kVA

power consumption logical unit max. 20 W

power unit max. 5 % of the electrical rated power of the motor, but minimum 20 W

external protection 12 A gL/gG

Internal ballast resistor internal 200 Ω/100 W

Min. external ballast resistor 30 Ω

Max. activation time of the ballast circuit 750 ms

Overvoltage threshold4 800 VDC

Undervoltage threshold4 40 VDC

Chopper threshold4 750 VDC

temperature range 5°C to 60°C at a maximum of 95 % relative humidity (no moisture conden-sation) 100 % rated current up to 40°C

System of protection IP20

nominal current reduction:at ambient temperatures >40° Cat heights from 1,000 m above mean sealevel

-1.5% per 1° C-15% per 1,000 m

Dimensions (mounting device included)

Weight 5.1 kg

Width 105.00 mm

Height (mounting device included) 318.00 mm

Depth 276.00 mm

1 xx is replaced by the respective code letter of the current range and voltage range (e.g. DF)2 only three-phase supply at directly grounded mains (see documentation "Unit Assembly Complying EMC and Supply System

Types“)4 Switch-on monitoring for overvoltage and undervoltage6 Chopper not active7 at heights under 1,000 m above mean sea level


Technical Data

Rated and peak currents are sine crest values. Specifications applyfor 8 kHz operating frequency of the output stage.

The device must be mounted vertically!


Functional Description of the Connectors/Interfaces

8 Functional Description of the Connectors/Interfaces

8.1 Connectors sinudyn-0360520

Connector Meaning Description

X30/X31 Power supply page 45

X3A Digital inputs page 38

X3B Digital outputs page 39

LEDs Status indications page 49

pins Measuring pins page 51

X8 COM1 page 43

X4 Angle pulses page 41

X2 Analog signals page 36

X7 Transducer page 42

X1 Motor measuring system page 30

X9 Optional bus system OUT

X10 Optional bus system IN

S1 Coding ID selector page 46X20 Motor phases page 44

X40 Restart lock (on top of the module) page 47, page 48

PE bolt

X30/X31

X3B

X3AX40

X20

X10 X9Bolt PE



8.2 Pin Assignment and Interfaces

Used symbols:

8.2.1 X1 - Connection of the Motor Measuring System

15-pole female Submin D connector

The shield must be connected to the metal shell of the 15-pole Submin D connectorand, if possible, to the motor connector.

8.2.1.1 Resolver Evaluation

WarningThe 0 V / GND potentials used in the servo amplifier are internallyconnected to the housing and thus connected to PE.

Pin I/O Function

1 O 0 V1

2 I S1 sine

3 0 V1

4 I S4 cosine

5 0 V1

6 O R3 rotor

7 I thermal motor protection2

8 0 V1

9 I S3 sine

10 0 V1

11 I S2 cosine

12 0 V1

13 O R1 rotor

14 0 V1

15 O thermal motor protection (24 V)2

1 is connected to GND by the servo amplifier



A shielded line, 3 times twisted-pair must be used. Twist mode: sine/sine, cosine/co-sine, rotor/rotor; designation of the line, e.g. LIYCY 3 × 2 × 0.14. If the thermal motorprotection is evaluated, a 4 times twisted-pair, shielded line must be used.

2 If no thermal motor protection is connected, pin 15 and pin 7 must be connected to each other,see connection diagram "Thermal motor protection", page 35

Resolver

S1

Sine

S3

Cosine

S4

Rotor

R3

S2

R1

+

-

Connector X1Pin

+

-

+

-

+

-

S1

S3

S4

S2

R3

R1

2

9

4

11

6

13

22nF 1nF

22n

1nF

1nF 6.8 k

22nF

3.9 k

22nF

33nF

33

33

6.8 k

33nF

10 k

20 k

470pF

6.8 k

6.8 k

3.9 k

6.8 k

6.8 k

3.9 k

3.9 k

Servo Module

2x1mH/0.5 A

2x1mH/0.5 A



8.2.1.2 Hall Effect Sensor Evaluation

Pin I/O Function

1 O 0 V

2 I Sensor A

3 not to be connected



6 n.c.


8 O GND

9 I Sensor C

10 I sensor B



13 O +12 V for Hall effect sensor

14 O GND


1 If no thermal motor protection is connected, pin 15 and pin 7 must be connected to each other,see chapter "Wiring Diagram for the Thermal motor protection", page 35

Motor Encoder

Sensor A

Sensor B

Sensor C

100pF

74 HC 4050

6.8 k

Sensor A 2

1nF

2.2 k

10 k

100pF

74 HC 4050

6.8 k

Sensor B 10

1nF

2.2 k

10 k

100pF

74 HC 4050

Connector X1Pin

6.8 k

Sensor C 9

1nF

2.2 k

10 k

Servo Module

Encoder Input

12 V13

10 V



8.2.1.3 Linear Hall Effect Sensor

Pin I/O Function

1 GND

2 I Sin+ (1 VPP)

3 GND

4 I Cos- (1 VPP)

5 GND


7 I thermal motor protection1 (PTC / KTY83-122 or NTC)

8 GND

9 I Sin- (1 VPP)

10 GND

11 I Cos+ (1 VPP)

12 GND

13 O supply voltage for the measuring system with +12 VDC

14 GND


1 The thermal motor protection must be wired from Pin 7 to GND. If no thermal motor protection isconnected, Pin 7 must be directly connected to GND.



8.2.1.4 Sine/Cosine Evaluation with Optical EnDat Output

Pin I/O Function

1 O 0 V (UN)

2 I A- (S1/Sin-)

3 O 0 V (UN)

4 I B+ (S4/Cos+)

5 O (C-/CLK-)

6 I/O Data (D+/Daten+)


8 O UP (P encoder/5V)

9 I A+ (S3/Sin+)

10 O 5V

11 I B- (S2/Cos-)

12 O Clock (C+/CLK+)

13 I/O (D-/Data-)

14 O 0 V (UN/M-Encoder/GND)


1 If no thermal motor protection is connected, pin 15 and pin 7 must be connected to each other,see connection diagram "Thermal motor protection", page 35

Clock

Data

R

B

A

GND VCC

D

DE

RE

+

-

33 k

10 k

10 k

33 k22pF

22pF

100pF

100pF

A-

A+

2

9

Encoder input

-

+10 k

10 k

33 k22pF

22pF

100pF

100pF

33 k

-

+

2.2 k

10 k22pF

22pF

100pF

100pF

10 k

2.2 k

2.2 k

10 k

A-

A+

B+

B-

A-

UP

UN

D+

D-

CLK+

CLK-

10

10

1

7

6

5

2

3

4

8

CLK+

CLK-CLK-

Motor Encoder Servo Module

12

5

6

13

6 D+

D-

UP

UN

8

14

B+

B-

4

11

10V

75176

Connector X1Pin



8.2.1.5 Wiring Diagram for the Termal Motor Protection

INPUT/OUTPUT: The thermal motor protection is evaluated via these connectors.

The servo amplifier supports the evaluation by means of the temperature monitoringintagrated in the motor. The NTC/PTC behavior of the monitoring is defined in thesoftware (motor parameters). The controller is deactivated when the critical motortemperature is reached.

If no thermal motor protection is connected, pin 7 and pin 15 must bebridged.

10k

11,5 k

0,1 F

+24 V

Servo moduleMotor

NTC PTC Thermal contact

Pin 7

Pin 15



8.2.2 X2 - Analog Signals

9-pole male Submin D connector

Standard assignment:Analog-In 14: reference speed valueAnalog-In 24: current reference valueAnalog-Out 1: tachometerAnalog-Out 2: actual current value

Pin I/O Function

1 I Analog-In 2-3,4

2 I Analog-In 2+3,4

3 I Analog-In 1+3,4

4 O 0 V

5 O -5 V1

6 O Analog-Out 22

7 I Analog-In 1-3,4

8 O Analog-Out 12

9 O +5 V1

1 The voltages should only be used for testing. When using a shielded cable the shield must be con-nected with one end at the metal shield of the 9-pole submin D connector.

2 Outputs 1 and 2. The output signals can be defined in the software (tab page "Devices" > "Analogsignals").

3 Inputs 1 and 2. The input signals can be defined in the software (tab page "Devices" > "Analogsignals").

4 Inputs for differential signals

Each output of the connector X2 can be loaded with max. 10 mA.



A shielded cable should be used. Consider the documentation "UnitAssembly Complying EMC and Supply System Types".

WarningIf no external current reference value is preset, the corresponding an-alog inputs must be defined as follows: Analog-In+ to +5V, Analog-In- to -5V. The internal current reference value can also be definedvia the software.

Control

+

-

4,7 k

20 k

20 k

4,7 k3,3 nF

3,3 nF

100pF

100pF

Analog signal

Analog signal

+

-

+

-

Connector X2Pin

Analog-In 2+

Analog-In 2-

2

1

+

-20 k

20 k

4,7 k3,3 nF

3,3 nF

100pF

100pF

Analog-In 1+

Analog-In 1-

3

7

8

6

Analog-Out 1

Analog-Out 2

33 pF

33 pF

1 k

Servo module

1 k

4,7 k



8.2.3 X3A - Digital Inputs

10-pole MiniCombiCon

The digital inputs can be defined in the software. For possible definitions seepage 53.

All inputs work with a voltage of +14 V to +30 V.

Pin I/O Function

1 I Digital-In 2

2 I Digital-In 4

3 I Digital-In 3

4 I Digital-In 6

5 I Digital-In 1

6 I Digital-In 5

7 I Digital-In 7

8 I Digital-In 8

9 - n.c.

10 - 0 V / GND ext.

Control

4,7 k

22nF

18 k4.7 k

22nF

18 k

4,7 k

22nF

18 k4.7 k

22nF

18 k

4,7 k

22nF

18 k4.7 k

22nF

18 k

4,7 k

22nF

18 k4.7 k

22nF

18 k

4,7 k

22nF

18 k4.7 k

22nF

18 k

4,7 k

22nF

18 k4.7 k

22nF

18 k

4,7 k

22nF

18 k4.7 k

22nF

18 k

4,7 k

22nF

18 k4.7 k

22nF

18 k

Inputs

Connector X3Pin

Digital-In1

Digital-In2

Digital-In3

Digital-In4

Digital-In5

Digital-In6

Digital-In7

Digital-In8

Servo Module

5

1

3

2

6

4

7

8

1

2

3

4

5

6

7

8

10



8.2.4 X3B - Digital Outputs

10-pole MiniCombiCon

The digital outputs can be defined in the software. For possible definitions seepage 53.

The total load of all outputs of the connector X3B is limited to max. 200 mA, if no ex-ternal 24 V are supplied. If external 24 V are supplied, a total load of 500 mA is permitted for device version0000 and 1.5 A for the device version ≥ 0001.

Valid for device version 0000 (see type plate on page 23).

Pin I/O Function

1 O Digital-Out 1+ (relay contact)

2 O Digital-Out 1- (relay contact)

3 O Digital-Out 2

4 O Digital-Out 4

5 O Digital-Out 3

6 O Digital-Out 5

7 - n.c.

8 I 24 V ext.

9 O 24 V

10 - 0 V / GND ext.

* If the internal 24 V potential is not to be used for an external wiring, the soldered jumper J2 must beopened (see layput plan on page 59)

Digital-Out2

Digital-Out3

Digital-Out4

Digital-Out5

24V internal

24V external

24V

0V / GND external

GND / 0V

1

2

3

4

5

6

9

8

10

Outputs

Load 4 x

Connector X3BPin

MF 0.5 A

sinudyn-36

J2*



Valid beginning from device version 0001 (see type plate on page 23).

* If the internal 24 V potential is not to be used for an external wiring, the multi fuse F1 must be remo-ved (see layout plan on page 61)

Digital-Out2

Digital-Out3

Digital-Out4

Digital-Out5

24V internal

24V external

24V

0V / GND external

GND / 0V

1

2

3

4

5

6

9

8

10

Outputs

Load 4 x

Connector X3BPin

MF 1.85 A

sinudyn-36

MF 0.5 A

F1*



8.2.5 X4 - Angle Pulses


Pin I/O Function

1 O 0 V

2 O angle pulse

3 O angle pulse

4 O n.c.

5 O zero pulse UaO

6 O angle pulse Ua1

7 O angle pulse Ua2

8 O n.c.

9 O zero pulse

WarningThe max. signal frequency is 1 MHz per track, i.e. 4 MHz after qua-druplication.

A shielded cable should be used. The shield must be connected withone end to the metal housing of the 9-pole male submin D connectorand to the higher-ranking control. Consider the description "UnitAsembly Complying EMC".

Ua1

Ua2

Ua0

Control

Ua1

Ua1

Ua2

Ua2

Ua0

Ua0

10Ua16

5.6 V

10Ua1

Connector X4Pin

2

5.6 V

10Ua27

5.6 V

10Ua23

5.6 V

10Ua05

5.6 V

10Ua09

5.6 V

Servo module



8.2.6 X7 - Transducer


Pin I/O Function

1 I analog input +

2

3 O output voltage +5 V

4

5

6 I analog input -

7

8 O output voltage -5 V

9 GND / 0 V

+

-

330 k

33 k

33 k

330 k220pF

220pFAnalog+

Analog-

Analog+

Analog-

+5V

-5V

Transducer Servo module

Connector X7Pin

1

6

3

8

+5V

-5V

GND0V

GND / 0V



8.2.7 X8 - COM 1


Pin I/O Function

1 I/O D- (RS485)

2 O Tx

3 I Rx

4 n.c.

5 GND

6 I/O D+ (RS485)

7 I CTS

8 O RTS

9 n.c.

WarningIf several modules are addressed via a serial interface, the positionof the coding ID selector of the servo modules must be considered(see page 46).



8.2.8 X20 - Motor Connector

4-pole PowerCombiCon

Requirements to the motor cable:

The maximum admissible length of the motor cable is 100 m. The capacity must notexceed 5.2 nF.

Example: If the cable capacity is 0.26 nF per meter, the maximum admissible lengthof the motor cable is 20 m.

Pin Connector Designation

shield bar at the servoamplifier Shield

Ground the motor housing in the machine!

1 U motor phase U

2 V motor phase V

3 W motor phase W

4 PE protective conductor

Information about the Shield and Ground Connection

Always use shielded motor cables!

With respect to the ground connection one of the following actionsmust be done:

connect the motor housing to the ground of the machine or connect the ground terminal of the motor connector to the cen-tral ground point of the machine.

The cable shield must be connected to the connector shell at themotor and to the shield bar at the servo amplifier.



8.2.9 X30 and X31 - Power Supply

two 6-pole Power CombiCon

Pin Designation

X30

1 L1Main supply. The intermediate circuit voltage depends on the input voltage. Ex-ample: 3 x 400 VAC -10 %/+20 % for an intermediate circuit voltage of 560 V.2 L2

3 L3

4 PE earth conductor

5 LL1 Logic voltage supply. The logic voltage supply must always be connected (samepotential as main supply, see "Technical Data“, page 25).6 LL2

X31

1 -UBIntermediate circuit voltage -

2 -UB

3 +UBIntermediate circuit voltage +

4 +UB

5 REX1 External ballast resistor*

6 RBRIDGE1 must be bridged with REX if no external ballast resistor is existent

1 If an external ballast resistor is used, the wire strap between X31/5 and 6 mustbe removed. The external ballast resistor is then connected between +UB andREX.

WarningLL1 and LL2 must always be connected. The angle pulses and errormessages are kept in case of an EMERGENCY STOP situation. Ifthe main voltage supply is turned off, make sure that all three mainsphases are also turned off! For this reason a main contactor with po-sitively driven contacts must be used.



The following UL requirements apply to the connectors X20; X30 and X31 and mustbe taken into account:

Only use copper lines designed for 60/75°C.Suitable for the wiring on site only in combination of the connector PC 4HV/4-ST(F)-7.62, rated values 600 V, 30 A or PC 4HV/6-ST(F)-7, PC 6-16/ 4-STF-10,16, rated values 600 V, 50 A or PC 6-16/ 4-STF-10,16, MC 1,5/ 6-ST-3,81,rated values 300 V, 8 A or MC 1,5/ 6-ST-3,81, MC 1,5/ 10-ST-3,81, rated values300 V, 8 A or MC 1,5/ 10-ST-3,81, MC 1,5/ 4-ST-3,81, rated values 300 V, 8 Aor MC 1,5/ 4-ST-3,81, manufactured by PHOENIX Contact, rated values 600 V,30 ATightening torque of 0.5 Nm for field wiring terminals. Use in an environment with the degree of pollution 2. Use lines of class 1 or equivalents. Suitable for the use in a circuit releasing a power value not higher than 5 kA (ef-fective value of the symmetric current in ampere) at a maximum voltage of 480VAC.

8.2.10 S1 - ID Coding Selector

Standard = servo module address 0

If several servo amplifiers are activated via a RS485 bus system, a specific addressmust be assigned to every servo amplifier via the ID-coding selector (0 to F). Eachaddress must only be assigned once (see also sinudyn-36 Software Description,chapter "Select Servo Module Address“). If the servo module address is assigned viathe software sinudyn-36 the ID coding selector must be set to the servo module ad-dress 0.



8.2.11 X40 - Restart Lock according to Safety Category 3

Valid up to device state 0002:

6-pole MiniCombiCon

If no restart lock is used, the wiring should be carried out as follows:

Pin Function

1 Input signaling contact K2/K3

2 Output signaling contact K2/K3

3 0 Volt trip coil of the relay K2

4 +24 V (30mA) trip coil of the relay K2

5 0 Volt trip coil of the relay K3

6 +24 V (30mA) trip coil of the relay K3

Warning24 V and 0 V must always be connected for K2 and K3, also if therestart lock is not to be used!

WarningIf the restart lock is to be used, please take the information fromchapter "Restart Lock“ on page 75, into account!



8.2.12 X40 - Restart Lock According to Safety Category 4 / SIL 3

Valid up to device version 0003:

6-pole MiniCombiCon

If no restart lock is used, the wiring can be carried out as follows:

Pin Function

1* Monitoring 1 / SAVE RETURN+

2 Monitoring 2 / SAVE RETURN-

3 + 24 V power supply for monitoring

4 OSSD 1 / SVI - + 24 V +/- 20 % -

5 0 Volt / SVI -

6 OSSD 2 / SVII - + 24 V +/- 20 % -

* Pin 1 is coded.

WarningOSSD 1 and OSSD 2 must always be connected to pin 4 and pin 6and 0 V must always be connected to pin 5. If the restart lock is notused all pins 4 and pins 6 must be connected to + 24 V and all pins 5must be connected to 0 V.

WarningIf the restart lock is to be used, please take the information fromchapter "Restart Lock“ on page 75, into account!



8.3 Error Messages

Errors are indicated by the red LEDs FC0, FC1, FC2 and FC3. If the LED isflashing- the respective error has caused the turnoff of the drive.continuously on- an error message is indicated without causing a reaction.

An error causing the turnoff of the drive is reset by a positive edge at the input Con-troller ON. The error message for the deactivated controller must not be acknowl-edged.

An error code is allocated to every error message. Always the error with the highesterror code is evaluated and displayed.

LED is offLED flashesLED is on:

Error Designation Reaction

Message Number

F01 mains supply not OK The drive decelerates with the parameter Emergency Rampand is then deactivated.

F02 motor temperature (NTC /PTC)

The drive decelerates 100 ms and is then deactivated.

F03 heat sink temperature The drive decelerates 100 ms and is then deactivated.

F05 I2t monitoring The drive decelerates 100 ms and is then deactivated.

F06 overspeed The drive is deactivated immediately.

F07 error of the motor measuringsystem

The drive is deactivated immediately.

F09 motor phases not OK The drive is deactivated immediately.

F11 undervoltage DC_LINK The drive is deactivated immediately.

F12 overvoltage DC_LINK The drive is deactivated immediately.

F13 overload current output stage The drive is deactivated immediately.

F14 power supply unit is not OK the drive cannot be activated.

F15 parameterizing error the drive cannot be activated.

F26 error of the restart lock



8.3.1 Status Indication RON

8.3.2 Status Indication RIO

8.3.3 Status Indication H0/H1

When using an optional communication module the yellow LEDs indicate the status.

8.3.4 Messages

Messages are indicated by the green LEDs FC0, FC1, FC2 and FC3. Every LED isassigned to a respective message. Max. four messages can be indicated simulta-neously.

LED RON Meaning

output stage is locked.

output stage is enabled.

LED RIO Meaning

drive identifies an error (see "Error Messages", page 49).

no error.

LED H0/H1 Meaning

no communication module is connected.

a communication module is connected.

Status LED Message Reaction

no No

speed controller is in the limitation No

emergency stop The reaction can be preset via the software,see "Digital Inputs and Outputs“, page 53.

negative limit switch The reaction can be preset via the software,see "Digital Inputs and Outputs“, page 53.

positive limit switch The reaction can be preset via the software,see "Digital Inputs and Outputs“, page 53.



8.4 Test Pins

The test pins at the front panel of the servo module permit the user to call basic dataof the drive system.

Pin Meaning

0 Can be freely assigned via the PC software during the programming process (see manualsinudyn-36 Software Description).

1 Can be freely assigned via the PC software during the programming process (see manualsinudyn-36 Software Description).

2 Ground = 0 V point for measuring purposes

3 Ground = 0 V point for measuring purposes

FC0 FC1

FC3FC2

H0

RIO RON

H1

MP0

MP1GND

FC0 FC1

FC3FC2

H0

RIO RON

H1

MP0

MP1GND

01

32

Test Pins




Specification of the Digital Inputs and Outputs

9 Specification of the Digital Inputs and Outputs

The functions of the inputs and outputs can be defined in the software. See also"sinudyn-36 Software Description”.

9.1 Inputs

The inputs can be defined in both operating modes as described in the following ta-bles. The reaction times of the inputs are:

Operating Mode: Servo

Reaction times of the digital inputs:Reaction times of the digital outputs:

1 ms1 ms

Reaction time "Controller ON“ Turn-on > 10 msTurn-off type 2.5 ms

Reaction time "Speed enable“ 250 µs

ConnectorX3A Pin

Input Possible Assignment Description

5 Digital-In1

Controller on The controller is activated, and the device is enabled with the ref.speed value. When deactivating, the device is decelerated by set-ting the reference speed value internally to zero with emergencystop ramp, and the controller is deactivated.

Controller ON withoutdeceleration

The controller is activated, and the device is enabled with the ref.speed value. When deactivating, the controller is deactivated with-out decelerating the motor.

1 Digital-In2

No function No function is executed.

emergency stop Stopping input (LOW active): The device is decelerated by settingthe reference speed value to zero. Afterwards the drive is held con-trolled in position (drift-free, with force).

Speed enable Stopping input (LOW active): The reference speed value is internal-ly set to zero. The speed controller is operated as proportional con-troller (without force).

3 Digital-In3


Limit switch- Stopping input (LOW active) for the negative reference speed value:The reference speed value is internally set to zero. Afterwards thedrive is held controlled in position (with force).

Limit switch - only P am-plifier

Stopping input (LOW active) for the negative reference speed value:The reference speed value is internally set to zero. The drive is op-erated as proportional controller (without force).

Limit switch - with ramp Stopping input (LOW active) for the negative reference speed value:The device is decelerated by setting the reference speed value in-ternally to zero with emergency stop ramp. Afterwards, the drive isheld controlled in position.



2 Digital-In4


Limit switch + Stopping input (LOW active) for the positive reference speed value:The reference speed value is internally set to zero. Afterwards thedrive is held controlled in position (with force).

Limit switch + only P am-plifier

Stopping input (LOW active) for the positive reference speed value:The reference speed value is internally set to zero. The drive is op-erated as proportional controller (without force).

Limit switch + with ramp Stopping input (LOW active) for the positive reference speed value:The device is decelerated by setting the reference speed value in-ternally to zero with emergency stop ramp. Afterwards the drive isheld controlled in position (with force).

6 Digital-In5


P amplifier The speed controller is operated as proportional controller. Thatmeans: The integral action gain is set to zero.

Direction of rotation The reference speed value is inverted.

4 Digital-In 6




User-specific function 1 ---

Current/speed control Change-over from speed-controlled to torque-controlled operationand vice versa.

7 Digital-In7




8 Digital-In 8






Operating Mode: Nut Setting

ConnectorX3A Pin

Input Possible Assignment Description

5 Digital-In1


1 Digital-In2


Emergency stop Stopping input (LOW active): The device is decelerated by settingthe reference speed value to zero. Afterwards the drive is held con-trolled in position (drift-free).

Speed enable Stopping input (LOW active): The reference speed value is internal-ly set to zero. The speed controller is operated as proportional con-troller.

3 Digital-In3

Parameter set 1 Parameter set for nut runner start

Parameter set 1/2 Parameter set for nut runner start

2 Digital-In4



6 Digital-In5


4 Digital-In 6

Nut runner start The controller is activated. The selected program is executed.

7 Digital-In7



8 Digital-In 8





9.2 Outputs

The outputs can be defined in both operating modes as described in the following ta-bles.

Operating Mode: Servo

OutputConnector X3B/Pin

Possible Assignment Description

1 Digital-Out 1+2 Digital-Out 1-3 Digital-Out 25 Digital-Out 34 Digital-Out 46 Digital-Out 5


controller OK The servo amplifier is ready for operation. No error has occurred.

PI LIMIT The speed controller is in its limitation. The preset torque has beenreached.

| Nerr | < x The absolute value of the speed error is within a predefined window.

| Nerr | > x The absolute value of the speed error is beyond a predefined window.

| Nact | < x The absolute value of the current speed is within a predefined window.

| Nact | > x The absolute value of the current speed is beyond a predefined window.

| Iact | < x The absolute value of the actual current value is within a predefined win-dow.

| Iact | > x The absolute value of the actual current value is beyond a predefinedwindow.

I²t < x The I²t load of the device is below a predefined threshold.

I²t > x The I²t load of the device is above a predefined threshold.

DC_LINK < x The measured intermediate circuit voltage is below a predefined thresh-old.

DC_LINK > x The measured intermediate circuit voltage is above a predefined thresh-old.

User-specific function 0 ---

Activation of motor brake Activation signal for a motor brake.

Speed Zero

Servo Error

Speed OK



n

n

n

Operating Mode: Nut Setting

ConnectorX3B Pin

Output Possible Assignment Description

12

Digital-Out 1+Digital-Out 1-


controller OK The servo amplifier is ready for operation. No error has occurred.

PI LIMIT The speed controller is in its limitation. The preset torque has beereached.

3 Digital-Out 2



5 Digital-Out 3



Nut setting cycle OK The selected nut setting cycle has been executed correctly.

4 Digital-Out 4No function No function is executed.

Nut setting cycle not OK The selected nut setting cycle has not been executed correctly.

6 Digital-Out 5No function No function is executed.




Layout Plans

10 Layout Plans

10.1 Layout Plan of the Logic Card up to 036050021.1

MP 0/3

X3A X3B

MP 1/2


Layout Plans

Designation Meaning Description

S1 Coding selector for the servo module address page 46X1 Motor measuring system page 30






X8 COM 1 page 43



X204 Slot for optional communication module

X205/X206 Slot for sensor module page 21

X207/X208 Slot for ref. value module page 21

LD1 to LD4 LEDs page 49

MP0/MP1MP3/MP2

Measuring pins page 51

J2 24 V for external applications


Layout Plans

10.2 Layout Plan of the Logic Card > 036050021.1

MP0/3

MP1/2


Layout Plans


S1 Coding selector for the servo module address page 46X1 Motor measuring system page 30






X8 COM 1 page 43



X204 Slot for optional communication module

X205/X206 Slot for sensor module page 24

X207/X208 Slot for ref. value module page 24

LD1 to LD4 LEDs page 49

MP0/MP1MP3/MP2

Measuring pins page 51

F1 multi fuse 0.5 A

X6 connector for the fan


Layout Plans

10.3 Layout Plan of the Output Stage 036050002


X30 power supply page 45

X31 output intermediate circuit/ballast resistor

X20 motor phases page 44

F1 Polyswitch fuse for internal 24 V.

F2 fuse for the logic supply, 0.63 A time-lag fuse.

RBr REXT +UB +UB -UB -UB U1 U2 PE L3 L2 L1

U V W PE


Layout Plans

10.4 Layout Plan of the Output Stage 036050002.1








Layout Plans









Layout Plans


The layout plan of the output stage 036050002.3 is conform to theUL layout.






F2 Fast-blow fuse for the logic supply 2 A, 6.3 x 32 mm (only usegenuine spare part).


Layout Plans

10.7 Layout Plan of the Restart Lock 036050062


X40 connector for the restart lock page 47

J1 must be opened for 0360520xx


Layout Plans

10.8 Layout Plan of the Restart Lock 036050064


X40 connector for the restart lock page 47

J1 must be opened for 0360520xx


General Information Regarding the Wiring

11 General Information Regarding the Wiring

11.1 General Information

The cables described in this section correspond to the requirements, SIEB & MEYERAG demands for the correct function of the cable connection.

If cables are exposed to mechanical strain inside of the machine, e.g. in trailingchains or similar components, the machine manufacturer must take care for only us-ing adequate cables.

In general, the following principles apply for the cables (see also separate documen-tation "Unit Assembly Complying EMC and Supply System Types“):

Motor and signal cables must not be wired in the same cable protection hose!Motor cables must have a wire-meshed shield. They must be wired separatelyfrom signal cables.Signal lines must have a wire-meshed shield. Difference signals should only betransmitted via lines twisted in pairs. They must be wired separately from motorcables.The cable shields must be connected to the connector shell inside of the con-nectors. In the control cabinet they should be connected to a ground bus.Cable shields not ending in a connector inside of the control cabinet such as mo-tor cables must be connected to the ground bus.Both ends of the shield of shielded cables must generally be connected to theshell.

The line cross-sections should be selected carefully so that the maximum admissiblecurrent is not exceeded at the maximum ambient temperature (the maximum ambi-ent temperature of the servo module is 60°C). DIN EN 60204-1 defines the admissi-ble values for the separate line cross-sections which must absolutely be taken intoaccount.

The current carrying capacity in connection with the line cross-section of copper con-ductors isolated with PVC or cables according to DIN/EN 60204-1 for wiring type B2and an ambient temperature of + 40°C are indicated in the following table:

Conductor cross-section A [mm²]

Admissible current I [A]

0,75 7,60

1,00 9,60

1,50 12,20

2,50 16,50

4,00 23,00

6,00 29,00

10,00 40,00

16,00 53,00

25,00 67,00

35,00 83,00

Hardware Description 0360520xx 69


The following correction factors are provided for deviating ambient temperatures:

Cross-sections of round conductors

The standard values of the cross-section of round copper conductors as well as theapproximate ratio of metric ISO and AWG/MCM values are shown in the followingtable.

Standardized cross-sections of round conductors

Ambient temperature T [°C] Correction factor

30 1,1535 1,0840 1,0045 0,9150 0,8255 0,7160 0,58

Annotation: The line corresponds to a value when the connection possibilitiesare taken into account.

AWG/MCM

ISO cross-section mm²

Value Equivalent cross-section in mm²

0,2 24 0,205

- 22 0,324

0,5 20 0,519

0,75 18 0,82

1,0 - -

1,5 16 1,3

2,5 14 2,1

4,0 12 3,3

6,0 10 5,3

10 8 8,4

16 6 13,3

25 4 21,2

35 2 33,6

50 0 53,5

70 00 67,4

95 000 85,0

- 0000 107,2

120 250 MCM 127

150 300 MCM 152

185 350 MCM 177

240 500 MCM 253

300 600 MCM 304

70 Hardware Description 0360520xx


11.2 Difficulties of Ground Loop

Even if all ground points seem to have an identical potential, potential differences canbe produced in a ground system by coupling RF signals into a special machine com-ponent (e.g. motor lines clocked to high-frequency). The magnetic fields that are pro-duced can be the reason for interferences in the machine or in the control.

Connection InformationThe main requirements for a professional grounding according to DIN/EN 60 204-1(electrical equipment of machines) are :

Direct Connection of the Earth Conductor SystemAll assemblies of the electrical equipment and the machine(s)must be connected to the earth conductor system.

Only one PE point exists within the complete system!All ground connections are connected in a tree-type structureto the PE point.

Special information:The PE point is usually the connectingpoint of the PE conductor of the voltagesupply or the earth connector of a sepa-rate connection to earth of a complete sys-tem.If several points inside of the system arelabeled with PE, all labels except for oneshould be marked with the ground symbol

. Motors must be connected with least im-pedance to the ground points . Groundconnections to the outputs of the servoamplifiers must not be made! Connection example of a machine and the connected CNC with

grounding according to the EMC guidance

Motors mounted on an insulated machine component such as linear motors,handheld nut setting units, etc., must be connected to ground with largest sur-face.Earth conductors always must be connected with largest surface. Groundstraps consisting of many thin wires offer a larger surface in contrast to onlyone fixed core with thick cross-section. Ground conductors should be as shortas possible.

Due to filters or the use of several servo amplifiers, higher leakagecurrents (> 3.5 mA) can occur in the earth conductor (PE). In thiscase, possibly a residual current operate device cannot be used. Ac-cording to DIN/EN 50178 - VDE 160 the electronic component mustbe equipped with a fixed connector in this case. Besides, warningsmust be provided in the documentation and on the device.Additionally, an earth connector of at least 10 mm² cross-sectionmust be used or a second earth connector must be connected inparallel to the earth connector with separate terminals.

Annotation: The minimum cross-section has been chosen considering its me-chanical stability.



11.3 Motor Cable

Use shielded conductors for the motor in order to keep interference as low as possi-ble (line cross-section according to the table). If possible, the shield should be con-nected with both ends and largest surface. If this is not possible, the shield should beconnected with one end to the shield bar which can be supplied by SIEB & MEYER.

WarningEarth conductors additionally lead in motor cables must directly beput to the earth shield and be marked with .If the procedure turns out to be impracticable, omit the earth conduc-tor connection in the motor cables and wire a separate earth conduc-tor in parallel to the motor cables preventing disturbing ground loops.



11.4 Cables for the Rotor Position Detection

Use shielded lines and shielded Submin D shells for wiring the different measuringsystems. The shield must be connected to the Submin D shell at the servo moduleside and to the housing of the measuring system.

Examples for the use of conductors:

Motors with resolverLIYCY 3 x 2 x 0.14 or 4 x 2 x 0.14 for motors with integrated thermal contact. Conductors: shielded, twisted in pairs. Twist mode: sine/sine, cosine/cosine, ro-tor/rotor and, if necessary, thermal contact/thermal contact.For delicate applications we recommend to additionally shield the separatepairs.

Motors with incremental encoderLIYCY 5 x 0.14 or 7 x 0.14 for motors with integrated thermal contact

Motors with Hall effect sensor and tacho generatorLIYCY 9 x 0.14 or 12 x 0.14 for motors with integrated thermal contact.

11.5 Cables for External Ballast Resistors

The cables of the external ballast resistor of REX and +UB must be twisted. If the ca-ble is longer than 20 cm a shielded cable must be used.




Safety Circuit / Restart Lock

12 Safety Circuit / Restart Lock

Valid up to device version 0002

according to EN 13849-1:2008-12; EN 62061:2005-10 SIL 3

The restart lock is provided for preventing an unintentional start of a variable-speeddrive from the standstill and can, for example, be used in the machine function "Safehold”. It comprises a restart lock according to EN 13849-1:2008-12 and a stop func-tion according to EN 60204-1:2007-06 (VDE 0113).

The stop functions are defined by the EN 60204 (VDE 0113), paragraph 9.2.2,9.2.5.3.

There are the following three categories of stop functions:

Every machine must be equipped with a stop function according to category 0. Stopfunctions according to category 1 and/or 2 must be integrated into the machine ifthey are necessary for safety and/or operational reasons.

The standstill of the machine must have been initiated by an external machine controlbefore. Besides, it must be assured that the reference speed value input signals thereference speed value Zero, and that the internal input IN0 signals emergency stop.

The restart lock interrupts the energy supply between drive and motor by deactivat-ing the output stage control. Thus, any rotation of the motor is made impossible.

The advantage of this circuit is that a single drive can be locked safely in an installa-tion with several drives while other drives remain in proper condition. Besides, a drivecan be locked without having to charge the intermediate circuit electrolytic capacitorsat a restart.

category 0 Put the machine to standstill by interrupting the energy supply be-tween motor and drives immediately (i.e. an uncontrolled stand-still).

category 1 The machine is decelerated to standstill without disconnectingthe energy supply between motor and drives (i.e. a controlledstandstill). The energy supply is interrupted at that moment themachine is at a secure standstill.

category 2 The energy supply between motor and drives is not interrupted (acontrolled standstill).

The restart lock does not galvanically separate the output stagesfrom the motor. Thus, the restart lock does not protect against elec-tric shock.

WarningThe complete machine must always be galvanically separated fromthe mains by using the main switch (EN 60204-1 5.3) for any inter-ruptions of the operation, maintenance, repair or cleaning work at themachine or system.

sinudyn-36 Hardware Description 0360520 75


WarningAll mounting locations for safety devices of the control system as wellas components mounted outside have to correspond to a system ofprotection IP54, if mounted correctly.

76 Hardware Description 0360520sinudyn-36


12.1 Functional Description of the Restart Lock

The restart lock locks the respective drive of a single-axis device. Any other drivemodule remains in proper condition.

A double redundant positively driven safety relay has access to the respective controlunits of the output stages of the drive to be locked and interrupts the connection.Thus, no control signals can be passed on to the transistors of the output stages andthe motor is at a secure standstill.

A positively driven n/o contact of the relay (signaling contact restart lock) must belatched as acknowledgement contact with a higher-ranking fail-safe control systemor signaling unit. The signaling contact of the restart lock must separate the drivefrom the mains via the main contactor in the mains supply in the case of a failure ofthe restart lock, which means: The restart lock is set, but the signaling contact re-mains open. Without this additional wiring (redundancy), a safety level SIL 3 accord-ing to EN 13849-1 cannot be realized.

The relay of the restart lock must only be activated, ifthe drive is at a secure standstill (at least stop category 2),the CNC module is deactivated andthe holding brake of the motor has been arrested.

The motor cannot provide a torque when the restart lock is activated.Non-self-locking drives, as hanging loads, must be blocked with amechanical brake.



12.2 Wiring example

In order to obtain the safety level SIL 3 according to EN 13489-1, the safety relaycombination as well as the switches "servo lock 1" and "servo lock 2" have to be cer-tified safety switch devices. The switches "servo lock 1" and "servo lock 2" must beutilized as positively driven n/c contacts or as a combination of switches with con-junction (plausibility check).

* pins of the connector "Restart lock"

WarningThe two relays (connected in series) of the safety combination usedfor deactivating the transistors of the output stages meet the require-ments of EN 50205:2003-1 and have been approved by the TÜVRheinland and VDE (as well as UL and CSA).

WarningWithout an additional redundancy (evaluation of the contact signals),the safety level SIL 3 according to EN 13849-1 cannot be realized.

WarningIn order to obtain the safety level SIL 3 the circuit and the layout havebeen dimensioned according to IEC 60664-1:2008-01. Supportingmaterial according to IEC 6024 covered by a non-aging protectivecoat of lacquer according to IEC 60664-3:2003-09 have been used.The conformity of standard have been tested and approved by theTÜV-Nord CERT.


Restart Lock acc. to Safety Concept K2

13 Restart Lock acc. to Safety Concept K2

Valid from device version 0003

according to EN 13849-1:2008-12; EN 62061:2005-10 SIL 3

The restart lock is provided for preventing an unintentional start of a variable-speeddrive from the standstill and can, for example, be used in the machine function "Safehold”. It comprises a restart lock according to EN 13849-1:2008-12 and a stop func-tion according to EN 60204-1:2007-06 (VDE 0113) category 0. A stop category 1can be achieved by using a tested, safe emergency stop device with delay or a safePLC according to EN 60204-1. The stop functions are defined by the EN 60204-1,paragraph 9.2.2, 9.2.5.3.

There are the following three categories of stop functions:

Every machine must be equipped with a stop function according to category 0. Stopfunctions according to category 1 and/or 2 must be integrated into the machine ifthey are necessary for safety and/or operational reasons.

The disadvantages of the disconnection can be eliminated by the consequent use ofelectronic elements. The standard EN 60204-1:2007-6 "Safety of machinery – Elec-trical equipment of machines" also allows the use of electronic equipment for the stopfunction in case of an emergency, if these - under application of the standards EN13849-1:2008-12 and / or IEC 62061:2005-10 - meet the same safety requirementsas required according to EN 60204-1.

This checked safety circuit was conceived according to the concept paper by Drive-com "Technical Guide for Safety Drives" from 04/23/2004. The concept paper waschecked by the BIA and the TÜV Rheinland: It was confirmed that the required stan-dards and regulations were met.

The standstill of the machine must be caused by a high-ranking control before andthe stop function of at least category 2 must be ensured.

The restart lock interrupts the energy supply between drive and motor by deactivat-ing the output stage control. Thus, any rotation of the motor is made impossible.

The advantage of this circuit is that a single drive can be locked safely in an installa-tion with several drives while other drives remain in proper condition. Besides, a drivecan be locked without having to charge the intermediate circuit electrolytic capacitorat a new restart.

category 0 Put the machine to standstill by interrupting the energy supply be-tween motor and drives immediately (i.e. an uncontrolled stand-still).

category 1 The machine is decelerated to standstill without disconnectingthe energy supply between motor and drives (i.e. a controlledstandstill). The energy supply is interrupted at that moment themachine is at a secure standstill.

category 2 The energy supply between motor and drives is not interrupted (acontrolled standstill).



The restart lock does not galvanically separate the output stagesfrom the motor. Thus, the restart lock does not protect against elec-tric shock.

WarningThe complete machine must always be galvanically separated fromthe mains by using the main switch (DIN EN 60204-1 5.3) for any in-terruptions of the operation, maintenance, repair or cleaning work atthe machine or system.

WarningAll mounting locations for safety devices of the control system as wellas components mounted outside have to correspond to a system ofprotection IP54, if mounted correctly.



13.1 Functional Description of the Restart Lock

The restart lock locks the respective drive of an installation. All further drive modules(servo amplifiers / frequency converters) remains ready for operation.

A TÜV checked safety circuit accesses relevant control of the output stage transis-tors of the drive to be locked by interrupting the voltage supply of the controls. Thus,no control pulses can be passed on to the transistors of the output stages and themotor is at a secure standstill.

OSSD (Output Signal Switching Device)Part of the contactless protective unit (German abbreviation = BWS) which is con-nected with the machine control and which switches over into the OFF state, whenthe sensor unit is triggered during the intended operation. (See IEC 61496-1)

The OSSD signal is a pulsed signal, of which the phase position is shifted in relationto the different channels. All error can be detected by checking the pulse pattern,short-circuit for supply, cross-circuit or defect of the device. This ensures a very highsafety level (SIL 4).

The TÜV checked safety circuit is controlled by the OSSD1+2 signal or the two +24 Vconductors via one or several emergency stop switch devices. If the OSSD signal orat least one of the two 24 V conductors fail, the safety circuit switches the pulse pat-tern of the output stage control sectors. The typical reaction time of the restart lockis 2 ms and max. 45 ms.

The restart lock must only be controlled when

the drive is at a secure standstill (stop category 2),the higher-ranking control has deactivated the drive module,(reference speed value 0),the holding brake of the motor has been arrested.

OSSD test frequency OSSD test pulse width



Monitoring output

Pin 3 must be wired to 24 V so that the monitoring output can become active.If the signals SAVE A and SAVE B are applied, the monitoring output opens.The monitoring output is closed, if one signals is missing, SAVE A or SAVE B.

The motor cannot provide a torque when the restart lock is acti-vated. Non-self-locking drives as hanging loads must be blockedwith a mechanical brake.



13.2 Wiring Example

Combining a safe emergency stop command device, an OSSD safety switch deviceor a light barrier with OSSD outputs and the safe switching off of the pulse patternsallows creation of an error detection circuit, which achieves a safe stop (according tostop function category 0+1), which meets the safety requirements according to SIL 3(EN 13849-1). This circuit allows connecting several emergency stop devices in par-allel, which are permanently monitored.

b

The external 24 V voltage supply must be protected against over-voltages.

WarningThe safety device as well as the emergency stop device must be cer-tificated as safety devices of SIL 3 to obtain safety level 4 accordingto EN 13849-1.

WarningIn order to obtain the safety level SIL 3 according to EN 13849-1 thecircuit and the layout have been dimensioned according to IEC60664-1:2008-01 pollution 2. Supporting material according to IEC60249 covered by a non-aging protective coat of lacquer accordingto IEC 60664-3 have been used. The conformity of standard havebeen tested and approved by the TÜV-Nord CERT.



13.3 Requirements and Standards

The following parameters are achieved according to the safety case:

The safety concept K2 meets the requirements of SIL 3 according to the standardsnamed above.

Requirements according to EN 61800-5-2:2008-04When connected appropriately, the safety concept K2 does not supply any share ofdangerous, undetected errors in the safety chain of the function STO.

Thus the stop function category 0+1 according to EN 60204-1:2007-6 is realized.

acc. to EN 13849-1:2008-12 MTTFd: >100 yearsDC = 99%category 4Performance Level e

acc. to EN 61508:2011-02and EN 61800-5-2:2008-04

PFH = 0SFF = 100 % (if there are PFH values, then SFF<100%)HFT = 0


Electric Performance Dimensioning

14 Electric Performance Dimensioning

Experience shows that questions arise during the dimensioning of a drive when se-lecting output stages and power supplies. This chapter shall make clear the physicalbackground and shall help to dimension correctly the electronic components.

14.1 Components

14.1.1 Output Stage

The output stage of a servo amplifier is specified by the following details:

Voltage rangeThe maximum intermediate circuit voltage is limited by the used transistors and ca-pacitors and the minimum space between the strip conductors.

When an output stage with a maximum admissible intermediate circuit voltage of325 VDC (class C) is used, i.e. with an AC power supply of 230 VAC, the componentswill have a dielectric strength of 600 VDC. The reserve is necessary in order to pre-vent damages in the case of voltage peaks and the intermediate circuit voltages dur-ing the deceleration.

Current rangeThe current range specifies the maximum admissible currents. Distinction is madebetween peak and rated current:

The peak current is only admissible for a short time (mostly 5 seconds) and de-pends on the used transistors and their number.The rated current can be provided continuously by the output stage. Its valuedepends on the cooling of the transistors, that means: the capacity of the usedheat sink and its ventilation.

14.1.2 Power Supply

The power supply is specified by the following details:

Voltage rangeThe maximum supply voltage is limited by the used transistors, diodes, and capaci-tors and the minimum space between the strip conductors.

Current rangeThe current range specifies the maximum admissible currents. Distinction is madebetween peak and rated current:

The peak current is only admissible for a short time (mostly 1 second) and de-pends on the used diodes and their number.The rated current can be provided continuously by the power supply unit. Itsvalue depends on the cooling of the diodes, that means: the capacity of the usedheat sink and its ventilation.

Performance Dimensioning 85


Output performanceIn practice, a maximum permanent power is specified for power supply units, sincethe supply voltage is assumed to be constant. As the limitation in the power supplyunit is determined by the load carrying capacity of the diodes, the maximum perma-nent power depends on the supply voltage and the type of supply.

Examples:

Power supply 230 VAC, 2 phases, max. permanent current of the diodes 6 A230 VAC x 2 x 6 A = 2.76 kW

Power supply 400 VAC, 3 phases, max. permanent current of the diodes 6 A400 VAC x 3 x 6 A = 7.20 kW

The maximum peak current depends on the type of diode used.

The protection is calculated as follows:

14.1.3 Motor

Among other things, the motor is specified by the following details:

Peak currentThe peak current defines the maximum admissible motor current. The peak currentis only admissible for a short time (between 1 and 30 seconds) and depends on theused magnetic material and the size of coil wire. The motor manufacturer generallyspecifies the peak current for standstill and for the rotating field. In general, the spec-ified values are r.m.s. values. Currents are indicated as sine crest values. In order toget r.m.s. values, the sine crest value must be divided by .

Rated currentThe rated current can permanently impressed to the motor. Its value depends on themotor cooling, the coils and the maximum admissible motor temperature. The motormanufacturer generally specifies the rated current for standstill and for the rotatingfield. In general, the specified values are r.m.s. values. Currents are indicated as sinecrest values. In order to get r.m.s. values, the sine crest value must be divided by

.

Voltage constantDue to the inductance of the motor, the motor generates a countervoltage during theoperation opposing the provided voltage. This voltage is proportional to the speedand is specified in volt per 1,000 revolutions. In general, the specified values arer.m.s. values and are measured between the connection terminals.

Example:Intermediate circuit voltage: 325 V, e.m.f.: 100 mV min-1

Only 225 V are provided at 1,000 RPM for controlling the motor. The theoretical max-imum speed of the motor is 3,250 RPM. At this speed no torque is provided since nocurrent can be impressed anymore.

PerformanceSupplyVoltage---------------------------------------------- 2 76kW,

230VAC----------------------- 12Aeff= =

2

2

86 Performance Dimensioning


Torque constant The torque constant specifies the ratio between the motor current and the motortorque (Nm/A). The torque constant is the result of the required maximum speed, dy-namics, the efficiency and the quality of the magnetic material.

Inductive coil resistance The inductive coil resistance (ωL) results from the number of windings of the coil. Atstandstill, it is zero. The resistance increases with the frequency.

Ohmic coil resistance The ohmic coil resistance R results from the length and size of wire. At standstill, itis the only value which determines the coil resistance.

Electric time constant The electric time constant results from the ohmic and the inductive resistance ( =L/R)

Nut setting motors Nut setting motors are usually high-dynamic motors with a high maximum speed,high maximum torque, a low inertia of masses and a low nominal torque. As a result,the voltage constant and the inductance are low, the wires of the coil are thin and therotor diameter is small. Due to the low inductance, nut setting motors are operatedwith a high pulse-width modulation frequency (PWM frequency 16 KHz) in order tokeep the current ripple low.

14.2 Power Consumption of a Drive

If a constant torque is taken from the drive, the power consumption will depend onthe current speed.

Examples:

From this results a motor current of

The motor requires a voltage of U = 1 Ω × 30 A = 30 V

0 RPM, standstillFrom this results a power of P = 30 V × 30 A = 0.9 kW.At an intermediate circuit voltage of 300 V an input current results from the supplyvoltage of I = P / 300 V = 3 A.Thus, considerably less current flows in the power supply unit than in the motor. Thiscalculation is very important especially for nut setting applications, since the hightorques and thus currents are only required for low speeds.

Preset torque: 30 NmIntermediate circuit voltage: 300 VVoltage constant: 50 mV min-1 (50 V / 1,000 RPM)Coil resistance: 1 ΩTorque constant: 1 Nm / A

I 30Nm1Nm / A-------------------------- 30A= =

Performance Dimensioning 87


2,000 RPMAt 2,000 RPM, the motor requires a voltage of U = R × I + e.m.f. × n = 1 Ω × 30 A +50 V / (1,000 RPM) × (2,000 RPM) = 130 V.From this results a power of P = 130 V × 30 A = 3.9 kW.At an intermediate circuit voltage of 300 V an input current results from the supplyvoltage of I = P / 300 V = 13 A.Thus, a considerable higher current flows in the power supply at 2,000 RPM than atstandstill.

5,400 RPMAt 5,400 RPM, the motor requires a voltage of U = R × I + e.m.f. × n = 1 Ω × 30 A +50 V / (1,000 RPM) × (5,400 RPM) = 300 V.From this results a power of P = 300 V × 30 A = 9 kW.At an intermediate circuit voltage of 300 V an input current results from the supplyvoltage of I = P / 300 V = 30 A.Thus, an identical current flows in the power supply unit at 5,400 RPM as in the mo-tor.

It must be considered that the currents flowing in the motor phases are lower by fac-

tor than the currents calculated above.

The examples clearly show that the expected motion profile must be consideredwhen dimensioning the power supply unit. An exact dimensioning can only beachieved by integrating the motion profile.

The same applies for conceiving the output stage and the motor.

3

88 Performance Dimensioning

Appendix: Manufacturers

15 Appendix: Manufacturers

15.1 PHOENIX Connectors

PHOENIX CONTACT GmbH & Co KGFlachsmarktstr. 8D-32825 BlombergTel.: +49 (5235) 300Fax: +49 (5235) 31200http://www.phoenixcontact.com

15.1.1 Order Key for PHOENIX Connectors

A labeled connector set for the device is available at theSIEB & MEYER sales department.

List of Manufacturers 89

http://www.phoenixcontact.com


Examples:

15.1.2 Overvoltage Protection FLASHTRAB

Order key Description

MC 1,5 / 8-ST-3,81 8-pole Mini-CombiCon connector (without flange)

MSTB 2,5 / 3-STF-5,08 3-pole CombiCon connector (with flange)

FKC 2,5 / 18-ST-5,08 (1875917)

18-pole CombiCon plug-component with spring-cage connection

PC 4 / 3-STF-7,62 3-pole Power CombiCon connector (with flange)

PC 6 / 4-STF-10,16 4-pole Power CombiCon connector (with flange)

HDFK 25 lead-through terminal

PHOENIX-Material-No. FLT-CP-3C-350FLT-CP-1C-350FLT-CP-1S-350

28 59 72 528 59 74 128 59 73 8

90 List of Manufacturers


15.1.3 Shield Terminal Blocks

Shield terminal blocks for EMC busbar

Which one of the following shied terminal blocks is required is indicated below theaccording connectors in the chapter "Connector Pin Assignment".

15.2 SIBA fuses

SIBA Sicherungen - Bau GmbHBorker Str. 22D-44534 LünenTel.: +49 (23 06) 70 01-0FAX:+49 (23 06) 70 01-10E-Mail: [email protected]://www.siba.de

15.3 TOSHIBA - Fiber Optic Connectors

http://www.toshiba.com

Type PHOENIX material No.

SK8 302 51 63

SK14 302 51 76

SK20 302 51 89

SK35 302 64 63

List of Manufacturers 91

http://www.siba.de

http://www.siba.de




92 List of Manufacturers

Appendix: Revisions

16 Appendix: Revisions

This appendix describes alterations in comparison with previous versions of the manual.

sinudyn-36 Hardware Description 0360520xx Front Connection Design036-servo-tec-sinudyn 36.05.xx/R001-SM-EN-hk/ez/ac/sheJune 23, 2003

Separation of the documentation for the two devices sinudyn 0360510xx and0360520xx with adequate adaptation of technical drawings and data.

Modification of nearly all the figures and technical drawings.

The chapter "Restart lock" has been added.

sinudyn-36 Hardware Description 36.05.20xx Front Connection Design036-servo-tec-sinudyn 36.05.xx/R001-SM-EN-hk/ez/ac/sheJune 23, 2003

The chapter "Connection to Different Supply System Types“ has been added.

sinudyn-36 Hardware Description 0360520xx Front Connection Design036-servo-tec-sinudyn 36.05.xx/R002-SM-EN-hk/ez/ac/sheFebruary 9, 2006

Completely revised.

sinudyn-36 Hardware Description 0360520xx Front Connection Design036-servo-tec-sinudyn 36.05.xx/R003-SM-EN-hk/ez/ac/sheMarch 22, 2006

The figures of the devices with PE bolt has been revised.

sinudyn-36 Hardware Description 0360520xx Front Connection Design036-servo-tec-sinudyn 36.05.xx/R004-SM-EN-hk/ez/ac/she/al/sli/süJanuary 22, 2007

The Technical Datas have been revised.UL requirements in the chapter "General Information" has been added.

sinudyn-36 Hardware Description 0360520xx Front Connection Design036-servo-tec-sinudyn 36.05.xx/R005-SM-EN-hk/ez/ac/she/al/sli/süAugust 13, 2007

The safety concept in the chapter “Connectors - X40“ and “Restart Lock“ has beenadded.

sinudyn-36 Hardware Description 0360520xx Front Connection Design036-servo-tec-sinudyn 36.05.xx/R006-SM-EN-hk/ez/ac/she/al/sli/sü/uhJanuary 25, 2008

The connector X1 linear hall effect sensor has been added. Chapter "Connection todifferent Supply System Types" and contents of the chapter "Unit Assembly Comply-ing EMC" are removed. A notice of the new documentation regarding these topicshas been included in the latter.


Appendix: Revisions

sinudyn-36 Hardware Description 0360520xx Front Connection Design036-servo-tec-sinudyn 36.05.xx/R007-SM-EN-hk/ez/ac/she/al/sli/sü/uhMarch 31, 2008

The technical data and the figures regarding the restart lock have been modified.

sinudyn-36 Hardware Description 0360520xx Front Connection Design036-servo-tec-sinudyn 36.05.xx/R008-SM-EN-hk/ez/ac/she/al/sli/sü/uhNovember 29, 2011

Chapter regarding safety circuit and restart lock reviewed.

sinudyn-36 Hardware Description 0360520xx Front Connection Design036-servo-tec-sinudyn 36.05.xx/R009-SM-EN-hk/ez/ac/she/al/sli/sü/uhDecember 12, 2012

Section „Requirements to the motor cable“ added.

94 Operating sinudyn-36

Documents

Termination of UL Certificate (09/12/2018) · Termination of UL Certificate (09/12/2018) All devices described in this document are delivered without UL certificate from September